From 33549de273d538bf376c5b2828810f03e76f2490 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Sun, 30 Jan 2022 03:16:38 +0900 Subject: [PATCH 001/701] ci: add sync-upstream.yaml (#4) Signed-off-by: Kenji Miyake --- .github/workflows/sync-upstream.yaml | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) create mode 100644 .github/workflows/sync-upstream.yaml diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml new file mode 100644 index 0000000000000..cd0d5af4883a3 --- /dev/null +++ b/.github/workflows/sync-upstream.yaml @@ -0,0 +1,28 @@ +name: sync-upstream + +on: + schedule: + - cron: 0 19 * * * # run at 4 AM JST + workflow_dispatch: + +jobs: + sync-upstream: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/main + sync-pr-branch: sync-upstream + sync-target-repository: https://github.com/autowarefoundation/autoware.universe.git + sync-target-branch: tier4/proposal + pr-title: "chore: sync upstream" + auto-merge-method: merge From acf26eaa8c16c95cddcc527c02ed473da6ed748d Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Thu, 3 Mar 2022 16:34:55 +0900 Subject: [PATCH 002/701] ci(sync-upstream): update settings (#19) Signed-off-by: Kenji Miyake --- .github/workflows/sync-upstream.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml index cd0d5af4883a3..3e164c07dbec1 100644 --- a/.github/workflows/sync-upstream.yaml +++ b/.github/workflows/sync-upstream.yaml @@ -2,7 +2,7 @@ name: sync-upstream on: schedule: - - cron: 0 19 * * * # run at 4 AM JST + - cron: 0 0 * * * workflow_dispatch: jobs: @@ -17,12 +17,12 @@ jobs: private_key: ${{ secrets.PRIVATE_KEY }} - name: Run sync-branches - uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal + uses: autowarefoundation/autoware-github-actions/sync-branches@v1 with: token: ${{ steps.generate-token.outputs.token }} base-branch: tier4/main sync-pr-branch: sync-upstream sync-target-repository: https://github.com/autowarefoundation/autoware.universe.git - sync-target-branch: tier4/proposal + sync-target-branch: main pr-title: "chore: sync upstream" auto-merge-method: merge From 4a3e529bde03d9470e3c84868a460726ee641959 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Tue, 5 Apr 2022 12:59:33 +0000 Subject: [PATCH 003/701] chore: sync files (#629) * chore: sync files Signed-off-by: GitHub * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .markdownlint.yaml | 2 ++ .prettierrc.yaml | 18 ++++++++++++++++++ CPPLINT.cfg | 1 + common/goal_distance_calculator/package.xml | 2 +- common/path_distance_calculator/package.xml | 2 -- common/polar_grid/package.xml | 1 - common/tier4_api_utils/package.xml | 2 -- common/tier4_datetime_rviz_plugin/package.xml | 2 -- .../tier4_localization_rviz_plugin/package.xml | 2 -- common/tier4_planning_rviz_plugin/package.xml | 2 -- .../package.xml | 2 -- common/tier4_state_rviz_plugin/package.xml | 2 -- control/shift_decider/package.xml | 1 - launch/tier4_vehicle_launch/package.xml | 1 - localization/ekf_localizer/package.xml | 1 - map/util/lanelet2_map_preprocessor/package.xml | 6 ------ perception/tensorrt_yolo/package.xml | 1 - .../package.xml | 1 - planning/obstacle_stop_planner/package.xml | 1 - planning/planning_error_monitor/package.xml | 2 +- .../image_transport_decompressor/package.xml | 2 -- 21 files changed, 23 insertions(+), 31 deletions(-) diff --git a/.markdownlint.yaml b/.markdownlint.yaml index dbd5b9703d834..df1f518dc0d48 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -1,3 +1,4 @@ +# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. default: true MD013: false MD024: @@ -5,3 +6,4 @@ MD024: MD033: false MD041: false MD046: false +MD049: false diff --git a/.prettierrc.yaml b/.prettierrc.yaml index 48b0552e3fe47..e29bf32762769 100644 --- a/.prettierrc.yaml +++ b/.prettierrc.yaml @@ -1,2 +1,20 @@ printWidth: 100 tabWidth: 2 +overrides: + - files: package.xml + options: + printWidth: 1000 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore + + - files: "*.launch.xml" + options: + printWidth: 200 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore + + - files: "*.xacro" + options: + printWidth: 200 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore diff --git a/CPPLINT.cfg b/CPPLINT.cfg index 1e2521f0b6442..ba6bdf08c10ca 100644 --- a/CPPLINT.cfg +++ b/CPPLINT.cfg @@ -11,3 +11,4 @@ filter=-whitespace/parens # we allow closing parenthesis to be on the ne filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon filter=-build/header_guard # we automatically fix the names of header guards using pre-commit filter=-build/include_order # we use the custom include order +filter=-build/include_subdir # we allow the style of "foo.hpp" diff --git a/common/goal_distance_calculator/package.xml b/common/goal_distance_calculator/package.xml index d191ffd3945c9..66a911d8e9786 100644 --- a/common/goal_distance_calculator/package.xml +++ b/common/goal_distance_calculator/package.xml @@ -3,7 +3,7 @@ goal_distance_calculator 0.0.0 - The goal_distance_calculator package + The goal_distance_calculator package Taiki Tanaka Apache License 2.0 diff --git a/common/path_distance_calculator/package.xml b/common/path_distance_calculator/package.xml index c69f961f271ef..e85c8ccd93850 100644 --- a/common/path_distance_calculator/package.xml +++ b/common/path_distance_calculator/package.xml @@ -1,7 +1,6 @@ - path_distance_calculator 0.0.0 The path_distance_calculator package @@ -20,5 +19,4 @@ ament_cmake - diff --git a/common/polar_grid/package.xml b/common/polar_grid/package.xml index c11858c4dcc98..ea5b9dd9986e9 100644 --- a/common/polar_grid/package.xml +++ b/common/polar_grid/package.xml @@ -24,5 +24,4 @@ ament_cmake - diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml index 4141904db9945..ba307d694a56c 100644 --- a/common/tier4_api_utils/package.xml +++ b/common/tier4_api_utils/package.xml @@ -1,7 +1,6 @@ - tier4_api_utils 0.0.0 The tier4_api_utils package @@ -24,5 +23,4 @@ ament_cmake - diff --git a/common/tier4_datetime_rviz_plugin/package.xml b/common/tier4_datetime_rviz_plugin/package.xml index 853b22b49be10..bb6b72797290b 100644 --- a/common/tier4_datetime_rviz_plugin/package.xml +++ b/common/tier4_datetime_rviz_plugin/package.xml @@ -1,6 +1,5 @@ - tier4_datetime_rviz_plugin 0.0.0 The tier4_datetime_rviz_plugin package @@ -22,5 +21,4 @@ ament_cmake - diff --git a/common/tier4_localization_rviz_plugin/package.xml b/common/tier4_localization_rviz_plugin/package.xml index 7d054c46c5083..a48dfb3ac3d73 100644 --- a/common/tier4_localization_rviz_plugin/package.xml +++ b/common/tier4_localization_rviz_plugin/package.xml @@ -1,6 +1,5 @@ - tier4_localization_rviz_plugin 0.1.0 The tier4_localization_rviz_plugin package @@ -25,5 +24,4 @@ ament_cmake - diff --git a/common/tier4_planning_rviz_plugin/package.xml b/common/tier4_planning_rviz_plugin/package.xml index 9d47827548843..3a937abeb5eb4 100644 --- a/common/tier4_planning_rviz_plugin/package.xml +++ b/common/tier4_planning_rviz_plugin/package.xml @@ -1,6 +1,5 @@ - tier4_planning_rviz_plugin 0.1.0 The tier4_planning_rviz_plugin package @@ -28,5 +27,4 @@ ament_cmake - diff --git a/common/tier4_simulated_clock_rviz_plugin/package.xml b/common/tier4_simulated_clock_rviz_plugin/package.xml index 4835e2b4bc3bb..25f701a6ce56f 100644 --- a/common/tier4_simulated_clock_rviz_plugin/package.xml +++ b/common/tier4_simulated_clock_rviz_plugin/package.xml @@ -1,6 +1,5 @@ - tier4_simulated_clock_rviz_plugin 0.0.1 Rviz plugin to publish and control the /clock topic @@ -23,5 +22,4 @@ ament_cmake - diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml index e949c0c6a6148..2d33d6f1aaa7d 100644 --- a/common/tier4_state_rviz_plugin/package.xml +++ b/common/tier4_state_rviz_plugin/package.xml @@ -1,6 +1,5 @@ - tier4_state_rviz_plugin 0.0.0 The autoware state rviz plugin package @@ -26,5 +25,4 @@ ament_cmake - diff --git a/control/shift_decider/package.xml b/control/shift_decider/package.xml index a6640725a1597..1c7e2b1913944 100644 --- a/control/shift_decider/package.xml +++ b/control/shift_decider/package.xml @@ -21,5 +21,4 @@ ament_cmake - diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml index bc2ef43e0a6bd..b0a3ea6a21485 100644 --- a/launch/tier4_vehicle_launch/package.xml +++ b/launch/tier4_vehicle_launch/package.xml @@ -7,7 +7,6 @@ Yukihiro Saito Apache License 2.0 - ament_cmake_auto robot_state_publisher diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml index e4a380039ff02..0f27207fdc08d 100644 --- a/localization/ekf_localizer/package.xml +++ b/localization/ekf_localizer/package.xml @@ -29,5 +29,4 @@ ament_cmake - diff --git a/map/util/lanelet2_map_preprocessor/package.xml b/map/util/lanelet2_map_preprocessor/package.xml index e71adaea8bc73..7ec500da53ebb 100644 --- a/map/util/lanelet2_map_preprocessor/package.xml +++ b/map/util/lanelet2_map_preprocessor/package.xml @@ -9,25 +9,21 @@ mitsudome-r - Apache License 2.0 - - - @@ -59,10 +55,8 @@ pcl_ros roscpp - - diff --git a/perception/tensorrt_yolo/package.xml b/perception/tensorrt_yolo/package.xml index ff47dff04d845..9e393a56f1eef 100755 --- a/perception/tensorrt_yolo/package.xml +++ b/perception/tensorrt_yolo/package.xml @@ -24,5 +24,4 @@ ament_cmake - diff --git a/perception/traffic_light_ssd_fine_detector/package.xml b/perception/traffic_light_ssd_fine_detector/package.xml index 223dbf0b0f8c1..cf37f7f9baa8f 100644 --- a/perception/traffic_light_ssd_fine_detector/package.xml +++ b/perception/traffic_light_ssd_fine_detector/package.xml @@ -10,7 +10,6 @@ Daisuke Nishimatsu - diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml index 45100bec069f6..a665fd8fcfe9c 100644 --- a/planning/obstacle_stop_planner/package.xml +++ b/planning/obstacle_stop_planner/package.xml @@ -37,5 +37,4 @@ ament_cmake - diff --git a/planning/planning_error_monitor/package.xml b/planning/planning_error_monitor/package.xml index 8bef053fc095d..e35554a392d7e 100644 --- a/planning/planning_error_monitor/package.xml +++ b/planning/planning_error_monitor/package.xml @@ -2,7 +2,7 @@ planning_error_monitor 0.1.0 - ros node for monitoring planning error + ros node for monitoring planning error Yutaka Shimizu diff --git a/sensing/image_transport_decompressor/package.xml b/sensing/image_transport_decompressor/package.xml index c6238d4fd7ae6..9f131490dea3f 100644 --- a/sensing/image_transport_decompressor/package.xml +++ b/sensing/image_transport_decompressor/package.xml @@ -24,6 +24,4 @@ ament_cmake - - From 3dea07d2c4a90c6729ab23525955c5a62e628b8c Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Wed, 6 Apr 2022 11:05:46 +0900 Subject: [PATCH 004/701] chore: sync files (#637) Signed-off-by: GitHub Co-authored-by: kenji-miyake --- .github/workflows/build-and-test-differential.yaml | 2 +- .github/workflows/build-and-test.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 7e3d186886b6b..51e93d53049fc 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -42,7 +42,7 @@ jobs: - name: Upload coverage to CodeCov if: ${{ steps.test.outputs.coverage-report-files != '' }} - uses: codecov/codecov-action@v2 + uses: codecov/codecov-action@v3 with: files: ${{ steps.test.outputs.coverage-report-files }} fail_ci_if_error: false diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 125d209ac1603..a7476a607d7e9 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -41,7 +41,7 @@ jobs: - name: Upload coverage to CodeCov if: ${{ steps.test.outputs.coverage-report-files != '' }} - uses: codecov/codecov-action@v2 + uses: codecov/codecov-action@v3 with: files: ${{ steps.test.outputs.coverage-report-files }} fail_ci_if_error: false From f037c18dfa92a52a637d5ec1031e7036663bd989 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Wed, 6 Apr 2022 14:03:11 +0900 Subject: [PATCH 005/701] fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (#639) --- .../launch/dummy_diag_publisher_node.launch.xml | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml b/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml index ae1042fc006bf..5448fb0269c09 100644 --- a/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml +++ b/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml @@ -5,13 +5,11 @@ - - - - - - - + + + + + From 3a3724243f701818db9ccf890eee0c833679163a Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Sat, 9 Apr 2022 07:09:58 +0000 Subject: [PATCH 006/701] chore: sync files (#648) * chore: sync files Signed-off-by: GitHub * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. Signed-off-by: Kenji Miyake * sync codecov.yaml Signed-off-by: Kenji Miyake Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake --- .github/sync-files.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 1cb1b399efe4d..494ab9300f025 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -35,6 +35,7 @@ - source: .github/workflows/build-and-test-self-hosted.yaml - source: .github/workflows/check-build-depends.yaml - source: .github/workflows/clang-tidy-pr-comments.yaml + - source: codecov.yaml - repository: autowarefoundation/autoware-documentation files: From a8272006e59cd73db96adba0abe68a68e930a03b Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Mon, 11 Apr 2022 15:58:38 +0900 Subject: [PATCH 007/701] fix(autoware_state_panel): fix message type for /api/autoware/get/engage (#666) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage Signed-off-by: h-ohta * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp | 4 ++-- common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp index b0cad0282cf9a..78681106b3d61 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -109,7 +109,7 @@ void AutowareStatePanel::onInitialize() sub_gear_ = raw_node_->create_subscription( "/vehicle/status/gear_status", 10, std::bind(&AutowareStatePanel::onShift, this, _1)); - sub_engage_ = raw_node_->create_subscription( + sub_engage_ = raw_node_->create_subscription( "/api/autoware/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1)); client_engage_ = raw_node_->create_client( @@ -209,7 +209,7 @@ void AutowareStatePanel::onShift( } void AutowareStatePanel::onEngageStatus( - const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg) + const autoware_auto_vehicle_msgs::msg::Engage::ConstSharedPtr msg) { current_engage_ = msg->engage; engage_status_label_ptr_->setText(QString::fromStdString(Bool2String(current_engage_))); diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp index af562dd055f7c..45cd290e5f4a3 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp @@ -23,10 +23,10 @@ #include #include +#include #include #include #include -#include #include namespace rviz_plugins @@ -48,7 +48,7 @@ public Q_SLOTS: const tier4_control_msgs::msg::ExternalCommandSelectorMode::ConstSharedPtr msg); void onAutowareState(const autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr msg); void onShift(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg); - void onEngageStatus(const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg); + void onEngageStatus(const autoware_auto_vehicle_msgs::msg::Engage::ConstSharedPtr msg); rclcpp::Node::SharedPtr raw_node_; rclcpp::Subscription::SharedPtr sub_gate_mode_; @@ -57,7 +57,7 @@ public Q_SLOTS: rclcpp::Subscription::SharedPtr sub_autoware_state_; rclcpp::Subscription::SharedPtr sub_gear_; - rclcpp::Subscription::SharedPtr sub_engage_; + rclcpp::Subscription::SharedPtr sub_engage_; rclcpp::Client::SharedPtr client_engage_; From 9f5837ffcd8246fa8f9a377c23d2d0e7b1251346 Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Mon, 9 May 2022 11:10:17 +0900 Subject: [PATCH 008/701] fix(behavior_velocity): avoid insert same point on trajectory utils (#834) Signed-off-by: tanaka3 --- .../include/utilization/trajectory_utils.hpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp b/planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp index 93b3d9c3d9617..729af3099f814 100644 --- a/planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp +++ b/planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp @@ -91,7 +91,7 @@ inline Quaternion lerpOrientation( * @param [in] point Interpolated point is nearest to this point. */ template -TrajectoryPointWithIdx getLerpTrajectoryPointWithIdx( +boost::optional getLerpTrajectoryPointWithIdx( const T & points, const geometry_msgs::msg::Point & point) { TrajectoryPoint interpolated_point; @@ -100,7 +100,9 @@ TrajectoryPointWithIdx getLerpTrajectoryPointWithIdx( tier4_autoware_utils::calcLongitudinalOffsetToSegment(points, nearest_seg_idx, point); const double len_segment = tier4_autoware_utils::calcSignedArcLength(points, nearest_seg_idx, nearest_seg_idx + 1); - const double interpolate_ratio = std::clamp(len_to_interpolated / len_segment, 0.0, 1.0); + const double ratio = len_to_interpolated / len_segment; + if (ratio <= 0.0 || 1.0 <= ratio) return boost::none; + const double interpolate_ratio = std::clamp(ratio, 0.0, 1.0); { const size_t i = nearest_seg_idx; const auto & pos0 = points.at(i).pose.position; @@ -154,14 +156,15 @@ inline bool smoothPath( // calc ego internal division point on path const auto traj_with_ego_point_with_idx = getLerpTrajectoryPointWithIdx(*traj_lateral_acc_filtered, current_pose.position); - TrajectoryPoint ego_point_on_path = traj_with_ego_point_with_idx.first; - const size_t nearest_seg_idx = traj_with_ego_point_with_idx.second; + if (traj_with_ego_point_with_idx == boost::none) return false; + TrajectoryPoint ego_point_on_path = traj_with_ego_point_with_idx->first; + const size_t nearest_seg_idx = traj_with_ego_point_with_idx->second; //! insert ego projected pose on path so new nearest segment will be nearest_seg_idx + 1 traj_with_ego_point_on_path.insert( traj_with_ego_point_on_path.begin() + nearest_seg_idx, ego_point_on_path); // ego point inserted is new nearest point - nearest_idx = traj_with_ego_point_with_idx.second + 1; + nearest_idx = nearest_seg_idx + 1; } // Resample trajectory with ego-velocity based interval distances auto traj_resampled = smoother->resampleTrajectory(traj_with_ego_point_on_path, v0, nearest_idx); @@ -182,6 +185,7 @@ inline bool smoothPath( traj_smoothed.insert( traj_smoothed.begin(), traj_resampled->begin(), traj_resampled->begin() + *traj_resampled_closest); + out_path = convertTrajectoryPointsToPath(traj_smoothed); return true; } From 69fc674ae3d0f668183b1661fd3dbc0843253a73 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Mon, 9 May 2022 11:59:02 +0900 Subject: [PATCH 009/701] refactor(behavior_velocity_planner): simplify CMakeLists.txt (#855) Signed-off-by: Kenji Miyake --- .../behavior_velocity_planner/CMakeLists.txt | 296 ++---------------- 1 file changed, 27 insertions(+), 269 deletions(-) diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt index 6acaa54b6481b..47f6f999ecb08 100644 --- a/planning/behavior_velocity_planner/CMakeLists.txt +++ b/planning/behavior_velocity_planner/CMakeLists.txt @@ -11,292 +11,50 @@ find_package(Eigen3 REQUIRED) find_package(PCL REQUIRED COMPONENTS common) find_package(OpenCV REQUIRED) -set(BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES - tier4_api_msgs - autoware_auto_perception_msgs - autoware_auto_planning_msgs - tier4_planning_msgs - tier4_autoware_utils - Boost - Eigen3 - diagnostic_msgs - geometry_msgs - lanelet2_extension - PCL - pcl_conversions - rclcpp - sensor_msgs - interpolation - tf2 - tf2_eigen - tf2_geometry_msgs - tf2_ros - vehicle_info_util - visualization_msgs - nav_msgs - grid_map_ros -) +set(scene_modules + detection_area + blind_spot + stop_line + crosswalk + traffic_light + intersection + no_stopping_area + virtual_traffic_light + occlusion_spot +) + +foreach(scene_module IN LISTS scene_modules) + file(GLOB_RECURSE scene_module_src "src/scene_module/${scene_module}/*") + list(APPEND scene_modules_src ${scene_module_src}) +endforeach() - -# Common -ament_auto_add_library(scene_module_lib SHARED +ament_auto_add_library(behavior_velocity_planner SHARED + src/node.cpp + src/planner_manager.cpp src/utilization/path_utilization.cpp src/utilization/util.cpp + ${scene_modules_src} ) -target_include_directories(scene_module_lib +target_include_directories(behavior_velocity_planner SYSTEM PUBLIC ${BOOST_INCLUDE_DIRS} - ${tf2_geometry_msgs_INCLUDE_DIRS} -) - -target_include_directories(scene_module_lib - PUBLIC - $ - $ -) - -target_include_directories(scene_module_lib - SYSTEM PUBLIC ${PCL_INCLUDE_DIRS} -) - -ament_target_dependencies(scene_module_lib ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -# Scene Module: Stop Line -ament_auto_add_library(scene_module_stop_line SHARED - src/scene_module/stop_line/manager.cpp - src/scene_module/stop_line/scene.cpp - src/scene_module/stop_line/debug.cpp -) - -target_include_directories(scene_module_stop_line - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_stop_line ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_stop_line scene_module_lib) - -# Scene Module: Crosswalk -ament_auto_add_library(scene_module_crosswalk SHARED - src/scene_module/crosswalk/manager.cpp - src/scene_module/crosswalk/scene_crosswalk.cpp - src/scene_module/crosswalk/scene_walkway.cpp - src/scene_module/crosswalk/debug.cpp - src/scene_module/crosswalk/util.cpp -) - -target_include_directories(scene_module_crosswalk - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_crosswalk ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_crosswalk scene_module_lib) - -# Scene Module: Intersection -ament_auto_add_library(scene_module_intersection SHARED - src/scene_module/intersection/manager.cpp - src/scene_module/intersection/scene_intersection.cpp - src/scene_module/intersection/scene_merge_from_private_road.cpp - src/scene_module/intersection/debug.cpp - src/scene_module/intersection/util.cpp -) - -target_include_directories(scene_module_intersection - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_intersection ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_intersection scene_module_lib) - -# Scene Module: Traffic Light -ament_auto_add_library(scene_module_traffic_light SHARED - src/scene_module/traffic_light/manager.cpp - src/scene_module/traffic_light/scene.cpp - src/scene_module/traffic_light/debug.cpp -) - -target_include_directories(scene_module_traffic_light - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_traffic_light ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_traffic_light scene_module_lib) - -# Scene Module: Blind Spot -ament_auto_add_library(scene_module_blind_spot SHARED - src/scene_module/blind_spot/manager.cpp - src/scene_module/blind_spot/scene.cpp - src/scene_module/blind_spot/debug.cpp -) - -target_include_directories(scene_module_blind_spot - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_blind_spot ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_blind_spot scene_module_lib) - -# Scene Module: Detection Area -ament_auto_add_library(scene_module_detection_area SHARED - src/scene_module/detection_area/manager.cpp - src/scene_module/detection_area/scene.cpp - src/scene_module/detection_area/debug.cpp -) - -target_include_directories(scene_module_detection_area - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_detection_area ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_detection_area scene_module_lib) - -# Scene Module: No Stopping Area -ament_auto_add_library(scene_module_no_stopping_area SHARED - src/scene_module/no_stopping_area/manager.cpp - src/scene_module/no_stopping_area/scene_no_stopping_area.cpp - src/scene_module/no_stopping_area/debug.cpp -) - -target_include_directories(scene_module_no_stopping_area - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_no_stopping_area ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_no_stopping_area scene_module_lib) - -# Scene Module: Virtual Traffic Light -ament_auto_add_library(scene_module_virtual_traffic_light SHARED - src/scene_module/virtual_traffic_light/manager.cpp - src/scene_module/virtual_traffic_light/scene.cpp - src/scene_module/virtual_traffic_light/debug.cpp -) - -target_include_directories(scene_module_virtual_traffic_light - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_virtual_traffic_light ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_virtual_traffic_light scene_module_lib) - -# SceneModule OcclusionSpot -# Util -ament_auto_add_library(occlusion_spot_lib SHARED - src/scene_module/occlusion_spot/grid_utils.cpp - src/scene_module/occlusion_spot/occlusion_spot_utils.cpp - src/scene_module/occlusion_spot/risk_predictive_braking.cpp -) - -target_include_directories(occlusion_spot_lib - SYSTEM PUBLIC - ${BOOST_INCLUDE_DIRS} ${tf2_geometry_msgs_INCLUDE_DIRS} ) -target_include_directories(occlusion_spot_lib - PUBLIC - $ - $ -) - -ament_target_dependencies(occlusion_spot_lib ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -ament_auto_add_library(scene_module_occlusion_spot SHARED - src/scene_module/occlusion_spot/manager.cpp - src/scene_module/occlusion_spot/debug.cpp - src/scene_module/occlusion_spot/scene_occlusion_spot.cpp -) - -target_include_directories(scene_module_occlusion_spot - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_occlusion_spot ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_occlusion_spot scene_module_lib occlusion_spot_lib) - -# Scene Module Manager -ament_auto_add_library(scene_module_manager SHARED - src/planner_manager.cpp -) - -target_include_directories(scene_module_manager - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_manager ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_manager scene_module_lib) - -# Node -ament_auto_add_library(behavior_velocity_planner SHARED - src/node.cpp -) - -target_include_directories(behavior_velocity_planner - PUBLIC - $ - $ -) - -ament_target_dependencies(behavior_velocity_planner ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(behavior_velocity_planner - scene_module_lib - scene_module_stop_line - scene_module_crosswalk - scene_module_intersection - scene_module_traffic_light - scene_module_blind_spot - scene_module_occlusion_spot - scene_module_detection_area - scene_module_no_stopping_area - scene_module_virtual_traffic_light - scene_module_manager +ament_target_dependencies(behavior_velocity_planner + Boost + Eigen3 + PCL ) -ament_export_dependencies(${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - rclcpp_components_register_node(behavior_velocity_planner PLUGIN "behavior_velocity_planner::BehaviorVelocityPlannerNode" EXECUTABLE behavior_velocity_planner_node ) - if(BUILD_TESTING) - # utils for test - ament_auto_add_library(utilization SHARED - src/utilization/util.cpp - ) - # Gtest for utilization ament_add_gtest(utilization-test test/src/test_state_machine.cpp @@ -305,7 +63,7 @@ if(BUILD_TESTING) ) target_link_libraries(utilization-test gtest_main - utilization + behavior_velocity_planner ) # Gtest for occlusion spot @@ -316,7 +74,7 @@ if(BUILD_TESTING) ) target_link_libraries(occlusion_spot-test gtest_main - scene_module_occlusion_spot + behavior_velocity_planner ) endif() From 063a95d3f9c88e3e4fe69c4adf8be2c0d3be2a81 Mon Sep 17 00:00:00 2001 From: Shark <71419791+Sharrrrk@users.noreply.github.com> Date: Mon, 9 May 2022 11:31:50 +0800 Subject: [PATCH 010/701] fix(system_monitor): fix build error on tegra platform (#869) * fix(system_monitor): fix build error on tegra platform Signed-off-by: Shark Liu * ci(pre-commit): autofix * Update system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp Co-authored-by: Shark Liu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> --- system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp b/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp index a9ae72321efd1..8da0d071de582 100644 --- a/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp +++ b/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp @@ -127,8 +127,10 @@ void GPUMonitor::checkUsage(diagnostic_updater::DiagnosticStatusWrapper & stat) } } -void GPUMonitor::checkThrottling(diagnostic_updater::DiagnosticStatusWrapper & stat) +void GPUMonitor::checkThrottling( + [[maybe_unused]] diagnostic_updater::DiagnosticStatusWrapper & stat) { + // Please remove the [[maybe_unused]] tag after implementation, it's a temp build fix // TODO(Fumihito Ito): implement me } From 35a1f0a28b141491997e342b25153998bbc4f56e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 9 May 2022 14:07:00 +0900 Subject: [PATCH 011/701] feat(ad_service_state_monitor): limit odometry buffer size (#514) * feat(ad_service_state_monitor): limit odometry buffer size 40 Signed-off-by: Takayuki Murooka * Update system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update ad_service_state_monitor_node.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .../ad_service_state_monitor_node.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp b/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp index e5a59692983ca..076f8d3a9f399 100644 --- a/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp +++ b/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp @@ -120,6 +120,11 @@ void AutowareStateMonitorNode::onOdometry(const nav_msgs::msg::Odometry::ConstSh state_input_.odometry_buffer.pop_front(); } + + constexpr size_t odometry_buffer_size = 200; // 40Hz * 5sec + if (state_input_.odometry_buffer.size() > odometry_buffer_size) { + state_input_.odometry_buffer.pop_front(); + } } bool AutowareStateMonitorNode::onShutdownService( From 82c6ad85bc0193021f94a28c4ce16c99525d5090 Mon Sep 17 00:00:00 2001 From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Date: Mon, 9 May 2022 17:53:57 +0900 Subject: [PATCH 012/701] docs: fix 404 error caused by typo in url (#871) * docs: fix 404 error caused by typo in url Signed-off-by: Shin-kyoto * docs: fix typo in url for yolov4 Signed-off-by: Shin-kyoto --- perception/tensorrt_yolo/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/perception/tensorrt_yolo/README.md b/perception/tensorrt_yolo/README.md index 5dfae272f143a..5811fa88a6b7a 100644 --- a/perception/tensorrt_yolo/README.md +++ b/perception/tensorrt_yolo/README.md @@ -72,15 +72,15 @@ This package includes multiple licenses. ### YOLOv4 -[YOLOv4](https://drive.google.com//uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX "YOLOv4"): Converted from darknet [weight file](https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights "weight file") and [conf file](https://github.com/AlexeyAB/darknet/blob/master/cfg/yolov4.cfg "conf file"). +[YOLOv4](https://drive.google.com/uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX "YOLOv4"): Converted from darknet [weight file](https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights "weight file") and [conf file](https://github.com/AlexeyAB/darknet/blob/master/cfg/yolov4.cfg "conf file"). ### YOLOv5 Refer to [this guide](https://github.com/ultralytics/yolov5/issues/251 "guide") -- [YOLOv5s](https://drive.google.com//uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad "YOLOv5s") +- [YOLOv5s](https://drive.google.com/uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad "YOLOv5s") -- [YOLOv5m](https://drive.google.com//uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG "YOLOv5m") +- [YOLOv5m](https://drive.google.com/uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG "YOLOv5m") - [YOLOv5l](https://drive.google.com/uc?id=1xO8S92Cq7qrmx93UHHyA7Cd7-dJsBDP8 "YOLOv5l") From a7118b62a065c02a70266a2dda3e4b296ccad886 Mon Sep 17 00:00:00 2001 From: storrrrrrrrm <103425473+storrrrrrrrm@users.noreply.github.com> Date: Mon, 9 May 2022 17:15:57 +0800 Subject: [PATCH 013/701] fix(image_projection_based_fusion): set imagebuffersize (#820) * fix: set imagebuffersize configured Signed-off-by: suchang * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../include/image_projection_based_fusion/debugger.hpp | 5 +++-- .../launch/roi_cluster_fusion.launch.xml | 2 ++ .../launch/roi_detected_object_fusion.launch.xml | 2 ++ perception/image_projection_based_fusion/src/debugger.cpp | 7 +++++-- .../image_projection_based_fusion/src/fusion_node.cpp | 4 +++- 5 files changed, 15 insertions(+), 5 deletions(-) diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp index ff790894658ec..9ecd336818b59 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp @@ -38,7 +38,8 @@ using sensor_msgs::msg::RegionOfInterest; class Debugger { public: - explicit Debugger(rclcpp::Node * node_ptr, const std::size_t image_num); + explicit Debugger( + rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size); void publishImage(const std::size_t image_id, const rclcpp::Time & stamp); @@ -57,7 +58,7 @@ class Debugger std::vector image_subs_; std::vector image_pubs_; std::vector> image_buffers_; - std::size_t image_buffer_size{5}; + std::size_t image_buffer_size_; }; } // namespace image_projection_based_fusion diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml index 8fe94963ff8ca..e5824dfcff97f 100644 --- a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml @@ -24,6 +24,7 @@ + @@ -70,6 +71,7 @@ + diff --git a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml index f6466e6512a09..be981478e78a2 100644 --- a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml @@ -24,6 +24,7 @@ + @@ -70,6 +71,7 @@ + diff --git a/perception/image_projection_based_fusion/src/debugger.cpp b/perception/image_projection_based_fusion/src/debugger.cpp index e1254fc136304..0bcfb019d93df 100644 --- a/perception/image_projection_based_fusion/src/debugger.cpp +++ b/perception/image_projection_based_fusion/src/debugger.cpp @@ -34,9 +34,12 @@ void drawRoiOnImage( namespace image_projection_based_fusion { -Debugger::Debugger(rclcpp::Node * node_ptr, const std::size_t image_num) : node_ptr_(node_ptr) +Debugger::Debugger( + rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size) +: node_ptr_(node_ptr) { image_buffers_.resize(image_num); + image_buffer_size_ = image_buffer_size; for (std::size_t img_i = 0; img_i < image_num; ++img_i) { auto sub = image_transport::create_subscription( node_ptr, "input/image_raw" + std::to_string(img_i), @@ -54,7 +57,7 @@ Debugger::Debugger(rclcpp::Node * node_ptr, const std::size_t image_num) : node_ auto pub = image_transport::create_publisher(node_ptr, "output/image_raw" + std::to_string(img_i)); image_pubs_.push_back(pub); - image_buffers_.at(img_i).set_capacity(image_buffer_size); + image_buffers_.at(img_i).set_capacity(image_buffer_size_); } } diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp index 57ed245f67bd7..5d33303ca1bf9 100644 --- a/perception/image_projection_based_fusion/src/fusion_node.cpp +++ b/perception/image_projection_based_fusion/src/fusion_node.cpp @@ -127,7 +127,9 @@ FusionNode::FusionNode(const std::string & node_name, const rclcpp::NodeOpt // debugger if (declare_parameter("debug_mode", false)) { - debugger_ = std::make_shared(this, rois_number_); + std::size_t image_buffer_size = + static_cast(declare_parameter("image_buffer_size", 15)); + debugger_ = std::make_shared(this, rois_number_, image_buffer_size); } } From 880967342402c09f33615805ffe8a1e12360c930 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 9 May 2022 19:18:23 +0900 Subject: [PATCH 014/701] chore(avoidance_module): fix spell check (#732) Signed-off-by: Muhammad Zulfaqar Azmi --- .../scene_module/avoidance/debug.hpp | 2 +- .../src/scene_module/avoidance/avoidance_module.cpp | 8 ++++---- .../src/scene_module/avoidance/debug.cpp | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp index edfb7d7f84d71..d3f8f80606784 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp @@ -93,7 +93,7 @@ MarkerArray createPoseMarkerArray( MarkerArray makeOverhangToRoadShoulderMarkerArray( const behavior_path_planner::ObjectDataArray & objects); -MarkerArray createOvehangFurthestLineStringMarkerArray( +MarkerArray createOverhangFurthestLineStringMarkerArray( const lanelet::ConstLineStrings3d & linestrings, const std::string & ns, const double r, const double g, const double b); diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index b03282c735ece..876e5fc3112c3 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -1939,8 +1939,8 @@ void AvoidanceModule::modifyPathVelocityToPreventAccelerationOnAvoidance(Shifted std::sqrt(v0 * v0 + 2.0 * s * parameters_.max_avoidance_acceleration)); // apply velocity limit - constexpr size_t VLIM_APPLY_IDX_MARGIN = 0; - for (size_t i = ego_idx + VLIM_APPLY_IDX_MARGIN; i < N; ++i) { + constexpr size_t V_LIM_APPLY_IDX_MARGIN = 0; + for (size_t i = ego_idx + V_LIM_APPLY_IDX_MARGIN; i < N; ++i) { path.path.points.at(i).point.longitudinal_velocity_mps = std::min(path.path.points.at(i).point.longitudinal_velocity_mps, static_cast(vmax)); } @@ -2619,7 +2619,7 @@ void AvoidanceModule::setDebugData(const PathShifter & shifter, const DebugData using marker_utils::createAvoidPointMarkerArray; using marker_utils::createLaneletsAreaMarkerArray; using marker_utils::createObjectsMarkerArray; - using marker_utils::createOvehangFurthestLineStringMarkerArray; + using marker_utils::createOverhangFurthestLineStringMarkerArray; using marker_utils::createPathMarkerArray; using marker_utils::createPoseMarkerArray; using marker_utils::createShiftLengthMarkerArray; @@ -2652,7 +2652,7 @@ void AvoidanceModule::setDebugData(const PathShifter & shifter, const DebugData add(createLaneletsAreaMarkerArray(*debug.expanded_lanelets, "expanded_lanelet", 0.8, 0.8, 0.0)); add(createAvoidanceObjectsMarkerArray(avoidance_data_.objects, "avoidance_object")); add(makeOverhangToRoadShoulderMarkerArray(avoidance_data_.objects)); - add(createOvehangFurthestLineStringMarkerArray( + add(createOverhangFurthestLineStringMarkerArray( *debug.farthest_linestring_from_overhang, "farthest_linestring_from_overhang", 1.0, 0.0, 1.0)); // parent object info diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/debug.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/debug.cpp index d7c3b1325f7dc..88c8d102bd00c 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/debug.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/debug.cpp @@ -512,7 +512,7 @@ MarkerArray makeOverhangToRoadShoulderMarkerArray( return msg; } -MarkerArray createOvehangFurthestLineStringMarkerArray( +MarkerArray createOverhangFurthestLineStringMarkerArray( const lanelet::ConstLineStrings3d & linestrings, const std::string & ns, const double r, const double g, const double b) { From cc43203bc87745624b6185ef73b783f42170e8c9 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 9 May 2022 21:08:53 +0900 Subject: [PATCH 015/701] feat: isolate gtests in all packages (#693) Signed-off-by: Maxime CLEMENT --- common/autoware_auto_common/CMakeLists.txt | 2 +- common/autoware_auto_common/package.xml | 2 +- common/autoware_auto_geometry/CMakeLists.txt | 2 +- common/autoware_auto_geometry/package.xml | 2 +- common/autoware_auto_tf2/CMakeLists.txt | 2 +- common/autoware_auto_tf2/package.xml | 2 +- common/autoware_point_types/CMakeLists.txt | 2 +- common/autoware_point_types/package.xml | 2 +- common/fake_test_node/CMakeLists.txt | 2 +- common/fake_test_node/package.xml | 2 +- common/had_map_utils/package.xml | 2 +- common/interpolation/CMakeLists.txt | 2 +- common/interpolation/package.xml | 2 +- common/motion_testing/CMakeLists.txt | 2 +- common/motion_testing/package.xml | 2 +- common/osqp_interface/CMakeLists.txt | 2 +- common/osqp_interface/package.xml | 2 +- common/signal_processing/CMakeLists.txt | 2 +- common/signal_processing/package.xml | 2 +- common/tier4_api_utils/CMakeLists.txt | 2 +- common/tier4_api_utils/package.xml | 2 +- common/tier4_autoware_utils/CMakeLists.txt | 4 ++-- common/tier4_autoware_utils/package.xml | 2 +- common/time_utils/package.xml | 2 +- common/vehicle_constants_manager/CMakeLists.txt | 2 +- common/vehicle_constants_manager/package.xml | 2 +- control/trajectory_follower/CMakeLists.txt | 4 ++-- control/trajectory_follower/package.xml | 2 +- control/vehicle_cmd_gate/CMakeLists.txt | 2 +- control/vehicle_cmd_gate/package.xml | 2 +- localization/ekf_localizer/CMakeLists.txt | 4 ++-- localization/ekf_localizer/package.xml | 2 +- localization/stop_filter/package.xml | 2 +- map/lanelet2_extension/CMakeLists.txt | 10 +++++----- map/lanelet2_extension/package.xml | 2 +- .../detected_object_feature_remover/package.xml | 2 +- planning/behavior_velocity_planner/CMakeLists.txt | 4 ++-- planning/behavior_velocity_planner/package.xml | 2 +- planning/costmap_generator/CMakeLists.txt | 2 +- planning/costmap_generator/package.xml | 2 +- .../freespace_planning_algorithms/CMakeLists.txt | 4 ++-- planning/freespace_planning_algorithms/package.xml | 2 +- planning/planning_error_monitor/CMakeLists.txt | 2 +- planning/planning_error_monitor/package.xml | 2 +- planning/planning_evaluator/CMakeLists.txt | 2 +- planning/planning_evaluator/package.xml | 2 +- .../dummy_perception_publisher/CMakeLists.txt | 2 +- simulator/dummy_perception_publisher/package.xml | 1 + simulator/fault_injection/CMakeLists.txt | 2 +- simulator/fault_injection/package.xml | 2 +- simulator/simple_planning_simulator/CMakeLists.txt | 2 +- simulator/simple_planning_simulator/package.xml | 2 +- system/system_monitor/CMakeLists.txt | 14 +++++++------- system/system_monitor/package.xml | 2 +- vehicle/raw_vehicle_cmd_converter/CMakeLists.txt | 2 +- vehicle/raw_vehicle_cmd_converter/package.xml | 2 +- 56 files changed, 71 insertions(+), 70 deletions(-) diff --git a/common/autoware_auto_common/CMakeLists.txt b/common/autoware_auto_common/CMakeLists.txt index 4f7846c89eb72..b0957ad726856 100644 --- a/common/autoware_auto_common/CMakeLists.txt +++ b/common/autoware_auto_common/CMakeLists.txt @@ -9,7 +9,7 @@ include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR}) if(BUILD_TESTING) set(TEST_COMMON test_common_gtest) - ament_add_gtest(${TEST_COMMON} + ament_add_ros_isolated_gtest(${TEST_COMMON} test/gtest_main.cpp test/test_bool_comparisons.cpp test/test_byte_reader.cpp diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml index dca22e9b29ea3..17d666e2273e6 100644 --- a/common/autoware_auto_common/package.xml +++ b/common/autoware_auto_common/package.xml @@ -14,7 +14,7 @@ builtin_interfaces eigen - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common geometry_msgs diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt index 0e964e3b064a2..454e0e7ef044f 100644 --- a/common/autoware_auto_geometry/CMakeLists.txt +++ b/common/autoware_auto_geometry/CMakeLists.txt @@ -23,7 +23,7 @@ if(BUILD_TESTING) test/src/test_common_2d.cpp test/src/test_intersection.cpp ) - ament_add_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC}) + ament_add_ros_isolated_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC}) target_compile_options(${GEOMETRY_GTEST} PRIVATE -Wno-conversion -Wno-sign-conversion) target_include_directories(${GEOMETRY_GTEST} PRIVATE "test/include" "include") ament_target_dependencies(${GEOMETRY_GTEST} diff --git a/common/autoware_auto_geometry/package.xml b/common/autoware_auto_geometry/package.xml index 976cf59013370..e19ac4897aab0 100644 --- a/common/autoware_auto_geometry/package.xml +++ b/common/autoware_auto_geometry/package.xml @@ -18,7 +18,7 @@ autoware_auto_vehicle_msgs geometry_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common osrf_testing_tools_cpp diff --git a/common/autoware_auto_tf2/CMakeLists.txt b/common/autoware_auto_tf2/CMakeLists.txt index f4b3223391a7b..a8ae9ec2d962e 100755 --- a/common/autoware_auto_tf2/CMakeLists.txt +++ b/common/autoware_auto_tf2/CMakeLists.txt @@ -5,7 +5,7 @@ find_package(autoware_cmake REQUIRED) autoware_package() if(BUILD_TESTING) - ament_add_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp) + ament_add_ros_isolated_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp) target_include_directories(test_tf2_autoware_auto_msgs PRIVATE "include") ament_target_dependencies(test_tf2_autoware_auto_msgs "autoware_auto_common" diff --git a/common/autoware_auto_tf2/package.xml b/common/autoware_auto_tf2/package.xml index d6fbd4f4ce3d8..c80ce45a217ac 100644 --- a/common/autoware_auto_tf2/package.xml +++ b/common/autoware_auto_tf2/package.xml @@ -20,7 +20,7 @@ tf2_geometry_msgs tf2_ros - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/autoware_point_types/CMakeLists.txt b/common/autoware_point_types/CMakeLists.txt index e46081c5ea96f..c149f79dab71f 100644 --- a/common/autoware_point_types/CMakeLists.txt +++ b/common/autoware_point_types/CMakeLists.txt @@ -11,7 +11,7 @@ include_directories( ) if(BUILD_TESTING) - ament_add_gtest(test_autoware_point_types + ament_add_ros_isolated_gtest(test_autoware_point_types test/test_point_types.cpp ) target_include_directories(test_autoware_point_types diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml index b7449dbbd13d5..8829bd7538d9b 100644 --- a/common/autoware_point_types/package.xml +++ b/common/autoware_point_types/package.xml @@ -23,7 +23,7 @@ pcl_ros point_cloud_msg_wrapper - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common point_cloud_msg_wrapper diff --git a/common/fake_test_node/CMakeLists.txt b/common/fake_test_node/CMakeLists.txt index cc80077163ab1..8ad71df2777f3 100644 --- a/common/fake_test_node/CMakeLists.txt +++ b/common/fake_test_node/CMakeLists.txt @@ -7,7 +7,7 @@ autoware_package() ament_auto_add_library(fake_test_node SHARED src/fake_test_node.cpp) if(BUILD_TESTING) - ament_add_gtest(test_fake_test_node + ament_add_ros_isolated_gtest(test_fake_test_node test/test_fake_test_node.cpp ) add_dependencies(test_fake_test_node fake_test_node) diff --git a/common/fake_test_node/package.xml b/common/fake_test_node/package.xml index 6d337906ff3b7..8e919d719fc6c 100644 --- a/common/fake_test_node/package.xml +++ b/common/fake_test_node/package.xml @@ -11,7 +11,7 @@ autoware_cmake - ament_cmake_gtest + ament_cmake_ros autoware_auto_common rclcpp rclcpp_components diff --git a/common/had_map_utils/package.xml b/common/had_map_utils/package.xml index 2baa56aa12c73..aa7f7a9e78840 100644 --- a/common/had_map_utils/package.xml +++ b/common/had_map_utils/package.xml @@ -23,7 +23,7 @@ lanelet2_io visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/interpolation/CMakeLists.txt b/common/interpolation/CMakeLists.txt index bca79e0f23d98..7afed6fe57c41 100644 --- a/common/interpolation/CMakeLists.txt +++ b/common/interpolation/CMakeLists.txt @@ -13,7 +13,7 @@ ament_auto_add_library(interpolation SHARED if(BUILD_TESTING) file(GLOB_RECURSE test_files test/**/*.cpp) - ament_add_gtest(test_interpolation ${test_files}) + ament_add_ros_isolated_gtest(test_interpolation ${test_files}) target_link_libraries(test_interpolation interpolation diff --git a/common/interpolation/package.xml b/common/interpolation/package.xml index 213616b007a19..665e26bab9a0a 100644 --- a/common/interpolation/package.xml +++ b/common/interpolation/package.xml @@ -14,7 +14,7 @@ tier4_autoware_utils - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/motion_testing/CMakeLists.txt b/common/motion_testing/CMakeLists.txt index 4e7006978ab22..f8428c0df709c 100644 --- a/common/motion_testing/CMakeLists.txt +++ b/common/motion_testing/CMakeLists.txt @@ -7,7 +7,7 @@ autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED src/motion_testing/motion_testing.cpp) if(BUILD_TESTING) - ament_add_gtest(motion_testing_unit_tests + ament_add_ros_isolated_gtest(motion_testing_unit_tests test/gtest_main.cpp test/constant_trajectory.cpp test/trajectory_checks.cpp) diff --git a/common/motion_testing/package.xml b/common/motion_testing/package.xml index 33e7b4798d0e7..f292a7e5bb54b 100644 --- a/common/motion_testing/package.xml +++ b/common/motion_testing/package.xml @@ -19,7 +19,7 @@ autoware_auto_planning_msgs autoware_auto_vehicle_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/osqp_interface/CMakeLists.txt b/common/osqp_interface/CMakeLists.txt index 4180461cc261c..996f8b6153cf0 100644 --- a/common/osqp_interface/CMakeLists.txt +++ b/common/osqp_interface/CMakeLists.txt @@ -49,7 +49,7 @@ if(BUILD_TESTING) test/test_csc_matrix_conv.cpp ) set(TEST_OSQP_INTERFACE_EXE test_osqp_interface) - ament_add_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES}) + ament_add_ros_isolated_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES}) target_link_libraries(${TEST_OSQP_INTERFACE_EXE} ${PROJECT_NAME}) endif() diff --git a/common/osqp_interface/package.xml b/common/osqp_interface/package.xml index f89810ddda953..5260a3f2b07c0 100644 --- a/common/osqp_interface/package.xml +++ b/common/osqp_interface/package.xml @@ -17,7 +17,7 @@ rclcpp rclcpp_components - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common eigen diff --git a/common/signal_processing/CMakeLists.txt b/common/signal_processing/CMakeLists.txt index e93023e703eb7..93cb7aa225a08 100644 --- a/common/signal_processing/CMakeLists.txt +++ b/common/signal_processing/CMakeLists.txt @@ -9,7 +9,7 @@ ament_auto_add_library(lowpass_filter_1d SHARED ) if(BUILD_TESTING) - ament_add_gtest(test_signal_processing + ament_add_ros_isolated_gtest(test_signal_processing test/src/lowpass_filter_1d_test.cpp ) target_link_libraries(test_signal_processing diff --git a/common/signal_processing/package.xml b/common/signal_processing/package.xml index 563715af77248..867f2d05da60e 100644 --- a/common/signal_processing/package.xml +++ b/common/signal_processing/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/tier4_api_utils/CMakeLists.txt b/common/tier4_api_utils/CMakeLists.txt index e65e538fe1df4..4eda0296e520e 100644 --- a/common/tier4_api_utils/CMakeLists.txt +++ b/common/tier4_api_utils/CMakeLists.txt @@ -6,7 +6,7 @@ autoware_package() if(BUILD_TESTING) include_directories(include) - ament_add_gtest(${PROJECT_NAME}_test test/test.cpp) + ament_add_ros_isolated_gtest(${PROJECT_NAME}_test test/test.cpp) ament_target_dependencies(${PROJECT_NAME}_test rclcpp tier4_external_api_msgs) endif() diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml index 99a03ab92b0ec..a8378b92352ec 100644 --- a/common/tier4_api_utils/package.xml +++ b/common/tier4_api_utils/package.xml @@ -14,7 +14,7 @@ rclcpp tier4_external_api_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common rclcpp diff --git a/common/tier4_autoware_utils/CMakeLists.txt b/common/tier4_autoware_utils/CMakeLists.txt index eeca0a2d83630..7ba9c2020a36f 100644 --- a/common/tier4_autoware_utils/CMakeLists.txt +++ b/common/tier4_autoware_utils/CMakeLists.txt @@ -12,11 +12,11 @@ ament_auto_add_library(tier4_autoware_utils SHARED ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_ros REQUIRED) file(GLOB_RECURSE test_files test/**/*.cpp) - ament_add_gtest(test_tier4_autoware_utils ${test_files}) + ament_add_ros_isolated_gtest(test_tier4_autoware_utils ${test_files}) target_link_libraries(test_tier4_autoware_utils tier4_autoware_utils diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml index f1bd523a8eda1..63fd56ae09f86 100644 --- a/common/tier4_autoware_utils/package.xml +++ b/common/tier4_autoware_utils/package.xml @@ -23,7 +23,7 @@ tier4_debug_msgs visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/time_utils/package.xml b/common/time_utils/package.xml index 9b553289e09be..a248e72f125f3 100644 --- a/common/time_utils/package.xml +++ b/common/time_utils/package.xml @@ -12,7 +12,7 @@ autoware_cmake builtin_interfaces - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/vehicle_constants_manager/CMakeLists.txt b/common/vehicle_constants_manager/CMakeLists.txt index eb5f7b27663e3..1e84c5f781d39 100644 --- a/common/vehicle_constants_manager/CMakeLists.txt +++ b/common/vehicle_constants_manager/CMakeLists.txt @@ -18,7 +18,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED # if(BUILD_TESTING) # set(TEST_SOURCES test/test_vehicle_constants_manager.cpp) # set(TEST_VEHICLE_CONSTANTS_MANAGER_EXE test_vehicle_constants_manager) -# ament_add_gtest(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${TEST_SOURCES}) +# ament_add_ros_isolated_gtest(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${TEST_SOURCES}) # target_link_libraries(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${PROJECT_NAME}) # endif() diff --git a/common/vehicle_constants_manager/package.xml b/common/vehicle_constants_manager/package.xml index eecb3e8f2108f..8041ae90a2cb7 100644 --- a/common/vehicle_constants_manager/package.xml +++ b/common/vehicle_constants_manager/package.xml @@ -15,7 +15,7 @@ rclcpp rclcpp_components - ament_cmake_gtest + ament_cmake_ros ament_cmake diff --git a/control/trajectory_follower/CMakeLists.txt b/control/trajectory_follower/CMakeLists.txt index 5c29617296780..67d157df835de 100644 --- a/control/trajectory_follower/CMakeLists.txt +++ b/control/trajectory_follower/CMakeLists.txt @@ -72,7 +72,7 @@ if(BUILD_TESTING) test/test_lowpass_filter.cpp ) set(TEST_LATERAL_CONTROLLER_EXE test_lateral_controller) - ament_add_gtest(${TEST_LATERAL_CONTROLLER_EXE} ${TEST_LAT_SOURCES}) + ament_add_ros_isolated_gtest(${TEST_LATERAL_CONTROLLER_EXE} ${TEST_LAT_SOURCES}) target_link_libraries(${TEST_LATERAL_CONTROLLER_EXE} ${LATERAL_CONTROLLER_LIB}) set(TEST_LON_SOURCES @@ -82,7 +82,7 @@ if(BUILD_TESTING) test/test_longitudinal_controller_utils.cpp ) set(TEST_LONGITUDINAL_CONTROLLER_EXE test_longitudinal_controller) - ament_add_gtest(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${TEST_LON_SOURCES}) + ament_add_ros_isolated_gtest(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${TEST_LON_SOURCES}) target_link_libraries(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${LONGITUDINAL_CONTROLLER_LIB}) endif() diff --git a/control/trajectory_follower/package.xml b/control/trajectory_follower/package.xml index 4bc005335f4a9..840cad74aeb55 100644 --- a/control/trajectory_follower/package.xml +++ b/control/trajectory_follower/package.xml @@ -28,7 +28,7 @@ tf2 tf2_ros - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common eigen diff --git a/control/vehicle_cmd_gate/CMakeLists.txt b/control/vehicle_cmd_gate/CMakeLists.txt index 886842aa7f634..309a296acc9db 100644 --- a/control/vehicle_cmd_gate/CMakeLists.txt +++ b/control/vehicle_cmd_gate/CMakeLists.txt @@ -15,7 +15,7 @@ rclcpp_components_register_node(vehicle_cmd_gate_node ) if(BUILD_TESTING) - ament_add_gtest(test_vehicle_cmd_gate + ament_add_ros_isolated_gtest(test_vehicle_cmd_gate test/src/test_main.cpp test/src/test_vehicle_cmd_filter.cpp ) diff --git a/control/vehicle_cmd_gate/package.xml b/control/vehicle_cmd_gate/package.xml index cb30c913ad766..7cb8b18244d18 100644 --- a/control/vehicle_cmd_gate/package.xml +++ b/control/vehicle_cmd_gate/package.xml @@ -26,7 +26,7 @@ tier4_vehicle_msgs vehicle_info_util - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt index fa894c8a7b1a5..3a3edd5338a58 100644 --- a/localization/ekf_localizer/CMakeLists.txt +++ b/localization/ekf_localizer/CMakeLists.txt @@ -13,8 +13,8 @@ ament_auto_add_executable(ekf_localizer ament_target_dependencies(ekf_localizer kalman_filter) # if(BUILD_TESTING) -# find_package(ament_cmake_gtest REQUIRED) -# ament_add_gtest(ekf_localizer-test test/test_ekf_localizer.test +# find_package(ament_cmake_ros REQUIRED) +# ament_add_ros_isolated_gtest(ekf_localizer-test test/test_ekf_localizer.test # test/src/test_ekf_localizer.cpp # src/ekf_localizer.cpp # src/kalman_filter/kalman_filter.cpp diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml index c67cfaa400a0d..3e9d9735ae3bd 100644 --- a/localization/ekf_localizer/package.xml +++ b/localization/ekf_localizer/package.xml @@ -24,7 +24,7 @@ tier4_autoware_utils tier4_debug_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/localization/stop_filter/package.xml b/localization/stop_filter/package.xml index b4b948c236af4..47fcf3282efea 100644 --- a/localization/stop_filter/package.xml +++ b/localization/stop_filter/package.xml @@ -17,7 +17,7 @@ tf2 tier4_debug_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/map/lanelet2_extension/CMakeLists.txt b/map/lanelet2_extension/CMakeLists.txt index d256029e4041a..709c7bdaa6858 100644 --- a/map/lanelet2_extension/CMakeLists.txt +++ b/map/lanelet2_extension/CMakeLists.txt @@ -62,15 +62,15 @@ target_link_libraries(autoware_lanelet2_validation ) if(BUILD_TESTING) - ament_add_gtest(message_conversion-test test/src/test_message_conversion.cpp) + ament_add_ros_isolated_gtest(message_conversion-test test/src/test_message_conversion.cpp) target_link_libraries(message_conversion-test lanelet2_extension_lib) - ament_add_gtest(projector-test test/src/test_projector.cpp) + ament_add_ros_isolated_gtest(projector-test test/src/test_projector.cpp) target_link_libraries(projector-test lanelet2_extension_lib) - ament_add_gtest(query-test test/src/test_query.cpp) + ament_add_ros_isolated_gtest(query-test test/src/test_query.cpp) target_link_libraries(query-test lanelet2_extension_lib) - ament_add_gtest(regulatory_elements-test test/src/test_regulatory_elements.cpp) + ament_add_ros_isolated_gtest(regulatory_elements-test test/src/test_regulatory_elements.cpp) target_link_libraries(regulatory_elements-test lanelet2_extension_lib) - ament_add_gtest(utilities-test test/src/test_utilities.cpp) + ament_add_ros_isolated_gtest(utilities-test test/src/test_utilities.cpp) target_link_libraries(utilities-test lanelet2_extension_lib) endif() diff --git a/map/lanelet2_extension/package.xml b/map/lanelet2_extension/package.xml index e817b06f1be86..d46d05a7f3064 100644 --- a/map/lanelet2_extension/package.xml +++ b/map/lanelet2_extension/package.xml @@ -27,7 +27,7 @@ tier4_autoware_utils visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/perception/detected_object_feature_remover/package.xml b/perception/detected_object_feature_remover/package.xml index 686c01621c546..b609ff0257f1e 100644 --- a/perception/detected_object_feature_remover/package.xml +++ b/perception/detected_object_feature_remover/package.xml @@ -16,7 +16,7 @@ rclcpp_components tier4_perception_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt index 47f6f999ecb08..6e9671c166518 100644 --- a/planning/behavior_velocity_planner/CMakeLists.txt +++ b/planning/behavior_velocity_planner/CMakeLists.txt @@ -56,7 +56,7 @@ rclcpp_components_register_node(behavior_velocity_planner if(BUILD_TESTING) # Gtest for utilization - ament_add_gtest(utilization-test + ament_add_ros_isolated_gtest(utilization-test test/src/test_state_machine.cpp test/src/test_arc_lane_util.cpp test/src/test_utilization.cpp @@ -67,7 +67,7 @@ if(BUILD_TESTING) ) # Gtest for occlusion spot - ament_add_gtest(occlusion_spot-test + ament_add_ros_isolated_gtest(occlusion_spot-test test/src/test_occlusion_spot_utils.cpp test/src/test_risk_predictive_braking.cpp test/src/test_grid_utils.cpp diff --git a/planning/behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/package.xml index a1f86fdf19419..16998b4f27f19 100644 --- a/planning/behavior_velocity_planner/package.xml +++ b/planning/behavior_velocity_planner/package.xml @@ -42,7 +42,7 @@ vehicle_info_util visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/costmap_generator/CMakeLists.txt b/planning/costmap_generator/CMakeLists.txt index a2c3f70b2f722..648d01ee4c4e4 100644 --- a/planning/costmap_generator/CMakeLists.txt +++ b/planning/costmap_generator/CMakeLists.txt @@ -46,7 +46,7 @@ rclcpp_components_register_node(costmap_generator_node ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_ros REQUIRED) endif() ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/planning/costmap_generator/package.xml b/planning/costmap_generator/package.xml index 289e2be0197cb..070c160d3aa05 100644 --- a/planning/costmap_generator/package.xml +++ b/planning/costmap_generator/package.xml @@ -29,7 +29,7 @@ tf2_ros tier4_planning_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/freespace_planning_algorithms/CMakeLists.txt b/planning/freespace_planning_algorithms/CMakeLists.txt index 093eaffa23bae..a08e89143ef3c 100644 --- a/planning/freespace_planning_algorithms/CMakeLists.txt +++ b/planning/freespace_planning_algorithms/CMakeLists.txt @@ -18,8 +18,8 @@ target_link_libraries(freespace_planning_algorithms ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) - ament_add_gtest(freespace_planning_algorithms-test + find_package(ament_cmake_ros REQUIRED) + ament_add_ros_isolated_gtest(freespace_planning_algorithms-test test/src/test_freespace_planning_algorithms.cpp ) target_link_libraries(freespace_planning_algorithms-test diff --git a/planning/freespace_planning_algorithms/package.xml b/planning/freespace_planning_algorithms/package.xml index 72fc9d5a0dc45..db0ea35e9bb03 100644 --- a/planning/freespace_planning_algorithms/package.xml +++ b/planning/freespace_planning_algorithms/package.xml @@ -21,7 +21,7 @@ tf2_geometry_msgs tier4_autoware_utils - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/planning_error_monitor/CMakeLists.txt b/planning/planning_error_monitor/CMakeLists.txt index 8bd30ea1fd005..66932c63e8990 100644 --- a/planning/planning_error_monitor/CMakeLists.txt +++ b/planning/planning_error_monitor/CMakeLists.txt @@ -23,7 +23,7 @@ rclcpp_components_register_node(invalid_trajectory_publisher_node ) if(BUILD_TESTING) - ament_add_gtest(test_planning_error_monitor + ament_add_ros_isolated_gtest(test_planning_error_monitor test/src/test_main.cpp test/src/test_planning_error_monitor_functions.cpp test/src/test_planning_error_monitor_helper.hpp diff --git a/planning/planning_error_monitor/package.xml b/planning/planning_error_monitor/package.xml index b70e2f319cd01..e667c81790875 100644 --- a/planning/planning_error_monitor/package.xml +++ b/planning/planning_error_monitor/package.xml @@ -21,7 +21,7 @@ tier4_autoware_utils visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/planning_evaluator/CMakeLists.txt b/planning/planning_evaluator/CMakeLists.txt index 6641d08cc52a5..6865f8eef7005 100644 --- a/planning/planning_evaluator/CMakeLists.txt +++ b/planning/planning_evaluator/CMakeLists.txt @@ -26,7 +26,7 @@ rclcpp_components_register_node(${PROJECT_NAME}_node ) if(BUILD_TESTING) - ament_add_gtest(test_${PROJECT_NAME} + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} test/test_planning_evaluator_node.cpp ) target_link_libraries(test_${PROJECT_NAME} diff --git a/planning/planning_evaluator/package.xml b/planning/planning_evaluator/package.xml index f7e1d5c3480dd..8681543485c21 100644 --- a/planning/planning_evaluator/package.xml +++ b/planning/planning_evaluator/package.xml @@ -23,7 +23,7 @@ tf2_ros tier4_autoware_utils - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/simulator/dummy_perception_publisher/CMakeLists.txt b/simulator/dummy_perception_publisher/CMakeLists.txt index 85347b04b3be6..63d07faf0634c 100644 --- a/simulator/dummy_perception_publisher/CMakeLists.txt +++ b/simulator/dummy_perception_publisher/CMakeLists.txt @@ -74,7 +74,7 @@ ament_auto_add_executable(empty_objects_publisher ) if(BUILD_TESTING) - ament_add_gtest(signed_distance_function-test + ament_add_ros_isolated_gtest(signed_distance_function-test test/src/test_signed_distance_function.cpp ) target_link_libraries(signed_distance_function-test diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml index e7ce4dc99c433..1635deda40a4b 100644 --- a/simulator/dummy_perception_publisher/package.xml +++ b/simulator/dummy_perception_publisher/package.xml @@ -14,6 +14,7 @@ rosidl_default_runtime + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/simulator/fault_injection/CMakeLists.txt b/simulator/fault_injection/CMakeLists.txt index 7cd78e35aadd2..0bc1663412960 100644 --- a/simulator/fault_injection/CMakeLists.txt +++ b/simulator/fault_injection/CMakeLists.txt @@ -15,7 +15,7 @@ rclcpp_components_register_node(fault_injection_node_component if(BUILD_TESTING) # gtest - ament_add_gtest(test_fault_injection_node_component + ament_add_ros_isolated_gtest(test_fault_injection_node_component test/src/main.cpp test/src/test_diagnostic_storage.cpp ) diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml index 961a0af1e5854..95e50e6448807 100644 --- a/simulator/fault_injection/package.xml +++ b/simulator/fault_injection/package.xml @@ -19,7 +19,7 @@ tier4_autoware_utils tier4_simulation_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common launch diff --git a/simulator/simple_planning_simulator/CMakeLists.txt b/simulator/simple_planning_simulator/CMakeLists.txt index d62a84e7d7b6f..6034697304059 100644 --- a/simulator/simple_planning_simulator/CMakeLists.txt +++ b/simulator/simple_planning_simulator/CMakeLists.txt @@ -28,7 +28,7 @@ rclcpp_components_register_node(${PROJECT_NAME} ) if(BUILD_TESTING) - ament_add_gtest(test_simple_planning_simulator + ament_add_ros_isolated_gtest(test_simple_planning_simulator test/test_simple_planning_simulator.cpp TIMEOUT 120 ) diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml index 761aef0e322f2..2c63c861039ed 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/simple_planning_simulator/package.xml @@ -31,7 +31,7 @@ launch_ros - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/system/system_monitor/CMakeLists.txt b/system/system_monitor/CMakeLists.txt index 017e08393baae..65e933d072046 100644 --- a/system/system_monitor/CMakeLists.txt +++ b/system/system_monitor/CMakeLists.txt @@ -180,7 +180,7 @@ rclcpp_components_register_node(gpu_monitor_lib # TODO(yunus.caliskan): Port the tests to ROS2, robustify the tests. if(BUILD_TESTING) - # ament_add_gtest(test_cpu_monitor + # ament_add_ros_isolated_gtest(test_cpu_monitor # test/src/cpu_monitor/test_${CMAKE_CPU_PLATFORM}_cpu_monitor.cpp # ${CPU_MONITOR_SOURCE} # ) @@ -196,7 +196,7 @@ if(BUILD_TESTING) # target_link_libraries(test_cpu_monitor ${Boost_LIBRARIES} ${LIBRARIES}) - # ament_add_gtest(test_hdd_monitor + # ament_add_ros_isolated_gtest(test_hdd_monitor # test/src/hdd_monitor/test_hdd_monitor.cpp # src/hdd_monitor/hdd_monitor.cpp # ) @@ -213,7 +213,7 @@ if(BUILD_TESTING) # target_link_libraries(test_hdd_monitor ${Boost_LIBRARIES} ${LIBRARIES} # ) - # ament_add_gtest(test_mem_monitor + # ament_add_ros_isolated_gtest(test_mem_monitor # test/src/mem_monitor/test_mem_monitor.cpp # src/mem_monitor/mem_monitor.cpp # ) @@ -229,7 +229,7 @@ if(BUILD_TESTING) # target_link_libraries(test_mem_monitor ${Boost_LIBRARIES} ${LIBRARIES}) - # ament_add_gtest(test_net_monitor + # ament_add_ros_isolated_gtest(test_net_monitor # test/src/net_monitor/test_net_monitor.cpp # src/net_monitor/net_monitor.cpp # src/net_monitor/nl80211.cpp @@ -246,7 +246,7 @@ if(BUILD_TESTING) # target_link_libraries(test_net_monitor ${Boost_LIBRARIES} ${NL_LIBS} ${LIBRARIES}) - # ament_add_gtest(test_ntp_monitor + # ament_add_ros_isolated_gtest(test_ntp_monitor # test/src/ntp_monitor/test_ntp_monitor.cpp # src/ntp_monitor/ntp_monitor.cpp # ) @@ -262,7 +262,7 @@ if(BUILD_TESTING) # target_link_libraries(test_ntp_monitor ${Boost_LIBRARIES} ${LIBRARIES}) - # ament_add_gtest(test_process_monitor + # ament_add_ros_isolated_gtest(test_process_monitor # test/src/process_monitor/test_process_monitor.cpp # src/process_monitor/process_monitor.cpp # ) @@ -278,7 +278,7 @@ if(BUILD_TESTING) # target_link_libraries(test_process_monitor ${Boost_LIBRARIES} ${LIBRARIES}) - # ament_add_gtest(test_gpu_monitor + # ament_add_ros_isolated_gtest(test_gpu_monitor # test/src/gpu_monitor/test_${CMAKE_GPU_PLATFORM}_gpu_monitor.cpp # ${GPU_MONITOR_SOURCE} # ) diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml index 8cca9d2c71545..559dc9c072592 100644 --- a/system/system_monitor/package.xml +++ b/system/system_monitor/package.xml @@ -23,7 +23,7 @@ chrony sysstat - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt b/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt index d85b418d6fcbe..36b96a2a300c5 100644 --- a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt +++ b/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt @@ -28,7 +28,7 @@ if(BUILD_TESTING) test/test_raw_vehicle_cmd_converter.cpp ) set(TEST_RAW_VEHICLE_CMD_CONVERTER_EXE test_raw_vehicle_cmd_converter) - ament_add_gtest(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} ${TEST_SOURCES}) + ament_add_ros_isolated_gtest(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} ${TEST_SOURCES}) target_link_libraries(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} actuation_map_converter raw_vehicle_cmd_converter_node_component) endif() diff --git a/vehicle/raw_vehicle_cmd_converter/package.xml b/vehicle/raw_vehicle_cmd_converter/package.xml index b14b00c9d3963..4f36c95e5d82d 100644 --- a/vehicle/raw_vehicle_cmd_converter/package.xml +++ b/vehicle/raw_vehicle_cmd_converter/package.xml @@ -26,7 +26,7 @@ rclpy - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common From 0786fa1a9bc3d0f1abfe242059f301d64893efd3 Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Tue, 10 May 2022 00:06:41 +0900 Subject: [PATCH 016/701] docs(virtual traffic light): add documentation (#245) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc Signed-off-by: tanaka3 * doc(behavior_velocity): minor fix Signed-off-by: tanaka3 * doc : mediate to coordinate Signed-off-by: tanaka3 * doc: minor update Signed-off-by: tanaka3 * doc: fix pre-commit * doc: update docs Signed-off-by: tanaka3 * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- planning/behavior_velocity_planner/README.md | 3 + ...iorVelocityPlanner-Architecture.drawio.svg | 1663 +++++++++++++++++ .../V2X_support_traffic_light.png | Bin 0 -> 91648 bytes .../intersection-coordination.png | Bin 0 -> 161821 bytes .../virtual-traffic-light-design.md | 267 +++ 5 files changed, 1933 insertions(+) create mode 100644 planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg create mode 100644 planning/behavior_velocity_planner/docs/virtual_traffic_light/V2X_support_traffic_light.png create mode 100644 planning/behavior_velocity_planner/docs/virtual_traffic_light/intersection-coordination.png create mode 100644 planning/behavior_velocity_planner/virtual-traffic-light-design.md diff --git a/planning/behavior_velocity_planner/README.md b/planning/behavior_velocity_planner/README.md index a7feea30a3017..20ad38140d330 100644 --- a/planning/behavior_velocity_planner/README.md +++ b/planning/behavior_velocity_planner/README.md @@ -5,12 +5,15 @@ `behavior_velocity_planner` is a planner that adjust velocity based on the traffic rules. It consists of several modules. Please refer to the links listed below for detail on each module. +![Architecture](./docs/BehaviorVelocityPlanner-Architecture.drawio.svg) + - [Blind Spot](blind-spot-design.md) - [Crosswalk](crosswalk-design.md) - [Detection Area](detection-area-design.md) - [Intersection](intersection-design.md) - [MergeFromPrivate](merge-from-private-design.md) - [Stop Line](stop-line-design.md) +- [Virtual Traffic Light](virtual-traffic-light-design.md) - [Traffic Light](traffic-light-design.md) - [Occlusion Spot](occlusion-spot-design.md) - [No Stopping Area](no-stopping-area-design.md) diff --git a/planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg b/planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg new file mode 100644 index 0000000000000..4d2808a5be41a --- /dev/null +++ b/planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg @@ -0,0 +1,1663 @@ + + + + + + + + +
+
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+ /perception/occupancy_grid_map/map +
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+
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z($!P~yY|r=pg?H7W(KO~-pp}ZCwLUlu6 Autoware API +behavior_planner -up-> autoware_api : infrastructure\n command +autoware_api -down-> behavior_planner : infrastructure\n state + +'' Vector Map +vector_map -left-> behavior_planner : vector map + +'' Autoware API <-> Infrastructure +autoware_api -up-> fms : lock\n request +fms -down-> autoware_api : right-of-way\n state + +autoware_api -up-> automatic_shutter : approach\n notification +automatic_shutter -down-> autoware_api : shutter\n state + +autoware_api -up-> manual_shutter : open/close\n command +manual_shutter -down-> autoware_api : shutter\n state + +autoware_api -up-> remote_controllable_traffic_light : light change\n command +remote_controllable_traffic_light -down-> autoware_api : light\n state + +autoware_api -up-> warning_light : activation\n command +warning_light -down-> autoware_api : warning light\n state + +' Layout +'' Infrastructure +fms -[hidden]right-> automatic_shutter +automatic_shutter -[hidden]right-> manual_shutter +manual_shutter -[hidden]right-> remote_controllable_traffic_light +remote_controllable_traffic_light -[hidden]right-> warning_light + +@enduml +``` + +Planner and each infrastructure communicate with each other using common abstracted messages. + +- Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API. +- The requirements for each infrastructure are slightly different, but will be handled flexibly. + +FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied + +- Automatic shutter: Open the shutter when approaching/close it when leaving +- Manual shutter: Have the driver open and close the shutter. +- Remote control signal: Have the driver change the signal status to match the direction of travel. +- Warning light: Activate the warning light + +Support different communication methods for different infrastructures + +- HTTP +- Bluetooth +- ZigBee + +Have different meta-information for each geographic location + +- Associated lane ID +- Hardware ID +- Communication method + +FMS: Fleet Management System + +```plantuml +@startuml +!theme cerulean-outline + +' Component +node "Autoware ECU" as autoware_ecu { +component "Behavior Planner" as behavior_planner +component "Autoware API" as autoware_api +component "Web.Auto Agent" as web_auto_agent +note right of web_auto_agent : (fms_bridge) +database "Vector Map" as vector_map + +package "Infrastructure Bridges" as infrastructure_bridges { + component "Automatic Shutter Bridge" as automatic_shutter_bridge + component "Manual Shutter Bridge" as manual_shutter_bridge + component "Remove Controllable Traffic Light Bridge" as remote_controllable_traffic_light_bridge + component "Warning Light Bridge" as warning_light_bridge +} +} + +cloud "FMS" as fms { + component "FMS Gateway" as fms_gateway + + component "Intersection Arbitrator" as intersection_arbitrator + database "Intersection Lock Table" as intersection_lock_table + + component "Vector Map Builder" as vector_map_builder + database "Vector Map Database" as vector_map_database +} + +package "Infrastructures" as infrastructures { + node "Automatic Shutter" as automatic_shutter + node "Manual Shutter" as manual_shutter + node "Remote Controllable Traffic Light" as remote_controllable_traffic_light + node "Warning Light" as warning_light +} + +' Relationship +'' Behavior Planner <-> Autoware API +behavior_planner -up-> autoware_api : infrastructure\n command +autoware_api -down-> behavior_planner : infrastructure state\n as virtual traffic light + +'' Autoware API <-> Web.Auto +autoware_api -up-> web_auto_agent : infrastructure\n command +web_auto_agent -down-> autoware_api : infrastructure state\n as virtual traffic light + +'' Autoware API <-> Infrastructure Bridge +autoware_api -right-> infrastructure_bridges : infrastructure\n command +infrastructure_bridges -left-> autoware_api : infrastructure state\n as virtual traffic light + +'' Infrastructure Bridge <-> Infrastructure +automatic_shutter_bridge -right-> automatic_shutter : approach notification +automatic_shutter -left-> automatic_shutter_bridge : shutter state + +manual_shutter_bridge -right-> manual_shutter : open/close command +manual_shutter -left-> manual_shutter_bridge : shutter state + +remote_controllable_traffic_light_bridge -right-> remote_controllable_traffic_light : light change command +remote_controllable_traffic_light -left-> remote_controllable_traffic_light_bridge : light state + +warning_light_bridge -right-> warning_light : activation command +warning_light -left-> warning_light_bridge : warning light state + +'' Web.Auto +web_auto_agent -up-> fms_gateway : infrastructure\n command +fms_gateway -down-> web_auto_agent : infrastructure state\n as virtual traffic light + +fms_gateway -up-> intersection_arbitrator : lock request +intersection_arbitrator -down-> fms_gateway : right-of-way state + +intersection_arbitrator -up-> intersection_lock_table : lock request +intersection_lock_table -down-> intersection_arbitrator : lock result + +vector_map_builder -down-> vector_map_database : create vector map +vector_map_database -left-> intersection_arbitrator : vector map + +'' Vector Map +vector_map_database .down.> web_auto_agent : vector map +web_auto_agent -left-> vector_map : vector map +vector_map -down-> behavior_planner : vector map + +' Layout +'' Infrastructure Bridge +automatic_shutter_bridge -[hidden]down-> manual_shutter_bridge +manual_shutter_bridge -[hidden]down-> remote_controllable_traffic_light_bridge +remote_controllable_traffic_light_bridge -[hidden]down-> warning_light_bridge + +'' Infrastructure +automatic_shutter -[hidden]down-> manual_shutter +manual_shutter -[hidden]down-> remote_controllable_traffic_light +remote_controllable_traffic_light -[hidden]down-> warning_light + +@enduml +``` + +#### Module Parameters + +| Parameter | Type | Description | +| ------------------------------- | ------ | --------------------------------------------------------------------- | +| `max_delay_sec` | double | [s] maximum allowed delay for command | +| `near_line_distance` | double | [m] threshold distance to stop line to check ego stop. | +| `dead_line_margin` | double | [m] threshold distance that this module continue to insert stop line. | +| `check_timeout_after_stop_line` | bool | [-] check timeout to stop when linkage is disconnected | + +#### Flowchart + +```plantuml +@startuml +!theme cerulean-outline +start + +if (before start line?) then (yes) + stop +else (no) +endif + +if (after end line?) then (yes) + stop +else (no) +endif + +:send command to infrastructure; + +if (no stop line?) then (yes) + stop +else (no) +endif + +:check infrastructure state; + +if (timeout or not received?) then (yes) + :stop at stop line; + stop +else (no) +endif + +if (no right of way?) then (yes) + :stop at stop line; +else (no) +endif + +if (finalization is requested?) then (yes) + if (not finalized?) then (yes) + :stop at end line; + else (no) + endif +else (no) +endif + +stop +@enduml +``` + +##### Known Limits + +- tbd. From 4f4644f1ff02e6a22fef45a6555a6e3d5b9d5761 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 10 May 2022 08:29:37 +0900 Subject: [PATCH 017/701] feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (#830) * fix(surroud_obstacle_checker): use alias Signed-off-by: satoshi-ota * feat(surround_obstacle_checker): use velocity limit Signed-off-by: satoshi-ota * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use parameter struct Signed-off-by: satoshi-ota * fix(surround_obstacle_checker): use alias Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup member functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup polygon handling Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use marker helper Signed-off-by: satoshi-ota * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow Signed-off-by: satoshi-ota --- .../motion_planning/motion_planning.launch.py | 35 +- .../motion_planning.launch.xml | 13 +- .../surround_obstacle_checker/CMakeLists.txt | 2 +- .../surround_obstacle_checker.param.yaml | 1 + .../debug_marker.hpp | 20 +- .../surround_obstacle_checker/node.hpp | 136 ++-- .../surround_obstacle_checker.launch.xml | 12 +- .../surround_obstacle_checker/package.xml | 1 + .../src/debug_marker.cpp | 105 +-- .../surround_obstacle_checker/src/node.cpp | 632 +++++++++--------- 10 files changed, 433 insertions(+), 524 deletions(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index e8661322215fe..89d04bc5b3a00 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -92,20 +92,23 @@ def launch_setup(context, *args, **kwargs): surround_obstacle_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"] surround_obstacle_checker_component = ComposableNode( package="surround_obstacle_checker", - plugin="SurroundObstacleCheckerNode", + plugin="surround_obstacle_checker::SurroundObstacleCheckerNode", name="surround_obstacle_checker", namespace="", remappings=[ ("~/output/no_start_reason", "/planning/scenario_planning/status/no_start_reason"), ("~/output/stop_reasons", "/planning/scenario_planning/status/stop_reasons"), - ("~/output/trajectory", "surround_obstacle_checker/trajectory"), + ("~/output/max_velocity", "/planning/scenario_planning/max_velocity_candidates"), + ( + "~/output/velocity_limit_clear_command", + "/planning/scenario_planning/clear_velocity_limit", + ), ( "~/input/pointcloud", "/perception/obstacle_segmentation/pointcloud", ), ("~/input/objects", "/perception/object_recognition/objects"), ("~/input/odometry", "/localization/kinematic_state"), - ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"), ], parameters=[ surround_obstacle_checker_param, @@ -114,22 +117,6 @@ def launch_setup(context, *args, **kwargs): extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) - # relay - relay_component = ComposableNode( - package="topic_tools", - plugin="topic_tools::RelayNode", - name="skip_surround_obstacle_check_relay", - namespace="", - parameters=[ - { - "input_topic": "obstacle_avoidance_planner/trajectory", - "output_topic": "surround_obstacle_checker/trajectory", - "type": "autoware_auto_planning_msgs/msg/Trajectory", - } - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - # obstacle stop planner obstacle_stop_planner_param_path = os.path.join( get_package_share_directory("tier4_planning_launch"), @@ -173,7 +160,7 @@ def launch_setup(context, *args, **kwargs): ), ("~/input/objects", "/perception/object_recognition/objects"), ("~/input/odometry", "/localization/kinematic_state"), - ("~/input/trajectory", "surround_obstacle_checker/trajectory"), + ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"), ], parameters=[ common_param, @@ -202,13 +189,7 @@ def launch_setup(context, *args, **kwargs): condition=IfCondition(LaunchConfiguration("use_surround_obstacle_check")), ) - relay_loader = LoadComposableNodes( - composable_node_descriptions=[relay_component], - target_container=container, - condition=UnlessCondition(LaunchConfiguration("use_surround_obstacle_check")), - ) - - group = GroupAction([container, surround_obstacle_checker_loader, relay_loader]) + group = GroupAction([container, surround_obstacle_checker_loader]) return [group] diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index 0fa8707e4fda9..3d195185d9bd6 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -19,22 +19,11 @@ - - - - - - - - - - - @@ -45,7 +34,7 @@ - + diff --git a/planning/surround_obstacle_checker/CMakeLists.txt b/planning/surround_obstacle_checker/CMakeLists.txt index b40b7c22c98ca..ab61405c9f335 100644 --- a/planning/surround_obstacle_checker/CMakeLists.txt +++ b/planning/surround_obstacle_checker/CMakeLists.txt @@ -18,7 +18,7 @@ target_link_libraries(${PROJECT_NAME} ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "SurroundObstacleCheckerNode" + PLUGIN "surround_obstacle_checker::SurroundObstacleCheckerNode" EXECUTABLE ${PROJECT_NAME}_node ) diff --git a/planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml b/planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml index b57d7506b0574..afcc532b7c604 100644 --- a/planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml +++ b/planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml @@ -9,3 +9,4 @@ # ego stop state stop_state_ego_speed: 0.1 #[m/s] + stop_state_entry_duration_time: 0.1 #[s] diff --git a/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp b/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp index d076e26afc009..2891ac63c5df4 100644 --- a/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp +++ b/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp @@ -25,8 +25,18 @@ #include #include +namespace surround_obstacle_checker +{ + +using tier4_planning_msgs::msg::StopFactor; +using tier4_planning_msgs::msg::StopReason; +using tier4_planning_msgs::msg::StopReasonArray; +using visualization_msgs::msg::Marker; +using visualization_msgs::msg::MarkerArray; + enum class PoseType : int8_t { NoStart = 0 }; enum class PointType : int8_t { NoStart = 0 }; + class SurroundObstacleCheckerDebugNode { public: @@ -38,16 +48,16 @@ class SurroundObstacleCheckerDebugNode void publish(); private: - rclcpp::Publisher::SharedPtr debug_viz_pub_; - rclcpp::Publisher::SharedPtr stop_reason_pub_; + rclcpp::Publisher::SharedPtr debug_viz_pub_; + rclcpp::Publisher::SharedPtr stop_reason_pub_; double base_link2front_; - visualization_msgs::msg::MarkerArray makeVisualizationMarker(); - tier4_planning_msgs::msg::StopReasonArray makeStopReasonArray(); + MarkerArray makeVisualizationMarker(); + StopReasonArray makeStopReasonArray(); std::shared_ptr stop_obstacle_point_ptr_; std::shared_ptr stop_pose_ptr_; rclcpp::Clock::SharedPtr clock_; }; - +} // namespace surround_obstacle_checker #endif // SURROUND_OBSTACLE_CHECKER__DEBUG_MARKER_HPP_ diff --git a/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp b/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp index 7e4bbb9ffd15a..e437787c234ac 100644 --- a/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp +++ b/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp @@ -16,9 +16,9 @@ #define SURROUND_OBSTACLE_CHECKER__NODE_HPP_ #include "surround_obstacle_checker/debug_marker.hpp" -#include "tier4_autoware_utils/trajectory/tmp_conversion.hpp" #include +#include #include #include @@ -27,30 +27,31 @@ #include #include #include +#include +#include #include -#include -#include -#include -#include -#include -#include - -#include #include #include #include #include #include +#include #include -using Point2d = boost::geometry::model::d2::point_xy; -using Polygon2d = - boost::geometry::model::polygon; // counter-clockwise, open +namespace surround_obstacle_checker +{ + +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_auto_perception_msgs::msg::Shape; using autoware_auto_planning_msgs::msg::Trajectory; using autoware_auto_planning_msgs::msg::TrajectoryPoint; -using TrajectoryPoints = std::vector; +using tier4_planning_msgs::msg::VelocityLimit; +using tier4_planning_msgs::msg::VelocityLimitClearCommand; +using vehicle_info_util::VehicleInfo; + +using Obstacle = std::pair; enum class State { PASS, STOP }; @@ -59,70 +60,73 @@ class SurroundObstacleCheckerNode : public rclcpp::Node public: explicit SurroundObstacleCheckerNode(const rclcpp::NodeOptions & node_options); + struct NodeParam + { + bool use_pointcloud; + bool use_dynamic_object; + bool is_surround_obstacle; + // For preventing chattering, + // surround_check_recover_distance_ must be bigger than surround_check_distance_ + double surround_check_recover_distance; + double surround_check_distance; + double state_clear_time; + double stop_state_ego_speed; + double stop_state_entry_duration_time; + }; + private: - void pathCallback(const Trajectory::ConstSharedPtr input_msg); - void pointCloudCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr input_msg); - void dynamicObjectCallback( - const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr input_msg); - void currentVelocityCallback(const nav_msgs::msg::Odometry::ConstSharedPtr input_msg); - void insertStopVelocity(const size_t closest_idx, TrajectoryPoints * traj); - bool convertPose( - const geometry_msgs::msg::Pose & pose, const std::string & source, const std::string & target, - const rclcpp::Time & time, geometry_msgs::msg::Pose & conv_pose); - bool getPose( - const std::string & source, const std::string & target, geometry_msgs::msg::Pose & pose); - void getNearestObstacle(double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point); - void getNearestObstacleByPointCloud( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point); - void getNearestObstacleByDynamicObject( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point); - bool isObstacleFound(const double min_dist_to_obj); + void onTimer(); + + void onPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg); + + void onDynamicObjects(const PredictedObjects::ConstSharedPtr msg); + + void onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg); + + boost::optional getNearestObstacle() const; + + boost::optional getNearestObstacleByPointCloud() const; + + boost::optional getNearestObstacleByDynamicObject() const; + + boost::optional getTransform( + const std::string & source, const std::string & target, const rclcpp::Time & stamp, + double duration_sec) const; + bool isStopRequired(const bool is_obstacle_found, const bool is_stopped); - size_t getClosestIdx(const TrajectoryPoints & traj, const geometry_msgs::msg::Pose current_pose); - bool checkStop(const TrajectoryPoint & closest_point); - Polygon2d createSelfPolygon(); - Polygon2d createObjPolygon( - const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & size); - Polygon2d createObjPolygon( - const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Polygon & footprint); - diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag( - const std::string no_start_reason, const geometry_msgs::msg::Pose & stop_pose); - std::string jsonDumpsPose(const geometry_msgs::msg::Pose & pose); - - /* - * ROS - */ + + bool isVehicleStopped(); + + // ros + mutable tf2_ros::Buffer tf_buffer_{get_clock()}; + mutable tf2_ros::TransformListener tf_listener_{tf_buffer_}; + rclcpp::TimerBase::SharedPtr timer_; + // publisher and subscriber - rclcpp::Subscription::SharedPtr path_sub_; - rclcpp::Subscription::SharedPtr pointcloud_sub_; - rclcpp::Subscription::SharedPtr - dynamic_object_sub_; - rclcpp::Subscription::SharedPtr current_velocity_sub_; - rclcpp::Publisher::SharedPtr path_pub_; - rclcpp::Publisher::SharedPtr stop_reason_diag_pub_; + rclcpp::Subscription::SharedPtr sub_pointcloud_; + rclcpp::Subscription::SharedPtr sub_dynamic_objects_; + rclcpp::Subscription::SharedPtr sub_odometry_; + rclcpp::Publisher::SharedPtr pub_stop_reason_; + rclcpp::Publisher::SharedPtr pub_clear_velocity_limit_; + rclcpp::Publisher::SharedPtr pub_velocity_limit_; + + // debug std::shared_ptr debug_ptr_; - tf2_ros::Buffer tf_buffer_; - tf2_ros::TransformListener tf_listener_; // parameter - nav_msgs::msg::Odometry::ConstSharedPtr current_velocity_ptr_; - sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_ptr_; - autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr object_ptr_; + NodeParam node_param_; vehicle_info_util::VehicleInfo vehicle_info_; - Polygon2d self_poly_; - bool use_pointcloud_; - bool use_dynamic_object_; - double surround_check_distance_; - // For preventing chattering, - // surround_check_recover_distance_ must be bigger than surround_check_distance_ - double surround_check_recover_distance_; - double state_clear_time_; - double stop_state_ego_speed_; - bool is_surround_obstacle_; + + // data + nav_msgs::msg::Odometry::ConstSharedPtr odometry_ptr_; + sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_ptr_; + PredictedObjects::ConstSharedPtr object_ptr_; // State Machine State state_ = State::PASS; std::shared_ptr last_obstacle_found_time_; + std::shared_ptr last_running_time_; }; +} // namespace surround_obstacle_checker #endif // SURROUND_OBSTACLE_CHECKER__NODE_HPP_ diff --git a/planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml b/planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml index a0dd4b307f495..53f26a05c87c3 100644 --- a/planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml +++ b/planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml @@ -1,24 +1,20 @@ - - - - - + + - - + + - diff --git a/planning/surround_obstacle_checker/package.xml b/planning/surround_obstacle_checker/package.xml index 5dfed9ddb19a7..b74ad2ccec25b 100644 --- a/planning/surround_obstacle_checker/package.xml +++ b/planning/surround_obstacle_checker/package.xml @@ -14,6 +14,7 @@ autoware_auto_perception_msgs autoware_auto_planning_msgs + autoware_auto_tf2 diagnostic_msgs eigen libpcl-all-dev diff --git a/planning/surround_obstacle_checker/src/debug_marker.cpp b/planning/surround_obstacle_checker/src/debug_marker.cpp index 64dbc2f349f14..8abdb67e8b2c6 100644 --- a/planning/surround_obstacle_checker/src/debug_marker.cpp +++ b/planning/surround_obstacle_checker/src/debug_marker.cpp @@ -14,6 +14,7 @@ #include "surround_obstacle_checker/debug_marker.hpp" +#include #ifdef ROS_DISTRO_GALACTIC #include #else @@ -22,13 +23,23 @@ #include +namespace surround_obstacle_checker +{ + +using tier4_autoware_utils::appendMarkerArray; +using tier4_autoware_utils::calcOffsetPose; +using tier4_autoware_utils::createDefaultMarker; +using tier4_autoware_utils::createMarkerColor; +using tier4_autoware_utils::createMarkerScale; +using tier4_autoware_utils::createPoint; +using tier4_autoware_utils::createStopVirtualWallMarker; + SurroundObstacleCheckerDebugNode::SurroundObstacleCheckerDebugNode( const double base_link2front, const rclcpp::Clock::SharedPtr clock, rclcpp::Node & node) : base_link2front_(base_link2front), clock_(clock) { debug_viz_pub_ = node.create_publisher("~/debug/marker", 1); - stop_reason_pub_ = - node.create_publisher("~/output/stop_reasons", 1); + stop_reason_pub_ = node.create_publisher("~/output/stop_reasons", 1); } bool SurroundObstacleCheckerDebugNode::pushPose( @@ -70,87 +81,25 @@ void SurroundObstacleCheckerDebugNode::publish() stop_obstacle_point_ptr_ = nullptr; } -visualization_msgs::msg::MarkerArray SurroundObstacleCheckerDebugNode::makeVisualizationMarker() +MarkerArray SurroundObstacleCheckerDebugNode::makeVisualizationMarker() { - visualization_msgs::msg::MarkerArray msg; + MarkerArray msg; rclcpp::Time current_time = this->clock_->now(); - tf2::Transform tf_base_link2front( - tf2::Quaternion(0.0, 0.0, 0.0, 1.0), tf2::Vector3(base_link2front_, 0.0, 0.0)); // visualize stop line if (stop_pose_ptr_ != nullptr) { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.header.stamp = current_time; - marker.ns = "virtual_wall/no_start"; - marker.id = 0; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::CUBE; - marker.action = visualization_msgs::msg::Marker::ADD; - tf2::Transform tf_map2base_link; - tf2::fromMsg(*stop_pose_ptr_, tf_map2base_link); - tf2::Transform tf_map2front = tf_map2base_link * tf_base_link2front; - tf2::toMsg(tf_map2front, marker.pose); - marker.pose.position.z += 1.0; - marker.scale.x = 0.1; - marker.scale.y = 5.0; - marker.scale.z = 2.0; - marker.color.a = 0.5; // Don't forget to set the alpha! - marker.color.r = 1.0; - marker.color.g = 0.0; - marker.color.b = 0.0; - msg.markers.push_back(marker); - } - - // visualize stop reason - if (stop_pose_ptr_ != nullptr) { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.header.stamp = current_time; - marker.ns = "factor_text/no_start"; - marker.id = 0; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; - marker.action = visualization_msgs::msg::Marker::ADD; - tf2::Transform tf_map2base_link; - tf2::fromMsg(*stop_pose_ptr_, tf_map2base_link); - tf2::Transform tf_map2front = tf_map2base_link * tf_base_link2front; - tf2::toMsg(tf_map2front, marker.pose); - marker.pose.position.z += 2.0; - marker.scale.x = 0.0; - marker.scale.y = 0.0; - marker.scale.z = 1.0; - marker.color.a = 0.999; // Don't forget to set the alpha! - marker.color.r = 1.0; - marker.color.g = 1.0; - marker.color.b = 1.0; - marker.text = "surround obstacle"; - msg.markers.push_back(marker); + const auto p = calcOffsetPose(*stop_pose_ptr_, base_link2front_, 0.0, 0.0); + const auto markers = createStopVirtualWallMarker(p, "surround obstacle", current_time, 0); + appendMarkerArray(markers, &msg); } // visualize surround object if (stop_obstacle_point_ptr_ != nullptr) { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.header.stamp = current_time; - marker.ns = "no_start_obstacle_text"; - marker.id = 0; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; - marker.action = visualization_msgs::msg::Marker::ADD; + auto marker = createDefaultMarker( + "map", current_time, "no_start_obstacle_text", 0, Marker::TEXT_VIEW_FACING, + createMarkerScale(0.0, 0.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999)); marker.pose.position = *stop_obstacle_point_ptr_; marker.pose.position.z += 2.0; // add half of the heights of obj roughly - marker.pose.orientation.x = 0.0; - marker.pose.orientation.y = 0.0; - marker.pose.orientation.z = 0.0; - marker.pose.orientation.w = 1.0; - marker.scale.x = 0.0; - marker.scale.y = 0.0; - marker.scale.z = 1.0; - marker.color.a = 0.999; // Don't forget to set the alpha! - marker.color.r = 1.0; - marker.color.g = 1.0; - marker.color.b = 1.0; marker.text = "!"; msg.markers.push_back(marker); } @@ -158,7 +107,7 @@ visualization_msgs::msg::MarkerArray SurroundObstacleCheckerDebugNode::makeVisua return msg; } -tier4_planning_msgs::msg::StopReasonArray SurroundObstacleCheckerDebugNode::makeStopReasonArray() +StopReasonArray SurroundObstacleCheckerDebugNode::makeStopReasonArray() { // create header std_msgs::msg::Header header; @@ -166,9 +115,9 @@ tier4_planning_msgs::msg::StopReasonArray SurroundObstacleCheckerDebugNode::make header.stamp = this->clock_->now(); // create stop reason stamped - tier4_planning_msgs::msg::StopReason stop_reason_msg; - stop_reason_msg.reason = tier4_planning_msgs::msg::StopReason::SURROUND_OBSTACLE_CHECK; - tier4_planning_msgs::msg::StopFactor stop_factor; + StopReason stop_reason_msg; + stop_reason_msg.reason = StopReason::SURROUND_OBSTACLE_CHECK; + StopFactor stop_factor; if (stop_pose_ptr_ != nullptr) { stop_factor.stop_pose = *stop_pose_ptr_; @@ -179,8 +128,10 @@ tier4_planning_msgs::msg::StopReasonArray SurroundObstacleCheckerDebugNode::make } // create stop reason array - tier4_planning_msgs::msg::StopReasonArray stop_reason_array; + StopReasonArray stop_reason_array; stop_reason_array.header = header; stop_reason_array.stop_reasons.emplace_back(stop_reason_msg); return stop_reason_array; } + +} // namespace surround_obstacle_checker diff --git a/planning/surround_obstacle_checker/src/node.cpp b/planning/surround_obstacle_checker/src/node.cpp index 09fe48f35b571..9e1fc6711bd3f 100644 --- a/planning/surround_obstacle_checker/src/node.cpp +++ b/planning/surround_obstacle_checker/src/node.cpp @@ -14,9 +14,17 @@ #include "surround_obstacle_checker/node.hpp" +#include + +#include +#include +#include +#include +#include +#include + #include #include -#include #include #ifdef ROS_DISTRO_GALACTIC #include @@ -34,313 +42,381 @@ #include #include +namespace surround_obstacle_checker +{ + +namespace bg = boost::geometry; +using Point2d = bg::model::d2::point_xy; +using Polygon2d = bg::model::polygon; +using tier4_autoware_utils::createPoint; +using tier4_autoware_utils::pose2transform; + +namespace +{ +std::string jsonDumpsPose(const geometry_msgs::msg::Pose & pose) +{ + const std::string json_dumps_pose = + (boost::format( + R"({"position":{"x":%lf,"y":%lf,"z":%lf},"orientation":{"w":%lf,"x":%lf,"y":%lf,"z":%lf}})") % + pose.position.x % pose.position.y % pose.position.z % pose.orientation.w % pose.orientation.x % + pose.orientation.y % pose.orientation.z) + .str(); + return json_dumps_pose; +} + +diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag( + const std::string no_start_reason, const geometry_msgs::msg::Pose & stop_pose) +{ + diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; + diagnostic_msgs::msg::KeyValue no_start_reason_diag_kv; + no_start_reason_diag.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + no_start_reason_diag.name = "no_start_reason"; + no_start_reason_diag.message = no_start_reason; + no_start_reason_diag_kv.key = "no_start_pose"; + no_start_reason_diag_kv.value = jsonDumpsPose(stop_pose); + no_start_reason_diag.values.push_back(no_start_reason_diag_kv); + return no_start_reason_diag; +} + +geometry_msgs::msg::Point32 createPoint32(const double x, const double y, const double z) +{ + geometry_msgs::msg::Point32 p; + p.x = x; + p.y = y; + p.z = z; + return p; +} + +Polygon2d createObjPolygon( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Polygon & footprint) +{ + geometry_msgs::msg::Polygon transformed_polygon{}; + geometry_msgs::msg::TransformStamped geometry_tf{}; + geometry_tf.transform = pose2transform(pose); + tf2::doTransform(footprint, transformed_polygon, geometry_tf); + + Polygon2d object_polygon; + for (const auto & p : transformed_polygon.points) { + object_polygon.outer().push_back(Point2d(p.x, p.y)); + } + + bg::correct(object_polygon); + + return object_polygon; +} + +Polygon2d createObjPolygon( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & size) +{ + const double & length_m = size.x / 2.0; + const double & width_m = size.y / 2.0; + + geometry_msgs::msg::Polygon polygon{}; + + polygon.points.push_back(createPoint32(length_m, -width_m, 0.0)); + polygon.points.push_back(createPoint32(length_m, width_m, 0.0)); + polygon.points.push_back(createPoint32(-length_m, width_m, 0.0)); + polygon.points.push_back(createPoint32(-length_m, -width_m, 0.0)); + + return createObjPolygon(pose, polygon); +} + +Polygon2d createSelfPolygon(const VehicleInfo & vehicle_info) +{ + const double & front_m = vehicle_info.max_longitudinal_offset_m; + const double & width_m = vehicle_info.min_lateral_offset_m; + const double & rear_m = vehicle_info.min_longitudinal_offset_m; + + Polygon2d ego_polygon; + + ego_polygon.outer().push_back(Point2d(front_m, -width_m)); + ego_polygon.outer().push_back(Point2d(front_m, width_m)); + ego_polygon.outer().push_back(Point2d(-rear_m, width_m)); + ego_polygon.outer().push_back(Point2d(-rear_m, -width_m)); + + bg::correct(ego_polygon); + + return ego_polygon; +} +} // namespace + SurroundObstacleCheckerNode::SurroundObstacleCheckerNode(const rclcpp::NodeOptions & node_options) -: Node("surround_obstacle_checker_node", node_options), - tf_buffer_(this->get_clock()), - tf_listener_(tf_buffer_), - vehicle_info_(vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo()) +: Node("surround_obstacle_checker_node", node_options) { // Parameters - use_pointcloud_ = this->declare_parameter("use_pointcloud", true); - use_dynamic_object_ = this->declare_parameter("use_dynamic_object", true); - surround_check_distance_ = this->declare_parameter("surround_check_distance", 2.0); - surround_check_recover_distance_ = - this->declare_parameter("surround_check_recover_distance", 2.5); - state_clear_time_ = this->declare_parameter("state_clear_time", 2.0); - stop_state_ego_speed_ = this->declare_parameter("stop_state_ego_speed", 0.1); - debug_ptr_ = std::make_shared( - vehicle_info_.max_longitudinal_offset_m, this->get_clock(), *this); - self_poly_ = createSelfPolygon(); + { + auto & p = node_param_; + p.use_pointcloud = this->declare_parameter("use_pointcloud", true); + p.use_dynamic_object = this->declare_parameter("use_dynamic_object", true); + p.surround_check_distance = this->declare_parameter("surround_check_distance", 2.0); + p.surround_check_recover_distance = + this->declare_parameter("surround_check_recover_distance", 2.5); + p.state_clear_time = this->declare_parameter("state_clear_time", 2.0); + p.stop_state_ego_speed = this->declare_parameter("stop_state_ego_speed", 0.1); + p.stop_state_entry_duration_time = + this->declare_parameter("stop_state_entry_duration_time", 0.1); + } + + vehicle_info_ = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo(); // Publishers - path_pub_ = - this->create_publisher("~/output/trajectory", 1); - stop_reason_diag_pub_ = + pub_stop_reason_ = this->create_publisher("~/output/no_start_reason", 1); + pub_clear_velocity_limit_ = + this->create_publisher("~/output/velocity_limit_clear_command", 1); + pub_velocity_limit_ = this->create_publisher("~/output/max_velocity", 1); - // Subscriber - path_sub_ = this->create_subscription( - "~/input/trajectory", 1, - std::bind(&SurroundObstacleCheckerNode::pathCallback, this, std::placeholders::_1)); - pointcloud_sub_ = this->create_subscription( + // Subscribers + sub_pointcloud_ = this->create_subscription( "~/input/pointcloud", rclcpp::SensorDataQoS(), - std::bind(&SurroundObstacleCheckerNode::pointCloudCallback, this, std::placeholders::_1)); - dynamic_object_sub_ = - this->create_subscription( - "~/input/objects", 1, - std::bind(&SurroundObstacleCheckerNode::dynamicObjectCallback, this, std::placeholders::_1)); - current_velocity_sub_ = this->create_subscription( + std::bind(&SurroundObstacleCheckerNode::onPointCloud, this, std::placeholders::_1)); + sub_dynamic_objects_ = this->create_subscription( + "~/input/objects", 1, + std::bind(&SurroundObstacleCheckerNode::onDynamicObjects, this, std::placeholders::_1)); + sub_odometry_ = this->create_subscription( "~/input/odometry", 1, - std::bind(&SurroundObstacleCheckerNode::currentVelocityCallback, this, std::placeholders::_1)); + std::bind(&SurroundObstacleCheckerNode::onOdometry, this, std::placeholders::_1)); + + using std::chrono_literals::operator""ms; + timer_ = rclcpp::create_timer( + this, get_clock(), 100ms, std::bind(&SurroundObstacleCheckerNode::onTimer, this)); + + last_running_time_ = std::make_shared(this->now()); + + // Debug + debug_ptr_ = std::make_shared( + vehicle_info_.max_longitudinal_offset_m, this->get_clock(), *this); } -void SurroundObstacleCheckerNode::pathCallback( - const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr input_msg) +void SurroundObstacleCheckerNode::onTimer() { - if (use_pointcloud_ && !pointcloud_ptr_) { + if (node_param_.use_pointcloud && !pointcloud_ptr_) { RCLCPP_WARN_THROTTLE( this->get_logger(), *this->get_clock(), 1000 /* ms */, "waiting for pointcloud info..."); return; } - if (use_dynamic_object_ && !object_ptr_) { + if (node_param_.use_dynamic_object && !object_ptr_) { RCLCPP_WARN_THROTTLE( this->get_logger(), *this->get_clock(), 1000 /* ms */, "waiting for dynamic object info..."); return; } - if (!current_velocity_ptr_) { + if (!odometry_ptr_) { RCLCPP_WARN_THROTTLE( this->get_logger(), *this->get_clock(), 1000 /* ms */, "waiting for current velocity..."); return; } - // parameter description - TrajectoryPoints output_trajectory_points = - tier4_autoware_utils::convertToTrajectoryPointArray(*input_msg); + const auto nearest_obstacle = getNearestObstacle(); + const auto is_vehicle_stopped = isVehicleStopped(); - diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; + switch (state_) { + case State::PASS: { + const auto is_obstacle_found = + !nearest_obstacle ? false + : nearest_obstacle.get().first < node_param_.surround_check_distance; - // get current pose in traj frame - geometry_msgs::msg::Pose current_pose; - if (!getPose(input_msg->header.frame_id, "base_link", current_pose)) { - return; - } + if (!isStopRequired(is_obstacle_found, is_vehicle_stopped)) { + break; + } + + state_ = State::STOP; - // get closest idx - const size_t closest_idx = getClosestIdx(output_trajectory_points, current_pose); + auto velocity_limit = std::make_shared(); + velocity_limit->stamp = this->now(); + velocity_limit->max_velocity = 0.0; + velocity_limit->use_constraints = false; + velocity_limit->sender = "surround_obstacle_checker"; - // get nearest object - double min_dist_to_obj = std::numeric_limits::max(); - geometry_msgs::msg::Point nearest_obj_point; - getNearestObstacle(&min_dist_to_obj, &nearest_obj_point); + pub_velocity_limit_->publish(*velocity_limit); - // check current obstacle status (exist or not) - const auto is_obstacle_found = isObstacleFound(min_dist_to_obj); + // do not start when there is a obstacle near the ego vehicle. + RCLCPP_WARN(get_logger(), "do not start because there is obstacle near the ego vehicle."); - // check current stop status (stop or not) - const auto is_stopped = checkStop(input_msg->points.at(closest_idx)); + break; + } - const auto is_stop_required = isStopRequired(is_obstacle_found, is_stopped); + case State::STOP: { + const auto is_obstacle_found = + !nearest_obstacle + ? false + : nearest_obstacle.get().first < node_param_.surround_check_recover_distance; - // insert stop velocity - if (is_stop_required) { - state_ = State::STOP; + if (isStopRequired(is_obstacle_found, is_vehicle_stopped)) { + break; + } - // do not start when there is a obstacle near the ego vehicle. - RCLCPP_WARN_THROTTLE( - get_logger(), *this->get_clock(), 500 /* ms */, - "do not start because there is obstacle near the ego vehicle."); - insertStopVelocity(closest_idx, &output_trajectory_points); + state_ = State::PASS; + + auto velocity_limit_clear_command = std::make_shared(); + velocity_limit_clear_command->stamp = this->now(); + velocity_limit_clear_command->command = true; + velocity_limit_clear_command->sender = "surround_obstacle_checker"; - // visualization for debug - if (is_obstacle_found) { - debug_ptr_->pushObstaclePoint(nearest_obj_point, PointType::NoStart); + pub_clear_velocity_limit_->publish(*velocity_limit_clear_command); + + break; } - debug_ptr_->pushPose(input_msg->points.at(closest_idx).pose, PoseType::NoStart); - no_start_reason_diag = makeStopReasonDiag("obstacle", input_msg->points.at(closest_idx).pose); - } else { - state_ = State::PASS; + + default: + break; } - // publish trajectory and debug info - auto output_msg = tier4_autoware_utils::convertToTrajectory(output_trajectory_points); - output_msg.header = input_msg->header; - path_pub_->publish(output_msg); - stop_reason_diag_pub_->publish(no_start_reason_diag); + if (nearest_obstacle) { + debug_ptr_->pushObstaclePoint(nearest_obstacle.get().second, PointType::NoStart); + } + + diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; + if (state_ == State::STOP) { + debug_ptr_->pushPose(odometry_ptr_->pose.pose, PoseType::NoStart); + no_start_reason_diag = makeStopReasonDiag("obstacle", odometry_ptr_->pose.pose); + } + + pub_stop_reason_->publish(no_start_reason_diag); debug_ptr_->publish(); } -void SurroundObstacleCheckerNode::pointCloudCallback( - const sensor_msgs::msg::PointCloud2::ConstSharedPtr input_msg) +void SurroundObstacleCheckerNode::onPointCloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) { - pointcloud_ptr_ = input_msg; + pointcloud_ptr_ = msg; } -void SurroundObstacleCheckerNode::dynamicObjectCallback( - const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr input_msg) +void SurroundObstacleCheckerNode::onDynamicObjects(const PredictedObjects::ConstSharedPtr msg) { - object_ptr_ = input_msg; + object_ptr_ = msg; } -void SurroundObstacleCheckerNode::currentVelocityCallback( - const nav_msgs::msg::Odometry::ConstSharedPtr input_msg) +void SurroundObstacleCheckerNode::onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg) { - current_velocity_ptr_ = input_msg; + odometry_ptr_ = msg; } -void SurroundObstacleCheckerNode::insertStopVelocity( - const size_t closest_idx, TrajectoryPoints * traj) +boost::optional SurroundObstacleCheckerNode::getNearestObstacle() const { - // set zero velocity from closest idx to last idx - for (size_t i = closest_idx; i < traj->size(); i++) { - traj->at(i).longitudinal_velocity_mps = 0.0; - } -} + boost::optional nearest_pointcloud{boost::none}; + boost::optional nearest_object{boost::none}; -bool SurroundObstacleCheckerNode::getPose( - const std::string & source, const std::string & target, geometry_msgs::msg::Pose & pose) -{ - try { - // get transform from source to target - geometry_msgs::msg::TransformStamped ros_src2tgt = - tf_buffer_.lookupTransform(source, target, tf2::TimePointZero); - // convert geometry_msgs::msg::Transform to geometry_msgs::msg::Pose - tf2::Transform transform; - tf2::fromMsg(ros_src2tgt.transform, transform); - tf2::toMsg(transform, pose); - } catch (tf2::TransformException & ex) { - RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *this->get_clock(), 500 /* ms */, - "cannot get tf from " << source << " to " << target); - return false; + if (node_param_.use_pointcloud) { + nearest_pointcloud = getNearestObstacleByPointCloud(); } - return true; -} -bool SurroundObstacleCheckerNode::convertPose( - const geometry_msgs::msg::Pose & pose, const std::string & source, const std::string & target, - const rclcpp::Time & time, geometry_msgs::msg::Pose & conv_pose) -{ - tf2::Transform src2tgt; - try { - // get transform from source to target - geometry_msgs::msg::TransformStamped ros_src2tgt = - tf_buffer_.lookupTransform(source, target, time, tf2::durationFromSec(0.1)); - tf2::fromMsg(ros_src2tgt.transform, src2tgt); - } catch (tf2::TransformException & ex) { - RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *this->get_clock(), 500 /* ms */, - "cannot get tf from " << source << " to " << target); - return false; + if (node_param_.use_dynamic_object) { + nearest_object = getNearestObstacleByDynamicObject(); } - tf2::Transform src2obj; - tf2::fromMsg(pose, src2obj); - tf2::Transform tgt2obj = src2tgt.inverse() * src2obj; - tf2::toMsg(tgt2obj, conv_pose); - return true; -} - -size_t SurroundObstacleCheckerNode::getClosestIdx( - const TrajectoryPoints & traj, const geometry_msgs::msg::Pose current_pose) -{ - double min_dist = std::numeric_limits::max(); - size_t min_dist_idx = 0; - for (size_t i = 0; i < traj.size(); ++i) { - const double x = traj.at(i).pose.position.x - current_pose.position.x; - const double y = traj.at(i).pose.position.y - current_pose.position.y; - const double dist = std::hypot(x, y); - if (dist < min_dist) { - min_dist_idx = i; - min_dist = dist; - } + if (!nearest_pointcloud && !nearest_object) { + return {}; } - return min_dist_idx; -} -void SurroundObstacleCheckerNode::getNearestObstacle( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point) -{ - if (use_pointcloud_) { - getNearestObstacleByPointCloud(min_dist_to_obj, nearest_obj_point); + if (!nearest_pointcloud) { + return nearest_object; } - if (use_dynamic_object_) { - getNearestObstacleByDynamicObject(min_dist_to_obj, nearest_obj_point); + if (!nearest_object) { + return nearest_pointcloud; } + + return nearest_pointcloud.get().first < nearest_object.get().first ? nearest_pointcloud + : nearest_object; } -void SurroundObstacleCheckerNode::getNearestObstacleByPointCloud( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point) +boost::optional SurroundObstacleCheckerNode::getNearestObstacleByPointCloud() const { - // wait to transform pointcloud - geometry_msgs::msg::TransformStamped transform_stamped; - try { - transform_stamped = tf_buffer_.lookupTransform( - "base_link", pointcloud_ptr_->header.frame_id, pointcloud_ptr_->header.stamp, - tf2::durationFromSec(0.5)); - } catch (tf2::TransformException & ex) { - RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *this->get_clock(), 500 /* ms */, - "failed to get base_link to " << pointcloud_ptr_->header.frame_id << " transform."); - return; + const auto transform_stamped = + getTransform("base_link", pointcloud_ptr_->header.frame_id, pointcloud_ptr_->header.stamp, 0.5); + + geometry_msgs::msg::Point nearest_point; + auto minimum_distance = std::numeric_limits::max(); + + if (!transform_stamped) { + return {}; } - Eigen::Affine3f isometry = tf2::transformToEigen(transform_stamped.transform).cast(); - pcl::PointCloud pcl; - pcl::fromROSMsg(*pointcloud_ptr_, pcl); - pcl::transformPointCloud(pcl, pcl, isometry); - for (const auto & p : pcl) { - // create boost point - Point2d boost_p(p.x, p.y); - - // calc distance - const double dist_to_obj = boost::geometry::distance(self_poly_, boost_p); - - // get minimum distance to obj - if (dist_to_obj < *min_dist_to_obj) { - *min_dist_to_obj = dist_to_obj; - nearest_obj_point->x = p.x; - nearest_obj_point->y = p.y; - nearest_obj_point->z = p.z; + Eigen::Affine3f isometry = tf2::transformToEigen(transform_stamped.get().transform).cast(); + pcl::PointCloud transformed_pointcloud; + pcl::fromROSMsg(*pointcloud_ptr_, transformed_pointcloud); + pcl::transformPointCloud(transformed_pointcloud, transformed_pointcloud, isometry); + + const auto ego_polygon = createSelfPolygon(vehicle_info_); + + for (const auto & p : transformed_pointcloud) { + Point2d boost_point(p.x, p.y); + + const auto distance_to_object = bg::distance(ego_polygon, boost_point); + + if (distance_to_object < minimum_distance) { + nearest_point = createPoint(p.x, p.y, p.z); + minimum_distance = distance_to_object; } } + + return std::make_pair(minimum_distance, nearest_point); } -void SurroundObstacleCheckerNode::getNearestObstacleByDynamicObject( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point) +boost::optional SurroundObstacleCheckerNode::getNearestObstacleByDynamicObject() const { - const auto obj_frame = object_ptr_->header.frame_id; - const auto obj_time = object_ptr_->header.stamp; - for (const auto & obj : object_ptr_->objects) { - // change frame of obj_pose to base_link - geometry_msgs::msg::Pose pose_baselink; - if (!convertPose( - obj.kinematics.initial_pose_with_covariance.pose, obj_frame, "base_link", obj_time, - pose_baselink)) { - return; - } + const auto transform_stamped = + getTransform(object_ptr_->header.frame_id, "base_link", object_ptr_->header.stamp, 0.5); - // create obj polygon - Polygon2d obj_poly; - if (obj.shape.type == autoware_auto_perception_msgs::msg::Shape::POLYGON) { - obj_poly = createObjPolygon(pose_baselink, obj.shape.footprint); - } else { - obj_poly = createObjPolygon(pose_baselink, obj.shape.dimensions); - } + geometry_msgs::msg::Point nearest_point; + auto minimum_distance = std::numeric_limits::max(); + + if (!transform_stamped) { + return {}; + } + + tf2::Transform tf_src2target; + tf2::fromMsg(transform_stamped.get().transform, tf_src2target); + + const auto ego_polygon = createSelfPolygon(vehicle_info_); - // calc distance - const double dist_to_obj = boost::geometry::distance(self_poly_, obj_poly); + for (const auto & object : object_ptr_->objects) { + const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose; - // get minimum distance to obj - if (dist_to_obj < *min_dist_to_obj) { - *min_dist_to_obj = dist_to_obj; - *nearest_obj_point = obj.kinematics.initial_pose_with_covariance.pose.position; + tf2::Transform tf_src2object; + tf2::fromMsg(object_pose, tf_src2object); + + geometry_msgs::msg::Pose transformed_object_pose; + tf2::toMsg(tf_src2target.inverse() * tf_src2object, transformed_object_pose); + + const auto object_polygon = + object.shape.type == Shape::POLYGON + ? createObjPolygon(transformed_object_pose, object.shape.footprint) + : createObjPolygon(transformed_object_pose, object.shape.dimensions); + + const auto distance_to_object = bg::distance(ego_polygon, object_polygon); + + if (distance_to_object < minimum_distance) { + nearest_point = object_pose.position; + minimum_distance = distance_to_object; } } + + return std::make_pair(minimum_distance, nearest_point); } -bool SurroundObstacleCheckerNode::isObstacleFound(const double min_dist_to_obj) +boost::optional SurroundObstacleCheckerNode::getTransform( + const std::string & source, const std::string & target, const rclcpp::Time & stamp, + double duration_sec) const { - const auto is_obstacle_inside_range = min_dist_to_obj < surround_check_distance_; - const auto is_obstacle_outside_range = min_dist_to_obj > surround_check_recover_distance_; - - if (state_ == State::PASS) { - return is_obstacle_inside_range; - } + geometry_msgs::msg::TransformStamped transform_stamped; - if (state_ == State::STOP) { - return !is_obstacle_outside_range; + try { + transform_stamped = + tf_buffer_.lookupTransform(source, target, stamp, tf2::durationFromSec(duration_sec)); + } catch (tf2::TransformException & ex) { + return {}; } - throw std::runtime_error("invalid state"); + return transform_stamped; } bool SurroundObstacleCheckerNode::isStopRequired( - const bool is_obstacle_found, const bool is_stopped) + const bool is_obstacle_found, const bool is_vehicle_stopped) { - if (!is_stopped) { + if (!is_vehicle_stopped) { return false; } @@ -356,7 +432,7 @@ bool SurroundObstacleCheckerNode::isStopRequired( // Keep stop state if (last_obstacle_found_time_) { const auto elapsed_time = this->now() - *last_obstacle_found_time_; - if (elapsed_time.seconds() <= state_clear_time_) { + if (elapsed_time.seconds() <= node_param_.state_clear_time) { return true; } } @@ -365,118 +441,18 @@ bool SurroundObstacleCheckerNode::isStopRequired( return false; } -bool SurroundObstacleCheckerNode::checkStop( - const autoware_auto_planning_msgs::msg::TrajectoryPoint & closest_point) -{ - if (std::fabs(current_velocity_ptr_->twist.twist.linear.x) > stop_state_ego_speed_) { - // ego vehicle has high velocity now. not stop. - return false; - } - - const double closest_vel = closest_point.longitudinal_velocity_mps; - const double closest_acc = closest_point.acceleration_mps2; - - if (closest_vel * closest_acc < 0) { - // ego vehicle is about to stop (during deceleration). not stop. - return false; - } - - return true; -} - -Polygon2d SurroundObstacleCheckerNode::createSelfPolygon() -{ - const double front = vehicle_info_.max_longitudinal_offset_m; - const double rear = vehicle_info_.min_longitudinal_offset_m; - const double left = vehicle_info_.max_lateral_offset_m; - const double right = vehicle_info_.min_lateral_offset_m; - - Polygon2d poly; - boost::geometry::exterior_ring(poly) = boost::assign::list_of(front, left)(front, right)( - rear, right)(rear, left)(front, left); - return poly; -} - -Polygon2d SurroundObstacleCheckerNode::createObjPolygon( - const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & size) +bool SurroundObstacleCheckerNode::isVehicleStopped() { - // rename - const double x = pose.position.x; - const double y = pose.position.y; - const double h = size.x; - const double w = size.y; - const double yaw = tf2::getYaw(pose.orientation); - - // create base polygon - Polygon2d obj_poly; - boost::geometry::exterior_ring(obj_poly) = boost::assign::list_of(h / 2.0, w / 2.0)( - -h / 2.0, w / 2.0)(-h / 2.0, -w / 2.0)(h / 2.0, -w / 2.0)(h / 2.0, w / 2.0); - - // rotate polygon(yaw) - boost::geometry::strategy::transform::rotate_transformer - rotate(-yaw); // anti-clockwise -> :clockwise rotation - Polygon2d rotate_obj_poly; - boost::geometry::transform(obj_poly, rotate_obj_poly, rotate); - - // translate polygon(x, y) - boost::geometry::strategy::transform::translate_transformer translate(x, y); - Polygon2d translate_obj_poly; - boost::geometry::transform(rotate_obj_poly, translate_obj_poly, translate); - return translate_obj_poly; -} + const auto current_velocity = std::abs(odometry_ptr_->twist.twist.linear.x); -Polygon2d SurroundObstacleCheckerNode::createObjPolygon( - const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Polygon & footprint) -{ - // rename - const double x = pose.position.x; - const double y = pose.position.y; - const double yaw = tf2::getYaw(pose.orientation); - - // create base polygon - Polygon2d obj_poly; - for (const auto point : footprint.points) { - const Point2d point2d(point.x, point.y); - obj_poly.outer().push_back(point2d); + if (node_param_.stop_state_ego_speed < current_velocity) { + last_running_time_ = std::make_shared(this->now()); } - // rotate polygon(yaw) - boost::geometry::strategy::transform::rotate_transformer - rotate(-yaw); // anti-clockwise -> :clockwise rotation - Polygon2d rotate_obj_poly; - boost::geometry::transform(obj_poly, rotate_obj_poly, rotate); - - // translate polygon(x, y) - boost::geometry::strategy::transform::translate_transformer translate(x, y); - Polygon2d translate_obj_poly; - boost::geometry::transform(rotate_obj_poly, translate_obj_poly, translate); - return translate_obj_poly; -} - -diagnostic_msgs::msg::DiagnosticStatus SurroundObstacleCheckerNode::makeStopReasonDiag( - const std::string no_start_reason, const geometry_msgs::msg::Pose & stop_pose) -{ - diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; - diagnostic_msgs::msg::KeyValue no_start_reason_diag_kv; - no_start_reason_diag.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - no_start_reason_diag.name = "no_start_reason"; - no_start_reason_diag.message = no_start_reason; - no_start_reason_diag_kv.key = "no_start_pose"; - no_start_reason_diag_kv.value = jsonDumpsPose(stop_pose); - no_start_reason_diag.values.push_back(no_start_reason_diag_kv); - return no_start_reason_diag; + return node_param_.stop_state_entry_duration_time < (this->now() - *last_running_time_).seconds(); } -std::string SurroundObstacleCheckerNode::jsonDumpsPose(const geometry_msgs::msg::Pose & pose) -{ - const std::string json_dumps_pose = - (boost::format( - R"({"position":{"x":%lf,"y":%lf,"z":%lf},"orientation":{"w":%lf,"x":%lf,"y":%lf,"z":%lf}})") % - pose.position.x % pose.position.y % pose.position.z % pose.orientation.w % pose.orientation.x % - pose.orientation.y % pose.orientation.z) - .str(); - return json_dumps_pose; -} +} // namespace surround_obstacle_checker #include -RCLCPP_COMPONENTS_REGISTER_NODE(SurroundObstacleCheckerNode) +RCLCPP_COMPONENTS_REGISTER_NODE(surround_obstacle_checker::SurroundObstacleCheckerNode) From 1f5ade6a6a5c2f26cc94a5c10d0ffde82b165205 Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Tue, 10 May 2022 10:15:23 +0900 Subject: [PATCH 018/701] feat: remove deprecated package in prediction launch (#875) Signed-off-by: Yukihiro Saito --- .../launch/object_recognition/prediction/prediction.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml index 4749bd45d3e3e..fd9d1ba6f3cda 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml @@ -9,6 +9,6 @@ - + From 399c13366100a710090486ae6cb7370a0f77a59e Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 10 May 2022 12:43:47 +0900 Subject: [PATCH 019/701] fix(surround_obstacle_checker): fix ego footprint polygon (#877) Signed-off-by: satoshi-ota --- planning/surround_obstacle_checker/src/node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/surround_obstacle_checker/src/node.cpp b/planning/surround_obstacle_checker/src/node.cpp index 9e1fc6711bd3f..cd7117f360143 100644 --- a/planning/surround_obstacle_checker/src/node.cpp +++ b/planning/surround_obstacle_checker/src/node.cpp @@ -131,8 +131,8 @@ Polygon2d createSelfPolygon(const VehicleInfo & vehicle_info) ego_polygon.outer().push_back(Point2d(front_m, -width_m)); ego_polygon.outer().push_back(Point2d(front_m, width_m)); - ego_polygon.outer().push_back(Point2d(-rear_m, width_m)); - ego_polygon.outer().push_back(Point2d(-rear_m, -width_m)); + ego_polygon.outer().push_back(Point2d(rear_m, width_m)); + ego_polygon.outer().push_back(Point2d(rear_m, -width_m)); bg::correct(ego_polygon); From eca2944b058d137c6a1c7dab582f28f109be4d6e Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Tue, 10 May 2022 15:21:49 +0900 Subject: [PATCH 020/701] fix: update nvinfer api (#863) * fix(lidar_centerpoint): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(tensorrt_yolo): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(lidar_apollo_instance_segmentation): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_classifier): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_ssd_fine_detector): update nvinfer api Signed-off-by: Daisuke Nishimatsu * pre-commit run Signed-off-by: Daisuke Nishimatsu --- .../CMakeLists.txt | 3 --- .../lib/include/TrtNet.hpp | 6 ++--- .../lib/src/TrtNet.cpp | 2 +- .../src/detector.cpp | 26 +++++++++++++------ perception/lidar_centerpoint/CMakeLists.txt | 10 ++++--- .../lib/include/tensorrt_wrapper.hpp | 3 ++- .../lib/src/tensorrt_wrapper.cpp | 14 ++++++---- perception/tensorrt_yolo/CMakeLists.txt | 3 --- .../tensorrt_yolo/lib/include/trt_yolo.hpp | 3 ++- perception/tensorrt_yolo/lib/src/trt_yolo.cpp | 16 +++++++----- .../traffic_light_classifier/CMakeLists.txt | 3 --- .../utils/trt_common.cpp | 14 ++++++---- .../CMakeLists.txt | 3 --- .../lib/include/trt_ssd.hpp | 3 ++- .../lib/src/trt_ssd.cpp | 14 ++++++---- 15 files changed, 72 insertions(+), 51 deletions(-) diff --git a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt index 4fee2ecdd2f3b..433999051097d 100644 --- a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt +++ b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt @@ -4,9 +4,6 @@ project(lidar_apollo_instance_segmentation) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) # set flags for CUDA availability diff --git a/perception/lidar_apollo_instance_segmentation/lib/include/TrtNet.hpp b/perception/lidar_apollo_instance_segmentation/lib/include/TrtNet.hpp index 30d560135cb4f..14c1ff6d44c63 100644 --- a/perception/lidar_apollo_instance_segmentation/lib/include/TrtNet.hpp +++ b/perception/lidar_apollo_instance_segmentation/lib/include/TrtNet.hpp @@ -56,13 +56,13 @@ class trtNet } if (!mTrtRunTime) { - mTrtRunTime->destroy(); + delete mTrtRunTime; } if (!mTrtContext) { - mTrtContext->destroy(); + delete mTrtContext; } if (!mTrtEngine) { - mTrtEngine->destroy(); + delete mTrtEngine; } } diff --git a/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp b/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp index c51adc83e07c1..0f1da4bdac8a6 100644 --- a/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp +++ b/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp @@ -100,7 +100,7 @@ trtNet::trtNet(const std::string & engineFile) mTrtRunTime = createInferRuntime(gLogger); assert(mTrtRunTime != nullptr); - mTrtEngine = mTrtRunTime->deserializeCudaEngine(data.get(), length, nullptr); + mTrtEngine = mTrtRunTime->deserializeCudaEngine(data.get(), length); assert(mTrtEngine != nullptr); InitEngine(); diff --git a/perception/lidar_apollo_instance_segmentation/src/detector.cpp b/perception/lidar_apollo_instance_segmentation/src/detector.cpp index 7d628173b2e4c..af8b29f55f340 100644 --- a/perception/lidar_apollo_instance_segmentation/src/detector.cpp +++ b/perception/lidar_apollo_instance_segmentation/src/detector.cpp @@ -63,17 +63,27 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node * const int batch_size = 1; builder->setMaxBatchSize(batch_size); config->setMaxWorkspaceSize(1 << 30); - nvinfer1::ICudaEngine * engine = builder->buildEngineWithConfig(*network, *config); - nvinfer1::IHostMemory * trt_model_stream = engine->serialize(); - assert(trt_model_stream != nullptr); + nvinfer1::IHostMemory * plan = builder->buildSerializedNetwork(*network, *config); + assert(plan != nullptr); std::ofstream outfile(engine_file, std::ofstream::binary); assert(!outfile.fail()); - outfile.write(reinterpret_cast(trt_model_stream->data()), trt_model_stream->size()); + outfile.write(reinterpret_cast(plan->data()), plan->size()); outfile.close(); - network->destroy(); - parser->destroy(); - builder->destroy(); - config->destroy(); + if (network) { + delete network; + } + if (parser) { + delete parser; + } + if (builder) { + delete builder; + } + if (config) { + delete config; + } + if (plan) { + delete plan; + } } net_ptr_.reset(new Tn::trtNet(engine_file)); diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt index 1f5c869136eb0..0cf1f51654bb1 100644 --- a/perception/lidar_centerpoint/CMakeLists.txt +++ b/perception/lidar_centerpoint/CMakeLists.txt @@ -4,9 +4,6 @@ project(lidar_centerpoint) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations -Wno-unknown-pragmas) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) # set flags for CUDA availability @@ -144,6 +141,13 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) centerpoint_cuda_libraries ) + # To suppress unknown-pragmas error. The root-cause is CUB library in CUDA 11.6. + # This issue was fixed by https://github.com/NVIDIA/cub/commit/7d608bf1dc14553e2fb219eabeed80b76621b6fe + target_include_directories(centerpoint + SYSTEM PUBLIC + ${CUDA_INCLUDE_DIRS} + ) + ## node ## ament_auto_add_library(lidar_centerpoint_component SHARED src/node.cpp diff --git a/perception/lidar_centerpoint/lib/include/tensorrt_wrapper.hpp b/perception/lidar_centerpoint/lib/include/tensorrt_wrapper.hpp index dd49723a5265c..b334be9e2230b 100644 --- a/perception/lidar_centerpoint/lib/include/tensorrt_wrapper.hpp +++ b/perception/lidar_centerpoint/lib/include/tensorrt_wrapper.hpp @@ -29,7 +29,7 @@ struct Deleter void operator()(T * obj) const { if (obj) { - obj->destroy(); + delete obj; } } }; @@ -82,6 +82,7 @@ class TensorRTWrapper bool createContext(); unique_ptr runtime_ = nullptr; + unique_ptr plan_ = nullptr; unique_ptr engine_ = nullptr; }; diff --git a/perception/lidar_centerpoint/lib/src/tensorrt_wrapper.cpp b/perception/lidar_centerpoint/lib/src/tensorrt_wrapper.cpp index 3691128137c39..f9882afac8f92 100644 --- a/perception/lidar_centerpoint/lib/src/tensorrt_wrapper.cpp +++ b/perception/lidar_centerpoint/lib/src/tensorrt_wrapper.cpp @@ -104,7 +104,13 @@ bool TensorRTWrapper::parseONNX( std::cout << "Applying optimizations and building TRT CUDA engine (" << onnx_path << ") ..." << std::endl; - engine_ = unique_ptr(builder->buildEngineWithConfig(*network, *config)); + plan_ = unique_ptr(builder->buildSerializedNetwork(*network, *config)); + if (!plan_) { + std::cout << "Fail to create serialized network" << std::endl; + return false; + } + engine_ = unique_ptr( + runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!engine_) { std::cout << "Fail to create engine" << std::endl; return false; @@ -116,9 +122,8 @@ bool TensorRTWrapper::parseONNX( bool TensorRTWrapper::saveEngine(const std::string & engine_path) { std::cout << "Writing to " << engine_path << std::endl; - auto serialized = unique_ptr(engine_->serialize()); std::ofstream file(engine_path, std::ios::out | std::ios::binary); - file.write(reinterpret_cast(serialized->data()), serialized->size()); + file.write(reinterpret_cast(plan_->data()), plan_->size()); return true; } @@ -139,8 +144,7 @@ bool TensorRTWrapper::loadEngine(const std::string & engine_path) } std::cout << "Loading from " << engine_path << std::endl; - engine_ = - unique_ptr(runtime_->deserializeCudaEngine(buffer.get(), size, nullptr)); + engine_ = unique_ptr(runtime_->deserializeCudaEngine(buffer.get(), size)); return true; } diff --git a/perception/tensorrt_yolo/CMakeLists.txt b/perception/tensorrt_yolo/CMakeLists.txt index c05fefc38d15c..a50af6bfa9abb 100755 --- a/perception/tensorrt_yolo/CMakeLists.txt +++ b/perception/tensorrt_yolo/CMakeLists.txt @@ -4,9 +4,6 @@ project(tensorrt_yolo) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) find_package(OpenCV REQUIRED) diff --git a/perception/tensorrt_yolo/lib/include/trt_yolo.hpp b/perception/tensorrt_yolo/lib/include/trt_yolo.hpp index 813811226a0a6..c951154820f1a 100644 --- a/perception/tensorrt_yolo/lib/include/trt_yolo.hpp +++ b/perception/tensorrt_yolo/lib/include/trt_yolo.hpp @@ -59,7 +59,7 @@ struct Deleter void operator()(T * obj) const { if (obj) { - obj->destroy(); + delete obj; } } }; @@ -130,6 +130,7 @@ class Net private: unique_ptr runtime_ = nullptr; + unique_ptr plan_ = nullptr; unique_ptr engine_ = nullptr; unique_ptr context_ = nullptr; cudaStream_t stream_ = nullptr; diff --git a/perception/tensorrt_yolo/lib/src/trt_yolo.cpp b/perception/tensorrt_yolo/lib/src/trt_yolo.cpp index 1be5f279714ba..748680266ca9c 100644 --- a/perception/tensorrt_yolo/lib/src/trt_yolo.cpp +++ b/perception/tensorrt_yolo/lib/src/trt_yolo.cpp @@ -65,8 +65,7 @@ void Net::load(const std::string & path) file.read(buffer, size); file.close(); if (runtime_) { - engine_ = - unique_ptr(runtime_->deserializeCudaEngine(buffer, size, nullptr)); + engine_ = unique_ptr(runtime_->deserializeCudaEngine(buffer, size)); } delete[] buffer; } @@ -253,9 +252,15 @@ Net::Net( // Build engine std::cout << "Applying optimizations and building TRT CUDA engine..." << std::endl; - engine_ = unique_ptr(builder->buildEngineWithConfig(*network, *config)); + plan_ = unique_ptr(builder->buildSerializedNetwork(*network, *config)); + if (!plan_) { + std::cout << "Fail to create serialized network" << std::endl; + return; + } + engine_ = unique_ptr( + runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!prepare()) { - std::cout << "Fail to prepare engine" << std::endl; + std::cout << "Fail to create engine" << std::endl; return; } } @@ -263,9 +268,8 @@ Net::Net( void Net::save(const std::string & path) const { std::cout << "Writing to " << path << "..." << std::endl; - auto serialized = unique_ptr(engine_->serialize()); std::ofstream file(path, std::ios::out | std::ios::binary); - file.write(reinterpret_cast(serialized->data()), serialized->size()); + file.write(reinterpret_cast(plan_->data()), plan_->size()); } void Net::infer(std::vector & buffers, const int batch_size) diff --git a/perception/traffic_light_classifier/CMakeLists.txt b/perception/traffic_light_classifier/CMakeLists.txt index 08897bfa3cf5a..8ebd5f32db99e 100644 --- a/perception/traffic_light_classifier/CMakeLists.txt +++ b/perception/traffic_light_classifier/CMakeLists.txt @@ -4,9 +4,6 @@ project(traffic_light_classifier) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) # set flags for CUDA availability option(CUDA_AVAIL "CUDA available" OFF) diff --git a/perception/traffic_light_classifier/utils/trt_common.cpp b/perception/traffic_light_classifier/utils/trt_common.cpp index a920d47fa295a..cae9f0cd1682a 100644 --- a/perception/traffic_light_classifier/utils/trt_common.cpp +++ b/perception/traffic_light_classifier/utils/trt_common.cpp @@ -45,6 +45,7 @@ TrtCommon::TrtCommon(std::string model_path, std::string precision) is_initialized_(false), max_batch_size_(1) { + runtime_ = UniquePtr(nvinfer1::createInferRuntime(logger_)); } void TrtCommon::setup() @@ -86,9 +87,8 @@ bool TrtCommon::loadEngine(std::string engine_file_path) std::stringstream engine_buffer; engine_buffer << engine_file.rdbuf(); std::string engine_str = engine_buffer.str(); - runtime_ = UniquePtr(nvinfer1::createInferRuntime(logger_)); engine_ = UniquePtr(runtime_->deserializeCudaEngine( - reinterpret_cast(engine_str.data()), engine_str.size(), nullptr)); + reinterpret_cast(engine_str.data()), engine_str.size())); return true; } @@ -117,19 +117,23 @@ bool TrtCommon::buildEngineFromOnnx(std::string onnx_file_path, std::string outp return false; } - engine_ = UniquePtr(builder->buildEngineWithConfig(*network, *config)); + auto plan = UniquePtr(builder->buildSerializedNetwork(*network, *config)); + if (!plan) { + return false; + } + engine_ = + UniquePtr(runtime_->deserializeCudaEngine(plan->data(), plan->size())); if (!engine_) { return false; } // save engine - nvinfer1::IHostMemory * data = engine_->serialize(); std::ofstream file; file.open(output_engine_file_path, std::ios::binary | std::ios::out); if (!file.is_open()) { return false; } - file.write((const char *)data->data(), data->size()); + file.write((const char *)plan->data(), plan->size()); file.close(); return true; diff --git a/perception/traffic_light_ssd_fine_detector/CMakeLists.txt b/perception/traffic_light_ssd_fine_detector/CMakeLists.txt index e82c790f4fd1e..eb172b7faf981 100644 --- a/perception/traffic_light_ssd_fine_detector/CMakeLists.txt +++ b/perception/traffic_light_ssd_fine_detector/CMakeLists.txt @@ -4,9 +4,6 @@ project(traffic_light_ssd_fine_detector) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) find_package(OpenCV REQUIRED) diff --git a/perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp b/perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp index bbe5ae8da513c..cfb6c8a6d5754 100644 --- a/perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp +++ b/perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp @@ -31,7 +31,7 @@ struct Deleter void operator()(T * obj) const { if (obj) { - obj->destroy(); + delete obj; } } }; @@ -87,6 +87,7 @@ class Net private: unique_ptr runtime_ = nullptr; + unique_ptr plan_ = nullptr; unique_ptr engine_ = nullptr; unique_ptr context_ = nullptr; cudaStream_t stream_ = nullptr; diff --git a/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp b/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp index 766de7eb4cde1..ba9f94b014513 100644 --- a/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp +++ b/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp @@ -36,8 +36,7 @@ void Net::load(const std::string & path) file.read(buffer, size); file.close(); if (runtime_) { - engine_ = - unique_ptr(runtime_->deserializeCudaEngine(buffer, size, nullptr)); + engine_ = unique_ptr(runtime_->deserializeCudaEngine(buffer, size)); } delete[] buffer; } @@ -136,7 +135,13 @@ Net::Net( // Build engine std::cout << "Applying optimizations and building TRT CUDA engine..." << std::endl; - engine_ = unique_ptr(builder->buildEngineWithConfig(*network, *config)); + plan_ = unique_ptr(builder->buildSerializedNetwork(*network, *config)); + if (!plan_) { + std::cout << "Fail to create serialized network" << std::endl; + return; + } + engine_ = unique_ptr( + runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!engine_) { std::cout << "Fail to create engine" << std::endl; return; @@ -151,9 +156,8 @@ Net::Net( void Net::save(const std::string & path) { std::cout << "Writing to " << path << "..." << std::endl; - auto serialized = unique_ptr(engine_->serialize()); std::ofstream file(path, std::ios::out | std::ios::binary); - file.write(reinterpret_cast(serialized->data()), serialized->size()); + file.write(reinterpret_cast(plan_->data()), plan_->size()); } void Net::infer(std::vector & buffers, const int batch_size) From 3e5e6db3a707510f92f3f2fe634dc3491ec81f5d Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 10 May 2022 17:39:28 +0900 Subject: [PATCH 021/701] fix(avoidance_module): ignore object instead of creating zero shift (#731) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. Signed-off-by: Muhammad Zulfaqar Azmi * refactor: sync continue with upstream Signed-off-by: Muhammad Zulfaqar Azmi * fix: fix debug message for insufficient lateral margin Signed-off-by: Muhammad Zulfaqar Azmi --- .../avoidance/avoidance_module.cpp | 19 +++++++------------ 1 file changed, 7 insertions(+), 12 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 876e5fc3112c3..2923996ca8697 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -490,24 +490,19 @@ AvoidPointArray AvoidanceModule::calcRawShiftPointsFromObjects( avoidance_debug_msg.max_shift_length = max_allowable_lateral_distance; if (!(o.to_road_shoulder_distance > max_allowable_lateral_distance)) { - avoidance_debug_msg.allow_avoidance = false; - avoidance_debug_msg.failed_reason = AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN; + avoidance_debug_array_false_and_push_back(AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN); + continue; } const auto max_shift_length = o.to_road_shoulder_distance - road_shoulder_safety_margin - 0.5 * vehicle_width; - const auto max_left_shift_limit = [&o, &max_allowable_lateral_distance, &max_shift_length, - this]() noexcept { - const auto left_shift_constraint = std::min(getLeftShiftBound(), max_shift_length); - return (o.to_road_shoulder_distance > max_allowable_lateral_distance) ? left_shift_constraint - : 0.0; + + const auto max_left_shift_limit = [&max_shift_length, this]() noexcept { + return std::min(getLeftShiftBound(), max_shift_length); }; - const auto max_right_shift_limit = [&o, &max_allowable_lateral_distance, &max_shift_length, - this]() noexcept { - const auto right_shift_constraint = std::max(getRightShiftBound(), -max_shift_length); - return (o.to_road_shoulder_distance > max_allowable_lateral_distance) ? right_shift_constraint - : 0.0; + const auto max_right_shift_limit = [&max_shift_length, this]() noexcept { + return std::max(getRightShiftBound(), -max_shift_length); }; const auto shift_length = isOnRight(o) From 7b81507c8074c6b4a547d3165856993f77ea72bd Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 10 May 2022 18:33:56 +0900 Subject: [PATCH 022/701] fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (#738) Signed-off-by: Takamasa Horibe --- .../motion_velocity_smoother/src/smoother/smoother_base.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp b/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp index 2ecf683fd3028..31c6420a67870 100644 --- a/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp +++ b/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp @@ -105,7 +105,7 @@ boost::optional SmootherBase::applyLateralAccelerationFilter( for (size_t i = 0; i < output->size(); ++i) { double curvature = 0.0; const size_t start = i > after_decel_index ? i - after_decel_index : 0; - const size_t end = std::min(output->size(), i + before_decel_index); + const size_t end = std::min(output->size(), i + before_decel_index + 1); for (size_t j = start; j < end; ++j) { curvature = std::max(curvature, std::fabs(curvature_v->at(j))); } From 66688730c654a76629ace36961351667e5694c69 Mon Sep 17 00:00:00 2001 From: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Date: Tue, 10 May 2022 21:29:41 +0900 Subject: [PATCH 023/701] test(autoware_testing): fix smoke_test (#479) * fix(autoware_testing): fix smoke_test Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * restore smoke_test for trajectory_follower_nodes Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * add support multiple parameter files Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * ci(pre-commit): autofix * minor fix Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../autoware_testing/smoke_test.py | 39 +++++++++++++------ .../cmake/add_smoke_test.cmake | 10 ++--- .../trajectory_follower_nodes/CMakeLists.txt | 14 +++++-- 3 files changed, 42 insertions(+), 21 deletions(-) diff --git a/common/autoware_testing/autoware_testing/smoke_test.py b/common/autoware_testing/autoware_testing/smoke_test.py index 2753861269124..8c361474034ad 100644 --- a/common/autoware_testing/autoware_testing/smoke_test.py +++ b/common/autoware_testing/autoware_testing/smoke_test.py @@ -16,6 +16,7 @@ import os import shlex +import time import unittest from ament_index_python import get_package_share_directory @@ -26,21 +27,24 @@ from launch_ros.actions import Node import launch_testing import pytest +import rclpy def resolve_node(context, *args, **kwargs): + parameters = [ + os.path.join( + get_package_share_directory(LaunchConfiguration("arg_package").perform(context)), + "param", + file_name, + ) + for file_name in shlex.split(LaunchConfiguration("arg_param_filenames").perform(context)) + ] smoke_test_node = Node( package=LaunchConfiguration("arg_package"), executable=LaunchConfiguration("arg_package_exe"), namespace="test", - parameters=[ - os.path.join( - get_package_share_directory(LaunchConfiguration("arg_package").perform(context)), - "param", - LaunchConfiguration("arg_param_filename").perform(context), - ) - ], + parameters=parameters, arguments=shlex.split(LaunchConfiguration("arg_executable_arguments").perform(context)), ) return [smoke_test_node] @@ -55,8 +59,8 @@ def generate_test_description(): arg_package_exe = DeclareLaunchArgument( "arg_package_exe", default_value=["default"], description="Tested executable" ) - arg_param_filename = DeclareLaunchArgument( - "arg_param_filename", default_value=["test.param.yaml"], description="Test param file" + arg_param_filenames = DeclareLaunchArgument( + "arg_param_filenames", default_value=["test.param.yaml"], description="Test param file" ) arg_executable_arguments = DeclareLaunchArgument( "arg_executable_arguments", default_value=[""], description="Tested executable arguments" @@ -66,7 +70,7 @@ def generate_test_description(): [ arg_package, arg_package_exe, - arg_param_filename, + arg_param_filenames, arg_executable_arguments, OpaqueFunction(function=resolve_node), launch_testing.actions.ReadyToTest(), @@ -74,8 +78,19 @@ def generate_test_description(): ) +class DummyTest(unittest.TestCase): + def test_wait_for_node_ready(self): + """Waiting for the node is ready.""" + rclpy.init() + test_node = rclpy.create_node("test_node") + while len(test_node.get_node_names()) == 0: + time.sleep(0.1) + print("waiting for Node to be ready") + rclpy.shutdown() + + @launch_testing.post_shutdown_test() class TestProcessOutput(unittest.TestCase): def test_exit_code(self, proc_output, proc_info): - # Check that process exits with code -15 code: termination request, sent to the program - launch_testing.asserts.assertExitCodes(proc_info, [-15]) + # Check that process exits with code 0 + launch_testing.asserts.assertExitCodes(proc_info) diff --git a/common/autoware_testing/cmake/add_smoke_test.cmake b/common/autoware_testing/cmake/add_smoke_test.cmake index 2998db4960de4..ee2cb0f06e789 100644 --- a/common/autoware_testing/cmake/add_smoke_test.cmake +++ b/common/autoware_testing/cmake/add_smoke_test.cmake @@ -19,18 +19,18 @@ # :type package_name: string # :param package_exec: package executable to run during smoke test # :type executable_name: string -# :param PARAM_FILENAME: yaml filename containing test parameters -# :type PARAM_FILENAME: string +# :param PARAM_FILENAMES: yaml filenames containing test parameters +# :type PARAM_FILENAMES: string # :param EXECUTABLE_ARGUMENTS: arguments passed to tested executable # :type EXECUTABLE_ARGUMENTS: string function(add_smoke_test package_name executable_name) - cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAME;EXECUTABLE_ARGUMENTS" "") + cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAMES;EXECUTABLE_ARGUMENTS" "") set(ARGUMENTS "arg_package:=${package_name}" "arg_package_exe:=${executable_name}") - if(smoke_test_PARAM_FILENAME) - list(APPEND ARGUMENTS "arg_param_filename:=${smoke_test_PARAM_FILENAME}") + if(smoke_test_PARAM_FILENAMES) + list(APPEND ARGUMENTS "arg_param_filenames:=${smoke_test_PARAM_FILENAMES}") endif() if(smoke_test_EXECUTABLE_ARGUMENTS) diff --git a/control/trajectory_follower_nodes/CMakeLists.txt b/control/trajectory_follower_nodes/CMakeLists.txt index 7996ac0713107..fa005c1c0bfda 100644 --- a/control/trajectory_follower_nodes/CMakeLists.txt +++ b/control/trajectory_follower_nodes/CMakeLists.txt @@ -57,10 +57,16 @@ if(BUILD_TESTING) ament_target_dependencies(${TRAJECTORY_FOLLOWER_NODES_TEST} fake_test_node) target_link_libraries(${TRAJECTORY_FOLLOWER_NODES_TEST} ${LATLON_MUXER_NODE} ${LATERAL_CONTROLLER_NODE} ${LONGITUDINAL_CONTROLLER_NODE}) - #find_package(autoware_testing REQUIRED) - #add_smoke_test(${PROJECT_NAME} ${LATLON_MUXER_NODE}_exe PARAM_FILENAME latlon_muxer_defaults.param.yaml) - #add_smoke_test(${PROJECT_NAME} ${LATERAL_CONTROLLER_NODE}_exe PARAM_FILENAME lateral_controller_defaults.param.yaml) - #add_smoke_test(${PROJECT_NAME} ${LONGITUDINAL_CONTROLLER_NODE}_exe PARAM_FILENAME longitudinal_controller_defaults.param.yaml) + find_package(autoware_testing REQUIRED) + add_smoke_test(${PROJECT_NAME} ${LATLON_MUXER_NODE}_exe + PARAM_FILENAMES "latlon_muxer_defaults.param.yaml" + ) + add_smoke_test(${PROJECT_NAME} ${LATERAL_CONTROLLER_NODE}_exe + PARAM_FILENAMES "lateral_controller_defaults.param.yaml test_vehicle_info.param.yaml" + ) + add_smoke_test(${PROJECT_NAME} ${LONGITUDINAL_CONTROLLER_NODE}_exe + PARAM_FILENAMES "longitudinal_controller_defaults.param.yaml test_vehicle_info.param.yaml" + ) endif() ament_auto_package( From 31147a2cea1221677fae2a6bcc1a4aa8a41a18fb Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Wed, 11 May 2022 10:22:56 +0900 Subject: [PATCH 024/701] feat(rviz_plugins): add velocity limit to autoware state panel (#879) * feat(rviz_plugins): add velocity limit to autoware state panel Signed-off-by: tanaka3 * chore(rviz_plugin): change ms to kmh Signed-off-by: tanaka3 --- common/tier4_state_rviz_plugin/package.xml | 1 + .../src/autoware_state_panel.cpp | 23 +++++++++++++++++++ .../src/autoware_state_panel.hpp | 7 ++++++ 3 files changed, 31 insertions(+) diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml index 2afbe9c315f75..74f7a7418815e 100644 --- a/common/tier4_state_rviz_plugin/package.xml +++ b/common/tier4_state_rviz_plugin/package.xml @@ -21,6 +21,7 @@ rviz_common tier4_control_msgs tier4_external_api_msgs + tier4_planning_msgs ament_lint_auto autoware_lint_common diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp index 78681106b3d61..825e06dac1cd9 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -80,13 +80,26 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa engage_button_ptr_ = new QPushButton("Engage"); connect(engage_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutowareEngage())); + velocity_limit_button_ptr_ = new QPushButton("Send Velocity Limit"); + pub_velocity_limit_input_ = new QSpinBox(); + pub_velocity_limit_input_->setRange(-100.0, 100.0); + pub_velocity_limit_input_->setValue(0.0); + pub_velocity_limit_input_->setSingleStep(5.0); + connect(velocity_limit_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickVelocityLimit())); + auto * v_layout = new QVBoxLayout; + auto * velocity_limit_layout = new QHBoxLayout(); v_layout->addLayout(gate_layout); v_layout->addLayout(selector_layout); v_layout->addLayout(state_layout); v_layout->addLayout(gear_layout); v_layout->addLayout(engage_status_layout); v_layout->addWidget(engage_button_ptr_); + v_layout->addLayout(engage_status_layout); + velocity_limit_layout->addWidget(velocity_limit_button_ptr_); + velocity_limit_layout->addWidget(pub_velocity_limit_input_); + velocity_limit_layout->addWidget(new QLabel(" [km/h]")); + v_layout->addLayout(velocity_limit_layout); setLayout(v_layout); } @@ -114,6 +127,9 @@ void AutowareStatePanel::onInitialize() client_engage_ = raw_node_->create_client( "/api/autoware/set/engage", rmw_qos_profile_services_default); + + pub_velocity_limit_ = raw_node_->create_publisher( + "/planning/scenario_planning/max_velocity_default", rclcpp::QoS(1)); } void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg) @@ -215,6 +231,13 @@ void AutowareStatePanel::onEngageStatus( engage_status_label_ptr_->setText(QString::fromStdString(Bool2String(current_engage_))); } +void AutowareStatePanel::onClickVelocityLimit() +{ + auto velocity_limit = std::make_shared(); + velocity_limit->max_velocity = pub_velocity_limit_input_->value() / 3.6; + pub_velocity_limit_->publish(*velocity_limit); +} + void AutowareStatePanel::onClickAutowareEngage() { auto req = std::make_shared(); diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp index 45cd290e5f4a3..97c559bdfb3de 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp @@ -19,6 +19,7 @@ #include #include +#include #include #include @@ -28,6 +29,7 @@ #include #include #include +#include namespace rviz_plugins { @@ -41,6 +43,7 @@ class AutowareStatePanel : public rviz_common::Panel public Q_SLOTS: void onClickAutowareEngage(); + void onClickVelocityLimit(); protected: void onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg); @@ -61,12 +64,16 @@ public Q_SLOTS: rclcpp::Client::SharedPtr client_engage_; + rclcpp::Publisher::SharedPtr pub_velocity_limit_; + QLabel * gate_mode_label_ptr_; QLabel * selector_mode_label_ptr_; QLabel * autoware_state_label_ptr_; QLabel * gear_label_ptr_; QLabel * engage_status_label_ptr_; QPushButton * engage_button_ptr_; + QPushButton * velocity_limit_button_ptr_; + QSpinBox * pub_velocity_limit_input_; bool current_engage_; }; From da41a37d19434b62ccce549a83777b0d469e48d7 Mon Sep 17 00:00:00 2001 From: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Date: Wed, 11 May 2022 11:00:51 +0900 Subject: [PATCH 025/701] fix(dummy_perception_publisher): publish multiple layers of pointcloud (#882) * fix: single -> multiple layers pointcloud Signed-off-by: Hirokazu Ishida * refactor: share common among different pcloud creators Signed-off-by: Hirokazu Ishida --- .../src/pointcloud_creator.cpp | 56 ++++++++++++++----- 1 file changed, 41 insertions(+), 15 deletions(-) diff --git a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp index 6c964625a3e69..d55c42a0c28bd 100644 --- a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp +++ b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp @@ -25,6 +25,18 @@ #include #include +namespace +{ + +static constexpr double epsilon = 0.001; +static constexpr double step = 0.05; +static constexpr double vertical_theta_step = (1.0 / 180.0) * M_PI; +static constexpr double vertical_min_theta = (-15.0 / 180.0) * M_PI; +static constexpr double vertical_max_theta = (15.0 / 180.0) * M_PI; +static constexpr double horizontal_theta_step = (0.1 / 180.0) * M_PI; +static constexpr double horizontal_min_theta = (-180.0 / 180.0) * M_PI; +static constexpr double horizontal_max_theta = (180.0 / 180.0) * M_PI; + pcl::PointXYZ getPointWrtBaseLink( const tf2::Transform & tf_base_link2moved_object, double x, double y, double z) { @@ -32,6 +44,8 @@ pcl::PointXYZ getPointWrtBaseLink( return pcl::PointXYZ(p_wrt_base.x(), p_wrt_base.y(), p_wrt_base.z()); } +} // namespace + void ObjectCentricPointCloudCreator::create_object_pointcloud( const ObjectInfo & obj_info, const tf2::Transform & tf_base_link2map, std::mt19937 & random_generator, pcl::PointCloud::Ptr pointcloud) const @@ -39,14 +53,6 @@ void ObjectCentricPointCloudCreator::create_object_pointcloud( std::normal_distribution<> x_random(0.0, obj_info.std_dev_x); std::normal_distribution<> y_random(0.0, obj_info.std_dev_y); std::normal_distribution<> z_random(0.0, obj_info.std_dev_z); - const double epsilon = 0.001; - const double step = 0.05; - const double vertical_theta_step = (1.0 / 180.0) * M_PI; - const double vertical_min_theta = (-15.0 / 180.0) * M_PI; - const double vertical_max_theta = (15.0 / 180.0) * M_PI; - const double horizontal_theta_step = (0.1 / 180.0) * M_PI; - const double horizontal_min_theta = (-180.0 / 180.0) * M_PI; - const double horizontal_max_theta = (180.0 / 180.0) * M_PI; const auto tf_base_link2moved_object = tf_base_link2map * obj_info.tf_map2moved_object; @@ -206,7 +212,18 @@ std::vector::Ptr> EgoCentricPointCloudCreator::cr pointclouds.at(i) = (pcl::PointCloud::Ptr(new pcl::PointCloud)); } - const double horizontal_theta_step = 0.25 * M_PI / 180.0; + std::vector min_zs(obj_infos.size()); + std::vector max_zs(obj_infos.size()); + + for (size_t idx = 0; idx < obj_infos.size(); ++idx) { + const auto & obj_info = obj_infos.at(idx); + const auto tf_base_link2moved_object = tf_base_link2map * obj_info.tf_map2moved_object; + const double min_z = -1.0 * (obj_info.height / 2.0) + tf_base_link2moved_object.getOrigin().z(); + const double max_z = 1.0 * (obj_info.height / 2.0) + tf_base_link2moved_object.getOrigin().z(); + min_zs.at(idx) = min_z; + max_zs.at(idx) = max_z; + } + double angle = 0.0; const auto n_scan = static_cast(std::floor(2 * M_PI / horizontal_theta_step)); for (size_t i = 0; i < n_scan; ++i) { @@ -217,13 +234,22 @@ std::vector::Ptr> EgoCentricPointCloudCreator::cr const auto x_hit = dist * cos(angle); const auto y_hit = dist * sin(angle); const auto idx_hit = composite_sdf.nearest_sdf_index(x_hit, y_hit); + const auto obj_info_here = obj_infos.at(idx_hit); + const auto min_z_here = min_zs.at(idx_hit); + const auto max_z_here = max_zs.at(idx_hit); + std::normal_distribution<> x_random(0.0, obj_info_here.std_dev_x); + std::normal_distribution<> y_random(0.0, obj_info_here.std_dev_y); + std::normal_distribution<> z_random(0.0, obj_info_here.std_dev_z); - std::normal_distribution<> x_random(0.0, obj_infos.at(idx_hit).std_dev_x); - std::normal_distribution<> y_random(0.0, obj_infos.at(idx_hit).std_dev_y); - std::normal_distribution<> z_random(0.0, obj_infos.at(idx_hit).std_dev_z); - pointclouds.at(idx_hit)->push_back(pcl::PointXYZ( - x_hit + x_random(random_generator), y_hit + y_random(random_generator), - z_random(random_generator))); + for (double vertical_theta = vertical_min_theta; + vertical_theta <= vertical_max_theta + epsilon; vertical_theta += vertical_theta_step) { + const double z = dist * std::tan(vertical_theta); + if (min_z_here <= z && z <= max_z_here + epsilon) { + pointclouds.at(idx_hit)->push_back(pcl::PointXYZ( + x_hit + x_random(random_generator), y_hit + y_random(random_generator), + z + z_random(random_generator))); + } + } } } From e2e557d63e4c342da067a32ff6d8ddefe4ea8d47 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 11 May 2022 12:56:26 +0900 Subject: [PATCH 026/701] feat(vehicle_info_util): add max_steer_angle (#740) * feat(vehicle_info_util): add max_steer_angle Signed-off-by: Takayuki Murooka * applied pre-commit Signed-off-by: Takayuki Murooka * Added max_steer_angle in test config Signed-off-by: Takayuki Murooka Co-authored-by: Tomoya Kimura --- .../param/test_vehicle_info.param.yaml | 1 + .../param/vehicle_characteristics.param.yaml | 1 + .../test/test_simple_planning_simulator.cpp | 1 + vehicle/vehicle_info_util/config/vehicle_info.param.yaml | 1 + .../include/vehicle_info_util/vehicle_info.hpp | 5 ++++- vehicle/vehicle_info_util/src/vehicle_info_util.cpp | 4 +++- 6 files changed, 11 insertions(+), 2 deletions(-) diff --git a/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml b/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml index b1279b50ef04a..8941b92b4e78e 100644 --- a/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml +++ b/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml @@ -9,3 +9,4 @@ left_overhang: 0.1 # between left wheel center and vehicle left right_overhang: 0.1 # between right wheel center and vehicle right vehicle_height: 2.5 + max_steer_angle: 0.70 # [rad] diff --git a/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml b/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml index 12b6efa79d1cd..ef594927dac4d 100644 --- a/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml +++ b/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml @@ -10,3 +10,4 @@ width_m: 2.0 front_overhang_m: 0.5 rear_overhang_m: 0.5 + max_steer_angle: 0.70 # [rad] diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp index d983aeed4d8c4..fea6cd16db9d0 100644 --- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp +++ b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp @@ -190,6 +190,7 @@ void declareVehicleInfoParams(rclcpp::NodeOptions & node_options) node_options.append_parameter_override("left_overhang", 0.5); node_options.append_parameter_override("right_overhang", 0.5); node_options.append_parameter_override("vehicle_height", 1.5); + node_options.append_parameter_override("max_steer_angle", 0.7); } // Send a control command and run the simulation. diff --git a/vehicle/vehicle_info_util/config/vehicle_info.param.yaml b/vehicle/vehicle_info_util/config/vehicle_info.param.yaml index b1279b50ef04a..8941b92b4e78e 100644 --- a/vehicle/vehicle_info_util/config/vehicle_info.param.yaml +++ b/vehicle/vehicle_info_util/config/vehicle_info.param.yaml @@ -9,3 +9,4 @@ left_overhang: 0.1 # between left wheel center and vehicle left right_overhang: 0.1 # between right wheel center and vehicle right vehicle_height: 2.5 + max_steer_angle: 0.70 # [rad] diff --git a/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp b/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp index e7ba446051889..8df6d4cfe04c1 100644 --- a/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp +++ b/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp @@ -31,6 +31,7 @@ struct VehicleInfo double left_overhang_m; double right_overhang_m; double vehicle_height_m; + double max_steer_angle_m; // Derived parameters, i.e. calculated from base parameters // The offset values are relative to the base frame origin, which is located @@ -49,7 +50,8 @@ struct VehicleInfo inline VehicleInfo createVehicleInfo( const double wheel_radius_m, const double wheel_width_m, const double wheel_base_m, const double wheel_tread_m, const double front_overhang_m, const double rear_overhang_m, - const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m) + const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m, + const double max_steer_angle_m) { // Calculate derived parameters const double vehicle_length_m_ = front_overhang_m + wheel_base_m + rear_overhang_m; @@ -72,6 +74,7 @@ inline VehicleInfo createVehicleInfo( left_overhang_m, right_overhang_m, vehicle_height_m, + max_steer_angle_m, // Derived parameters vehicle_length_m_, vehicle_width_m_, diff --git a/vehicle/vehicle_info_util/src/vehicle_info_util.cpp b/vehicle/vehicle_info_util/src/vehicle_info_util.cpp index 6cc2d2f27e9ce..c295155727e61 100644 --- a/vehicle/vehicle_info_util/src/vehicle_info_util.cpp +++ b/vehicle/vehicle_info_util/src/vehicle_info_util.cpp @@ -49,6 +49,7 @@ VehicleInfoUtil::VehicleInfoUtil(rclcpp::Node & node) vehicle_info_.left_overhang_m = getParameter(node, "left_overhang"); vehicle_info_.right_overhang_m = getParameter(node, "right_overhang"); vehicle_info_.vehicle_height_m = getParameter(node, "vehicle_height"); + vehicle_info_.max_steer_angle_m = getParameter(node, "max_steer_angle"); } VehicleInfo VehicleInfoUtil::getVehicleInfo() @@ -56,7 +57,8 @@ VehicleInfo VehicleInfoUtil::getVehicleInfo() return createVehicleInfo( vehicle_info_.wheel_radius_m, vehicle_info_.wheel_width_m, vehicle_info_.wheel_base_m, vehicle_info_.wheel_tread_m, vehicle_info_.front_overhang_m, vehicle_info_.rear_overhang_m, - vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m); + vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m, + vehicle_info_.max_steer_angle_m); } } // namespace vehicle_info_util From 952510b3427c7af5dc09cc25365c56f248e33780 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed, 11 May 2022 14:52:58 +0900 Subject: [PATCH 027/701] ci(deploy-docs): remove mdx_unimoji (#883) Signed-off-by: Shumpei Wakabayashi --- mkdocs.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/mkdocs.yaml b/mkdocs.yaml index 2bd16349b24bb..02c3bb42383e8 100644 --- a/mkdocs.yaml +++ b/mkdocs.yaml @@ -66,7 +66,6 @@ markdown_extensions: - mdx_math - mdx_truly_sane_lists: nested_indent: 2 - - mdx_unimoji - plantuml_markdown: server: http://www.plantuml.com/plantuml format: svg From b2727f066bcf842777734f5c8c649d669a91105d Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Wed, 11 May 2022 06:17:37 +0000 Subject: [PATCH 028/701] chore: sync files (#884) Signed-off-by: GitHub Co-authored-by: kenji-miyake --- .github/workflows/github-release.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index 23508e63bc43d..93533b54e1dd0 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -54,7 +54,7 @@ jobs: - name: Select verb id: select-verb run: | - has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}") + has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}") || true verb=create if [ "$has_previous_draft" = "true" ]; then From ae80db9ad2878ff44c80a7aa9657be45da2ea829 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Thu, 12 May 2022 15:45:49 +0900 Subject: [PATCH 029/701] fix(lidar_centerpoint): fix google drive url to avoid 404 (#889) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- perception/lidar_centerpoint/CMakeLists.txt | 4 ++-- perception/tensorrt_yolo/CMakeLists.txt | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt index 0cf1f51654bb1..4f15575181348 100644 --- a/perception/lidar_centerpoint/CMakeLists.txt +++ b/perception/lidar_centerpoint/CMakeLists.txt @@ -86,13 +86,13 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) message(STATUS "File already exists.") else() message(STATUS "File hash changes. Downloading now ...") - execute_process(COMMAND gdown --quiet https://drive.google.com//uc?id=${GFILE_ID} -O ${FILE_PATH}) + execute_process(COMMAND gdown --quiet https://drive.google.com/uc?id=${GFILE_ID} -O ${FILE_PATH}) # file(MD5 ${FILE_PATH} DOWNLOADED_FILE_HASH) # disable to pass ci message(STATUS "Downloaded file hash: ${DOWNLOADED_FILE_HASH}") endif() else() message(STATUS "File doesn't exists. Downloading now ...") - execute_process(COMMAND gdown --quiet https://drive.google.com//uc?id=${GFILE_ID} -O ${FILE_PATH}) + execute_process(COMMAND gdown --quiet https://drive.google.com/uc?id=${GFILE_ID} -O ${FILE_PATH}) # file(MD5 ${FILE_PATH} DOWNLOADED_FILE_HASH) # disable to pass ci message(STATUS "Downloaded file hash: ${DOWNLOADED_FILE_HASH}") endif() diff --git a/perception/tensorrt_yolo/CMakeLists.txt b/perception/tensorrt_yolo/CMakeLists.txt index a50af6bfa9abb..e8ac60c30ed37 100755 --- a/perception/tensorrt_yolo/CMakeLists.txt +++ b/perception/tensorrt_yolo/CMakeLists.txt @@ -93,7 +93,7 @@ message(STATUS "Checking and downloading yolov4.onnx") if(NOT EXISTS "${FILE}") message(STATUS "... file does not exist. Downloading now ...") execute_process( - COMMAND gdown "https://drive.google.com//uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX" -O ${PATH}/yolov4.onnx + COMMAND gdown "https://drive.google.com/uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX" -O ${PATH}/yolov4.onnx ERROR_QUIET ) endif() @@ -115,7 +115,7 @@ message(STATUS "Checking and downloading yolov5s.onnx") if(NOT EXISTS "${FILE}") message(STATUS "... file does not exist. Downloading now ...") execute_process( - COMMAND gdown "https://drive.google.com//uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad" -O ${PATH}/yolov5s.onnx + COMMAND gdown "https://drive.google.com/uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad" -O ${PATH}/yolov5s.onnx ERROR_QUIET ) endif() @@ -126,7 +126,7 @@ message(STATUS "Checking and downloading yolov5m.onnx") if(NOT EXISTS "${FILE}") message(STATUS "... file does not exist. Downloading now ...") execute_process( - COMMAND gdown "https://drive.google.com//uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG" -O ${PATH}/yolov5m.onnx + COMMAND gdown "https://drive.google.com/uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG" -O ${PATH}/yolov5m.onnx ERROR_QUIET ) endif() From c396b9d75dbb49c1ce0a288b54f7bf8fa907fc1d Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 12 May 2022 21:01:04 +0900 Subject: [PATCH 030/701] chore: fix typos (#886) Signed-off-by: badai-nguyen --- .../src/blockage_diag/blockage_diag_nodelet.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp b/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp index 3f3665bf06531..821e2de462bdc 100644 --- a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp @@ -42,7 +42,7 @@ BlockageDiagComponent::BlockageDiagComponent(const rclcpp::NodeOptions & options updater_.setHardwareID("blockage_diag"); updater_.add( - std::string(this->get_namespace()) + ": ground_blockage_validation", this, + std::string(this->get_namespace()) + ": blockage_validation", this, &BlockageDiagComponent::onBlockageChecker); updater_.setPeriod(0.1); @@ -93,9 +93,9 @@ void BlockageDiagComponent::onBlockageChecker(DiagnosticStatusWrapper & stat) if (level == DiagnosticStatus::OK) { msg = "OK"; } else if (level == DiagnosticStatus::WARN) { - msg = "WARNING: LiDAR ground blockage"; + msg = "WARNING: LiDAR blockage"; } else if (level == DiagnosticStatus::ERROR) { - msg = "ERROR: LiDAR ground blockage"; + msg = "ERROR: LiDAR blockage"; } else if (level == DiagnosticStatus::STALE) { msg = "STALE"; } From ffb0553a1915806df75e17dac2d9a237318f30c9 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Fri, 13 May 2022 11:22:08 +0900 Subject: [PATCH 031/701] feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (#894) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/autoware_state_panel.cpp | 40 +++++++++++++++++++ .../src/autoware_state_panel.hpp | 7 ++++ 2 files changed, 47 insertions(+) diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp index 825e06dac1cd9..33177729e8359 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -16,6 +16,7 @@ #include "autoware_state_panel.hpp" +#include #include #include #include @@ -80,6 +81,15 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa engage_button_ptr_ = new QPushButton("Engage"); connect(engage_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutowareEngage())); + // Gate Mode Button + gate_mode_button_ptr_ = new QPushButton("Gate Mode"); + connect(gate_mode_button_ptr_, SIGNAL(clicked()), SLOT(onClickGateMode())); + + // Path Change Approval Button + path_change_approval_button_ptr_ = new QPushButton("Path Change Approval"); + connect(path_change_approval_button_ptr_, SIGNAL(clicked()), SLOT(onClickPathChangeApproval())); + + // Velocity Limit velocity_limit_button_ptr_ = new QPushButton("Send Velocity Limit"); pub_velocity_limit_input_ = new QSpinBox(); pub_velocity_limit_input_->setRange(-100.0, 100.0); @@ -87,7 +97,9 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa pub_velocity_limit_input_->setSingleStep(5.0); connect(velocity_limit_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickVelocityLimit())); + // Layout auto * v_layout = new QVBoxLayout; + auto * gate_mode_path_change_approval_layout = new QHBoxLayout; auto * velocity_limit_layout = new QHBoxLayout(); v_layout->addLayout(gate_layout); v_layout->addLayout(selector_layout); @@ -96,6 +108,9 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa v_layout->addLayout(engage_status_layout); v_layout->addWidget(engage_button_ptr_); v_layout->addLayout(engage_status_layout); + gate_mode_path_change_approval_layout->addWidget(gate_mode_button_ptr_); + gate_mode_path_change_approval_layout->addWidget(path_change_approval_button_ptr_); + v_layout->addLayout(gate_mode_path_change_approval_layout); velocity_limit_layout->addWidget(velocity_limit_button_ptr_); velocity_limit_layout->addWidget(pub_velocity_limit_input_); velocity_limit_layout->addWidget(new QLabel(" [km/h]")); @@ -130,6 +145,14 @@ void AutowareStatePanel::onInitialize() pub_velocity_limit_ = raw_node_->create_publisher( "/planning/scenario_planning/max_velocity_default", rclcpp::QoS(1)); + + pub_gate_mode_ = raw_node_->create_publisher( + "/control/gate_mode_cmd", rclcpp::QoS(1)); + + pub_path_change_approval_ = raw_node_->create_publisher( + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/" + "path_change_approval", + rclcpp::QoS(1)); } void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg) @@ -258,6 +281,23 @@ void AutowareStatePanel::onClickAutowareEngage() }); } +void AutowareStatePanel::onClickGateMode() +{ + const auto data = gate_mode_label_ptr_->text().toStdString() == "AUTO" + ? tier4_control_msgs::msg::GateMode::EXTERNAL + : tier4_control_msgs::msg::GateMode::AUTO; + RCLCPP_INFO(raw_node_->get_logger(), "data : %d", data); + pub_gate_mode_->publish( + tier4_control_msgs::build().data(data)); +} + +void AutowareStatePanel::onClickPathChangeApproval() +{ + pub_path_change_approval_->publish( + tier4_planning_msgs::build() + .stamp(raw_node_->now()) + .approval(true)); +} } // namespace rviz_plugins #include diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp index 97c559bdfb3de..a53bea54452fc 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp @@ -29,6 +29,7 @@ #include #include #include +#include #include namespace rviz_plugins @@ -44,6 +45,8 @@ class AutowareStatePanel : public rviz_common::Panel public Q_SLOTS: void onClickAutowareEngage(); void onClickVelocityLimit(); + void onClickGateMode(); + void onClickPathChangeApproval(); protected: void onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg); @@ -65,6 +68,8 @@ public Q_SLOTS: rclcpp::Client::SharedPtr client_engage_; rclcpp::Publisher::SharedPtr pub_velocity_limit_; + rclcpp::Publisher::SharedPtr pub_gate_mode_; + rclcpp::Publisher::SharedPtr pub_path_change_approval_; QLabel * gate_mode_label_ptr_; QLabel * selector_mode_label_ptr_; @@ -73,6 +78,8 @@ public Q_SLOTS: QLabel * engage_status_label_ptr_; QPushButton * engage_button_ptr_; QPushButton * velocity_limit_button_ptr_; + QPushButton * gate_mode_button_ptr_; + QPushButton * path_change_approval_button_ptr_; QSpinBox * pub_velocity_limit_input_; bool current_engage_; From 80f3f1c8455381c040d2f166bf622d4f5cb79a5c Mon Sep 17 00:00:00 2001 From: Takeshi Ishita Date: Fri, 13 May 2022 13:50:09 +0900 Subject: [PATCH 032/701] feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (#890) * add random point sampling function to quickly calculate the 'viewer' coordinate Signed-off-by: IshitaTakeshi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- map/map_tf_generator/CMakeLists.txt | 17 ++++++++ .../map_tf_generator/uniform_random.hpp | 33 ++++++++++++++ map/map_tf_generator/package.xml | 1 + .../src/map_tf_generator_node.cpp | 18 +++++--- .../test/test_uniform_random.cpp | 43 +++++++++++++++++++ 5 files changed, 107 insertions(+), 5 deletions(-) create mode 100644 map/map_tf_generator/include/map_tf_generator/uniform_random.hpp create mode 100644 map/map_tf_generator/test/test_uniform_random.cpp diff --git a/map/map_tf_generator/CMakeLists.txt b/map/map_tf_generator/CMakeLists.txt index 1170dfef00474..506f763c4bb36 100644 --- a/map/map_tf_generator/CMakeLists.txt +++ b/map/map_tf_generator/CMakeLists.txt @@ -16,6 +16,23 @@ rclcpp_components_register_node(map_tf_generator_node EXECUTABLE map_tf_generator ) + +if(BUILD_TESTING) + function(add_testcase filepath) + get_filename_component(filename ${filepath} NAME) + string(REGEX REPLACE ".cpp" "" test_name ${filename}) + + ament_add_gmock(${test_name} ${filepath}) + target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include) + ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}) + endfunction() + + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + + add_testcase(test/test_uniform_random.cpp) +endif() + ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/map/map_tf_generator/include/map_tf_generator/uniform_random.hpp b/map/map_tf_generator/include/map_tf_generator/uniform_random.hpp new file mode 100644 index 0000000000000..345703a19bc06 --- /dev/null +++ b/map/map_tf_generator/include/map_tf_generator/uniform_random.hpp @@ -0,0 +1,33 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef MAP_TF_GENERATOR__UNIFORM_RANDOM_HPP_ +#define MAP_TF_GENERATOR__UNIFORM_RANDOM_HPP_ + +#include +#include + +std::vector UniformRandom(const size_t max_exclusive, const size_t n) +{ + std::default_random_engine generator; + std::uniform_int_distribution distribution(0, max_exclusive - 1); + + std::vector v(n); + for (size_t i = 0; i < n; i++) { + v[i] = distribution(generator); + } + return v; +} + +#endif // MAP_TF_GENERATOR__UNIFORM_RANDOM_HPP_ diff --git a/map/map_tf_generator/package.xml b/map/map_tf_generator/package.xml index 9aaf14bc5fda7..3adcf80690668 100644 --- a/map/map_tf_generator/package.xml +++ b/map/map_tf_generator/package.xml @@ -19,6 +19,7 @@ tf2 tf2_ros + ament_cmake_gmock ament_lint_auto autoware_lint_common diff --git a/map/map_tf_generator/src/map_tf_generator_node.cpp b/map/map_tf_generator/src/map_tf_generator_node.cpp index 378d739ffbef3..b99514f18e658 100644 --- a/map/map_tf_generator/src/map_tf_generator_node.cpp +++ b/map/map_tf_generator/src/map_tf_generator_node.cpp @@ -12,6 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "map_tf_generator/uniform_random.hpp" + #include #include @@ -25,6 +27,8 @@ #include #include +constexpr size_t N_SAMPLES = 20; + class MapTFGeneratorNode : public rclcpp::Node { public: @@ -51,19 +55,23 @@ class MapTFGeneratorNode : public rclcpp::Node void onPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr clouds_ros) { + // fix random seed to produce the same viewer position every time + // 3939 is just the author's favorite number + srand(3939); + PointCloud clouds; pcl::fromROSMsg(*clouds_ros, clouds); - const unsigned int sum = clouds.points.size(); + const std::vector indices = UniformRandom(clouds.size(), N_SAMPLES); double coordinate[3] = {0, 0, 0}; - for (unsigned int i = 0; i < sum; i++) { + for (const auto i : indices) { coordinate[0] += clouds.points[i].x; coordinate[1] += clouds.points[i].y; coordinate[2] += clouds.points[i].z; } - coordinate[0] = coordinate[0] / sum; - coordinate[1] = coordinate[1] / sum; - coordinate[2] = coordinate[2] / sum; + coordinate[0] = coordinate[0] / indices.size(); + coordinate[1] = coordinate[1] / indices.size(); + coordinate[2] = coordinate[2] / indices.size(); geometry_msgs::msg::TransformStamped static_transformStamped; static_transformStamped.header.stamp = this->now(); diff --git a/map/map_tf_generator/test/test_uniform_random.cpp b/map/map_tf_generator/test/test_uniform_random.cpp new file mode 100644 index 0000000000000..76ee174a34871 --- /dev/null +++ b/map/map_tf_generator/test/test_uniform_random.cpp @@ -0,0 +1,43 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "map_tf_generator/uniform_random.hpp" + +#include + +using testing::AllOf; +using testing::Each; +using testing::Ge; +using testing::Lt; + +TEST(UniformRandom, UniformRandom) +{ + { + const std::vector random = UniformRandom(4, 0); + ASSERT_EQ(random.size(), static_cast(0)); + } + + // checks if the returned values are in range of [min, max) + // note that the minimun range is always zero and the max value is exclusive + { + const size_t min_inclusive = 0; + const size_t max_exclusive = 4; + + for (int i = 0; i < 50; i++) { + const std::vector random = UniformRandom(4, 10); + ASSERT_EQ(random.size(), 10U); + ASSERT_THAT(random, Each(AllOf(Ge(min_inclusive), Lt(max_exclusive)))); // in range [0, 4) + } + } +} From ef379533fdf2fdf5d8599d2c34af7ce38eef7ab0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 13 May 2022 17:45:37 +0900 Subject: [PATCH 033/701] docs(obstacle_stop_planner): update documentation (#880) Signed-off-by: satoshi-ota --- planning/obstacle_stop_planner/README.md | 13 +- .../docs/insert_decel_velocity.drawio.svg | 273 +----------------- .../docs/insert_velocity1.drawio.svg | 4 + .../docs/insert_velocity2.drawio.svg | 4 + 4 files changed, 22 insertions(+), 272 deletions(-) create mode 100644 planning/obstacle_stop_planner/docs/insert_velocity1.drawio.svg create mode 100644 planning/obstacle_stop_planner/docs/insert_velocity2.drawio.svg diff --git a/planning/obstacle_stop_planner/README.md b/planning/obstacle_stop_planner/README.md index 95274b6a4829d..9c8fc714fb9c1 100644 --- a/planning/obstacle_stop_planner/README.md +++ b/planning/obstacle_stop_planner/README.md @@ -11,13 +11,20 @@ - Adaptive Cruise Controller (ACC) - embeds target velocity in trajectory when there is a dynamic point cloud on the trajectory. -When the stop point that has 0 velocity is inserted, the point is inserted in front of the target point cloud by the distance of `baselink to front` + `stop margin`. The `baselink to front` means the distance between `base_link`(center of rear-wheel axis) and front of the car. `stop margin` is determined by the parameters described below. +In order to stop with a `stop margin` from the obstacle exists, the stop point (`v=0`) is inserted at a distance of `baselink to front` + `stop margin` from the obstacle. The `baselink to front` means the distance between `base_link`(center of rear-wheel axis) and front of the car. -![insert_stop_velocity](./docs/insert_velocity.drawio.svg) +If a stop point has already been inserted by other nodes between the obstacle and a position which is `stop margin` meters away from the obstacle, the stop point is inserted at a distance of `baselink to front` + `min behavior stop margin` from the obstacle. + +

+ + +
When the deceleration section is inserted, the start point of the section is inserted in front of the target point cloud by the distance of `baselink to front` + `slow down forward margin`. the end point of the section is inserted behind the target point cloud by the distance of `slow down backward margin` + `baselink to rear`. The `baselink to rear` means the distance between `base_link` and rear of the car. The velocities of points in the deceleration section are modified to the deceleration velocity. `slow down backward margin` and `slow down forward margin` are determined by the parameters described below. -![insert_stop_velocity](./docs/insert_decel_velocity.drawio.svg) +
+ +
## Input topics diff --git a/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg b/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg index 80cb8c2ed5016..a49853974a2f9 100644 --- a/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg +++ b/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg @@ -1,269 +1,4 @@ - - - - - - - -
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- - - baselink to rear - - - - - - - - - Viewer does not support full SVG 1.1 - - - - \ No newline at end of file + + + +
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zYx~nsbvtBxz`S^WHp%Uz;~I4B>pVOYhHM<1_j!=Pq>3bqz58h}O*NIz#uB?&olY2dQ{U5zO1VG;TB5<@{h0MH8Tr18{GBh$C{p4C}UGd<@WC* zwR*;`m?;#sanQzV(Vu=VOh#1bmgQiU;tR>aD=}9eJXd>d^j;2OJ^I|dF`L#J!KGDc zHC5&#&%fG!irAea*a~}0?Qa6+#&ip-O8Z*W8Ny;-#g^%GxX{W@io`pccE?GWH+RCy zXS;I6atLZY%NrYm{}F=ykG!^u|0gu!e{G`Dsd)aEnH>AbsEUBBNm!bae5eA zRj_>rT_ForMdOtxgWSW`>CQk`>+rea-e%XZhyYt7{oHZ%*oy{dWP5XM^y2`?s zx4vhGvC~$Vge%MZNAnA}|F7f^+y7wxcwUTH{(czC9TF(~mPAem%t`~U13XSe4E%sE zI6vB9``+wC{X=U`HcD-zn+B{{=J@jVk~E From e1e81b3a1a3c4c5e86f472538a40f1b7c57a8de8 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 17 May 2022 08:37:29 +0900 Subject: [PATCH 035/701] fix(accel_brake_map_calibrator): rviz panel type (#895) * fixed panel type Signed-off-by: Mamoru Sobue * modified instruction for rosbag replay case Signed-off-by: Mamoru Sobue * modified update_map_dir service name Signed-off-by: Mamoru Sobue --- .../src/accel_brake_map_calibrator_button_panel.cpp | 2 +- .../accel_brake_map_calibrator/README.md | 4 ++-- .../accel_brake_map_calibrator/rviz/occupancy.rviz | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp b/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp index 542ce6f7bdeda..545bdac7b630d 100644 --- a/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp +++ b/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp @@ -75,7 +75,7 @@ void AccelBrakeMapCalibratorButtonPanel::onInitialize() &AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest, this, std::placeholders::_1)); client_ = raw_node->create_client( - "/vehicle/calibration/accel_brake_map_calibrator/update_map_dir"); + "/accel_brake_map_calibrator/update_map_dir"); } void AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest( diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md index d7de930308412..0d30686bbe5e2 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md @@ -17,7 +17,7 @@ ros2 launch accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml rvi Or if you want to use rosbag files, run the following commands. ```sh -ros2 param set /use_sim_time true +ros2 launch accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml rviz:=true use_sim_time:=true ros2 bag play --clock ``` @@ -110,7 +110,7 @@ ros2 run accel_brake_map_calibrator view_statistics.py You can save accel and brake map anytime with the following command. ```sh -ros2 service call /accel_brake_map_calibrator/update_map_dir "path: ''" +ros2 service call /accel_brake_map_calibrator/update_map_dir tier4_vehicle_msgs/srv/UpdateAccelBrakeMap "path: ''" ``` You can also save accel and brake map in the default directory where Autoware reads accel_map.csv/brake_map.csv using the RViz plugin (AccelBrakeMapCalibratorButtonPanel) as following. diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/rviz/occupancy.rviz b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/rviz/occupancy.rviz index ca51dc4ee75fc..c430c21562f32 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/rviz/occupancy.rviz +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/rviz/occupancy.rviz @@ -17,9 +17,9 @@ Panels: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: autoware_localization_rviz_plugin/InitialPoseButtonPanel + - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel Name: InitialPoseButtonPanel - - Class: autoware_localization_rviz_plugin/InitialPoseButtonPanel + - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel Name: InitialPoseButtonPanel Preferences: PromptSaveOnExit: true From 55d807e4625f65fb857aa5f3b99b158667827870 Mon Sep 17 00:00:00 2001 From: TakumiKozaka-T4 <70260442+TakumiKozaka-T4@users.noreply.github.com> Date: Tue, 17 May 2022 14:35:38 +0900 Subject: [PATCH 036/701] fix(behavior velocity planner): skipping emplace back stop reason if it is empty (#898) * skipping emplace back stop reason if it is empty Signed-off-by: TakumiKozaka-T4 * add braces Signed-off-by: TakumiKozaka-T4 * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --- .../include/scene_module/scene_module_interface.hpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp index 50261de15f5c9..398994b4cde2b 100644 --- a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp @@ -123,7 +123,10 @@ class SceneModuleManagerInterface tier4_planning_msgs::msg::StopReason stop_reason; scene_module->setPlannerData(planner_data_); scene_module->modifyPathVelocity(path, &stop_reason); - stop_reason_array.stop_reasons.emplace_back(stop_reason); + + if (stop_reason.reason != "") { + stop_reason_array.stop_reasons.emplace_back(stop_reason); + } if (const auto command = scene_module->getInfrastructureCommand()) { infrastructure_command_array.commands.push_back(*command); From f1d2b9ec7aab0b27d4e2b66e1cc6cf1d97b9a2d6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 17 May 2022 22:54:46 +0900 Subject: [PATCH 037/701] feat(behavior_path_planner): weakened noise filtering of drivable area (#838) * feat(behavior_path_planner): Weakened noise filtering of drivable area Signed-off-by: Takayuki Murooka * fix lanelet's longitudinal disconnection Signed-off-by: Takayuki Murooka * add comments of erode/dilate process Signed-off-by: Takayuki Murooka --- map/lanelet2_extension/lib/utilities.cpp | 34 +++++++++++++++++-- .../behavior_path_planner/src/utilities.cpp | 5 ++- 2 files changed, 36 insertions(+), 3 deletions(-) diff --git a/map/lanelet2_extension/lib/utilities.cpp b/map/lanelet2_extension/lib/utilities.cpp index 072f079028db6..8983d9d4f3678 100644 --- a/map/lanelet2_extension/lib/utilities.cpp +++ b/map/lanelet2_extension/lib/utilities.cpp @@ -315,8 +315,38 @@ lanelet::ConstLanelet getExpandedLanelet( // Note: The lanelet::geometry::offset throws exception when the undesired inversion is found. // Use offsetNoThrow until the logic is updated to handle the inversion. // TODO(Horibe) update - const auto & expanded_left_bound_2d = offsetNoThrow(orig_left_bound_2d, left_offset); - const auto & expanded_right_bound_2d = offsetNoThrow(orig_right_bound_2d, right_offset); + auto expanded_left_bound_2d = offsetNoThrow(orig_left_bound_2d, left_offset); + auto expanded_right_bound_2d = offsetNoThrow(orig_right_bound_2d, right_offset); + + // Note: modify front and back points so that the successive lanelets will not have any + // longitudinal space between them. + { // front + const double diff_x = orig_right_bound_2d.front().x() - orig_left_bound_2d.front().x(); + const double diff_y = orig_right_bound_2d.front().y() - orig_left_bound_2d.front().y(); + const double theta = std::atan2(diff_y, diff_x); + expanded_right_bound_2d.front().x() = + orig_right_bound_2d.front().x() - right_offset * std::cos(theta); + expanded_right_bound_2d.front().y() = + orig_right_bound_2d.front().y() - right_offset * std::sin(theta); + expanded_left_bound_2d.front().x() = + orig_left_bound_2d.front().x() - left_offset * std::cos(theta); + expanded_left_bound_2d.front().y() = + orig_left_bound_2d.front().y() - left_offset * std::sin(theta); + } + { // back + const double diff_x = orig_right_bound_2d.back().x() - orig_left_bound_2d.back().x(); + const double diff_y = orig_right_bound_2d.back().y() - orig_left_bound_2d.back().y(); + const double theta = std::atan2(diff_y, diff_x); + expanded_right_bound_2d.back().x() = + orig_right_bound_2d.back().x() - right_offset * std::cos(theta); + expanded_right_bound_2d.back().y() = + orig_right_bound_2d.back().y() - right_offset * std::sin(theta); + expanded_left_bound_2d.back().x() = + orig_left_bound_2d.back().x() - left_offset * std::cos(theta); + expanded_left_bound_2d.back().y() = + orig_left_bound_2d.back().y() - left_offset * std::sin(theta); + } + rclcpp::Clock clock{RCL_ROS_TIME}; try { checkForInversion(orig_left_bound_2d, expanded_left_bound_2d, left_offset); diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp index a2c3545d65c7c..ca29304a65b22 100644 --- a/planning/behavior_path_planner/src/utilities.cpp +++ b/planning/behavior_path_planner/src/utilities.cpp @@ -1227,7 +1227,10 @@ OccupancyGrid generateDrivableArea( } // Closing - constexpr int num_iter = 10; // TODO(Horibe) Think later. + // NOTE: Because of the discretization error, there may be some discontinuity between two + // successive lanelets in the drivable area. This issue is dealt with by the erode/dilate + // process. + constexpr int num_iter = 1; cv::Mat cv_erode, cv_dilate; cv::erode(cv_image, cv_erode, cv::Mat(), cv::Point(-1, -1), num_iter); cv::dilate(cv_erode, cv_dilate, cv::Mat(), cv::Point(-1, -1), num_iter); From 3c02b13469ef982e5445b113d7106cb23173a7ae Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Sat, 17 Sep 2022 11:48:19 +0900 Subject: [PATCH 038/701] ci: add slack-send.yaml (#133) Signed-off-by: Kenji Miyake Signed-off-by: Kenji Miyake --- .github/workflows/slack-send.yaml | 25 +++++++++++++++++++++++++ 1 file changed, 25 insertions(+) create mode 100644 .github/workflows/slack-send.yaml diff --git a/.github/workflows/slack-send.yaml b/.github/workflows/slack-send.yaml new file mode 100644 index 0000000000000..973b08674f7e8 --- /dev/null +++ b/.github/workflows/slack-send.yaml @@ -0,0 +1,25 @@ +name: slack-send +on: + workflow_run: + workflows: + - build-and-test + types: + - completed + +jobs: + on-failure: + if: ${{ github.event.workflow_run.conclusion == 'failure' }} + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Send to Slack workflow + uses: slackapi/slack-github-action@v1 + with: + payload: | + { + "workflow-url": "${{ github.event.workflow_run.html_url }}" + } + env: + SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WORKFLOW_WEBHOOK_URL }} From 02a740a86a01c10546741a36dadd85c4afd7dcf6 Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Sun, 5 Mar 2023 01:29:54 +0000 Subject: [PATCH 039/701] chore: sync upstream (#302) chore(typo): fix typos in comment (#2999) Co-authored-by: Kotaro Yoshimoto --- .../src/pid_longitudinal_controller.cpp | 2 +- .../src/tracker/model/big_vehicle_tracker.cpp | 2 +- .../config/intersection.param.yaml | 2 +- .../scene_module/intersection/scene_intersection.hpp | 4 ++-- .../behavior_velocity_planner/include/utilization/util.hpp | 2 +- .../accel_brake_map_calibrator_node.hpp | 6 +++--- .../src/accel_brake_map_calibrator_node.cpp | 2 +- 7 files changed, 10 insertions(+), 10 deletions(-) diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index 16b477387a598..b435e5e4f589f 100644 --- a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp +++ b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp @@ -924,7 +924,7 @@ double PidLongitudinalController::applyVelocityFeedback( m_pid_vel.calculate(error_vel_filtered, dt, enable_integration, pid_contributions); // Feedforward scaling: - // This is for the coordinate convertion where feedforward is applied, from Time to Arclength. + // This is for the coordinate conversion where feedforward is applied, from Time to Arclength. // Details: For accurate control, the feedforward should be calculated in the arclength coordinate // system, not in the time coordinate system. Otherwise, even if FF is applied, the vehicle speed // deviation will be bigger. diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp index 12086daa23463..c147035345901 100644 --- a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp @@ -132,7 +132,7 @@ BigVehicleTracker::BigVehicleTracker( object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z}; last_input_bounding_box_ = bounding_box_; } else { - // past defalut value + // past default value // bounding_box_ = {7.0, 2.0, 2.0}; autoware_auto_perception_msgs::msg::DetectedObject bbox_object; utils::convertConvexHullToBoundingBox(object, bbox_object); diff --git a/planning/behavior_velocity_planner/config/intersection.param.yaml b/planning/behavior_velocity_planner/config/intersection.param.yaml index c46861d32a384..7d4cce642b2fb 100644 --- a/planning/behavior_velocity_planner/config/intersection.param.yaml +++ b/planning/behavior_velocity_planner/config/intersection.param.yaml @@ -21,7 +21,7 @@ use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning enable_front_car_decel_prediction: false # By default this feature is disabled - stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collsion detection + stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection merge_from_private_road: stop_duration_sec: 1.0 diff --git a/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp b/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp index cf1efca0e8673..a7ae4b496ef5d 100644 --- a/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp +++ b/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp @@ -86,14 +86,14 @@ class IntersectionModule : public SceneModuleInterface double min_predicted_path_confidence; //! minimum confidence value of predicted path to use for collision detection double external_input_timeout; //! used to disable external input - double minimum_ego_predicted_velocity; //! used to calclate ego's future velocity profile + double minimum_ego_predicted_velocity; //! used to calculate ego's future velocity profile double collision_start_margin_time; //! start margin time to check collision double collision_end_margin_time; //! end margin time to check collision bool use_stuck_stopline; //! stopline generate before the intersection lanelet when is_stuck. double assumed_front_car_decel; //! the expected deceleration of front car when front car as well bool enable_front_car_decel_prediction; //! flag for using above feature - double stop_overshoot_margin; //! overshoot margin for stuck, collsion detection + double stop_overshoot_margin; //! overshoot margin for stuck, collision detection }; IntersectionModule( diff --git a/planning/behavior_velocity_planner/include/utilization/util.hpp b/planning/behavior_velocity_planner/include/utilization/util.hpp index a7b3b0457544e..18dab98533616 100644 --- a/planning/behavior_velocity_planner/include/utilization/util.hpp +++ b/planning/behavior_velocity_planner/include/utilization/util.hpp @@ -295,7 +295,7 @@ boost::optional insertStopPoint( const geometry_msgs::msg::Point & stop_point, const size_t stop_seg_idx, PathWithLaneId & output); /* - @brief return 'associatvie' lanes in the intersection. 'associative' means that a lane shares same + @brief return 'associative' lanes in the intersection. 'associative' means that a lane shares same or lane-changeable parent lanes with `lane` and has same turn_direction value. */ std::set getAssociativeIntersectionLanelets( diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp index a00f780379d41..e7d6be502285f 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp @@ -296,13 +296,13 @@ class AccelBrakeMapCalibrator : public rclcpp::Node bool isTimeout(const DataStampedPtr & data_stamped, const double timeout_sec); /* for covariance calculation */ - // mean value on each cell (counting methoud depends on the update algorithm) + // mean value on each cell (counting method depends on the update algorithm) Eigen::MatrixXd accel_data_mean_mat_; Eigen::MatrixXd brake_data_mean_mat_; - // calculated vairiance on each cell + // calculated variance on each cell Eigen::MatrixXd accel_data_covariance_mat_; Eigen::MatrixXd brake_data_covariance_mat_; - // number of data on each cell (counting methoud depends on the update algorithm) + // number of data on each cell (counting method depends on the update algorithm) Eigen::MatrixXd accel_data_num_; Eigen::MatrixXd brake_data_num_; diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp index 0b24f6c4d41c0..e2707a51160b3 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp @@ -155,7 +155,7 @@ AccelBrakeMapCalibrator::AccelBrakeMapCalibrator(const rclcpp::NodeOptions & nod std::copy(accel_map_value_.begin(), accel_map_value_.end(), update_accel_map_value_.begin()); std::copy(brake_map_value_.begin(), brake_map_value_.end(), update_brake_map_value_.begin()); - // inialize matrix for covariance calculation + // initialize matrix for covariance calculation { const auto genConstMat = [](const Map & map, const auto val) { return Eigen::MatrixXd::Constant(map.size(), map.at(0).size(), val); From dc16a31c8c2bbeb7ca76fe8a46aa4737624c5801 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Fri, 10 Mar 2023 22:09:01 +0900 Subject: [PATCH 040/701] ci: dispatch release note repository (#313) Signed-off-by: Shumpei Wakabayashi --- .github/workflows/dispatch-release-note.yaml | 39 ++++++++++++++++++++ 1 file changed, 39 insertions(+) create mode 100644 .github/workflows/dispatch-release-note.yaml diff --git a/.github/workflows/dispatch-release-note.yaml b/.github/workflows/dispatch-release-note.yaml new file mode 100644 index 0000000000000..690b2fedbbff5 --- /dev/null +++ b/.github/workflows/dispatch-release-note.yaml @@ -0,0 +1,39 @@ +name: dispatch-release-note +on: + push: + branches: + - beta/v* + - tier4/main + tags: + - v* + workflow_dispatch: + inputs: + beta-branch-or-tag-name: + description: The name of the beta branch or tag to write release note + type: string + required: true +jobs: + dispatch-release-note: + runs-on: ubuntu-latest + name: release-repository-dispatch + steps: + - name: Set tag name + id: set-tag-name + run: | + if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then + REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}" + else + REF_NAME="${{ github.ref_name }}" + fi + echo ::set-output name=ref-name::"$REF_NAME" + echo ::set-output name=tag-name::"${REF_NAME#beta/}" + + - name: Repository dispatch for release note + run: | + curl \ + -X POST \ + -H "Accept: application/vnd.github+json" \ + -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \ + -H "X-GitHub-Api-Version: 2022-11-28" \ + "https://api.github.com/repos/tier4/update-release-notes/dispatches" \ + -d '{"event_type":"${{ steps.set-tag-name.outputs.ref-name }}"}' From 057d0da1776c05363d136930c8ab48a8deb54042 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Tue, 14 Mar 2023 17:58:47 +0900 Subject: [PATCH 041/701] ci(dispatch-release-note): use Github Apps instead of GIHUB_TOKEN (#315) * ci(dispatch-release-note): use Github Apps instead of GIHUB_TOKEN Signed-off-by: Shumpei Wakabayashi * fix typo * chore: remove white space Signed-off-by: Shumpei Wakabayashi --------- Signed-off-by: Shumpei Wakabayashi Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .github/workflows/dispatch-release-note.yaml | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/.github/workflows/dispatch-release-note.yaml b/.github/workflows/dispatch-release-note.yaml index 690b2fedbbff5..0245e2b929cd8 100644 --- a/.github/workflows/dispatch-release-note.yaml +++ b/.github/workflows/dispatch-release-note.yaml @@ -28,12 +28,19 @@ jobs: echo ::set-output name=ref-name::"$REF_NAME" echo ::set-output name=tag-name::"${REF_NAME#beta/}" + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + - name: Repository dispatch for release note run: | curl \ -X POST \ -H "Accept: application/vnd.github+json" \ - -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \ + -H "Authorization: token ${{ steps.generate-token.outputs.token }}" \ -H "X-GitHub-Api-Version: 2022-11-28" \ "https://api.github.com/repos/tier4/update-release-notes/dispatches" \ -d '{"event_type":"${{ steps.set-tag-name.outputs.ref-name }}"}' From 38d3e7e7646aa9ab89a9fedb090ac801e9d25bab Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed, 26 Apr 2023 11:44:40 +0900 Subject: [PATCH 042/701] ci(sync-upstream): run weekdays except holidays (#379) --- .github/workflows/sync-upstream.yaml | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml index 3e164c07dbec1..267fe2135a627 100644 --- a/.github/workflows/sync-upstream.yaml +++ b/.github/workflows/sync-upstream.yaml @@ -2,7 +2,7 @@ name: sync-upstream on: schedule: - - cron: 0 0 * * * + - cron: 0 1 * * 1-5 workflow_dispatch: jobs: @@ -16,8 +16,21 @@ jobs: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} + - uses: actions/setup-node@v3 + with: + node-version: 16 + + - run: npm install @holiday-jp/holiday_jp + + - uses: actions/github-script@v6 + id: is-holiday + with: + script: | + const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`) + core.setOutput('holiday', holiday_jp.isHoliday(new Date())); - name: Run sync-branches uses: autowarefoundation/autoware-github-actions/sync-branches@v1 + if: ${{ steps.is-holiday.outputs.holiday != 'true' || github.event_name == 'workflow_dispatch' }} with: token: ${{ steps.generate-token.outputs.token }} base-branch: tier4/main From 1a110178b53334103edf82ad12e132ee5e23f389 Mon Sep 17 00:00:00 2001 From: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Date: Fri, 8 Sep 2023 11:36:37 +0900 Subject: [PATCH 043/701] ci: add dispatch-push-event workflow (#803) * ci: add dispatch-push-event workflow Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * fix: change APP KEY Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * chore: use strategy Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * chore: change trigger Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * pre-commit fixes Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * Update .github/workflows/dispatch-push-event.yaml * Update .github/workflows/dispatch-push-event.yaml * style(pre-commit): autofix * Update .github/workflows/dispatch-push-event.yaml --------- Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .github/workflows/dispatch-push-event.yaml | 45 ++++++++++++++++++++++ 1 file changed, 45 insertions(+) create mode 100644 .github/workflows/dispatch-push-event.yaml diff --git a/.github/workflows/dispatch-push-event.yaml b/.github/workflows/dispatch-push-event.yaml new file mode 100644 index 0000000000000..492083c8038f6 --- /dev/null +++ b/.github/workflows/dispatch-push-event.yaml @@ -0,0 +1,45 @@ +name: dispatch-push-event +on: + push: + +jobs: + search-dispatch-repo: + runs-on: ubuntu-latest + strategy: + matrix: + include: + - { version: beta/v0.3.**, dispatch-repo: pilot-auto.x1.eve } + outputs: + dispatch-repo: ${{ steps.search-dispatch-repo.outputs.value }} + steps: + - name: Search dispatch repo + id: search-dispatch-repo + run: | + if [[ ${{ github.ref_name }} =~ ${{ matrix.version }} ]]; then + echo ::set-output name=value::"${{ matrix.dispatch-repo }}" + echo "Detected beta branch: ${{ github.ref_name }}" + echo "Dispatch repository: ${{ matrix.dispatch-repo }}" + fi + + dispatch-push-event: + runs-on: ubuntu-latest + needs: search-dispatch-repo + if: ${{ needs.search-dispatch-repo.outputs.dispatch-repo != '' }} + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.INTERNAL_APP_ID }} + private_key: ${{ secrets.INTERNAL_PRIVATE_KEY }} + + # 注意: workflow_dispatchで指定するブランチはmain固定となっているため、dispatch-repoのmainブランチにupdate-beta-branch.yamlが存在することが前提条件。 + - name: Dispatch the update-beta-branch workflow + run: | + curl -L \ + -X POST \ + -H "Accept: application/vnd.github+json" \ + -H "Authorization: Bearer ${{ steps.generate-token.outputs.token }}" \ + -H "X-GitHub-Api-Version: 2022-11-28" \ + https://api.github.com/repos/tier4/${{ needs.search-dispatch-repo.outputs.dispatch-repo }}/actions/workflows/update-beta-branch.yaml/dispatches \ + -d '{"ref":"main"}' From 81a3c6d9f4147ef1413430e7002e66c54916f81b Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 12 Sep 2023 15:23:39 +0900 Subject: [PATCH 044/701] chore: update sync upstream script (#792) * chore: update sync upstream script Signed-off-by: tomoya.kimura * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .github/workflows/sync-upstream.yaml | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml index 267fe2135a627..90420ec404042 100644 --- a/.github/workflows/sync-upstream.yaml +++ b/.github/workflows/sync-upstream.yaml @@ -1,9 +1,12 @@ name: sync-upstream on: - schedule: - - cron: 0 1 * * 1-5 workflow_dispatch: + inputs: + target_branch: + description: Target branch + required: true + type: string jobs: sync-upstream: @@ -28,12 +31,17 @@ jobs: script: | const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`) core.setOutput('holiday', holiday_jp.isHoliday(new Date())); + - name: Print warning for invalid branch name + if: ${{ inputs.target_branch == 'tier4/main' }} + run: | + echo This action cannot be performed on 'tier4/main' branch + - name: Run sync-branches + if: ${{ inputs.target_branch != 'tier4/main' }} uses: autowarefoundation/autoware-github-actions/sync-branches@v1 - if: ${{ steps.is-holiday.outputs.holiday != 'true' || github.event_name == 'workflow_dispatch' }} with: token: ${{ steps.generate-token.outputs.token }} - base-branch: tier4/main + base-branch: ${{ inputs.target_branch }} sync-pr-branch: sync-upstream sync-target-repository: https://github.com/autowarefoundation/autoware.universe.git sync-target-branch: main From 18b27a241e73729308989aa18d6e5942dac21daf Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 12 Sep 2023 15:23:50 +0900 Subject: [PATCH 045/701] chore: add workflow to merge beta branch to tier4 main (#811) * chore: add workflow to merge beta branch to tier4 main Signed-off-by: tomoya.kimura * fix: fix variable name Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- .../workflows/beta-to-tier4-main-sync.yaml | 34 +++++++++++++++++++ 1 file changed, 34 insertions(+) create mode 100644 .github/workflows/beta-to-tier4-main-sync.yaml diff --git a/.github/workflows/beta-to-tier4-main-sync.yaml b/.github/workflows/beta-to-tier4-main-sync.yaml new file mode 100644 index 0000000000000..53f40f1e811ab --- /dev/null +++ b/.github/workflows/beta-to-tier4-main-sync.yaml @@ -0,0 +1,34 @@ +name: beta-to-tier4-main-sync + +on: + workflow_dispatch: + inputs: + source_branch: + description: Source branch + required: true + type: string + +jobs: + sync-beta-branch: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/main + sync-pr-branch: beta-to-tier4-main-sync + sync-target-repository: https://github.com/tier4/autoware.universe.git + sync-target-branch: ${{ inputs.source_branch }} + pr-title: "chore: sync beta branch ${{ inputs.source_branch }} with tier4/main" + pr-labels: | + bot + sync-beta-branch + auto-merge-method: merge From 3399a5333d14f9f109d8eddfc337afca758cd413 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura Date: Thu, 14 Sep 2023 02:18:08 +0900 Subject: [PATCH 046/701] fix: camera lidar fusion launch Signed-off-by: Shunsuke Miura --- .../camera_lidar_fusion_based_detection.launch.xml | 13 +------------ 1 file changed, 1 insertion(+), 12 deletions(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index 5f92d25022a22..eab2a56607dee 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -339,22 +339,11 @@ - - - - - - - - - - - - + From 1648a2b1979bdbdf4bad1f0fc670a899731784e2 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 14 Sep 2023 19:44:29 +0900 Subject: [PATCH 047/701] fix(resample): remove duplicated poinnt before resampling (#4965) Signed-off-by: Takamasa Horibe --- common/motion_utils/src/resample/resample.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/common/motion_utils/src/resample/resample.cpp b/common/motion_utils/src/resample/resample.cpp index 091f3405e2815..1a800a38d1051 100644 --- a/common/motion_utils/src/resample/resample.cpp +++ b/common/motion_utils/src/resample/resample.cpp @@ -109,13 +109,16 @@ std::vector resamplePointVector( } std::vector resamplePoseVector( - const std::vector & points, + const std::vector & points_raw, const std::vector & resampled_arclength, const bool use_akima_spline_for_xy, const bool use_lerp_for_z) { + // Remove overlap points for resampling + const auto points = motion_utils::removeOverlapPoints(points_raw); + // validate arguments if (!resample_utils::validate_arguments(points, resampled_arclength)) { - return points; + return points_raw; } std::vector position(points.size()); From 18427ca0cf28e8a1ff0ff2f3b49ff2f5797078b1 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 14 Sep 2023 23:04:17 +0900 Subject: [PATCH 048/701] fix(start_planner): uninitialized hysteresis_factor_expand_rate (#838) Signed-off-by: Takamasa Horibe --- .../utils/start_planner/start_planner_parameters.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp index 771fbd93f7196..4c095a38e7f73 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp @@ -83,7 +83,7 @@ struct StartPlannerParameters double maximum_jerk_for_stop; // hysteresis parameter - double hysteresis_factor_expand_rate; + double hysteresis_factor_expand_rate = 0.0; // path safety checker utils::path_safety_checker::EgoPredictedPathParams ego_predicted_path_params; From 226611067153f4ba48731d74196eab046f05e290 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 28 Sep 2023 14:20:28 +0900 Subject: [PATCH 049/701] fix(autoware_auto_tf2): remove tf2 geometry function duplicated in tf2 geometry msgs (#5089) (#887) Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> --- common/autoware_auto_geometry/CMakeLists.txt | 6 --- common/autoware_auto_tf2/CMakeLists.txt | 5 -- .../tf2_autoware_auto_msgs.hpp | 51 ------------------- planning/behavior_path_planner/CMakeLists.txt | 6 --- .../surround_obstacle_checker/CMakeLists.txt | 6 --- 5 files changed, 74 deletions(-) diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt index bf48e8fcaca3f..454e0e7ef044f 100644 --- a/common/autoware_auto_geometry/CMakeLists.txt +++ b/common/autoware_auto_geometry/CMakeLists.txt @@ -12,12 +12,6 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/bounding_box.cpp ) -if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4) - target_compile_definitions(${PROJECT_NAME} PRIVATE - DEFINE_LEGACY_FUNCTION - ) -endif() - if(BUILD_TESTING) set(GEOMETRY_GTEST geometry_gtest) set(GEOMETRY_SRC test/src/test_geometry.cpp diff --git a/common/autoware_auto_tf2/CMakeLists.txt b/common/autoware_auto_tf2/CMakeLists.txt index fe4cec1c0fc89..a8ae9ec2d962e 100755 --- a/common/autoware_auto_tf2/CMakeLists.txt +++ b/common/autoware_auto_tf2/CMakeLists.txt @@ -17,11 +17,6 @@ if(BUILD_TESTING) "tf2_geometry_msgs" "tf2_ros" ) - if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4) - target_compile_definitions(test_tf2_autoware_auto_msgs PRIVATE - DEFINE_LEGACY_FUNCTION - ) - endif() endif() ament_auto_package() diff --git a/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp b/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp index ee8d52fa402c0..b35eb6e93ce6e 100644 --- a/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp +++ b/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp @@ -45,57 +45,6 @@ using BoundingBox = autoware_auto_perception_msgs::msg::BoundingBox; namespace tf2 { -#ifdef DEFINE_LEGACY_FUNCTION -/*************/ -/** Point32 **/ -/*************/ - -/** \brief Apply a geometry_msgs TransformStamped to a geometry_msgs Point32 type. - * This function is a specialization of the doTransform template defined in tf2/convert.h. - * \param t_in The point to transform, as a Point32 message. - * \param t_out The transformed point, as a Point32 message. - * \param transform The timestamped transform to apply, as a TransformStamped message. - */ -template <> -inline void doTransform( - const geometry_msgs::msg::Point32 & t_in, geometry_msgs::msg::Point32 & t_out, - const geometry_msgs::msg::TransformStamped & transform) -{ - const KDL::Vector v_out = gmTransformToKDL(transform) * KDL::Vector(t_in.x, t_in.y, t_in.z); - t_out.x = static_cast(v_out[0]); - t_out.y = static_cast(v_out[1]); - t_out.z = static_cast(v_out[2]); -} - -/*************/ -/** Polygon **/ -/*************/ - -/** \brief Apply a geometry_msgs TransformStamped to a geometry_msgs Polygon type. - * This function is a specialization of the doTransform template defined in tf2/convert.h. - * \param t_in The polygon to transform. - * \param t_out The transformed polygon. - * \param transform The timestamped transform to apply, as a TransformStamped message. - */ -template <> -inline void doTransform( - const geometry_msgs::msg::Polygon & t_in, geometry_msgs::msg::Polygon & t_out, - const geometry_msgs::msg::TransformStamped & transform) -{ - // Don't call the Point32 doTransform to avoid doing this conversion every time - const auto kdl_frame = gmTransformToKDL(transform); - // We don't use std::back_inserter to allow aliasing between t_in and t_out - t_out.points.resize(t_in.points.size()); - for (size_t i = 0; i < t_in.points.size(); ++i) { - const KDL::Vector v_out = - kdl_frame * KDL::Vector(t_in.points[i].x, t_in.points[i].y, t_in.points[i].z); - t_out.points[i].x = static_cast(v_out[0]); - t_out.points[i].y = static_cast(v_out[1]); - t_out.points[i].z = static_cast(v_out[2]); - } -} -#endif - /******************/ /** Quaternion32 **/ /******************/ diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index 542d4daa0c676..f62e418371401 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -58,12 +58,6 @@ ament_auto_add_library(behavior_path_planner_node SHARED src/marker_utils/lane_change/debug.cpp ) -if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4) - target_compile_definitions(behavior_path_planner_node PRIVATE - DEFINE_LEGACY_FUNCTION - ) -endif() - target_include_directories(behavior_path_planner_node SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIR} ) diff --git a/planning/surround_obstacle_checker/CMakeLists.txt b/planning/surround_obstacle_checker/CMakeLists.txt index 694bddf421486..0d7b636646783 100644 --- a/planning/surround_obstacle_checker/CMakeLists.txt +++ b/planning/surround_obstacle_checker/CMakeLists.txt @@ -18,12 +18,6 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/node.cpp ) -if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4) - target_compile_definitions(${PROJECT_NAME} PRIVATE - DEFINE_LEGACY_FUNCTION - ) -endif() - target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} ) From 533127c66518905ea3f0948e2cf1def43d295e91 Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 16:11:12 +0300 Subject: [PATCH 050/701] fix(lidar_centerpoint): add arg data_path, update model path (#5162) Signed-off-by: Alexey Panferov --- .../centerpoint_vs_centerpoint-tiny.launch.xml | 5 +++-- .../lidar_centerpoint/launch/lidar_centerpoint.launch.xml | 3 ++- .../launch/single_inference_lidar_centerpoint.launch.xml | 3 ++- 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml b/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml index 13fd386238eda..b9c056cfb5686 100644 --- a/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml +++ b/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml @@ -5,6 +5,7 @@ + @@ -21,7 +22,7 @@ - + @@ -35,7 +36,7 @@ - + diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml index d552cb702b980..a7f181ab78ac6 100644 --- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml +++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml @@ -2,8 +2,9 @@ + - + diff --git a/perception/lidar_centerpoint/launch/single_inference_lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/single_inference_lidar_centerpoint.launch.xml index 0f6923d5e6414..491abfbad7764 100644 --- a/perception/lidar_centerpoint/launch/single_inference_lidar_centerpoint.launch.xml +++ b/perception/lidar_centerpoint/launch/single_inference_lidar_centerpoint.launch.xml @@ -1,7 +1,8 @@ + - + From 0810eb71f2dd6da8d77ffb2b6eb89211a349e7b6 Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 16:30:47 +0300 Subject: [PATCH 051/701] feat(perception_launch): add data_path arg to perception launch (#5069) * feat(perception_launch): add var data_path to perception.launch Signed-off-by: Alexey Panferov * feat(perception_launch): update default center_point_model_path Signed-off-by: Alexey Panferov --------- Signed-off-by: Alexey Panferov --- .../detection/lidar_based_detection.launch.xml | 2 +- .../tier4_perception_launch/launch/perception.launch.xml | 7 ++++--- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index 23e0297dc5e44..3b6b9ba652a24 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -10,7 +10,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 36d43bab74894..b0219376e9625 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -25,11 +25,12 @@ - + + @@ -78,11 +79,11 @@ - + Date: Thu, 28 Sep 2023 15:11:27 +0300 Subject: [PATCH 052/701] fix(traffic_light_fine_detector): add data_path arg and update default model path (#5118) * fix(traffic_light_fine_detector): add data_path arg and update default model path Signed-off-by: Alexey Panferov * fix(traffic_light_fine_detector): update README with data path arg Signed-off-by: Alexey Panferov * style(pre-commit): autofix --------- Signed-off-by: Alexey Panferov Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- perception/traffic_light_fine_detector/README.md | 13 +++++++------ .../launch/traffic_light_fine_detector.launch.xml | 5 +++-- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/perception/traffic_light_fine_detector/README.md b/perception/traffic_light_fine_detector/README.md index 1ed6debfeae91..dcc89c76387c6 100644 --- a/perception/traffic_light_fine_detector/README.md +++ b/perception/traffic_light_fine_detector/README.md @@ -50,12 +50,13 @@ Based on the camera image and the global ROI array detected by `map_based_detect ### Node Parameters -| Name | Type | Default Value | Description | -| -------------------------- | ------ | ------------- | ------------------------------------------------------------------ | -| `fine_detector_model_path` | string | "" | The onnx file name for yolo model | -| `fine_detector_label_path` | string | "" | The label file with label names for detected objects written on it | -| `fine_detector_precision` | string | "fp32" | The inference mode: "fp32", "fp16" | -| `approximate_sync` | bool | false | Flag for whether to ues approximate sync policy | +| Name | Type | Default Value | Description | +| -------------------------- | ------ | --------------------------- | ------------------------------------------------------------------ | +| `data_path` | string | "$(env HOME)/autoware_data" | packages data and artifacts directory path | +| `fine_detector_model_path` | string | "" | The onnx file name for yolo model | +| `fine_detector_label_path` | string | "" | The label file with label names for detected objects written on it | +| `fine_detector_precision` | string | "fp32" | The inference mode: "fp32", "fp16" | +| `approximate_sync` | bool | false | Flag for whether to ues approximate sync policy | ## Assumptions / Known limits diff --git a/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml b/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml index 5ce7840c28fd6..6e32d3410c260 100644 --- a/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml +++ b/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml @@ -1,6 +1,7 @@ - - + + + From 5fffdbd5fa8fa5f64bfc10f3a99b70baffd9663c Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 15:52:00 +0300 Subject: [PATCH 053/701] fix(tensorrt_yolox): add data_path arg and update default model path (#5119) * fix(tensorrt_yolox): add data_path arg and update default model path Signed-off-by: Alexey Panferov * fix(tensorrt_yolox): update README Signed-off-by: Alexey Panferov --------- Signed-off-by: Alexey Panferov --- perception/tensorrt_yolox/README.md | 4 ++-- perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml | 3 ++- perception/tensorrt_yolox/launch/yolox_tiny.launch.xml | 3 ++- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/perception/tensorrt_yolox/README.md b/perception/tensorrt_yolox/README.md index 3c253a0b68489..ca407b1ff6811 100644 --- a/perception/tensorrt_yolox/README.md +++ b/perception/tensorrt_yolox/README.md @@ -71,7 +71,7 @@ those are labeled as `UNKNOWN`, while detected rectangles are drawn in the visua ## Onnx model -A sample model (named `yolox-tiny.onnx`) is downloaded automatically during the build process. +A sample model (named `yolox-tiny.onnx`) is downloaded by ansible script on env preparation stage, if not, please, follow [Manual downloading of artifacts](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts). To accelerate Non-maximum-suppression (NMS), which is one of the common post-process after object detection inference, `EfficientNMS_TRT` module is attached after the ordinal YOLOX (tiny) network. The `EfficientNMS_TRT` module contains fixed values for `score_threshold` and `nms_threshold` in it, @@ -146,7 +146,7 @@ Please refer [the official document](https://github.com/Megvii-BaseDetection/YOL ## Label file -A sample label file (named `label.txt`)is also downloaded automatically during the build process +A sample label file (named `label.txt`)is also downloaded automatically during env preparation process (**NOTE:** This file is incompatible with models that output labels for the COCO dataset (e.g., models from the official YOLOX repository)). This file represents the correspondence between class index (integer outputted from YOLOX network) and diff --git a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml index cb89f5829c65d..3f8d7897ab5d3 100644 --- a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml +++ b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml @@ -4,7 +4,8 @@ - + + diff --git a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml b/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml index d8c67e39e0b8a..2f08031ea159f 100644 --- a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml +++ b/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml @@ -3,7 +3,8 @@ - + + From 7822596b1361a6c09a3e4ad2a367366ce0c2e275 Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 15:13:18 +0300 Subject: [PATCH 054/701] fix(traffic_light_ssd_fine_detector): add arg data_path, update model file path (#5141) * fix(traffic_light_ssd_fine_detector): add arg data_path, update model file path Signed-off-by: Alexey Panferov * fix(traffic_light_ssd_fine_detector): update README with data_path arg Signed-off-by: Alexey Panferov * style(pre-commit): autofix --------- Signed-off-by: Alexey Panferov Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../traffic_light_ssd_fine_detector/README.md | 19 ++++++++++--------- ...traffic_light_ssd_fine_detector.launch.xml | 5 +++-- 2 files changed, 13 insertions(+), 11 deletions(-) diff --git a/perception/traffic_light_ssd_fine_detector/README.md b/perception/traffic_light_ssd_fine_detector/README.md index 1dd05665709f5..4dbda8421d85d 100644 --- a/perception/traffic_light_ssd_fine_detector/README.md +++ b/perception/traffic_light_ssd_fine_detector/README.md @@ -122,15 +122,16 @@ Based on the camera image and the global ROI array detected by `map_based_detect ### Node Parameters -| Name | Type | Default Value | Description | -| ------------------ | ------ | ------------------------------ | -------------------------------------------------------------------- | -| `onnx_file` | string | "./data/mb2-ssd-lite-tlr.onnx" | The onnx file name for yolo model | -| `label_file` | string | "./data/voc_labels_tl.txt" | The label file with label names for detected objects written on it | -| `dnn_header_type` | string | "pytorch" | Name of DNN trained toolbox: "pytorch" or "mmdetection" | -| `mode` | string | "FP32" | The inference mode: "FP32", "FP16", "INT8" | -| `max_batch_size` | int | 8 | The size of the batch processed at one time by inference by TensorRT | -| `approximate_sync` | bool | false | Flag for whether to ues approximate sync policy | -| `build_only` | bool | false | shutdown node after TensorRT engine file is built | +| Name | Type | Default Value | Description | +| ------------------ | ------ | ------------------------------------------------------------------------ | -------------------------------------------------------------------- | +| `data_path` | string | "$(env HOME)/autoware_data" | packages data and artifacts directory path | +| `onnx_file` | string | "$(var data_path)/traffic_light_ssd_fine_detector/mb2-ssd-lite-tlr.onnx" | The onnx file name for yolo model | +| `label_file` | string | "$(var data_path)/traffic_light_ssd_fine_detector/voc_labels_tl.txt" | The label file with label names for detected objects written on it | +| `dnn_header_type` | string | "pytorch" | Name of DNN trained toolbox: "pytorch" or "mmdetection" | +| `mode` | string | "FP32" | The inference mode: "FP32", "FP16", "INT8" | +| `max_batch_size` | int | 8 | The size of the batch processed at one time by inference by TensorRT | +| `approximate_sync` | bool | false | Flag for whether to ues approximate sync policy | +| `build_only` | bool | false | shutdown node after TensorRT engine file is built | ## Assumptions / Known limits diff --git a/perception/traffic_light_ssd_fine_detector/launch/traffic_light_ssd_fine_detector.launch.xml b/perception/traffic_light_ssd_fine_detector/launch/traffic_light_ssd_fine_detector.launch.xml index a4d61b774652a..714c4d288b603 100644 --- a/perception/traffic_light_ssd_fine_detector/launch/traffic_light_ssd_fine_detector.launch.xml +++ b/perception/traffic_light_ssd_fine_detector/launch/traffic_light_ssd_fine_detector.launch.xml @@ -1,6 +1,7 @@ - - + + + From 55de0b46a0989053a0278e0271867c7287142d64 Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 15:15:11 +0300 Subject: [PATCH 055/701] fix(traffic_light_classifier): add arg data_path, update model path (#5144) * fix(traffic_light_classfier): add arg data_path, update model path Signed-off-by: Alexey Panferov * fix(traffic_light_classifier): add arg data_path, update model path Signed-off-by: Alexey Panferov * fix(traffic_light_classifier): add arg data_path to README Signed-off-by: Alexey Panferov --------- Signed-off-by: Alexey Panferov --- perception/traffic_light_classifier/README.md | 1 + .../launch/traffic_light_classifier.launch.xml | 5 +++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/perception/traffic_light_classifier/README.md b/perception/traffic_light_classifier/README.md index 3d15af0cf7805..7df0c5466695b 100644 --- a/perception/traffic_light_classifier/README.md +++ b/perception/traffic_light_classifier/README.md @@ -55,6 +55,7 @@ These colors and shapes are assigned to the message as follows: | Name | Type | Description | | ----------------- | ---- | ------------------------------------------- | | `classifier_type` | int | if the value is `1`, cnn_classifier is used | +| `data_path` | str | packages data and artifacts directory path | ### Core Parameters diff --git a/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml b/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml index d4794443d95d9..10aa04cc585af 100644 --- a/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml +++ b/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml @@ -2,8 +2,9 @@ - - + + + From 3f48f10de2fa81f09e47e7e82e5f97f1cc0e2ae4 Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 15:16:16 +0300 Subject: [PATCH 056/701] fix(tensorrt yolo): update model path (#5158) * fix(tensorrt_yolo): add arg data_path, update onnx_file Signed-off-by: Alexey Panferov * fix(tensorrt_yolo): update model downloading in README, add data_path Signed-off-by: Alexey Panferov --------- Signed-off-by: Alexey Panferov --- perception/tensorrt_yolo/README.md | 3 ++- perception/tensorrt_yolo/launch/tensorrt_yolo.launch.xml | 9 +++++---- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/perception/tensorrt_yolo/README.md b/perception/tensorrt_yolo/README.md index afa9209c43bb2..58d4af0dfa83d 100644 --- a/perception/tensorrt_yolo/README.md +++ b/perception/tensorrt_yolo/README.md @@ -55,6 +55,7 @@ Jocher, G., et al. (2021). ultralytics/yolov5: v6.0 - YOLOv5n 'Nano' models, Rob | Name | Type | Default Value | Description | | ----------------------- | ------ | ------------- | ------------------------------------------------------------------ | +| `data_path` | string | "" | Packages data and artifacts directory path | | `onnx_file` | string | "" | The onnx file name for yolo model | | `engine_file` | string | "" | The tensorrt engine file name for yolo model | | `label_file` | string | "" | The label file with label names for detected objects written on it | @@ -71,7 +72,7 @@ This package includes multiple licenses. All YOLO ONNX models are converted from the officially trained model. If you need information about training datasets and conditions, please refer to the official repositories. -All models are downloaded automatically when building. When launching the node with a model for the first time, the model is automatically converted to TensorRT, although this may take some time. +All models are downloaded during env preparation by ansible (as mention in [installation](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/)). It is also possible to download them manually, see [Manual downloading of artifacts](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts) . When launching the node with a model for the first time, the model is automatically converted to TensorRT, although this may take some time. ### YOLOv3 diff --git a/perception/tensorrt_yolo/launch/tensorrt_yolo.launch.xml b/perception/tensorrt_yolo/launch/tensorrt_yolo.launch.xml index a548939f2cebe..b2656de0ab72e 100755 --- a/perception/tensorrt_yolo/launch/tensorrt_yolo.launch.xml +++ b/perception/tensorrt_yolo/launch/tensorrt_yolo.launch.xml @@ -3,7 +3,8 @@ - + + @@ -11,11 +12,11 @@ - + - + - + From b77a29f01df88d65fe5b14de74fc51f019a7e88a Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 15:17:48 +0300 Subject: [PATCH 057/701] fix(image_projection_based_fusion): add arg data_path, update model_path (#5163) Signed-off-by: Alexey Panferov --- .../launch/pointpainting_fusion.launch.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml index e6275a2ee83c7..8e79e21db40e3 100644 --- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml @@ -18,8 +18,9 @@ + - + From d5af0afc255602e01990a59f12384eff49f4deb0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 11:06:01 +0900 Subject: [PATCH 058/701] refactor(motion_velocity_smoother): align processing time topic name (#5273) Signed-off-by: satoshi-ota --- .../src/motion_velocity_smoother_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp index 75c84d3c482f6..6b5da01b9cb09 100644 --- a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp +++ b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp @@ -79,7 +79,7 @@ MotionVelocitySmootherNode::MotionVelocitySmootherNode(const rclcpp::NodeOptions debug_closest_acc_ = create_publisher("~/closest_acceleration", 1); debug_closest_jerk_ = create_publisher("~/closest_jerk", 1); debug_closest_max_velocity_ = create_publisher("~/closest_max_velocity", 1); - debug_calculation_time_ = create_publisher("~/calculation_time", 1); + debug_calculation_time_ = create_publisher("~/debug/processing_time_ms", 1); pub_trajectory_raw_ = create_publisher("~/debug/trajectory_raw", 1); pub_trajectory_vel_lim_ = create_publisher("~/debug/trajectory_external_velocity_limited", 1); From 4ab73742a1d630218c749ecf4a18f0bce125f603 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 12:54:03 +0900 Subject: [PATCH 059/701] refactor(path_smoother, obstacle_avoidance_planner): output processing time topic (#5274) * refactor(path_smoother): output processing time topic Signed-off-by: satoshi-ota * refactor(obstacle_avoidance_planner): output processing time topic Signed-off-by: satoshi-ota * Update planning/path_smoother/src/elastic_band_smoother.cpp Co-authored-by: Takamasa Horibe * Update planning/path_smoother/src/elastic_band_smoother.cpp Co-authored-by: Takamasa Horibe * Update planning/obstacle_avoidance_planner/src/node.cpp Co-authored-by: Takamasa Horibe * Update planning/obstacle_avoidance_planner/src/node.cpp Co-authored-by: Takamasa Horibe --------- Signed-off-by: satoshi-ota Co-authored-by: Takamasa Horibe --- .../common_structs.hpp | 11 ++++++++++- .../include/obstacle_avoidance_planner/node.hpp | 3 ++- .../obstacle_avoidance_planner/type_alias.hpp | 2 ++ planning/obstacle_avoidance_planner/src/node.cpp | 16 ++++++++++++++-- .../include/path_smoother/common_structs.hpp | 11 ++++++++++- .../path_smoother/elastic_band_smoother.hpp | 3 ++- .../include/path_smoother/type_alias.hpp | 2 ++ .../path_smoother/src/elastic_band_smoother.cpp | 16 ++++++++++++++-- 8 files changed, 56 insertions(+), 8 deletions(-) diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp index d0fc995da0ef4..4f4f01bf1ec9f 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp @@ -45,7 +45,11 @@ struct PlannerData struct TimeKeeper { - void init() { accumulated_msg = "\n"; } + void init() + { + accumulated_msg = "\n"; + accumulated_time = 0.0; + } template TimeKeeper & operator<<(const T & msg) @@ -71,6 +75,7 @@ struct TimeKeeper { const double elapsed_time = stop_watch_.toc(func_name); *this << white_spaces << func_name << ":= " << elapsed_time << " [ms]"; + accumulated_time = elapsed_time; endLine(); } @@ -80,6 +85,10 @@ struct TimeKeeper std::string accumulated_msg = "\n"; std::stringstream latest_stream; + double getAccumulatedTime() const { return accumulated_time; } + + double accumulated_time{0.0}; + tier4_autoware_utils::StopWatch< std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock> stop_watch_; diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp index d6f49afad4391..9207277d0bc98 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp @@ -90,7 +90,8 @@ class ObstacleAvoidancePlanner : public rclcpp::Node // debug publisher rclcpp::Publisher::SharedPtr debug_extended_traj_pub_; rclcpp::Publisher::SharedPtr debug_markers_pub_; - rclcpp::Publisher::SharedPtr debug_calculation_time_pub_; + rclcpp::Publisher::SharedPtr debug_calculation_time_str_pub_; + rclcpp::Publisher::SharedPtr debug_calculation_time_float_pub_; // parameter callback rcl_interfaces::msg::SetParametersResult onParam( diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/type_alias.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/type_alias.hpp index 0f45e1223551f..b02d2232a4aa1 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/type_alias.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/type_alias.hpp @@ -24,6 +24,7 @@ #include "geometry_msgs/msg/twist.hpp" #include "nav_msgs/msg/odometry.hpp" #include "std_msgs/msg/header.hpp" +#include "tier4_debug_msgs/msg/float64_stamped.hpp" #include "tier4_debug_msgs/msg/string_stamped.hpp" #include "visualization_msgs/msg/marker_array.hpp" @@ -42,6 +43,7 @@ using nav_msgs::msg::Odometry; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; // debug +using tier4_debug_msgs::msg::Float64Stamped; using tier4_debug_msgs::msg::StringStamped; } // namespace obstacle_avoidance_planner diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp index 9cee933a1c9a7..da31c7f469555 100644 --- a/planning/obstacle_avoidance_planner/src/node.cpp +++ b/planning/obstacle_avoidance_planner/src/node.cpp @@ -45,6 +45,14 @@ StringStamped createStringStamped(const rclcpp::Time & now, const std::string & return msg; } +Float64Stamped createFloat64Stamped(const rclcpp::Time & now, const float & data) +{ + Float64Stamped msg; + msg.stamp = now; + msg.data = data; + return msg; +} + void setZeroVelocityAfterStopPoint(std::vector & traj_points) { const auto opt_zero_vel_idx = motion_utils::searchZeroVelocityIndex(traj_points); @@ -92,7 +100,9 @@ ObstacleAvoidancePlanner::ObstacleAvoidancePlanner(const rclcpp::NodeOptions & n // debug publisher debug_extended_traj_pub_ = create_publisher("~/debug/extended_traj", 1); debug_markers_pub_ = create_publisher("~/debug/marker", 1); - debug_calculation_time_pub_ = create_publisher("~/debug/calculation_time", 1); + debug_calculation_time_str_pub_ = create_publisher("~/debug/calculation_time", 1); + debug_calculation_time_float_pub_ = + create_publisher("~/debug/processing_time_ms", 1); { // parameters // parameter for option @@ -253,7 +263,9 @@ void ObstacleAvoidancePlanner::onPath(const Path::ConstSharedPtr path_ptr) // publish calculation_time // NOTE: This function must be called after measuring onPath calculation time const auto calculation_time_msg = createStringStamped(now(), time_keeper_ptr_->getLog()); - debug_calculation_time_pub_->publish(calculation_time_msg); + debug_calculation_time_str_pub_->publish(calculation_time_msg); + debug_calculation_time_float_pub_->publish( + createFloat64Stamped(now(), time_keeper_ptr_->getAccumulatedTime())); const auto output_traj_msg = trajectory_utils::createTrajectory(path_ptr->header, full_traj_points); diff --git a/planning/path_smoother/include/path_smoother/common_structs.hpp b/planning/path_smoother/include/path_smoother/common_structs.hpp index a14c42ed056af..d44c964cf634c 100644 --- a/planning/path_smoother/include/path_smoother/common_structs.hpp +++ b/planning/path_smoother/include/path_smoother/common_structs.hpp @@ -44,7 +44,11 @@ struct PlannerData struct TimeKeeper { - void init() { accumulated_msg = "\n"; } + void init() + { + accumulated_msg = "\n"; + accumulated_time = 0.0; + } template TimeKeeper & operator<<(const T & msg) @@ -66,6 +70,7 @@ struct TimeKeeper { const double elapsed_time = stop_watch_.toc(func_name); *this << white_spaces << func_name << ":= " << elapsed_time << " [ms]"; + accumulated_time = elapsed_time; endLine(); } @@ -74,6 +79,10 @@ struct TimeKeeper std::string accumulated_msg = "\n"; std::stringstream latest_stream; + double getAccumulatedTime() const { return accumulated_time; } + + double accumulated_time{0.0}; + tier4_autoware_utils::StopWatch< std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock> stop_watch_; diff --git a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp index a67983393681f..217a138084310 100644 --- a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp +++ b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp @@ -82,7 +82,8 @@ class ElasticBandSmoother : public rclcpp::Node // debug publisher rclcpp::Publisher::SharedPtr debug_extended_traj_pub_; - rclcpp::Publisher::SharedPtr debug_calculation_time_pub_; + rclcpp::Publisher::SharedPtr debug_calculation_time_str_pub_; + rclcpp::Publisher::SharedPtr debug_calculation_time_float_pub_; // parameter callback rcl_interfaces::msg::SetParametersResult onParam( diff --git a/planning/path_smoother/include/path_smoother/type_alias.hpp b/planning/path_smoother/include/path_smoother/type_alias.hpp index 75bf1cff20857..c8f6d6da98dcd 100644 --- a/planning/path_smoother/include/path_smoother/type_alias.hpp +++ b/planning/path_smoother/include/path_smoother/type_alias.hpp @@ -22,6 +22,7 @@ #include "geometry_msgs/msg/point.hpp" #include "nav_msgs/msg/odometry.hpp" #include "std_msgs/msg/header.hpp" +#include "tier4_debug_msgs/msg/float64_stamped.hpp" #include "tier4_debug_msgs/msg/string_stamped.hpp" namespace path_smoother @@ -36,6 +37,7 @@ using autoware_auto_planning_msgs::msg::TrajectoryPoint; // navigation using nav_msgs::msg::Odometry; // debug +using tier4_debug_msgs::msg::Float64Stamped; using tier4_debug_msgs::msg::StringStamped; } // namespace path_smoother diff --git a/planning/path_smoother/src/elastic_band_smoother.cpp b/planning/path_smoother/src/elastic_band_smoother.cpp index cd314b7b141bf..923b753e83ac6 100644 --- a/planning/path_smoother/src/elastic_band_smoother.cpp +++ b/planning/path_smoother/src/elastic_band_smoother.cpp @@ -43,6 +43,14 @@ StringStamped createStringStamped(const rclcpp::Time & now, const std::string & return msg; } +Float64Stamped createFloat64Stamped(const rclcpp::Time & now, const float & data) +{ + Float64Stamped msg; + msg.stamp = now; + msg.data = data; + return msg; +} + void setZeroVelocityAfterStopPoint(std::vector & traj_points) { const auto opt_zero_vel_idx = motion_utils::searchZeroVelocityIndex(traj_points); @@ -75,7 +83,9 @@ ElasticBandSmoother::ElasticBandSmoother(const rclcpp::NodeOptions & node_option // debug publisher debug_extended_traj_pub_ = create_publisher("~/debug/extended_traj", 1); - debug_calculation_time_pub_ = create_publisher("~/debug/calculation_time", 1); + debug_calculation_time_str_pub_ = create_publisher("~/debug/calculation_time", 1); + debug_calculation_time_float_pub_ = + create_publisher("~/debug/processing_time_ms", 1); { // parameters // parameters for ego nearest search @@ -205,7 +215,9 @@ void ElasticBandSmoother::onPath(const Path::ConstSharedPtr path_ptr) // publish calculation_time // NOTE: This function must be called after measuring onPath calculation time const auto calculation_time_msg = createStringStamped(now(), time_keeper_ptr_->getLog()); - debug_calculation_time_pub_->publish(calculation_time_msg); + debug_calculation_time_str_pub_->publish(calculation_time_msg); + debug_calculation_time_float_pub_->publish( + createFloat64Stamped(now(), time_keeper_ptr_->getAccumulatedTime())); const auto output_traj_msg = trajectory_utils::createTrajectory(path_ptr->header, full_traj_points); From 0a48be46df3552456483e8b9eb6bbdc6f1164a97 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 12:41:28 +0900 Subject: [PATCH 060/701] feat(planning_validator): output processing time (#5276) Signed-off-by: satoshi-ota --- .../planning_validator/planning_validator.hpp | 8 ++++++++ .../planning_validator/src/planning_validator.cpp | 12 ++++++++++++ 2 files changed, 20 insertions(+) diff --git a/planning/planning_validator/include/planning_validator/planning_validator.hpp b/planning/planning_validator/include/planning_validator/planning_validator.hpp index 3b09ebe51ff6b..ef570b57773bb 100644 --- a/planning/planning_validator/include/planning_validator/planning_validator.hpp +++ b/planning/planning_validator/include/planning_validator/planning_validator.hpp @@ -18,6 +18,7 @@ #include "planning_validator/debug_marker.hpp" #include "planning_validator/msg/planning_validator_status.hpp" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" +#include "tier4_autoware_utils/system/stop_watch.hpp" #include "vehicle_info_util/vehicle_info_util.hpp" #include @@ -26,6 +27,7 @@ #include #include #include +#include #include #include @@ -38,6 +40,8 @@ using diagnostic_updater::DiagnosticStatusWrapper; using diagnostic_updater::Updater; using nav_msgs::msg::Odometry; using planning_validator::msg::PlanningValidatorStatus; +using tier4_autoware_utils::StopWatch; +using tier4_debug_msgs::msg::Float64Stamped; struct ValidationParams { @@ -81,6 +85,7 @@ class PlanningValidator : public rclcpp::Node void validate(const Trajectory & trajectory); + void publishProcessingTime(const double processing_time_ms); void publishTrajectory(); void publishDebugInfo(); void displayStatus(); @@ -91,6 +96,7 @@ class PlanningValidator : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_traj_; rclcpp::Publisher::SharedPtr pub_traj_; rclcpp::Publisher::SharedPtr pub_status_; + rclcpp::Publisher::SharedPtr pub_processing_time_ms_; rclcpp::Publisher::SharedPtr pub_markers_; // system parameters @@ -120,6 +126,8 @@ class PlanningValidator : public rclcpp::Node std::shared_ptr debug_pose_publisher_; std::unique_ptr logger_configure_; + + StopWatch stop_watch_; }; } // namespace planning_validator diff --git a/planning/planning_validator/src/planning_validator.cpp b/planning/planning_validator/src/planning_validator.cpp index 13a63a7e7d4ed..875781d47b25d 100644 --- a/planning/planning_validator/src/planning_validator.cpp +++ b/planning/planning_validator/src/planning_validator.cpp @@ -41,6 +41,7 @@ PlanningValidator::PlanningValidator(const rclcpp::NodeOptions & options) pub_traj_ = create_publisher("~/output/trajectory", 1); pub_status_ = create_publisher("~/output/validation_status", 1); pub_markers_ = create_publisher("~/output/markers", 1); + pub_processing_time_ms_ = create_publisher("~/debug/processing_time_ms", 1); debug_pose_publisher_ = std::make_shared(this); @@ -167,6 +168,8 @@ bool PlanningValidator::isDataReady() void PlanningValidator::onTrajectory(const Trajectory::ConstSharedPtr msg) { + stop_watch_.tic(__func__); + current_trajectory_ = msg; if (!isDataReady()) return; @@ -180,6 +183,7 @@ void PlanningValidator::onTrajectory(const Trajectory::ConstSharedPtr msg) publishTrajectory(); // for debug + publishProcessingTime(stop_watch_.toc(__func__)); publishDebugInfo(); displayStatus(); } @@ -222,6 +226,14 @@ void PlanningValidator::publishTrajectory() return; } +void PlanningValidator::publishProcessingTime(const double processing_time_ms) +{ + Float64Stamped msg{}; + msg.stamp = this->now(); + msg.data = processing_time_ms; + pub_processing_time_ms_->publish(msg); +} + void PlanningValidator::publishDebugInfo() { validation_status_.stamp = get_clock()->now(); From 47682f673a620e6924618128abedbbf4bcd2f449 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 12:52:29 +0900 Subject: [PATCH 061/701] feat(obstacle_stop_planner): output processing time (#5279) Signed-off-by: satoshi-ota --- .../include/obstacle_stop_planner/node.hpp | 8 ++++++++ planning/obstacle_stop_planner/src/node.cpp | 9 +++++++++ 2 files changed, 17 insertions(+) diff --git a/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp b/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp index 93a9736bcdb36..368ad34b9c4e2 100644 --- a/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp +++ b/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp @@ -19,6 +19,7 @@ #include "obstacle_stop_planner/debug_marker.hpp" #include "obstacle_stop_planner/planner_data.hpp" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" +#include "tier4_autoware_utils/system/stop_watch.hpp" #include #include @@ -37,6 +38,7 @@ #include #include #include +#include #include #include #include @@ -78,9 +80,11 @@ using autoware_auto_planning_msgs::msg::Trajectory; using autoware_auto_planning_msgs::msg::TrajectoryPoint; using tier4_autoware_utils::Point2d; using tier4_autoware_utils::Polygon2d; +using tier4_autoware_utils::StopWatch; using tier4_debug_msgs::msg::BoolStamped; using tier4_debug_msgs::msg::Float32MultiArrayStamped; using tier4_debug_msgs::msg::Float32Stamped; +using tier4_debug_msgs::msg::Float64Stamped; using tier4_planning_msgs::msg::ExpandStopRange; using tier4_planning_msgs::msg::VelocityLimit; using tier4_planning_msgs::msg::VelocityLimitClearCommand; @@ -143,6 +147,8 @@ class ObstacleStopPlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_collision_pointcloud_debug_; + rclcpp::Publisher::SharedPtr pub_processing_time_ms_; + std::unique_ptr acc_controller_; std::shared_ptr debug_ptr_; boost::optional latest_slow_down_section_{boost::none}; @@ -166,6 +172,8 @@ class ObstacleStopPlannerNode : public rclcpp::Node StopParam stop_param_; SlowDownParam slow_down_param_; + StopWatch stop_watch_; + // mutex for vehicle_info_, stop_param_, current_acc_, obstacle_ros_pointcloud_ptr_ // NOTE: shared_ptr itself is thread safe so we do not have to care if *ptr is not used // (current_velocity_ptr_) diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp index 4e4b5d2f91ef3..9a9712c5a2503 100644 --- a/planning/obstacle_stop_planner/src/node.cpp +++ b/planning/obstacle_stop_planner/src/node.cpp @@ -209,6 +209,8 @@ ObstacleStopPlannerNode::ObstacleStopPlannerNode(const rclcpp::NodeOptions & nod pub_collision_pointcloud_debug_ = this->create_publisher("~/debug/collision_pointcloud", 1); + pub_processing_time_ms_ = this->create_publisher("~/debug/processing_time_ms", 1); + // Subscribers if (!node_param_.use_predicted_objects) { // No need to point cloud while using predicted objects @@ -274,6 +276,8 @@ void ObstacleStopPlannerNode::onPointCloud(const PointCloud2::ConstSharedPtr inp void ObstacleStopPlannerNode::onTrigger(const Trajectory::ConstSharedPtr input_msg) { + stop_watch_.tic(__func__); + mutex_.lock(); // NOTE: these variables must not be referenced for multithreading const auto vehicle_info = vehicle_info_; @@ -376,6 +380,11 @@ void ObstacleStopPlannerNode::onTrigger(const Trajectory::ConstSharedPtr input_m trajectory.header = input_msg->header; pub_trajectory_->publish(trajectory); + + Float64Stamped processing_time_ms; + processing_time_ms.stamp = now(); + processing_time_ms.data = stop_watch_.toc(__func__); + pub_processing_time_ms_->publish(processing_time_ms); } void ObstacleStopPlannerNode::searchObstacle( From 8de1b1371b1b20ee17d3c5c86ad770293f516c95 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 14:03:20 +0900 Subject: [PATCH 062/701] refactor(obstacle_cruise_planner): align processing time topic name (#5278) Signed-off-by: satoshi-ota --- planning/obstacle_cruise_planner/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/obstacle_cruise_planner/src/node.cpp index d50054da46237..c9fe9f2210423 100644 --- a/planning/obstacle_cruise_planner/src/node.cpp +++ b/planning/obstacle_cruise_planner/src/node.cpp @@ -374,7 +374,7 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & "~/output/clear_velocity_limit", rclcpp::QoS{1}.transient_local()); // debug publisher - debug_calculation_time_pub_ = create_publisher("~/debug/calculation_time", 1); + debug_calculation_time_pub_ = create_publisher("~/debug/processing_time_ms", 1); debug_cruise_wall_marker_pub_ = create_publisher("~/debug/cruise/virtual_wall", 1); debug_stop_wall_marker_pub_ = create_publisher("~/virtual_wall", 1); debug_slow_down_wall_marker_pub_ = From 9a116bae63b78c2e618e8d15f83757ba5ad9d29a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 13:19:39 +0900 Subject: [PATCH 063/701] refactor(behavior_path_planner): align processing time topic name (#5281) Signed-off-by: satoshi-ota --- planning/behavior_path_planner/src/planner_manager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp index 24967608775f3..d0e55ffa574fd 100644 --- a/planning/behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/src/planner_manager.cpp @@ -35,7 +35,7 @@ PlannerManager::PlannerManager(rclcpp::Node & node, const bool verbose) verbose_{verbose} { processing_time_.emplace("total_time", 0.0); - debug_publisher_ptr_ = std::make_unique(&node, "behavior_planner_manager/debug"); + debug_publisher_ptr_ = std::make_unique(&node, "~/debug"); } BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & data) @@ -894,7 +894,7 @@ void PlannerManager::print() const void PlannerManager::publishProcessingTime() const { for (const auto & t : processing_time_) { - std::string name = std::string("processing_time/") + t.first; + std::string name = t.first + std::string("/processing_time_ms"); debug_publisher_ptr_->publish(name, t.second); } } From 5e32e8b48cbb3ec29f18224bb2fb36d664f89850 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 25 Oct 2023 11:39:02 +0900 Subject: [PATCH 064/701] fix(goal_planner): revert "refactor(goal_planner): rebuild state transition (#5371)" (#5399) This reverts commit 3d2a7f6038627ca52a4f0c2af6f5a8d56bc6962b. --- .../goal_planner/goal_planner_module.hpp | 19 +++--- .../goal_planner/goal_planner_module.cpp | 59 +++++++++++-------- 2 files changed, 46 insertions(+), 32 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index 21372ed6e2c2f..343302a022a69 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -217,28 +217,31 @@ class GoalPlannerModule : public SceneModuleInterface } } - CandidateOutput planCandidate() const override; - BehaviorModuleOutput plan() override; - BehaviorModuleOutput planWaitingApproval() override; + // TODO(someone): remove this, and use base class function + [[deprecated]] BehaviorModuleOutput run() override; bool isExecutionRequested() const override; bool isExecutionReady() const override; + // TODO(someone): remove this, and use base class function + [[deprecated]] ModuleStatus updateState() override; + BehaviorModuleOutput plan() override; + BehaviorModuleOutput planWaitingApproval() override; + void processOnEntry() override; void processOnExit() override; - void updateData() override; void setParameters(const std::shared_ptr & parameters); void acceptVisitor( [[maybe_unused]] const std::shared_ptr & visitor) const override { } + // not used, but need to override + CandidateOutput planCandidate() const override { return CandidateOutput{}; }; + private: - // The start_planner activates when it receives a new route, - // so there is no need to terminate the goal planner. - // If terminating it, it may switch to lane following and could generate an inappropriate path. bool canTransitSuccessState() override { return false; } bool canTransitFailureState() override { return false; } - bool canTransitIdleToRunningState() override { return true; } + bool canTransitIdleToRunningState() override { return false; } mutable StartGoalPlannerData goal_planner_data_; diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 95ac47494d016..64504918efd0e 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -113,13 +113,6 @@ GoalPlannerModule::GoalPlannerModule( freespace_parking_timer_cb_group_); } - // Initialize safety checker - if (parameters_->safety_check_params.enable_safety_check) { - initializeSafetyCheckParameters(); - utils::start_goal_planner_common::initializeCollisionCheckDebugMap( - goal_planner_data_.collision_check); - } - status_.reset(); } @@ -226,18 +219,16 @@ void GoalPlannerModule::onFreespaceParkingTimer() } } -void GoalPlannerModule::updateData() +BehaviorModuleOutput GoalPlannerModule::run() { - // Initialize Occupancy Grid Map - // This operation requires waiting for `planner_data_`, hence it is executed here instead of in - // the constructor. Ideally, this operation should only need to be performed once. - if ( - parameters_->use_occupancy_grid_for_goal_search || - parameters_->use_occupancy_grid_for_path_collision_check) { - initializeOccupancyGridMap(); + current_state_ = ModuleStatus::RUNNING; + updateOccupancyGrid(); + + if (!isActivated()) { + return planWaitingApproval(); } - updateOccupancyGrid(); + return plan(); } void GoalPlannerModule::initializeOccupancyGridMap() @@ -264,6 +255,22 @@ void GoalPlannerModule::initializeSafetyCheckParameters() objects_filtering_params_, parameters_); } +void GoalPlannerModule::processOnEntry() +{ + // Initialize occupancy grid map + if ( + parameters_->use_occupancy_grid_for_goal_search || + parameters_->use_occupancy_grid_for_path_collision_check) { + initializeOccupancyGridMap(); + } + // Initialize safety checker + if (parameters_->safety_check_params.enable_safety_check) { + initializeSafetyCheckParameters(); + utils::start_goal_planner_common::initializeCollisionCheckDebugMap( + goal_planner_data_.collision_check); + } +} + void GoalPlannerModule::processOnExit() { resetPathCandidate(); @@ -430,6 +437,13 @@ Pose GoalPlannerModule::calcRefinedGoal(const Pose & goal_pose) const return refined_goal_pose; } +ModuleStatus GoalPlannerModule::updateState() +{ + // start_planner module will be run when setting new goal, so not need finishing pull_over module. + // Finishing it causes wrong lane_following path generation. + return current_state_; +} + bool GoalPlannerModule::planFreespacePath() { goal_searcher_->setPlannerData(planner_data_); @@ -883,12 +897,6 @@ void GoalPlannerModule::decideVelocity() status_.set_has_decided_velocity(true); } -CandidateOutput GoalPlannerModule::planCandidate() const -{ - return CandidateOutput( - status_.get_pull_over_path() ? status_.get_pull_over_path()->getFullPath() : PathWithLaneId()); -} - BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() { constexpr double path_update_duration = 1.0; @@ -927,7 +935,7 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() // set output and status BehaviorModuleOutput output{}; setOutput(output); - path_candidate_ = std::make_shared(planCandidate().path_candidate); + path_candidate_ = std::make_shared(status_.get_pull_over_path()->getFullPath()); path_reference_ = getPreviousModuleOutput().reference_path; // return to lane parking if it is possible @@ -980,7 +988,10 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification( out.modified_goal = plan().modified_goal; // update status_ out.path = std::make_shared(generateStopPath()); out.reference_path = getPreviousModuleOutput().reference_path; - path_candidate_ = std::make_shared(planCandidate().path_candidate); + path_candidate_ = + status_.get_is_safe_static_objects() + ? std::make_shared(status_.get_pull_over_path()->getFullPath()) + : out.path; path_reference_ = getPreviousModuleOutput().reference_path; const auto distance_to_path_change = calcDistanceToPathChange(); From a1beca1746e4d1131bb4a447f156d6a39ad4bd5a Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Wed, 25 Oct 2023 14:02:10 +0900 Subject: [PATCH 065/701] fix(motion_utils): fix build error (#5404) (#982) Signed-off-by: Fumiya Watanabe --- .../motion_utils/vehicle/vehicle_state_checker.hpp | 8 ++++---- common/motion_utils/src/vehicle/vehicle_state_checker.cpp | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp b/common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp index f5f423f881ba2..6a9bd01a5a9a0 100644 --- a/common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp +++ b/common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp @@ -55,11 +55,11 @@ class VehicleStopChecker : public VehicleStopCheckerBase protected: rclcpp::Subscription::SharedPtr sub_odom_; - Odometry::SharedPtr odometry_ptr_; + Odometry::ConstSharedPtr odometry_ptr_; private: static constexpr double velocity_buffer_time_sec = 10.0; - void onOdom(const Odometry::SharedPtr msg); + void onOdom(const Odometry::ConstSharedPtr msg); }; class VehicleArrivalChecker : public VehicleStopChecker @@ -74,9 +74,9 @@ class VehicleArrivalChecker : public VehicleStopChecker rclcpp::Subscription::SharedPtr sub_trajectory_; - Trajectory::SharedPtr trajectory_ptr_; + Trajectory::ConstSharedPtr trajectory_ptr_; - void onTrajectory(const Trajectory::SharedPtr msg); + void onTrajectory(const Trajectory::ConstSharedPtr msg); }; } // namespace motion_utils diff --git a/common/motion_utils/src/vehicle/vehicle_state_checker.cpp b/common/motion_utils/src/vehicle/vehicle_state_checker.cpp index 6ed9472d39e0f..194c49ae3bff8 100644 --- a/common/motion_utils/src/vehicle/vehicle_state_checker.cpp +++ b/common/motion_utils/src/vehicle/vehicle_state_checker.cpp @@ -88,7 +88,7 @@ VehicleStopChecker::VehicleStopChecker(rclcpp::Node * node) std::bind(&VehicleStopChecker::onOdom, this, _1)); } -void VehicleStopChecker::onOdom(const Odometry::SharedPtr msg) +void VehicleStopChecker::onOdom(const Odometry::ConstSharedPtr msg) { odometry_ptr_ = msg; @@ -128,7 +128,7 @@ bool VehicleArrivalChecker::isVehicleStoppedAtStopPoint(const double stop_durati th_arrived_distance_m; } -void VehicleArrivalChecker::onTrajectory(const Trajectory::SharedPtr msg) +void VehicleArrivalChecker::onTrajectory(const Trajectory::ConstSharedPtr msg) { trajectory_ptr_ = msg; } From eddf914a300db9cb09aed1f47d723bc489c56489 Mon Sep 17 00:00:00 2001 From: masaharuTakano Date: Wed, 8 Nov 2023 11:41:55 +0900 Subject: [PATCH 066/701] checkout to awf/main Signed-off-by: masaharuTakano --- .../launch/roi_cluster_fusion.launch.xml | 1 - .../goal_planner/goal_planner_module.hpp | 19 +++---- .../src/util.cpp | 53 ++++++++----------- 3 files changed, 29 insertions(+), 44 deletions(-) diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml index abdd44a70d24a..60f6f943b8cda 100644 --- a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml @@ -29,7 +29,6 @@ - diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index 0a4ba1f6ea0cb..df21bad862cc9 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -223,31 +223,28 @@ class GoalPlannerModule : public SceneModuleInterface } } - // TODO(someone): remove this, and use base class function - [[deprecated]] BehaviorModuleOutput run() override; - bool isExecutionRequested() const override; - bool isExecutionReady() const override; - // TODO(someone): remove this, and use base class function - [[deprecated]] ModuleStatus updateState() override; + CandidateOutput planCandidate() const override; BehaviorModuleOutput plan() override; BehaviorModuleOutput planWaitingApproval() override; - void processOnEntry() override; + bool isExecutionRequested() const override; + bool isExecutionReady() const override; void processOnExit() override; + void updateData() override; void setParameters(const std::shared_ptr & parameters); void acceptVisitor( [[maybe_unused]] const std::shared_ptr & visitor) const override { } - // not used, but need to override - CandidateOutput planCandidate() const override { return CandidateOutput{}; }; - private: + // The start_planner activates when it receives a new route, + // so there is no need to terminate the goal planner. + // If terminating it, it may switch to lane following and could generate an inappropriate path. bool canTransitSuccessState() override { return false; } bool canTransitFailureState() override { return false; } - bool canTransitIdleToRunningState() override { return false; } + bool canTransitIdleToRunningState() override { return true; } mutable StartGoalPlannerData goal_planner_data_; diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp index 7f76d538f0846..94bc75b805934 100644 --- a/planning/behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_intersection_module/src/util.cpp @@ -84,21 +84,16 @@ static std::optional getDuplicatedPointIdx( static std::optional insertPointIndex( const geometry_msgs::msg::Pose & in_pose, - autoware_auto_planning_msgs::msg::PathWithLaneId * inout_path) + autoware_auto_planning_msgs::msg::PathWithLaneId * inout_path, + const double ego_nearest_dist_threshold, const double ego_nearest_yaw_threshold) { const auto duplicate_idx_opt = getDuplicatedPointIdx(*inout_path, in_pose.position); if (duplicate_idx_opt) { return duplicate_idx_opt.value(); } - static constexpr double dist_thr = 10.0; - static constexpr double angle_thr = M_PI / 1.5; - const auto closest_idx_opt = - motion_utils::findNearestIndex(inout_path->points, in_pose, dist_thr, angle_thr); - if (!closest_idx_opt) { - return std::nullopt; - } - const size_t closest_idx = closest_idx_opt.get(); + const size_t closest_idx = motion_utils::findFirstNearestIndexWithSoftConstraints( + inout_path->points, in_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold); // vector.insert(i) inserts element on the left side of v[i] // the velocity need to be zero order hold(from prior point) int insert_idx = closest_idx; @@ -165,7 +160,7 @@ std::optional> findLaneIdsInterval( */ static std::optional getStopLineIndexFromMap( const InterpolatedPathInfo & interpolated_path_info, - const std::shared_ptr & planner_data, const double dist_thr) + const std::shared_ptr & planner_data) { const auto & path = interpolated_path_info.path; const auto & lane_interval = interpolated_path_info.lane_id_interval.value(); @@ -212,12 +207,9 @@ static std::optional getStopLineIndexFromMap( stop_point_from_map.position.y = 0.5 * (p_start.y() + p_end.y()); stop_point_from_map.position.z = 0.5 * (p_start.z() + p_end.z()); - const auto stop_idx_ip_opt = - motion_utils::findNearestIndex(path.points, stop_point_from_map, static_cast(dist_thr)); - if (!stop_idx_ip_opt) { - return std::nullopt; - } - return stop_idx_ip_opt.get(); + return motion_utils::findFirstNearestIndexWithSoftConstraints( + path.points, stop_point_from_map, planner_data->ego_nearest_dist_threshold, + planner_data->ego_nearest_yaw_threshold); } static std::optional getFirstPointInsidePolygonByFootprint( @@ -304,8 +296,7 @@ std::optional generateIntersectionStopLines( // (1) default stop line position on interpolated path bool default_stop_line_valid = true; int stop_idx_ip_int = -1; - if (const auto map_stop_idx_ip = - getStopLineIndexFromMap(interpolated_path_info, planner_data, 10.0); + if (const auto map_stop_idx_ip = getStopLineIndexFromMap(interpolated_path_info, planner_data); map_stop_idx_ip) { stop_idx_ip_int = static_cast(map_stop_idx_ip.value()) - base2front_idx_dist; } @@ -319,12 +310,9 @@ std::optional generateIntersectionStopLines( // (2) ego front stop line position on interpolated path const geometry_msgs::msg::Pose & current_pose = planner_data->current_odometry->pose; - const auto closest_idx_ip_opt = - motion_utils::findNearestIndex(path_ip.points, current_pose, 3.0, M_PI_4); - if (!closest_idx_ip_opt) { - return std::nullopt; - } - const auto closest_idx_ip = closest_idx_ip_opt.value(); + const auto closest_idx_ip = motion_utils::findFirstNearestIndexWithSoftConstraints( + path_ip.points, current_pose, planner_data->ego_nearest_dist_threshold, + planner_data->ego_nearest_yaw_threshold); // (3) occlusion peeking stop line position on interpolated path int occlusion_peeking_line_ip_int = static_cast(default_stop_line_ip); @@ -404,7 +392,9 @@ std::optional generateIntersectionStopLines( [](const auto & it1, const auto & it2) { return *(std::get<0>(it1)) < *(std::get<0>(it2)); }); for (const auto & [stop_idx_ip, stop_idx] : stop_lines) { const auto & insert_point = path_ip.points.at(*stop_idx_ip).point.pose; - const auto insert_idx = insertPointIndex(insert_point, original_path); + const auto insert_idx = insertPointIndex( + insert_point, original_path, planner_data->ego_nearest_dist_threshold, + planner_data->ego_nearest_yaw_threshold); if (!insert_idx) { return std::nullopt; } @@ -555,7 +545,9 @@ std::optional generateStuckStopLine( static_cast(stuck_stop_line_idx_ip) - 1 - stop_line_margin_idx_dist - base2front_idx_dist, 0)); const auto & insert_point = path_ip.points.at(insert_idx_ip).point.pose; - return insertPointIndex(insert_point, original_path); + return insertPointIndex( + insert_point, original_path, planner_data->ego_nearest_dist_threshold, + planner_data->ego_nearest_yaw_threshold); } static std::vector getPolygon3dFromLanelets( @@ -1348,13 +1340,10 @@ TimeDistanceArray calcIntersectionPassingTime( // `last_intersection_stop_line_candidate_idx` makes no sense const auto last_intersection_stop_line_candidate_point_orig = path.points.at(last_intersection_stop_line_candidate_idx).point.pose; - const auto last_intersection_stop_line_candidate_nearest_ind_opt = motion_utils::findNearestIndex( - smoothed_reference_path.points, last_intersection_stop_line_candidate_point_orig, 3.0, M_PI_4); - if (!last_intersection_stop_line_candidate_nearest_ind_opt) { - return time_distance_array; - } const auto last_intersection_stop_line_candidate_nearest_ind = - last_intersection_stop_line_candidate_nearest_ind_opt.value(); + motion_utils::findFirstNearestIndexWithSoftConstraints( + smoothed_reference_path.points, last_intersection_stop_line_candidate_point_orig, + planner_data->ego_nearest_dist_threshold, planner_data->ego_nearest_yaw_threshold); for (size_t i = 1; i < smoothed_reference_path.points.size(); ++i) { const auto & p1 = smoothed_reference_path.points.at(i - 1); From 8eaa02ee0566fce834ec3eadbbe3d3e5949b3558 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 8 Nov 2023 14:28:19 +0900 Subject: [PATCH 067/701] fix(intersection): fix wrong resample process (#5516) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_intersection_module/src/util.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp index 94bc75b805934..a9d0f56266181 100644 --- a/planning/behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_intersection_module/src/util.cpp @@ -1459,14 +1459,14 @@ lanelet::ConstLanelet generatePathLanelet( { lanelet::Points3d lefts; lanelet::Points3d rights; + size_t prev_idx = start_idx; for (size_t i = start_idx; i <= end_idx; ++i) { const auto & p = path.points.at(i).point.pose; - if (start_idx < i && i != end_idx) { - const auto & p_prev = path.points.at(i - 1).point.pose; - if (tier4_autoware_utils::calcDistance2d(p_prev, p) < interval) { - continue; - } + const auto & p_prev = path.points.at(prev_idx).point.pose; + if (i != start_idx && tier4_autoware_utils::calcDistance2d(p_prev, p) < interval) { + continue; } + prev_idx = i; const double yaw = tf2::getYaw(p.orientation); const double x = p.position.x; const double y = p.position.y; From d595785aca975a1c437ddf12446f268d3a8aece5 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 9 Nov 2023 18:23:52 +0900 Subject: [PATCH 068/701] fix(ndt_scan_matcher): delete diagnostics thread (#5532) Signed-off-by: yamato-ando Co-authored-by: yamato-ando --- .../ndt_scan_matcher/map_update_module.hpp | 4 +- .../ndt_scan_matcher_core.hpp | 4 +- .../src/map_update_module.cpp | 4 +- .../src/ndt_scan_matcher_core.cpp | 142 ++++++++---------- 4 files changed, 68 insertions(+), 86 deletions(-) diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp index 13721c03ca22e..78052cb8198a3 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp @@ -51,8 +51,7 @@ class MapUpdateModule rclcpp::Node * node, std::mutex * ndt_ptr_mutex, std::shared_ptr ndt_ptr, std::shared_ptr tf2_listener_module, std::string map_frame, - rclcpp::CallbackGroup::SharedPtr main_callback_group, - std::shared_ptr> state_ptr); + rclcpp::CallbackGroup::SharedPtr main_callback_group); private: friend class NDTScanMatcher; @@ -82,7 +81,6 @@ class MapUpdateModule rclcpp::Logger logger_; rclcpp::Clock::SharedPtr clock_; std::shared_ptr tf2_listener_module_; - std::shared_ptr> state_ptr_; std::optional last_update_position_ = std::nullopt; std::optional current_position_ = std::nullopt; diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp index 9eb62230dad9e..f0d90fdfa0e08 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -132,7 +132,7 @@ class NDTScanMatcher : public rclcpp::Node const rclcpp::Time & sensor_ros_time); void add_regularization_pose(const rclcpp::Time & sensor_ros_time); - void timer_diagnostic(); + void publish_diagnostic(); rclcpp::Subscription::SharedPtr initial_pose_sub_; rclcpp::Subscription::SharedPtr sensor_points_sub_; @@ -203,8 +203,6 @@ class NDTScanMatcher : public rclcpp::Node std::mutex ndt_ptr_mtx_; std::mutex initial_pose_array_mtx_; - std::thread diagnostic_thread_; - // variables for regularization const bool regularization_enabled_; std::deque diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index 7512ae2e77a21..f0a583417fb76 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -26,15 +26,13 @@ MapUpdateModule::MapUpdateModule( rclcpp::Node * node, std::mutex * ndt_ptr_mutex, std::shared_ptr ndt_ptr, std::shared_ptr tf2_listener_module, std::string map_frame, - rclcpp::CallbackGroup::SharedPtr main_callback_group, - std::shared_ptr> state_ptr) + rclcpp::CallbackGroup::SharedPtr main_callback_group) : ndt_ptr_(std::move(ndt_ptr)), ndt_ptr_mutex_(ndt_ptr_mutex), map_frame_(std::move(map_frame)), logger_(node->get_logger()), clock_(node->get_clock()), tf2_listener_module_(std::move(tf2_listener_module)), - state_ptr_(std::move(state_ptr)), dynamic_map_loading_update_distance_( node->declare_parameter("dynamic_map_loading_update_distance")), dynamic_map_loading_map_radius_( diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index cb66998147220..a2e89540a172f 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -280,16 +280,12 @@ NDTScanMatcher::NDTScanMatcher() &NDTScanMatcher::service_trigger_node, this, std::placeholders::_1, std::placeholders::_2), rclcpp::ServicesQoS().get_rmw_qos_profile(), main_callback_group); - diagnostic_thread_ = std::thread(&NDTScanMatcher::timer_diagnostic, this); - diagnostic_thread_.detach(); - tf2_listener_module_ = std::make_shared(this); use_dynamic_map_loading_ = this->declare_parameter("use_dynamic_map_loading"); if (use_dynamic_map_loading_) { map_update_module_ = std::make_unique( - this, &ndt_ptr_mtx_, ndt_ptr_, tf2_listener_module_, map_frame_, main_callback_group, - state_ptr_); + this, &ndt_ptr_mtx_, ndt_ptr_, tf2_listener_module_, map_frame_, main_callback_group); } else { map_module_ = std::make_unique(this, &ndt_ptr_mtx_, ndt_ptr_, main_callback_group); } @@ -297,76 +293,71 @@ NDTScanMatcher::NDTScanMatcher() logger_configure_ = std::make_unique(this); } -void NDTScanMatcher::timer_diagnostic() +void NDTScanMatcher::publish_diagnostic() { - rclcpp::Rate rate(100); - while (rclcpp::ok()) { - diagnostic_msgs::msg::DiagnosticStatus diag_status_msg; - diag_status_msg.name = "ndt_scan_matcher"; - diag_status_msg.hardware_id = ""; - - for (const auto & key_value : (*state_ptr_)) { - diagnostic_msgs::msg::KeyValue key_value_msg; - key_value_msg.key = key_value.first; - key_value_msg.value = key_value.second; - diag_status_msg.values.push_back(key_value_msg); - } - + diagnostic_msgs::msg::DiagnosticStatus diag_status_msg; + diag_status_msg.name = "ndt_scan_matcher"; + diag_status_msg.hardware_id = ""; + + for (const auto & key_value : (*state_ptr_)) { + diagnostic_msgs::msg::KeyValue key_value_msg; + key_value_msg.key = key_value.first; + key_value_msg.value = key_value.second; + diag_status_msg.values.push_back(key_value_msg); + } + + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + diag_status_msg.message = ""; + if (state_ptr_->count("state") && (*state_ptr_)["state"] == "Initializing") { + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + diag_status_msg.message += "Initializing State. "; + } + if ( + state_ptr_->count("lidar_topic_delay_time_sec") && + std::stod((*state_ptr_)["lidar_topic_delay_time_sec"]) > lidar_topic_timeout_sec_) { + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + diag_status_msg.message += "lidar_topic_delay_time_sec exceed limit. "; + } + if ( + state_ptr_->count("skipping_publish_num") && + std::stoi((*state_ptr_)["skipping_publish_num"]) > 1 && + std::stoi((*state_ptr_)["skipping_publish_num"]) < 5) { + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + diag_status_msg.message += "skipping_publish_num > 1. "; + } + if ( + state_ptr_->count("skipping_publish_num") && + std::stoi((*state_ptr_)["skipping_publish_num"]) >= 5) { + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + diag_status_msg.message += "skipping_publish_num exceed limit. "; + } + if ( + state_ptr_->count("nearest_voxel_transformation_likelihood") && + std::stod((*state_ptr_)["nearest_voxel_transformation_likelihood"]) < + converged_param_nearest_voxel_transformation_likelihood_) { + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + diag_status_msg.message += "NDT score is unreliably low. "; + } + if ( + state_ptr_->count("execution_time") && + std::stod((*state_ptr_)["execution_time"]) >= critical_upper_bound_exe_time_ms_) { + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + diag_status_msg.message += + "NDT exe time is too long. (took " + (*state_ptr_)["execution_time"] + " [ms])"; + } + // Ignore local optimal solution + if ( + state_ptr_->count("is_local_optimal_solution_oscillation") && + std::stoi((*state_ptr_)["is_local_optimal_solution_oscillation"])) { diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - diag_status_msg.message = ""; - if (state_ptr_->count("state") && (*state_ptr_)["state"] == "Initializing") { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += "Initializing State. "; - } - if ( - state_ptr_->count("lidar_topic_delay_time_sec") && - std::stod((*state_ptr_)["lidar_topic_delay_time_sec"]) > lidar_topic_timeout_sec_) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += "lidar_topic_delay_time_sec exceed limit. "; - } - if ( - state_ptr_->count("skipping_publish_num") && - std::stoi((*state_ptr_)["skipping_publish_num"]) > 1 && - std::stoi((*state_ptr_)["skipping_publish_num"]) < 5) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += "skipping_publish_num > 1. "; - } - if ( - state_ptr_->count("skipping_publish_num") && - std::stoi((*state_ptr_)["skipping_publish_num"]) >= 5) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; - diag_status_msg.message += "skipping_publish_num exceed limit. "; - } - if ( - state_ptr_->count("nearest_voxel_transformation_likelihood") && - std::stod((*state_ptr_)["nearest_voxel_transformation_likelihood"]) < - converged_param_nearest_voxel_transformation_likelihood_) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += "NDT score is unreliably low. "; - } - if ( - state_ptr_->count("execution_time") && - std::stod((*state_ptr_)["execution_time"]) >= critical_upper_bound_exe_time_ms_) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += - "NDT exe time is too long. (took " + (*state_ptr_)["execution_time"] + " [ms])"; - } - // Ignore local optimal solution - if ( - state_ptr_->count("is_local_optimal_solution_oscillation") && - std::stoi((*state_ptr_)["is_local_optimal_solution_oscillation"])) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - diag_status_msg.message = "local optimal solution oscillation occurred"; - } - - diagnostic_msgs::msg::DiagnosticArray diag_msg; - diag_msg.header.stamp = this->now(); - diag_msg.status.push_back(diag_status_msg); + diag_status_msg.message = "local optimal solution oscillation occurred"; + } - diagnostics_pub_->publish(diag_msg); + diagnostic_msgs::msg::DiagnosticArray diag_msg; + diag_msg.header.stamp = this->now(); + diag_msg.status.push_back(diag_status_msg); - rate.sleep(); - } + diagnostics_pub_->publish(diag_msg); } void NDTScanMatcher::callback_initial_pose( @@ -476,13 +467,11 @@ void NDTScanMatcher::callback_sensor_points( } // perform ndt scan matching - (*state_ptr_)["state"] = "Aligning"; const Eigen::Matrix4f initial_pose_matrix = pose_to_matrix4f(interpolator.get_current_pose().pose.pose); auto output_cloud = std::make_shared>(); ndt_ptr_->align(*output_cloud, initial_pose_matrix); const pclomp::NdtResult ndt_result = ndt_ptr_->getResult(); - (*state_ptr_)["state"] = "Sleeping"; const geometry_msgs::msg::Pose result_pose_msg = matrix4f_to_pose(ndt_result.pose); std::vector transformation_msg_array; @@ -573,6 +562,7 @@ void NDTScanMatcher::callback_sensor_points( make_float32_stamped(sensor_ros_time, no_ground_nearest_voxel_transformation_likelihood)); } + (*state_ptr_)["state"] = "Aligned"; (*state_ptr_)["transform_probability"] = std::to_string(ndt_result.transform_probability); (*state_ptr_)["nearest_voxel_transformation_likelihood"] = std::to_string(ndt_result.nearest_voxel_transformation_likelihood); @@ -584,6 +574,8 @@ void NDTScanMatcher::callback_sensor_points( (*state_ptr_)["is_local_optimal_solution_oscillation"] = "0"; } (*state_ptr_)["execution_time"] = std::to_string(exe_time); + + publish_diagnostic(); } void NDTScanMatcher::transform_sensor_measurement( @@ -859,8 +851,6 @@ void NDTScanMatcher::service_trigger_node( if (is_activated_) { std::lock_guard initial_pose_array_lock(initial_pose_array_mtx_); initial_pose_msg_ptr_array_.clear(); - } else { - (*state_ptr_)["state"] = "Initializing"; } res->success = true; } @@ -897,9 +887,7 @@ void NDTScanMatcher::service_ndt_align( return; } - (*state_ptr_)["state"] = "Aligning"; res->pose_with_covariance = align_pose(initial_pose_msg_in_map_frame); - (*state_ptr_)["state"] = "Sleeping"; res->success = true; res->pose_with_covariance.pose.covariance = req->pose_with_covariance.pose.covariance; } From b607e5ca94913dffe7b24388ff79edcf62b53a51 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 8 Nov 2023 18:17:55 +0900 Subject: [PATCH 069/701] feat(intersection): rectify initial accel/velocity profile in ego velocity profile (#5496) Signed-off-by: Mamoru Sobue --- .../README.md | 8 ++ .../config/intersection.param.yaml | 14 +-- .../docs/ttc.gif | Bin 0 -> 2467326 bytes .../scripts/ttc.py | 13 ++- .../src/util.cpp | 86 +++++++++++++----- .../src/utilization/trajectory_utils.cpp | 13 ++- 6 files changed, 94 insertions(+), 40 deletions(-) create mode 100644 planning/behavior_velocity_intersection_module/docs/ttc.gif diff --git a/planning/behavior_velocity_intersection_module/README.md b/planning/behavior_velocity_intersection_module/README.md index 16459bb64074b..cb65e2a3cc23c 100644 --- a/planning/behavior_velocity_intersection_module/README.md +++ b/planning/behavior_velocity_intersection_module/README.md @@ -86,6 +86,14 @@ The parameters `collision_detection.collision_start_margin_time` and `collision_ If collision is detected, the state transits to "STOP" immediately. On the other hand, the state does not transit to "GO" unless safe judgement continues for a certain period `collision_detection.state_transit_margin` to prevent the chattering of decisions. +Currently, the intersection module uses `motion_velocity_smoother` feature to precisely calculate ego vehicle velocity profile along the intersection lane under longitudinal/lateral constraints. If the flag `collision_detection.use_upstream_velocity` is true, the target velocity profile of the original path is used. Otherwise the target velocity is set to `common.intersection_velocity`. In the trajectory smoothing process the target velocity at/before ego trajectory points are set to ego current velocity. The smoothed trajectory is then converted to an array of (time, distance) which indicates the arrival time to each trajectory point on the path from current ego position. You can visualize this array by adding the lane id to `debug.ttc` and running + +```bash +ros2 run behavior_velocity_intersection_module ttc.py --lane_id +``` + +![ego ttc profile](./docs/ttc.gif) + #### Stop Line Automatic Generation If a stopline is associated with the intersection lane on the map, that line is used as the stopline for collision detection. Otherwise the path is interpolated at a certain intervals (=`common.path_interpolation_ds`), and the point which is `stop_line_margin` meters behind the attention area is defined as the position of the stop line for the vehicle front. diff --git a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml index adbc7b3e087d6..22f68733a3bc2 100644 --- a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml +++ b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml @@ -35,24 +35,24 @@ distance_thr: 1.0 # [m] collision_detection: - state_transit_margin_time: 1.0 + state_transit_margin_time: 0.5 min_predicted_path_confidence: 0.05 minimum_ego_predicted_velocity: 1.388 # [m/s] fully_prioritized: collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 partially_prioritized: - collision_start_margin_time: 2.0 + collision_start_margin_time: 3.0 collision_end_margin_time: 2.0 not_prioritized: - collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object - collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object + collision_start_margin_time: 3.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object + collision_end_margin_time: 2.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity yield_on_green_traffic_light: - distance_to_assigned_lanelet_start: 5.0 - duration: 2.0 + distance_to_assigned_lanelet_start: 10.0 + duration: 3.0 object_dist_to_stopline: 10.0 # [m] ignore_on_amber_traffic_light: object_expected_deceleration: 2.0 # [m/ss] @@ -81,7 +81,7 @@ maximum_peeking_distance: 6.0 # [m] attention_lane_crop_curvature_threshold: 0.25 attention_lane_curvature_calculation_ds: 0.5 - static_occlusion_with_traffic_light_timeout: 3.5 + static_occlusion_with_traffic_light_timeout: 0.5 debug: ttc: [0] diff --git a/planning/behavior_velocity_intersection_module/docs/ttc.gif b/planning/behavior_velocity_intersection_module/docs/ttc.gif new file mode 100644 index 0000000000000000000000000000000000000000..bb797f7df59a1ee9800ebae6f978bf1efc555ac1 GIT binary patch literal 2467326 zcmWifWmMEp7sr1a>@Kjt(jl>QrwB;M(nv{{bV-RQAt>O|OM`@9(A^*+h;&M~ARW@N z2m&Iw&;R+JId{&yn=^Orees>oXxvwqxob~DWDbr70K$Lz_mA-J=HGwu=7w)+`q z;rAxtbouP;?DX{X*RNmyPF7D&PHv8m2>4k%9)Em%OgK0o98O;x{QS4Ib-cMjI2a`C 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b/planning/behavior_velocity_intersection_module/scripts/ttc.py @@ -126,8 +126,11 @@ def plot_ttc(self): self.ttc_ax.set_xlabel("ego time") self.ttc_ax.set_ylabel("ego dist") time_dist_plot = self.ttc_ax.plot(ego_ttc_time, ego_ttc_dist, label="time-dist", c="orange") - self.ttc_ax.set_xlim(min(ego_ttc_time) - 2.0, max(ego_ttc_time) + 3.0) - self.ttc_ax.set_ylim(min(ego_ttc_dist) - 2.0, max(ego_ttc_dist) + 3.0) + self.ttc_ax.set_xlim( + min(ego_ttc_time) - 2.0, + min(max(ego_ttc_time) + 3.0, self.args.max_time), + ) + # self.ttc_ax.set_ylim(min(ego_ttc_dist) - 2.0, max(ego_ttc_dist) + 3.0) for npc, color in zip(self.npc_vehicles, cycle(self.color_list)): t0, t1 = npc.collision_start_time, npc.collision_end_time d0, d1 = npc.collision_start_dist, npc.collision_end_dist @@ -137,15 +140,13 @@ def plot_ttc(self): c=color, alpha=0.2, ) - dd = [d1 - d0 for d0, d1 in zip(ego_ttc_dist, ego_ttc_dist[1:])] dt = [t1 - t0 for t0, t1 in zip(ego_ttc_time, ego_ttc_time[1:])] v = [d / t for d, t in zip(dd, dt)] self.ttc_vel_ax.yaxis.set_label_position("right") self.ttc_vel_ax.set_ylabel("ego velocity") - self.ttc_vel_ax.set_ylim(0.0, max(v) + 1.0) + # self.ttc_vel_ax.set_ylim(0.0, max(v) + 1.0) time_velocity_plot = self.ttc_vel_ax.plot(ego_ttc_time[1:], v, label="time-v", c="red") - lines = time_dist_plot + time_velocity_plot labels = [line.get_label() for line in lines] self.ttc_ax.legend(lines, labels, loc="upper left") @@ -218,6 +219,7 @@ def cleanup(self): if self.args.save: kwargs_write = {"fps": self.args.fps, "quantizer": "nq"} imageio.mimsave("./" + self.args.gif + ".gif", self.images, **kwargs_write) + rclpy.shutdown() def on_plot_timer(self): with self.lock: @@ -277,6 +279,7 @@ def on_object_ttc(self, msg): default=60, help="detect range for drawing", ) + parser.add_argument("--max_time", type=float, default=100, help="max plot limit for time") parser.add_argument("-s", "--save", action="store_true", help="flag to save gif") parser.add_argument("--gif", type=str, default="ttc", help="filename of gif file") parser.add_argument("--fps", type=float, default=5, help="fps of gif") diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp index a9d0f56266181..e6e6fa0a1da9a 100644 --- a/planning/behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_intersection_module/src/util.cpp @@ -36,6 +36,7 @@ #include #include +#include #include #include #include @@ -1304,14 +1305,27 @@ TimeDistanceArray calcIntersectionPassingTime( const bool use_upstream_velocity, const double minimum_upstream_velocity, tier4_debug_msgs::msg::Float64MultiArrayStamped * debug_ttc_array) { - double dist_sum = 0.0; + const double current_velocity = planner_data->current_velocity->twist.linear.x; + int assigned_lane_found = false; // crop intersection part of the path, and set the reference velocity to intersection_velocity // for ego's ttc PathWithLaneId reference_path; - for (size_t i = closest_idx; i < path.points.size(); ++i) { + std::optional upstream_stop_line{std::nullopt}; + for (size_t i = 0; i < path.points.size() - 1; ++i) { auto reference_point = path.points.at(i); + // assume backward velocity is current ego velocity + if (i < closest_idx) { + reference_point.point.longitudinal_velocity_mps = current_velocity; + } + if ( + i > last_intersection_stop_line_candidate_idx && + std::fabs(reference_point.point.longitudinal_velocity_mps) < + std::numeric_limits::epsilon() && + !upstream_stop_line) { + upstream_stop_line = i; + } if (!use_upstream_velocity) { reference_point.point.longitudinal_velocity_mps = intersection_velocity; } @@ -1326,28 +1340,46 @@ TimeDistanceArray calcIntersectionPassingTime( return {{0.0, 0.0}}; // has already passed the intersection. } + std::vector> original_path_xy; + for (size_t i = 0; i < reference_path.points.size(); ++i) { + const auto & p = reference_path.points.at(i).point.pose.position; + original_path_xy.emplace_back(p.x, p.y); + } + // apply smoother to reference velocity PathWithLaneId smoothed_reference_path = reference_path; - smoothPath(reference_path, smoothed_reference_path, planner_data); + if (!smoothPath(reference_path, smoothed_reference_path, planner_data)) { + smoothed_reference_path = reference_path; + } // calculate when ego is going to reach each (interpolated) points on the path TimeDistanceArray time_distance_array{}; - dist_sum = 0.0; + double dist_sum = 0.0; double passing_time = time_delay; time_distance_array.emplace_back(passing_time, dist_sum); // NOTE: `reference_path` is resampled in `reference_smoothed_path`, so // `last_intersection_stop_line_candidate_idx` makes no sense - const auto last_intersection_stop_line_candidate_point_orig = - path.points.at(last_intersection_stop_line_candidate_idx).point.pose; - const auto last_intersection_stop_line_candidate_nearest_ind = - motion_utils::findFirstNearestIndexWithSoftConstraints( - smoothed_reference_path.points, last_intersection_stop_line_candidate_point_orig, - planner_data->ego_nearest_dist_threshold, planner_data->ego_nearest_yaw_threshold); + const auto smoothed_path_closest_idx = motion_utils::findFirstNearestIndexWithSoftConstraints( + smoothed_reference_path.points, path.points.at(closest_idx).point.pose, + planner_data->ego_nearest_dist_threshold, planner_data->ego_nearest_yaw_threshold); + + const std::optional upstream_stop_line_idx_opt = [&]() -> std::optional { + if (upstream_stop_line) { + const auto upstream_stop_line_point = path.points.at(upstream_stop_line.value()).point.pose; + return motion_utils::findFirstNearestIndexWithSoftConstraints( + smoothed_reference_path.points, upstream_stop_line_point, + planner_data->ego_nearest_dist_threshold, planner_data->ego_nearest_yaw_threshold); + } else { + return std::nullopt; + } + }(); + const bool has_upstream_stopline = upstream_stop_line_idx_opt.has_value(); + const size_t upstream_stopline_ind = upstream_stop_line_idx_opt.value_or(0); - for (size_t i = 1; i < smoothed_reference_path.points.size(); ++i) { - const auto & p1 = smoothed_reference_path.points.at(i - 1); - const auto & p2 = smoothed_reference_path.points.at(i); + for (size_t i = smoothed_path_closest_idx; i < smoothed_reference_path.points.size() - 1; ++i) { + const auto & p1 = smoothed_reference_path.points.at(i); + const auto & p2 = smoothed_reference_path.points.at(i + 1); const double dist = tier4_autoware_utils::calcDistance2d(p1, p2); dist_sum += dist; @@ -1355,12 +1387,16 @@ TimeDistanceArray calcIntersectionPassingTime( // use average velocity between p1 and p2 const double average_velocity = (p1.point.longitudinal_velocity_mps + p2.point.longitudinal_velocity_mps) / 2.0; - const double minimum_ego_velocity_division = - (use_upstream_velocity && i > last_intersection_stop_line_candidate_nearest_ind) - ? minimum_upstream_velocity /* to avoid null division */ - : minimum_ego_velocity; - const double passing_velocity = - std::max(minimum_ego_velocity_division, average_velocity); + const double passing_velocity = [=]() { + if (use_upstream_velocity) { + if (has_upstream_stopline && i > upstream_stopline_ind) { + return minimum_upstream_velocity; + } + return std::max(average_velocity, minimum_ego_velocity); + } else { + return std::max(average_velocity, minimum_ego_velocity); + } + }(); passing_time += (dist / passing_velocity); time_distance_array.emplace_back(passing_time, dist_sum); @@ -1370,6 +1406,8 @@ TimeDistanceArray calcIntersectionPassingTime( debug_ttc_array->layout.dim.at(0).size = 5; debug_ttc_array->layout.dim.at(1).label = "values"; debug_ttc_array->layout.dim.at(1).size = time_distance_array.size(); + debug_ttc_array->data.reserve( + time_distance_array.size() * debug_ttc_array->layout.dim.at(0).size); for (unsigned i = 0; i < time_distance_array.size(); ++i) { debug_ttc_array->data.push_back(lane_id); } @@ -1379,11 +1417,13 @@ TimeDistanceArray calcIntersectionPassingTime( for (const auto & [t, d] : time_distance_array) { debug_ttc_array->data.push_back(d); } - for (const auto & p : smoothed_reference_path.points) { - debug_ttc_array->data.push_back(p.point.pose.position.x); + for (size_t i = smoothed_path_closest_idx; i < smoothed_reference_path.points.size(); ++i) { + const auto & p = smoothed_reference_path.points.at(i).point.pose.position; + debug_ttc_array->data.push_back(p.x); } - for (const auto & p : smoothed_reference_path.points) { - debug_ttc_array->data.push_back(p.point.pose.position.y); + for (size_t i = smoothed_path_closest_idx; i < smoothed_reference_path.points.size(); ++i) { + const auto & p = smoothed_reference_path.points.at(i).point.pose.position; + debug_ttc_array->data.push_back(p.y); } return time_distance_array; } diff --git a/planning/behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp b/planning/behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp index 71cdd9650a598..7fe8612cc6858 100644 --- a/planning/behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp +++ b/planning/behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp @@ -88,15 +88,14 @@ bool smoothPath( const auto & smoother = planner_data->velocity_smoother_; auto trajectory = convertPathToTrajectoryPoints(in_path); - if (external_v_limit) { - motion_velocity_smoother::trajectory_utils::applyMaximumVelocityLimit( - 0, trajectory.size(), external_v_limit->max_velocity, trajectory); - } const auto traj_lateral_acc_filtered = smoother->applyLateralAccelerationFilter(trajectory); + const auto traj_steering_rate_limited = + smoother->applySteeringRateLimit(traj_lateral_acc_filtered, false); + // Resample trajectory with ego-velocity based interval distances auto traj_resampled = smoother->resampleTrajectory( - traj_lateral_acc_filtered, v0, current_pose, planner_data->ego_nearest_dist_threshold, + traj_steering_rate_limited, v0, current_pose, planner_data->ego_nearest_dist_threshold, planner_data->ego_nearest_yaw_threshold); const size_t traj_resampled_closest = motion_utils::findFirstNearestIndexWithSoftConstraints( traj_resampled, current_pose, planner_data->ego_nearest_dist_threshold, @@ -114,6 +113,10 @@ bool smoothPath( traj_smoothed.insert( traj_smoothed.begin(), traj_resampled.begin(), traj_resampled.begin() + traj_resampled_closest); + if (external_v_limit) { + motion_velocity_smoother::trajectory_utils::applyMaximumVelocityLimit( + traj_resampled_closest, traj_smoothed.size(), external_v_limit->max_velocity, traj_smoothed); + } out_path = convertTrajectoryPointsToPath(traj_smoothed); return true; } From c6d6fc10a4217de804b20ee87717f60702bec0ce Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 8 Nov 2023 18:32:41 +0900 Subject: [PATCH 070/701] fix: add_ros_test to add_launch_test (#5486) * fix: add_ros_test to add_launch_test Signed-off-by: kminoda * fix ndt_scan_matcher Signed-off-by: kminoda --------- Signed-off-by: kminoda --- localization/ekf_localizer/CMakeLists.txt | 4 ++-- localization/ndt_scan_matcher/CMakeLists.txt | 2 +- map/map_loader/CMakeLists.txt | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt index 45d420bafff10..9944cbb84d97c 100644 --- a/localization/ekf_localizer/CMakeLists.txt +++ b/localization/ekf_localizer/CMakeLists.txt @@ -43,11 +43,11 @@ function(add_testcase filepath) endfunction() if(BUILD_TESTING) - add_ros_test( + add_launch_test( test/test_ekf_localizer_launch.py TIMEOUT "30" ) - add_ros_test( + add_launch_test( test/test_ekf_localizer_mahalanobis.py TIMEOUT "30" ) diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt index 6fe61cd25bc6e..4beecc2625fe3 100644 --- a/localization/ndt_scan_matcher/CMakeLists.txt +++ b/localization/ndt_scan_matcher/CMakeLists.txt @@ -38,7 +38,7 @@ link_directories(${PCL_LIBRARY_DIRS}) target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES} glog::glog) if(BUILD_TESTING) - add_ros_test( + add_launch_test( test/test_ndt_scan_matcher_launch.py TIMEOUT "30" ) diff --git a/map/map_loader/CMakeLists.txt b/map/map_loader/CMakeLists.txt index b94eaac7ee34d..115f7e5b17464 100644 --- a/map/map_loader/CMakeLists.txt +++ b/map/map_loader/CMakeLists.txt @@ -46,7 +46,7 @@ rclcpp_components_register_node(lanelet2_map_visualization_node ) if(BUILD_TESTING) - add_ros_test( + add_launch_test( test/lanelet2_map_loader_launch.test.py TIMEOUT "30" ) From 3462f27bfef26c34d2ec1f7d97533f03e192231d Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Wed, 8 Nov 2023 20:59:48 +0900 Subject: [PATCH 071/701] refactor(behavior_path_planner): remove status_.pull_over_lanes (#5520) * Remove unused variable and update function arguments in start_planner_module.hpp and util.hpp/cpp Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner_module.hpp | 1 - .../start_planner/start_planner_module.cpp | 43 +++++++++++-------- .../src/utils/start_planner/util.cpp | 7 ++- 3 files changed, 28 insertions(+), 23 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp index 8ea963fec0b8d..91121598cb3ae 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp @@ -59,7 +59,6 @@ struct PullOutStatus size_t current_path_idx{0}; PlannerType planner_type{PlannerType::NONE}; PathWithLaneId backward_path{}; - lanelet::ConstLanelets pull_out_lanes{}; bool found_pull_out_path{false}; // current path is safe against static objects bool is_safe_dynamic_objects{false}; // current path is safe against dynamic objects bool driving_forward{false}; // if ego is driving on backward path, this is set to false diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index e3670710b64f0..bd042f8ecef4d 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -619,8 +619,11 @@ PathWithLaneId StartPlannerModule::generateStopPath() const PathPointWithLaneId p{}; p.point.pose = pose; p.point.longitudinal_velocity_mps = 0.0; + const auto pull_out_lanes = start_planner_utils::getPullOutLanes( + planner_data_, + planner_data_->parameters.backward_path_length + parameters_->max_back_distance); lanelet::Lanelet closest_lanelet; - lanelet::utils::query::getClosestLanelet(status_.pull_out_lanes, pose, &closest_lanelet); + lanelet::utils::query::getClosestLanelet(pull_out_lanes, pose, &closest_lanelet); p.lane_ids.push_back(closest_lanelet.id()); return p; }; @@ -664,13 +667,15 @@ lanelet::ConstLanelets StartPlannerModule::getPathRoadLanes(const PathWithLaneId std::vector StartPlannerModule::generateDrivableLanes( const PathWithLaneId & path) const { + const auto pull_out_lanes = start_planner_utils::getPullOutLanes( + planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); + const auto path_road_lanes = getPathRoadLanes(path); if (!path_road_lanes.empty()) { lanelet::ConstLanelets shoulder_lanes; const auto & rh = planner_data_->route_handler; std::copy_if( - status_.pull_out_lanes.begin(), status_.pull_out_lanes.end(), - std::back_inserter(shoulder_lanes), + pull_out_lanes.begin(), pull_out_lanes.end(), std::back_inserter(shoulder_lanes), [&rh](const auto & pull_out_lane) { return rh->isShoulderLanelet(pull_out_lane); }); return utils::generateDrivableLanesWithShoulderLanes(path_road_lanes, shoulder_lanes); @@ -678,7 +683,7 @@ std::vector StartPlannerModule::generateDrivableLanes( // if path_road_lanes is empty, use only pull_out_lanes as drivable lanes std::vector drivable_lanes; - for (const auto & lane : status_.pull_out_lanes) { + for (const auto & lane : pull_out_lanes) { DrivableLanes drivable_lane; drivable_lane.right_lane = lane; drivable_lane.left_lane = lane; @@ -693,11 +698,6 @@ void StartPlannerModule::updatePullOutStatus() !planner_data_->prev_route_id || *planner_data_->prev_route_id != planner_data_->route_handler->getRouteUuid(); - // save pull out lanes which is generated using current pose before starting pull out - // (before approval) - status_.pull_out_lanes = start_planner_utils::getPullOutLanes( - planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); - // skip updating if enough time has not passed for preventing chattering between back and // start_planner if (!has_received_new_route) { @@ -734,12 +734,15 @@ void StartPlannerModule::updatePullOutStatus() planWithPriority( start_pose_candidates, *refined_start_pose, goal_pose, parameters_->search_priority); + const auto pull_out_lanes = start_planner_utils::getPullOutLanes( + planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); + if (isBackwardDrivingComplete()) { updateStatusAfterBackwardDriving(); current_state_ = ModuleStatus::SUCCESS; // for breaking loop } else { status_.backward_path = start_planner_utils::getBackwardPath( - *route_handler, status_.pull_out_lanes, current_pose, status_.pull_out_start_pose, + *route_handler, pull_out_lanes, current_pose, status_.pull_out_start_pose, parameters_->backward_velocity); } } @@ -761,12 +764,14 @@ PathWithLaneId StartPlannerModule::calcStartPoseCandidatesBackwardPath() const { const Pose & current_pose = planner_data_->self_odometry->pose.pose; + const auto pull_out_lanes = start_planner_utils::getPullOutLanes( + planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); + // get backward shoulder path - const auto arc_position_pose = - lanelet::utils::getArcCoordinates(status_.pull_out_lanes, current_pose); + const auto arc_position_pose = lanelet::utils::getArcCoordinates(pull_out_lanes, current_pose); const double check_distance = parameters_->max_back_distance + 30.0; // buffer auto path = planner_data_->route_handler->getCenterLinePath( - status_.pull_out_lanes, arc_position_pose.length - check_distance, + pull_out_lanes, arc_position_pose.length - check_distance, arc_position_pose.length + check_distance); // lateral shift to current_pose @@ -785,18 +790,20 @@ std::vector StartPlannerModule::searchPullOutStartPoses( std::vector pull_out_start_pose{}; + const auto pull_out_lanes = start_planner_utils::getPullOutLanes( + planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); + // filter pull out lanes stop objects const auto [pull_out_lane_objects, others] = utils::path_safety_checker::separateObjectsByLanelets( - *planner_data_->dynamic_object, status_.pull_out_lanes, + *planner_data_->dynamic_object, pull_out_lanes, utils::path_safety_checker::isPolygonOverlapLanelet); const auto pull_out_lane_stop_objects = utils::path_safety_checker::filterObjectsByVelocity( pull_out_lane_objects, parameters_->th_moving_object_velocity); // Set the maximum backward distance less than the distance from the vehicle's base_link to the // lane's rearmost point to prevent lane departure. - const double s_current = - lanelet::utils::getArcCoordinates(status_.pull_out_lanes, current_pose).length; + const double s_current = lanelet::utils::getArcCoordinates(pull_out_lanes, current_pose).length; const double max_back_distance = std::clamp( s_current - planner_data_->parameters.base_link2rear, 0.0, parameters_->max_back_distance); @@ -812,10 +819,10 @@ std::vector StartPlannerModule::searchPullOutStartPoses( // check the back pose is near the lane end const double length_to_backed_pose = - lanelet::utils::getArcCoordinates(status_.pull_out_lanes, *backed_pose).length; + lanelet::utils::getArcCoordinates(pull_out_lanes, *backed_pose).length; const double length_to_lane_end = std::accumulate( - std::begin(status_.pull_out_lanes), std::end(status_.pull_out_lanes), 0.0, + std::begin(pull_out_lanes), std::end(pull_out_lanes), 0.0, [](double acc, const auto & lane) { return acc + lanelet::utils::getLaneletLength2d(lane); }); const double distance_from_lane_end = length_to_lane_end - length_to_backed_pose; if (distance_from_lane_end < parameters_->ignore_distance_from_lane_end) { diff --git a/planning/behavior_path_planner/src/utils/start_planner/util.cpp b/planning/behavior_path_planner/src/utils/start_planner/util.cpp index 40b100a1bc070..7b4d4566bba27 100644 --- a/planning/behavior_path_planner/src/utils/start_planner/util.cpp +++ b/planning/behavior_path_planner/src/utils/start_planner/util.cpp @@ -89,15 +89,14 @@ lanelet::ConstLanelets getPullOutLanes( { const double & vehicle_width = planner_data->parameters.vehicle_width; const auto & route_handler = planner_data->route_handler; - const auto & current_pose = planner_data->self_odometry->pose.pose; + const auto & start_pose = planner_data->route_handler->getOriginalStartPose(); lanelet::ConstLanelet current_shoulder_lane; lanelet::ConstLanelets shoulder_lanes; if (route_handler->getPullOutStartLane( - route_handler->getShoulderLanelets(), current_pose, vehicle_width, - ¤t_shoulder_lane)) { + route_handler->getShoulderLanelets(), start_pose, vehicle_width, ¤t_shoulder_lane)) { // pull out from shoulder lane - return route_handler->getShoulderLaneletSequence(current_shoulder_lane, current_pose); + return route_handler->getShoulderLaneletSequence(current_shoulder_lane, start_pose); } // pull out from road lane From 3e8c7bf6df79a9f4027f01e0310036606098aa0a Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Wed, 8 Nov 2023 17:31:40 +0300 Subject: [PATCH 072/701] build(lidar_apollo_segmentation_tvm and lidar_apollo_segmentation_tvm_nodes): remove download from cmake (#5431) * add include tier4_autoware_utils and dependency Signed-off-by: Alexey Panferov * remove downloading logic from Cmake, update documentation Signed-off-by: Alexey Panferov * build(tvm_utility): remove downloading logic from Cmake, update documentation Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): fix lint_cmake error Signed-off-by: Alexey Panferov * build(tvm_utility): format warning message Signed-off-by: Alexey Panferov * build(tvm_utility): add logic to work with autoware_data folder, add nn config header and test image Signed-off-by: Alexey Panferov * style(pre-commit): autofix * style(pre-commit): autofix * build(tvm_utility): refactor, update InferenceEngineTVM constructor Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): add lightweight model and test with it Signed-off-by: Alexey Panferov * build(tvm_utility): make building yolo_v2_tiny disable by default Signed-off-by: Alexey Panferov * build(tvm_utility): remove test artifact for yolo_v2_tiny Signed-off-by: Alexey Panferov * build(tvm_utility): update docs Signed-off-by: Alexey Panferov * build(tvm_utility): update docs Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): update namespace in abs_model test Signed-off-by: Alexey Panferov * build(tvm_utility): rewrite yolo_v2_tiny as example Signed-off-by: Alexey Panferov * build(tvm_utility): clean comments in yolo_v2_tiny example main.cpp Signed-off-by: Alexey Panferov * build(tvm_utility): add launch file for yolo_v2_tiny example Signed-off-by: Alexey Panferov * build(tvm_utility): update yolo_v2_tiny example readme Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): add model for arm based systems, need to be tested on device Signed-off-by: Alexey Panferov * style(pre-commit): autofix * style(pre-commit): autofix * build(tvm_utility): update config header for arm Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): remove debug output Signed-off-by: Alexey Panferov * build(tvm_utility): add find_package conditional section Signed-off-by: Alexey Panferov * build(tvm_utility): fix lint_cmake errors Signed-off-by: Alexey Panferov * build(tvm_utility): remove coping model files during build Signed-off-by: Alexey Panferov * build(tvm_utility): update readme with new data folder structure Signed-off-by: Alexey Panferov * build(tvm_utility): fix spell check warnings Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): add no model files guard to get_neural_network Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): set back default paths in config headers Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation): wip update launch files Signed-off-by: Alexey Panferov * build(tvm_utility): add param file, update launch file Signed-off-by: Alexey Panferov * build(tvm_utility): add schema file, update node name Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): fix json-schema-check Signed-off-by: Alexey Panferov * build(tvm_utility): fix json-schema-check Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): add parameter table to example readme Signed-off-by: Alexey Panferov * build(tvm_utility): fix typo-error in description of schema.json Signed-off-by: Alexey Panferov * style(pre-commit): autofix * buiild(tvm_utility): fix spell-check warning and typo Signed-off-by: Alexey Panferov * feat(spell-check): add dltype and tvmgen to local dict Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(lidar_apollo_segmentation_tvm): remove test Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm): add data_path to constructor Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm_nodes): add data_path to param file Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm_nodes): add allow_substs to launches Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(lidar_apollo_segmentation_tvm_nodes): update README Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm): update README Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm_nodes): fix schema typo Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm): remove unused import Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm): suppress cpplint Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm): suppress cpplint Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm): return test back and update it Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(lidar_apollo_segmentation_tvm): fix cpplilnt errors Signed-off-by: Alexey Panferov * build(lidar_apollo_segmenntation_tvm): update checking for models files Signed-off-by: Alexey Panferov * style(pre-commit): autofix --------- Signed-off-by: Alexey Panferov Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../lidar_apollo_segmentation_tvm/.gitignore | 1 - .../lidar_apollo_segmentation_tvm/README.md | 7 ++- .../baidu_cnn/inference_engine_tvm_config.hpp | 55 +++++++++++++++++++ .../lidar_apollo_segmentation_tvm.hpp | 3 +- .../src/lidar_apollo_segmentation_tvm.cpp | 4 +- .../test/main.cpp | 40 ++++++++++++-- .../README.md | 2 +- ...r_apollo_segmentation_tvm_nodes.param.yaml | 1 + ...ar_apollo_segmentation_tvm_nodes.launch.py | 11 +++- ...r_apollo_segmentation_tvm_nodes.launch.xml | 3 +- ..._apollo_segmentation_tvm_nodes.schema.json | 8 ++- .../lidar_apollo_segmentation_tvm_node.cpp | 2 +- 12 files changed, 117 insertions(+), 20 deletions(-) delete mode 100644 perception/lidar_apollo_segmentation_tvm/.gitignore create mode 100644 perception/lidar_apollo_segmentation_tvm/data/models/baidu_cnn/inference_engine_tvm_config.hpp diff --git a/perception/lidar_apollo_segmentation_tvm/.gitignore b/perception/lidar_apollo_segmentation_tvm/.gitignore deleted file mode 100644 index 8fce603003c1e..0000000000000 --- a/perception/lidar_apollo_segmentation_tvm/.gitignore +++ /dev/null @@ -1 +0,0 @@ -data/ diff --git a/perception/lidar_apollo_segmentation_tvm/README.md b/perception/lidar_apollo_segmentation_tvm/README.md index d1337304fbf06..72fb26105e63e 100644 --- a/perception/lidar_apollo_segmentation_tvm/README.md +++ b/perception/lidar_apollo_segmentation_tvm/README.md @@ -6,9 +6,10 @@ #### Neural network -This package will not build without a neural network for its inference. -The network is provided by the cmake function exported by the tvm_utility package. -See its design page for more information on how to enable downloading pre-compiled networks (by setting the `DOWNLOAD_ARTIFACTS` cmake variable), or how to handle user-compiled networks. +This package will not run without a neural network for its inference. +The network is provided by ansible script during the installation of Autoware or can be downloaded manually according to [Manual Downloading](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts). +This package uses 'get_neural_network' function from tvm_utility package to create and provide proper dependency. +See its design page for more information on how to handle user-compiled networks. #### Backend diff --git a/perception/lidar_apollo_segmentation_tvm/data/models/baidu_cnn/inference_engine_tvm_config.hpp b/perception/lidar_apollo_segmentation_tvm/data/models/baidu_cnn/inference_engine_tvm_config.hpp new file mode 100644 index 0000000000000..d7541df046532 --- /dev/null +++ b/perception/lidar_apollo_segmentation_tvm/data/models/baidu_cnn/inference_engine_tvm_config.hpp @@ -0,0 +1,55 @@ +// Copyright 2021 Arm Limited and Contributors. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "tvm_utility/pipeline.hpp" + +#ifndef PERCEPTION__LIDAR_APOLLO_SEGMENTATION_TVM__DATA__MODELS__BAIDU_CNN__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT +#define PERCEPTION__LIDAR_APOLLO_SEGMENTATION_TVM__DATA__MODELS__BAIDU_CNN__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT + +namespace model_zoo +{ +namespace perception +{ +namespace lidar_obstacle_detection +{ +namespace baidu_cnn +{ +namespace onnx_bcnn +{ + +static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ + {3, 0, 0}, // modelzoo_version + + "baidu_cnn", // network_name + "llvm", // network_backend + + "./deploy_lib.so", // network_module_path + "./deploy_graph.json", // network_graph_path + "./deploy_param.params", // network_params_path + + kDLCPU, // tvm_device_type + 0, // tvm_device_id + + {{"data", kDLFloat, 32, 1, {1, 4, 864, 864}}}, // network_inputs + + {{"deconv0", kDLFloat, 32, 1, {1, 12, 864, 864}}} // network_outputs +}; + +} // namespace onnx_bcnn +} // namespace baidu_cnn +} // namespace lidar_obstacle_detection +} // namespace perception +} // namespace model_zoo +// NOLINTNEXTLINE +#endif // PERCEPTION__LIDAR_APOLLO_SEGMENTATION_TVM__DATA__MODELS__BAIDU_CNN__INFERENCE_ENGINE_TVM_CONFIG_HPP_ diff --git a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp index b9734a41d28ae..7f8c5f51f73a6 100644 --- a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp +++ b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp @@ -141,10 +141,11 @@ class LIDAR_APOLLO_SEGMENTATION_TVM_PUBLIC ApolloLidarSegmentation /// \param[in] height_thresh If it is non-negative, the points that are higher than the predicted /// object height by height_thresh are filtered out in the /// post-processing step. + /// \param[in] data_path The path to autoware data and artifacts folder explicit ApolloLidarSegmentation( int32_t range, float score_threshold, bool use_intensity_feature, bool use_constant_feature, float z_offset, float min_height, float max_height, float objectness_thresh, - int32_t min_pts_num, float height_thresh); + int32_t min_pts_num, float height_thresh, const std::string & data_path); /// \brief Detect obstacles. /// \param[in] input Input pointcloud. diff --git a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp index e6c95f202106d..85f0a69356d55 100644 --- a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp +++ b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp @@ -108,7 +108,7 @@ std::shared_ptr ApolloLidarSegmentationPostProcessor ApolloLidarSegmentation::ApolloLidarSegmentation( int32_t range, float score_threshold, bool use_intensity_feature, bool use_constant_feature, float z_offset, float min_height, float max_height, float objectness_thresh, int32_t min_pts_num, - float height_thresh) + float height_thresh, const std::string & data_path) : range_(range), score_threshold_(score_threshold), z_offset_(z_offset), @@ -118,7 +118,7 @@ ApolloLidarSegmentation::ApolloLidarSegmentation( pcl_pointcloud_ptr_(new pcl::PointCloud), PreP(std::make_shared( config, range, use_intensity_feature, use_constant_feature, min_height, max_height)), - IE(std::make_shared(config, "lidar_apollo_segmentation_tvm")), + IE(std::make_shared(config, "lidar_apollo_segmentation_tvm", data_path)), PostP(std::make_shared( config, pcl_pointcloud_ptr_, range, objectness_thresh, score_threshold, height_thresh, min_pts_num)), diff --git a/perception/lidar_apollo_segmentation_tvm/test/main.cpp b/perception/lidar_apollo_segmentation_tvm/test/main.cpp index 9fd644afff1f2..06cff2a67e908 100644 --- a/perception/lidar_apollo_segmentation_tvm/test/main.cpp +++ b/perception/lidar_apollo_segmentation_tvm/test/main.cpp @@ -17,14 +17,18 @@ #include +#include #include #include #include #include using autoware::perception::lidar_apollo_segmentation_tvm::ApolloLidarSegmentation; +namespace fs = std::filesystem; -void test_segmentation(bool use_intensity_feature, bool use_constant_feature, bool expect_throw) +void test_segmentation( + const std::string & data_path, bool use_intensity_feature, bool use_constant_feature, + bool expect_throw) { // Instantiate the pipeline const int width = 1; @@ -37,9 +41,10 @@ void test_segmentation(bool use_intensity_feature, bool use_constant_feature, bo const float objectness_thresh = 0.5f; const int32_t min_pts_num = 3; const float height_thresh = 0.5f; + ApolloLidarSegmentation segmentation( range, score_threshold, use_intensity_feature, use_constant_feature, z_offset, min_height, - max_height, objectness_thresh, min_pts_num, height_thresh); + max_height, objectness_thresh, min_pts_num, height_thresh, data_path); auto version_status = segmentation.version_check(); EXPECT_NE(version_status, tvm_utility::Version::Unsupported); @@ -85,8 +90,31 @@ void test_segmentation(bool use_intensity_feature, bool use_constant_feature, bo // Other test configurations to increase code coverage. TEST(lidar_apollo_segmentation_tvm, others) { - test_segmentation(false, true, false); - test_segmentation(true, true, false); - test_segmentation(false, false, false); - test_segmentation(true, false, false); + std::string home = std::getenv("HOME"); + fs::path data_path(home); + data_path /= "autoware_data"; + fs::path apollo_data_path(data_path); + apollo_data_path /= "lidar_apollo_segmentation_tvm"; + fs::path deploy_path(apollo_data_path); + deploy_path /= "models/baidu_cnn"; + + fs::path deploy_graph("deploy_graph.json"); + fs::path deploy_lib("deploy_lib.so"); + fs::path deploy_param("deploy_param.params"); + + fs::path deploy_graph_path = deploy_path / deploy_graph; + fs::path deploy_lib_path = deploy_path / deploy_lib; + fs::path deploy_param_path = deploy_path / deploy_param; + + if ( + !fs::exists(deploy_graph_path) || !fs::exists(deploy_lib_path) || + !fs::exists(deploy_param_path)) { + printf("Model deploy files not found. Skip test.\n"); + GTEST_SKIP(); + return; + } + test_segmentation(data_path, false, true, false); + test_segmentation(data_path, true, true, false); + test_segmentation(data_path, false, false, false); + test_segmentation(data_path, true, false, false); } diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/README.md b/perception/lidar_apollo_segmentation_tvm_nodes/README.md index 488eea4f92168..a9ffd59f228ec 100644 --- a/perception/lidar_apollo_segmentation_tvm_nodes/README.md +++ b/perception/lidar_apollo_segmentation_tvm_nodes/README.md @@ -28,7 +28,7 @@ See the design of the algorithm in the core (lidar_apollo_segmentation_tvm) pack ### Usage -`lidar_apollo_segmentation_tvm` and `lidar_apollo_segmentation_tvm_nodes` will not build without a neural network. +`lidar_apollo_segmentation_tvm` and `lidar_apollo_segmentation_tvm_nodes` will not work without a neural network. See the lidar_apollo_segmentation_tvm usage for more information. ### Assumptions / Known limits diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/config/lidar_apollo_segmentation_tvm_nodes.param.yaml b/perception/lidar_apollo_segmentation_tvm_nodes/config/lidar_apollo_segmentation_tvm_nodes.param.yaml index 97f733f01c794..30bf0ba68d28c 100644 --- a/perception/lidar_apollo_segmentation_tvm_nodes/config/lidar_apollo_segmentation_tvm_nodes.param.yaml +++ b/perception/lidar_apollo_segmentation_tvm_nodes/config/lidar_apollo_segmentation_tvm_nodes.param.yaml @@ -24,3 +24,4 @@ objectness_thresh: 0.5 min_pts_num: 3 height_thresh: 0.5 + data_path: $(env HOME)/autoware_data diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.py b/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.py index f4c81d6b154d7..2d070f2611ac5 100644 --- a/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.py +++ b/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.py @@ -21,7 +21,7 @@ from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node -import yaml +import launch_ros.parameter_descriptions def generate_launch_description(): @@ -29,12 +29,17 @@ def generate_launch_description(): get_package_share_directory("lidar_apollo_segmentation_tvm_nodes"), "config/lidar_apollo_segmentation_tvm_nodes.param.yaml", ) - with open(param_file, "r") as f: - lidar_apollo_segmentation_tvm_node_params = yaml.safe_load(f)["/**"]["ros__parameters"] + + lidar_apollo_segmentation_tvm_node_params = launch_ros.parameter_descriptions.ParameterFile( + param_file=param_file, allow_substs=True + ) arguments = [ DeclareLaunchArgument("input/pointcloud", default_value="/sensing/lidar/pointcloud"), DeclareLaunchArgument("output/objects", default_value="labeled_clusters"), + DeclareLaunchArgument( + "data_path", default_value=os.path.join(os.environ["HOME"], "autoware_data") + ), ] # lidar segmentation node execution definition. diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.xml b/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.xml index 0d7bebe986df4..c97d7356f5616 100644 --- a/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.xml +++ b/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.xml @@ -23,6 +23,7 @@ - + + diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/schema/lidar_apollo_segmentation_tvm_nodes.schema.json b/perception/lidar_apollo_segmentation_tvm_nodes/schema/lidar_apollo_segmentation_tvm_nodes.schema.json index 8e56cfb820766..aaabbf2b65879 100644 --- a/perception/lidar_apollo_segmentation_tvm_nodes/schema/lidar_apollo_segmentation_tvm_nodes.schema.json +++ b/perception/lidar_apollo_segmentation_tvm_nodes/schema/lidar_apollo_segmentation_tvm_nodes.schema.json @@ -61,6 +61,11 @@ "type": "number", "default": 0.5, "description": "If it is non-negative, the points that are higher than the predicted object height by height_thresh are filtered out in the post-processing step." + }, + "data_path": { + "type": "string", + "default": "$(env HOME)/autoware_data", + "description": "Packages data and artifacts directory path." } }, "required": [ @@ -73,7 +78,8 @@ "max_height", "objectness_thresh", "min_pts_num", - "height_thresh" + "height_thresh", + "data_path" ] } }, diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/src/lidar_apollo_segmentation_tvm_node.cpp b/perception/lidar_apollo_segmentation_tvm_nodes/src/lidar_apollo_segmentation_tvm_node.cpp index 8f1d3301cf3a2..618d2e258c99b 100644 --- a/perception/lidar_apollo_segmentation_tvm_nodes/src/lidar_apollo_segmentation_tvm_node.cpp +++ b/perception/lidar_apollo_segmentation_tvm_nodes/src/lidar_apollo_segmentation_tvm_node.cpp @@ -41,7 +41,7 @@ ApolloLidarSegmentationNode::ApolloLidarSegmentationNode(const rclcpp::NodeOptio declare_parameter("use_constant_feature"), declare_parameter("z_offset"), declare_parameter("min_height"), declare_parameter("max_height"), declare_parameter("objectness_thresh"), declare_parameter("min_pts_num"), - declare_parameter("height_thresh"))} + declare_parameter("height_thresh"), declare_parameter("data_path"))} { // Log unexpected versions of the neural network. auto version_status = m_detector_ptr->version_check(); From e3f8a3763ec891f4bfe6c4873e5dbfbb3965ccf3 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 9 Nov 2023 08:09:21 +0900 Subject: [PATCH 073/701] refactor(tier4_planning_launch): align argument name (#5505) * chore(tier4_planning_launch): align arument name Signed-off-by: satoshi-ota * refactor(tier4_planning_launch): pass params directly Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../behavior_planning.launch.xml | 117 +++++++++++++++++ .../motion_planning.launch.xml | 2 +- .../config/scene_module_manager.param.yaml | 10 -- .../launch/behavior_path_planner.launch.xml | 77 +++++++++-- ...t_behavior_path_planner_node_interface.cpp | 13 ++ .../behavior_velocity_planner.param.yaml | 17 --- .../behavior_velocity_planner.launch.xml | 121 ++++++++---------- .../test/src/test_node_interface.cpp | 21 +++ 8 files changed, 275 insertions(+), 103 deletions(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index 085dc92982663..ba2318c438674 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -5,6 +5,112 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -23,6 +129,16 @@ + + + + + + + + + + @@ -66,6 +182,7 @@ + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index 577b0e00d133c..a8dbcfd372226 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -180,7 +180,7 @@ - + diff --git a/planning/behavior_path_planner/config/scene_module_manager.param.yaml b/planning/behavior_path_planner/config/scene_module_manager.param.yaml index 5797704e8a0ca..91e34c0e91931 100644 --- a/planning/behavior_path_planner/config/scene_module_manager.param.yaml +++ b/planning/behavior_path_planner/config/scene_module_manager.param.yaml @@ -4,7 +4,6 @@ /**: ros__parameters: external_request_lane_change_left: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true @@ -13,7 +12,6 @@ max_module_size: 1 external_request_lane_change_right: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true @@ -22,7 +20,6 @@ max_module_size: 1 lane_change_left: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true @@ -31,7 +28,6 @@ max_module_size: 1 lane_change_right: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true @@ -40,7 +36,6 @@ max_module_size: 1 start_planner: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -49,7 +44,6 @@ max_module_size: 1 side_shift: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -58,7 +52,6 @@ max_module_size: 1 goal_planner: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -67,7 +60,6 @@ max_module_size: 1 avoidance: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false @@ -76,7 +68,6 @@ max_module_size: 1 avoidance_by_lc: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -85,7 +76,6 @@ max_module_size: 1 dynamic_avoidance: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true diff --git a/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml b/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml index a4d3cab3c1bf0..d1dac8ad8d93e 100644 --- a/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml +++ b/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml @@ -1,20 +1,77 @@ + - - + + + + - - + + + + + + + + + + + + + + + + + + + + + + + + + - - + + + + + + - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp index ec2d01e44940a..423fcd2b05048 100644 --- a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp @@ -48,6 +48,19 @@ std::shared_ptr generateNode() const auto behavior_path_planner_dir = ament_index_cpp::get_package_share_directory("behavior_path_planner"); + std::vector params; + params.emplace_back("avoidance.enable_module", true); + params.emplace_back("avoidance_by_lc.enable_module", true); + params.emplace_back("dynamic_avoidance.enable_module", true); + params.emplace_back("lane_change_right.enable_module", true); + params.emplace_back("lane_change_left.enable_module", true); + params.emplace_back("external_request_lane_change_right.enable_module", true); + params.emplace_back("external_request_lane_change_left.enable_module", true); + params.emplace_back("goal_planner.enable_module", true); + params.emplace_back("start_planner.enable_module", true); + params.emplace_back("side_shift.enable_module", true); + node_options.parameter_overrides(params); + test_utils::updateNodeOptions( node_options, {planning_test_utils_dir + "/config/test_common.param.yaml", diff --git a/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml b/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml index 276e8f8e3145a..aa51c38b55742 100644 --- a/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml +++ b/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml @@ -8,20 +8,3 @@ system_delay: 0.5 delay_response_time: 0.5 is_publish_debug_path: false # publish all debug path with lane id in each module - launch_modules: - - behavior_velocity_planner::CrosswalkModulePlugin - - behavior_velocity_planner::WalkwayModulePlugin - - behavior_velocity_planner::TrafficLightModulePlugin - - behavior_velocity_planner::IntersectionModulePlugin # Intersection module should be before merge from private to declare intersection parameters. - - behavior_velocity_planner::MergeFromPrivateModulePlugin - - behavior_velocity_planner::BlindSpotModulePlugin - - behavior_velocity_planner::DetectionAreaModulePlugin - # behavior_velocity_planner::VirtualTrafficLightModulePlugin - - behavior_velocity_planner::NoStoppingAreaModulePlugin # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom. - - behavior_velocity_planner::StopLineModulePlugin # Permanent stop line module should be after no stopping area - # behavior_velocity_planner::OcclusionSpotModulePlugin - # behavior_velocity_planner::RunOutModulePlugin - # behavior_velocity_planner::SpeedBumpModulePlugin - # behavior_velocity_planner::TemplateModulePlugin - - behavior_velocity_planner::OutOfLaneModulePlugin - - behavior_velocity_planner::NoDrivableLaneModulePlugin diff --git a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml b/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml index 69d9c27331e52..46472619d5fb0 100644 --- a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml +++ b/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml @@ -1,82 +1,73 @@ - - + + + + - - - - + + - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - + - + - - - + + + + + + - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp index 6756a82ca20d4..491df4c7a8766 100644 --- a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp +++ b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp @@ -59,6 +59,27 @@ std::shared_ptr generateNode() return package_path + "/config/" + module + ".param.yaml"; }; + std::vector module_names; + module_names.emplace_back("behavior_velocity_planner::CrosswalkModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::WalkwayModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::TrafficLightModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::IntersectionModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::MergeFromPrivateModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::BlindSpotModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::DetectionAreaModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::VirtualTrafficLightModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::NoStoppingAreaModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::StopLineModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::OcclusionSpotModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::RunOutModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::SpeedBumpModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::OutOfLaneModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::NoDrivableLaneModulePlugin"); + + std::vector params; + params.emplace_back("launch_modules", module_names); + node_options.parameter_overrides(params); + test_utils::updateNodeOptions( node_options, {planning_test_utils_dir + "/config/test_common.param.yaml", From 56d804f14062752e009966ab197400f202ad4a33 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 9 Nov 2023 11:55:54 +0900 Subject: [PATCH 074/701] refactor(system_error_monitor): hide error log in no-fault condition (#5522) Signed-off-by: Takamasa Horibe --- .../system_error_monitor_core.hpp | 2 ++ .../src/system_error_monitor_core.cpp | 31 ++++++++++++++----- 2 files changed, 25 insertions(+), 8 deletions(-) diff --git a/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp b/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp index 0bb95882700a5..4dbf8813805e3 100644 --- a/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp +++ b/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp @@ -148,6 +148,8 @@ class AutowareErrorMonitor : public rclcpp::Node bool canAutoRecovery() const; bool isEmergencyHoldingRequired() const; + void loggingErrors(const autoware_auto_system_msgs::msg::HazardStatus & diag_array); + std::unique_ptr logger_configure_; }; diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index e74ac9c360164..c7fdfa61f1d2c 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -140,17 +140,9 @@ diagnostic_msgs::msg::DiagnosticArray convertHazardStatusToDiagnosticArray( diag_array.status.push_back(decorateDiag(hazard_diag, "[Safe Fault]")); } for (const auto & hazard_diag : hazard_status.diag_latent_fault) { - const std::string logger_name = "system_error_monitor " + hazard_diag.name; - logThrottledNamed( - logger_name, clock, 5000, "[Latent Fault]: " + hazard_diag.message); - diag_array.status.push_back(decorateDiag(hazard_diag, "[Latent Fault]")); } for (const auto & hazard_diag : hazard_status.diag_single_point_fault) { - const std::string logger_name = "system_error_monitor " + hazard_diag.name; - logThrottledNamed( - logger_name, clock, 5000, "[Single Point Fault]: " + hazard_diag.message); - diag_array.status.push_back(decorateDiag(hazard_diag, "[Single Point Fault]")); } @@ -688,6 +680,9 @@ void AutowareErrorMonitor::publishHazardStatus( hazard_status_stamped.stamp = this->now(); hazard_status_stamped.status = hazard_status; pub_hazard_status_->publish(hazard_status_stamped); + + loggingErrors(hazard_status_stamped.status); + pub_diagnostics_err_->publish( convertHazardStatusToDiagnosticArray(this->get_clock(), hazard_status_stamped.status)); } @@ -703,3 +698,23 @@ bool AutowareErrorMonitor::onClearEmergencyService( return true; } + +void AutowareErrorMonitor::loggingErrors( + const autoware_auto_system_msgs::msg::HazardStatus & hazard_status) +{ + if (isInNoFaultCondition(*autoware_state_, *current_gate_mode_)) { + RCLCPP_DEBUG(get_logger(), "Autoware is in no-fault condition."); + return; + } + + for (const auto & hazard_diag : hazard_status.diag_latent_fault) { + const std::string logger_name = "system_error_monitor " + hazard_diag.name; + logThrottledNamed( + logger_name, get_clock(), 5000, "[Latent Fault]: " + hazard_diag.message); + } + for (const auto & hazard_diag : hazard_status.diag_single_point_fault) { + const std::string logger_name = "system_error_monitor " + hazard_diag.name; + logThrottledNamed( + logger_name, get_clock(), 5000, "[Single Point Fault]: " + hazard_diag.message); + } +} From 90f873c3e5c48f2123ec82a7cc7a99c7574c94e0 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 9 Nov 2023 12:40:49 +0900 Subject: [PATCH 075/701] feat(behavior_path_planner): add option to insert zero velocity to the center line path (#5517) feat(behavior_path_planner): Add option to insert zero velocity to the center line path This commit adds a new boolean parameter, `insert_zero_velocity`, to the `getCenterLinePath` function in the `utils.hpp` file. When set to `true`, this parameter will insert a zero velocity to each point in the path. In the `utils.cpp` file, this option is used to insert zero velocities to the reference path generated in the `createGoalAroundPath` function. Signed-off-by: kyoichi-sugahara --- planning/behavior_path_planner/src/utils/utils.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index 62a48da85ba2c..19c408359e5f2 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -974,9 +974,11 @@ BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr(reference_path); output.reference_path = std::make_shared(reference_path); output.drivable_area_info.drivable_lanes = drivable_lanes; From 6bfb0e5e3aaf136ae096b1f76e15426d7a6a6515 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 9 Nov 2023 13:56:20 +0900 Subject: [PATCH 076/701] refactor(start_planner): support new interface (#5526) Update getCurrentStatus() function in StartPlannerModule.cpp Signed-off-by: kyoichi-sugahara --- .../src/scene_module/start_planner/start_planner_module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index bd042f8ecef4d..77a290835fb31 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -172,7 +172,7 @@ bool StartPlannerModule::isExecutionRequested() const bool StartPlannerModule::isModuleRunning() const { - return current_state_ == ModuleStatus::RUNNING; + return getCurrentStatus() == ModuleStatus::RUNNING; } bool StartPlannerModule::isCurrentPoseOnMiddleOfTheRoad() const From c4c384124f271574e27ef30fcaaccf3ac07d4820 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 9 Nov 2023 14:20:23 +0900 Subject: [PATCH 077/701] refactor(goal_planner): support new interface (#5525) Signed-off-by: satoshi-ota --- .../src/scene_module/goal_planner/goal_planner_module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 6d34ce4ecde38..69c1fb911c4f9 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -296,7 +296,7 @@ void GoalPlannerModule::processOnExit() bool GoalPlannerModule::isExecutionRequested() const { - if (current_state_ == ModuleStatus::RUNNING) { + if (getCurrentStatus() == ModuleStatus::RUNNING) { return true; } From eb2eb5853501adda166d3e8167b03d5fb6f73bcb Mon Sep 17 00:00:00 2001 From: Yuqi Huai <34195403+YuqiHuai@users.noreply.github.com> Date: Wed, 8 Nov 2023 22:08:13 -0800 Subject: [PATCH 078/701] refactor(gyro_odometer): rework parameters (#5243) * refactor(gyro_odometer): rework parameters Signed-off-by: Yuqi Huai * style(pre-commit): autofix * doc(gyro_odometer): remove copyright --------- Signed-off-by: Yuqi Huai Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- localization/gyro_odometer/CMakeLists.txt | 1 + localization/gyro_odometer/README.md | 5 +-- .../config/gyro_odometer.param.yaml | 4 ++ .../launch/gyro_odometer.launch.xml | 6 +-- .../schema/gyro_odometer.schema.json | 38 +++++++++++++++++++ .../gyro_odometer/src/gyro_odometer_core.cpp | 4 +- 6 files changed, 48 insertions(+), 10 deletions(-) create mode 100644 localization/gyro_odometer/config/gyro_odometer.param.yaml create mode 100644 localization/gyro_odometer/schema/gyro_odometer.schema.json diff --git a/localization/gyro_odometer/CMakeLists.txt b/localization/gyro_odometer/CMakeLists.txt index 59a5e1121b22f..57589837dd529 100644 --- a/localization/gyro_odometer/CMakeLists.txt +++ b/localization/gyro_odometer/CMakeLists.txt @@ -32,4 +32,5 @@ endif() ament_auto_package(INSTALL_TO_SHARE launch + config ) diff --git a/localization/gyro_odometer/README.md b/localization/gyro_odometer/README.md index ec50a113af4d9..e9e390010f084 100644 --- a/localization/gyro_odometer/README.md +++ b/localization/gyro_odometer/README.md @@ -21,10 +21,7 @@ ## Parameters -| Parameter | Type | Description | -| --------------------- | ------ | -------------------------------- | -| `output_frame` | String | output's frame id | -| `message_timeout_sec` | Double | delay tolerance time for message | +{{ json_to_markdown("localization/gyro_odometer/schema/gyro_odometer.schema.json") }} ## Assumptions / Known limits diff --git a/localization/gyro_odometer/config/gyro_odometer.param.yaml b/localization/gyro_odometer/config/gyro_odometer.param.yaml new file mode 100644 index 0000000000000..420a9b0d80582 --- /dev/null +++ b/localization/gyro_odometer/config/gyro_odometer.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + output_frame: "base_link" + message_timeout_sec: 0.2 diff --git a/localization/gyro_odometer/launch/gyro_odometer.launch.xml b/localization/gyro_odometer/launch/gyro_odometer.launch.xml index aeb505270b2cc..21aff3e10d26c 100644 --- a/localization/gyro_odometer/launch/gyro_odometer.launch.xml +++ b/localization/gyro_odometer/launch/gyro_odometer.launch.xml @@ -9,8 +9,7 @@ - - + @@ -23,7 +22,6 @@ - - + diff --git a/localization/gyro_odometer/schema/gyro_odometer.schema.json b/localization/gyro_odometer/schema/gyro_odometer.schema.json new file mode 100644 index 0000000000000..189df2a2f63f3 --- /dev/null +++ b/localization/gyro_odometer/schema/gyro_odometer.schema.json @@ -0,0 +1,38 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for gyro odometer", + "type": "object", + "definitions": { + "gyro_odometer": { + "type": "object", + "properties": { + "output_frame": { + "type": "string", + "description": "output's frame id", + "default": "base_link" + }, + "message_timeout_sec": { + "type": "number", + "description": "delay tolerance time for message", + "default": 0.2 + } + }, + "required": ["output_frame", "message_timeout_sec"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/gyro_odometer" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/localization/gyro_odometer/src/gyro_odometer_core.cpp b/localization/gyro_odometer/src/gyro_odometer_core.cpp index c14c48ffb2046..5de0ecd7cdc0a 100644 --- a/localization/gyro_odometer/src/gyro_odometer_core.cpp +++ b/localization/gyro_odometer/src/gyro_odometer_core.cpp @@ -102,8 +102,8 @@ geometry_msgs::msg::TwistWithCovarianceStamped concatGyroAndOdometer( GyroOdometer::GyroOdometer(const rclcpp::NodeOptions & options) : Node("gyro_odometer", options), - output_frame_(declare_parameter("output_frame", "base_link")), - message_timeout_sec_(declare_parameter("message_timeout_sec", 0.2)), + output_frame_(declare_parameter("output_frame")), + message_timeout_sec_(declare_parameter("message_timeout_sec")), vehicle_twist_arrived_(false), imu_arrived_(false) { From 62de92ae3ccbf84763bc2e485ed4cc30c9a792a9 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Thu, 9 Nov 2023 15:29:56 +0900 Subject: [PATCH 079/701] refactor(ar_tag_based_localizer): refactor `ar_tag_based_localizer` (#5521) * Refactored ar_tag_based_localizer Signed-off-by: Shintaro Sakoda * Refactor ArTagBasedLocalizer class to use shorter type names Signed-off-by: Shintaro Sakoda * Fix const correctness in ar_tag_based_localizer.cpp Signed-off-by: Shintaro Sakoda * Fix position difference calculation in ArTagBasedLocalizer Signed-off-by: Shintaro Sakoda * Renamed arg name Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Shintaro Sakoda --- .../ar_tag_based_localizer/package.xml | 1 + .../src/ar_tag_based_localizer.cpp | 156 ++++++++---------- .../src/ar_tag_based_localizer.hpp | 39 +++-- 3 files changed, 92 insertions(+), 104 deletions(-) diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml index c0d1b00e35d3b..a22e7b1acf6dc 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml @@ -19,6 +19,7 @@ image_transport landmark_parser lanelet2_extension + localization_util rclcpp tf2_eigen tf2_geometry_msgs diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp index 73e7b8b7e3587..bc40fb1532297 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp @@ -44,6 +44,8 @@ #include "ar_tag_based_localizer.hpp" +#include "localization_util/util_func.hpp" + #include #include #include @@ -111,18 +113,19 @@ bool ArTagBasedLocalizer::setup() /* Subscribers */ - map_bin_sub_ = this->create_subscription( + map_bin_sub_ = this->create_subscription( "~/input/lanelet2_map", rclcpp::QoS(10).durability(rclcpp::DurabilityPolicy::TransientLocal), std::bind(&ArTagBasedLocalizer::map_bin_callback, this, std::placeholders::_1)); + rclcpp::QoS qos_sub(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)); qos_sub.best_effort(); - image_sub_ = this->create_subscription( + image_sub_ = this->create_subscription( "~/input/image", qos_sub, std::bind(&ArTagBasedLocalizer::image_callback, this, std::placeholders::_1)); - cam_info_sub_ = this->create_subscription( + cam_info_sub_ = this->create_subscription( "~/input/camera_info", qos_sub, std::bind(&ArTagBasedLocalizer::cam_info_callback, this, std::placeholders::_1)); - ekf_pose_sub_ = this->create_subscription( + ekf_pose_sub_ = this->create_subscription( "~/input/ekf_pose", qos_sub, std::bind(&ArTagBasedLocalizer::ekf_pose_callback, this, std::placeholders::_1)); @@ -132,29 +135,25 @@ bool ArTagBasedLocalizer::setup() rclcpp::QoS qos_marker = rclcpp::QoS(rclcpp::KeepLast(10)); qos_marker.transient_local(); qos_marker.reliable(); - marker_pub_ = - this->create_publisher("~/debug/marker", qos_marker); + marker_pub_ = this->create_publisher("~/debug/marker", qos_marker); rclcpp::QoS qos_pub(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)); image_pub_ = it_->advertise("~/debug/result", 1); - pose_pub_ = this->create_publisher( - "~/output/pose_with_covariance", qos_pub); - diag_pub_ = - this->create_publisher("/diagnostics", qos_pub); + pose_pub_ = + this->create_publisher("~/output/pose_with_covariance", qos_pub); + diag_pub_ = this->create_publisher("/diagnostics", qos_pub); RCLCPP_INFO(this->get_logger(), "Setup of ar_tag_based_localizer node is successful!"); return true; } -void ArTagBasedLocalizer::map_bin_callback( - const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg) +void ArTagBasedLocalizer::map_bin_callback(const HADMapBin::ConstSharedPtr & msg) { landmark_map_ = parse_landmark(msg, "apriltag_16h5", this->get_logger()); - const visualization_msgs::msg::MarkerArray marker_msg = - convert_to_marker_array_msg(landmark_map_); + const MarkerArray marker_msg = convert_to_marker_array_msg(landmark_map_); marker_pub_->publish(marker_msg); } -void ArTagBasedLocalizer::image_callback(const sensor_msgs::msg::Image::ConstSharedPtr & msg) +void ArTagBasedLocalizer::image_callback(const Image::ConstSharedPtr & msg) { if ((image_pub_.getNumSubscribers() == 0) && (pose_pub_->get_subscription_count() == 0)) { RCLCPP_DEBUG(this->get_logger(), "No subscribers, not looking for ArUco markers"); @@ -166,7 +165,7 @@ void ArTagBasedLocalizer::image_callback(const sensor_msgs::msg::Image::ConstSha return; } - builtin_interfaces::msg::Time curr_stamp = msg->header.stamp; + const builtin_interfaces::msg::Time curr_stamp = msg->header.stamp; cv_bridge::CvImagePtr cv_ptr; try { cv_ptr = cv_bridge::toCvCopy(*msg, sensor_msgs::image_encodings::RGB8); @@ -185,20 +184,20 @@ void ArTagBasedLocalizer::image_callback(const sensor_msgs::msg::Image::ConstSha // for each marker, draw info and its boundaries in the image for (const aruco::Marker & marker : markers) { - tf2::Transform tf_cam_to_marker = aruco_marker_to_tf2(marker); + const tf2::Transform tf_cam_to_marker = aruco_marker_to_tf2(marker); - geometry_msgs::msg::TransformStamped tf_cam_to_marker_stamped; + TransformStamped tf_cam_to_marker_stamped; tf2::toMsg(tf_cam_to_marker, tf_cam_to_marker_stamped.transform); tf_cam_to_marker_stamped.header.stamp = curr_stamp; tf_cam_to_marker_stamped.header.frame_id = msg->header.frame_id; tf_cam_to_marker_stamped.child_frame_id = "detected_marker_" + std::to_string(marker.id); tf_broadcaster_->sendTransform(tf_cam_to_marker_stamped); - geometry_msgs::msg::PoseStamped pose_cam_to_marker; + PoseStamped pose_cam_to_marker; tf2::toMsg(tf_cam_to_marker, pose_cam_to_marker.pose); pose_cam_to_marker.header.stamp = curr_stamp; - pose_cam_to_marker.header.frame_id = std::to_string(marker.id); - publish_pose_as_base_link(pose_cam_to_marker, msg->header.frame_id); + pose_cam_to_marker.header.frame_id = msg->header.frame_id; + publish_pose_as_base_link(pose_cam_to_marker, std::to_string(marker.id)); // drawing the detected markers marker.draw(in_image, cv::Scalar(0, 0, 255), 2); @@ -240,7 +239,7 @@ void ArTagBasedLocalizer::image_callback(const sensor_msgs::msg::Image::ConstSha key_value.value = std::to_string(detected_tags); diag_status.values.push_back(key_value); - diagnostic_msgs::msg::DiagnosticArray diag_msg; + DiagnosticArray diag_msg; diag_msg.header.stamp = this->now(); diag_msg.status.push_back(diag_status); @@ -248,17 +247,13 @@ void ArTagBasedLocalizer::image_callback(const sensor_msgs::msg::Image::ConstSha } // wait for one camera info, then shut down that subscriber -void ArTagBasedLocalizer::cam_info_callback(const sensor_msgs::msg::CameraInfo & msg) +void ArTagBasedLocalizer::cam_info_callback(const CameraInfo & msg) { if (cam_info_received_) { return; } cv::Mat camera_matrix(3, 4, CV_64FC1, 0.0); - cv::Mat distortion_coeff(4, 1, CV_64FC1); - cv::Size size(static_cast(msg.width), static_cast(msg.height)); - - camera_matrix.setTo(0); camera_matrix.at(0, 0) = msg.p[0]; camera_matrix.at(0, 1) = msg.p[1]; camera_matrix.at(0, 2) = msg.p[2]; @@ -272,111 +267,88 @@ void ArTagBasedLocalizer::cam_info_callback(const sensor_msgs::msg::CameraInfo & camera_matrix.at(2, 2) = msg.p[10]; camera_matrix.at(2, 3) = msg.p[11]; + cv::Mat distortion_coeff(4, 1, CV_64FC1); for (int i = 0; i < 4; ++i) { distortion_coeff.at(i, 0) = 0; } + const cv::Size size(static_cast(msg.width), static_cast(msg.height)); + cam_param_ = aruco::CameraParameters(camera_matrix, distortion_coeff, size); cam_info_received_ = true; } -void ArTagBasedLocalizer::ekf_pose_callback( - const geometry_msgs::msg::PoseWithCovarianceStamped & msg) +void ArTagBasedLocalizer::ekf_pose_callback(const PoseWithCovarianceStamped & msg) { latest_ekf_pose_ = msg; } void ArTagBasedLocalizer::publish_pose_as_base_link( - const geometry_msgs::msg::PoseStamped & msg, const std::string & camera_frame_id) + const PoseStamped & sensor_to_tag, const std::string & tag_id) { - // Check if frame_id is in target_tag_ids - if ( - std::find(target_tag_ids_.begin(), target_tag_ids_.end(), msg.header.frame_id) == - target_tag_ids_.end()) { - RCLCPP_INFO_STREAM( - this->get_logger(), "frame_id(" << msg.header.frame_id << ") is not in target_tag_ids"); + // Check tag_id + if (std::find(target_tag_ids_.begin(), target_tag_ids_.end(), tag_id) == target_tag_ids_.end()) { + RCLCPP_INFO_STREAM(this->get_logger(), "tag_id(" << tag_id << ") is not in target_tag_ids"); + return; + } + if (landmark_map_.count(tag_id) == 0) { + RCLCPP_INFO_STREAM(this->get_logger(), "tag_id(" << tag_id << ") is not in landmark_map_"); return; } // Range filter - const double distance_squared = msg.pose.position.x * msg.pose.position.x + - msg.pose.position.y * msg.pose.position.y + - msg.pose.position.z * msg.pose.position.z; + const double distance_squared = sensor_to_tag.pose.position.x * sensor_to_tag.pose.position.x + + sensor_to_tag.pose.position.y * sensor_to_tag.pose.position.y + + sensor_to_tag.pose.position.z * sensor_to_tag.pose.position.z; if (distance_threshold_squared_ < distance_squared) { return; } - // Transform map to tag - if (landmark_map_.count(msg.header.frame_id) == 0) { - RCLCPP_INFO_STREAM( - this->get_logger(), "frame_id(" << msg.header.frame_id << ") is not in landmark_map_"); - return; - } - const geometry_msgs::msg::Pose & tag_pose = landmark_map_.at(msg.header.frame_id); - geometry_msgs::msg::TransformStamped map_to_tag_tf; - map_to_tag_tf.header.stamp = msg.header.stamp; - map_to_tag_tf.header.frame_id = "map"; - map_to_tag_tf.child_frame_id = msg.header.frame_id; - map_to_tag_tf.transform.translation.x = tag_pose.position.x; - map_to_tag_tf.transform.translation.y = tag_pose.position.y; - map_to_tag_tf.transform.translation.z = tag_pose.position.z; - map_to_tag_tf.transform.rotation = tag_pose.orientation; - - // Transform camera to base_link - geometry_msgs::msg::TransformStamped camera_to_base_link_tf; + // Transform to base_link + PoseStamped base_link_to_tag; try { - camera_to_base_link_tf = - tf_buffer_->lookupTransform(camera_frame_id, "base_link", tf2::TimePointZero); + const TransformStamped transform = + tf_buffer_->lookupTransform("base_link", sensor_to_tag.header.frame_id, tf2::TimePointZero); + tf2::doTransform(sensor_to_tag, base_link_to_tag, transform); + base_link_to_tag.header.frame_id = "base_link"; } catch (tf2::TransformException & ex) { RCLCPP_INFO(this->get_logger(), "Could not transform base_link to camera: %s", ex.what()); return; } - // Convert ROS Transforms to Eigen matrices for easy matrix multiplication and inversion - Eigen::Affine3d map_to_tag = tf2::transformToEigen(map_to_tag_tf.transform); - Eigen::Affine3d camera_to_base_link = tf2::transformToEigen(camera_to_base_link_tf.transform); - Eigen::Affine3d camera_to_tag = Eigen::Affine3d( - Eigen::Translation3d(msg.pose.position.x, msg.pose.position.y, msg.pose.position.z) * - Eigen::Quaterniond( - msg.pose.orientation.w, msg.pose.orientation.x, msg.pose.orientation.y, - msg.pose.orientation.z)); - Eigen::Affine3d tag_to_camera = camera_to_tag.inverse(); + // (1) map_to_tag + const Pose & map_to_tag = landmark_map_.at(tag_id); + const Eigen::Affine3d map_to_tag_affine = pose_to_affine3d(map_to_tag); - // Final pose calculation - Eigen::Affine3d map_to_base_link = map_to_tag * tag_to_camera * camera_to_base_link; + // (2) tag_to_base_link + const Eigen::Affine3d base_link_to_tag_affine = pose_to_affine3d(base_link_to_tag.pose); + const Eigen::Affine3d tag_to_base_link_affine = base_link_to_tag_affine.inverse(); - // Construct output message - geometry_msgs::msg::PoseWithCovarianceStamped pose_with_covariance_stamped; - pose_with_covariance_stamped.header.stamp = msg.header.stamp; - pose_with_covariance_stamped.header.frame_id = "map"; - pose_with_covariance_stamped.pose.pose = tf2::toMsg(map_to_base_link); + // calculate map_to_base_link + const Eigen::Affine3d map_to_base_link_affine = map_to_tag_affine * tag_to_base_link_affine; + const Pose map_to_base_link = tf2::toMsg(map_to_base_link_affine); // If latest_ekf_pose_ is older than seconds compared to current frame, it // will not be published. - const rclcpp::Duration tolerance{ - static_cast(ekf_time_tolerance_), - static_cast((ekf_time_tolerance_ - std::floor(ekf_time_tolerance_)) * 1e9)}; - if (rclcpp::Time(latest_ekf_pose_.header.stamp) + tolerance < rclcpp::Time(msg.header.stamp)) { + const rclcpp::Duration diff_time = + rclcpp::Time(sensor_to_tag.header.stamp) - rclcpp::Time(latest_ekf_pose_.header.stamp); + if (diff_time.seconds() > ekf_time_tolerance_) { RCLCPP_INFO( this->get_logger(), "latest_ekf_pose_ is older than %f seconds compared to current frame. " - "latest_ekf_pose_.header.stamp: %d.%d, msg.header.stamp: %d.%d", + "latest_ekf_pose_.header.stamp: %d.%d, sensor_to_tag.header.stamp: %d.%d", ekf_time_tolerance_, latest_ekf_pose_.header.stamp.sec, latest_ekf_pose_.header.stamp.nanosec, - msg.header.stamp.sec, msg.header.stamp.nanosec); + sensor_to_tag.header.stamp.sec, sensor_to_tag.header.stamp.nanosec); return; } // If curr_pose differs from latest_ekf_pose_ by more than , it will not // be published. - const geometry_msgs::msg::Pose curr_pose = pose_with_covariance_stamped.pose.pose; - const geometry_msgs::msg::Pose latest_ekf_pose = latest_ekf_pose_.pose.pose; - const double diff_x = curr_pose.position.x - latest_ekf_pose.position.x; - const double diff_y = curr_pose.position.y - latest_ekf_pose.position.y; - const double diff_z = curr_pose.position.z - latest_ekf_pose.position.z; - const double diff_distance_squared = diff_x * diff_x + diff_y * diff_y + diff_z * diff_z; - const double threshold = ekf_position_tolerance_ * ekf_position_tolerance_; - if (threshold < diff_distance_squared) { + const Pose curr_pose = map_to_base_link; + const Pose latest_ekf_pose = latest_ekf_pose_.pose.pose; + const double diff_position = norm(curr_pose.position, latest_ekf_pose.position); + if (diff_position > ekf_position_tolerance_) { RCLCPP_INFO( this->get_logger(), "curr_pose differs from latest_ekf_pose_ by more than %f m. " @@ -386,6 +358,12 @@ void ArTagBasedLocalizer::publish_pose_as_base_link( return; } + // Construct output message + PoseWithCovarianceStamped pose_with_covariance_stamped; + pose_with_covariance_stamped.header.stamp = sensor_to_tag.header.stamp; + pose_with_covariance_stamped.header.frame_id = "map"; + pose_with_covariance_stamped.pose.pose = curr_pose; + // ~5[m]: base_covariance // 5~[m]: scaling base_covariance by std::pow(distance/5, 3) const double distance = std::sqrt(distance_squared); diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp index 6bd66eead653f..fe33a64b995a3 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp @@ -66,17 +66,26 @@ class ArTagBasedLocalizer : public rclcpp::Node { + using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin; + using Image = sensor_msgs::msg::Image; + using CameraInfo = sensor_msgs::msg::CameraInfo; + using Pose = geometry_msgs::msg::Pose; + using PoseStamped = geometry_msgs::msg::PoseStamped; + using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; + using TransformStamped = geometry_msgs::msg::TransformStamped; + using MarkerArray = visualization_msgs::msg::MarkerArray; + using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; + public: explicit ArTagBasedLocalizer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); bool setup(); private: - void map_bin_callback(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg); - void image_callback(const sensor_msgs::msg::Image::ConstSharedPtr & msg); - void cam_info_callback(const sensor_msgs::msg::CameraInfo & msg); - void ekf_pose_callback(const geometry_msgs::msg::PoseWithCovarianceStamped & msg); - void publish_pose_as_base_link( - const geometry_msgs::msg::PoseStamped & msg, const std::string & camera_frame_id); + void map_bin_callback(const HADMapBin::ConstSharedPtr & msg); + void image_callback(const Image::ConstSharedPtr & msg); + void cam_info_callback(const CameraInfo & msg); + void ekf_pose_callback(const PoseWithCovarianceStamped & msg); + void publish_pose_as_base_link(const PoseStamped & sensor_to_tag, const std::string & tag_id); static tf2::Transform aruco_marker_to_tf2(const aruco::Marker & marker); // Parameters @@ -96,23 +105,23 @@ class ArTagBasedLocalizer : public rclcpp::Node std::unique_ptr it_; // Subscribers - rclcpp::Subscription::SharedPtr map_bin_sub_; - rclcpp::Subscription::SharedPtr image_sub_; - rclcpp::Subscription::SharedPtr cam_info_sub_; - rclcpp::Subscription::SharedPtr ekf_pose_sub_; + rclcpp::Subscription::SharedPtr map_bin_sub_; + rclcpp::Subscription::SharedPtr image_sub_; + rclcpp::Subscription::SharedPtr cam_info_sub_; + rclcpp::Subscription::SharedPtr ekf_pose_sub_; // Publishers - rclcpp::Publisher::SharedPtr marker_pub_; + rclcpp::Publisher::SharedPtr marker_pub_; image_transport::Publisher image_pub_; - rclcpp::Publisher::SharedPtr pose_pub_; - rclcpp::Publisher::SharedPtr diag_pub_; + rclcpp::Publisher::SharedPtr pose_pub_; + rclcpp::Publisher::SharedPtr diag_pub_; // Others aruco::MarkerDetector detector_; aruco::CameraParameters cam_param_; bool cam_info_received_; - geometry_msgs::msg::PoseWithCovarianceStamped latest_ekf_pose_{}; - std::map landmark_map_; + PoseWithCovarianceStamped latest_ekf_pose_{}; + std::map landmark_map_; }; #endif // AR_TAG_BASED_LOCALIZER_HPP_ From 7b71000e87d1f9c197f4632a289231cae96ee214 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 9 Nov 2023 16:43:11 +0900 Subject: [PATCH 080/701] refactor(motion_utils): fix typo in calcLongitudinalOffsetPose return (#5528) Fix typo in calcLongitudinalOffsetPose return statement Signed-off-by: kyoichi-sugahara --- .../motion_utils/include/motion_utils/trajectory/trajectory.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp index 5d773c5be32d9..61dc65c5ea3f2 100644 --- a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp +++ b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp @@ -1251,7 +1251,7 @@ calcLongitudinalOffsetPose boost::optional calcLongitudinalOffsetPose( From 805933c2dc15f7db829830196f53630bbaa3f222 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 9 Nov 2023 17:29:28 +0900 Subject: [PATCH 081/701] fix(simple_planning_simulator): set ego pitch to 0 if road slope is not simulated (#5501) set ego pitch to 0 if road slope is not simulated Signed-off-by: Daniel Sanchez --- .../simple_planning_simulator_core.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index d7e25860c8abf..f2629a0586045 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -326,9 +326,9 @@ void SimplePlanningSimulator::on_timer() } // calculate longitudinal acceleration by slope - const double ego_pitch_angle = calculate_ego_pitch(); - const double acc_by_slope = - enable_road_slope_simulation_ ? -9.81 * std::sin(ego_pitch_angle) : 0.0; + constexpr double gravity_acceleration = -9.81; + const double ego_pitch_angle = enable_road_slope_simulation_ ? calculate_ego_pitch() : 0.0; + const double acc_by_slope = gravity_acceleration * std::sin(ego_pitch_angle); // update vehicle dynamics { From b8bfaea163f74a4398aa7f6381f295e6919de2c0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 9 Nov 2023 19:12:48 +0900 Subject: [PATCH 082/701] refactor(dynamic_avoidance): support new interface (#5527) Signed-off-by: satoshi-ota --- .../dynamic_avoidance_module.hpp | 22 +------------------ .../dynamic_avoidance_module.cpp | 12 +++------- 2 files changed, 4 insertions(+), 30 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp index 6c522c79a8774..077e0ecec0f29 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp @@ -273,29 +273,9 @@ class DynamicAvoidanceModule : public SceneModuleInterface parameters_ = std::any_cast>(parameters); } - // TODO(someone): remove this, and use base class function - [[deprecated]] BehaviorModuleOutput run() override - { - updateData(); - - if (!isWaitingApproval()) { - return plan(); - } - - // module is waiting approval. Check it. - if (isActivated()) { - RCLCPP_DEBUG(getLogger(), "Was waiting approval, and now approved. Do plan()."); - return plan(); - } else { - RCLCPP_DEBUG(getLogger(), "keep waiting approval... Do planCandidate()."); - return planWaitingApproval(); - } - } - bool isExecutionRequested() const override; bool isExecutionReady() const override; // TODO(someone): remove this, and use base class function - [[deprecated]] ModuleStatus updateState() override; BehaviorModuleOutput plan() override; BehaviorModuleOutput planWaitingApproval() override; CandidateOutput planCandidate() const override; @@ -315,7 +295,7 @@ class DynamicAvoidanceModule : public SceneModuleInterface const double min_lon_offset; }; - bool canTransitSuccessState() override { return false; } + bool canTransitSuccessState() override; bool canTransitFailureState() override { return false; } diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp index 2c5e78a267d5a..7aba1d1b2d97f 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp @@ -251,7 +251,7 @@ bool DynamicAvoidanceModule::isExecutionRequested() const } // check if the planner is already running - if (current_state_ == ModuleStatus::RUNNING) { + if (getCurrentStatus() == ModuleStatus::RUNNING) { return true; } @@ -279,15 +279,9 @@ void DynamicAvoidanceModule::updateData() } } -ModuleStatus DynamicAvoidanceModule::updateState() +bool DynamicAvoidanceModule::canTransitSuccessState() { - const bool has_avoidance_target = !target_objects_.empty(); - - if (!has_avoidance_target) { - return ModuleStatus::SUCCESS; - } - - return ModuleStatus::RUNNING; + return target_objects_.empty(); } BehaviorModuleOutput DynamicAvoidanceModule::plan() From eb7ccb824c9d1ff812861aa02be7514a46e5dc9f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 9 Nov 2023 20:52:26 +0900 Subject: [PATCH 083/701] refactor(mission_planner): use combineLaneletsShape in lanelet2_extension (#5535) Signed-off-by: kosuke55 --- .../src/lanelet2_plugins/default_planner.cpp | 4 +-- .../lanelet2_plugins/utility_functions.cpp | 33 ------------------- .../lanelet2_plugins/utility_functions.hpp | 1 - 3 files changed, 2 insertions(+), 36 deletions(-) diff --git a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp index 673519b6f7a0e..0fce63827b5e7 100644 --- a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp +++ b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp @@ -288,7 +288,7 @@ bool DefaultPlanner::check_goal_footprint( lanelet::ConstLanelets lanelets; lanelets.push_back(combined_prev_lanelet); lanelets.push_back(next_lane); - lanelet::ConstLanelet combined_lanelets = combine_lanelets(lanelets); + lanelet::ConstLanelet combined_lanelets = lanelet::utils::combineLaneletsShape(lanelets); // if next lanelet length longer than vehicle longitudinal offset if (vehicle_info_.max_longitudinal_offset_m + search_margin < next_lane_length) { @@ -347,7 +347,7 @@ bool DefaultPlanner::is_goal_valid( double next_lane_length = 0.0; // combine calculated route lanelets - lanelet::ConstLanelet combined_prev_lanelet = combine_lanelets(path_lanelets); + lanelet::ConstLanelet combined_prev_lanelet = lanelet::utils::combineLaneletsShape(path_lanelets); // check if goal footprint exceeds lane when the goal isn't in parking_lot if ( diff --git a/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp b/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp index 690a864fcdacd..126c673108b3c 100644 --- a/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp +++ b/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp @@ -54,39 +54,6 @@ void insert_marker_array( a1->markers.insert(a1->markers.end(), a2.markers.begin(), a2.markers.end()); } -lanelet::ConstLanelet combine_lanelets(const lanelet::ConstLanelets & lanelets) -{ - lanelet::Points3d lefts; - lanelet::Points3d rights; - lanelet::Points3d centers; - std::vector left_bound_ids; - std::vector right_bound_ids; - - for (const auto & llt : lanelets) { - if (llt.id() != 0) { - left_bound_ids.push_back(llt.leftBound().id()); - right_bound_ids.push_back(llt.rightBound().id()); - } - } - - for (const auto & llt : lanelets) { - if (std::count(right_bound_ids.begin(), right_bound_ids.end(), llt.leftBound().id()) < 1) { - for (const auto & pt : llt.leftBound()) { - lefts.push_back(lanelet::Point3d(pt)); - } - } - if (std::count(left_bound_ids.begin(), left_bound_ids.end(), llt.rightBound().id()) < 1) { - for (const auto & pt : llt.rightBound()) { - rights.push_back(lanelet::Point3d(pt)); - } - } - } - const auto left_bound = lanelet::LineString3d(lanelet::InvalId, lefts); - const auto right_bound = lanelet::LineString3d(lanelet::InvalId, rights); - auto combined_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); - return std::move(combined_lanelet); -} - std::vector convertCenterlineToPoints(const lanelet::Lanelet & lanelet) { std::vector centerline_points; diff --git a/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp b/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp index 3ea6237f38501..df9d42bab9444 100644 --- a/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp +++ b/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp @@ -49,7 +49,6 @@ void set_color(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, doub void insert_marker_array( visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2); -lanelet::ConstLanelet combine_lanelets(const lanelet::ConstLanelets & lanelets); std::vector convertCenterlineToPoints(const lanelet::Lanelet & lanelet); geometry_msgs::msg::Pose convertBasicPoint3dToPose( const lanelet::BasicPoint3d & point, const double lane_yaw); From 7a63e68b169dad64b15303148f2005f6b18353f8 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 9 Nov 2023 21:03:50 +0900 Subject: [PATCH 084/701] feat(controller): publish processing time (#5537) Signed-off-by: Takamasa Horibe --- .../controller_node.hpp | 10 ++++++++++ .../src/controller_node.cpp | 18 ++++++++++++++++++ 2 files changed, 28 insertions(+) diff --git a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp index c108bec2671b3..cc43da7114630 100644 --- a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp +++ b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp @@ -20,6 +20,7 @@ #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" +#include "tier4_autoware_utils/system/stop_watch.hpp" #include "trajectory_follower_base/lateral_controller_base.hpp" #include "trajectory_follower_base/longitudinal_controller_base.hpp" #include "trajectory_follower_node/visibility_control.hpp" @@ -38,6 +39,7 @@ #include "nav_msgs/msg/odometry.hpp" #include "tf2_msgs/msg/tf_message.hpp" #include "visualization_msgs/msg/marker_array.hpp" +#include #include #include @@ -52,6 +54,8 @@ namespace trajectory_follower_node { using autoware_adapi_v1_msgs::msg::OperationModeState; +using tier4_autoware_utils::StopWatch; +using tier4_debug_msgs::msg::Float64Stamped; namespace trajectory_follower = ::autoware::motion::control::trajectory_follower; @@ -78,6 +82,8 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_operation_mode_; rclcpp::Publisher::SharedPtr control_cmd_pub_; + rclcpp::Publisher::SharedPtr pub_processing_time_lat_ms_; + rclcpp::Publisher::SharedPtr pub_processing_time_lon_ms_; rclcpp::Publisher::SharedPtr debug_marker_pub_; autoware_auto_planning_msgs::msg::Trajectory::SharedPtr current_trajectory_ptr_; @@ -114,6 +120,10 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node const trajectory_follower::LateralOutput & lat_out) const; std::unique_ptr logger_configure_; + + void publishProcessingTime( + const double t_ms, const rclcpp::Publisher::SharedPtr pub); + StopWatch stop_watch_; }; } // namespace trajectory_follower_node } // namespace autoware::motion::control diff --git a/control/trajectory_follower_node/src/controller_node.cpp b/control/trajectory_follower_node/src/controller_node.cpp index e35848e9495af..322aa9eef5a79 100644 --- a/control/trajectory_follower_node/src/controller_node.cpp +++ b/control/trajectory_follower_node/src/controller_node.cpp @@ -75,6 +75,10 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control [this](const OperationModeState::SharedPtr msg) { current_operation_mode_ptr_ = msg; }); control_cmd_pub_ = create_publisher( "~/output/control_cmd", rclcpp::QoS{1}.transient_local()); + pub_processing_time_lat_ms_ = + create_publisher("~/lateral/debug/processing_time_ms", 1); + pub_processing_time_lon_ms_ = + create_publisher("~/longitudinal/debug/processing_time_ms", 1); debug_marker_pub_ = create_publisher("~/output/debug_marker", rclcpp::QoS{1}); @@ -205,8 +209,13 @@ void Controller::callbackTimerControl() } // 3. run controllers + stop_watch_.tic("lateral"); const auto lat_out = lateral_controller_->run(*input_data); + publishProcessingTime(stop_watch_.toc("lateral"), pub_processing_time_lat_ms_); + + stop_watch_.tic("longitudinal"); const auto lon_out = longitudinal_controller_->run(*input_data); + publishProcessingTime(stop_watch_.toc("longitudinal"), pub_processing_time_lon_ms_); // 4. sync with each other controllers longitudinal_controller_->sync(lat_out.sync_data); @@ -254,6 +263,15 @@ void Controller::publishDebugMarker( debug_marker_pub_->publish(debug_marker_array); } +void Controller::publishProcessingTime( + const double t_ms, const rclcpp::Publisher::SharedPtr pub) +{ + Float64Stamped msg{}; + msg.stamp = this->now(); + msg.data = t_ms; + pub->publish(msg); +} + } // namespace autoware::motion::control::trajectory_follower_node #include "rclcpp_components/register_node_macro.hpp" From b4a05f6f5c05418a6b69f473399d0d996f7d6031 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 10 Nov 2023 03:31:22 +0900 Subject: [PATCH 085/701] fix(mission_planner): revert "refactor(mission_planner): use combineLaneletsShape in lanele2_extension (#5535)" (#5543) Revert "refactor(mission_planner): use combineLaneletsShape in lanelet2_extension (#5535)" This reverts commit c4ca645cbbd0a7b919ba1c2cdf78742bb81b87b5. --- .../src/lanelet2_plugins/default_planner.cpp | 4 +-- .../lanelet2_plugins/utility_functions.cpp | 33 +++++++++++++++++++ .../lanelet2_plugins/utility_functions.hpp | 1 + 3 files changed, 36 insertions(+), 2 deletions(-) diff --git a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp index 0fce63827b5e7..673519b6f7a0e 100644 --- a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp +++ b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp @@ -288,7 +288,7 @@ bool DefaultPlanner::check_goal_footprint( lanelet::ConstLanelets lanelets; lanelets.push_back(combined_prev_lanelet); lanelets.push_back(next_lane); - lanelet::ConstLanelet combined_lanelets = lanelet::utils::combineLaneletsShape(lanelets); + lanelet::ConstLanelet combined_lanelets = combine_lanelets(lanelets); // if next lanelet length longer than vehicle longitudinal offset if (vehicle_info_.max_longitudinal_offset_m + search_margin < next_lane_length) { @@ -347,7 +347,7 @@ bool DefaultPlanner::is_goal_valid( double next_lane_length = 0.0; // combine calculated route lanelets - lanelet::ConstLanelet combined_prev_lanelet = lanelet::utils::combineLaneletsShape(path_lanelets); + lanelet::ConstLanelet combined_prev_lanelet = combine_lanelets(path_lanelets); // check if goal footprint exceeds lane when the goal isn't in parking_lot if ( diff --git a/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp b/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp index 126c673108b3c..690a864fcdacd 100644 --- a/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp +++ b/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp @@ -54,6 +54,39 @@ void insert_marker_array( a1->markers.insert(a1->markers.end(), a2.markers.begin(), a2.markers.end()); } +lanelet::ConstLanelet combine_lanelets(const lanelet::ConstLanelets & lanelets) +{ + lanelet::Points3d lefts; + lanelet::Points3d rights; + lanelet::Points3d centers; + std::vector left_bound_ids; + std::vector right_bound_ids; + + for (const auto & llt : lanelets) { + if (llt.id() != 0) { + left_bound_ids.push_back(llt.leftBound().id()); + right_bound_ids.push_back(llt.rightBound().id()); + } + } + + for (const auto & llt : lanelets) { + if (std::count(right_bound_ids.begin(), right_bound_ids.end(), llt.leftBound().id()) < 1) { + for (const auto & pt : llt.leftBound()) { + lefts.push_back(lanelet::Point3d(pt)); + } + } + if (std::count(left_bound_ids.begin(), left_bound_ids.end(), llt.rightBound().id()) < 1) { + for (const auto & pt : llt.rightBound()) { + rights.push_back(lanelet::Point3d(pt)); + } + } + } + const auto left_bound = lanelet::LineString3d(lanelet::InvalId, lefts); + const auto right_bound = lanelet::LineString3d(lanelet::InvalId, rights); + auto combined_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); + return std::move(combined_lanelet); +} + std::vector convertCenterlineToPoints(const lanelet::Lanelet & lanelet) { std::vector centerline_points; diff --git a/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp b/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp index df9d42bab9444..3ea6237f38501 100644 --- a/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp +++ b/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp @@ -49,6 +49,7 @@ void set_color(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, doub void insert_marker_array( visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2); +lanelet::ConstLanelet combine_lanelets(const lanelet::ConstLanelets & lanelets); std::vector convertCenterlineToPoints(const lanelet::Lanelet & lanelet); geometry_msgs::msg::Pose convertBasicPoint3dToPose( const lanelet::BasicPoint3d & point, const double lane_yaw); From da6281ffb0c63a8431a3025a304a44df1fa7ea9e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 10 Nov 2023 13:50:16 +0900 Subject: [PATCH 086/701] fix(tier4_planning_launch): obstacle_cruise_planner pipeline is not connected (#5542) Signed-off-by: Takayuki Murooka --- .../lane_driving/motion_planning/motion_planning.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index a8dbcfd372226..18de04fd9e317 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -127,8 +127,8 @@ - - + + From 54020ff175b01eaaa2778ce5be66fbff95edb3a1 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Fri, 10 Nov 2023 15:19:46 +0900 Subject: [PATCH 087/701] fix(image_projection_based_fusion): add missing install (#5548) --- perception/image_projection_based_fusion/CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/perception/image_projection_based_fusion/CMakeLists.txt b/perception/image_projection_based_fusion/CMakeLists.txt index 53aafa44b75d6..c021dd92dae64 100644 --- a/perception/image_projection_based_fusion/CMakeLists.txt +++ b/perception/image_projection_based_fusion/CMakeLists.txt @@ -146,6 +146,10 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) EXECUTABLE pointpainting_fusion_node ) + install( + TARGETS pointpainting_cuda_lib + DESTINATION lib + ) else() message("Skipping build of some nodes due to missing dependencies") endif() From 20c8641b09dcde57b6898f326d8ebbbff30c0413 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 10 Nov 2023 17:36:41 +0900 Subject: [PATCH 088/701] perf(motion_utils): faster removeOverlapPoints and calcLateralOffset functions (#5385) Signed-off-by: Maxime CLEMENT --- .../motion_utils/trajectory/trajectory.hpp | 1 + .../benchmark_calcLateralOffset.cpp | 77 +++++++++++++++++++ 2 files changed, 78 insertions(+) create mode 100644 common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp diff --git a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp index 61dc65c5ea3f2..f4f9f45935347 100644 --- a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp +++ b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp @@ -168,6 +168,7 @@ T removeOverlapPoints(const T & points, const size_t start_idx = 0) } T dst; + dst.reserve(points.size()); for (size_t i = 0; i <= start_idx; ++i) { dst.push_back(points.at(i)); diff --git a/common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp b/common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp new file mode 100644 index 0000000000000..549ca4c0ae5bb --- /dev/null +++ b/common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp @@ -0,0 +1,77 @@ +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "motion_utils/trajectory/trajectory.hpp" + +#include +#include +#include + +#include + +namespace +{ +using autoware_auto_planning_msgs::msg::Trajectory; +using tier4_autoware_utils::createPoint; +using tier4_autoware_utils::createQuaternionFromRPY; + +constexpr double epsilon = 1e-6; + +geometry_msgs::msg::Pose createPose( + double x, double y, double z, double roll, double pitch, double yaw) +{ + geometry_msgs::msg::Pose p; + p.position = createPoint(x, y, z); + p.orientation = createQuaternionFromRPY(roll, pitch, yaw); + return p; +} + +template +T generateTestTrajectory( + const size_t num_points, const double point_interval, const double vel = 0.0, + const double init_theta = 0.0, const double delta_theta = 0.0) +{ + using Point = typename T::_points_type::value_type; + + T traj; + for (size_t i = 0; i < num_points; ++i) { + const double theta = init_theta + i * delta_theta; + const double x = i * point_interval * std::cos(theta); + const double y = i * point_interval * std::sin(theta); + + Point p; + p.pose = createPose(x, y, 0.0, 0.0, 0.0, theta); + p.longitudinal_velocity_mps = vel; + traj.points.push_back(p); + } + + return traj; +} +} // namespace + +TEST(trajectory_benchmark, DISABLED_calcLateralOffset) +{ + std::random_device r; + std::default_random_engine e1(r()); + std::uniform_real_distribution uniform_dist(0.0, 1000.0); + + using motion_utils::calcLateralOffset; + + const auto traj = generateTestTrajectory(1000, 1.0, 0.0, 0.0, 0.1); + constexpr auto nb_iteration = 10000; + for (auto i = 0; i < nb_iteration; ++i) { + const auto point = createPoint(uniform_dist(e1), uniform_dist(e1), 0.0); + calcLateralOffset(traj.points, point); + } +} From dd2c3a7719abb9e4b6c82118e03240ac5a06ed34 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 10 Nov 2023 19:20:43 +0900 Subject: [PATCH 089/701] refactor(goal_planner): separate thread safe data (#5493) * refactor(goal_planner): separate thread safe data Signed-off-by: kosuke55 * fix style(pre-commit): autofix fix fix --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner_module.hpp | 190 ++++++--- .../goal_planner/pull_over_planner_base.hpp | 22 ++ .../goal_planner/goal_planner_module.cpp | 360 +++++++++--------- 3 files changed, 344 insertions(+), 228 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index df21bad862cc9..e4044d7191805 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -68,38 +68,30 @@ using behavior_path_planner::utils::path_safety_checker::SafetyCheckParams; using behavior_path_planner::utils::path_safety_checker::TargetObjectsOnLane; using tier4_autoware_utils::Polygon2d; -enum class PathType { - NONE = 0, - SHIFT, - ARC_FORWARD, - ARC_BACKWARD, - FREESPACE, -}; +#define DEFINE_SETTER(TYPE, NAME) \ +public: \ + void set_##NAME(const TYPE & value) \ + { \ + NAME##_ = value; \ + } -#define DEFINE_SETTER_GETTER(TYPE, NAME) \ -public: \ - void set_##NAME(const TYPE & value) \ - { \ - const std::lock_guard lock(mutex_); \ - NAME##_ = value; \ - } \ - \ - TYPE get_##NAME() const \ - { \ - const std::lock_guard lock(mutex_); \ - return NAME##_; \ +#define DEFINE_GETTER(TYPE, NAME) \ +public: \ + TYPE get_##NAME() const \ + { \ + return NAME##_; \ } +#define DEFINE_SETTER_GETTER(TYPE, NAME) \ + DEFINE_SETTER(TYPE, NAME) \ + DEFINE_GETTER(TYPE, NAME) + class PullOverStatus { public: - explicit PullOverStatus(std::recursive_mutex & mutex) : mutex_(mutex) {} - // Reset all data members to their initial states void reset() { - std::lock_guard lock(mutex_); - pull_over_path_ = nullptr; lane_parking_pull_over_path_ = nullptr; current_path_idx_ = 0; require_increment_ = true; @@ -109,16 +101,12 @@ class PullOverStatus pull_over_lanes_.clear(); lanes_.clear(); has_decided_path_ = false; - is_safe_static_objects_ = false; is_safe_dynamic_objects_ = false; - prev_is_safe_ = false; + prev_found_path_ = false; prev_is_safe_dynamic_objects_ = false; has_decided_velocity_ = false; - has_requested_approval_ = false; - is_ready_ = false; } - DEFINE_SETTER_GETTER(std::shared_ptr, pull_over_path) DEFINE_SETTER_GETTER(std::shared_ptr, lane_parking_pull_over_path) DEFINE_SETTER_GETTER(size_t, current_path_idx) DEFINE_SETTER_GETTER(bool, require_increment) @@ -128,24 +116,14 @@ class PullOverStatus DEFINE_SETTER_GETTER(lanelet::ConstLanelets, pull_over_lanes) DEFINE_SETTER_GETTER(std::vector, lanes) DEFINE_SETTER_GETTER(bool, has_decided_path) - DEFINE_SETTER_GETTER(bool, is_safe_static_objects) DEFINE_SETTER_GETTER(bool, is_safe_dynamic_objects) - DEFINE_SETTER_GETTER(bool, prev_is_safe) + DEFINE_SETTER_GETTER(bool, prev_found_path) DEFINE_SETTER_GETTER(bool, prev_is_safe_dynamic_objects) DEFINE_SETTER_GETTER(bool, has_decided_velocity) - DEFINE_SETTER_GETTER(bool, has_requested_approval) - DEFINE_SETTER_GETTER(bool, is_ready) - DEFINE_SETTER_GETTER(std::shared_ptr, last_increment_time) - DEFINE_SETTER_GETTER(std::shared_ptr, last_path_update_time) - DEFINE_SETTER_GETTER(std::optional, modified_goal_pose) DEFINE_SETTER_GETTER(Pose, refined_goal_pose) - DEFINE_SETTER_GETTER(GoalCandidates, goal_candidates) DEFINE_SETTER_GETTER(Pose, closest_goal_candidate_pose) - DEFINE_SETTER_GETTER(std::vector, pull_over_path_candidates) - DEFINE_SETTER_GETTER(std::optional, closest_start_pose) private: - std::shared_ptr pull_over_path_{nullptr}; std::shared_ptr lane_parking_pull_over_path_{nullptr}; size_t current_path_idx_{0}; bool require_increment_{true}; @@ -155,32 +133,134 @@ class PullOverStatus lanelet::ConstLanelets pull_over_lanes_{}; std::vector lanes_{}; bool has_decided_path_{false}; - bool is_safe_static_objects_{false}; bool is_safe_dynamic_objects_{false}; - bool prev_is_safe_{false}; + bool prev_found_path_{false}; bool prev_is_safe_dynamic_objects_{false}; bool has_decided_velocity_{false}; - bool has_requested_approval_{false}; - bool is_ready_{false}; - // save last time and pose - std::shared_ptr last_increment_time_; - std::shared_ptr last_path_update_time_; - - // goal modification - std::optional modified_goal_pose_; Pose refined_goal_pose_{}; - GoalCandidates goal_candidates_{}; Pose closest_goal_candidate_pose_{}; +}; + +#undef DEFINE_SETTER +#undef DEFINE_GETTER +#undef DEFINE_SETTER_GETTER + +#define DEFINE_SETTER_WITH_MUTEX(TYPE, NAME) \ +public: \ + void set_##NAME(const TYPE & value) \ + { \ + const std::lock_guard lock(mutex_); \ + NAME##_ = value; \ + } + +#define DEFINE_GETTER_WITH_MUTEX(TYPE, NAME) \ +public: \ + TYPE get_##NAME() const \ + { \ + const std::lock_guard lock(mutex_); \ + return NAME##_; \ + } + +#define DEFINE_SETTER_GETTER_WITH_MUTEX(TYPE, NAME) \ + DEFINE_SETTER_WITH_MUTEX(TYPE, NAME) \ + DEFINE_GETTER_WITH_MUTEX(TYPE, NAME) + +class ThreadSafeData +{ +public: + ThreadSafeData(std::recursive_mutex & mutex, rclcpp::Clock::SharedPtr clock) + : mutex_(mutex), clock_(clock) + { + } + + bool incrementPathIndex() + { + const std::lock_guard lock(mutex_); + if (pull_over_path_->incrementPathIndex()) { + last_path_idx_increment_time_ = clock_->now(); + return true; + } + return false; + } + + void set_pull_over_path(const PullOverPath & value) + { + const std::lock_guard lock(mutex_); + pull_over_path_ = std::make_shared(value); + last_path_update_time_ = clock_->now(); + } + + void set_pull_over_path(const std::shared_ptr & value) + { + const std::lock_guard lock(mutex_); + pull_over_path_ = value; + last_path_update_time_ = clock_->now(); + } + + void clearPullOverPath() + { + const std::lock_guard lock(mutex_); + pull_over_path_ = nullptr; + } + + bool foundPullOverPath() const + { + const std::lock_guard lock(mutex_); + if (!pull_over_path_) { + return false; + } + + return pull_over_path_->isValidPath(); + } + + PullOverPlannerType getPullOverPlannerType() const + { + const std::lock_guard lock(mutex_); + if (!pull_over_path_) { + return PullOverPlannerType::NONE; + } + + return pull_over_path_->type; + }; - // pull over path + void reset() + { + const std::lock_guard lock(mutex_); + pull_over_path_ = nullptr; + pull_over_path_candidates_.clear(); + goal_candidates_.clear(); + modified_goal_pose_ = std::nullopt; + last_path_update_time_ = std::nullopt; + last_path_idx_increment_time_ = std::nullopt; + closest_start_pose_ = std::nullopt; + } + + DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, pull_over_path) + DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_update_time) + DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_idx_increment_time) + + DEFINE_SETTER_GETTER_WITH_MUTEX(std::vector, pull_over_path_candidates) + DEFINE_SETTER_GETTER_WITH_MUTEX(GoalCandidates, goal_candidates) + DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, modified_goal_pose) + DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, closest_start_pose) + +private: + std::shared_ptr pull_over_path_{nullptr}; std::vector pull_over_path_candidates_; - std::optional closest_start_pose_; + GoalCandidates goal_candidates_{}; + std::optional modified_goal_pose_; + std::optional last_path_update_time_; + std::optional last_path_idx_increment_time_; + std::optional closest_start_pose_{}; std::recursive_mutex & mutex_; + rclcpp::Clock::SharedPtr clock_; }; -#undef DEFINE_SETTER_GETTER +#undef DEFINE_SETTER_WITH_MUTEX +#undef DEFINE_GETTER_WITH_MUTEX +#undef DEFINE_SETTER_GETTER_WITH_MUTEX struct FreespacePlannerDebugData { @@ -276,6 +356,7 @@ class GoalPlannerModule : public SceneModuleInterface std::recursive_mutex mutex_; PullOverStatus status_; + ThreadSafeData thread_safe_data_; std::unique_ptr last_approval_data_{nullptr}; @@ -329,6 +410,7 @@ class GoalPlannerModule : public SceneModuleInterface bool isStuck(); bool hasDecidedPath() const; void decideVelocity(); + bool foundPullOverPath() const; // validation bool hasEnoughDistance(const PullOverPath & pull_over_path) const; @@ -352,8 +434,6 @@ class GoalPlannerModule : public SceneModuleInterface const GoalCandidates & goal_candidates) const; // deal with pull over partial paths - PathWithLaneId getCurrentPath() const; - bool incrementPathIndex(); void transitionToNextPathIfFinishingCurrentPath(); // lanes and drivable area diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp index 54bba6aee2fc2..4267261fdfe84 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp @@ -46,6 +46,7 @@ struct PullOverPath { PullOverPlannerType type{PullOverPlannerType::NONE}; std::vector partial_paths{}; + size_t path_idx{0}; // accelerate with constant acceleration to the target velocity std::vector> pairs_terminal_velocity_and_accel{}; Pose start_pose{}; @@ -84,6 +85,27 @@ struct PullOverPath return parking_path; } + + PathWithLaneId getCurrentPath() const + { + if (partial_paths.empty()) { + return PathWithLaneId{}; + } else if (partial_paths.size() <= path_idx) { + return partial_paths.back(); + } + return partial_paths.at(path_idx); + } + + bool incrementPathIndex() + { + if (partial_paths.size() - 1 <= path_idx) { + return false; + } + path_idx += 1; + return true; + } + + bool isValidPath() const { return type != PullOverPlannerType::NONE; } }; class PullOverPlannerBase diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 69c1fb911c4f9..0475cd92f1bec 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -58,7 +58,7 @@ GoalPlannerModule::GoalPlannerModule( : SceneModuleInterface{name, node, rtc_interface_ptr_map}, parameters_{parameters}, vehicle_info_{vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo()}, - status_{mutex_} + thread_safe_data_{mutex_, clock_} { LaneDepartureChecker lane_departure_checker{}; lane_departure_checker.setVehicleInfo(vehicle_info_); @@ -138,16 +138,12 @@ void GoalPlannerModule::updateOccupancyGrid() void GoalPlannerModule::onTimer() { // already generated pull over candidate paths - if (!status_.get_pull_over_path_candidates().empty()) { + if (!thread_safe_data_.get_pull_over_path_candidates().empty()) { return; } // goals are not yet available. - if (status_.get_goal_candidates().empty()) { - return; - } - - if (!isExecutionRequested()) { + if (thread_safe_data_.get_goal_candidates().empty()) { return; } @@ -157,7 +153,11 @@ void GoalPlannerModule::onTimer() return; } - const auto goal_candidates = status_.get_goal_candidates(); + if (getCurrentStatus() == ModuleStatus::IDLE) { + return; + } + + const auto goal_candidates = thread_safe_data_.get_goal_candidates(); // generate valid pull over path candidates and calculate closest start pose const auto current_lanes = utils::getExtendedCurrentLanes( @@ -208,8 +208,8 @@ void GoalPlannerModule::onTimer() // set member variables { const std::lock_guard lock(mutex_); - status_.set_pull_over_path_candidates(path_candidates); - status_.set_closest_start_pose(closest_start_pose); + thread_safe_data_.set_pull_over_path_candidates(path_candidates); + thread_safe_data_.set_closest_start_pose(closest_start_pose); } } @@ -457,13 +457,13 @@ Pose GoalPlannerModule::calcRefinedGoal(const Pose & goal_pose) const bool GoalPlannerModule::planFreespacePath() { - goal_searcher_->setPlannerData(planner_data_); - auto goal_candidates = status_.get_goal_candidates(); - goal_searcher_->update(goal_candidates); - status_.set_goal_candidates(goal_candidates); - + GoalCandidates goal_candidates{}; { const std::lock_guard lock(mutex_); + goal_searcher_->setPlannerData(planner_data_); + goal_candidates = thread_safe_data_.get_goal_candidates(); + goal_searcher_->update(goal_candidates); + thread_safe_data_.set_goal_candidates(goal_candidates); debug_data_.freespace_planner.num_goal_candidates = goal_candidates.size(); debug_data_.freespace_planner.is_planning = true; } @@ -487,11 +487,8 @@ bool GoalPlannerModule::planFreespacePath() { const std::lock_guard lock(mutex_); - status_.set_pull_over_path(std::make_shared(*freespace_path)); - status_.set_current_path_idx(0); - status_.set_is_safe_static_objects(true); - status_.set_modified_goal_pose(goal_candidate); - status_.set_last_path_update_time(std::make_shared(clock_->now())); + thread_safe_data_.set_pull_over_path(*freespace_path); + thread_safe_data_.set_modified_goal_pose(goal_candidate); debug_data_.freespace_planner.is_planning = false; } @@ -527,14 +524,8 @@ void GoalPlannerModule::returnToLaneParking() return; } - { - const std::lock_guard lock(mutex_); - status_.set_is_safe_static_objects(true); - status_.set_has_decided_path(false); - status_.set_pull_over_path(status_.get_lane_parking_pull_over_path()); - status_.set_current_path_idx(0); - status_.set_last_path_update_time(std::make_shared(clock_->now())); - } + status_.set_has_decided_path(false); + thread_safe_data_.set_pull_over_path(status_.get_lane_parking_pull_over_path()); RCLCPP_INFO(getLogger(), "return to lane parking"); } @@ -546,7 +537,7 @@ void GoalPlannerModule::generateGoalCandidates() // with old architecture, module instance is not cleared when new route is received // so need to reset status here. // todo: move this check out of this function after old architecture is removed - if (!status_.get_goal_candidates().empty()) { + if (!thread_safe_data_.get_goal_candidates().empty()) { return; } @@ -554,21 +545,23 @@ void GoalPlannerModule::generateGoalCandidates() const Pose goal_pose = route_handler->getOriginalGoalPose(); status_.set_refined_goal_pose(calcRefinedGoal(goal_pose)); if (goal_planner_utils::isAllowedGoalModification(route_handler)) { + const std::lock_guard lock(mutex_); goal_searcher_->setPlannerData(planner_data_); goal_searcher_->setReferenceGoal(status_.get_refined_goal_pose()); - status_.set_goal_candidates(goal_searcher_->search()); + thread_safe_data_.set_goal_candidates(goal_searcher_->search()); const auto current_lanes = utils::getExtendedCurrentLanes( planner_data_, parameters_->backward_goal_search_length, parameters_->forward_goal_search_length, false); status_.set_closest_goal_candidate_pose( - goal_searcher_->getClosetGoalCandidateAlongLanes(status_.get_goal_candidates()).goal_pose); + goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()) + .goal_pose); } else { GoalCandidate goal_candidate{}; goal_candidate.goal_pose = goal_pose; goal_candidate.distance_from_original_goal = 0.0; GoalCandidates goal_candidates{}; goal_candidates.push_back(goal_candidate); - status_.set_goal_candidates(goal_candidates); + thread_safe_data_.set_goal_candidates(goal_candidates); status_.set_closest_goal_candidate_pose(goal_pose); } } @@ -630,13 +623,13 @@ void GoalPlannerModule::selectSafePullOverPath() { const std::lock_guard lock(mutex_); goal_searcher_->setPlannerData(planner_data_); - goal_candidates = status_.get_goal_candidates(); + goal_candidates = thread_safe_data_.get_goal_candidates(); goal_searcher_->update(goal_candidates); - status_.set_goal_candidates(goal_candidates); - status_.set_pull_over_path_candidates(sortPullOverPathCandidatesByGoalPriority( - status_.get_pull_over_path_candidates(), status_.get_goal_candidates())); - pull_over_path_candidates = status_.get_pull_over_path_candidates(); - status_.set_is_safe_static_objects(false); + thread_safe_data_.set_goal_candidates(goal_candidates); + thread_safe_data_.set_pull_over_path_candidates(sortPullOverPathCandidatesByGoalPriority( + thread_safe_data_.get_pull_over_path_candidates(), thread_safe_data_.get_goal_candidates())); + pull_over_path_candidates = thread_safe_data_.get_pull_over_path_candidates(); + thread_safe_data_.clearPullOverPath(); } for (const auto & pull_over_path : pull_over_path_candidates) { @@ -660,26 +653,24 @@ void GoalPlannerModule::selectSafePullOverPath() // found safe pull over path { const std::lock_guard lock(mutex_); - status_.set_is_safe_static_objects(true); - status_.set_pull_over_path(std::make_shared(pull_over_path)); - status_.set_current_path_idx(0); - status_.set_lane_parking_pull_over_path(status_.get_pull_over_path()); - status_.set_modified_goal_pose(*goal_candidate_it); - status_.set_last_path_update_time(std::make_shared(clock_->now())); + thread_safe_data_.set_pull_over_path(pull_over_path); + thread_safe_data_.set_modified_goal_pose(*goal_candidate_it); + status_.set_lane_parking_pull_over_path(thread_safe_data_.get_pull_over_path()); } break; } - if (!status_.get_is_safe_static_objects()) { + if (!thread_safe_data_.foundPullOverPath()) { return; } // decelerate before the search area start const auto search_start_offset_pose = calcLongitudinalOffsetPose( - status_.get_pull_over_path()->getFullPath().points, status_.get_refined_goal_pose().position, + thread_safe_data_.get_pull_over_path()->getFullPath().points, + status_.get_refined_goal_pose().position, -parameters_->backward_goal_search_length - planner_data_->parameters.base_link2front - approximate_pull_over_distance_); - auto & first_path = status_.get_pull_over_path()->partial_paths.front(); + auto & first_path = thread_safe_data_.get_pull_over_path()->partial_paths.front(); if (search_start_offset_pose) { decelerateBeforeSearchStart(*search_start_offset_pose, first_path); } else { @@ -714,7 +705,7 @@ void GoalPlannerModule::setLanes() void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) { - if (!status_.get_is_safe_static_objects()) { + if (!thread_safe_data_.foundPullOverPath()) { // situation : not safe against static objects use stop_path setStopPath(output); } else if ( @@ -732,7 +723,7 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) } // keep stop if not enough time passed, // because it takes time for the trajectory to be reflected - auto current_path = getCurrentPath(); + auto current_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); keepStoppedWithCurrentPath(current_path); output.path = std::make_shared(current_path); @@ -751,14 +742,14 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) // for the next loop setOutput(). // this is used to determine whether to generate a new stop path or keep the current stop path. const std::lock_guard lock(mutex_); - status_.set_prev_is_safe(status_.get_is_safe_static_objects()); + status_.set_prev_found_path(thread_safe_data_.foundPullOverPath()); status_.set_prev_is_safe_dynamic_objects( parameters_->safety_check_params.enable_safety_check ? isSafePath() : true); } void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) { - if (status_.get_prev_is_safe() || !status_.get_prev_stop_path()) { + if (status_.get_prev_found_path() || !status_.get_prev_stop_path()) { // safe -> not_safe or no prev_stop_path: generate new stop_path output.path = std::make_shared(generateStopPath()); const std::lock_guard lock(mutex_); @@ -766,10 +757,7 @@ void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) // set stop path as pull over path auto stop_pull_over_path = std::make_shared(); stop_pull_over_path->partial_paths.push_back(*output.path); - status_.set_pull_over_path(stop_pull_over_path); - status_.set_current_path_idx(0); - status_.set_last_path_update_time(std::make_shared(clock_->now())); - + thread_safe_data_.set_pull_over_path(stop_pull_over_path); RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, generate stop path"); } else { @@ -786,7 +774,7 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output { // safe or not safe(no feasible stop_path found) -> not_safe: try to find new feasible stop_path if (status_.get_prev_is_safe_dynamic_objects() || !status_.get_prev_stop_path_after_approval()) { - auto current_path = getCurrentPath(); + auto current_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); const auto stop_path = behavior_path_planner::utils::start_goal_planner_common::generateFeasibleStopPath( current_path, planner_data_, *stop_pose_, parameters_->maximum_deceleration_for_stop, @@ -796,12 +784,13 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output status_.set_prev_stop_path_after_approval(output.path); RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "Collision detected, generate stop path"); } else { - output.path = std::make_shared(getCurrentPath()); + output.path = + std::make_shared(thread_safe_data_.get_pull_over_path()->getCurrentPath()); RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Collision detected, no feasible stop path found, cannot stop."); } - status_.set_last_path_update_time(std::make_shared(clock_->now())); + // status_.set_last_path_update_time(std::make_shared(clock_->now())); } else { // not_safe safe(no feasible stop path found) -> not_safe: use previous stop path output.path = status_.get_prev_stop_path_after_approval(); @@ -813,7 +802,7 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output void GoalPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) const { - if (status_.get_pull_over_path()->type == PullOverPlannerType::FREESPACE) { + if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) { const double drivable_area_margin = planner_data_->parameters.vehicle_width; output.drivable_area_info.drivable_margin = planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin; @@ -831,10 +820,10 @@ void GoalPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) const void GoalPlannerModule::setModifiedGoal(BehaviorModuleOutput & output) const { const auto & route_handler = planner_data_->route_handler; - if (status_.get_is_safe_static_objects()) { + if (thread_safe_data_.foundPullOverPath()) { PoseWithUuidStamped modified_goal{}; modified_goal.uuid = route_handler->getRouteUuid(); - modified_goal.pose = status_.get_modified_goal_pose()->goal_pose; + modified_goal.pose = thread_safe_data_.get_modified_goal_pose()->goal_pose; modified_goal.header = route_handler->getRouteHeader(); output.modified_goal = modified_goal; } else { @@ -879,22 +868,25 @@ bool GoalPlannerModule::hasDecidedPath() const } // if path is not safe, not decided - if (!status_.get_is_safe_static_objects()) { + if (!thread_safe_data_.foundPullOverPath()) { return false; } // if ego is sufficiently close to the start of the nearest candidate path, the path is decided const auto & current_pose = planner_data_->self_odometry->pose.pose; const auto ego_segment_idx = motion_utils::findNearestSegmentIndex( - getCurrentPath().points, current_pose, std::numeric_limits::max(), M_PI_2); + thread_safe_data_.get_pull_over_path()->getCurrentPath().points, current_pose, + std::numeric_limits::max(), M_PI_2); if (!ego_segment_idx) { return false; } const size_t start_pose_segment_idx = motion_utils::findNearestSegmentIndex( - getCurrentPath().points, status_.get_pull_over_path()->start_pose.position); + thread_safe_data_.get_pull_over_path()->getCurrentPath().points, + thread_safe_data_.get_pull_over_path()->start_pose.position); const double dist_to_parking_start_pose = calcSignedArcLength( - getCurrentPath().points, current_pose.position, *ego_segment_idx, - status_.get_pull_over_path()->start_pose.position, start_pose_segment_idx); + thread_safe_data_.get_pull_over_path()->getCurrentPath().points, current_pose.position, + *ego_segment_idx, thread_safe_data_.get_pull_over_path()->start_pose.position, + start_pose_segment_idx); return dist_to_parking_start_pose < parameters_->decide_path_distance; } @@ -904,7 +896,7 @@ void GoalPlannerModule::decideVelocity() // decide velocity to guarantee turn signal lighting time if (!status_.get_has_decided_velocity()) { - auto & first_path = status_.get_pull_over_path()->partial_paths.front(); + auto & first_path = thread_safe_data_.get_pull_over_path()->partial_paths.front(); const auto vel = static_cast(std::max(current_vel, parameters_->pull_over_minimum_velocity)); for (auto & p : first_path.points) { @@ -917,13 +909,14 @@ void GoalPlannerModule::decideVelocity() CandidateOutput GoalPlannerModule::planCandidate() const { return CandidateOutput( - status_.get_pull_over_path() ? status_.get_pull_over_path()->getFullPath() : PathWithLaneId()); + thread_safe_data_.get_pull_over_path() ? thread_safe_data_.get_pull_over_path()->getFullPath() + : PathWithLaneId()); } BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() { // if pull over path candidates generation is not finished, use previous module output - if (status_.get_pull_over_path_candidates().empty()) { + if (thread_safe_data_.get_pull_over_path_candidates().empty()) { return getPreviousModuleOutput(); } @@ -944,10 +937,11 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() } transitionToNextPathIfFinishingCurrentPath(); } else if ( - !status_.get_pull_over_path_candidates().empty() && needPathUpdate(path_update_duration)) { + !thread_safe_data_.get_pull_over_path_candidates().empty() && + needPathUpdate(path_update_duration)) { // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates - // and set it to status_.get_pull_over_path() + // and set it to thread_safe_data_.get_pull_over_path() selectSafePullOverPath(); } // else: stop path is generated and set by setOutput() @@ -959,27 +953,32 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() path_reference_ = getPreviousModuleOutput().reference_path; // return to lane parking if it is possible - if (status_.get_pull_over_path()->type == PullOverPlannerType::FREESPACE) { + if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) { returnToLaneParking(); } + // For debug + setDebugData(); + if (parameters_->print_debug_info) { + // For evaluations + printParkingPositionError(); + } + + if (!thread_safe_data_.foundPullOverPath()) { + return output; + } + const auto distance_to_path_change = calcDistanceToPathChange(); if (status_.get_has_decided_path()) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } // TODO(tkhmy) add handle status TRYING updateSteeringFactor( - {status_.get_pull_over_path()->start_pose, status_.get_modified_goal_pose()->goal_pose}, + {thread_safe_data_.get_pull_over_path()->start_pose, + thread_safe_data_.get_modified_goal_pose()->goal_pose}, {distance_to_path_change.first, distance_to_path_change.second}, SteeringFactor::TURNING); - // For debug - setDebugData(); - if (parameters_->print_debug_info) { - // For evaluations - printParkingPositionError(); - } - - setStopReason(StopReason::GOAL_PLANNER, status_.get_pull_over_path()->getFullPath()); + setStopReason(StopReason::GOAL_PLANNER, thread_safe_data_.get_pull_over_path()->getFullPath()); return output; } @@ -1002,7 +1001,7 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApproval() BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification() { // if pull over path candidates generation is not finished, use previous module output - if (status_.get_pull_over_path_candidates().empty()) { + if (thread_safe_data_.get_pull_over_path_candidates().empty()) { return getPreviousModuleOutput(); } @@ -1012,10 +1011,9 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification( out.reference_path = getPreviousModuleOutput().reference_path; path_candidate_ = std::make_shared(planCandidate().path_candidate); path_reference_ = getPreviousModuleOutput().reference_path; - const auto distance_to_path_change = calcDistanceToPathChange(); // generate drivable area info for new architecture - if (status_.get_pull_over_path()->type == PullOverPlannerType::FREESPACE) { + if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) { const double drivable_area_margin = planner_data_->parameters.vehicle_width; out.drivable_area_info.drivable_margin = planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin; @@ -1029,21 +1027,31 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification( current_drivable_area_info, getPreviousModuleOutput().drivable_area_info); } + if (!thread_safe_data_.foundPullOverPath()) { + return out; + } + + const auto distance_to_path_change = calcDistanceToPathChange(); if (status_.get_has_decided_path()) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } updateSteeringFactor( - {status_.get_pull_over_path()->start_pose, status_.get_modified_goal_pose()->goal_pose}, + {thread_safe_data_.get_pull_over_path()->start_pose, + thread_safe_data_.get_modified_goal_pose()->goal_pose}, {distance_to_path_change.first, distance_to_path_change.second}, SteeringFactor::APPROACHING); - setStopReason(StopReason::GOAL_PLANNER, status_.get_pull_over_path()->getFullPath()); + setStopReason(StopReason::GOAL_PLANNER, thread_safe_data_.get_pull_over_path()->getFullPath()); return out; } std::pair GoalPlannerModule::calcDistanceToPathChange() const { - const auto full_path = status_.get_pull_over_path()->getFullPath(); + if (!thread_safe_data_.foundPullOverPath()) { + return {std::numeric_limits::max(), std::numeric_limits::max()}; + } + + const auto full_path = thread_safe_data_.get_pull_over_path()->getFullPath(); const auto ego_segment_idx = motion_utils::findNearestSegmentIndex( full_path.points, planner_data_->self_odometry->pose.pose, std::numeric_limits::max(), @@ -1053,15 +1061,15 @@ std::pair GoalPlannerModule::calcDistanceToPathChange() const } const size_t start_pose_segment_idx = motion_utils::findNearestSegmentIndex( - full_path.points, status_.get_pull_over_path()->start_pose.position); + full_path.points, thread_safe_data_.get_pull_over_path()->start_pose.position); const double dist_to_parking_start_pose = calcSignedArcLength( full_path.points, planner_data_->self_odometry->pose.pose.position, *ego_segment_idx, - status_.get_pull_over_path()->start_pose.position, start_pose_segment_idx); + thread_safe_data_.get_pull_over_path()->start_pose.position, start_pose_segment_idx); const size_t goal_pose_segment_idx = motion_utils::findNearestSegmentIndex( - full_path.points, status_.get_modified_goal_pose()->goal_pose.position); + full_path.points, thread_safe_data_.get_modified_goal_pose()->goal_pose.position); const double dist_to_parking_finish_pose = calcSignedArcLength( full_path.points, planner_data_->self_odometry->pose.pose.position, *ego_segment_idx, - status_.get_modified_goal_pose()->goal_pose.position, goal_pose_segment_idx); + thread_safe_data_.get_modified_goal_pose()->goal_pose.position, goal_pose_segment_idx); return {dist_to_parking_start_pose, dist_to_parking_finish_pose}; } @@ -1103,17 +1111,17 @@ PathWithLaneId GoalPlannerModule::generateStopPath() reference_path.points, status_.get_closest_goal_candidate_pose().position, -approximate_pull_over_distance_); if ( - !status_.get_is_safe_static_objects() && !status_.get_closest_start_pose() && + !thread_safe_data_.foundPullOverPath() && !thread_safe_data_.get_closest_start_pose() && !search_start_offset_pose) { return generateFeasibleStopPath(); } const Pose stop_pose = [&]() -> Pose { - if (status_.get_is_safe_static_objects()) { - return status_.get_pull_over_path()->start_pose; + if (thread_safe_data_.foundPullOverPath()) { + return thread_safe_data_.get_pull_over_path()->start_pose; } - if (status_.get_closest_start_pose()) { - return status_.get_closest_start_pose().value(); + if (thread_safe_data_.get_closest_start_pose()) { + return thread_safe_data_.get_closest_start_pose().value(); } return *search_start_offset_pose; }(); @@ -1187,44 +1195,42 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() void GoalPlannerModule::transitionToNextPathIfFinishingCurrentPath() { - if (isActivated() && last_approval_data_) { - // if using arc_path and finishing current_path, get next path - // enough time for turn signal - const bool has_passed_enough_time = (clock_->now() - last_approval_data_->time).seconds() > - planner_data_->parameters.turn_signal_search_time; - - if (hasFinishedCurrentPath() && has_passed_enough_time && status_.get_require_increment()) { - if (incrementPathIndex()) { - status_.set_last_increment_time(std::make_shared(clock_->now())); - } - } + if (!isActivated() || !last_approval_data_) { + return; } -} -bool GoalPlannerModule::incrementPathIndex() -{ - if (status_.get_current_path_idx() == status_.get_pull_over_path()->partial_paths.size() - 1) { - return false; + // if using arc_path and finishing current_path, get next path + // enough time for turn signal + const bool has_passed_enough_time_from_approval = + (clock_->now() - last_approval_data_->time).seconds() > + planner_data_->parameters.turn_signal_search_time; + if (!has_passed_enough_time_from_approval) { + return; } - status_.set_current_path_idx(status_.get_current_path_idx() + 1); - return true; -} -PathWithLaneId GoalPlannerModule::getCurrentPath() const -{ - if (status_.get_pull_over_path() == nullptr) { - return PathWithLaneId{}; + // require increment only when the time passed is enough + // to prevent increment before driving + // when the end of the current path is close to the current pose + // this value should be `keep_stop_time` in keepStoppedWithCurrentPath + constexpr double keep_current_idx_time = 4.0; + const bool has_passed_enough_time_from_increment = + (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > + keep_current_idx_time; + if (!has_passed_enough_time_from_increment) { + return; } - if (status_.get_pull_over_path()->partial_paths.size() <= status_.get_current_path_idx()) { - return PathWithLaneId{}; + if (!hasFinishedCurrentPath()) { + return; } - return status_.get_pull_over_path()->partial_paths.at(status_.get_current_path_idx()); + + thread_safe_data_.incrementPathIndex(); } bool GoalPlannerModule::isStopped( std::deque & odometry_buffer, const double time) { + const std::lock_guard lock(mutex_); odometry_buffer.push_back(planner_data_->self_odometry); // Delete old data in buffer while (rclcpp::ok()) { @@ -1254,6 +1260,7 @@ bool GoalPlannerModule::isStopped() bool GoalPlannerModule::isStuck() { + const std::lock_guard lock(mutex_); if (isOnModifiedGoal()) { return false; } @@ -1264,21 +1271,22 @@ bool GoalPlannerModule::isStuck() } // not found safe path - if (!status_.get_is_safe_static_objects()) { + if (!thread_safe_data_.foundPullOverPath()) { return true; } // any path has never been found - if (!status_.get_pull_over_path()) { + if (!thread_safe_data_.get_pull_over_path()) { return false; } - return checkCollision(getCurrentPath()); + return checkCollision(thread_safe_data_.get_pull_over_path()->getCurrentPath()); } bool GoalPlannerModule::hasFinishedCurrentPath() { - const auto current_path_end = getCurrentPath().points.back(); + const auto current_path_end = + thread_safe_data_.get_pull_over_path()->getCurrentPath().points.back(); const auto & self_pose = planner_data_->self_odometry->pose.pose; const bool is_near_target = tier4_autoware_utils::calcDistance2d(current_path_end, self_pose) < parameters_->th_arrived_distance; @@ -1288,12 +1296,12 @@ bool GoalPlannerModule::hasFinishedCurrentPath() bool GoalPlannerModule::isOnModifiedGoal() const { - if (!status_.get_modified_goal_pose()) { + if (!thread_safe_data_.get_modified_goal_pose()) { return false; } const Pose current_pose = planner_data_->self_odometry->pose.pose; - return calcDistance2d(current_pose, status_.get_modified_goal_pose()->goal_pose) < + return calcDistance2d(current_pose, thread_safe_data_.get_modified_goal_pose()->goal_pose) < parameters_->th_arrived_distance; } @@ -1302,9 +1310,9 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() const TurnSignalInfo turn_signal{}; // output const auto & current_pose = planner_data_->self_odometry->pose.pose; - const auto & start_pose = status_.get_pull_over_path()->start_pose; - const auto & end_pose = status_.get_pull_over_path()->end_pose; - const auto full_path = status_.get_pull_over_path()->getFullPath(); + const auto & start_pose = thread_safe_data_.get_pull_over_path()->start_pose; + const auto & end_pose = thread_safe_data_.get_pull_over_path()->end_pose; + const auto full_path = thread_safe_data_.get_pull_over_path()->getFullPath(); // calc TurnIndicatorsCommand { @@ -1435,20 +1443,18 @@ bool GoalPlannerModule::hasEnoughDistance(const PullOverPath & pull_over_path) c void GoalPlannerModule::keepStoppedWithCurrentPath(PathWithLaneId & path) { constexpr double keep_stop_time = 2.0; - constexpr double keep_current_idx_buffer_time = 2.0; - if (status_.get_last_increment_time()) { - const auto time_diff = (clock_->now() - *status_.get_last_increment_time()).seconds(); - if (time_diff < keep_stop_time) { - status_.set_require_increment(false); - for (auto & p : path.points) { - p.point.longitudinal_velocity_mps = 0.0; - } - } else if (time_diff > keep_stop_time + keep_current_idx_buffer_time) { - // require increment only when the time passed is enough - // to prevent increment before driving - // when the end of the current path is close to the current pose - status_.set_require_increment(true); - } + if (!thread_safe_data_.get_last_path_idx_increment_time()) { + return; + } + + const auto time_diff = + (clock_->now() - *thread_safe_data_.get_last_path_idx_increment_time()).seconds(); + if (time_diff > keep_stop_time) { + return; + } + + for (auto & p : path.points) { + p.point.longitudinal_velocity_mps = 0.0; } } @@ -1499,7 +1505,7 @@ void GoalPlannerModule::decelerateForTurnSignal(const Pose & stop_pose, PathWith planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, 0.0); if (min_stop_distance && *min_stop_distance < stop_point_length) { - const auto stop_point = utils::insertStopPoint(stop_point_length, path); + utils::insertStopPoint(stop_point_length, path); } } @@ -1631,7 +1637,7 @@ void GoalPlannerModule::updateSafetyCheckTargetObjectsData( bool GoalPlannerModule::isSafePath() const { - const auto pull_over_path = getCurrentPath(); + const auto pull_over_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); const auto & current_pose = planner_data_->self_odometry->pose.pose; const double current_velocity = std::hypot( planner_data_->self_odometry->twist.twist.linear.x, @@ -1648,7 +1654,7 @@ bool GoalPlannerModule::isSafePath() const const size_t ego_seg_idx = planner_data_->findEgoSegmentIndex(pull_over_path.points); const std::pair terminal_velocity_and_accel = utils::start_goal_planner_common::getPairsTerminalVelocityAndAccel( - status_.get_pull_over_path()->pairs_terminal_velocity_and_accel, + thread_safe_data_.get_pull_over_path()->pairs_terminal_velocity_and_accel, status_.get_current_path_idx()); RCLCPP_DEBUG( getLogger(), "pairs_terminal_velocity_and_accel for goal_planner: %f, %f", @@ -1744,23 +1750,25 @@ void GoalPlannerModule::setDebugData() goal_searcher_->getAreaPolygons(), header, color, z)); // Visualize goal candidates - const auto goal_candidates = status_.get_goal_candidates(); + const auto goal_candidates = thread_safe_data_.get_goal_candidates(); add(goal_planner_utils::createGoalCandidatesMarkerArray(goal_candidates, color)); } // Visualize path and related pose - if (status_.get_is_safe_static_objects()) { + if (thread_safe_data_.foundPullOverPath()) { add(createPoseMarkerArray( - status_.get_pull_over_path()->start_pose, "pull_over_start_pose", 0, 0.3, 0.3, 0.9)); + thread_safe_data_.get_pull_over_path()->start_pose, "pull_over_start_pose", 0, 0.3, 0.3, + 0.9)); add(createPoseMarkerArray( - status_.get_pull_over_path()->end_pose, "pull_over_end_pose", 0, 0.3, 0.3, 0.9)); + thread_safe_data_.get_pull_over_path()->end_pose, "pull_over_end_pose", 0, 0.3, 0.3, 0.9)); + add(createPathMarkerArray( + thread_safe_data_.get_pull_over_path()->getFullPath(), "full_path", 0, 0.0, 0.5, 0.9)); add(createPathMarkerArray( - status_.get_pull_over_path()->getFullPath(), "full_path", 0, 0.0, 0.5, 0.9)); - add(createPathMarkerArray(getCurrentPath(), "current_path", 0, 0.9, 0.5, 0.0)); + thread_safe_data_.get_pull_over_path()->getCurrentPath(), "current_path", 0, 0.9, 0.5, 0.0)); // visualize each partial path - for (size_t i = 0; i < status_.get_pull_over_path()->partial_paths.size(); ++i) { - const auto & partial_path = status_.get_pull_over_path()->partial_paths.at(i); + for (size_t i = 0; i < thread_safe_data_.get_pull_over_path()->partial_paths.size(); ++i) { + const auto & partial_path = thread_safe_data_.get_pull_over_path()->partial_paths.at(i); add( createPathMarkerArray(partial_path, "partial_path_" + std::to_string(i), 0, 0.9, 0.5, 0.9)); } @@ -1782,7 +1790,15 @@ void GoalPlannerModule::setDebugData() } } debug_marker_.markers.push_back(marker); + + // Visualize debug poses + const auto & debug_poses = thread_safe_data_.get_pull_over_path()->debug_poses; + for (size_t i = 0; i < debug_poses.size(); ++i) { + add(createPoseMarkerArray( + debug_poses.at(i), "debug_pose_" + std::to_string(i), 0, 0.3, 0.3, 0.3)); + } } + // safety check if (parameters_->safety_check_params.enable_safety_check) { if (goal_planner_data_.ego_predicted_path.size() > 0) { @@ -1806,17 +1822,22 @@ void GoalPlannerModule::setDebugData() // Visualize planner type text { visualization_msgs::msg::MarkerArray planner_type_marker_array{}; - const auto color = status_.get_is_safe_static_objects() + const auto color = thread_safe_data_.foundPullOverPath() ? createMarkerColor(1.0, 1.0, 1.0, 0.99) : createMarkerColor(1.0, 0.0, 0.0, 0.99); auto marker = createDefaultMarker( header.frame_id, header.stamp, "planner_type", 0, visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.0, 0.0, 1.0), color); - marker.pose = status_.get_modified_goal_pose() ? status_.get_modified_goal_pose()->goal_pose - : planner_data_->self_odometry->pose.pose; - marker.text = magic_enum::enum_name(status_.get_pull_over_path()->type); - marker.text += " " + std::to_string(status_.get_current_path_idx()) + "/" + - std::to_string(status_.get_pull_over_path()->partial_paths.size() - 1); + marker.pose = thread_safe_data_.get_modified_goal_pose() + ? thread_safe_data_.get_modified_goal_pose()->goal_pose + : planner_data_->self_odometry->pose.pose; + marker.text = magic_enum::enum_name(thread_safe_data_.getPullOverPlannerType()); + if (thread_safe_data_.foundPullOverPath()) { + marker.text += + " " + std::to_string(status_.get_current_path_idx()) + "/" + + std::to_string(thread_safe_data_.get_pull_over_path()->partial_paths.size() - 1); + } + if (isStuck()) { marker.text += " stuck"; } else if (isStopped()) { @@ -1832,13 +1853,6 @@ void GoalPlannerModule::setDebugData() planner_type_marker_array.markers.push_back(marker); add(planner_type_marker_array); } - - // Visualize debug poses - const auto & debug_poses = status_.get_pull_over_path()->debug_poses; - for (size_t i = 0; i < debug_poses.size(); ++i) { - add(createPoseMarkerArray( - debug_poses.at(i), "debug_pose_" + std::to_string(i), 0, 0.3, 0.3, 0.3)); - } } void GoalPlannerModule::printParkingPositionError() const @@ -1847,7 +1861,7 @@ void GoalPlannerModule::printParkingPositionError() const const double real_shoulder_to_map_shoulder = 0.0; const Pose goal_to_ego = - inverseTransformPose(current_pose, status_.get_modified_goal_pose()->goal_pose); + inverseTransformPose(current_pose, thread_safe_data_.get_modified_goal_pose()->goal_pose); const double dx = goal_to_ego.position.x; const double dy = goal_to_ego.position.y; const double distance_from_real_shoulder = @@ -1856,7 +1870,7 @@ void GoalPlannerModule::printParkingPositionError() const getLogger(), "current pose to goal, dx:%f dy:%f dyaw:%f from_real_shoulder:%f", dx, dy, tier4_autoware_utils::rad2deg( tf2::getYaw(current_pose.orientation) - - tf2::getYaw(status_.get_modified_goal_pose()->goal_pose.orientation)), + tf2::getYaw(thread_safe_data_.get_modified_goal_pose()->goal_pose.orientation)), distance_from_real_shoulder); } @@ -1882,10 +1896,10 @@ bool GoalPlannerModule::needPathUpdate(const double path_update_duration) const bool GoalPlannerModule::hasEnoughTimePassedSincePathUpdate(const double duration) const { - if (!status_.get_last_path_update_time()) { + if (!thread_safe_data_.get_last_path_update_time()) { return true; } - return (clock_->now() - *status_.get_last_path_update_time()).seconds() > duration; + return (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > duration; } } // namespace behavior_path_planner From c2fc1880ba11d640287e67d4b43f372c672ecf7e Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Fri, 10 Nov 2023 19:21:20 +0900 Subject: [PATCH 090/701] refactor(start_planner): refactor backward path calculation in StartPlannerModule (#5529) * refactor(start_planner): refactor backward path calculation in StartPlannerModule The method "calcStartPoseCandidatesBackwardPath" has been renamed to "calcBackwardPathFromStartPose" to better reflect its purpose. The method now calculates the backward path by shifting the original start pose coordinates to align with the pull out lanes. The stop objects in the pull out lanes are filtered by velocity, using the new "filterStopObjectsInPullOutLanes" method. Additionally, the redundant "isOverlappedWithLane" method has been removed. Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara Co-authored-by: Kosuke Takeuchi --- ...avior_path_planner_start_planner_design.md | 2 +- .../start_planner/start_planner_module.hpp | 10 +- .../start_planner/start_planner_module.cpp | 101 +++++++++--------- 3 files changed, 55 insertions(+), 58 deletions(-) diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md index 131202038c270..28a1db649cf04 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md @@ -252,7 +252,7 @@ If a safe path cannot be generated from the current position, search backwards f | max_back_distance | [m] | double | maximum back distance | 30.0 | | backward_search_resolution | [m] | double | distance interval for searching backward pull out start point | 2.0 | | backward_path_update_duration | [s] | double | time interval for searching backward pull out start point. this prevents chattering between back driving and pull_out | 3.0 | -| ignore_distance_from_lane_end | [m] | double | distance from end of pull out lanes for ignoring start candidates | 15.0 | +| ignore_distance_from_lane_end | [m] | double | If distance from shift start pose to end of shoulder lane is less than this value, this start pose candidate is ignored | 15.0 | ### **freespace pull out** diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp index 91121598cb3ae..8d2532504926e 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp @@ -176,8 +176,9 @@ class StartPlannerModule : public SceneModuleInterface std::mutex mutex_; PathWithLaneId getFullPath() const; - PathWithLaneId calcStartPoseCandidatesBackwardPath() const; - std::vector searchPullOutStartPoses(const PathWithLaneId & start_pose_candidates) const; + PathWithLaneId calcBackwardPathFromStartPose() const; + std::vector searchPullOutStartPoseCandidates( + const PathWithLaneId & back_path_from_start_pose) const; std::shared_ptr lane_departure_checker_; @@ -194,9 +195,8 @@ class StartPlannerModule : public SceneModuleInterface std::vector generateDrivableLanes(const PathWithLaneId & path) const; void updatePullOutStatus(); void updateStatusAfterBackwardDriving(); - static bool isOverlappedWithLane( - const lanelet::ConstLanelet & candidate_lanelet, - const tier4_autoware_utils::LinearRing2d & vehicle_footprint); + PredictedObjects filterStopObjectsInPullOutLanes( + const lanelet::ConstLanelets & pull_out_lanes, const double velocity_threshold) const; bool hasFinishedPullOut() const; bool isBackwardDrivingComplete() const; bool isStopped(); diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index 77a290835fb31..75562f59a402f 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -718,7 +718,7 @@ void StartPlannerModule::updatePullOutStatus() // refine start pose with pull out lanes. // 1) backward driving is not allowed: use refined pose just as start pose. // 2) backward driving is allowed: use refined pose to check if backward driving is needed. - const PathWithLaneId start_pose_candidates_path = calcStartPoseCandidatesBackwardPath(); + const PathWithLaneId start_pose_candidates_path = calcBackwardPathFromStartPose(); const auto refined_start_pose = calcLongitudinalOffsetPose( start_pose_candidates_path.points, planner_data_->self_odometry->pose.pose.position, 0.0); if (!refined_start_pose) return; @@ -726,7 +726,7 @@ void StartPlannerModule::updatePullOutStatus() // search pull out start candidates backward const std::vector start_pose_candidates = std::invoke([&]() -> std::vector { if (parameters_->enable_back) { - return searchPullOutStartPoses(start_pose_candidates_path); + return searchPullOutStartPoseCandidates(start_pose_candidates_path); } return {*refined_start_pose}; }); @@ -739,6 +739,7 @@ void StartPlannerModule::updatePullOutStatus() if (isBackwardDrivingComplete()) { updateStatusAfterBackwardDriving(); + // should be moved to transition state current_state_ = ModuleStatus::SUCCESS; // for breaking loop } else { status_.backward_path = start_planner_utils::getBackwardPath( @@ -760,71 +761,66 @@ void StartPlannerModule::updateStatusAfterBackwardDriving() } } -PathWithLaneId StartPlannerModule::calcStartPoseCandidatesBackwardPath() const +PathWithLaneId StartPlannerModule::calcBackwardPathFromStartPose() const { - const Pose & current_pose = planner_data_->self_odometry->pose.pose; - + const Pose & start_pose = planner_data_->route_handler->getOriginalStartPose(); const auto pull_out_lanes = start_planner_utils::getPullOutLanes( planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); - // get backward shoulder path - const auto arc_position_pose = lanelet::utils::getArcCoordinates(pull_out_lanes, current_pose); - const double check_distance = parameters_->max_back_distance + 30.0; // buffer - auto path = planner_data_->route_handler->getCenterLinePath( - pull_out_lanes, arc_position_pose.length - check_distance, - arc_position_pose.length + check_distance); - - // lateral shift to current_pose - const double distance_from_center_line = arc_position_pose.distance; - for (auto & p : path.points) { - p.point.pose = calcOffsetPose(p.point.pose, 0, distance_from_center_line, 0); + const auto arc_position_pose = lanelet::utils::getArcCoordinates(pull_out_lanes, start_pose); + + // common buffer distance for both front and back + static constexpr double buffer = 30.0; + const double check_distance = parameters_->max_back_distance + buffer; + + const double start_distance = arc_position_pose.length - check_distance; + const double end_distance = arc_position_pose.length + buffer; + + auto path = + planner_data_->route_handler->getCenterLinePath(pull_out_lanes, start_distance, end_distance); + + // shift all path points laterally to align with the start pose + for (auto & path_point : path.points) { + path_point.point.pose = calcOffsetPose(path_point.point.pose, 0, arc_position_pose.distance, 0); } return path; } -std::vector StartPlannerModule::searchPullOutStartPoses( - const PathWithLaneId & start_pose_candidates) const +std::vector StartPlannerModule::searchPullOutStartPoseCandidates( + const PathWithLaneId & back_path_from_start_pose) const { - const Pose & current_pose = planner_data_->self_odometry->pose.pose; - - std::vector pull_out_start_pose{}; - + std::vector pull_out_start_pose_candidates{}; + const auto & start_pose = planner_data_->route_handler->getOriginalStartPose(); + const auto local_vehicle_footprint = createVehicleFootprint(vehicle_info_); const auto pull_out_lanes = start_planner_utils::getPullOutLanes( planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); - // filter pull out lanes stop objects - const auto [pull_out_lane_objects, others] = - utils::path_safety_checker::separateObjectsByLanelets( - *planner_data_->dynamic_object, pull_out_lanes, - utils::path_safety_checker::isPolygonOverlapLanelet); - const auto pull_out_lane_stop_objects = utils::path_safety_checker::filterObjectsByVelocity( - pull_out_lane_objects, parameters_->th_moving_object_velocity); + const auto stop_objects_in_pull_out_lanes = + filterStopObjectsInPullOutLanes(pull_out_lanes, parameters_->th_moving_object_velocity); // Set the maximum backward distance less than the distance from the vehicle's base_link to the // lane's rearmost point to prevent lane departure. - const double s_current = lanelet::utils::getArcCoordinates(pull_out_lanes, current_pose).length; - const double max_back_distance = std::clamp( - s_current - planner_data_->parameters.base_link2rear, 0.0, parameters_->max_back_distance); + const double current_arc_length = + lanelet::utils::getArcCoordinates(pull_out_lanes, start_pose).length; + const double allowed_backward_distance = std::clamp( + current_arc_length - planner_data_->parameters.base_link2rear, 0.0, + parameters_->max_back_distance); - // check collision between footprint and object at the backed pose - const auto local_vehicle_footprint = createVehicleFootprint(vehicle_info_); - for (double back_distance = 0.0; back_distance <= max_back_distance; + for (double back_distance = 0.0; back_distance <= allowed_backward_distance; back_distance += parameters_->backward_search_resolution) { const auto backed_pose = calcLongitudinalOffsetPose( - start_pose_candidates.points, current_pose.position, -back_distance); + back_path_from_start_pose.points, start_pose.position, -back_distance); if (!backed_pose) { continue; } - // check the back pose is near the lane end - const double length_to_backed_pose = + const double backed_pose_arc_length = lanelet::utils::getArcCoordinates(pull_out_lanes, *backed_pose).length; - const double length_to_lane_end = std::accumulate( std::begin(pull_out_lanes), std::end(pull_out_lanes), 0.0, [](double acc, const auto & lane) { return acc + lanelet::utils::getLaneletLength2d(lane); }); - const double distance_from_lane_end = length_to_lane_end - length_to_backed_pose; + const double distance_from_lane_end = length_to_lane_end - backed_pose_arc_length; if (distance_from_lane_end < parameters_->ignore_distance_from_lane_end) { RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, @@ -833,27 +829,28 @@ std::vector StartPlannerModule::searchPullOutStartPoses( } if (utils::checkCollisionBetweenFootprintAndObjects( - local_vehicle_footprint, *backed_pose, pull_out_lane_stop_objects, + local_vehicle_footprint, *backed_pose, stop_objects_in_pull_out_lanes, parameters_->collision_check_margin)) { break; // poses behind this has a collision, so break. } - pull_out_start_pose.push_back(*backed_pose); + pull_out_start_pose_candidates.push_back(*backed_pose); } - return pull_out_start_pose; + return pull_out_start_pose_candidates; } -bool StartPlannerModule::isOverlappedWithLane( - const lanelet::ConstLanelet & candidate_lanelet, - const tier4_autoware_utils::LinearRing2d & vehicle_footprint) +PredictedObjects StartPlannerModule::filterStopObjectsInPullOutLanes( + const lanelet::ConstLanelets & pull_out_lanes, const double velocity_threshold) const { - for (const auto & point : vehicle_footprint) { - if (boost::geometry::within(point, candidate_lanelet.polygon2d().basicPolygon())) { - return true; - } - } + const auto stop_objects = utils::path_safety_checker::filterObjectsByVelocity( + *planner_data_->dynamic_object, velocity_threshold); - return false; + // filter for objects located in pull_out_lanes and moving at a speed below the threshold + const auto [stop_objects_in_pull_out_lanes, others] = + utils::path_safety_checker::separateObjectsByLanelets( + stop_objects, pull_out_lanes, utils::path_safety_checker::isPolygonOverlapLanelet); + + return stop_objects_in_pull_out_lanes; } bool StartPlannerModule::hasFinishedPullOut() const From bde4eb8329423048fab9b9f075291c59a0c81a0c Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Fri, 10 Nov 2023 13:25:24 +0300 Subject: [PATCH 091/701] build(lidar_centerpoint_tvm): remove artifacts download (#5367) Signed-off-by: Alexey Panferov --- perception/lidar_centerpoint_tvm/.gitignore | 1 - .../inference_engine_tvm_config.hpp | 60 +++++++++++++++++++ ...processing_inference_engine_tvm_config.hpp | 59 ++++++++++++++++++ .../inference_engine_tvm_config.hpp | 55 +++++++++++++++++ .../lidar_centerpoint_tvm/centerpoint_tvm.hpp | 5 +- .../launch/lidar_centerpoint_tvm.launch.xml | 2 + ...inference_lidar_centerpoint_tvm.launch.xml | 2 + .../lib/centerpoint_tvm.cpp | 14 ++--- perception/lidar_centerpoint_tvm/src/node.cpp | 3 +- .../src/single_inference_node.cpp | 4 +- 10 files changed, 192 insertions(+), 13 deletions(-) create mode 100644 perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/inference_engine_tvm_config.hpp create mode 100644 perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/preprocessing_inference_engine_tvm_config.hpp create mode 100644 perception/lidar_centerpoint_tvm/data/models/centerpoint_encoder/inference_engine_tvm_config.hpp diff --git a/perception/lidar_centerpoint_tvm/.gitignore b/perception/lidar_centerpoint_tvm/.gitignore index 8fce603003c1e..e69de29bb2d1d 100644 --- a/perception/lidar_centerpoint_tvm/.gitignore +++ b/perception/lidar_centerpoint_tvm/.gitignore @@ -1 +0,0 @@ -data/ diff --git a/perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/inference_engine_tvm_config.hpp b/perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/inference_engine_tvm_config.hpp new file mode 100644 index 0000000000000..8201dd25c1039 --- /dev/null +++ b/perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/inference_engine_tvm_config.hpp @@ -0,0 +1,60 @@ +// Copyright 2021 Arm Limited and Contributors. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "tvm_utility/pipeline.hpp" + +#ifndef PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_BACKBONE__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT +#define PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_BACKBONE__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT + +namespace model_zoo +{ +namespace perception +{ +namespace lidar_obstacle_detection +{ +namespace centerpoint_backbone +{ +namespace onnx_centerpoint_backbone +{ + +static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ + {3, 0, 0}, // modelzoo_version + + "centerpoint_backbone", // network_name + "llvm", // network_backend + + "./deploy_lib.so", // network_module_path + "./deploy_graph.json", // network_graph_path + "./deploy_param.params", // network_params_path + + kDLCPU, // tvm_device_type + 0, // tvm_device_id + + {{"spatial_features", kDLFloat, 32, 1, {1, 32, 560, 560}}}, // network_inputs + + {{"heatmap", kDLFloat, 32, 1, {1, 3, 560, 560}}, + {"reg", kDLFloat, 32, 1, {1, 2, 560, 560}}, + {"height", kDLFloat, 32, 1, {1, 1, 560, 560}}, + {"dim", kDLFloat, 32, 1, {1, 3, 560, 560}}, + {"rot", kDLFloat, 32, 1, {1, 2, 560, 560}}, + {"vel", kDLFloat, 32, 1, {1, 2, 560, 560}}} // network_outputs +}; + +} // namespace onnx_centerpoint_backbone +} // namespace centerpoint_backbone +} // namespace lidar_obstacle_detection +} // namespace perception +} // namespace model_zoo +// NOLINTNEXTLINE +#endif // PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_BACKBONE__INFERENCE_ENGINE_TVM_CONFIG_HPP_ diff --git a/perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/preprocessing_inference_engine_tvm_config.hpp b/perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/preprocessing_inference_engine_tvm_config.hpp new file mode 100644 index 0000000000000..2f6943e90bc83 --- /dev/null +++ b/perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/preprocessing_inference_engine_tvm_config.hpp @@ -0,0 +1,59 @@ +// Copyright 2021 Arm Limited and Contributors. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "tvm_utility/pipeline.hpp" + +#ifndef PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_BACKBONE__PREPROCESSING_INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT +#define PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_BACKBONE__PREPROCESSING_INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT + +namespace model_zoo +{ +namespace perception +{ +namespace lidar_obstacle_detection +{ +namespace centerpoint_backbone +{ +namespace onnx_centerpoint_backbone +{ +namespace preprocessing +{ + +static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ + {3, 0, 0}, // modelzoo_version + + "centerpoint_backbone", // network_name + "llvm", // network_backend + + "./preprocess.so", // network_module_path + "./", // network_graph_path + "./", // network_params_path + + kDLCPU, // tvm_device_type + 0, // tvm_device_id + + {{"pillar_features", kDLFloat, 32, 1, {40000, 1, 32}}, + {"coords", kDLInt, 32, 1, {40000, 3}}}, // network_inputs + + {{"spatial_features", kDLFloat, 32, 1, {1, 32, 560, 560}}} // network_outputs +}; + +} // namespace preprocessing +} // namespace onnx_centerpoint_backbone +} // namespace centerpoint_backbone +} // namespace lidar_obstacle_detection +} // namespace perception +} // namespace model_zoo +// NOLINTNEXTLINE +#endif // PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_BACKBONE__PREPROCESSING_INFERENCE_ENGINE_TVM_CONFIG_HPP_ diff --git a/perception/lidar_centerpoint_tvm/data/models/centerpoint_encoder/inference_engine_tvm_config.hpp b/perception/lidar_centerpoint_tvm/data/models/centerpoint_encoder/inference_engine_tvm_config.hpp new file mode 100644 index 0000000000000..521036b49a533 --- /dev/null +++ b/perception/lidar_centerpoint_tvm/data/models/centerpoint_encoder/inference_engine_tvm_config.hpp @@ -0,0 +1,55 @@ +// Copyright 2021 Arm Limited and Contributors. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "tvm_utility/pipeline.hpp" + +#ifndef PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_ENCODER__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT +#define PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_ENCODER__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT + +namespace model_zoo +{ +namespace perception +{ +namespace lidar_obstacle_detection +{ +namespace centerpoint_encoder +{ +namespace onnx_centerpoint_encoder +{ + +static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ + {3, 0, 0}, // modelzoo_version + + "centerpoint_encoder", // network_name + "llvm", // network_backend + + "./deploy_lib.so", // network_module_path + "./deploy_graph.json", // network_graph_path + "./deploy_param.params", // network_params_path + + kDLCPU, // tvm_device_type + 0, // tvm_device_id + + {{"input_features", kDLFloat, 32, 1, {40000, 32, 9}}}, // network_inputs + + {{"pillar_features", kDLFloat, 32, 1, {40000, 1, 32}}} // network_outputs +}; + +} // namespace onnx_centerpoint_encoder +} // namespace centerpoint_encoder +} // namespace lidar_obstacle_detection +} // namespace perception +} // namespace model_zoo +// NOLINTNEXTLINE +#endif // PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_ENCODER__INFERENCE_ENGINE_TVM_CONFIG_HPP_ diff --git a/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/centerpoint_tvm.hpp b/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/centerpoint_tvm.hpp index 168a249714bb4..865ca7d4253bf 100644 --- a/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/centerpoint_tvm.hpp +++ b/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/centerpoint_tvm.hpp @@ -60,7 +60,7 @@ class LIDAR_CENTERPOINT_TVM_LOCAL TVMScatterIE : public tvm_utility::pipeline::I public: explicit TVMScatterIE( tvm_utility::pipeline::InferenceEngineTVMConfig config, const std::string & pkg_name, - const std::string & function_name); + const std::string & data_path, const std::string & function_name); TVMArrayContainerVector schedule(const TVMArrayContainerVector & input); void set_coords(TVMArrayContainer coords) { coords_ = coords; } @@ -132,7 +132,8 @@ class LIDAR_CENTERPOINT_TVM_PUBLIC CenterPointTVM /// \param[in] dense_param The densification parameter used to constructing vg_ptr. /// \param[in] config The CenterPoint model configuration. explicit CenterPointTVM( - const DensificationParam & densification_param, const CenterPointConfig & config); + const DensificationParam & densification_param, const CenterPointConfig & config, + const std::string & data_path); ~CenterPointTVM(); diff --git a/perception/lidar_centerpoint_tvm/launch/lidar_centerpoint_tvm.launch.xml b/perception/lidar_centerpoint_tvm/launch/lidar_centerpoint_tvm.launch.xml index e838f01e347ce..2bd6e3aa15c21 100644 --- a/perception/lidar_centerpoint_tvm/launch/lidar_centerpoint_tvm.launch.xml +++ b/perception/lidar_centerpoint_tvm/launch/lidar_centerpoint_tvm.launch.xml @@ -10,6 +10,7 @@ + @@ -20,5 +21,6 @@ + diff --git a/perception/lidar_centerpoint_tvm/launch/single_inference_lidar_centerpoint_tvm.launch.xml b/perception/lidar_centerpoint_tvm/launch/single_inference_lidar_centerpoint_tvm.launch.xml index e62808804ca07..c2e0801fbd11c 100644 --- a/perception/lidar_centerpoint_tvm/launch/single_inference_lidar_centerpoint_tvm.launch.xml +++ b/perception/lidar_centerpoint_tvm/launch/single_inference_lidar_centerpoint_tvm.launch.xml @@ -12,6 +12,7 @@ + @@ -22,6 +23,7 @@ + diff --git a/perception/lidar_centerpoint_tvm/lib/centerpoint_tvm.cpp b/perception/lidar_centerpoint_tvm/lib/centerpoint_tvm.cpp index 7b31bdf3c8fd3..2e0f9ad28bfb6 100644 --- a/perception/lidar_centerpoint_tvm/lib/centerpoint_tvm.cpp +++ b/perception/lidar_centerpoint_tvm/lib/centerpoint_tvm.cpp @@ -43,11 +43,10 @@ namespace lidar_centerpoint_tvm TVMScatterIE::TVMScatterIE( tvm_utility::pipeline::InferenceEngineTVMConfig config, const std::string & pkg_name, - const std::string & function_name) + const std::string & data_path, const std::string & function_name) : config_(config) { - std::string network_prefix = - ament_index_cpp::get_package_share_directory(pkg_name) + "/models/" + config.network_name + "/"; + std::string network_prefix = data_path + "/" + pkg_name + "/models/" + config.network_name + "/"; std::string network_module_path = network_prefix + config.network_module_path; std::ifstream module(network_module_path); @@ -159,14 +158,15 @@ std::vector BackboneNeckHeadPostProcessor::schedule(const TVMArrayContain } CenterPointTVM::CenterPointTVM( - const DensificationParam & densification_param, const CenterPointConfig & config) + const DensificationParam & densification_param, const CenterPointConfig & config, + const std::string & data_path) : config_ve(config_en), config_bnh(config_bk), VE_PreP(std::make_shared(config_en, config)), - VE_IE(std::make_shared(config_en, "lidar_centerpoint_tvm")), - BNH_IE(std::make_shared(config_bk, "lidar_centerpoint_tvm")), + VE_IE(std::make_shared(config_en, "lidar_centerpoint_tvm", data_path)), + BNH_IE(std::make_shared(config_bk, "lidar_centerpoint_tvm", data_path)), BNH_PostP(std::make_shared(config_bk, config)), - scatter_ie(std::make_shared(config_scatter, "lidar_centerpoint_tvm", "scatter")), + scatter_ie(std::make_shared(config_scatter, "lidar_centerpoint_tvm", data_path, "scatter")), TSP_pipeline(std::make_shared(VE_PreP, VE_IE, scatter_ie, BNH_IE, BNH_PostP)), config_(config) { diff --git a/perception/lidar_centerpoint_tvm/src/node.cpp b/perception/lidar_centerpoint_tvm/src/node.cpp index e63cb7e19ba8e..0054211a15f9f 100644 --- a/perception/lidar_centerpoint_tvm/src/node.cpp +++ b/perception/lidar_centerpoint_tvm/src/node.cpp @@ -65,6 +65,7 @@ LidarCenterPointTVMNode::LidarCenterPointTVMNode(const rclcpp::NodeOptions & nod static_cast(this->declare_parameter("downsample_factor")); const std::size_t encoder_in_feature_size = static_cast(this->declare_parameter("encoder_in_feature_size")); + const auto data_path = this->declare_parameter("data_path"); DensificationParam densification_param( densification_world_frame_id, densification_num_past_frames); @@ -83,7 +84,7 @@ LidarCenterPointTVMNode::LidarCenterPointTVMNode(const rclcpp::NodeOptions & nod class_names_.size(), point_feature_size, max_voxel_size, point_cloud_range, voxel_size, downsample_factor, encoder_in_feature_size, score_threshold, circle_nms_dist_threshold, yaw_norm_threshold); - detector_ptr_ = std::make_unique(densification_param, config); + detector_ptr_ = std::make_unique(densification_param, config, data_path); pointcloud_sub_ = this->create_subscription( "~/input/pointcloud", rclcpp::SensorDataQoS{}.keep_last(1), diff --git a/perception/lidar_centerpoint_tvm/src/single_inference_node.cpp b/perception/lidar_centerpoint_tvm/src/single_inference_node.cpp index 8b810c5a7d759..a08850a7572f2 100644 --- a/perception/lidar_centerpoint_tvm/src/single_inference_node.cpp +++ b/perception/lidar_centerpoint_tvm/src/single_inference_node.cpp @@ -70,7 +70,7 @@ SingleInferenceLidarCenterPointNode::SingleInferenceLidarCenterPointNode( static_cast(this->declare_parameter("encoder_in_feature_size")); const auto pcd_path = this->declare_parameter("pcd_path"); const auto detections_path = this->declare_parameter("detections_path"); - + const auto data_path = this->declare_parameter("data_path"); DensificationParam densification_param( densification_world_frame_id, densification_num_past_frames); @@ -88,7 +88,7 @@ SingleInferenceLidarCenterPointNode::SingleInferenceLidarCenterPointNode( class_names_.size(), point_feature_size, max_voxel_size, point_cloud_range, voxel_size, downsample_factor, encoder_in_feature_size, score_threshold, circle_nms_dist_threshold, yaw_norm_threshold); - detector_ptr_ = std::make_unique(densification_param, config); + detector_ptr_ = std::make_unique(densification_param, config, data_path); detect(pcd_path, detections_path); exit(0); From a1dfb07dcd78c7387567e985abbf60c17ebbe17d Mon Sep 17 00:00:00 2001 From: Yuxuan Liu <619684051@qq.com> Date: Sat, 11 Nov 2023 14:44:04 +0800 Subject: [PATCH 092/701] refactor(perception_rviz_plugin): apply thread pool to manage detached thread (#5418) * apply thread pool to manage detached thread Signed-off-by: Owen-Liuyuxuan * style(pre-commit): autofix * clean up the destructor Signed-off-by: Owen-Liuyuxuan * style(pre-commit): autofix * use function object in the queue instead Signed-off-by: Owen-Liuyuxuan * style(pre-commit): autofix * fix condition variable naming problem Signed-off-by: Owen-Liuyuxuan * add utility include for CI Signed-off-by: Owen-Liuyuxuan --------- Signed-off-by: Owen-Liuyuxuan Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../predicted_objects_display.hpp | 33 ++++++++++++++ .../predicted_objects_display.cpp | 45 +++++++++++++------ 2 files changed, 64 insertions(+), 14 deletions(-) diff --git a/common/autoware_auto_perception_rviz_plugin/include/object_detection/predicted_objects_display.hpp b/common/autoware_auto_perception_rviz_plugin/include/object_detection/predicted_objects_display.hpp index 5493f1dd594ce..2896286970217 100644 --- a/common/autoware_auto_perception_rviz_plugin/include/object_detection/predicted_objects_display.hpp +++ b/common/autoware_auto_perception_rviz_plugin/include/object_detection/predicted_objects_display.hpp @@ -24,9 +24,11 @@ #include #include +#include #include #include #include +#include #include namespace autoware @@ -45,10 +47,31 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC PredictedObjectsDisplay using PredictedObjects = autoware_auto_perception_msgs::msg::PredictedObjects; PredictedObjectsDisplay(); + ~PredictedObjectsDisplay() + { + { + std::unique_lock lock(queue_mutex); + should_terminate = true; + } + condition.notify_all(); + for (std::thread & active_thread : threads) { + active_thread.join(); + } + threads.clear(); + } private: void processMessage(PredictedObjects::ConstSharedPtr msg) override; + void queueJob(std::function job) + { + { + std::unique_lock lock(queue_mutex); + jobs.push(std::move(job)); + } + condition.notify_one(); + } + boost::uuids::uuid to_boost_uuid(const unique_identifier_msgs::msg::UUID & uuid_msg) { const std::string uuid_str = uuid_to_string(uuid_msg); @@ -100,6 +123,8 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC PredictedObjectsDisplay PredictedObjects::ConstSharedPtr msg); void workerThread(); + void messageProcessorThreadJob(); + void update(float wall_dt, float ros_dt) override; std::unordered_map> id_map; @@ -108,6 +133,14 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC PredictedObjectsDisplay int32_t marker_id = 0; const int32_t PATH_ID_CONSTANT = 1e3; + // max_num_threads: number of threads created in the thread pool, hard-coded to be 1; + int max_num_threads; + + bool should_terminate{false}; + std::mutex queue_mutex; + std::vector threads; + std::queue> jobs; + PredictedObjects::ConstSharedPtr msg; bool consumed{false}; std::mutex mutex; diff --git a/common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp b/common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp index 24e67a6f44e95..2cc5397d18721 100644 --- a/common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp +++ b/common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp @@ -25,27 +25,44 @@ namespace object_detection { PredictedObjectsDisplay::PredictedObjectsDisplay() : ObjectPolygonDisplayBase("tracks") { - std::thread worker(&PredictedObjectsDisplay::workerThread, this); - worker.detach(); + max_num_threads = 1; // hard code the number of threads to be created + + for (int ii = 0; ii < max_num_threads; ++ii) { + threads.emplace_back(std::thread(&PredictedObjectsDisplay::workerThread, this)); + } } void PredictedObjectsDisplay::workerThread() -{ +{ // A standard working thread that waiting for jobs while (true) { - std::unique_lock lock(mutex); - condition.wait(lock, [this] { return this->msg; }); + std::function job; + { + std::unique_lock lock(queue_mutex); + condition.wait(lock, [this] { return !jobs.empty() || should_terminate; }); + if (should_terminate) { + return; + } + job = jobs.front(); + jobs.pop(); + } + job(); + } +} - auto tmp_msg = this->msg; - this->msg.reset(); +void PredictedObjectsDisplay::messageProcessorThreadJob() +{ + // Receiving + std::unique_lock lock(mutex); + auto tmp_msg = this->msg; + this->msg.reset(); + lock.unlock(); - lock.unlock(); + auto tmp_markers = createMarkers(tmp_msg); - auto tmp_markers = createMarkers(tmp_msg); - lock.lock(); - markers = tmp_markers; + lock.lock(); + markers = tmp_markers; - consumed = true; - } + consumed = true; } std::vector PredictedObjectsDisplay::createMarkers( @@ -188,7 +205,7 @@ void PredictedObjectsDisplay::processMessage(PredictedObjects::ConstSharedPtr ms std::unique_lock lock(mutex); this->msg = msg; - condition.notify_one(); + queueJob(std::bind(&PredictedObjectsDisplay::messageProcessorThreadJob, this)); } void PredictedObjectsDisplay::update(float wall_dt, float ros_dt) From 567b9e5aeaf10d117a06d7f6a5bde10cd869b252 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 13 Nov 2023 09:52:56 +0900 Subject: [PATCH 093/701] feat(intersection): use the centerline position of first attention area if there is no traffic light (#5547) Signed-off-by: Mamoru Sobue --- .../README.md | 15 +- .../docs/data-structure.drawio.svg | 745 ++++++++++++------ .../src/manager.cpp | 1 + .../src/scene_intersection.cpp | 173 ++-- .../src/scene_merge_from_private_road.cpp | 4 +- .../src/util.cpp | 86 +- .../src/util.hpp | 3 +- .../src/util_type.hpp | 3 +- 8 files changed, 690 insertions(+), 340 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/README.md b/planning/behavior_velocity_intersection_module/README.md index cb65e2a3cc23c..3ed4ee8fd334a 100644 --- a/planning/behavior_velocity_intersection_module/README.md +++ b/planning/behavior_velocity_intersection_module/README.md @@ -100,7 +100,18 @@ If a stopline is associated with the intersection lane on the map, that line is #### Pass Judge Line -To avoid sudden braking, if deceleration and jerk more than a threshold (`behavior_velocity_planner.max_accel` and `behavior_velocity_planner.max_jerk`) is required to stop just in front of the attention area, this module does not insert stopline after passing the default stopline position. +To avoid sudden braking, if deceleration and jerk more than a threshold (`behavior_velocity_planner.max_accel` and `behavior_velocity_planner.max_jerk`) is required to stop just in front of the attention area, namely the `first_attention_stop_line`, this module does not insert stopline after it passed the `default stop_line` position. + +The position of the pass judge line depends on the occlusion detection configuration and the existence of the associated traffic light of the intersection lane. + +- If `occlusion.enable` is false, the pass judge line before the `first_attention_stop_line` by the braking distance $v_{ego}^{2} / 2a_{max}$. +- If `occlusion.enable` is true and: + - if there are associated traffic lights, the pass judge line is at the `occlusion_peeking_stop_line` in order to continue peeking/collision detection while occlusion is detected. + - if there are no associated traffic lights and: + - if occlusion is detected, pass judge line is at the `occlusion_wo_tl_pass_judge_line` to continue peeking. + - if occlusion is not detected, pass judge line is at the same place at the case where `occlusion.enable` is false. + +![data structure](./docs/data-structure.drawio.svg) ### Occlusion detection @@ -170,8 +181,6 @@ entity IntersectionStopLines { @enduml ``` -![data structure](./docs/data-structure.drawio.svg) - ### Module Parameters | Parameter | Type | Description | diff --git a/planning/behavior_velocity_intersection_module/docs/data-structure.drawio.svg b/planning/behavior_velocity_intersection_module/docs/data-structure.drawio.svg index fb512902ef856..ec5878a0d828e 100644 --- a/planning/behavior_velocity_intersection_module/docs/data-structure.drawio.svg +++ b/planning/behavior_velocity_intersection_module/docs/data-structure.drawio.svg @@ -5,31 +5,31 @@ xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" - width="2159px" - height="1028px" - viewBox="-0.5 -0.5 2159 1028" - 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</diagram></mxfile>" > - + - - - - - + + + + + - - - - - - - - - - - - + + + + + + + + + + + + - + - + - + - + - + - - - - - + + + + + + - - - - + - - - + + + - - - - + + + + - - + + - - + + - - + + - - + + - - + + - - + + - - - - - - - - - - - + transform="translate(292.95,0)scale(-1,1)translate(-292.95,0)rotate(90,292.95,751.55)" + pointer-events="none" + /> + + + + + + + + + + +
@@ -294,18 +285,18 @@
- closest_idx + closest_idx - - - + + +
@@ -316,21 +307,21 @@
- stuck_stop_line + stuck_stop_line - - - - - - + + + + + +
@@ -341,18 +332,18 @@
- default_stop_line + default_stop_line - - - + + +
@@ -363,18 +354,18 @@
- first_attention_stop_line + first_attention_stop_line - - - + + +
@@ -389,25 +380,25 @@
- occlusion_peeking... + occlusion_peeking... - - - - - - - - - - - - - - - + + + + + + + + + + + + + + - + - + - + - + - + - - - - - + + + + + + + - - - + - - - + + + - - - + + + - - + + - - + + - - + + - - + + - - + + - - + + - +
@@ -649,18 +632,18 @@
- next + next - - - + + +
@@ -673,18 +656,18 @@
- prev + prev - - - + + +
@@ -697,18 +680,18 @@
- ego_or_entry2exit + ego_or_entry2exit - - - + + +
@@ -721,15 +704,15 @@
- entry2ego + entry2ego - - + + -
+
@@ -739,7 +722,7 @@
- IntersectionStopLines + IntersectionStopLines @@ -747,7 +730,7 @@
@@ -758,9 +741,325 @@
- PathLanelets + PathLanelets + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + + occlusion_wo_tl +
+ _pass_judge_line +
+ + +
+
+
+ + occlusion_wo_tl... + + + + + + + + +
+
+
+ + closest_idx + +
+
+
+ + closest_idx + + + + + + + + + + + +
+
+
+ + stuck_stop_line + +
+
+
+ + stuck_stop_line + + + + + + + + +
+
+
+ + default_stop_line + +
+
+
+ + default_stop_line + + + + + + + + +
+
+
+ + first_attention_stop_line + +
+
+
+ + first_attention_stop_line + + + + + + + + +
+
+
+ + + occlusion_peeking +
+ _stop_line + + +
+
+
+ + occlusion_peeking... + + + + + + + + + + +
+
+
+ + + occlusion_wo_tl +
+ _pass_judge_line +
+ + +
+
+
+ + occlusion_wo_tl... + + + + + + + + + diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp index 5c5f5eac16b81..5de74aeb82d86 100644 --- a/planning/behavior_velocity_intersection_module/src/manager.cpp +++ b/planning/behavior_velocity_intersection_module/src/manager.cpp @@ -193,6 +193,7 @@ void IntersectionModuleManager::launchNewModules( const auto lanelets = planning_utils::getLaneletsOnPath(path, lanelet_map, planner_data_->current_odometry->pose); // run occlusion detection only in the first intersection + // TODO(Mamoru Sobue): remove `enable_occlusion_detection` variable const bool enable_occlusion_detection = intersection_param_.occlusion.enable; for (size_t i = 0; i < lanelets.size(); i++) { const auto ll = lanelets.at(i); diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp index c3b429680ab91..476238f6b1e9e 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -936,6 +936,7 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( const auto routing_graph_ptr = planner_data_->route_handler_->getRoutingGraphPtr(); const auto & assigned_lanelet = lanelet_map_ptr->laneletLayer.get(lane_id_); const std::string turn_direction = assigned_lanelet.attributeOr("turn_direction", "else"); + const double baselink2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; // spline interpolation const auto interpolated_path_info_opt = util::generateInterpolatedPath( @@ -969,15 +970,17 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( const bool is_prioritized = traffic_prioritized_level == util::TrafficPrioritizedLevel::FULLY_PRIORITIZED; const auto footprint = planner_data_->vehicle_info_.createFootprint(0.0, 0.0); - intersection_lanelets.update(is_prioritized, interpolated_path_info, footprint); + intersection_lanelets.update(is_prioritized, interpolated_path_info, footprint, baselink2front); // this is abnormal const auto & conflicting_lanelets = intersection_lanelets.conflicting(); const auto & first_conflicting_area_opt = intersection_lanelets.first_conflicting_area(); - if (conflicting_lanelets.empty() || !first_conflicting_area_opt) { + const auto & first_conflicting_lane_opt = intersection_lanelets.first_conflicting_lane(); + if (conflicting_lanelets.empty() || !first_conflicting_area_opt || !first_conflicting_lane_opt) { return IntersectionModule::Indecisive{"conflicting area is empty"}; } - const auto first_conflicting_area = first_conflicting_area_opt.value(); + const auto & first_conflicting_lane = first_conflicting_lane_opt.value(); + const auto & first_conflicting_area = first_conflicting_area_opt.value(); // generate all stop line candidates // see the doc for struct IntersectionStopLines @@ -986,22 +989,24 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( /// conflicting lanes const auto & dummy_first_attention_area = first_attention_area_opt ? first_attention_area_opt.value() : first_conflicting_area; - const double peeking_offset = - has_traffic_light_ ? planner_param_.occlusion.peeking_offset - : planner_param_.occlusion.absence_traffic_light.maximum_peeking_distance; + const auto & dummy_first_attention_lane_centerline = + intersection_lanelets.first_attention_lane() + ? intersection_lanelets.first_attention_lane().value().centerline2d() + : first_conflicting_lane.centerline2d(); const auto intersection_stop_lines_opt = util::generateIntersectionStopLines( - first_conflicting_area, dummy_first_attention_area, planner_data_, interpolated_path_info, - planner_param_.stuck_vehicle.use_stuck_stopline, planner_param_.common.stop_line_margin, - planner_param_.common.max_accel, planner_param_.common.max_jerk, - planner_param_.common.delay_response_time, peeking_offset, path); + first_conflicting_area, dummy_first_attention_area, dummy_first_attention_lane_centerline, + planner_data_, interpolated_path_info, planner_param_.stuck_vehicle.use_stuck_stopline, + planner_param_.common.stop_line_margin, planner_param_.common.max_accel, + planner_param_.common.max_jerk, planner_param_.common.delay_response_time, + planner_param_.occlusion.peeking_offset, path); if (!intersection_stop_lines_opt) { return IntersectionModule::Indecisive{"failed to generate intersection_stop_lines"}; } const auto & intersection_stop_lines = intersection_stop_lines_opt.value(); const auto [closest_idx, stuck_stop_line_idx_opt, default_stop_line_idx_opt, - first_attention_stop_line_idx_opt, occlusion_peeking_stop_line_idx_opt, pass_judge_line_idx] = - intersection_stop_lines; + first_attention_stop_line_idx_opt, occlusion_peeking_stop_line_idx_opt, + default_pass_judge_line_idx, occlusion_wo_tl_pass_judge_line_idx] = intersection_stop_lines; // see the doc for struct PathLanelets const auto & conflicting_area = intersection_lanelets.conflicting_area(); @@ -1083,16 +1088,91 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( if (!default_stop_line_idx_opt) { return IntersectionModule::Indecisive{"default stop line is null"}; } + // occlusion stop line is generated from the intersection of ego footprint along the path with the + // attention area, so if this is null, eog has already passed the intersection + if (!first_attention_stop_line_idx_opt || !occlusion_peeking_stop_line_idx_opt) { + return IntersectionModule::Indecisive{"occlusion stop line is null"}; + } const auto default_stop_line_idx = default_stop_line_idx_opt.value(); + const bool is_over_default_stop_line = + util::isOverTargetIndex(*path, closest_idx, current_pose, default_stop_line_idx); + const auto collision_stop_line_idx = + is_over_default_stop_line ? closest_idx : default_stop_line_idx; + const auto first_attention_stop_line_idx = first_attention_stop_line_idx_opt.value(); + const auto occlusion_stop_line_idx = occlusion_peeking_stop_line_idx_opt.value(); + + const auto & adjacent_lanelets = intersection_lanelets.adjacent(); + const auto & occlusion_attention_lanelets = intersection_lanelets.occlusion_attention(); + const auto & occlusion_attention_area = intersection_lanelets.occlusion_attention_area(); + debug_data_.attention_area = intersection_lanelets.attention_area(); + debug_data_.occlusion_attention_area = occlusion_attention_area; + debug_data_.adjacent_area = intersection_lanelets.adjacent_area(); + + // check occlusion on detection lane + if (!occlusion_attention_divisions_) { + occlusion_attention_divisions_ = util::generateDetectionLaneDivisions( + occlusion_attention_lanelets, routing_graph_ptr, + planner_data_->occupancy_grid->info.resolution, + planner_param_.occlusion.attention_lane_crop_curvature_threshold, + planner_param_.occlusion.attention_lane_curvature_calculation_ds); + } + const auto & occlusion_attention_divisions = occlusion_attention_divisions_.value(); + + // get intersection area + const auto intersection_area = util::getIntersectionArea(assigned_lanelet, lanelet_map_ptr); + // filter objects + auto target_objects = generateTargetObjects(intersection_lanelets, intersection_area); + + const double occlusion_dist_thr = std::fabs( + std::pow(planner_param_.occlusion.max_vehicle_velocity_for_rss, 2) / + (2 * planner_param_.occlusion.min_vehicle_brake_for_rss)); + auto occlusion_status = + (enable_occlusion_detection_ && !occlusion_attention_lanelets.empty() && !is_prioritized) + ? getOcclusionStatus( + *planner_data_->occupancy_grid, occlusion_attention_area, adjacent_lanelets, + first_attention_area, interpolated_path_info, occlusion_attention_divisions, + target_objects, current_pose, occlusion_dist_thr) + : OcclusionType::NOT_OCCLUDED; + occlusion_stop_state_machine_.setStateWithMarginTime( + occlusion_status == OcclusionType::NOT_OCCLUDED ? StateMachine::State::GO : StateMachine::STOP, + logger_.get_child("occlusion_stop"), *clock_); + const bool is_occlusion_cleared_with_margin = + (occlusion_stop_state_machine_.getState() == StateMachine::State::GO); + // distinguish if ego detected occlusion or RTC detects occlusion + const bool ext_occlusion_requested = (is_occlusion_cleared_with_margin && !occlusion_activated_); + if (ext_occlusion_requested) { + occlusion_status = OcclusionType::RTC_OCCLUDED; + } + const bool is_occlusion_state = (!is_occlusion_cleared_with_margin || ext_occlusion_requested); + if (is_occlusion_state && occlusion_status == OcclusionType::NOT_OCCLUDED) { + occlusion_status = prev_occlusion_status_; + } else { + prev_occlusion_status_ = occlusion_status; + } // TODO(Mamoru Sobue): this part needs more formal handling - const double baselink2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; + const size_t pass_judge_line_idx = [=]() { + if (enable_occlusion_detection_) { + // if occlusion detection is enabled, pass_judge position is beyond the boundary of first + // attention area + if (has_traffic_light_) { + return occlusion_stop_line_idx; + } else if (is_occlusion_state) { + // if there is no traffic light and occlusion is detected, pass_judge position is beyond + // the boundary of first attention area + return occlusion_wo_tl_pass_judge_line_idx; + } else { + // if there is no traffic light and occlusion is not detected, pass_judge position is + // default + return default_pass_judge_line_idx; + } + } + return default_pass_judge_line_idx; + }(); debug_data_.pass_judge_wall_pose = planning_utils::getAheadPose(pass_judge_line_idx, baselink2front, *path); const bool is_over_pass_judge_line = util::isOverTargetIndex(*path, closest_idx, current_pose, pass_judge_line_idx); - const bool is_over_default_stop_line = - util::isOverTargetIndex(*path, closest_idx, current_pose, default_stop_line_idx); const double vel_norm = std::hypot( planner_data_->current_velocity->twist.linear.x, planner_data_->current_velocity->twist.linear.y); @@ -1113,28 +1193,6 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( return IntersectionModule::Indecisive{"over the pass judge line. no plan needed"}; } - // occlusion stop line is generated from the intersection of ego footprint along the path with the - // attention area, so if this is null, eog has already passed the intersection - if (!first_attention_stop_line_idx_opt || !occlusion_peeking_stop_line_idx_opt) { - return IntersectionModule::Indecisive{"occlusion stop line is null"}; - } - const auto collision_stop_line_idx = - is_over_default_stop_line ? closest_idx : default_stop_line_idx; - const auto first_attention_stop_line_idx = first_attention_stop_line_idx_opt.value(); - const auto occlusion_stop_line_idx = occlusion_peeking_stop_line_idx_opt.value(); - - const auto & adjacent_lanelets = intersection_lanelets.adjacent(); - const auto & occlusion_attention_lanelets = intersection_lanelets.occlusion_attention(); - const auto & occlusion_attention_area = intersection_lanelets.occlusion_attention_area(); - debug_data_.attention_area = intersection_lanelets.attention_area(); - debug_data_.occlusion_attention_area = occlusion_attention_area; - debug_data_.adjacent_area = intersection_lanelets.adjacent_area(); - - // get intersection area - const auto intersection_area = util::getIntersectionArea(assigned_lanelet, lanelet_map_ptr); - - auto target_objects = generateTargetObjects(intersection_lanelets, intersection_area); - // If there are any vehicles on the attention area when ego entered the intersection on green // light, do pseudo collision detection because the vehicles are very slow and no collisions may // be detected. check if ego vehicle entered assigned lanelet @@ -1196,43 +1254,6 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( has_collision_with_margin, closest_idx, collision_stop_line_idx, occlusion_stop_line_idx}; } - // check occlusion on detection lane - if (!occlusion_attention_divisions_) { - occlusion_attention_divisions_ = util::generateDetectionLaneDivisions( - occlusion_attention_lanelets, routing_graph_ptr, - planner_data_->occupancy_grid->info.resolution, - planner_param_.occlusion.attention_lane_crop_curvature_threshold, - planner_param_.occlusion.attention_lane_curvature_calculation_ds); - } - const auto & occlusion_attention_divisions = occlusion_attention_divisions_.value(); - - const double occlusion_dist_thr = std::fabs( - std::pow(planner_param_.occlusion.max_vehicle_velocity_for_rss, 2) / - (2 * planner_param_.occlusion.min_vehicle_brake_for_rss)); - auto occlusion_status = - (enable_occlusion_detection_ && !occlusion_attention_lanelets.empty() && !is_prioritized) - ? getOcclusionStatus( - *planner_data_->occupancy_grid, occlusion_attention_area, adjacent_lanelets, - first_attention_area, interpolated_path_info, occlusion_attention_divisions, - target_objects, current_pose, occlusion_dist_thr) - : OcclusionType::NOT_OCCLUDED; - occlusion_stop_state_machine_.setStateWithMarginTime( - occlusion_status == OcclusionType::NOT_OCCLUDED ? StateMachine::State::GO : StateMachine::STOP, - logger_.get_child("occlusion_stop"), *clock_); - const bool is_occlusion_cleared_with_margin = - (occlusion_stop_state_machine_.getState() == StateMachine::State::GO); - // distinguish if ego detected occlusion or RTC detects occlusion - const bool ext_occlusion_requested = (is_occlusion_cleared_with_margin && !occlusion_activated_); - if (ext_occlusion_requested) { - occlusion_status = OcclusionType::RTC_OCCLUDED; - } - const bool is_occlusion_state = (!is_occlusion_cleared_with_margin || ext_occlusion_requested); - if (is_occlusion_state && occlusion_status == OcclusionType::NOT_OCCLUDED) { - occlusion_status = prev_occlusion_status_; - } else { - prev_occlusion_status_ = occlusion_status; - } - // Safe if (!is_occlusion_state && !has_collision_with_margin) { return IntersectionModule::Safe{closest_idx, collision_stop_line_idx, occlusion_stop_line_idx}; @@ -1257,14 +1278,14 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( temporal_stop_before_attention_state_machine_) : false; if (!has_traffic_light_) { - if (fromEgoDist(first_attention_stop_line_idx) <= -peeking_offset) { + if (fromEgoDist(occlusion_wo_tl_pass_judge_line_idx) < 0) { return IntersectionModule::Indecisive{ "already passed maximum peeking line in the absence of traffic light"}; } return IntersectionModule::OccludedAbsenceTrafficLight{ is_occlusion_cleared_with_margin, has_collision_with_margin, temporal_stop_before_attention_required, closest_idx, - first_attention_stop_line_idx, occlusion_stop_line_idx}; + first_attention_stop_line_idx, occlusion_wo_tl_pass_judge_line_idx}; } // following remaining block is "has_traffic_light_" // if ego is stuck by static occlusion in the presence of traffic light, start timeout count diff --git a/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp b/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp index 698242da67528..f1b516d72726f 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp @@ -96,7 +96,9 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path, StopR } auto & intersection_lanelets = intersection_lanelets_.value(); const auto local_footprint = planner_data_->vehicle_info_.createFootprint(0.0, 0.0); - intersection_lanelets.update(false, interpolated_path_info, local_footprint); + intersection_lanelets.update( + false, interpolated_path_info, local_footprint, + planner_data_->vehicle_info_.max_longitudinal_offset_m); const auto & first_conflicting_area = intersection_lanelets.first_conflicting_area(); if (!first_conflicting_area) { return false; diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp index e6e6fa0a1da9a..093f90e4b3df7 100644 --- a/planning/behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_intersection_module/src/util.cpp @@ -215,13 +215,15 @@ static std::optional getStopLineIndexFromMap( static std::optional getFirstPointInsidePolygonByFootprint( const lanelet::CompoundPolygon3d & polygon, const InterpolatedPathInfo & interpolated_path_info, - const tier4_autoware_utils::LinearRing2d & footprint) + const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length) { const auto & path_ip = interpolated_path_info.path; const auto [lane_start, lane_end] = interpolated_path_info.lane_id_interval.value(); - + const size_t vehicle_length_idx = static_cast(vehicle_length / interpolated_path_info.ds); + const size_t start = + static_cast(std::max(0, static_cast(lane_start) - vehicle_length_idx)); const auto area_2d = lanelet::utils::to2D(polygon).basicPolygon(); - for (auto i = lane_start; i <= lane_end; ++i) { + for (auto i = start; i <= lane_end; ++i) { const auto & base_pose = path_ip.points.at(i).point.pose; const auto path_footprint = tier4_autoware_utils::transformVector( footprint, tier4_autoware_utils::pose2transform(base_pose)); @@ -237,12 +239,15 @@ static std::optional & polygons, const InterpolatedPathInfo & interpolated_path_info, - const tier4_autoware_utils::LinearRing2d & footprint) + const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length) { const auto & path_ip = interpolated_path_info.path; const auto [lane_start, lane_end] = interpolated_path_info.lane_id_interval.value(); + const size_t vehicle_length_idx = static_cast(vehicle_length / interpolated_path_info.ds); + const size_t start = + static_cast(std::max(0, static_cast(lane_start) - vehicle_length_idx)); - for (size_t i = lane_start; i <= lane_end; ++i) { + for (size_t i = start; i <= lane_end; ++i) { const auto & pose = path_ip.points.at(i).point.pose; const auto path_footprint = tier4_autoware_utils::transformVector(footprint, tier4_autoware_utils::pose2transform(pose)); @@ -259,7 +264,8 @@ getFirstPointInsidePolygonsByFootprint( std::optional generateIntersectionStopLines( const lanelet::CompoundPolygon3d & first_conflicting_area, - const lanelet::CompoundPolygon3d & first_detection_area, + const lanelet::CompoundPolygon3d & first_attention_area, + const lanelet::ConstLineString2d & first_attention_lane_centerline, const std::shared_ptr & planner_data, const InterpolatedPathInfo & interpolated_path_info, const bool use_stuck_stopline, const double stop_line_margin, const double max_accel, const double max_jerk, @@ -269,31 +275,39 @@ std::optional generateIntersectionStopLines( const auto & path_ip = interpolated_path_info.path; const double ds = interpolated_path_info.ds; const auto & lane_interval_ip = interpolated_path_info.lane_id_interval.value(); + const double baselink2front = planner_data->vehicle_info_.max_longitudinal_offset_m; const int stop_line_margin_idx_dist = std::ceil(stop_line_margin / ds); const int base2front_idx_dist = std::ceil(planner_data->vehicle_info_.max_longitudinal_offset_m / ds); - /* - // find the index of the first point that intersects with detection_areas - const auto first_inside_detection_idx_ip_opt = - getFirstPointInsidePolygon(path_ip, lane_interval_ip, first_detection_area); - // if path is not intersecting with detection_area, error - if (!first_inside_detection_idx_ip_opt) { - return std::nullopt; - } - const auto first_inside_detection_ip = first_inside_detection_idx_ip_opt.value(); - */ // find the index of the first point whose vehicle footprint on it intersects with detection_area const auto local_footprint = planner_data->vehicle_info_.createFootprint(0.0, 0.0); std::optional first_footprint_inside_detection_ip_opt = getFirstPointInsidePolygonByFootprint( - first_detection_area, interpolated_path_info, local_footprint); + first_attention_area, interpolated_path_info, local_footprint, baselink2front); if (!first_footprint_inside_detection_ip_opt) { return std::nullopt; } const auto first_footprint_inside_detection_ip = first_footprint_inside_detection_ip_opt.value(); + std::optional first_footprint_attention_centerline_ip_opt = std::nullopt; + for (auto i = std::get<0>(lane_interval_ip); i < std::get<1>(lane_interval_ip); ++i) { + const auto & base_pose = path_ip.points.at(i).point.pose; + const auto path_footprint = tier4_autoware_utils::transformVector( + local_footprint, tier4_autoware_utils::pose2transform(base_pose)); + if (bg::intersects(path_footprint, first_attention_lane_centerline.basicLineString())) { + // TODO(Mamoru Sobue): maybe consideration of braking dist is necessary + first_footprint_attention_centerline_ip_opt = i; + break; + } + } + if (!first_footprint_attention_centerline_ip_opt) { + return std::nullopt; + } + const size_t first_footprint_attention_centerline_ip = + first_footprint_attention_centerline_ip_opt.value(); + // (1) default stop line position on interpolated path bool default_stop_line_valid = true; int stop_idx_ip_int = -1; @@ -318,24 +332,25 @@ std::optional generateIntersectionStopLines( // (3) occlusion peeking stop line position on interpolated path int occlusion_peeking_line_ip_int = static_cast(default_stop_line_ip); bool occlusion_peeking_line_valid = true; + // NOTE: if footprints[0] is already inside the detection area, invalid { - // NOTE: if footprints[0] is already inside the detection area, invalid const auto & base_pose0 = path_ip.points.at(default_stop_line_ip).point.pose; const auto path_footprint0 = tier4_autoware_utils::transformVector( local_footprint, tier4_autoware_utils::pose2transform(base_pose0)); if (bg::intersects( - path_footprint0, lanelet::utils::to2D(first_detection_area).basicPolygon())) { + path_footprint0, lanelet::utils::to2D(first_attention_area).basicPolygon())) { occlusion_peeking_line_valid = false; } } if (occlusion_peeking_line_valid) { - occlusion_peeking_line_ip_int = first_footprint_inside_detection_ip; + occlusion_peeking_line_ip_int = + first_footprint_inside_detection_ip + std::ceil(peeking_offset / ds); } - const auto first_attention_stop_line_ip = static_cast(occlusion_peeking_line_ip_int); - const bool first_attention_stop_line_valid = occlusion_peeking_line_valid; - occlusion_peeking_line_ip_int += std::ceil(peeking_offset / ds); + const auto occlusion_peeking_line_ip = static_cast( std::clamp(occlusion_peeking_line_ip_int, 0, static_cast(path_ip.points.size()) - 1)); + const auto first_attention_stop_line_ip = first_footprint_inside_detection_ip; + const bool first_attention_stop_line_valid = true; // (4) pass judge line position on interpolated path const double velocity = planner_data->current_velocity->twist.linear.x; @@ -346,6 +361,9 @@ std::optional generateIntersectionStopLines( static_cast(first_footprint_inside_detection_ip) - std::ceil(braking_dist / ds); const auto pass_judge_line_ip = static_cast( std::clamp(pass_judge_ip_int, 0, static_cast(path_ip.points.size()) - 1)); + // TODO(Mamoru Sobue): maybe braking dist should be considered + const auto occlusion_wo_tl_pass_judge_line_ip = + static_cast(first_footprint_attention_centerline_ip); // (5) stuck vehicle stop line int stuck_stop_line_ip_int = 0; @@ -354,7 +372,7 @@ std::optional generateIntersectionStopLines( // NOTE: when ego vehicle is approaching detection area and already passed // first_conflicting_area, this could be null. const auto stuck_stop_line_idx_ip_opt = getFirstPointInsidePolygonByFootprint( - first_conflicting_area, interpolated_path_info, local_footprint); + first_conflicting_area, interpolated_path_info, local_footprint, baselink2front); if (!stuck_stop_line_idx_ip_opt) { stuck_stop_line_valid = false; stuck_stop_line_ip_int = 0; @@ -378,6 +396,7 @@ std::optional generateIntersectionStopLines( size_t first_attention_stop_line{0}; size_t occlusion_peeking_stop_line{0}; size_t pass_judge_line{0}; + size_t occlusion_wo_tl_pass_judge_line{0}; }; IntersectionStopLinesTemp intersection_stop_lines_temp; @@ -388,7 +407,8 @@ std::optional generateIntersectionStopLines( {&first_attention_stop_line_ip, &intersection_stop_lines_temp.first_attention_stop_line}, {&occlusion_peeking_line_ip, &intersection_stop_lines_temp.occlusion_peeking_stop_line}, {&pass_judge_line_ip, &intersection_stop_lines_temp.pass_judge_line}, - }; + {&occlusion_wo_tl_pass_judge_line_ip, + &intersection_stop_lines_temp.occlusion_wo_tl_pass_judge_line}}; stop_lines.sort( [](const auto & it1, const auto & it2) { return *(std::get<0>(it1)) < *(std::get<0>(it2)); }); for (const auto & [stop_idx_ip, stop_idx] : stop_lines) { @@ -407,12 +427,6 @@ std::optional generateIntersectionStopLines( intersection_stop_lines_temp.occlusion_peeking_stop_line = intersection_stop_lines_temp.default_stop_line; } - if ( - intersection_stop_lines_temp.occlusion_peeking_stop_line > - intersection_stop_lines_temp.pass_judge_line) { - intersection_stop_lines_temp.pass_judge_line = - intersection_stop_lines_temp.occlusion_peeking_stop_line; - } IntersectionStopLines intersection_stop_lines; intersection_stop_lines.closest_idx = intersection_stop_lines_temp.closest_idx; @@ -431,6 +445,8 @@ std::optional generateIntersectionStopLines( intersection_stop_lines_temp.occlusion_peeking_stop_line; } intersection_stop_lines.pass_judge_line = intersection_stop_lines_temp.pass_judge_line; + intersection_stop_lines.occlusion_wo_tl_pass_judge_line = + intersection_stop_lines_temp.occlusion_wo_tl_pass_judge_line; return intersection_stop_lines; } @@ -1457,13 +1473,13 @@ double calcDistanceUntilIntersectionLanelet( void IntersectionLanelets::update( const bool is_prioritized, const InterpolatedPathInfo & interpolated_path_info, - const tier4_autoware_utils::LinearRing2d & footprint) + const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length) { is_prioritized_ = is_prioritized; // find the first conflicting/detection area polygon intersecting the path if (!first_conflicting_area_) { - auto first = - getFirstPointInsidePolygonsByFootprint(conflicting_area_, interpolated_path_info, footprint); + auto first = getFirstPointInsidePolygonsByFootprint( + conflicting_area_, interpolated_path_info, footprint, vehicle_length); if (first) { first_conflicting_lane_ = conflicting_.at(first.value().second); first_conflicting_area_ = conflicting_area_.at(first.value().second); @@ -1471,7 +1487,7 @@ void IntersectionLanelets::update( } if (!first_attention_area_) { auto first = getFirstPointInsidePolygonsByFootprint( - attention_non_preceding_area_, interpolated_path_info, footprint); + attention_non_preceding_area_, interpolated_path_info, footprint, vehicle_length); if (first) { first_attention_lane_ = attention_non_preceding_.at(first.value().second); first_attention_area_ = attention_non_preceding_area_.at(first.value().second); diff --git a/planning/behavior_velocity_intersection_module/src/util.hpp b/planning/behavior_velocity_intersection_module/src/util.hpp index 2f204f06aac7c..0ff35ab5c0c23 100644 --- a/planning/behavior_velocity_intersection_module/src/util.hpp +++ b/planning/behavior_velocity_intersection_module/src/util.hpp @@ -69,7 +69,8 @@ std::optional generateStuckStopLine( std::optional generateIntersectionStopLines( const lanelet::CompoundPolygon3d & first_conflicting_area, - const lanelet::CompoundPolygon3d & first_detection_area, + const lanelet::CompoundPolygon3d & first_attention_area, + const lanelet::ConstLineString2d & first_attention_lane_centerline, const std::shared_ptr & planner_data, const InterpolatedPathInfo & interpolated_path_info, const bool use_stuck_stopline, const double stop_line_margin, const double max_accel, const double max_jerk, diff --git a/planning/behavior_velocity_intersection_module/src/util_type.hpp b/planning/behavior_velocity_intersection_module/src/util_type.hpp index 73e60aea6471a..d1ee4c2f79410 100644 --- a/planning/behavior_velocity_intersection_module/src/util_type.hpp +++ b/planning/behavior_velocity_intersection_module/src/util_type.hpp @@ -74,7 +74,7 @@ struct IntersectionLanelets public: void update( const bool is_prioritized, const InterpolatedPathInfo & interpolated_path_info, - const tier4_autoware_utils::LinearRing2d & footprint); + const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length); const lanelet::ConstLanelets & attention() const { return is_prioritized_ ? attention_non_preceding_ : attention_; @@ -160,6 +160,7 @@ struct IntersectionStopLines std::optional occlusion_peeking_stop_line{std::nullopt}; // if the value is calculated negative, its value is 0 size_t pass_judge_line{0}; + size_t occlusion_wo_tl_pass_judge_line{0}; }; struct PathLanelets From cd06205ae63be9b8e311ccef9e08adb0edb0128f Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Mon, 13 Nov 2023 12:48:27 +0900 Subject: [PATCH 094/701] fix: scan ground filter document (#5552) Signed-off-by: Shunsuke Miura --- .../docs/scan-ground-filter.md | 39 ++++++++++--------- 1 file changed, 20 insertions(+), 19 deletions(-) diff --git a/perception/ground_segmentation/docs/scan-ground-filter.md b/perception/ground_segmentation/docs/scan-ground-filter.md index bc44544fa298c..21df6fa6ea1b9 100644 --- a/perception/ground_segmentation/docs/scan-ground-filter.md +++ b/perception/ground_segmentation/docs/scan-ground-filter.md @@ -30,25 +30,26 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref #### Core Parameters ![scan_ground_parameter](./image/scan_ground_filter_parameters.drawio.svg) -| Name | Type | Default Value | Description | -| --------------------------------- | ------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `input_frame` | string | "base_link" | frame id of input pointcloud | -| `output_frame` | string | "base_link" | frame id of output pointcloud | -| `global_slope_max_angle_deg` | double | 8.0 | The global angle to classify as the ground or object [deg].
A large threshold may reduce false positive of high slope road classification but it may lead to increase false negative of non-ground classification, particularly for small objects. | -| `local_slope_max_angle_deg` | double | 10.0 | The local angle to classify as the ground or object [deg] when comparing with adjacent point.
A small value enhance accuracy classification of object with inclined surface. This should be considered together with `split_points_distance_tolerance` value. | -| `radial_divider_angle_deg` | double | 1.0 | The angle which divide the whole pointcloud to sliced group [deg] | -| `split_points_distance_tolerance` | double | 0.2 | The xy-distance threshold to distinguish far and near [m] | -| `split_height_distance` | double | 0.2 | The height threshold to distinguish ground and non-ground pointcloud when comparing with adjacent points [m].
A small threshold improves classification of non-ground point, especially for high elevation resolution pointcloud lidar. However, it might cause false positive for small step-like road surface or misaligned multiple lidar configuration. | -| `use_virtual_ground_point` | bool | true | whether to use the ground center of front wheels as the virtual ground point. | -| `detection_range_z_max` | float | 2.5 | Maximum height of detection range [m], applied only for elevation_grid_mode | -| `center_pcl_shift` | float | 0.0 | The x-axis offset of addition LiDARs from vehicle center of mass [m],
recommended to use only for additional LiDARs in elevation_grid_mode | -| `non_ground_height_threshold` | float | 0.2 | Height threshold of non ground objects [m] as `split_height_distance` and applied only for elevation_grid_mode | -| `grid_mode_switch_radius` | float | 20.0 | The distance where grid division mode change from by distance to by vertical angle [m],
applied only for elevation_grid_mode | -| `grid_size_m` | float | 0.5 | The first grid size [m], applied only for elevation_grid_mode.
A large value enhances the prediction stability for ground surface. suitable for rough surface or multiple lidar configuration. | -| `gnd_grid_buffer_size` | uint16 | 4 | Number of grids using to estimate local ground slope,
applied only for elevation_grid_mode | -| `low_priority_region_x` | float | -20.0 | The non-zero x threshold in back side from which small objects detection is low priority [m] | -| `elevation_grid_mode` | bool | true | Elevation grid scan mode option | -| `use_recheck_ground_cluster` | bool | true | Enable recheck ground cluster | + +| Name | Type | Default Value | Description | +| --------------------------------- | ------ | ------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `input_frame` | string | "base_link" | frame id of input pointcloud | +| `output_frame` | string | "base_link" | frame id of output pointcloud | +| `global_slope_max_angle_deg` | double | 8.0 | The global angle to classify as the ground or object [deg].
A large threshold may reduce false positive of high slope road classification but it may lead to increase false negative of non-ground classification, particularly for small objects. | +| `local_slope_max_angle_deg` | double | 10.0 | The local angle to classify as the ground or object [deg] when comparing with adjacent point.
A small value enhance accuracy classification of object with inclined surface. This should be considered together with `split_points_distance_tolerance` value. | +| `radial_divider_angle_deg` | double | 1.0 | The angle which divide the whole pointcloud to sliced group [deg] | +| `split_points_distance_tolerance` | double | 0.2 | The xy-distance threshold to distinguish far and near [m] | +| `split_height_distance` | double | 0.2 | The height threshold to distinguish ground and non-ground pointcloud when comparing with adjacent points [m].
A small threshold improves classification of non-ground point, especially for high elevation resolution pointcloud lidar. However, it might cause false positive for small step-like road surface or misaligned multiple lidar configuration. | +| `use_virtual_ground_point` | bool | true | whether to use the ground center of front wheels as the virtual ground point. | +| `detection_range_z_max` | float | 2.5 | Maximum height of detection range [m], applied only for elevation_grid_mode | +| `center_pcl_shift` | float | 0.0 | The x-axis offset of addition LiDARs from vehicle center of mass [m],
recommended to use only for additional LiDARs in elevation_grid_mode | +| `non_ground_height_threshold` | float | 0.2 | Height threshold of non ground objects [m] as `split_height_distance` and applied only for elevation_grid_mode | +| `grid_mode_switch_radius` | float | 20.0 | The distance where grid division mode change from by distance to by vertical angle [m],
applied only for elevation_grid_mode | +| `grid_size_m` | float | 0.5 | The first grid size [m], applied only for elevation_grid_mode.
A large value enhances the prediction stability for ground surface. suitable for rough surface or multiple lidar configuration. | +| `gnd_grid_buffer_size` | uint16 | 4 | Number of grids using to estimate local ground slope,
applied only for elevation_grid_mode | +| `low_priority_region_x` | float | -20.0 | The non-zero x threshold in back side from which small objects detection is low priority [m] | +| `elevation_grid_mode` | bool | true | Elevation grid scan mode option | +| `use_recheck_ground_cluster` | bool | true | Enable recheck ground cluster | ## Assumptions / Known limits From 1f861e88e227865b2938682ca7656341345ce5a5 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 13 Nov 2023 13:14:55 +0900 Subject: [PATCH 095/701] feat(geo_pose_projector): use geo_pose_projector in eagleye (#5513) * feat(tier4_geo_pose_projector): use tier4_geo_pose_projector in eagleye Signed-off-by: kminoda * style(pre-commit): autofix * fix(eagleye): split fix2pose Signed-off-by: kminoda * style(pre-commit): autofix * fix name: fuser -> fusion Signed-off-by: kminoda * style(pre-commit): autofix * update Signed-off-by: kminoda * style(pre-commit): autofix * update readme Signed-off-by: kminoda * style(pre-commit): autofix * add #include Signed-off-by: kminoda * add rclcpp in dependency Signed-off-by: kminoda * style(pre-commit): autofix * add limitation in readme Signed-off-by: kminoda * style(pre-commit): autofix * update tier4_localization_launch Signed-off-by: kminoda * update tier4_localization_launch Signed-off-by: kminoda * rename package Signed-off-by: kminoda * style(pre-commit): autofix --------- Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../eagleye/eagleye_rt.launch.xml | 10 +- .../eagleye/geo_pose_converter.launch.xml | 23 ---- launch/tier4_localization_launch/package.xml | 2 +- .../geo_pose_projector/CMakeLists.txt | 17 +++ localization/geo_pose_projector/README.md | 28 +++++ .../config/geo_pose_projector.param.yaml | 5 + .../launch/geo_pose_projector.launch.xml | 13 +++ localization/geo_pose_projector/package.xml | 30 +++++ .../schema/geo_pose_projector.schema.json | 43 ++++++++ .../src/geo_pose_projector.cpp | 103 ++++++++++++++++++ .../src/geo_pose_projector.hpp | 58 ++++++++++ .../src/geo_pose_projector_node.cpp | 29 +++++ 12 files changed, 334 insertions(+), 27 deletions(-) delete mode 100644 launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/geo_pose_converter.launch.xml create mode 100644 localization/geo_pose_projector/CMakeLists.txt create mode 100644 localization/geo_pose_projector/README.md create mode 100644 localization/geo_pose_projector/config/geo_pose_projector.param.yaml create mode 100644 localization/geo_pose_projector/launch/geo_pose_projector.launch.xml create mode 100644 localization/geo_pose_projector/package.xml create mode 100644 localization/geo_pose_projector/schema/geo_pose_projector.schema.json create mode 100644 localization/geo_pose_projector/src/geo_pose_projector.cpp create mode 100644 localization/geo_pose_projector/src/geo_pose_projector.hpp create mode 100644 localization/geo_pose_projector/src/geo_pose_projector_node.cpp diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml index 12d84f374f7c7..6cf8d390f919b 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml @@ -145,9 +145,13 @@ - - - + + + + + + + diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/geo_pose_converter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/geo_pose_converter.launch.xml deleted file mode 100644 index d4f82e72a297b..0000000000000 --- a/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/geo_pose_converter.launch.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 9a137032e1277..1126914d58c5a 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -16,11 +16,11 @@ ar_tag_based_localizer automatic_pose_initializer - eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_rt ekf_localizer + geo_pose_projector gyro_odometer ndt_scan_matcher pointcloud_preprocessor diff --git a/localization/geo_pose_projector/CMakeLists.txt b/localization/geo_pose_projector/CMakeLists.txt new file mode 100644 index 0000000000000..6e2cdf32fb6c5 --- /dev/null +++ b/localization/geo_pose_projector/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 3.14) +project(geo_pose_projector) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_executable(geo_pose_projector + src/geo_pose_projector_node.cpp + src/geo_pose_projector.cpp +) +ament_target_dependencies(geo_pose_projector) + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/localization/geo_pose_projector/README.md b/localization/geo_pose_projector/README.md new file mode 100644 index 0000000000000..a3363336da1a7 --- /dev/null +++ b/localization/geo_pose_projector/README.md @@ -0,0 +1,28 @@ +# geo_pose_projector + +## Overview + +This node is a simple node that subscribes to the geo-referenced pose topic and publishes the pose in the map frame. + +## Subscribed Topics + +| Name | Type | Description | +| ------------------------- | ---------------------------------------------------- | ------------------- | +| `input_geo_pose` | `geographic_msgs::msg::GeoPoseWithCovarianceStamped` | geo-referenced pose | +| `/map/map_projector_info` | `tier4_map_msgs::msg::MapProjectedObjectInfo` | map projector info | + +## Published Topics + +| Name | Type | Description | +| ------------- | ----------------------------------------------- | ------------------------------------- | +| `output_pose` | `geometry_msgs::msg::PoseWithCovarianceStamped` | pose in map frame | +| `/tf` | `tf2_msgs::msg::TFMessage` | tf from parent link to the child link | + +## Parameters + +{{ json_to_markdown("localization/geo_pose_projector/schema/geo_pose_projector.schema.json") }} + +## Limitations + +The covariance conversion may be incorrect depending on the projection type you are using. The covariance of input topic is expressed in (Latitude, Longitude, Altitude) as a diagonal matrix. +Currently, we assume that the x axis is the east direction and the y axis is the north direction. Thus, the conversion may be incorrect when this assumption breaks, especially when the covariance of latitude and longitude is different. diff --git a/localization/geo_pose_projector/config/geo_pose_projector.param.yaml b/localization/geo_pose_projector/config/geo_pose_projector.param.yaml new file mode 100644 index 0000000000000..704d9dce8a4ee --- /dev/null +++ b/localization/geo_pose_projector/config/geo_pose_projector.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + publish_tf: true + parent_frame: "map" + child_frame: "pose_estimator_base_link" diff --git a/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml b/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml new file mode 100644 index 0000000000000..d840add1ed1c7 --- /dev/null +++ b/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/localization/geo_pose_projector/package.xml b/localization/geo_pose_projector/package.xml new file mode 100644 index 0000000000000..d424ff14b9c99 --- /dev/null +++ b/localization/geo_pose_projector/package.xml @@ -0,0 +1,30 @@ + + + + geo_pose_projector + 0.1.0 + The geo_pose_projector package + Yamato Ando + Koji Minoda + Apache License 2.0 + Koji Minoda + + ament_cmake_auto + autoware_cmake + + component_interface_specs + component_interface_utils + geographic_msgs + geography_utils + geometry_msgs + rclcpp + tf2_geometry_msgs + tf2_ros + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/localization/geo_pose_projector/schema/geo_pose_projector.schema.json b/localization/geo_pose_projector/schema/geo_pose_projector.schema.json new file mode 100644 index 0000000000000..9daafb27f4320 --- /dev/null +++ b/localization/geo_pose_projector/schema/geo_pose_projector.schema.json @@ -0,0 +1,43 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for geo_pose_projector", + "type": "object", + "definitions": { + "geo_pose_projector": { + "type": "object", + "properties": { + "publish_tf": { + "type": "boolean", + "description": "whether to publish tf", + "default": true + }, + "parent_frame": { + "type": "string", + "description": "parent frame for published tf", + "default": "map" + }, + "child_frame": { + "type": "string", + "description": "child frame for published tf", + "default": "pose_estimator_base_link" + } + }, + "required": ["publish_tf", "parent_frame", "child_frame"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/geo_pose_projector" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/localization/geo_pose_projector/src/geo_pose_projector.cpp b/localization/geo_pose_projector/src/geo_pose_projector.cpp new file mode 100644 index 0000000000000..6d5308b929b25 --- /dev/null +++ b/localization/geo_pose_projector/src/geo_pose_projector.cpp @@ -0,0 +1,103 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "geo_pose_projector.hpp" + +#include +#include + +#ifdef ROS_DISTRO_GALACTIC +#include +#else +#include +#endif + +#include + +GeoPoseProjector::GeoPoseProjector() +: Node("geo_pose_projector"), publish_tf_(declare_parameter("publish_tf")) +{ + // Subscribe to map_projector_info topic + const auto adaptor = component_interface_utils::NodeAdaptor(this); + adaptor.init_sub( + sub_map_projector_info_, + [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { projector_info_ = *msg; }); + + // Subscribe to geo_pose topic + geo_pose_sub_ = create_subscription( + "input_geo_pose", 10, [this](const GeoPoseWithCovariance::SharedPtr msg) { on_geo_pose(msg); }); + + // Publish pose topic + pose_pub_ = create_publisher("output_pose", 10); + + // Publish tf + if (publish_tf_) { + tf_broadcaster_ = std::make_unique(this); + parent_frame_ = declare_parameter("parent_frame"); + child_frame_ = declare_parameter("child_frame"); + } +} + +void GeoPoseProjector::on_geo_pose(const GeoPoseWithCovariance::SharedPtr msg) +{ + if (!projector_info_) { + RCLCPP_WARN_THROTTLE( + get_logger(), *get_clock(), 1000 /* ms */, "map_projector_info is not received yet."); + return; + } + + // get position + geographic_msgs::msg::GeoPoint gps_point; + gps_point.latitude = msg->pose.pose.position.latitude; + gps_point.longitude = msg->pose.pose.position.longitude; + gps_point.altitude = msg->pose.pose.position.altitude; + geometry_msgs::msg::Point position = + geography_utils::project_forward(gps_point, projector_info_.value()); + position.z = geography_utils::convert_height( + position.z, gps_point.latitude, gps_point.longitude, MapProjectorInfo::Message::WGS84, + projector_info_.value().vertical_datum); + + // Convert geo_pose to pose + PoseWithCovariance projected_pose; + projected_pose.header = msg->header; + projected_pose.pose.pose.position = position; + projected_pose.pose.pose.orientation = msg->pose.pose.orientation; + projected_pose.pose.covariance = msg->pose.covariance; + + // Covariance in GeoPoseWithCovariance is in Lat/Lon/Alt coordinate. + // TODO(TIER IV): This swap may be invalid when using other projector type. + projected_pose.pose.covariance[0] = msg->pose.covariance[7]; + projected_pose.pose.covariance[7] = msg->pose.covariance[0]; + + pose_pub_->publish(projected_pose); + + // Publish tf + if (publish_tf_) { + tf2::Transform transform; + transform.setOrigin(tf2::Vector3( + projected_pose.pose.pose.position.x, projected_pose.pose.pose.position.y, + projected_pose.pose.pose.position.z)); + const auto localization_quat = tf2::Quaternion( + projected_pose.pose.pose.orientation.x, projected_pose.pose.pose.orientation.y, + projected_pose.pose.pose.orientation.z, projected_pose.pose.pose.orientation.w); + transform.setRotation(localization_quat); + + geometry_msgs::msg::TransformStamped transform_stamped; + transform_stamped.header = msg->header; + transform_stamped.header.frame_id = parent_frame_; + transform_stamped.child_frame_id = child_frame_; + transform_stamped.transform = tf2::toMsg(transform); + tf_broadcaster_->sendTransform(transform_stamped); + } +} diff --git a/localization/geo_pose_projector/src/geo_pose_projector.hpp b/localization/geo_pose_projector/src/geo_pose_projector.hpp new file mode 100644 index 0000000000000..b24b976b1eb61 --- /dev/null +++ b/localization/geo_pose_projector/src/geo_pose_projector.hpp @@ -0,0 +1,58 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef GEO_POSE_PROJECTOR_HPP_ +#define GEO_POSE_PROJECTOR_HPP_ + +#include +#include +#include + +#include +#include + +#include + +#include +#include +#include + +class GeoPoseProjector : public rclcpp::Node +{ +private: + using GeoPoseWithCovariance = geographic_msgs::msg::GeoPoseWithCovarianceStamped; + using PoseWithCovariance = geometry_msgs::msg::PoseWithCovarianceStamped; + using MapProjectorInfo = map_interface::MapProjectorInfo; + +public: + GeoPoseProjector(); + +private: + void on_geo_pose(const GeoPoseWithCovariance::SharedPtr msg); + + component_interface_utils::Subscription::SharedPtr sub_map_projector_info_; + rclcpp::Subscription::SharedPtr geo_pose_sub_; + rclcpp::Publisher::SharedPtr pose_pub_; + + std::unique_ptr tf_broadcaster_; + + std::optional projector_info_ = std::nullopt; + + const bool publish_tf_; + + std::string parent_frame_; + std::string child_frame_; +}; + +#endif // GEO_POSE_PROJECTOR_HPP_ diff --git a/localization/geo_pose_projector/src/geo_pose_projector_node.cpp b/localization/geo_pose_projector/src/geo_pose_projector_node.cpp new file mode 100644 index 0000000000000..97367d6b9f774 --- /dev/null +++ b/localization/geo_pose_projector/src/geo_pose_projector_node.cpp @@ -0,0 +1,29 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "geo_pose_projector.hpp" + +#include + +#include + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + + return 0; +} From c8b60f85dc29947446b72c85cb58c90dcb1019da Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 13 Nov 2023 13:23:03 +0900 Subject: [PATCH 096/701] feat(simple_planning_simulator): add acceleration and steer command scaling factor for debug (#5534) * feat(simple_planning_simulator): add acceleration and steer command scaling factor Signed-off-by: kosuke55 * update params as debug Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- simulator/simple_planning_simulator/README.md | 28 ++++++++++--------- .../sim_model_delay_steer_acc.hpp | 21 ++++++++------ .../sim_model_delay_steer_acc_geared.hpp | 21 ++++++++------ .../simple_planning_simulator_core.cpp | 8 ++++-- .../sim_model_delay_steer_acc.cpp | 13 ++++++--- .../sim_model_delay_steer_acc_geared.cpp | 14 ++++++---- 6 files changed, 65 insertions(+), 40 deletions(-) diff --git a/simulator/simple_planning_simulator/README.md b/simulator/simple_planning_simulator/README.md index 75f77489daada..0c5441c1ad9c8 100644 --- a/simulator/simple_planning_simulator/README.md +++ b/simulator/simple_planning_simulator/README.md @@ -67,19 +67,21 @@ The `IDEAL` model moves ideally as commanded, while the `DELAY` model moves base The table below shows which models correspond to what parameters. The model names are written in abbreviated form (e.g. IDEAL_STEER_VEL = I_ST_V). -| Name | Type | Description | I_ST_V | I_ST_A | I_ST_A_G | D_ST_V | D_ST_A | D_ST_A_G | Default value | unit | -| :------------------ | :----- | :--------------------------------------------------- | :----- | :----- | :------- | :----- | :----- | :------- | :------------ | :------ | -| acc_time_delay | double | dead time for the acceleration input | x | x | x | x | o | o | 0.1 | [s] | -| steer_time_delay | double | dead time for the steering input | x | x | x | o | o | o | 0.24 | [s] | -| vel_time_delay | double | dead time for the velocity input | x | x | x | o | x | x | 0.25 | [s] | -| acc_time_constant | double | time constant of the 1st-order acceleration dynamics | x | x | x | x | o | o | 0.1 | [s] | -| steer_time_constant | double | time constant of the 1st-order steering dynamics | x | x | x | o | o | o | 0.27 | [s] | -| steer_dead_band | double | dead band for steering angle | x | x | x | o | o | o | 0.0 | [rad] | -| vel_time_constant | double | time constant of the 1st-order velocity dynamics | x | x | x | o | x | x | 0.5 | [s] | -| vel_lim | double | limit of velocity | x | x | x | o | o | o | 50.0 | [m/s] | -| vel_rate_lim | double | limit of acceleration | x | x | x | o | o | o | 7.0 | [m/ss] | -| steer_lim | double | limit of steering angle | x | x | x | o | o | o | 1.0 | [rad] | -| steer_rate_lim | double | limit of steering angle change rate | x | x | x | o | o | o | 5.0 | [rad/s] | +| Name | Type | Description | I_ST_V | I_ST_A | I_ST_A_G | D_ST_V | D_ST_A | D_ST_A_G | Default value | unit | +| :------------------------- | :----- | :--------------------------------------------------- | :----- | :----- | :------- | :----- | :----- | :------- | :------------ | :------ | +| acc_time_delay | double | dead time for the acceleration input | x | x | x | x | o | o | 0.1 | [s] | +| steer_time_delay | double | dead time for the steering input | x | x | x | o | o | o | 0.24 | [s] | +| vel_time_delay | double | dead time for the velocity input | x | x | x | o | x | x | 0.25 | [s] | +| acc_time_constant | double | time constant of the 1st-order acceleration dynamics | x | x | x | x | o | o | 0.1 | [s] | +| steer_time_constant | double | time constant of the 1st-order steering dynamics | x | x | x | o | o | o | 0.27 | [s] | +| steer_dead_band | double | dead band for steering angle | x | x | x | o | o | o | 0.0 | [rad] | +| vel_time_constant | double | time constant of the 1st-order velocity dynamics | x | x | x | o | x | x | 0.5 | [s] | +| vel_lim | double | limit of velocity | x | x | x | o | o | o | 50.0 | [m/s] | +| vel_rate_lim | double | limit of acceleration | x | x | x | o | o | o | 7.0 | [m/ss] | +| steer_lim | double | limit of steering angle | x | x | x | o | o | o | 1.0 | [rad] | +| steer_rate_lim | double | limit of steering angle change rate | x | x | x | o | o | o | 5.0 | [rad/s] | +| debug_acc_scaling_factor | double | scaling factor for accel command | x | x | x | x | o | o | 1.0 | [-] | +| debug_steer_scaling_factor | double | scaling factor for steer command | x | x | x | x | o | o | 1.0 | [-] | diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp index 289c607a18d90..92129541ff891 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp @@ -40,11 +40,14 @@ class SimModelDelaySteerAcc : public SimModelInterface * @param [in] steer_delay time delay for steering command [s] * @param [in] steer_time_constant time constant for 1D model of steering dynamics * @param [in] steer_dead_band dead band for steering angle [rad] + * @param [in] debug_acc_scaling_factor scaling factor for accel command + * @param [in] debug_steer_scaling_factor scaling factor for steering command */ SimModelDelaySteerAcc( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, - double steer_time_constant, double steer_dead_band); + double steer_time_constant, double steer_dead_band, double debug_acc_scaling_factor, + double debug_steer_scaling_factor); /** * @brief default destructor @@ -74,13 +77,15 @@ class SimModelDelaySteerAcc : public SimModelInterface const double steer_rate_lim_; //!< @brief steering angular velocity limit [rad/s] const double wheelbase_; //!< @brief vehicle wheelbase length [m] - std::deque acc_input_queue_; //!< @brief buffer for accel command - std::deque steer_input_queue_; //!< @brief buffer for steering command - const double acc_delay_; //!< @brief time delay for accel command [s] - const double acc_time_constant_; //!< @brief time constant for accel dynamics - const double steer_delay_; //!< @brief time delay for steering command [s] - const double steer_time_constant_; //!< @brief time constant for steering dynamics - const double steer_dead_band_; //!< @brief dead band for steering angle [rad] + std::deque acc_input_queue_; //!< @brief buffer for accel command + std::deque steer_input_queue_; //!< @brief buffer for steering command + const double acc_delay_; //!< @brief time delay for accel command [s] + const double acc_time_constant_; //!< @brief time constant for accel dynamics + const double steer_delay_; //!< @brief time delay for steering command [s] + const double steer_time_constant_; //!< @brief time constant for steering dynamics + const double steer_dead_band_; //!< @brief dead band for steering angle [rad] + const double debug_acc_scaling_factor_; //!< @brief scaling factor for accel command + const double debug_steer_scaling_factor_; //!< @brief scaling factor for steering command /** * @brief set queue buffer for input command diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp index 3bda878f8cd76..376ee55f1aa5e 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp @@ -40,11 +40,14 @@ class SimModelDelaySteerAccGeared : public SimModelInterface * @param [in] steer_delay time delay for steering command [s] * @param [in] steer_time_constant time constant for 1D model of steering dynamics * @param [in] steer_dead_band dead band for steering angle [rad] + * @param [in] debug_acc_scaling_factor scaling factor for accel command + * @param [in] debug_steer_scaling_factor scaling factor for steering command */ SimModelDelaySteerAccGeared( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, - double steer_time_constant, double steer_dead_band); + double steer_time_constant, double steer_dead_band, double debug_acc_scaling_factor, + double debug_steer_scaling_factor); /** * @brief default destructor @@ -74,13 +77,15 @@ class SimModelDelaySteerAccGeared : public SimModelInterface const double steer_rate_lim_; //!< @brief steering angular velocity limit [rad/s] const double wheelbase_; //!< @brief vehicle wheelbase length [m] - std::deque acc_input_queue_; //!< @brief buffer for accel command - std::deque steer_input_queue_; //!< @brief buffer for steering command - const double acc_delay_; //!< @brief time delay for accel command [s] - const double acc_time_constant_; //!< @brief time constant for accel dynamics - const double steer_delay_; //!< @brief time delay for steering command [s] - const double steer_time_constant_; //!< @brief time constant for steering dynamics - const double steer_dead_band_; //!< @brief dead band for steering angle [rad] + std::deque acc_input_queue_; //!< @brief buffer for accel command + std::deque steer_input_queue_; //!< @brief buffer for steering command + const double acc_delay_; //!< @brief time delay for accel command [s] + const double acc_time_constant_; //!< @brief time constant for accel dynamics + const double steer_delay_; //!< @brief time delay for steering command [s] + const double steer_time_constant_; //!< @brief time constant for steering dynamics + const double steer_dead_band_; //!< @brief dead band for steering angle [rad] + const double debug_acc_scaling_factor_; //!< @brief scaling factor for accel command + const double debug_steer_scaling_factor_; //!< @brief scaling factor for steering command /** * @brief set queue buffer for input command diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index f2629a0586045..07a5d34f63c39 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -230,6 +230,8 @@ void SimplePlanningSimulator::initialize_vehicle_model() const double steer_time_delay = declare_parameter("steer_time_delay", 0.24); const double steer_time_constant = declare_parameter("steer_time_constant", 0.27); const double steer_dead_band = declare_parameter("steer_dead_band", 0.0); + const double debug_acc_scaling_factor = declare_parameter("debug_acc_scaling_factor", 1.0); + const double debug_steer_scaling_factor = declare_parameter("debug_steer_scaling_factor", 1.0); const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo(); const double wheelbase = vehicle_info.wheel_base_m; @@ -251,12 +253,14 @@ void SimplePlanningSimulator::initialize_vehicle_model() vehicle_model_type_ = VehicleModelType::DELAY_STEER_ACC; vehicle_model_ptr_ = std::make_shared( vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, timer_sampling_time_ms_ / 1000.0, - acc_time_delay, acc_time_constant, steer_time_delay, steer_time_constant, steer_dead_band); + acc_time_delay, acc_time_constant, steer_time_delay, steer_time_constant, steer_dead_band, + debug_acc_scaling_factor, debug_steer_scaling_factor); } else if (vehicle_model_type_str == "DELAY_STEER_ACC_GEARED") { vehicle_model_type_ = VehicleModelType::DELAY_STEER_ACC_GEARED; vehicle_model_ptr_ = std::make_shared( vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, timer_sampling_time_ms_ / 1000.0, - acc_time_delay, acc_time_constant, steer_time_delay, steer_time_constant, steer_dead_band); + acc_time_delay, acc_time_constant, steer_time_delay, steer_time_constant, steer_dead_band, + debug_acc_scaling_factor, debug_steer_scaling_factor); } else { throw std::invalid_argument("Invalid vehicle_model_type: " + vehicle_model_type_str); } diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp index 964157cdeb64c..670671165de60 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp @@ -19,7 +19,8 @@ SimModelDelaySteerAcc::SimModelDelaySteerAcc( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, - double steer_time_constant, double steer_dead_band) + double steer_time_constant, double steer_dead_band, double debug_acc_scaling_factor, + double debug_steer_scaling_factor) : SimModelInterface(6 /* dim x */, 2 /* dim u */), MIN_TIME_CONSTANT(0.03), vx_lim_(vx_lim), @@ -31,7 +32,9 @@ SimModelDelaySteerAcc::SimModelDelaySteerAcc( acc_time_constant_(std::max(acc_time_constant, MIN_TIME_CONSTANT)), steer_delay_(steer_delay), steer_time_constant_(std::max(steer_time_constant, MIN_TIME_CONSTANT)), - steer_dead_band_(steer_dead_band) + steer_dead_band_(steer_dead_band), + debug_acc_scaling_factor_(std::max(debug_acc_scaling_factor, 0.0)), + debug_steer_scaling_factor_(std::max(debug_steer_scaling_factor, 0.0)) { initializeInputQueue(dt); } @@ -104,8 +107,10 @@ Eigen::VectorXd SimModelDelaySteerAcc::calcModel( const double acc = sat(state(IDX::ACCX), vx_rate_lim_, -vx_rate_lim_); const double yaw = state(IDX::YAW); const double steer = state(IDX::STEER); - const double acc_des = sat(input(IDX_U::ACCX_DES), vx_rate_lim_, -vx_rate_lim_); - const double steer_des = sat(input(IDX_U::STEER_DES), steer_lim_, -steer_lim_); + const double acc_des = + sat(input(IDX_U::ACCX_DES), vx_rate_lim_, -vx_rate_lim_) * debug_acc_scaling_factor_; + const double steer_des = + sat(input(IDX_U::STEER_DES), steer_lim_, -steer_lim_) * debug_steer_scaling_factor_; const double steer_diff = steer - steer_des; const double steer_diff_with_dead_band = std::invoke([&]() { if (steer_diff > steer_dead_band_) { diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp index 76669c9490fc6..d72b8bf116d77 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp @@ -21,7 +21,8 @@ SimModelDelaySteerAccGeared::SimModelDelaySteerAccGeared( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, - double steer_time_constant, double steer_dead_band) + double steer_time_constant, double steer_dead_band, double debug_acc_scaling_factor, + double debug_steer_scaling_factor) : SimModelInterface(6 /* dim x */, 2 /* dim u */), MIN_TIME_CONSTANT(0.03), vx_lim_(vx_lim), @@ -33,8 +34,9 @@ SimModelDelaySteerAccGeared::SimModelDelaySteerAccGeared( acc_time_constant_(std::max(acc_time_constant, MIN_TIME_CONSTANT)), steer_delay_(steer_delay), steer_time_constant_(std::max(steer_time_constant, MIN_TIME_CONSTANT)), - steer_dead_band_(steer_dead_band) - + steer_dead_band_(steer_dead_band), + debug_acc_scaling_factor_(std::max(debug_acc_scaling_factor, 0.0)), + debug_steer_scaling_factor_(std::max(debug_steer_scaling_factor, 0.0)) { initializeInputQueue(dt); } @@ -113,8 +115,10 @@ Eigen::VectorXd SimModelDelaySteerAccGeared::calcModel( const double acc = sat(state(IDX::ACCX), vx_rate_lim_, -vx_rate_lim_); const double yaw = state(IDX::YAW); const double steer = state(IDX::STEER); - const double acc_des = sat(input(IDX_U::ACCX_DES), vx_rate_lim_, -vx_rate_lim_); - const double steer_des = sat(input(IDX_U::STEER_DES), steer_lim_, -steer_lim_); + const double acc_des = + sat(input(IDX_U::ACCX_DES), vx_rate_lim_, -vx_rate_lim_) * debug_acc_scaling_factor_; + const double steer_des = + sat(input(IDX_U::STEER_DES), steer_lim_, -steer_lim_) * debug_steer_scaling_factor_; const double steer_diff = steer - steer_des; const double steer_diff_with_dead_band = std::invoke([&]() { if (steer_diff > steer_dead_band_) { From dcbff101ea0548d25fed24c89356b86148d8f538 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Mon, 13 Nov 2023 17:44:07 +0900 Subject: [PATCH 097/701] fix(ndt_scan_matcher): make regularization process thread safe (#5550) * use mutex rather than main_callback_group Signed-off-by: Kento Yabuuchi * subscribe reg_pose only when regularization is enabled Signed-off-by: Kento Yabuuchi * add some comments to describe Signed-off-by: Kento Yabuuchi * use initial_pose_callback_group Signed-off-by: Kento Yabuuchi * fix typo (pauses->poses) Signed-off-by: Kento Yabuuchi Co-authored-by: Yamato Ando --------- Signed-off-by: Kento Yabuuchi Co-authored-by: Yamato Ando --- .../ndt_scan_matcher_core.hpp | 5 +- .../src/ndt_scan_matcher_core.cpp | 51 ++++++++++++++----- 2 files changed, 40 insertions(+), 16 deletions(-) diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp index f0d90fdfa0e08..6f9420f5bc71a 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -204,9 +204,10 @@ class NDTScanMatcher : public rclcpp::Node std::mutex initial_pose_array_mtx_; // variables for regularization - const bool regularization_enabled_; + const bool regularization_enabled_; // whether to use longitudinal regularization std::deque - regularization_pose_msg_ptr_array_; + regularization_pose_msg_ptr_array_; // queue for storing regularization base poses + std::mutex regularization_mutex_; // mutex for regularization_pose_msg_ptr_array_ bool is_activated_; std::shared_ptr tf2_listener_module_; diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index a2e89540a172f..1317b8bacf47f 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -219,10 +219,20 @@ NDTScanMatcher::NDTScanMatcher() sensor_points_sub_ = this->create_subscription( "points_raw", rclcpp::SensorDataQoS().keep_last(points_queue_size), std::bind(&NDTScanMatcher::callback_sensor_points, this, std::placeholders::_1), main_sub_opt); - regularization_pose_sub_ = - this->create_subscription( - "regularization_pose_with_covariance", 100, - std::bind(&NDTScanMatcher::callback_regularization_pose, this, std::placeholders::_1)); + + // Only if regularization is enabled, subscribe to the regularization base pose + if (regularization_enabled_) { + // NOTE: The reason that the regularization subscriber does not belong to the + // main_callback_group is to ensure that the regularization callback is called even if + // sensor_callback takes long time to process. + // Both callback_initial_pose and callback_regularization_pose must not miss receiving data for + // proper interpolation. + regularization_pose_sub_ = + this->create_subscription( + "regularization_pose_with_covariance", 10, + std::bind(&NDTScanMatcher::callback_regularization_pose, this, std::placeholders::_1), + initial_pose_sub_opt); + } sensor_aligned_pose_pub_ = this->create_publisher("points_aligned", 10); @@ -397,7 +407,10 @@ void NDTScanMatcher::callback_initial_pose( void NDTScanMatcher::callback_regularization_pose( geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr pose_conv_msg_ptr) { + // Get lock for regularization_pose_msg_ptr_array_ + std::lock_guard lock(regularization_mutex_); regularization_pose_msg_ptr_array_.push_back(pose_conv_msg_ptr); + // Release lock for regularization_pose_msg_ptr_array_ } void NDTScanMatcher::callback_sensor_points( @@ -459,7 +472,9 @@ void NDTScanMatcher::callback_sensor_points( initial_pose_array_lock.unlock(); // if regularization is enabled and available, set pose to NDT for regularization - if (regularization_enabled_) add_regularization_pose(sensor_ros_time); + if (regularization_enabled_) { + add_regularization_pose(sensor_ros_time); + } if (ndt_ptr_->getInputTarget() == nullptr) { RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1, "No MAP!"); @@ -816,21 +831,29 @@ std::array NDTScanMatcher::estimate_covariance( std::optional NDTScanMatcher::interpolate_regularization_pose( const rclcpp::Time & sensor_ros_time) { - if (regularization_pose_msg_ptr_array_.empty()) { - return std::nullopt; - } + std::shared_ptr interpolator = nullptr; + { + // Get lock for regularization_pose_msg_ptr_array_ + std::lock_guard lock(regularization_mutex_); - // synchronization - PoseArrayInterpolator interpolator(this, sensor_ros_time, regularization_pose_msg_ptr_array_); + if (regularization_pose_msg_ptr_array_.empty()) { + return std::nullopt; + } + + interpolator = std::make_shared( + this, sensor_ros_time, regularization_pose_msg_ptr_array_); - pop_old_pose(regularization_pose_msg_ptr_array_, sensor_ros_time); + // Remove old poses to make next interpolation more efficient + pop_old_pose(regularization_pose_msg_ptr_array_, sensor_ros_time); + + // Release lock for regularization_pose_msg_ptr_array_ + } - // if the interpolate_pose fails, 0.0 is stored in the stamp - if (rclcpp::Time(interpolator.get_current_pose().header.stamp).seconds() == 0.0) { + if (!interpolator || !interpolator->is_success()) { return std::nullopt; } - return pose_to_matrix4f(interpolator.get_current_pose().pose.pose); + return pose_to_matrix4f(interpolator->get_current_pose().pose.pose); } void NDTScanMatcher::add_regularization_pose(const rclcpp::Time & sensor_ros_time) From 54ff23ab1bf21f2cd433502395037f3f48c40972 Mon Sep 17 00:00:00 2001 From: Bupesh Rethinam Veeraiah <93628947+bupeshr@users.noreply.github.com> Date: Mon, 13 Nov 2023 17:53:46 +0900 Subject: [PATCH 098/701] test(obstacle_velocity_limiter): added test cases for particle model and approximation method (#5342) Co-authored-by: Maxime CLEMENT --- .../test/test_collision_distance.cpp | 215 +++++++++++++++++- 1 file changed, 212 insertions(+), 3 deletions(-) diff --git a/planning/obstacle_velocity_limiter/test/test_collision_distance.cpp b/planning/obstacle_velocity_limiter/test/test_collision_distance.cpp index e9cf8d9ad4dd6..c5e69e5fd8fb9 100644 --- a/planning/obstacle_velocity_limiter/test/test_collision_distance.cpp +++ b/planning/obstacle_velocity_limiter/test/test_collision_distance.cpp @@ -34,7 +34,7 @@ const auto point_in_polygon = [](const auto x, const auto y, const auto & polygo }) != polygon.outer().end(); }; -TEST(TestCollisionDistance, distanceToClosestCollision) +TEST(TestCollisionDistance, distanceToClosestCollisionParticleModel) { using obstacle_velocity_limiter::CollisionChecker; using obstacle_velocity_limiter::distanceToClosestCollision; @@ -76,11 +76,11 @@ TEST(TestCollisionDistance, distanceToClosestCollision) ASSERT_TRUE(result.has_value()); EXPECT_DOUBLE_EQ(*result, 3.0); - obstacles.points.emplace_back(2.5, -0.75); + obstacles.points.emplace_back(2.75, -0.75); result = distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); ASSERT_TRUE(result.has_value()); - EXPECT_DOUBLE_EQ(*result, 2.5); + EXPECT_DOUBLE_EQ(*result, 2.75); // Change vector and footprint vector = linestring_t{{0.0, 0.0}, {5.0, 5.0}}; @@ -95,6 +95,7 @@ TEST(TestCollisionDistance, distanceToClosestCollision) ASSERT_FALSE(result.has_value()); obstacles.points.emplace_back(4.0, 4.0); + result = distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); ASSERT_TRUE(result.has_value()); @@ -151,6 +152,214 @@ TEST(TestCollisionDistance, distanceToClosestCollision) EXPECT_NEAR(*result, 2.121, 1e-3); } +TEST(TestCollisionDistance, distanceToClosestCollisionApproximation) +{ + using obstacle_velocity_limiter::CollisionChecker; + using obstacle_velocity_limiter::distanceToClosestCollision; + using obstacle_velocity_limiter::linestring_t; + using obstacle_velocity_limiter::polygon_t; + + obstacle_velocity_limiter::ProjectionParameters params; + params.distance_method = obstacle_velocity_limiter::ProjectionParameters::APPROXIMATION; + params.heading = 0.0; + linestring_t vector = {{0.0, 0.0}, {5.0, 0.0}}; + polygon_t footprint; + footprint.outer() = {{0.0, 1.0}, {5.0, 1.0}, {5.0, -1.0}, {0.0, -1.0}}; + boost::geometry::correct(footprint); // avoid bugs with malformed polygon + obstacle_velocity_limiter::Obstacles obstacles; + + auto EPS = 1e-2; + + std::optional result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + // Non Value obstacles + obstacles.points.emplace_back(-1.0, 0.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(1.0, 2.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + // inside the polygon + obstacles.points.emplace_back(4.0, 0.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_DOUBLE_EQ(*result, 4.0); + + obstacles.points.emplace_back(3.0, 0.5); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 3.04, EPS); + + obstacles.points.emplace_back(2.5, -0.75); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.61, EPS); + + obstacles.points.emplace_back(2.0, -1.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.23, EPS); + + // Change vector and footprint + vector = linestring_t{{0.0, 0.0}, {5.0, 5.0}}; + params.heading = M_PI_4; + footprint.outer() = {{-1.0, 1.0}, {4.0, 6.0}, {6.0, 4.0}, {1.0, -1.0}}; + boost::geometry::correct(footprint); // avoid bugs with malformed polygon + obstacles.points.clear(); + obstacles.lines.clear(); + + // auto EPS = 1e-3; + obstacles.points.emplace_back(5.0, 1.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(4.0, 4.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 5.65, EPS); + + obstacles.points.emplace_back(1.0, 2.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.23, EPS); + + // Change vector (opposite direction) + params.heading = -3 * M_PI_4; + vector = linestring_t{{5.0, 5.0}, {0.0, 0.0}}; + obstacles.points.clear(); + obstacles.lines.clear(); + + obstacles.points.emplace_back(1.0, 1.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 5.65, EPS); + + obstacles.points.emplace_back(4.0, 3.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.23, EPS); +} + +TEST(TestCollisionDistance, distanceToClosestCollisionBicycleModel) +{ + using obstacle_velocity_limiter::CollisionChecker; + using obstacle_velocity_limiter::distanceToClosestCollision; + using obstacle_velocity_limiter::linestring_t; + using obstacle_velocity_limiter::polygon_t; + + obstacle_velocity_limiter::ProjectionParameters params; + params.model = obstacle_velocity_limiter::ProjectionParameters::BICYCLE; + params.heading = 0.0; + linestring_t vector = {{0.0, 0.0}, {5.0, 0.0}}; + polygon_t footprint; + footprint.outer() = {{0.0, 1.0}, {5.0, 1.0}, {5.0, -1.0}, {0.0, -1.0}}; + boost::geometry::correct(footprint); // avoid bugs with malformed polygon + obstacle_velocity_limiter::Obstacles obstacles; + + auto EPS = 1e-2; + + std::optional result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(-1.0, 0.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(1.0, 2.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(4.0, 0.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(3.0, 0.5); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 3.05, EPS); + + obstacles.points.emplace_back(2.5, -0.75); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.64, EPS); + + // Change vector and footprint + vector = linestring_t{{0.0, 0.0}, {5.0, 5.0}}; + params.heading = M_PI_2; + footprint.outer() = {{-1.0, 1.0}, {4.0, 6.0}, {6.0, 4.0}, {1.0, -1.0}}; + boost::geometry::correct(footprint); // avoid bugs with malformed polygon + obstacles.points.clear(); + obstacles.lines.clear(); + + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(4.0, 4.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 6.28, EPS); + + obstacles.points.emplace_back(1.0, 2.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.31, EPS); + + // Change vector (opposite direction) + params.heading = -M_PI; + vector = linestring_t{{5.0, 5.0}, {0.0, 0.0}}; + obstacles.points.clear(); + obstacles.lines.clear(); + + obstacles.points.emplace_back(1.0, 1.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 6.28, EPS); + + obstacles.points.emplace_back(4.0, 3.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.76, EPS); + + // change vector and footprint + params.heading = M_PI_2; + vector = linestring_t{{3.0, 3.0}, {0.0, 3.0}}; + footprint.outer() = {{1.0, -1.0}, {-4.0, 6.0}, {-5.0, -4.0}, {1.0, -4.0}}; + boost::geometry::correct(footprint); + obstacles.points.clear(); + obstacles.lines.clear(); + + obstacles.points.emplace_back(-2.0, -1.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 7.34, EPS); +} + TEST(TestCollisionDistance, arcDistance) { using obstacle_velocity_limiter::arcDistance; From 387cb24426a69a83dc54a6a27cd3cb576b6c36d2 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 13 Nov 2023 17:58:19 +0900 Subject: [PATCH 099/701] fix(sampling_based_planner): fix runtime error (#5490) Signed-off-by: satoshi-ota --- .../include/bezier_sampler/bezier_sampling.hpp | 1 + planning/sampling_based_planner/path_sampler/src/node.cpp | 5 +++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/planning/sampling_based_planner/bezier_sampler/include/bezier_sampler/bezier_sampling.hpp b/planning/sampling_based_planner/bezier_sampler/include/bezier_sampler/bezier_sampling.hpp index 624cd585b0a72..18df9dcb796d8 100644 --- a/planning/sampling_based_planner/bezier_sampler/include/bezier_sampler/bezier_sampling.hpp +++ b/planning/sampling_based_planner/bezier_sampler/include/bezier_sampler/bezier_sampling.hpp @@ -17,6 +17,7 @@ #include #include +#include #include #include diff --git a/planning/sampling_based_planner/path_sampler/src/node.cpp b/planning/sampling_based_planner/path_sampler/src/node.cpp index aa037755bbedd..e61f635de67c4 100644 --- a/planning/sampling_based_planner/path_sampler/src/node.cpp +++ b/planning/sampling_based_planner/path_sampler/src/node.cpp @@ -298,7 +298,8 @@ PlannerData PathSampler::createPlannerData(const Path & path) const return planner_data; } -void copyZ(const std::vector & from_traj, std::vector & to_traj) +void PathSampler::copyZ( + const std::vector & from_traj, std::vector & to_traj) { if (from_traj.empty() || to_traj.empty()) return; to_traj.front().pose.position.z = from_traj.front().pose.position.z; @@ -320,7 +321,7 @@ void copyZ(const std::vector & from_traj, std::vectorpose.position.z; } -void copyVelocity( +void PathSampler::copyVelocity( const std::vector & from_traj, std::vector & to_traj, const geometry_msgs::msg::Pose & ego_pose) { From cbbc7b7257c4fb65770d952966c0e372b31181d8 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 13 Nov 2023 19:23:36 +0900 Subject: [PATCH 100/701] docs(lane_change): stopping position when an object exists ahead (#5523) * docs(lane_change): Stopping position when an object exists ahead Signed-off-by: kosuke55 * add stuck params Signed-off-by: kosuke55 * add backward_length_buffer_for_blocking_object Signed-off-by: kosuke55 * add stop for lane change Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- ...ehavior_path_planner_lane_change_design.md | 159 +++++++++++++----- .../lane_change-stop_at_terminal.drawio.svg | 94 +++++++++++ ...hange-stop_at_terminal_no_block.drawio.svg | 76 +++++++++ ...hange-stop_far_from_target_lane.drawio.svg | 85 ++++++++++ ...ane_change-stop_not_at_terminal.drawio.svg | 70 ++++++++ ..._at_terminal_no_blocking_object.drawio.svg | 76 +++++++++ 6 files changed, 518 insertions(+), 42 deletions(-) create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal.drawio.svg create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal_no_block.drawio.svg create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-stop_far_from_target_lane.drawio.svg create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal.drawio.svg create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md index 2e5e486afc7c3..ee74f700c4d42 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md @@ -186,6 +186,46 @@ The following figure illustrates when the lane is blocked in multiple lane chang ![multiple-lane-changes](../image/lane_change/lane_change-when_cannot_change_lanes.png) +#### Stopping position when an object exists ahead + +When an obstacle is in front of the ego vehicle, stop with keeping a distance for lane change. +The position to be stopped depends on the situation, such as when the lane change is blocked by the target lane obstacle, or when the lane change is not needed immediately.The following shows the division in that case. + +##### When the ego vehicle is near the end of the lane change + +Regardless of the presence or absence of objects in the lane change target lane, stop by keeping the distance necessary for lane change to the object ahead. + +![stop_at_terminal_no_block](../image/lane_change/lane_change-stop_at_terminal_no_block.drawio.svg) + +![stop_at_terminal](../image/lane_change/lane_change-stop_at_terminal.drawio.svg) + +##### When the ego vehicle is not near the end of the lane change + +If there are NO objects in the lane change section of the target lane, stop by keeping the distance necessary for lane change to the object ahead. + +![stop_not_at_terminal_no_blocking_object](../image/lane_change/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg) + +If there are objects in the lane change section of the target lane, stop WITHOUT keeping the distance necessary for lane change to the object ahead. + +![stop_not_at_terminal](../image/lane_change/lane_change-stop_not_at_terminal.drawio.svg) + +##### When the target lane is far away + +When the target lane for lane change is far away and not next to the current lane, do not keep the distance necessary for lane change to the object ahead. + +![stop_far_from_target_lane](../image/lane_change/lane_change-stop_far_from_target_lane.drawio.svg) + +### Lane Change When Stuck + +The ego vehicle is considered stuck if it is stopped and meets any of the following conditions: + +- There is an obstacle in front of the current lane +- The ego vehicle is at the end of the current lane + +In this case, the safety check for lane change is relaxed compared to normal times. +Please refer to the 'stuck' section under the 'Collision checks during lane change' for more details. +The function to stop by keeping a margin against forward obstacle in the previous section is being performed to achieve this feature. + ### Lane change regulations If you want to regulate lane change on crosswalks or intersections, the lane change module finds a lane change path excluding it includes crosswalks or intersections. @@ -272,35 +312,36 @@ The last behavior will also occur if the ego vehicle has departed from the curre The following parameters are configurable in `lane_change.param.yaml`. -| Name | Unit | Type | Description | Default value | -| :------------------------------------------ | ------ | ------- | --------------------------------------------------------------------------------------------------------------- | ------------------ | -| `backward_lane_length` | [m] | double | The backward length to check incoming objects in lane change target lane. | 200.0 | -| `prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | -| `backward_length_buffer_for_end_of_lane` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change | 2.0 | -| `lane_change_finish_judge_buffer` | [m] | double | The additional buffer used to confirm lane change process completion | 3.0 | -| `finish_judge_lateral_threshold` | [m] | double | Lateral distance threshold to confirm lane change process completion | 0.2 | -| `lane_changing_lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 | -| `minimum_lane_changing_velocity` | [m/s] | double | Minimum speed during lane changing process. | 2.78 | -| `prediction_time_resolution` | [s] | double | Time resolution for object's path interpolation and collision check. | 0.5 | -| `longitudinal_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by longitudinal acceleration | 5 | -| `lateral_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 | -| `object_check_min_road_shoulder_width` | [m] | double | Width considered as a road shoulder if the lane does not have a road shoulder | 0.5 | -| `object_shiftable_ratio_threshold` | [-] | double | Vehicles around the center line within this distance ratio will be excluded from parking objects | 0.6 | -| `min_length_for_turn_signal_activation` | [m] | double | Turn signal will be activated if the ego vehicle approaches to this length from minimum lane change length | 10.0 | -| `length_ratio_for_turn_signal_deactivation` | [-] | double | Turn signal will be deactivated if the ego vehicle approaches to this length ratio for lane change finish point | 0.8 | -| `max_longitudinal_acc` | [-] | double | maximum longitudinal acceleration for lane change | 1.0 | -| `min_longitudinal_acc` | [-] | double | maximum longitudinal deceleration for lane change | -1.0 | -| `lateral_acceleration.velocity` | [m/s] | double | Reference velocity for lateral acceleration calculation (look up table) | [0.0, 4.0, 10.0] | -| `lateral_acceleration.min_values` | [m/ss] | double | Min lateral acceleration values corresponding to velocity (look up table) | [0.15, 0.15, 0.15] | -| `lateral_acceleration.max_values` | [m/ss] | double | Max lateral acceleration values corresponding to velocity (look up table) | [0.5, 0.5, 0.5] | -| `target_object.car` | [-] | boolean | Include car objects for safety check | true | -| `target_object.truck` | [-] | boolean | Include truck objects for safety check | true | -| `target_object.bus` | [-] | boolean | Include bus objects for safety check | true | -| `target_object.trailer` | [-] | boolean | Include trailer objects for safety check | true | -| `target_object.unknown` | [-] | boolean | Include unknown objects for safety check | true | -| `target_object.bicycle` | [-] | boolean | Include bicycle objects for safety check | true | -| `target_object.motorcycle` | [-] | boolean | Include motorcycle objects for safety check | true | -| `target_object.pedestrian` | [-] | boolean | Include pedestrian objects for safety check | true | +| Name | Unit | Type | Description | Default value | +| :------------------------------------------- | ------ | ------- | ---------------------------------------------------------------------------------------------------------------------- | ------------------ | +| `backward_lane_length` | [m] | double | The backward length to check incoming objects in lane change target lane. | 200.0 | +| `prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | +| `backward_length_buffer_for_end_of_lane` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change | 3.0 | +| `backward_length_buffer_for_blocking_object` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change when there is an object in front | 3.0 | +| `lane_change_finish_judge_buffer` | [m] | double | The additional buffer used to confirm lane change process completion | 3.0 | +| `finish_judge_lateral_threshold` | [m] | double | Lateral distance threshold to confirm lane change process completion | 0.2 | +| `lane_changing_lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 | +| `minimum_lane_changing_velocity` | [m/s] | double | Minimum speed during lane changing process. | 2.78 | +| `prediction_time_resolution` | [s] | double | Time resolution for object's path interpolation and collision check. | 0.5 | +| `longitudinal_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by longitudinal acceleration | 5 | +| `lateral_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 | +| `object_check_min_road_shoulder_width` | [m] | double | Width considered as a road shoulder if the lane does not have a road shoulder | 0.5 | +| `object_shiftable_ratio_threshold` | [-] | double | Vehicles around the center line within this distance ratio will be excluded from parking objects | 0.6 | +| `min_length_for_turn_signal_activation` | [m] | double | Turn signal will be activated if the ego vehicle approaches to this length from minimum lane change length | 10.0 | +| `length_ratio_for_turn_signal_deactivation` | [-] | double | Turn signal will be deactivated if the ego vehicle approaches to this length ratio for lane change finish point | 0.8 | +| `max_longitudinal_acc` | [-] | double | maximum longitudinal acceleration for lane change | 1.0 | +| `min_longitudinal_acc` | [-] | double | maximum longitudinal deceleration for lane change | -1.0 | +| `lateral_acceleration.velocity` | [m/s] | double | Reference velocity for lateral acceleration calculation (look up table) | [0.0, 4.0, 10.0] | +| `lateral_acceleration.min_values` | [m/ss] | double | Min lateral acceleration values corresponding to velocity (look up table) | [0.15, 0.15, 0.15] | +| `lateral_acceleration.max_values` | [m/ss] | double | Max lateral acceleration values corresponding to velocity (look up table) | [0.5, 0.5, 0.5] | +| `target_object.car` | [-] | boolean | Include car objects for safety check | true | +| `target_object.truck` | [-] | boolean | Include truck objects for safety check | true | +| `target_object.bus` | [-] | boolean | Include bus objects for safety check | true | +| `target_object.trailer` | [-] | boolean | Include trailer objects for safety check | true | +| `target_object.unknown` | [-] | boolean | Include unknown objects for safety check | true | +| `target_object.bicycle` | [-] | boolean | Include bicycle objects for safety check | true | +| `target_object.motorcycle` | [-] | boolean | Include motorcycle objects for safety check | true | +| `target_object.pedestrian` | [-] | boolean | Include pedestrian objects for safety check | true | ### Lane change regulations @@ -320,19 +361,53 @@ The following parameters are configurable in `lane_change.param.yaml`. The following parameters are configurable in `behavior_path_planner.param.yaml` and `lane_change.param.yaml`. -| Name | Unit | Type | Description | Default value | -| :----------------------------------------- | ------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | -| `lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 2.0 | -| `longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | -| `expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 | -| `expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -1.0 | -| `rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | -| `rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 2.0 | -| `enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | true | -| `prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | -| `check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module include objects on current lanes. | true | -| `check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. | true | -| `use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | +#### execution + +| Name | Unit | Type | Description | Default value | +| :---------------------------------------------------------------- | ------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `safety_check.execution.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 2.0 | +| `safety_check.execution.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | +| `safety_check.execution.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.execution.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.execution.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | +| `safety_check.execution.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 2.0 | +| `safety_check.execution.enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | true | +| `safety_check.execution.prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | +| `safety_check.execution.check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module include objects on current lanes. | true | +| `safety_check.execution.check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. | true | +| `safety_check.execution.use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | + +##### cancel + +| Name | Unit | Type | Description | Default value | +| :------------------------------------------------------------- | ------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `safety_check.cancel.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 1.5 | +| `safety_check.cancel.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | +| `safety_check.cancel.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.5 | +| `safety_check.cancel.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -2.5 | +| `safety_check.cancel.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | +| `safety_check.cancel.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 2.5 | +| `safety_check.cancel.enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | false | +| `safety_check.cancel.prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.2 | +| `safety_check.cancel.check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module include objects on current lanes. | false | +| `safety_check.cancel.check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. | false | +| `safety_check.cancel.use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | false | + +##### stuck + +| Name | Unit | Type | Description | Default value | +| :------------------------------------------------------------ | ------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `safety_check.stuck.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 2.0 | +| `safety_check.stuck.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | +| `safety_check.stuck.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.stuck.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.stuck.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | +| `safety_check.stuck.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 2.0 | +| `safety_check.stuck.enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | true | +| `safety_check.stuck.prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | +| `safety_check.stuck.check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module include objects on current lanes. | true | +| `safety_check.stuck.check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. | true | +| `safety_check.stuck.use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | (\*1) the value must be negative. diff --git a/planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal.drawio.svg b/planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal.drawio.svg new file mode 100644 index 0000000000000..f8aab60d0991d --- /dev/null +++ b/planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal.drawio.svg @@ -0,0 +1,94 @@ + + + + + + + + + + + + + + + + + + + + +
+
+
+ lane change margin +
+
+
+ + lane change m... + + + + + + + Text is not SVG - cannot display + + + diff --git a/planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal_no_block.drawio.svg b/planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal_no_block.drawio.svg new file mode 100644 index 0000000000000..0de2c5fa0a550 --- /dev/null +++ b/planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal_no_block.drawio.svg @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + +
+
+
+ lane change margin +
+
+
+ + lane change m... + + + + + + + Text is not SVG - cannot display + + + diff --git a/planning/behavior_path_planner/image/lane_change/lane_change-stop_far_from_target_lane.drawio.svg b/planning/behavior_path_planner/image/lane_change/lane_change-stop_far_from_target_lane.drawio.svg new file mode 100644 index 0000000000000..dedcc13b6ef6a --- /dev/null +++ b/planning/behavior_path_planner/image/lane_change/lane_change-stop_far_from_target_lane.drawio.svg @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal.drawio.svg b/planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal.drawio.svg new file mode 100644 index 0000000000000..938b7b7d4b371 --- /dev/null +++ b/planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal.drawio.svg @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + diff --git a/planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg b/planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg new file mode 100644 index 0000000000000..e07a8dcbe0354 --- /dev/null +++ b/planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + +
+
+
+ lane change margin +
+
+
+ + lane change m... + + + + + + + Text is not SVG - cannot display + + + From db962b3f13806d83ae01029800faa7930cc59989 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Mon, 13 Nov 2023 20:17:03 +0900 Subject: [PATCH 101/701] fix(detection_by_tracker): add ignore option for each label (#5473) * fix(detection_by_tracker): add ignore for each class Signed-off-by: badai-nguyen * fix: launch Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- ...ra_lidar_fusion_based_detection.launch.xml | 1 + ...ar_radar_fusion_based_detection.launch.xml | 1 + .../detection/detection.launch.xml | 3 ++ .../lidar_based_detection.launch.xml | 1 + .../launch/perception.launch.xml | 2 ++ .../detection_by_tracker/CMakeLists.txt | 2 ++ .../config/detection_by_tracker.param.yaml | 11 ++++++ .../detection_by_tracker_core.hpp | 5 +-- .../include/utils/utils.hpp | 36 +++++++++++++++++++ .../launch/detection_by_tracker.launch.xml | 3 +- .../src/detection_by_tracker_core.cpp | 14 ++++++-- perception/detection_by_tracker/src/utils.cpp | 30 ++++++++++++++++ 12 files changed, 103 insertions(+), 6 deletions(-) create mode 100644 perception/detection_by_tracker/config/detection_by_tracker.param.yaml create mode 100644 perception/detection_by_tracker/include/utils/utils.hpp create mode 100644 perception/detection_by_tracker/src/utils.cpp diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index 59fe3f13f1231..b3e9e9148ee60 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -195,6 +195,7 @@ + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml index 11deaad5d06cc..20b1b5a4d0b27 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml @@ -220,6 +220,7 @@ + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml index 1fcf29606891b..33994934949ac 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml @@ -73,6 +73,7 @@ + @@ -104,6 +105,7 @@ + @@ -133,6 +135,7 @@ + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index 822c251ddad33..ac521934265d7 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -61,6 +61,7 @@ + diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 347606d91759f..8b241db9774b3 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -18,6 +18,7 @@ + @@ -174,6 +175,7 @@ + diff --git a/perception/detection_by_tracker/CMakeLists.txt b/perception/detection_by_tracker/CMakeLists.txt index 236268438f852..51839027e0e41 100644 --- a/perception/detection_by_tracker/CMakeLists.txt +++ b/perception/detection_by_tracker/CMakeLists.txt @@ -27,6 +27,7 @@ include_directories( # Generate exe file set(DETECTION_BY_TRACKER_SRC src/detection_by_tracker_core.cpp + src/utils.cpp ) ament_auto_add_library(detection_by_tracker_node SHARED @@ -45,4 +46,5 @@ rclcpp_components_register_node(detection_by_tracker_node ament_auto_package(INSTALL_TO_SHARE launch + config ) diff --git a/perception/detection_by_tracker/config/detection_by_tracker.param.yaml b/perception/detection_by_tracker/config/detection_by_tracker.param.yaml new file mode 100644 index 0000000000000..695704050697d --- /dev/null +++ b/perception/detection_by_tracker/config/detection_by_tracker.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + tracker_ignore_label: + UNKNOWN : true + CAR : false + TRUCK : false + BUS : false + TRAILER : false + MOTORCYCLE : false + BICYCLE : false + PEDESTRIAN : false diff --git a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp index 0eacfa527750b..10affd0b94ffd 100644 --- a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp +++ b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp @@ -39,6 +39,8 @@ #include #endif +#include "utils/utils.hpp" + #include #include @@ -46,7 +48,6 @@ #include #include #include - class TrackerHandler { private: @@ -81,7 +82,7 @@ class DetectionByTracker : public rclcpp::Node std::map max_search_distance_for_merger_; std::map max_search_distance_for_divider_; - bool ignore_unknown_tracker_; + utils::TrackerIgnoreLabel tracker_ignore_; void setMaxSearchRange(); diff --git a/perception/detection_by_tracker/include/utils/utils.hpp b/perception/detection_by_tracker/include/utils/utils.hpp new file mode 100644 index 0000000000000..3f39125b95e03 --- /dev/null +++ b/perception/detection_by_tracker/include/utils/utils.hpp @@ -0,0 +1,36 @@ +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UTILS__UTILS_HPP_ +#define UTILS__UTILS_HPP_ + +#include + +namespace utils +{ +struct TrackerIgnoreLabel +{ + bool UNKNOWN; + bool CAR; + bool TRUCK; + bool BUS; + bool TRAILER; + bool MOTORCYCLE; + bool BICYCLE; + bool PEDESTRIAN; + bool isIgnore(const uint8_t label) const; +}; // struct TrackerIgnoreLabel +} // namespace utils + +#endif // UTILS__UTILS_HPP_ diff --git a/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml b/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml index 79e1b642cc53c..95e7cbf16b388 100644 --- a/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml +++ b/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml @@ -3,10 +3,11 @@ - + + diff --git a/perception/detection_by_tracker/src/detection_by_tracker_core.cpp b/perception/detection_by_tracker/src/detection_by_tracker_core.cpp index 7b436e1edd64c..2595315e1f9b2 100644 --- a/perception/detection_by_tracker/src/detection_by_tracker_core.cpp +++ b/perception/detection_by_tracker/src/detection_by_tracker_core.cpp @@ -160,7 +160,15 @@ DetectionByTracker::DetectionByTracker(const rclcpp::NodeOptions & node_options) objects_pub_ = create_publisher( "~/output", rclcpp::QoS{1}); - ignore_unknown_tracker_ = declare_parameter("ignore_unknown_tracker", true); + // Set parameters + tracker_ignore_.UNKNOWN = declare_parameter("tracker_ignore_label.UNKNOWN"); + tracker_ignore_.CAR = declare_parameter("tracker_ignore_label.CAR"); + tracker_ignore_.TRUCK = declare_parameter("tracker_ignore_label.TRUCK"); + tracker_ignore_.BUS = declare_parameter("tracker_ignore_label.BUS"); + tracker_ignore_.TRAILER = declare_parameter("tracker_ignore_label.TRAILER"); + tracker_ignore_.MOTORCYCLE = declare_parameter("tracker_ignore_label.MOTORCYCLE"); + tracker_ignore_.BICYCLE = declare_parameter("tracker_ignore_label.BICYCLE"); + tracker_ignore_.PEDESTRIAN = declare_parameter("tracker_ignore_label.PEDESTRIAN"); // set maximum search setting for merger/divider setMaxSearchRange(); @@ -259,7 +267,7 @@ void DetectionByTracker::divideUnderSegmentedObjects( for (const auto & tracked_object : tracked_objects.objects) { const auto & label = tracked_object.classification.front().label; - if (ignore_unknown_tracker_ && (label == Label::UNKNOWN)) continue; + if (tracker_ignore_.isIgnore(label)) continue; // change search range according to label type const float max_search_range = max_search_distance_for_divider_[label]; @@ -395,7 +403,7 @@ void DetectionByTracker::mergeOverSegmentedObjects( for (const auto & tracked_object : tracked_objects.objects) { const auto & label = tracked_object.classification.front().label; - if (ignore_unknown_tracker_ && (label == Label::UNKNOWN)) continue; + if (tracker_ignore_.isIgnore(label)) continue; // change search range according to label type const float max_search_range = max_search_distance_for_merger_[label]; diff --git a/perception/detection_by_tracker/src/utils.cpp b/perception/detection_by_tracker/src/utils.cpp new file mode 100644 index 0000000000000..29a500a24cf32 --- /dev/null +++ b/perception/detection_by_tracker/src/utils.cpp @@ -0,0 +1,30 @@ +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "utils/utils.hpp" + +#include + +namespace utils +{ +using Label = autoware_auto_perception_msgs::msg::ObjectClassification; + +bool TrackerIgnoreLabel::isIgnore(const uint8_t label) const +{ + return (label == Label::UNKNOWN && UNKNOWN) || (label == Label::CAR && CAR) || + (label == Label::TRUCK && TRUCK) || (label == Label::BUS && BUS) || + (label == Label::TRAILER && TRAILER) || (label == Label::MOTORCYCLE && MOTORCYCLE) || + (label == Label::BICYCLE && BICYCLE) || (label == Label::PEDESTRIAN && PEDESTRIAN); +} +} // namespace utils From d3ab218b6e76d53eaf2cef7d46f4486224a7a3ef Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Mon, 13 Nov 2023 20:32:22 +0900 Subject: [PATCH 102/701] feat(image_projection_based_fusion): enable to show iou value in roi_cluster_fusion debug image (#5541) * enable to show debug iou value in roi_cluster_fusion Signed-off-by: yoshiri * refactor iou draw settings Signed-off-by: yoshiri * add backgroud color to iou Signed-off-by: yoshiri * prevent object copying when debugger is not enabled Signed-off-by: yoshiri --------- Signed-off-by: yoshiri --- .../debugger.hpp | 1 + .../src/debugger.cpp | 56 ++++++++++++++++--- .../src/fusion_node.cpp | 1 + .../src/roi_cluster_fusion/node.cpp | 18 +++--- 4 files changed, 58 insertions(+), 18 deletions(-) diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp index 8a6ac7672b3a8..e4b1913effed5 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp @@ -50,6 +50,7 @@ class Debugger std::vector image_rois_; std::vector obstacle_rois_; std::vector obstacle_points_; + std::vector max_iou_for_image_rois_; private: void imageCallback( diff --git a/perception/image_projection_based_fusion/src/debugger.cpp b/perception/image_projection_based_fusion/src/debugger.cpp index 3f52a0de1f09d..a51c23a77aac6 100644 --- a/perception/image_projection_based_fusion/src/debugger.cpp +++ b/perception/image_projection_based_fusion/src/debugger.cpp @@ -77,6 +77,7 @@ void Debugger::clear() image_rois_.clear(); obstacle_rois_.clear(); obstacle_points_.clear(); + max_iou_for_image_rois_.clear(); } void Debugger::publishImage(const std::size_t image_id, const rclcpp::Time & stamp) @@ -84,6 +85,8 @@ void Debugger::publishImage(const std::size_t image_id, const rclcpp::Time & sta const boost::circular_buffer & image_buffer = image_buffers_.at(image_id); const image_transport::Publisher & image_pub = image_pubs_.at(image_id); + const bool draw_iou_score = + max_iou_for_image_rois_.size() > 0 && max_iou_for_image_rois_.size() == image_rois_.size(); for (std::size_t i = 0; i < image_buffer.size(); ++i) { if (image_buffer.at(i)->header.stamp != stamp) { @@ -91,22 +94,59 @@ void Debugger::publishImage(const std::size_t image_id, const rclcpp::Time & sta } auto cv_ptr = cv_bridge::toCvCopy(image_buffer.at(i), image_buffer.at(i)->encoding); - + // draw obstacle points for (const auto & point : obstacle_points_) { cv::circle( cv_ptr->image, cv::Point(static_cast(point.x()), static_cast(point.y())), 2, cv::Scalar(255, 255, 255), 3, 4); } + + // draw rois + const int img_height = static_cast(image_buffer.at(i)->height); + const int img_width = static_cast(image_buffer.at(i)->width); for (const auto & roi : obstacle_rois_) { - drawRoiOnImage( - cv_ptr->image, roi, image_buffer.at(i)->width, image_buffer.at(i)->height, - cv::Scalar(255, 0, 0)); + drawRoiOnImage(cv_ptr->image, roi, img_width, img_height, cv::Scalar(255, 0, 0)); // blue } - // TODO(yukke42): show iou_score on image for (const auto & roi : image_rois_) { - drawRoiOnImage( - cv_ptr->image, roi, image_buffer.at(i)->width, image_buffer.at(i)->height, - cv::Scalar(0, 0, 255)); + drawRoiOnImage(cv_ptr->image, roi, img_width, img_height, cv::Scalar(0, 0, 255)); // red + } + + // show iou_score on image + if (draw_iou_score) { + for (auto roi_index = 0; roi_index < static_cast(image_rois_.size()); ++roi_index) { + std::stringstream stream; + stream << std::fixed << std::setprecision(2) << max_iou_for_image_rois_.at(roi_index); + std::string iou_score = stream.str(); + + // set text position + int baseline = 3; + cv::Size textSize = cv::getTextSize(iou_score, cv::FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseline); + const int text_height = static_cast(textSize.height); + const int text_width = static_cast(textSize.width); + int x = image_rois_.at(roi_index).x_offset; + int y = image_rois_.at(roi_index).y_offset; // offset for text + if (y < 0 + text_height) + y = text_height; // if roi is on the top of image, put text on lower left of roi + if (y > img_height - text_height) + y = img_height - + text_height; // if roi is on the bottom of image, put text on upper left of roi + if (x > img_width - text_width) + x = img_width - text_width; // if roi is on the right of image, put text on left of roi + if (x < 0) x = 0; // if roi is on the left of image, put text on right of roi + + // choice color by iou score + // cv::Scalar color = max_iou_for_image_rois_.at(i) > 0.5 ? cv::Scalar(0, 255, 0) : + // cv::Scalar(0, 0, 255); + cv::Scalar color = cv::Scalar(0, 0, 255); // red + + cv::rectangle( + cv_ptr->image, cv::Point(x, y - textSize.height - baseline), + cv::Point(x + textSize.width, y), cv::Scalar(255, 255, 255), + cv::FILLED); // white background + cv::putText( + cv_ptr->image, iou_score, cv::Point(x, y), cv::FONT_HERSHEY_SIMPLEX, 0.5, color, 1, + cv::LINE_AA); // text + } } image_pub.publish(cv_ptr->toImageMsg()); diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp index a540688f7e751..df797369208fe 100644 --- a/perception/image_projection_based_fusion/src/fusion_node.cpp +++ b/perception/image_projection_based_fusion/src/fusion_node.cpp @@ -203,6 +203,7 @@ void FusionNode::subCallback(const typename Msg::ConstSharedPtr input_ (*output_msg).header.stamp.sec * (int64_t)1e9 + (*output_msg).header.stamp.nanosec; // if matching rois exist, fuseOnSingle + // please ask maintainers before parallelize this loop because debugger is not thread safe for (std::size_t roi_i = 0; roi_i < rois_number_; ++roi_i) { if (camera_info_map_.find(roi_i) == camera_info_map_.end()) { RCLCPP_WARN_THROTTLE( diff --git a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp index 4a46c8aace696..9da9df7eff6ca 100644 --- a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp @@ -84,10 +84,6 @@ void RoiClusterFusionNode::fuseOnSingleImage( const DetectedObjectsWithFeature & input_roi_msg, const sensor_msgs::msg::CameraInfo & camera_info, DetectedObjectsWithFeature & output_cluster_msg) { - std::vector debug_image_rois; - std::vector debug_pointcloud_rois; - std::vector debug_image_points; - Eigen::Matrix4d projection; projection << camera_info.p.at(0), camera_info.p.at(1), camera_info.p.at(2), camera_info.p.at(3), camera_info.p.at(4), camera_info.p.at(5), camera_info.p.at(6), camera_info.p.at(7), @@ -100,6 +96,9 @@ void RoiClusterFusionNode::fuseOnSingleImage( tf_buffer_, /*target*/ camera_info.header.frame_id, /*source*/ input_cluster_msg.header.frame_id, camera_info.header.stamp); if (!transform_stamped_optional) { + RCLCPP_WARN_STREAM( + get_logger(), "Failed to get transform from " << input_cluster_msg.header.frame_id << " to " + << camera_info.header.frame_id); return; } transform_stamped = transform_stamped_optional.value(); @@ -151,7 +150,7 @@ void RoiClusterFusionNode::fuseOnSingleImage( max_x = std::max(static_cast(normalized_projected_point.x()), max_x); max_y = std::max(static_cast(normalized_projected_point.y()), max_y); projected_points.push_back(normalized_projected_point); - debug_image_points.push_back(normalized_projected_point); + if (debugger_) debugger_->obstacle_points_.push_back(normalized_projected_point); } } if (projected_points.empty()) { @@ -165,7 +164,7 @@ void RoiClusterFusionNode::fuseOnSingleImage( roi.width = max_x - min_x; roi.height = max_y - min_y; m_cluster_roi.insert(std::make_pair(i, roi)); - debug_pointcloud_rois.push_back(roi); + if (debugger_) debugger_->obstacle_rois_.push_back(roi); } for (const auto & feature_obj : input_roi_msg.feature_objects) { @@ -231,13 +230,12 @@ void RoiClusterFusionNode::fuseOnSingleImage( } } } - debug_image_rois.push_back(feature_obj.feature.roi); + if (debugger_) debugger_->image_rois_.push_back(feature_obj.feature.roi); + if (debugger_) debugger_->max_iou_for_image_rois_.push_back(max_iou); } + // note: debug objects are safely cleared in fusion_node.cpp if (debugger_) { - debugger_->image_rois_ = debug_image_rois; - debugger_->obstacle_rois_ = debug_pointcloud_rois; - debugger_->obstacle_points_ = debug_image_points; debugger_->publishImage(image_id, input_roi_msg.header.stamp); } } From 8eb858a1267a02d96b9bb7be9ffe9d0172ed55ce Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 14 Nov 2023 08:49:29 +0900 Subject: [PATCH 103/701] refactor(landmark_parser): refactored landmark manager (#5511) * Refactored landmark_parser Signed-off-by: Shintaro Sakoda * Renamed landmark_parser to landmark_manager Signed-off-by: Shintaro Sakoda * Fixed tag_id Signed-off-by: Shintaro Sakoda * Refactored ar_tag_based_localizer Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Added [[nodiscard]] Signed-off-by: Shintaro Sakoda * Refactored landmark parsing and conversion Signed-off-by: Shintaro SAKODA * style(pre-commit): autofix * Added namespace Signed-off-by: Shintaro Sakoda * Fixed include Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Shintaro Sakoda Signed-off-by: Shintaro SAKODA Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../landmark_based_localizer/README.md | 6 ++--- .../ar_tag_based_localizer/package.xml | 2 +- .../src/ar_tag_based_localizer.cpp | 9 +++++-- .../src/ar_tag_based_localizer.hpp | 2 +- .../CMakeLists.txt | 6 ++--- .../landmark_manager/landmark_manager.hpp} | 26 ++++++++++++++----- .../package.xml | 5 ++-- .../src/landmark_manager.cpp} | 22 ++++++++++------ 8 files changed, 51 insertions(+), 27 deletions(-) rename localization/landmark_based_localizer/{landmark_parser => landmark_manager}/CMakeLists.txt (79%) rename localization/landmark_based_localizer/{landmark_parser/include/landmark_parser/landmark_parser_core.hpp => landmark_manager/include/landmark_manager/landmark_manager.hpp} (64%) rename localization/landmark_based_localizer/{landmark_parser => landmark_manager}/package.xml (88%) rename localization/landmark_based_localizer/{landmark_parser/src/landmark_parser_core.cpp => landmark_manager/src/landmark_manager.cpp} (92%) diff --git a/localization/landmark_based_localizer/README.md b/localization/landmark_based_localizer/README.md index 35d8d78e7015c..e4c79b7941b12 100644 --- a/localization/landmark_based_localizer/README.md +++ b/localization/landmark_based_localizer/README.md @@ -23,11 +23,11 @@ This calculated ego pose is passed to the EKF, where it is fused with the twist ![node diagram](./doc_image/node_diagram.drawio.svg) -### `landmark_parser` +### `landmark_manager` The definitions of the landmarks written to the map are introduced in the next section. See `Map Specifications`. -The `landmark_parser` is a utility package to load landmarks from the map. +The `landmark_manager` is a utility package to load landmarks from the map. - Translation : The center of the four vertices of the landmark - Rotation : Let the vertex numbers be 1, 2, 3, 4 counterclockwise as shown in the next section. Direction is defined as the cross product of the vector from 1 to 2 and the vector from 2 to 3. @@ -43,7 +43,7 @@ So, if the 4 vertices are considered as forming a tetrahedron and its volume exc ## Map specifications -For this package to work correctly, the poses of the landmarks must be specified in the Lanelet2 map format that `map_loader` and `landmark_parser` can interpret. +For this package to work correctly, the poses of the landmarks must be specified in the Lanelet2 map format that `map_loader` and `landmark_manager` can interpret. The four vertices of a landmark are defined counterclockwise. diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml index a22e7b1acf6dc..24b737c309016 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml @@ -17,7 +17,7 @@ cv_bridge diagnostic_msgs image_transport - landmark_parser + landmark_manager lanelet2_extension localization_util rclcpp diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp index bc40fb1532297..a66277c699a00 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp @@ -148,8 +148,13 @@ bool ArTagBasedLocalizer::setup() void ArTagBasedLocalizer::map_bin_callback(const HADMapBin::ConstSharedPtr & msg) { - landmark_map_ = parse_landmark(msg, "apriltag_16h5", this->get_logger()); - const MarkerArray marker_msg = convert_to_marker_array_msg(landmark_map_); + const std::vector landmarks = + landmark_manager::parse_landmarks(msg, "apriltag_16h5", this->get_logger()); + for (const landmark_manager::Landmark & landmark : landmarks) { + landmark_map_[landmark.id] = landmark.pose; + } + + const MarkerArray marker_msg = landmark_manager::convert_landmarks_to_marker_array_msg(landmarks); marker_pub_->publish(marker_msg); } diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp index fe33a64b995a3..889e76eb78ad2 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp @@ -45,7 +45,7 @@ #ifndef AR_TAG_BASED_LOCALIZER_HPP_ #define AR_TAG_BASED_LOCALIZER_HPP_ -#include "landmark_parser/landmark_parser_core.hpp" +#include "landmark_manager/landmark_manager.hpp" #include #include diff --git a/localization/landmark_based_localizer/landmark_parser/CMakeLists.txt b/localization/landmark_based_localizer/landmark_manager/CMakeLists.txt similarity index 79% rename from localization/landmark_based_localizer/landmark_parser/CMakeLists.txt rename to localization/landmark_based_localizer/landmark_manager/CMakeLists.txt index 41f7c00d61383..1b6126c892d2e 100644 --- a/localization/landmark_based_localizer/landmark_parser/CMakeLists.txt +++ b/localization/landmark_based_localizer/landmark_manager/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(landmark_parser) +project(landmark_manager) find_package(autoware_cmake REQUIRED) autoware_package() @@ -12,8 +12,8 @@ endif() find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() -ament_auto_add_library(landmark_parser - src/landmark_parser_core.cpp +ament_auto_add_library(landmark_manager + src/landmark_manager.cpp ) ament_auto_package( diff --git a/localization/landmark_based_localizer/landmark_parser/include/landmark_parser/landmark_parser_core.hpp b/localization/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp similarity index 64% rename from localization/landmark_based_localizer/landmark_parser/include/landmark_parser/landmark_parser_core.hpp rename to localization/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp index edf45c2a2997a..9a22ee13f60ae 100644 --- a/localization/landmark_based_localizer/landmark_parser/include/landmark_parser/landmark_parser_core.hpp +++ b/localization/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp @@ -12,23 +12,35 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LANDMARK_PARSER__LANDMARK_PARSER_CORE_HPP_ -#define LANDMARK_PARSER__LANDMARK_PARSER_CORE_HPP_ +#ifndef LANDMARK_MANAGER__LANDMARK_MANAGER_HPP_ +#define LANDMARK_MANAGER__LANDMARK_MANAGER_HPP_ #include #include "autoware_auto_mapping_msgs/msg/had_map_bin.hpp" #include +#include #include -#include #include +#include -std::map parse_landmark( +namespace landmark_manager +{ + +struct Landmark +{ + std::string id; + geometry_msgs::msg::Pose pose; +}; + +std::vector parse_landmarks( const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg, const std::string & target_subtype, const rclcpp::Logger & logger); -visualization_msgs::msg::MarkerArray convert_to_marker_array_msg( - const std::map & landmarks); +visualization_msgs::msg::MarkerArray convert_landmarks_to_marker_array_msg( + const std::vector & landmarks); + +} // namespace landmark_manager -#endif // LANDMARK_PARSER__LANDMARK_PARSER_CORE_HPP_ +#endif // LANDMARK_MANAGER__LANDMARK_MANAGER_HPP_ diff --git a/localization/landmark_based_localizer/landmark_parser/package.xml b/localization/landmark_based_localizer/landmark_manager/package.xml similarity index 88% rename from localization/landmark_based_localizer/landmark_parser/package.xml rename to localization/landmark_based_localizer/landmark_manager/package.xml index e3daa93f81220..1a35ae6a338d1 100644 --- a/localization/landmark_based_localizer/landmark_parser/package.xml +++ b/localization/landmark_based_localizer/landmark_manager/package.xml @@ -1,9 +1,9 @@ - landmark_parser + landmark_manager 0.0.0 - The landmark_parser package + The landmark_manager package Shintaro Sakoda Masahiro Sakamoto Yamato Ando @@ -19,6 +19,7 @@ geometry_msgs lanelet2_extension rclcpp + tf2_eigen ament_cmake diff --git a/localization/landmark_based_localizer/landmark_parser/src/landmark_parser_core.cpp b/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp similarity index 92% rename from localization/landmark_based_localizer/landmark_parser/src/landmark_parser_core.cpp rename to localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp index c86b35b6115b4..6d1698daf5eae 100644 --- a/localization/landmark_based_localizer/landmark_parser/src/landmark_parser_core.cpp +++ b/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp @@ -12,16 +12,20 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "landmark_parser/landmark_parser_core.hpp" +#include "landmark_manager/landmark_manager.hpp" #include "lanelet2_extension/utility/message_conversion.hpp" #include +#include #include #include -std::map parse_landmark( +namespace landmark_manager +{ + +std::vector parse_landmarks( const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg, const std::string & target_subtype, const rclcpp::Logger & logger) { @@ -32,7 +36,7 @@ std::map parse_landmark( lanelet::LaneletMapPtr lanelet_map_ptr{std::make_shared()}; lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_ptr); - std::map landmark_map; + std::vector landmarks; for (const auto & poly : lanelet_map_ptr->polygonLayer) { const std::string type{poly.attributeOr(lanelet::AttributeName::Type, "none")}; @@ -93,8 +97,8 @@ std::map parse_landmark( pose.orientation.z = q.z(); pose.orientation.w = q.w(); - // Add to map - landmark_map[marker_id] = pose; + // Add + landmarks.push_back(Landmark{marker_id, pose}); RCLCPP_INFO_STREAM(logger, "id: " << marker_id); RCLCPP_INFO_STREAM( logger, @@ -104,11 +108,11 @@ std::map parse_landmark( << pose.orientation.z << ", " << pose.orientation.w); } - return landmark_map; + return landmarks; } -visualization_msgs::msg::MarkerArray convert_to_marker_array_msg( - const std::map & landmarks) +visualization_msgs::msg::MarkerArray convert_landmarks_to_marker_array_msg( + const std::vector & landmarks) { int32_t id = 0; visualization_msgs::msg::MarkerArray marker_array; @@ -152,3 +156,5 @@ visualization_msgs::msg::MarkerArray convert_to_marker_array_msg( } return marker_array; } + +} // namespace landmark_manager From 450f832924dd80d23964825c9e23b0a6bafe9a89 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Tue, 14 Nov 2023 11:03:49 +0900 Subject: [PATCH 104/701] feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters (#5510) * Add extra tag for moving obstacle type Signed-off-by: Daniel Sanchez * add static and moving as parameter postfixes Signed-off-by: Daniel Sanchez * set hysteresis-based obstacle moving classification Signed-off-by: Daniel Sanchez * update config params Signed-off-by: Daniel Sanchez * Use speed norm for object classification Signed-off-by: Daniel Sanchez * changed '_' for '.' to make the code more consistent Signed-off-by: Daniel Sanchez * update documentation Signed-off-by: Daniel Sanchez * move the obstacle moving check to generateSlowDownTrajectory Signed-off-by: Daniel Sanchez * remove unnecessary reference Signed-off-by: Daniel Sanchez * add const to certain variables Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- planning/obstacle_cruise_planner/README.md | 32 +++--- .../config/obstacle_cruise_planner.param.yaml | 31 ++++-- .../planner_interface.hpp | 104 +++++++++++------- .../src/planner_interface.cpp | 24 ++-- 4 files changed, 120 insertions(+), 71 deletions(-) diff --git a/planning/obstacle_cruise_planner/README.md b/planning/obstacle_cruise_planner/README.md index 260f302791079..532761b1f0cb7 100644 --- a/planning/obstacle_cruise_planner/README.md +++ b/planning/obstacle_cruise_planner/README.md @@ -230,19 +230,25 @@ $$ ### Slow down planning -| Parameter | Type | Description | -| ----------------------------------------------- | -------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| `slow_down.labels` | vector(string) | A vector of labels for customizing obstacle-label-based slow down behavior. Each label represents an obstacle type that will be treated differently when applying slow down. The possible labels are ("default" (Mandatory), "unknown","car","truck","bus","trailer","motorcycle","bicycle" or "pedestrian") | -| `slow_down.default.min_lat_velocity` | double | minimum velocity to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels | -| `slow_down.default.max_lat_velocity` | double | maximum velocity to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels | -| `slow_down.default.min_lat_margin` | double | minimum lateral margin to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels | -| `slow_down.default.max_lat_margin` | double | maximum lateral margin to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels | -| `(optional) slow_down."label".min_lat_velocity` | double | minimum velocity to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels` | -| `(optional) slow_down."label".max_lat_velocity` | double | maximum velocity to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels` | -| `(optional) slow_down."label".min_lat_margin` | double | minimum lateral margin to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels` | -| `(optional) slow_down."label".max_lat_margin` | double | maximum lateral margin to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels` | - -The role of the slow down planning is inserting slow down velocity in the trajectory where the trajectory points are close to the obstacles. The parameters can be customized depending on the obstacle type (see `slow_down.labels`), making it possible to adjust the slow down behavior depending if the obstacle is a pedestrian, bicycle, car, etc. +| Parameter | Type | Description | +| ----------------------------------------------------------------- | -------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| `slow_down.labels` | vector(string) | A vector of labels for customizing obstacle-label-based slow down behavior. Each label represents an obstacle type that will be treated differently when applying slow down. The possible labels are ("default" (Mandatory), "unknown","car","truck","bus","trailer","motorcycle","bicycle" or "pedestrian") | +| `slow_down.default.static.min_lat_velocity` | double | minimum velocity to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be static, or not moving | +| `slow_down.default.static.max_lat_velocity` | double | maximum velocity to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be static, or not moving | +| `slow_down.default.static.min_lat_margin` | double | minimum lateral margin to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be static, or not moving | +| `slow_down.default.static.max_lat_margin` | double | maximum lateral margin to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be static, or not moving | +| `slow_down.default.moving.min_lat_velocity` | double | minimum velocity to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be moving | +| `slow_down.default.moving.max_lat_velocity` | double | maximum velocity to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be moving | +| `slow_down.default.moving.min_lat_margin` | double | minimum lateral margin to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be moving | +| `slow_down.default.moving.max_lat_margin` | double | maximum lateral margin to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be moving | +| `(optional) slow_down."label".(static & moving).min_lat_velocity` | double | minimum velocity to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels`. Requires a `static` and a `moving` value | +| `(optional) slow_down."label".(static & moving).max_lat_velocity` | double | maximum velocity to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels`. Requires a `static` and a `moving` value | +| `(optional) slow_down."label".(static & moving).min_lat_margin` | double | minimum lateral margin to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels`. Requires a `static` and a `moving` value | +| `(optional) slow_down."label".(static & moving).max_lat_margin` | double | maximum lateral margin to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels`. Requires a `static` and a `moving` value | + +The role of the slow down planning is inserting slow down velocity in the trajectory where the trajectory points are close to the obstacles. The parameters can be customized depending on the obstacle type (see `slow_down.labels`), making it possible to adjust the slow down behavior depending if the obstacle is a pedestrian, bicycle, car, etc. Each obstacle type has a `static` and a `moving` parameter set, so it is possible to customize the slow down response of the ego vehicle according to the obstacle type and if it is moving or not. If an obstacle is determined to be moving, the corresponding `moving` set of parameters will be used to compute the vehicle slow down, otherwise, the `static` parameters will be used. The `static` and `moving` separation is useful for customizing the ego vehicle slow down behavior to, for example, slow down more significantly when passing stopped vehicles that might cause occlusion or that might suddenly open its doors. + +An obstacle is classified as `static` if its total speed is less than the `moving_object_speed_threshold` parameter. Furthermore, a hysteresis based approach is used to avoid chattering, it uses the `moving_object_hysteresis_range` parameter range and the obstacle's previous state (`moving` or `static`) to determine if the obstacle is moving or not. In other words, if an obstacle was previously classified as `static`, it will not change its classification to `moving` unless its total speed is greater than `moving_object_speed_threshold` + `moving_object_hysteresis_range`. Likewise, an obstacle previously classified as `moving`, will only change to `static` if its speed is lower than `moving_object_speed_threshold` - `moving_object_hysteresis_range`. The closest point on the obstacle to the ego's trajectory is calculated. Then, the slow down velocity is calculated by linear interpolation with the distance between the point and trajectory as follows. diff --git a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml index 123d0dda93b7a..def2a2af78b37 100644 --- a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml +++ b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml @@ -183,15 +183,30 @@ - "default" - "pedestrian" default: - min_lat_margin: 0.2 - max_lat_margin: 1.0 - min_ego_velocity: 2.0 - max_ego_velocity: 8.0 + moving: + min_lat_margin: 0.8 + max_lat_margin: 1.3 + min_ego_velocity: 0.5 + max_ego_velocity: 1.5 + static: + min_lat_margin: 0.2 + max_lat_margin: 1.0 + min_ego_velocity: 2.0 + max_ego_velocity: 8.0 pedestrian: - min_lat_margin: 0.5 - max_lat_margin: 1.5 - min_ego_velocity: 1.0 - max_ego_velocity: 2.0 + moving: + min_lat_margin: 0.8 + max_lat_margin: 1.3 + min_ego_velocity: 0.5 + max_ego_velocity: 0.8 + static: + min_lat_margin: 0.8 + max_lat_margin: 1.3 + min_ego_velocity: 1.0 + max_ego_velocity: 2.0 + + moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving" + moving_object_hysteresis_range: 0.1 # [m/s] hysteresis range used to prevent chattering when obstacle moves close to moving_object_speed_threshold time_margin_on_target_velocity: 1.5 # [s] diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp index d8c31fb35df9b..2e1e165a78952 100644 --- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp +++ b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp @@ -49,6 +49,11 @@ class PlannerInterface node.create_publisher("/planning/velocity_factors/obstacle_cruise", 1); stop_speed_exceeded_pub_ = node.create_publisher("~/output/stop_speed_exceeded", 1); + + moving_object_speed_threshold = + node.declare_parameter("slow_down.moving_object_speed_threshold"); + moving_object_hysteresis_range = + node.declare_parameter("slow_down.moving_object_hysteresis_range"); } PlannerInterface() = default; @@ -183,11 +188,12 @@ class PlannerInterface const std::string & arg_uuid, const std::vector & traj_points, const std::optional & start_idx, const std::optional & end_idx, const double arg_target_vel, const double arg_feasible_target_vel, - const double arg_precise_lat_dist) + const double arg_precise_lat_dist, const bool is_moving) : uuid(arg_uuid), target_vel(arg_target_vel), feasible_target_vel(arg_feasible_target_vel), - precise_lat_dist(arg_precise_lat_dist) + precise_lat_dist(arg_precise_lat_dist), + is_moving(is_moving) { if (start_idx) { start_point = traj_points.at(*start_idx).pose; @@ -203,15 +209,17 @@ class PlannerInterface double precise_lat_dist; std::optional start_point{std::nullopt}; std::optional end_point{std::nullopt}; + bool is_moving; }; double calculateMarginFromObstacleOnCurve( const PlannerData & planner_data, const StopObstacle & stop_obstacle) const; double calculateSlowDownVelocity( - const SlowDownObstacle & obstacle, const std::optional & prev_output) const; + const SlowDownObstacle & obstacle, const std::optional & prev_output, + const bool is_obstacle_moving) const; std::optional> calculateDistanceToSlowDownWithConstraints( const PlannerData & planner_data, const std::vector & traj_points, const SlowDownObstacle & obstacle, const std::optional & prev_output, - const double dist_to_ego) const; + const double dist_to_ego, const bool is_obstacle_moving) const; struct SlowDownInfo { @@ -223,6 +231,7 @@ class PlannerInterface struct SlowDownParam { std::vector obstacle_labels{"default"}; + std::vector obstacle_moving_classification{"static", "moving"}; std::unordered_map types_map; struct ObstacleSpecificParams { @@ -233,28 +242,23 @@ class PlannerInterface }; explicit SlowDownParam(rclcpp::Node & node) { - types_map = {{ObjectClassification::UNKNOWN, "unknown"}, - {ObjectClassification::CAR, "car"}, - {ObjectClassification::TRUCK, "truck"}, - {ObjectClassification::BUS, "bus"}, - {ObjectClassification::TRAILER, "trailer"}, - {ObjectClassification::MOTORCYCLE, "motorcycle"}, - {ObjectClassification::BICYCLE, "bicycle"}, - {ObjectClassification::PEDESTRIAN, "pedestrian"}}; obstacle_labels = node.declare_parameter>("slow_down.labels", obstacle_labels); // obstacle label dependant parameters for (const auto & label : obstacle_labels) { - ObstacleSpecificParams params; - params.max_lat_margin = - node.declare_parameter("slow_down." + label + ".max_lat_margin"); - params.min_lat_margin = - node.declare_parameter("slow_down." + label + ".min_lat_margin"); - params.max_ego_velocity = - node.declare_parameter("slow_down." + label + ".max_ego_velocity"); - params.min_ego_velocity = - node.declare_parameter("slow_down." + label + ".min_ego_velocity"); - obstacle_to_param_struct_map.emplace(std::make_pair(label, params)); + for (const auto & movement_postfix : obstacle_moving_classification) { + ObstacleSpecificParams params; + params.max_lat_margin = node.declare_parameter( + "slow_down." + label + "." + movement_postfix + ".max_lat_margin"); + params.min_lat_margin = node.declare_parameter( + "slow_down." + label + "." + movement_postfix + ".min_lat_margin"); + params.max_ego_velocity = node.declare_parameter( + "slow_down." + label + "." + movement_postfix + ".max_ego_velocity"); + params.min_ego_velocity = node.declare_parameter( + "slow_down." + label + "." + movement_postfix + ".min_ego_velocity"); + obstacle_to_param_struct_map.emplace( + std::make_pair(label + "." + movement_postfix, params)); + } } // common parameters @@ -264,34 +268,49 @@ class PlannerInterface lpf_gain_lat_dist = node.declare_parameter("slow_down.lpf_gain_lat_dist"); lpf_gain_dist_to_slow_down = node.declare_parameter("slow_down.lpf_gain_dist_to_slow_down"); + + types_map = {{ObjectClassification::UNKNOWN, "unknown"}, + {ObjectClassification::CAR, "car"}, + {ObjectClassification::TRUCK, "truck"}, + {ObjectClassification::BUS, "bus"}, + {ObjectClassification::TRAILER, "trailer"}, + {ObjectClassification::MOTORCYCLE, "motorcycle"}, + {ObjectClassification::BICYCLE, "bicycle"}, + {ObjectClassification::PEDESTRIAN, "pedestrian"}}; } - ObstacleSpecificParams getObstacleParamByLabel(const ObjectClassification & label_id) const + ObstacleSpecificParams getObstacleParamByLabel( + const ObjectClassification & label_id, const bool is_obstacle_moving) const { - const std::string label = types_map.at(label_id.label); - if (obstacle_to_param_struct_map.count(label) > 0) { - return obstacle_to_param_struct_map.at(label); - } - return obstacle_to_param_struct_map.at("default"); + const std::string label = + (types_map.count(label_id.label) > 0) ? types_map.at(label_id.label) : "default"; + const std::string movement_postfix = (is_obstacle_moving) ? "moving" : "static"; + return (obstacle_to_param_struct_map.count(label + "." + movement_postfix) > 0) + ? obstacle_to_param_struct_map.at(label + "." + movement_postfix) + : obstacle_to_param_struct_map.at("default." + movement_postfix); } void onParam(const std::vector & parameters) { // obstacle type dependant parameters for (const auto & label : obstacle_labels) { - auto & param_by_obstacle_label = obstacle_to_param_struct_map[label]; - tier4_autoware_utils::updateParam( - parameters, "slow_down." + label + ".max_lat_margin", - param_by_obstacle_label.max_lat_margin); - tier4_autoware_utils::updateParam( - parameters, "slow_down." + label + ".min_lat_margin", - param_by_obstacle_label.min_lat_margin); - tier4_autoware_utils::updateParam( - parameters, "slow_down." + label + ".max_ego_velocity", - param_by_obstacle_label.max_ego_velocity); - tier4_autoware_utils::updateParam( - parameters, "slow_down." + label + ".min_ego_velocity", - param_by_obstacle_label.min_ego_velocity); + for (const auto & movement_postfix : obstacle_moving_classification) { + if (obstacle_to_param_struct_map.count(label + "." + movement_postfix) < 1) continue; + auto & param_by_obstacle_label = + obstacle_to_param_struct_map.at(label + "." + movement_postfix); + tier4_autoware_utils::updateParam( + parameters, "slow_down." + label + "." + movement_postfix + ".max_lat_margin", + param_by_obstacle_label.max_lat_margin); + tier4_autoware_utils::updateParam( + parameters, "slow_down." + label + "." + movement_postfix + ".min_lat_margin", + param_by_obstacle_label.min_lat_margin); + tier4_autoware_utils::updateParam( + parameters, "slow_down." + label + "." + movement_postfix + ".max_ego_velocity", + param_by_obstacle_label.max_ego_velocity); + tier4_autoware_utils::updateParam( + parameters, "slow_down." + label + "." + movement_postfix + ".min_ego_velocity", + param_by_obstacle_label.min_ego_velocity); + } } // common parameters @@ -313,7 +332,8 @@ class PlannerInterface double lpf_gain_dist_to_slow_down; }; SlowDownParam slow_down_param_; - + double moving_object_speed_threshold; + double moving_object_hysteresis_range; std::vector prev_slow_down_output_; // previous trajectory and distance to stop // NOTE: Previous trajectory is memorized to deal with nearest index search for overlapping or diff --git a/planning/obstacle_cruise_planner/src/planner_interface.cpp b/planning/obstacle_cruise_planner/src/planner_interface.cpp index 76469364cfb39..47f62016df53b 100644 --- a/planning/obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/obstacle_cruise_planner/src/planner_interface.cpp @@ -561,9 +561,17 @@ std::vector PlannerInterface::generateSlowDownTrajectory( const auto & obstacle = obstacles.at(i); const auto prev_output = getObjectFromUuid(prev_slow_down_output_, obstacle.uuid); + const bool is_obstacle_moving = [&]() -> bool { + const auto object_vel_norm = std::hypot(obstacle.velocity, obstacle.lat_velocity); + if (!prev_output) return object_vel_norm > moving_object_speed_threshold; + if (prev_output->is_moving) + return object_vel_norm > moving_object_speed_threshold - moving_object_hysteresis_range; + return object_vel_norm > moving_object_speed_threshold + moving_object_hysteresis_range; + }(); + // calculate slow down start distance, and insert slow down velocity const auto dist_vec_to_slow_down = calculateDistanceToSlowDownWithConstraints( - planner_data, slow_down_traj_points, obstacle, prev_output, dist_to_ego); + planner_data, slow_down_traj_points, obstacle, prev_output, dist_to_ego, is_obstacle_moving); if (!dist_vec_to_slow_down) { RCLCPP_INFO_EXPRESSION( rclcpp::get_logger("ObstacleCruisePlanner::PlannerInterface"), enable_debug_info_, @@ -648,7 +656,7 @@ std::vector PlannerInterface::generateSlowDownTrajectory( // update prev_slow_down_output_ new_prev_slow_down_output.push_back(SlowDownOutput{ obstacle.uuid, slow_down_traj_points, slow_down_start_idx, slow_down_end_idx, - stable_slow_down_vel, feasible_slow_down_vel, obstacle.precise_lat_dist}); + stable_slow_down_vel, feasible_slow_down_vel, obstacle.precise_lat_dist, is_obstacle_moving}); } // update prev_slow_down_output_ @@ -663,10 +671,11 @@ std::vector PlannerInterface::generateSlowDownTrajectory( } double PlannerInterface::calculateSlowDownVelocity( - const SlowDownObstacle & obstacle, const std::optional & prev_output) const + const SlowDownObstacle & obstacle, const std::optional & prev_output, + const bool is_obstacle_moving) const { - const auto & p = slow_down_param_.getObstacleParamByLabel(obstacle.classification); - + const auto & p = + slow_down_param_.getObstacleParamByLabel(obstacle.classification, is_obstacle_moving); const double stable_precise_lat_dist = [&]() { if (prev_output) { return signal_processing::lowpassFilter( @@ -689,15 +698,14 @@ std::optional> PlannerInterface::calculateDistanceToSlowDownWithConstraints( const PlannerData & planner_data, const std::vector & traj_points, const SlowDownObstacle & obstacle, const std::optional & prev_output, - const double dist_to_ego) const + const double dist_to_ego, const bool is_obstacle_moving) const { const double abs_ego_offset = planner_data.is_driving_forward ? std::abs(vehicle_info_.max_longitudinal_offset_m) : std::abs(vehicle_info_.min_longitudinal_offset_m); const double obstacle_vel = obstacle.velocity; - // calculate slow down velocity - const double slow_down_vel = calculateSlowDownVelocity(obstacle, prev_output); + const double slow_down_vel = calculateSlowDownVelocity(obstacle, prev_output, is_obstacle_moving); // calculate distance to collision points const double dist_to_front_collision = From cadba461d609e1f9ca72f29ab199814c200fcfd0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 14 Nov 2023 11:31:36 +0900 Subject: [PATCH 105/701] refactor(side_shift): support new interface (#5556) Signed-off-by: satoshi-ota --- .../side_shift/side_shift_module.hpp | 26 ++----------------- .../side_shift/side_shift_module.cpp | 14 ++++------ 2 files changed, 7 insertions(+), 33 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp index 7c04cab5c081f..fce31b6db7369 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp @@ -49,8 +49,6 @@ class SideShiftModule : public SceneModuleInterface bool isExecutionReady() const override; bool isReadyForNextRequest( const double & min_request_time_sec, bool override_requests = false) const noexcept; - // TODO(someone): remove this, and use base class function - [[deprecated]] ModuleStatus updateState() override; void updateData() override; BehaviorModuleOutput plan() override; BehaviorModuleOutput planWaitingApproval() override; @@ -70,32 +68,12 @@ class SideShiftModule : public SceneModuleInterface { } - // TODO(someone): remove this, and use base class function - [[deprecated]] BehaviorModuleOutput run() override - { - updateData(); - - if (!isWaitingApproval()) { - return plan(); - } - - // module is waiting approval. Check it. - if (isActivated()) { - RCLCPP_DEBUG(getLogger(), "Was waiting approval, and now approved. Do plan()."); - return plan(); - } else { - RCLCPP_DEBUG(getLogger(), "keep waiting approval... Do planCandidate()."); - return planWaitingApproval(); - } - } - private: - bool canTransitSuccessState() override { return false; } + bool canTransitSuccessState() override; bool canTransitFailureState() override { return false; } - bool canTransitIdleToRunningState() override { return false; } - rclcpp::Subscription::SharedPtr lateral_offset_subscriber_; + bool canTransitIdleToRunningState() override { return true; } void initVariables(); diff --git a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp index 2232c6d750d55..46332e738f82f 100644 --- a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp @@ -40,8 +40,6 @@ SideShiftModule::SideShiftModule( const std::unordered_map > & rtc_interface_ptr_map) : SceneModuleInterface{name, node, rtc_interface_ptr_map}, parameters_{parameters} { - // If lateral offset is subscribed, it approves side shift module automatically - clearWaitingApproval(); } void SideShiftModule::initVariables() @@ -80,7 +78,7 @@ void SideShiftModule::setParameters(const std::shared_ptr & bool SideShiftModule::isExecutionRequested() const { - if (current_state_ == ModuleStatus::RUNNING) { + if (getCurrentStatus() == ModuleStatus::RUNNING) { return true; } @@ -112,7 +110,7 @@ bool SideShiftModule::isReadyForNextRequest( return false; } -ModuleStatus SideShiftModule::updateState() +bool SideShiftModule::canTransitSuccessState() { // Never return the FAILURE. When the desired offset is zero and the vehicle is in the original // drivable area,this module can stop the computation and return SUCCESS. @@ -150,7 +148,7 @@ ModuleStatus SideShiftModule::updateState() no_shifted_plan); if (no_request && no_shifted_plan && no_offset_diff) { - return ModuleStatus::SUCCESS; + return true; } const auto & current_lanes = utils::getCurrentLanes(planner_data_); @@ -169,7 +167,7 @@ ModuleStatus SideShiftModule::updateState() } else { shift_status_ = SideShiftStatus::AFTER_SHIFT; } - return ModuleStatus::RUNNING; + return false; } void SideShiftModule::updateData() @@ -184,7 +182,7 @@ void SideShiftModule::updateData() } } - if (current_state_ != ModuleStatus::RUNNING && current_state_ != ModuleStatus::IDLE) { + if (getCurrentStatus() != ModuleStatus::RUNNING && getCurrentStatus() != ModuleStatus::IDLE) { return; } @@ -331,8 +329,6 @@ BehaviorModuleOutput SideShiftModule::planWaitingApproval() prev_output_ = shifted_path; - waitApproval(); - return output; } From 9f43afc510143246982d9d3f9600913462796417 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 14 Nov 2023 12:46:44 +0900 Subject: [PATCH 106/701] refactor(goal_planner): add updateStatus and reduce variables (#5546) * refactor(goal_planner): add updateStatus and reduce variables Signed-off-by: kosuke55 refactor Signed-off-by: kosuke55 refactor Signed-off-by: kosuke55 * move to updatedata Signed-off-by: kosuke55 * Update planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp Co-authored-by: Kyoichi Sugahara * style(pre-commit): autofix --------- Signed-off-by: kosuke55 Co-authored-by: Kyoichi Sugahara Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../goal_planner/goal_planner_module.hpp | 56 ++-- .../goal_planner/pull_over_planner_base.hpp | 1 + .../goal_planner/goal_planner_module.cpp | 272 +++++++++--------- 3 files changed, 152 insertions(+), 177 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index e4044d7191805..5149979ef082d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -93,50 +93,30 @@ class PullOverStatus void reset() { lane_parking_pull_over_path_ = nullptr; - current_path_idx_ = 0; - require_increment_ = true; prev_stop_path_ = nullptr; prev_stop_path_after_approval_ = nullptr; - current_lanes_.clear(); - pull_over_lanes_.clear(); - lanes_.clear(); - has_decided_path_ = false; - is_safe_dynamic_objects_ = false; + + is_safe_ = false; prev_found_path_ = false; - prev_is_safe_dynamic_objects_ = false; - has_decided_velocity_ = false; + prev_is_safe_ = false; } DEFINE_SETTER_GETTER(std::shared_ptr, lane_parking_pull_over_path) - DEFINE_SETTER_GETTER(size_t, current_path_idx) - DEFINE_SETTER_GETTER(bool, require_increment) DEFINE_SETTER_GETTER(std::shared_ptr, prev_stop_path) DEFINE_SETTER_GETTER(std::shared_ptr, prev_stop_path_after_approval) - DEFINE_SETTER_GETTER(lanelet::ConstLanelets, current_lanes) - DEFINE_SETTER_GETTER(lanelet::ConstLanelets, pull_over_lanes) - DEFINE_SETTER_GETTER(std::vector, lanes) - DEFINE_SETTER_GETTER(bool, has_decided_path) - DEFINE_SETTER_GETTER(bool, is_safe_dynamic_objects) + DEFINE_SETTER_GETTER(bool, is_safe) DEFINE_SETTER_GETTER(bool, prev_found_path) - DEFINE_SETTER_GETTER(bool, prev_is_safe_dynamic_objects) - DEFINE_SETTER_GETTER(bool, has_decided_velocity) + DEFINE_SETTER_GETTER(bool, prev_is_safe) DEFINE_SETTER_GETTER(Pose, refined_goal_pose) DEFINE_SETTER_GETTER(Pose, closest_goal_candidate_pose) private: std::shared_ptr lane_parking_pull_over_path_{nullptr}; - size_t current_path_idx_{0}; - bool require_increment_{true}; std::shared_ptr prev_stop_path_{nullptr}; std::shared_ptr prev_stop_path_after_approval_{nullptr}; - lanelet::ConstLanelets current_lanes_{}; - lanelet::ConstLanelets pull_over_lanes_{}; - std::vector lanes_{}; - bool has_decided_path_{false}; - bool is_safe_dynamic_objects_{false}; + bool is_safe_{false}; bool prev_found_path_{false}; - bool prev_is_safe_dynamic_objects_{false}; - bool has_decided_velocity_{false}; + bool prev_is_safe_{false}; Pose refined_goal_pose_{}; Pose closest_goal_candidate_pose_{}; @@ -177,6 +157,10 @@ class ThreadSafeData bool incrementPathIndex() { const std::lock_guard lock(mutex_); + if (!pull_over_path_) { + return false; + } + if (pull_over_path_->incrementPathIndex()) { last_path_idx_increment_time_ = clock_->now(); return true; @@ -393,10 +377,10 @@ class GoalPlannerModule : public SceneModuleInterface void decelerateForTurnSignal(const Pose & stop_pose, PathWithLaneId & path) const; void decelerateBeforeSearchStart( const Pose & search_start_offset_pose, PathWithLaneId & path) const; - PathWithLaneId generateStopPath(); - PathWithLaneId generateFeasibleStopPath(); + PathWithLaneId generateStopPath() const; + PathWithLaneId generateFeasibleStopPath() const; - void keepStoppedWithCurrentPath(PathWithLaneId & path); + void keepStoppedWithCurrentPath(PathWithLaneId & path) const; double calcSignedArcLengthFromEgo(const PathWithLaneId & path, const Pose & pose) const; // status @@ -411,6 +395,7 @@ class GoalPlannerModule : public SceneModuleInterface bool hasDecidedPath() const; void decideVelocity(); bool foundPullOverPath() const; + void updateStatus(const BehaviorModuleOutput & output); // validation bool hasEnoughDistance(const PullOverPath & pull_over_path) const; @@ -433,16 +418,13 @@ class GoalPlannerModule : public SceneModuleInterface const std::vector & pull_over_path_candidates, const GoalCandidates & goal_candidates) const; - // deal with pull over partial paths - void transitionToNextPathIfFinishingCurrentPath(); - // lanes and drivable area - void setLanes(); + std::vector generateDrivableLanes() const; void setDrivableAreaInfo(BehaviorModuleOutput & output) const; // output setter - void setOutput(BehaviorModuleOutput & output); - void setStopPath(BehaviorModuleOutput & output); + void setOutput(BehaviorModuleOutput & output) const; + void setStopPath(BehaviorModuleOutput & output) const; /** * @brief Sets a stop path in the current path based on safety conditions and previous paths. @@ -453,7 +435,7 @@ class GoalPlannerModule : public SceneModuleInterface * * @param output BehaviorModuleOutput */ - void setStopPathFromCurrentPath(BehaviorModuleOutput & output); + void setStopPathFromCurrentPath(BehaviorModuleOutput & output) const; void setModifiedGoal(BehaviorModuleOutput & output) const; void setTurnSignalInfo(BehaviorModuleOutput & output) const; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp index 4267261fdfe84..acb034a29d9e5 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp @@ -53,6 +53,7 @@ struct PullOverPath Pose end_pose{}; std::vector debug_poses{}; size_t goal_id{}; + bool decided_velocity{false}; PathWithLaneId getFullPath() const { diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 0475cd92f1bec..202c19f1bf1db 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -255,10 +255,21 @@ void GoalPlannerModule::updateData() updateOccupancyGrid(); - // set current road lanes, pull over lanes, and drivable lane - setLanes(); - generateGoalCandidates(); + + if (!isActivated()) { + return; + } + + if (hasFinishedCurrentPath()) { + thread_safe_data_.incrementPathIndex(); + } + + if (!last_approval_data_) { + last_approval_data_ = + std::make_unique(clock_->now(), planner_data_->self_odometry->pose.pose); + decideVelocity(); + } } void GoalPlannerModule::initializeOccupancyGridMap() @@ -524,9 +535,7 @@ void GoalPlannerModule::returnToLaneParking() return; } - status_.set_has_decided_path(false); thread_safe_data_.set_pull_over_path(status_.get_lane_parking_pull_over_path()); - RCLCPP_INFO(getLogger(), "return to lane parking"); } @@ -549,9 +558,6 @@ void GoalPlannerModule::generateGoalCandidates() goal_searcher_->setPlannerData(planner_data_); goal_searcher_->setReferenceGoal(status_.get_refined_goal_pose()); thread_safe_data_.set_goal_candidates(goal_searcher_->search()); - const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, parameters_->backward_goal_search_length, - parameters_->forward_goal_search_length, false); status_.set_closest_goal_candidate_pose( goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()) .goal_pose); @@ -689,28 +695,25 @@ void GoalPlannerModule::selectSafePullOverPath() } } -void GoalPlannerModule::setLanes() +std::vector GoalPlannerModule::generateDrivableLanes() const { - const std::lock_guard lock(mutex_); - status_.set_current_lanes(utils::getExtendedCurrentLanes( + const lanelet::ConstLanelets current_lanes = utils::getExtendedCurrentLanes( planner_data_, parameters_->backward_goal_search_length, parameters_->forward_goal_search_length, - /*forward_only_in_route*/ false)); - status_.set_pull_over_lanes(goal_planner_utils::getPullOverLanes( + /*forward_only_in_route*/ false); + const lanelet::ConstLanelets pull_over_lanes = goal_planner_utils::getPullOverLanes( *(planner_data_->route_handler), left_side_parking_, parameters_->backward_goal_search_length, - parameters_->forward_goal_search_length)); - status_.set_lanes(utils::generateDrivableLanesWithShoulderLanes( - status_.get_current_lanes(), status_.get_pull_over_lanes())); + parameters_->forward_goal_search_length); + return utils::generateDrivableLanesWithShoulderLanes(current_lanes, pull_over_lanes); } -void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) +void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) const { if (!thread_safe_data_.foundPullOverPath()) { // situation : not safe against static objects use stop_path setStopPath(output); } else if ( - parameters_->safety_check_params.enable_safety_check && !isSafePath() && - status_.get_has_decided_path() && isActivated()) { + parameters_->safety_check_params.enable_safety_check && !isSafePath() && isActivated()) { // situation : not safe against dynamic objects after approval // insert stop point in current path if ego is able to stop with acceleration and jerk // constraints @@ -735,34 +738,22 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) setModifiedGoal(output); // set hazard and turn signal - if (status_.get_has_decided_path()) { + if (hasDecidedPath()) { setTurnSignalInfo(output); } - - // for the next loop setOutput(). - // this is used to determine whether to generate a new stop path or keep the current stop path. - const std::lock_guard lock(mutex_); - status_.set_prev_found_path(thread_safe_data_.foundPullOverPath()); - status_.set_prev_is_safe_dynamic_objects( - parameters_->safety_check_params.enable_safety_check ? isSafePath() : true); } -void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) +void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) const { if (status_.get_prev_found_path() || !status_.get_prev_stop_path()) { // safe -> not_safe or no prev_stop_path: generate new stop_path output.path = std::make_shared(generateStopPath()); - const std::lock_guard lock(mutex_); - status_.set_prev_stop_path(output.path); - // set stop path as pull over path - auto stop_pull_over_path = std::make_shared(); - stop_pull_over_path->partial_paths.push_back(*output.path); - thread_safe_data_.set_pull_over_path(stop_pull_over_path); RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, generate stop path"); } else { // not_safe -> not_safe: use previous stop path output.path = status_.get_prev_stop_path(); + // stop_pose_ is removed in manager every loop, so need to set every loop. stop_pose_ = utils::getFirstStopPoseFromPath(*output.path); RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, use previous stop path"); @@ -770,10 +761,10 @@ void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) output.reference_path = getPreviousModuleOutput().reference_path; } -void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output) +void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output) const { // safe or not safe(no feasible stop_path found) -> not_safe: try to find new feasible stop_path - if (status_.get_prev_is_safe_dynamic_objects() || !status_.get_prev_stop_path_after_approval()) { + if (status_.get_prev_is_safe() || !status_.get_prev_stop_path_after_approval()) { auto current_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); const auto stop_path = behavior_path_planner::utils::start_goal_planner_common::generateFeasibleStopPath( @@ -781,7 +772,7 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output parameters_->maximum_jerk_for_stop); if (stop_path) { output.path = std::make_shared(*stop_path); - status_.set_prev_stop_path_after_approval(output.path); + // status_.set_prev_stop_path_after_approval(output.path); RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "Collision detected, generate stop path"); } else { output.path = @@ -794,6 +785,7 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output } else { // not_safe safe(no feasible stop path found) -> not_safe: use previous stop path output.path = status_.get_prev_stop_path_after_approval(); + // stop_pose_ is removed in manager every loop, so need to set every loop. stop_pose_ = utils::getFirstStopPoseFromPath(*output.path); RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "Collision detected, use previous stop path"); } @@ -808,7 +800,7 @@ void GoalPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) const planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin; } else { const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( - *output.path, status_.get_lanes(), planner_data_->drivable_area_expansion_parameters); + *output.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters); DrivableAreaInfo current_drivable_area_info; current_drivable_area_info.drivable_lanes = target_drivable_lanes; @@ -860,13 +852,10 @@ void GoalPlannerModule::updateSteeringFactor( pose, distance, SteeringFactor::GOAL_PLANNER, steering_factor_direction, type, ""); } +// NOTE: Once this function returns true, it will continue to return true thereafter. Because +// selectSafePullOverPath() will not select new path. bool GoalPlannerModule::hasDecidedPath() const { - // once decided, keep the decision - if (status_.get_has_decided_path()) { - return true; - } - // if path is not safe, not decided if (!thread_safe_data_.foundPullOverPath()) { return false; @@ -874,18 +863,15 @@ bool GoalPlannerModule::hasDecidedPath() const // if ego is sufficiently close to the start of the nearest candidate path, the path is decided const auto & current_pose = planner_data_->self_odometry->pose.pose; - const auto ego_segment_idx = motion_utils::findNearestSegmentIndex( - thread_safe_data_.get_pull_over_path()->getCurrentPath().points, current_pose, - std::numeric_limits::max(), M_PI_2); - if (!ego_segment_idx) { - return false; - } + const size_t ego_segment_idx = motion_utils::findNearestSegmentIndex( + thread_safe_data_.get_pull_over_path()->getCurrentPath().points, current_pose.position); + const size_t start_pose_segment_idx = motion_utils::findNearestSegmentIndex( thread_safe_data_.get_pull_over_path()->getCurrentPath().points, thread_safe_data_.get_pull_over_path()->start_pose.position); const double dist_to_parking_start_pose = calcSignedArcLength( thread_safe_data_.get_pull_over_path()->getCurrentPath().points, current_pose.position, - *ego_segment_idx, thread_safe_data_.get_pull_over_path()->start_pose.position, + ego_segment_idx, thread_safe_data_.get_pull_over_path()->start_pose.position, start_pose_segment_idx); return dist_to_parking_start_pose < parameters_->decide_path_distance; } @@ -894,16 +880,12 @@ void GoalPlannerModule::decideVelocity() { const double current_vel = planner_data_->self_odometry->twist.twist.linear.x; - // decide velocity to guarantee turn signal lighting time - if (!status_.get_has_decided_velocity()) { - auto & first_path = thread_safe_data_.get_pull_over_path()->partial_paths.front(); - const auto vel = - static_cast(std::max(current_vel, parameters_->pull_over_minimum_velocity)); - for (auto & p : first_path.points) { - p.point.longitudinal_velocity_mps = std::min(p.point.longitudinal_velocity_mps, vel); - } + auto & first_path = thread_safe_data_.get_pull_over_path()->partial_paths.front(); + const auto vel = + static_cast(std::max(current_vel, parameters_->pull_over_minimum_velocity)); + for (auto & p : first_path.points) { + p.point.longitudinal_velocity_mps = std::min(p.point.longitudinal_velocity_mps, vel); } - status_.set_has_decided_velocity(true); } CandidateOutput GoalPlannerModule::planCandidate() const @@ -920,31 +902,15 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() return getPreviousModuleOutput(); } - constexpr double path_update_duration = 1.0; - resetPathCandidate(); resetPathReference(); - // Check if it needs to decide path - status_.set_has_decided_path(hasDecidedPath()); - - // Use decided path - if (status_.get_has_decided_path()) { - if (isActivated() && !last_approval_data_) { - last_approval_data_ = - std::make_unique(clock_->now(), planner_data_->self_odometry->pose.pose); - decideVelocity(); - } - transitionToNextPathIfFinishingCurrentPath(); - } else if ( - !thread_safe_data_.get_pull_over_path_candidates().empty() && - needPathUpdate(path_update_duration)) { + if (!hasDecidedPath() && needPathUpdate(1.0 /*path_update_duration*/)) { // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates // and set it to thread_safe_data_.get_pull_over_path() selectSafePullOverPath(); } - // else: stop path is generated and set by setOutput() // set output and status BehaviorModuleOutput output{}; @@ -969,7 +935,7 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() } const auto distance_to_path_change = calcDistanceToPathChange(); - if (status_.get_has_decided_path()) { + if (hasDecidedPath()) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } // TODO(tkhmy) add handle status TRYING @@ -980,9 +946,41 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() setStopReason(StopReason::GOAL_PLANNER, thread_safe_data_.get_pull_over_path()->getFullPath()); + updateStatus(output); + return output; } +void GoalPlannerModule::updateStatus(const BehaviorModuleOutput & output) +{ + if (status_.get_prev_found_path() || !status_.get_prev_stop_path()) { + status_.set_prev_stop_path(output.path); + } + + // for the next loop setOutput(). + // this is used to determine whether to generate a new stop path or keep the current stop path. + status_.set_prev_found_path(thread_safe_data_.foundPullOverPath()); + status_.set_prev_is_safe( + parameters_->safety_check_params.enable_safety_check ? isSafePath() : true); + + if (!isActivated()) { + return; + } + + if ( + !parameters_->safety_check_params.enable_safety_check || isSafePath() || + (!status_.get_prev_is_safe() && status_.get_prev_stop_path_after_approval())) { + return; + } + status_.set_prev_is_safe(false); + const bool is_stop_path = std::any_of( + output.path->points.begin(), output.path->points.end(), + [](const auto & point) { return point.point.longitudinal_velocity_mps == 0.0; }); + if (is_stop_path) { + status_.set_prev_stop_path_after_approval(output.path); + } +} + BehaviorModuleOutput GoalPlannerModule::planWaitingApproval() { resetPathCandidate(); @@ -1019,7 +1017,7 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification( planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin; } else { const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( - *out.path, status_.get_lanes(), planner_data_->drivable_area_expansion_parameters); + *out.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters); DrivableAreaInfo current_drivable_area_info; current_drivable_area_info.drivable_lanes = target_drivable_lanes; @@ -1032,7 +1030,7 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification( } const auto distance_to_path_change = calcDistanceToPathChange(); - if (status_.get_has_decided_path()) { + if (hasDecidedPath()) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } updateSteeringFactor( @@ -1079,7 +1077,7 @@ void GoalPlannerModule::setParameters(const std::shared_ptrroute_handler; const auto & current_pose = planner_data_->self_odometry->pose.pose; @@ -1087,17 +1085,19 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const double current_vel = planner_data_->self_odometry->twist.twist.linear.x; const double pull_over_velocity = parameters_->pull_over_velocity; - if (status_.get_current_lanes().empty()) { + const auto current_lanes = utils::getExtendedCurrentLanes( + planner_data_, common_parameters.backward_path_length, std::numeric_limits::max(), + /*forward_only_in_route*/ true); + + if (current_lanes.empty()) { return PathWithLaneId{}; } // generate reference path - const auto s_current = - lanelet::utils::getArcCoordinates(status_.get_current_lanes(), current_pose).length; + const auto s_current = lanelet::utils::getArcCoordinates(current_lanes, current_pose).length; const double s_start = std::max(0.0, s_current - common_parameters.backward_path_length); const double s_end = s_current + common_parameters.forward_path_length; - auto reference_path = - route_handler->getCenterLinePath(status_.get_current_lanes(), s_start, s_end, true); + auto reference_path = route_handler->getCenterLinePath(current_lanes, s_start, s_end, true); // if not approved stop road lane. // stop point priority is @@ -1162,19 +1162,20 @@ PathWithLaneId GoalPlannerModule::generateStopPath() return reference_path; } -PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() +PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() const { const auto & route_handler = planner_data_->route_handler; const auto & current_pose = planner_data_->self_odometry->pose.pose; const auto & common_parameters = planner_data_->parameters; // generate stop reference path - const auto s_current = - lanelet::utils::getArcCoordinates(status_.get_current_lanes(), current_pose).length; + const auto current_lanes = utils::getExtendedCurrentLanes( + planner_data_, common_parameters.backward_path_length, std::numeric_limits::max(), + /*forward_only_in_route*/ true); + const auto s_current = lanelet::utils::getArcCoordinates(current_lanes, current_pose).length; const double s_start = std::max(0.0, s_current - common_parameters.backward_path_length); const double s_end = s_current + common_parameters.forward_path_length; - auto stop_path = - route_handler->getCenterLinePath(status_.get_current_lanes(), s_start, s_end, true); + auto stop_path = route_handler->getCenterLinePath(current_lanes, s_start, s_end, true); // calc minimum stop distance under maximum deceleration const auto min_stop_distance = calcFeasibleDecelDistance( @@ -1193,40 +1194,6 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() return stop_path; } -void GoalPlannerModule::transitionToNextPathIfFinishingCurrentPath() -{ - if (!isActivated() || !last_approval_data_) { - return; - } - - // if using arc_path and finishing current_path, get next path - // enough time for turn signal - const bool has_passed_enough_time_from_approval = - (clock_->now() - last_approval_data_->time).seconds() > - planner_data_->parameters.turn_signal_search_time; - if (!has_passed_enough_time_from_approval) { - return; - } - - // require increment only when the time passed is enough - // to prevent increment before driving - // when the end of the current path is close to the current pose - // this value should be `keep_stop_time` in keepStoppedWithCurrentPath - constexpr double keep_current_idx_time = 4.0; - const bool has_passed_enough_time_from_increment = - (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > - keep_current_idx_time; - if (!has_passed_enough_time_from_increment) { - return; - } - - if (!hasFinishedCurrentPath()) { - return; - } - - thread_safe_data_.incrementPathIndex(); -} - bool GoalPlannerModule::isStopped( std::deque & odometry_buffer, const double time) { @@ -1285,13 +1252,41 @@ bool GoalPlannerModule::isStuck() bool GoalPlannerModule::hasFinishedCurrentPath() { + if (!last_approval_data_) { + return false; + } + + if (!isStopped()) { + return false; + } + + // check if enough time has passed since last approval + // this is necessary to give turn signal for enough time + const bool has_passed_enough_time_from_approval = + (clock_->now() - last_approval_data_->time).seconds() > + planner_data_->parameters.turn_signal_search_time; + if (!has_passed_enough_time_from_approval) { + return false; + } + + // require increment only when the time passed is enough + // to prevent increment before driving + // when the end of the current path is close to the current pose + // this value should be `keep_stop_time` in keepStoppedWithCurrentPath + constexpr double keep_current_idx_time = 4.0; + const bool has_passed_enough_time_from_increment = + (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > + keep_current_idx_time; + if (!has_passed_enough_time_from_increment) { + return false; + } + + // check if self pose is near the end of current path const auto current_path_end = thread_safe_data_.get_pull_over_path()->getCurrentPath().points.back(); const auto & self_pose = planner_data_->self_odometry->pose.pose; - const bool is_near_target = tier4_autoware_utils::calcDistance2d(current_path_end, self_pose) < - parameters_->th_arrived_distance; - - return is_near_target && isStopped(); + return tier4_autoware_utils::calcDistance2d(current_path_end, self_pose) < + parameters_->th_arrived_distance; } bool GoalPlannerModule::isOnModifiedGoal() const @@ -1334,9 +1329,8 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() const { // ego decelerates so that current pose is the point `turn_light_on_threshold_time` seconds // before starting pull_over - turn_signal.desired_start_point = last_approval_data_ && status_.get_has_decided_path() - ? last_approval_data_->pose - : current_pose; + turn_signal.desired_start_point = + last_approval_data_ && hasDecidedPath() ? last_approval_data_->pose : current_pose; turn_signal.desired_end_point = end_pose; turn_signal.required_start_point = start_pose; turn_signal.required_end_point = end_pose; @@ -1440,7 +1434,7 @@ bool GoalPlannerModule::hasEnoughDistance(const PullOverPath & pull_over_path) c return true; } -void GoalPlannerModule::keepStoppedWithCurrentPath(PathWithLaneId & path) +void GoalPlannerModule::keepStoppedWithCurrentPath(PathWithLaneId & path) const { constexpr double keep_stop_time = 2.0; if (!thread_safe_data_.get_last_path_idx_increment_time()) { @@ -1619,7 +1613,7 @@ bool GoalPlannerModule::isCrossingPossible( bool GoalPlannerModule::isCrossingPossible(const PullOverPath & pull_over_path) const { - const lanelet::ConstLanelets lanes = utils::transformToLanelets(status_.get_lanes()); + const lanelet::ConstLanelets lanes = utils::transformToLanelets(generateDrivableLanes()); const Pose & start_pose = pull_over_path.start_pose; const Pose & end_pose = pull_over_path.end_pose; @@ -1655,11 +1649,10 @@ bool GoalPlannerModule::isSafePath() const const std::pair terminal_velocity_and_accel = utils::start_goal_planner_common::getPairsTerminalVelocityAndAccel( thread_safe_data_.get_pull_over_path()->pairs_terminal_velocity_and_accel, - status_.get_current_path_idx()); + thread_safe_data_.get_pull_over_path()->path_idx); RCLCPP_DEBUG( getLogger(), "pairs_terminal_velocity_and_accel for goal_planner: %f, %f", terminal_velocity_and_accel.first, terminal_velocity_and_accel.second); - RCLCPP_DEBUG(getLogger(), "current_path_idx %ld", status_.get_current_path_idx()); utils::start_goal_planner_common::updatePathProperty( ego_predicted_path_params_, terminal_velocity_and_accel); // TODO(Sugahara): shoule judge is_object_front properly @@ -1680,7 +1673,7 @@ bool GoalPlannerModule::isSafePath() const pull_over_lanes, route_handler, filtered_objects, objects_filtering_params_); const double hysteresis_factor = - status_.get_prev_is_safe_dynamic_objects() ? 1.0 : parameters_->hysteresis_factor_expand_rate; + status_.get_prev_is_safe() ? 1.0 : parameters_->hysteresis_factor_expand_rate; utils::start_goal_planner_common::updateSafetyCheckTargetObjectsData( goal_planner_data_, filtered_objects, target_objects_on_lane, ego_predicted_path); @@ -1742,9 +1735,8 @@ void GoalPlannerModule::setDebugData() }; if (goal_planner_utils::isAllowedGoalModification(planner_data_->route_handler)) { // Visualize pull over areas - const auto color = status_.get_has_decided_path() - ? createMarkerColor(1.0, 1.0, 0.0, 0.999) // yellow - : createMarkerColor(0.0, 1.0, 0.0, 0.999); // green + const auto color = hasDecidedPath() ? createMarkerColor(1.0, 1.0, 0.0, 0.999) // yellow + : createMarkerColor(0.0, 1.0, 0.0, 0.999); // green const double z = status_.get_refined_goal_pose().position.z; add(goal_planner_utils::createPullOverAreaMarkerArray( goal_searcher_->getAreaPolygons(), header, color, z)); @@ -1834,7 +1826,7 @@ void GoalPlannerModule::setDebugData() marker.text = magic_enum::enum_name(thread_safe_data_.getPullOverPlannerType()); if (thread_safe_data_.foundPullOverPath()) { marker.text += - " " + std::to_string(status_.get_current_path_idx()) + "/" + + " " + std::to_string(thread_safe_data_.get_pull_over_path()->path_idx) + "/" + std::to_string(thread_safe_data_.get_pull_over_path()->partial_paths.size() - 1); } From b11496eaa9ffb7e3d55daa1011be71fb5d96f7b2 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 14 Nov 2023 15:47:59 +0900 Subject: [PATCH 107/701] fix(simple_planning_simulator): change default value of manual gear, DRIVE -> PARK (#5563) --- .../simple_planning_simulator_core.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index 07a5d34f63c39..a3715a1efe8ab 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -210,7 +210,7 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt // control mode current_control_mode_.mode = ControlModeReport::AUTONOMOUS; - current_manual_gear_cmd_.command = GearCommand::DRIVE; + current_manual_gear_cmd_.command = GearCommand::PARK; } void SimplePlanningSimulator::initialize_vehicle_model() From 18867318a73a4561151c9d5d793bd40a4f803a48 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 14 Nov 2023 16:33:19 +0900 Subject: [PATCH 108/701] fix(lane_change): fix object debug marker not having point (#5577) Signed-off-by: Zulfaqar Azmi --- planning/behavior_path_planner/src/marker_utils/utils.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning/behavior_path_planner/src/marker_utils/utils.cpp b/planning/behavior_path_planner/src/marker_utils/utils.cpp index 031926f2d9d1d..f1f681fed06a0 100644 --- a/planning/behavior_path_planner/src/marker_utils/utils.cpp +++ b/planning/behavior_path_planner/src/marker_utils/utils.cpp @@ -18,6 +18,7 @@ #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp" #include "behavior_path_planner/utils/path_utils.hpp" +#include #include #include @@ -45,6 +46,7 @@ CollisionCheckDebugPair createObjectDebug(const ExtendedPredictedObject & obj) { CollisionCheckDebug debug; debug.current_obj_pose = obj.initial_pose.pose; + debug.extended_obj_polygon = tier4_autoware_utils::toPolygon2d(obj.initial_pose.pose, obj.shape); debug.current_twist = obj.initial_twist.twist; return {tier4_autoware_utils::toHexString(obj.uuid), debug}; } From 7d7168707d303d368fc1ec67a5977a889cc1fdd7 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 14 Nov 2023 16:35:04 +0900 Subject: [PATCH 109/701] fix(avoidance): fix a bug regarding the nearest search (#5575) * fix a bug regarding nearest search --------- Signed-off-by: Yuki Takagi --- .../src/scene_module/avoidance/avoidance_module.cpp | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 2ad0928696a5c..2d85f8cbe3224 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -2025,13 +2025,16 @@ PathWithLaneId AvoidanceModule::extendBackwardLength(const PathWithLaneId & orig planner_data_->parameters.backward_path_length, longest_dist_to_shift_point + extra_margin); const size_t orig_ego_idx = planner_data_->findEgoIndex(original_path.points); - const size_t prev_ego_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( + const auto prev_ego_idx = motion_utils::findNearestSegmentIndex( previous_path.points, getPose(original_path.points.at(orig_ego_idx)), std::numeric_limits::max(), planner_data_->parameters.ego_nearest_yaw_threshold); + if (!prev_ego_idx) { + return original_path; + } size_t clip_idx = 0; for (size_t i = 0; i < prev_ego_idx; ++i) { - if (backward_length > calcSignedArcLength(previous_path.points, clip_idx, prev_ego_idx)) { + if (backward_length > calcSignedArcLength(previous_path.points, clip_idx, *prev_ego_idx)) { break; } clip_idx = i; @@ -2041,7 +2044,7 @@ PathWithLaneId AvoidanceModule::extendBackwardLength(const PathWithLaneId & orig { extended_path.points.insert( extended_path.points.end(), previous_path.points.begin() + clip_idx, - previous_path.points.begin() + prev_ego_idx); + previous_path.points.begin() + *prev_ego_idx); } // overwrite backward path velocity by latest one. From 5fe26c63254a273477b27723c925fa48ff4d6e35 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 14 Nov 2023 18:48:25 +0900 Subject: [PATCH 110/701] refactor(goal_planner): refactoring plan flow and add post process (#5554) * refactor(goal_planner): refactoring plan flow and add post process Signed-off-by: kosuke55 do not decel when searching Signed-off-by: kosuke55 rename planPullOver Signed-off-by: kosuke55 * add plan flow Signed-off-by: kosuke55 * add reason of early return Signed-off-by: kosuke55 * typo Signed-off-by: kosuke55 * fix path_candidate_ Signed-off-by: kosuke55 * pub path candidate after approval Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner_module.hpp | 31 +- .../goal_planner/goal_planner_module.cpp | 273 ++++++++---------- 2 files changed, 154 insertions(+), 150 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index 5149979ef082d..2e95ca82735fb 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -287,27 +287,47 @@ class GoalPlannerModule : public SceneModuleInterface } } - CandidateOutput planCandidate() const override; BehaviorModuleOutput plan() override; BehaviorModuleOutput planWaitingApproval() override; bool isExecutionRequested() const override; bool isExecutionReady() const override; void processOnExit() override; void updateData() override; + void postProcess() override; void setParameters(const std::shared_ptr & parameters); void acceptVisitor( [[maybe_unused]] const std::shared_ptr & visitor) const override { } + CandidateOutput planCandidate() const override { return CandidateOutput{}; } private: + /*　 + * state transitions and plan function used in each state + * + * +--------------------------+ + * | RUNNING | + * | planPullOverAsCandidate()| + * +------------+-------------+ + * | hasDecidedPath() + * 2 v + * +--------------------------+ + * | WAITING_APPROVAL | + * | planPullOverAsCandidate()| + * +------------+-------------+ + * | isActivated() + * 3 v + * +--------------------------+ + * | RUNNING | + * | planPullOverAsOutput() | + * +--------------------------+ + */ + // The start_planner activates when it receives a new route, // so there is no need to terminate the goal planner. // If terminating it, it may switch to lane following and could generate an inappropriate path. bool canTransitSuccessState() override { return false; } - bool canTransitFailureState() override { return false; } - bool canTransitIdleToRunningState() override { return true; } mutable StartGoalPlannerData goal_planner_data_; @@ -411,8 +431,9 @@ class GoalPlannerModule : public SceneModuleInterface void returnToLaneParking(); // plan pull over path - BehaviorModuleOutput planWithGoalModification(); - BehaviorModuleOutput planWaitingApprovalWithGoalModification(); + BehaviorModuleOutput planPullOver(); + BehaviorModuleOutput planPullOverAsOutput(); + BehaviorModuleOutput planPullOverAsCandidate(); void selectSafePullOverPath(); std::vector sortPullOverPathCandidatesByGoalPriority( const std::vector & pull_over_path_candidates, diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 202c19f1bf1db..84b4032cde4ad 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -253,10 +253,17 @@ void GoalPlannerModule::updateData() initializeOccupancyGridMap(); } + resetPathCandidate(); + resetPathReference(); + path_reference_ = getPreviousModuleOutput().reference_path; + updateOccupancyGrid(); generateGoalCandidates(); + // Only after the path is decided, approval is allowed and the module is Activated. + // The path index is not incremented until after deciding the path. + // So return here, if (!isActivated()) { return; } @@ -541,16 +548,12 @@ void GoalPlannerModule::returnToLaneParking() void GoalPlannerModule::generateGoalCandidates() { - const auto & route_handler = planner_data_->route_handler; - - // with old architecture, module instance is not cleared when new route is received - // so need to reset status here. - // todo: move this check out of this function after old architecture is removed if (!thread_safe_data_.get_goal_candidates().empty()) { return; } // calculate goal candidates + const auto & route_handler = planner_data_->route_handler; const Pose goal_pose = route_handler->getOriginalGoalPose(); status_.set_refined_goal_pose(calcRefinedGoal(goal_pose)); if (goal_planner_utils::isAllowedGoalModification(route_handler)) { @@ -574,17 +577,12 @@ void GoalPlannerModule::generateGoalCandidates() BehaviorModuleOutput GoalPlannerModule::plan() { - resetPathCandidate(); - resetPathReference(); - - path_reference_ = getPreviousModuleOutput().reference_path; - if (goal_planner_utils::isAllowedGoalModification(planner_data_->route_handler)) { - return planWithGoalModification(); - } else { - fixed_goal_planner_->setPreviousModuleOutput(getPreviousModuleOutput()); - return fixed_goal_planner_->plan(planner_data_); + return planPullOver(); } + + fixed_goal_planner_->setPreviousModuleOutput(getPreviousModuleOutput()); + return fixed_goal_planner_->plan(planner_data_); } std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPriority( @@ -671,27 +669,26 @@ void GoalPlannerModule::selectSafePullOverPath() } // decelerate before the search area start - const auto search_start_offset_pose = calcLongitudinalOffsetPose( + const auto decel_pose = calcLongitudinalOffsetPose( thread_safe_data_.get_pull_over_path()->getFullPath().points, - status_.get_refined_goal_pose().position, - -parameters_->backward_goal_search_length - planner_data_->parameters.base_link2front - - approximate_pull_over_distance_); + status_.get_closest_goal_candidate_pose().position, -approximate_pull_over_distance_); auto & first_path = thread_safe_data_.get_pull_over_path()->partial_paths.front(); - if (search_start_offset_pose) { - decelerateBeforeSearchStart(*search_start_offset_pose, first_path); - } else { - // if already passed the search start offset pose, set pull_over_velocity to first_path. - const auto min_decel_distance = calcFeasibleDecelDistance( - planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, - parameters_->pull_over_velocity); - for (auto & p : first_path.points) { - const double distance_from_ego = calcSignedArcLengthFromEgo(first_path, p.point.pose); - if (min_decel_distance && distance_from_ego < *min_decel_distance) { - continue; - } - p.point.longitudinal_velocity_mps = std::min( - p.point.longitudinal_velocity_mps, static_cast(parameters_->pull_over_velocity)); + if (decel_pose) { + decelerateBeforeSearchStart(*decel_pose, first_path); + return; + } + + // if already passed the search start offset pose, set pull_over_velocity to first_path. + const auto min_decel_distance = calcFeasibleDecelDistance( + planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, + parameters_->pull_over_velocity); + for (auto & p : first_path.points) { + const double distance_from_ego = calcSignedArcLengthFromEgo(first_path, p.point.pose); + if (min_decel_distance && distance_from_ego < *min_decel_distance) { + continue; } + p.point.longitudinal_velocity_mps = std::min( + p.point.longitudinal_velocity_mps, static_cast(parameters_->pull_over_velocity)); } } @@ -709,11 +706,16 @@ std::vector GoalPlannerModule::generateDrivableLanes() const void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) const { + output.reference_path = getPreviousModuleOutput().reference_path; + if (!thread_safe_data_.foundPullOverPath()) { // situation : not safe against static objects use stop_path setStopPath(output); - } else if ( - parameters_->safety_check_params.enable_safety_check && !isSafePath() && isActivated()) { + setDrivableAreaInfo(output); + return; + } + + if (parameters_->safety_check_params.enable_safety_check && !isSafePath() && isActivated()) { // situation : not safe against dynamic objects after approval // insert stop point in current path if ego is able to stop with acceleration and jerk // constraints @@ -721,24 +723,18 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) const } else { // situation : (safe against static and dynamic objects) or (safe against static objects and // before approval) don't stop - if (isActivated()) { - resetWallPoses(); - } // keep stop if not enough time passed, // because it takes time for the trajectory to be reflected auto current_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); keepStoppedWithCurrentPath(current_path); - output.path = std::make_shared(current_path); - output.reference_path = getPreviousModuleOutput().reference_path; } - setDrivableAreaInfo(output); - setModifiedGoal(output); + setDrivableAreaInfo(output); // set hazard and turn signal - if (hasDecidedPath()) { + if (hasDecidedPath() && isActivated()) { setTurnSignalInfo(output); } } @@ -758,7 +754,6 @@ void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) const RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, use previous stop path"); } - output.reference_path = getPreviousModuleOutput().reference_path; } void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output) const @@ -789,7 +784,6 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output stop_pose_ = utils::getFirstStopPoseFromPath(*output.path); RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "Collision detected, use previous stop path"); } - output.reference_path = getPreviousModuleOutput().reference_path; } void GoalPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) const @@ -888,22 +882,48 @@ void GoalPlannerModule::decideVelocity() } } -CandidateOutput GoalPlannerModule::planCandidate() const +BehaviorModuleOutput GoalPlannerModule::planPullOver() { - return CandidateOutput( - thread_safe_data_.get_pull_over_path() ? thread_safe_data_.get_pull_over_path()->getFullPath() - : PathWithLaneId()); + if (!hasDecidedPath()) { + return planPullOverAsCandidate(); + } + + return planPullOverAsOutput(); } -BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() +BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate() { // if pull over path candidates generation is not finished, use previous module output if (thread_safe_data_.get_pull_over_path_candidates().empty()) { return getPreviousModuleOutput(); } - resetPathCandidate(); - resetPathReference(); + BehaviorModuleOutput output{}; + const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(); + output.modified_goal = pull_over_output.modified_goal; + output.path = std::make_shared(generateStopPath()); + + const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( + *output.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters); + + DrivableAreaInfo current_drivable_area_info{}; + current_drivable_area_info.drivable_lanes = target_drivable_lanes; + output.drivable_area_info = utils::combineDrivableAreaInfo( + current_drivable_area_info, getPreviousModuleOutput().drivable_area_info); + + if (!thread_safe_data_.foundPullOverPath()) { + return output; + } + + return output; +} + +BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() +{ + // if pull over path candidates generation is not finished, use previous module output + if (thread_safe_data_.get_pull_over_path_candidates().empty()) { + return getPreviousModuleOutput(); + } if (!hasDecidedPath() && needPathUpdate(1.0 /*path_update_duration*/)) { // if the final path is not decided and enough time has passed since last path update, @@ -915,8 +935,6 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() // set output and status BehaviorModuleOutput output{}; setOutput(output); - path_candidate_ = std::make_shared(planCandidate().path_candidate); - path_reference_ = getPreviousModuleOutput().reference_path; // return to lane parking if it is possible if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) { @@ -934,21 +952,34 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() return output; } + path_candidate_ = + std::make_shared(thread_safe_data_.get_pull_over_path()->getFullPath()); + + updateStatus(output); + + return output; +} + +void GoalPlannerModule::postProcess() +{ + if (!thread_safe_data_.foundPullOverPath()) { + return; + } + + const bool has_decided_path = hasDecidedPath(); const auto distance_to_path_change = calcDistanceToPathChange(); - if (hasDecidedPath()) { + + if (has_decided_path) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } - // TODO(tkhmy) add handle status TRYING + updateSteeringFactor( {thread_safe_data_.get_pull_over_path()->start_pose, thread_safe_data_.get_modified_goal_pose()->goal_pose}, - {distance_to_path_change.first, distance_to_path_change.second}, SteeringFactor::TURNING); + {distance_to_path_change.first, distance_to_path_change.second}, + has_decided_path ? SteeringFactor::TURNING : SteeringFactor::APPROACHING); setStopReason(StopReason::GOAL_PLANNER, thread_safe_data_.get_pull_over_path()->getFullPath()); - - updateStatus(output); - - return output; } void GoalPlannerModule::updateStatus(const BehaviorModuleOutput & output) @@ -983,64 +1014,12 @@ void GoalPlannerModule::updateStatus(const BehaviorModuleOutput & output) BehaviorModuleOutput GoalPlannerModule::planWaitingApproval() { - resetPathCandidate(); - resetPathReference(); - - path_reference_ = getPreviousModuleOutput().reference_path; - if (goal_planner_utils::isAllowedGoalModification(planner_data_->route_handler)) { - return planWaitingApprovalWithGoalModification(); - } else { - fixed_goal_planner_->setPreviousModuleOutput(getPreviousModuleOutput()); - return fixed_goal_planner_->plan(planner_data_); - } -} - -BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification() -{ - // if pull over path candidates generation is not finished, use previous module output - if (thread_safe_data_.get_pull_over_path_candidates().empty()) { - return getPreviousModuleOutput(); - } - - BehaviorModuleOutput out; - out.modified_goal = planWithGoalModification().modified_goal; // update status_ - out.path = std::make_shared(generateStopPath()); - out.reference_path = getPreviousModuleOutput().reference_path; - path_candidate_ = std::make_shared(planCandidate().path_candidate); - path_reference_ = getPreviousModuleOutput().reference_path; - - // generate drivable area info for new architecture - if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) { - const double drivable_area_margin = planner_data_->parameters.vehicle_width; - out.drivable_area_info.drivable_margin = - planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin; - } else { - const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( - *out.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters); - - DrivableAreaInfo current_drivable_area_info; - current_drivable_area_info.drivable_lanes = target_drivable_lanes; - out.drivable_area_info = utils::combineDrivableAreaInfo( - current_drivable_area_info, getPreviousModuleOutput().drivable_area_info); - } - - if (!thread_safe_data_.foundPullOverPath()) { - return out; + return planPullOverAsCandidate(); } - const auto distance_to_path_change = calcDistanceToPathChange(); - if (hasDecidedPath()) { - updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); - } - updateSteeringFactor( - {thread_safe_data_.get_pull_over_path()->start_pose, - thread_safe_data_.get_modified_goal_pose()->goal_pose}, - {distance_to_path_change.first, distance_to_path_change.second}, SteeringFactor::APPROACHING); - - setStopReason(StopReason::GOAL_PLANNER, thread_safe_data_.get_pull_over_path()->getFullPath()); - - return out; + fixed_goal_planner_->setPreviousModuleOutput(getPreviousModuleOutput()); + return fixed_goal_planner_->plan(planner_data_); } std::pair GoalPlannerModule::calcDistanceToPathChange() const @@ -1099,6 +1078,13 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const const double s_end = s_current + common_parameters.forward_path_length; auto reference_path = route_handler->getCenterLinePath(current_lanes, s_start, s_end, true); + // calculate search start offset pose from the closest goal candidate pose with + // approximate_pull_over_distance_ ego vehicle decelerates to this position. or if no feasible + // stop point is found, stop at this position. + const auto decel_pose = calcLongitudinalOffsetPose( + reference_path.points, status_.get_closest_goal_candidate_pose().position, + -approximate_pull_over_distance_); + // if not approved stop road lane. // stop point priority is // 1. actual start pose @@ -1107,27 +1093,24 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const // (In the case of the curve lane, the position is not aligned due to the // difference between the outer and inner sides) // 4. feasible stop - const auto search_start_offset_pose = calcLongitudinalOffsetPose( - reference_path.points, status_.get_closest_goal_candidate_pose().position, - -approximate_pull_over_distance_); - if ( - !thread_safe_data_.foundPullOverPath() && !thread_safe_data_.get_closest_start_pose() && - !search_start_offset_pose) { - return generateFeasibleStopPath(); - } - - const Pose stop_pose = [&]() -> Pose { + const auto stop_pose = std::invoke([&]() -> boost::optional { if (thread_safe_data_.foundPullOverPath()) { return thread_safe_data_.get_pull_over_path()->start_pose; } if (thread_safe_data_.get_closest_start_pose()) { return thread_safe_data_.get_closest_start_pose().value(); } - return *search_start_offset_pose; - }(); + if (!decel_pose) { + return boost::optional{}; + } + return decel_pose.value(); + }); + if (!stop_pose) { + return generateFeasibleStopPath(); + } // if stop pose is closer than min_stop_distance, stop as soon as possible - const double ego_to_stop_distance = calcSignedArcLengthFromEgo(reference_path, stop_pose); + const double ego_to_stop_distance = calcSignedArcLengthFromEgo(reference_path, *stop_pose); const auto min_stop_distance = calcFeasibleDecelDistance( planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, 0.0); const double eps_vel = 0.01; @@ -1138,27 +1121,27 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const } // slow down for turn signal, insert stop point to stop_pose - decelerateForTurnSignal(stop_pose, reference_path); - stop_pose_ = stop_pose; + decelerateForTurnSignal(*stop_pose, reference_path); + stop_pose_ = *stop_pose; // for debug wall marker // slow down before the search area. - if (search_start_offset_pose) { - decelerateBeforeSearchStart(*search_start_offset_pose, reference_path); - } else { - // if already passed the search start offset pose, set pull_over_velocity to reference_path. - const auto min_decel_distance = calcFeasibleDecelDistance( - planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, - pull_over_velocity); - for (auto & p : reference_path.points) { - const double distance_from_ego = calcSignedArcLengthFromEgo(reference_path, p.point.pose); - if (min_decel_distance && distance_from_ego < *min_decel_distance) { - continue; - } - p.point.longitudinal_velocity_mps = - std::min(p.point.longitudinal_velocity_mps, static_cast(pull_over_velocity)); - } + if (decel_pose) { + decelerateBeforeSearchStart(*decel_pose, reference_path); + return reference_path; } + // if already passed the decel pose, set pull_over_velocity to reference_path. + const auto min_decel_distance = calcFeasibleDecelDistance( + planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, + pull_over_velocity); + for (auto & p : reference_path.points) { + const double distance_from_ego = calcSignedArcLengthFromEgo(reference_path, p.point.pose); + if (min_decel_distance && distance_from_ego < *min_decel_distance) { + continue; + } + p.point.longitudinal_velocity_mps = + std::min(p.point.longitudinal_velocity_mps, static_cast(pull_over_velocity)); + } return reference_path; } From 874c55977e2c470feaf66e44251026da656146fa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Tue, 14 Nov 2023 14:36:47 +0300 Subject: [PATCH 111/701] ci(labeler): rename simulator to simulation (#5580) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .github/labeler.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/labeler.yaml b/.github/labeler.yaml index c3efa2a1a2b15..47f8737ebbf39 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -31,7 +31,7 @@ - planning/**/* "component:sensing": - sensing/**/* -"component:simulator": +"component:simulation": - simulator/**/* "component:system": - system/**/* From 2a53348eadf259a302fbac960fabb1464a3df698 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 14 Nov 2023 21:37:23 +0900 Subject: [PATCH 112/701] feat(motion_velocity_smoother): add motion_velocity_smoother's virtual wall such as MRM (#5555) * feat: add motion_velocity_smoother's virtual wall Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../src/external_velocity_limit_selector_node.cpp | 1 + .../motion_velocity_smoother_node.hpp | 5 +++++ .../src/motion_velocity_smoother_node.cpp | 14 ++++++++++++++ 3 files changed, 20 insertions(+) diff --git a/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp b/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp index 2ba0a4c1d46f3..ccca5e97d2b38 100644 --- a/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp +++ b/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp @@ -46,6 +46,7 @@ VelocityLimit getHardestLimit( // find hardest max velocity if (max_velocity < hardest_max_velocity) { hardest_limit.stamp = limit.second.stamp; + hardest_limit.sender = limit.first; hardest_limit.max_velocity = max_velocity; hardest_max_velocity = max_velocity; } diff --git a/planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp b/planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp index 347d19f631588..7be91d67cb945 100644 --- a/planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp +++ b/planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp @@ -42,6 +42,7 @@ #include "tier4_debug_msgs/msg/float32_stamped.hpp" // temporary #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp" // temporary #include "tier4_planning_msgs/msg/velocity_limit.hpp" // temporary +#include "visualization_msgs/msg/marker_array.hpp" #include #include @@ -63,6 +64,7 @@ using nav_msgs::msg::Odometry; using tier4_debug_msgs::msg::Float32Stamped; // temporary using tier4_planning_msgs::msg::StopSpeedExceeded; // temporary using tier4_planning_msgs::msg::VelocityLimit; // temporary +using visualization_msgs::msg::MarkerArray; struct Motion { @@ -80,6 +82,7 @@ class MotionVelocitySmootherNode : public rclcpp::Node private: rclcpp::Publisher::SharedPtr pub_trajectory_; + rclcpp::Publisher::SharedPtr pub_virtual_wall_; rclcpp::Publisher::SharedPtr pub_over_stop_velocity_; rclcpp::Subscription::SharedPtr sub_current_odometry_; rclcpp::Subscription::SharedPtr sub_current_acceleration_; @@ -95,6 +98,7 @@ class MotionVelocitySmootherNode : public rclcpp::Node double max_velocity_with_deceleration_; // maximum velocity with deceleration // for external velocity limit double wheelbase_; // wheelbase + double base_link2front_; // base_link to front TrajectoryPoints prev_output_; // previously published trajectory @@ -153,6 +157,7 @@ class MotionVelocitySmootherNode : public rclcpp::Node { double velocity{0.0}; // current external_velocity_limit double dist{0.0}; // distance to set external velocity limit + std::string sender{""}; }; ExternalVelocityLimit external_velocity_limit_; // velocity and distance constraint of external velocity limit diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp index 6b5da01b9cb09..a27e02c15710f 100644 --- a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp +++ b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp @@ -14,6 +14,7 @@ #include "motion_velocity_smoother/motion_velocity_smoother_node.hpp" +#include "motion_utils/marker/marker_helper.hpp" #include "motion_velocity_smoother/smoother/jerk_filtered_smoother.hpp" #include "motion_velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp" #include "motion_velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp" @@ -41,6 +42,7 @@ MotionVelocitySmootherNode::MotionVelocitySmootherNode(const rclcpp::NodeOptions // set common params const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo(); wheelbase_ = vehicle_info.wheel_base_m; + base_link2front_ = vehicle_info.max_longitudinal_offset_m; initCommonParam(); over_stop_velocity_warn_thr_ = declare_parameter("over_stop_velocity_warn_thr"); @@ -49,6 +51,7 @@ MotionVelocitySmootherNode::MotionVelocitySmootherNode(const rclcpp::NodeOptions // publishers, subscribers pub_trajectory_ = create_publisher("~/output/trajectory", 1); + pub_virtual_wall_ = create_publisher("~/virtual_wall", 1); pub_velocity_limit_ = create_publisher( "~/output/current_velocity_limit_mps", rclcpp::QoS{1}.transient_local()); pub_dist_to_stopline_ = create_publisher("~/distance_to_stopline", 1); @@ -329,6 +332,9 @@ void MotionVelocitySmootherNode::calcExternalVelocityLimit() return; } + // sender + external_velocity_limit_.sender = external_velocity_limit_ptr_->sender; + // on the first time, apply directly if (prev_output_.empty() || !current_closest_point_from_prev_output_) { external_velocity_limit_.velocity = external_velocity_limit_ptr_->max_velocity; @@ -890,6 +896,14 @@ void MotionVelocitySmootherNode::applyExternalVelocityLimit(TrajectoryPoints & t trajectory_utils::applyMaximumVelocityLimit( *inserted_index, traj.size(), external_velocity_limit_.velocity, traj); + // create virtual wall + if (std::abs(external_velocity_limit_.velocity) < 1e-3) { + const auto virtual_wall_marker = motion_utils::createStopVirtualWallMarker( + traj.at(*inserted_index).pose, external_velocity_limit_.sender, this->now(), 0, + base_link2front_); + pub_virtual_wall_->publish(virtual_wall_marker); + } + RCLCPP_DEBUG( get_logger(), "externalVelocityLimit : limit_vel = %.3f", external_velocity_limit_.velocity); } From 4d79d98488a037b56169c5fa5fd977ddda07d026 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Wed, 15 Nov 2023 09:08:47 +0900 Subject: [PATCH 113/701] feat(localization): add `pose_instability_detector` (#5439) * Added pose_instability_detector Signed-off-by: Shintaro Sakoda * Renamed files Signed-off-by: Shintaro Sakoda * Fixed parameter name Signed-off-by: Shintaro Sakoda * Fixed to launch Signed-off-by: Shintaro Sakoda * Fixed to run normally Signed-off-by: Shintaro Sakoda * Fixed to publish diagnostics Signed-off-by: Shintaro Sakoda * Fixed a variable name Signed-off-by: Shintaro Sakoda * Fixed Copyright Signed-off-by: Shintaro Sakoda * Added test Signed-off-by: Shintaro Sakoda * Added maintainer Signed-off-by: Shintaro Sakoda * Added maintainer Signed-off-by: Shintaro Sakoda * Removed log output Signed-off-by: Shintaro Sakoda * Modified test Signed-off-by: Shintaro Sakoda * Fixed comment Signed-off-by: Shintaro Sakoda * Added a test case Signed-off-by: Shintaro Sakoda * Added set_first_odometry_ Signed-off-by: Shintaro Sakoda * Refactored test Signed-off-by: Shintaro Sakoda * Fixed test Signed-off-by: Shintaro Sakoda * Fixed topic name Signed-off-by: Shintaro Sakoda * Fixed position Signed-off-by: Shintaro Sakoda * Added twist message2 Signed-off-by: Shintaro Sakoda * Fixed launch Signed-off-by: Shintaro Sakoda * Updated README.md Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed as pointed out by clang-tidy Signed-off-by: Shintaro Sakoda * Renamed parameters Signed-off-by: Shintaro Sakoda * Fixed timer Signed-off-by: Shintaro Sakoda * Fixed README.md Signed-off-by: Shintaro Sakoda * Added debug publishers Signed-off-by: Shintaro Sakoda * Fixed parameters Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed tests Signed-off-by: Shintaro Sakoda * Changed the type of ekf_to_odom and add const Signed-off-by: Shintaro Sakoda * Fixed DiagnosticStatus Signed-off-by: Shintaro Sakoda * Changed odometry_data to std::optional Signed-off-by: Shintaro Sakoda * Refactored debug output in pose instability detector Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Remove warning message for negative time difference in PoseInstabilityDetector Signed-off-by: Shintaro Sakoda * Updated rqt_runtime_monitor.png Signed-off-by: Shintaro SAKODA --------- Signed-off-by: Shintaro Sakoda Signed-off-by: Shintaro SAKODA Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../pose_twist_fusion_filter.launch.xml | 8 + launch/tier4_localization_launch/package.xml | 1 + .../pose_instability_detector/CMakeLists.txt | 24 +++ .../pose_instability_detector/README.md | 37 ++++ .../pose_instability_detector.param.yaml | 9 + .../pose_instability_detector.launch.xml | 14 ++ .../media/rqt_runtime_monitor.png | Bin 0 -> 438840 bytes .../media/timeline.drawio.svg | 157 ++++++++++++++++ .../pose_instability_detector/package.xml | 34 ++++ .../pose_instability_detector.schema.json | 75 ++++++++ .../pose_instability_detector/src/main.cpp | 26 +++ .../src/pose_instability_detector.cpp | 176 ++++++++++++++++++ .../src/pose_instability_detector.hpp | 70 +++++++ .../pose_instability_detector/test/test.cpp | 168 +++++++++++++++++ .../test/test_message_helper_node.hpp | 80 ++++++++ 15 files changed, 879 insertions(+) create mode 100644 localization/pose_instability_detector/CMakeLists.txt create mode 100644 localization/pose_instability_detector/README.md create mode 100644 localization/pose_instability_detector/config/pose_instability_detector.param.yaml create mode 100644 localization/pose_instability_detector/launch/pose_instability_detector.launch.xml create mode 100644 localization/pose_instability_detector/media/rqt_runtime_monitor.png create mode 100644 localization/pose_instability_detector/media/timeline.drawio.svg create mode 100644 localization/pose_instability_detector/package.xml create mode 100644 localization/pose_instability_detector/schema/pose_instability_detector.schema.json create mode 100644 localization/pose_instability_detector/src/main.cpp create mode 100644 localization/pose_instability_detector/src/pose_instability_detector.cpp create mode 100644 localization/pose_instability_detector/src/pose_instability_detector.hpp create mode 100644 localization/pose_instability_detector/test/test.cpp create mode 100644 localization/pose_instability_detector/test/test_message_helper_node.hpp diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml index 59fd5174fa38c..23a1201a84958 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -33,4 +33,12 @@ + + + + + + + + diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 1126914d58c5a..c4de9c04dcaf2 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -25,6 +25,7 @@ ndt_scan_matcher pointcloud_preprocessor pose_initializer + pose_instability_detector topic_tools yabloc_common yabloc_image_processing diff --git a/localization/pose_instability_detector/CMakeLists.txt b/localization/pose_instability_detector/CMakeLists.txt new file mode 100644 index 0000000000000..5270df636d791 --- /dev/null +++ b/localization/pose_instability_detector/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 3.14) +project(pose_instability_detector) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_executable(pose_instability_detector + src/main.cpp + src/pose_instability_detector.cpp +) + +if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) + ament_auto_add_gtest(test_pose_instability_detector + test/test.cpp + src/pose_instability_detector.cpp + ) +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/localization/pose_instability_detector/README.md b/localization/pose_instability_detector/README.md new file mode 100644 index 0000000000000..89cf6ca3be684 --- /dev/null +++ b/localization/pose_instability_detector/README.md @@ -0,0 +1,37 @@ +# pose_instability_detector + +The `pose_instability_detector` package includes a node designed to monitor the stability of `/localization/kinematic_state`, which is an output topic of the Extended Kalman Filter (EKF). + +This node triggers periodic timer callbacks to compare two poses: + +- The pose obtained by integrating the twist values from the last received message on `/localization/kinematic_state` over a duration specified by `interval_sec`. +- The latest pose from `/localization/kinematic_state`. + +The results of this comparison are then output to the `/diagnostics` topic. + +If this node outputs WARN messages to `/diagnostics`, it means that the EKF output is significantly different from the integrated twist values. +This discrepancy suggests that there may be an issue with either the estimated pose or the input twist. + +The following diagram provides an overview of what the timeline of this process looks like: + +![timeline](./media/timeline.drawio.svg) + +## Parameters + +{{ json_to_markdown("localization/pose_instability_detector/schema/pose_instability_detector.schema.json") }} + +## Input + +| Name | Type | Description | +| ------------------ | ---------------------------------------------- | --------------------- | +| `~/input/odometry` | nav_msgs::msg::Odometry | Pose estimated by EKF | +| `~/input/twist` | geometry_msgs::msg::TwistWithCovarianceStamped | Twist | + +## Output + +| Name | Type | Description | +| ------------------- | ------------------------------------- | ----------- | +| `~/debug/diff_pose` | geometry_msgs::msg::PoseStamped | diff_pose | +| `/diagnostics` | diagnostic_msgs::msg::DiagnosticArray | Diagnostics | + +![rqt_runtime_monitor](./media/rqt_runtime_monitor.png) diff --git a/localization/pose_instability_detector/config/pose_instability_detector.param.yaml b/localization/pose_instability_detector/config/pose_instability_detector.param.yaml new file mode 100644 index 0000000000000..29a25849d6b1c --- /dev/null +++ b/localization/pose_instability_detector/config/pose_instability_detector.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + interval_sec: 1.0 # [sec] + threshold_diff_position_x: 1.0 # [m] + threshold_diff_position_y: 1.0 # [m] + threshold_diff_position_z: 1.0 # [m] + threshold_diff_angle_x: 1.0 # [rad] + threshold_diff_angle_y: 1.0 # [rad] + threshold_diff_angle_z: 1.0 # [rad] diff --git a/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml b/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml new file mode 100644 index 0000000000000..4a390ee2854d7 --- /dev/null +++ b/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/localization/pose_instability_detector/media/rqt_runtime_monitor.png b/localization/pose_instability_detector/media/rqt_runtime_monitor.png new file mode 100644 index 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a/localization/pose_instability_detector/package.xml b/localization/pose_instability_detector/package.xml new file mode 100644 index 0000000000000..9f38cf6e00262 --- /dev/null +++ b/localization/pose_instability_detector/package.xml @@ -0,0 +1,34 @@ + + + + pose_instability_detector + 0.1.0 + The pose_instability_detector package + Yamato Ando + Kento Yabuuchi + Masahiro Sakamoto + Taiki Yamada + Ryu Yamamoto + Shintaro Sakoda + Apache License 2.0 + Shintaro Sakoda + + ament_cmake_auto + autoware_cmake + + diagnostic_msgs + geometry_msgs + nav_msgs + rclcpp + tf2 + tf2_geometry_msgs + tier4_autoware_utils + tier4_debug_msgs + + ament_cmake_cppcheck + ament_lint_auto + + + ament_cmake + + diff --git a/localization/pose_instability_detector/schema/pose_instability_detector.schema.json b/localization/pose_instability_detector/schema/pose_instability_detector.schema.json new file mode 100644 index 0000000000000..b45b43102444d --- /dev/null +++ b/localization/pose_instability_detector/schema/pose_instability_detector.schema.json @@ -0,0 +1,75 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Pose Instability Detector Nodes", + "type": "object", + "definitions": { + "pose_instability_detector_node": { + "type": "object", + "properties": { + "interval_sec": { + "type": "number", + "default": 1.0, + "exclusiveMinimum": 0, + "description": "The interval of timer_callback in seconds." + }, + "threshold_diff_position_x": { + "type": "number", + "default": 1.0, + "minimum": 0.0, + "description": "The threshold of diff_position x (m)." + }, + "threshold_diff_position_y": { + "type": "number", + "default": 1.0, + "minimum": 0.0, + "description": "The threshold of diff_position y (m)." + }, + "threshold_diff_position_z": { + "type": "number", + "default": 1.0, + "minimum": 0.0, + "description": "The threshold of diff_position z (m)." + }, + "threshold_diff_angle_x": { + "type": "number", + "default": 1.0, + "minimum": 0.0, + "description": "The threshold of diff_angle x (rad)." + }, + "threshold_diff_angle_y": { + "type": "number", + "default": 1.0, + "minimum": 0.0, + "description": "The threshold of diff_angle y (rad)." + }, + "threshold_diff_angle_z": { + "type": "number", + "default": 1.0, + "minimum": 0.0, + "description": "The threshold of diff_angle z (rad)." + } + }, + "required": [ + "interval_sec", + "threshold_diff_position_x", + "threshold_diff_position_y", + "threshold_diff_position_z", + "threshold_diff_angle_x", + "threshold_diff_angle_y", + "threshold_diff_angle_z" + ] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/pose_instability_detector_node" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/localization/pose_instability_detector/src/main.cpp b/localization/pose_instability_detector/src/main.cpp new file mode 100644 index 0000000000000..34e679e86730f --- /dev/null +++ b/localization/pose_instability_detector/src/main.cpp @@ -0,0 +1,26 @@ +// Copyright 2023- Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "pose_instability_detector.hpp" + +#include + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + auto pose_instability_detector = std::make_shared(); + rclcpp::spin(pose_instability_detector); + rclcpp::shutdown(); + return 0; +} diff --git a/localization/pose_instability_detector/src/pose_instability_detector.cpp b/localization/pose_instability_detector/src/pose_instability_detector.cpp new file mode 100644 index 0000000000000..afb7d6e007db2 --- /dev/null +++ b/localization/pose_instability_detector/src/pose_instability_detector.cpp @@ -0,0 +1,176 @@ +// Copyright 2023- Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "pose_instability_detector.hpp" + +#include "tier4_autoware_utils/geometry/geometry.hpp" + +#include + +#include + +#include + +PoseInstabilityDetector::PoseInstabilityDetector(const rclcpp::NodeOptions & options) +: Node("pose_instability_detector", options), + threshold_diff_position_x_(this->declare_parameter("threshold_diff_position_x")), + threshold_diff_position_y_(this->declare_parameter("threshold_diff_position_y")), + threshold_diff_position_z_(this->declare_parameter("threshold_diff_position_z")), + threshold_diff_angle_x_(this->declare_parameter("threshold_diff_angle_x")), + threshold_diff_angle_y_(this->declare_parameter("threshold_diff_angle_y")), + threshold_diff_angle_z_(this->declare_parameter("threshold_diff_angle_z")) +{ + odometry_sub_ = this->create_subscription( + "~/input/odometry", 10, + std::bind(&PoseInstabilityDetector::callback_odometry, this, std::placeholders::_1)); + + twist_sub_ = this->create_subscription( + "~/input/twist", 10, + std::bind(&PoseInstabilityDetector::callback_twist, this, std::placeholders::_1)); + + const double interval_sec = this->declare_parameter("interval_sec"); + timer_ = rclcpp::create_timer( + this, this->get_clock(), std::chrono::duration(interval_sec), + std::bind(&PoseInstabilityDetector::callback_timer, this)); + + diff_pose_pub_ = this->create_publisher("~/debug/diff_pose", 10); + diagnostics_pub_ = this->create_publisher("/diagnostics", 10); +} + +void PoseInstabilityDetector::callback_odometry(Odometry::ConstSharedPtr odometry_msg_ptr) +{ + latest_odometry_ = *odometry_msg_ptr; +} + +void PoseInstabilityDetector::callback_twist( + TwistWithCovarianceStamped::ConstSharedPtr twist_msg_ptr) +{ + twist_buffer_.push_back(*twist_msg_ptr); +} + +void PoseInstabilityDetector::callback_timer() +{ + if (latest_odometry_ == std::nullopt) { + return; + } + if (prev_odometry_ == std::nullopt) { + prev_odometry_ = latest_odometry_; + return; + } + + auto quat_to_rpy = [](const Quaternion & quat) { + tf2::Quaternion tf2_quat(quat.x, quat.y, quat.z, quat.w); + tf2::Matrix3x3 mat(tf2_quat); + double roll{}; + double pitch{}; + double yaw{}; + mat.getRPY(roll, pitch, yaw); + return std::make_tuple(roll, pitch, yaw); + }; + + Pose pose = prev_odometry_->pose.pose; + rclcpp::Time prev_time = rclcpp::Time(prev_odometry_->header.stamp); + for (const TwistWithCovarianceStamped & twist_with_cov : twist_buffer_) { + const Twist twist = twist_with_cov.twist.twist; + + const rclcpp::Time curr_time = rclcpp::Time(twist_with_cov.header.stamp); + if (curr_time > latest_odometry_->header.stamp) { + break; + } + + const rclcpp::Duration time_diff = curr_time - prev_time; + const double time_diff_sec = time_diff.seconds(); + if (time_diff_sec < 0.0) { + continue; + } + + // quat to rpy + auto [ang_x, ang_y, ang_z] = quat_to_rpy(pose.orientation); + + // rpy update + ang_x += twist.angular.x * time_diff_sec; + ang_y += twist.angular.y * time_diff_sec; + ang_z += twist.angular.z * time_diff_sec; + tf2::Quaternion quat; + quat.setRPY(ang_x, ang_y, ang_z); + + // Convert twist to world frame + tf2::Vector3 linear_velocity(twist.linear.x, twist.linear.y, twist.linear.z); + linear_velocity = tf2::quatRotate(quat, linear_velocity); + + // update + pose.position.x += linear_velocity.x() * time_diff_sec; + pose.position.y += linear_velocity.y() * time_diff_sec; + pose.position.z += linear_velocity.z() * time_diff_sec; + pose.orientation.x = quat.x(); + pose.orientation.y = quat.y(); + pose.orientation.z = quat.z(); + pose.orientation.w = quat.w(); + prev_time = curr_time; + } + + // compare pose and latest_odometry_ + const Pose latest_ekf_pose = latest_odometry_->pose.pose; + const Pose ekf_to_odom = tier4_autoware_utils::inverseTransformPose(pose, latest_ekf_pose); + const geometry_msgs::msg::Point pos = ekf_to_odom.position; + const auto [ang_x, ang_y, ang_z] = quat_to_rpy(ekf_to_odom.orientation); + const std::vector values = {pos.x, pos.y, pos.z, ang_x, ang_y, ang_z}; + + const rclcpp::Time stamp = latest_odometry_->header.stamp; + + // publish diff_pose for debug + PoseStamped diff_pose; + diff_pose.header = latest_odometry_->header; + diff_pose.pose = ekf_to_odom; + diff_pose_pub_->publish(diff_pose); + + const std::vector thresholds = {threshold_diff_position_x_, threshold_diff_position_y_, + threshold_diff_position_z_, threshold_diff_angle_x_, + threshold_diff_angle_y_, threshold_diff_angle_z_}; + + const std::vector labels = {"diff_position_x", "diff_position_y", "diff_position_z", + "diff_angle_x", "diff_angle_y", "diff_angle_z"}; + + // publish diagnostics + DiagnosticStatus status; + status.name = "localization: pose_instability_detector"; + status.hardware_id = this->get_name(); + bool all_ok = true; + + for (size_t i = 0; i < values.size(); ++i) { + const bool ok = (std::abs(values[i]) < thresholds[i]); + all_ok &= ok; + diagnostic_msgs::msg::KeyValue kv; + kv.key = labels[i] + ":threshold"; + kv.value = std::to_string(thresholds[i]); + status.values.push_back(kv); + kv.key = labels[i] + ":value"; + kv.value = std::to_string(values[i]); + status.values.push_back(kv); + kv.key = labels[i] + ":status"; + kv.value = (ok ? "OK" : "WARN"); + status.values.push_back(kv); + } + status.level = (all_ok ? DiagnosticStatus::OK : DiagnosticStatus::WARN); + status.message = (all_ok ? "OK" : "WARN"); + + DiagnosticArray diagnostics; + diagnostics.header.stamp = stamp; + diagnostics.status.emplace_back(status); + diagnostics_pub_->publish(diagnostics); + + // prepare for next loop + prev_odometry_ = latest_odometry_; + twist_buffer_.clear(); +} diff --git a/localization/pose_instability_detector/src/pose_instability_detector.hpp b/localization/pose_instability_detector/src/pose_instability_detector.hpp new file mode 100644 index 0000000000000..761a10b7a6bf7 --- /dev/null +++ b/localization/pose_instability_detector/src/pose_instability_detector.hpp @@ -0,0 +1,70 @@ +// Copyright 2023- Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef POSE_INSTABILITY_DETECTOR_HPP_ +#define POSE_INSTABILITY_DETECTOR_HPP_ + +#include + +#include +#include +#include +#include + +#include + +class PoseInstabilityDetector : public rclcpp::Node +{ + using Quaternion = geometry_msgs::msg::Quaternion; + using Twist = geometry_msgs::msg::Twist; + using TwistWithCovarianceStamped = geometry_msgs::msg::TwistWithCovarianceStamped; + using Pose = geometry_msgs::msg::Pose; + using PoseStamped = geometry_msgs::msg::PoseStamped; + using Odometry = nav_msgs::msg::Odometry; + using KeyValue = diagnostic_msgs::msg::KeyValue; + using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; + using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; + +public: + explicit PoseInstabilityDetector(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); + +private: + void callback_odometry(Odometry::ConstSharedPtr odometry_msg_ptr); + void callback_twist(TwistWithCovarianceStamped::ConstSharedPtr twist_msg_ptr); + void callback_timer(); + + // subscribers and timer + rclcpp::Subscription::SharedPtr odometry_sub_; + rclcpp::Subscription::SharedPtr twist_sub_; + rclcpp::TimerBase::SharedPtr timer_; + + // publisher + rclcpp::Publisher::SharedPtr diff_pose_pub_; + rclcpp::Publisher::SharedPtr diagnostics_pub_; + + // parameters + const double threshold_diff_position_x_; + const double threshold_diff_position_y_; + const double threshold_diff_position_z_; + const double threshold_diff_angle_x_; + const double threshold_diff_angle_y_; + const double threshold_diff_angle_z_; + + // variables + std::optional latest_odometry_ = std::nullopt; + std::optional prev_odometry_ = std::nullopt; + std::vector twist_buffer_; +}; + +#endif // POSE_INSTABILITY_DETECTOR_HPP_ diff --git a/localization/pose_instability_detector/test/test.cpp b/localization/pose_instability_detector/test/test.cpp new file mode 100644 index 0000000000000..4747582cdd163 --- /dev/null +++ b/localization/pose_instability_detector/test/test.cpp @@ -0,0 +1,168 @@ +// Copyright 2023- Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "../src/pose_instability_detector.hpp" +#include "test_message_helper_node.hpp" + +#include + +#include +#include + +#include +#include +#include + +class TestPoseInstabilityDetector : public ::testing::Test +{ + using TwistWithCovarianceStamped = geometry_msgs::msg::TwistWithCovarianceStamped; + using Odometry = nav_msgs::msg::Odometry; + using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; + using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; + +protected: + void SetUp() override + { + const std::string yaml_path = + "../../install/pose_instability_detector/share/pose_instability_detector/config/" + "pose_instability_detector.param.yaml"; + + rcl_params_t * params_st = rcl_yaml_node_struct_init(rcl_get_default_allocator()); + if (!rcl_parse_yaml_file(yaml_path.c_str(), params_st)) { + std::cerr << "Failed to parse yaml file : " << yaml_path << std::endl; + std::exit(1); + } + + const rclcpp::ParameterMap param_map = rclcpp::parameter_map_from(params_st, ""); + rclcpp::NodeOptions node_options; + for (const auto & param_pair : param_map) { + for (const auto & param : param_pair.second) { + node_options.parameter_overrides().push_back(param); + } + } + + subject_ = std::make_shared(node_options); + executor_.add_node(subject_); + + helper_ = std::make_shared(); + executor_.add_node(helper_); + + rcl_yaml_node_struct_fini(params_st); + } + + void TearDown() override + { + executor_.remove_node(subject_); + executor_.remove_node(helper_); + } + + rclcpp::executors::SingleThreadedExecutor executor_; + std::shared_ptr subject_; + std::shared_ptr helper_; +}; + +TEST_F(TestPoseInstabilityDetector, output_ok_when_twist_matches_odometry) // NOLINT +{ + // send the first odometry message (start x = 10) + builtin_interfaces::msg::Time timestamp{}; + timestamp.sec = 0; + timestamp.nanosec = 0; + helper_->send_odometry_message(timestamp, 10.0, 0.0, 0.0); + + // process the above message (by timer_callback) + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // send the twist message1 (move 1m in x direction) + timestamp.sec = 0; + timestamp.nanosec = 5e8; + helper_->send_twist_message(timestamp, 2.0, 0.0, 0.0); + + // send the twist message2 (move 1m in x direction) + timestamp.sec = 1; + timestamp.nanosec = 0; + helper_->send_twist_message(timestamp, 2.0, 0.0, 0.0); + + // send the second odometry message (finish x = 12) + timestamp.sec = 2; + timestamp.nanosec = 0; + helper_->send_odometry_message(timestamp, 12.0, 0.0, 0.0); + + // process the above messages (by timer_callback) + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // check result + const diagnostic_msgs::msg::DiagnosticStatus & diagnostic_status = + helper_->received_diagnostic_array.status[0]; + EXPECT_TRUE(diagnostic_status.level == diagnostic_msgs::msg::DiagnosticStatus::OK); +} + +TEST_F(TestPoseInstabilityDetector, output_warn_when_twist_is_too_small) // NOLINT +{ + // send the first odometry message (start x = 10) + builtin_interfaces::msg::Time timestamp{}; + timestamp.sec = 0; + timestamp.nanosec = 0; + helper_->send_odometry_message(timestamp, 10.0, 0.0, 0.0); + + // process the above message (by timer_callback) + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // send the twist message1 (move 0.1m in x direction) + timestamp.sec = 0; + timestamp.nanosec = 5e8; + helper_->send_twist_message(timestamp, 0.2, 0.0, 0.0); + + // send the twist message2 (move 0.1m in x direction) + timestamp.sec = 1; + timestamp.nanosec = 0; + helper_->send_twist_message(timestamp, 0.2, 0.0, 0.0); + + // send the second odometry message (finish x = 12) + timestamp.sec = 2; + timestamp.nanosec = 0; + helper_->send_odometry_message(timestamp, 12.0, 0.0, 0.0); + + // process the above messages (by timer_callback) + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // check result + const diagnostic_msgs::msg::DiagnosticStatus & diagnostic_status = + helper_->received_diagnostic_array.status[0]; + EXPECT_TRUE(diagnostic_status.level == diagnostic_msgs::msg::DiagnosticStatus::WARN); +} + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + int result = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return result; +} diff --git a/localization/pose_instability_detector/test/test_message_helper_node.hpp b/localization/pose_instability_detector/test/test_message_helper_node.hpp new file mode 100644 index 0000000000000..51444f9736b02 --- /dev/null +++ b/localization/pose_instability_detector/test/test_message_helper_node.hpp @@ -0,0 +1,80 @@ +// Copyright 2023- Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_MESSAGE_HELPER_NODE_HPP_ +#define TEST_MESSAGE_HELPER_NODE_HPP_ + +#include + +#include +#include +#include + +class TestMessageHelperNode : public rclcpp::Node +{ + using TwistWithCovarianceStamped = geometry_msgs::msg::TwistWithCovarianceStamped; + using Odometry = nav_msgs::msg::Odometry; + using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; + using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; + +public: + TestMessageHelperNode() : Node("test_message_helper_node") + { + odometry_publisher_ = + this->create_publisher("/pose_instability_detector/input/odometry", 10); + twist_publisher_ = this->create_publisher( + "/pose_instability_detector/input/twist", 10); + diagnostic_subscriber_ = this->create_subscription( + "/diagnostics", 10, + std::bind(&TestMessageHelperNode::callback_diagnostics, this, std::placeholders::_1)); + } + + void send_odometry_message( + const builtin_interfaces::msg::Time timestamp, const double x, const double y, const double z) + { + Odometry message{}; + message.header.stamp = timestamp; + message.pose.pose.position.x = x; + message.pose.pose.position.y = y; + message.pose.pose.position.z = z; + odometry_publisher_->publish(message); + } + + void send_twist_message( + const builtin_interfaces::msg::Time timestamp, const double x, const double y, const double z) + { + TwistWithCovarianceStamped message{}; + message.header.stamp = timestamp; + message.twist.twist.linear.x = x; + message.twist.twist.linear.y = y; + message.twist.twist.linear.z = z; + twist_publisher_->publish(message); + } + + void callback_diagnostics(const DiagnosticArray::ConstSharedPtr msg) + { + received_diagnostic_array = *msg; + received_diagnostic_array_flag = true; + } + + DiagnosticArray received_diagnostic_array; + bool received_diagnostic_array_flag = false; + +private: + rclcpp::Publisher::SharedPtr odometry_publisher_; + rclcpp::Publisher::SharedPtr twist_publisher_; + rclcpp::Subscription::SharedPtr diagnostic_subscriber_; +}; + +#endif // TEST_MESSAGE_HELPER_NODE_HPP_ From 5930a79badb8d72db7d522c75b12360567891cb8 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Wed, 15 Nov 2023 13:29:22 +0900 Subject: [PATCH 114/701] fix(drivable_area_expansion): fix bug when reusing previous path points (#5586) Signed-off-by: Maxime CLEMENT --- .../drivable_area_expansion.cpp | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp index 3008f98331c92..ebc1f686865a6 100644 --- a/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp +++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp @@ -53,7 +53,17 @@ void reuse_previous_poses( prev_poses, 0, ego_point) < 0.0; const auto ego_is_far = !prev_poses.empty() && tier4_autoware_utils::calcDistance2d(ego_point, prev_poses.front()) < 0.0; - if (!ego_is_behind && !ego_is_far && prev_poses.size() > 1) { + // make sure the reused points are not behind the current original drivable area + LineString2d left_bound; + LineString2d right_bound; + for (const auto & p : path.left_bound) left_bound.push_back(convert_point(p)); + for (const auto & p : path.right_bound) right_bound.push_back(convert_point(p)); + LineString2d prev_poses_ls; + for (const auto & p : prev_poses) prev_poses_ls.push_back(convert_point(p.position)); + auto prev_poses_across_bounds = boost::geometry::intersects(left_bound, prev_poses_ls) || + boost::geometry::intersects(right_bound, prev_poses_ls); + + if (!ego_is_behind && !ego_is_far && prev_poses.size() > 1 && !prev_poses_across_bounds) { const auto first_idx = motion_utils::findNearestSegmentIndex(prev_poses, path.points.front().point.pose); const auto deviation = From fe50118ed82efa5562eda244578ba7e85650a144 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Wed, 15 Nov 2023 16:23:03 +0900 Subject: [PATCH 115/701] refactor(pose_instability_detector, ar_tag_based_localizer): specify file path using get_package_share_directory (#5588) * use get_package_share_directory Signed-off-by: Kento Yabuuchi * use get_package_share_directory in pose_instability_detector Signed-off-by: Kento Yabuuchi --------- Signed-off-by: Kento Yabuuchi --- .../ar_tag_based_localizer/package.xml | 1 + .../ar_tag_based_localizer/test/test.cpp | 5 +++-- localization/pose_instability_detector/package.xml | 1 + localization/pose_instability_detector/test/test.cpp | 5 +++-- 4 files changed, 8 insertions(+), 4 deletions(-) diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml index 24b737c309016..7e83220dadf2a 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml @@ -13,6 +13,7 @@ ament_cmake autoware_cmake + ament_index_cpp aruco cv_bridge diagnostic_msgs diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/test/test.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/test/test.cpp index 6b302ee6bc862..1b44327fd9e8b 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/test/test.cpp +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/test/test.cpp @@ -14,6 +14,7 @@ #include "../src/ar_tag_based_localizer.hpp" +#include #include #include @@ -29,8 +30,8 @@ class TestArTagBasedLocalizer : public ::testing::Test void SetUp() override { const std::string yaml_path = - "../../install/ar_tag_based_localizer/share/ar_tag_based_localizer/config/" - "ar_tag_based_localizer.param.yaml"; + ament_index_cpp::get_package_share_directory("ar_tag_based_localizer") + + "/config/ar_tag_based_localizer.param.yaml"; rcl_params_t * params_st = rcl_yaml_node_struct_init(rcl_get_default_allocator()); if (!rcl_parse_yaml_file(yaml_path.c_str(), params_st)) { diff --git a/localization/pose_instability_detector/package.xml b/localization/pose_instability_detector/package.xml index 9f38cf6e00262..7774407a7990d 100644 --- a/localization/pose_instability_detector/package.xml +++ b/localization/pose_instability_detector/package.xml @@ -16,6 +16,7 @@ ament_cmake_auto autoware_cmake + ament_index_cpp diagnostic_msgs geometry_msgs nav_msgs diff --git a/localization/pose_instability_detector/test/test.cpp b/localization/pose_instability_detector/test/test.cpp index 4747582cdd163..5ea03859d7731 100644 --- a/localization/pose_instability_detector/test/test.cpp +++ b/localization/pose_instability_detector/test/test.cpp @@ -15,6 +15,7 @@ #include "../src/pose_instability_detector.hpp" #include "test_message_helper_node.hpp" +#include #include #include @@ -35,8 +36,8 @@ class TestPoseInstabilityDetector : public ::testing::Test void SetUp() override { const std::string yaml_path = - "../../install/pose_instability_detector/share/pose_instability_detector/config/" - "pose_instability_detector.param.yaml"; + ament_index_cpp::get_package_share_directory("pose_instability_detector") + + "/config/pose_instability_detector.param.yaml"; rcl_params_t * params_st = rcl_yaml_node_struct_init(rcl_get_default_allocator()); if (!rcl_parse_yaml_file(yaml_path.c_str(), params_st)) { From 2bc49aeda4d3f60c261d0466104f2b5ec88c7a74 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 15 Nov 2023 23:41:49 +0900 Subject: [PATCH 116/701] fix(detected_object_validation): add 3d pointcloud based validator (#5327) * fix: add 3d validation bind function Signed-off-by: badai-nguyen * fix: check validation point within shape Signed-off-by: badai-nguyen * fix: add 2d validator option param Signed-off-by: badai-nguyen * chore: refactor Signed-off-by: badai-nguyen * chore: refactor Signed-off-by: badai-nguyen * Revert "chore: refactor" This reverts commit e3cbf6cb524a34ad3b693a8c0eaa1680e3141f72. * chore: update docs and param file Signed-off-by: badai-nguyen * refactor: change to abstract class Signed-off-by: badai-nguyen * chore: add maintainer Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- ...acle_pointcloud_based_validator.param.yaml | 2 + .../debugger.hpp | 13 +- .../obstacle_pointcloud_based_validator.hpp | 88 +++- .../obstacle-pointcloud-based-validator.md | 1 + .../detected_object_validation/package.xml | 1 + .../obstacle_pointcloud_based_validator.cpp | 377 ++++++++++++------ 6 files changed, 344 insertions(+), 138 deletions(-) diff --git a/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml b/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml index 745a0fd6591a9..f7a27a52bfa8a 100644 --- a/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml +++ b/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml @@ -11,3 +11,5 @@ min_points_and_distance_ratio: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0] + + using_2d_validator: false diff --git a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp b/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp index 9ef1f75427b65..6597475ae297e 100644 --- a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp +++ b/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp @@ -71,11 +71,18 @@ class Debugger void addNeighborPointcloud(const pcl::PointCloud::Ptr & input) { pcl::PointCloud::Ptr input_xyz = toXYZ(input); - for (const auto & point : *input_xyz) { - neighbor_pointcloud_->push_back(point); - } + addNeighborPointcloud(input_xyz); } + void addNeighborPointcloud(const pcl::PointCloud::Ptr & input) + { + if (!input->empty()) { + neighbor_pointcloud_->reserve(neighbor_pointcloud_->size() + input->size()); + for (const auto & point : *input) { + neighbor_pointcloud_->push_back(point); + } + } + } void addPointcloudWithinPolygon(const pcl::PointCloud::Ptr & input) { // pcl::PointCloud::Ptr input_xyz = toXYZ(input); diff --git a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp index 5819302664907..e7df2c409b18f 100644 --- a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp +++ b/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp @@ -25,8 +25,13 @@ #include #include #include +#include +#include #include #include +#include +#include +#include #include #include @@ -35,12 +40,88 @@ #include namespace obstacle_pointcloud_based_validator { + struct PointsNumThresholdParam { std::vector min_points_num; std::vector max_points_num; std::vector min_points_and_distance_ratio; }; + +class Validator +{ +private: + PointsNumThresholdParam points_num_threshold_param_; + +protected: + pcl::PointCloud::Ptr cropped_pointcloud_; + +public: + explicit Validator(PointsNumThresholdParam & points_num_threshold_param); + inline pcl::PointCloud::Ptr getDebugPointCloudWithinObject() + { + return cropped_pointcloud_; + } + + virtual bool setKdtreeInputCloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_pointcloud) = 0; + virtual bool validate_object( + const autoware_auto_perception_msgs::msg::DetectedObject & transformed_object) = 0; + virtual std::optional getMaxRadius( + const autoware_auto_perception_msgs::msg::DetectedObject & object) = 0; + size_t getThresholdPointCloud(const autoware_auto_perception_msgs::msg::DetectedObject & object); + virtual pcl::PointCloud::Ptr getDebugNeighborPointCloud() = 0; +}; + +class Validator2D : public Validator +{ +private: + pcl::PointCloud::Ptr obstacle_pointcloud_; + pcl::PointCloud::Ptr neighbor_pointcloud_; + pcl::search::Search::Ptr kdtree_; + +public: + explicit Validator2D(PointsNumThresholdParam & points_num_threshold_param); + + pcl::PointCloud::Ptr convertToXYZ( + const pcl::PointCloud::Ptr & pointcloud_xy); + inline pcl::PointCloud::Ptr getDebugNeighborPointCloud() + { + return convertToXYZ(neighbor_pointcloud_); + } + + bool setKdtreeInputCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_cloud); + bool validate_object( + const autoware_auto_perception_msgs::msg::DetectedObject & transformed_object); + std::optional getMaxRadius( + const autoware_auto_perception_msgs::msg::DetectedObject & object); + std::optional getPointCloudWithinObject( + const autoware_auto_perception_msgs::msg::DetectedObject & object, + const pcl::PointCloud::Ptr neighbor_pointcloud); +}; +class Validator3D : public Validator +{ +private: + pcl::PointCloud::Ptr obstacle_pointcloud_; + pcl::PointCloud::Ptr neighbor_pointcloud_; + pcl::search::Search::Ptr kdtree_; + +public: + explicit Validator3D(PointsNumThresholdParam & points_num_threshold_param); + inline pcl::PointCloud::Ptr getDebugNeighborPointCloud() + { + return neighbor_pointcloud_; + } + bool setKdtreeInputCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_cloud); + bool validate_object( + const autoware_auto_perception_msgs::msg::DetectedObject & transformed_object); + std::optional getMaxRadius( + const autoware_auto_perception_msgs::msg::DetectedObject & object); + std::optional getPointCloudWithinObject( + const autoware_auto_perception_msgs::msg::DetectedObject & object, + const pcl::PointCloud::Ptr neighbor_pointcloud); +}; + class ObstaclePointCloudBasedValidator : public rclcpp::Node { public: @@ -61,16 +142,13 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node PointsNumThresholdParam points_num_threshold_param_; std::shared_ptr debugger_; + bool using_2d_validator_; + std::unique_ptr validator_; private: void onObjectsAndObstaclePointCloud( const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr & input_objects, const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_obstacle_pointcloud); - std::optional getPointCloudNumWithinPolygon( - const autoware_auto_perception_msgs::msg::DetectedObject & object, - const pcl::PointCloud::Ptr pointcloud); - std::optional getMaxRadius( - const autoware_auto_perception_msgs::msg::DetectedObject & object); }; } // namespace obstacle_pointcloud_based_validator diff --git a/perception/detected_object_validation/obstacle-pointcloud-based-validator.md b/perception/detected_object_validation/obstacle-pointcloud-based-validator.md index dd67aab3db0c9..36b3815e7e689 100644 --- a/perception/detected_object_validation/obstacle-pointcloud-based-validator.md +++ b/perception/detected_object_validation/obstacle-pointcloud-based-validator.md @@ -28,6 +28,7 @@ In the debug image above, the red DetectedObject is the validated object. The bl | Name | Type | Description | | ------------------------------- | ----- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `using_2d_validator` | bool | The xy-plane projected (2D) obstacle point clouds will be used for validation | | `min_points_num` | int | The minimum number of obstacle point clouds in DetectedObjects | | `max_points_num` | int | The max number of obstacle point clouds in DetectedObjects | | `min_points_and_distance_ratio` | float | Threshold value of the number of point clouds per object when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink. | diff --git a/perception/detected_object_validation/package.xml b/perception/detected_object_validation/package.xml index e19b2b1c399b2..31bb633294748 100644 --- a/perception/detected_object_validation/package.xml +++ b/perception/detected_object_validation/package.xml @@ -6,6 +6,7 @@ The ROS 2 detected_object_validation package Yukihiro Saito Shunsuke Miura + badai nguyen Apache License 2.0 ament_cmake_auto diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp index 47640c9332e4d..3249581513dd9 100644 --- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp +++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp @@ -19,12 +19,6 @@ #include -#include -#include -#include -#include -#include - #ifdef ROS_DISTRO_GALACTIC #include #else @@ -35,44 +29,247 @@ #include #include -namespace +namespace obstacle_pointcloud_based_validator { -inline pcl::PointXY toPCL(const double x, const double y) +namespace bg = boost::geometry; +using Shape = autoware_auto_perception_msgs::msg::Shape; +using Polygon2d = tier4_autoware_utils::Polygon2d; + +Validator::Validator(PointsNumThresholdParam & points_num_threshold_param) { - pcl::PointXY pcl_point; - pcl_point.x = x; - pcl_point.y = y; - return pcl_point; + points_num_threshold_param_.min_points_num = points_num_threshold_param.min_points_num; + points_num_threshold_param_.max_points_num = points_num_threshold_param.max_points_num; + points_num_threshold_param_.min_points_and_distance_ratio = + points_num_threshold_param.min_points_and_distance_ratio; } -inline pcl::PointXY toPCL(const geometry_msgs::msg::Point & point) +size_t Validator::getThresholdPointCloud( + const autoware_auto_perception_msgs::msg::DetectedObject & object) { - return toPCL(point.x, point.y); + const auto object_label_id = object.classification.front().label; + const auto object_distance = std::hypot( + object.kinematics.pose_with_covariance.pose.position.x, + object.kinematics.pose_with_covariance.pose.position.y); + size_t threshold_pc = std::clamp( + static_cast( + points_num_threshold_param_.min_points_and_distance_ratio.at(object_label_id) / + object_distance + + 0.5f), + static_cast(points_num_threshold_param_.min_points_num.at(object_label_id)), + static_cast(points_num_threshold_param_.max_points_num.at(object_label_id))); + return threshold_pc; } -inline pcl::PointXYZ toXYZ(const pcl::PointXY & point) +Validator2D::Validator2D(PointsNumThresholdParam & points_num_threshold_param) +: Validator(points_num_threshold_param) { - return pcl::PointXYZ(point.x, point.y, 0.0); } -inline pcl::PointCloud::Ptr toXYZ( - const pcl::PointCloud::Ptr & pointcloud) +bool Validator2D::setKdtreeInputCloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_cloud) +{ + obstacle_pointcloud_.reset(new pcl::PointCloud); + pcl::fromROSMsg(*input_cloud, *obstacle_pointcloud_); + if (obstacle_pointcloud_->empty()) { + return false; + } + + kdtree_ = pcl::make_shared>(false); + kdtree_->setInputCloud(obstacle_pointcloud_); + + return true; +} +pcl::PointCloud::Ptr Validator2D::convertToXYZ( + const pcl::PointCloud::Ptr & pointcloud_xy) { pcl::PointCloud::Ptr pointcloud_xyz(new pcl::PointCloud); - pointcloud_xyz->reserve(pointcloud->size()); - for (const auto & point : *pointcloud) { - pointcloud_xyz->push_back(toXYZ(point)); + pointcloud_xyz->reserve(pointcloud_xy->size()); + for (const auto & point : *pointcloud_xy) { + pointcloud_xyz->push_back(pcl::PointXYZ(point.x, point.y, 0.0)); } return pointcloud_xyz; } -} // namespace +std::optional Validator2D::getPointCloudWithinObject( + const autoware_auto_perception_msgs::msg::DetectedObject & object, + const pcl::PointCloud::Ptr pointcloud) +{ + std::vector vertices_array; + pcl::Vertices vertices; + Polygon2d poly2d = + tier4_autoware_utils::toPolygon2d(object.kinematics.pose_with_covariance.pose, object.shape); + if (bg::is_empty(poly2d)) return std::nullopt; -namespace obstacle_pointcloud_based_validator + pcl::PointCloud::Ptr poly3d(new pcl::PointCloud); + + for (size_t i = 0; i < poly2d.outer().size(); ++i) { + vertices.vertices.emplace_back(i); + vertices_array.emplace_back(vertices); + poly3d->emplace_back(poly2d.outer().at(i).x(), poly2d.outer().at(i).y(), 0.0); + } + cropped_pointcloud_.reset(new pcl::PointCloud); + pcl::CropHull cropper; // don't be implemented PointXY by PCL + cropper.setInputCloud(convertToXYZ(pointcloud)); + cropper.setDim(2); + cropper.setHullIndices(vertices_array); + cropper.setHullCloud(poly3d); + cropper.setCropOutside(true); + cropper.filter(*cropped_pointcloud_); + return cropped_pointcloud_->size(); +} + +bool Validator2D::validate_object( + const autoware_auto_perception_msgs::msg::DetectedObject & transformed_object) { -namespace bg = boost::geometry; -using Shape = autoware_auto_perception_msgs::msg::Shape; -using Polygon2d = tier4_autoware_utils::Polygon2d; + // get neighbor_pointcloud of object + neighbor_pointcloud_.reset(new pcl::PointCloud); + std::vector indices; + std::vector distances; + const auto search_radius = getMaxRadius(transformed_object); + if (!search_radius) { + return false; + } + kdtree_->radiusSearch( + pcl::PointXY( + transformed_object.kinematics.pose_with_covariance.pose.position.x, + transformed_object.kinematics.pose_with_covariance.pose.position.y), + search_radius.value(), indices, distances); + for (const auto & index : indices) { + neighbor_pointcloud_->push_back(obstacle_pointcloud_->at(index)); + } + const auto num = getPointCloudWithinObject(transformed_object, neighbor_pointcloud_); + if (!num) return true; + + size_t threshold_pointcloud_num = getThresholdPointCloud(transformed_object); + if (num.value() > threshold_pointcloud_num) { + return true; + } + return false; // remove object +} + +std::optional Validator2D::getMaxRadius( + const autoware_auto_perception_msgs::msg::DetectedObject & object) +{ + if (object.shape.type == Shape::BOUNDING_BOX || object.shape.type == Shape::CYLINDER) { + return std::hypot(object.shape.dimensions.x * 0.5f, object.shape.dimensions.y * 0.5f); + } else if (object.shape.type == Shape::POLYGON) { + float max_dist = 0.0; + for (const auto & point : object.shape.footprint.points) { + const float dist = std::hypot(point.x, point.y); + max_dist = max_dist < dist ? dist : max_dist; + } + return max_dist; + } else { + return std::nullopt; + } +} + +Validator3D::Validator3D(PointsNumThresholdParam & points_num_threshold_param) +: Validator(points_num_threshold_param) +{ +} +bool Validator3D::setKdtreeInputCloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_cloud) +{ + obstacle_pointcloud_.reset(new pcl::PointCloud); + pcl::fromROSMsg(*input_cloud, *obstacle_pointcloud_); + if (obstacle_pointcloud_->empty()) { + return false; + } + // setup kdtree_ + kdtree_ = pcl::make_shared>(false); + kdtree_->setInputCloud(obstacle_pointcloud_); + return true; +} +std::optional Validator3D::getMaxRadius( + const autoware_auto_perception_msgs::msg::DetectedObject & object) +{ + if (object.shape.type == Shape::BOUNDING_BOX || object.shape.type == Shape::CYLINDER) { + auto square_radius = (object.shape.dimensions.x * 0.5f) * (object.shape.dimensions.x * 0.5f) + + (object.shape.dimensions.y * 0.5f) * (object.shape.dimensions.y * 0.5f) + + (object.shape.dimensions.z * 0.5f) * (object.shape.dimensions.z * 0.5f); + return std::sqrt(square_radius); + } else if (object.shape.type == Shape::POLYGON) { + float max_dist = 0.0; + for (const auto & point : object.shape.footprint.points) { + const float dist = std::hypot(point.x, point.y); + max_dist = max_dist < dist ? dist : max_dist; + } + return std::hypot(max_dist, object.shape.dimensions.z * 0.5f); + } else { + return std::nullopt; + } +} + +std::optional Validator3D::getPointCloudWithinObject( + const autoware_auto_perception_msgs::msg::DetectedObject & object, + const pcl::PointCloud::Ptr neighbor_pointcloud) +{ + std::vector vertices_array; + pcl::Vertices vertices; + auto const & object_position = object.kinematics.pose_with_covariance.pose.position; + auto const object_height = object.shape.dimensions.x; + auto z_min = object_position.z - object_height / 2.0f; + auto z_max = object_position.z + object_height / 2.0f; + Polygon2d poly2d = + tier4_autoware_utils::toPolygon2d(object.kinematics.pose_with_covariance.pose, object.shape); + if (bg::is_empty(poly2d)) return std::nullopt; + + pcl::PointCloud::Ptr poly3d(new pcl::PointCloud); + for (size_t i = 0; i < poly2d.outer().size(); ++i) { + vertices.vertices.emplace_back(i); + vertices_array.emplace_back(vertices); + poly3d->emplace_back(poly2d.outer().at(i).x(), poly2d.outer().at(i).y(), 0.0); + } + + pcl::PointCloud::Ptr cropped_pointcloud_2d(new pcl::PointCloud); + pcl::CropHull cropper; + cropper.setInputCloud(neighbor_pointcloud); + cropper.setDim(2); + cropper.setHullIndices(vertices_array); + cropper.setHullCloud(poly3d); + cropper.setCropOutside(true); + cropper.filter(*cropped_pointcloud_2d); + + cropped_pointcloud_.reset(new pcl::PointCloud); + cropped_pointcloud_->reserve(cropped_pointcloud_2d->size()); + for (const auto & point : *cropped_pointcloud_2d) { + if (point.z > z_min && point.z < z_max) { + cropped_pointcloud_->push_back(point); + } + } + return cropped_pointcloud_->size(); +} + +bool Validator3D::validate_object( + const autoware_auto_perception_msgs::msg::DetectedObject & transformed_object) +{ + neighbor_pointcloud_.reset(new pcl::PointCloud); + std::vector indices; + std::vector distances; + const auto search_radius = getMaxRadius(transformed_object); + if (!search_radius) { + return false; + } + kdtree_->radiusSearch( + pcl::PointXYZ( + transformed_object.kinematics.pose_with_covariance.pose.position.x, + transformed_object.kinematics.pose_with_covariance.pose.position.y, + transformed_object.kinematics.pose_with_covariance.pose.position.z), + search_radius.value(), indices, distances); + for (const auto & index : indices) { + neighbor_pointcloud_->push_back(obstacle_pointcloud_->at(index)); + } + + const auto num = getPointCloudWithinObject(transformed_object, neighbor_pointcloud_); + if (!num) return true; + + size_t threshold_pointcloud_num = getThresholdPointCloud(transformed_object); + if (num.value() > threshold_pointcloud_num) { + return true; + } + return false; // remove object +} ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator( const rclcpp::NodeOptions & node_options) @@ -85,13 +282,6 @@ ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator( tf_listener_(tf_buffer_), sync_(SyncPolicy(10), objects_sub_, obstacle_pointcloud_sub_) { - using std::placeholders::_1; - using std::placeholders::_2; - sync_.registerCallback( - std::bind(&ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud, this, _1, _2)); - objects_pub_ = create_publisher( - "~/output/objects", rclcpp::QoS{1}); - points_num_threshold_param_.min_points_num = declare_parameter>("min_points_num"); points_num_threshold_param_.max_points_num = @@ -99,10 +289,25 @@ ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator( points_num_threshold_param_.min_points_and_distance_ratio = declare_parameter>("min_points_and_distance_ratio"); + using_2d_validator_ = declare_parameter("using_2d_validator"); + + using std::placeholders::_1; + using std::placeholders::_2; + + sync_.registerCallback( + std::bind(&ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud, this, _1, _2)); + if (using_2d_validator_) { + validator_ = std::make_unique(points_num_threshold_param_); + } else { + validator_ = std::make_unique(points_num_threshold_param_); + } + + objects_pub_ = create_publisher( + "~/output/objects", rclcpp::QoS{1}); + const bool enable_debugger = declare_parameter("enable_debugger", false); if (enable_debugger) debugger_ = std::make_shared(this); } - void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud( const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr & input_objects, const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_obstacle_pointcloud) @@ -119,61 +324,23 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud( // objects_pub_->publish(*input_objects); return; } - - // Convert to PCL - pcl::PointCloud::Ptr obstacle_pointcloud(new pcl::PointCloud); - pcl::fromROSMsg(*input_obstacle_pointcloud, *obstacle_pointcloud); - if (obstacle_pointcloud->empty()) { + if (!validator_->setKdtreeInputCloud(input_obstacle_pointcloud)) { RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5, "cannot receive pointcloud"); - // objects_pub_->publish(*input_objects); return; } - // Create Kd-tree to search neighbor pointcloud to reduce cost. - pcl::search::Search::Ptr kdtree = - pcl::make_shared>(false); - kdtree->setInputCloud(obstacle_pointcloud); - for (size_t i = 0; i < transformed_objects.objects.size(); ++i) { const auto & transformed_object = transformed_objects.objects.at(i); - const auto object_label_id = transformed_object.classification.front().label; const auto & object = input_objects->objects.at(i); - const auto & transformed_object_position = - transformed_object.kinematics.pose_with_covariance.pose.position; - const auto search_radius = getMaxRadius(transformed_object); - if (!search_radius) { - output.objects.push_back(object); - continue; - } - - // Search neighbor pointcloud to reduce cost. - pcl::PointCloud::Ptr neighbor_pointcloud(new pcl::PointCloud); - std::vector indices; - std::vector distances; - kdtree->radiusSearch( - toPCL(transformed_object_position), search_radius.value(), indices, distances); - for (const auto & index : indices) { - neighbor_pointcloud->push_back(obstacle_pointcloud->at(index)); + const auto validated = validator_->validate_object(transformed_object); + if (debugger_) { + debugger_->addNeighborPointcloud(validator_->getDebugNeighborPointCloud()); + debugger_->addPointcloudWithinPolygon(validator_->getDebugPointCloudWithinObject()); } - if (debugger_) debugger_->addNeighborPointcloud(neighbor_pointcloud); - - // Filter object that have few pointcloud in them. - // TODO(badai-nguyen) add 3d validator option - const auto num = getPointCloudNumWithinPolygon(transformed_object, neighbor_pointcloud); - const auto object_distance = - std::hypot(transformed_object_position.x, transformed_object_position.y); - size_t min_pointcloud_num = std::clamp( - static_cast( - points_num_threshold_param_.min_points_and_distance_ratio.at(object_label_id) / - object_distance + - 0.5f), - static_cast(points_num_threshold_param_.min_points_num.at(object_label_id)), - static_cast(points_num_threshold_param_.max_points_num.at(object_label_id))); - if (num) { - (min_pointcloud_num <= num.value()) ? output.objects.push_back(object) - : removed_objects.objects.push_back(object); - } else { + if (validated) { output.objects.push_back(object); + } else { + removed_objects.objects.push_back(object); } } @@ -185,56 +352,6 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud( } } -std::optional ObstaclePointCloudBasedValidator::getPointCloudNumWithinPolygon( - const autoware_auto_perception_msgs::msg::DetectedObject & object, - const pcl::PointCloud::Ptr pointcloud) -{ - pcl::PointCloud::Ptr cropped_pointcloud(new pcl::PointCloud); - std::vector vertices_array; - pcl::Vertices vertices; - - Polygon2d poly2d = - tier4_autoware_utils::toPolygon2d(object.kinematics.pose_with_covariance.pose, object.shape); - if (bg::is_empty(poly2d)) return std::nullopt; - - pcl::PointCloud::Ptr poly3d(new pcl::PointCloud); - - for (size_t i = 0; i < poly2d.outer().size(); ++i) { - vertices.vertices.emplace_back(i); - vertices_array.emplace_back(vertices); - poly3d->emplace_back(poly2d.outer().at(i).x(), poly2d.outer().at(i).y(), 0.0); - } - - pcl::CropHull cropper; // don't be implemented PointXY by PCL - cropper.setInputCloud(toXYZ(pointcloud)); - cropper.setDim(2); - cropper.setHullIndices(vertices_array); - cropper.setHullCloud(poly3d); - cropper.setCropOutside(true); - cropper.filter(*cropped_pointcloud); - - if (debugger_) debugger_->addPointcloudWithinPolygon(cropped_pointcloud); - return cropped_pointcloud->size(); -} - -std::optional ObstaclePointCloudBasedValidator::getMaxRadius( - const autoware_auto_perception_msgs::msg::DetectedObject & object) -{ - if (object.shape.type == Shape::BOUNDING_BOX || object.shape.type == Shape::CYLINDER) { - return std::hypot(object.shape.dimensions.x * 0.5f, object.shape.dimensions.y * 0.5f); - } else if (object.shape.type == Shape::POLYGON) { - float max_dist = 0.0; - for (const auto & point : object.shape.footprint.points) { - const float dist = std::hypot(point.x, point.y); - max_dist = max_dist < dist ? dist : max_dist; - } - return max_dist; - } else { - RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5000, "unknown shape type"); - return std::nullopt; - } -} - } // namespace obstacle_pointcloud_based_validator #include From cdf4b77c26e66e8b56e0b8fa6b65c22b952e5e7b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 16 Nov 2023 00:09:19 +0900 Subject: [PATCH 117/701] fix(goal_planner): fix detection_polygons visualiztion (#5596) --- .../src/scene_module/goal_planner/goal_planner_module.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 84b4032cde4ad..6b363f206204c 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -1752,16 +1752,16 @@ void GoalPlannerModule::setDebugData() "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "detection_polygons", 0, Marker::LINE_LIST, tier4_autoware_utils::createMarkerScale(0.01, 0.0, 0.0), tier4_autoware_utils::createMarkerColor(0.0, 0.0, 1.0, 0.999)); - + const double ego_z = planner_data_->self_odometry->pose.pose.position.z; for (const auto & ego_polygon : debug_data_.ego_polygons_expanded) { for (size_t ep_idx = 0; ep_idx < ego_polygon.outer().size(); ++ep_idx) { const auto & current_point = ego_polygon.outer().at(ep_idx); const auto & next_point = ego_polygon.outer().at((ep_idx + 1) % ego_polygon.outer().size()); marker.points.push_back( - tier4_autoware_utils::createPoint(current_point.x(), current_point.y(), 0.0)); + tier4_autoware_utils::createPoint(current_point.x(), current_point.y(), ego_z)); marker.points.push_back( - tier4_autoware_utils::createPoint(next_point.x(), next_point.y(), 0.0)); + tier4_autoware_utils::createPoint(next_point.x(), next_point.y(), ego_z)); } } debug_marker_.markers.push_back(marker); From cae657b2b44b67e17c07fc77903322bf0de14477 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 15 Nov 2023 18:10:28 +0300 Subject: [PATCH 118/701] ci(sync-files): remove stale label pre-commands (#5597) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .github/sync-files.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 4d316b9fb2481..5b60a371abd93 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -12,8 +12,6 @@ - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md - source: .github/dependabot.yaml - source: .github/stale.yml - pre-commands: | - sd "staleLabel: stale" "staleLabel: status:stale" {source} - source: .github/workflows/cancel-previous-workflows.yaml - source: .github/workflows/github-release.yaml - source: .github/workflows/pre-commit.yaml From 9026da87af473d8c6ac3147de25b8302bf4ba30a Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Thu, 16 Nov 2023 00:21:30 +0900 Subject: [PATCH 119/701] chore(run_out): add maintainer (#5598) Signed-off-by: Tomohito Ando --- planning/behavior_velocity_run_out_module/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_run_out_module/package.xml index fb3c49bb750a6..7bd27fca3407c 100644 --- a/planning/behavior_velocity_run_out_module/package.xml +++ b/planning/behavior_velocity_run_out_module/package.xml @@ -9,6 +9,7 @@ Makoto Kurihara Tomoya Kimura Shumpei Wakabayashi + Takayuki Murooka Apache License 2.0 From 62c34195456b1659ca457c0d7b724fad623713df Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 16 Nov 2023 03:54:21 +0900 Subject: [PATCH 120/701] fix(goal_planner): fix extending current lanes (#5595) * fix(goal_planner): fix extending current lanes Signed-off-by: kosuke55 * fix build error Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner_module.cpp | 22 ++++++++++--------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 6b363f206204c..a0a84adfcf6f8 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -1064,9 +1064,10 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const const double current_vel = planner_data_->self_odometry->twist.twist.linear.x; const double pull_over_velocity = parameters_->pull_over_velocity; - const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, common_parameters.backward_path_length, std::numeric_limits::max(), - /*forward_only_in_route*/ true); + const lanelet::ConstLanelets current_lanes = utils::getExtendedCurrentLanes( + planner_data_, parameters_->backward_goal_search_length, + parameters_->forward_goal_search_length, + /*forward_only_in_route*/ false); if (current_lanes.empty()) { return PathWithLaneId{}; @@ -1152,9 +1153,10 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() const const auto & common_parameters = planner_data_->parameters; // generate stop reference path - const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, common_parameters.backward_path_length, std::numeric_limits::max(), - /*forward_only_in_route*/ true); + const lanelet::ConstLanelets current_lanes = utils::getExtendedCurrentLanes( + planner_data_, parameters_->backward_goal_search_length, + parameters_->forward_goal_search_length, + /*forward_only_in_route*/ false); const auto s_current = lanelet::utils::getArcCoordinates(current_lanes, current_pose).length; const double s_start = std::max(0.0, s_current - common_parameters.backward_path_length); const double s_end = s_current + common_parameters.forward_path_length; @@ -1621,10 +1623,10 @@ bool GoalPlannerModule::isSafePath() const planner_data_->self_odometry->twist.twist.linear.y); const auto & dynamic_object = planner_data_->dynamic_object; const auto & route_handler = planner_data_->route_handler; - const double backward_path_length = planner_data_->parameters.backward_path_length; - const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, backward_path_length, std::numeric_limits::max(), - /*forward_only_in_route*/ true); + const lanelet::ConstLanelets current_lanes = utils::getExtendedCurrentLanes( + planner_data_, parameters_->backward_goal_search_length, + parameters_->forward_goal_search_length, + /*forward_only_in_route*/ false); const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( *route_handler, left_side_parking_, parameters_->backward_goal_search_length, parameters_->forward_goal_search_length); From 58b909fed5a9e26d3c15898484e4837ae4271579 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 16 Nov 2023 09:27:35 +0900 Subject: [PATCH 121/701] fix(geo_pose_projector): fix -Werror=deprecated-declarations (#5599) Signed-off-by: satoshi-ota --- localization/geo_pose_projector/src/geo_pose_projector.cpp | 5 +++-- localization/geo_pose_projector/src/geo_pose_projector.hpp | 2 +- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/localization/geo_pose_projector/src/geo_pose_projector.cpp b/localization/geo_pose_projector/src/geo_pose_projector.cpp index 6d5308b929b25..d147888bb743b 100644 --- a/localization/geo_pose_projector/src/geo_pose_projector.cpp +++ b/localization/geo_pose_projector/src/geo_pose_projector.cpp @@ -36,7 +36,8 @@ GeoPoseProjector::GeoPoseProjector() // Subscribe to geo_pose topic geo_pose_sub_ = create_subscription( - "input_geo_pose", 10, [this](const GeoPoseWithCovariance::SharedPtr msg) { on_geo_pose(msg); }); + "input_geo_pose", 10, + [this](const GeoPoseWithCovariance::ConstSharedPtr msg) { on_geo_pose(msg); }); // Publish pose topic pose_pub_ = create_publisher("output_pose", 10); @@ -49,7 +50,7 @@ GeoPoseProjector::GeoPoseProjector() } } -void GeoPoseProjector::on_geo_pose(const GeoPoseWithCovariance::SharedPtr msg) +void GeoPoseProjector::on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr msg) { if (!projector_info_) { RCLCPP_WARN_THROTTLE( diff --git a/localization/geo_pose_projector/src/geo_pose_projector.hpp b/localization/geo_pose_projector/src/geo_pose_projector.hpp index b24b976b1eb61..b0611fec36984 100644 --- a/localization/geo_pose_projector/src/geo_pose_projector.hpp +++ b/localization/geo_pose_projector/src/geo_pose_projector.hpp @@ -39,7 +39,7 @@ class GeoPoseProjector : public rclcpp::Node GeoPoseProjector(); private: - void on_geo_pose(const GeoPoseWithCovariance::SharedPtr msg); + void on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr msg); component_interface_utils::Subscription::SharedPtr sub_map_projector_info_; rclcpp::Subscription::SharedPtr geo_pose_sub_; From f12df94c098256e7c50cfbc224652d42a20b073f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 16 Nov 2023 11:03:59 +0900 Subject: [PATCH 122/701] refactor(goal_planner): refactor select path (#5559) Signed-off-by: kosuke55 --- .../goal_planner/goal_planner_module.hpp | 36 ++++- .../goal_planner/goal_planner_module.cpp | 135 +++++++++--------- 2 files changed, 100 insertions(+), 71 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index 2e95ca82735fb..d647caeabbc44 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -168,20 +168,39 @@ class ThreadSafeData return false; } - void set_pull_over_path(const PullOverPath & value) + void set_pull_over_path(const PullOverPath & path) { const std::lock_guard lock(mutex_); - pull_over_path_ = std::make_shared(value); + pull_over_path_ = std::make_shared(path); + if (path.type != PullOverPlannerType::NONE && path.type != PullOverPlannerType::FREESPACE) { + lane_parking_pull_over_path_ = std::make_shared(path); + } + last_path_update_time_ = clock_->now(); } - void set_pull_over_path(const std::shared_ptr & value) + void set_pull_over_path(const std::shared_ptr & path) { const std::lock_guard lock(mutex_); - pull_over_path_ = value; + pull_over_path_ = path; + if (path->type != PullOverPlannerType::NONE && path->type != PullOverPlannerType::FREESPACE) { + lane_parking_pull_over_path_ = path; + } last_path_update_time_ = clock_->now(); } + template + void set(Args... args) + { + std::lock_guard lock(mutex_); + (..., set(args)); + } + void set(const GoalCandidates & arg) { set_goal_candidates(arg); } + void set(const std::vector & arg) { set_pull_over_path_candidates(arg); } + void set(const std::shared_ptr & arg) { set_pull_over_path(arg); } + void set(const PullOverPath & arg) { set_pull_over_path(arg); } + void set(const GoalCandidate & arg) { set_modified_goal_pose(arg); } + void clearPullOverPath() { const std::lock_guard lock(mutex_); @@ -221,6 +240,7 @@ class ThreadSafeData } DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, pull_over_path) + DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, lane_parking_pull_over_path) DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_update_time) DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_idx_increment_time) @@ -231,6 +251,7 @@ class ThreadSafeData private: std::shared_ptr pull_over_path_{nullptr}; + std::shared_ptr lane_parking_pull_over_path_{nullptr}; std::vector pull_over_path_candidates_; GoalCandidates goal_candidates_{}; std::optional modified_goal_pose_; @@ -394,6 +415,7 @@ class GoalPlannerModule : public SceneModuleInterface void generateGoalCandidates(); // stop or decelerate + void deceleratePath(PullOverPath & pull_over_path) const; void decelerateForTurnSignal(const Pose & stop_pose, PathWithLaneId & path) const; void decelerateBeforeSearchStart( const Pose & search_start_offset_pose, PathWithLaneId & path) const; @@ -428,13 +450,15 @@ class GoalPlannerModule : public SceneModuleInterface // freespace parking bool planFreespacePath(); - void returnToLaneParking(); + bool canReturnToLaneParking(); // plan pull over path BehaviorModuleOutput planPullOver(); BehaviorModuleOutput planPullOverAsOutput(); BehaviorModuleOutput planPullOverAsCandidate(); - void selectSafePullOverPath(); + std::optional> selectPullOverPath( + const std::vector & pull_over_path_candidates, + const GoalCandidates & goal_candidates) const; std::vector sortPullOverPathCandidatesByGoalPriority( const std::vector & pull_over_path_candidates, const GoalCandidates & goal_candidates) const; diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index a0a84adfcf6f8..ba846efbb0a50 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -54,7 +54,7 @@ namespace behavior_path_planner GoalPlannerModule::GoalPlannerModule( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, - const std::unordered_map > & rtc_interface_ptr_map) + const std::unordered_map> & rtc_interface_ptr_map) : SceneModuleInterface{name, node, rtc_interface_ptr_map}, parameters_{parameters}, vehicle_info_{vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo()}, @@ -518,20 +518,20 @@ bool GoalPlannerModule::planFreespacePath() return false; } -void GoalPlannerModule::returnToLaneParking() +bool GoalPlannerModule::canReturnToLaneParking() { // return only before starting free space parking if (!isStopped()) { - return; + return false; } - if (!status_.get_lane_parking_pull_over_path()) { - return; + if (!thread_safe_data_.get_lane_parking_pull_over_path()) { + return false; } - const PathWithLaneId path = status_.get_lane_parking_pull_over_path()->getFullPath(); + const PathWithLaneId path = thread_safe_data_.get_lane_parking_pull_over_path()->getFullPath(); if (checkCollision(path)) { - return; + return false; } const Point & current_point = planner_data_->self_odometry->pose.pose.position; @@ -539,11 +539,10 @@ void GoalPlannerModule::returnToLaneParking() const bool is_close_to_path = std::abs(motion_utils::calcLateralOffset(path.points, current_point)) < th_distance; if (!is_close_to_path) { - return; + return false; } - thread_safe_data_.set_pull_over_path(status_.get_lane_parking_pull_over_path()); - RCLCPP_INFO(getLogger(), "return to lane parking"); + return true; } void GoalPlannerModule::generateGoalCandidates() @@ -619,23 +618,10 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri return sorted_pull_over_path_candidates; } -void GoalPlannerModule::selectSafePullOverPath() +std::optional> GoalPlannerModule::selectPullOverPath( + const std::vector & pull_over_path_candidates, + const GoalCandidates & goal_candidates) const { - // select safe lane pull over path from candidates - std::vector pull_over_path_candidates{}; - GoalCandidates goal_candidates{}; - { - const std::lock_guard lock(mutex_); - goal_searcher_->setPlannerData(planner_data_); - goal_candidates = thread_safe_data_.get_goal_candidates(); - goal_searcher_->update(goal_candidates); - thread_safe_data_.set_goal_candidates(goal_candidates); - thread_safe_data_.set_pull_over_path_candidates(sortPullOverPathCandidatesByGoalPriority( - thread_safe_data_.get_pull_over_path_candidates(), thread_safe_data_.get_goal_candidates())); - pull_over_path_candidates = thread_safe_data_.get_pull_over_path_candidates(); - thread_safe_data_.clearPullOverPath(); - } - for (const auto & pull_over_path : pull_over_path_candidates) { // check if goal is safe const auto goal_candidate_it = std::find_if( @@ -654,42 +640,10 @@ void GoalPlannerModule::selectSafePullOverPath() continue; } - // found safe pull over path - { - const std::lock_guard lock(mutex_); - thread_safe_data_.set_pull_over_path(pull_over_path); - thread_safe_data_.set_modified_goal_pose(*goal_candidate_it); - status_.set_lane_parking_pull_over_path(thread_safe_data_.get_pull_over_path()); - } - break; + return std::make_pair(pull_over_path, *goal_candidate_it); } - if (!thread_safe_data_.foundPullOverPath()) { - return; - } - - // decelerate before the search area start - const auto decel_pose = calcLongitudinalOffsetPose( - thread_safe_data_.get_pull_over_path()->getFullPath().points, - status_.get_closest_goal_candidate_pose().position, -approximate_pull_over_distance_); - auto & first_path = thread_safe_data_.get_pull_over_path()->partial_paths.front(); - if (decel_pose) { - decelerateBeforeSearchStart(*decel_pose, first_path); - return; - } - - // if already passed the search start offset pose, set pull_over_velocity to first_path. - const auto min_decel_distance = calcFeasibleDecelDistance( - planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, - parameters_->pull_over_velocity); - for (auto & p : first_path.points) { - const double distance_from_ego = calcSignedArcLengthFromEgo(first_path, p.point.pose); - if (min_decel_distance && distance_from_ego < *min_decel_distance) { - continue; - } - p.point.longitudinal_velocity_mps = std::min( - p.point.longitudinal_velocity_mps, static_cast(parameters_->pull_over_velocity)); - } + return {}; } std::vector GoalPlannerModule::generateDrivableLanes() const @@ -847,7 +801,7 @@ void GoalPlannerModule::updateSteeringFactor( } // NOTE: Once this function returns true, it will continue to return true thereafter. Because -// selectSafePullOverPath() will not select new path. +// selectPullOverPath() will not select new path. bool GoalPlannerModule::hasDecidedPath() const { // if path is not safe, not decided @@ -928,8 +882,31 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() if (!hasDecidedPath() && needPathUpdate(1.0 /*path_update_duration*/)) { // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates - // and set it to thread_safe_data_.get_pull_over_path() - selectSafePullOverPath(); + // and set it to thread_safe_data_ + + thread_safe_data_.clearPullOverPath(); + + // update goal candidates + goal_searcher_->setPlannerData(planner_data_); + auto goal_candidates = thread_safe_data_.get_goal_candidates(); + goal_searcher_->update(goal_candidates); + + // update pull over path candidates + const auto pull_over_path_candidates = sortPullOverPathCandidatesByGoalPriority( + thread_safe_data_.get_pull_over_path_candidates(), goal_candidates); + + // select pull over path which is safe against static objects and get it's goal + const auto path_and_goal_opt = selectPullOverPath(pull_over_path_candidates, goal_candidates); + + // update thread_safe_data_ + if (path_and_goal_opt) { + auto [pull_over_path, modified_goal] = *path_and_goal_opt; + deceleratePath(pull_over_path); + thread_safe_data_.set( + goal_candidates, pull_over_path_candidates, pull_over_path, modified_goal); + } else { + thread_safe_data_.set(goal_candidates, pull_over_path_candidates); + } } // set output and status @@ -937,8 +914,10 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() setOutput(output); // return to lane parking if it is possible - if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) { - returnToLaneParking(); + if ( + thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE && + canReturnToLaneParking()) { + thread_safe_data_.set_pull_over_path(thread_safe_data_.get_lane_parking_pull_over_path()); } // For debug @@ -1450,6 +1429,32 @@ double GoalPlannerModule::calcSignedArcLengthFromEgo( path.points, current_pose.position, ego_idx, pose.position, target_idx); } +void GoalPlannerModule::deceleratePath(PullOverPath & pull_over_path) const +{ + // decelerate before the search area start + const auto decel_pose = calcLongitudinalOffsetPose( + pull_over_path.getFullPath().points, status_.get_closest_goal_candidate_pose().position, + -approximate_pull_over_distance_); + auto & first_path = pull_over_path.partial_paths.front(); + if (decel_pose) { + decelerateBeforeSearchStart(*decel_pose, first_path); + return; + } + + // if already passed the search start offset pose, set pull_over_velocity to first_path. + const auto min_decel_distance = calcFeasibleDecelDistance( + planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, + parameters_->pull_over_velocity); + for (auto & p : first_path.points) { + const double distance_from_ego = calcSignedArcLengthFromEgo(first_path, p.point.pose); + if (min_decel_distance && distance_from_ego < *min_decel_distance) { + continue; + } + p.point.longitudinal_velocity_mps = std::min( + p.point.longitudinal_velocity_mps, static_cast(parameters_->pull_over_velocity)); + } +} + void GoalPlannerModule::decelerateForTurnSignal(const Pose & stop_pose, PathWithLaneId & path) const { const double time = planner_data_->parameters.turn_signal_search_time; From 8ea6094d7065df58532fd648f7d13414af82f1fa Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 16 Nov 2023 11:48:38 +0900 Subject: [PATCH 123/701] feat(lane_departure_checker): better cubstones's search (#5582) * feat(lane_departure_checker): better cubstones's search Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../lane_departure_checker.hpp | 15 ++- .../lane_departure_checker.cpp | 114 +++++++++--------- 2 files changed, 65 insertions(+), 64 deletions(-) diff --git a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp index c77503106e485..dc55576640133 100644 --- a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp +++ b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp @@ -29,6 +29,7 @@ #include #include +#include #include #include @@ -46,7 +47,9 @@ using autoware_auto_planning_msgs::msg::TrajectoryPoint; using autoware_planning_msgs::msg::LaneletRoute; using tier4_autoware_utils::LinearRing2d; using tier4_autoware_utils::PoseDeviation; +using tier4_autoware_utils::Segment2d; using TrajectoryPoints = std::vector; +typedef boost::geometry::index::rtree> SegmentRtree; struct Param { @@ -137,13 +140,15 @@ class LaneDepartureChecker const lanelet::ConstLanelets & candidate_lanelets, const std::vector & vehicle_footprints); + double calcMaxSearchLengthForBoundaries(const Trajectory & trajectory) const; + + static SegmentRtree extractUncrossableBoundaries( + const lanelet::LaneletMap & lanelet_map, const geometry_msgs::msg::Point & ego_point, + const double max_search_length, const std::vector & boundary_types_to_detect); + static bool willCrossBoundary( - const lanelet::ConstLanelets & candidate_lanelets, const std::vector & vehicle_footprints, - const std::vector & boundary_types_to_detects); - - static bool isCrossingRoadBorder( - const lanelet::BasicLineString2d & road_border, const std::vector & footprints); + const SegmentRtree & uncrossable_segments); }; } // namespace lane_departure_checker diff --git a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp index 9d413b2bf0a70..5bd0fcace9909 100644 --- a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp +++ b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp @@ -30,7 +30,9 @@ #include #include +using motion_utils::calcArcLength; using tier4_autoware_utils::LinearRing2d; +using tier4_autoware_utils::LineString2d; using tier4_autoware_utils::MultiPoint2d; using tier4_autoware_utils::Point2d; @@ -41,15 +43,6 @@ using autoware_auto_planning_msgs::msg::TrajectoryPoint; using TrajectoryPoints = std::vector; using geometry_msgs::msg::Point; -Point fromVector2dToMsg(const Eigen::Vector2d & point) -{ - Point msg{}; - msg.x = point.x(); - msg.y = point.y(); - msg.z = 0.0; - return msg; -} - double calcBrakingDistance( const double abs_velocity, const double max_deceleration, const double delay_time) { @@ -67,27 +60,6 @@ bool isInAnyLane(const lanelet::ConstLanelets & candidate_lanelets, const Point2 return false; } -bool isCrossingWithBoundary( - const lanelet::BasicLineString2d & boundary, const std::vector & footprints) -{ - for (auto & footprint : footprints) { - for (size_t i = 0; i < footprint.size() - 1; ++i) { - auto footprint1 = footprint.at(i).to_3d(); - auto footprint2 = footprint.at(i + 1).to_3d(); - for (size_t i = 0; i < boundary.size() - 1; ++i) { - auto boundary1 = boundary.at(i); - auto boundary2 = boundary.at(i + 1); - if (tier4_autoware_utils::intersect( - tier4_autoware_utils::toMsg(footprint1), tier4_autoware_utils::toMsg(footprint2), - fromVector2dToMsg(boundary1), fromVector2dToMsg(boundary2))) { - return true; - } - } - } - } - return false; -} - LinearRing2d createHullFromFootprints(const std::vector & footprints) { MultiPoint2d combined; @@ -172,8 +144,12 @@ Output LaneDepartureChecker::update(const Input & input) output.is_out_of_lane = isOutOfLane(output.candidate_lanelets, output.vehicle_footprints.front()); output.processing_time_map["isOutOfLane"] = stop_watch.toc(true); - output.will_cross_boundary = willCrossBoundary( - output.candidate_lanelets, output.vehicle_footprints, input.boundary_types_to_detect); + const double max_search_length_for_boundaries = + calcMaxSearchLengthForBoundaries(*input.predicted_trajectory); + const auto uncrossable_boundaries = extractUncrossableBoundaries( + *input.lanelet_map, input.predicted_trajectory->points.front().pose.position, + max_search_length_for_boundaries, input.boundary_types_to_detect); + output.will_cross_boundary = willCrossBoundary(output.vehicle_footprints, uncrossable_boundaries); output.processing_time_map["willCrossBoundary"] = stop_watch.toc(true); return output; @@ -334,38 +310,58 @@ bool LaneDepartureChecker::isOutOfLane( return false; } -bool LaneDepartureChecker::willCrossBoundary( - const lanelet::ConstLanelets & candidate_lanelets, - const std::vector & vehicle_footprints, - const std::vector & boundary_types_to_detect) +double LaneDepartureChecker::calcMaxSearchLengthForBoundaries(const Trajectory & trajectory) const { - for (const auto & candidate_lanelet : candidate_lanelets) { - const std::string r_type = - candidate_lanelet.rightBound().attributeOr(lanelet::AttributeName::Type, "none"); - if ( - std::find(boundary_types_to_detect.begin(), boundary_types_to_detect.end(), r_type) != - boundary_types_to_detect.end()) { - if (isCrossingWithBoundary( - candidate_lanelet.rightBound2d().basicLineString(), vehicle_footprints)) { - // std::cerr << "The crossed road_border's line string id: " - // << candidate_lanelet.rightBound().id() << std::endl; - return true; + const double max_ego_lon_length = std::max( + std::abs(vehicle_info_ptr_->max_longitudinal_offset_m), + std::abs(vehicle_info_ptr_->min_longitudinal_offset_m)); + const double max_ego_lat_length = std::max( + std::abs(vehicle_info_ptr_->max_lateral_offset_m), + std::abs(vehicle_info_ptr_->min_lateral_offset_m)); + const double max_ego_search_length = std::hypot(max_ego_lon_length, max_ego_lat_length); + return calcArcLength(trajectory.points) + max_ego_search_length; +} + +SegmentRtree LaneDepartureChecker::extractUncrossableBoundaries( + const lanelet::LaneletMap & lanelet_map, const geometry_msgs::msg::Point & ego_point, + const double max_search_length, const std::vector & boundary_types_to_detect) +{ + const auto has_types = + [](const lanelet::ConstLineString3d & ls, const std::vector & types) { + constexpr auto no_type = ""; + const auto type = ls.attributeOr(lanelet::AttributeName::Type, no_type); + return (type != no_type && std::find(types.begin(), types.end(), type) != types.end()); + }; + + SegmentRtree uncrossable_segments_in_range; + LineString2d line; + const auto ego_p = Point2d{ego_point.x, ego_point.y}; + for (const auto & ls : lanelet_map.lineStringLayer) { + if (has_types(ls, boundary_types_to_detect)) { + line.clear(); + for (const auto & p : ls) line.push_back(Point2d{p.x(), p.y()}); + for (auto segment_idx = 0LU; segment_idx + 1 < line.size(); ++segment_idx) { + const Segment2d segment = {line[segment_idx], line[segment_idx + 1]}; + if (boost::geometry::distance(segment, ego_p) < max_search_length) { + uncrossable_segments_in_range.insert(segment); + } } } - const std::string l_type = - candidate_lanelet.leftBound().attributeOr(lanelet::AttributeName::Type, "none"); - if ( - std::find(boundary_types_to_detect.begin(), boundary_types_to_detect.end(), l_type) != - boundary_types_to_detect.end()) { - if (isCrossingWithBoundary( - candidate_lanelet.leftBound2d().basicLineString(), vehicle_footprints)) { - // std::cerr << "The crossed road_border's line string id: " - // << candidate_lanelet.leftBound().id() << std::endl; - return true; - } + } + return uncrossable_segments_in_range; +} + +bool LaneDepartureChecker::willCrossBoundary( + const std::vector & vehicle_footprints, const SegmentRtree & uncrossable_segments) +{ + for (const auto & footprint : vehicle_footprints) { + std::vector intersection_result; + uncrossable_segments.query( + boost::geometry::index::intersects(footprint), std::back_inserter(intersection_result)); + if (!intersection_result.empty()) { + return true; } } return false; } - } // namespace lane_departure_checker From 8c69bba61a7edf93b91442c2c2a8e75fbe22ff0f Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu, 16 Nov 2023 12:10:23 +0900 Subject: [PATCH 124/701] build(tier4_perception_launch): add tracking_object_merger (#5602) Signed-off-by: kminoda --- launch/tier4_perception_launch/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 336588891d9b2..7e6ba83747a8b 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -39,6 +39,7 @@ shape_estimation tensorrt_yolo topic_tools + tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector From db036686f5f76ea9823ea4a4293f6cc25b63c9ef Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 16 Nov 2023 15:15:14 +0900 Subject: [PATCH 125/701] fix(avoidance): fix avoidance exit condition (#5592) Signed-off-by: satoshi-ota --- .../src/scene_module/avoidance/avoidance_module.cpp | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 2d85f8cbe3224..46dfd93d83432 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -222,6 +222,19 @@ bool AvoidanceModule::canTransitSuccessState() const bool has_base_offset = std::abs(path_shifter_.getBaseOffset()) > parameters_->lateral_avoid_check_threshold; + // If the vehicle is on the shift line, keep RUNNING. + { + const size_t idx = planner_data_->findEgoIndex(path_shifter_.getReferencePath().points); + const auto within = [](const auto & line, const size_t idx) { + return line.start_idx < idx && idx < line.end_idx; + }; + for (const auto & shift_line : path_shifter_.getShiftLines()) { + if (within(shift_line, idx)) { + return false; + } + } + } + // Nothing to do. -> EXIT. if (!has_avoidance_target) { if (!has_shift_point && !has_base_offset) { From cbc54cf5952a90da7cfcf91cac2c64c4fb7b1067 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 16 Nov 2023 15:41:42 +0900 Subject: [PATCH 126/701] fix(avoidance): fix wrong reason for unavoidable situation (#5558) * fix(avoidance): fix wrong reason for unavoidable situation Signed-off-by: satoshi-ota * fix(avoidance): fix misreading variable name Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../src/scene_module/avoidance/avoidance_module.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 46dfd93d83432..54771cc4e66c1 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -1010,13 +1010,13 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( desire_shift_length > 0.0 ? feasible_relative_shift_length + current_ego_shift : -1.0 * feasible_relative_shift_length + current_ego_shift; - const auto feasible = + const auto infeasible = std::abs(feasible_shift_length - object.overhang_dist) < 0.5 * planner_data_->parameters.vehicle_width + object_parameter.safety_buffer_lateral; - if (feasible) { + if (infeasible) { RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 1000, "feasible shift length is not enough to avoid. "); - object.reason = AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN; + object.reason = AvoidanceDebugFactor::TOO_LARGE_JERK; return boost::none; } From d808d0458c7c2ce130802ca9a7c891b7b2690f74 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Thu, 16 Nov 2023 15:47:15 +0900 Subject: [PATCH 127/701] refactor(radar_object_clustering): move radar object clustering parameter to param file (#5451) * move radar object clustering parameter to param file Signed-off-by: yoshiri * remove default parameter settings and fix cmakelists --------- Signed-off-by: yoshiri --- ...ar_radar_fusion_based_detection.launch.xml | 5 ++--- .../detection/detection.launch.xml | 2 ++ .../lidar_radar_based_detection.launch.xml | 5 ++--- .../radar_based_detection.launch.xml | 14 ++----------- .../launch/perception.launch.xml | 3 +++ .../radar_object_clustering/CMakeLists.txt | 1 + .../config/radar_object_clustering.param.yaml | 15 ++++++++++++++ .../launch/radar_object_clustering.launch.xml | 20 ++----------------- .../radar_object_clustering_node.cpp | 18 ++++++++--------- 9 files changed, 38 insertions(+), 45 deletions(-) create mode 100644 perception/radar_object_clustering/config/radar_object_clustering.param.yaml diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml index 20b1b5a4d0b27..1b4c3f38e038d 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml @@ -50,6 +50,7 @@ + @@ -78,9 +79,7 @@ - - - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml index 33994934949ac..b69f1c0ee8b14 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml @@ -32,6 +32,7 @@ + @@ -145,6 +146,7 @@ + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml index cee6829ea3b4a..ed37f6270c913 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml @@ -11,6 +11,7 @@ + @@ -37,9 +38,7 @@ - - - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml index 5b5646a061ac7..26e7af07646cd 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml @@ -6,10 +6,8 @@ - - - + @@ -43,14 +41,6 @@ - - - - - - - - - + diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 8b241db9774b3..fe6636c0f74a0 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -12,6 +12,7 @@ + @@ -175,7 +176,9 @@ + + diff --git a/perception/radar_object_clustering/CMakeLists.txt b/perception/radar_object_clustering/CMakeLists.txt index acb544bfe4f6a..ba911c3035765 100644 --- a/perception/radar_object_clustering/CMakeLists.txt +++ b/perception/radar_object_clustering/CMakeLists.txt @@ -37,4 +37,5 @@ endif() ament_auto_package( INSTALL_TO_SHARE launch + config ) diff --git a/perception/radar_object_clustering/config/radar_object_clustering.param.yaml b/perception/radar_object_clustering/config/radar_object_clustering.param.yaml new file mode 100644 index 0000000000000..2abbf14622a3f --- /dev/null +++ b/perception/radar_object_clustering/config/radar_object_clustering.param.yaml @@ -0,0 +1,15 @@ +/**: + ros__parameters: + # clustering parameter + angle_threshold: 0.174 # [rad] (10 deg) + distance_threshold: 10.0 # [m] + velocity_threshold: 4.0 # [m/s] + + # output object settings + # set false if you want to use the object information from radar + is_fixed_label: true + fixed_label: "CAR" + is_fixed_size: true + size_x: 4.0 # [m] + size_y: 1.5 # [m] + size_z: 1.5 # [m] diff --git a/perception/radar_object_clustering/launch/radar_object_clustering.launch.xml b/perception/radar_object_clustering/launch/radar_object_clustering.launch.xml index e216bec45798a..68fca44bcc723 100644 --- a/perception/radar_object_clustering/launch/radar_object_clustering.launch.xml +++ b/perception/radar_object_clustering/launch/radar_object_clustering.launch.xml @@ -4,28 +4,12 @@ - - - - - - - - - + - - - - - - - - - + diff --git a/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp b/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp index 74e85bde21385..8612fa19ca7f3 100644 --- a/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp +++ b/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp @@ -71,15 +71,15 @@ RadarObjectClusteringNode::RadarObjectClusteringNode(const rclcpp::NodeOptions & std::bind(&RadarObjectClusteringNode::onSetParam, this, std::placeholders::_1)); // Node Parameter - node_param_.angle_threshold = declare_parameter("angle_threshold", 0.174); - node_param_.distance_threshold = declare_parameter("distance_threshold", 4.0); - node_param_.velocity_threshold = declare_parameter("velocity_threshold", 2.0); - node_param_.is_fixed_label = declare_parameter("is_fixed_label", false); - node_param_.fixed_label = declare_parameter("fixed_label", "UNKNOWN"); - node_param_.is_fixed_size = declare_parameter("is_fixed_size", false); - node_param_.size_x = declare_parameter("size_x", 4.0); - node_param_.size_y = declare_parameter("size_y", 1.5); - node_param_.size_z = declare_parameter("size_z", 1.5); + node_param_.angle_threshold = declare_parameter("angle_threshold"); + node_param_.distance_threshold = declare_parameter("distance_threshold"); + node_param_.velocity_threshold = declare_parameter("velocity_threshold"); + node_param_.is_fixed_label = declare_parameter("is_fixed_label"); + node_param_.fixed_label = declare_parameter("fixed_label"); + node_param_.is_fixed_size = declare_parameter("is_fixed_size"); + node_param_.size_x = declare_parameter("size_x"); + node_param_.size_y = declare_parameter("size_y"); + node_param_.size_z = declare_parameter("size_z"); // Subscriber sub_objects_ = create_subscription( From 7b1e139c652917d68a78efce7b8e5f47ed8ecdf6 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Thu, 16 Nov 2023 16:56:30 +0900 Subject: [PATCH 128/701] feat(radar_object_tracker): Change to use `use_radar_tracking_fusion` as true (#5605) Signed-off-by: Shunsuke Miura --- launch/tier4_perception_launch/launch/perception.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index fe6636c0f74a0..6582dfd32d91d 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -104,7 +104,7 @@ From bce08008ac0a59f63753534d63eb6395041e898e Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 16 Nov 2023 17:10:37 +0900 Subject: [PATCH 129/701] fix(avoidance): fix bug in shift lon distance calculation (#5557) * fix(avoidance): consider avoidance prepare time Signed-off-by: satoshi-ota * fix(avoidance): consider avoidance prepare distance Signed-off-by: satoshi-ota * fix(avoidance): use std::optional Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../utils/avoidance/helper.hpp | 3 +- .../avoidance/avoidance_module.cpp | 78 ++++++++++--------- 2 files changed, 42 insertions(+), 39 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp index 11388dd6bb74a..b4c6230750946 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp @@ -185,7 +185,8 @@ class AvoidanceHelper max_shift_length, getLateralMinJerkLimit(), getEgoSpeed()); return std::clamp( - 1.5 * dynamic_distance, parameters_->object_check_min_forward_distance, + 1.5 * dynamic_distance + getNominalPrepareDistance(), + parameters_->object_check_min_forward_distance, parameters_->object_check_max_forward_distance); } diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 54771cc4e66c1..80baa5230f4f5 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -920,8 +920,9 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( const auto & base_link2rear = planner_data_->parameters.base_link2rear; // Calculate feasible shift length - const auto get_shift_length = - [&](auto & object, const auto & desire_shift_length) -> boost::optional { + const auto get_shift_profile = + [&]( + auto & object, const auto & desire_shift_length) -> std::optional> { // use each object param const auto object_type = utils::getHighestProbLabel(object.object.classification); const auto object_parameter = parameters_->object_parameters.at(object_type); @@ -931,55 +932,57 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( const auto avoiding_shift = desire_shift_length - current_ego_shift; const auto nominal_avoid_distance = helper_.getMaxAvoidanceDistance(avoiding_shift); + // calculate remaining distance. + const auto prepare_distance = helper_.getNominalPrepareDistance(); + const auto & additional_buffer_longitudinal = + object_parameter.use_conservative_buffer_longitudinal + ? planner_data_->parameters.base_link2front + : 0.0; + const auto constant = object_parameter.safety_buffer_longitudinal + + additional_buffer_longitudinal + prepare_distance; + const auto has_enough_distance = object.longitudinal > constant + nominal_avoid_distance; + const auto remaining_distance = object.longitudinal - constant; + const auto avoidance_distance = + has_enough_distance ? nominal_avoid_distance : remaining_distance; + + // nominal case. avoidable. + if (has_enough_distance) { + return std::make_pair(desire_shift_length, avoidance_distance); + } + if (!isBestEffort(parameters_->policy_lateral_margin)) { - return desire_shift_length; + return std::make_pair(desire_shift_length, avoidance_distance); } // ego already has enough positive shift. const auto has_enough_positive_shift = avoiding_shift < -1e-3 && desire_shift_length > 1e-3; if (is_object_on_right && has_enough_positive_shift) { - return desire_shift_length; + return std::make_pair(desire_shift_length, avoidance_distance); } // ego already has enough negative shift. const auto has_enough_negative_shift = avoiding_shift > 1e-3 && desire_shift_length < -1e-3; if (!is_object_on_right && has_enough_negative_shift) { - return desire_shift_length; + return std::make_pair(desire_shift_length, avoidance_distance); } // don't relax shift length since it can stop in front of the object. if (object.is_stoppable && !parameters_->use_shorten_margin_immediately) { - return desire_shift_length; + return std::make_pair(desire_shift_length, avoidance_distance); } - // calculate remaining distance. - const auto prepare_distance = helper_.getNominalPrepareDistance(); - const auto & additional_buffer_longitudinal = - object_parameter.use_conservative_buffer_longitudinal - ? planner_data_->parameters.base_link2front - : 0.0; - const auto constant = object_parameter.safety_buffer_longitudinal + - additional_buffer_longitudinal + prepare_distance; - const auto has_enough_distance = object.longitudinal > constant + nominal_avoid_distance; - const auto remaining_distance = object.longitudinal - constant; - // the avoidance path is already approved const auto & object_pos = object.object.kinematics.initial_pose_with_covariance.pose.position; const auto is_approved = (helper_.getShift(object_pos) > 0.0 && is_object_on_right) || (helper_.getShift(object_pos) < 0.0 && !is_object_on_right); if (is_approved) { - return desire_shift_length; + return std::make_pair(desire_shift_length, avoidance_distance); } // prepare distance is not enough. unavoidable. if (remaining_distance < 1e-3) { object.reason = AvoidanceDebugFactor::REMAINING_DISTANCE_LESS_THAN_ZERO; - return boost::none; - } - - // nominal case. avoidable. - if (has_enough_distance) { - return desire_shift_length; + return std::nullopt; } // calculate lateral jerk. @@ -988,13 +991,13 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( // relax lateral jerk limit. avoidable. if (required_jerk < helper_.getLateralMaxJerkLimit()) { - return desire_shift_length; + return std::make_pair(desire_shift_length, avoidance_distance); } // avoidance distance is not enough. unavoidable. if (!isBestEffort(parameters_->policy_deceleration)) { object.reason = AvoidanceDebugFactor::TOO_LARGE_JERK; - return boost::none; + return std::nullopt; } // output avoidance path under lateral jerk constraints. @@ -1003,7 +1006,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( if (std::abs(feasible_relative_shift_length) < parameters_->lateral_execution_threshold) { object.reason = "LessThanExecutionThreshold"; - return boost::none; + return std::nullopt; } const auto feasible_shift_length = @@ -1017,7 +1020,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 1000, "feasible shift length is not enough to avoid. "); object.reason = AvoidanceDebugFactor::TOO_LARGE_JERK; - return boost::none; + return std::nullopt; } { @@ -1026,7 +1029,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( std::abs(avoiding_shift), feasible_relative_shift_length); } - return feasible_shift_length; + return std::make_pair(feasible_shift_length, avoidance_distance); }; const auto is_forward_object = [](const auto & object) { return object.longitudinal > 0.0; }; @@ -1061,9 +1064,9 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( // use each object param const auto object_type = utils::getHighestProbLabel(o.object.classification); const auto object_parameter = parameters_->object_parameters.at(object_type); - const auto feasible_shift_length = get_shift_length(o, desire_shift_length); + const auto feasible_shift_profile = get_shift_profile(o, desire_shift_length); - if (!feasible_shift_length) { + if (!feasible_shift_profile.has_value()) { if (o.avoid_required && is_forward_object(o)) { break; } else { @@ -1072,10 +1075,8 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( } // use absolute dist for return-to-center, relative dist from current for avoiding. - const auto feasible_avoid_distance = - helper_.getMaxAvoidanceDistance(feasible_shift_length.get() - current_ego_shift); const auto feasible_return_distance = - helper_.getMaxAvoidanceDistance(feasible_shift_length.get()); + helper_.getMaxAvoidanceDistance(feasible_shift_profile.value().first); AvoidLine al_avoid; { @@ -1091,14 +1092,15 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( // start point (use previous linear shift length as start shift length.) al_avoid.start_longitudinal = [&]() { - const auto nearest_avoid_distance = std::max(to_shift_end - feasible_avoid_distance, 1e-3); + const auto nearest_avoid_distance = + std::max(to_shift_end - feasible_shift_profile.value().second, 1e-3); if (data.to_start_point > to_shift_end) { return nearest_avoid_distance; } const auto minimum_avoid_distance = - helper_.getMinAvoidanceDistance(feasible_shift_length.get() - current_ego_shift); + helper_.getMinAvoidanceDistance(feasible_shift_profile.value().first - current_ego_shift); const auto furthest_avoid_distance = std::max(to_shift_end - minimum_avoid_distance, 1e-3); return std::clamp(data.to_start_point, nearest_avoid_distance, furthest_avoid_distance); @@ -1110,7 +1112,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( al_avoid.start_shift_length = helper_.getLinearShift(al_avoid.start.position); // end point - al_avoid.end_shift_length = feasible_shift_length.get(); + al_avoid.end_shift_length = feasible_shift_profile.value().first; al_avoid.end_longitudinal = to_shift_end; // misc @@ -1125,7 +1127,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( const auto to_shift_start = o.longitudinal + offset; // start point - al_return.start_shift_length = feasible_shift_length.get(); + al_return.start_shift_length = feasible_shift_profile.value().first; al_return.start_longitudinal = to_shift_start; // end point From 20345f4e034f1bd330997eaebf8e16e5ab8ff3c4 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 16 Nov 2023 17:11:06 +0900 Subject: [PATCH 130/701] fix(avoidance): prevent sudden steering at avoidance maneuver (#5572) * fix(avoidance): prevent sudden steering at yield maneuver Signed-off-by: satoshi-ota * feat(avoidance): output debug info Signed-off-by: satoshi-ota * Update planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Co-authored-by: Fumiya Watanabe * style(pre-commit): autofix --------- Signed-off-by: satoshi-ota Co-authored-by: Fumiya Watanabe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../config/avoidance/avoidance.param.yaml | 3 ++- .../utils/avoidance/avoidance_module_data.hpp | 3 ++- .../utils/avoidance/helper.hpp | 8 +++++- .../avoidance/avoidance_module.cpp | 26 ++++++++++++++++--- .../src/scene_module/avoidance/manager.cpp | 6 +++-- 5 files changed, 38 insertions(+), 8 deletions(-) diff --git a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml index 96b6ca452bbcc..ad06a1a9f6a10 100644 --- a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml +++ b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml @@ -190,7 +190,8 @@ max_deviation_from_lane: 0.5 # [m] # avoidance distance parameters longitudinal: - prepare_time: 2.0 # [s] + min_prepare_time: 1.0 # [s] + max_prepare_time: 2.0 # [s] min_prepare_distance: 1.0 # [m] min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp index c8b87c7b4759f..60cf9b1244236 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp @@ -211,7 +211,8 @@ struct AvoidanceParameters double stop_buffer{0.0}; // start avoidance after this time to avoid sudden path change - double prepare_time{0.0}; + double min_prepare_time{0.0}; + double max_prepare_time{0.0}; // Even if the vehicle speed is zero, avoidance will start after a distance of this much. double min_prepare_distance{0.0}; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp index b4c6230750946..e1d51122e5c1b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp @@ -91,10 +91,16 @@ class AvoidanceHelper return std::max(getEgoSpeed(), values.at(idx)); } + double getMinimumPrepareDistance() const + { + const auto & p = parameters_; + return std::max(getEgoSpeed() * p->min_prepare_time, p->min_prepare_distance); + } + double getNominalPrepareDistance() const { const auto & p = parameters_; - return std::max(getEgoSpeed() * p->prepare_time, p->min_prepare_distance); + return std::max(getEgoSpeed() * p->max_prepare_time, p->min_prepare_distance); } double getNominalAvoidanceDistance(const double shift_length) const diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 80baa5230f4f5..ea4eab425b66b 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -437,10 +437,27 @@ bool AvoidanceModule::canYieldManeuver(const AvoidancePlanningData & data) const { // transit yield maneuver only when the avoidance maneuver is not initiated. if (helper_.isShifted()) { + RCLCPP_DEBUG(getLogger(), "avoidance maneuver already initiated."); return false; } + // prevent sudden steering. + const auto registered_lines = path_shifter_.getShiftLines(); + if (!registered_lines.empty()) { + const size_t idx = planner_data_->findEgoIndex(path_shifter_.getReferencePath().points); + const auto to_shift_start_point = calcSignedArcLength( + path_shifter_.getReferencePath().points, idx, registered_lines.front().start_idx); + if (to_shift_start_point < helper_.getMinimumPrepareDistance()) { + RCLCPP_DEBUG( + getLogger(), + "Distance to shift start point is less than minimum prepare distance. The distance is not " + "enough."); + return false; + } + } + if (!data.stop_target_object) { + RCLCPP_DEBUG(getLogger(), "can pass by the object safely without avoidance maneuver."); return true; } @@ -1654,6 +1671,10 @@ void AvoidanceModule::applySmallShiftFilter( continue; } + if (s.start_longitudinal < helper_.getMinimumPrepareDistance()) { + continue; + } + shift_lines.push_back(s); } } @@ -2407,9 +2428,8 @@ AvoidLineArray AvoidanceModule::findNewShiftLine( for (size_t i = 0; i < shift_lines.size(); ++i) { const auto & candidate = shift_lines.at(i); - // new shift points must exist in front of Ego - // this value should be larger than -eps consider path shifter calculation error. - if (candidate.start_idx < avoid_data_.ego_closest_path_index) { + // prevent sudden steering. + if (candidate.start_longitudinal < helper_.getMinimumPrepareDistance()) { break; } diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp index 6ed67fc817f28..f71024dcc5034 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp @@ -221,7 +221,8 @@ AvoidanceModuleManager::AvoidanceModuleManager( // avoidance maneuver (longitudinal) { std::string ns = "avoidance.avoidance.longitudinal."; - p.prepare_time = getOrDeclareParameter(*node, ns + "prepare_time"); + p.min_prepare_time = getOrDeclareParameter(*node, ns + "min_prepare_time"); + p.max_prepare_time = getOrDeclareParameter(*node, ns + "max_prepare_time"); p.min_prepare_distance = getOrDeclareParameter(*node, ns + "min_prepare_distance"); p.min_slow_down_speed = getOrDeclareParameter(*node, ns + "min_slow_down_speed"); p.buf_slow_down_speed = getOrDeclareParameter(*node, ns + "buf_slow_down_speed"); @@ -390,7 +391,8 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "prepare_time", p->prepare_time); + updateParam(parameters, ns + "min_prepare_time", p->min_prepare_time); + updateParam(parameters, ns + "max_prepare_time", p->max_prepare_time); updateParam(parameters, ns + "min_slow_down_speed", p->min_slow_down_speed); updateParam(parameters, ns + "buf_slow_down_speed", p->buf_slow_down_speed); } From 8753183f42d78b3a8e86c6c2a137478a07546266 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 16 Nov 2023 18:06:09 +0900 Subject: [PATCH 131/701] feat(out_of_lane): more stable decisions (#5197) Signed-off-by: Maxime CLEMENT --- .../config/out_of_lane.param.yaml | 2 + .../src/calculate_slowdown_points.hpp | 35 ++++++-- .../src/debug.cpp | 87 ++++++++++++++++++- .../src/debug.hpp | 20 ++++- .../src/decisions.cpp | 36 +++----- .../src/decisions.hpp | 22 +---- .../src/manager.cpp | 2 + .../src/overlapping_range.cpp | 11 ++- .../src/overlapping_range.hpp | 10 --- .../src/scene_out_of_lane.cpp | 59 ++++++++++--- .../src/scene_out_of_lane.hpp | 7 +- .../src/types.hpp | 73 +++++++++++++--- 12 files changed, 273 insertions(+), 91 deletions(-) diff --git a/planning/behavior_velocity_out_of_lane_module/config/out_of_lane.param.yaml b/planning/behavior_velocity_out_of_lane_module/config/out_of_lane.param.yaml index c74c5b3d87c1d..092f1d32b27b3 100644 --- a/planning/behavior_velocity_out_of_lane_module/config/out_of_lane.param.yaml +++ b/planning/behavior_velocity_out_of_lane_module/config/out_of_lane.param.yaml @@ -17,6 +17,7 @@ use_predicted_paths: true # if true, use the predicted paths to estimate future positions. # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in. predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. + distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane overlap: minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered @@ -26,6 +27,7 @@ skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed precision: 0.1 # [m] precision when inserting a stop pose in the path distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane + min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled slowdown: distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap velocity: 2.0 # [m/s] slowdown velocity diff --git a/planning/behavior_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp b/planning/behavior_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp index 5d22f01222919..0c9e6448bb374 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp @@ -29,6 +29,11 @@ namespace behavior_velocity_planner::out_of_lane { +/// @brief estimate whether ego can decelerate without breaking the deceleration limit +/// @details assume ego wants to reach the target point at the target velocity +/// @param [in] ego_data ego data +/// @param [in] point target point +/// @param [in] target_vel target_velocity bool can_decelerate( const EgoData & ego_data, const PathPointWithLaneId & point, const double target_vel) { @@ -40,9 +45,16 @@ bool can_decelerate( return acc_to_target_vel < std::abs(ego_data.max_decel); } +/// @brief calculate the last pose along the path where ego does not overlap the lane to avoid +/// @param [in] ego_data ego data +/// @param [in] decision the input decision (i.e., which lane to avoid and at what speed) +/// @param [in] footprint the ego footprint +/// @param [in] prev_slowdown_point previous slowdown point. If set, ignore deceleration limits +/// @param [in] params parameters +/// @return the last pose that is not out of lane (if found) std::optional calculate_last_in_lane_pose( const EgoData & ego_data, const Slowdown & decision, const Polygon2d & footprint, - const PlannerParam & params) + const std::optional & prev_slowdown_point, const PlannerParam & params) { const auto from_arc_length = motion_utils::calcSignedArcLength(ego_data.path.points, 0, ego_data.first_path_idx); @@ -53,12 +65,17 @@ std::optional calculate_last_in_lane_pose( // TODO(Maxime): binary search interpolated_point.point.pose = motion_utils::calcInterpolatedPose(ego_data.path.points, l); const auto respect_decel_limit = - !params.skip_if_over_max_decel || + !params.skip_if_over_max_decel || prev_slowdown_point || can_decelerate(ego_data, interpolated_point, decision.velocity); - if ( - respect_decel_limit && !boost::geometry::overlaps( - project_to_pose(footprint, interpolated_point.point.pose), - decision.lane_to_avoid.polygon2d().basicPolygon())) + const auto interpolated_footprint = project_to_pose(footprint, interpolated_point.point.pose); + const auto is_overlap_lane = boost::geometry::overlaps( + interpolated_footprint, decision.lane_to_avoid.polygon2d().basicPolygon()); + const auto is_overlap_extra_lane = + prev_slowdown_point && + boost::geometry::overlaps( + interpolated_footprint, + prev_slowdown_point->slowdown.lane_to_avoid.polygon2d().basicPolygon()); + if (respect_decel_limit && !is_overlap_lane && !is_overlap_extra_lane) return interpolated_point; } return std::nullopt; @@ -67,10 +84,12 @@ std::optional calculate_last_in_lane_pose( /// @brief calculate the slowdown point to insert in the path /// @param ego_data ego data (path, velocity, etc) /// @param decisions decision (before which point to stop, what lane to avoid entering, etc) +/// @param prev_slowdown_point previously calculated slowdown point /// @param params parameters /// @return optional slowdown point to insert in the path std::optional calculate_slowdown_point( - const EgoData & ego_data, const std::vector & decisions, PlannerParam params) + const EgoData & ego_data, const std::vector & decisions, + const std::optional prev_slowdown_point, PlannerParam params) { params.extra_front_offset += params.dist_buffer; const auto base_footprint = make_base_footprint(params); @@ -78,7 +97,7 @@ std::optional calculate_slowdown_point( // search for the first slowdown decision for which a stop point can be inserted for (const auto & decision : decisions) { const auto last_in_lane_pose = - calculate_last_in_lane_pose(ego_data, decision, base_footprint, params); + calculate_last_in_lane_pose(ego_data, decision, base_footprint, prev_slowdown_point, params); if (last_in_lane_pose) return SlowdownToInsert{decision, *last_in_lane_pose}; } return std::nullopt; diff --git a/planning/behavior_velocity_out_of_lane_module/src/debug.cpp b/planning/behavior_velocity_out_of_lane_module/src/debug.cpp index 0574a5226dc4a..489bb3f5abc78 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/debug.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/debug.cpp @@ -34,13 +34,12 @@ visualization_msgs::msg::Marker get_base_marker() base_marker.pose.orientation = tier4_autoware_utils::createMarkerOrientation(0, 0, 0, 1.0); base_marker.scale = tier4_autoware_utils::createMarkerScale(0.1, 0.1, 0.1); base_marker.color = tier4_autoware_utils::createMarkerColor(1.0, 0.1, 0.1, 0.5); - base_marker.lifetime = rclcpp::Duration::from_seconds(0.5); return base_marker; } } // namespace void add_footprint_markers( visualization_msgs::msg::MarkerArray & debug_marker_array, - const lanelet::BasicPolygons2d & footprints, const double z) + const lanelet::BasicPolygons2d & footprints, const double z, const size_t prev_nb) { auto debug_marker = get_base_marker(); debug_marker.ns = "footprints"; @@ -54,12 +53,14 @@ void add_footprint_markers( debug_marker.id++; debug_marker.points.clear(); } + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); } void add_current_overlap_marker( visualization_msgs::msg::MarkerArray & debug_marker_array, const lanelet::BasicPolygon2d & current_footprint, - const lanelet::ConstLanelets & current_overlapped_lanelets, const double z) + const lanelet::ConstLanelets & current_overlapped_lanelets, const double z, const size_t prev_nb) { auto debug_marker = get_base_marker(); debug_marker.ns = "current_overlap"; @@ -82,12 +83,14 @@ void add_current_overlap_marker( debug_marker_array.markers.push_back(debug_marker); debug_marker.id++; } + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); } void add_lanelet_markers( visualization_msgs::msg::MarkerArray & debug_marker_array, const lanelet::ConstLanelets & lanelets, const std::string & ns, - const std_msgs::msg::ColorRGBA & color) + const std_msgs::msg::ColorRGBA & color, const size_t prev_nb) { auto debug_marker = get_base_marker(); debug_marker.ns = ns; @@ -103,6 +106,82 @@ void add_lanelet_markers( debug_marker_array.markers.push_back(debug_marker); debug_marker.id++; } + debug_marker.action = debug_marker.DELETE; + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); +} + +void add_range_markers( + visualization_msgs::msg::MarkerArray & debug_marker_array, const OverlapRanges & ranges, + const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const size_t first_ego_idx, + const double z, const size_t prev_nb) +{ + auto debug_marker = get_base_marker(); + debug_marker.ns = "ranges"; + debug_marker.color = tier4_autoware_utils::createMarkerColor(0.2, 0.9, 0.1, 0.5); + for (const auto & range : ranges) { + debug_marker.points.clear(); + debug_marker.points.push_back( + path.points[first_ego_idx + range.entering_path_idx].point.pose.position); + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + range.entering_point.x(), range.entering_point.y(), z)); + for (const auto & overlap : range.debug.overlaps) { + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + overlap.min_overlap_point.x(), overlap.min_overlap_point.y(), z)); + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + overlap.max_overlap_point.x(), overlap.max_overlap_point.y(), z)); + } + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + range.exiting_point.x(), range.exiting_point.y(), z)); + debug_marker.points.push_back( + path.points[first_ego_idx + range.exiting_path_idx].point.pose.position); + debug_marker_array.markers.push_back(debug_marker); + debug_marker.id++; + } + debug_marker.action = debug_marker.DELETE; + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); + debug_marker.action = debug_marker.ADD; + debug_marker.id = 0; + debug_marker.ns = "decisions"; + debug_marker.color = tier4_autoware_utils::createMarkerColor(0.9, 0.1, 0.1, 1.0); + debug_marker.points.clear(); + for (const auto & range : ranges) { + debug_marker.type = debug_marker.LINE_STRIP; + if (range.debug.decision) { + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + range.entering_point.x(), range.entering_point.y(), z)); + debug_marker.points.push_back( + range.debug.object->kinematics.initial_pose_with_covariance.pose.position); + } + debug_marker_array.markers.push_back(debug_marker); + debug_marker.points.clear(); + debug_marker.id++; + + debug_marker.type = debug_marker.TEXT_VIEW_FACING; + debug_marker.pose.position.x = range.entering_point.x(); + debug_marker.pose.position.y = range.entering_point.y(); + debug_marker.pose.position.z = z; + std::stringstream ss; + ss << "Ego: " << range.debug.times.ego.enter_time << " - " << range.debug.times.ego.exit_time + << "\n"; + if (range.debug.object) { + debug_marker.pose.position.x += + range.debug.object->kinematics.initial_pose_with_covariance.pose.position.x; + debug_marker.pose.position.y += + range.debug.object->kinematics.initial_pose_with_covariance.pose.position.y; + debug_marker.pose.position.x /= 2; + debug_marker.pose.position.y /= 2; + ss << "Obj: " << range.debug.times.object.enter_time << " - " + << range.debug.times.object.exit_time << "\n"; + } + debug_marker.scale.z = 1.0; + debug_marker.text = ss.str(); + debug_marker_array.markers.push_back(debug_marker); + debug_marker.id++; + } + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); } } // namespace behavior_velocity_planner::out_of_lane::debug diff --git a/planning/behavior_velocity_out_of_lane_module/src/debug.hpp b/planning/behavior_velocity_out_of_lane_module/src/debug.hpp index 06bc6d935f310..2b6b65638ec40 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/debug.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/debug.hpp @@ -29,27 +29,41 @@ namespace behavior_velocity_planner::out_of_lane::debug /// @param [inout] debug_marker_array marker array /// @param [in] footprints footprints to turn into markers /// @param [in] z z value to use for the markers +/// @param [in] prev_nb previous number of markers (used to delete the extra ones) void add_footprint_markers( visualization_msgs::msg::MarkerArray & debug_marker_array, - const lanelet::BasicPolygons2d & footprints, const double z); + const lanelet::BasicPolygons2d & footprints, const double z, const size_t prev_nb); /// @brief add footprint markers to the given marker array /// @param [inout] debug_marker_array marker array /// @param [in] current_footprint footprint to turn into a marker /// @param [in] current_overlapped_lanelets lanelets to turn into markers /// @param [in] z z value to use for the markers +/// @param [in] prev_nb previous number of markers (used to delete the extra ones) void add_current_overlap_marker( visualization_msgs::msg::MarkerArray & debug_marker_array, const lanelet::BasicPolygon2d & current_footprint, - const lanelet::ConstLanelets & current_overlapped_lanelets, const double z); + const lanelet::ConstLanelets & current_overlapped_lanelets, const double z, const size_t prev_nb); /// @brief add footprint markers to the given marker array /// @param [inout] debug_marker_array marker array /// @param [in] lanelets lanelets to turn into markers /// @param [in] ns namespace of the markers /// @param [in] color namespace of the markers +/// @param [in] prev_nb previous number of markers (used to delete the extra ones) void add_lanelet_markers( visualization_msgs::msg::MarkerArray & debug_marker_array, const lanelet::ConstLanelets & lanelets, const std::string & ns, - const std_msgs::msg::ColorRGBA & color); + const std_msgs::msg::ColorRGBA & color, const size_t prev_nb); +/// @brief add ranges markers to the given marker array +/// @param [inout] debug_marker_array marker array +/// @param [in] ranges ranges to turn into markers +/// @param [in] path modified ego path that was used to calculate the ranges +/// @param [in] first_path_idx first idx of ego on the path +/// @param [in] z z value to use for the markers +/// @param [in] prev_nb previous number of markers (used to delete the extra ones) +void add_range_markers( + visualization_msgs::msg::MarkerArray & debug_marker_array, const OverlapRanges & ranges, + const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const size_t first_path_idx, + const double z, const size_t prev_nb); } // namespace behavior_velocity_planner::out_of_lane::debug #endif // DEBUG_HPP_ diff --git a/planning/behavior_velocity_out_of_lane_module/src/decisions.cpp b/planning/behavior_velocity_out_of_lane_module/src/decisions.cpp index 78d9b73c86a17..be72109db4548 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/decisions.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/decisions.cpp @@ -26,7 +26,6 @@ #include #include -#include #include #include #include @@ -63,7 +62,8 @@ bool object_is_incoming( std::optional> object_time_to_range( const autoware_auto_perception_msgs::msg::PredictedObject & object, const OverlapRange & range, - const std::shared_ptr route_handler, const rclcpp::Logger & logger) + const std::shared_ptr route_handler, const double dist_buffer, + const rclcpp::Logger & logger) { // skip the dynamic object if it is not in a lane preceding the overlapped lane // lane changes are intentionally not considered @@ -72,8 +72,7 @@ std::optional> object_time_to_range( object.kinematics.initial_pose_with_covariance.pose.position.y); if (!object_is_incoming(object_point, route_handler, range.lane)) return {}; - const auto max_deviation = object.shape.dimensions.y + range.inside_distance; - + const auto max_deviation = object.shape.dimensions.y + range.inside_distance + dist_buffer; auto worst_enter_time = std::optional(); auto worst_exit_time = std::optional(); @@ -308,7 +307,8 @@ bool should_not_enter( // skip objects that are already on the interval const auto enter_exit_time = params.objects_use_predicted_paths - ? object_time_to_range(object, range, inputs.route_handler, logger) + ? object_time_to_range( + object, range, inputs.route_handler, params.objects_dist_buffer, logger) : object_time_to_range(object, range, inputs, logger); if (!enter_exit_time) { RCLCPP_DEBUG(logger, " SKIP (no enter/exit times found)\n"); @@ -317,27 +317,14 @@ bool should_not_enter( range_times.object.enter_time = enter_exit_time->first; range_times.object.exit_time = enter_exit_time->second; - if (will_collide_on_range(range_times, params, logger)) return true; - } - return false; -} - -OverlapRange find_most_preceding_range(const OverlapRange & range, const DecisionInputs & inputs) -{ - OverlapRange preceding_range = range; - bool found_preceding_range = true; - while (found_preceding_range) { - found_preceding_range = false; - for (const auto & other_range : inputs.ranges) { - if ( - other_range.entering_path_idx < preceding_range.entering_path_idx && - other_range.exiting_path_idx >= preceding_range.entering_path_idx) { - preceding_range = other_range; - found_preceding_range = true; - } + if (will_collide_on_range(range_times, params, logger)) { + range.debug.times = range_times; + range.debug.object = object; + return true; } } - return preceding_range; + range.debug.times = range_times; + return false; } void set_decision_velocity( @@ -375,6 +362,7 @@ std::vector calculate_decisions( for (const auto & range : inputs.ranges) { if (range.entering_path_idx == 0UL) continue; // skip if we already entered the range const auto optional_decision = calculate_decision(range, inputs, params, logger); + range.debug.decision = optional_decision; if (optional_decision) decisions.push_back(*optional_decision); } return decisions; diff --git a/planning/behavior_velocity_out_of_lane_module/src/decisions.hpp b/planning/behavior_velocity_out_of_lane_module/src/decisions.hpp index 2898595c2e74c..0612cc041c1ef 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/decisions.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/decisions.hpp @@ -31,16 +31,6 @@ namespace behavior_velocity_planner::out_of_lane { -struct EnterExitTimes -{ - double enter_time; - double exit_time; -}; -struct RangeTimes -{ - EnterExitTimes ego; - EnterExitTimes object; -}; /// @brief calculate the distance along the ego path between ego and some target path index /// @param [in] ego_data data related to the ego vehicle /// @param [in] target_idx target ego path index @@ -64,13 +54,15 @@ double time_along_path(const EgoData & ego_data, const size_t target_idx); /// the opposite direction, time at enter > time at exit std::optional> object_time_to_range( const autoware_auto_perception_msgs::msg::PredictedObject & object, const OverlapRange & range, - const std::shared_ptr route_handler, const rclcpp::Logger & logger); + const std::shared_ptr route_handler, const double dist_buffer, + const rclcpp::Logger & logger); /// @brief use the lanelet map to estimate the times when an object will reach the enter and exit /// points of an overlapping range /// @param [in] object dynamic object /// @param [in] range overlapping range /// @param [in] inputs information used to take decisions (ranges, ego and objects data, route /// handler, lanelets) +/// @param [in] dist_buffer extra distance used to estimate if a collision will occur on the range /// @param [in] logger ros logger /// @return an optional pair (time at enter [s], time at exit [s]). If the dynamic object drives in /// the opposite direction, time at enter > time at exit. @@ -94,14 +86,6 @@ bool will_collide_on_range( bool should_not_enter( const OverlapRange & range, const DecisionInputs & inputs, const PlannerParam & params, const rclcpp::Logger & logger); -/// @brief find the most preceding range -/// @details the most preceding range is the first range in a succession of ranges with overlapping -/// enter/exit indexes. -/// @param [in] range range -/// @param [in] inputs information used to take decisions (ranges, ego and objects data, route -/// handler, lanelets) -/// @return most preceding range -OverlapRange find_most_preceding_range(const OverlapRange & range, const DecisionInputs & inputs); /// @brief set the velocity of a decision (or unset it) based on the distance away from the range /// @param [out] decision decision to update (either set its velocity or unset the decision) /// @param [in] distance distance between ego and the range corresponding to the decision diff --git a/planning/behavior_velocity_out_of_lane_module/src/manager.cpp b/planning/behavior_velocity_out_of_lane_module/src/manager.cpp index 2422c6fe84e56..23de809e429ec 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/manager.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/manager.cpp @@ -50,6 +50,7 @@ OutOfLaneModuleManager::OutOfLaneModuleManager(rclcpp::Node & node) getOrDeclareParameter(node, ns + ".objects.use_predicted_paths"); pp.objects_min_confidence = getOrDeclareParameter(node, ns + ".objects.predicted_path_min_confidence"); + pp.objects_dist_buffer = getOrDeclareParameter(node, ns + ".objects.distance_buffer"); pp.overlap_min_dist = getOrDeclareParameter(node, ns + ".overlap.minimum_distance"); pp.overlap_extra_length = getOrDeclareParameter(node, ns + ".overlap.extra_length"); @@ -57,6 +58,7 @@ OutOfLaneModuleManager::OutOfLaneModuleManager(rclcpp::Node & node) pp.skip_if_over_max_decel = getOrDeclareParameter(node, ns + ".action.skip_if_over_max_decel"); pp.precision = getOrDeclareParameter(node, ns + ".action.precision"); + pp.min_decision_duration = getOrDeclareParameter(node, ns + ".action.min_duration"); pp.dist_buffer = getOrDeclareParameter(node, ns + ".action.distance_buffer"); pp.slow_velocity = getOrDeclareParameter(node, ns + ".action.slowdown.velocity"); pp.slow_dist_threshold = diff --git a/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.cpp b/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.cpp index 98a9e4404e013..6f74f42af2056 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.cpp @@ -23,7 +23,6 @@ #include #include -#include namespace behavior_velocity_planner::out_of_lane { @@ -76,10 +75,12 @@ OverlapRanges calculate_overlapping_ranges( { OverlapRanges ranges; OtherLane other_lane(lanelet); + std::vector overlaps; for (auto i = 0UL; i < path_footprints.size(); ++i) { const auto overlap = calculate_overlap(path_footprints[i], path_lanelets, lanelet); const auto has_overlap = overlap.inside_distance > params.overlap_min_dist; if (has_overlap) { // open/update the range + overlaps.push_back(overlap); if (!other_lane.range_is_open) { other_lane.first_range_bound.index = i; other_lane.first_range_bound.point = overlap.min_overlap_point; @@ -94,10 +95,16 @@ OverlapRanges calculate_overlapping_ranges( other_lane.last_range_bound.inside_distance = overlap.inside_distance; } else if (other_lane.range_is_open) { // !has_overlap: close the range if it is open ranges.push_back(other_lane.close_range()); + ranges.back().debug.overlaps = overlaps; + overlaps.clear(); } } // close the range if it is still open - if (other_lane.range_is_open) ranges.push_back(other_lane.close_range()); + if (other_lane.range_is_open) { + ranges.push_back(other_lane.close_range()); + ranges.back().debug.overlaps = overlaps; + overlaps.clear(); + } return ranges; } diff --git a/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp b/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp index ab4d31480e1cb..24bd6b3f16eb9 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp @@ -21,21 +21,11 @@ #include -#include #include namespace behavior_velocity_planner::out_of_lane { -/// @brief representation of an overlap between the ego footprint and some other lane -struct Overlap -{ - double inside_distance = 0.0; ///!< distance inside the overlap - double min_arc_length = std::numeric_limits::infinity(); - double max_arc_length = 0.0; - lanelet::BasicPoint2d min_overlap_point{}; ///!< point with min arc length - lanelet::BasicPoint2d max_overlap_point{}; ///!< point with max arc length -}; /// @brief calculate the overlap between the given footprint and lanelet /// @param [in] path_footprint footprint used to calculate the overlap /// @param [in] path_lanelets path lanelets used to calculate arc length along the ego path diff --git a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp index 1487d9e63c8b0..539cdefb31fdf 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp @@ -55,8 +55,7 @@ OutOfLaneModule::OutOfLaneModule( velocity_factor_.init(VelocityFactor::UNKNOWN); } -bool OutOfLaneModule::modifyPathVelocity( - PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) { debug_data_.reset_data(); *stop_reason = planning_utils::initializeStopReason(StopReason::OUT_OF_LANE); @@ -68,6 +67,19 @@ bool OutOfLaneModule::modifyPathVelocity( ego_data.path.points = path->points; ego_data.first_path_idx = motion_utils::findNearestSegmentIndex(ego_data.path.points, ego_data.pose.position); + for (const auto & p : prev_overlapping_path_points_) { + const auto nearest_idx = + motion_utils::findNearestIndex(ego_data.path.points, p.point.pose, 1.0); + const auto insert_idx = + motion_utils::findNearestSegmentIndex(ego_data.path.points, p.point.pose, 1.0); + if (nearest_idx && insert_idx && *insert_idx > ego_data.first_path_idx) { + if ( + tier4_autoware_utils::calcDistance2d( + ego_data.path.points[*nearest_idx].point.pose, p.point.pose) > 0.5) + ego_data.path.points.insert(std::next(ego_data.path.points.begin(), *insert_idx), p); + } + } + motion_utils::removeOverlapPoints(ego_data.path.points); ego_data.velocity = planner_data_->current_velocity->twist.linear.x; ego_data.max_decel = -planner_data_->max_stop_acceleration_threshold; stopwatch.tic("calculate_path_footprints"); @@ -87,6 +99,8 @@ bool OutOfLaneModule::modifyPathVelocity( debug_data_.path_lanelets = path_lanelets; debug_data_.ignored_lanelets = ignored_lanelets; debug_data_.other_lanelets = other_lanelets; + debug_data_.path = ego_data.path; + debug_data_.first_path_idx = ego_data.first_path_idx; if (params_.skip_if_already_overlapping) { debug_data_.current_footprint = current_ego_footprint; @@ -104,6 +118,10 @@ bool OutOfLaneModule::modifyPathVelocity( stopwatch.tic("calculate_overlapping_ranges"); const auto ranges = calculate_overlapping_ranges(path_footprints, path_lanelets, other_lanelets, params_); + prev_overlapping_path_points_.clear(); + for (const auto & range : ranges) + prev_overlapping_path_points_.push_back( + ego_data.path.points[ego_data.first_path_idx + range.entering_path_idx]); const auto calculate_overlapping_ranges_us = stopwatch.toc("calculate_overlapping_ranges"); // Calculate stop and slowdown points stopwatch.tic("calculate_decisions"); @@ -113,14 +131,27 @@ bool OutOfLaneModule::modifyPathVelocity( inputs.objects = filter_predicted_objects(*planner_data_->predicted_objects, ego_data, params_); inputs.route_handler = planner_data_->route_handler_; inputs.lanelets = other_lanelets; - auto decisions = calculate_decisions(inputs, params_, logger_); + const auto decisions = calculate_decisions(inputs, params_, logger_); const auto calculate_decisions_us = stopwatch.toc("calculate_decisions"); stopwatch.tic("calc_slowdown_points"); - const auto point_to_insert = calculate_slowdown_point(ego_data, decisions, params_); + if ( // reset the previous inserted point if the timer expired + prev_inserted_point_ && + (clock_->now() - prev_inserted_point_time_).seconds() > params_.min_decision_duration) + prev_inserted_point_.reset(); + auto point_to_insert = + calculate_slowdown_point(ego_data, decisions, prev_inserted_point_, params_); const auto calc_slowdown_points_us = stopwatch.toc("calc_slowdown_points"); stopwatch.tic("insert_slowdown_points"); debug_data_.slowdowns.clear(); + if ( // reset the timer if there is no previous inserted point or if we avoid the same lane + point_to_insert && + (!prev_inserted_point_ || prev_inserted_point_->slowdown.lane_to_avoid.id() == + point_to_insert->slowdown.lane_to_avoid.id())) + prev_inserted_point_time_ = clock_->now(); + if (!point_to_insert && prev_inserted_point_) point_to_insert = prev_inserted_point_; if (point_to_insert) { + prev_inserted_point_ = point_to_insert; + RCLCPP_INFO(logger_, "Avoiding lane %lu", point_to_insert->slowdown.lane_to_avoid.id()); debug_data_.slowdowns = {*point_to_insert}; auto path_idx = motion_utils::findNearestSegmentIndex( path->points, point_to_insert->point.point.pose.position) + @@ -132,14 +163,17 @@ bool OutOfLaneModule::modifyPathVelocity( tier4_planning_msgs::msg::StopFactor stop_factor; stop_factor.stop_pose = point_to_insert->point.point.pose; stop_factor.dist_to_stop_pose = motion_utils::calcSignedArcLength( - ego_data.path.points, ego_data.pose.position, point_to_insert->point.point.pose.position); + path->points, ego_data.pose.position, point_to_insert->point.point.pose.position); planning_utils::appendStopReason(stop_factor, stop_reason); } velocity_factor_.set( path->points, planner_data_->current_odometry->pose, point_to_insert->point.point.pose, VelocityFactor::UNKNOWN); + } else if (!decisions.empty()) { + RCLCPP_WARN(logger_, "Could not insert stop point (would violate max deceleration limits)"); } const auto insert_slowdown_points_us = stopwatch.toc("insert_slowdown_points"); + debug_data_.ranges = inputs.ranges; const auto total_time_us = stopwatch.toc(); RCLCPP_DEBUG( @@ -160,18 +194,23 @@ MarkerArray OutOfLaneModule::createDebugMarkerArray() constexpr auto z = 0.0; MarkerArray debug_marker_array; - debug::add_footprint_markers(debug_marker_array, debug_data_.footprints, z); + debug::add_footprint_markers( + debug_marker_array, debug_data_.footprints, z, debug_data_.prev_footprints); debug::add_current_overlap_marker( - debug_marker_array, debug_data_.current_footprint, debug_data_.current_overlapped_lanelets, z); + debug_marker_array, debug_data_.current_footprint, debug_data_.current_overlapped_lanelets, z, + debug_data_.prev_current_overlapped_lanelets); debug::add_lanelet_markers( debug_marker_array, debug_data_.path_lanelets, "path_lanelets", - tier4_autoware_utils::createMarkerColor(0.1, 0.1, 1.0, 0.5)); + tier4_autoware_utils::createMarkerColor(0.1, 0.1, 1.0, 0.5), debug_data_.prev_path_lanelets); debug::add_lanelet_markers( debug_marker_array, debug_data_.ignored_lanelets, "ignored_lanelets", - tier4_autoware_utils::createMarkerColor(0.7, 0.7, 0.2, 0.5)); + tier4_autoware_utils::createMarkerColor(0.7, 0.7, 0.2, 0.5), debug_data_.prev_ignored_lanelets); debug::add_lanelet_markers( debug_marker_array, debug_data_.other_lanelets, "other_lanelets", - tier4_autoware_utils::createMarkerColor(0.4, 0.4, 0.7, 0.5)); + tier4_autoware_utils::createMarkerColor(0.4, 0.4, 0.7, 0.5), debug_data_.prev_other_lanelets); + debug::add_range_markers( + debug_marker_array, debug_data_.ranges, debug_data_.path, debug_data_.first_path_idx, z, + debug_data_.prev_ranges); return debug_marker_array; } diff --git a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp index cdf8eef8f277b..310e2a9764d36 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp @@ -22,6 +22,7 @@ #include #include +#include #include #include @@ -48,9 +49,13 @@ class OutOfLaneModule : public SceneModuleInterface motion_utils::VirtualWalls createVirtualWalls() override; private: - // Parameter PlannerParam params_; + std::vector + prev_overlapping_path_points_{}; + std::optional prev_inserted_point_{}; + rclcpp::Time prev_inserted_point_time_{}; + protected: int64_t module_id_{}; diff --git a/planning/behavior_velocity_out_of_lane_module/src/types.hpp b/planning/behavior_velocity_out_of_lane_module/src/types.hpp index 64d88f15e6966..34bd52634ce7b 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/types.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/types.hpp @@ -24,7 +24,9 @@ #include #include +#include #include +#include #include #include #include @@ -47,6 +49,8 @@ struct PlannerParam bool objects_use_predicted_paths; // whether to use the objects' predicted paths double objects_min_vel; // [m/s] objects lower than this velocity will be ignored double objects_min_confidence; // minimum confidence to consider a predicted path + double objects_dist_buffer; // [m] distance buffer used to determine if a collision will occur in + // the other lane double overlap_extra_length; // [m] extra length to add around an overlap range double overlap_min_dist; // [m] min distance inside another lane to consider an overlap @@ -56,7 +60,8 @@ struct PlannerParam double slow_velocity; double slow_dist_threshold; double stop_dist_threshold; - double precision; // [m] precision when inserting a stop pose in the path + double precision; // [m] precision when inserting a stop pose in the path + double min_decision_duration; // [s] minimum duration needed a decision can be canceled // ego dimensions used to create its polygon footprint double front_offset; // [m] front offset (from vehicle info) double rear_offset; // [m] rear offset (from vehicle info) @@ -68,17 +73,16 @@ struct PlannerParam double extra_left_offset; // [m] extra left distance }; -/// @brief range along the path where ego overlaps another lane -struct OverlapRange +struct EnterExitTimes { - lanelet::ConstLanelet lane; - size_t entering_path_idx{}; - size_t exiting_path_idx{}; - lanelet::BasicPoint2d entering_point; // pose of the overlapping point closest along the lane - lanelet::BasicPoint2d exiting_point; // pose of the overlapping point furthest along the lane - double inside_distance{}; // [m] how much ego footprint enters the lane + double enter_time{}; + double exit_time{}; +}; +struct RangeTimes +{ + EnterExitTimes ego{}; + EnterExitTimes object{}; }; -using OverlapRanges = std::vector; /// @brief action taken by the "out of lane" module struct Slowdown @@ -102,6 +106,35 @@ struct RangeBound double arc_length; double inside_distance; }; + +/// @brief representation of an overlap between the ego footprint and some other lane +struct Overlap +{ + double inside_distance = 0.0; ///!< distance inside the overlap + double min_arc_length = std::numeric_limits::infinity(); + double max_arc_length = 0.0; + lanelet::BasicPoint2d min_overlap_point{}; ///!< point with min arc length + lanelet::BasicPoint2d max_overlap_point{}; ///!< point with max arc length +}; + +/// @brief range along the path where ego overlaps another lane +struct OverlapRange +{ + lanelet::ConstLanelet lane; + size_t entering_path_idx{}; + size_t exiting_path_idx{}; + lanelet::BasicPoint2d entering_point; // pose of the overlapping point closest along the lane + lanelet::BasicPoint2d exiting_point; // pose of the overlapping point furthest along the lane + double inside_distance{}; // [m] how much ego footprint enters the lane + mutable struct + { + std::vector overlaps; + std::optional decision; + RangeTimes times; + std::optional object{}; + } debug; +}; +using OverlapRanges = std::vector; /// @brief representation of a lane and its current overlap range struct OtherLane { @@ -164,12 +197,32 @@ struct DebugData lanelet::ConstLanelets path_lanelets; lanelet::ConstLanelets ignored_lanelets; lanelet::ConstLanelets other_lanelets; + autoware_auto_planning_msgs::msg::PathWithLaneId path; + size_t first_path_idx; + + size_t prev_footprints = 0; + size_t prev_slowdowns = 0; + size_t prev_ranges = 0; + size_t prev_current_overlapped_lanelets = 0; + size_t prev_ignored_lanelets = 0; + size_t prev_path_lanelets = 0; + size_t prev_other_lanelets = 0; void reset_data() { + prev_footprints = footprints.size(); footprints.clear(); + prev_slowdowns = slowdowns.size(); slowdowns.clear(); + prev_ranges = ranges.size(); ranges.clear(); + prev_current_overlapped_lanelets = current_overlapped_lanelets.size(); current_overlapped_lanelets.clear(); + prev_ignored_lanelets = ignored_lanelets.size(); + ignored_lanelets.clear(); + prev_path_lanelets = path_lanelets.size(); + path_lanelets.clear(); + prev_other_lanelets = other_lanelets.size(); + other_lanelets.clear(); } }; From 1b5ef956d8622f69f8dafbf97fc2d993f20472f9 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 16 Nov 2023 21:49:50 +0900 Subject: [PATCH 132/701] refactor(goal_planner): add prev_data instead of status (#5561) --- .../goal_planner/goal_planner_module.hpp | 79 ++++------------ .../goal_planner/goal_planner_module.cpp | 94 +++++++++---------- 2 files changed, 64 insertions(+), 109 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index d647caeabbc44..a31442def538f 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -68,64 +68,6 @@ using behavior_path_planner::utils::path_safety_checker::SafetyCheckParams; using behavior_path_planner::utils::path_safety_checker::TargetObjectsOnLane; using tier4_autoware_utils::Polygon2d; -#define DEFINE_SETTER(TYPE, NAME) \ -public: \ - void set_##NAME(const TYPE & value) \ - { \ - NAME##_ = value; \ - } - -#define DEFINE_GETTER(TYPE, NAME) \ -public: \ - TYPE get_##NAME() const \ - { \ - return NAME##_; \ - } - -#define DEFINE_SETTER_GETTER(TYPE, NAME) \ - DEFINE_SETTER(TYPE, NAME) \ - DEFINE_GETTER(TYPE, NAME) - -class PullOverStatus -{ -public: - // Reset all data members to their initial states - void reset() - { - lane_parking_pull_over_path_ = nullptr; - prev_stop_path_ = nullptr; - prev_stop_path_after_approval_ = nullptr; - - is_safe_ = false; - prev_found_path_ = false; - prev_is_safe_ = false; - } - - DEFINE_SETTER_GETTER(std::shared_ptr, lane_parking_pull_over_path) - DEFINE_SETTER_GETTER(std::shared_ptr, prev_stop_path) - DEFINE_SETTER_GETTER(std::shared_ptr, prev_stop_path_after_approval) - DEFINE_SETTER_GETTER(bool, is_safe) - DEFINE_SETTER_GETTER(bool, prev_found_path) - DEFINE_SETTER_GETTER(bool, prev_is_safe) - DEFINE_SETTER_GETTER(Pose, refined_goal_pose) - DEFINE_SETTER_GETTER(Pose, closest_goal_candidate_pose) - -private: - std::shared_ptr lane_parking_pull_over_path_{nullptr}; - std::shared_ptr prev_stop_path_{nullptr}; - std::shared_ptr prev_stop_path_after_approval_{nullptr}; - bool is_safe_{false}; - bool prev_found_path_{false}; - bool prev_is_safe_{false}; - - Pose refined_goal_pose_{}; - Pose closest_goal_candidate_pose_{}; -}; - -#undef DEFINE_SETTER -#undef DEFINE_GETTER -#undef DEFINE_SETTER_GETTER - #define DEFINE_SETTER_WITH_MUTEX(TYPE, NAME) \ public: \ void set_##NAME(const TYPE & value) \ @@ -288,6 +230,22 @@ struct LastApprovalData Pose pose{}; }; +struct PreviousPullOverData +{ + void reset() + { + stop_path = nullptr; + stop_path_after_approval = nullptr; + found_path = false; + is_safe = false; + } + + std::shared_ptr stop_path{nullptr}; + std::shared_ptr stop_path_after_approval{nullptr}; + bool found_path{false}; + bool is_safe{false}; +}; + class GoalPlannerModule : public SceneModuleInterface { public: @@ -380,10 +338,10 @@ class GoalPlannerModule : public SceneModuleInterface tier4_autoware_utils::LinearRing2d vehicle_footprint_; std::recursive_mutex mutex_; - PullOverStatus status_; ThreadSafeData thread_safe_data_; std::unique_ptr last_approval_data_{nullptr}; + PreviousPullOverData prev_data_{nullptr}; // approximate distance from the start point to the end point of pull_over. // this is used as an assumed value to decelerate, etc., before generating the actual path. @@ -412,7 +370,7 @@ class GoalPlannerModule : public SceneModuleInterface // goal seach Pose calcRefinedGoal(const Pose & goal_pose) const; - void generateGoalCandidates(); + GoalCandidates generateGoalCandidates() const; // stop or decelerate void deceleratePath(PullOverPath & pull_over_path) const; @@ -470,6 +428,7 @@ class GoalPlannerModule : public SceneModuleInterface // output setter void setOutput(BehaviorModuleOutput & output) const; void setStopPath(BehaviorModuleOutput & output) const; + void updatePreviousData(const BehaviorModuleOutput & output); /** * @brief Sets a stop path in the current path based on safety conditions and previous paths. diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index ba846efbb0a50..509214d37cd5a 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -121,7 +121,7 @@ GoalPlannerModule::GoalPlannerModule( goal_planner_data_.collision_check); } - status_.reset(); + prev_data_.reset(); } // This function is needed for waiting for planner_data_ @@ -240,7 +240,7 @@ void GoalPlannerModule::onFreespaceParkingTimer() void GoalPlannerModule::updateData() { - if (getCurrentStatus() == ModuleStatus::IDLE) { + if (getCurrentStatus() == ModuleStatus::IDLE && !isExecutionRequested()) { return; } @@ -259,11 +259,14 @@ void GoalPlannerModule::updateData() updateOccupancyGrid(); - generateGoalCandidates(); + // update goal searcher and generate goal candidates + if (thread_safe_data_.get_goal_candidates().empty()) { + goal_searcher_->setPlannerData(planner_data_); + goal_searcher_->setReferenceGoal( + calcRefinedGoal(planner_data_->route_handler->getOriginalGoalPose())); + thread_safe_data_.set_goal_candidates(generateGoalCandidates()); + } - // Only after the path is decided, approval is allowed and the module is Activated. - // The path index is not incremented until after deciding the path. - // So return here, if (!isActivated()) { return; } @@ -308,7 +311,7 @@ void GoalPlannerModule::processOnExit() resetPathCandidate(); resetPathReference(); debug_marker_.markers.clear(); - status_.reset(); + prev_data_.reset(); last_approval_data_.reset(); } @@ -545,33 +548,24 @@ bool GoalPlannerModule::canReturnToLaneParking() return true; } -void GoalPlannerModule::generateGoalCandidates() +GoalCandidates GoalPlannerModule::generateGoalCandidates() const { - if (!thread_safe_data_.get_goal_candidates().empty()) { - return; - } - // calculate goal candidates const auto & route_handler = planner_data_->route_handler; - const Pose goal_pose = route_handler->getOriginalGoalPose(); - status_.set_refined_goal_pose(calcRefinedGoal(goal_pose)); if (goal_planner_utils::isAllowedGoalModification(route_handler)) { - const std::lock_guard lock(mutex_); - goal_searcher_->setPlannerData(planner_data_); - goal_searcher_->setReferenceGoal(status_.get_refined_goal_pose()); - thread_safe_data_.set_goal_candidates(goal_searcher_->search()); - status_.set_closest_goal_candidate_pose( - goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()) - .goal_pose); - } else { - GoalCandidate goal_candidate{}; - goal_candidate.goal_pose = goal_pose; - goal_candidate.distance_from_original_goal = 0.0; - GoalCandidates goal_candidates{}; - goal_candidates.push_back(goal_candidate); - thread_safe_data_.set_goal_candidates(goal_candidates); - status_.set_closest_goal_candidate_pose(goal_pose); + return goal_searcher_->search(); } + + // NOTE: + // currently since pull over is performed only when isAllowedGoalModification is true, + // never be in the following process. + GoalCandidate goal_candidate{}; + goal_candidate.goal_pose = route_handler->getOriginalGoalPose(); + goal_candidate.distance_from_original_goal = 0.0; + GoalCandidates goal_candidates{}; + goal_candidates.push_back(goal_candidate); + + return goal_candidates; } BehaviorModuleOutput GoalPlannerModule::plan() @@ -695,14 +689,14 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) const void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) const { - if (status_.get_prev_found_path() || !status_.get_prev_stop_path()) { + if (prev_data_.found_path || !prev_data_.stop_path) { // safe -> not_safe or no prev_stop_path: generate new stop_path output.path = std::make_shared(generateStopPath()); RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, generate stop path"); } else { // not_safe -> not_safe: use previous stop path - output.path = status_.get_prev_stop_path(); + output.path = prev_data_.stop_path; // stop_pose_ is removed in manager every loop, so need to set every loop. stop_pose_ = utils::getFirstStopPoseFromPath(*output.path); RCLCPP_WARN_THROTTLE( @@ -713,7 +707,7 @@ void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) const void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output) const { // safe or not safe(no feasible stop_path found) -> not_safe: try to find new feasible stop_path - if (status_.get_prev_is_safe() || !status_.get_prev_stop_path_after_approval()) { + if (prev_data_.is_safe || !prev_data_.stop_path_after_approval) { auto current_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); const auto stop_path = behavior_path_planner::utils::start_goal_planner_common::generateFeasibleStopPath( @@ -721,7 +715,6 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output parameters_->maximum_jerk_for_stop); if (stop_path) { output.path = std::make_shared(*stop_path); - // status_.set_prev_stop_path_after_approval(output.path); RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "Collision detected, generate stop path"); } else { output.path = @@ -730,10 +723,9 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output getLogger(), *clock_, 5000, "Collision detected, no feasible stop path found, cannot stop."); } - // status_.set_last_path_update_time(std::make_shared(clock_->now())); } else { // not_safe safe(no feasible stop path found) -> not_safe: use previous stop path - output.path = status_.get_prev_stop_path_after_approval(); + output.path = prev_data_.stop_path_after_approval; // stop_pose_ is removed in manager every loop, so need to set every loop. stop_pose_ = utils::getFirstStopPoseFromPath(*output.path); RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "Collision detected, use previous stop path"); @@ -934,7 +926,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() path_candidate_ = std::make_shared(thread_safe_data_.get_pull_over_path()->getFullPath()); - updateStatus(output); + updatePreviousData(output); return output; } @@ -961,17 +953,16 @@ void GoalPlannerModule::postProcess() setStopReason(StopReason::GOAL_PLANNER, thread_safe_data_.get_pull_over_path()->getFullPath()); } -void GoalPlannerModule::updateStatus(const BehaviorModuleOutput & output) +void GoalPlannerModule::updatePreviousData(const BehaviorModuleOutput & output) { - if (status_.get_prev_found_path() || !status_.get_prev_stop_path()) { - status_.set_prev_stop_path(output.path); + if (prev_data_.found_path || !prev_data_.stop_path) { + prev_data_.stop_path = output.path; } // for the next loop setOutput(). // this is used to determine whether to generate a new stop path or keep the current stop path. - status_.set_prev_found_path(thread_safe_data_.foundPullOverPath()); - status_.set_prev_is_safe( - parameters_->safety_check_params.enable_safety_check ? isSafePath() : true); + prev_data_.found_path = thread_safe_data_.foundPullOverPath(); + prev_data_.is_safe = parameters_->safety_check_params.enable_safety_check ? isSafePath() : true; if (!isActivated()) { return; @@ -979,15 +970,15 @@ void GoalPlannerModule::updateStatus(const BehaviorModuleOutput & output) if ( !parameters_->safety_check_params.enable_safety_check || isSafePath() || - (!status_.get_prev_is_safe() && status_.get_prev_stop_path_after_approval())) { + (!prev_data_.is_safe && prev_data_.stop_path_after_approval)) { return; } - status_.set_prev_is_safe(false); + prev_data_.is_safe = false; const bool is_stop_path = std::any_of( output.path->points.begin(), output.path->points.end(), [](const auto & point) { return point.point.longitudinal_velocity_mps == 0.0; }); if (is_stop_path) { - status_.set_prev_stop_path_after_approval(output.path); + prev_data_.stop_path_after_approval = output.path; } } @@ -1061,8 +1052,10 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const // calculate search start offset pose from the closest goal candidate pose with // approximate_pull_over_distance_ ego vehicle decelerates to this position. or if no feasible // stop point is found, stop at this position. + const auto closest_goal_candidate = + goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()); const auto decel_pose = calcLongitudinalOffsetPose( - reference_path.points, status_.get_closest_goal_candidate_pose().position, + reference_path.points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); // if not approved stop road lane. @@ -1136,6 +1129,7 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() const planner_data_, parameters_->backward_goal_search_length, parameters_->forward_goal_search_length, /*forward_only_in_route*/ false); + const auto s_current = lanelet::utils::getArcCoordinates(current_lanes, current_pose).length; const double s_start = std::max(0.0, s_current - common_parameters.backward_path_length); const double s_end = s_current + common_parameters.forward_path_length; @@ -1432,8 +1426,10 @@ double GoalPlannerModule::calcSignedArcLengthFromEgo( void GoalPlannerModule::deceleratePath(PullOverPath & pull_over_path) const { // decelerate before the search area start + const auto closest_goal_candidate = + goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()); const auto decel_pose = calcLongitudinalOffsetPose( - pull_over_path.getFullPath().points, status_.get_closest_goal_candidate_pose().position, + pull_over_path.getFullPath().points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); auto & first_path = pull_over_path.partial_paths.front(); if (decel_pose) { @@ -1663,7 +1659,7 @@ bool GoalPlannerModule::isSafePath() const pull_over_lanes, route_handler, filtered_objects, objects_filtering_params_); const double hysteresis_factor = - status_.get_prev_is_safe() ? 1.0 : parameters_->hysteresis_factor_expand_rate; + prev_data_.is_safe ? 1.0 : parameters_->hysteresis_factor_expand_rate; utils::start_goal_planner_common::updateSafetyCheckTargetObjectsData( goal_planner_data_, filtered_objects, target_objects_on_lane, ego_predicted_path); @@ -1727,7 +1723,7 @@ void GoalPlannerModule::setDebugData() // Visualize pull over areas const auto color = hasDecidedPath() ? createMarkerColor(1.0, 1.0, 0.0, 0.999) // yellow : createMarkerColor(0.0, 1.0, 0.0, 0.999); // green - const double z = status_.get_refined_goal_pose().position.z; + const double z = planner_data_->route_handler->getGoalPose().position.z; add(goal_planner_utils::createPullOverAreaMarkerArray( goal_searcher_->getAreaPolygons(), header, color, z)); From 4d916ddeca062680144426dc05093a076c056a18 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 16 Nov 2023 23:59:35 +0900 Subject: [PATCH 133/701] feat(goal_planner): keep margin against objects as possible (#5569) * refactor(goal_planner): add prev_data instead of status Signed-off-by: kosuke55 * feat(goal_planner): keep margin against objects as possible Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner_module.hpp | 7 +- .../goal_planner/pull_over_planner_base.hpp | 1 + .../goal_planner/goal_planner_module.cpp | 147 +++++++++++++++--- 3 files changed, 130 insertions(+), 25 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index a31442def538f..87340cc665edd 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -366,7 +366,10 @@ class GoalPlannerModule : public SceneModuleInterface // collision check void initializeOccupancyGridMap(); void updateOccupancyGrid(); - bool checkCollision(const PathWithLaneId & path) const; + bool checkOccupancyGridCollision(const PathWithLaneId & path) const; + bool checkObjectsCollision( + const PathWithLaneId & path, const double collision_check_margin, + const bool update_debug_data = false) const; // goal seach Pose calcRefinedGoal(const Pose & goal_pose) const; @@ -416,7 +419,7 @@ class GoalPlannerModule : public SceneModuleInterface BehaviorModuleOutput planPullOverAsCandidate(); std::optional> selectPullOverPath( const std::vector & pull_over_path_candidates, - const GoalCandidates & goal_candidates) const; + const GoalCandidates & goal_candidates, const double collision_check_margin) const; std::vector sortPullOverPathCandidatesByGoalPriority( const std::vector & pull_over_path_candidates, const GoalCandidates & goal_candidates) const; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp index acb034a29d9e5..5023401263b8d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp @@ -53,6 +53,7 @@ struct PullOverPath Pose end_pose{}; std::vector debug_poses{}; size_t goal_id{}; + size_t id{}; bool decided_velocity{false}; PathWithLaneId getFullPath() const diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 509214d37cd5a..5a51353143fe0 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -174,6 +174,7 @@ void GoalPlannerModule::onTimer() auto pull_over_path = planner->plan(goal_candidate.goal_pose); if (pull_over_path && isCrossingPossible(*pull_over_path)) { pull_over_path->goal_id = goal_candidate.id; + pull_over_path->id = path_candidates.size(); path_candidates.push_back(*pull_over_path); // calculate closest pull over start pose for stop path const double start_arc_length = @@ -533,7 +534,15 @@ bool GoalPlannerModule::canReturnToLaneParking() } const PathWithLaneId path = thread_safe_data_.get_lane_parking_pull_over_path()->getFullPath(); - if (checkCollision(path)) { + + if ( + parameters_->use_object_recognition && + checkObjectsCollision(path, parameters_->object_recognition_collision_check_margin)) { + return false; + } + + if ( + parameters_->use_occupancy_grid_for_path_collision_check && checkOccupancyGridCollision(path)) { return false; } @@ -597,6 +606,48 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri return goal_id_to_index[a.goal_id] < goal_id_to_index[b.goal_id]; }); + if (parameters_->use_object_recognition) { + // Create a map of PullOverPath pointer to largest collision check margin + auto calcLargestMargin = [&](const PullOverPath & pull_over_path) { + // check has safe goal + const auto goal_candidate_it = std::find_if( + goal_candidates.begin(), goal_candidates.end(), + [pull_over_path](const auto & goal_candidate) { + return goal_candidate.id == pull_over_path.goal_id; + }); + if (goal_candidate_it != goal_candidates.end() && !goal_candidate_it->is_safe) { + return 0.0; + } + // calc largest margin + std::vector scale_factors{3.0, 2.0, 1.0}; + const double margin = parameters_->object_recognition_collision_check_margin; + const auto resampled_path = + utils::resamplePathWithSpline(pull_over_path.getParkingPath(), 0.5); + for (const auto & scale_factor : scale_factors) { + if (!checkObjectsCollision(resampled_path, margin * scale_factor)) { + return margin * scale_factor; + } + } + return 0.0; + }; + + // Create a map of PullOverPath pointer to largest collision check margin + std::map path_id_to_margin_map; + for (const auto & path : sorted_pull_over_path_candidates) { + path_id_to_margin_map[path.id] = calcLargestMargin(path); + } + + // sorts in descending order so the item with larger margin comes first + std::stable_sort( + sorted_pull_over_path_candidates.begin(), sorted_pull_over_path_candidates.end(), + [&path_id_to_margin_map](const PullOverPath & a, const PullOverPath & b) { + if (std::abs(path_id_to_margin_map[a.id] - path_id_to_margin_map[b.id]) < 0.01) { + return false; + } + return path_id_to_margin_map[a.id] > path_id_to_margin_map[b.id]; + }); + } + // Sort pull_over_path_candidates based on the order in efficient_path_order if (parameters_->path_priority == "efficient_path") { std::stable_sort( @@ -614,7 +665,7 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri std::optional> GoalPlannerModule::selectPullOverPath( const std::vector & pull_over_path_candidates, - const GoalCandidates & goal_candidates) const + const GoalCandidates & goal_candidates, const double collision_check_margin) const { for (const auto & pull_over_path : pull_over_path_candidates) { // check if goal is safe @@ -627,10 +678,20 @@ std::optional> GoalPlannerModule::selectP continue; } - // check if path is valid and safe + if (!hasEnoughDistance(pull_over_path)) { + continue; + } + + const auto resampled_path = utils::resamplePathWithSpline(pull_over_path.getParkingPath(), 0.5); if ( - !hasEnoughDistance(pull_over_path) || - checkCollision(utils::resamplePathWithSpline(pull_over_path.getParkingPath(), 0.5))) { + parameters_->use_object_recognition && + checkObjectsCollision(resampled_path, collision_check_margin, true /*update_debug_data*/)) { + continue; + } + + if ( + parameters_->use_occupancy_grid_for_path_collision_check && + checkOccupancyGridCollision(resampled_path)) { continue; } @@ -888,7 +949,9 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() thread_safe_data_.get_pull_over_path_candidates(), goal_candidates); // select pull over path which is safe against static objects and get it's goal - const auto path_and_goal_opt = selectPullOverPath(pull_over_path_candidates, goal_candidates); + const auto path_and_goal_opt = selectPullOverPath( + pull_over_path_candidates, goal_candidates, + parameters_->object_recognition_collision_check_margin); // update thread_safe_data_ if (path_and_goal_opt) { @@ -1205,7 +1268,21 @@ bool GoalPlannerModule::isStuck() return false; } - return checkCollision(thread_safe_data_.get_pull_over_path()->getCurrentPath()); + if ( + parameters_->use_object_recognition && + checkObjectsCollision( + thread_safe_data_.get_pull_over_path()->getCurrentPath(), + parameters_->object_recognition_collision_check_margin)) { + return true; + } + + if ( + parameters_->use_occupancy_grid_for_path_collision_check && + checkOccupancyGridCollision(thread_safe_data_.get_pull_over_path()->getCurrentPath())) { + return true; + } + + return false; } bool GoalPlannerModule::hasFinishedCurrentPath() @@ -1297,18 +1374,19 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() const return turn_signal; } -bool GoalPlannerModule::checkCollision(const PathWithLaneId & path) const +bool GoalPlannerModule::checkOccupancyGridCollision(const PathWithLaneId & path) const { - if (parameters_->use_occupancy_grid_for_path_collision_check && occupancy_grid_map_) { - const bool check_out_of_range = false; - if (occupancy_grid_map_->hasObstacleOnPath(path, check_out_of_range)) { - return true; - } - } - if (!parameters_->use_object_recognition) { + if (!occupancy_grid_map_) { return false; } + const bool check_out_of_range = false; + return occupancy_grid_map_->hasObstacleOnPath(path, check_out_of_range); +} +bool GoalPlannerModule::checkObjectsCollision( + const PathWithLaneId & path, const double collision_check_margin, + const bool update_debug_data) const +{ const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( *(planner_data_->route_handler), left_side_parking_, parameters_->backward_goal_search_length, parameters_->forward_goal_search_length); @@ -1323,7 +1401,30 @@ bool GoalPlannerModule::checkCollision(const PathWithLaneId & path) const obj_polygons.push_back(tier4_autoware_utils::toPolygon2d(object)); } - std::vector ego_polygons_expanded; + /* Expand ego collision check polygon + * - `collision_check_margin` in all directions + * - `extra_stopping_margin` in the moving direction + * - `extra_lateral_margin` in external direction of path curve + * + * + * ^ moving direction + * x + * x + * x + * +----------------------+------x--+ + * | | x | + * | +---------------+ | xx | + * | | | | xx | + * | | ego footprint |xxxxx | + * | | | | | + * | +---------------+ | extra_stopping_margin + * | margin | | + * +----------------------+ | + * | extra_lateral_margin | + * +--------------------------------+ + * + */ + std::vector ego_polygons_expanded{}; const auto curvatures = motion_utils::calcCurvature(path.points); for (size_t i = 0; i < path.points.size(); ++i) { const auto p = path.points.at(i); @@ -1341,16 +1442,16 @@ bool GoalPlannerModule::checkCollision(const PathWithLaneId & path) const tier4_autoware_utils::calcOffsetPose(p.point.pose, 0.0, extra_lateral_margin / 2.0, 0.0); const auto ego_polygon = tier4_autoware_utils::toFootprint( lateral_offset_pose, - planner_data_->parameters.base_link2front + - parameters_->object_recognition_collision_check_margin + extra_stopping_margin, - planner_data_->parameters.base_link2rear + - parameters_->object_recognition_collision_check_margin, - planner_data_->parameters.vehicle_width + - parameters_->object_recognition_collision_check_margin * 2.0 + + planner_data_->parameters.base_link2front + collision_check_margin + extra_stopping_margin, + planner_data_->parameters.base_link2rear + collision_check_margin, + planner_data_->parameters.vehicle_width + collision_check_margin * 2.0 + std::abs(extra_lateral_margin)); ego_polygons_expanded.push_back(ego_polygon); } - debug_data_.ego_polygons_expanded = ego_polygons_expanded; + + if (update_debug_data) { + debug_data_.ego_polygons_expanded = ego_polygons_expanded; + } return utils::path_safety_checker::checkPolygonsIntersects(ego_polygons_expanded, obj_polygons); } From 9513782933672a100d01318ca33288d464f431a2 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 17 Nov 2023 08:26:21 +0900 Subject: [PATCH 134/701] feat(out_of_lane): improve reuse of previous decision (#5611) Signed-off-by: Maxime CLEMENT --- .../src/overlapping_range.hpp | 3 +- .../src/scene_out_of_lane.cpp | 42 ++++++++++--------- .../src/scene_out_of_lane.hpp | 2 - 3 files changed, 25 insertions(+), 22 deletions(-) diff --git a/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp b/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp index 24bd6b3f16eb9..2b0830acc28cc 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp @@ -49,7 +49,8 @@ OverlapRanges calculate_overlapping_ranges( /// @param [in] path_lanelets path lanelets used to calculate arc length along the ego path /// @param [in] lanelets lanelets used to calculate the overlaps /// @param [in] params parameters -/// @return the overlapping ranges found between the footprints and the lanelets +/// @return the overlapping ranges found between the footprints and the lanelets, sorted by +/// increasing arc length along the path OverlapRanges calculate_overlapping_ranges( const std::vector & path_footprints, const lanelet::ConstLanelets & path_lanelets, const lanelet::ConstLanelets & lanelets, diff --git a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp index 539cdefb31fdf..d739c6440ae75 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp @@ -67,18 +67,6 @@ bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto ego_data.path.points = path->points; ego_data.first_path_idx = motion_utils::findNearestSegmentIndex(ego_data.path.points, ego_data.pose.position); - for (const auto & p : prev_overlapping_path_points_) { - const auto nearest_idx = - motion_utils::findNearestIndex(ego_data.path.points, p.point.pose, 1.0); - const auto insert_idx = - motion_utils::findNearestSegmentIndex(ego_data.path.points, p.point.pose, 1.0); - if (nearest_idx && insert_idx && *insert_idx > ego_data.first_path_idx) { - if ( - tier4_autoware_utils::calcDistance2d( - ego_data.path.points[*nearest_idx].point.pose, p.point.pose) > 0.5) - ego_data.path.points.insert(std::next(ego_data.path.points.begin(), *insert_idx), p); - } - } motion_utils::removeOverlapPoints(ego_data.path.points); ego_data.velocity = planner_data_->current_velocity->twist.linear.x; ego_data.max_decel = -planner_data_->max_stop_acceleration_threshold; @@ -118,10 +106,6 @@ bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto stopwatch.tic("calculate_overlapping_ranges"); const auto ranges = calculate_overlapping_ranges(path_footprints, path_lanelets, other_lanelets, params_); - prev_overlapping_path_points_.clear(); - for (const auto & range : ranges) - prev_overlapping_path_points_.push_back( - ego_data.path.points[ego_data.first_path_idx + range.entering_path_idx]); const auto calculate_overlapping_ranges_us = stopwatch.toc("calculate_overlapping_ranges"); // Calculate stop and slowdown points stopwatch.tic("calculate_decisions"); @@ -148,7 +132,28 @@ bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto (!prev_inserted_point_ || prev_inserted_point_->slowdown.lane_to_avoid.id() == point_to_insert->slowdown.lane_to_avoid.id())) prev_inserted_point_time_ = clock_->now(); - if (!point_to_insert && prev_inserted_point_) point_to_insert = prev_inserted_point_; + // reuse previous stop point if there is no new one or if its velocity is not higher than the new + // one and its arc length is lower + const auto should_use_prev_inserted_point = [&]() { + if ( + point_to_insert && prev_inserted_point_ && + prev_inserted_point_->slowdown.velocity <= point_to_insert->slowdown.velocity) { + const auto arc_length = motion_utils::calcSignedArcLength( + path->points, 0LU, point_to_insert->point.point.pose.position); + const auto prev_arc_length = motion_utils::calcSignedArcLength( + path->points, 0LU, prev_inserted_point_->point.point.pose.position); + return prev_arc_length < arc_length; + } + return !point_to_insert && prev_inserted_point_; + }(); + if (should_use_prev_inserted_point) { + // if the path changed the prev point is no longer on the path so we project it + const auto insert_arc_length = motion_utils::calcSignedArcLength( + path->points, 0LU, prev_inserted_point_->point.point.pose.position); + prev_inserted_point_->point.point.pose = + motion_utils::calcInterpolatedPose(path->points, insert_arc_length); + point_to_insert = prev_inserted_point_; + } if (point_to_insert) { prev_inserted_point_ = point_to_insert; RCLCPP_INFO(logger_, "Avoiding lane %lu", point_to_insert->slowdown.lane_to_avoid.id()); @@ -157,8 +162,7 @@ bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto path->points, point_to_insert->point.point.pose.position) + 1; planning_utils::insertVelocity( - *path, point_to_insert->point, point_to_insert->slowdown.velocity, path_idx, - params_.precision); + *path, point_to_insert->point, point_to_insert->slowdown.velocity, path_idx); if (point_to_insert->slowdown.velocity == 0.0) { tier4_planning_msgs::msg::StopFactor stop_factor; stop_factor.stop_pose = point_to_insert->point.point.pose; diff --git a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp index 310e2a9764d36..6133bb1ea0d6e 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp @@ -51,8 +51,6 @@ class OutOfLaneModule : public SceneModuleInterface private: PlannerParam params_; - std::vector - prev_overlapping_path_points_{}; std::optional prev_inserted_point_{}; rclcpp::Time prev_inserted_point_time_{}; From 1e65d39418bea9027effae90b32982669fe9cd07 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Fri, 17 Nov 2023 13:47:18 +0900 Subject: [PATCH 135/701] refactor(start_planner): support new interface (#5606) * refactor(start_planner): support new interface refactor state transition logic in StartPlannerModule Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner_module.hpp | 6 ++-- .../start_planner/start_planner_module.cpp | 35 ++++--------------- 2 files changed, 9 insertions(+), 32 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp index 8d2532504926e..838cf040c3f8b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp @@ -91,8 +91,6 @@ class StartPlannerModule : public SceneModuleInterface bool isExecutionRequested() const override; bool isExecutionReady() const override; - // TODO(someone): remove this, and use base class function - [[deprecated]] void updateCurrentState() override; BehaviorModuleOutput plan() override; BehaviorModuleOutput planWaitingApproval() override; CandidateOutput planCandidate() const override; @@ -123,11 +121,11 @@ class StartPlannerModule : public SceneModuleInterface bool isFreespacePlanning() const { return status_.planner_type == PlannerType::FREESPACE; } private: - bool canTransitSuccessState() override { return false; } + bool canTransitSuccessState() override; bool canTransitFailureState() override { return false; } - bool canTransitIdleToRunningState() override { return false; } + bool canTransitIdleToRunningState() override; void initializeSafetyCheckParameters(); diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index 75562f59a402f..a39af7a376b02 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -228,33 +228,14 @@ bool StartPlannerModule::isExecutionReady() const return true; } -void StartPlannerModule::updateCurrentState() +bool StartPlannerModule::canTransitSuccessState() { - RCLCPP_DEBUG(getLogger(), "START_PLANNER updateCurrentState"); - - const auto print = [this](const auto & from, const auto & to) { - RCLCPP_DEBUG(getLogger(), "[start_planner] Transit from %s to %s.", from.data(), to.data()); - }; - - const auto & from = current_state_; - // current_state_ = updateState(); - - if (isActivated() && !isWaitingApproval()) { - current_state_ = ModuleStatus::RUNNING; - } else { - current_state_ = ModuleStatus::IDLE; - } - - // TODO(someone): move to canTransitSuccessState - if (hasFinishedPullOut()) { - current_state_ = ModuleStatus::SUCCESS; - } - // TODO(someone): move to canTransitSuccessState - if (status_.backward_driving_complete) { - current_state_ = ModuleStatus::SUCCESS; // for breaking loop - } + return hasFinishedPullOut(); +} - print(magic_enum::enum_name(from), magic_enum::enum_name(current_state_)); +bool StartPlannerModule::canTransitIdleToRunningState() +{ + return isActivated() && !isWaitingApproval(); } BehaviorModuleOutput StartPlannerModule::plan() @@ -278,7 +259,7 @@ BehaviorModuleOutput StartPlannerModule::plan() PathWithLaneId path; // Check if backward motion is finished - if (status_.driving_forward) { + if (status_.driving_forward || status_.backward_driving_complete) { // Increment path index if the current path is finished if (hasFinishedCurrentPath()) { RCLCPP_INFO(getLogger(), "Increment path index"); @@ -739,8 +720,6 @@ void StartPlannerModule::updatePullOutStatus() if (isBackwardDrivingComplete()) { updateStatusAfterBackwardDriving(); - // should be moved to transition state - current_state_ = ModuleStatus::SUCCESS; // for breaking loop } else { status_.backward_path = start_planner_utils::getBackwardPath( *route_handler, pull_out_lanes, current_pose, status_.pull_out_start_pose, From 4d27fa4f55437a890a1098b2afb16ead74398620 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 17 Nov 2023 15:57:30 +0900 Subject: [PATCH 136/701] fix(lane_change): regulate at the traffic light (#5457) * fix(lane_change): regulate at the traffic light Signed-off-by: Zulfaqar Azmi * fix conflict Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi Signed-off-by: Muhammad Zulfaqar Azmi --- .../config/lane_change/lane_change.param.yaml | 1 + .../scene_module/lane_change/normal.hpp | 3 +++ .../lane_change/lane_change_module_data.hpp | 1 + .../behavior_path_planner/utils/utils.hpp | 1 + .../src/scene_module/lane_change/manager.cpp | 2 ++ .../src/scene_module/lane_change/normal.cpp | 21 +++++++++++++++++++ 6 files changed, 29 insertions(+) diff --git a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml index f98eac5315006..0cb7f3f1a7a92 100644 --- a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml +++ b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml @@ -81,6 +81,7 @@ regulation: crosswalk: false intersection: false + traffic_light: true # ego vehicle stuck detection stuck_detection: diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp index 503542be7cda6..4a117e5350baf 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp @@ -135,6 +135,9 @@ class NormalLaneChange : public LaneChangeBase bool hasEnoughLengthToIntersection( const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const; + bool hasEnoughLengthToTrafficLight( + const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const; + bool getLaneChangePaths( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes, Direction direction, LaneChangePaths * candidate_paths, diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp index c664ae3e15aef..3f53f4b9c51e8 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp @@ -65,6 +65,7 @@ struct LaneChangeParameters // regulatory elements bool regulate_on_crosswalk{false}; bool regulate_on_intersection{false}; + bool regulate_on_traffic_light{false}; // ego vehicle stuck detection double stop_velocity_threshold{0.1}; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp index 3f9591f6c2143..4d34c548e640e 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp @@ -45,6 +45,7 @@ #include #include #include +#include #include namespace behavior_path_planner::utils diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp index ee7b45de09e93..e772c21331ae8 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp @@ -84,6 +84,8 @@ LaneChangeModuleManager::LaneChangeModuleManager( p.regulate_on_crosswalk = getOrDeclareParameter(*node, parameter("regulation.crosswalk")); p.regulate_on_intersection = getOrDeclareParameter(*node, parameter("regulation.intersection")); + p.regulate_on_traffic_light = + getOrDeclareParameter(*node, parameter("regulation.traffic_light")); // ego vehicle stuck detection p.stop_velocity_threshold = diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 5bffef1a4b421..c0655b3f18b5f 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -19,6 +19,7 @@ #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp" #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include "behavior_path_planner/utils/path_utils.hpp" +#include "behavior_path_planner/utils/traffic_light_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" #include @@ -38,6 +39,7 @@ namespace behavior_path_planner { using motion_utils::calcSignedArcLength; +using utils::traffic_light::getDistanceToNextTrafficLight; NormalLaneChange::NormalLaneChange( const std::shared_ptr & parameters, LaneChangeModuleType type, @@ -1086,6 +1088,19 @@ bool NormalLaneChange::hasEnoughLengthToIntersection( return true; } +bool NormalLaneChange::hasEnoughLengthToTrafficLight( + const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const +{ + const auto current_pose = getEgoPose(); + const auto dist_to_next_traffic_light = + getDistanceToNextTrafficLight(current_pose, current_lanes); + const auto dist_to_next_traffic_light_from_lc_start_pose = + dist_to_next_traffic_light - path.info.length.prepare; + + return dist_to_next_traffic_light_from_lc_start_pose <= 0.0 || + dist_to_next_traffic_light_from_lc_start_pose >= path.info.length.lane_changing; +} + bool NormalLaneChange::getLaneChangePaths( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes, Direction direction, LaneChangePaths * candidate_paths, @@ -1345,6 +1360,12 @@ bool NormalLaneChange::getLaneChangePaths( logger_, "Stop time is over threshold. Allow lane change in intersection."); } + if ( + lane_change_parameters_->regulate_on_traffic_light && + !hasEnoughLengthToTrafficLight(*candidate_path, current_lanes)) { + continue; + } + candidate_paths->push_back(*candidate_path); std::vector filtered_objects = From dd3e9fb68f9c00209d811786e8193a811e64f847 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 17 Nov 2023 18:53:10 +0900 Subject: [PATCH 137/701] fix(start_planner, goal_planner): remove inappropriate reference value (#5618) Signed-off-by: kosuke55 --- .../src/scene_module/goal_planner/goal_planner_module.cpp | 6 +++--- .../scene_module/start_planner/start_planner_module.cpp | 8 ++++---- .../src/utils/start_planner/util.cpp | 2 +- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 5a51353143fe0..6fdb46d058aef 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -1751,12 +1751,12 @@ bool GoalPlannerModule::isSafePath() const ego_seg_idx, is_object_front, limit_to_max_velocity); // filtering objects with velocity, position and class - const auto & filtered_objects = utils::path_safety_checker::filterObjects( + const auto filtered_objects = utils::path_safety_checker::filterObjects( dynamic_object, route_handler, pull_over_lanes, current_pose.position, objects_filtering_params_); // filtering objects based on the current position's lane - const auto & target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane( + const auto target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane( pull_over_lanes, route_handler, filtered_objects, objects_filtering_params_); const double hysteresis_factor = @@ -1956,7 +1956,7 @@ void GoalPlannerModule::printParkingPositionError() const bool GoalPlannerModule::checkOriginalGoalIsInShoulder() const { const auto & route_handler = planner_data_->route_handler; - const Pose & goal_pose = route_handler->getOriginalGoalPose(); + const Pose goal_pose = route_handler->getOriginalGoalPose(); const lanelet::ConstLanelets pull_over_lanes = goal_planner_utils::getPullOverLanes( *(route_handler), left_side_parking_, parameters_->backward_goal_search_length, diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index a39af7a376b02..d8370381f5eef 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -742,7 +742,7 @@ void StartPlannerModule::updateStatusAfterBackwardDriving() PathWithLaneId StartPlannerModule::calcBackwardPathFromStartPose() const { - const Pose & start_pose = planner_data_->route_handler->getOriginalStartPose(); + const Pose start_pose = planner_data_->route_handler->getOriginalStartPose(); const auto pull_out_lanes = start_planner_utils::getPullOutLanes( planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); @@ -770,7 +770,7 @@ std::vector StartPlannerModule::searchPullOutStartPoseCandidates( const PathWithLaneId & back_path_from_start_pose) const { std::vector pull_out_start_pose_candidates{}; - const auto & start_pose = planner_data_->route_handler->getOriginalStartPose(); + const auto start_pose = planner_data_->route_handler->getOriginalStartPose(); const auto local_vehicle_footprint = createVehicleFootprint(vehicle_info_); const auto pull_out_lanes = start_planner_utils::getPullOutLanes( planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); @@ -1074,11 +1074,11 @@ bool StartPlannerModule::isSafePath() const is_object_front, limit_to_max_velocity); // filtering objects with velocity, position and class - const auto & filtered_objects = utils::path_safety_checker::filterObjects( + const auto filtered_objects = utils::path_safety_checker::filterObjects( dynamic_object, route_handler, current_lanes, current_pose.position, objects_filtering_params_); // filtering objects based on the current position's lane - const auto & target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane( + const auto target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane( current_lanes, route_handler, filtered_objects, objects_filtering_params_); const double hysteresis_factor = diff --git a/planning/behavior_path_planner/src/utils/start_planner/util.cpp b/planning/behavior_path_planner/src/utils/start_planner/util.cpp index 7b4d4566bba27..ad841822aeb0d 100644 --- a/planning/behavior_path_planner/src/utils/start_planner/util.cpp +++ b/planning/behavior_path_planner/src/utils/start_planner/util.cpp @@ -89,7 +89,7 @@ lanelet::ConstLanelets getPullOutLanes( { const double & vehicle_width = planner_data->parameters.vehicle_width; const auto & route_handler = planner_data->route_handler; - const auto & start_pose = planner_data->route_handler->getOriginalStartPose(); + const auto start_pose = planner_data->route_handler->getOriginalStartPose(); lanelet::ConstLanelet current_shoulder_lane; lanelet::ConstLanelets shoulder_lanes; From 14e5101cfbd33598c3115314dbaca37be61c4760 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 20 Nov 2023 10:33:18 +0900 Subject: [PATCH 138/701] feat(component_state_monitor): monitor pose_estimator output (#5617) Signed-off-by: kminoda --- system/component_state_monitor/config/topics.yaml | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/system/component_state_monitor/config/topics.yaml b/system/component_state_monitor/config/topics.yaml index c00203dbb6073..5672d13dcb43f 100644 --- a/system/component_state_monitor/config/topics.yaml +++ b/system/component_state_monitor/config/topics.yaml @@ -50,6 +50,19 @@ error_rate: 1.0 timeout: 1.0 +- module: localization + mode: [online, logging_simulation] + type: autonomous + args: + node_name_suffix: pose_estimator_pose + topic: /localization/pose_estimator/pose_with_covariance + topic_type: geometry_msgs/msg/PoseWithCovarianceStamped + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + - module: perception mode: [online, logging_simulation] type: launch From 93e45ac72a2c480559cd8ca8d2c23f45ab211f03 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 20 Nov 2023 10:34:25 +0900 Subject: [PATCH 139/701] fix(simple_planning_simulator): fix ego sign pitch problem (#5616) * fix ego sign pitch problem Signed-off-by: Daniel Sanchez * change variable name for clarity Signed-off-by: Daniel Sanchez * update documentation to clarify that driving against the lane is not supported Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- simulator/simple_planning_simulator/README.md | 2 ++ .../simple_planning_simulator_core.cpp | 5 +++-- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/simulator/simple_planning_simulator/README.md b/simulator/simple_planning_simulator/README.md index 0c5441c1ad9c8..1491f8ffea36e 100644 --- a/simulator/simple_planning_simulator/README.md +++ b/simulator/simple_planning_simulator/README.md @@ -98,6 +98,8 @@ Ego vehicle pitch angle is calculated in the following manner. ![pitch calculation](./media/pitch-calculation.drawio.svg) +NOTE: driving against the line direction (as depicted in image's bottom row) is not supported and only shown for illustration purposes. + ## Error detection and handling The only validation on inputs being done is testing for a valid vehicle model type. diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index a3715a1efe8ab..f0b126cbc61be 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -331,8 +331,9 @@ void SimplePlanningSimulator::on_timer() // calculate longitudinal acceleration by slope constexpr double gravity_acceleration = -9.81; - const double ego_pitch_angle = enable_road_slope_simulation_ ? calculate_ego_pitch() : 0.0; - const double acc_by_slope = gravity_acceleration * std::sin(ego_pitch_angle); + const double ego_pitch_angle = calculate_ego_pitch(); + const double slope_angle = enable_road_slope_simulation_ ? -ego_pitch_angle : 0.0; + const double acc_by_slope = gravity_acceleration * std::sin(slope_angle); // update vehicle dynamics { From 9e99bfc04301da81ba6aad82691a2e9a0fc7803b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 20 Nov 2023 14:45:38 +0900 Subject: [PATCH 140/701] fix(utils): fix monotonic bound create logic (#5565) Signed-off-by: satoshi-ota --- .../behavior_path_planner/src/utils/utils.cpp | 40 ++++++++++++------- 1 file changed, 25 insertions(+), 15 deletions(-) diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index 19c408359e5f2..0d1eaef0237b3 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -1933,22 +1933,33 @@ void makeBoundLongitudinallyMonotonic( return ret; }; - const auto is_monotonic = - [&](const auto & p1, const auto & p2, const auto & p3, const auto is_points_left) { - const auto p1_to_p2 = calcAzimuthAngle(p1, p2); - const auto p2_to_p3 = calcAzimuthAngle(p2, p3); + const auto is_non_monotonic = [&]( + const auto & base_pose, const auto & point, + const auto is_points_left, const auto is_reverse) { + const auto p_transformed = tier4_autoware_utils::inverseTransformPoint(point, base_pose); + if (p_transformed.x < 0.0 && p_transformed.y > 0.0) { + return is_points_left && !is_reverse; + } - const auto theta = normalizeRadian(p1_to_p2 - p2_to_p3); + if (p_transformed.x < 0.0 && p_transformed.y < 0.0) { + return !is_points_left && !is_reverse; + } - return (is_points_left && 0 < theta) || (!is_points_left && theta < 0); - }; + if (p_transformed.x > 0.0 && p_transformed.y > 0.0) { + return is_points_left && is_reverse; + } + + if (p_transformed.x > 0.0 && p_transformed.y < 0.0) { + return !is_points_left && is_reverse; + } + + return false; + }; // define a function to remove non monotonic point on bound const auto remove_non_monotonic_point = [&](const auto & bound_with_pose, const bool is_reverse) { std::vector monotonic_bound; - const bool is_points_left = is_reverse ? !is_bound_left : is_bound_left; - size_t bound_idx = 0; while (true) { monotonic_bound.push_back(bound_with_pose.at(bound_idx)); @@ -1961,13 +1972,12 @@ void makeBoundLongitudinallyMonotonic( // opposite. const double lat_offset = is_bound_left ? 100.0 : -100.0; - const auto p_bound_1 = getPoint(bound_with_pose.at(bound_idx)); - const auto p_bound_2 = getPoint(bound_with_pose.at(bound_idx + 1)); + const auto p_bound_1 = getPose(bound_with_pose.at(bound_idx)); + const auto p_bound_2 = getPose(bound_with_pose.at(bound_idx + 1)); - const auto p_bound_offset = - calcOffsetPose(getPose(bound_with_pose.at(bound_idx)), 0.0, lat_offset, 0.0); + const auto p_bound_offset = calcOffsetPose(p_bound_1, 0.0, lat_offset, 0.0); - if (!is_monotonic(p_bound_1, p_bound_2, p_bound_offset.position, is_points_left)) { + if (!is_non_monotonic(p_bound_1, p_bound_2.position, is_bound_left, is_reverse)) { bound_idx++; continue; } @@ -1975,7 +1985,7 @@ void makeBoundLongitudinallyMonotonic( // skip non monotonic points for (size_t i = bound_idx + 1; i < bound_with_pose.size() - 1; ++i) { const auto intersect_point = intersect( - p_bound_1, p_bound_offset.position, bound_with_pose.at(i).position, + p_bound_1.position, p_bound_offset.position, bound_with_pose.at(i).position, bound_with_pose.at(i + 1).position); if (intersect_point) { From a8000409b5be540211189dcc8a7cd8e3a981d960 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Mon, 20 Nov 2023 15:16:59 +0900 Subject: [PATCH 141/701] fix(lane_change): fix abort path (#5628) Signed-off-by: Fumiya Watanabe --- .../src/scene_module/lane_change/normal.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index c0655b3f18b5f..702ed16166e2b 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -1636,7 +1636,9 @@ bool NormalLaneChange::calcAbortPath() const double s_start = arc_position.length; double s_end = std::max(lanelet::utils::getLaneletLength2d(reference_lanelets), s_start); - if (route_handler->isInGoalRouteSection(selected_path.info.target_lanes.back())) { + if ( + !reference_lanelets.empty() && + route_handler->isInGoalRouteSection(reference_lanelets.back())) { const auto goal_arc_coordinates = lanelet::utils::getArcCoordinates(reference_lanelets, route_handler->getGoalPose()); const double forward_length = std::max(goal_arc_coordinates.length, s_start); From 3bb70d0a507a49abc8808ee9b2b735c7ab934f32 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 20 Nov 2023 17:20:22 +0900 Subject: [PATCH 142/701] refactor(start_planner): add verbose parameter for debug print (#5622) * refactor(start_planner): add verbose parameter for debug print - Added a new parameter "verbose" to the StartPlannerParameters struct. - Updated the start_planner.param.yaml file to include the "verbose" parameter. - Added a new method receivedNewRoute() in the StartPlannerModule class to check if a new route has been received. - Updated the updateData() method to use the receivedNewRoute() method instead of directly checking if a new route has been received. - Renamed the method IsGoalBehindOfEgoInSameRouteSegment() to isGoalBehindOfEgoInSameRouteSegment(). - Added a new method logPullOutStatus() to log the pull out status. - Updated the setDebugData() method to call logPullOutStatus() if the "verbose" parameter is true. Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner.param.yaml | 3 + .../start_planner/start_planner_module.hpp | 5 +- .../start_planner_parameters.hpp | 1 + .../scene_module/start_planner/manager.cpp | 1 + .../start_planner/start_planner_module.cpp | 77 +++++++++++++++++-- 5 files changed, 79 insertions(+), 8 deletions(-) diff --git a/planning/behavior_path_planner/config/start_planner/start_planner.param.yaml b/planning/behavior_path_planner/config/start_planner/start_planner.param.yaml index 4a42da9bc5ac3..3a94a18e011b9 100644 --- a/planning/behavior_path_planner/config/start_planner/start_planner.param.yaml +++ b/planning/behavior_path_planner/config/start_planner/start_planner.param.yaml @@ -1,6 +1,9 @@ /**: ros__parameters: start_planner: + + verbose: false + th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 1.0 diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp index 838cf040c3f8b..54e13de85e8da 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp @@ -129,6 +129,8 @@ class StartPlannerModule : public SceneModuleInterface void initializeSafetyCheckParameters(); + bool receivedNewRoute() const; + bool isModuleRunning() const; bool isCurrentPoseOnMiddleOfTheRoad() const; bool isCloseToOriginalStartPose() const; @@ -207,7 +209,7 @@ class StartPlannerModule : public SceneModuleInterface void setDrivableAreaInfo(BehaviorModuleOutput & output) const; // check if the goal is located behind the ego in the same route segment. - bool IsGoalBehindOfEgoInSameRouteSegment() const; + bool isGoalBehindOfEgoInSameRouteSegment() const; // generate BehaviorPathOutput with stopping path and update status BehaviorModuleOutput generateStopOutput(); @@ -218,6 +220,7 @@ class StartPlannerModule : public SceneModuleInterface bool planFreespacePath(); void setDebugData() const; + void logPullOutStatus(rclcpp::Logger::Level log_level = rclcpp::Logger::Level::Info) const; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp index 6978a7d494f30..bd4017e5dff7d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp @@ -46,6 +46,7 @@ struct StartPlannerParameters double collision_check_distance_from_end{0.0}; double th_moving_object_velocity{0.0}; double center_line_path_interval{0.0}; + bool verbose{false}; // shift pull out bool enable_shift_pull_out{false}; diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp index 46db10417d19e..fdc28139aa8f0 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp @@ -33,6 +33,7 @@ StartPlannerModuleManager::StartPlannerModuleManager( std::string ns = "start_planner."; + p.verbose = node->declare_parameter(ns + "verbose"); p.th_arrived_distance = node->declare_parameter(ns + "th_arrived_distance"); p.th_stopped_velocity = node->declare_parameter(ns + "th_stopped_velocity"); p.th_stopped_time = node->declare_parameter(ns + "th_stopped_time"); diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index d8370381f5eef..ed70e68414543 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -128,11 +128,7 @@ void StartPlannerModule::updateData() status_.backward_driving_complete = false; } - const bool has_received_new_route = - !planner_data_->prev_route_id || - *planner_data_->prev_route_id != planner_data_->route_handler->getRouteUuid(); - - if (has_received_new_route) { + if (receivedNewRoute()) { status_ = PullOutStatus(); } // check safety status when driving forward @@ -143,6 +139,12 @@ void StartPlannerModule::updateData() } } +bool StartPlannerModule::receivedNewRoute() const +{ + return !planner_data_->prev_route_id || + *planner_data_->prev_route_id != planner_data_->route_handler->getRouteUuid(); +} + bool StartPlannerModule::isExecutionRequested() const { if (isModuleRunning()) { @@ -161,7 +163,7 @@ bool StartPlannerModule::isExecutionRequested() const } // Check if the goal is behind the ego vehicle within the same route segment. - if (IsGoalBehindOfEgoInSameRouteSegment()) { + if (isGoalBehindOfEgoInSameRouteSegment()) { RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Start plan for a backward goal is not supported now"); return false; @@ -1118,7 +1120,7 @@ bool StartPlannerModule::isSafePath() const return is_safe_dynamic_objects; } -bool StartPlannerModule::IsGoalBehindOfEgoInSameRouteSegment() const +bool StartPlannerModule::isGoalBehindOfEgoInSameRouteSegment() const { const auto & rh = planner_data_->route_handler; @@ -1306,5 +1308,66 @@ void StartPlannerModule::setDebugData() const planner_type_marker_array.markers.push_back(marker); add(planner_type_marker_array); } + if (parameters_->verbose) { + logPullOutStatus(); + } +} + +void StartPlannerModule::logPullOutStatus(rclcpp::Logger::Level log_level) const +{ + const auto logger = getLogger(); + auto logFunc = [&logger, log_level](const char * format, ...) { + char buffer[1024]; + va_list args; + va_start(args, format); + vsnprintf(buffer, sizeof(buffer), format, args); + va_end(args); + switch (log_level) { + case rclcpp::Logger::Level::Debug: + RCLCPP_DEBUG(logger, "%s", buffer); + break; + case rclcpp::Logger::Level::Info: + RCLCPP_INFO(logger, "%s", buffer); + break; + case rclcpp::Logger::Level::Warn: + RCLCPP_WARN(logger, "%s", buffer); + break; + case rclcpp::Logger::Level::Error: + RCLCPP_ERROR(logger, "%s", buffer); + break; + case rclcpp::Logger::Level::Fatal: + RCLCPP_FATAL(logger, "%s", buffer); + break; + default: + RCLCPP_INFO(logger, "%s", buffer); + break; + } + }; + + logFunc("======== PullOutStatus Report ========"); + + logFunc("[Path Info]"); + logFunc(" Current Path Index: %zu", status_.current_path_idx); + + logFunc("[Planner Info]"); + logFunc(" Planner Type: %s", magic_enum::enum_name(status_.planner_type).data()); + + logFunc("[Safety and Direction Info]"); + logFunc(" Found Pull Out Path: %s", status_.found_pull_out_path ? "true" : "false"); + logFunc( + " Is Safe Against Dynamic Objects: %s", status_.is_safe_dynamic_objects ? "true" : "false"); + logFunc( + " Previous Is Safe Dynamic Objects: %s", + status_.prev_is_safe_dynamic_objects ? "true" : "false"); + logFunc(" Driving Forward: %s", status_.driving_forward ? "true" : "false"); + logFunc(" Backward Driving Complete: %s", status_.backward_driving_complete ? "true" : "false"); + logFunc(" Has Stop Point: %s", status_.has_stop_point ? "true" : "false"); + + logFunc("[Module State]"); + logFunc(" isActivated: %s", isActivated() ? "true" : "false"); + logFunc(" isWaitingForApproval: %s", isWaitingApproval() ? "true" : "false"); + logFunc(" ModuleStatus: %s", magic_enum::enum_name(getCurrentStatus())); + + logFunc("======================================="); } } // namespace behavior_path_planner From e5c4b0873783cc170b5b36907b3625d10a759f1f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 20 Nov 2023 18:13:23 +0900 Subject: [PATCH 143/701] refactor(goal_planner): add rss safety check function (#5620) * refactor(goal_planner): add rss safety check function Signed-off-by: kosuke55 * has_collision Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner_module.hpp | 5 ++ .../goal_planner/goal_planner_module.cpp | 64 +++++++++---------- 2 files changed, 37 insertions(+), 32 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index 87340cc665edd..b04a3fee41dcb 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -62,6 +62,7 @@ using freespace_planning_algorithms::RRTStar; using freespace_planning_algorithms::RRTStarParam; using behavior_path_planner::utils::path_safety_checker::EgoPredictedPathParams; +using behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObject; using behavior_path_planner::utils::path_safety_checker::ObjectsFilteringParams; using behavior_path_planner::utils::path_safety_checker::PoseWithVelocityStamped; using behavior_path_planner::utils::path_safety_checker::SafetyCheckParams; @@ -471,6 +472,10 @@ class GoalPlannerModule : public SceneModuleInterface const PredictedObjects & filtered_objects, const TargetObjectsOnLane & target_objects_on_lane, const std::vector & ego_predicted_path) const; bool isSafePath() const; + bool checkSafetyWithRSS( + const PathWithLaneId & planned_path, + const std::vector & ego_predicted_path, + const std::vector & objects, const double hysteresis_factor) const; // debug void setDebugData(); diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 6fdb46d058aef..9712faae5712a 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -1716,6 +1716,34 @@ void GoalPlannerModule::updateSafetyCheckTargetObjectsData( goal_planner_data_.ego_predicted_path = ego_predicted_path; } +bool GoalPlannerModule::checkSafetyWithRSS( + const PathWithLaneId & planned_path, + const std::vector & ego_predicted_path, + const std::vector & objects, const double hysteresis_factor) const +{ + // Check for collisions with each predicted path of the object + const bool is_safe = !std::any_of(objects.begin(), objects.end(), [&](const auto & object) { + auto current_debug_data = marker_utils::createObjectDebug(object); + + const auto obj_predicted_paths = utils::path_safety_checker::getPredictedPathFromObj( + object, objects_filtering_params_->check_all_predicted_path); + + return std::any_of( + obj_predicted_paths.begin(), obj_predicted_paths.end(), [&](const auto & obj_path) { + const bool has_collision = !utils::path_safety_checker::checkCollision( + planned_path, ego_predicted_path, object, obj_path, planner_data_->parameters, + safety_check_params_->rss_params, hysteresis_factor, current_debug_data.second); + + marker_utils::updateCollisionCheckDebugMap( + goal_planner_data_.collision_check, current_debug_data, !has_collision); + + return has_collision; + }); + }); + + return is_safe; +} + bool GoalPlannerModule::isSafePath() const { const auto pull_over_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); @@ -1759,41 +1787,13 @@ bool GoalPlannerModule::isSafePath() const const auto target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane( pull_over_lanes, route_handler, filtered_objects, objects_filtering_params_); - const double hysteresis_factor = - prev_data_.is_safe ? 1.0 : parameters_->hysteresis_factor_expand_rate; - utils::start_goal_planner_common::updateSafetyCheckTargetObjectsData( goal_planner_data_, filtered_objects, target_objects_on_lane, ego_predicted_path); - bool is_safe_dynamic_objects = true; - // Check for collisions with each predicted path of the object - for (const auto & object : target_objects_on_lane.on_current_lane) { - auto current_debug_data = marker_utils::createObjectDebug(object); - - bool is_safe_dynamic_object = true; - - const auto obj_predicted_paths = utils::path_safety_checker::getPredictedPathFromObj( - object, objects_filtering_params_->check_all_predicted_path); - - // If a collision is detected, mark the object as unsafe and break the loop - for (const auto & obj_path : obj_predicted_paths) { - if (!utils::path_safety_checker::checkCollision( - pull_over_path, ego_predicted_path, object, obj_path, planner_data_->parameters, - safety_check_params_->rss_params, hysteresis_factor, current_debug_data.second)) { - marker_utils::updateCollisionCheckDebugMap( - goal_planner_data_.collision_check, current_debug_data, false); - is_safe_dynamic_objects = false; - is_safe_dynamic_object = false; - break; - } - } - if (is_safe_dynamic_object) { - marker_utils::updateCollisionCheckDebugMap( - goal_planner_data_.collision_check, current_debug_data, is_safe_dynamic_object); - } - } - - return is_safe_dynamic_objects; + const double hysteresis_factor = + prev_data_.is_safe ? 1.0 : parameters_->hysteresis_factor_expand_rate; + return checkSafetyWithRSS( + pull_over_path, ego_predicted_path, target_objects_on_lane.on_current_lane, hysteresis_factor); } void GoalPlannerModule::setDebugData() From eb9c7149021a51d5458f723ce9b05ba221c6cc63 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 20 Nov 2023 21:54:04 +0900 Subject: [PATCH 144/701] feat(goal_planner): prevent auto approval for unsafe path (#5621) Signed-off-by: kosuke55 --- .../src/scene_module/goal_planner/goal_planner_module.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 9712faae5712a..f39d706eb7ceb 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -862,6 +862,12 @@ bool GoalPlannerModule::hasDecidedPath() const return false; } + // If it is dangerous before approval, do not determine the path. + // This eliminates a unsafe path to be approved + if (!isSafePath() && !isActivated()) { + return false; + } + // if ego is sufficiently close to the start of the nearest candidate path, the path is decided const auto & current_pose = planner_data_->self_odometry->pose.pose; const size_t ego_segment_idx = motion_utils::findNearestSegmentIndex( From 6c2d806791f722febc3c549a94d853e917b6507e Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 21 Nov 2023 10:30:26 +0900 Subject: [PATCH 145/701] refactor(behavior_path_planner): separate drivable area functions (#5604) Signed-off-by: Muhammad Zulfaqar Azmi --- planning/behavior_path_planner/CMakeLists.txt | 1 + .../static_drivable_area.hpp | 99 + .../utils/goal_planner/util.hpp | 1 + .../utils/path_utils.hpp | 7 + .../utils/start_planner/util.hpp | 1 + .../behavior_path_planner/utils/utils.hpp | 86 +- .../src/behavior_path_planner_node.cpp | 1 + .../src/planner_manager.cpp | 2 + .../avoidance/avoidance_module.cpp | 1 + .../dynamic_avoidance_module.cpp | 1 + .../src/scene_module/lane_change/normal.cpp | 1 + .../side_shift/side_shift_module.cpp | 1 + .../static_drivable_area.cpp | 1871 ++++++++++++++ .../utils/goal_planner/shift_pull_over.cpp | 1 + .../src/utils/path_utils.cpp | 105 + .../behavior_path_planner/src/utils/utils.cpp | 2179 +---------------- .../behavior_path_planner/test/test_utils.cpp | 1 + .../static_centerline_optimizer/src/utils.cpp | 2 +- 18 files changed, 2222 insertions(+), 2139 deletions(-) create mode 100644 planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp create mode 100644 planning/behavior_path_planner/src/utils/drivable_area_expansion/static_drivable_area.cpp diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index e71d1dd9d86b4..7fc35355202ff 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -48,6 +48,7 @@ ament_auto_add_library(behavior_path_planner_node SHARED src/utils/start_planner/geometric_pull_out.cpp src/utils/start_planner/freespace_pull_out.cpp src/utils/path_shifter/path_shifter.cpp + src/utils/drivable_area_expansion/static_drivable_area.cpp src/utils/drivable_area_expansion/drivable_area_expansion.cpp src/utils/drivable_area_expansion/map_utils.cpp src/utils/drivable_area_expansion/footprints.cpp diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp new file mode 100644 index 0000000000000..e7a05bc473c03 --- /dev/null +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp @@ -0,0 +1,99 @@ +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__STATIC_DRIVABLE_AREA_HPP_ +#define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__STATIC_DRIVABLE_AREA_HPP_ + +#include + +#include +#include +#include +namespace behavior_path_planner::utils +{ +using drivable_area_expansion::DrivableAreaExpansionParameters; + +boost::optional getOverlappedLaneletId(const std::vector & lanes); + +std::vector cutOverlappedLanes( + PathWithLaneId & path, const std::vector & lanes); + +std::vector generateDrivableLanes(const lanelet::ConstLanelets & current_lanes); + +std::vector generateDrivableLanesWithShoulderLanes( + const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & shoulder_lanes); + +std::vector getNonOverlappingExpandedLanes( + PathWithLaneId & path, const std::vector & lanes, + const DrivableAreaExpansionParameters & parameters); +void generateDrivableArea( + PathWithLaneId & path, const std::vector & lanes, + const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, + const double vehicle_length, const std::shared_ptr planner_data, + const bool is_driving_forward = true); + +void generateDrivableArea( + PathWithLaneId & path, const double vehicle_length, const double offset, + const bool is_driving_forward = true); + +lanelet::ConstLineStrings3d getMaximumDrivableArea( + const std::shared_ptr & planner_data); + +/** + * @brief Expand the borders of the given lanelets + * @param [in] drivable_lanes lanelets to expand + * @param [in] left_bound_offset [m] expansion distance of the left bound + * @param [in] right_bound_offset [m] expansion distance of the right bound + * @param [in] types_to_skip linestring types that will not be expanded + * @return expanded lanelets + */ +std::vector expandLanelets( + const std::vector & drivable_lanes, const double left_bound_offset, + const double right_bound_offset, const std::vector & types_to_skip = {}); + +void extractObstaclesFromDrivableArea( + PathWithLaneId & path, const std::vector & obstacles); + +std::vector getBoundWithHatchedRoadMarkings( + const std::vector & original_bound, + const std::shared_ptr & route_handler); + +std::vector getBoundWithIntersectionAreas( + const std::vector & original_bound, + const std::shared_ptr & route_handler, + const std::vector & drivable_lanes, const bool is_left); + +std::vector calcBound( + const std::shared_ptr route_handler, + const std::vector & drivable_lanes, + const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, + const bool is_left); + +void makeBoundLongitudinallyMonotonic( + PathWithLaneId & path, const std::shared_ptr & planner_data, + const bool is_bound_left); + +DrivableAreaInfo combineDrivableAreaInfo( + const DrivableAreaInfo & drivable_area_info1, const DrivableAreaInfo & drivable_area_info2); + +lanelet::ConstLanelets combineLanelets( + const lanelet::ConstLanelets & base_lanes, const lanelet::ConstLanelets & added_lanes); + +std::vector combineDrivableLanes( + const std::vector & original_drivable_lanes_vec, + const std::vector & new_drivable_lanes_vec); + +} // namespace behavior_path_planner::utils + +#endif // BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__STATIC_DRIVABLE_AREA_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/util.hpp index 062a84bcd5aef..2977dab91fd14 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/util.hpp @@ -15,6 +15,7 @@ #ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__UTIL_HPP_ #define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__UTIL_HPP_ +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp" #include "behavior_path_planner/utils/utils.hpp" diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_utils.hpp index a9cbf859dd9d8..4b3c026ae8064 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_utils.hpp @@ -106,6 +106,13 @@ PathWithLaneId calcCenterLinePath( PathWithLaneId combinePath(const PathWithLaneId & path1, const PathWithLaneId & path2); boost::optional getFirstStopPoseFromPath(const PathWithLaneId & path); + +BehaviorModuleOutput getReferencePath( + const lanelet::ConstLanelet & current_lane, + const std::shared_ptr & planner_data); + +BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr & planner_data); + } // namespace behavior_path_planner::utils #endif // BEHAVIOR_PATH_PLANNER__UTILS__PATH_UTILS_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp index e7f51b2e86d5b..71571b6d7a6c6 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp @@ -16,6 +16,7 @@ #define BEHAVIOR_PATH_PLANNER__UTILS__START_PLANNER__UTIL_HPP_ #include "behavior_path_planner/data_manager.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp" #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp index 4d34c548e640e..144dad3b6feab 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp @@ -59,7 +59,6 @@ using autoware_auto_perception_msgs::msg::Shape; using autoware_auto_planning_msgs::msg::Path; using autoware_auto_planning_msgs::msg::PathPointWithLaneId; using autoware_auto_planning_msgs::msg::PathWithLaneId; -using drivable_area_expansion::DrivableAreaExpansionParameters; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using geometry_msgs::msg::PoseArray; @@ -209,56 +208,6 @@ boost::optional getRightLanelet( const lanelet::ConstLanelet & current_lane, const lanelet::ConstLanelets & shoulder_lanes); boost::optional getLeftLanelet( const lanelet::ConstLanelet & current_lane, const lanelet::ConstLanelets & shoulder_lanes); -std::vector generateDrivableLanes(const lanelet::ConstLanelets & current_lanes); -std::vector generateDrivableLanesWithShoulderLanes( - const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & shoulder_lanes); -std::vector getNonOverlappingExpandedLanes( - PathWithLaneId & path, const std::vector & lanes, - const DrivableAreaExpansionParameters & parameters); -std::vector calcBound( - const std::shared_ptr route_handler, - const std::vector & drivable_lanes, - const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, - const bool is_left); - -std::vector getBoundWithHatchedRoadMarkings( - const std::vector & original_bound, - const std::shared_ptr & route_handler); - -std::vector getBoundWithIntersectionAreas( - const std::vector & original_bound, - const std::shared_ptr & route_handler, - const std::vector & drivable_lanes, const bool is_left); - -boost::optional getOverlappedLaneletId(const std::vector & lanes); -std::vector cutOverlappedLanes( - PathWithLaneId & path, const std::vector & lanes); - -void generateDrivableArea( - PathWithLaneId & path, const std::vector & lanes, - const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, - const double vehicle_length, const std::shared_ptr planner_data, - const bool is_driving_forward = true); - -void generateDrivableArea( - PathWithLaneId & path, const double vehicle_length, const double offset, - const bool is_driving_forward = true); - -lanelet::ConstLineStrings3d getMaximumDrivableArea( - const std::shared_ptr & planner_data); - -/** - * @brief Expand the borders of the given lanelets - * @param [in] drivable_lanes lanelets to expand - * @param [in] left_bound_offset [m] expansion distance of the left bound - * @param [in] right_bound_offset [m] expansion distance of the right bound - * @param [in] types_to_skip linestring types that will not be expanded - * @return expanded lanelets - */ -std::vector expandLanelets( - const std::vector & drivable_lanes, const double left_bound_offset, - const double right_bound_offset, const std::vector & types_to_skip = {}); - // goal management /** @@ -294,8 +243,6 @@ PathWithLaneId refinePathForGoal( bool containsGoal(const lanelet::ConstLanelets & lanes, const lanelet::Id & goal_id); -BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr & planner_data); - bool isInLanelets(const Pose & pose, const lanelet::ConstLanelets & lanes); bool isInLaneletWithYawThreshold( @@ -349,10 +296,6 @@ PathWithLaneId setDecelerationVelocity( const lanelet::ConstLanelets & lanelet_sequence, const double lane_change_prepare_duration, const double lane_change_buffer); -BehaviorModuleOutput getReferencePath( - const lanelet::ConstLanelet & current_lane, - const std::shared_ptr & planner_data); - // object label std::uint8_t getHighestProbLabel(const std::vector & classification); @@ -399,26 +342,23 @@ lanelet::ConstLanelets getLaneletsFromPath( std::string convertToSnakeCase(const std::string & input_str); -std::vector combineDrivableLanes( - const std::vector & original_drivable_lanes_vec, - const std::vector & new_drivable_lanes_vec); - -DrivableAreaInfo combineDrivableAreaInfo( - const DrivableAreaInfo & drivable_area_info1, const DrivableAreaInfo & drivable_area_info2); - -void extractObstaclesFromDrivableArea( - PathWithLaneId & path, const std::vector & obstacles); - -void makeBoundLongitudinallyMonotonic( - PathWithLaneId & path, const std::shared_ptr & planner_data, - const bool is_bound_left); - std::optional getPolygonByPoint( const std::shared_ptr & route_handler, const lanelet::ConstPoint3d & point, const std::string & polygon_name); -lanelet::ConstLanelets combineLanelets( - const lanelet::ConstLanelets & base_lanes, const lanelet::ConstLanelets & added_lanes); +template +size_t findNearestSegmentIndex( + const std::vector & points, const geometry_msgs::msg::Pose & pose, const double dist_threshold, + const double yaw_threshold) +{ + const auto nearest_idx = + motion_utils::findNearestSegmentIndex(points, pose, dist_threshold, yaw_threshold); + if (nearest_idx) { + return nearest_idx.get(); + } + + return motion_utils::findNearestSegmentIndex(points, pose.position); +} } // namespace behavior_path_planner::utils #endif // BEHAVIOR_PATH_PLANNER__UTILS__UTILS_HPP_ diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index ef44bee663985..689444a3bf995 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -22,6 +22,7 @@ #include "behavior_path_planner/scene_module/lane_change/manager.hpp" #include "behavior_path_planner/scene_module/side_shift/manager.hpp" #include "behavior_path_planner/scene_module/start_planner/manager.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/path_utils.hpp" #include diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp index 79e6055d26a81..478b74c9051bb 100644 --- a/planning/behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/src/planner_manager.cpp @@ -14,6 +14,8 @@ #include "behavior_path_planner/planner_manager.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" +#include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" #include "tier4_autoware_utils/ros/debug_publisher.hpp" #include "tier4_autoware_utils/system/stop_watch.hpp" diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index ea4eab425b66b..1bd4fb3fef616 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -18,6 +18,7 @@ #include "behavior_path_planner/scene_module/scene_module_visitor.hpp" #include "behavior_path_planner/utils/avoidance/utils.hpp" #include "behavior_path_planner/utils/create_vehicle_footprint.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp" #include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp index 7aba1d1b2d97f..f917f1e2f3c65 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp @@ -14,6 +14,7 @@ #include "behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/utils.hpp" #include "object_recognition_utils/predicted_path_utils.hpp" #include "signal_processing/lowpass_filter_1d.hpp" diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 702ed16166e2b..d213eec21cdbf 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -15,6 +15,7 @@ #include "behavior_path_planner/scene_module/lane_change/normal.hpp" #include "behavior_path_planner/marker_utils/utils.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/lane_change/utils.hpp" #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp" #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" diff --git a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp index 46332e738f82f..0e86508ca6afc 100644 --- a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp @@ -15,6 +15,7 @@ #include "behavior_path_planner/scene_module/side_shift/side_shift_module.hpp" #include "behavior_path_planner/marker_utils/utils.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/side_shift/util.hpp" #include "behavior_path_planner/utils/utils.hpp" diff --git a/planning/behavior_path_planner/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/static_drivable_area.cpp new file mode 100644 index 0000000000000..becbf4ceb508b --- /dev/null +++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/static_drivable_area.cpp @@ -0,0 +1,1871 @@ +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" + +#include "behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp" +#include "motion_utils/trajectory/trajectory.hpp" + +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +namespace +{ +template +size_t findNearestSegmentIndexFromLateralDistance( + const std::vector & points, const geometry_msgs::msg::Point & target_point) +{ + std::optional closest_idx{std::nullopt}; + double min_lateral_dist = std::numeric_limits::max(); + for (size_t seg_idx = 0; seg_idx < points.size() - 1; ++seg_idx) { + const double lon_dist = + motion_utils::calcLongitudinalOffsetToSegment(points, seg_idx, target_point); + const double segment_length = + tier4_autoware_utils::calcDistance2d(points.at(seg_idx), points.at(seg_idx + 1)); + const double lat_dist = [&]() { + if (lon_dist < 0.0) { + return tier4_autoware_utils::calcDistance2d(points.at(seg_idx), target_point); + } + if (segment_length < lon_dist) { + return tier4_autoware_utils::calcDistance2d(points.at(seg_idx + 1), target_point); + } + return std::abs(motion_utils::calcLateralOffset(points, target_point, seg_idx)); + }(); + if (lat_dist < min_lateral_dist) { + closest_idx = seg_idx; + min_lateral_dist = lat_dist; + } + } + + if (closest_idx) { + return *closest_idx; + } + + return motion_utils::findNearestSegmentIndex(points, target_point); +} + +bool checkHasSameLane( + const lanelet::ConstLanelets & lanelets, const lanelet::ConstLanelet & target_lane) +{ + if (lanelets.empty()) return false; + + const auto has_same = [&](const auto & ll) { return ll.id() == target_lane.id(); }; + return std::find_if(lanelets.begin(), lanelets.end(), has_same) != lanelets.end(); +} + +bool isSamePoint(const geometry_msgs::msg::Point & point1, const geometry_msgs::msg::Point & point2) +{ + constexpr double epsilon = 1e-3; + return std::abs(point1.x - point2.x) < epsilon && std::abs(point1.y - point2.y) < epsilon; +} + +geometry_msgs::msg::Point calcLongitudinalOffsetStartPoint( + const std::vector & points, const geometry_msgs::msg::Pose & pose, + const size_t nearest_segment_idx, const double offset) +{ + const double offset_length = + motion_utils::calcLongitudinalOffsetToSegment(points, nearest_segment_idx, pose.position); + const auto offset_point = + motion_utils::calcLongitudinalOffsetPoint(points, nearest_segment_idx, offset_length + offset); + + return offset_point ? offset_point.get() : points.at(nearest_segment_idx); +} + +geometry_msgs::msg::Point calcLongitudinalOffsetGoalPoint( + const std::vector & points, const geometry_msgs::msg::Pose & pose, + const size_t nearest_segment_idx, const double offset) +{ + const double offset_length = + motion_utils::calcLongitudinalOffsetToSegment(points, nearest_segment_idx, pose.position); + const auto offset_point = + motion_utils::calcLongitudinalOffsetPoint(points, nearest_segment_idx, offset_length + offset); + + return offset_point ? offset_point.get() : points.at(nearest_segment_idx + 1); +} +} // namespace + +namespace behavior_path_planner::utils::drivable_area_processing +{ +boost::optional> intersectBound( + const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2, + const std::vector & bound, const size_t seg_idx1, + const size_t seg_idx2) +{ + const size_t start_idx = + static_cast(std::max(0, static_cast(std::min(seg_idx1, seg_idx2)) - 5)); + const size_t end_idx = static_cast(std::min( + static_cast(bound.size()) - 1, static_cast(std::max(seg_idx1, seg_idx2)) + 1 + 5)); + for (int i = start_idx; i < static_cast(end_idx); ++i) { + const auto intersect_point = + tier4_autoware_utils::intersect(p1, p2, bound.at(i), bound.at(i + 1)); + if (intersect_point) { + std::pair result; + result.first = static_cast(i); + result.second = *intersect_point; + return result; + } + } + return boost::none; +} + +double calcDistanceFromPointToSegment( + const geometry_msgs::msg::Point & segment_start_point, + const geometry_msgs::msg::Point & segment_end_point, + const geometry_msgs::msg::Point & target_point) +{ + const auto & a = segment_start_point; + const auto & b = segment_end_point; + const auto & p = target_point; + + const double dot_val = (b.x - a.x) * (p.x - a.x) + (b.y - a.y) * (p.y - a.y); + const double squared_segment_length = tier4_autoware_utils::calcSquaredDistance2d(a, b); + if (0 <= dot_val && dot_val <= squared_segment_length) { + const double numerator = std::abs((p.x - a.x) * (a.y - b.y) - (p.y - a.y) * (a.x - b.x)); + const double denominator = std::sqrt(std::pow(a.x - b.x, 2) + std::pow(a.y - b.y, 2)); + return numerator / denominator; + } + + // target_point is outside the segment. + return std::min( + tier4_autoware_utils::calcDistance2d(a, p), tier4_autoware_utils::calcDistance2d(b, p)); +} + +PolygonPoint transformBoundFrenetCoordinate( + const std::vector & bound_points, + const geometry_msgs::msg::Point & target_point) +{ + // NOTE: findNearestSegmentIndex cannot be used since a bound's interval is sometimes too large to + // find wrong nearest index. + std::vector dist_to_bound_segment_vec; + for (size_t i = 0; i < bound_points.size() - 1; ++i) { + const double dist_to_bound_segment = + calcDistanceFromPointToSegment(bound_points.at(i), bound_points.at(i + 1), target_point); + dist_to_bound_segment_vec.push_back(dist_to_bound_segment); + } + + const size_t min_dist_seg_idx = std::distance( + dist_to_bound_segment_vec.begin(), + std::min_element(dist_to_bound_segment_vec.begin(), dist_to_bound_segment_vec.end())); + const double lon_dist_to_segment = + motion_utils::calcLongitudinalOffsetToSegment(bound_points, min_dist_seg_idx, target_point); + const double lat_dist_to_segment = + motion_utils::calcLateralOffset(bound_points, target_point, min_dist_seg_idx); + return PolygonPoint{target_point, min_dist_seg_idx, lon_dist_to_segment, lat_dist_to_segment}; +} + +std::vector generatePolygonInsideBounds( + const std::vector & bound, const std::vector & edge_points, + const bool is_object_right) +{ + constexpr double invalid_lat_dist_to_bound = 10.0; + + std::vector full_polygon; + for (const auto & edge_point : edge_points) { + const auto polygon_point = transformBoundFrenetCoordinate(bound, edge_point); + + // check lat dist for U-turn roads. + if ( + (is_object_right && invalid_lat_dist_to_bound < polygon_point.lat_dist_to_bound) || + (!is_object_right && polygon_point.lat_dist_to_bound < -invalid_lat_dist_to_bound)) { + return {}; + } + full_polygon.push_back(polygon_point); + } + + // 1. check the case where the polygon intersects the bound + std::vector inside_poly; + bool has_intersection = false; // NOTE: between obstacle polygon and bound + for (int i = 0; i < static_cast(full_polygon.size()); ++i) { + const auto & curr_poly = full_polygon.at(i); + const auto & prev_poly = full_polygon.at(i == 0 ? full_polygon.size() - 1 : i - 1); + + const bool is_curr_outside = curr_poly.is_outside_bounds(is_object_right); + const bool is_prev_outside = prev_poly.is_outside_bounds(is_object_right); + + if (is_curr_outside && is_prev_outside) { + continue; + } + if (!is_curr_outside && !is_prev_outside) { + inside_poly.push_back(curr_poly); + continue; + } + + const auto intersection = intersectBound( + prev_poly.point, curr_poly.point, bound, prev_poly.bound_seg_idx, curr_poly.bound_seg_idx); + if (!intersection) { + continue; + } + const double lon_dist = motion_utils::calcLongitudinalOffsetToSegment( + bound, intersection->first, intersection->second); + const auto intersect_point = + PolygonPoint{intersection->second, intersection->first, lon_dist, 0.0}; + has_intersection = true; + + if (is_prev_outside && !is_curr_outside) { + inside_poly.push_back(intersect_point); + inside_poly.push_back(curr_poly); + continue; + } + // Here is if (!is_prev_outside && is_curr_outside). + inside_poly.push_back(prev_poly); + inside_poly.push_back(intersect_point); + continue; + } + if (has_intersection) { + return inside_poly; + } + + // 2. check the case where the polygon does not intersect the bound + const bool is_polygon_fully_inside_bounds = [&]() { + for (const auto & curr_poly : full_polygon) { + const bool is_curr_outside = curr_poly.is_outside_bounds(is_object_right); + if (is_curr_outside) { + return false; + } + } + return true; + }(); + if (is_polygon_fully_inside_bounds) { + return full_polygon; + } + + return std::vector{}; +} + +std::vector convertToGeometryPoints( + const std::vector & polygon_points) +{ + std::vector points; + points.reserve(polygon_points.size()); + + for (const auto & polygon_point : polygon_points) { + points.push_back(polygon_point.point); + } + return points; +} + +// NOTE: See the PR's figure. https://github.com/autowarefoundation/autoware.universe/pull/2880 +std::vector concatenateTwoPolygons( + const std::vector & front_polygon, const std::vector & back_polygon) +{ + const auto make_unique_polygon = [&](const auto & polygon) { + std::vector unique_polygon; + for (const auto & point : polygon) { + if (!unique_polygon.empty() && isSamePoint(unique_polygon.back().point, point.point)) { + continue; + } + unique_polygon.push_back(point); + } + return unique_polygon; + }; + const auto unique_front_polygon = make_unique_polygon(front_polygon); + const auto unique_back_polygon = make_unique_polygon(back_polygon); + + // At first, the front polygon is the outside polygon + bool is_front_polygon_outside = true; + size_t before_outside_idx = 0; + + const auto get_out_poly = [&]() { + return is_front_polygon_outside ? unique_front_polygon : unique_back_polygon; + }; + const auto get_in_poly = [&]() { + return is_front_polygon_outside ? unique_back_polygon : unique_front_polygon; + }; + + // NOTE: Polygon points is assumed to be clock-wise. + std::vector concatenated_polygon; + // NOTE: Maximum number of loop is set to avoid infinity loop calculation just in case. + const size_t max_loop_num = (unique_front_polygon.size() + unique_back_polygon.size()) * 2; + for (size_t loop_idx = 0; loop_idx < max_loop_num; ++loop_idx) { + concatenated_polygon.push_back(get_out_poly().at(before_outside_idx)); + if (before_outside_idx == get_out_poly().size() - 1) { + break; + } + const size_t curr_idx = before_outside_idx; + const size_t next_idx = before_outside_idx + 1; + + // NOTE: Two polygons may have two intersection points. Therefore the closest intersection + // point is used. + std::optional closest_idx = std::nullopt; + double min_dist_to_intersection = std::numeric_limits::max(); + PolygonPoint closest_intersect_point; + for (size_t i = 0; i < get_in_poly().size() - 1; ++i) { + const auto intersection = tier4_autoware_utils::intersect( + get_out_poly().at(curr_idx).point, get_out_poly().at(next_idx).point, + get_in_poly().at(i).point, get_in_poly().at(i + 1).point); + if (!intersection) { + continue; + } + if ( + isSamePoint(get_out_poly().at(curr_idx).point, get_in_poly().at(i).point) || + isSamePoint(get_out_poly().at(curr_idx).point, get_in_poly().at(i + 1).point) || + isSamePoint(get_out_poly().at(next_idx).point, get_in_poly().at(i).point) || + isSamePoint(get_out_poly().at(next_idx).point, get_in_poly().at(i + 1).point)) { + // NOTE: If the segments shares one point, the while loop will not end. + continue; + } + + const auto intersect_point = PolygonPoint{*intersection, 0, 0.0, 0.0}; + const double dist_to_intersection = + tier4_autoware_utils::calcDistance2d(get_out_poly().at(curr_idx).point, *intersection); + if (dist_to_intersection < min_dist_to_intersection) { + closest_idx = i; + min_dist_to_intersection = dist_to_intersection; + closest_intersect_point = intersect_point; + } + } + + if (closest_idx) { + before_outside_idx = *closest_idx; + concatenated_polygon.push_back(closest_intersect_point); + is_front_polygon_outside = !is_front_polygon_outside; + } + + before_outside_idx += 1; + + if (loop_idx == max_loop_num - 1) { + return front_polygon; + } + } + + return concatenated_polygon; +} + +std::vector> concatenatePolygons( + const std::vector> & polygons) +{ + auto unique_polygons = polygons; + + while (rclcpp::ok()) { + bool is_updated = false; + + for (size_t i = 0; i < unique_polygons.size(); ++i) { + for (size_t j = 0; j < i; ++j) { + const auto & p1 = unique_polygons.at(i); + const auto & p2 = unique_polygons.at(j); + + // if p1 and p2 overlaps + if (p1.back().is_after(p2.front()) && p2.back().is_after(p1.front())) { + is_updated = true; + + const auto concatenated_polygon = [&]() { + if (p2.front().is_after(p1.front())) { + return concatenateTwoPolygons(p1, p2); + } + return concatenateTwoPolygons(p2, p1); + }(); + + // NOTE: remove i's element first since is larger than j. + unique_polygons.erase(unique_polygons.begin() + i); + unique_polygons.erase(unique_polygons.begin() + j); + + unique_polygons.push_back(concatenated_polygon); + break; + } + } + if (is_updated) { + break; + } + } + + if (!is_updated) { + break; + } + } + return unique_polygons; +} + +std::vector getPolygonPointsInsideBounds( + const std::vector & bound, const std::vector & edge_points, + const bool is_object_right) +{ + // NOTE: Polygon is defined at lest by three points. + if (edge_points.size() < 3) { + return std::vector(); + } + + // convert to vector of PolygonPoint + const auto inside_polygon = [&]() { + auto tmp_polygon = generatePolygonInsideBounds(bound, edge_points, is_object_right); + + // In order to make the order of points the same as the order of lon_dist_to_segment. + // The order of points is clockwise. + if (!is_object_right) { + std::reverse(tmp_polygon.begin(), tmp_polygon.end()); + } + return tmp_polygon; + }(); + if (inside_polygon.empty()) { + return std::vector(); + } + + // search start and end index by longitudinal distance + std::vector polygon_indices(inside_polygon.size()); + std::iota(polygon_indices.begin(), polygon_indices.end(), 0); + std::sort(polygon_indices.begin(), polygon_indices.end(), [&](int i1, int i2) { + return inside_polygon.at(i2).is_after(inside_polygon.at(i1)); + }); + const int start_idx = polygon_indices.front(); + const int end_idx = polygon_indices.back(); + + // calculate valid inside polygon + std::vector valid_inside_polygon; + for (int i = 0; i < (end_idx - start_idx + static_cast(polygon_indices.size())) % + static_cast(polygon_indices.size()) + + 1; + ++i) { + const int poly_idx = (start_idx + i) % static_cast(inside_polygon.size()); + valid_inside_polygon.push_back(inside_polygon.at(poly_idx)); + } + + // add start and end points projected to bound if necessary + if (inside_polygon.at(start_idx).lat_dist_to_bound != 0.0) { // not on bound + auto start_point = inside_polygon.at(start_idx); + const auto start_point_on_bound = motion_utils::calcLongitudinalOffsetPoint( + bound, start_point.bound_seg_idx, start_point.lon_dist_to_segment); + if (start_point_on_bound) { + start_point.point = start_point_on_bound.get(); + valid_inside_polygon.insert(valid_inside_polygon.begin(), start_point); + } + } + if (inside_polygon.at(end_idx).lat_dist_to_bound != 0.0) { // not on bound + auto end_point = inside_polygon.at(end_idx); + const auto end_point_on_bound = motion_utils::calcLongitudinalOffsetPoint( + bound, end_point.bound_seg_idx, end_point.lon_dist_to_segment); + if (end_point_on_bound) { + end_point.point = end_point_on_bound.get(); + valid_inside_polygon.insert(valid_inside_polygon.end(), end_point); + } + } + return valid_inside_polygon; +} + +std::vector updateBoundary( + const std::vector & original_bound, + const std::vector> & sorted_polygons) +{ + if (sorted_polygons.empty()) { + return original_bound; + } + + auto reversed_polygons = sorted_polygons; + std::reverse(reversed_polygons.begin(), reversed_polygons.end()); + + auto updated_bound = original_bound; + + // NOTE: Further obstacle is applied first since a part of the updated_bound is erased. + for (const auto & polygon : reversed_polygons) { + const auto & start_poly = polygon.front(); + const auto & end_poly = polygon.back(); + + const double front_offset = motion_utils::calcLongitudinalOffsetToSegment( + updated_bound, start_poly.bound_seg_idx, start_poly.point); + + const size_t removed_start_idx = + 0 < front_offset ? start_poly.bound_seg_idx + 1 : start_poly.bound_seg_idx; + const size_t removed_end_idx = end_poly.bound_seg_idx; + + updated_bound.erase( + updated_bound.begin() + removed_start_idx, updated_bound.begin() + removed_end_idx + 1); + + const auto obj_points = convertToGeometryPoints(polygon); + updated_bound.insert( + updated_bound.begin() + removed_start_idx, obj_points.begin(), obj_points.end()); + } + return updated_bound; +} + +[[maybe_unused]] geometry_msgs::msg::Point calcCenterOfGeometry(const Polygon2d & obj_poly) +{ + geometry_msgs::msg::Point center_pos; + for (const auto & point : obj_poly.outer()) { + center_pos.x += point.x(); + center_pos.y += point.y(); + } + + center_pos.x = center_pos.x / obj_poly.outer().size(); + center_pos.y = center_pos.y / obj_poly.outer().size(); + center_pos.z = center_pos.z / obj_poly.outer().size(); + + return center_pos; +} +} // namespace behavior_path_planner::utils::drivable_area_processing + +namespace behavior_path_planner::utils +{ +using tier4_autoware_utils::Point2d; + +boost::optional getOverlappedLaneletId(const std::vector & lanes) +{ + auto overlaps = [](const DrivableLanes & lanes, const DrivableLanes & target_lanes) { + const auto lanelets = utils::transformToLanelets(lanes); + const auto target_lanelets = utils::transformToLanelets(target_lanes); + + for (const auto & lanelet : lanelets) { + for (const auto & target_lanelet : target_lanelets) { + std::vector intersections{}; + boost::geometry::intersection( + lanelet.polygon2d().basicPolygon(), target_lanelet.polygon2d().basicPolygon(), + intersections); + + // if only one point intersects, it is assumed not to be overlapped + if (intersections.size() > 1) { + return true; + } + } + } + + // No overlapping + return false; + }; + + if (lanes.size() <= 2) { + return {}; + } + + size_t overlapped_idx = lanes.size(); + for (size_t i = 0; i < lanes.size() - 2; ++i) { + for (size_t j = i + 2; j < lanes.size(); ++j) { + if (overlaps(lanes.at(i), lanes.at(j))) { + overlapped_idx = std::min(overlapped_idx, j); + } + } + } + + if (overlapped_idx == lanes.size()) { + return {}; + } + + return overlapped_idx; +} + +std::vector cutOverlappedLanes( + PathWithLaneId & path, const std::vector & lanes) +{ + const auto overlapped_lanelet_idx = getOverlappedLaneletId(lanes); + if (!overlapped_lanelet_idx) { + return lanes; + } + + std::vector shorten_lanes{lanes.begin(), lanes.begin() + *overlapped_lanelet_idx}; + const auto shorten_lanelets = utils::transformToLanelets(shorten_lanes); + + const auto original_points = path.points; + + path.points.clear(); + + const auto has_same_id_lane = [](const auto & lanelet, const auto & p) { + return std::any_of(p.lane_ids.begin(), p.lane_ids.end(), [&lanelet](const auto id) { + return lanelet.id() == id; + }); + }; + + const auto has_same_id_lanes = [&has_same_id_lane](const auto & lanelets, const auto & p) { + return std::any_of( + lanelets.begin(), lanelets.end(), + [&has_same_id_lane, &p](const auto & lanelet) { return has_same_id_lane(lanelet, p); }); + }; + + // Step1. find first path point within drivable lanes + size_t start_point_idx = std::numeric_limits::max(); + for (const auto & lanes : shorten_lanes) { + for (size_t i = 0; i < original_points.size(); ++i) { + // check right lane + if (has_same_id_lane(lanes.right_lane, original_points.at(i))) { + start_point_idx = std::min(start_point_idx, i); + } + + // check left lane + if (has_same_id_lane(lanes.left_lane, original_points.at(i))) { + start_point_idx = std::min(start_point_idx, i); + } + + // check middle lanes + if (has_same_id_lanes(lanes.middle_lanes, original_points.at(i))) { + start_point_idx = std::min(start_point_idx, i); + } + } + } + + // Step2. pick up only path points within drivable lanes + for (const auto & lanes : shorten_lanes) { + for (size_t i = start_point_idx; i < original_points.size(); ++i) { + // check right lane + if (has_same_id_lane(lanes.right_lane, original_points.at(i))) { + path.points.push_back(original_points.at(i)); + continue; + } + + // check left lane + if (has_same_id_lane(lanes.left_lane, original_points.at(i))) { + path.points.push_back(original_points.at(i)); + continue; + } + + // check middle lanes + if (has_same_id_lanes(lanes.middle_lanes, original_points.at(i))) { + path.points.push_back(original_points.at(i)); + continue; + } + + start_point_idx = i; + break; + } + } + + return shorten_lanes; +} + +std::vector generateDrivableLanes(const lanelet::ConstLanelets & lanes) +{ + std::vector drivable_lanes(lanes.size()); + for (size_t i = 0; i < lanes.size(); ++i) { + drivable_lanes.at(i).left_lane = lanes.at(i); + drivable_lanes.at(i).right_lane = lanes.at(i); + } + return drivable_lanes; +} + +std::vector generateDrivableLanesWithShoulderLanes( + const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & shoulder_lanes) +{ + std::vector drivable_lanes; + for (const auto & current_lane : current_lanes) { + DrivableLanes drivable_lane; + + const auto right_lane = utils::getRightLanelet(current_lane, shoulder_lanes); + const auto left_lane = utils::getLeftLanelet(current_lane, shoulder_lanes); + + if (right_lane && left_lane) { + drivable_lane.right_lane = *right_lane; + drivable_lane.left_lane = *left_lane; + drivable_lane.middle_lanes.push_back(current_lane); + } else if (right_lane) { + drivable_lane.right_lane = *right_lane; + drivable_lane.left_lane = current_lane; + } else if (left_lane) { + drivable_lane.right_lane = current_lane; + drivable_lane.left_lane = *left_lane; + } else { + drivable_lane.right_lane = current_lane; + drivable_lane.left_lane = current_lane; + } + + drivable_lanes.push_back(drivable_lane); + } + + return drivable_lanes; +} + +std::vector getNonOverlappingExpandedLanes( + PathWithLaneId & path, const std::vector & lanes, + const DrivableAreaExpansionParameters & parameters) +{ + const auto shorten_lanes = cutOverlappedLanes(path, lanes); + return utils::expandLanelets( + shorten_lanes, parameters.drivable_area_left_bound_offset, + parameters.drivable_area_right_bound_offset, parameters.drivable_area_types_to_skip); +} + +void generateDrivableArea( + PathWithLaneId & path, const std::vector & lanes, + const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, + const double vehicle_length, const std::shared_ptr planner_data, + const bool is_driving_forward) +{ + // extract data + const auto transformed_lanes = utils::transformToLanelets(lanes); + const auto current_pose = planner_data->self_odometry->pose.pose; + const auto route_handler = planner_data->route_handler; + constexpr double overlap_threshold = 0.01; + + if (path.points.empty()) { + return; + } + + auto addPoints = + [](const lanelet::ConstLineString3d & points, std::vector & bound) { + for (const auto & bound_p : points) { + const auto cp = lanelet::utils::conversion::toGeomMsgPt(bound_p); + if (bound.empty()) { + bound.push_back(cp); + } else if (tier4_autoware_utils::calcDistance2d(cp, bound.back()) > overlap_threshold) { + bound.push_back(cp); + } + } + }; + + const auto has_overlap = + [&](const lanelet::ConstLanelet & lane, const lanelet::ConstLanelets & ignore_lanelets = {}) { + for (const auto & transformed_lane : transformed_lanes) { + if (checkHasSameLane(ignore_lanelets, transformed_lane)) { + continue; + } + if (boost::geometry::intersects( + lane.polygon2d().basicPolygon(), transformed_lane.polygon2d().basicPolygon())) { + return true; + } + } + return false; + }; + + // Insert Position + auto left_bound = calcBound( + route_handler, lanes, enable_expanding_hatched_road_markings, + enable_expanding_intersection_areas, true); + auto right_bound = calcBound( + route_handler, lanes, enable_expanding_hatched_road_markings, + enable_expanding_intersection_areas, false); + + if (left_bound.empty() || right_bound.empty()) { + auto clock{rclcpp::Clock{RCL_ROS_TIME}}; + RCLCPP_ERROR_STREAM_THROTTLE( + rclcpp::get_logger("behavior_path_planner").get_child("utils"), clock, 1000, + "The right or left bound of drivable area is empty"); + return; + } + + // Insert points after goal + lanelet::ConstLanelet goal_lanelet; + if ( + route_handler->getGoalLanelet(&goal_lanelet) && + checkHasSameLane(transformed_lanes, goal_lanelet)) { + const auto lanes_after_goal = route_handler->getLanesAfterGoal(vehicle_length); + const auto next_lanes_after_goal = route_handler->getNextLanelets(goal_lanelet); + const auto goal_left_lanelet = route_handler->getLeftLanelet(goal_lanelet); + const auto goal_right_lanelet = route_handler->getRightLanelet(goal_lanelet); + lanelet::ConstLanelets goal_lanelets = {goal_lanelet}; + if (goal_left_lanelet) { + goal_lanelets.push_back(*goal_left_lanelet); + } + if (goal_right_lanelet) { + goal_lanelets.push_back(*goal_right_lanelet); + } + + for (const auto & lane : lanes_after_goal) { + // If lane is already in the transformed lanes, ignore it + if (checkHasSameLane(transformed_lanes, lane)) { + continue; + } + // Check if overlapped + const bool is_overlapped = + (checkHasSameLane(next_lanes_after_goal, lane) ? has_overlap(lane, goal_lanelets) + : has_overlap(lane)); + if (is_overlapped) { + continue; + } + + addPoints(lane.leftBound3d(), left_bound); + addPoints(lane.rightBound3d(), right_bound); + } + } + + if (!is_driving_forward) { + std::reverse(left_bound.begin(), left_bound.end()); + std::reverse(right_bound.begin(), right_bound.end()); + } + + path.left_bound.clear(); + path.right_bound.clear(); + + const auto [left_start_idx, right_start_idx] = [&]() { + const size_t current_seg_idx = planner_data->findEgoSegmentIndex(path.points); + const auto cropped_path_points = motion_utils::cropPoints( + path.points, current_pose.position, current_seg_idx, + planner_data->parameters.forward_path_length, + planner_data->parameters.backward_path_length + planner_data->parameters.input_path_interval); + + constexpr double front_length = 0.5; + const auto front_pose = + cropped_path_points.empty() ? current_pose : cropped_path_points.front().point.pose; + const size_t front_left_start_idx = + findNearestSegmentIndexFromLateralDistance(left_bound, front_pose.position); + const size_t front_right_start_idx = + findNearestSegmentIndexFromLateralDistance(right_bound, front_pose.position); + const auto left_start_point = + calcLongitudinalOffsetStartPoint(left_bound, front_pose, front_left_start_idx, -front_length); + const auto right_start_point = calcLongitudinalOffsetStartPoint( + right_bound, front_pose, front_right_start_idx, -front_length); + const size_t left_start_idx = + findNearestSegmentIndexFromLateralDistance(left_bound, left_start_point); + const size_t right_start_idx = + findNearestSegmentIndexFromLateralDistance(right_bound, right_start_point); + + // Insert a start point + path.left_bound.push_back(left_start_point); + path.right_bound.push_back(right_start_point); + + return std::make_pair(left_start_idx, right_start_idx); + }(); + + // Get Closest segment for the goal point + const auto goal_pose = path.points.empty() ? current_pose : path.points.back().point.pose; + const size_t goal_left_start_idx = + findNearestSegmentIndexFromLateralDistance(left_bound, goal_pose.position); + const size_t goal_right_start_idx = + findNearestSegmentIndexFromLateralDistance(right_bound, goal_pose.position); + const auto left_goal_point = + calcLongitudinalOffsetGoalPoint(left_bound, goal_pose, goal_left_start_idx, vehicle_length); + const auto right_goal_point = + calcLongitudinalOffsetGoalPoint(right_bound, goal_pose, goal_right_start_idx, vehicle_length); + const size_t left_goal_idx = std::max( + goal_left_start_idx, findNearestSegmentIndexFromLateralDistance(left_bound, left_goal_point)); + const size_t right_goal_idx = std::max( + goal_right_start_idx, + findNearestSegmentIndexFromLateralDistance(right_bound, right_goal_point)); + + // Insert middle points + for (size_t i = left_start_idx + 1; i <= left_goal_idx; ++i) { + const auto & next_point = left_bound.at(i); + const double dist = tier4_autoware_utils::calcDistance2d(path.left_bound.back(), next_point); + if (dist > overlap_threshold) { + path.left_bound.push_back(next_point); + } + } + for (size_t i = right_start_idx + 1; i <= right_goal_idx; ++i) { + const auto & next_point = right_bound.at(i); + const double dist = tier4_autoware_utils::calcDistance2d(path.right_bound.back(), next_point); + if (dist > overlap_threshold) { + path.right_bound.push_back(next_point); + } + } + + // Insert a goal point + if ( + tier4_autoware_utils::calcDistance2d(path.left_bound.back(), left_goal_point) > + overlap_threshold) { + path.left_bound.push_back(left_goal_point); + } + if ( + tier4_autoware_utils::calcDistance2d(path.right_bound.back(), right_goal_point) > + overlap_threshold) { + path.right_bound.push_back(right_goal_point); + } + const auto & expansion_params = planner_data->drivable_area_expansion_parameters; + if (expansion_params.enabled) { + drivable_area_expansion::expand_drivable_area(path, planner_data); + } + + // make bound longitudinally monotonic + // TODO(Murooka) Fix makeBoundLongitudinallyMonotonic + if ( + is_driving_forward && + (enable_expanding_hatched_road_markings || enable_expanding_intersection_areas)) { + makeBoundLongitudinallyMonotonic(path, planner_data, true); // for left bound + makeBoundLongitudinallyMonotonic(path, planner_data, false); // for right bound + } +} + +void generateDrivableArea( + PathWithLaneId & path, const double vehicle_length, const double offset, + const bool is_driving_forward) +{ + using tier4_autoware_utils::calcOffsetPose; + + // remove path points which is close to the previous point + PathWithLaneId resampled_path{}; + const double resample_interval = 2.0; + for (size_t i = 0; i < path.points.size(); ++i) { + if (i == 0) { + resampled_path.points.push_back(path.points.at(i)); + } else { + const auto & prev_point = resampled_path.points.back().point.pose.position; + const auto & curr_point = path.points.at(i).point.pose.position; + const double signed_arc_length = + motion_utils::calcSignedArcLength(path.points, prev_point, curr_point); + if (signed_arc_length > resample_interval) { + resampled_path.points.push_back(path.points.at(i)); + } + } + } + // add last point of path if enough far from the one of resampled path + constexpr double th_last_point_distance = 0.3; + if ( + tier4_autoware_utils::calcDistance2d( + resampled_path.points.back().point.pose.position, path.points.back().point.pose.position) > + th_last_point_distance) { + resampled_path.points.push_back(path.points.back()); + } + + // create bound point by calculating offset point + std::vector left_bound; + std::vector right_bound; + for (const auto & point : resampled_path.points) { + const auto & pose = point.point.pose; + + const auto left_point = calcOffsetPose(pose, 0, offset, 0); + const auto right_point = calcOffsetPose(pose, 0, -offset, 0); + + left_bound.push_back(left_point.position); + right_bound.push_back(right_point.position); + } + + if (is_driving_forward) { + // add backward offset point to bound + const Pose first_point = + calcOffsetPose(resampled_path.points.front().point.pose, -vehicle_length, 0, 0); + const Pose left_first_point = calcOffsetPose(first_point, 0, offset, 0); + const Pose right_first_point = calcOffsetPose(first_point, 0, -offset, 0); + left_bound.insert(left_bound.begin(), left_first_point.position); + right_bound.insert(right_bound.begin(), right_first_point.position); + + // add forward offset point to bound + const Pose last_point = + calcOffsetPose(resampled_path.points.back().point.pose, vehicle_length, 0, 0); + const Pose left_last_point = calcOffsetPose(last_point, 0, offset, 0); + const Pose right_last_point = calcOffsetPose(last_point, 0, -offset, 0); + left_bound.push_back(left_last_point.position); + right_bound.push_back(right_last_point.position); + } else { + // add forward offset point to bound + const Pose first_point = + calcOffsetPose(resampled_path.points.front().point.pose, vehicle_length, 0, 0); + const Pose left_first_point = calcOffsetPose(first_point, 0, offset, 0); + const Pose right_first_point = calcOffsetPose(first_point, 0, -offset, 0); + left_bound.insert(left_bound.begin(), left_first_point.position); + right_bound.insert(right_bound.begin(), right_first_point.position); + + // add backward offset point to bound + const Pose last_point = + calcOffsetPose(resampled_path.points.back().point.pose, -vehicle_length, 0, 0); + const Pose left_last_point = calcOffsetPose(last_point, 0, offset, 0); + const Pose right_last_point = calcOffsetPose(last_point, 0, -offset, 0); + left_bound.push_back(left_last_point.position); + right_bound.push_back(right_last_point.position); + } + + if (left_bound.empty() || right_bound.empty()) { + return; + } + + // fix intersected bound + // if bound is intersected, remove them and insert intersection point + typedef boost::geometry::model::d2::point_xy BoostPoint; + typedef boost::geometry::model::linestring LineString; + auto modify_bound_intersection = [](const std::vector & bound) { + const double intersection_check_distance = 10.0; + std::vector modified_bound; + size_t i = 0; + while (i < bound.size() - 1) { + BoostPoint p1(bound.at(i).x, bound.at(i).y); + BoostPoint p2(bound.at(i + 1).x, bound.at(i + 1).y); + LineString p_line; + p_line.push_back(p1); + p_line.push_back(p2); + bool intersection_found = false; + for (size_t j = i + 2; j < bound.size() - 1; j++) { + const double distance = tier4_autoware_utils::calcDistance2d(bound.at(i), bound.at(j)); + if (distance > intersection_check_distance) { + break; + } + LineString q_line; + BoostPoint q1(bound.at(j).x, bound.at(j).y); + BoostPoint q2(bound.at(j + 1).x, bound.at(j + 1).y); + q_line.push_back(q1); + q_line.push_back(q2); + std::vector intersection_points; + boost::geometry::intersection(p_line, q_line, intersection_points); + if (intersection_points.size() > 0) { + modified_bound.push_back(bound.at(i)); + Point intersection_point; + intersection_point.x = intersection_points.at(0).x(); + intersection_point.y = intersection_points.at(0).y(); + modified_bound.push_back(intersection_point); + i = j + 1; + intersection_found = true; + break; + } + } + if (!intersection_found) { + modified_bound.push_back(bound.at(i)); + i++; + } + } + modified_bound.push_back(bound.back()); + return modified_bound; + }; + std::vector modified_left_bound = modify_bound_intersection(left_bound); + std::vector modified_right_bound = modify_bound_intersection(right_bound); + + // set bound to path + path.left_bound = modified_left_bound; + path.right_bound = modified_right_bound; +} + +// TODO(Azu) Some parts of is the same with generateCenterLinePath. Therefore it might be better if +// we can refactor some of the code for better readability +lanelet::ConstLineStrings3d getMaximumDrivableArea( + const std::shared_ptr & planner_data) +{ + const auto & p = planner_data->parameters; + const auto & route_handler = planner_data->route_handler; + const auto & ego_pose = planner_data->self_odometry->pose.pose; + + lanelet::ConstLanelet current_lane; + if (!route_handler->getClosestLaneletWithinRoute(ego_pose, ¤t_lane)) { + RCLCPP_ERROR( + rclcpp::get_logger("behavior_path_planner").get_child("utils"), + "failed to find closest lanelet within route!!!"); + return {}; + } + + const auto current_lanes = route_handler->getLaneletSequence( + current_lane, ego_pose, p.backward_path_length, p.forward_path_length); + lanelet::ConstLineStrings3d linestring_shared; + for (const auto & lane : current_lanes) { + lanelet::ConstLineStrings3d furthest_line = route_handler->getFurthestLinestring(lane); + linestring_shared.insert(linestring_shared.end(), furthest_line.begin(), furthest_line.end()); + } + + return linestring_shared; +} + +std::vector expandLanelets( + const std::vector & drivable_lanes, const double left_bound_offset, + const double right_bound_offset, const std::vector & types_to_skip) +{ + if (left_bound_offset == 0.0 && right_bound_offset == 0.0) return drivable_lanes; + + std::vector expanded_drivable_lanes{}; + expanded_drivable_lanes.reserve(drivable_lanes.size()); + for (const auto & lanes : drivable_lanes) { + const std::string l_type = + lanes.left_lane.leftBound().attributeOr(lanelet::AttributeName::Type, "none"); + const std::string r_type = + lanes.right_lane.rightBound().attributeOr(lanelet::AttributeName::Type, "none"); + + const bool l_skip = + std::find(types_to_skip.begin(), types_to_skip.end(), l_type) != types_to_skip.end(); + const bool r_skip = + std::find(types_to_skip.begin(), types_to_skip.end(), r_type) != types_to_skip.end(); + const double l_offset = l_skip ? 0.0 : left_bound_offset; + const double r_offset = r_skip ? 0.0 : -right_bound_offset; + + DrivableLanes expanded_lanes; + if (lanes.left_lane.id() == lanes.right_lane.id()) { + expanded_lanes.left_lane = + lanelet::utils::getExpandedLanelet(lanes.left_lane, l_offset, r_offset); + expanded_lanes.right_lane = + lanelet::utils::getExpandedLanelet(lanes.right_lane, l_offset, r_offset); + } else { + expanded_lanes.left_lane = lanelet::utils::getExpandedLanelet(lanes.left_lane, l_offset, 0.0); + expanded_lanes.right_lane = + lanelet::utils::getExpandedLanelet(lanes.right_lane, 0.0, r_offset); + } + expanded_lanes.middle_lanes = lanes.middle_lanes; + expanded_drivable_lanes.push_back(expanded_lanes); + } + return expanded_drivable_lanes; +} + +// NOTE: Assuming that path.right/left_bound is already created. +void extractObstaclesFromDrivableArea( + PathWithLaneId & path, const std::vector & obstacles) +{ + if (obstacles.empty()) { + return; + } + + std::vector> right_polygons; + std::vector> left_polygons; + for (const auto & obstacle : obstacles) { + const auto & obj_pos = obstacle.pose.position; + + // get edge points of the object + const size_t nearest_path_idx = + motion_utils::findNearestIndex(path.points, obj_pos); // to get z for object polygon + std::vector edge_points; + for (size_t i = 0; i < obstacle.poly.outer().size() - 1; + ++i) { // NOTE: There is a duplicated points + edge_points.push_back(tier4_autoware_utils::createPoint( + obstacle.poly.outer().at(i).x(), obstacle.poly.outer().at(i).y(), + path.points.at(nearest_path_idx).point.pose.position.z)); + } + + // get a boundary that we have to change + const bool is_object_right = !obstacle.is_left; + const auto & bound = is_object_right ? path.right_bound : path.left_bound; + + // get polygon points inside the bounds + const auto inside_polygon = + drivable_area_processing::getPolygonPointsInsideBounds(bound, edge_points, is_object_right); + if (!inside_polygon.empty()) { + if (is_object_right) { + right_polygons.push_back(inside_polygon); + } else { + left_polygons.push_back(inside_polygon); + } + } + } + + for (const bool is_object_right : {true, false}) { + const auto & polygons = is_object_right ? right_polygons : left_polygons; + if (polygons.empty()) { + continue; + } + + // concatenate polygons if they are longitudinal overlapped. + auto unique_polygons = drivable_area_processing::concatenatePolygons(polygons); + + // sort bounds longitudinally + std::sort( + unique_polygons.begin(), unique_polygons.end(), + [](const std::vector & p1, const std::vector & p2) { + return p2.front().is_after(p1.front()); + }); + + // update boundary + auto & bound = is_object_right ? path.right_bound : path.left_bound; + bound = drivable_area_processing::updateBoundary(bound, unique_polygons); + } +} + +std::vector getBoundWithHatchedRoadMarkings( + const std::vector & original_bound, + const std::shared_ptr & route_handler) +{ + // a function to get polygon with a designated point id + const auto get_corresponding_polygon_index = + [&](const auto & polygon, const auto & target_point_id) { + for (size_t poly_point_idx = 0; poly_point_idx < polygon.size(); ++poly_point_idx) { + if (polygon[poly_point_idx].id() == target_point_id) { + // NOTE: If there are duplicated points in polygon, the early one will be returned. + return poly_point_idx; + } + } + // This means calculation has some errors. + return polygon.size() - 1; + }; + + const auto mod = [&](const int a, const int b) { + return (a + b) % b; // NOTE: consider negative value + }; + + std::vector expanded_bound{}; + + std::optional current_polygon{std::nullopt}; + std::vector current_polygon_border_indices; + // expand drivable area by hatched road markings. + for (size_t bound_point_idx = 0; bound_point_idx < original_bound.size(); ++bound_point_idx) { + const auto & bound_point = original_bound[bound_point_idx]; + const auto polygon = getPolygonByPoint(route_handler, bound_point, "hatched_road_markings"); + + bool will_close_polygon{false}; + if (!current_polygon) { + if (!polygon) { + expanded_bound.push_back(bound_point); + } else { + // There is a new additional polygon to expand + current_polygon = polygon; + current_polygon_border_indices.push_back( + get_corresponding_polygon_index(*current_polygon, bound_point.id())); + } + } else { + if (!polygon) { + will_close_polygon = true; + } else { + current_polygon_border_indices.push_back( + get_corresponding_polygon_index(*current_polygon, bound_point.id())); + } + } + + if (bound_point_idx == original_bound.size() - 1 && current_polygon) { + // If drivable lanes ends earlier than polygon, close the polygon + will_close_polygon = true; + } + + if (will_close_polygon) { + // The current additional polygon ends to expand + if (current_polygon_border_indices.size() == 1) { + expanded_bound.push_back((*current_polygon)[current_polygon_border_indices.front()]); + } else { + const size_t current_polygon_points_num = current_polygon->size(); + const bool is_polygon_opposite_direction = [&]() { + const size_t modulo_diff = mod( + static_cast(current_polygon_border_indices[1]) - + static_cast(current_polygon_border_indices[0]), + current_polygon_points_num); + return modulo_diff == 1; + }(); + + const int target_points_num = + current_polygon_points_num - current_polygon_border_indices.size() + 1; + for (int poly_idx = 0; poly_idx <= target_points_num; ++poly_idx) { + const int target_poly_idx = current_polygon_border_indices.front() + + poly_idx * (is_polygon_opposite_direction ? -1 : 1); + expanded_bound.push_back( + (*current_polygon)[mod(target_poly_idx, current_polygon_points_num)]); + } + } + current_polygon = std::nullopt; + current_polygon_border_indices.clear(); + } + } + + return expanded_bound; +} + +std::vector getBoundWithIntersectionAreas( + const std::vector & original_bound, + const std::shared_ptr & route_handler, + const std::vector & drivable_lanes, const bool is_left) +{ + const auto extract_bound_from_polygon = + [](const auto & polygon, const auto start_idx, const auto end_idx, const auto clockwise) { + std::vector ret{}; + for (size_t i = start_idx; i != end_idx; i = clockwise ? i + 1 : i - 1) { + ret.push_back(polygon[i]); + + if (i + 1 == polygon.size() && clockwise) { + if (end_idx == 0) { + ret.push_back(polygon[end_idx]); + return ret; + } + i = 0; + continue; + } + + if (i == 0 && !clockwise) { + if (end_idx == polygon.size() - 1) { + ret.push_back(polygon[end_idx]); + return ret; + } + i = polygon.size() - 1; + continue; + } + } + + ret.push_back(polygon[end_idx]); + + return ret; + }; + + std::vector expanded_bound = original_bound; + + // expand drivable area by using intersection area. + for (const auto & drivable_lane : drivable_lanes) { + const auto edge_lanelet = is_left ? drivable_lane.left_lane : drivable_lane.right_lane; + const auto lanelet_bound = is_left ? edge_lanelet.leftBound3d() : edge_lanelet.rightBound3d(); + + if (lanelet_bound.size() < 2) { + continue; + } + + const std::string id = edge_lanelet.attributeOr("intersection_area", "else"); + if (id == "else") { + continue; + } + + // Step1. extract intersection partial bound. + std::vector intersection_bound{}; + { + const auto polygon = + route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(id.c_str())); + + const auto is_clockwise_polygon = + boost::geometry::is_valid(lanelet::utils::to2D(polygon.basicPolygon())); + const auto is_clockwise_iteration = is_clockwise_polygon ? is_left : !is_left; + + const auto intersection_bound_itr_init = std::find_if( + polygon.begin(), polygon.end(), + [&lanelet_bound](const auto & p) { return p.id() == lanelet_bound.front().id(); }); + + const auto intersection_bound_itr_last = std::find_if( + polygon.begin(), polygon.end(), + [&lanelet_bound](const auto & p) { return p.id() == lanelet_bound.back().id(); }); + + if ( + intersection_bound_itr_init == polygon.end() || + intersection_bound_itr_last == polygon.end()) { + continue; + } + + // extract line strings between start_idx and end_idx. + const size_t start_idx = std::distance(polygon.begin(), intersection_bound_itr_init); + const size_t end_idx = std::distance(polygon.begin(), intersection_bound_itr_last); + + intersection_bound = + extract_bound_from_polygon(polygon, start_idx, end_idx, is_clockwise_iteration); + } + + // Step2. check shared bound point. + const auto shared_point_itr_init = + std::find_if(expanded_bound.begin(), expanded_bound.end(), [&](const auto & p) { + return std::any_of( + intersection_bound.begin(), intersection_bound.end(), + [&](const auto & point) { return point.id() == p.id(); }); + }); + + const auto shared_point_itr_last = + std::find_if(expanded_bound.rbegin(), expanded_bound.rend(), [&](const auto & p) { + return std::any_of( + intersection_bound.rbegin(), intersection_bound.rend(), + [&](const auto & point) { return point.id() == p.id(); }); + }); + + if ( + shared_point_itr_init == expanded_bound.end() || + shared_point_itr_last == expanded_bound.rend()) { + continue; + } + + // Step3. overwrite duplicate drivable bound by intersection bound. + { + const auto trim_point_itr_init = std::find_if( + intersection_bound.begin(), intersection_bound.end(), + [&](const auto & p) { return p.id() == shared_point_itr_init->id(); }); + + const auto trim_point_itr_last = std::find_if( + intersection_bound.begin(), intersection_bound.end(), + [&](const auto & p) { return p.id() == shared_point_itr_last->id(); }); + + if ( + trim_point_itr_init == intersection_bound.end() || + trim_point_itr_last == intersection_bound.end()) { + continue; + } + + // TODO(Satoshi OTA): remove this guard. + if ( + std::distance(intersection_bound.begin(), trim_point_itr_last) < + std::distance(intersection_bound.begin(), trim_point_itr_init)) { + continue; + } + + std::vector tmp_bound{}; + + tmp_bound.insert(tmp_bound.end(), expanded_bound.begin(), shared_point_itr_init); + tmp_bound.insert(tmp_bound.end(), trim_point_itr_init, trim_point_itr_last); + tmp_bound.insert( + tmp_bound.end(), std::next(shared_point_itr_last).base(), expanded_bound.end()); + + expanded_bound = tmp_bound; + } + } + + return expanded_bound; +} + +// calculate bounds from drivable lanes and hatched road markings +std::vector calcBound( + const std::shared_ptr route_handler, + const std::vector & drivable_lanes, + const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, + const bool is_left) +{ + // a function to convert drivable lanes to points without duplicated points + const auto convert_to_points = [&](const std::vector & drivable_lanes) { + constexpr double overlap_threshold = 0.01; + + std::vector points; + for (const auto & drivable_lane : drivable_lanes) { + const auto bound = + is_left ? drivable_lane.left_lane.leftBound3d() : drivable_lane.right_lane.rightBound3d(); + for (const auto & point : bound) { + if ( + points.empty() || + overlap_threshold < (points.back().basicPoint2d() - point.basicPoint2d()).norm()) { + points.push_back(point); + } + } + } + return points; + }; + + const auto to_ros_point = [](const std::vector & bound) { + std::vector ret{}; + std::for_each(bound.begin(), bound.end(), [&](const auto & p) { + ret.push_back(lanelet::utils::conversion::toGeomMsgPt(p)); + }); + return ret; + }; + + // Step1. create drivable bound from drivable lanes. + std::vector bound_points = convert_to_points(drivable_lanes); + + // Step2. if there is no drivable area defined by polygon, return original drivable bound. + if (!enable_expanding_hatched_road_markings && !enable_expanding_intersection_areas) { + return motion_utils::removeOverlapPoints(to_ros_point(bound_points)); + } + + // Step3. if there are hatched road markings, expand drivable bound with the polygon. + if (enable_expanding_hatched_road_markings) { + bound_points = getBoundWithHatchedRoadMarkings(bound_points, route_handler); + } + + if (!enable_expanding_intersection_areas) { + return motion_utils::removeOverlapPoints(to_ros_point(bound_points)); + } + + // Step4. if there are intersection areas, expand drivable bound with the polygon. + { + bound_points = + getBoundWithIntersectionAreas(bound_points, route_handler, drivable_lanes, is_left); + } + + return motion_utils::removeOverlapPoints(to_ros_point(bound_points)); +} + +void makeBoundLongitudinallyMonotonic( + PathWithLaneId & path, const std::shared_ptr & planner_data, + const bool is_bound_left) +{ + using motion_utils::findNearestSegmentIndex; + using tier4_autoware_utils::calcAzimuthAngle; + using tier4_autoware_utils::calcDistance2d; + using tier4_autoware_utils::calcOffsetPose; + using tier4_autoware_utils::createQuaternionFromRPY; + using tier4_autoware_utils::getPoint; + using tier4_autoware_utils::getPose; + using tier4_autoware_utils::intersect; + using tier4_autoware_utils::normalizeRadian; + + const auto set_orientation = []( + auto & bound_with_pose, const auto idx, const auto & orientation) { + bound_with_pose.at(idx).orientation = orientation; + }; + + const auto get_intersect_idx = []( + const auto & bound_with_pose, const auto start_idx, + const auto & p1, const auto & p2) -> boost::optional { + std::vector> intersects; + for (size_t i = start_idx; i < bound_with_pose.size() - 1; i++) { + const auto opt_intersect = + intersect(p1, p2, bound_with_pose.at(i).position, bound_with_pose.at(i + 1).position); + + if (!opt_intersect) { + continue; + } + + intersects.emplace_back(i, *opt_intersect); + } + + if (intersects.empty()) { + return boost::none; + } + + std::sort(intersects.begin(), intersects.end(), [&](const auto & a, const auto & b) { + return calcDistance2d(p1, a.second) < calcDistance2d(p1, b.second); + }); + + return intersects.front().first; + }; + + const auto get_bound_with_pose = [&](const auto & bound_with_pose, const auto & path_points) { + auto ret = bound_with_pose; + + const double offset = is_bound_left ? 100.0 : -100.0; + + size_t start_bound_idx = 0; + + const size_t start_path_idx = + findNearestSegmentIndex(path_points, bound_with_pose.front().position); + + // append bound point with point + for (size_t i = start_path_idx + 1; i < path_points.size(); i++) { + const auto p_path_offset = calcOffsetPose(getPose(path_points.at(i)), 0.0, offset, 0.0); + const auto intersect_idx = get_intersect_idx( + bound_with_pose, start_bound_idx, getPoint(path_points.at(i)), getPoint(p_path_offset)); + + if (!intersect_idx) { + continue; + } + + if (i + 1 == path_points.size()) { + for (size_t j = intersect_idx.get(); j < bound_with_pose.size(); j++) { + if (j + 1 == bound_with_pose.size()) { + const auto yaw = + calcAzimuthAngle(bound_with_pose.at(j - 1).position, bound_with_pose.at(j).position); + set_orientation(ret, j, createQuaternionFromRPY(0.0, 0.0, yaw)); + } else { + const auto yaw = + calcAzimuthAngle(bound_with_pose.at(j).position, bound_with_pose.at(j + 1).position); + set_orientation(ret, j, createQuaternionFromRPY(0.0, 0.0, yaw)); + } + } + } else { + for (size_t j = intersect_idx.get() + 1; j < bound_with_pose.size(); j++) { + set_orientation(ret, j, getPose(path_points.at(i)).orientation); + } + } + + constexpr size_t OVERLAP_CHECK_NUM = 3; + start_bound_idx = + intersect_idx.get() < OVERLAP_CHECK_NUM ? 0 : intersect_idx.get() - OVERLAP_CHECK_NUM; + } + + return ret; + }; + + const auto is_non_monotonic = [&]( + const auto & base_pose, const auto & point, + const auto is_points_left, const auto is_reverse) { + const auto p_transformed = tier4_autoware_utils::inverseTransformPoint(point, base_pose); + if (p_transformed.x < 0.0 && p_transformed.y > 0.0) { + return is_points_left && !is_reverse; + } + + if (p_transformed.x < 0.0 && p_transformed.y < 0.0) { + return !is_points_left && !is_reverse; + } + + if (p_transformed.x > 0.0 && p_transformed.y > 0.0) { + return is_points_left && is_reverse; + } + + if (p_transformed.x > 0.0 && p_transformed.y < 0.0) { + return !is_points_left && is_reverse; + } + + return false; + }; + + // define a function to remove non monotonic point on bound + const auto remove_non_monotonic_point = [&](const auto & bound_with_pose, const bool is_reverse) { + std::vector monotonic_bound; + + size_t bound_idx = 0; + while (true) { + monotonic_bound.push_back(bound_with_pose.at(bound_idx)); + + if (bound_idx + 1 == bound_with_pose.size()) { + break; + } + + // NOTE: is_bound_left is used instead of is_points_left since orientation of path point is + // opposite. + const double lat_offset = is_bound_left ? 100.0 : -100.0; + + const auto p_bound_1 = getPose(bound_with_pose.at(bound_idx)); + const auto p_bound_2 = getPose(bound_with_pose.at(bound_idx + 1)); + + const auto p_bound_offset = calcOffsetPose(p_bound_1, 0.0, lat_offset, 0.0); + + if (!is_non_monotonic(p_bound_1, p_bound_2.position, is_bound_left, is_reverse)) { + bound_idx++; + continue; + } + + // skip non monotonic points + for (size_t i = bound_idx + 1; i < bound_with_pose.size() - 1; ++i) { + const auto intersect_point = intersect( + p_bound_1.position, p_bound_offset.position, bound_with_pose.at(i).position, + bound_with_pose.at(i + 1).position); + + if (intersect_point) { + Pose pose; + pose.position = *intersect_point; + pose.position.z = bound_with_pose.at(i).position.z; + const auto yaw = calcAzimuthAngle(*intersect_point, bound_with_pose.at(i + 1).position); + pose.orientation = createQuaternionFromRPY(0.0, 0.0, yaw); + monotonic_bound.push_back(pose); + bound_idx = i; + break; + } + } + + bound_idx++; + } + + return monotonic_bound; + }; + + const auto remove_orientation = [](const auto & bound_with_pose) { + std::vector ret; + + ret.reserve(bound_with_pose.size()); + + std::for_each(bound_with_pose.begin(), bound_with_pose.end(), [&ret](const auto & p) { + ret.push_back(p.position); + }); + + return ret; + }; + + const auto remove_sharp_points = [](const auto & bound) { + if (bound.size() < 2) { + return bound; + } + + std::vector ret = bound; + auto itr = std::next(ret.begin()); + while (std::next(itr) != ret.end()) { + if (itr == ret.begin()) { + itr++; + continue; + } + + const auto p1 = *std::prev(itr); + const auto p2 = *itr; + const auto p3 = *std::next(itr); + + const std::vector vec_1to2 = {p2.x - p1.x, p2.y - p1.y, p2.z - p1.z}; + const std::vector vec_3to2 = {p2.x - p3.x, p2.y - p3.y, p2.z - p3.z}; + const auto product = + std::inner_product(vec_1to2.begin(), vec_1to2.end(), vec_3to2.begin(), 0.0); + + const auto dist_1to2 = tier4_autoware_utils::calcDistance3d(p1, p2); + const auto dist_3to2 = tier4_autoware_utils::calcDistance3d(p3, p2); + + constexpr double epsilon = 1e-3; + + // Remove overlapped point. + if (dist_1to2 < epsilon || dist_3to2 < epsilon) { + itr = std::prev(ret.erase(itr)); + continue; + } + + // If the angle between the points is sharper than 45 degrees, remove the middle point. + if (std::cos(M_PI_4) < product / dist_1to2 / dist_3to2 + epsilon) { + itr = std::prev(ret.erase(itr)); + continue; + } + + itr++; + } + + return ret; + }; + + const auto original_bound = is_bound_left ? path.left_bound : path.right_bound; + + if (path.points.empty()) { + return; + } + + if (original_bound.empty()) { + return; + } + + if (path.points.front().lane_ids.empty()) { + return; + } + + // step.1 create bound with pose vector. + std::vector original_bound_with_pose; + { + original_bound_with_pose.reserve(original_bound.size()); + + std::for_each(original_bound.begin(), original_bound.end(), [&](const auto & p) { + Pose pose; + pose.position = p; + original_bound_with_pose.push_back(pose); + }); + + for (size_t i = 0; i < original_bound_with_pose.size(); i++) { + if (i + 1 == original_bound_with_pose.size()) { + const auto yaw = calcAzimuthAngle( + original_bound_with_pose.at(i - 1).position, original_bound_with_pose.at(i).position); + set_orientation(original_bound_with_pose, i, createQuaternionFromRPY(0.0, 0.0, yaw)); + } else { + const auto yaw = calcAzimuthAngle( + original_bound_with_pose.at(i).position, original_bound_with_pose.at(i + 1).position); + set_orientation(original_bound_with_pose, i, createQuaternionFromRPY(0.0, 0.0, yaw)); + } + } + } + + // step.2 get base pose vector. + std::vector clipped_points; + { + const auto & route_handler = planner_data->route_handler; + const auto p = planner_data->parameters; + const auto start_id = path.points.front().lane_ids.front(); + const auto start_lane = planner_data->route_handler->getLaneletsFromId(start_id); + + const auto lanelet_sequence = + route_handler->getLaneletSequence(start_lane, p.backward_path_length, p.forward_path_length); + const auto centerline_path = getCenterLinePath( + *route_handler, lanelet_sequence, getPose(path.points.front()), p.backward_path_length, + p.forward_path_length, p); + + if (centerline_path.points.size() < 2) { + return; + } + + const auto ego_idx = planner_data->findEgoIndex(centerline_path.points); + const auto end_idx = findNearestSegmentIndex(centerline_path.points, original_bound.back()); + + if (ego_idx >= end_idx) { + return; + } + + clipped_points.insert( + clipped_points.end(), centerline_path.points.begin() + ego_idx, + centerline_path.points.begin() + end_idx + 1); + } + + if (clipped_points.empty()) { + return; + } + + // step.3 update bound pose by reference path pose. + const auto updated_bound_with_pose = + get_bound_with_pose(original_bound_with_pose, clipped_points); // for reverse + + // step.4 create remove monotonic points by forward direction. + auto half_monotonic_bound_with_pose = + remove_non_monotonic_point(updated_bound_with_pose, false); // for reverse + std::reverse(half_monotonic_bound_with_pose.begin(), half_monotonic_bound_with_pose.end()); + + // step.5 create remove monotonic points by backward direction. + auto full_monotonic_bound_with_pose = + remove_non_monotonic_point(half_monotonic_bound_with_pose, true); + std::reverse(full_monotonic_bound_with_pose.begin(), full_monotonic_bound_with_pose.end()); + + // step.6 remove orientation from bound with pose. + auto full_monotonic_bound = remove_orientation(full_monotonic_bound_with_pose); + + // step.7 remove sharp bound points. + if (is_bound_left) { + path.left_bound = remove_sharp_points(full_monotonic_bound); + } else { + path.right_bound = remove_sharp_points(full_monotonic_bound); + } +} + +std::vector combineDrivableLanes( + const std::vector & original_drivable_lanes_vec, + const std::vector & new_drivable_lanes_vec) +{ + const auto has_same_lane = + [](const lanelet::ConstLanelet & target_lane, const lanelet::ConstLanelets & lanes) { + return std::find_if(lanes.begin(), lanes.end(), [&](const auto & ll) { + return ll.id() == target_lane.id(); + }) != lanes.end(); + }; + + const auto convert_to_lanes = [](const DrivableLanes & drivable_lanes) { + auto lanes = drivable_lanes.middle_lanes; + lanes.push_back(drivable_lanes.right_lane); + lanes.push_back(drivable_lanes.left_lane); + return lanes; + }; + + auto updated_drivable_lanes_vec = original_drivable_lanes_vec; + size_t new_drivable_lanes_idx = 0; + for (auto & updated_drivable_lanes : updated_drivable_lanes_vec) { + // calculated corresponding index of new_drivable_lanes + const auto opt_new_drivable_lanes_idx = [&]() -> std::optional { + for (size_t n_idx = 0; n_idx < new_drivable_lanes_vec.size(); ++n_idx) { + for (const auto & ll : convert_to_lanes(updated_drivable_lanes)) { + if (has_same_lane(ll, convert_to_lanes(new_drivable_lanes_vec.at(n_idx)))) { + return n_idx; + } + } + } + return std::nullopt; + }(); + if (!opt_new_drivable_lanes_idx) { + continue; + } + new_drivable_lanes_idx = *opt_new_drivable_lanes_idx; + const auto & new_drivable_lanes = new_drivable_lanes_vec.at(new_drivable_lanes_idx); + + // update left lane + if (has_same_lane(updated_drivable_lanes.left_lane, convert_to_lanes(new_drivable_lanes))) { + updated_drivable_lanes.left_lane = new_drivable_lanes.left_lane; + } + // update right lane + if (has_same_lane(updated_drivable_lanes.right_lane, convert_to_lanes(new_drivable_lanes))) { + updated_drivable_lanes.right_lane = new_drivable_lanes.right_lane; + } + // update middle lanes + for (const auto & middle_lane : convert_to_lanes(new_drivable_lanes)) { + if (!has_same_lane(middle_lane, convert_to_lanes(updated_drivable_lanes))) { + updated_drivable_lanes.middle_lanes.push_back(middle_lane); + } + } + + // validate middle lanes + auto & middle_lanes = updated_drivable_lanes.middle_lanes; + if (has_same_lane(updated_drivable_lanes.right_lane, middle_lanes)) { + middle_lanes.erase( + std::remove( + std::begin(middle_lanes), std::end(middle_lanes), updated_drivable_lanes.right_lane), + std::cend(middle_lanes)); + } + if (has_same_lane(updated_drivable_lanes.left_lane, middle_lanes)) { + middle_lanes.erase( + std::remove( + std::begin(middle_lanes), std::end(middle_lanes), updated_drivable_lanes.left_lane), + std::cend(middle_lanes)); + } + } + // NOTE: If original_drivable_lanes_vec is shorter than new_drivable_lanes_vec, push back remained + // new_drivable_lanes_vec. + if (new_drivable_lanes_idx + 1 < new_drivable_lanes_vec.size()) { + updated_drivable_lanes_vec.insert( + updated_drivable_lanes_vec.end(), new_drivable_lanes_vec.begin() + new_drivable_lanes_idx + 1, + new_drivable_lanes_vec.end()); + } + + return updated_drivable_lanes_vec; +} + +DrivableAreaInfo combineDrivableAreaInfo( + const DrivableAreaInfo & drivable_area_info1, const DrivableAreaInfo & drivable_area_info2) +{ + DrivableAreaInfo combined_drivable_area_info; + + // drivable lanes + combined_drivable_area_info.drivable_lanes = + combineDrivableLanes(drivable_area_info1.drivable_lanes, drivable_area_info2.drivable_lanes); + + // obstacles + for (const auto & obstacle : drivable_area_info1.obstacles) { + combined_drivable_area_info.obstacles.push_back(obstacle); + } + for (const auto & obstacle : drivable_area_info2.obstacles) { + combined_drivable_area_info.obstacles.push_back(obstacle); + } + + // enable expanding hatched road markings + combined_drivable_area_info.enable_expanding_hatched_road_markings = + drivable_area_info1.enable_expanding_hatched_road_markings || + drivable_area_info2.enable_expanding_hatched_road_markings; + + // enable expanding intersection areas + combined_drivable_area_info.enable_expanding_intersection_areas = + drivable_area_info1.enable_expanding_intersection_areas || + drivable_area_info2.enable_expanding_intersection_areas; + + return combined_drivable_area_info; +} + +lanelet::ConstLanelets combineLanelets( + const lanelet::ConstLanelets & base_lanes, const lanelet::ConstLanelets & added_lanes) +{ + lanelet::ConstLanelets combined_lanes = base_lanes; + for (const auto & added_lane : added_lanes) { + const auto it = std::find_if( + combined_lanes.begin(), combined_lanes.end(), + [&added_lane](const lanelet::ConstLanelet & lane) { return lane.id() == added_lane.id(); }); + if (it == combined_lanes.end()) { + combined_lanes.push_back(added_lane); + } + } + + return combined_lanes; +} +} // namespace behavior_path_planner::utils diff --git a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp index 60cc2d19c5f35..ac8e458fd0d6c 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp @@ -14,6 +14,7 @@ #include "behavior_path_planner/utils/goal_planner/shift_pull_over.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/goal_planner/util.hpp" #include "behavior_path_planner/utils/path_utils.hpp" diff --git a/planning/behavior_path_planner/src/utils/path_utils.cpp b/planning/behavior_path_planner/src/utils/path_utils.cpp index a6d7bc0040c23..44501977eacd6 100644 --- a/planning/behavior_path_planner/src/utils/path_utils.cpp +++ b/planning/behavior_path_planner/src/utils/path_utils.cpp @@ -14,9 +14,11 @@ #include "behavior_path_planner/utils/path_utils.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/utils.hpp" #include +#include #include #include #include @@ -589,4 +591,107 @@ boost::optional getFirstStopPoseFromPath(const PathWithLaneId & path) } return boost::none; } + +BehaviorModuleOutput getReferencePath( + const lanelet::ConstLanelet & current_lane, + const std::shared_ptr & planner_data) +{ + PathWithLaneId reference_path{}; + + const auto & route_handler = planner_data->route_handler; + const auto current_pose = planner_data->self_odometry->pose.pose; + const auto p = planner_data->parameters; + + // Set header + reference_path.header = route_handler->getRouteHeader(); + + // calculate path with backward margin to avoid end points' instability by spline interpolation + constexpr double extra_margin = 10.0; + const double backward_length = p.backward_path_length + extra_margin; + const auto current_lanes_with_backward_margin = + route_handler->getLaneletSequence(current_lane, backward_length, p.forward_path_length); + const auto no_shift_pose = + lanelet::utils::getClosestCenterPose(current_lane, current_pose.position); + reference_path = getCenterLinePath( + *route_handler, current_lanes_with_backward_margin, no_shift_pose, backward_length, + p.forward_path_length, p); + + // clip backward length + // NOTE: In order to keep backward_path_length at least, resampling interval is added to the + // backward. + const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( + reference_path.points, no_shift_pose, p.ego_nearest_dist_threshold, + p.ego_nearest_yaw_threshold); + reference_path.points = motion_utils::cropPoints( + reference_path.points, no_shift_pose.position, current_seg_idx, p.forward_path_length, + p.backward_path_length + p.input_path_interval); + + const auto drivable_lanelets = getLaneletsFromPath(reference_path, route_handler); + const auto drivable_lanes = generateDrivableLanes(drivable_lanelets); + + const auto & dp = planner_data->drivable_area_expansion_parameters; + + const auto shorten_lanes = cutOverlappedLanes(reference_path, drivable_lanes); + const auto expanded_lanes = expandLanelets( + shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, + dp.drivable_area_types_to_skip); + + BehaviorModuleOutput output; + output.path = std::make_shared(reference_path); + output.reference_path = std::make_shared(reference_path); + output.drivable_area_info.drivable_lanes = drivable_lanes; + + return output; +} + +BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr & planner_data) +{ + BehaviorModuleOutput output; + + const auto & route_handler = planner_data->route_handler; + const auto & modified_goal = planner_data->prev_modified_goal; + + const Pose goal_pose = modified_goal ? modified_goal->pose : route_handler->getGoalPose(); + const auto shoulder_lanes = route_handler->getShoulderLanelets(); + + lanelet::ConstLanelet goal_lane; + const bool is_failed_getting_lanelet = std::invoke([&]() { + if (isInLanelets(goal_pose, shoulder_lanes)) { + return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); + } + return !route_handler->getGoalLanelet(&goal_lane); + }); + if (is_failed_getting_lanelet) { + return output; + } + + constexpr double backward_length = 1.0; + const auto arc_coord = lanelet::utils::getArcCoordinates({goal_lane}, goal_pose); + const double s_start = std::max(arc_coord.length - backward_length, 0.0); + const double s_end = arc_coord.length; + + auto reference_path = route_handler->getCenterLinePath({goal_lane}, s_start, s_end); + + const auto drivable_lanelets = getLaneletsFromPath(reference_path, route_handler); + const auto drivable_lanes = generateDrivableLanes(drivable_lanelets); + + const auto & dp = planner_data->drivable_area_expansion_parameters; + + const auto shorten_lanes = cutOverlappedLanes(reference_path, drivable_lanes); + const auto expanded_lanes = expandLanelets( + shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, + dp.drivable_area_types_to_skip); + + // Insert zero velocity to each point in the path. + for (auto & point : reference_path.points) { + point.point.longitudinal_velocity_mps = 0.0; + } + + output.path = std::make_shared(reference_path); + output.reference_path = std::make_shared(reference_path); + output.drivable_area_info.drivable_lanes = drivable_lanes; + + return output; +} + } // namespace behavior_path_planner::utils diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index 0d1eaef0237b3..763719f11ebd9 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -14,7 +14,6 @@ #include "behavior_path_planner/utils/utils.hpp" -#include "behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp" #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp" #include "motion_utils/trajectory/path_with_lane_id.hpp" #include "object_recognition_utils/predicted_path_utils.hpp" @@ -68,68 +67,6 @@ double calcInterpolatedVelocity( const double interpolated_vel = std::abs(seg_dist) < 1e-06 ? next_vel : closest_vel; return interpolated_vel; } - -template -size_t findNearestSegmentIndex( - const std::vector & points, const geometry_msgs::msg::Pose & pose, const double dist_threshold, - const double yaw_threshold) -{ - const auto nearest_idx = - motion_utils::findNearestSegmentIndex(points, pose, dist_threshold, yaw_threshold); - if (nearest_idx) { - return nearest_idx.get(); - } - - return motion_utils::findNearestSegmentIndex(points, pose.position); -} - -template -size_t findNearestSegmentIndexFromLateralDistance( - const std::vector & points, const geometry_msgs::msg::Point & target_point) -{ - std::optional closest_idx{std::nullopt}; - double min_lateral_dist = std::numeric_limits::max(); - for (size_t seg_idx = 0; seg_idx < points.size() - 1; ++seg_idx) { - const double lon_dist = - motion_utils::calcLongitudinalOffsetToSegment(points, seg_idx, target_point); - const double segment_length = - tier4_autoware_utils::calcDistance2d(points.at(seg_idx), points.at(seg_idx + 1)); - const double lat_dist = [&]() { - if (lon_dist < 0.0) { - return tier4_autoware_utils::calcDistance2d(points.at(seg_idx), target_point); - } - if (segment_length < lon_dist) { - return tier4_autoware_utils::calcDistance2d(points.at(seg_idx + 1), target_point); - } - return std::abs(motion_utils::calcLateralOffset(points, target_point, seg_idx)); - }(); - if (lat_dist < min_lateral_dist) { - closest_idx = seg_idx; - min_lateral_dist = lat_dist; - } - } - - if (closest_idx) { - return *closest_idx; - } - - return motion_utils::findNearestSegmentIndex(points, target_point); -} - -bool checkHasSameLane( - const lanelet::ConstLanelets & lanelets, const lanelet::ConstLanelet & target_lane) -{ - if (lanelets.empty()) return false; - - const auto has_same = [&](const auto & ll) { return ll.id() == target_lane.id(); }; - return std::find_if(lanelets.begin(), lanelets.end(), has_same) != lanelets.end(); -} - -bool isSamePoint(const geometry_msgs::msg::Point & point1, const geometry_msgs::msg::Point & point2) -{ - constexpr double epsilon = 1e-3; - return std::abs(point1.x - point2.x) < epsilon && std::abs(point1.y - point2.y) < epsilon; -} } // namespace namespace behavior_path_planner::utils @@ -140,413 +77,6 @@ using geometry_msgs::msg::PoseWithCovarianceStamped; using tf2::fromMsg; using tier4_autoware_utils::Point2d; -namespace drivable_area_processing -{ -boost::optional> intersectBound( - const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2, - const std::vector & bound, const size_t seg_idx1, - const size_t seg_idx2) -{ - const size_t start_idx = - static_cast(std::max(0, static_cast(std::min(seg_idx1, seg_idx2)) - 5)); - const size_t end_idx = static_cast(std::min( - static_cast(bound.size()) - 1, static_cast(std::max(seg_idx1, seg_idx2)) + 1 + 5)); - for (int i = start_idx; i < static_cast(end_idx); ++i) { - const auto intersect_point = - tier4_autoware_utils::intersect(p1, p2, bound.at(i), bound.at(i + 1)); - if (intersect_point) { - std::pair result; - result.first = static_cast(i); - result.second = *intersect_point; - return result; - } - } - return boost::none; -} - -double calcDistanceFromPointToSegment( - const geometry_msgs::msg::Point & segment_start_point, - const geometry_msgs::msg::Point & segment_end_point, - const geometry_msgs::msg::Point & target_point) -{ - const auto & a = segment_start_point; - const auto & b = segment_end_point; - const auto & p = target_point; - - const double dot_val = (b.x - a.x) * (p.x - a.x) + (b.y - a.y) * (p.y - a.y); - const double squared_segment_length = tier4_autoware_utils::calcSquaredDistance2d(a, b); - if (0 <= dot_val && dot_val <= squared_segment_length) { - const double numerator = std::abs((p.x - a.x) * (a.y - b.y) - (p.y - a.y) * (a.x - b.x)); - const double denominator = std::sqrt(std::pow(a.x - b.x, 2) + std::pow(a.y - b.y, 2)); - return numerator / denominator; - } - - // target_point is outside the segment. - return std::min( - tier4_autoware_utils::calcDistance2d(a, p), tier4_autoware_utils::calcDistance2d(b, p)); -} - -PolygonPoint transformBoundFrenetCoordinate( - const std::vector & bound_points, - const geometry_msgs::msg::Point & target_point) -{ - // NOTE: findNearestSegmentIndex cannot be used since a bound's interval is sometimes too large to - // find wrong nearest index. - std::vector dist_to_bound_segment_vec; - for (size_t i = 0; i < bound_points.size() - 1; ++i) { - const double dist_to_bound_segment = - calcDistanceFromPointToSegment(bound_points.at(i), bound_points.at(i + 1), target_point); - dist_to_bound_segment_vec.push_back(dist_to_bound_segment); - } - - const size_t min_dist_seg_idx = std::distance( - dist_to_bound_segment_vec.begin(), - std::min_element(dist_to_bound_segment_vec.begin(), dist_to_bound_segment_vec.end())); - const double lon_dist_to_segment = - motion_utils::calcLongitudinalOffsetToSegment(bound_points, min_dist_seg_idx, target_point); - const double lat_dist_to_segment = - motion_utils::calcLateralOffset(bound_points, target_point, min_dist_seg_idx); - return PolygonPoint{target_point, min_dist_seg_idx, lon_dist_to_segment, lat_dist_to_segment}; -} - -std::vector generatePolygonInsideBounds( - const std::vector & bound, const std::vector & edge_points, - const bool is_object_right) -{ - constexpr double invalid_lat_dist_to_bound = 10.0; - - std::vector full_polygon; - for (const auto & edge_point : edge_points) { - const auto polygon_point = transformBoundFrenetCoordinate(bound, edge_point); - - // check lat dist for U-turn roads. - if ( - (is_object_right && invalid_lat_dist_to_bound < polygon_point.lat_dist_to_bound) || - (!is_object_right && polygon_point.lat_dist_to_bound < -invalid_lat_dist_to_bound)) { - return {}; - } - full_polygon.push_back(polygon_point); - } - - // 1. check the case where the polygon intersects the bound - std::vector inside_poly; - bool has_intersection = false; // NOTE: between obstacle polygon and bound - for (int i = 0; i < static_cast(full_polygon.size()); ++i) { - const auto & curr_poly = full_polygon.at(i); - const auto & prev_poly = full_polygon.at(i == 0 ? full_polygon.size() - 1 : i - 1); - - const bool is_curr_outside = curr_poly.is_outside_bounds(is_object_right); - const bool is_prev_outside = prev_poly.is_outside_bounds(is_object_right); - - if (is_curr_outside && is_prev_outside) { - continue; - } - if (!is_curr_outside && !is_prev_outside) { - inside_poly.push_back(curr_poly); - continue; - } - - const auto intersection = intersectBound( - prev_poly.point, curr_poly.point, bound, prev_poly.bound_seg_idx, curr_poly.bound_seg_idx); - if (!intersection) { - continue; - } - const double lon_dist = motion_utils::calcLongitudinalOffsetToSegment( - bound, intersection->first, intersection->second); - const auto intersect_point = - PolygonPoint{intersection->second, intersection->first, lon_dist, 0.0}; - has_intersection = true; - - if (is_prev_outside && !is_curr_outside) { - inside_poly.push_back(intersect_point); - inside_poly.push_back(curr_poly); - continue; - } - // Here is if (!is_prev_outside && is_curr_outside). - inside_poly.push_back(prev_poly); - inside_poly.push_back(intersect_point); - continue; - } - if (has_intersection) { - return inside_poly; - } - - // 2. check the case where the polygon does not intersect the bound - const bool is_polygon_fully_inside_bounds = [&]() { - for (const auto & curr_poly : full_polygon) { - const bool is_curr_outside = curr_poly.is_outside_bounds(is_object_right); - if (is_curr_outside) { - return false; - } - } - return true; - }(); - if (is_polygon_fully_inside_bounds) { - return full_polygon; - } - - return std::vector{}; -} - -std::vector convertToGeometryPoints( - const std::vector & polygon_points) -{ - std::vector points; - points.reserve(polygon_points.size()); - - for (const auto & polygon_point : polygon_points) { - points.push_back(polygon_point.point); - } - return points; -} - -// NOTE: See the PR's figure. https://github.com/autowarefoundation/autoware.universe/pull/2880 -std::vector concatenateTwoPolygons( - const std::vector & front_polygon, const std::vector & back_polygon) -{ - const auto make_unique_polygon = [&](const auto & polygon) { - std::vector unique_polygon; - for (const auto & point : polygon) { - if (!unique_polygon.empty() && isSamePoint(unique_polygon.back().point, point.point)) { - continue; - } - unique_polygon.push_back(point); - } - return unique_polygon; - }; - const auto unique_front_polygon = make_unique_polygon(front_polygon); - const auto unique_back_polygon = make_unique_polygon(back_polygon); - - // At first, the front polygon is the outside polygon - bool is_front_polygon_outside = true; - size_t before_outside_idx = 0; - - const auto get_out_poly = [&]() { - return is_front_polygon_outside ? unique_front_polygon : unique_back_polygon; - }; - const auto get_in_poly = [&]() { - return is_front_polygon_outside ? unique_back_polygon : unique_front_polygon; - }; - - // NOTE: Polygon points is assumed to be clock-wise. - std::vector concatenated_polygon; - // NOTE: Maximum number of loop is set to avoid infinity loop calculation just in case. - const size_t max_loop_num = (unique_front_polygon.size() + unique_back_polygon.size()) * 2; - for (size_t loop_idx = 0; loop_idx < max_loop_num; ++loop_idx) { - concatenated_polygon.push_back(get_out_poly().at(before_outside_idx)); - if (before_outside_idx == get_out_poly().size() - 1) { - break; - } - const size_t curr_idx = before_outside_idx; - const size_t next_idx = before_outside_idx + 1; - - // NOTE: Two polygons may have two intersection points. Therefore the closest intersection - // point is used. - std::optional closest_idx = std::nullopt; - double min_dist_to_intersection = std::numeric_limits::max(); - PolygonPoint closest_intersect_point; - for (size_t i = 0; i < get_in_poly().size() - 1; ++i) { - const auto intersection = tier4_autoware_utils::intersect( - get_out_poly().at(curr_idx).point, get_out_poly().at(next_idx).point, - get_in_poly().at(i).point, get_in_poly().at(i + 1).point); - if (!intersection) { - continue; - } - if ( - isSamePoint(get_out_poly().at(curr_idx).point, get_in_poly().at(i).point) || - isSamePoint(get_out_poly().at(curr_idx).point, get_in_poly().at(i + 1).point) || - isSamePoint(get_out_poly().at(next_idx).point, get_in_poly().at(i).point) || - isSamePoint(get_out_poly().at(next_idx).point, get_in_poly().at(i + 1).point)) { - // NOTE: If the segments shares one point, the while loop will not end. - continue; - } - - const auto intersect_point = PolygonPoint{*intersection, 0, 0.0, 0.0}; - const double dist_to_intersection = - tier4_autoware_utils::calcDistance2d(get_out_poly().at(curr_idx).point, *intersection); - if (dist_to_intersection < min_dist_to_intersection) { - closest_idx = i; - min_dist_to_intersection = dist_to_intersection; - closest_intersect_point = intersect_point; - } - } - - if (closest_idx) { - before_outside_idx = *closest_idx; - concatenated_polygon.push_back(closest_intersect_point); - is_front_polygon_outside = !is_front_polygon_outside; - } - - before_outside_idx += 1; - - if (loop_idx == max_loop_num - 1) { - return front_polygon; - } - } - - return concatenated_polygon; -} - -std::vector> concatenatePolygons( - const std::vector> & polygons) -{ - auto unique_polygons = polygons; - - while (rclcpp::ok()) { - bool is_updated = false; - - for (size_t i = 0; i < unique_polygons.size(); ++i) { - for (size_t j = 0; j < i; ++j) { - const auto & p1 = unique_polygons.at(i); - const auto & p2 = unique_polygons.at(j); - - // if p1 and p2 overlaps - if (p1.back().is_after(p2.front()) && p2.back().is_after(p1.front())) { - is_updated = true; - - const auto concatenated_polygon = [&]() { - if (p2.front().is_after(p1.front())) { - return concatenateTwoPolygons(p1, p2); - } - return concatenateTwoPolygons(p2, p1); - }(); - - // NOTE: remove i's element first since is larger than j. - unique_polygons.erase(unique_polygons.begin() + i); - unique_polygons.erase(unique_polygons.begin() + j); - - unique_polygons.push_back(concatenated_polygon); - break; - } - } - if (is_updated) { - break; - } - } - - if (!is_updated) { - break; - } - } - return unique_polygons; -} - -std::vector getPolygonPointsInsideBounds( - const std::vector & bound, const std::vector & edge_points, - const bool is_object_right) -{ - // NOTE: Polygon is defined at lest by three points. - if (edge_points.size() < 3) { - return std::vector(); - } - - // convert to vector of PolygonPoint - const auto inside_polygon = [&]() { - auto tmp_polygon = generatePolygonInsideBounds(bound, edge_points, is_object_right); - - // In order to make the order of points the same as the order of lon_dist_to_segment. - // The order of points is clockwise. - if (!is_object_right) { - std::reverse(tmp_polygon.begin(), tmp_polygon.end()); - } - return tmp_polygon; - }(); - if (inside_polygon.empty()) { - return std::vector(); - } - - // search start and end index by longitudinal distance - std::vector polygon_indices(inside_polygon.size()); - std::iota(polygon_indices.begin(), polygon_indices.end(), 0); - std::sort(polygon_indices.begin(), polygon_indices.end(), [&](int i1, int i2) { - return inside_polygon.at(i2).is_after(inside_polygon.at(i1)); - }); - const int start_idx = polygon_indices.front(); - const int end_idx = polygon_indices.back(); - - // calculate valid inside polygon - std::vector valid_inside_polygon; - for (int i = 0; i < (end_idx - start_idx + static_cast(polygon_indices.size())) % - static_cast(polygon_indices.size()) + - 1; - ++i) { - const int poly_idx = (start_idx + i) % static_cast(inside_polygon.size()); - valid_inside_polygon.push_back(inside_polygon.at(poly_idx)); - } - - // add start and end points projected to bound if necessary - if (inside_polygon.at(start_idx).lat_dist_to_bound != 0.0) { // not on bound - auto start_point = inside_polygon.at(start_idx); - const auto start_point_on_bound = motion_utils::calcLongitudinalOffsetPoint( - bound, start_point.bound_seg_idx, start_point.lon_dist_to_segment); - if (start_point_on_bound) { - start_point.point = start_point_on_bound.get(); - valid_inside_polygon.insert(valid_inside_polygon.begin(), start_point); - } - } - if (inside_polygon.at(end_idx).lat_dist_to_bound != 0.0) { // not on bound - auto end_point = inside_polygon.at(end_idx); - const auto end_point_on_bound = motion_utils::calcLongitudinalOffsetPoint( - bound, end_point.bound_seg_idx, end_point.lon_dist_to_segment); - if (end_point_on_bound) { - end_point.point = end_point_on_bound.get(); - valid_inside_polygon.insert(valid_inside_polygon.end(), end_point); - } - } - return valid_inside_polygon; -} - -std::vector updateBoundary( - const std::vector & original_bound, - const std::vector> & sorted_polygons) -{ - if (sorted_polygons.empty()) { - return original_bound; - } - - auto reversed_polygons = sorted_polygons; - std::reverse(reversed_polygons.begin(), reversed_polygons.end()); - - auto updated_bound = original_bound; - - // NOTE: Further obstacle is applied first since a part of the updated_bound is erased. - for (const auto & polygon : reversed_polygons) { - const auto & start_poly = polygon.front(); - const auto & end_poly = polygon.back(); - - const double front_offset = motion_utils::calcLongitudinalOffsetToSegment( - updated_bound, start_poly.bound_seg_idx, start_poly.point); - - const size_t removed_start_idx = - 0 < front_offset ? start_poly.bound_seg_idx + 1 : start_poly.bound_seg_idx; - const size_t removed_end_idx = end_poly.bound_seg_idx; - - updated_bound.erase( - updated_bound.begin() + removed_start_idx, updated_bound.begin() + removed_end_idx + 1); - - const auto obj_points = convertToGeometryPoints(polygon); - updated_bound.insert( - updated_bound.begin() + removed_start_idx, obj_points.begin(), obj_points.end()); - } - return updated_bound; -} - -[[maybe_unused]] geometry_msgs::msg::Point calcCenterOfGeometry(const Polygon2d & obj_poly) -{ - geometry_msgs::msg::Point center_pos; - for (const auto & point : obj_poly.outer()) { - center_pos.x += point.x(); - center_pos.y += point.y(); - } - - center_pos.x = center_pos.x / obj_poly.outer().size(); - center_pos.y = center_pos.y / obj_poly.outer().size(); - center_pos.z = center_pos.z / obj_poly.outer().size(); - - return center_pos; -} -} // namespace drivable_area_processing - std::optional getPolygonByPoint( const std::shared_ptr & route_handler, const lanelet::ConstPoint3d & point, const std::string & polygon_name) @@ -936,56 +466,6 @@ bool containsGoal(const lanelet::ConstLanelets & lanes, const lanelet::Id & goal return false; } -BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr & planner_data) -{ - BehaviorModuleOutput output; - - const auto & route_handler = planner_data->route_handler; - const auto & modified_goal = planner_data->prev_modified_goal; - - const Pose goal_pose = modified_goal ? modified_goal->pose : route_handler->getGoalPose(); - const auto shoulder_lanes = route_handler->getShoulderLanelets(); - - lanelet::ConstLanelet goal_lane; - const bool is_failed_getting_lanelet = std::invoke([&]() { - if (isInLanelets(goal_pose, shoulder_lanes)) { - return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); - } - return !route_handler->getGoalLanelet(&goal_lane); - }); - if (is_failed_getting_lanelet) { - return output; - } - - constexpr double backward_length = 1.0; - const auto arc_coord = lanelet::utils::getArcCoordinates({goal_lane}, goal_pose); - const double s_start = std::max(arc_coord.length - backward_length, 0.0); - const double s_end = arc_coord.length; - - auto reference_path = route_handler->getCenterLinePath({goal_lane}, s_start, s_end); - - const auto drivable_lanelets = getLaneletsFromPath(reference_path, route_handler); - const auto drivable_lanes = generateDrivableLanes(drivable_lanelets); - - const auto & dp = planner_data->drivable_area_expansion_parameters; - - const auto shorten_lanes = cutOverlappedLanes(reference_path, drivable_lanes); - const auto expanded_lanes = expandLanelets( - shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, - dp.drivable_area_types_to_skip); - - // Insert zero velocity to each point in the path. - for (auto & point : reference_path.points) { - point.point.longitudinal_velocity_mps = 0.0; - } - - output.path = std::make_shared(reference_path); - output.reference_path = std::make_shared(reference_path); - output.drivable_area_info.drivable_lanes = drivable_lanes; - - return output; -} - bool isInLanelets(const Pose & pose, const lanelet::ConstLanelets & lanes) { for (const auto & lane : lanes) { @@ -1018,1285 +498,160 @@ bool isEgoOutOfRoute( : route_handler->getGoalPose(); const auto shoulder_lanes = route_handler->getShoulderLanelets(); - lanelet::ConstLanelet goal_lane; - const bool is_failed_getting_lanelet = std::invoke([&]() { - if (utils::isInLanelets(goal_pose, shoulder_lanes)) { - return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); - } - return !route_handler->getGoalLanelet(&goal_lane); - }); - if (is_failed_getting_lanelet) { - RCLCPP_WARN_STREAM( - rclcpp::get_logger("behavior_path_planner").get_child("util"), "cannot find goal lanelet"); - return true; - } - - // If ego vehicle is over goal on goal lane, return true - const double yaw_threshold = tier4_autoware_utils::deg2rad(90); - if (isInLaneletWithYawThreshold(self_pose, goal_lane, yaw_threshold)) { - constexpr double buffer = 1.0; - const auto ego_arc_coord = lanelet::utils::getArcCoordinates({goal_lane}, self_pose); - const auto goal_arc_coord = - lanelet::utils::getArcCoordinates({goal_lane}, route_handler->getGoalPose()); - if (ego_arc_coord.length > goal_arc_coord.length + buffer) { - return true; - } else { - return false; - } - } - - // If ego vehicle is out of the closest lanelet, return true - // Check if ego vehicle is in shoulder lane - const bool is_in_shoulder_lane = std::invoke([&]() { - lanelet::Lanelet closest_shoulder_lanelet; - if (!lanelet::utils::query::getClosestLanelet( - shoulder_lanes, self_pose, &closest_shoulder_lanelet)) { - return false; - } - return lanelet::utils::isInLanelet(self_pose, closest_shoulder_lanelet); - }); - // Check if ego vehicle is in road lane - const bool is_in_road_lane = std::invoke([&]() { - lanelet::ConstLanelet closest_road_lane; - if (!route_handler->getClosestLaneletWithinRoute(self_pose, &closest_road_lane)) { - RCLCPP_WARN_STREAM( - rclcpp::get_logger("behavior_path_planner").get_child("util"), - "cannot find closest road lanelet"); - return false; - } - - if (lanelet::utils::isInLanelet(self_pose, closest_road_lane)) { - return true; - } - - // check previous lanes for backward driving (e.g. pull out) - const auto prev_lanes = route_handler->getPreviousLanelets(closest_road_lane); - for (const auto & lane : prev_lanes) { - if (lanelet::utils::isInLanelet(self_pose, lane)) { - return true; - } - } - - return false; - }); - if (!is_in_shoulder_lane && !is_in_road_lane) { - return true; - } - - return false; -} - -bool isEgoWithinOriginalLane( - const lanelet::ConstLanelets & current_lanes, const Pose & current_pose, - const BehaviorPathPlannerParameters & common_param, const double outer_margin) -{ - const auto lane_length = lanelet::utils::getLaneletLength2d(current_lanes); - const auto lane_poly = lanelet::utils::getPolygonFromArcLength(current_lanes, 0, lane_length); - const auto base_link2front = common_param.base_link2front; - const auto base_link2rear = common_param.base_link2rear; - const auto vehicle_width = common_param.vehicle_width; - const auto vehicle_poly = - tier4_autoware_utils::toFootprint(current_pose, base_link2front, base_link2rear, vehicle_width); - - // Check if the ego vehicle is entirely within the lane with a given outer margin. - for (const auto & p : vehicle_poly.outer()) { - // When the point is in the polygon, the distance is 0. When it is out of the polygon, return a - // positive value. - const auto dist = boost::geometry::distance(p, lanelet::utils::to2D(lane_poly).basicPolygon()); - if (dist > std::max(outer_margin, 0.0)) { - return false; // out of polygon - } - } - - return true; // inside polygon -} - -lanelet::ConstLanelets transformToLanelets(const DrivableLanes & drivable_lanes) -{ - lanelet::ConstLanelets lanes; - - const auto has_same_lane = [&](const auto & lane) { - if (lanes.empty()) return false; - const auto has_same = [&](const auto & ll) { return ll.id() == lane.id(); }; - return std::find_if(lanes.begin(), lanes.end(), has_same) != lanes.end(); - }; - - lanes.push_back(drivable_lanes.right_lane); - if (!has_same_lane(drivable_lanes.left_lane)) { - lanes.push_back(drivable_lanes.left_lane); - } - - for (const auto & ml : drivable_lanes.middle_lanes) { - if (!has_same_lane(ml)) { - lanes.push_back(ml); - } - } - - return lanes; -} - -lanelet::ConstLanelets transformToLanelets(const std::vector & drivable_lanes) -{ - lanelet::ConstLanelets lanes; - - for (const auto & drivable_lane : drivable_lanes) { - const auto transformed_lane = transformToLanelets(drivable_lane); - lanes.insert(lanes.end(), transformed_lane.begin(), transformed_lane.end()); - } - - return lanes; -} - -boost::optional getRightLanelet( - const lanelet::ConstLanelet & current_lane, const lanelet::ConstLanelets & shoulder_lanes) -{ - for (const auto & shoulder_lane : shoulder_lanes) { - if (shoulder_lane.leftBound().id() == current_lane.rightBound().id()) { - return shoulder_lane; - } - } - - return {}; -} - -boost::optional getLeftLanelet( - const lanelet::ConstLanelet & current_lane, const lanelet::ConstLanelets & shoulder_lanes) -{ - for (const auto & shoulder_lane : shoulder_lanes) { - if (shoulder_lane.rightBound().id() == current_lane.leftBound().id()) { - return shoulder_lane; - } - } - - return {}; -} - -std::vector generateDrivableLanes(const lanelet::ConstLanelets & lanes) -{ - std::vector drivable_lanes(lanes.size()); - for (size_t i = 0; i < lanes.size(); ++i) { - drivable_lanes.at(i).left_lane = lanes.at(i); - drivable_lanes.at(i).right_lane = lanes.at(i); - } - return drivable_lanes; -} - -std::vector generateDrivableLanesWithShoulderLanes( - const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & shoulder_lanes) -{ - std::vector drivable_lanes; - for (const auto & current_lane : current_lanes) { - DrivableLanes drivable_lane; - - const auto right_lane = getRightLanelet(current_lane, shoulder_lanes); - const auto left_lane = getLeftLanelet(current_lane, shoulder_lanes); - - if (right_lane && left_lane) { - drivable_lane.right_lane = *right_lane; - drivable_lane.left_lane = *left_lane; - drivable_lane.middle_lanes.push_back(current_lane); - } else if (right_lane) { - drivable_lane.right_lane = *right_lane; - drivable_lane.left_lane = current_lane; - } else if (left_lane) { - drivable_lane.right_lane = current_lane; - drivable_lane.left_lane = *left_lane; - } else { - drivable_lane.right_lane = current_lane; - drivable_lane.left_lane = current_lane; - } - - drivable_lanes.push_back(drivable_lane); - } - - return drivable_lanes; -} - -std::vector getNonOverlappingExpandedLanes( - PathWithLaneId & path, const std::vector & lanes, - const DrivableAreaExpansionParameters & parameters) -{ - const auto shorten_lanes = utils::cutOverlappedLanes(path, lanes); - return utils::expandLanelets( - shorten_lanes, parameters.drivable_area_left_bound_offset, - parameters.drivable_area_right_bound_offset, parameters.drivable_area_types_to_skip); -} - -boost::optional getOverlappedLaneletId(const std::vector & lanes) -{ - auto overlaps = [](const DrivableLanes & lanes, const DrivableLanes & target_lanes) { - const auto lanelets = transformToLanelets(lanes); - const auto target_lanelets = transformToLanelets(target_lanes); - - for (const auto & lanelet : lanelets) { - for (const auto & target_lanelet : target_lanelets) { - std::vector intersections{}; - boost::geometry::intersection( - lanelet.polygon2d().basicPolygon(), target_lanelet.polygon2d().basicPolygon(), - intersections); - - // if only one point intersects, it is assumed not to be overlapped - if (intersections.size() > 1) { - return true; - } - } - } - - // No overlapping - return false; - }; - - if (lanes.size() <= 2) { - return {}; - } - - size_t overlapped_idx = lanes.size(); - for (size_t i = 0; i < lanes.size() - 2; ++i) { - for (size_t j = i + 2; j < lanes.size(); ++j) { - if (overlaps(lanes.at(i), lanes.at(j))) { - overlapped_idx = std::min(overlapped_idx, j); - } - } - } - - if (overlapped_idx == lanes.size()) { - return {}; - } - - return overlapped_idx; -} - -std::vector cutOverlappedLanes( - PathWithLaneId & path, const std::vector & lanes) -{ - const auto overlapped_lanelet_idx = getOverlappedLaneletId(lanes); - if (!overlapped_lanelet_idx) { - return lanes; - } - - std::vector shorten_lanes{lanes.begin(), lanes.begin() + *overlapped_lanelet_idx}; - const auto shorten_lanelets = utils::transformToLanelets(shorten_lanes); - - const auto original_points = path.points; - - path.points.clear(); - - const auto has_same_id_lane = [](const auto & lanelet, const auto & p) { - return std::any_of(p.lane_ids.begin(), p.lane_ids.end(), [&lanelet](const auto id) { - return lanelet.id() == id; - }); - }; - - const auto has_same_id_lanes = [&has_same_id_lane](const auto & lanelets, const auto & p) { - return std::any_of( - lanelets.begin(), lanelets.end(), - [&has_same_id_lane, &p](const auto & lanelet) { return has_same_id_lane(lanelet, p); }); - }; - - // Step1. find first path point within drivable lanes - size_t start_point_idx = std::numeric_limits::max(); - for (const auto & lanes : shorten_lanes) { - for (size_t i = 0; i < original_points.size(); ++i) { - // check right lane - if (has_same_id_lane(lanes.right_lane, original_points.at(i))) { - start_point_idx = std::min(start_point_idx, i); - } - - // check left lane - if (has_same_id_lane(lanes.left_lane, original_points.at(i))) { - start_point_idx = std::min(start_point_idx, i); - } - - // check middle lanes - if (has_same_id_lanes(lanes.middle_lanes, original_points.at(i))) { - start_point_idx = std::min(start_point_idx, i); - } - } - } - - // Step2. pick up only path points within drivable lanes - for (const auto & lanes : shorten_lanes) { - for (size_t i = start_point_idx; i < original_points.size(); ++i) { - // check right lane - if (has_same_id_lane(lanes.right_lane, original_points.at(i))) { - path.points.push_back(original_points.at(i)); - continue; - } - - // check left lane - if (has_same_id_lane(lanes.left_lane, original_points.at(i))) { - path.points.push_back(original_points.at(i)); - continue; - } - - // check middle lanes - if (has_same_id_lanes(lanes.middle_lanes, original_points.at(i))) { - path.points.push_back(original_points.at(i)); - continue; - } - - start_point_idx = i; - break; - } - } - - return shorten_lanes; -} - -geometry_msgs::msg::Point calcLongitudinalOffsetStartPoint( - const std::vector & points, const geometry_msgs::msg::Pose & pose, - const size_t nearest_segment_idx, const double offset) -{ - const double offset_length = - motion_utils::calcLongitudinalOffsetToSegment(points, nearest_segment_idx, pose.position); - const auto offset_point = - motion_utils::calcLongitudinalOffsetPoint(points, nearest_segment_idx, offset_length + offset); - - return offset_point ? offset_point.get() : points.at(nearest_segment_idx); -} - -geometry_msgs::msg::Point calcLongitudinalOffsetGoalPoint( - const std::vector & points, const geometry_msgs::msg::Pose & pose, - const size_t nearest_segment_idx, const double offset) -{ - const double offset_length = - motion_utils::calcLongitudinalOffsetToSegment(points, nearest_segment_idx, pose.position); - const auto offset_point = - motion_utils::calcLongitudinalOffsetPoint(points, nearest_segment_idx, offset_length + offset); - - return offset_point ? offset_point.get() : points.at(nearest_segment_idx + 1); -} - -void generateDrivableArea( - PathWithLaneId & path, const std::vector & lanes, - const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, - const double vehicle_length, const std::shared_ptr planner_data, - const bool is_driving_forward) -{ - // extract data - const auto transformed_lanes = utils::transformToLanelets(lanes); - const auto current_pose = planner_data->self_odometry->pose.pose; - const auto route_handler = planner_data->route_handler; - constexpr double overlap_threshold = 0.01; - - if (path.points.empty()) { - return; - } - - auto addPoints = - [](const lanelet::ConstLineString3d & points, std::vector & bound) { - for (const auto & bound_p : points) { - const auto cp = lanelet::utils::conversion::toGeomMsgPt(bound_p); - if (bound.empty()) { - bound.push_back(cp); - } else if (tier4_autoware_utils::calcDistance2d(cp, bound.back()) > overlap_threshold) { - bound.push_back(cp); - } - } - }; - - const auto has_overlap = - [&](const lanelet::ConstLanelet & lane, const lanelet::ConstLanelets & ignore_lanelets = {}) { - for (const auto & transformed_lane : transformed_lanes) { - if (checkHasSameLane(ignore_lanelets, transformed_lane)) { - continue; - } - if (boost::geometry::intersects( - lane.polygon2d().basicPolygon(), transformed_lane.polygon2d().basicPolygon())) { - return true; - } - } - return false; - }; - - // Insert Position - auto left_bound = calcBound( - route_handler, lanes, enable_expanding_hatched_road_markings, - enable_expanding_intersection_areas, true); - auto right_bound = calcBound( - route_handler, lanes, enable_expanding_hatched_road_markings, - enable_expanding_intersection_areas, false); - - if (left_bound.empty() || right_bound.empty()) { - auto clock{rclcpp::Clock{RCL_ROS_TIME}}; - RCLCPP_ERROR_STREAM_THROTTLE( - rclcpp::get_logger("behavior_path_planner").get_child("utils"), clock, 1000, - "The right or left bound of drivable area is empty"); - return; - } - - // Insert points after goal - lanelet::ConstLanelet goal_lanelet; - if ( - route_handler->getGoalLanelet(&goal_lanelet) && - checkHasSameLane(transformed_lanes, goal_lanelet)) { - const auto lanes_after_goal = route_handler->getLanesAfterGoal(vehicle_length); - const auto next_lanes_after_goal = route_handler->getNextLanelets(goal_lanelet); - const auto goal_left_lanelet = route_handler->getLeftLanelet(goal_lanelet); - const auto goal_right_lanelet = route_handler->getRightLanelet(goal_lanelet); - lanelet::ConstLanelets goal_lanelets = {goal_lanelet}; - if (goal_left_lanelet) { - goal_lanelets.push_back(*goal_left_lanelet); - } - if (goal_right_lanelet) { - goal_lanelets.push_back(*goal_right_lanelet); - } - - for (const auto & lane : lanes_after_goal) { - // If lane is already in the transformed lanes, ignore it - if (checkHasSameLane(transformed_lanes, lane)) { - continue; - } - // Check if overlapped - const bool is_overlapped = - (checkHasSameLane(next_lanes_after_goal, lane) ? has_overlap(lane, goal_lanelets) - : has_overlap(lane)); - if (is_overlapped) { - continue; - } - - addPoints(lane.leftBound3d(), left_bound); - addPoints(lane.rightBound3d(), right_bound); - } - } - - if (!is_driving_forward) { - std::reverse(left_bound.begin(), left_bound.end()); - std::reverse(right_bound.begin(), right_bound.end()); - } - - path.left_bound.clear(); - path.right_bound.clear(); - - const auto [left_start_idx, right_start_idx] = [&]() { - const size_t current_seg_idx = planner_data->findEgoSegmentIndex(path.points); - const auto cropped_path_points = motion_utils::cropPoints( - path.points, current_pose.position, current_seg_idx, - planner_data->parameters.forward_path_length, - planner_data->parameters.backward_path_length + planner_data->parameters.input_path_interval); - - constexpr double front_length = 0.5; - const auto front_pose = - cropped_path_points.empty() ? current_pose : cropped_path_points.front().point.pose; - const size_t front_left_start_idx = - findNearestSegmentIndexFromLateralDistance(left_bound, front_pose.position); - const size_t front_right_start_idx = - findNearestSegmentIndexFromLateralDistance(right_bound, front_pose.position); - const auto left_start_point = - calcLongitudinalOffsetStartPoint(left_bound, front_pose, front_left_start_idx, -front_length); - const auto right_start_point = calcLongitudinalOffsetStartPoint( - right_bound, front_pose, front_right_start_idx, -front_length); - const size_t left_start_idx = - findNearestSegmentIndexFromLateralDistance(left_bound, left_start_point); - const size_t right_start_idx = - findNearestSegmentIndexFromLateralDistance(right_bound, right_start_point); - - // Insert a start point - path.left_bound.push_back(left_start_point); - path.right_bound.push_back(right_start_point); - - return std::make_pair(left_start_idx, right_start_idx); - }(); - - // Get Closest segment for the goal point - const auto goal_pose = path.points.empty() ? current_pose : path.points.back().point.pose; - const size_t goal_left_start_idx = - findNearestSegmentIndexFromLateralDistance(left_bound, goal_pose.position); - const size_t goal_right_start_idx = - findNearestSegmentIndexFromLateralDistance(right_bound, goal_pose.position); - const auto left_goal_point = - calcLongitudinalOffsetGoalPoint(left_bound, goal_pose, goal_left_start_idx, vehicle_length); - const auto right_goal_point = - calcLongitudinalOffsetGoalPoint(right_bound, goal_pose, goal_right_start_idx, vehicle_length); - const size_t left_goal_idx = std::max( - goal_left_start_idx, findNearestSegmentIndexFromLateralDistance(left_bound, left_goal_point)); - const size_t right_goal_idx = std::max( - goal_right_start_idx, - findNearestSegmentIndexFromLateralDistance(right_bound, right_goal_point)); - - // Insert middle points - for (size_t i = left_start_idx + 1; i <= left_goal_idx; ++i) { - const auto & next_point = left_bound.at(i); - const double dist = tier4_autoware_utils::calcDistance2d(path.left_bound.back(), next_point); - if (dist > overlap_threshold) { - path.left_bound.push_back(next_point); - } - } - for (size_t i = right_start_idx + 1; i <= right_goal_idx; ++i) { - const auto & next_point = right_bound.at(i); - const double dist = tier4_autoware_utils::calcDistance2d(path.right_bound.back(), next_point); - if (dist > overlap_threshold) { - path.right_bound.push_back(next_point); - } - } - - // Insert a goal point - if ( - tier4_autoware_utils::calcDistance2d(path.left_bound.back(), left_goal_point) > - overlap_threshold) { - path.left_bound.push_back(left_goal_point); - } - if ( - tier4_autoware_utils::calcDistance2d(path.right_bound.back(), right_goal_point) > - overlap_threshold) { - path.right_bound.push_back(right_goal_point); - } - const auto & expansion_params = planner_data->drivable_area_expansion_parameters; - if (expansion_params.enabled) { - drivable_area_expansion::expand_drivable_area(path, planner_data); - } - - // make bound longitudinally monotonic - // TODO(Murooka) Fix makeBoundLongitudinallyMonotonic - if ( - is_driving_forward && - (enable_expanding_hatched_road_markings || enable_expanding_intersection_areas)) { - makeBoundLongitudinallyMonotonic(path, planner_data, true); // for left bound - makeBoundLongitudinallyMonotonic(path, planner_data, false); // for right bound - } -} - -std::vector getBoundWithHatchedRoadMarkings( - const std::vector & original_bound, - const std::shared_ptr & route_handler) -{ - // a function to get polygon with a designated point id - const auto get_corresponding_polygon_index = - [&](const auto & polygon, const auto & target_point_id) { - for (size_t poly_point_idx = 0; poly_point_idx < polygon.size(); ++poly_point_idx) { - if (polygon[poly_point_idx].id() == target_point_id) { - // NOTE: If there are duplicated points in polygon, the early one will be returned. - return poly_point_idx; - } - } - // This means calculation has some errors. - return polygon.size() - 1; - }; - - const auto mod = [&](const int a, const int b) { - return (a + b) % b; // NOTE: consider negative value - }; - - std::vector expanded_bound{}; - - std::optional current_polygon{std::nullopt}; - std::vector current_polygon_border_indices; - // expand drivable area by hatched road markings. - for (size_t bound_point_idx = 0; bound_point_idx < original_bound.size(); ++bound_point_idx) { - const auto & bound_point = original_bound[bound_point_idx]; - const auto polygon = getPolygonByPoint(route_handler, bound_point, "hatched_road_markings"); - - bool will_close_polygon{false}; - if (!current_polygon) { - if (!polygon) { - expanded_bound.push_back(bound_point); - } else { - // There is a new additional polygon to expand - current_polygon = polygon; - current_polygon_border_indices.push_back( - get_corresponding_polygon_index(*current_polygon, bound_point.id())); - } - } else { - if (!polygon) { - will_close_polygon = true; - } else { - current_polygon_border_indices.push_back( - get_corresponding_polygon_index(*current_polygon, bound_point.id())); - } - } - - if (bound_point_idx == original_bound.size() - 1 && current_polygon) { - // If drivable lanes ends earlier than polygon, close the polygon - will_close_polygon = true; - } - - if (will_close_polygon) { - // The current additional polygon ends to expand - if (current_polygon_border_indices.size() == 1) { - expanded_bound.push_back((*current_polygon)[current_polygon_border_indices.front()]); - } else { - const size_t current_polygon_points_num = current_polygon->size(); - const bool is_polygon_opposite_direction = [&]() { - const size_t modulo_diff = mod( - static_cast(current_polygon_border_indices[1]) - - static_cast(current_polygon_border_indices[0]), - current_polygon_points_num); - return modulo_diff == 1; - }(); - - const int target_points_num = - current_polygon_points_num - current_polygon_border_indices.size() + 1; - for (int poly_idx = 0; poly_idx <= target_points_num; ++poly_idx) { - const int target_poly_idx = current_polygon_border_indices.front() + - poly_idx * (is_polygon_opposite_direction ? -1 : 1); - expanded_bound.push_back( - (*current_polygon)[mod(target_poly_idx, current_polygon_points_num)]); - } - } - current_polygon = std::nullopt; - current_polygon_border_indices.clear(); - } - } - - return expanded_bound; -} - -std::vector getBoundWithIntersectionAreas( - const std::vector & original_bound, - const std::shared_ptr & route_handler, - const std::vector & drivable_lanes, const bool is_left) -{ - const auto extract_bound_from_polygon = - [](const auto & polygon, const auto start_idx, const auto end_idx, const auto clockwise) { - std::vector ret{}; - for (size_t i = start_idx; i != end_idx; i = clockwise ? i + 1 : i - 1) { - ret.push_back(polygon[i]); - - if (i + 1 == polygon.size() && clockwise) { - if (end_idx == 0) { - ret.push_back(polygon[end_idx]); - return ret; - } - i = 0; - continue; - } - - if (i == 0 && !clockwise) { - if (end_idx == polygon.size() - 1) { - ret.push_back(polygon[end_idx]); - return ret; - } - i = polygon.size() - 1; - continue; - } - } - - ret.push_back(polygon[end_idx]); - - return ret; - }; - - std::vector expanded_bound = original_bound; - - // expand drivable area by using intersection area. - for (const auto & drivable_lane : drivable_lanes) { - const auto edge_lanelet = is_left ? drivable_lane.left_lane : drivable_lane.right_lane; - const auto lanelet_bound = is_left ? edge_lanelet.leftBound3d() : edge_lanelet.rightBound3d(); - - if (lanelet_bound.size() < 2) { - continue; - } - - const std::string id = edge_lanelet.attributeOr("intersection_area", "else"); - if (id == "else") { - continue; - } - - // Step1. extract intersection partial bound. - std::vector intersection_bound{}; - { - const auto polygon = - route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(id.c_str())); - - const auto is_clockwise_polygon = - boost::geometry::is_valid(lanelet::utils::to2D(polygon.basicPolygon())); - const auto is_clockwise_iteration = is_clockwise_polygon ? is_left : !is_left; - - const auto intersection_bound_itr_init = std::find_if( - polygon.begin(), polygon.end(), - [&lanelet_bound](const auto & p) { return p.id() == lanelet_bound.front().id(); }); - - const auto intersection_bound_itr_last = std::find_if( - polygon.begin(), polygon.end(), - [&lanelet_bound](const auto & p) { return p.id() == lanelet_bound.back().id(); }); - - if ( - intersection_bound_itr_init == polygon.end() || - intersection_bound_itr_last == polygon.end()) { - continue; - } - - // extract line strings between start_idx and end_idx. - const size_t start_idx = std::distance(polygon.begin(), intersection_bound_itr_init); - const size_t end_idx = std::distance(polygon.begin(), intersection_bound_itr_last); - - intersection_bound = - extract_bound_from_polygon(polygon, start_idx, end_idx, is_clockwise_iteration); - } - - // Step2. check shared bound point. - const auto shared_point_itr_init = - std::find_if(expanded_bound.begin(), expanded_bound.end(), [&](const auto & p) { - return std::any_of( - intersection_bound.begin(), intersection_bound.end(), - [&](const auto & point) { return point.id() == p.id(); }); - }); - - const auto shared_point_itr_last = - std::find_if(expanded_bound.rbegin(), expanded_bound.rend(), [&](const auto & p) { - return std::any_of( - intersection_bound.rbegin(), intersection_bound.rend(), - [&](const auto & point) { return point.id() == p.id(); }); - }); - - if ( - shared_point_itr_init == expanded_bound.end() || - shared_point_itr_last == expanded_bound.rend()) { - continue; - } - - // Step3. overwrite duplicate drivable bound by intersection bound. - { - const auto trim_point_itr_init = std::find_if( - intersection_bound.begin(), intersection_bound.end(), - [&](const auto & p) { return p.id() == shared_point_itr_init->id(); }); - - const auto trim_point_itr_last = std::find_if( - intersection_bound.begin(), intersection_bound.end(), - [&](const auto & p) { return p.id() == shared_point_itr_last->id(); }); - - if ( - trim_point_itr_init == intersection_bound.end() || - trim_point_itr_last == intersection_bound.end()) { - continue; - } - - // TODO(Satoshi OTA): remove this guard. - if ( - std::distance(intersection_bound.begin(), trim_point_itr_last) < - std::distance(intersection_bound.begin(), trim_point_itr_init)) { - continue; - } - - std::vector tmp_bound{}; - - tmp_bound.insert(tmp_bound.end(), expanded_bound.begin(), shared_point_itr_init); - tmp_bound.insert(tmp_bound.end(), trim_point_itr_init, trim_point_itr_last); - tmp_bound.insert( - tmp_bound.end(), std::next(shared_point_itr_last).base(), expanded_bound.end()); - - expanded_bound = tmp_bound; - } - } - - return expanded_bound; -} - -// calculate bounds from drivable lanes and hatched road markings -std::vector calcBound( - const std::shared_ptr route_handler, - const std::vector & drivable_lanes, - const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, - const bool is_left) -{ - // a function to convert drivable lanes to points without duplicated points - const auto convert_to_points = [&](const std::vector & drivable_lanes) { - constexpr double overlap_threshold = 0.01; - - std::vector points; - for (const auto & drivable_lane : drivable_lanes) { - const auto bound = - is_left ? drivable_lane.left_lane.leftBound3d() : drivable_lane.right_lane.rightBound3d(); - for (const auto & point : bound) { - if ( - points.empty() || - overlap_threshold < (points.back().basicPoint2d() - point.basicPoint2d()).norm()) { - points.push_back(point); - } - } - } - return points; - }; - - const auto to_ros_point = [](const std::vector & bound) { - std::vector ret{}; - std::for_each(bound.begin(), bound.end(), [&](const auto & p) { - ret.push_back(lanelet::utils::conversion::toGeomMsgPt(p)); - }); - return ret; - }; - - // Step1. create drivable bound from drivable lanes. - std::vector bound_points = convert_to_points(drivable_lanes); - - // Step2. if there is no drivable area defined by polygon, return original drivable bound. - if (!enable_expanding_hatched_road_markings && !enable_expanding_intersection_areas) { - return motion_utils::removeOverlapPoints(to_ros_point(bound_points)); - } - - // Step3. if there are hatched road markings, expand drivable bound with the polygon. - if (enable_expanding_hatched_road_markings) { - bound_points = getBoundWithHatchedRoadMarkings(bound_points, route_handler); - } - - if (!enable_expanding_intersection_areas) { - return motion_utils::removeOverlapPoints(to_ros_point(bound_points)); - } - - // Step4. if there are intersection areas, expand drivable bound with the polygon. - { - bound_points = - getBoundWithIntersectionAreas(bound_points, route_handler, drivable_lanes, is_left); - } - - return motion_utils::removeOverlapPoints(to_ros_point(bound_points)); -} - -void makeBoundLongitudinallyMonotonic( - PathWithLaneId & path, const std::shared_ptr & planner_data, - const bool is_bound_left) -{ - using motion_utils::findNearestSegmentIndex; - using tier4_autoware_utils::calcAzimuthAngle; - using tier4_autoware_utils::calcDistance2d; - using tier4_autoware_utils::calcOffsetPose; - using tier4_autoware_utils::createQuaternionFromRPY; - using tier4_autoware_utils::getPoint; - using tier4_autoware_utils::getPose; - using tier4_autoware_utils::intersect; - using tier4_autoware_utils::normalizeRadian; - - const auto set_orientation = []( - auto & bound_with_pose, const auto idx, const auto & orientation) { - bound_with_pose.at(idx).orientation = orientation; - }; - - const auto get_intersect_idx = []( - const auto & bound_with_pose, const auto start_idx, - const auto & p1, const auto & p2) -> boost::optional { - std::vector> intersects; - for (size_t i = start_idx; i < bound_with_pose.size() - 1; i++) { - const auto opt_intersect = - intersect(p1, p2, bound_with_pose.at(i).position, bound_with_pose.at(i + 1).position); - - if (!opt_intersect) { - continue; - } - - intersects.emplace_back(i, *opt_intersect); - } - - if (intersects.empty()) { - return boost::none; - } - - std::sort(intersects.begin(), intersects.end(), [&](const auto & a, const auto & b) { - return calcDistance2d(p1, a.second) < calcDistance2d(p1, b.second); - }); - - return intersects.front().first; - }; - - const auto get_bound_with_pose = [&](const auto & bound_with_pose, const auto & path_points) { - auto ret = bound_with_pose; - - const double offset = is_bound_left ? 100.0 : -100.0; - - size_t start_bound_idx = 0; - - const size_t start_path_idx = - findNearestSegmentIndex(path_points, bound_with_pose.front().position); - - // append bound point with point - for (size_t i = start_path_idx + 1; i < path_points.size(); i++) { - const auto p_path_offset = calcOffsetPose(getPose(path_points.at(i)), 0.0, offset, 0.0); - const auto intersect_idx = get_intersect_idx( - bound_with_pose, start_bound_idx, getPoint(path_points.at(i)), getPoint(p_path_offset)); - - if (!intersect_idx) { - continue; - } - - if (i + 1 == path_points.size()) { - for (size_t j = intersect_idx.get(); j < bound_with_pose.size(); j++) { - if (j + 1 == bound_with_pose.size()) { - const auto yaw = - calcAzimuthAngle(bound_with_pose.at(j - 1).position, bound_with_pose.at(j).position); - set_orientation(ret, j, createQuaternionFromRPY(0.0, 0.0, yaw)); - } else { - const auto yaw = - calcAzimuthAngle(bound_with_pose.at(j).position, bound_with_pose.at(j + 1).position); - set_orientation(ret, j, createQuaternionFromRPY(0.0, 0.0, yaw)); - } - } - } else { - for (size_t j = intersect_idx.get() + 1; j < bound_with_pose.size(); j++) { - set_orientation(ret, j, getPose(path_points.at(i)).orientation); - } - } - - constexpr size_t OVERLAP_CHECK_NUM = 3; - start_bound_idx = - intersect_idx.get() < OVERLAP_CHECK_NUM ? 0 : intersect_idx.get() - OVERLAP_CHECK_NUM; - } - - return ret; - }; - - const auto is_non_monotonic = [&]( - const auto & base_pose, const auto & point, - const auto is_points_left, const auto is_reverse) { - const auto p_transformed = tier4_autoware_utils::inverseTransformPoint(point, base_pose); - if (p_transformed.x < 0.0 && p_transformed.y > 0.0) { - return is_points_left && !is_reverse; + lanelet::ConstLanelet goal_lane; + const bool is_failed_getting_lanelet = std::invoke([&]() { + if (utils::isInLanelets(goal_pose, shoulder_lanes)) { + return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); } + return !route_handler->getGoalLanelet(&goal_lane); + }); + if (is_failed_getting_lanelet) { + RCLCPP_WARN_STREAM( + rclcpp::get_logger("behavior_path_planner").get_child("util"), "cannot find goal lanelet"); + return true; + } - if (p_transformed.x < 0.0 && p_transformed.y < 0.0) { - return !is_points_left && !is_reverse; + // If ego vehicle is over goal on goal lane, return true + const double yaw_threshold = tier4_autoware_utils::deg2rad(90); + if (isInLaneletWithYawThreshold(self_pose, goal_lane, yaw_threshold)) { + constexpr double buffer = 1.0; + const auto ego_arc_coord = lanelet::utils::getArcCoordinates({goal_lane}, self_pose); + const auto goal_arc_coord = + lanelet::utils::getArcCoordinates({goal_lane}, route_handler->getGoalPose()); + if (ego_arc_coord.length > goal_arc_coord.length + buffer) { + return true; + } else { + return false; } + } - if (p_transformed.x > 0.0 && p_transformed.y > 0.0) { - return is_points_left && is_reverse; + // If ego vehicle is out of the closest lanelet, return true + // Check if ego vehicle is in shoulder lane + const bool is_in_shoulder_lane = std::invoke([&]() { + lanelet::Lanelet closest_shoulder_lanelet; + if (!lanelet::utils::query::getClosestLanelet( + shoulder_lanes, self_pose, &closest_shoulder_lanelet)) { + return false; } - - if (p_transformed.x > 0.0 && p_transformed.y < 0.0) { - return !is_points_left && is_reverse; + return lanelet::utils::isInLanelet(self_pose, closest_shoulder_lanelet); + }); + // Check if ego vehicle is in road lane + const bool is_in_road_lane = std::invoke([&]() { + lanelet::ConstLanelet closest_road_lane; + if (!route_handler->getClosestLaneletWithinRoute(self_pose, &closest_road_lane)) { + RCLCPP_WARN_STREAM( + rclcpp::get_logger("behavior_path_planner").get_child("util"), + "cannot find closest road lanelet"); + return false; } - return false; - }; - - // define a function to remove non monotonic point on bound - const auto remove_non_monotonic_point = [&](const auto & bound_with_pose, const bool is_reverse) { - std::vector monotonic_bound; - - size_t bound_idx = 0; - while (true) { - monotonic_bound.push_back(bound_with_pose.at(bound_idx)); - - if (bound_idx + 1 == bound_with_pose.size()) { - break; - } - - // NOTE: is_bound_left is used instead of is_points_left since orientation of path point is - // opposite. - const double lat_offset = is_bound_left ? 100.0 : -100.0; - - const auto p_bound_1 = getPose(bound_with_pose.at(bound_idx)); - const auto p_bound_2 = getPose(bound_with_pose.at(bound_idx + 1)); - - const auto p_bound_offset = calcOffsetPose(p_bound_1, 0.0, lat_offset, 0.0); - - if (!is_non_monotonic(p_bound_1, p_bound_2.position, is_bound_left, is_reverse)) { - bound_idx++; - continue; - } + if (lanelet::utils::isInLanelet(self_pose, closest_road_lane)) { + return true; + } - // skip non monotonic points - for (size_t i = bound_idx + 1; i < bound_with_pose.size() - 1; ++i) { - const auto intersect_point = intersect( - p_bound_1.position, p_bound_offset.position, bound_with_pose.at(i).position, - bound_with_pose.at(i + 1).position); - - if (intersect_point) { - Pose pose; - pose.position = *intersect_point; - pose.position.z = bound_with_pose.at(i).position.z; - const auto yaw = calcAzimuthAngle(*intersect_point, bound_with_pose.at(i + 1).position); - pose.orientation = createQuaternionFromRPY(0.0, 0.0, yaw); - monotonic_bound.push_back(pose); - bound_idx = i; - break; - } + // check previous lanes for backward driving (e.g. pull out) + const auto prev_lanes = route_handler->getPreviousLanelets(closest_road_lane); + for (const auto & lane : prev_lanes) { + if (lanelet::utils::isInLanelet(self_pose, lane)) { + return true; } - - bound_idx++; } - return monotonic_bound; - }; - - const auto remove_orientation = [](const auto & bound_with_pose) { - std::vector ret; - - ret.reserve(bound_with_pose.size()); + return false; + }); + if (!is_in_shoulder_lane && !is_in_road_lane) { + return true; + } - std::for_each(bound_with_pose.begin(), bound_with_pose.end(), [&ret](const auto & p) { - ret.push_back(p.position); - }); + return false; +} - return ret; - }; +bool isEgoWithinOriginalLane( + const lanelet::ConstLanelets & current_lanes, const Pose & current_pose, + const BehaviorPathPlannerParameters & common_param, const double outer_margin) +{ + const auto lane_length = lanelet::utils::getLaneletLength2d(current_lanes); + const auto lane_poly = lanelet::utils::getPolygonFromArcLength(current_lanes, 0, lane_length); + const auto base_link2front = common_param.base_link2front; + const auto base_link2rear = common_param.base_link2rear; + const auto vehicle_width = common_param.vehicle_width; + const auto vehicle_poly = + tier4_autoware_utils::toFootprint(current_pose, base_link2front, base_link2rear, vehicle_width); - const auto remove_sharp_points = [](const auto & bound) { - if (bound.size() < 2) { - return bound; + // Check if the ego vehicle is entirely within the lane with a given outer margin. + for (const auto & p : vehicle_poly.outer()) { + // When the point is in the polygon, the distance is 0. When it is out of the polygon, return a + // positive value. + const auto dist = boost::geometry::distance(p, lanelet::utils::to2D(lane_poly).basicPolygon()); + if (dist > std::max(outer_margin, 0.0)) { + return false; // out of polygon } + } - std::vector ret = bound; - auto itr = std::next(ret.begin()); - while (std::next(itr) != ret.end()) { - if (itr == ret.begin()) { - itr++; - continue; - } - - const auto p1 = *std::prev(itr); - const auto p2 = *itr; - const auto p3 = *std::next(itr); - - const std::vector vec_1to2 = {p2.x - p1.x, p2.y - p1.y, p2.z - p1.z}; - const std::vector vec_3to2 = {p2.x - p3.x, p2.y - p3.y, p2.z - p3.z}; - const auto product = - std::inner_product(vec_1to2.begin(), vec_1to2.end(), vec_3to2.begin(), 0.0); - - const auto dist_1to2 = tier4_autoware_utils::calcDistance3d(p1, p2); - const auto dist_3to2 = tier4_autoware_utils::calcDistance3d(p3, p2); - - constexpr double epsilon = 1e-3; - - // Remove overlapped point. - if (dist_1to2 < epsilon || dist_3to2 < epsilon) { - itr = std::prev(ret.erase(itr)); - continue; - } - - // If the angle between the points is sharper than 45 degrees, remove the middle point. - if (std::cos(M_PI_4) < product / dist_1to2 / dist_3to2 + epsilon) { - itr = std::prev(ret.erase(itr)); - continue; - } + return true; // inside polygon +} - itr++; - } +lanelet::ConstLanelets transformToLanelets(const DrivableLanes & drivable_lanes) +{ + lanelet::ConstLanelets lanes; - return ret; + const auto has_same_lane = [&](const auto & lane) { + if (lanes.empty()) return false; + const auto has_same = [&](const auto & ll) { return ll.id() == lane.id(); }; + return std::find_if(lanes.begin(), lanes.end(), has_same) != lanes.end(); }; - const auto original_bound = is_bound_left ? path.left_bound : path.right_bound; - - if (path.points.empty()) { - return; - } - - if (original_bound.empty()) { - return; + lanes.push_back(drivable_lanes.right_lane); + if (!has_same_lane(drivable_lanes.left_lane)) { + lanes.push_back(drivable_lanes.left_lane); } - if (path.points.front().lane_ids.empty()) { - return; + for (const auto & ml : drivable_lanes.middle_lanes) { + if (!has_same_lane(ml)) { + lanes.push_back(ml); + } } - // step.1 create bound with pose vector. - std::vector original_bound_with_pose; - { - original_bound_with_pose.reserve(original_bound.size()); + return lanes; +} - std::for_each(original_bound.begin(), original_bound.end(), [&](const auto & p) { - Pose pose; - pose.position = p; - original_bound_with_pose.push_back(pose); - }); +lanelet::ConstLanelets transformToLanelets(const std::vector & drivable_lanes) +{ + lanelet::ConstLanelets lanes; - for (size_t i = 0; i < original_bound_with_pose.size(); i++) { - if (i + 1 == original_bound_with_pose.size()) { - const auto yaw = calcAzimuthAngle( - original_bound_with_pose.at(i - 1).position, original_bound_with_pose.at(i).position); - set_orientation(original_bound_with_pose, i, createQuaternionFromRPY(0.0, 0.0, yaw)); - } else { - const auto yaw = calcAzimuthAngle( - original_bound_with_pose.at(i).position, original_bound_with_pose.at(i + 1).position); - set_orientation(original_bound_with_pose, i, createQuaternionFromRPY(0.0, 0.0, yaw)); - } - } + for (const auto & drivable_lane : drivable_lanes) { + const auto transformed_lane = transformToLanelets(drivable_lane); + lanes.insert(lanes.end(), transformed_lane.begin(), transformed_lane.end()); } - // step.2 get base pose vector. - std::vector clipped_points; - { - const auto & route_handler = planner_data->route_handler; - const auto p = planner_data->parameters; - const auto start_id = path.points.front().lane_ids.front(); - const auto start_lane = planner_data->route_handler->getLaneletsFromId(start_id); - - const auto lanelet_sequence = - route_handler->getLaneletSequence(start_lane, p.backward_path_length, p.forward_path_length); - const auto centerline_path = getCenterLinePath( - *route_handler, lanelet_sequence, getPose(path.points.front()), p.backward_path_length, - p.forward_path_length, p); - - if (centerline_path.points.size() < 2) { - return; - } - - const auto ego_idx = planner_data->findEgoIndex(centerline_path.points); - const auto end_idx = findNearestSegmentIndex(centerline_path.points, original_bound.back()); + return lanes; +} - if (ego_idx >= end_idx) { - return; +boost::optional getRightLanelet( + const lanelet::ConstLanelet & current_lane, const lanelet::ConstLanelets & shoulder_lanes) +{ + for (const auto & shoulder_lane : shoulder_lanes) { + if (shoulder_lane.leftBound().id() == current_lane.rightBound().id()) { + return shoulder_lane; } - - clipped_points.insert( - clipped_points.end(), centerline_path.points.begin() + ego_idx, - centerline_path.points.begin() + end_idx + 1); - } - - if (clipped_points.empty()) { - return; } - // step.3 update bound pose by reference path pose. - const auto updated_bound_with_pose = - get_bound_with_pose(original_bound_with_pose, clipped_points); // for reverse - - // step.4 create remove monotonic points by forward direction. - auto half_monotonic_bound_with_pose = - remove_non_monotonic_point(updated_bound_with_pose, false); // for reverse - std::reverse(half_monotonic_bound_with_pose.begin(), half_monotonic_bound_with_pose.end()); - - // step.5 create remove monotonic points by backward direction. - auto full_monotonic_bound_with_pose = - remove_non_monotonic_point(half_monotonic_bound_with_pose, true); - std::reverse(full_monotonic_bound_with_pose.begin(), full_monotonic_bound_with_pose.end()); - - // step.6 remove orientation from bound with pose. - auto full_monotonic_bound = remove_orientation(full_monotonic_bound_with_pose); - - // step.7 remove sharp bound points. - if (is_bound_left) { - path.left_bound = remove_sharp_points(full_monotonic_bound); - } else { - path.right_bound = remove_sharp_points(full_monotonic_bound); - } + return {}; } -// generate drivable area by expanding path for freespace -void generateDrivableArea( - PathWithLaneId & path, const double vehicle_length, const double offset, - const bool is_driving_forward) +boost::optional getLeftLanelet( + const lanelet::ConstLanelet & current_lane, const lanelet::ConstLanelets & shoulder_lanes) { - using tier4_autoware_utils::calcOffsetPose; - - // remove path points which is close to the previous point - PathWithLaneId resampled_path{}; - const double resample_interval = 2.0; - for (size_t i = 0; i < path.points.size(); ++i) { - if (i == 0) { - resampled_path.points.push_back(path.points.at(i)); - } else { - const auto & prev_point = resampled_path.points.back().point.pose.position; - const auto & curr_point = path.points.at(i).point.pose.position; - const double signed_arc_length = - motion_utils::calcSignedArcLength(path.points, prev_point, curr_point); - if (signed_arc_length > resample_interval) { - resampled_path.points.push_back(path.points.at(i)); - } + for (const auto & shoulder_lane : shoulder_lanes) { + if (shoulder_lane.rightBound().id() == current_lane.leftBound().id()) { + return shoulder_lane; } } - // add last point of path if enough far from the one of resampled path - constexpr double th_last_point_distance = 0.3; - if ( - tier4_autoware_utils::calcDistance2d( - resampled_path.points.back().point.pose.position, path.points.back().point.pose.position) > - th_last_point_distance) { - resampled_path.points.push_back(path.points.back()); - } - - // create bound point by calculating offset point - std::vector left_bound; - std::vector right_bound; - for (const auto & point : resampled_path.points) { - const auto & pose = point.point.pose; - - const auto left_point = calcOffsetPose(pose, 0, offset, 0); - const auto right_point = calcOffsetPose(pose, 0, -offset, 0); - - left_bound.push_back(left_point.position); - right_bound.push_back(right_point.position); - } - - if (is_driving_forward) { - // add backward offset point to bound - const Pose first_point = - calcOffsetPose(resampled_path.points.front().point.pose, -vehicle_length, 0, 0); - const Pose left_first_point = calcOffsetPose(first_point, 0, offset, 0); - const Pose right_first_point = calcOffsetPose(first_point, 0, -offset, 0); - left_bound.insert(left_bound.begin(), left_first_point.position); - right_bound.insert(right_bound.begin(), right_first_point.position); - - // add forward offset point to bound - const Pose last_point = - calcOffsetPose(resampled_path.points.back().point.pose, vehicle_length, 0, 0); - const Pose left_last_point = calcOffsetPose(last_point, 0, offset, 0); - const Pose right_last_point = calcOffsetPose(last_point, 0, -offset, 0); - left_bound.push_back(left_last_point.position); - right_bound.push_back(right_last_point.position); - } else { - // add forward offset point to bound - const Pose first_point = - calcOffsetPose(resampled_path.points.front().point.pose, vehicle_length, 0, 0); - const Pose left_first_point = calcOffsetPose(first_point, 0, offset, 0); - const Pose right_first_point = calcOffsetPose(first_point, 0, -offset, 0); - left_bound.insert(left_bound.begin(), left_first_point.position); - right_bound.insert(right_bound.begin(), right_first_point.position); - - // add backward offset point to bound - const Pose last_point = - calcOffsetPose(resampled_path.points.back().point.pose, -vehicle_length, 0, 0); - const Pose left_last_point = calcOffsetPose(last_point, 0, offset, 0); - const Pose right_last_point = calcOffsetPose(last_point, 0, -offset, 0); - left_bound.push_back(left_last_point.position); - right_bound.push_back(right_last_point.position); - } - - if (left_bound.empty() || right_bound.empty()) { - return; - } - - // fix intersected bound - // if bound is intersected, remove them and insert intersection point - typedef boost::geometry::model::d2::point_xy BoostPoint; - typedef boost::geometry::model::linestring LineString; - auto modify_bound_intersection = [](const std::vector & bound) { - const double intersection_check_distance = 10.0; - std::vector modified_bound; - size_t i = 0; - while (i < bound.size() - 1) { - BoostPoint p1(bound.at(i).x, bound.at(i).y); - BoostPoint p2(bound.at(i + 1).x, bound.at(i + 1).y); - LineString p_line; - p_line.push_back(p1); - p_line.push_back(p2); - bool intersection_found = false; - for (size_t j = i + 2; j < bound.size() - 1; j++) { - const double distance = tier4_autoware_utils::calcDistance2d(bound.at(i), bound.at(j)); - if (distance > intersection_check_distance) { - break; - } - LineString q_line; - BoostPoint q1(bound.at(j).x, bound.at(j).y); - BoostPoint q2(bound.at(j + 1).x, bound.at(j + 1).y); - q_line.push_back(q1); - q_line.push_back(q2); - std::vector intersection_points; - boost::geometry::intersection(p_line, q_line, intersection_points); - if (intersection_points.size() > 0) { - modified_bound.push_back(bound.at(i)); - Point intersection_point; - intersection_point.x = intersection_points.at(0).x(); - intersection_point.y = intersection_points.at(0).y(); - modified_bound.push_back(intersection_point); - i = j + 1; - intersection_found = true; - break; - } - } - if (!intersection_found) { - modified_bound.push_back(bound.at(i)); - i++; - } - } - modified_bound.push_back(bound.back()); - return modified_bound; - }; - std::vector modified_left_bound = modify_bound_intersection(left_bound); - std::vector modified_right_bound = modify_bound_intersection(right_bound); - // set bound to path - path.left_bound = modified_left_bound; - path.right_bound = modified_right_bound; + return {}; } +// generate drivable area by expanding path for freespace double getDistanceToEndOfLane(const Pose & current_pose, const lanelet::ConstLanelets & lanelets) { const auto & arc_coordinates = lanelet::utils::getArcCoordinates(lanelets, current_pose); @@ -2759,72 +1114,6 @@ std::shared_ptr generateCenterLinePath( return centerline_path; } -// TODO(Azu) Some parts of is the same with generateCenterLinePath. Therefore it might be better if -// we can refactor some of the code for better readability -lanelet::ConstLineStrings3d getMaximumDrivableArea( - const std::shared_ptr & planner_data) -{ - const auto & p = planner_data->parameters; - const auto & route_handler = planner_data->route_handler; - const auto & ego_pose = planner_data->self_odometry->pose.pose; - - lanelet::ConstLanelet current_lane; - if (!route_handler->getClosestLaneletWithinRoute(ego_pose, ¤t_lane)) { - RCLCPP_ERROR( - rclcpp::get_logger("behavior_path_planner").get_child("utils"), - "failed to find closest lanelet within route!!!"); - return {}; - } - - const auto current_lanes = route_handler->getLaneletSequence( - current_lane, ego_pose, p.backward_path_length, p.forward_path_length); - lanelet::ConstLineStrings3d linestring_shared; - for (const auto & lane : current_lanes) { - lanelet::ConstLineStrings3d furthest_line = route_handler->getFurthestLinestring(lane); - linestring_shared.insert(linestring_shared.end(), furthest_line.begin(), furthest_line.end()); - } - - return linestring_shared; -} - -std::vector expandLanelets( - const std::vector & drivable_lanes, const double left_bound_offset, - const double right_bound_offset, const std::vector & types_to_skip) -{ - if (left_bound_offset == 0.0 && right_bound_offset == 0.0) return drivable_lanes; - - std::vector expanded_drivable_lanes{}; - expanded_drivable_lanes.reserve(drivable_lanes.size()); - for (const auto & lanes : drivable_lanes) { - const std::string l_type = - lanes.left_lane.leftBound().attributeOr(lanelet::AttributeName::Type, "none"); - const std::string r_type = - lanes.right_lane.rightBound().attributeOr(lanelet::AttributeName::Type, "none"); - - const bool l_skip = - std::find(types_to_skip.begin(), types_to_skip.end(), l_type) != types_to_skip.end(); - const bool r_skip = - std::find(types_to_skip.begin(), types_to_skip.end(), r_type) != types_to_skip.end(); - const double l_offset = l_skip ? 0.0 : left_bound_offset; - const double r_offset = r_skip ? 0.0 : -right_bound_offset; - - DrivableLanes expanded_lanes; - if (lanes.left_lane.id() == lanes.right_lane.id()) { - expanded_lanes.left_lane = - lanelet::utils::getExpandedLanelet(lanes.left_lane, l_offset, r_offset); - expanded_lanes.right_lane = - lanelet::utils::getExpandedLanelet(lanes.right_lane, l_offset, r_offset); - } else { - expanded_lanes.left_lane = lanelet::utils::getExpandedLanelet(lanes.left_lane, l_offset, 0.0); - expanded_lanes.right_lane = - lanelet::utils::getExpandedLanelet(lanes.right_lane, 0.0, r_offset); - } - expanded_lanes.middle_lanes = lanes.middle_lanes; - expanded_drivable_lanes.push_back(expanded_lanes); - } - return expanded_drivable_lanes; -} - PathWithLaneId getCenterLinePathFromRootLanelet( const lanelet::ConstLanelet & root_lanelet, const std::shared_ptr & planner_data) @@ -2937,58 +1226,6 @@ PathWithLaneId setDecelerationVelocity( return reference_path; } -BehaviorModuleOutput getReferencePath( - const lanelet::ConstLanelet & current_lane, - const std::shared_ptr & planner_data) -{ - PathWithLaneId reference_path{}; - - const auto & route_handler = planner_data->route_handler; - const auto current_pose = planner_data->self_odometry->pose.pose; - const auto p = planner_data->parameters; - - // Set header - reference_path.header = route_handler->getRouteHeader(); - - // calculate path with backward margin to avoid end points' instability by spline interpolation - constexpr double extra_margin = 10.0; - const double backward_length = p.backward_path_length + extra_margin; - const auto current_lanes_with_backward_margin = - route_handler->getLaneletSequence(current_lane, backward_length, p.forward_path_length); - const auto no_shift_pose = - lanelet::utils::getClosestCenterPose(current_lane, current_pose.position); - reference_path = getCenterLinePath( - *route_handler, current_lanes_with_backward_margin, no_shift_pose, backward_length, - p.forward_path_length, p); - - // clip backward length - // NOTE: In order to keep backward_path_length at least, resampling interval is added to the - // backward. - const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( - reference_path.points, no_shift_pose, p.ego_nearest_dist_threshold, - p.ego_nearest_yaw_threshold); - reference_path.points = motion_utils::cropPoints( - reference_path.points, no_shift_pose.position, current_seg_idx, p.forward_path_length, - p.backward_path_length + p.input_path_interval); - - const auto drivable_lanelets = getLaneletsFromPath(reference_path, route_handler); - const auto drivable_lanes = generateDrivableLanes(drivable_lanelets); - - const auto & dp = planner_data->drivable_area_expansion_parameters; - - const auto shorten_lanes = cutOverlappedLanes(reference_path, drivable_lanes); - const auto expanded_lanes = expandLanelets( - shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, - dp.drivable_area_types_to_skip); - - BehaviorModuleOutput output; - output.path = std::make_shared(reference_path); - output.reference_path = std::make_shared(reference_path); - output.drivable_area_info.drivable_lanes = drivable_lanes; - - return output; -} - std::uint8_t getHighestProbLabel(const std::vector & classification) { std::uint8_t label = ObjectClassification::UNKNOWN; @@ -3339,192 +1576,4 @@ std::string convertToSnakeCase(const std::string & input_str) } return output_str; } - -std::vector combineDrivableLanes( - const std::vector & original_drivable_lanes_vec, - const std::vector & new_drivable_lanes_vec) -{ - const auto has_same_lane = - [](const lanelet::ConstLanelet & target_lane, const lanelet::ConstLanelets & lanes) { - return std::find_if(lanes.begin(), lanes.end(), [&](const auto & ll) { - return ll.id() == target_lane.id(); - }) != lanes.end(); - }; - - const auto convert_to_lanes = [](const DrivableLanes & drivable_lanes) { - auto lanes = drivable_lanes.middle_lanes; - lanes.push_back(drivable_lanes.right_lane); - lanes.push_back(drivable_lanes.left_lane); - return lanes; - }; - - auto updated_drivable_lanes_vec = original_drivable_lanes_vec; - size_t new_drivable_lanes_idx = 0; - for (auto & updated_drivable_lanes : updated_drivable_lanes_vec) { - // calculated corresponding index of new_drivable_lanes - const auto opt_new_drivable_lanes_idx = [&]() -> std::optional { - for (size_t n_idx = 0; n_idx < new_drivable_lanes_vec.size(); ++n_idx) { - for (const auto & ll : convert_to_lanes(updated_drivable_lanes)) { - if (has_same_lane(ll, convert_to_lanes(new_drivable_lanes_vec.at(n_idx)))) { - return n_idx; - } - } - } - return std::nullopt; - }(); - if (!opt_new_drivable_lanes_idx) { - continue; - } - new_drivable_lanes_idx = *opt_new_drivable_lanes_idx; - const auto & new_drivable_lanes = new_drivable_lanes_vec.at(new_drivable_lanes_idx); - - // update left lane - if (has_same_lane(updated_drivable_lanes.left_lane, convert_to_lanes(new_drivable_lanes))) { - updated_drivable_lanes.left_lane = new_drivable_lanes.left_lane; - } - // update right lane - if (has_same_lane(updated_drivable_lanes.right_lane, convert_to_lanes(new_drivable_lanes))) { - updated_drivable_lanes.right_lane = new_drivable_lanes.right_lane; - } - // update middle lanes - for (const auto & middle_lane : convert_to_lanes(new_drivable_lanes)) { - if (!has_same_lane(middle_lane, convert_to_lanes(updated_drivable_lanes))) { - updated_drivable_lanes.middle_lanes.push_back(middle_lane); - } - } - - // validate middle lanes - auto & middle_lanes = updated_drivable_lanes.middle_lanes; - if (has_same_lane(updated_drivable_lanes.right_lane, middle_lanes)) { - middle_lanes.erase( - std::remove( - std::begin(middle_lanes), std::end(middle_lanes), updated_drivable_lanes.right_lane), - std::cend(middle_lanes)); - } - if (has_same_lane(updated_drivable_lanes.left_lane, middle_lanes)) { - middle_lanes.erase( - std::remove( - std::begin(middle_lanes), std::end(middle_lanes), updated_drivable_lanes.left_lane), - std::cend(middle_lanes)); - } - } - // NOTE: If original_drivable_lanes_vec is shorter than new_drivable_lanes_vec, push back remained - // new_drivable_lanes_vec. - if (new_drivable_lanes_idx + 1 < new_drivable_lanes_vec.size()) { - updated_drivable_lanes_vec.insert( - updated_drivable_lanes_vec.end(), new_drivable_lanes_vec.begin() + new_drivable_lanes_idx + 1, - new_drivable_lanes_vec.end()); - } - - return updated_drivable_lanes_vec; -} - -DrivableAreaInfo combineDrivableAreaInfo( - const DrivableAreaInfo & drivable_area_info1, const DrivableAreaInfo & drivable_area_info2) -{ - DrivableAreaInfo combined_drivable_area_info; - - // drivable lanes - combined_drivable_area_info.drivable_lanes = - combineDrivableLanes(drivable_area_info1.drivable_lanes, drivable_area_info2.drivable_lanes); - - // obstacles - for (const auto & obstacle : drivable_area_info1.obstacles) { - combined_drivable_area_info.obstacles.push_back(obstacle); - } - for (const auto & obstacle : drivable_area_info2.obstacles) { - combined_drivable_area_info.obstacles.push_back(obstacle); - } - - // enable expanding hatched road markings - combined_drivable_area_info.enable_expanding_hatched_road_markings = - drivable_area_info1.enable_expanding_hatched_road_markings || - drivable_area_info2.enable_expanding_hatched_road_markings; - - // enable expanding intersection areas - combined_drivable_area_info.enable_expanding_intersection_areas = - drivable_area_info1.enable_expanding_intersection_areas || - drivable_area_info2.enable_expanding_intersection_areas; - - return combined_drivable_area_info; -} - -// NOTE: Assuming that path.right/left_bound is already created. -void extractObstaclesFromDrivableArea( - PathWithLaneId & path, const std::vector & obstacles) -{ - if (obstacles.empty()) { - return; - } - - std::vector> right_polygons; - std::vector> left_polygons; - for (const auto & obstacle : obstacles) { - const auto & obj_pos = obstacle.pose.position; - - // get edge points of the object - const size_t nearest_path_idx = - motion_utils::findNearestIndex(path.points, obj_pos); // to get z for object polygon - std::vector edge_points; - for (size_t i = 0; i < obstacle.poly.outer().size() - 1; - ++i) { // NOTE: There is a duplicated points - edge_points.push_back(tier4_autoware_utils::createPoint( - obstacle.poly.outer().at(i).x(), obstacle.poly.outer().at(i).y(), - path.points.at(nearest_path_idx).point.pose.position.z)); - } - - // get a boundary that we have to change - const bool is_object_right = !obstacle.is_left; - const auto & bound = is_object_right ? path.right_bound : path.left_bound; - - // get polygon points inside the bounds - const auto inside_polygon = - drivable_area_processing::getPolygonPointsInsideBounds(bound, edge_points, is_object_right); - if (!inside_polygon.empty()) { - if (is_object_right) { - right_polygons.push_back(inside_polygon); - } else { - left_polygons.push_back(inside_polygon); - } - } - } - - for (const bool is_object_right : {true, false}) { - const auto & polygons = is_object_right ? right_polygons : left_polygons; - if (polygons.empty()) { - continue; - } - - // concatenate polygons if they are longitudinal overlapped. - auto unique_polygons = drivable_area_processing::concatenatePolygons(polygons); - - // sort bounds longitudinally - std::sort( - unique_polygons.begin(), unique_polygons.end(), - [](const std::vector & p1, const std::vector & p2) { - return p2.front().is_after(p1.front()); - }); - - // update boundary - auto & bound = is_object_right ? path.right_bound : path.left_bound; - bound = drivable_area_processing::updateBoundary(bound, unique_polygons); - } -} - -lanelet::ConstLanelets combineLanelets( - const lanelet::ConstLanelets & base_lanes, const lanelet::ConstLanelets & added_lanes) -{ - lanelet::ConstLanelets combined_lanes = base_lanes; - for (const auto & added_lane : added_lanes) { - const auto it = std::find_if( - combined_lanes.begin(), combined_lanes.end(), - [&added_lane](const lanelet::ConstLanelet & lane) { return lane.id() == added_lane.id(); }); - if (it == combined_lanes.end()) { - combined_lanes.push_back(added_lane); - } - } - - return combined_lanes; -} - } // namespace behavior_path_planner::utils diff --git a/planning/behavior_path_planner/test/test_utils.cpp b/planning/behavior_path_planner/test/test_utils.cpp index 4eefa27e88806..46e08c6697f65 100644 --- a/planning/behavior_path_planner/test/test_utils.cpp +++ b/planning/behavior_path_planner/test/test_utils.cpp @@ -11,6 +11,7 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/utils.hpp" #include "input.hpp" #include "lanelet2_core/Attribute.h" diff --git a/planning/static_centerline_optimizer/src/utils.cpp b/planning/static_centerline_optimizer/src/utils.cpp index d5169ac17af8a..ef05f98c368d9 100644 --- a/planning/static_centerline_optimizer/src/utils.cpp +++ b/planning/static_centerline_optimizer/src/utils.cpp @@ -15,7 +15,7 @@ #include "static_centerline_optimizer/utils.hpp" #include "behavior_path_planner/data_manager.hpp" -#include "behavior_path_planner/utils/utils.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" #include "tier4_autoware_utils/ros/marker_helper.hpp" From 691ab7848ac6fa8e383efe564ac2f2bc93669047 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Tue, 21 Nov 2023 10:38:19 +0900 Subject: [PATCH 146/701] perf(image_projection_based_fusion): replace std::bitset (#5603) --- .../src/pointpainting_fusion/voxel_generator.cpp | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp index f462b9b0ba17a..f1ba163ee69b9 100755 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp @@ -60,9 +60,13 @@ std::size_t VoxelGenerator::pointsToVoxels( point[2] = point_current.z(); point[3] = time_lag; // decode the class value back to one-hot binary and assign it to point - for (std::size_t i = 1; i <= config_.class_size_; i++) { - auto decode = std::bitset<8>(*class_iter).to_string(); - point[3 + i] = decode[-i] == 1 ? 1 : 0; + std::fill(point.begin() + 4, point.end(), 0); + auto class_value = static_cast(*class_iter); + auto iter = point.begin() + 4; + while (class_value > 0) { + *iter = class_value % 2; + class_value /= 2; + ++iter; } out_of_range = false; From 06af6c17ffc6e1377b368115e883a607a68352fa Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 21 Nov 2023 11:35:21 +0900 Subject: [PATCH 147/701] fix(bytetrack): fix uninteded roi value error due to casting int to uint (#5589) * fix uint32 conversion bug in bytetrack Signed-off-by: yoshiri * refactor outside xy variable --------- Signed-off-by: yoshiri --- perception/bytetrack/src/bytetrack_node.cpp | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/perception/bytetrack/src/bytetrack_node.cpp b/perception/bytetrack/src/bytetrack_node.cpp index 358a5053b5d4a..eb5e73312a890 100644 --- a/perception/bytetrack/src/bytetrack_node.cpp +++ b/perception/bytetrack/src/bytetrack_node.cpp @@ -83,10 +83,18 @@ void ByteTrackNode::on_rect( bytetrack::ObjectArray objects = bytetrack_->update_tracker(object_array); for (const auto & tracked_object : objects) { tier4_perception_msgs::msg::DetectedObjectWithFeature object; - object.feature.roi.x_offset = tracked_object.x_offset; - object.feature.roi.y_offset = tracked_object.y_offset; - object.feature.roi.width = tracked_object.width; - object.feature.roi.height = tracked_object.height; + // fit xy offset to 0 if roi is outside of image + const int outside_x = std::max(-tracked_object.x_offset, 0); + const int outside_y = std::max(-tracked_object.y_offset, 0); + const int32_t output_x = std::max(tracked_object.x_offset, 0); + const int32_t output_y = std::max(tracked_object.y_offset, 0); + const int32_t output_width = tracked_object.width - outside_x; + const int32_t output_height = tracked_object.height - outside_y; + // convert int32 to uint32 + object.feature.roi.x_offset = static_cast(output_x); + object.feature.roi.y_offset = static_cast(output_y); + object.feature.roi.width = static_cast(output_width); + object.feature.roi.height = static_cast(output_height); object.object.existence_probability = tracked_object.score; 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b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py index 07f8f3e30e659..4bb0630d13942 100644 --- a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py +++ b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py @@ -38,7 +38,7 @@ def generate_test_description(): output="screen", parameters=[ {"lanelet2_map_path": lanelet2_map_path}, - {"run_background": False}, + {"mode": "AUTO"}, {"rviz": False}, {"centerline_source": "optimization_trajectory_base"}, {"lanelet2_input_file_path": lanelet2_map_path}, diff --git a/vehicle/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp b/vehicle/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp index e951f11e49ab7..923fc53055475 100644 --- a/vehicle/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp +++ b/vehicle/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp @@ -50,6 +50,9 @@ struct VehicleInfo autoware::universe_utils::LinearRing2d createFootprint(const double margin = 0.0) const; autoware::universe_utils::LinearRing2d createFootprint( const double lat_margin, const double lon_margin) const; + + double calcMaxCurvature() const; + double calcCurvatureFromSteerAngle(const double steer_angle) const; }; /// Create vehicle info from base parameters diff --git a/vehicle/autoware_vehicle_info_utils/src/vehicle_info.cpp b/vehicle/autoware_vehicle_info_utils/src/vehicle_info.cpp index db223663f1145..2dd5b19f2f523 100644 --- a/vehicle/autoware_vehicle_info_utils/src/vehicle_info.cpp +++ b/vehicle/autoware_vehicle_info_utils/src/vehicle_info.cpp @@ -85,4 +85,30 @@ VehicleInfo createVehicleInfo( }; } +double VehicleInfo::calcMaxCurvature() const +{ + if (std::abs(wheel_base_m) < 1e-6) { + throw std::invalid_argument("wheel_base_m is 0."); + } + if (std::abs(max_steer_angle_rad) < 1e-6) { + return std::numeric_limits::max(); + } + + const double radius = wheel_base_m / std::tan(max_steer_angle_rad); + const double curvature = 1.0 / radius; + return curvature; +} +double VehicleInfo::calcCurvatureFromSteerAngle(const double steer_angle) const +{ + if (std::abs(wheel_base_m) < 1e-6) { + throw std::invalid_argument("wheel_base_m is 0."); + } + if (std::abs(steer_angle) < 1e-6) { + return std::numeric_limits::max(); + } + + const double radius = wheel_base_m / std::tan(steer_angle); + const double curvature = 1.0 / radius; + return curvature; +} } // namespace autoware::vehicle_info_utils From 470ebbaf0c3a6577be34d1871109ea2f8ee5ee49 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 1 Jul 2024 16:31:17 +0900 Subject: [PATCH 197/701] refactor(static_centerline_optimizer): clean up the code (#7756) Signed-off-by: Takayuki Murooka --- .../rviz/static_centerline_generator.rviz | 2 +- .../scripts/centerline_updater_helper.py | 5 +++- .../src/static_centerline_generator_node.cpp | 23 ++++++------------- .../src/static_centerline_generator_node.hpp | 1 - 4 files changed, 12 insertions(+), 19 deletions(-) diff --git a/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz b/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz index fc916f188e758..f1bd110783009 100644 --- a/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz +++ b/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz @@ -122,7 +122,7 @@ Visualization Manager: Name: Map - Class: rviz_plugins/PathWithLaneId Color Border Vel Max: 3 - Enabled: true + Enabled: false Name: Raw Centerline Topic: Depth: 5 diff --git a/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py index 2cd0c2f66d474..4bed564cee295 100755 --- a/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py +++ b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py @@ -65,6 +65,7 @@ def setupUI(self): centerline_group.setLayout(centerline_vertical_box) self.grid_layout.addWidget(centerline_group) + """ # 2. Road Boundary road_boundary_group = QGroupBox("Road Boundary") road_boundary_vertical_box = QVBoxLayout(self) @@ -79,8 +80,8 @@ def setupUI(self): self.road_boundary_lateral_margin_slider.setMaximum( 5 * self.road_boundary_lateral_margin_ratio ) - road_boundary_vertical_box.addWidget(QPushButton("reset")) + """ # 3. General general_group = QGroupBox("General") @@ -123,9 +124,11 @@ def __init__(self): self.widget.validate_button.clicked.connect(self.onValidateButtonPushed) self.widget.traj_start_index_slider.valueChanged.connect(self.onStartIndexChanged) self.widget.traj_end_index_slider.valueChanged.connect(self.onEndIndexChanged) + """ self.widget.road_boundary_lateral_margin_slider.valueChanged.connect( self.onRoadBoundaryLateralMargin ) + """ # ROS self.pub_save_map = self.create_publisher(Empty, "/static_centerline_generator/save_map", 1) diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index 24ccd7d660edf..de89cf4d12a87 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -251,11 +251,6 @@ StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode( } save_map(); }); - sub_traj_resample_interval_ = create_subscription( - "/static_centerline_generator/traj_resample_interval", rclcpp::QoS{1}, - [this]([[maybe_unused]] const std_msgs::msg::Float32 & msg) { - // TODO(murooka) - }); sub_validate_ = create_subscription( "/static_centerline_generator/validate", rclcpp::QoS{1}, [this]([[maybe_unused]] const std_msgs::msg::Empty & msg) { validate(); }); @@ -325,14 +320,6 @@ void StaticCenterlineGeneratorNode::generate_centerline() visualize_selected_centerline(); } -void StaticCenterlineGeneratorNode::validate() -{ - const auto selected_centerline = centerline_handler_.get_selected_centerline(); - const auto road_bounds = update_road_boundary(selected_centerline); - - evaluate(); -} - CenterlineWithRoute StaticCenterlineGeneratorNode::generate_whole_centerline_with_route() { if (!route_handler_ptr_) { @@ -572,7 +559,7 @@ void StaticCenterlineGeneratorNode::on_plan_path( CenterlineHandler(CenterlineWithRoute{optimized_traj_points, route_lane_ids}); // publish unsafe_footprints - evaluate(); + validate(); // create output data auto target_traj_point = optimized_traj_points.cbegin(); @@ -714,8 +701,11 @@ RoadBounds StaticCenterlineGeneratorNode::update_road_boundary( return RoadBounds{ego_left_bound, ego_right_bound}; } -void StaticCenterlineGeneratorNode::evaluate() +void StaticCenterlineGeneratorNode::validate() { + // const auto selected_centerline = centerline_handler_.get_selected_centerline(); + // const auto road_bounds = update_road_boundary(selected_centerline); + std::cerr << std::endl << "############################################## Validation Results " "##############################################" @@ -730,6 +720,7 @@ void StaticCenterlineGeneratorNode::evaluate() const double max_steer_angle_margin = getRosParameter("validation.max_steer_angle_margin"); + // calculate color for distance to road border const auto dist_thresh_vec = getRosParameter>("marker_color_dist_thresh"); const auto marker_color_vec = getRosParameter>("marker_color"); const auto get_marker_color = [&](const double dist) -> boost::optional> { @@ -806,7 +797,7 @@ void StaticCenterlineGeneratorNode::evaluate() } } - // publish left boundary + // publish road boundaries const auto left_bound = convertToGeometryPoints(lanelet_left_bound); const auto right_bound = convertToGeometryPoints(lanelet_right_bound); diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp index 42033f7956bfd..fd2314d42e46f 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp @@ -133,7 +133,6 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node void visualize_selected_centerline(); RoadBounds update_road_boundary(const std::vector & centerline); - void evaluate(); // parameter template From 222d3199ff9fd7c7d52b9d6bce47276cbe7497ee Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 1 Jul 2024 19:35:03 +0900 Subject: [PATCH 198/701] fix(static_centerline_generator): save_map only once (#7770) Signed-off-by: Takayuki Murooka --- .../scripts/centerline_updater_helper.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py index 4bed564cee295..f3d908713361d 100755 --- a/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py +++ b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py @@ -162,6 +162,13 @@ def onSaveMapButtonPushed(self, event): msg = Empty() self.pub_save_map.publish(msg) + # NOTE: After saving the map, the generated centerline is written + # in original_map_ptr_ in static_centerline_generator_node. + # When saving the map again, another centerline is written without + # removing the previous centerline. + # Therefore, saving the map can be called only once. + self.widget.save_map_button.setEnabled(False) + def onValidateButtonPushed(self, event): msg = Empty() self.pub_validate.publish(msg) From 5bed858794e5d88799d9dd1096c333d884ea3e45 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Mon, 1 Jul 2024 12:45:46 +0900 Subject: [PATCH 199/701] fix(pose_instability_detector): fix a rare error (#7681) * Added an error test case Signed-off-by: Shintaro Sakoda * Fixed to avoid out-of-size access Signed-off-by: Shintaro Sakoda * Fixed the test case Signed-off-by: Shintaro Sakoda * Fixed test Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Shintaro Sakoda --- .../src/pose_instability_detector.cpp | 6 ++ .../pose_instability_detector/test/test.cpp | 58 +++++++++++++++++++ 2 files changed, 64 insertions(+) diff --git a/localization/pose_instability_detector/src/pose_instability_detector.cpp b/localization/pose_instability_detector/src/pose_instability_detector.cpp index 28398588809eb..23362dd13c6bc 100644 --- a/localization/pose_instability_detector/src/pose_instability_detector.cpp +++ b/localization/pose_instability_detector/src/pose_instability_detector.cpp @@ -354,6 +354,9 @@ PoseInstabilityDetector::clip_out_necessary_twist( start_twist.header.stamp = start_time; result_deque.push_front(start_twist); } else { + if (result_deque.size() < 2) { + return result_deque; + } // If the first element is earlier than start_time, interpolate the first element rclcpp::Time time0 = rclcpp::Time(result_deque[0].header.stamp); rclcpp::Time time1 = rclcpp::Time(result_deque[1].header.stamp); @@ -380,6 +383,9 @@ PoseInstabilityDetector::clip_out_necessary_twist( end_twist.header.stamp = end_time; result_deque.push_back(end_twist); } else { + if (result_deque.size() < 2) { + return result_deque; + } // If the last element is later than end_time, interpolate the last element rclcpp::Time time0 = rclcpp::Time(result_deque[result_deque.size() - 2].header.stamp); rclcpp::Time time1 = rclcpp::Time(result_deque[result_deque.size() - 1].header.stamp); diff --git a/localization/pose_instability_detector/test/test.cpp b/localization/pose_instability_detector/test/test.cpp index 9300984967d4b..482e659e7a13c 100644 --- a/localization/pose_instability_detector/test/test.cpp +++ b/localization/pose_instability_detector/test/test.cpp @@ -163,6 +163,64 @@ TEST_F(TestPoseInstabilityDetector, output_warn_when_twist_is_too_small) // NOL EXPECT_TRUE(diagnostic_status.level == diagnostic_msgs::msg::DiagnosticStatus::WARN); } +TEST_F(TestPoseInstabilityDetector, does_not_crash_even_if_abnormal_odometry_data_comes) // NOLINT +{ + // [Condition] There is no twist_msg between the two target odometry_msgs. + // Normally this doesn't seem to happen. + // As far as I can think, this happens when the odometry msg stops (so the next timer callback + // will refer to the same odometry msg, and the timestamp difference will be calculated as 0) + // This test case shows that an error occurs when two odometry msgs come in close succession and + // there is no other odometry msg. + // Referring again, this doesn't normally seem to happen in usual operation. + + builtin_interfaces::msg::Time timestamp{}; + + // send the twist message1 + timestamp.sec = 0; + timestamp.nanosec = 0; + helper_->send_twist_message(timestamp, 0.2, 0.0, 0.0); + + // send the first odometry message after the first twist message + timestamp.sec = 0; + timestamp.nanosec = 5e8 + 1; + helper_->send_odometry_message(timestamp, 10.0, 0.0, 0.0); + + // process the above message (by timer_callback) + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // send the second odometry message before the second twist message + timestamp.sec = 0; + timestamp.nanosec = 5e8 + 1e7; + helper_->send_odometry_message(timestamp, 12.0, 0.0, 0.0); + + // send the twist message2 + timestamp.sec = 1; + timestamp.nanosec = 0; + helper_->send_twist_message(timestamp, 0.2, 0.0, 0.0); + + // process the above messages (by timer_callback) + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // provoke timer callback again + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // This test is OK if pose_instability_detector does not crash. The diagnostics status is not + // checked. + SUCCEED(); +} + int main(int argc, char ** argv) { rclcpp::init(argc, argv); From cb3e7588a8c4ad5ec5e147815c6193467e0ff4dd Mon Sep 17 00:00:00 2001 From: Zhi Wang Date: Wed, 3 Jul 2024 14:28:38 +0900 Subject: [PATCH 200/701] feat(mrm_handler): operate mrm only when autonomous operation mode (#1377) feat(mrm_handler): operate mrm only when autonomous operation mode (#7784) * feat: add isOperationModeAutonomous() function to MRM handler core The code changes add a new function `isOperationModeAutonomous()` to the MRM handler core. This function is used to check if the operation mode is set to autonomous. --------- Signed-off-by: kyoichi-sugahara Co-authored-by: Kyoichi Sugahara --- .../include/mrm_handler/mrm_handler_core.hpp | 3 ++- .../src/mrm_handler/mrm_handler_core.cpp | 15 ++++++++++++--- 2 files changed, 14 insertions(+), 4 deletions(-) diff --git a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp index c908ca1a62ee2..7d7deb8c4a504 100644 --- a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp +++ b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp @@ -148,7 +148,8 @@ class MrmHandler : public rclcpp::Node bool isStopped(); bool isDrivingBackwards(); bool isEmergency() const; - bool isAutonomous(); + bool isControlModeAutonomous(); + bool isOperationModeAutonomous(); bool isPullOverStatusAvailable(); bool isComfortableStopStatusAvailable(); bool isEmergencyStopStatusAvailable(); diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp index 326fbb392fd35..47cbb0ae7d016 100644 --- a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp +++ b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp @@ -396,12 +396,13 @@ void MrmHandler::updateMrmState() } // Get mode - const bool is_auto_mode = isAutonomous(); + const bool is_control_mode_autonomous = isControlModeAutonomous(); + const bool is_operation_mode_autonomous = isOperationModeAutonomous(); // State Machine switch (mrm_state_.state) { case MrmState::NORMAL: - if (is_auto_mode) { + if (is_control_mode_autonomous && is_operation_mode_autonomous) { transitionTo(MrmState::MRM_OPERATING); } return; @@ -537,7 +538,7 @@ bool MrmHandler::isEmergency() const is_operation_mode_availability_timeout; } -bool MrmHandler::isAutonomous() +bool MrmHandler::isControlModeAutonomous() { using autoware_vehicle_msgs::msg::ControlModeReport; auto mode = sub_control_mode_.takeData(); @@ -545,6 +546,14 @@ bool MrmHandler::isAutonomous() return mode->mode == ControlModeReport::AUTONOMOUS; } +bool MrmHandler::isOperationModeAutonomous() +{ + using autoware_adapi_v1_msgs::msg::OperationModeState; + auto state = sub_operation_mode_state_.takeData(); + if (state == nullptr) return false; + return state->mode == OperationModeState::AUTONOMOUS; +} + bool MrmHandler::isPullOverStatusAvailable() { auto status = sub_mrm_pull_over_status_.takeData(); From 9f31524e84f984bb393331be71e89f79cee136a0 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri, 21 Jun 2024 15:14:55 +0900 Subject: [PATCH 201/701] fix(image_transport_decompressor): missing config setting (#7615) Signed-off-by: badai-nguyen Co-authored-by: Kenzo Lobos Tsunekawa --- sensing/image_transport_decompressor/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/sensing/image_transport_decompressor/CMakeLists.txt b/sensing/image_transport_decompressor/CMakeLists.txt index 2359a327abb8c..2ecd3446290df 100644 --- a/sensing/image_transport_decompressor/CMakeLists.txt +++ b/sensing/image_transport_decompressor/CMakeLists.txt @@ -24,4 +24,5 @@ rclcpp_components_register_node(image_transport_decompressor ament_auto_package(INSTALL_TO_SHARE launch + config ) From a28bbd2c49be8666650e0f90dcc91df40c652849 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 4 Jul 2024 10:34:17 +0900 Subject: [PATCH 202/701] fix(euclidean_cluster, ground_segmentation): cherry-pick bug fix PRs (#1378) * fix(euclidean_cluster): fix euclidean cluster params (#7662) * fix(euclidean_cluster): fix max and min cluster size Signed-off-by: beginningfan * fix(gnss_poser): fix a typo Signed-off-by: beginningfan * fix(euclidean_cluster): fix min cluster size Signed-off-by: beginningfan * style(pre-commit): autofix --------- Signed-off-by: beginningfan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(euclidean_cluster): fix max_cluster_size bug (#7734) Signed-off-by: badai-nguyen * fix(ground_segmentation): fix bug (#7771) --------- Signed-off-by: beginningfan Signed-off-by: badai-nguyen Co-authored-by: beginningfan <103237402+beginningfan@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> --- launch/tier4_perception_launch/package.xml | 1 + .../lib/voxel_grid_based_euclidean_cluster.cpp | 8 ++++++-- .../src/ransac_ground_filter_nodelet.cpp | 7 ++++--- 3 files changed, 11 insertions(+), 5 deletions(-) diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 6ec706a4aad32..57d4b209efeef 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -19,6 +19,7 @@ detected_object_feature_remover detected_object_validation detection_by_tracker + elevation_map_loader euclidean_cluster ground_segmentation image_projection_based_fusion diff --git a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp index 40699fd6e27ab..126f877afddb0 100644 --- a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp +++ b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp @@ -106,7 +106,7 @@ bool VoxelGridBasedEuclideanCluster::cluster( temporary_cluster.height = pointcloud_msg->height; temporary_cluster.fields = pointcloud_msg->fields; temporary_cluster.point_step = point_step; - temporary_cluster.data.resize(max_cluster_size_ * point_step); + temporary_cluster.data.resize(cluster.indices.size() * point_step); clusters_data_size.push_back(0); } @@ -117,13 +117,17 @@ bool VoxelGridBasedEuclideanCluster::cluster( voxel_grid_.getCentroidIndexAt(voxel_grid_.getGridCoordinates(point.x, point.y, point.z)); if (map.find(index) != map.end()) { auto & cluster_data_size = clusters_data_size.at(map[index]); - if (cluster_data_size + point_step > std::size_t(max_cluster_size_ * point_step)) { + if (cluster_data_size > std::size_t(max_cluster_size_ * point_step)) { continue; } std::memcpy( &temporary_clusters.at(map[index]).data[cluster_data_size], &pointcloud_msg->data[i * point_step], point_step); cluster_data_size += point_step; + if (cluster_data_size == temporary_clusters.at(map[index]).data.size()) { + temporary_clusters.at(map[index]) + .data.resize(temporary_clusters.at(map[index]).data.size() * 2); + } } } diff --git a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp index d7fa777dc58c9..aa224e7adc5bf 100644 --- a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp @@ -292,12 +292,13 @@ void RANSACGroundFilterComponent::filter( no_ground_cloud_msg_ptr->header = input->header; no_ground_cloud_msg_ptr->fields = input->fields; no_ground_cloud_msg_ptr->point_step = point_step; + no_ground_cloud_msg_ptr->data.resize(input->data.size()); size_t output_size = 0; // use not downsampled pointcloud for extract pointcloud that higher than height threshold for (size_t global_size = 0; global_size < input->data.size(); global_size += point_step) { - float x = *reinterpret_cast(input->data[global_size + x_offset]); - float y = *reinterpret_cast(input->data[global_size + y_offset]); - float z = *reinterpret_cast(input->data[global_size + z_offset]); + float x = *reinterpret_cast(&input->data[global_size + x_offset]); + float y = *reinterpret_cast(&input->data[global_size + y_offset]); + float z = *reinterpret_cast(&input->data[global_size + z_offset]); const Eigen::Vector3d transformed_point = plane_affine.inverse() * Eigen::Vector3d(x, y, z); if (std::abs(transformed_point.z()) > height_threshold_) { std::memcpy( From 777763267d213716d75f5a4df6c00bf8938a31b4 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 8 Jul 2024 16:08:47 +0900 Subject: [PATCH 203/701] fix(motion_planning): fix processing time topic names (#7885) (#1394) Signed-off-by: Maxime CLEMENT --- .../autoware_motion_velocity_planner_node/src/node.cpp | 4 ++-- .../autoware_motion_velocity_planner_node/src/node.hpp | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp index 5e6f9619e75c2..07e496d52764b 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp @@ -83,8 +83,8 @@ MotionVelocityPlannerNode::MotionVelocityPlannerNode(const rclcpp::NodeOptions & velocity_factor_publisher_ = this->create_publisher( "~/output/velocity_factors", 1); - processing_time_publisher_ = this->create_publisher( - "~/debug/total_time/processing_time_ms", 1); + processing_time_publisher_ = + this->create_publisher("~/debug/processing_time_ms", 1); // Parameters smooth_velocity_before_planning_ = declare_parameter("smooth_velocity_before_planning"); diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp index 8debb9cbedf00..4bf24cadb36f2 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp @@ -97,7 +97,8 @@ class MotionVelocityPlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr debug_viz_pub_; rclcpp::Publisher::SharedPtr velocity_factor_publisher_; - autoware::universe_utils::ProcessingTimePublisher processing_diag_publisher_{this}; + autoware::universe_utils::ProcessingTimePublisher processing_diag_publisher_{ + this, "~/debug/processing_time_ms_diag"}; rclcpp::Publisher::SharedPtr processing_time_publisher_; autoware::universe_utils::PublishedTimePublisher published_time_publisher_{this}; From 4e18b8052d720f5d026c1538e15d19fb0674a71c Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 9 Jul 2024 09:37:21 +0900 Subject: [PATCH 204/701] fix(multi_object_tracker): fix publish interval adjust timing (#7904) (#1400) refactor: optimize publish time check in multi_object_tracker_node.cpp Signed-off-by: Taekjin LEE --- .../multi_object_tracker/src/multi_object_tracker_core.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp index 97c3d93d191b2..0a1f5f2344ba7 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp @@ -222,8 +222,9 @@ void MultiObjectTracker::onTrigger() } else { // Publish if the next publish time is close const double minimum_publish_interval = publisher_period_ * 0.70; // 70% of the period - if ((current_time - last_published_time_).seconds() > minimum_publish_interval) { - checkAndPublish(current_time); + const rclcpp::Time publish_time = this->now(); + if ((publish_time - last_published_time_).seconds() > minimum_publish_interval) { + checkAndPublish(publish_time); } } } From 992b4df18e3771d26f49889a00856791b108da72 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 23 Jul 2024 15:05:43 +0900 Subject: [PATCH 205/701] fix(velocity_smoother): float type of processing time was wrong Signed-off-by: Takayuki Murooka --- .../include/autoware/obstacle_cruise_planner/node.hpp | 2 +- .../include/autoware/obstacle_cruise_planner/type_alias.hpp | 2 ++ planning/autoware_obstacle_cruise_planner/src/node.cpp | 4 ++-- .../include/autoware/velocity_smoother/node.hpp | 4 +++- planning/autoware_velocity_smoother/src/node.cpp | 4 ++-- 5 files changed, 10 insertions(+), 6 deletions(-) diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp index d4094ff08c3f0..29bd91f5c5b72 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp @@ -159,7 +159,7 @@ class ObstacleCruisePlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr debug_stop_planning_info_pub_; rclcpp::Publisher::SharedPtr debug_cruise_planning_info_pub_; rclcpp::Publisher::SharedPtr debug_slow_down_planning_info_pub_; - rclcpp::Publisher::SharedPtr debug_calculation_time_pub_; + rclcpp::Publisher::SharedPtr debug_calculation_time_pub_; // subscriber rclcpp::Subscription::SharedPtr traj_sub_; diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp index 03e536ce238cd..541a8281b2f1d 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp @@ -29,6 +29,7 @@ #include "nav_msgs/msg/odometry.hpp" #include "sensor_msgs/msg/point_cloud2.hpp" #include "tier4_debug_msgs/msg/float32_stamped.hpp" +#include "tier4_debug_msgs/msg/float64_stamped.hpp" #include "tier4_planning_msgs/msg/stop_factor.hpp" #include "tier4_planning_msgs/msg/stop_reason_array.hpp" #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp" @@ -56,6 +57,7 @@ using geometry_msgs::msg::Twist; using nav_msgs::msg::Odometry; using sensor_msgs::msg::PointCloud2; using tier4_debug_msgs::msg::Float32Stamped; +using tier4_debug_msgs::msg::Float64Stamped; using tier4_planning_msgs::msg::StopFactor; using tier4_planning_msgs::msg::StopReason; using tier4_planning_msgs::msg::StopReasonArray; diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp index 210577d92ef93..cbb3f98385774 100644 --- a/planning/autoware_obstacle_cruise_planner/src/node.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp @@ -425,7 +425,7 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & "~/output/clear_velocity_limit", rclcpp::QoS{1}.transient_local()); // debug publisher - debug_calculation_time_pub_ = create_publisher("~/debug/processing_time_ms", 1); + debug_calculation_time_pub_ = create_publisher("~/debug/processing_time_ms", 1); debug_cruise_wall_marker_pub_ = create_publisher("~/debug/cruise/virtual_wall", 1); debug_stop_wall_marker_pub_ = create_publisher("~/virtual_wall", 1); debug_slow_down_wall_marker_pub_ = @@ -1977,7 +1977,7 @@ void ObstacleCruisePlannerNode::publishDebugInfo() const void ObstacleCruisePlannerNode::publishCalculationTime(const double calculation_time) const { - Float32Stamped calculation_time_msg; + Float64Stamped calculation_time_msg; calculation_time_msg.stamp = now(); calculation_time_msg.data = calculation_time; debug_calculation_time_pub_->publish(calculation_time_msg); diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp index 26918cce24549..4e142ca8983f7 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp @@ -44,6 +44,7 @@ #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" #include "tier4_debug_msgs/msg/float32_stamped.hpp" // temporary +#include "tier4_debug_msgs/msg/float64_stamped.hpp" // temporary #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp" // temporary #include "tier4_planning_msgs/msg/velocity_limit.hpp" // temporary #include "visualization_msgs/msg/marker_array.hpp" @@ -66,6 +67,7 @@ using geometry_msgs::msg::Pose; using geometry_msgs::msg::PoseStamped; using nav_msgs::msg::Odometry; using tier4_debug_msgs::msg::Float32Stamped; // temporary +using tier4_debug_msgs::msg::Float64Stamped; // temporary using tier4_planning_msgs::msg::StopSpeedExceeded; // temporary using tier4_planning_msgs::msg::VelocityLimit; // temporary using visualization_msgs::msg::MarkerArray; @@ -259,7 +261,7 @@ class VelocitySmootherNode : public rclcpp::Node rclcpp::Publisher::SharedPtr debug_closest_velocity_; rclcpp::Publisher::SharedPtr debug_closest_acc_; rclcpp::Publisher::SharedPtr debug_closest_jerk_; - rclcpp::Publisher::SharedPtr debug_calculation_time_; + rclcpp::Publisher::SharedPtr debug_calculation_time_; rclcpp::Publisher::SharedPtr debug_closest_max_velocity_; rclcpp::Publisher::SharedPtr debug_processing_time_detail_; diff --git a/planning/autoware_velocity_smoother/src/node.cpp b/planning/autoware_velocity_smoother/src/node.cpp index ca7526e9adf3b..195288dd9c896 100644 --- a/planning/autoware_velocity_smoother/src/node.cpp +++ b/planning/autoware_velocity_smoother/src/node.cpp @@ -76,7 +76,7 @@ VelocitySmootherNode::VelocitySmootherNode(const rclcpp::NodeOptions & node_opti debug_closest_acc_ = create_publisher("~/closest_acceleration", 1); debug_closest_jerk_ = create_publisher("~/closest_jerk", 1); debug_closest_max_velocity_ = create_publisher("~/closest_max_velocity", 1); - debug_calculation_time_ = create_publisher("~/debug/processing_time_ms", 1); + debug_calculation_time_ = create_publisher("~/debug/processing_time_ms", 1); pub_trajectory_raw_ = create_publisher("~/debug/trajectory_raw", 1); pub_trajectory_vel_lim_ = create_publisher("~/debug/trajectory_external_velocity_limited", 1); @@ -1090,7 +1090,7 @@ void VelocitySmootherNode::flipVelocity(TrajectoryPoints & points) const void VelocitySmootherNode::publishStopWatchTime() { - Float32Stamped calculation_time_data{}; + Float64Stamped calculation_time_data{}; calculation_time_data.stamp = this->now(); calculation_time_data.data = stop_watch_.toc(); debug_calculation_time_->publish(calculation_time_data); From ea8f30124e5c3c8a84e923318a43ab1ac82c1353 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 23 Jul 2024 15:01:43 +0900 Subject: [PATCH 206/701] fix(path_optimizer): revert the feature of publishing processing time Signed-off-by: Takayuki Murooka --- .../include/autoware/path_optimizer/node.hpp | 3 +++ planning/autoware_path_optimizer/src/node.cpp | 8 ++------ 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp index 6f75c649e02b2..cad3a9fc89340 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp @@ -22,6 +22,7 @@ #include "autoware/path_optimizer/type_alias.hpp" #include "autoware/universe_utils/ros/logger_level_configure.hpp" #include "autoware/universe_utils/ros/polling_subscriber.hpp" +#include "autoware/universe_utils/system/stop_watch.hpp" #include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" @@ -143,6 +144,8 @@ class PathOptimizer : public rclcpp::Node std::unique_ptr logger_configure_; std::unique_ptr published_time_publisher_; + + autoware::universe_utils::StopWatch stop_watch_; }; } // namespace autoware::path_optimizer diff --git a/planning/autoware_path_optimizer/src/node.cpp b/planning/autoware_path_optimizer/src/node.cpp index 7c73d1ad1fee3..f0d101a046206 100644 --- a/planning/autoware_path_optimizer/src/node.cpp +++ b/planning/autoware_path_optimizer/src/node.cpp @@ -223,6 +223,7 @@ void PathOptimizer::resetPreviousData() void PathOptimizer::onPath(const Path::ConstSharedPtr path_ptr) { time_keeper_->start_track(__func__); + stop_watch_.tic(); // check if input path is valid if (!checkInputPath(*path_ptr, *get_clock())) { @@ -270,12 +271,7 @@ void PathOptimizer::onPath(const Path::ConstSharedPtr path_ptr) // publish calculation_time // NOTE: This function must be called after measuring onPath calculation time - /* - const auto calculation_time_msg = createStringStamped(now(), time_keeper_ptr_->getLog()); - debug_calculation_time_str_pub_->publish(calculation_time_msg); - debug_calculation_time_float_pub_->publish( - createFloat64Stamped(now(), time_keeper_ptr_->getAccumulatedTime())); - */ + debug_calculation_time_float_pub_->publish(createFloat64Stamped(now(), stop_watch_.toc())); const auto output_traj_msg = autoware::motion_utils::convertToTrajectory(full_traj_points, path_ptr->header); From 4d5789b3ebd0e88b2d3257a0fed01ca5032d3737 Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Thu, 1 Aug 2024 17:32:04 +0900 Subject: [PATCH 207/701] fix(tier4_perception_launch): set `use_image_transport` in launch (#8315) set use_image_transport in launch Signed-off-by: MasatoSaeki --- .../traffic_light_node_container.launch.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py index 79c99398966da..74b89e9298da4 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py @@ -88,7 +88,7 @@ def create_parameter_dict(*args): package="autoware_traffic_light_visualization", plugin="autoware::traffic_light::TrafficLightRoiVisualizerNode", name="traffic_light_roi_visualizer", - parameters=[create_parameter_dict("enable_fine_detection")], + parameters=[create_parameter_dict("enable_fine_detection", "use_image_transport")], remappings=[ ("~/input/image", LaunchConfiguration("input/image")), ("~/input/rois", LaunchConfiguration("output/rois")), @@ -172,6 +172,7 @@ def add_launch_arg(name: str, default_value=None, description=None): classifier_share_dir = get_package_share_directory("autoware_traffic_light_classifier") add_launch_arg("enable_image_decompressor", "True") add_launch_arg("enable_fine_detection", "True") + add_launch_arg("use_image_transport", "True") add_launch_arg("input/image", "/sensing/camera/traffic_light/image_raw") add_launch_arg("output/rois", "/perception/traffic_light_recognition/rois") add_launch_arg( From 1980f02e8c0a4aaf63086e9bf8d856b10bbd3ec5 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Mon, 5 Aug 2024 09:16:49 +0900 Subject: [PATCH 208/701] fix(static_obstacle_avoidance): remove invalid small shift lines Signed-off-by: satoshi-ota --- .../src/shift_line_generator.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp index 5e58466fa4229..57a6e340bf853 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp @@ -827,6 +827,8 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess( utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal( data, debug.step1_front_shift_line); + applySmallShiftFilter(ret, 1e-3); + return ret; } From 488e744545aaf6ac0cf396798dba07438681c9c5 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Thu, 5 Sep 2024 11:28:24 +0900 Subject: [PATCH 209/701] fix(goal_planner): fix typo (#8763) Signed-off-by: Fumiya Watanabe --- .../src/goal_planner_module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 92e15c2c4aee4..f8195ecfea7ec 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -459,7 +459,7 @@ void GoalPlannerModule::updateData() { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - // extract static and dynamic objects in extraction polygon for path coliision check + // extract static and dynamic objects in extraction polygon for path collision check { const auto & p = parameters_; const auto & rh = *(planner_data_->route_handler); From 6c278826c15b6b4acecebc8b5a15867a871b507c Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Thu, 5 Sep 2024 11:48:57 +0900 Subject: [PATCH 210/701] fix(pointcloud_preprocessor): fix typo (#8762) Signed-off-by: Fumiya Watanabe --- .../launch/vector_map_inside_area_filter_node.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml index 21eded98595ba..795234e185cdd 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml @@ -1,7 +1,7 @@ - + @@ -9,6 +9,6 @@ - + From 1e34b6a35d9a1c9d976bc16ff3de55f85b2ceb9a Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 5 Sep 2024 18:00:54 +0900 Subject: [PATCH 211/701] fix(goal_planner): fix object extraction area (#8764) Signed-off-by: kosuke55 --- .../autoware_behavior_path_goal_planner_module/src/util.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp index ecb0b1be4e83e..49f70bb8e661b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp @@ -191,7 +191,7 @@ std::optional generateObjectExtractionPolygon( constexpr double INTERSECTION_CHECK_DISTANCE = 10.0; std::vector modified_bound{}; size_t i = 0; - while (i < bound.size() - 2) { + while (i < bound.size() - 1) { BoostPoint p1(bound.at(i).x, bound.at(i).y); BoostPoint p2(bound.at(i + 1).x, bound.at(i + 1).y); LineString p_line{}; From a7c1dc2bfe06c45392c3661f879ef4bd8dbecceb Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 5 Sep 2024 22:50:32 +0900 Subject: [PATCH 212/701] fix(goal_planner): fix time_keeper race (#8780) Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index f8195ecfea7ec..dd37d1b30a2a8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1243,8 +1243,6 @@ bool GoalPlannerModule::hasNotDecidedPath( const std::shared_ptr & safety_check_params, const std::shared_ptr goal_searcher) const { - universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - return checkDecidingPathStatus( planner_data, occupancy_grid_map, parameters, ego_predicted_path_params, objects_filtering_params, safety_check_params, goal_searcher) @@ -2360,8 +2358,6 @@ std::pair GoalPlannerModule::isSafePath( const std::shared_ptr & objects_filtering_params, const std::shared_ptr & safety_check_params) const { - universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - if (!thread_safe_data_.get_pull_over_path()) { return {false, false}; } From 0a1e15ed3a1ed477c9962ce42cf6924903bfb644 Mon Sep 17 00:00:00 2001 From: Amadeusz Szymko Date: Mon, 9 Sep 2024 11:22:06 +0900 Subject: [PATCH 213/701] fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (#8678) Signed-off-by: amadeuszsz --- ...uffer.hpp => managed_transform_buffer.hpp} | 139 +++++++++++++----- ....cpp => test_managed_transform_buffer.cpp} | 96 +++++------- .../autoware_ground_segmentation/README.md | 17 ++- .../docs/ransac-ground-filter.md | 1 + .../docs/ray-ground-filter.md | 1 + .../docs/scan-ground-filter.md | 1 + .../src/ransac_ground_filter/node.cpp | 6 +- .../src/ransac_ground_filter/node.hpp | 4 +- .../config/concatenate_pointclouds.param.yaml | 1 + .../distortion_corrector_node.param.yaml | 1 + .../config/time_synchronizer_node.param.yaml | 1 + .../docs/concatenate-data.md | 13 +- .../concatenate_and_time_sync_nodelet.hpp | 7 +- .../concatenate_pointclouds.hpp | 7 +- .../distortion_corrector.hpp | 19 ++- .../pointcloud_preprocessor/filter.hpp | 12 +- .../time_synchronizer_node.hpp | 7 +- .../concatenate_pointclouds.schema.json | 14 +- .../distortion_corrector_node.schema.json | 7 +- .../schema/time_synchronizer_node.schema.json | 6 + .../concatenate_and_time_sync_nodelet.cpp | 11 +- .../concatenate_pointclouds.cpp | 8 +- .../distortion_corrector.cpp | 6 +- .../distortion_corrector_node.cpp | 6 +- .../src/filter.cpp | 26 +++- .../time_synchronizer_node.cpp | 12 +- .../test/test_distortion_corrector_node.cpp | 4 +- 27 files changed, 269 insertions(+), 164 deletions(-) rename common/autoware_universe_utils/include/autoware/universe_utils/ros/{static_transform_buffer.hpp => managed_transform_buffer.hpp} (54%) rename common/autoware_universe_utils/test/src/ros/{test_static_transform_buffer.cpp => test_managed_transform_buffer.cpp} (59%) diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/ros/static_transform_buffer.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/managed_transform_buffer.hpp similarity index 54% rename from common/autoware_universe_utils/include/autoware/universe_utils/ros/static_transform_buffer.hpp rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/managed_transform_buffer.hpp index 175d1934e973d..9d96dc9e6b133 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/ros/static_transform_buffer.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/managed_transform_buffer.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__STATIC_TRANSFORM_BUFFER_HPP_ -#define AUTOWARE__UNIVERSE_UTILS__ROS__STATIC_TRANSFORM_BUFFER_HPP_ +#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__MANAGED_TRANSFORM_BUFFER_HPP_ +#define AUTOWARE__UNIVERSE_UTILS__ROS__MANAGED_TRANSFORM_BUFFER_HPP_ #include "autoware/universe_utils/ros/transform_listener.hpp" @@ -29,6 +29,7 @@ #include #include #include +#include #include #include @@ -58,12 +59,69 @@ struct PairEqual } }; using TFMap = std::unordered_map, PairEqual>; +constexpr std::array warn_frames = {"map", "odom", "world"}; -class StaticTransformBuffer +class ManagedTransformBuffer { public: - StaticTransformBuffer() = default; + explicit ManagedTransformBuffer(rclcpp::Node * node, const bool & has_static_tf_only) + : node_(node) + { + if (has_static_tf_only) { + get_transform_ = [this]( + const std::string & target_frame, const std::string & source_frame, + Eigen::Matrix4f & eigen_transform) { + return getStaticTransform(target_frame, source_frame, eigen_transform); + }; + } else { + tf_listener_ = std::make_unique(node); + get_transform_ = [this]( + const std::string & target_frame, const std::string & source_frame, + Eigen::Matrix4f & eigen_transform) { + return getDynamicTransform(target_frame, source_frame, eigen_transform); + }; + } + } + + bool getTransform( + const std::string & target_frame, const std::string & source_frame, + Eigen::Matrix4f & eigen_transform) + { + return get_transform_(target_frame, source_frame, eigen_transform); + } + + /** + * Transforms a point cloud from one frame to another. + * + * @param target_frame The target frame to transform the point cloud to. + * @param cloud_in The input point cloud to be transformed. + * @param cloud_out The transformed point cloud. + * @return True if the transformation is successful, false otherwise. + */ + bool transformPointcloud( + const std::string & target_frame, const sensor_msgs::msg::PointCloud2 & cloud_in, + sensor_msgs::msg::PointCloud2 & cloud_out) + { + if ( + pcl::getFieldIndex(cloud_in, "x") == -1 || pcl::getFieldIndex(cloud_in, "y") == -1 || + pcl::getFieldIndex(cloud_in, "z") == -1) { + RCLCPP_ERROR(node_->get_logger(), "Input pointcloud does not have xyz fields"); + return false; + } + if (target_frame == cloud_in.header.frame_id) { + cloud_out = cloud_in; + return true; + } + Eigen::Matrix4f eigen_transform; + if (!getTransform(target_frame, cloud_in.header.frame_id, eigen_transform)) { + return false; + } + pcl_ros::transformPointCloud(eigen_transform, cloud_in, cloud_out); + cloud_out.header.frame_id = target_frame; + return true; + } +private: /** * @brief Retrieves a transform between two static frames. * @@ -72,17 +130,24 @@ class StaticTransformBuffer * Otherwise, transform matrix is set to identity and the function returns false. Transform * Listener is destroyed after function call. * - * @param node A pointer to the ROS node. * @param target_frame The target frame. * @param source_frame The source frame. - * @param eigen_transform The output Eigen transform matrix. Is set to identity if the transform - * is not found. + * @param eigen_transform The output Eigen transform matrix. It is set to the identity if the + * transform is not found. * @return True if the transform was successfully retrieved, false otherwise. */ - bool getTransform( - rclcpp::Node * node, const std::string & target_frame, const std::string & source_frame, + bool getStaticTransform( + const std::string & target_frame, const std::string & source_frame, Eigen::Matrix4f & eigen_transform) { + if ( + std::find(warn_frames.begin(), warn_frames.end(), target_frame) != warn_frames.end() || + std::find(warn_frames.begin(), warn_frames.end(), source_frame) != warn_frames.end()) { + RCLCPP_WARN( + node_->get_logger(), "Using %s -> %s transform. This may not be a static transform.", + target_frame.c_str(), source_frame.c_str()); + } + auto key = std::make_pair(target_frame, source_frame); auto key_inv = std::make_pair(source_frame, target_frame); @@ -109,11 +174,12 @@ class StaticTransformBuffer } // Get the transform from the TF tree - auto tf_listener = std::make_unique(node); - auto tf = tf_listener->getTransform( + tf_listener_ = std::make_unique(node_); + auto tf = tf_listener_->getTransform( target_frame, source_frame, rclcpp::Time(0), rclcpp::Duration(1000ms)); + tf_listener_.reset(); RCLCPP_DEBUG( - node->get_logger(), "Trying to enqueue %s -> %s transform to static TFs buffer...", + node_->get_logger(), "Trying to enqueue %s -> %s transform to static TFs buffer...", target_frame.c_str(), source_frame.c_str()); if (tf == nullptr) { eigen_transform = Eigen::Matrix4f::Identity(); @@ -124,42 +190,39 @@ class StaticTransformBuffer return true; } - /** - * Transforms a point cloud from one frame to another. + /** @brief Retrieves a transform between two dynamic frames. * - * @param node A pointer to the ROS node. - * @param target_frame The target frame to transform the point cloud to. - * @param cloud_in The input point cloud to be transformed. - * @param cloud_out The transformed point cloud. - * @return True if the transformation is successful, false otherwise. + * This function attempts to retrieve a transform between the target frame and the source frame. + * If successful, the transformation matrix is assigned to the output parameter, and the function + * returns true. Otherwise, the transformation matrix is set to the identity and the function + * returns false. + * + * @param target_frame The target frame. + * @param source_frame The source frame. + * @param eigen_transform The output Eigen transformation matrix. It is set to the identity if the + * transform is not found. + * @return True if the transform was successfully retrieved, false otherwise. */ - bool transformPointcloud( - rclcpp::Node * node, const std::string & target_frame, - const sensor_msgs::msg::PointCloud2 & cloud_in, sensor_msgs::msg::PointCloud2 & cloud_out) + bool getDynamicTransform( + const std::string & target_frame, const std::string & source_frame, + Eigen::Matrix4f & eigen_transform) { - if ( - pcl::getFieldIndex(cloud_in, "x") == -1 || pcl::getFieldIndex(cloud_in, "y") == -1 || - pcl::getFieldIndex(cloud_in, "z") == -1) { - RCLCPP_ERROR(node->get_logger(), "Input pointcloud does not have xyz fields"); - return false; - } - if (target_frame == cloud_in.header.frame_id) { - cloud_out = cloud_in; - return true; - } - Eigen::Matrix4f eigen_transform; - if (!getTransform(node, target_frame, cloud_in.header.frame_id, eigen_transform)) { + auto tf = tf_listener_->getTransform( + target_frame, source_frame, rclcpp::Time(0), rclcpp::Duration(1000ms)); + if (tf == nullptr) { + eigen_transform = Eigen::Matrix4f::Identity(); return false; } - pcl_ros::transformPointCloud(eigen_transform, cloud_in, cloud_out); - cloud_out.header.frame_id = target_frame; + pcl_ros::transformAsMatrix(*tf, eigen_transform); return true; } -private: TFMap buffer_; + rclcpp::Node * const node_; + std::unique_ptr tf_listener_; + std::function get_transform_; }; } // namespace autoware::universe_utils -#endif // AUTOWARE__UNIVERSE_UTILS__ROS__STATIC_TRANSFORM_BUFFER_HPP_ +#endif // AUTOWARE__UNIVERSE_UTILS__ROS__MANAGED_TRANSFORM_BUFFER_HPP_ diff --git a/common/autoware_universe_utils/test/src/ros/test_static_transform_buffer.cpp b/common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp similarity index 59% rename from common/autoware_universe_utils/test/src/ros/test_static_transform_buffer.cpp rename to common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp index 5200378e3bf52..9df6f9bb2ffef 100644 --- a/common/autoware_universe_utils/test/src/ros/test_static_transform_buffer.cpp +++ b/common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/universe_utils/ros/static_transform_buffer.hpp" +#include "autoware/universe_utils/ros/managed_transform_buffer.hpp" #include #include @@ -22,11 +22,11 @@ #include -class TestStaticTransformBuffer : public ::testing::Test +class TestManagedTransformBuffer : public ::testing::Test { protected: std::shared_ptr node_{nullptr}; - std::shared_ptr static_tf_buffer_{nullptr}; + std::shared_ptr managed_tf_buffer_{nullptr}; std::shared_ptr tf_broadcaster_; geometry_msgs::msg::TransformStamped tf_base_to_lidar_; Eigen::Matrix4f eigen_base_to_lidar_; @@ -54,8 +54,9 @@ class TestStaticTransformBuffer : public ::testing::Test void SetUp() override { - node_ = std::make_shared("test_static_transform_buffer"); - static_tf_buffer_ = std::make_shared(); + node_ = std::make_shared("test_managed_transform_buffer"); + managed_tf_buffer_ = + std::make_shared(node_.get(), true); tf_broadcaster_ = std::make_shared(node_); tf_base_to_lidar_ = generateTransformMsg( @@ -91,109 +92,91 @@ class TestStaticTransformBuffer : public ::testing::Test ASSERT_TRUE(rclcpp::ok()); } - void TearDown() override { static_tf_buffer_.reset(); } + void TearDown() override { managed_tf_buffer_.reset(); } }; -TEST_F(TestStaticTransformBuffer, TestTransformNoExist) +TEST_F(TestManagedTransformBuffer, TestTransformNoExist) { Eigen::Matrix4f transform; - auto success = static_tf_buffer_->getTransform(node_.get(), "base_link", "fake_link", transform); + auto success = managed_tf_buffer_->getTransform("base_link", "fake_link", transform); EXPECT_TRUE(transform.isIdentity()); EXPECT_FALSE(success); } -TEST_F(TestStaticTransformBuffer, TestTransformBase) +TEST_F(TestManagedTransformBuffer, TestTransformBase) { Eigen::Matrix4f eigen_base_to_lidar; - auto success = - static_tf_buffer_->getTransform(node_.get(), "base_link", "lidar_top", eigen_base_to_lidar); + auto success = managed_tf_buffer_->getTransform("base_link", "lidar_top", eigen_base_to_lidar); EXPECT_TRUE(eigen_base_to_lidar.isApprox(eigen_base_to_lidar_, 0.001)); EXPECT_TRUE(success); } -TEST_F(TestStaticTransformBuffer, TestTransformSameFrame) +TEST_F(TestManagedTransformBuffer, TestTransformSameFrame) { Eigen::Matrix4f eigen_base_to_base; - auto success = - static_tf_buffer_->getTransform(node_.get(), "base_link", "base_link", eigen_base_to_base); + auto success = managed_tf_buffer_->getTransform("base_link", "base_link", eigen_base_to_base); EXPECT_TRUE(eigen_base_to_base.isApprox(Eigen::Matrix4f::Identity(), 0.001)); EXPECT_TRUE(success); } -TEST_F(TestStaticTransformBuffer, TestTransformInverse) +TEST_F(TestManagedTransformBuffer, TestTransformInverse) { Eigen::Matrix4f eigen_lidar_to_base; - auto success = - static_tf_buffer_->getTransform(node_.get(), "lidar_top", "base_link", eigen_lidar_to_base); + auto success = managed_tf_buffer_->getTransform("lidar_top", "base_link", eigen_lidar_to_base); EXPECT_TRUE(eigen_lidar_to_base.isApprox(eigen_base_to_lidar_.inverse(), 0.001)); EXPECT_TRUE(success); } -TEST_F(TestStaticTransformBuffer, TestTransformMultipleCall) +TEST_F(TestManagedTransformBuffer, TestTransformMultipleCall) { Eigen::Matrix4f eigen_transform; - EXPECT_FALSE( - static_tf_buffer_->getTransform(node_.get(), "base_link", "fake_link", eigen_transform)); + EXPECT_FALSE(managed_tf_buffer_->getTransform("base_link", "fake_link", eigen_transform)); EXPECT_TRUE(eigen_transform.isApprox(Eigen::Matrix4f::Identity(), 0.001)); - EXPECT_TRUE( - static_tf_buffer_->getTransform(node_.get(), "lidar_top", "base_link", eigen_transform)); + EXPECT_TRUE(managed_tf_buffer_->getTransform("lidar_top", "base_link", eigen_transform)); EXPECT_TRUE(eigen_transform.isApprox(eigen_base_to_lidar_.inverse(), 0.001)); - EXPECT_TRUE( - static_tf_buffer_->getTransform(node_.get(), "fake_link", "fake_link", eigen_transform)); + EXPECT_TRUE(managed_tf_buffer_->getTransform("fake_link", "fake_link", eigen_transform)); EXPECT_TRUE(eigen_transform.isApprox(Eigen::Matrix4f::Identity(), 0.001)); - EXPECT_TRUE( - static_tf_buffer_->getTransform(node_.get(), "base_link", "lidar_top", eigen_transform)); + EXPECT_TRUE(managed_tf_buffer_->getTransform("base_link", "lidar_top", eigen_transform)); EXPECT_TRUE(eigen_transform.isApprox(eigen_base_to_lidar_, 0.001)); - EXPECT_FALSE( - static_tf_buffer_->getTransform(node_.get(), "fake_link", "lidar_top", eigen_transform)); + EXPECT_FALSE(managed_tf_buffer_->getTransform("fake_link", "lidar_top", eigen_transform)); EXPECT_TRUE(eigen_transform.isApprox(Eigen::Matrix4f::Identity(), 0.001)); - EXPECT_TRUE( - static_tf_buffer_->getTransform(node_.get(), "base_link", "lidar_top", eigen_transform)); + EXPECT_TRUE(managed_tf_buffer_->getTransform("base_link", "lidar_top", eigen_transform)); EXPECT_TRUE(eigen_transform.isApprox(eigen_base_to_lidar_, 0.001)); } -TEST_F(TestStaticTransformBuffer, TestTransformEmptyPointCloud) +TEST_F(TestManagedTransformBuffer, TestTransformEmptyPointCloud) { auto cloud_in = std::make_unique(); cloud_in->header.frame_id = "lidar_top"; cloud_in->header.stamp = rclcpp::Time(10, 100'000'000); auto cloud_out = std::make_unique(); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "lidar_top", *cloud_in, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "base_link", *cloud_in, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "fake_link", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("lidar_top", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("base_link", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("fake_link", *cloud_in, *cloud_out)); } -TEST_F(TestStaticTransformBuffer, TestTransformEmptyPointCloudNoHeader) +TEST_F(TestManagedTransformBuffer, TestTransformEmptyPointCloudNoHeader) { auto cloud_in = std::make_unique(); auto cloud_out = std::make_unique(); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "lidar_top", *cloud_in, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "base_link", *cloud_in, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "fake_link", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("lidar_top", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("base_link", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("fake_link", *cloud_in, *cloud_out)); } -TEST_F(TestStaticTransformBuffer, TestTransformPointCloud) +TEST_F(TestManagedTransformBuffer, TestTransformPointCloud) { auto cloud_out = std::make_unique(); // Transform cloud with header - EXPECT_TRUE( - static_tf_buffer_->transformPointcloud(node_.get(), "lidar_top", *cloud_in_, *cloud_out)); - EXPECT_TRUE( - static_tf_buffer_->transformPointcloud(node_.get(), "base_link", *cloud_in_, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "fake_link", *cloud_in_, *cloud_out)); + EXPECT_TRUE(managed_tf_buffer_->transformPointcloud("lidar_top", *cloud_in_, *cloud_out)); + EXPECT_TRUE(managed_tf_buffer_->transformPointcloud("base_link", *cloud_in_, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("fake_link", *cloud_in_, *cloud_out)); } -TEST_F(TestStaticTransformBuffer, TestTransformPointCloudNoHeader) +TEST_F(TestManagedTransformBuffer, TestTransformPointCloudNoHeader) { auto cloud_out = std::make_unique(); @@ -201,10 +184,7 @@ TEST_F(TestStaticTransformBuffer, TestTransformPointCloudNoHeader) auto cloud_in = std::make_unique(*cloud_in_); cloud_in->header.frame_id = ""; cloud_in->header.stamp = rclcpp::Time(0, 0); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "lidar_top", *cloud_in, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "base_link", *cloud_in, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "fake_link", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("lidar_top", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("base_link", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("fake_link", *cloud_in, *cloud_out)); } diff --git a/perception/autoware_ground_segmentation/README.md b/perception/autoware_ground_segmentation/README.md index b981b02e0a844..08b8a4f373bcc 100644 --- a/perception/autoware_ground_segmentation/README.md +++ b/perception/autoware_ground_segmentation/README.md @@ -33,14 +33,15 @@ Detail description of each ground segmentation algorithm is in the following lin ### Node Parameters -| Name | Type | Default Value | Description | -| ------------------ | ------ | ------------- | ------------------------------------- | -| `input_frame` | string | " " | input frame id | -| `output_frame` | string | " " | output frame id | -| `max_queue_size` | int | 5 | max queue size of input/output topics | -| `use_indices` | bool | false | flag to use pointcloud indices | -| `latched_indices` | bool | false | flag to latch pointcloud indices | -| `approximate_sync` | bool | false | flag to use approximate sync option | +| Name | Type | Default Value | Description | +| -------------------- | ------ | ------------- | ------------------------------------- | +| `input_frame` | string | " " | input frame id | +| `output_frame` | string | " " | output frame id | +| `has_static_tf_only` | bool | false | flag to listen TF only once | +| `max_queue_size` | int | 5 | max queue size of input/output topics | +| `use_indices` | bool | false | flag to use pointcloud indices | +| `latched_indices` | bool | false | flag to latch pointcloud indices | +| `approximate_sync` | bool | false | flag to use approximate sync option | ## Assumptions / Known limits diff --git a/perception/autoware_ground_segmentation/docs/ransac-ground-filter.md b/perception/autoware_ground_segmentation/docs/ransac-ground-filter.md index a11a35521d173..37388e665eb2c 100644 --- a/perception/autoware_ground_segmentation/docs/ransac-ground-filter.md +++ b/perception/autoware_ground_segmentation/docs/ransac-ground-filter.md @@ -23,6 +23,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, | Name | Type | Description | | ----------------------- | ------ | --------------------------------------------------------------- | | `base_frame` | string | base_link frame | +| `has_static_tf_only` | bool | Flag to listen TF only once | | `unit_axis` | string | The axis which we need to search ground plane | | `max_iterations` | int | The maximum number of iterations | | `outlier_threshold` | double | The distance threshold to the model [m] | diff --git a/perception/autoware_ground_segmentation/docs/ray-ground-filter.md b/perception/autoware_ground_segmentation/docs/ray-ground-filter.md index 9b80b0588f851..ed4f5833b3b3a 100644 --- a/perception/autoware_ground_segmentation/docs/ray-ground-filter.md +++ b/perception/autoware_ground_segmentation/docs/ray-ground-filter.md @@ -28,6 +28,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, | ----------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | `input_frame` | string | frame id of input pointcloud | | `output_frame` | string | frame id of output pointcloud | +| `has_static_tf_only` | bool | Flag to listen TF only once | | `general_max_slope` | double | The triangle created by `general_max_slope` is called the global cone. If the point is outside the global cone, it is judged to be a point that is no on the ground | | `initial_max_slope` | double | Generally, the point where the object first hits is far from ego-vehicle because of sensor blind spot, so resolution is different from that point and thereafter, so this parameter exists to set a separate `local_max_slope` | | `local_max_slope` | double | The triangle created by `local_max_slope` is called the local cone. This parameter for classification based on the continuity of points | diff --git a/perception/autoware_ground_segmentation/docs/scan-ground-filter.md b/perception/autoware_ground_segmentation/docs/scan-ground-filter.md index bdd46cffb7df4..392bed89ac902 100644 --- a/perception/autoware_ground_segmentation/docs/scan-ground-filter.md +++ b/perception/autoware_ground_segmentation/docs/scan-ground-filter.md @@ -35,6 +35,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, | --------------------------------- | ------ | ------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `input_frame` | string | "base_link" | frame id of input pointcloud | | `output_frame` | string | "base_link" | frame id of output pointcloud | +| `has_static_tf_only` | bool | false | Flag to listen TF only once | | `global_slope_max_angle_deg` | double | 8.0 | The global angle to classify as the ground or object [deg].
A large threshold may reduce false positive of high slope road classification but it may lead to increase false negative of non-ground classification, particularly for small objects. | | `local_slope_max_angle_deg` | double | 10.0 | The local angle to classify as the ground or object [deg] when comparing with adjacent point.
A small value enhance accuracy classification of object with inclined surface. This should be considered together with `split_points_distance_tolerance` value. | | `radial_divider_angle_deg` | double | 1.0 | The angle which divide the whole pointcloud to sliced group [deg] | diff --git a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp index 4d45f5df07027..e2f96d862e1a6 100644 --- a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp +++ b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp @@ -116,7 +116,8 @@ RANSACGroundFilterComponent::RANSACGroundFilterComponent(const rclcpp::NodeOptio pcl::console::setVerbosityLevel(pcl::console::L_ALWAYS); - static_tf_buffer_ = std::make_unique(); + managed_tf_buffer_ = + std::make_unique(this, has_static_tf_only_); } void RANSACGroundFilterComponent::setDebugPublisher() @@ -163,8 +164,7 @@ bool RANSACGroundFilterComponent::transformPointCloud( return true; } - return static_tf_buffer_->transformPointcloud( - this, in_target_frame, *in_cloud_ptr, *out_cloud_ptr); + return managed_tf_buffer_->transformPointcloud(in_target_frame, *in_cloud_ptr, *out_cloud_ptr); } void RANSACGroundFilterComponent::extractPointsIndices( diff --git a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.hpp b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.hpp index bdc217e80650c..b36a7f5e55fc4 100644 --- a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.hpp +++ b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.hpp @@ -17,7 +17,7 @@ #include "autoware/pointcloud_preprocessor/filter.hpp" -#include +#include #include #include @@ -83,7 +83,7 @@ class RANSACGroundFilterComponent : public autoware::pointcloud_preprocessor::Fi bool debug_ = false; bool is_initialized_debug_message_ = false; Eigen::Vector3d unit_vec_ = Eigen::Vector3d::UnitZ(); - std::unique_ptr static_tf_buffer_{nullptr}; + std::unique_ptr managed_tf_buffer_{nullptr}; /*! * Output transformed PointCloud from in_cloud_ptr->header.frame_id to in_target_frame diff --git a/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml index 5d38186840057..449795c328402 100644 --- a/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml +++ b/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml @@ -1,6 +1,7 @@ /**: ros__parameters: output_frame: base_link + has_static_tf_only: true input_topics: [ "/sensing/lidar/left/pointcloud_before_sync", "/sensing/lidar/right/pointcloud_before_sync", diff --git a/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml index 3afa4816271cb..eca08c37b6458 100644 --- a/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml +++ b/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml @@ -3,3 +3,4 @@ base_frame: base_link use_imu: true use_3d_distortion_correction: false + has_static_tf_only: true diff --git a/sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml index 9add0be3f8809..7e5bd0fd96bcf 100644 --- a/sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml +++ b/sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml @@ -3,6 +3,7 @@ input_twist_topic_type: twist output_frame: base_link keep_input_frame_in_synchronized_pointcloud: false + has_static_tf_only: true input_topics: [ "/sensing/lidar/left/pointcloud_before_sync", "/sensing/lidar/right/pointcloud_before_sync", diff --git a/sensing/autoware_pointcloud_preprocessor/docs/concatenate-data.md b/sensing/autoware_pointcloud_preprocessor/docs/concatenate-data.md index 74b4f3df17615..08f7b92f88975 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/concatenate-data.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/concatenate-data.md @@ -28,12 +28,13 @@ The figure below represents the reception time of each sensor data and how it is ## Parameters -| Name | Type | Default Value | Description | -| ---------------- | ---------------- | ------------- | ------------------------------------------------------------------- | -| `input/points` | vector of string | [] | input topic names that type must be `sensor_msgs::msg::Pointcloud2` | -| `input_frame` | string | "" | input frame id | -| `output_frame` | string | "" | output frame id | -| `max_queue_size` | int | 5 | max queue size of input/output topics | +| Name | Type | Default Value | Description | +| -------------------- | ---------------- | ------------- | ------------------------------------------------------------------- | +| `input/points` | vector of string | [] | input topic names that type must be `sensor_msgs::msg::Pointcloud2` | +| `input_frame` | string | "" | input frame id | +| `output_frame` | string | "" | output frame id | +| `has_static_tf_only` | bool | false | flag to listen TF only once | +| `max_queue_size` | int | 5 | max queue size of input/output topics | ### Core Parameters diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp index 549a60e49d748..977adc59cd7e5 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp @@ -64,7 +64,7 @@ #include "autoware_point_types/types.hpp" #include -#include +#include #include #include #include @@ -146,11 +146,14 @@ class PointCloudConcatenateDataSynchronizerComponent : public rclcpp::Node /** \brief Output TF frame the concatenated points should be transformed to. */ std::string output_frame_; + /** \brief The flag to indicate if only static TF are used. */ + bool has_static_tf_only_; + /** \brief Input point cloud topics. */ // XmlRpc::XmlRpcValue input_topics_; std::vector input_topics_; - std::unique_ptr static_tf_buffer_{nullptr}; + std::unique_ptr managed_tf_buffer_{nullptr}; std::deque twist_ptr_queue_; diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp index 9711025b713df..b7e0e86ca1d3a 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp @@ -62,7 +62,7 @@ // ROS includes #include -#include +#include #include #include #include @@ -135,11 +135,14 @@ class PointCloudConcatenationComponent : public rclcpp::Node /** \brief Output TF frame the concatenated points should be transformed to. */ std::string output_frame_; + /** \brief The flag to indicate if only static TF are used. */ + bool has_static_tf_only_; + /** \brief Input point cloud topics. */ // XmlRpc::XmlRpcValue input_topics_; std::vector input_topics_; - std::unique_ptr static_tf_buffer_{nullptr}; + std::unique_ptr managed_tf_buffer_{nullptr}; std::deque twist_ptr_queue_; diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp index 7ba419770af17..e786bff04b3cd 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp @@ -16,7 +16,7 @@ #define AUTOWARE__POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_HPP_ #include -#include +#include #include #include @@ -74,7 +74,7 @@ class DistortionCorrector : public DistortionCorrectorBase bool pointcloud_transform_exists_{false}; bool imu_transform_exists_{false}; rclcpp::Node * node_; - std::unique_ptr static_tf_buffer_{nullptr}; + std::unique_ptr managed_tf_buffer_{nullptr}; std::deque twist_queue_; std::deque angular_velocity_queue_; @@ -99,9 +99,10 @@ class DistortionCorrector : public DistortionCorrectorBase void convertMatrixToTransform(const Eigen::Matrix4f & matrix, tf2::Transform & transform); public: - explicit DistortionCorrector(rclcpp::Node * node) : node_(node) + explicit DistortionCorrector(rclcpp::Node * node, const bool & has_static_tf_only) : node_(node) { - static_tf_buffer_ = std::make_unique(); + managed_tf_buffer_ = + std::make_unique(node, has_static_tf_only); } bool pointcloud_transform_exists(); bool pointcloud_transform_needed(); @@ -133,7 +134,10 @@ class DistortionCorrector2D : public DistortionCorrector tf2::Transform tf2_base_link_to_lidar_; public: - explicit DistortionCorrector2D(rclcpp::Node * node) : DistortionCorrector(node) {} + explicit DistortionCorrector2D(rclcpp::Node * node, const bool & has_static_tf_only) + : DistortionCorrector(node, has_static_tf_only) + { + } void initialize() override; void undistortPointImplementation( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, @@ -160,7 +164,10 @@ class DistortionCorrector3D : public DistortionCorrector Eigen::Matrix4f eigen_base_link_to_lidar_; public: - explicit DistortionCorrector3D(rclcpp::Node * node) : DistortionCorrector(node) {} + explicit DistortionCorrector3D(rclcpp::Node * node, const bool & has_static_tf_only) + : DistortionCorrector(node, has_static_tf_only) + { + } void initialize() override; void undistortPointImplementation( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp index 789f377e7ec95..b39be3cfaf9e5 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp @@ -74,15 +74,10 @@ #include #include -// Include TF -#include -#include -#include - // Include tier4 autoware utils #include +#include #include -#include #include namespace autoware::pointcloud_preprocessor @@ -174,6 +169,9 @@ class Filter : public rclcpp::Node * if input.header.frame_id is different. */ std::string tf_output_frame_; + /** \brief The flag to indicate if only static TF are used. */ + bool has_static_tf_only_; + /** \brief Internal mutex. */ std::mutex mutex_; @@ -240,7 +238,7 @@ class Filter : public rclcpp::Node * versus an exact one (false by default). */ bool approximate_sync_ = false; - std::unique_ptr static_tf_buffer_{nullptr}; + std::unique_ptr managed_tf_buffer_{nullptr}; inline bool isValid( const PointCloud2ConstPtr & cloud, const std::string & /*topic_name*/ = "input") diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp index ad5cde3056ef0..b02860a6f112e 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp @@ -62,7 +62,7 @@ // ROS includes #include -#include +#include #include #include #include @@ -140,11 +140,14 @@ class PointCloudDataSynchronizerComponent : public rclcpp::Node std::string output_frame_; bool keep_input_frame_in_synchronized_pointcloud_; + /** \brief The flag to indicate if only static TF are used. */ + bool has_static_tf_only_; + /** \brief Input point cloud topics. */ // XmlRpc::XmlRpcValue input_topics_; std::vector input_topics_; - std::unique_ptr static_tf_buffer_{nullptr}; + std::unique_ptr managed_tf_buffer_{nullptr}; std::deque twist_ptr_queue_; diff --git a/sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json index 916650c69a68b..19044f851bda6 100644 --- a/sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json +++ b/sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json @@ -25,6 +25,11 @@ "default": "base_link", "description": "Output frame id." }, + "has_static_tf_only": { + "type": "boolean", + "default": false, + "description": "Flag to indicate if only static TF is used." + }, "input_topics": { "type": "array", "items": { @@ -40,7 +45,14 @@ "description": "Max queue size of input/output topics." } }, - "required": ["timeout_sec", "input_offset", "output_frame", "input_topics", "max_queue_size"] + "required": [ + "timeout_sec", + "input_offset", + "output_frame", + "has_static_tf_only", + "input_topics", + "max_queue_size" + ] } }, "properties": { diff --git a/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json index acf67fd2746c4..75579227981ac 100644 --- a/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json +++ b/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json @@ -20,9 +20,14 @@ "type": "boolean", "description": "Use 3d distortion correction algorithm, otherwise, use 2d distortion correction algorithm.", "default": "false" + }, + "has_static_tf_only": { + "type": "boolean", + "description": "Flag to indicate if only static TF is used.", + "default": false } }, - "required": ["base_frame", "use_imu", "use_3d_distortion_correction"] + "required": ["base_frame", "use_imu", "use_3d_distortion_correction", "has_static_tf_only"] } }, "properties": { diff --git a/sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json index 8954fcaf6d814..90c14b50508db 100644 --- a/sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json +++ b/sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json @@ -31,6 +31,11 @@ "default": "base_link", "description": "Output frame." }, + "has_static_tf_only": { + "type": "boolean", + "default": false, + "description": "Flag to indicate if only static TF is used." + }, "keep_input_frame_in_synchronized_pointcloud": { "type": "boolean", "default": true, @@ -61,6 +66,7 @@ "input_offset", "input_twist_topic_type", "output_frame", + "has_static_tf_only", "keep_input_frame_in_synchronized_pointcloud", "input_topics", "synchronized_pointcloud_postfix", diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index 0a051d780f5f7..d0911f769d3bd 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -92,6 +92,7 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro RCLCPP_ERROR(get_logger(), "Need an 'output_frame' parameter to be set before continuing!"); return; } + has_static_tf_only_ = declare_parameter("has_static_tf_only", false); declare_parameter("input_topics", std::vector()); input_topics_ = get_parameter("input_topics").as_string_array(); if (input_topics_.empty()) { @@ -137,7 +138,8 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro // tf2 listener { - static_tf_buffer_ = std::make_unique(); + managed_tf_buffer_ = + std::make_unique(this, has_static_tf_only_); } // Output Publishers @@ -361,8 +363,7 @@ PointCloudConcatenateDataSynchronizerComponent::combineClouds( } sensor_msgs::msg::PointCloud2::SharedPtr transformed_cloud_ptr( new sensor_msgs::msg::PointCloud2()); - static_tf_buffer_->transformPointcloud( - this, output_frame_, *e.second, *transformed_cloud_ptr); + managed_tf_buffer_->transformPointcloud(output_frame_, *e.second, *transformed_cloud_ptr); // calculate transforms to oldest stamp Eigen::Matrix4f adjust_to_old_data_transform = Eigen::Matrix4f::Identity(); @@ -392,8 +393,8 @@ PointCloudConcatenateDataSynchronizerComponent::combineClouds( if (keep_input_frame_in_synchronized_pointcloud_ && need_transform_to_sensor_frame) { sensor_msgs::msg::PointCloud2::SharedPtr transformed_cloud_ptr_in_sensor_frame( new sensor_msgs::msg::PointCloud2()); - static_tf_buffer_->transformPointcloud( - this, e.second->header.frame_id, *transformed_delay_compensated_cloud_ptr, + managed_tf_buffer_->transformPointcloud( + e.second->header.frame_id, *transformed_delay_compensated_cloud_ptr, *transformed_cloud_ptr_in_sensor_frame); transformed_cloud_ptr_in_sensor_frame->header.stamp = oldest_stamp; transformed_cloud_ptr_in_sensor_frame->header.frame_id = e.second->header.frame_id; diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp index e9078cbe717cb..5e1911c93409d 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp @@ -54,6 +54,8 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent( RCLCPP_ERROR(get_logger(), "Need an 'output_frame' parameter to be set before continuing!"); return; } + has_static_tf_only_ = declare_parameter( + "has_static_tf_only", false); // TODO(amadeuszsz): remove default value declare_parameter>("input_topics"); input_topics_ = get_parameter("input_topics").as_string_array(); if (input_topics_.empty()) { @@ -93,7 +95,8 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent( // tf2 listener { - static_tf_buffer_ = std::make_unique(); + managed_tf_buffer_ = + std::make_unique(this, has_static_tf_only_); } // Output Publishers @@ -237,8 +240,7 @@ void PointCloudConcatenationComponent::combineClouds( // transform to output frame sensor_msgs::msg::PointCloud2::SharedPtr transformed_cloud_ptr( new sensor_msgs::msg::PointCloud2()); - static_tf_buffer_->transformPointcloud( - this, output_frame_, *e.second, *transformed_cloud_ptr); + managed_tf_buffer_->transformPointcloud(output_frame_, *e.second, *transformed_cloud_ptr); // concatenate if (concat_cloud_ptr == nullptr) { diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index affa6d901be2d..d0119fbc44f24 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -90,7 +90,7 @@ void DistortionCorrector::getIMUTransformation( tf2::Transform tf2_imu_to_base_link; Eigen::Matrix4f eigen_imu_to_base_link; imu_transform_exists_ = - static_tf_buffer_->getTransform(node_, base_frame, imu_frame, eigen_imu_to_base_link); + managed_tf_buffer_->getTransform(base_frame, imu_frame, eigen_imu_to_base_link); convertMatrixToTransform(eigen_imu_to_base_link, tf2_imu_to_base_link); geometry_imu_to_base_link_ptr_ = std::make_shared(); @@ -311,7 +311,7 @@ void DistortionCorrector2D::setPointCloudTransform( Eigen::Matrix4f eigen_lidar_to_base_link; pointcloud_transform_exists_ = - static_tf_buffer_->getTransform(node_, base_frame, lidar_frame, eigen_lidar_to_base_link); + managed_tf_buffer_->getTransform(base_frame, lidar_frame, eigen_lidar_to_base_link); convertMatrixToTransform(eigen_lidar_to_base_link, tf2_lidar_to_base_link_); tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_.inverse(); pointcloud_transform_needed_ = base_frame != lidar_frame && pointcloud_transform_exists_; @@ -325,7 +325,7 @@ void DistortionCorrector3D::setPointCloudTransform( } pointcloud_transform_exists_ = - static_tf_buffer_->getTransform(node_, base_frame, lidar_frame, eigen_lidar_to_base_link_); + managed_tf_buffer_->getTransform(base_frame, lidar_frame, eigen_lidar_to_base_link_); eigen_base_link_to_lidar_ = eigen_lidar_to_base_link_.inverse(); pointcloud_transform_needed_ = base_frame != lidar_frame && pointcloud_transform_exists_; } diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp index 822bb2ba5add5..8e4eaa6ec8f11 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp @@ -35,6 +35,8 @@ DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOpt base_frame_ = declare_parameter("base_frame"); use_imu_ = declare_parameter("use_imu"); use_3d_distortion_correction_ = declare_parameter("use_3d_distortion_correction"); + auto has_static_tf_only = + declare_parameter("has_static_tf_only", false); // TODO(amadeuszsz): remove default value // Publisher { @@ -59,9 +61,9 @@ DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOpt // Setup the distortion corrector if (use_3d_distortion_correction_) { - distortion_corrector_ = std::make_unique(this); + distortion_corrector_ = std::make_unique(this, has_static_tf_only); } else { - distortion_corrector_ = std::make_unique(this); + distortion_corrector_ = std::make_unique(this, has_static_tf_only); } } diff --git a/sensing/autoware_pointcloud_preprocessor/src/filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/filter.cpp index de6549463e7ff..62495fc8b70cb 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/filter.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/filter.cpp @@ -72,6 +72,7 @@ autoware::pointcloud_preprocessor::Filter::Filter( { tf_input_frame_ = static_cast(declare_parameter("input_frame", "")); tf_output_frame_ = static_cast(declare_parameter("output_frame", "")); + has_static_tf_only_ = static_cast(declare_parameter("has_static_tf_only", false)); max_queue_size_ = static_cast(declare_parameter("max_queue_size", 5)); // ---[ Optional parameters @@ -114,7 +115,17 @@ autoware::pointcloud_preprocessor::Filter::Filter( ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void autoware::pointcloud_preprocessor::Filter::setupTF() { - static_tf_buffer_ = std::make_unique(); + // Always consider static TF if in & out frames are same + if (tf_input_frame_ == tf_output_frame_) { + if (!has_static_tf_only_) { + RCLCPP_INFO( + this->get_logger(), + "Input and output frames are the same. Overriding has_static_tf_only to true."); + } + has_static_tf_only_ = true; + } + managed_tf_buffer_ = + std::make_unique(this, has_static_tf_only_); } ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// @@ -269,7 +280,7 @@ void autoware::pointcloud_preprocessor::Filter::input_indices_callback( // Convert the cloud into the different frame PointCloud2 cloud_transformed; - if (!static_tf_buffer_->transformPointcloud(this, tf_input_frame_, *cloud, cloud_transformed)) { + if (!managed_tf_buffer_->transformPointcloud(tf_input_frame_, *cloud, cloud_transformed)) { return; } cloud_tf = std::make_shared(cloud_transformed); @@ -298,8 +309,8 @@ bool autoware::pointcloud_preprocessor::Filter::calculate_transform_matrix( this->get_logger(), "[get_transform_matrix] Transforming input dataset from %s to %s.", from.header.frame_id.c_str(), target_frame.c_str()); - if (!static_tf_buffer_->getTransform( - this, target_frame, from.header.frame_id, transform_info.eigen_transform)) { + if (!managed_tf_buffer_->getTransform( + target_frame, from.header.frame_id, transform_info.eigen_transform)) { return false; } @@ -321,8 +332,7 @@ bool autoware::pointcloud_preprocessor::Filter::convert_output_costly( // Convert the cloud into the different frame auto cloud_transformed = std::make_unique(); - if (!static_tf_buffer_->transformPointcloud( - this, tf_output_frame_, *output, *cloud_transformed)) { + if (!managed_tf_buffer_->transformPointcloud(tf_output_frame_, *output, *cloud_transformed)) { RCLCPP_ERROR( this->get_logger(), "[convert_output_costly] Error converting output dataset from %s to %s.", @@ -342,8 +352,8 @@ bool autoware::pointcloud_preprocessor::Filter::convert_output_costly( auto cloud_transformed = std::make_unique(); - if (!static_tf_buffer_->transformPointcloud( - this, tf_input_orig_frame_, *output, *cloud_transformed)) { + if (!managed_tf_buffer_->transformPointcloud( + tf_input_orig_frame_, *output, *cloud_transformed)) { return false; } diff --git a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp index 3f6f37fd31720..e34c165383867 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp @@ -58,6 +58,8 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent( std::string synchronized_pointcloud_postfix; { output_frame_ = declare_parameter("output_frame"); + has_static_tf_only_ = declare_parameter( + "has_static_tf_only", false); // TODO(amadeuszsz): remove default value keep_input_frame_in_synchronized_pointcloud_ = declare_parameter("keep_input_frame_in_synchronized_pointcloud"); if (output_frame_.empty() && !keep_input_frame_in_synchronized_pointcloud_) { @@ -109,7 +111,8 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent( // tf2 listener { - static_tf_buffer_ = std::make_unique(); + managed_tf_buffer_ = + std::make_unique(this, has_static_tf_only_); } // Subscribers @@ -320,8 +323,7 @@ PointCloudDataSynchronizerComponent::synchronizeClouds() continue; } // transform pointcloud to output frame - static_tf_buffer_->transformPointcloud( - this, output_frame_, *e.second, *transformed_cloud_ptr); + managed_tf_buffer_->transformPointcloud(output_frame_, *e.second, *transformed_cloud_ptr); // calculate transforms to oldest stamp and transform pointcloud to oldest stamp Eigen::Matrix4f adjust_to_old_data_transform = Eigen::Matrix4f::Identity(); @@ -341,8 +343,8 @@ PointCloudDataSynchronizerComponent::synchronizeClouds() sensor_msgs::msg::PointCloud2::SharedPtr transformed_delay_compensated_cloud_ptr_in_input_frame( new sensor_msgs::msg::PointCloud2()); - static_tf_buffer_->transformPointcloud( - this, e.second->header.frame_id, *transformed_delay_compensated_cloud_ptr, + managed_tf_buffer_->transformPointcloud( + e.second->header.frame_id, *transformed_delay_compensated_cloud_ptr, *transformed_delay_compensated_cloud_ptr_in_input_frame); transformed_delay_compensated_cloud_ptr = transformed_delay_compensated_cloud_ptr_in_input_frame; diff --git a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp index f90314a001105..047d021a4c6da 100644 --- a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp @@ -48,9 +48,9 @@ class DistortionCorrectorTest : public ::testing::Test { node_ = std::make_shared("test_node"); distortion_corrector_2d_ = - std::make_shared(node_.get()); + std::make_shared(node_.get(), true); distortion_corrector_3d_ = - std::make_shared(node_.get()); + std::make_shared(node_.get(), true); // Setup TF tf_broadcaster_ = std::make_shared(node_); From 5f5d08b3495db13af41781bcee143f6b643e6d35 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Thu, 19 Sep 2024 12:00:24 +0900 Subject: [PATCH 214/701] fix(goal_planner): fix typo (#8910) Signed-off-by: Fumiya Watanabe --- .../examples/plot_map.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp index 6b750bc9674f3..a51b2fd337512 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp @@ -258,10 +258,10 @@ int main(int argc, char ** argv) const auto vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*node).getVehicleInfo(); autoware::lane_departure_checker::LaneDepartureChecker lane_departure_checker{}; lane_departure_checker.setVehicleInfo(vehicle_info); - autoware::lane_departure_checker::Param lane_depature_checker_params; - lane_depature_checker_params.footprint_extra_margin = + autoware::lane_departure_checker::Param lane_departure_checker_params; + lane_departure_checker_params.footprint_extra_margin = goal_planner_parameter.lane_departure_check_expansion_margin; - lane_departure_checker.setParam(lane_depature_checker_params); + lane_departure_checker.setParam(lane_departure_checker_params); auto shift_pull_over_planner = autoware::behavior_path_planner::ShiftPullOver( *node, goal_planner_parameter, lane_departure_checker); const auto pull_over_path_opt = From 0726690521ead842bc6a8187f9c7ae67c71ccf46 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Thu, 19 Sep 2024 13:03:00 +0900 Subject: [PATCH 215/701] fix(intersection): fix typo (#8911) * fix(intersection): fix typo Signed-off-by: Fumiya Watanabe * fix(intersection): fix typo Signed-off-by: Fumiya Watanabe * style(pre-commit): autofix --------- Signed-off-by: Fumiya Watanabe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/util.cpp | 39 ++++++++++--------- .../src/util.hpp | 6 +-- 2 files changed, 23 insertions(+), 22 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp index c48588bc5386d..a446493793c53 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp @@ -217,31 +217,32 @@ std::optional getFirstPointInsidePolygon( } void retrievePathsBackward( - const std::vector> & adjacency, const size_t src_ind, - const std::vector & visited_inds, std::vector> & paths) + const std::vector> & adjacency, const size_t src_index, + const std::vector & visited_indices, std::vector> & paths) { - const auto & nexts = adjacency.at(src_ind); - const bool is_terminal = (std::find(nexts.begin(), nexts.end(), true) == nexts.end()); + const auto & next_indices = adjacency.at(src_index); + const bool is_terminal = + (std::find(next_indices.begin(), next_indices.end(), true) == next_indices.end()); if (is_terminal) { - std::vector path(visited_inds.begin(), visited_inds.end()); - path.push_back(src_ind); + std::vector path(visited_indices.begin(), visited_indices.end()); + path.push_back(src_index); paths.emplace_back(std::move(path)); return; } - for (size_t next = 0; next < nexts.size(); next++) { - if (!nexts.at(next)) { + for (size_t next = 0; next < next_indices.size(); next++) { + if (!next_indices.at(next)) { continue; } - if (std::find(visited_inds.begin(), visited_inds.end(), next) != visited_inds.end()) { + if (std::find(visited_indices.begin(), visited_indices.end(), next) != visited_indices.end()) { // loop detected - std::vector path(visited_inds.begin(), visited_inds.end()); - path.push_back(src_ind); + std::vector path(visited_indices.begin(), visited_indices.end()); + path.push_back(src_index); paths.emplace_back(std::move(path)); continue; } - auto new_visited_inds = visited_inds; - new_visited_inds.push_back(src_ind); - retrievePathsBackward(adjacency, next, new_visited_inds, paths); + auto new_visited_indices = visited_indices; + new_visited_indices.push_back(src_index); + retrievePathsBackward(adjacency, next, new_visited_indices, paths); } return; } @@ -263,10 +264,10 @@ mergeLaneletsByTopologicalSort( ind2Id[ind] = Id; Id2lanelet[Id] = lanelet; } - std::set terminal_inds; + std::set terminal_indices; for (const auto & terminal_lanelet : terminal_lanelets) { if (Id2ind.count(terminal_lanelet.id()) > 0) { - terminal_inds.insert(Id2ind[terminal_lanelet.id()]); + terminal_indices.insert(Id2ind[terminal_lanelet.id()]); } } @@ -292,7 +293,7 @@ mergeLaneletsByTopologicalSort( } std::unordered_map>> branches; - for (const auto & terminal_ind : terminal_inds) { + for (const auto & terminal_ind : terminal_indices) { std::vector> paths; std::vector visited; retrievePathsBackward(adjacency, terminal_ind, visited, paths); @@ -311,11 +312,11 @@ mergeLaneletsByTopologicalSort( if (sub_branches.size() == 0) { continue; } - for (const auto & sub_inds : sub_branches) { + for (const auto & sub_indices : sub_branches) { lanelet::ConstLanelets to_be_merged; originals.push_back(lanelet::ConstLanelets({})); auto & original = originals.back(); - for (const auto & sub_ind : sub_inds) { + for (const auto & sub_ind : sub_indices) { to_be_merged.push_back(Id2lanelet[ind2Id[sub_ind]]); original.push_back(Id2lanelet[ind2Id[sub_ind]]); } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.hpp index 6167e7a366295..0fac44f6cdf97 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.hpp @@ -105,11 +105,11 @@ mergeLaneletsByTopologicalSort( /** * @brief this functions retrieves all the paths from the given source to terminal nodes on the tree - @param[in] visited_inds visited node indices excluding src_ind so far + @param[in] visited_indices visited node indices excluding src_ind so far */ void retrievePathsBackward( - const std::vector> & adjacency, const size_t src_ind, - const std::vector & visited_inds, std::vector> & paths); + const std::vector> & adjacency, const size_t src_index, + const std::vector & visited_indices, std::vector> & paths); /** * @brief find the index of the first point where vehicle footprint intersects with the given From 3c230ebc0744cf93e9669f87f4e12cf89cf9b120 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 19 Sep 2024 18:46:22 +0900 Subject: [PATCH 216/701] fix(lane_change): set initail rtc state properly (#8902) set initail rtc state properly Signed-off-by: Go Sakayori --- .../src/interface.cpp | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index 61daf1183e993..7ddafdbd6c935 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -125,16 +125,21 @@ BehaviorModuleOutput LaneChangeInterface::plan() } else { const auto path = assignToCandidate(module_type_->getLaneChangePath(), module_type_->getEgoPosition()); - const auto force_activated = std::any_of( + const auto is_registered = std::any_of( rtc_interface_ptr_map_.begin(), rtc_interface_ptr_map_.end(), - [&](const auto & rtc) { return rtc.second->isForceActivated(uuid_map_.at(rtc.first)); }); - if (!force_activated) { + [&](const auto & rtc) { return rtc.second->isRegistered(uuid_map_.at(rtc.first)); }); + + if (!is_registered) { updateRTCStatus( path.start_distance_to_path_change, path.finish_distance_to_path_change, true, - State::RUNNING); + State::WAITING_FOR_EXECUTION); } else { + const auto force_activated = std::any_of( + rtc_interface_ptr_map_.begin(), rtc_interface_ptr_map_.end(), + [&](const auto & rtc) { return rtc.second->isForceActivated(uuid_map_.at(rtc.first)); }); + const bool safe = force_activated ? false : true; updateRTCStatus( - path.start_distance_to_path_change, path.finish_distance_to_path_change, false, + path.start_distance_to_path_change, path.finish_distance_to_path_change, safe, State::RUNNING); } } From 1412557da91d3d6f8b5c9ec8ad526424f5a5b7c6 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 19 Sep 2024 14:32:27 +0900 Subject: [PATCH 217/701] refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (#8913) * align autoware_raw_vehicle_cmd_converter's parameter Signed-off-by: kyoichi-sugahara * align start_planner's parameter Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../config/start_planner.param.yaml | 11 +++++++++-- .../config/raw_vehicle_cmd_converter.param.yaml | 2 +- 2 files changed, 10 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml index f93800450a479..a71c202b05043 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml @@ -69,10 +69,11 @@ search_configs: theta_size: 120 angle_goal_range: 6.0 - curve_weight: 0.5 - reverse_weight: 1.0 lateral_goal_range: 0.5 longitudinal_goal_range: 2.0 + curve_weight: 0.5 + reverse_weight: 1.0 + direction_change_weight: 1.5 # costmap configs costmap_configs: obstacle_threshold: 30 @@ -81,7 +82,13 @@ search_method: "forward" # options: forward, backward only_behind_solutions: false use_back: true + adapt_expansion_distance: true + expansion_distance: 0.5 + near_goal_distance: 3.0 distance_heuristic_weight: 2.0 + smoothness_weight: 0.5 + obstacle_distance_weight: 1.75 + goal_lat_distance_weight: 5.0 # -- RRT* search Configurations -- rrtstar: enable_update: true diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml index 4eb9f0ab6d442..e108de527ecbc 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml @@ -5,7 +5,7 @@ csv_path_steer_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv convert_accel_cmd: true convert_brake_cmd: true - convert_steer_cmd: true + convert_steer_cmd: false use_steer_ff: true use_steer_fb: true is_debugging: false From 3ae8633a7e87457ca110f36c072a2e66758e3899 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 19 Sep 2024 15:19:37 +0900 Subject: [PATCH 218/701] chore(mpc_lateral_controller): consistent parameters with autoware_launch (#8914) Signed-off-by: Takayuki Murooka --- .../param/lateral_controller_defaults.param.yaml | 11 +---------- 1 file changed, 1 insertion(+), 10 deletions(-) diff --git a/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml b/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml index de194a8902a7d..b358e95f86f99 100644 --- a/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml +++ b/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml @@ -47,7 +47,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.24 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.27 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0] # steering angle rate limit list depending on velocity [deg/s] @@ -76,13 +76,4 @@ average_num: 1000 steering_offset_limit: 0.02 - # vehicle parameters - mass_kg: 2400.0 - mass_fl: 600.0 - mass_fr: 600.0 - mass_rl: 600.0 - mass_rr: 600.0 - cf: 155494.663 - cr: 155494.663 - publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose From ed81a555a3eae4806c81296cc011cd3ebdc1ace6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 19 Sep 2024 16:02:09 +0900 Subject: [PATCH 219/701] chore(planning): consistent parameters with autoware_launch (#8915) * chore(planning): consistent parameters with autoware_launch Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka * fix json schema Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../config/adaptive_cruise_control.param.yaml | 4 ++-- .../config/obstacle_stop_planner.param.yaml | 23 ++++++++++--------- .../schema/obstacle_stop_planner.schema.json | 5 ++++ .../config/goal_planner.param.yaml | 15 +++++++++--- .../config/behavior_path_planner.param.yaml | 1 + .../config/out_of_lane.param.yaml | 1 + 6 files changed, 33 insertions(+), 16 deletions(-) diff --git a/planning/autoware_obstacle_stop_planner/config/adaptive_cruise_control.param.yaml b/planning/autoware_obstacle_stop_planner/config/adaptive_cruise_control.param.yaml index 691be53a7470f..73e7a578fedb7 100644 --- a/planning/autoware_obstacle_stop_planner/config/adaptive_cruise_control.param.yaml +++ b/planning/autoware_obstacle_stop_planner/config/adaptive_cruise_control.param.yaml @@ -10,16 +10,16 @@ obstacle_velocity_thresh_to_start_acc: 1.5 # start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s] obstacle_velocity_thresh_to_stop_acc: 1.0 # stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s] emergency_stop_acceleration: -5.0 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] + obstacle_emergency_stop_acceleration: -5.0 emergency_stop_idling_time: 0.5 # supposed idling time to start emergency stop [s] min_dist_stop: 4.0 # minimum distance of emergency stop [m] - obstacle_emergency_stop_acceleration: -5.0 # supposed minimum acceleration (deceleration) in emergency stop [m/ss] max_standard_acceleration: 0.5 # supposed maximum acceleration in active cruise control [m/ss] min_standard_acceleration: -1.0 # supposed minimum acceleration (deceleration) in active cruise control standard_idling_time: 0.5 # supposed idling time to react object in active cruise control [s] min_dist_standard: 4.0 # minimum distance in active cruise control [m] obstacle_min_standard_acceleration: -1.5 # supposed minimum acceleration of forward obstacle [m/ss] margin_rate_to_change_vel: 0.3 # margin to insert upper velocity [-] - use_time_compensation_to_calc_distance: true # use time-compensation to calculate distance to forward vehicle + use_time_compensation_to_calc_distance: true # pid parameter for ACC p_coefficient_positive: 0.1 # coefficient P in PID control (used when target dist -current_dist >=0) [-] diff --git a/planning/autoware_obstacle_stop_planner/config/obstacle_stop_planner.param.yaml b/planning/autoware_obstacle_stop_planner/config/obstacle_stop_planner.param.yaml index ca5869bce0eb6..8e215a1bcf236 100644 --- a/planning/autoware_obstacle_stop_planner/config/obstacle_stop_planner.param.yaml +++ b/planning/autoware_obstacle_stop_planner/config/obstacle_stop_planner.param.yaml @@ -1,22 +1,23 @@ /**: ros__parameters: - chattering_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s] - max_velocity: 20.0 # max velocity [m/s] - enable_slow_down: False # whether to use slow down planner [-] - enable_z_axis_obstacle_filtering: True # filter obstacles in z axis (height) [-] - z_axis_filtering_buffer: 0.0 # additional buffer for z axis filtering [m] - voxel_grid_x: 0.05 # voxel grid x parameter for filtering pointcloud [m] - voxel_grid_y: 0.05 # voxel grid y parameter for filtering pointcloud [m] - voxel_grid_z: 100000.0 # voxel grid z parameter for filtering pointcloud [m] - use_predicted_objects : False # whether to use predicted objects [-] - publish_obstacle_polygon: False # whether to publish obstacle polygon [-] + chattering_threshold: 0.5 # even if the obstacle disappears, the stop judgment continues for chattering_threshold [s] + lowpass_gain: 0.9 # gain parameter for low pass filter [-] + max_velocity: 20.0 # max velocity [m/s] + enable_slow_down: False # whether to use slow down planner [-] + enable_z_axis_obstacle_filtering: True # filter obstacles in z axis (height) [-] + z_axis_filtering_buffer: 0.0 # additional buffer for z axis filtering [m] + voxel_grid_x: 0.05 # voxel grid x parameter for filtering pointcloud [m] + voxel_grid_y: 0.05 # voxel grid y parameter for filtering pointcloud [m] + voxel_grid_z: 100000.0 # voxel grid z parameter for filtering pointcloud [m] + use_predicted_objects: False # whether to use predicted objects [-] + publish_obstacle_polygon: False # whether to publish obstacle polygon [-] predicted_object_filtering_threshold: 1.5 # threshold for filtering predicted objects (valid only publish_obstacle_polygon true) [m] stop_planner: # params for stop position stop_position: max_longitudinal_margin: 5.0 # stop margin distance from obstacle on the path [m] - max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind the goal on the path [m] + max_longitudinal_margin_behind_goal: 2.5 # stop margin distance from obstacle behind goal on the path [m] min_longitudinal_margin: 5.0 # stop margin distance when any other stop point is inserted in stop margin [m] hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m] diff --git a/planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json b/planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json index cb2765233c5a0..cfcce06d519bc 100644 --- a/planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json +++ b/planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json @@ -11,6 +11,11 @@ "description": "even if the obstacle disappears, the stop judgment continues for chattering_threshold [s]", "default": "0.5" }, + "lowpass_gain": { + "type": "number", + "description": "gain parameter for low pass filter [-]", + "default": "0.9" + }, "max_velocity": { "type": "number", "description": "max velocity [m/s]", diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml index 58a8f5d074fca..5eb71126bb838 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml @@ -41,13 +41,14 @@ object_recognition: use_object_recognition: true collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0] # the maximum margin when ego and objects are oriented. - collision_check_hard_margins: [0.6] # this should be larger than `surround_check_distance` of surround_obstacle_checker. + collision_check_hard_margins: [0.6] # this should be larger than `surround_check_distance` of surround_obstacle_checker object_recognition_collision_check_max_extra_stopping_margin: 1.0 th_moving_object_velocity: 1.0 detection_bound_offset: 15.0 outer_road_detection_offset: 1.0 inner_road_detection_offset: 0.0 + # pull over pull_over: minimum_request_length: 0.0 @@ -101,10 +102,11 @@ search_configs: theta_size: 120 angle_goal_range: 6.0 - curve_weight: 0.5 - reverse_weight: 1.0 lateral_goal_range: 0.5 longitudinal_goal_range: 2.0 + curve_weight: 0.5 + reverse_weight: 1.0 + direction_change_weight: 1.5 # costmap configs costmap_configs: obstacle_threshold: 30 @@ -113,7 +115,13 @@ search_method: "forward" # options: forward, backward only_behind_solutions: false use_back: true + adapt_expansion_distance: true + expansion_distance: 0.5 + near_goal_distance: 3.0 distance_heuristic_weight: 2.0 + smoothness_weight: 0.5 + obstacle_distance_weight: 1.75 + goal_lat_distance_weight: 5.0 # -- RRT* search Configurations -- rrtstar: enable_update: true @@ -130,6 +138,7 @@ ego_predicted_path: min_velocity: 1.0 min_acceleration: 1.0 + max_velocity: 1.0 time_horizon_for_front_object: 10.0 time_horizon_for_rear_object: 10.0 time_resolution: 0.5 diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml index d94d4e2e8a8a1..41f8f53a8f17c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml @@ -1,6 +1,7 @@ /**: ros__parameters: traffic_light_signal_timeout: 1.0 + planning_hz: 10.0 backward_path_length: 5.0 forward_path_length: 300.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml index a4ab065539bdb..150478ce268b2 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml @@ -3,6 +3,7 @@ out_of_lane: # module to stop or slowdown before overlapping another lane with other objects mode: ttc # mode used to consider a conflict with an object. "threshold", or "ttc" skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane + ignore_overlaps_over_lane_changeable_lanelets: true # if true, overlaps on lane changeable lanelets are ignored max_arc_length: 100.0 # [m] maximum trajectory arc length that is checked for out_of_lane collisions threshold: From 05acc9e9355c63ee2c8596ad07b56e82766a7317 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 20 Sep 2024 14:16:30 +0900 Subject: [PATCH 220/701] feat(emergency_handler): delete package (#8917) * feat(emergency_handler): delete package Signed-off-by: veqcc --- .github/CODEOWNERS | 1 - .../launch/system.launch.xml | 28 +- launch/tier4_system_launch/package.xml | 1 - .../system_launch.drawio.svg | 6 +- system/emergency_handler/CMakeLists.txt | 20 - system/emergency_handler/README.md | 42 -- .../config/emergency_handler.param.yaml | 12 - .../image/fail-safe-state.drawio.svg | 239 ---------- .../emergency_handler_core.hpp | 143 ------ .../launch/emergency_handler.launch.xml | 35 -- system/emergency_handler/package.xml | 31 -- .../schema/emergency_handler.schema.json | 65 --- .../emergency_handler_core.cpp | 451 ------------------ 13 files changed, 5 insertions(+), 1069 deletions(-) delete mode 100644 system/emergency_handler/CMakeLists.txt delete mode 100644 system/emergency_handler/README.md delete mode 100644 system/emergency_handler/config/emergency_handler.param.yaml delete mode 100644 system/emergency_handler/image/fail-safe-state.drawio.svg delete mode 100644 system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp delete mode 100644 system/emergency_handler/launch/emergency_handler.launch.xml delete mode 100644 system/emergency_handler/package.xml delete mode 100644 system/emergency_handler/schema/emergency_handler.schema.json delete mode 100644 system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 1e6e29dd67051..17ac4f3f94f57 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -231,7 +231,6 @@ system/diagnostic_graph_utils/** isamu.takagi@tier4.jp system/dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp system/dummy_infrastructure/** ryohsuke.mitsudome@tier4.jp system/duplicated_node_checker/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp -system/emergency_handler/** makoto.kurihara@tier4.jp ryuta.kambe@tier4.jp tetsuhiro.kawaguchi@tier4.jp system/hazard_status_converter/** isamu.takagi@tier4.jp system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp system/mrm_emergency_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml index d11d00c43d55b..07f6ae8d4bdc2 100644 --- a/launch/tier4_system_launch/launch/system.launch.xml +++ b/launch/tier4_system_launch/launch/system.launch.xml @@ -2,7 +2,6 @@ - @@ -26,8 +25,6 @@ - - @@ -97,27 +94,6 @@ - - - - - - - - - - - - - - - - - - - - - @@ -127,12 +103,12 @@ - + - + diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml index 789cf136f1152..673596fad9972 100644 --- a/launch/tier4_system_launch/package.xml +++ b/launch/tier4_system_launch/package.xml @@ -12,7 +12,6 @@ autoware_cmake component_state_monitor - emergency_handler system_error_monitor system_monitor diff --git a/launch/tier4_system_launch/system_launch.drawio.svg b/launch/tier4_system_launch/system_launch.drawio.svg index 07a33aff8e30f..987158ba00c2b 100644 --- a/launch/tier4_system_launch/system_launch.drawio.svg +++ b/launch/tier4_system_launch/system_launch.drawio.svg @@ -287,15 +287,15 @@ >

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 - emergency_handler.launch.xml... + mrm_handler.launch.xml... diff --git a/system/emergency_handler/CMakeLists.txt b/system/emergency_handler/CMakeLists.txt deleted file mode 100644 index 0475cdbe57dd8..0000000000000 --- a/system/emergency_handler/CMakeLists.txt +++ /dev/null @@ -1,20 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(emergency_handler) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/emergency_handler/emergency_handler_core.cpp -) - -rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "EmergencyHandler" - EXECUTABLE ${PROJECT_NAME}_node - EXECUTOR MultiThreadedExecutor -) - -ament_auto_package(INSTALL_TO_SHARE - launch - config -) diff --git a/system/emergency_handler/README.md b/system/emergency_handler/README.md deleted file mode 100644 index f34ebcf8d9b9a..0000000000000 --- a/system/emergency_handler/README.md +++ /dev/null @@ -1,42 +0,0 @@ -# emergency_handler - -## Purpose - -Emergency Handler is a node to select proper MRM from from system failure state contained in HazardStatus. - -## Inner-workings / Algorithms - -### State Transitions - -![fail-safe-state](image/fail-safe-state.drawio.svg) - -## Inputs / Outputs - -### Input - -| Name | Type | Description | -| ----------------------------------------- | ------------------------------------------------ | ----------------------------------------------------------------------------- | -| `/system/emergency/hazard_status` | `autoware_system_msgs::msg::HazardStatusStamped` | Used to select proper MRM from system failure state contained in HazardStatus | -| `/control/vehicle_cmd` | `autoware_control_msgs::msg::Control` | Used as reference when generate Emergency Control Command | -| `/localization/kinematic_state` | `nav_msgs::msg::Odometry` | Used to decide whether vehicle is stopped or not | -| `/vehicle/status/control_mode` | `autoware_vehicle_msgs::msg::ControlModeReport` | Used to check vehicle mode: autonomous or manual | -| `/system/api/mrm/comfortable_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus` | Used to check if MRM comfortable stop operation is available | -| `/system/api/mrm/emergency_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus` | Used to check if MRM emergency stop operation is available | - -### Output - -| Name | Type | Description | -| ------------------------------------------ | ------------------------------------------------- | ----------------------------------------------------- | -| `/system/emergency/shift_cmd` | `autoware_vehicle_msgs::msg::GearCommand` | Required to execute proper MRM (send gear cmd) | -| `/system/emergency/hazard_cmd` | `autoware_vehicle_msgs::msg::HazardLightsCommand` | Required to execute proper MRM (send turn signal cmd) | -| `/api/fail_safe/mrm_state` | `autoware_adapi_v1_msgs::msg::MrmState` | Inform MRM execution state and selected MRM behavior | -| `/system/api/mrm/comfortable_stop/operate` | `tier4_system_msgs::srv::OperateMrm` | Execution order for MRM comfortable stop | -| `/system/api/mrm/emergency_stop/operate` | `tier4_system_msgs::srv::OperateMrm` | Execution order for MRM emergency stop | - -## Parameters - -{{ json_to_markdown("system/emergency_handler/schema/emergency_handler.schema.json") }} - -## Assumptions / Known limits - -TBD. diff --git a/system/emergency_handler/config/emergency_handler.param.yaml b/system/emergency_handler/config/emergency_handler.param.yaml deleted file mode 100644 index 2309e7f23deb0..0000000000000 --- a/system/emergency_handler/config/emergency_handler.param.yaml +++ /dev/null @@ -1,12 +0,0 @@ -# Default configuration for emergency handler ---- -/**: - ros__parameters: - update_rate: 10 - timeout_hazard_status: 0.5 - use_parking_after_stopped: false - use_comfortable_stop: false - - # setting whether to turn hazard lamp on for each situation - turning_hazard_on: - emergency: true diff --git a/system/emergency_handler/image/fail-safe-state.drawio.svg b/system/emergency_handler/image/fail-safe-state.drawio.svg deleted file mode 100644 index a9cbb1026616b..0000000000000 --- a/system/emergency_handler/image/fail-safe-state.drawio.svg +++ /dev/null @@ -1,239 +0,0 @@ - - - - - - - - - - - - -
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- - fatal - - - - - - - Viewer does not support full SVG 1.1 - - - diff --git a/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp b/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp deleted file mode 100644 index b77797b2a4205..0000000000000 --- a/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp +++ /dev/null @@ -1,143 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef EMERGENCY_HANDLER__EMERGENCY_HANDLER_CORE_HPP_ -#define EMERGENCY_HANDLER__EMERGENCY_HANDLER_CORE_HPP_ - -// Core -#include -#include - -// Autoware -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -// ROS 2 core -#include -#include - -#include -#include - -struct HazardLampPolicy -{ - bool emergency; -}; - -struct Param -{ - int update_rate; - double timeout_hazard_status; - bool use_parking_after_stopped; - bool use_comfortable_stop; - HazardLampPolicy turning_hazard_on{}; -}; - -class EmergencyHandler : public rclcpp::Node -{ -public: - explicit EmergencyHandler(const rclcpp::NodeOptions & options); - -private: - // Subscribers with callback - rclcpp::Subscription::SharedPtr - sub_hazard_status_stamped_; - rclcpp::Subscription::SharedPtr sub_prev_control_command_; - // Subscribers without callback - autoware::universe_utils::InterProcessPollingSubscriber sub_odom_{ - this, "~/input/odometry"}; - autoware::universe_utils::InterProcessPollingSubscriber< - autoware_vehicle_msgs::msg::ControlModeReport> - sub_control_mode_{this, "~/input/control_mode"}; - autoware::universe_utils::InterProcessPollingSubscriber - sub_mrm_comfortable_stop_status_{this, "~/input/mrm/comfortable_stop/status"}; - autoware::universe_utils::InterProcessPollingSubscriber - sub_mrm_emergency_stop_status_{this, "~/input/mrm/emergency_stop/status"}; - - autoware_system_msgs::msg::HazardStatusStamped::ConstSharedPtr hazard_status_stamped_; - autoware_control_msgs::msg::Control::ConstSharedPtr prev_control_command_; - - void onHazardStatusStamped( - const autoware_system_msgs::msg::HazardStatusStamped::ConstSharedPtr msg); - void onPrevControlCommand(const autoware_control_msgs::msg::Control::ConstSharedPtr msg); - - // Publisher - rclcpp::Publisher::SharedPtr pub_control_command_; - - // rclcpp::Publisher::SharedPtr pub_shift_; - // rclcpp::Publisher::SharedPtr pub_turn_signal_; - rclcpp::Publisher::SharedPtr pub_hazard_cmd_; - rclcpp::Publisher::SharedPtr pub_gear_cmd_; - - autoware_vehicle_msgs::msg::HazardLightsCommand createHazardCmdMsg(); - autoware_vehicle_msgs::msg::GearCommand createGearCmdMsg(); - void publishControlCommands(); - - rclcpp::Publisher::SharedPtr pub_mrm_state_; - - autoware_adapi_v1_msgs::msg::MrmState mrm_state_; - void publishMrmState(); - - // Clients - rclcpp::CallbackGroup::SharedPtr client_mrm_comfortable_stop_group_; - rclcpp::Client::SharedPtr client_mrm_comfortable_stop_; - rclcpp::CallbackGroup::SharedPtr client_mrm_emergency_stop_group_; - rclcpp::Client::SharedPtr client_mrm_emergency_stop_; - - void callMrmBehavior( - const autoware_adapi_v1_msgs::msg::MrmState::_behavior_type & mrm_behavior) const; - void cancelMrmBehavior( - const autoware_adapi_v1_msgs::msg::MrmState::_behavior_type & mrm_behavior) const; - void logMrmCallingResult( - const tier4_system_msgs::srv::OperateMrm::Response & result, const std::string & behavior, - bool is_call) const; - - // Timer - rclcpp::TimerBase::SharedPtr timer_; - - // Parameters - Param param_; - - bool isDataReady(); - void onTimer(); - - // Heartbeat - rclcpp::Time stamp_hazard_status_; - bool is_hazard_status_timeout_; - void checkHazardStatusTimeout(); - - // Algorithm - uint8_t last_gear_command_{autoware_vehicle_msgs::msg::GearCommand::DRIVE}; - void transitionTo(const int new_state); - void updateMrmState(); - void operateMrm(); - autoware_adapi_v1_msgs::msg::MrmState::_behavior_type getCurrentMrmBehavior(); - - bool isAutonomous(); - bool isDrivingBackwards(); - bool isEmergency(); - bool isStopped(); - bool isComfortableStopStatusAvailable(); - bool isEmergencyStopStatusAvailable(); -}; - -#endif // EMERGENCY_HANDLER__EMERGENCY_HANDLER_CORE_HPP_ diff --git a/system/emergency_handler/launch/emergency_handler.launch.xml b/system/emergency_handler/launch/emergency_handler.launch.xml deleted file mode 100644 index 203c13bd94e0a..0000000000000 --- a/system/emergency_handler/launch/emergency_handler.launch.xml +++ /dev/null @@ -1,35 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/system/emergency_handler/package.xml b/system/emergency_handler/package.xml deleted file mode 100644 index e16c1b60a5be0..0000000000000 --- a/system/emergency_handler/package.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - emergency_handler - 0.1.0 - The emergency_handler ROS 2 package - Makoto Kurihara - Ryuta Kambe - Tetsuhiro Kawaguchi - Apache License 2.0 - - ament_cmake_auto - autoware_cmake - - autoware_adapi_v1_msgs - autoware_control_msgs - autoware_system_msgs - autoware_universe_utils - autoware_vehicle_msgs - nav_msgs - rclcpp - rclcpp_components - tier4_system_msgs - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - diff --git a/system/emergency_handler/schema/emergency_handler.schema.json b/system/emergency_handler/schema/emergency_handler.schema.json deleted file mode 100644 index 3276ae3fa1553..0000000000000 --- a/system/emergency_handler/schema/emergency_handler.schema.json +++ /dev/null @@ -1,65 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "Parameters for emergency handler", - "type": "object", - "definitions": { - "emergency_handler": { - "type": "object", - "properties": { - "update_rate": { - "type": "integer", - "description": "Timer callback period.", - "default": 10 - }, - "timeout_hazard_status": { - "type": "number", - "description": "If the input `hazard_status` topic cannot be received for more than `timeout_hazard_status`, vehicle will make an emergency stop.", - "default": 0.5 - }, - "use_parking_after_stopped": { - "type": "boolean", - "description": "If this parameter is true, it will publish PARKING shift command.", - "default": "false" - }, - "use_comfortable_stop": { - "type": "boolean", - "description": "If this parameter is true, operate comfortable stop when latent faults occur.", - "default": "false" - }, - "turning_hazard_on": { - "type": "object", - "properties": { - "emergency": { - "type": "boolean", - "description": "If this parameter is true, hazard lamps will be turned on during emergency state.", - "default": "true" - } - }, - "required": ["emergency"] - } - }, - "required": [ - "update_rate", - "timeout_hazard_status", - "use_parking_after_stopped", - "use_comfortable_stop", - "turning_hazard_on" - ], - "additionalProperties": false - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/emergency_handler" - } - }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false -} diff --git a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp deleted file mode 100644 index b2ee12afc9c76..0000000000000 --- a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp +++ /dev/null @@ -1,451 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "emergency_handler/emergency_handler_core.hpp" - -#include -#include -#include - -EmergencyHandler::EmergencyHandler(const rclcpp::NodeOptions & options) -: Node("emergency_handler", options) -{ - // Parameter - param_.update_rate = declare_parameter("update_rate"); - param_.timeout_hazard_status = declare_parameter("timeout_hazard_status"); - param_.use_parking_after_stopped = declare_parameter("use_parking_after_stopped"); - param_.use_comfortable_stop = declare_parameter("use_comfortable_stop"); - param_.turning_hazard_on.emergency = declare_parameter("turning_hazard_on.emergency"); - - using std::placeholders::_1; - - // Subscribers with callback - sub_hazard_status_stamped_ = create_subscription( - "~/input/hazard_status", rclcpp::QoS{1}, - std::bind(&EmergencyHandler::onHazardStatusStamped, this, _1)); - sub_prev_control_command_ = create_subscription( - "~/input/prev_control_command", rclcpp::QoS{1}, - std::bind(&EmergencyHandler::onPrevControlCommand, this, _1)); - - // Publisher - pub_control_command_ = create_publisher( - "~/output/control_command", rclcpp::QoS{1}); - pub_hazard_cmd_ = create_publisher( - "~/output/hazard", rclcpp::QoS{1}); - pub_gear_cmd_ = - create_publisher("~/output/gear", rclcpp::QoS{1}); - pub_mrm_state_ = - create_publisher("~/output/mrm/state", rclcpp::QoS{1}); - - // Clients - client_mrm_comfortable_stop_group_ = - create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); - client_mrm_comfortable_stop_ = create_client( - "~/output/mrm/comfortable_stop/operate", rmw_qos_profile_services_default, - client_mrm_comfortable_stop_group_); - client_mrm_emergency_stop_group_ = - create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); - client_mrm_emergency_stop_ = create_client( - "~/output/mrm/emergency_stop/operate", rmw_qos_profile_services_default, - client_mrm_emergency_stop_group_); - - // Initialize - mrm_state_.stamp = this->now(); - mrm_state_.state = autoware_adapi_v1_msgs::msg::MrmState::NORMAL; - mrm_state_.behavior = autoware_adapi_v1_msgs::msg::MrmState::NONE; - is_hazard_status_timeout_ = false; - - // Timer - const auto update_period_ns = rclcpp::Rate(param_.update_rate).period(); - timer_ = rclcpp::create_timer( - this, get_clock(), update_period_ns, std::bind(&EmergencyHandler::onTimer, this)); -} - -void EmergencyHandler::onHazardStatusStamped( - const autoware_system_msgs::msg::HazardStatusStamped::ConstSharedPtr msg) -{ - hazard_status_stamped_ = msg; - stamp_hazard_status_ = this->now(); -} - -void EmergencyHandler::onPrevControlCommand( - const autoware_control_msgs::msg::Control::ConstSharedPtr msg) -{ - auto control_command = new autoware_control_msgs::msg::Control(*msg); - control_command->stamp = msg->stamp; - prev_control_command_ = autoware_control_msgs::msg::Control::ConstSharedPtr(control_command); -} - -autoware_vehicle_msgs::msg::HazardLightsCommand EmergencyHandler::createHazardCmdMsg() -{ - using autoware_vehicle_msgs::msg::HazardLightsCommand; - HazardLightsCommand msg; - - // Check emergency - const bool is_emergency = isEmergency(); - - if (hazard_status_stamped_->status.emergency_holding) { - // turn hazard on during emergency holding - msg.command = HazardLightsCommand::ENABLE; - } else if (is_emergency && param_.turning_hazard_on.emergency) { - // turn hazard on if vehicle is in emergency state and - // turning hazard on if emergency flag is true - msg.command = HazardLightsCommand::ENABLE; - - } else { - msg.command = HazardLightsCommand::NO_COMMAND; - } - return msg; -} - -void EmergencyHandler::publishControlCommands() -{ - using autoware_vehicle_msgs::msg::GearCommand; - - // Create timestamp - const auto stamp = this->now(); - - // Publish hazard command - pub_hazard_cmd_->publish(createHazardCmdMsg()); - - // Publish gear - { - GearCommand msg; - msg.stamp = stamp; - const auto command = [&]() { - // If stopped and use_parking is not true, send the last gear command - if (isStopped()) - return (param_.use_parking_after_stopped) ? GearCommand::PARK : last_gear_command_; - return (isDrivingBackwards()) ? GearCommand::REVERSE : GearCommand::DRIVE; - }(); - - msg.command = command; - last_gear_command_ = msg.command; - pub_gear_cmd_->publish(msg); - return; - } -} - -void EmergencyHandler::publishMrmState() -{ - mrm_state_.stamp = this->now(); - pub_mrm_state_->publish(mrm_state_); -} - -void EmergencyHandler::operateMrm() -{ - using autoware_adapi_v1_msgs::msg::MrmState; - - if (mrm_state_.state == MrmState::NORMAL) { - // Cancel MRM behavior when returning to NORMAL state - const auto current_mrm_behavior = MrmState::NONE; - if (current_mrm_behavior != mrm_state_.behavior) { - cancelMrmBehavior(mrm_state_.behavior); - mrm_state_.behavior = current_mrm_behavior; - } - return; - } - if (mrm_state_.state == MrmState::MRM_OPERATING) { - const auto current_mrm_behavior = getCurrentMrmBehavior(); - if (current_mrm_behavior != mrm_state_.behavior) { - cancelMrmBehavior(mrm_state_.behavior); - callMrmBehavior(current_mrm_behavior); - mrm_state_.behavior = current_mrm_behavior; - } - return; - } - if (mrm_state_.state == MrmState::MRM_SUCCEEDED) { - // TODO(mkuri): operate MRC behavior - // Do nothing - return; - } - if (mrm_state_.state == MrmState::MRM_FAILED) { - // Do nothing - return; - } - RCLCPP_WARN(this->get_logger(), "invalid MRM state: %d", mrm_state_.state); -} - -void EmergencyHandler::callMrmBehavior( - const autoware_adapi_v1_msgs::msg::MrmState::_behavior_type & mrm_behavior) const -{ - using autoware_adapi_v1_msgs::msg::MrmState; - - auto request = std::make_shared(); - request->operate = true; - - if (mrm_behavior == MrmState::NONE) { - RCLCPP_WARN(this->get_logger(), "MRM behavior is None. Do nothing."); - return; - } - if (mrm_behavior == MrmState::COMFORTABLE_STOP) { - auto result = client_mrm_comfortable_stop_->async_send_request(request).get(); - if (result->response.success == true) { - RCLCPP_WARN(this->get_logger(), "Comfortable stop is operated"); - } else { - RCLCPP_ERROR(this->get_logger(), "Comfortable stop is failed to operate"); - } - return; - } - if (mrm_behavior == MrmState::EMERGENCY_STOP) { - auto result = client_mrm_emergency_stop_->async_send_request(request).get(); - if (result->response.success == true) { - RCLCPP_WARN(this->get_logger(), "Emergency stop is operated"); - } else { - RCLCPP_ERROR(this->get_logger(), "Emergency stop is failed to operate"); - } - return; - } - RCLCPP_WARN(this->get_logger(), "invalid MRM behavior: %d", mrm_behavior); -} - -void EmergencyHandler::cancelMrmBehavior( - const autoware_adapi_v1_msgs::msg::MrmState::_behavior_type & mrm_behavior) const -{ - using autoware_adapi_v1_msgs::msg::MrmState; - - auto request = std::make_shared(); - request->operate = false; - - if (mrm_behavior == MrmState::NONE) { - // Do nothing - return; - } - if (mrm_behavior == MrmState::COMFORTABLE_STOP) { - auto result = client_mrm_comfortable_stop_->async_send_request(request).get(); - if (result->response.success == true) { - RCLCPP_WARN(this->get_logger(), "Comfortable stop is canceled"); - } else { - RCLCPP_ERROR(this->get_logger(), "Comfortable stop is failed to cancel"); - } - return; - } - if (mrm_behavior == MrmState::EMERGENCY_STOP) { - auto result = client_mrm_emergency_stop_->async_send_request(request).get(); - if (result->response.success == true) { - RCLCPP_WARN(this->get_logger(), "Emergency stop is canceled"); - } else { - RCLCPP_ERROR(this->get_logger(), "Emergency stop is failed to cancel"); - } - return; - } - RCLCPP_WARN(this->get_logger(), "invalid MRM behavior: %d", mrm_behavior); -} - -bool EmergencyHandler::isDataReady() -{ - if (!hazard_status_stamped_) { - RCLCPP_INFO_THROTTLE( - this->get_logger(), *this->get_clock(), std::chrono::milliseconds(5000).count(), - "waiting for hazard_status_stamped msg..."); - return false; - } - - if (param_.use_comfortable_stop && !isComfortableStopStatusAvailable()) { - RCLCPP_INFO_THROTTLE( - this->get_logger(), *this->get_clock(), std::chrono::milliseconds(5000).count(), - "waiting for mrm comfortable stop to become available..."); - return false; - } - - if (!isEmergencyStopStatusAvailable()) { - RCLCPP_INFO_THROTTLE( - this->get_logger(), *this->get_clock(), std::chrono::milliseconds(5000).count(), - "waiting for mrm emergency stop to become available..."); - return false; - } - - return true; -} - -void EmergencyHandler::checkHazardStatusTimeout() -{ - if ((this->now() - stamp_hazard_status_).seconds() > param_.timeout_hazard_status) { - is_hazard_status_timeout_ = true; - RCLCPP_WARN_THROTTLE( - this->get_logger(), *this->get_clock(), std::chrono::milliseconds(1000).count(), - "heartbeat_hazard_status is timeout"); - } else { - is_hazard_status_timeout_ = false; - } -} - -void EmergencyHandler::onTimer() -{ - if (!isDataReady()) { - return; - } - - // Check whether heartbeat hazard_status is timeout - checkHazardStatusTimeout(); - - // Update Emergency State - updateMrmState(); - - // Publish control commands - publishControlCommands(); - operateMrm(); - publishMrmState(); -} - -void EmergencyHandler::transitionTo(const int new_state) -{ - using autoware_adapi_v1_msgs::msg::MrmState; - - const auto state2string = [](const int state) { - if (state == MrmState::NORMAL) { - return "NORMAL"; - } - if (state == MrmState::MRM_OPERATING) { - return "MRM_OPERATING"; - } - if (state == MrmState::MRM_SUCCEEDED) { - return "MRM_SUCCEEDED"; - } - if (state == MrmState::MRM_FAILED) { - return "MRM_FAILED"; - } - - const auto msg = "invalid state: " + std::to_string(state); - throw std::runtime_error(msg); - }; - - RCLCPP_DEBUG( - this->get_logger(), "MRM State changed: %s -> %s", state2string(mrm_state_.state), - state2string(new_state)); - - mrm_state_.state = new_state; -} - -void EmergencyHandler::updateMrmState() -{ - using autoware_adapi_v1_msgs::msg::MrmState; - using autoware_vehicle_msgs::msg::ControlModeReport; - - // Check emergency - const bool is_emergency = isEmergency(); - - // Get mode - const bool is_auto_mode = isAutonomous(); - - // State Machine - if (mrm_state_.state == MrmState::NORMAL) { - // NORMAL - if (is_auto_mode && is_emergency) { - transitionTo(MrmState::MRM_OPERATING); - return; - } - } else { - // Emergency - // Send recovery events if "not emergency" - if (!is_emergency) { - transitionTo(MrmState::NORMAL); - return; - } - - if (mrm_state_.state == MrmState::MRM_OPERATING) { - // TODO(Kenji Miyake): Check MRC is accomplished - if (isStopped()) { - transitionTo(MrmState::MRM_SUCCEEDED); - return; - } - } else if (mrm_state_.state == MrmState::MRM_SUCCEEDED) { - // Do nothing(only checking common recovery events) - } else if (mrm_state_.state == MrmState::MRM_FAILED) { - // Do nothing(only checking common recovery events) - } else { - const auto msg = "invalid state: " + std::to_string(mrm_state_.state); - throw std::runtime_error(msg); - } - } -} - -autoware_adapi_v1_msgs::msg::MrmState::_behavior_type EmergencyHandler::getCurrentMrmBehavior() -{ - using autoware_adapi_v1_msgs::msg::MrmState; - using autoware_system_msgs::msg::HazardStatus; - - // Get hazard level - auto level = hazard_status_stamped_->status.level; - if (is_hazard_status_timeout_) { - level = HazardStatus::SINGLE_POINT_FAULT; - } - - // State machine - if (mrm_state_.behavior == MrmState::NONE) { - if (level == HazardStatus::LATENT_FAULT) { - if (param_.use_comfortable_stop) { - return MrmState::COMFORTABLE_STOP; - } - return MrmState::EMERGENCY_STOP; - } - if (level == HazardStatus::SINGLE_POINT_FAULT) { - return MrmState::EMERGENCY_STOP; - } - } - if (mrm_state_.behavior == MrmState::COMFORTABLE_STOP) { - if (level == HazardStatus::SINGLE_POINT_FAULT) { - return MrmState::EMERGENCY_STOP; - } - } - - return mrm_state_.behavior; -} - -bool EmergencyHandler::isAutonomous() -{ - using autoware_vehicle_msgs::msg::ControlModeReport; - auto mode = sub_control_mode_.takeData(); - if (mode == nullptr) return false; - return mode->mode == ControlModeReport::AUTONOMOUS; -} - -bool EmergencyHandler::isEmergency() -{ - return hazard_status_stamped_->status.emergency || - hazard_status_stamped_->status.emergency_holding || is_hazard_status_timeout_; -} - -bool EmergencyHandler::isStopped() -{ - auto odom = sub_odom_.takeData(); - if (odom == nullptr) return false; - constexpr auto th_stopped_velocity = 0.001; - return (std::abs(odom->twist.twist.linear.x) < th_stopped_velocity); -} - -bool EmergencyHandler::isComfortableStopStatusAvailable() -{ - auto status = sub_mrm_comfortable_stop_status_.takeData(); - if (status == nullptr) return false; - return status->state != tier4_system_msgs::msg::MrmBehaviorStatus::NOT_AVAILABLE; -} - -bool EmergencyHandler::isEmergencyStopStatusAvailable() -{ - auto status = sub_mrm_emergency_stop_status_.takeData(); - if (status == nullptr) return false; - return status->state != tier4_system_msgs::msg::MrmBehaviorStatus::NOT_AVAILABLE; -} - -bool EmergencyHandler::isDrivingBackwards() -{ - auto odom = sub_odom_.takeData(); - if (odom == nullptr) return false; - constexpr auto th_moving_backwards = -0.001; - return odom->twist.twist.linear.x < th_moving_backwards; -} - -#include -RCLCPP_COMPONENTS_REGISTER_NODE(EmergencyHandler) From c5ab77af08e18d009fe462a214758342e66690ec Mon Sep 17 00:00:00 2001 From: Batuhan Beytekin <71197983+batuhanbeytekin@users.noreply.github.com> Date: Fri, 20 Sep 2024 14:47:14 +0300 Subject: [PATCH 221/701] refactor(detected_object_validation): rework parameters (#7750) * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin Signed-off-by: Batuhan Beytekin * style(pre-commit): autofix Signed-off-by: Batuhan Beytekin * Update perception/detected_object_validation/schema/object_lanelet_filter.schema.json Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Signed-off-by: batuhanbeytekin Signed-off-by: Batuhan Beytekin * Update perception/detected_object_validation/schema/object_position_filter.schema.json Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Signed-off-by: batuhanbeytekin Signed-off-by: Batuhan Beytekin * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin Signed-off-by: Batuhan Beytekin * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin Signed-off-by: Batuhan Beytekin * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin Signed-off-by: Batuhan Beytekin * style(pre-commit): autofix Signed-off-by: Batuhan Beytekin * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin Signed-off-by: Batuhan Beytekin * refactor(detected_object_validation): rework parameters Signed-off-by: batuhanbeytekin Signed-off-by: Batuhan Beytekin * style(pre-commit): autofix --------- Signed-off-by: batuhanbeytekin Signed-off-by: Batuhan Beytekin Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../README.md | 18 +++ .../occupancy_grid_based_validator.param.yaml | 1 + .../schema/object_lanelet_filter.schema.json | 121 ++++++++++++++++++ .../schema/object_position_filter.schema.json | 106 +++++++++++++++ ...cle_pointcloud_based_validator.schema.json | 68 ++++++++++ ...occupancy_grid_based_validator.schema.json | 38 ++++++ .../src/lanelet_filter/lanelet_filter.cpp | 16 +-- .../obstacle_pointcloud_validator.cpp | 2 +- .../occupancy_grid_map_validator.cpp | 4 +- .../src/position_filter/position_filter.cpp | 24 ++-- 10 files changed, 375 insertions(+), 23 deletions(-) create mode 100644 perception/autoware_detected_object_validation/schema/object_lanelet_filter.schema.json create mode 100644 perception/autoware_detected_object_validation/schema/object_position_filter.schema.json create mode 100644 perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json create mode 100644 perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json diff --git a/perception/autoware_detected_object_validation/README.md b/perception/autoware_detected_object_validation/README.md index 12fad4ad9759f..adca7c0fd9678 100644 --- a/perception/autoware_detected_object_validation/README.md +++ b/perception/autoware_detected_object_validation/README.md @@ -10,3 +10,21 @@ The purpose of this package is to eliminate obvious false positives of DetectedO - [Occupancy grid based validator](occupancy-grid-based-validator.md) - [Object lanelet filter](object-lanelet-filter.md) - [Object position filter](object-position-filter.md) + +### Node Parameters + +#### object_lanelet_filter + +{{ json_to_markdown("perception/autoware_detected_object_validation/schema/object_lanelet_filter.schema.json") }} + +#### object_position_filter + +{{ json_to_markdown("perception/autoware_detected_object_validation/schema/object_position_filter.schema.json") }} + +#### obstacle_pointcloud_based_validator + +{{ json_to_markdown("perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json") }} + +#### occupancy_grid_based_validator + +{{ json_to_markdown("perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json") }} diff --git a/perception/autoware_detected_object_validation/config/occupancy_grid_based_validator.param.yaml b/perception/autoware_detected_object_validation/config/occupancy_grid_based_validator.param.yaml index fc5c634735e23..bb996f1197155 100644 --- a/perception/autoware_detected_object_validation/config/occupancy_grid_based_validator.param.yaml +++ b/perception/autoware_detected_object_validation/config/occupancy_grid_based_validator.param.yaml @@ -1,3 +1,4 @@ /**: ros__parameters: + mean_threshold: 0.6 enable_debug: false diff --git a/perception/autoware_detected_object_validation/schema/object_lanelet_filter.schema.json b/perception/autoware_detected_object_validation/schema/object_lanelet_filter.schema.json new file mode 100644 index 0000000000000..fd4e39f0ca02e --- /dev/null +++ b/perception/autoware_detected_object_validation/schema/object_lanelet_filter.schema.json @@ -0,0 +1,121 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Object Lanelet Filter", + "type": "object", + "definitions": { + "object_lanelet_filter": { + "type": "object", + "properties": { + "filter_target_label": { + "type": "object", + "properties": { + "UNKNOWN": { + "type": "boolean", + "default": true, + "description": "If true, unknown objects are filtered." + }, + "CAR": { + "type": "boolean", + "default": false, + "description": "If true, car objects are filtered." + }, + "TRUCK": { + "type": "boolean", + "default": false, + "description": "If true, truck objects are filtered." + }, + "BUS": { + "type": "boolean", + "default": false, + "description": "If true, bus objects are filtered." + }, + "TRAILER": { + "type": "boolean", + "default": false, + "description": "If true, trailer objects are filtered." + }, + "MOTORCYCLE": { + "type": "boolean", + "default": false, + "description": "If true, motorcycle objects are filtered." + }, + "BICYCLE": { + "type": "boolean", + "default": false, + "description": "If true, bicycle objects are filtered." + }, + "PEDESTRIAN": { + "type": "boolean", + "default": false, + "description": "If true, pedestrian objects are filtered." + } + }, + "required": [ + "UNKNOWN", + "CAR", + "TRUCK", + "BUS", + "TRAILER", + "MOTORCYCLE", + "BICYCLE", + "PEDESTRIAN" + ] + }, + "filter_settings": { + "type": "object", + "properties": { + "polygon_overlap_filter": { + "type": "object", + "properties": { + "enabled": { + "type": "boolean", + "default": true, + "description": "If true, objects that are not in the lanelet polygon are filtered." + } + }, + "required": ["enabled"] + }, + "lanelet_direction_filter": { + "type": "object", + "properties": { + "enabled": { + "type": "boolean", + "default": false, + "description": "If true, objects that are not in the same direction as the lanelet are filtered." + }, + "velocity_yaw_threshold": { + "type": "number", + "default": 0.785398, + "description": "If the yaw difference between the object and the lanelet is greater than this value, the object is filtered." + }, + "object_speed_threshold": { + "type": "number", + "default": 3.0, + "description": "If the object speed is greater than this value, the object is filtered." + } + }, + "required": ["enabled", "velocity_yaw_threshold", "object_speed_threshold"] + } + }, + "required": ["polygon_overlap_filter", "lanelet_direction_filter"] + } + }, + "required": ["filter_target_label", "filter_settings"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/object_lanelet_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/perception/autoware_detected_object_validation/schema/object_position_filter.schema.json b/perception/autoware_detected_object_validation/schema/object_position_filter.schema.json new file mode 100644 index 0000000000000..9c35280d403ea --- /dev/null +++ b/perception/autoware_detected_object_validation/schema/object_position_filter.schema.json @@ -0,0 +1,106 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Object Position Filter", + "type": "object", + "definitions": { + "object_position_filter_params": { + "type": "object", + "properties": { + "filter_target_label": { + "type": "object", + "properties": { + "UNKNOWN": { + "type": "boolean", + "default": true, + "description": "Filter for UNKNOWN label" + }, + "CAR": { + "type": "boolean", + "default": false, + "description": "Filter for CAR label" + }, + "TRUCK": { + "type": "boolean", + "default": false, + "description": "Filter for TRUCK label" + }, + "BUS": { + "type": "boolean", + "default": false, + "description": "Filter for BUS label" + }, + "TRAILER": { + "type": "boolean", + "default": false, + "description": "Filter for TRAILER label" + }, + "MOTORCYCLE": { + "type": "boolean", + "default": false, + "description": "Filter for MOTORCYCLE label" + }, + "BICYCLE": { + "type": "boolean", + "default": false, + "description": "Filter for BICYCLE label" + }, + "PEDESTRIAN": { + "type": "boolean", + "default": false, + "description": "Filter for PEDESTRIAN label" + } + }, + "required": [ + "UNKNOWN", + "CAR", + "TRUCK", + "BUS", + "TRAILER", + "MOTORCYCLE", + "BICYCLE", + "PEDESTRIAN" + ] + }, + "upper_bound_x": { + "type": "number", + "default": 100.0, + "description": "Upper bound for X coordinate" + }, + "lower_bound_x": { + "type": "number", + "default": 0.0, + "description": "Lower bound for X coordinate" + }, + "upper_bound_y": { + "type": "number", + "default": 10.0, + "description": "Upper bound for Y coordinate" + }, + "lower_bound_y": { + "type": "number", + "default": -10.0, + "description": "Lower bound for Y coordinate" + } + }, + "required": [ + "filter_target_label", + "upper_bound_x", + "lower_bound_x", + "upper_bound_y", + "lower_bound_y" + ] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/object_position_filter_params" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json b/perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json new file mode 100644 index 0000000000000..d7aa970993ca1 --- /dev/null +++ b/perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json @@ -0,0 +1,68 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Obstacle Pointcloud Based Validator", + "type": "object", + "definitions": { + "obstacle_pointcloud_based_validator": { + "type": "object", + "properties": { + "min_points_num": { + "type": "array", + "items": { + "type": "integer" + }, + "default": [10, 10, 10, 10, 10, 10, 10, 10], + "description": "The minimum number of obstacle point clouds in DetectedObjects" + }, + "max_points_num": { + "type": "array", + "items": { + "type": "integer" + }, + "default": [10, 10, 10, 10, 10, 10, 10, 10], + "description": "The max number of obstacle point clouds in DetectedObjects" + }, + "min_points_and_distance_ratio": { + "type": "array", + "items": { + "type": "number" + }, + "default": [800, 800, 800, 800, 800, 800, 800, 800], + "description": "Threshold value of the number of point clouds per object when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink." + }, + "using_2d_validator": { + "type": "boolean", + "default": false, + "description": "The xy-plane projected (2D) obstacle point clouds will be used for validation" + }, + "enable_debugger": { + "type": "boolean", + "default": false, + "description": "Whether to create debug topics or not?" + } + }, + "required": [ + "min_points_num", + "max_points_num", + "min_points_and_distance_ratio", + "using_2d_validator", + "enable_debugger" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/obstacle_pointcloud_based_validator" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json b/perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json new file mode 100644 index 0000000000000..918e94cd9847e --- /dev/null +++ b/perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json @@ -0,0 +1,38 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Occupancy Grid Based Validator", + "type": "object", + "definitions": { + "occupancy_grid_based_validator": { + "type": "object", + "properties": { + "mean_threshold": { + "type": "number", + "default": 0.6, + "description": "The percentage threshold of allowed non-freespace." + }, + "enable_debug": { + "type": "boolean", + "default": false, + "description": "Whether to display debug images or not?" + } + }, + "required": ["mean_threshold", "enable_debug"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/occupancy_grid_based_validator" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp index aed0ba5ab85ea..59de872ae9b90 100644 --- a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp +++ b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp @@ -42,14 +42,14 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod using std::placeholders::_1; // Set parameters - filter_target_.UNKNOWN = declare_parameter("filter_target_label.UNKNOWN", false); - filter_target_.CAR = declare_parameter("filter_target_label.CAR", false); - filter_target_.TRUCK = declare_parameter("filter_target_label.TRUCK", false); - filter_target_.BUS = declare_parameter("filter_target_label.BUS", false); - filter_target_.TRAILER = declare_parameter("filter_target_label.TRAILER", false); - filter_target_.MOTORCYCLE = declare_parameter("filter_target_label.MOTORCYCLE", false); - filter_target_.BICYCLE = declare_parameter("filter_target_label.BICYCLE", false); - filter_target_.PEDESTRIAN = declare_parameter("filter_target_label.PEDESTRIAN", false); + filter_target_.UNKNOWN = declare_parameter("filter_target_label.UNKNOWN"); + filter_target_.CAR = declare_parameter("filter_target_label.CAR"); + filter_target_.TRUCK = declare_parameter("filter_target_label.TRUCK"); + filter_target_.BUS = declare_parameter("filter_target_label.BUS"); + filter_target_.TRAILER = declare_parameter("filter_target_label.TRAILER"); + filter_target_.MOTORCYCLE = declare_parameter("filter_target_label.MOTORCYCLE"); + filter_target_.BICYCLE = declare_parameter("filter_target_label.BICYCLE"); + filter_target_.PEDESTRIAN = declare_parameter("filter_target_label.PEDESTRIAN"); // Set filter settings filter_settings_.polygon_overlap_filter = declare_parameter("filter_settings.polygon_overlap_filter.enabled"); diff --git a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp index c5ecce714735b..7f55c86080fd2 100644 --- a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp +++ b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp @@ -310,7 +310,7 @@ ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator( debug_publisher_ = std::make_unique( this, "obstacle_pointcloud_based_validator"); - const bool enable_debugger = declare_parameter("enable_debugger", false); + const bool enable_debugger = declare_parameter("enable_debugger"); if (enable_debugger) debugger_ = std::make_shared(this); published_time_publisher_ = std::make_unique(this); diff --git a/perception/autoware_detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp b/perception/autoware_detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp index c082b4b0f03f1..51df1929a300c 100644 --- a/perception/autoware_detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp +++ b/perception/autoware_detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp @@ -53,8 +53,8 @@ OccupancyGridBasedValidator::OccupancyGridBasedValidator(const rclcpp::NodeOptio objects_pub_ = create_publisher( "~/output/objects", rclcpp::QoS{1}); - mean_threshold_ = declare_parameter("mean_threshold", 0.6); - enable_debug_ = declare_parameter("enable_debug", false); + mean_threshold_ = declare_parameter("mean_threshold"); + enable_debug_ = declare_parameter("enable_debug"); published_time_publisher_ = std::make_unique(this); } diff --git a/perception/autoware_detected_object_validation/src/position_filter/position_filter.cpp b/perception/autoware_detected_object_validation/src/position_filter/position_filter.cpp index ac0bab404c476..3b88628aa6d84 100644 --- a/perception/autoware_detected_object_validation/src/position_filter/position_filter.cpp +++ b/perception/autoware_detected_object_validation/src/position_filter/position_filter.cpp @@ -26,18 +26,18 @@ ObjectPositionFilterNode::ObjectPositionFilterNode(const rclcpp::NodeOptions & n using std::placeholders::_1; // Set parameters - upper_bound_x_ = declare_parameter("upper_bound_x", 100.0); - upper_bound_y_ = declare_parameter("upper_bound_y", 50.0); - lower_bound_x_ = declare_parameter("lower_bound_x", 0.0); - lower_bound_y_ = declare_parameter("lower_bound_y", -50.0); - filter_target_.UNKNOWN = declare_parameter("filter_target_label.UNKNOWN", false); - filter_target_.CAR = declare_parameter("filter_target_label.CAR", false); - filter_target_.TRUCK = declare_parameter("filter_target_label.TRUCK", false); - filter_target_.BUS = declare_parameter("filter_target_label.BUS", false); - filter_target_.TRAILER = declare_parameter("filter_target_label.TRAILER", false); - filter_target_.MOTORCYCLE = declare_parameter("filter_target_label.MOTORCYCLE", false); - filter_target_.BICYCLE = declare_parameter("filter_target_label.BICYCLE", false); - filter_target_.PEDESTRIAN = declare_parameter("filter_target_label.PEDESTRIAN", false); + upper_bound_x_ = declare_parameter("upper_bound_x"); + upper_bound_y_ = declare_parameter("upper_bound_y"); + lower_bound_x_ = declare_parameter("lower_bound_x"); + lower_bound_y_ = declare_parameter("lower_bound_y"); + filter_target_.UNKNOWN = declare_parameter("filter_target_label.UNKNOWN"); + filter_target_.CAR = declare_parameter("filter_target_label.CAR"); + filter_target_.TRUCK = declare_parameter("filter_target_label.TRUCK"); + filter_target_.BUS = declare_parameter("filter_target_label.BUS"); + filter_target_.TRAILER = declare_parameter("filter_target_label.TRAILER"); + filter_target_.MOTORCYCLE = declare_parameter("filter_target_label.MOTORCYCLE"); + filter_target_.BICYCLE = declare_parameter("filter_target_label.BICYCLE"); + filter_target_.PEDESTRIAN = declare_parameter("filter_target_label.PEDESTRIAN"); // Set publisher/subscriber object_sub_ = this->create_subscription( From 1f966da9e1a88ec0ead41cf19e3f3c2db0a6824e Mon Sep 17 00:00:00 2001 From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Date: Tue, 24 Sep 2024 10:54:14 +0900 Subject: [PATCH 222/701] feat(system_error_monitor): remove system error monitor (#8929) * feat: delete-system-error-monitor-from-autoware Signed-off-by: TetsuKawa * feat: remove unnecessary params --------- Signed-off-by: TetsuKawa --- .github/CODEOWNERS | 1 - .../src/mrm_summary_overlay_display.cpp | 2 +- launch/tier4_system_launch/README.md | 2 - .../launch/system.launch.xml | 4 - launch/tier4_system_launch/package.xml | 1 - system/system_error_monitor/CMakeLists.txt | 18 - system/system_error_monitor/README.md | 145 ---- .../diagnostic_aggregator/_empty.param.yaml | 0 .../diagnostic_aggregator/control.param.yaml | 121 --- .../localization.param.yaml | 47 -- .../diagnostic_aggregator/map.param.yaml | 22 - .../perception.param.yaml | 15 - .../diagnostic_aggregator/planning.param.yaml | 95 --- .../diagnostic_aggregator/sensing.param.yaml | 2 - .../diagnostic_aggregator/system.param.yaml | 249 ------ .../diagnostic_aggregator/vehicle.param.yaml | 16 - .../config/system_error_monitor.param.yaml | 55 -- ...ror_monitor.planning_simulation.param.yaml | 56 -- .../diagnostics_filter.hpp | 103 --- .../system_error_monitor_core.hpp | 153 ---- .../launch/system_error_monitor.launch.xml | 55 -- .../system_error_monitor_node.launch.xml | 34 - system/system_error_monitor/package.xml | 32 - .../src/system_error_monitor_core.cpp | 722 ------------------ 24 files changed, 1 insertion(+), 1949 deletions(-) delete mode 100644 system/system_error_monitor/CMakeLists.txt delete mode 100644 system/system_error_monitor/README.md delete mode 100644 system/system_error_monitor/config/diagnostic_aggregator/_empty.param.yaml delete mode 100644 system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml delete mode 100644 system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml delete mode 100644 system/system_error_monitor/config/diagnostic_aggregator/map.param.yaml delete mode 100644 system/system_error_monitor/config/diagnostic_aggregator/perception.param.yaml delete mode 100644 system/system_error_monitor/config/diagnostic_aggregator/planning.param.yaml delete mode 100644 system/system_error_monitor/config/diagnostic_aggregator/sensing.param.yaml delete mode 100644 system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml delete mode 100644 system/system_error_monitor/config/diagnostic_aggregator/vehicle.param.yaml delete mode 100644 system/system_error_monitor/config/system_error_monitor.param.yaml delete mode 100644 system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml delete mode 100644 system/system_error_monitor/include/system_error_monitor/diagnostics_filter.hpp delete mode 100644 system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp delete mode 100644 system/system_error_monitor/launch/system_error_monitor.launch.xml delete mode 100644 system/system_error_monitor/launch/system_error_monitor_node.launch.xml delete mode 100644 system/system_error_monitor/package.xml delete mode 100644 system/system_error_monitor/src/system_error_monitor_core.cpp diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 17ac4f3f94f57..3367eb9ad71b5 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -236,7 +236,6 @@ system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@t system/mrm_emergency_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp system/mrm_handler/** makoto.kurihara@tier4.jp ryuta.kambe@tier4.jp tetsuhiro.kawaguchi@tier4.jp system/system_diagnostic_monitor/** isamu.takagi@tier4.jp -system/system_error_monitor/** fumihito.ito@tier4.jp system/system_monitor/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp system/topic_state_monitor/** ryohsuke.mitsudome@tier4.jp system/velodyne_monitor/** fumihito.ito@tier4.jp diff --git a/common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp b/common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp index c0db8cc86450b..b0ba99c98b154 100644 --- a/common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp +++ b/common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp @@ -74,7 +74,7 @@ void insertNewlines(std::string & str, const size_t max_line_length) std::optional generateMrmMessage(diagnostic_msgs::msg::DiagnosticStatus diag_status) { - if (diag_status.hardware_id == "" || diag_status.hardware_id == "system_error_monitor") { + if (diag_status.hardware_id == "") { return std::nullopt; } else if (diag_status.level == diagnostic_msgs::msg::DiagnosticStatus::ERROR) { std::string msg = "- ERROR: " + diag_status.name + " (" + diag_status.message + ")"; diff --git a/launch/tier4_system_launch/README.md b/launch/tier4_system_launch/README.md index 76cea5a575c5d..440843bf1c3f5 100644 --- a/launch/tier4_system_launch/README.md +++ b/launch/tier4_system_launch/README.md @@ -23,5 +23,3 @@ Note that you should provide parameter paths as `PACKAGE_param_path`. The list o ... ``` - -The sensing configuration parameters used in system_error_monitor are loaded from "config/diagnostic_aggregator/sensor_kit.param.yaml" in the "`SENSOR_MODEL`\_description" package. diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml index 07f6ae8d4bdc2..19e5120d605e2 100644 --- a/launch/tier4_system_launch/launch/system.launch.xml +++ b/launch/tier4_system_launch/launch/system.launch.xml @@ -6,10 +6,6 @@ - - - - diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml index 673596fad9972..881a65effe2c0 100644 --- a/launch/tier4_system_launch/package.xml +++ b/launch/tier4_system_launch/package.xml @@ -12,7 +12,6 @@ autoware_cmake component_state_monitor - system_error_monitor system_monitor ament_lint_auto diff --git a/system/system_error_monitor/CMakeLists.txt b/system/system_error_monitor/CMakeLists.txt deleted file mode 100644 index 91e9e20146327..0000000000000 --- a/system/system_error_monitor/CMakeLists.txt +++ /dev/null @@ -1,18 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(system_error_monitor) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/system_error_monitor_core.cpp -) - -rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "AutowareErrorMonitor" - EXECUTABLE ${PROJECT_NAME}_node) - -ament_auto_package(INSTALL_TO_SHARE - launch - config -) diff --git a/system/system_error_monitor/README.md b/system/system_error_monitor/README.md deleted file mode 100644 index e765239f30f4d..0000000000000 --- a/system/system_error_monitor/README.md +++ /dev/null @@ -1,145 +0,0 @@ -# system_error_monitor - -## Purpose - -Autoware Error Monitor has two main functions. - -1. It is to judge the system hazard level from the aggregated diagnostic information of each module of Autoware. -2. It enables automatic recovery from the emergency state. - -## Inner-workings / Algorithms - -### State Transition - -```plantuml -@startuml -hide empty description - -state "Not Emergency" as N -state "Emergency" as E - -[*] --> N - -N -down-> E : found critical errors -E -up-> N : emergency status is cleared - -note right of E - If the emergency hold is enabled, a service call is required to clear the emergency status. - If not, the emergency status will automatically clear when errors recover. -end note - -@enduml -``` - -### updateEmergencyHoldingCondition Flow Chart - -```plantuml -@startuml -title updateEmergencyHoldingCondition Flow Chart - - -(*) --> "Check emergency holding condition" -note right : emergency_holding is initialized with false - -if "" then - -->[false] "emergency is not held" - else - -->[true] "Check use emergency hold condition" -endif - -if "" then - -->[true] "emergency is held" - else - -->[false] "Check emergency condition" -endif - -if "" then - -->[false] "emergency is not held" - else - -->[true] "Check auto recovery setting" -endif - -if "" then - -->[not approved auto recovery] "emergency is held" - else - -->[approved auto recovery] "Check Emergency Duration" -endif - -if "" then - -->[within recovery timeout] "emergency is not held" - else - -->[over recovery timeout] "Check Control Mode" -endif - -if "" then - -->[autonomous driving] "emergency is held" - else - -->[manual driving] "Check use emergency hold in manual driving condition" -endif - -if "" then - -->[true] "emergency is held" - else - -->[false] "emergency is not held" -endif - -@enduml -``` - -## Inputs / Outputs - -### Input - -| Name | Type | Description | -| ---------------------------- | ----------------------------------------------- | ------------------------------------------------------------------------------------------------------------------ | -| `/diagnostics_agg` | `diagnostic_msgs::msg::DiagnosticArray` | Diagnostic information aggregated based [diagnostic_aggregator setting](./config/diagnostic_aggregator) is used to | -| `/autoware/state` | `autoware_system_msgs::msg::AutowareState` | Required to ignore error during Route, Planning and Finalizing. | -| `/control/current_gate_mode` | `tier4_control_msgs::msg::GateMode` | Required to select the appropriate module from `autonomous_driving` or `external_control` | -| `/vehicle/control_mode` | `autoware_vehicle_msgs::msg::ControlModeReport` | Required to not hold emergency during manual driving | - -### Output - -| Name | Type | Description | -| --------------------------------- | ------------------------------------------------ | ------------------------------------------------------------------------------------ | -| `/system/emergency/hazard_status` | `autoware_system_msgs::msg::HazardStatusStamped` | HazardStatus contains system hazard level, emergency hold status and failure details | -| `/diagnostics_err` | `diagnostic_msgs::msg::DiagnosticArray` | This has the same contents as HazardStatus. This is used for visualization | - -## Parameters - -### Node Parameters - -| Name | Type | Default Value | Explanation | -| ---------------------------- | ------ | ------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `ignore_missing_diagnostics` | bool | `false` | If this parameter is turned off, it will be ignored if required modules have not been received. | -| `add_leaf_diagnostics` | bool | `true` | Required to use children diagnostics. | -| `diag_timeout_sec` | double | `1.0` (sec) | If required diagnostic is not received for a `diag_timeout_sec`, the diagnostic state become STALE state. | -| `data_ready_timeout` | double | `30.0` | If input topics required for system_error_monitor are not available for `data_ready_timeout` seconds, autoware_state will translate to emergency state. | -| `data_heartbeat_timeout` | double | `1.0` | If input topics required for system_error_monitor are not no longer subscribed for `data_heartbeat_timeout` seconds, autoware_state will translate to emergency state. | - -### Core Parameters - -| Name | Type | Default Value | Explanation | -| -------------------------------------- | ------ | ------------- | ----------------------------------------------------------------------------------------------------- | -| `hazard_recovery_timeout` | double | `5.0` | The vehicle can recovery to normal driving if emergencies disappear during `hazard_recovery_timeout`. | -| `use_emergency_hold` | bool | `false` | If it is false, the vehicle will return to normal as soon as emergencies disappear. | -| `use_emergency_hold_in_manual_driving` | bool | `false` | If this parameter is turned off, emergencies will be ignored during manual driving. | -| `emergency_hazard_level` | int | `2` | If hazard_level is more than emergency_hazard_level, autoware state will translate to emergency state | - -### YAML format for system_error_monitor - -The parameter key should be filled with the hierarchical diagnostics output by diagnostic_aggregator. Parameters prefixed with `required_modules.autonomous_driving` are for autonomous driving. Parameters with the `required_modules.remote_control` prefix are for remote control. If the value is `default`, the default value will be set. - -| Key | Type | Default Value | Explanation | -| ------------------------------------------------------------------- | ------ | ------------- | ---------------------------------------------------------------------------------------------------------- | -| `required_modules.autonomous_driving.DIAGNOSTIC_NAME.sf_at` | string | `"none"` | Diagnostic level where it becomes Safe Fault. Available options are `"none"`, `"warn"`, `"error"`. | -| `required_modules.autonomous_driving.DIAGNOSTIC_NAME.lf_at` | string | `"warn"` | Diagnostic level where it becomes Latent Fault. Available options are `"none"`, `"warn"`, `"error"`. | -| `required_modules.autonomous_driving.DIAGNOSTIC_NAME.spf_at` | string | `"error"` | Diagnostic level where it becomes Single Point Fault. Available options are `"none"`, `"warn"`, `"error"`. | -| `required_modules.autonomous_driving.DIAGNOSTIC_NAME.auto_recovery` | string | `"true"` | Determines whether the system will automatically recover when it recovers from an error. | -| `required_modules.remote_control.DIAGNOSTIC_NAME.sf_at` | string | `"none"` | Diagnostic level where it becomes Safe Fault. Available options are `"none"`, `"warn"`, `"error"`. | -| `required_modules.remote_control.DIAGNOSTIC_NAME.lf_at` | string | `"warn"` | Diagnostic level where it becomes Latent Fault. Available options are `"none"`, `"warn"`, `"error"`. | -| `required_modules.remote_control.DIAGNOSTIC_NAME.spf_at` | string | `"error"` | Diagnostic level where it becomes Single Point Fault. Available options are `"none"`, `"warn"`, `"error"`. | -| `required_modules.remote_control.DIAGNOSTIC_NAME.auto_recovery` | string | `"true"` | Determines whether the system will automatically recover when it recovers from an error. | - -## Assumptions / Known limits - -TBD. diff --git a/system/system_error_monitor/config/diagnostic_aggregator/_empty.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/_empty.param.yaml deleted file mode 100644 index e69de29bb2d1d..0000000000000 diff --git a/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml deleted file mode 100644 index 9da5b14780dd1..0000000000000 --- a/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml +++ /dev/null @@ -1,121 +0,0 @@ -/**: - ros__parameters: - control: - type: diagnostic_aggregator/AnalyzerGroup - path: control - analyzers: - autonomous_emergency_braking: - type: diagnostic_aggregator/AnalyzerGroup - path: autoware_autonomous_emergency_braking - analyzers: - performance_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: performance_monitoring - analyzers: - emergency_stop: - type: diagnostic_aggregator/GenericAnalyzer - path: emergency_stop - contains: [": aeb_emergency_stop"] - timeout: 1.0 - - control_command_gate: - type: diagnostic_aggregator/AnalyzerGroup - path: control_command_gate - analyzers: - node_alive_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: node_alive_monitoring - analyzers: - heartbeat: - type: diagnostic_aggregator/GenericAnalyzer - path: heartbeat - contains: ["vehicle_cmd_gate: heartbeat"] - timeout: 1.0 - - autonomous_driving: - type: diagnostic_aggregator/AnalyzerGroup - path: autonomous_driving - analyzers: - node_alive_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: node_alive_monitoring - analyzers: - topic_status: - type: diagnostic_aggregator/GenericAnalyzer - path: topic_status - contains: [": control_topic_status"] - timeout: 1.0 - - performance_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: performance_monitoring - analyzers: - lane_departure: - type: diagnostic_aggregator/GenericAnalyzer - path: lane_departure - contains: [": lane_departure"] - timeout: 1.0 - - trajectory_deviation: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_deviation - contains: [": trajectory_deviation"] - timeout: 1.0 - - control_state: - type: diagnostic_aggregator/GenericAnalyzer - path: control_state - contains: [": control_state"] - timeout: 1.0 - - control_validator: - type: diagnostic_aggregator/GenericAnalyzer - path: autoware_control_validator - contains: [": control_validation_max_distance_deviation"] - timeout: 1.0 - - external_control: - type: diagnostic_aggregator/AnalyzerGroup - path: external_control - analyzers: - external_command_selector: - type: diagnostic_aggregator/AnalyzerGroup - path: external_command_selector - analyzers: - node_alive_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: node_alive_monitoring - analyzers: - heartbeat: - type: diagnostic_aggregator/GenericAnalyzer - path: heartbeat - contains: ["external_cmd_selector: heartbeat"] - timeout: 1.0 - - local_external_control: - type: diagnostic_aggregator/AnalyzerGroup - path: local_external_control - analyzers: - device_connection: - type: diagnostic_aggregator/AnalyzerGroup - path: device_connection - analyzers: - joy_controller_connection: - type: diagnostic_aggregator/GenericAnalyzer - path: joy_controller_connection - contains: [": joy_controller_connection"] - timeout: 1.0 - - remote_external_control: - type: diagnostic_aggregator/AnalyzerGroup - path: remote_external_control - analyzers: - network_connection: - type: diagnostic_aggregator/AnalyzerGroup - path: network_connection - analyzers: - remote_control_topic_status: - type: diagnostic_aggregator/GenericAnalyzer - path: remote_control_topic_status - contains: [": remote_control_topic_status"] - timeout: 1.0 diff --git a/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml deleted file mode 100644 index ff6a85d150ee8..0000000000000 --- a/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml +++ /dev/null @@ -1,47 +0,0 @@ -/**: - ros__parameters: - localization: - type: diagnostic_aggregator/AnalyzerGroup - path: localization - analyzers: - node_alive_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: node_alive_monitoring - analyzers: - topic_status: - type: diagnostic_aggregator/GenericAnalyzer - path: topic_status - contains: [": localization_topic_status"] - timeout: 1.0 - - performance_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: performance_monitoring - analyzers: - scan_matching_status: - type: diagnostic_aggregator/GenericAnalyzer - path: scan_matching_status - contains: ["ndt_scan_matcher: scan_matching_status"] - timeout: 1.0 - - localization_error_ellipse: - type: diagnostic_aggregator/GenericAnalyzer - path: localization_error_ellipse - contains: ["localization_error_monitor: ellipse_error_status"] - timeout: 1.0 - - localization_stability: - type: diagnostic_aggregator/GenericAnalyzer - path: localization_stability - contains: ["localization: pose_instability_detector"] - timeout: 1.0 - - # This diagnostic should ideally be avoided in terms of Fault Tree Analysis (FTA) compatibility. - # However, we may need this since the localization accuracy is still not reliable enough and may produce - # false positives. Thus, NOTE that this diagnostic should be removed in the future when the localization accuracy - # is reliable enough. - sensor_fusion_status: - type: diagnostic_aggregator/GenericAnalyzer - path: sensor_fusion_status - contains: ["localization: ekf_localizer"] - timeout: 1.0 diff --git a/system/system_error_monitor/config/diagnostic_aggregator/map.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/map.param.yaml deleted file mode 100644 index fa218ca5f08fb..0000000000000 --- a/system/system_error_monitor/config/diagnostic_aggregator/map.param.yaml +++ /dev/null @@ -1,22 +0,0 @@ -/**: - ros__parameters: - map: - type: diagnostic_aggregator/AnalyzerGroup - path: map - analyzers: - node_alive_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: node_alive_monitoring - analyzers: - topic_status: - type: diagnostic_aggregator/GenericAnalyzer - path: topic_status - contains: [": map_topic_status"] - timeout: 1.0 - - # TODO(Tier IV): Support this diagnostics - # route_validation: - # type: diagnostic_aggregator/GenericAnalyzer - # path: route_validation - # contains: [": route_validation"] - # timeout: 0.0 diff --git a/system/system_error_monitor/config/diagnostic_aggregator/perception.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/perception.param.yaml deleted file mode 100644 index 1f897def54f7a..0000000000000 --- a/system/system_error_monitor/config/diagnostic_aggregator/perception.param.yaml +++ /dev/null @@ -1,15 +0,0 @@ -/**: - ros__parameters: - perception: - type: diagnostic_aggregator/AnalyzerGroup - path: perception - analyzers: - node_alive_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: node_alive_monitoring - analyzers: - topic_status: - type: diagnostic_aggregator/GenericAnalyzer - path: topic_status - contains: [": perception_topic_status"] - timeout: 1.0 diff --git a/system/system_error_monitor/config/diagnostic_aggregator/planning.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/planning.param.yaml deleted file mode 100644 index aad8a4ffffac4..0000000000000 --- a/system/system_error_monitor/config/diagnostic_aggregator/planning.param.yaml +++ /dev/null @@ -1,95 +0,0 @@ -/**: - ros__parameters: - planning: - type: diagnostic_aggregator/AnalyzerGroup - path: planning - analyzers: - node_alive_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: node_alive_monitoring - analyzers: - topic_status: - type: diagnostic_aggregator/GenericAnalyzer - path: topic_status - contains: [": planning_topic_status"] - timeout: 1.0 - - performance_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: performance_monitoring - analyzers: - trajectory_validation: - type: diagnostic_aggregator/AnalyzerGroup - path: trajectory_validation - analyzers: - trajectory_size: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_validation_size - contains: [": trajectory_validation_size"] - timeout: 1.0 - - trajectory_finite_value: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_validation_finite - contains: [": trajectory_validation_finite"] - timeout: 1.0 - - trajectory_interval: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_validation_interval - contains: [": trajectory_validation_interval"] - timeout: 1.0 - - trajectory_curvature: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_validation_curvature - contains: [": trajectory_validation_curvature"] - timeout: 1.0 - - trajectory_sharp_angle: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_validation_relative_angle - contains: [": trajectory_validation_relative_angle"] - timeout: 1.0 - - trajectory_relative_angle: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_validation_relative_angle - contains: [": trajectory_validation_relative_angle"] - timeout: 1.0 - - trajectory_lateral_acceleration: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_validation_lateral_acceleration - contains: [": trajectory_validation_lateral_acceleration"] - timeout: 1.0 - - trajectory_acceleration: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_validation_acceleration - contains: [": trajectory_validation_acceleration"] - timeout: 1.0 - - trajectory_deceleration: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_validation_deceleration - contains: [": trajectory_validation_deceleration"] - timeout: 1.0 - - trajectory_steering: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_validation_steering - contains: [": trajectory_validation_steering"] - timeout: 1.0 - - trajectory_steering_rate: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_validation_steering_rate - contains: [": trajectory_validation_steering_rate"] - timeout: 1.0 - - trajectory_velocity_deviation: - type: diagnostic_aggregator/GenericAnalyzer - path: trajectory_validation_velocity_deviation - contains: [": trajectory_validation_velocity_deviation"] - timeout: 1.0 diff --git a/system/system_error_monitor/config/diagnostic_aggregator/sensing.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/sensing.param.yaml deleted file mode 100644 index 27dc4518d4f30..0000000000000 --- a/system/system_error_monitor/config/diagnostic_aggregator/sensing.param.yaml +++ /dev/null @@ -1,2 +0,0 @@ -/**: - ros__parameters: {} diff --git a/system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml deleted file mode 100644 index f6e13012957aa..0000000000000 --- a/system/system_error_monitor/config/diagnostic_aggregator/system.param.yaml +++ /dev/null @@ -1,249 +0,0 @@ -/**: - ros__parameters: - system: - type: diagnostic_aggregator/AnalyzerGroup - path: system - analyzers: - node_alive_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: node_alive_monitoring - analyzers: - topic_status: - type: diagnostic_aggregator/GenericAnalyzer - path: topic_status - contains: [": system_topic_status"] - timeout: 1.0 - - emergency_stop_operation: - type: diagnostic_aggregator/GenericAnalyzer - path: emergency_stop_operation - contains: [": emergency_stop_operation"] - timeout: 1.0 - - service_log_checker: - type: diagnostic_aggregator/GenericAnalyzer - path: service_log_checker - contains: ["service_log_checker"] - timeout: 5.0 - - duplicated_node_checker: - type: diagnostic_aggregator/GenericAnalyzer - path: duplicated_node_checker - contains: ["duplicated_node_checker"] - timeout: 5.0 - - resource_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: resource_monitoring - analyzers: - clock: - type: diagnostic_aggregator/AnalyzerGroup - path: clock - analyzers: - clock_offset: - type: diagnostic_aggregator/GenericAnalyzer - path: clock_offset - contains: [": NTP Offset"] - timeout: 10.0 - - cpu: - type: diagnostic_aggregator/AnalyzerGroup - path: cpu - analyzers: - temperature: - type: diagnostic_aggregator/GenericAnalyzer - path: temperature - contains: [": CPU Temperature"] - timeout: 3.0 - - usage: - type: diagnostic_aggregator/GenericAnalyzer - path: usage - contains: [": CPU Usage"] - timeout: 3.0 - - thermal_throttling: - type: diagnostic_aggregator/GenericAnalyzer - path: thermal_throttling - contains: [": CPU Thermal Throttling"] - timeout: 3.0 - - frequency: - type: diagnostic_aggregator/GenericAnalyzer - path: frequency - contains: [": CPU Frequency"] - timeout: 3.0 - - load_average: - type: diagnostic_aggregator/GenericAnalyzer - path: load_average - contains: [": CPU Load Average"] - timeout: 3.0 - - gpu: - type: diagnostic_aggregator/AnalyzerGroup - path: gpu - analyzers: - temperature: - type: diagnostic_aggregator/GenericAnalyzer - path: temperature - contains: [": GPU Temperature"] - timeout: 3.0 - - usage: - type: diagnostic_aggregator/GenericAnalyzer - path: gpu_usage - contains: [": GPU Usage"] - timeout: 3.0 - - memory_usage: - type: diagnostic_aggregator/GenericAnalyzer - path: memory_usage - contains: [": GPU Memory Usage"] - timeout: 3.0 - - thermal_throttling: - type: diagnostic_aggregator/GenericAnalyzer - path: thermal_throttling - contains: [": GPU Thermal Throttling"] - timeout: 3.0 - - frequency: - type: diagnostic_aggregator/GenericAnalyzer - path: frequency - contains: [": GPU Frequency"] - timeout: 3.0 - - memory: - type: diagnostic_aggregator/AnalyzerGroup - path: memory - analyzers: - usage: - type: diagnostic_aggregator/GenericAnalyzer - path: usage - contains: [": Memory Usage"] - timeout: 3.0 - - network: - type: diagnostic_aggregator/AnalyzerGroup - path: network - analyzers: - network_usage: - type: diagnostic_aggregator/GenericAnalyzer - path: network_usage - contains: [": Network Usage"] - timeout: 3.0 - - network_traffic: - type: diagnostic_aggregator/GenericAnalyzer - path: network_traffic - contains: [": Network Traffic"] - timeout: 3.0 - - network_crc_error: - type: diagnostic_aggregator/GenericAnalyzer - path: network_crc_error - contains: [": Network CRC Error"] - timeout: 3.0 - - ip_packet_reassembles_failed: - type: diagnostic_aggregator/GenericAnalyzer - path: ip_packet_reassembles_failed - contains: [": IP Packet Reassembles Failed"] - timeout: 3.0 - - storage: - type: diagnostic_aggregator/AnalyzerGroup - path: storage - analyzers: - temperature: - type: diagnostic_aggregator/GenericAnalyzer - path: temperature - contains: [": HDD Temperature"] - timeout: 3.0 - - recovered_error: - type: diagnostic_aggregator/GenericAnalyzer - path: recovered_error - contains: [": HDD RecoveredError"] - timeout: 3.0 - - read_data_rate: - type: diagnostic_aggregator/GenericAnalyzer - path: read_data_rate - contains: [": HDD ReadDataRate"] - timeout: 3.0 - - write_data_rate: - type: diagnostic_aggregator/GenericAnalyzer - path: write_data_rate - contains: [": HDD WriteDataRate"] - timeout: 3.0 - - read_iops: - type: diagnostic_aggregator/GenericAnalyzer - path: read_iops - contains: [": HDD ReadIOPS"] - timeout: 3.0 - - write_iops: - type: diagnostic_aggregator/GenericAnalyzer - path: write_iops - contains: [": HDD WriteIOPS"] - timeout: 3.0 - - usage: - type: diagnostic_aggregator/GenericAnalyzer - path: usage - contains: [": HDD Usage"] - timeout: 3.0 - - power_on_hours: - type: diagnostic_aggregator/GenericAnalyzer - path: power_on_hours - contains: [": HDD PowerOnHours"] - timeout: 3.0 - - total_data_written: - type: diagnostic_aggregator/GenericAnalyzer - path: total_data_written - contains: [": HDD TotalDataWritten"] - timeout: 3.0 - - connection: - type: diagnostic_aggregator/GenericAnalyzer - path: connection - contains: [": HDD Connection"] - timeout: 3.0 - - process: - type: diagnostic_aggregator/AnalyzerGroup - path: process - analyzers: - high_load: - type: diagnostic_aggregator/GenericAnalyzer - path: high_load - contains: [": High-load"] - timeout: 3.0 - - high_mem: - type: diagnostic_aggregator/GenericAnalyzer - path: high_mem - contains: [": High-mem"] - timeout: 3.0 - - tasks_summary: - type: diagnostic_aggregator/GenericAnalyzer - path: tasks_summary - contains: [": Tasks Summary"] - timeout: 3.0 - - hardware: - type: diagnostic_aggregator/AnalyzerGroup - path: voltage - analyzers: - cmos_battery: - type: diagnostic_aggregator/GenericAnalyzer - path: cmos_battery - contains: [": CMOS Battery Status"] - timeout: 3.0 diff --git a/system/system_error_monitor/config/diagnostic_aggregator/vehicle.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/vehicle.param.yaml deleted file mode 100644 index 45ede1a4de000..0000000000000 --- a/system/system_error_monitor/config/diagnostic_aggregator/vehicle.param.yaml +++ /dev/null @@ -1,16 +0,0 @@ -/**: - ros__parameters: - vehicle: - type: diagnostic_aggregator/AnalyzerGroup - path: vehicle - analyzers: - node_alive_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: node_alive_monitoring - analyzers: - # TODO(Tier IV): Consider splitting sensor input and control command output - topic_status: - type: diagnostic_aggregator/GenericAnalyzer - path: topic_status - contains: [": vehicle_topic_status"] - timeout: 1.0 diff --git a/system/system_error_monitor/config/system_error_monitor.param.yaml b/system/system_error_monitor/config/system_error_monitor.param.yaml deleted file mode 100644 index 63fdbd0081af6..0000000000000 --- a/system/system_error_monitor/config/system_error_monitor.param.yaml +++ /dev/null @@ -1,55 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"} - - /autoware/localization/node_alive_monitoring: default - /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_error_ellipse: default - - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/duplicated_node_checker: default - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"} - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default diff --git a/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml b/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml deleted file mode 100644 index c9ab89a8fce96..0000000000000 --- a/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml +++ /dev/null @@ -1,56 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"} - - /autoware/localization/node_alive_monitoring: default - # /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/localization/performance_monitoring/localization_error_ellipse: default - - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/duplicated_node_checker: default - # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } - # /autoware/system/duplicated_node_checker: default - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/autoware_autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"} - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default diff --git a/system/system_error_monitor/include/system_error_monitor/diagnostics_filter.hpp b/system/system_error_monitor/include/system_error_monitor/diagnostics_filter.hpp deleted file mode 100644 index cbca3ed1c477c..0000000000000 --- a/system/system_error_monitor/include/system_error_monitor/diagnostics_filter.hpp +++ /dev/null @@ -1,103 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef SYSTEM_ERROR_MONITOR__DIAGNOSTICS_FILTER_HPP_ -#define SYSTEM_ERROR_MONITOR__DIAGNOSTICS_FILTER_HPP_ - -#include - -#include -#include -#include - -namespace diagnostics_filter -{ -inline std::string splitStringByLastSlash(const std::string & str) -{ - const auto last_slash = str.find_last_of("/"); - - if (last_slash == std::string::npos) { - return ""; - } - - return str.substr(0, last_slash); -} - -inline bool isChild( - const diagnostic_msgs::msg::DiagnosticStatus & child, - const diagnostic_msgs::msg::DiagnosticStatus & parent) -{ - auto name = splitStringByLastSlash(child.name); - while (name != "") { - if (name == parent.name) { - return true; - } - - name = splitStringByLastSlash(name); - } - - return false; -} - -inline bool isLeaf( - const std::unordered_set & diag_name_set, - const diagnostic_msgs::msg::DiagnosticStatus & diag) -{ - return diag_name_set.count(diag.name) == 0; -} - -inline std::unordered_set createDiagNameSet( - const std::vector & diagnostics) -{ - std::unordered_set diag_name_set; - - for (const auto & diag : diagnostics) { - diag_name_set.insert(splitStringByLastSlash(diag.name)); - } - - return diag_name_set; -} - -inline std::vector extractLeafDiagnostics( - const std::vector & diagnostics) -{ - const auto diag_name_set = createDiagNameSet(diagnostics); - - std::vector leaf_diagnostics; - for (const auto & diag : diagnostics) { - if (isLeaf(diag_name_set, diag)) { - leaf_diagnostics.emplace_back(diag); - } - } - - return leaf_diagnostics; -} - -inline std::vector extractLeafChildrenDiagnostics( - const diagnostic_msgs::msg::DiagnosticStatus & parent, - const std::vector & diagnostics) -{ - std::vector leaf_children_diagnostics; - for (const auto & diag : extractLeafDiagnostics(diagnostics)) { - if (isChild(diag, parent)) { - leaf_children_diagnostics.emplace_back(diag); - } - } - - return leaf_children_diagnostics; -} - -} // namespace diagnostics_filter - -#endif // SYSTEM_ERROR_MONITOR__DIAGNOSTICS_FILTER_HPP_ diff --git a/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp b/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp deleted file mode 100644 index dbb1db027b149..0000000000000 --- a/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp +++ /dev/null @@ -1,153 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef SYSTEM_ERROR_MONITOR__SYSTEM_ERROR_MONITOR_CORE_HPP_ -#define SYSTEM_ERROR_MONITOR__SYSTEM_ERROR_MONITOR_CORE_HPP_ - -#include "autoware/universe_utils/ros/logger_level_configure.hpp" - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include -#include -#include -#include -#include -#include - -struct DiagStamped -{ - std_msgs::msg::Header header; - diagnostic_msgs::msg::DiagnosticStatus status; -}; - -using DiagBuffer = std::deque; - -struct DiagConfig -{ - std::string name; - std::string sf_at; - std::string lf_at; - std::string spf_at; - bool auto_recovery; -}; - -using RequiredModules = std::vector; - -struct KeyName -{ - static constexpr const char * autonomous_driving = "autonomous_driving"; - static constexpr const char * external_control = "external_control"; -}; - -class AutowareErrorMonitor : public rclcpp::Node -{ -public: - explicit AutowareErrorMonitor(const rclcpp::NodeOptions & options); - -private: - // Parameter - struct Parameters - { - int update_rate; - bool ignore_missing_diagnostics; - bool add_leaf_diagnostics; - double data_ready_timeout; - double data_heartbeat_timeout; - double diag_timeout_sec; - double hazard_recovery_timeout; - int emergency_hazard_level; - bool use_emergency_hold; - bool use_emergency_hold_in_manual_driving; - }; - - Parameters params_{}; - - rclcpp::Time emergency_state_switch_time_; - rclcpp::Time initialized_time_; - autoware_system_msgs::msg::HazardStatus hazard_status_{}; - std::unordered_map required_modules_map_; - std::string current_mode_; - - void loadRequiredModules(const std::string & key); - - // Timer - rclcpp::TimerBase::SharedPtr timer_; - - bool isDataReady(); - bool isDataHeartbeatTimeout(); - void onTimer(); - - // Subscriber - rclcpp::Subscription::SharedPtr sub_diag_array_; - rclcpp::Subscription::SharedPtr sub_autoware_state_; - rclcpp::Subscription::SharedPtr sub_current_gate_mode_; - rclcpp::Subscription::SharedPtr sub_control_mode_; - void onAutowareState(const autoware_system_msgs::msg::AutowareState::ConstSharedPtr msg); - void onCurrentGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg); - void onControlMode(const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg); - void onDiagArray(const diagnostic_msgs::msg::DiagnosticArray::ConstSharedPtr msg); - - const size_t diag_buffer_size_ = 100; - std::unordered_map diag_buffer_map_; - diagnostic_msgs::msg::DiagnosticArray::ConstSharedPtr diag_array_; - autoware_system_msgs::msg::AutowareState::ConstSharedPtr autoware_state_; - tier4_control_msgs::msg::GateMode::ConstSharedPtr current_gate_mode_; - autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr control_mode_; - - // Publisher - rclcpp::Publisher::SharedPtr pub_hazard_status_; - rclcpp::Publisher::SharedPtr pub_diagnostics_err_; - void publishHazardStatus(const autoware_system_msgs::msg::HazardStatus & hazard_status); - - // Service - rclcpp::Service::SharedPtr srv_clear_emergency_; - bool onClearEmergencyService( - [[maybe_unused]] std_srvs::srv::Trigger::Request::SharedPtr request, - std_srvs::srv::Trigger::Response::SharedPtr response); - - // for Heartbeat - rclcpp::Time diag_array_stamp_; - rclcpp::Time autoware_state_stamp_; - rclcpp::Time current_gate_mode_stamp_; - rclcpp::Time control_mode_stamp_; - - // Algorithm - boost::optional getLatestDiag(const std::string & diag_name) const; - uint8_t getHazardLevel(const DiagConfig & required_module, const int diag_level) const; - void appendHazardDiag( - const DiagConfig & required_module, const diagnostic_msgs::msg::DiagnosticStatus & diag, - autoware_system_msgs::msg::HazardStatus * hazard_status) const; - autoware_system_msgs::msg::HazardStatus judgeHazardStatus() const; - void updateHazardStatus(); - void updateTimeoutHazardStatus(); - bool canAutoRecovery() const; - bool isEmergencyHoldingRequired() const; - - void loggingErrors(const autoware_system_msgs::msg::HazardStatus & diag_array); - - std::unique_ptr logger_configure_; -}; - -#endif // SYSTEM_ERROR_MONITOR__SYSTEM_ERROR_MONITOR_CORE_HPP_ diff --git a/system/system_error_monitor/launch/system_error_monitor.launch.xml b/system/system_error_monitor/launch/system_error_monitor.launch.xml deleted file mode 100644 index 9eb805b0eb2a6..0000000000000 --- a/system/system_error_monitor/launch/system_error_monitor.launch.xml +++ /dev/null @@ -1,55 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/system/system_error_monitor/launch/system_error_monitor_node.launch.xml b/system/system_error_monitor/launch/system_error_monitor_node.launch.xml deleted file mode 100644 index f5ed927c7d6ca..0000000000000 --- a/system/system_error_monitor/launch/system_error_monitor_node.launch.xml +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/system/system_error_monitor/package.xml b/system/system_error_monitor/package.xml deleted file mode 100644 index 2dda4e462b98b..0000000000000 --- a/system/system_error_monitor/package.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - system_error_monitor - 0.1.1 - The system_error_monitor package in ROS 2 - Fumihito Ito - Apache License 2.0 - - ament_cmake_auto - autoware_cmake - - autoware_system_msgs - autoware_universe_utils - autoware_vehicle_msgs - diagnostic_msgs - fmt - rclcpp - rclcpp_components - std_srvs - tier4_control_msgs - - diagnostic_aggregator - rqt_robot_monitor - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp deleted file mode 100644 index ef892bd01ff50..0000000000000 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ /dev/null @@ -1,722 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include -#include -#include -#include -#include -#include - -#define FMT_HEADER_ONLY -#include "system_error_monitor/diagnostics_filter.hpp" -#include "system_error_monitor/system_error_monitor_core.hpp" - -#include - -namespace -{ -enum class DebugLevel { DEBUG, INFO, WARN, ERROR, FATAL }; - -template -void logThrottledNamed( - const std::string & logger_name, const rclcpp::Clock::SharedPtr clock, const double duration_ms, - const std::string & message) -{ - static std::unordered_map last_output_time; - if (last_output_time.count(logger_name) != 0) { - const auto time_from_last_output = clock->now() - last_output_time.at(logger_name); - if (time_from_last_output.seconds() * 1000.0 < duration_ms) { - return; - } - } - - last_output_time[logger_name] = clock->now(); - if constexpr (debug_level == DebugLevel::DEBUG) { - RCLCPP_DEBUG(rclcpp::get_logger(logger_name), message.c_str()); - } else if constexpr (debug_level == DebugLevel::INFO) { - RCLCPP_INFO(rclcpp::get_logger(logger_name), message.c_str()); - } else if constexpr (debug_level == DebugLevel::WARN) { - RCLCPP_WARN(rclcpp::get_logger(logger_name), message.c_str()); - } else if constexpr (debug_level == DebugLevel::ERROR) { - RCLCPP_ERROR(rclcpp::get_logger(logger_name), message.c_str()); - } else if constexpr (debug_level == DebugLevel::FATAL) { - RCLCPP_FATAL(rclcpp::get_logger(logger_name), message.c_str()); - } -} - -std::vector split(const std::string & str, const char delim) -{ - std::vector elems; - std::stringstream ss(str); - std::string item; - while (std::getline(ss, item, delim)) { - elems.push_back(item); - } - return elems; -} - -int str2level(const std::string & level_str) -{ - using diagnostic_msgs::msg::DiagnosticStatus; - using std::regex_constants::icase; - - if (std::regex_match(level_str, std::regex("warn", icase))) { - return DiagnosticStatus::WARN; - } - if (std::regex_match(level_str, std::regex("error", icase))) { - return DiagnosticStatus::ERROR; - } - if (std::regex_match(level_str, std::regex("stale", icase))) { - return DiagnosticStatus::STALE; - } - - throw std::runtime_error(fmt::format("invalid level: {}", level_str)); -} - -bool isOverLevel(const int & diag_level, const std::string & failure_level_str) -{ - if (failure_level_str == "none") { - return false; - } - - return diag_level >= str2level(failure_level_str); -} - -std::vector & getTargetDiagnosticsRef( - const int hazard_level, autoware_system_msgs::msg::HazardStatus * hazard_status) -{ - using autoware_system_msgs::msg::HazardStatus; - - if (hazard_level == HazardStatus::NO_FAULT) { - return hazard_status->diag_no_fault; - } - if (hazard_level == HazardStatus::SAFE_FAULT) { - return hazard_status->diag_safe_fault; - } - if (hazard_level == HazardStatus::LATENT_FAULT) { - return hazard_status->diag_latent_fault; - } - if (hazard_level == HazardStatus::SINGLE_POINT_FAULT) { - return hazard_status->diag_single_point_fault; - } - - throw std::runtime_error(fmt::format("invalid hazard level: {}", hazard_level)); -} - -diagnostic_msgs::msg::DiagnosticArray convertHazardStatusToDiagnosticArray( - rclcpp::Clock::SharedPtr clock, const autoware_system_msgs::msg::HazardStatus & hazard_status) -{ - using diagnostic_msgs::msg::DiagnosticStatus; - - diagnostic_msgs::msg::DiagnosticArray diag_array; - diag_array.header.stamp = clock->now(); - - const auto decorateDiag = [](const auto & hazard_diag, const std::string & label) { - auto diag = hazard_diag; - - diag.message = label + diag.message; - - return diag; - }; - - for (const auto & hazard_diag : hazard_status.diag_no_fault) { - diag_array.status.push_back(decorateDiag(hazard_diag, "[No Fault]")); - } - for (const auto & hazard_diag : hazard_status.diag_safe_fault) { - diag_array.status.push_back(decorateDiag(hazard_diag, "[Safe Fault]")); - } - for (const auto & hazard_diag : hazard_status.diag_latent_fault) { - diag_array.status.push_back(decorateDiag(hazard_diag, "[Latent Fault]")); - } - for (const auto & hazard_diag : hazard_status.diag_single_point_fault) { - diag_array.status.push_back(decorateDiag(hazard_diag, "[Single Point Fault]")); - } - - return diag_array; -} - -std::set getErrorModules( - const autoware_system_msgs::msg::HazardStatus & hazard_status, const int emergency_hazard_level) -{ - std::set error_modules; - using autoware_system_msgs::msg::HazardStatus; - if (emergency_hazard_level <= HazardStatus::SINGLE_POINT_FAULT) { - for (const auto & diag_spf : hazard_status.diag_single_point_fault) { - error_modules.insert(diag_spf.name); - } - } - if (emergency_hazard_level <= HazardStatus::LATENT_FAULT) { - for (const auto & diag_lf : hazard_status.diag_latent_fault) { - error_modules.insert(diag_lf.name); - } - } - if (emergency_hazard_level <= HazardStatus::SAFE_FAULT) { - for (const auto & diag_sf : hazard_status.diag_safe_fault) { - error_modules.insert(diag_sf.name); - } - } - - return error_modules; -} - -int isInNoFaultCondition( - const autoware_system_msgs::msg::AutowareState & autoware_state, - const tier4_control_msgs::msg::GateMode & current_gate_mode) -{ - using autoware_system_msgs::msg::AutowareState; - using tier4_control_msgs::msg::GateMode; - - const auto is_in_autonomous_ignore_state = - (autoware_state.state == AutowareState::INITIALIZING) || - (autoware_state.state == AutowareState::WAITING_FOR_ROUTE) || - (autoware_state.state == AutowareState::PLANNING) || - (autoware_state.state == AutowareState::FINALIZING); - - if (current_gate_mode.data == GateMode::AUTO && is_in_autonomous_ignore_state) { - return true; - } - - const auto is_in_external_ignore_state = (autoware_state.state == AutowareState::INITIALIZING) || - (autoware_state.state == AutowareState::FINALIZING); - - if (current_gate_mode.data == GateMode::EXTERNAL && is_in_external_ignore_state) { - return true; - } - - return false; -} -} // namespace - -AutowareErrorMonitor::AutowareErrorMonitor(const rclcpp::NodeOptions & options) -: Node( - "system_error_monitor", - rclcpp::NodeOptions(options).automatically_declare_parameters_from_overrides(true)), - diag_array_stamp_(0, 0, this->get_clock()->get_clock_type()), - autoware_state_stamp_(0, 0, this->get_clock()->get_clock_type()), - current_gate_mode_stamp_(0, 0, this->get_clock()->get_clock_type()), - control_mode_stamp_(0, 0, this->get_clock()->get_clock_type()) -{ - // Parameter - get_parameter_or("update_rate", params_.update_rate, 10); - get_parameter_or("ignore_missing_diagnostics", params_.ignore_missing_diagnostics, false); - get_parameter_or("add_leaf_diagnostics", params_.add_leaf_diagnostics, true); - get_parameter_or("data_ready_timeout", params_.data_ready_timeout, 30.0); - get_parameter_or("data_heartbeat_timeout", params_.data_heartbeat_timeout, 1.0); - get_parameter_or("diag_timeout_sec", params_.diag_timeout_sec, 1.0); - get_parameter_or("hazard_recovery_timeout", params_.hazard_recovery_timeout, 5.0); - get_parameter_or( - "emergency_hazard_level", params_.emergency_hazard_level, - autoware_system_msgs::msg::HazardStatus::LATENT_FAULT); - get_parameter_or("use_emergency_hold", params_.use_emergency_hold, false); - get_parameter_or( - "use_emergency_hold_in_manual_driving", params_.use_emergency_hold_in_manual_driving, false); - - loadRequiredModules(KeyName::autonomous_driving); - loadRequiredModules(KeyName::external_control); - - using std::placeholders::_1; - using std::placeholders::_2; - // Subscriber - sub_diag_array_ = create_subscription( - "input/diag_array", rclcpp::QoS{1}, std::bind(&AutowareErrorMonitor::onDiagArray, this, _1)); - sub_current_gate_mode_ = create_subscription( - "~/input/current_gate_mode", rclcpp::QoS{1}, - std::bind(&AutowareErrorMonitor::onCurrentGateMode, this, _1)); - sub_autoware_state_ = create_subscription( - "~/input/autoware_state", rclcpp::QoS{1}, - std::bind(&AutowareErrorMonitor::onAutowareState, this, _1)); - sub_control_mode_ = create_subscription( - "~/input/control_mode", rclcpp::QoS{1}, - std::bind(&AutowareErrorMonitor::onControlMode, this, _1)); - - // Publisher - pub_hazard_status_ = create_publisher( - "~/output/hazard_status", rclcpp::QoS{1}); - pub_diagnostics_err_ = create_publisher( - "~/output/diagnostics_err", rclcpp::QoS{1}); - - // Service - srv_clear_emergency_ = this->create_service( - "service/clear_emergency", - std::bind(&AutowareErrorMonitor::onClearEmergencyService, this, _1, _2)); - - // Initialize - autoware_vehicle_msgs::msg::ControlModeReport vehicle_state_report; - vehicle_state_report.mode = autoware_vehicle_msgs::msg::ControlModeReport::MANUAL; - control_mode_ = - std::make_shared(vehicle_state_report); - - // Timer - initialized_time_ = this->now(); - const auto period_ns = rclcpp::Rate(params_.update_rate).period(); - timer_ = rclcpp::create_timer( - this, get_clock(), period_ns, std::bind(&AutowareErrorMonitor::onTimer, this)); - - logger_configure_ = std::make_unique(this); -} - -void AutowareErrorMonitor::loadRequiredModules(const std::string & key) -{ - const uint64_t depth = 3; - const auto param_names = - this->list_parameters({std::string("required_modules.") + key}, depth).names; - - if (param_names.empty()) { - throw std::runtime_error(fmt::format("no parameter found: required_modules.{}", key)); - } - - // Load module names from parameter key - std::set module_names; - RequiredModules required_modules; - - for (const auto & param_name : param_names) { - // Example of param_name: required_modules.key.module - // or required_modules.key.module.parameter - const auto split_names = split(param_name, '.'); - const auto & param_required_modules = split_names.at(0); - const auto & param_key = split_names.at(1); - const auto & param_module = split_names.at(2); - const auto module_name_with_prefix = - fmt::format("{0}.{1}.{2}", param_required_modules, param_key, param_module); - - // Skip duplicate parameter - if (module_names.count(module_name_with_prefix) != 0) { - continue; - } - module_names.insert(module_name_with_prefix); - - // Load diag level - const auto sf_key = module_name_with_prefix + std::string(".sf_at"); - std::string sf_at; - this->get_parameter_or(sf_key, sf_at, std::string("none")); - - const auto lf_key = module_name_with_prefix + std::string(".lf_at"); - std::string lf_at; - this->get_parameter_or(lf_key, lf_at, std::string("warn")); - - const auto spf_key = module_name_with_prefix + std::string(".spf_at"); - std::string spf_at; - this->get_parameter_or(spf_key, spf_at, std::string("error")); - - // auto_recovery - const auto auto_recovery_key = module_name_with_prefix + std::string(".auto_recovery"); - std::string auto_recovery_approval_str; - this->get_parameter_or(auto_recovery_key, auto_recovery_approval_str, std::string("true")); - - // Convert auto_recovery_approval_str to bool - bool auto_recovery_approval{}; - std::istringstream(auto_recovery_approval_str) >> std::boolalpha >> auto_recovery_approval; - - required_modules.push_back({param_module, sf_at, lf_at, spf_at, auto_recovery_approval}); - } - - required_modules_map_.insert(std::make_pair(key, required_modules)); -} - -void AutowareErrorMonitor::onDiagArray( - const diagnostic_msgs::msg::DiagnosticArray::ConstSharedPtr msg) -{ - diag_array_ = msg; - - const auto & header = msg->header; - - for (const auto & diag : msg->status) { - if (diag_buffer_map_.count(diag.name) == 0) { - diag_buffer_map_.insert(std::make_pair(diag.name, DiagBuffer{})); - } - - auto & diag_buffer = diag_buffer_map_.at(diag.name); - diag_buffer.push_back(DiagStamped{header, diag}); - - while (diag_buffer.size() > diag_buffer_size_) { - diag_buffer.pop_front(); - } - } - - // for Heartbeat - diag_array_stamp_ = this->now(); -} - -void AutowareErrorMonitor::onCurrentGateMode( - const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg) -{ - current_gate_mode_ = msg; - - // for Heartbeat - current_gate_mode_stamp_ = this->now(); -} - -void AutowareErrorMonitor::onAutowareState( - const autoware_system_msgs::msg::AutowareState::ConstSharedPtr msg) -{ - autoware_state_ = msg; - - // for Heartbeat - autoware_state_stamp_ = this->now(); -} - -void AutowareErrorMonitor::onControlMode( - const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg) -{ - control_mode_ = msg; - - // for Heartbeat - control_mode_stamp_ = this->now(); -} - -bool AutowareErrorMonitor::isDataReady() -{ - if (!diag_array_) { - RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "waiting for diag_array msg..."); - return false; - } - - if (!current_gate_mode_) { - RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "waiting for current_gate_mode msg..."); - return false; - } - - if (!autoware_state_) { - RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "waiting for autoware_state msg..."); - return false; - } - - if (!control_mode_) { - RCLCPP_INFO_THROTTLE( - get_logger(), *get_clock(), 5000, "waiting for vehicle_state_report msg..."); - return false; - } - return true; -} - -bool AutowareErrorMonitor::isDataHeartbeatTimeout() -{ - auto isTimeout = [this](const rclcpp::Time & last_stamp, const double threshold) { - if (last_stamp.get_clock_type() != this->now().get_clock_type()) { - RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 5000, "clock type is different..."); - return false; - } - const auto time_diff = this->now() - last_stamp; - return time_diff.seconds() > threshold; - }; - - if (isTimeout(diag_array_stamp_, params_.data_heartbeat_timeout)) { - RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 5000, "diag_array msg is timeout..."); - return true; - } - - if (isTimeout(current_gate_mode_stamp_, params_.data_heartbeat_timeout)) { - RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 5000, "current_gate_mode msg is timeout..."); - return true; - } - - if (isTimeout(autoware_state_stamp_, params_.data_heartbeat_timeout)) { - RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 5000, "autoware_state msg is timeout..."); - return true; - } - - if (isTimeout(control_mode_stamp_, params_.data_heartbeat_timeout)) { - RCLCPP_ERROR_THROTTLE( - get_logger(), *get_clock(), 5000, "vehicle_state_report msg is timeout..."); - return true; - } - - return false; -} - -void AutowareErrorMonitor::onTimer() -{ - if (!isDataReady()) { - if ((this->now() - initialized_time_).seconds() > params_.data_ready_timeout) { - RCLCPP_WARN_THROTTLE( - get_logger(), *get_clock(), std::chrono::milliseconds(5000).count(), - "input data is timeout"); - updateTimeoutHazardStatus(); - publishHazardStatus(hazard_status_); - } - return; - } - - if (isDataHeartbeatTimeout()) { - updateTimeoutHazardStatus(); - publishHazardStatus(hazard_status_); - return; - } - - current_mode_ = current_gate_mode_->data == tier4_control_msgs::msg::GateMode::AUTO - ? KeyName::autonomous_driving - : KeyName::external_control; - - updateHazardStatus(); - publishHazardStatus(hazard_status_); -} - -boost::optional AutowareErrorMonitor::getLatestDiag( - const std::string & diag_name) const -{ - if (diag_buffer_map_.count(diag_name) == 0) { - return {}; - } - - const auto & diag_buffer = diag_buffer_map_.at(diag_name); - - if (diag_buffer.empty()) { - return {}; - } - - return diag_buffer.back(); -} - -uint8_t AutowareErrorMonitor::getHazardLevel( - const DiagConfig & required_module, const int diag_level) const -{ - using autoware_system_msgs::msg::HazardStatus; - - if (isOverLevel(diag_level, required_module.spf_at)) { - return HazardStatus::SINGLE_POINT_FAULT; - } - if (isOverLevel(diag_level, required_module.lf_at)) { - return HazardStatus::LATENT_FAULT; - } - if (isOverLevel(diag_level, required_module.sf_at)) { - return HazardStatus::SAFE_FAULT; - } - - return HazardStatus::NO_FAULT; -} - -void AutowareErrorMonitor::appendHazardDiag( - const DiagConfig & required_module, const diagnostic_msgs::msg::DiagnosticStatus & hazard_diag, - autoware_system_msgs::msg::HazardStatus * hazard_status) const -{ - const auto hazard_level = getHazardLevel(required_module, hazard_diag.level); - - auto & target_diagnostics_ref = getTargetDiagnosticsRef(hazard_level, hazard_status); - target_diagnostics_ref.push_back(hazard_diag); - - if (params_.add_leaf_diagnostics) { - for (const auto & diag : - diagnostics_filter::extractLeafChildrenDiagnostics(hazard_diag, diag_array_->status)) { - target_diagnostics_ref.push_back(diag); - } - } - - hazard_status->level = std::max(hazard_status->level, hazard_level); -} - -autoware_system_msgs::msg::HazardStatus AutowareErrorMonitor::judgeHazardStatus() const -{ - using autoware_system_msgs::msg::HazardStatus; - using diagnostic_msgs::msg::DiagnosticStatus; - - autoware_system_msgs::msg::HazardStatus hazard_status; - for (const auto & required_module : required_modules_map_.at(current_mode_)) { - const auto & diag_name = required_module.name; - const auto latest_diag = getLatestDiag(diag_name); - - // no diag found - if (!latest_diag) { - if (!params_.ignore_missing_diagnostics) { - DiagnosticStatus missing_diag; - - missing_diag.name = diag_name; - missing_diag.hardware_id = "system_error_monitor"; - missing_diag.level = DiagnosticStatus::STALE; - missing_diag.message = "no diag found"; - - appendHazardDiag(required_module, missing_diag, &hazard_status); - } - - continue; - } - - // diag level high - { - appendHazardDiag(required_module, latest_diag->status, &hazard_status); - } - - // diag timeout - { - const auto time_diff = this->now() - latest_diag->header.stamp; - if (time_diff.seconds() > params_.diag_timeout_sec) { - DiagnosticStatus timeout_diag = latest_diag->status; - timeout_diag.level = DiagnosticStatus::STALE; - timeout_diag.message = "timeout"; - - appendHazardDiag(required_module, timeout_diag, &hazard_status); - } - } - } - - // Ignore error when vehicle is not ready to start - if (isInNoFaultCondition(*autoware_state_, *current_gate_mode_)) { - hazard_status.level = autoware_system_msgs::msg::HazardStatus::NO_FAULT; - } - - return hazard_status; -} - -void AutowareErrorMonitor::updateHazardStatus() -{ - const bool prev_emergency_status = hazard_status_.emergency; - - // Create hazard status based on diagnostics - if (!hazard_status_.emergency_holding) { - const auto current_hazard_status = judgeHazardStatus(); - hazard_status_.level = current_hazard_status.level; - hazard_status_.diag_no_fault = current_hazard_status.diag_no_fault; - hazard_status_.diag_safe_fault = current_hazard_status.diag_safe_fault; - hazard_status_.diag_latent_fault = current_hazard_status.diag_latent_fault; - hazard_status_.diag_single_point_fault = current_hazard_status.diag_single_point_fault; - } - - // Update emergency status - { - hazard_status_.emergency = hazard_status_.level >= params_.emergency_hazard_level; - if (hazard_status_.emergency != prev_emergency_status) { - emergency_state_switch_time_ = this->now(); - } - } - - // Update emergency_holding condition - if (params_.use_emergency_hold) { - hazard_status_.emergency_holding = isEmergencyHoldingRequired(); - } -} - -void AutowareErrorMonitor::updateTimeoutHazardStatus() -{ - const bool prev_emergency_status = hazard_status_.emergency; - - hazard_status_.level = autoware_system_msgs::msg::HazardStatus::SINGLE_POINT_FAULT; - hazard_status_.emergency = true; - - if (hazard_status_.emergency != prev_emergency_status) { - emergency_state_switch_time_ = this->now(); - } - - hazard_status_.diag_no_fault = std::vector(); - hazard_status_.diag_safe_fault = std::vector(); - hazard_status_.diag_latent_fault = std::vector(); - - diagnostic_msgs::msg::DiagnosticStatus diag; - diag.name = "system_error_monitor/input_data_timeout"; - diag.hardware_id = "system_error_monitor"; - diag.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; - hazard_status_.diag_single_point_fault = - std::vector{diag}; - - // Update emergency_holding condition - if (params_.use_emergency_hold) { - const auto emergency_duration = (this->now() - emergency_state_switch_time_).seconds(); - hazard_status_.emergency_holding = emergency_duration > params_.hazard_recovery_timeout; - } -} - -bool AutowareErrorMonitor::canAutoRecovery() const -{ - const auto error_modules = getErrorModules(hazard_status_, params_.emergency_hazard_level); - for (const auto & required_module : required_modules_map_.at(current_mode_)) { - if (required_module.auto_recovery) { - continue; - } - if (error_modules.count(required_module.name) != 0) { - return false; - } - } - return true; -} - -bool AutowareErrorMonitor::isEmergencyHoldingRequired() const -{ - // Does not change holding status until emergency_holding is cleared by service call - if (hazard_status_.emergency_holding) { - return true; - } - - if (!hazard_status_.emergency) { - return false; - } - - // Don't hold status if emergency duration within recovery timeout - const auto emergency_duration = (this->now() - emergency_state_switch_time_).seconds(); - const auto within_recovery_timeout = emergency_duration < params_.hazard_recovery_timeout; - if (within_recovery_timeout && canAutoRecovery()) { - return false; - } - - // Don't hold status during manual driving - const bool is_manual_driving = - (control_mode_->mode == autoware_vehicle_msgs::msg::ControlModeReport::MANUAL); - const auto no_hold_condition = - (!params_.use_emergency_hold_in_manual_driving && is_manual_driving); - if (no_hold_condition) { - return false; - } - - return true; -} - -void AutowareErrorMonitor::publishHazardStatus( - const autoware_system_msgs::msg::HazardStatus & hazard_status) -{ - autoware_system_msgs::msg::HazardStatusStamped hazard_status_stamped; - hazard_status_stamped.stamp = this->now(); - hazard_status_stamped.status = hazard_status; - pub_hazard_status_->publish(hazard_status_stamped); - - loggingErrors(hazard_status_stamped.status); - - pub_diagnostics_err_->publish( - convertHazardStatusToDiagnosticArray(this->get_clock(), hazard_status_stamped.status)); -} - -bool AutowareErrorMonitor::onClearEmergencyService( - [[maybe_unused]] std_srvs::srv::Trigger::Request::SharedPtr request, - std_srvs::srv::Trigger::Response::SharedPtr response) -{ - hazard_status_.emergency_holding = false; - updateHazardStatus(); - response->success = true; - response->message = "Emergency Holding state was cleared."; - - return true; -} - -void AutowareErrorMonitor::loggingErrors( - const autoware_system_msgs::msg::HazardStatus & hazard_status) -{ - if ( - autoware_state_ && current_gate_mode_ && - isInNoFaultCondition(*autoware_state_, *current_gate_mode_)) { - RCLCPP_DEBUG(get_logger(), "Autoware is in no-fault condition."); - return; - } - - for (const auto & hazard_diag : hazard_status.diag_latent_fault) { - const std::string logger_name = "system_error_monitor " + hazard_diag.name; - logThrottledNamed( - logger_name, get_clock(), 5000, "[Latent Fault]: " + hazard_diag.message); - } - for (const auto & hazard_diag : hazard_status.diag_single_point_fault) { - const std::string logger_name = "system_error_monitor " + hazard_diag.name; - logThrottledNamed( - logger_name, get_clock(), 5000, "[Single Point Fault]: " + hazard_diag.message); - } -} - -#include -RCLCPP_COMPONENTS_REGISTER_NODE(AutowareErrorMonitor) From 810a8d75b3a6b0efd695ea1bfcf1554759249575 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 7 Oct 2024 12:03:56 +0900 Subject: [PATCH 223/701] fix(intersection): set RTC enable (#9040) set rtc enable Signed-off-by: Go Sakayori --- .../src/manager.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp index 1ae99cafaceb1..609ff010d20e0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp @@ -441,6 +441,7 @@ void IntersectionModuleManager::setActivation() scene_module->setActivation(rtc_interface_.isActivated(getUUID(scene_module->getModuleId()))); intersection_module->setOcclusionActivation( occlusion_rtc_interface_.isActivated(occlusion_uuid)); + scene_module->setRTCEnabled(rtc_interface_.isRTCEnabled(getUUID(scene_module->getModuleId()))); } } From 9d78e009b3e7be3613ce62db8e7f77f843daf829 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 9 Oct 2024 18:00:39 +0900 Subject: [PATCH 224/701] test(bpp_common): add test for object related functions (#9062) * add test for object related functions Signed-off-by: Go Sakayori * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR Signed-off-by: Go Sakayori * fix build error Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori --- .../test/test_utils.cpp | 2 +- .../CMakeLists.txt | 8 + .../utils/utils.hpp | 4 +- .../src/utils/utils.cpp | 17 +- .../test/test_utils.cpp | 233 ++++++++++++++++++ 5 files changed, 249 insertions(+), 15 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp index da8657c82c58e..36e2914571c1f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp @@ -73,7 +73,7 @@ TEST(BehaviorPathPlanningUtilitiesBehaviorTest, setGoal) path.points.at(4).lane_ids.push_back(5); PathWithLaneId path_with_goal; - autoware::behavior_path_planner::utils::setGoal( + autoware::behavior_path_planner::utils::set_goal( 3.5, M_PI * 0.5, path, path.points.back().point.pose, 5, &path_with_goal); // Check if skipped lane ids by smooth skip connection are filled in output path. diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index 56b68304a9326..8ba0e98422212 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -33,6 +33,14 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ) if(BUILD_TESTING) + ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_utilities + test/test_utils.cpp + ) + + target_link_libraries(test_${PROJECT_NAME}_utilities + ${PROJECT_NAME} + ) + ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_drivable_area_expansion test/test_drivable_area_expansion.cpp test/test_footprints.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp index 2e13c75a46481..d6d37c3f581e4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp @@ -188,7 +188,7 @@ double calcLateralDistanceFromEgoToObject( * @brief calculate longitudinal distance from ego pose to object * @return distance from ego pose to object */ -double calcLongitudinalDistanceFromEgoToObject( +double calc_longitudinal_distance_from_ego_to_object( const Pose & ego_pose, const double base_link2front, const double base_link2rear, const PredictedObject & dynamic_object); @@ -222,7 +222,7 @@ std::optional getLeftLanelet( * @param [in] goal_lane_id [unused] * @param [in] output_ptr output path with modified points for the goal */ -bool setGoal( +bool set_goal( const double search_radius_range, const double search_rad_range, const PathWithLaneId & input, const Pose & goal, const int64_t goal_lane_id, PathWithLaneId * output_ptr); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp index f3f6df142185b..57641306cfa2b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp @@ -15,7 +15,6 @@ #include "autoware/behavior_path_planner_common/utils/utils.hpp" #include "autoware/motion_utils/trajectory/path_with_lane_id.hpp" -#include "object_recognition_utils/predicted_path_utils.hpp" #include #include @@ -156,7 +155,7 @@ double calcLateralDistanceFromEgoToObject( return min_distance; } -double calcLongitudinalDistanceFromEgoToObject( +double calc_longitudinal_distance_from_ego_to_object( const Pose & ego_pose, const double base_link2front, const double base_link2rear, const PredictedObject & dynamic_object) { @@ -196,18 +195,12 @@ double calcLongitudinalDistanceFromEgoToObjects( double min_distance = std::numeric_limits::max(); for (const auto & object : dynamic_objects.objects) { min_distance = std::min( - min_distance, - calcLongitudinalDistanceFromEgoToObject(ego_pose, base_link2front, base_link2rear, object)); + min_distance, calc_longitudinal_distance_from_ego_to_object( + ego_pose, base_link2front, base_link2rear, object)); } return min_distance; } -template -bool exists(std::vector vec, T element) -{ - return std::find(vec.begin(), vec.end(), element) != vec.end(); -} - std::optional findIndexOutOfGoalSearchRange( const std::vector & points, const Pose & goal, const int64_t goal_lane_id, const double max_dist = std::numeric_limits::max()) @@ -253,7 +246,7 @@ std::optional findIndexOutOfGoalSearchRange( } // goal does not have z -bool setGoal( +bool set_goal( const double search_radius_range, [[maybe_unused]] const double search_rad_range, const PathWithLaneId & input, const Pose & goal, const int64_t goal_lane_id, PathWithLaneId * output_ptr) @@ -383,7 +376,7 @@ PathWithLaneId refinePathForGoal( filtered_path.points.back().point.longitudinal_velocity_mps = 0.0; } - if (setGoal( + if (set_goal( search_radius_range, search_rad_range, filtered_path, goal, goal_lane_id, &path_with_goal)) { return path_with_goal; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp new file mode 100644 index 0000000000000..51d5fb7055a4f --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp @@ -0,0 +1,233 @@ +// Copyright 2024 Tier IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_path_planner_common/utils/utils.hpp" + +#include + +#include + +using autoware::universe_utils::Point2d; +using autoware_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObjects; +using autoware_planning_msgs::msg::Trajectory; +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; +using ObjectClassification = autoware_perception_msgs::msg::ObjectClassification; + +using autoware::test_utils::createPose; +using autoware::test_utils::generateTrajectory; + +PathWithLaneId trajectory_to_path_with_lane_id(const Trajectory & trajectory) +{ + PathWithLaneId path_with_lane_id; + PathPointWithLaneId path_point_with_lane_id; + for (const auto & point : trajectory.points) { + path_point_with_lane_id.point.pose = point.pose; + path_point_with_lane_id.point.lateral_velocity_mps = point.lateral_velocity_mps; + path_point_with_lane_id.point.longitudinal_velocity_mps = point.longitudinal_velocity_mps; + path_point_with_lane_id.point.heading_rate_rps = point.heading_rate_rps; + path_with_lane_id.points.push_back(path_point_with_lane_id); + } + return path_with_lane_id; +} + +TEST(BehaviorPathPlanningUtilTest, l2Norm) +{ + using autoware::behavior_path_planner::utils::l2Norm; + + geometry_msgs::msg::Vector3 vector = autoware::universe_utils::createVector3(0.0, 0.0, 0.0); + auto norm = l2Norm(vector); + EXPECT_DOUBLE_EQ(norm, 0.0); + + vector = autoware::universe_utils::createVector3(1.0, 2.0, 2.0); + norm = l2Norm(vector); + EXPECT_DOUBLE_EQ(norm, 3.0); +} + +TEST(BehaviorPathPlanningUtilTest, checkCollisionBetweenPathFootprintsAndObjects) +{ + using autoware::behavior_path_planner::utils::checkCollisionBetweenPathFootprintsAndObjects; + + autoware::universe_utils::LinearRing2d base_footprint = { + Point2d{1.0, 1.0}, Point2d{1.0, -1.0}, Point2d{-1.0, -1.0}, Point2d{-1.0, 1.0}, + Point2d{1.0, -1.0}}; + double margin = 0.2; + PredictedObjects objs; + PredictedObject obj; + obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + obj.shape.dimensions.x = 2.0; + obj.shape.dimensions.y = 2.0; + obj.kinematics.initial_pose_with_covariance.pose = createPose(9.0, 1.0, 0.0, 0.0, 0.0, 0.0); + objs.objects.push_back(obj); + + PathWithLaneId ego_path; + + // Condition: no path + EXPECT_FALSE( + checkCollisionBetweenPathFootprintsAndObjects(base_footprint, ego_path, objs, margin)); + + // Condition: object in front of path + ego_path = trajectory_to_path_with_lane_id(generateTrajectory(5, 1.0)); + EXPECT_FALSE( + checkCollisionBetweenPathFootprintsAndObjects(base_footprint, ego_path, objs, margin)); + + // Condition: object overlapping path + ego_path = trajectory_to_path_with_lane_id(generateTrajectory(10, 1.0)); + EXPECT_TRUE( + checkCollisionBetweenPathFootprintsAndObjects(base_footprint, ego_path, objs, margin)); +} + +TEST(BehaviorPathPlanningUtilTest, checkCollisionBetweenFootprintAndObjects) +{ + using autoware::behavior_path_planner::utils::checkCollisionBetweenFootprintAndObjects; + + auto ego_pose = createPose(1.0, 1.0, 0.0, 0.0, 0.0, 0.0); + autoware::universe_utils::LinearRing2d base_footprint = { + Point2d{1.0, 1.0}, Point2d{1.0, -1.0}, Point2d{-1.0, -1.0}, Point2d{-1.0, 1.0}, + Point2d{1.0, -1.0}}; + double margin = 0.2; + PredictedObjects objs; + + // Condition: no object + EXPECT_FALSE(checkCollisionBetweenFootprintAndObjects(base_footprint, ego_pose, objs, margin)); + + // Condition: no collision + PredictedObject obj; + obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + obj.shape.dimensions.x = 2.0; + obj.shape.dimensions.y = 2.0; + obj.kinematics.initial_pose_with_covariance.pose = createPose(9.0, 9.0, 0.0, 0.0, 0.0, 0.0); + objs.objects.push_back(obj); + EXPECT_FALSE(checkCollisionBetweenFootprintAndObjects(base_footprint, ego_pose, objs, margin)); + + // Condition: collision + obj.kinematics.initial_pose_with_covariance.pose.position.x = 1.0; + obj.kinematics.initial_pose_with_covariance.pose.position.y = 1.0; + objs.objects.push_back(obj); + EXPECT_TRUE(checkCollisionBetweenFootprintAndObjects(base_footprint, ego_pose, objs, margin)); +} + +TEST(BehaviorPathPlanningUtilTest, calcLateralDistanceFromEgoToObject) +{ + using autoware::behavior_path_planner::utils::calcLateralDistanceFromEgoToObject; + + auto ego_pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + double vehicle_width = 2.0; + + PredictedObject obj; + obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + obj.shape.dimensions.x = 2.0; + obj.shape.dimensions.y = 2.0; + + // Condition: overlapping + obj.kinematics.initial_pose_with_covariance.pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + EXPECT_DOUBLE_EQ(calcLateralDistanceFromEgoToObject(ego_pose, vehicle_width, obj), 0.0); + + // Condition: object on left + obj.kinematics.initial_pose_with_covariance.pose.position.y = 5.0; + EXPECT_DOUBLE_EQ(calcLateralDistanceFromEgoToObject(ego_pose, vehicle_width, obj), 3.0); + + // Condition: object on right + obj.kinematics.initial_pose_with_covariance.pose.position.y = -5.0; + EXPECT_DOUBLE_EQ(calcLateralDistanceFromEgoToObject(ego_pose, vehicle_width, obj), 3.0); +} + +TEST(BehaviorPathPlanningUtilTest, calc_longitudinal_distance_from_ego_to_object) +{ + using autoware::behavior_path_planner::utils::calc_longitudinal_distance_from_ego_to_object; + + auto ego_pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + PredictedObject obj; + obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + obj.shape.dimensions.x = 2.0; + obj.shape.dimensions.y = 1.0; + + // Condition: overlapping + double base_link2front = 0.0; + double base_link2rear = 0.0; + obj.kinematics.initial_pose_with_covariance.pose = createPose(1.0, 0.0, 0.0, 0.0, 0.0, 0.0); + EXPECT_DOUBLE_EQ( + calc_longitudinal_distance_from_ego_to_object(ego_pose, base_link2front, base_link2rear, obj), + 0.0); + + // Condition: object in front + base_link2front = 1.0; + base_link2rear = -1.0; + obj.kinematics.initial_pose_with_covariance.pose.position.x = 4.0; + obj.kinematics.initial_pose_with_covariance.pose.position.y = 2.0; + EXPECT_DOUBLE_EQ( + calc_longitudinal_distance_from_ego_to_object(ego_pose, base_link2front, base_link2rear, obj), + 2.0); + + // Condition: object in rear + obj.kinematics.initial_pose_with_covariance.pose.position.x = -4.0; + EXPECT_DOUBLE_EQ( + calc_longitudinal_distance_from_ego_to_object(ego_pose, base_link2front, base_link2rear, obj), + 2.0); +} + +TEST(BehaviorPathPlanningUtilTest, calcLongitudinalDistanceFromEgoToObjects) +{ + using autoware::behavior_path_planner::utils::calcLongitudinalDistanceFromEgoToObjects; + + auto ego_pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + double base_link2front = 1.0; + double base_link2rear = -1.0; + + PredictedObjects objs; + + // Condition: none object + EXPECT_DOUBLE_EQ( + calcLongitudinalDistanceFromEgoToObjects(ego_pose, base_link2front, base_link2rear, objs), + std::numeric_limits::max()); + + // Condition: both object in front + PredictedObject near_obj; + near_obj.kinematics.initial_pose_with_covariance.pose = createPose(5.0, 2.0, 0.0, 0.0, 0.0, 0.0); + near_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + near_obj.shape.dimensions.x = 2.0; + near_obj.shape.dimensions.y = 1.0; + + PredictedObject far_obj; + far_obj.kinematics.initial_pose_with_covariance.pose = createPose(25.0, 2.0, 0.0, 0.0, 0.0, 0.0); + far_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + far_obj.shape.dimensions.x = 5.0; + far_obj.shape.dimensions.y = 1.0; + + objs.objects.push_back(near_obj); + objs.objects.push_back(far_obj); + EXPECT_DOUBLE_EQ( + calcLongitudinalDistanceFromEgoToObjects(ego_pose, base_link2front, base_link2rear, objs), 3.0); +} + +TEST(BehaviorPathPlanningUtilTest, getHighestProbLabel) +{ + using autoware::behavior_path_planner::utils::getHighestProbLabel; + + PredictedObject obj; + ObjectClassification classification; + + // Condition: no classification + EXPECT_EQ(getHighestProbLabel(obj.classification), ObjectClassification::Type::UNKNOWN); + + // Condition: with 2 label + obj.classification.emplace_back(autoware_perception_msgs::build() + .label(ObjectClassification::CAR) + .probability(0.4)); + obj.classification.emplace_back(autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(0.6)); + EXPECT_EQ(getHighestProbLabel(obj.classification), ObjectClassification::Type::TRUCK); +} From 3eafb9b0631436b410ac7138c33d9602b7161f43 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 9 Oct 2024 20:35:37 +0900 Subject: [PATCH 225/701] test(bpp_common): add test for parking departure utils (#9055) * add test for parking departure utils Signed-off-by: Go Sakayori * fix Signed-off-by: Go Sakayori * fix typo Signed-off-by: Go Sakayori * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../CMakeLists.txt | 8 + .../test/test_parking_departure_utils.cpp | 315 ++++++++++++++++++ 2 files changed, 323 insertions(+) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index 8ba0e98422212..046675f357923 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -58,6 +58,14 @@ if(BUILD_TESTING) ${PROJECT_NAME} ) + ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_parking_departure + test/test_parking_departure_utils.cpp + ) + + target_link_libraries(test_${PROJECT_NAME}_parking_departure + ${PROJECT_NAME} + ) + ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_turn_signal test/test_turn_signal.cpp ) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp new file mode 100644 index 0000000000000..4cb1b8ef14d5a --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp @@ -0,0 +1,315 @@ +// Copyright 2024 Tier IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp" +#include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" + +#include +#include + +#include +#include +#include + +#include + +constexpr double epsilon = 1e-6; + +using autoware::behavior_path_planner::PlannerData; +using autoware_planning_msgs::msg::Trajectory; +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; + +using autoware::test_utils::generateTrajectory; + +PathWithLaneId trajectory_to_path_with_lane_id(const Trajectory & trajectory) +{ + PathWithLaneId path_with_lane_id; + PathPointWithLaneId path_point_with_lane_id; + for (const auto & point : trajectory.points) { + path_point_with_lane_id.point.pose = point.pose; + path_point_with_lane_id.point.lateral_velocity_mps = point.lateral_velocity_mps; + path_point_with_lane_id.point.longitudinal_velocity_mps = point.longitudinal_velocity_mps; + path_point_with_lane_id.point.heading_rate_rps = point.heading_rate_rps; + path_with_lane_id.points.push_back(path_point_with_lane_id); + } + return path_with_lane_id; +} + +TEST(BehaviorPathPlanningParkingDepartureUtil, calcFeasibleDecelDistance) +{ + using autoware::behavior_path_planner::utils::parking_departure::calcFeasibleDecelDistance; + + auto data = std::make_shared(); + double velocity = 2.0; + double acceleration = 1.0; + double acceleration_limit = 2.0; + double jerk_limit = 1.0; + double target_velocity = 3.0; + + auto odometry = std::make_shared(); + odometry->pose.pose = autoware::test_utils::createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + odometry->twist.twist.linear.x = velocity; + auto accel_with_covariance = + std::make_shared(); + accel_with_covariance->accel.accel.linear.x = acceleration; + data->self_odometry = odometry; + data->self_acceleration = accel_with_covariance; + auto planner_data = std::static_pointer_cast(data); + + // condition: current velocity is slower than target velocity + auto distance = + calcFeasibleDecelDistance(planner_data, acceleration_limit, jerk_limit, target_velocity); + ASSERT_TRUE(distance.has_value()); + EXPECT_DOUBLE_EQ(distance.value(), 0.0); + + // condition: calculates deceleration distance + velocity = 5.0; + odometry->twist.twist.linear.x = velocity; + data->self_odometry = odometry; + planner_data = std::static_pointer_cast(data); + distance = + calcFeasibleDecelDistance(planner_data, acceleration_limit, jerk_limit, target_velocity); + ASSERT_TRUE(distance.has_value()); + EXPECT_NEAR(distance.value(), 18.7730133, epsilon); + + // condition: not valid condition + velocity = 0.3; + target_velocity = 0.0; + acceleration = -1.5; + jerk_limit = 0.25; + acceleration_limit = 2.0; + odometry->twist.twist.linear.x = velocity; + accel_with_covariance->accel.accel.linear.x = acceleration; + data->self_odometry = odometry; + data->self_acceleration = accel_with_covariance; + planner_data = std::static_pointer_cast(data); + distance = + calcFeasibleDecelDistance(planner_data, acceleration_limit, jerk_limit, target_velocity); + ASSERT_FALSE(distance.has_value()); +} + +TEST(BehaviorPathPlanningParkingDepartureUtil, modifyVelocityByDirection) +{ + using autoware::behavior_path_planner::utils::parking_departure::modifyVelocityByDirection; + + const double velocity = 3.0; + const double target_velocity = 2.0; + const double acceleration = 2.0; + + std::vector paths; + auto short_path = trajectory_to_path_with_lane_id(generateTrajectory(1, 1.0)); + auto long_path = + trajectory_to_path_with_lane_id(generateTrajectory(10, 1.0, -velocity)); + auto reverse_path = + trajectory_to_path_with_lane_id(generateTrajectory(10, -1.0, velocity, -M_PI)); + + paths.push_back(short_path); + paths.push_back(long_path); + paths.push_back(reverse_path); + + std::vector> terminal_vel_acc_pairs; + terminal_vel_acc_pairs.emplace_back(0.5, 0.5); + terminal_vel_acc_pairs.emplace_back(1.0, 1.0); + terminal_vel_acc_pairs.emplace_back(1.5, 1.5); + + modifyVelocityByDirection(paths, terminal_vel_acc_pairs, target_velocity, acceleration); + + // condition: number of point less than 2 + EXPECT_DOUBLE_EQ(terminal_vel_acc_pairs.at(0).first, 0.0); + EXPECT_DOUBLE_EQ(terminal_vel_acc_pairs.at(0).second, 0.0); + + // condition: forward driving + EXPECT_DOUBLE_EQ(terminal_vel_acc_pairs.at(1).first, target_velocity); + EXPECT_DOUBLE_EQ(terminal_vel_acc_pairs.at(1).second, acceleration); + for (const auto & point : paths.at(1).points) { + if (point == paths.at(1).points.back()) + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + else + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, velocity); + } + + // condition: reverse driving + EXPECT_DOUBLE_EQ(terminal_vel_acc_pairs.at(2).first, -target_velocity); + EXPECT_DOUBLE_EQ(terminal_vel_acc_pairs.at(2).second, -acceleration); + for (const auto & point : paths.at(2).points) { + if (point == paths.at(2).points.back()) + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + else + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, -velocity); + } +} + +TEST(BehaviorPathPlanningParkingDepartureUtil, updatePathProperty) +{ + using autoware::behavior_path_planner::utils::parking_departure::EgoPredictedPathParams; + using autoware::behavior_path_planner::utils::parking_departure::updatePathProperty; + + auto params = std::make_shared(); + params->min_acceleration = 1.0; + params->acceleration = 1.5; + params->max_velocity = 0.0; + auto pair_terminal_velocity_and_accel = std::make_pair(3.0, 2.0); + + updatePathProperty(params, pair_terminal_velocity_and_accel); + EXPECT_DOUBLE_EQ(params->max_velocity, 3.0); + EXPECT_DOUBLE_EQ(params->acceleration, 2.0); +} + +TEST(BehaviorPathPlanningParkingDepartureUtil, initializeCollisionCheckDebugMap) +{ + using autoware::behavior_path_planner::utils::parking_departure::initializeCollisionCheckDebugMap; + + autoware::behavior_path_planner::CollisionCheckDebugMap debug_map; + auto uuid1 = autoware::universe_utils::toBoostUUID(autoware::universe_utils::generateUUID()); + autoware::behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug debug_info; + debug_map[uuid1] = debug_info; + + initializeCollisionCheckDebugMap(debug_map); + ASSERT_TRUE(debug_map.empty()); +} + +TEST(BehaviorPathPlanningParkingDepartureUtil, getPairsTerminalVelocityAndAccel) +{ + using autoware::behavior_path_planner::utils::parking_departure::getPairsTerminalVelocityAndAccel; + + std::vector> pairs_terminal_velocity_and_accel; + pairs_terminal_velocity_and_accel.emplace_back(2.0, 1.0); + pairs_terminal_velocity_and_accel.emplace_back(0.05, -1.0); + + // condition: current path idx exceeds pairs size + auto pair = getPairsTerminalVelocityAndAccel(pairs_terminal_velocity_and_accel, 2); + EXPECT_DOUBLE_EQ(pair.first, 0.0); + EXPECT_DOUBLE_EQ(pair.first, 0.0); + + // condition: get current idx pair + pair = getPairsTerminalVelocityAndAccel(pairs_terminal_velocity_and_accel, 1); + EXPECT_DOUBLE_EQ(pair.first, 0.05); + EXPECT_DOUBLE_EQ(pair.second, -1.0); +} + +TEST(BehaviorPathPlanningParkingDepartureUtil, generateFeasibleStopPath) +{ + using autoware::behavior_path_planner::utils::parking_departure::generateFeasibleStopPath; + + auto data = std::make_shared(); + double velocity = 0.3; + double acceleration = -1.5; + double maximum_jerk = 0.25; + double maximum_deceleration = 2.0; + + auto odometry = std::make_shared(); + odometry->pose.pose = autoware::test_utils::createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + odometry->twist.twist.linear.x = velocity; + auto accel_with_covariance = + std::make_shared(); + accel_with_covariance->accel.accel.linear.x = acceleration; + data->self_odometry = odometry; + data->self_acceleration = accel_with_covariance; + auto planner_data = std::static_pointer_cast(data); + + std::optional stop_pose; + + // condition: empty path + PathWithLaneId path; + auto stop_path = + generateFeasibleStopPath(path, planner_data, stop_pose, maximum_deceleration, maximum_jerk); + EXPECT_FALSE(stop_path.has_value()); + + // condition: not valid condition for stop distance + path = trajectory_to_path_with_lane_id(generateTrajectory(10, 1.0, velocity)); + stop_path = + generateFeasibleStopPath(path, planner_data, stop_pose, maximum_deceleration, maximum_jerk); + EXPECT_FALSE(stop_path.has_value()); + + // condition: not valid condition for stop index + velocity = 5.0; + acceleration = 1.0; + odometry->twist.twist.linear.x = velocity; + accel_with_covariance->accel.accel.linear.x = acceleration; + data->self_odometry = odometry; + data->self_acceleration = accel_with_covariance; + planner_data = std::static_pointer_cast(data); + path = trajectory_to_path_with_lane_id(generateTrajectory(10, 1.0, velocity)); + stop_path = + generateFeasibleStopPath(path, planner_data, stop_pose, maximum_deceleration, maximum_jerk); + EXPECT_FALSE(stop_path.has_value()); + + // condition: valid condition + maximum_jerk = 5.0; + maximum_deceleration = -3.0; + stop_path = + generateFeasibleStopPath(path, planner_data, stop_pose, maximum_deceleration, maximum_jerk); + size_t i = 0; + ASSERT_TRUE(stop_path.has_value()); + for (const auto & point : stop_path->points) { + if (i < 7) + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, velocity); + else + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + i++; + } +} + +TEST(BehaviorPathPlanningParkingDepartureUtil, calcEndArcLength) +{ + using autoware::behavior_path_planner::utils::parking_departure::calcEndArcLength; + + lanelet::LineString3d left_bound; + lanelet::LineString3d right_bound; + + left_bound.push_back(lanelet::Point3d{lanelet::InvalId, -1, -1}); + left_bound.push_back(lanelet::Point3d{lanelet::InvalId, 0, -1}); + left_bound.push_back(lanelet::Point3d{lanelet::InvalId, 1, -1}); + right_bound.push_back(lanelet::Point3d{lanelet::InvalId, -1, 1}); + right_bound.push_back(lanelet::Point3d{lanelet::InvalId, 0, 1}); + right_bound.push_back(lanelet::Point3d{lanelet::InvalId, 1, 1}); + lanelet::Lanelet lanelet{lanelet::InvalId, left_bound, right_bound}; + + lanelet::LineString3d centerline; + centerline.push_back(lanelet::Point3d{lanelet::InvalId, -1, 0}); + centerline.push_back(lanelet::Point3d{lanelet::InvalId, 0, 0}); + centerline.push_back(lanelet::Point3d{lanelet::InvalId, 1, 0}); + lanelet.setCenterline(centerline); + + lanelet::ConstLanelets road_lanes = {lanelet}; + + double s_start = 0.2; + double forward_path_length = 0.1; + auto goal_pose = autoware::test_utils::createPose(5.0, 5.0, 0.0, 0.0, 0.0, 0.0); + + // condition: goal pose not in lanelets + auto end_arc = calcEndArcLength(s_start, forward_path_length, road_lanes, goal_pose); + EXPECT_DOUBLE_EQ(end_arc.first, s_start + forward_path_length); + EXPECT_FALSE(end_arc.second); + + // condition: goal pose behind start + goal_pose.position.x = -0.9; + goal_pose.position.y = 0.0; + end_arc = calcEndArcLength(s_start, forward_path_length, road_lanes, goal_pose); + EXPECT_DOUBLE_EQ(end_arc.first, s_start + forward_path_length); + EXPECT_FALSE(end_arc.second); + + // condition: goal pose beyond start + goal_pose.position.x = 0.0; + end_arc = calcEndArcLength(s_start, forward_path_length, road_lanes, goal_pose); + EXPECT_DOUBLE_EQ(end_arc.first, s_start + forward_path_length); + EXPECT_FALSE(end_arc.second); + + // condition: path end is goal + goal_pose.position.x = -0.75; + end_arc = calcEndArcLength(s_start, forward_path_length, road_lanes, goal_pose); + EXPECT_DOUBLE_EQ(end_arc.first, 0.25); + EXPECT_TRUE(end_arc.second); +} From 41e08dceadb64374f49cc0411ada9c63dab96765 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 10 Oct 2024 03:46:47 +0900 Subject: [PATCH 226/701] refactor(goal_planner): remove modified_goal in ThreadDafeData (#9010) Signed-off-by: Mamoru Sobue --- .../goal_planner_module.hpp | 7 +- .../pull_over_planner_base.hpp | 4 +- .../thread_data.hpp | 13 -- .../src/goal_planner_module.cpp | 135 ++++++++++-------- 4 files changed, 80 insertions(+), 79 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 70c9fd528b6a5..93fc38f261117 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -372,10 +372,13 @@ class GoalPlannerModule : public SceneModuleInterface bool isStopped( std::deque & odometry_buffer, const double time); bool hasFinishedCurrentPath(const PullOverContextData & ctx_data); - bool isOnModifiedGoal(const Pose & current_pose, const GoalPlannerParameters & parameters) const; + bool isOnModifiedGoal( + const Pose & current_pose, const std::optional & modified_goal_opt, + const GoalPlannerParameters & parameters) const; double calcModuleRequestLength() const; bool needPathUpdate( const Pose & current_pose, const double path_update_duration, + const std::optional & modified_goal_opt, const GoalPlannerParameters & parameters) const; bool isStuck( const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, @@ -406,7 +409,7 @@ class GoalPlannerModule : public SceneModuleInterface BehaviorModuleOutput planPullOver(const PullOverContextData & context_data); BehaviorModuleOutput planPullOverAsOutput(const PullOverContextData & context_data); BehaviorModuleOutput planPullOverAsCandidate(const PullOverContextData & context_data); - std::optional> selectPullOverPath( + std::optional selectPullOverPath( const PullOverContextData & context_data, const std::vector & pull_over_path_candidates, const GoalCandidates & goal_candidates) const; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp index 059d76530915d..2a328a467723c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp @@ -54,8 +54,8 @@ struct PullOverPath size_t goal_id() const { return modified_goal_pose_.id; } size_t id() const { return id_; } Pose start_pose() const { return start_pose_; } - Pose end_pose() const { return modified_goal_pose_.goal_pose; } - GoalCandidate modified_goal_pose() const { return modified_goal_pose_; } + Pose modified_goal_pose() const { return modified_goal_pose_.goal_pose; } + GoalCandidate modified_goal() const { return modified_goal_pose_; } std::vector & partial_paths() { return partial_paths_; } const std::vector & partial_paths() const { return partial_paths_; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp index 3bfaa90b845fb..2d3dd30bdf7ef 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp @@ -105,22 +105,12 @@ class ThreadSafeData return true; } - std::optional getPullOverPlannerType() const - { - const std::lock_guard lock(mutex_); - if (!pull_over_path_) { - return std::nullopt; - } - return pull_over_path_->type(); - }; - void reset() { const std::lock_guard lock(mutex_); pull_over_path_ = nullptr; pull_over_path_candidates_.clear(); goal_candidates_.clear(); - modified_goal_pose_ = std::nullopt; last_path_update_time_ = std::nullopt; last_path_idx_increment_time_ = std::nullopt; closest_start_pose_ = std::nullopt; @@ -135,7 +125,6 @@ class ThreadSafeData DEFINE_SETTER_GETTER_WITH_MUTEX(std::vector, pull_over_path_candidates) DEFINE_SETTER_GETTER_WITH_MUTEX(GoalCandidates, goal_candidates) - DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, modified_goal_pose) DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, closest_start_pose) DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, last_previous_module_output) DEFINE_SETTER_GETTER_WITH_MUTEX( @@ -168,7 +157,6 @@ class ThreadSafeData void set_no_lock(const std::vector & arg) { pull_over_path_candidates_ = arg; } void set_no_lock(const std::shared_ptr & arg) { set_pull_over_path_no_lock(arg); } void set_no_lock(const PullOverPath & arg) { set_pull_over_path_no_lock(arg); } - void set_no_lock(const GoalCandidate & arg) { modified_goal_pose_ = arg; } void set_no_lock(const BehaviorModuleOutput & arg) { last_previous_module_output_ = arg; } void set_no_lock(const utils::path_safety_checker::CollisionCheckDebugMap & arg) { @@ -179,7 +167,6 @@ class ThreadSafeData std::shared_ptr lane_parking_pull_over_path_{nullptr}; std::vector pull_over_path_candidates_; GoalCandidates goal_candidates_{}; - std::optional modified_goal_pose_; std::optional last_path_update_time_; std::optional last_path_idx_increment_time_; std::optional closest_start_pose_{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 065e27b47227e..03d5dfdcf2a24 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -259,7 +259,17 @@ void GoalPlannerModule::onTimer() // check if new pull over path candidates are needed to be generated const auto current_state = thread_safe_data_.get_prev_data().state; const bool need_update = std::invoke([&]() { - if (isOnModifiedGoal(local_planner_data->self_odometry->pose.pose, parameters)) { + const bool found_pull_over_path = thread_safe_data_.foundPullOverPath(); + const std::optional pull_over_path_opt = + found_pull_over_path + ? std::make_optional(*thread_safe_data_.get_pull_over_path()) + : std::nullopt; + const std::optional modified_goal_opt = + pull_over_path_opt + ? std::make_optional(pull_over_path_opt.value().modified_goal()) + : std::nullopt; + if (isOnModifiedGoal( + local_planner_data->self_odometry->pose.pose, modified_goal_opt, parameters)) { return false; } if (hasDeviatedFromCurrentPreviousModulePath(local_planner_data, previous_module_output)) { @@ -408,7 +418,16 @@ void GoalPlannerModule::onFreespaceParkingTimer() return; } - if (isOnModifiedGoal(local_planner_data->self_odometry->pose.pose, parameters)) { + const bool found_pull_over_path = thread_safe_data_.foundPullOverPath(); + const std::optional pull_over_path_opt = + found_pull_over_path ? std::make_optional(*thread_safe_data_.get_pull_over_path()) + : std::nullopt; + const std::optional modified_goal_opt = + pull_over_path_opt + ? std::make_optional(pull_over_path_opt.value().modified_goal()) + : std::nullopt; + if (isOnModifiedGoal( + local_planner_data->self_odometry->pose.pose, modified_goal_opt, parameters)) { return; } @@ -421,7 +440,8 @@ void GoalPlannerModule::onFreespaceParkingTimer() local_planner_data, occupancy_grid_map, parameters) && is_new_costmap && needPathUpdate( - local_planner_data->self_odometry->pose.pose, path_update_duration, parameters)) { + local_planner_data->self_odometry->pose.pose, path_update_duration, modified_goal_opt, + parameters)) { planFreespacePath(local_planner_data, goal_searcher, occupancy_grid_map); } } @@ -543,14 +563,21 @@ void GoalPlannerModule::updateData() found_pull_over_path ? std::make_optional(*thread_safe_data_.get_pull_over_path()) : std::nullopt; + const auto modified_goal_pose = [&]() -> std::optional { + if (!pull_over_path_recv) { + return std::nullopt; + } + const auto & pull_over_path = pull_over_path_recv.value(); + return pull_over_path.modified_goal(); + }(); + const bool is_current_safe = isSafePath( planner_data_, found_pull_over_path, pull_over_path_recv, *parameters_, ego_predicted_path_params_, objects_filtering_params_, safety_check_params_); path_decision_controller_.transit_state( found_pull_over_path, clock_->now(), static_target_objects, dynamic_target_objects, - thread_safe_data_.get_modified_goal_pose(), planner_data_, occupancy_grid_map_, is_current_safe, - *parameters_, goal_searcher_, isActivated(), pull_over_path_recv, - debug_data_.ego_polygons_expanded); + modified_goal_pose, planner_data_, occupancy_grid_map_, is_current_safe, *parameters_, + goal_searcher_, isActivated(), pull_over_path_recv, debug_data_.ego_polygons_expanded); context_data_.emplace( path_decision_controller_.get_current_state().is_stable_safe, static_target_objects, @@ -811,7 +838,6 @@ bool GoalPlannerModule::planFreespacePath( { const std::lock_guard lock(mutex_); thread_safe_data_.set_pull_over_path(*freespace_path); - thread_safe_data_.set_modified_goal_pose(goal_candidate); debug_data_.freespace_planner.is_planning = false; } @@ -905,7 +931,7 @@ BehaviorModuleOutput GoalPlannerModule::plan() return fixed_goal_planner_->plan(planner_data_); } -std::optional> GoalPlannerModule::selectPullOverPath( +std::optional GoalPlannerModule::selectPullOverPath( const PullOverContextData & context_data, const std::vector & pull_over_path_candidates, const GoalCandidates & goal_candidates) const @@ -1130,7 +1156,7 @@ std::optional> GoalPlannerModule::selectP checkOccupancyGridCollision(parking_path, occupancy_grid_map_)) { continue; } - return std::make_pair(path, goal_candidates.at(goal_id_to_index.at(path.goal_id()))); + return path; } return {}; } @@ -1227,7 +1253,7 @@ void GoalPlannerModule::setModifiedGoal( if (context_data.pull_over_path_opt) { PoseWithUuidStamped modified_goal{}; modified_goal.uuid = route_handler->getRouteUuid(); - modified_goal.pose = thread_safe_data_.get_modified_goal_pose()->goal_pose; + modified_goal.pose = context_data.pull_over_path_opt.value().modified_goal_pose(); modified_goal.header = route_handler->getRouteHeader(); output.modified_goal = modified_goal; } else { @@ -1349,12 +1375,17 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( const bool is_freespace = pull_over_path_with_velocity_opt && pull_over_path_with_velocity_opt.value().type() == PullOverPlannerType::FREESPACE; + const std::optional modified_goal_opt = + pull_over_path_with_velocity_opt + ? std::make_optional(pull_over_path_with_velocity_opt.value().modified_goal()) + : std::nullopt; if ( path_decision_controller_.get_current_state().state == PathDecisionState::DecisionKind::NOT_DECIDED && !is_freespace && needPathUpdate( - planner_data_->self_odometry->pose.pose, 1.0 /*path_update_duration*/, *parameters_)) { + planner_data_->self_odometry->pose.pose, 1.0 /*path_update_duration*/, modified_goal_opt, + *parameters_)) { // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates // and set it to thread_safe_data_ @@ -1369,12 +1400,12 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( // Select a path that is as safe as possible and has a high priority. const auto & pull_over_path_candidates = context_data.pull_over_path_candidates; - const auto path_and_goal_opt = + auto path_and_goal_opt = selectPullOverPath(context_data, pull_over_path_candidates, goal_candidates); // update thread_safe_data_ if (path_and_goal_opt) { - auto [pull_over_path, modified_goal] = *path_and_goal_opt; + const auto & pull_over_path = path_and_goal_opt.value(); /** TODO(soblin): since thread_safe_data::pull_over_path was used as a global variable, old * code was setting deceleration to thread_safe_data::pull_over_path and setOutput() accessed * to the velocity profile in thread_safe_data::pull_over_path, which is a very bad usage of @@ -1385,7 +1416,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( * As the next action item, only set this selected pull_over_path to only * FreespaceThreadSafeData. */ - thread_safe_data_.set(goal_candidates, pull_over_path, modified_goal); + thread_safe_data_.set(goal_candidates, pull_over_path); if (pull_over_path_with_velocity_opt) { auto & pull_over_path_with_velocity = pull_over_path_with_velocity_opt.value(); // copy the path for later setOutput() @@ -1395,7 +1426,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( } RCLCPP_DEBUG( getLogger(), "selected pull over path: path_id: %ld, goal_id: %ld", pull_over_path.id(), - modified_goal.id); + pull_over_path.modified_goal().id); } else { thread_safe_data_.set(goal_candidates); } @@ -1413,11 +1444,6 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( // For debug setDebugData(context_data_with_velocity); - if (parameters_->print_debug_info) { - // For evaluations - printParkingPositionError(); - } - if (!pull_over_path_with_velocity_opt) { return output; } @@ -1456,8 +1482,7 @@ void GoalPlannerModule::postProcess() } updateSteeringFactor( - context_data, - {pull_over_path.start_pose(), thread_safe_data_.get_modified_goal_pose()->goal_pose}, + context_data, {pull_over_path.start_pose(), pull_over_path.modified_goal_pose()}, {distance_to_path_change.first, distance_to_path_change.second}, has_decided_path ? SteeringFactor::TURNING : SteeringFactor::APPROACHING); @@ -1509,10 +1534,10 @@ std::pair GoalPlannerModule::calcDistanceToPathChange( full_path.points, planner_data_->self_odometry->pose.pose.position, *ego_segment_idx, pull_over_path.start_pose().position, start_pose_segment_idx); const size_t goal_pose_segment_idx = autoware::motion_utils::findNearestSegmentIndex( - full_path.points, thread_safe_data_.get_modified_goal_pose()->goal_pose.position); + full_path.points, pull_over_path.modified_goal_pose().position); const double dist_to_parking_finish_pose = calcSignedArcLength( full_path.points, planner_data_->self_odometry->pose.pose.position, *ego_segment_idx, - thread_safe_data_.get_modified_goal_pose()->goal_pose.position, goal_pose_segment_idx); + pull_over_path.modified_goal_pose().position, goal_pose_segment_idx); return {dist_to_parking_start_pose, dist_to_parking_finish_pose}; } @@ -1695,8 +1720,16 @@ bool GoalPlannerModule::isStuck( const std::shared_ptr occupancy_grid_map, const GoalPlannerParameters & parameters) { + const bool found_pull_over_path = thread_safe_data_.foundPullOverPath(); + const std::optional pull_over_path_opt = + found_pull_over_path ? std::make_optional(*thread_safe_data_.get_pull_over_path()) + : std::nullopt; + const std::optional modified_goal_opt = + pull_over_path_opt + ? std::make_optional(pull_over_path_opt.value().modified_goal()) + : std::nullopt; const std::lock_guard lock(mutex_); - if (isOnModifiedGoal(planner_data->self_odometry->pose.pose, parameters)) { + if (isOnModifiedGoal(planner_data->self_odometry->pose.pose, modified_goal_opt, parameters)) { return false; } @@ -1705,19 +1738,13 @@ bool GoalPlannerModule::isStuck( return false; } - // not found safe path - if (!thread_safe_data_.foundPullOverPath()) { + if (!found_pull_over_path) { return true; } - // any path has never been found - if (!thread_safe_data_.get_pull_over_path()) { - return false; - } - - const auto pull_over_path = thread_safe_data_.get_pull_over_path(); + const auto & pull_over_path = pull_over_path_opt.value(); if (parameters.use_object_recognition) { - const auto path = pull_over_path->getCurrentPath(); + const auto & path = pull_over_path.getCurrentPath(); const auto curvatures = autoware::motion_utils::calcCurvature(path.points); if (goal_planner_utils::checkObjectsCollision( path, curvatures, static_target_objects, dynamic_target_objects, planner_data->parameters, @@ -1784,13 +1811,14 @@ bool GoalPlannerModule::hasFinishedCurrentPath(const PullOverContextData & ctx_d } bool GoalPlannerModule::isOnModifiedGoal( - const Pose & current_pose, const GoalPlannerParameters & parameters) const + const Pose & current_pose, const std::optional & modified_goal_opt, + const GoalPlannerParameters & parameters) const { - if (!thread_safe_data_.get_modified_goal_pose()) { + if (!modified_goal_opt) { return false; } - return calcDistance2d(current_pose, thread_safe_data_.get_modified_goal_pose()->goal_pose) < + return calcDistance2d(current_pose, modified_goal_opt.value().goal_pose) < parameters.th_arrived_distance; } @@ -1808,7 +1836,7 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo(const PullOverContextData & const auto & current_pose = planner_data_->self_odometry->pose.pose; const auto & start_pose = pull_over_path.start_pose(); - const auto & end_pose = pull_over_path.end_pose(); + const auto & end_pose = pull_over_path.modified_goal_pose(); const auto shift_start_idx = autoware::motion_utils::findNearestIndex(path.points, start_pose.position); @@ -2126,7 +2154,7 @@ bool GoalPlannerModule::isCrossingPossible(const PullOverPath & pull_over_path) { const lanelet::ConstLanelets lanes = utils::transformToLanelets(generateDrivableLanes()); const Pose & start_pose = pull_over_path.start_pose(); - const Pose & end_pose = pull_over_path.end_pose(); + const Pose & end_pose = pull_over_path.modified_goal_pose(); return isCrossingPossible(start_pose, end_pose, lanes); } @@ -2391,7 +2419,8 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) const auto & pull_over_path = context_data.pull_over_path_opt.value(); add( createPoseMarkerArray(pull_over_path.start_pose(), "pull_over_start_pose", 0, 0.3, 0.3, 0.9)); - add(createPoseMarkerArray(pull_over_path.end_pose(), "pull_over_end_pose", 0, 0.3, 0.3, 0.9)); + add(createPoseMarkerArray( + pull_over_path.modified_goal_pose(), "pull_over_end_pose", 0, 0.3, 0.3, 0.9)); add(createPathMarkerArray(pull_over_path.full_path(), "full_path", 0, 0.0, 0.5, 0.9)); add(createPathMarkerArray(pull_over_path.getCurrentPath(), "current_path", 0, 0.9, 0.5, 0.0)); @@ -2497,8 +2526,8 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) auto marker = createDefaultMarker( header.frame_id, header.stamp, "planner_type", 0, visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.0, 0.0, 1.0), color); - marker.pose = thread_safe_data_.get_modified_goal_pose() - ? thread_safe_data_.get_modified_goal_pose()->goal_pose + marker.pose = context_data.pull_over_path_opt + ? context_data.pull_over_path_opt.value().modified_goal_pose() : planner_data_->self_odometry->pose.pose; if (context_data.pull_over_path_opt) { const auto & pull_over_path = context_data.pull_over_path_opt.value(); @@ -2544,30 +2573,12 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) } } -void GoalPlannerModule::printParkingPositionError() const -{ - const auto current_pose = planner_data_->self_odometry->pose.pose; - const double real_shoulder_to_map_shoulder = 0.0; - - const Pose goal_to_ego = - inverseTransformPose(current_pose, thread_safe_data_.get_modified_goal_pose()->goal_pose); - const double dx = goal_to_ego.position.x; - const double dy = goal_to_ego.position.y; - const double distance_from_real_shoulder = - real_shoulder_to_map_shoulder + parameters_->margin_from_boundary - dy; - RCLCPP_INFO( - getLogger(), "current pose to goal, dx:%f dy:%f dyaw:%f from_real_shoulder:%f", dx, dy, - autoware::universe_utils::rad2deg( - tf2::getYaw(current_pose.orientation) - - tf2::getYaw(thread_safe_data_.get_modified_goal_pose()->goal_pose.orientation)), - distance_from_real_shoulder); -} - bool GoalPlannerModule::needPathUpdate( const Pose & current_pose, const double path_update_duration, + const std::optional & modified_goal_opt, const GoalPlannerParameters & parameters) const { - return !isOnModifiedGoal(current_pose, parameters) && + return !isOnModifiedGoal(current_pose, modified_goal_opt, parameters) && hasEnoughTimePassedSincePathUpdate(path_update_duration); } From f49e7a6c1b7a978a5b82a7dfece9dbeb063a15d2 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 10 Oct 2024 09:38:53 +0900 Subject: [PATCH 227/701] chore(autoware_ground_segmentation): scan ground filter refactoring (#9061) * chore: Add comment classification logic for point cloud grid scan Signed-off-by: Taekjin LEE * chore: renamed horizontal angle to azimuth angle Signed-off-by: Taekjin LEE * chore: rename offset to data_index Signed-off-by: Taekjin LEE * chore: rename ground_cluster to centroid_bin chore: Refactor recheckGroundCluster function in scan_ground_filter Signed-off-by: Taekjin LEE * chore: rename too short variables Signed-off-by: Taekjin LEE * refactor: set input to be const Signed-off-by: Taekjin LEE * refactor: update functions to be const Signed-off-by: Taekjin LEE * chore: reorder params Signed-off-by: Taekjin LEE * refactor: Add ScanGroundGrid class for managing grid data Signed-off-by: Taekjin LEE * refactor: Update grid parameters and calculations in ScanGroundGrid class Signed-off-by: Taekjin LEE * refactor: remove unused methods Signed-off-by: Taekjin LEE * refactor: classification description Signed-off-by: Taekjin LEE * refactor: initialize members in ScanGroundGrid class Signed-off-by: Taekjin LEE * refactor: remove unused value Signed-off-by: Taekjin LEE * chore: reduce scope Signed-off-by: Taekjin LEE * refactor: align structure between convertPointcloud and convertPointcloudGridScan Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../docs/scan-ground-filter.md | 18 +- .../src/scan_ground_filter/grid.hpp | 111 ++++ .../src/scan_ground_filter/node.cpp | 505 +++++++++--------- .../src/scan_ground_filter/node.hpp | 105 ++-- 4 files changed, 432 insertions(+), 307 deletions(-) create mode 100644 perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp diff --git a/perception/autoware_ground_segmentation/docs/scan-ground-filter.md b/perception/autoware_ground_segmentation/docs/scan-ground-filter.md index 392bed89ac902..6b2f6d6b57571 100644 --- a/perception/autoware_ground_segmentation/docs/scan-ground-filter.md +++ b/perception/autoware_ground_segmentation/docs/scan-ground-filter.md @@ -8,14 +8,16 @@ The purpose of this node is that remove the ground points from the input pointcl This algorithm works by following steps, -1. Divide whole pointclouds into groups by horizontal angle and sort by xy-distance. -2. Divide sorted pointclouds of each ray into grids -3. Check the xy distance to previous pointcloud, if the distance is large and previous pointcloud is "no ground" and the height level of current point greater than previous point, the current pointcloud is classified as no ground. -4. Check vertical angle of the point compared with previous ground grid -5. Check the height of the point compared with predicted ground level -6. If vertical angle is greater than local_slope_max and related height to predicted ground level is greater than "non ground height threshold", the point is classified as "non ground" -7. If the vertical angle is in range of [-local_slope_max, local_slope_max] or related height to predicted ground level is smaller than non_ground_height_threshold, the point is classified as "ground" -8. If the vertical angle is lower than -local_slope_max or the related height to ground level is greater than detection_range_z_max, the point will be classified as out of range +1. Divide whole pointclouds into groups by azimuth angle (so-called ray) +2. Sort points by radial distance (xy-distance), on each ray. +3. Divide pointcloud into grids, on each ray. +4. Classify the point + 1. Check radial distance to previous pointcloud, if the distance is large and previous pointcloud is "no ground" and the height level of current point greater than previous point, the current pointcloud is classified as no ground. + 2. Check vertical angle of the point compared with previous ground grid + 3. Check the height of the point compared with predicted ground level + 4. If vertical angle is greater than local_slope_max and related height to predicted ground level is greater than "non ground height threshold", the point is classified as "non ground" + 5. If the vertical angle is in range of [-local_slope_max, local_slope_max] or related height to predicted ground level is smaller than non_ground_height_threshold, the point is classified as "ground" + 6. If the vertical angle is lower than -local_slope_max or the related height to ground level is greater than detection_range_z_max, the point will be classified as out of range ## Inputs / Outputs diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp new file mode 100644 index 0000000000000..cd55d4a548211 --- /dev/null +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp @@ -0,0 +1,111 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef SCAN_GROUND_FILTER__GRID_HPP_ +#define SCAN_GROUND_FILTER__GRID_HPP_ + +#include +#include + +#include + +namespace autoware::ground_segmentation +{ + +class ScanGroundGrid +{ +public: + ScanGroundGrid() = default; + ~ScanGroundGrid() = default; + + void initialize( + const float grid_size_m, const float grid_mode_switch_radius, const float virtual_lidar_z) + { + grid_size_m_ = grid_size_m; + mode_switch_radius_ = grid_mode_switch_radius; + virtual_lidar_z_ = virtual_lidar_z; + + // calculate parameters + inv_grid_size_m_ = 1.0f / grid_size_m_; + mode_switch_grid_id_ = mode_switch_radius_ * inv_grid_size_m_; + mode_switch_angle_rad_ = std::atan2(mode_switch_radius_, virtual_lidar_z_); + + grid_size_rad_ = universe_utils::normalizeRadian( + std::atan2(mode_switch_radius_ + grid_size_m_, virtual_lidar_z_)) - + universe_utils::normalizeRadian(mode_switch_angle_rad_); + inv_grid_size_rad_ = 1.0f / grid_size_rad_; + tan_grid_size_rad_ = std::tan(grid_size_rad_); + grid_id_offset_ = mode_switch_grid_id_ - mode_switch_angle_rad_ * inv_grid_size_rad_; + + is_initialized_ = true; + } + + float getGridSize(const float radius, const size_t grid_id) const + { + // check if initialized + if (!is_initialized_) { + throw std::runtime_error("ScanGroundGrid is not initialized."); + } + + float grid_size = grid_size_m_; + constexpr uint16_t back_steps_num = 1; + + if (radius > mode_switch_radius_ && grid_id > mode_switch_grid_id_ + back_steps_num) { + // equivalent to grid_size = (std::tan(gamma) - std::tan(gamma - grid_size_rad_)) * + // virtual_lidar_z_ + // where gamma = normalizeRadian(std::atan2(radius, virtual_lidar_z_), 0.0f) + grid_size = radius - (radius - tan_grid_size_rad_ * virtual_lidar_z_) / + (1 + radius * tan_grid_size_rad_ / virtual_lidar_z_); + } + return grid_size; + } + + uint16_t getGridId(const float radius) const + { + // check if initialized + if (!is_initialized_) { + throw std::runtime_error("ScanGroundGrid is not initialized."); + } + + uint16_t grid_id = 0; + if (radius <= mode_switch_radius_) { + grid_id = static_cast(radius * inv_grid_size_m_); + } else { + auto gamma{universe_utils::normalizeRadian(std::atan2(radius, virtual_lidar_z_), 0.0f)}; + grid_id = grid_id_offset_ + gamma * inv_grid_size_rad_; + } + return grid_id; + } + +private: + bool is_initialized_ = false; + + // configured parameters + float grid_size_m_ = 0.0f; + float mode_switch_radius_ = 0.0f; + float virtual_lidar_z_ = 0.0f; + + // calculated parameters + float inv_grid_size_m_ = 0.0f; + float grid_size_rad_ = 0.0f; + float inv_grid_size_rad_ = 0.0f; + float tan_grid_size_rad_ = 0.0f; + float mode_switch_grid_id_ = 0.0f; + float mode_switch_angle_rad_ = 0.0f; + float grid_id_offset_ = 0.0f; +}; + +} // namespace autoware::ground_segmentation + +#endif // SCAN_GROUND_FILTER__GRID_HPP_ diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp index 72481d13c41fb..c0419c7121c64 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp @@ -14,10 +14,10 @@ #include "node.hpp" -#include "autoware/universe_utils/geometry/geometry.hpp" -#include "autoware/universe_utils/math/normalization.hpp" -#include "autoware/universe_utils/math/unit_conversion.hpp" -#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" +#include +#include +#include +#include #include #include @@ -38,40 +38,48 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & { // set initial parameters { - low_priority_region_x_ = declare_parameter("low_priority_region_x"); - detection_range_z_max_ = declare_parameter("detection_range_z_max"); - center_pcl_shift_ = declare_parameter("center_pcl_shift"); - non_ground_height_threshold_ = declare_parameter("non_ground_height_threshold"); - grid_mode_switch_radius_ = declare_parameter("grid_mode_switch_radius"); - - grid_size_m_ = declare_parameter("grid_size_m"); - gnd_grid_buffer_size_ = declare_parameter("gnd_grid_buffer_size"); + // modes elevation_grid_mode_ = declare_parameter("elevation_grid_mode"); + + // common parameters + radial_divider_angle_rad_ = deg2rad(declare_parameter("radial_divider_angle_deg")); + radial_dividers_num_ = std::ceil(2.0 * M_PI / radial_divider_angle_rad_); + + // common thresholds global_slope_max_angle_rad_ = deg2rad(declare_parameter("global_slope_max_angle_deg")); local_slope_max_angle_rad_ = deg2rad(declare_parameter("local_slope_max_angle_deg")); global_slope_max_ratio_ = std::tan(global_slope_max_angle_rad_); local_slope_max_ratio_ = std::tan(local_slope_max_angle_rad_); - radial_divider_angle_rad_ = deg2rad(declare_parameter("radial_divider_angle_deg")); split_points_distance_tolerance_ = declare_parameter("split_points_distance_tolerance"); split_points_distance_tolerance_square_ = split_points_distance_tolerance_ * split_points_distance_tolerance_; - split_height_distance_ = declare_parameter("split_height_distance"); + + // vehicle info + vehicle_info_ = VehicleInfoUtils(*this).getVehicleInfo(); + + // non-grid parameters use_virtual_ground_point_ = declare_parameter("use_virtual_ground_point"); + split_height_distance_ = declare_parameter("split_height_distance"); + + // grid mode parameters use_recheck_ground_cluster_ = declare_parameter("use_recheck_ground_cluster"); use_lowest_point_ = declare_parameter("use_lowest_point"); - radial_dividers_num_ = std::ceil(2.0 * M_PI / radial_divider_angle_rad_); - vehicle_info_ = VehicleInfoUtils(*this).getVehicleInfo(); + detection_range_z_max_ = declare_parameter("detection_range_z_max"); + low_priority_region_x_ = declare_parameter("low_priority_region_x"); + center_pcl_shift_ = declare_parameter("center_pcl_shift"); + non_ground_height_threshold_ = declare_parameter("non_ground_height_threshold"); - grid_mode_switch_grid_id_ = - grid_mode_switch_radius_ / grid_size_m_; // changing the mode of grid division + // grid parameters + grid_size_m_ = declare_parameter("grid_size_m"); + grid_mode_switch_radius_ = declare_parameter("grid_mode_switch_radius"); + gnd_grid_buffer_size_ = declare_parameter("gnd_grid_buffer_size"); virtual_lidar_z_ = vehicle_info_.vehicle_height_m; - grid_mode_switch_angle_rad_ = std::atan2(grid_mode_switch_radius_, virtual_lidar_z_); - grid_size_rad_ = - normalizeRadian(std::atan2(grid_mode_switch_radius_ + grid_size_m_, virtual_lidar_z_)) - - normalizeRadian(std::atan2(grid_mode_switch_radius_, virtual_lidar_z_)); - tan_grid_size_rad_ = std::tan(grid_size_rad_); - offset_initialized_ = false; + // initialize grid + grid_.initialize(grid_size_m_, grid_mode_switch_radius_, virtual_lidar_z_); + + // data access + data_offset_initialized_ = false; } using std::placeholders::_1; @@ -98,31 +106,32 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & } } -inline void ScanGroundFilterComponent::set_field_offsets(const PointCloud2ConstPtr & input) +inline void ScanGroundFilterComponent::set_field_index_offsets(const PointCloud2ConstPtr & input) { - x_offset_ = input->fields[pcl::getFieldIndex(*input, "x")].offset; - y_offset_ = input->fields[pcl::getFieldIndex(*input, "y")].offset; - z_offset_ = input->fields[pcl::getFieldIndex(*input, "z")].offset; + data_offset_x_ = input->fields[pcl::getFieldIndex(*input, "x")].offset; + data_offset_y_ = input->fields[pcl::getFieldIndex(*input, "y")].offset; + data_offset_z_ = input->fields[pcl::getFieldIndex(*input, "z")].offset; int intensity_index = pcl::getFieldIndex(*input, "intensity"); if (intensity_index != -1) { - intensity_offset_ = input->fields[intensity_index].offset; + data_offset_intensity_ = input->fields[intensity_index].offset; intensity_type_ = input->fields[intensity_index].datatype; } else { - intensity_offset_ = -1; + data_offset_intensity_ = -1; } - offset_initialized_ = true; + data_offset_initialized_ = true; } -inline void ScanGroundFilterComponent::get_point_from_global_offset( - const PointCloud2ConstPtr & input, pcl::PointXYZ & point, size_t global_offset) +inline void ScanGroundFilterComponent::get_point_from_data_index( + const PointCloud2ConstPtr & input, const size_t data_index, pcl::PointXYZ & point) const { - point.x = *reinterpret_cast(&input->data[global_offset + x_offset_]); - point.y = *reinterpret_cast(&input->data[global_offset + y_offset_]); - point.z = *reinterpret_cast(&input->data[global_offset + z_offset_]); + point.x = *reinterpret_cast(&input->data[data_index + data_offset_x_]); + point.y = *reinterpret_cast(&input->data[data_index + data_offset_y_]); + point.z = *reinterpret_cast(&input->data[data_index + data_offset_z_]); } void ScanGroundFilterComponent::convertPointcloudGridScan( - const PointCloud2ConstPtr & in_cloud, std::vector & out_radial_ordered_points) + const PointCloud2ConstPtr & in_cloud, + std::vector & out_radial_ordered_points) const { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); @@ -131,52 +140,41 @@ void ScanGroundFilterComponent::convertPointcloudGridScan( PointData current_point; const auto inv_radial_divider_angle_rad = 1.0f / radial_divider_angle_rad_; - const auto inv_grid_size_rad = 1.0f / grid_size_rad_; - const auto inv_grid_size_m = 1.0f / grid_size_m_; - - const auto grid_id_offset = - grid_mode_switch_grid_id_ - grid_mode_switch_angle_rad_ * inv_grid_size_rad; const auto x_shift = vehicle_info_.wheel_base_m / 2.0f + center_pcl_shift_; const size_t in_cloud_data_size = in_cloud->data.size(); const size_t in_cloud_point_step = in_cloud->point_step; - { // grouping pointcloud by its horizontal angle + { // grouping pointcloud by its azimuth angle std::unique_ptr inner_st_ptr; if (time_keeper_) - inner_st_ptr = std::make_unique("horizontal_angle_grouping", *time_keeper_); + inner_st_ptr = std::make_unique("azimuth_angle_grouping", *time_keeper_); size_t point_index = 0; pcl::PointXYZ input_point; - for (size_t global_offset = 0; global_offset + in_cloud_point_step <= in_cloud_data_size; - global_offset += in_cloud_point_step) { - get_point_from_global_offset(in_cloud, input_point, global_offset); + for (size_t data_index = 0; data_index + in_cloud_point_step <= in_cloud_data_size; + data_index += in_cloud_point_step) { + // Get Point + get_point_from_data_index(in_cloud, data_index, input_point); + // determine the azimuth angle group auto x{input_point.x - x_shift}; // base on front wheel center auto radius{static_cast(std::hypot(x, input_point.y))}; auto theta{normalizeRadian(std::atan2(x, input_point.y), 0.0)}; - - // divide by vertical angle auto radial_div{static_cast(std::floor(theta * inv_radial_divider_angle_rad))}; - uint16_t grid_id = 0; - if (radius <= grid_mode_switch_radius_) { - grid_id = static_cast(radius * inv_grid_size_m); - } else { - auto gamma{normalizeRadian(std::atan2(radius, virtual_lidar_z_), 0.0f)}; - grid_id = grid_id_offset + gamma * inv_grid_size_rad; - } - current_point.grid_id = grid_id; + current_point.radius = radius; current_point.point_state = PointLabel::INIT; current_point.orig_index = point_index; + current_point.grid_id = grid_.getGridId(radius); - // radial divisions + // store the point in the corresponding radial division out_radial_ordered_points[radial_div].emplace_back(current_point); ++point_index; } } - { // sorting pointcloud by distance, on each horizontal angle group + { // sorting pointcloud by distance, on each azimuth angle group std::unique_ptr inner_st_ptr; if (time_keeper_) inner_st_ptr = std::make_unique("sort", *time_keeper_); @@ -189,7 +187,8 @@ void ScanGroundFilterComponent::convertPointcloudGridScan( } void ScanGroundFilterComponent::convertPointcloud( - const PointCloud2ConstPtr & in_cloud, std::vector & out_radial_ordered_points) + const PointCloud2ConstPtr & in_cloud, + std::vector & out_radial_ordered_points) const { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); @@ -202,18 +201,19 @@ void ScanGroundFilterComponent::convertPointcloud( const size_t in_cloud_data_size = in_cloud->data.size(); const size_t in_cloud_point_step = in_cloud->point_step; - { // grouping pointcloud by its horizontal angle + { // grouping pointcloud by its azimuth angle std::unique_ptr inner_st_ptr; if (time_keeper_) - inner_st_ptr = std::make_unique("horizontal_angle_grouping", *time_keeper_); + inner_st_ptr = std::make_unique("azimuth_angle_grouping", *time_keeper_); size_t point_index = 0; pcl::PointXYZ input_point; - for (size_t global_offset = 0; global_offset + in_cloud_point_step <= in_cloud_data_size; - global_offset += in_cloud_point_step) { - // Point - get_point_from_global_offset(in_cloud, input_point, global_offset); + for (size_t data_index = 0; data_index + in_cloud_point_step <= in_cloud_data_size; + data_index += in_cloud_point_step) { + // Get Point + get_point_from_data_index(in_cloud, data_index, input_point); + // determine the azimuth angle group auto radius{static_cast(std::hypot(input_point.x, input_point.y))}; auto theta{normalizeRadian(std::atan2(input_point.x, input_point.y), 0.0)}; auto radial_div{static_cast(std::floor(theta * inv_radial_divider_angle_rad))}; @@ -222,13 +222,13 @@ void ScanGroundFilterComponent::convertPointcloud( current_point.point_state = PointLabel::INIT; current_point.orig_index = point_index; - // radial divisions + // store the point in the corresponding radial division out_radial_ordered_points[radial_div].emplace_back(current_point); ++point_index; } } - { // sorting pointcloud by distance, on each horizontal angle group + { // sorting pointcloud by distance, on each azimuth angle group std::unique_ptr inner_st_ptr; if (time_keeper_) inner_st_ptr = std::make_unique("sort", *time_keeper_); @@ -240,30 +240,15 @@ void ScanGroundFilterComponent::convertPointcloud( } } -void ScanGroundFilterComponent::calcVirtualGroundOrigin(pcl::PointXYZ & point) +void ScanGroundFilterComponent::calcVirtualGroundOrigin(pcl::PointXYZ & point) const { point.x = vehicle_info_.wheel_base_m; point.y = 0; point.z = 0; } -inline float ScanGroundFilterComponent::calcGridSize(const PointData & p) -{ - float grid_size = grid_size_m_; - uint16_t back_steps_num = 1; - - if ( - p.radius > grid_mode_switch_radius_ && p.grid_id > grid_mode_switch_grid_id_ + back_steps_num) { - // equivalent to grid_size = (std::tan(gamma) - std::tan(gamma - grid_size_rad_)) * - // virtual_lidar_z_ when gamma = normalizeRadian(std::atan2(radius, virtual_lidar_z_), 0.0f) - grid_size = p.radius - (p.radius - tan_grid_size_rad_ * virtual_lidar_z_) / - (1 + p.radius * tan_grid_size_rad_ / virtual_lidar_z_); - } - return grid_size; -} - void ScanGroundFilterComponent::initializeFirstGndGrids( - const float h, const float r, const uint16_t id, std::vector & gnd_grids) + const float h, const float r, const uint16_t id, std::vector & gnd_grids) const { GridCenter curr_gnd_grid; for (int ind_grid = id - 1 - gnd_grid_buffer_size_; ind_grid < id - 1; ++ind_grid) { @@ -282,7 +267,8 @@ void ScanGroundFilterComponent::initializeFirstGndGrids( } void ScanGroundFilterComponent::checkContinuousGndGrid( - PointData & p, const pcl::PointXYZ & p_orig_point, const std::vector & gnd_grids_list) + PointData & pd, const pcl::PointXYZ & point_curr, + const std::vector & gnd_grids_list) const { float next_gnd_z = 0.0f; float curr_gnd_slope_ratio = 0.0f; @@ -307,56 +293,58 @@ void ScanGroundFilterComponent::checkContinuousGndGrid( curr_gnd_slope_ratio = curr_gnd_slope_ratio > global_slope_max_ratio_ ? global_slope_max_ratio_ : curr_gnd_slope_ratio; - next_gnd_z = curr_gnd_slope_ratio * (p.radius - gnd_buff_radius) + gnd_buff_z_mean; + next_gnd_z = curr_gnd_slope_ratio * (pd.radius - gnd_buff_radius) + gnd_buff_z_mean; - float gnd_z_local_thresh = std::tan(DEG2RAD(5.0)) * (p.radius - gnd_grids_list.back().radius); + float gnd_z_local_thresh = std::tan(DEG2RAD(5.0)) * (pd.radius - gnd_grids_list.back().radius); - tmp_delta_mean_z = p_orig_point.z - (gnd_grids_list.end() - 2)->avg_height; - tmp_delta_radius = p.radius - (gnd_grids_list.end() - 2)->radius; + tmp_delta_mean_z = point_curr.z - (gnd_grids_list.end() - 2)->avg_height; + tmp_delta_radius = pd.radius - (gnd_grids_list.end() - 2)->radius; float local_slope_ratio = tmp_delta_mean_z / tmp_delta_radius; if ( - abs(p_orig_point.z - next_gnd_z) <= non_ground_height_threshold_ + gnd_z_local_thresh || + abs(point_curr.z - next_gnd_z) <= non_ground_height_threshold_ + gnd_z_local_thresh || abs(local_slope_ratio) <= local_slope_max_ratio_) { - p.point_state = PointLabel::GROUND; - } else if (p_orig_point.z - next_gnd_z > non_ground_height_threshold_ + gnd_z_local_thresh) { - p.point_state = PointLabel::NON_GROUND; + pd.point_state = PointLabel::GROUND; + } else if (point_curr.z - next_gnd_z > non_ground_height_threshold_ + gnd_z_local_thresh) { + pd.point_state = PointLabel::NON_GROUND; } } void ScanGroundFilterComponent::checkDiscontinuousGndGrid( - PointData & p, const pcl::PointXYZ & p_orig_point, const std::vector & gnd_grids_list) + PointData & pd, const pcl::PointXYZ & point_curr, + const std::vector & gnd_grids_list) const { - float tmp_delta_max_z = p_orig_point.z - gnd_grids_list.back().max_height; - float tmp_delta_avg_z = p_orig_point.z - gnd_grids_list.back().avg_height; - float tmp_delta_radius = p.radius - gnd_grids_list.back().radius; + float tmp_delta_max_z = point_curr.z - gnd_grids_list.back().max_height; + float tmp_delta_avg_z = point_curr.z - gnd_grids_list.back().avg_height; + float tmp_delta_radius = pd.radius - gnd_grids_list.back().radius; float local_slope_ratio = tmp_delta_avg_z / tmp_delta_radius; if ( abs(local_slope_ratio) < local_slope_max_ratio_ || abs(tmp_delta_avg_z) < non_ground_height_threshold_ || abs(tmp_delta_max_z) < non_ground_height_threshold_) { - p.point_state = PointLabel::GROUND; + pd.point_state = PointLabel::GROUND; } else if (local_slope_ratio > global_slope_max_ratio_) { - p.point_state = PointLabel::NON_GROUND; + pd.point_state = PointLabel::NON_GROUND; } } void ScanGroundFilterComponent::checkBreakGndGrid( - PointData & p, const pcl::PointXYZ & p_orig_point, const std::vector & gnd_grids_list) + PointData & pd, const pcl::PointXYZ & point_curr, + const std::vector & gnd_grids_list) const { - float tmp_delta_avg_z = p_orig_point.z - gnd_grids_list.back().avg_height; - float tmp_delta_radius = p.radius - gnd_grids_list.back().radius; + float tmp_delta_avg_z = point_curr.z - gnd_grids_list.back().avg_height; + float tmp_delta_radius = pd.radius - gnd_grids_list.back().radius; float local_slope_ratio = tmp_delta_avg_z / tmp_delta_radius; if (abs(local_slope_ratio) < global_slope_max_ratio_) { - p.point_state = PointLabel::GROUND; + pd.point_state = PointLabel::GROUND; } else if (local_slope_ratio > global_slope_max_ratio_) { - p.point_state = PointLabel::NON_GROUND; + pd.point_state = PointLabel::NON_GROUND; } } void ScanGroundFilterComponent::recheckGroundCluster( - PointsCentroid & gnd_cluster, const float non_ground_threshold, const bool use_lowest_point, - pcl::PointIndices & non_ground_indices) + const PointsCentroid & gnd_cluster, const float non_ground_threshold, const bool use_lowest_point, + pcl::PointIndices & non_ground_indices) const { float reference_height = use_lowest_point ? gnd_cluster.getMinHeight() : gnd_cluster.getAverageHeight(); @@ -370,131 +358,157 @@ void ScanGroundFilterComponent::recheckGroundCluster( } void ScanGroundFilterComponent::classifyPointCloudGridScan( - const PointCloud2ConstPtr & in_cloud, std::vector & in_radial_ordered_clouds, - pcl::PointIndices & out_no_ground_indices) + const PointCloud2ConstPtr & in_cloud, + const std::vector & in_radial_ordered_clouds, + pcl::PointIndices & out_no_ground_indices) const { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); out_no_ground_indices.indices.clear(); + + // run the classification algorithm for each ray (azimuth division) for (size_t i = 0; i < in_radial_ordered_clouds.size(); ++i) { - PointsCentroid ground_cluster; - ground_cluster.initialize(); + PointsCentroid centroid_bin; + centroid_bin.initialize(); std::vector gnd_grids; - GridCenter curr_gnd_grid; // check empty ray if (in_radial_ordered_clouds[i].size() == 0) { continue; } - // check the first point in ray - auto * p = &in_radial_ordered_clouds[i][0]; - bool initialized_first_gnd_grid = false; bool prev_list_init = false; - pcl::PointXYZ p_orig_point, prev_p_orig_point; - for (auto & point : in_radial_ordered_clouds[i]) { - auto * prev_p = p; // for checking the distance to prev point - prev_p_orig_point = p_orig_point; - p = &point; - get_point_from_global_offset(in_cloud, p_orig_point, in_cloud->point_step * p->orig_index); - float global_slope_ratio_p = p_orig_point.z / p->radius; + + PointData pd_curr, pd_prev; + pcl::PointXYZ point_curr, point_prev; + + // initialize the previous point + pd_curr = in_radial_ordered_clouds[i][0]; + + // iterate over the points in the ray + for (const auto & point : in_radial_ordered_clouds[i]) { + // set the previous point + point_prev = point_curr; + pd_prev = pd_curr; + + // set the current point + pd_curr = point; + const size_t data_index = in_cloud->point_step * pd_curr.orig_index; + get_point_from_data_index(in_cloud, data_index, point_curr); + + // set the thresholds + const float global_slope_ratio_p = point_curr.z / pd_curr.radius; float non_ground_height_threshold_local = non_ground_height_threshold_; - if (p_orig_point.x < low_priority_region_x_) { + if (point_curr.x < low_priority_region_x_) { non_ground_height_threshold_local = - non_ground_height_threshold_ * abs(p_orig_point.x / low_priority_region_x_); - } - // classify first grid's point cloud - if ( - !initialized_first_gnd_grid && global_slope_ratio_p >= global_slope_max_ratio_ && - p_orig_point.z > non_ground_height_threshold_local) { - out_no_ground_indices.indices.push_back(p->orig_index); - p->point_state = PointLabel::NON_GROUND; - continue; - } - - if ( - !initialized_first_gnd_grid && abs(global_slope_ratio_p) < global_slope_max_ratio_ && - abs(p_orig_point.z) < non_ground_height_threshold_local) { - ground_cluster.addPoint(p->radius, p_orig_point.z, p->orig_index); - p->point_state = PointLabel::GROUND; - initialized_first_gnd_grid = static_cast(p->grid_id - prev_p->grid_id); - continue; + non_ground_height_threshold_ * abs(point_curr.x / low_priority_region_x_); } if (!initialized_first_gnd_grid) { + // classify first grid's point cloud + if ( + global_slope_ratio_p >= global_slope_max_ratio_ && + point_curr.z > non_ground_height_threshold_local) { + out_no_ground_indices.indices.push_back(pd_curr.orig_index); + pd_curr.point_state = PointLabel::NON_GROUND; + } else if ( + abs(global_slope_ratio_p) < global_slope_max_ratio_ && + abs(point_curr.z) < non_ground_height_threshold_local) { + centroid_bin.addPoint(pd_curr.radius, point_curr.z, pd_curr.orig_index); + pd_curr.point_state = PointLabel::GROUND; + // if the gird id is not the initial grid_id, then the first gnd grid is initialized + initialized_first_gnd_grid = static_cast(pd_curr.grid_id - pd_prev.grid_id); + } + // else, the point is not classified continue; } - // initialize lists of previous gnd grids + // initialize gnd_grids based on the initial centroid_bin if (!prev_list_init) { - float h = ground_cluster.getAverageHeight(); - float r = ground_cluster.getAverageRadius(); - initializeFirstGndGrids(h, r, p->grid_id, gnd_grids); + float h = centroid_bin.getAverageHeight(); + float r = centroid_bin.getAverageRadius(); + initializeFirstGndGrids(h, r, pd_curr.grid_id, gnd_grids); prev_list_init = true; } - // move to new grid - if (p->grid_id > prev_p->grid_id && ground_cluster.getAverageRadius() > 0.0) { + // finalize the current centroid_bin and update the gnd_grids + if (pd_curr.grid_id > pd_prev.grid_id && centroid_bin.getAverageRadius() > 0.0) { // check if the prev grid have ground point cloud if (use_recheck_ground_cluster_) { recheckGroundCluster( - ground_cluster, non_ground_height_threshold_, use_lowest_point_, out_no_ground_indices); + centroid_bin, non_ground_height_threshold_, use_lowest_point_, out_no_ground_indices); + // centroid_bin is not modified. should be rechecked by out_no_ground_indices? } - curr_gnd_grid.radius = ground_cluster.getAverageRadius(); - curr_gnd_grid.avg_height = ground_cluster.getAverageHeight(); - curr_gnd_grid.max_height = ground_cluster.getMaxHeight(); - curr_gnd_grid.grid_id = prev_p->grid_id; + // convert the centroid_bin to grid-center and add it to the gnd_grids + GridCenter curr_gnd_grid; + curr_gnd_grid.radius = centroid_bin.getAverageRadius(); + curr_gnd_grid.avg_height = centroid_bin.getAverageHeight(); + curr_gnd_grid.max_height = centroid_bin.getMaxHeight(); + curr_gnd_grid.grid_id = pd_prev.grid_id; gnd_grids.push_back(curr_gnd_grid); - ground_cluster.initialize(); + // clear the centroid_bin + centroid_bin.initialize(); } - // classify - if (p_orig_point.z - gnd_grids.back().avg_height > detection_range_z_max_) { - p->point_state = PointLabel::OUT_OF_RANGE; + + // 1: height is out-of-range + if (point_curr.z - gnd_grids.back().avg_height > detection_range_z_max_) { + pd_curr.point_state = PointLabel::OUT_OF_RANGE; continue; } + + // 2: continuously non-ground float points_xy_distance_square = - (p_orig_point.x - prev_p_orig_point.x) * (p_orig_point.x - prev_p_orig_point.x) + - (p_orig_point.y - prev_p_orig_point.y) * (p_orig_point.y - prev_p_orig_point.y); + (point_curr.x - point_prev.x) * (point_curr.x - point_prev.x) + + (point_curr.y - point_prev.y) * (point_curr.y - point_prev.y); if ( - prev_p->point_state == PointLabel::NON_GROUND && + pd_prev.point_state == PointLabel::NON_GROUND && points_xy_distance_square < split_points_distance_tolerance_square_ && - p_orig_point.z > prev_p_orig_point.z) { - p->point_state = PointLabel::NON_GROUND; - out_no_ground_indices.indices.push_back(p->orig_index); + point_curr.z > point_prev.z) { + pd_curr.point_state = PointLabel::NON_GROUND; + out_no_ground_indices.indices.push_back(pd_curr.orig_index); continue; } + + // 3: the angle is exceed the global slope threshold if (global_slope_ratio_p > global_slope_max_ratio_) { - out_no_ground_indices.indices.push_back(p->orig_index); + out_no_ground_indices.indices.push_back(pd_curr.orig_index); continue; } - // gnd grid is continuous, the last gnd grid is close + uint16_t next_gnd_grid_id_thresh = (gnd_grids.end() - gnd_grid_buffer_size_)->grid_id + gnd_grid_buffer_size_ + gnd_grid_continual_thresh_; - float curr_grid_size = calcGridSize(*p); + float curr_grid_size = grid_.getGridSize(pd_curr.radius, pd_curr.grid_id); if ( - p->grid_id < next_gnd_grid_id_thresh && - p->radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * curr_grid_size) { - checkContinuousGndGrid(*p, p_orig_point, gnd_grids); + // 4: the point is continuous with the previous grid + pd_curr.grid_id < next_gnd_grid_id_thresh && + pd_curr.radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * curr_grid_size) { + checkContinuousGndGrid(pd_curr, point_curr, gnd_grids); } else if ( - p->radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * curr_grid_size) { - checkDiscontinuousGndGrid(*p, p_orig_point, gnd_grids); + // 5: the point is discontinuous with the previous grid + pd_curr.radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * curr_grid_size) { + checkDiscontinuousGndGrid(pd_curr, point_curr, gnd_grids); } else { - checkBreakGndGrid(*p, p_orig_point, gnd_grids); + // 6: the point is break the previous grid + checkBreakGndGrid(pd_curr, point_curr, gnd_grids); } - if (p->point_state == PointLabel::NON_GROUND) { - out_no_ground_indices.indices.push_back(p->orig_index); - } else if (p->point_state == PointLabel::GROUND) { - ground_cluster.addPoint(p->radius, p_orig_point.z, p->orig_index); + + // update the point label and update the ground cluster + if (pd_curr.point_state == PointLabel::NON_GROUND) { + out_no_ground_indices.indices.push_back(pd_curr.orig_index); + } else if (pd_curr.point_state == PointLabel::GROUND) { + centroid_bin.addPoint(pd_curr.radius, point_curr.z, pd_curr.orig_index); } + // else, the point is not classified } } } void ScanGroundFilterComponent::classifyPointCloud( - const PointCloud2ConstPtr & in_cloud, std::vector & in_radial_ordered_clouds, - pcl::PointIndices & out_no_ground_indices) + const PointCloud2ConstPtr & in_cloud, + const std::vector & in_radial_ordered_clouds, + pcl::PointIndices & out_no_ground_indices) const { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); @@ -505,24 +519,32 @@ void ScanGroundFilterComponent::classifyPointCloud( pcl::PointXYZ virtual_ground_point(0, 0, 0); calcVirtualGroundOrigin(virtual_ground_point); - // point classification algorithm - // sweep through each radial division + // run the classification algorithm for each ray (azimuth division) for (size_t i = 0; i < in_radial_ordered_clouds.size(); ++i) { float prev_gnd_radius = 0.0f; float prev_gnd_slope = 0.0f; PointsCentroid ground_cluster, non_ground_cluster; - PointLabel prev_point_label = PointLabel::INIT; - pcl::PointXYZ prev_gnd_point(0, 0, 0), p_orig_point, prev_p_orig_point; + PointLabel point_label_curr = PointLabel::INIT; + + pcl::PointXYZ prev_gnd_point(0, 0, 0), point_curr, point_prev; - // loop through each point in the radial div + // iterate over the points in the ray for (size_t j = 0; j < in_radial_ordered_clouds[i].size(); ++j) { float points_distance = 0.0f; const float local_slope_max_angle = local_slope_max_angle_rad_; - prev_p_orig_point = p_orig_point; - auto * p = &in_radial_ordered_clouds[i][j]; - get_point_from_global_offset(in_cloud, p_orig_point, in_cloud->point_step * p->orig_index); + + // set the previous point + point_prev = point_curr; + PointLabel point_label_prev = point_label_curr; + + // set the current point + const PointData & pd = in_radial_ordered_clouds[i][j]; + point_label_curr = pd.point_state; + + const size_t data_index = in_cloud->point_step * pd.orig_index; + get_point_from_data_index(in_cloud, data_index, point_curr); if (j == 0) { - bool is_front_side = (p_orig_point.x > virtual_ground_point.x); + bool is_front_side = (point_curr.x > virtual_ground_point.x); if (use_virtual_ground_point_ && is_front_side) { prev_gnd_point = virtual_ground_point; } else { @@ -532,78 +554,78 @@ void ScanGroundFilterComponent::classifyPointCloud( prev_gnd_slope = 0.0f; ground_cluster.initialize(); non_ground_cluster.initialize(); - points_distance = calcDistance3d(p_orig_point, prev_gnd_point); + points_distance = calcDistance3d(point_curr, prev_gnd_point); } else { - points_distance = calcDistance3d(p_orig_point, prev_p_orig_point); + points_distance = calcDistance3d(point_curr, point_prev); } - float radius_distance_from_gnd = p->radius - prev_gnd_radius; - float height_from_gnd = p_orig_point.z - prev_gnd_point.z; - float height_from_obj = p_orig_point.z - non_ground_cluster.getAverageHeight(); + float radius_distance_from_gnd = pd.radius - prev_gnd_radius; + float height_from_gnd = point_curr.z - prev_gnd_point.z; + float height_from_obj = point_curr.z - non_ground_cluster.getAverageHeight(); bool calculate_slope = false; bool is_point_close_to_prev = (points_distance < - (p->radius * radial_divider_angle_rad_ + split_points_distance_tolerance_)); + (pd.radius * radial_divider_angle_rad_ + split_points_distance_tolerance_)); - float global_slope_ratio = p_orig_point.z / p->radius; + float global_slope_ratio = point_curr.z / pd.radius; // check points which is far enough from previous point if (global_slope_ratio > global_slope_max_ratio_) { - p->point_state = PointLabel::NON_GROUND; + point_label_curr = PointLabel::NON_GROUND; calculate_slope = false; } else if ( - (prev_point_label == PointLabel::NON_GROUND) && + (point_label_prev == PointLabel::NON_GROUND) && (std::abs(height_from_obj) >= split_height_distance_)) { calculate_slope = true; } else if (is_point_close_to_prev && std::abs(height_from_gnd) < split_height_distance_) { // close to the previous point, set point follow label - p->point_state = PointLabel::POINT_FOLLOW; + point_label_curr = PointLabel::POINT_FOLLOW; calculate_slope = false; } else { calculate_slope = true; } if (is_point_close_to_prev) { - height_from_gnd = p_orig_point.z - ground_cluster.getAverageHeight(); - radius_distance_from_gnd = p->radius - ground_cluster.getAverageRadius(); + height_from_gnd = point_curr.z - ground_cluster.getAverageHeight(); + radius_distance_from_gnd = pd.radius - ground_cluster.getAverageRadius(); } if (calculate_slope) { // far from the previous point auto local_slope = std::atan2(height_from_gnd, radius_distance_from_gnd); if (local_slope - prev_gnd_slope > local_slope_max_angle) { // the point is outside of the local slope threshold - p->point_state = PointLabel::NON_GROUND; + point_label_curr = PointLabel::NON_GROUND; } else { - p->point_state = PointLabel::GROUND; + point_label_curr = PointLabel::GROUND; } } - if (p->point_state == PointLabel::GROUND) { + if (point_label_curr == PointLabel::GROUND) { ground_cluster.initialize(); non_ground_cluster.initialize(); } - if (p->point_state == PointLabel::NON_GROUND) { - out_no_ground_indices.indices.push_back(p->orig_index); + if (point_label_curr == PointLabel::NON_GROUND) { + out_no_ground_indices.indices.push_back(pd.orig_index); } else if ( // NOLINT - (prev_point_label == PointLabel::NON_GROUND) && - (p->point_state == PointLabel::POINT_FOLLOW)) { - p->point_state = PointLabel::NON_GROUND; - out_no_ground_indices.indices.push_back(p->orig_index); + (point_label_prev == PointLabel::NON_GROUND) && + (point_label_curr == PointLabel::POINT_FOLLOW)) { + point_label_curr = PointLabel::NON_GROUND; + out_no_ground_indices.indices.push_back(pd.orig_index); } else if ( // NOLINT - (prev_point_label == PointLabel::GROUND) && (p->point_state == PointLabel::POINT_FOLLOW)) { - p->point_state = PointLabel::GROUND; + (point_label_prev == PointLabel::GROUND) && + (point_label_curr == PointLabel::POINT_FOLLOW)) { + point_label_curr = PointLabel::GROUND; } else { } // update the ground state - prev_point_label = p->point_state; - if (p->point_state == PointLabel::GROUND) { - prev_gnd_radius = p->radius; - prev_gnd_point = pcl::PointXYZ(p_orig_point.x, p_orig_point.y, p_orig_point.z); - ground_cluster.addPoint(p->radius, p_orig_point.z); + if (point_label_curr == PointLabel::GROUND) { + prev_gnd_radius = pd.radius; + prev_gnd_point = pcl::PointXYZ(point_curr.x, point_curr.y, point_curr.z); + ground_cluster.addPoint(pd.radius, point_curr.z); prev_gnd_slope = ground_cluster.getAverageSlope(); } // update the non ground state - if (p->point_state == PointLabel::NON_GROUND) { - non_ground_cluster.addPoint(p->radius, p_orig_point.z); + if (point_label_curr == PointLabel::NON_GROUND) { + non_ground_cluster.addPoint(pd.radius, point_curr.z); } } } @@ -611,7 +633,7 @@ void ScanGroundFilterComponent::classifyPointCloud( void ScanGroundFilterComponent::extractObjectPoints( const PointCloud2ConstPtr & in_cloud_ptr, const pcl::PointIndices & in_indices, - PointCloud2 & out_object_cloud) + PointCloud2 & out_object_cloud) const { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); @@ -637,8 +659,8 @@ void ScanGroundFilterComponent::faster_filter( std::scoped_lock lock(mutex_); stop_watch_ptr_->toc("processing_time", true); - if (!offset_initialized_) { - set_field_offsets(input); + if (!data_offset_initialized_) { + set_field_index_offsets(input); } std::vector radial_ordered_points; @@ -684,37 +706,16 @@ void ScanGroundFilterComponent::filter( } rcl_interfaces::msg::SetParametersResult ScanGroundFilterComponent::onParameter( - const std::vector & p) + const std::vector & param) { - if (get_param(p, "grid_size_m", grid_size_m_)) { - grid_mode_switch_grid_id_ = grid_mode_switch_radius_ / grid_size_m_; - grid_size_rad_ = - normalizeRadian(std::atan2(grid_mode_switch_radius_ + grid_size_m_, virtual_lidar_z_)) - - normalizeRadian(std::atan2(grid_mode_switch_radius_, virtual_lidar_z_)); - tan_grid_size_rad_ = std::tan(grid_size_rad_); - RCLCPP_DEBUG(get_logger(), "Setting grid_size_m to: %f.", grid_size_m_); - RCLCPP_DEBUG( - get_logger(), "Setting grid_mode_switch_grid_id to: %f.", grid_mode_switch_grid_id_); - RCLCPP_DEBUG(get_logger(), "Setting grid_size_rad to: %f.", grid_size_rad_); - RCLCPP_DEBUG(get_logger(), "Setting tan_grid_size_rad to: %f.", tan_grid_size_rad_); + if (get_param(param, "grid_size_m", grid_size_m_)) { + grid_.initialize(grid_size_m_, grid_mode_switch_radius_, virtual_lidar_z_); } - if (get_param(p, "grid_mode_switch_radius", grid_mode_switch_radius_)) { - grid_mode_switch_grid_id_ = grid_mode_switch_radius_ / grid_size_m_; - grid_mode_switch_angle_rad_ = std::atan2(grid_mode_switch_radius_, virtual_lidar_z_); - grid_size_rad_ = - normalizeRadian(std::atan2(grid_mode_switch_radius_ + grid_size_m_, virtual_lidar_z_)) - - normalizeRadian(std::atan2(grid_mode_switch_radius_, virtual_lidar_z_)); - tan_grid_size_rad_ = std::tan(grid_size_rad_); - RCLCPP_DEBUG(get_logger(), "Setting grid_mode_switch_radius to: %f.", grid_mode_switch_radius_); - RCLCPP_DEBUG( - get_logger(), "Setting grid_mode_switch_grid_id to: %f.", grid_mode_switch_grid_id_); - RCLCPP_DEBUG( - get_logger(), "Setting grid_mode_switch_angle_rad to: %f.", grid_mode_switch_angle_rad_); - RCLCPP_DEBUG(get_logger(), "Setting grid_size_rad to: %f.", grid_size_rad_); - RCLCPP_DEBUG(get_logger(), "Setting tan_grid_size_rad to: %f.", tan_grid_size_rad_); + if (get_param(param, "grid_mode_switch_radius", grid_mode_switch_radius_)) { + grid_.initialize(grid_size_m_, grid_mode_switch_radius_, virtual_lidar_z_); } double global_slope_max_angle_deg{get_parameter("global_slope_max_angle_deg").as_double()}; - if (get_param(p, "global_slope_max_angle_deg", global_slope_max_angle_deg)) { + if (get_param(param, "global_slope_max_angle_deg", global_slope_max_angle_deg)) { global_slope_max_angle_rad_ = deg2rad(global_slope_max_angle_deg); global_slope_max_ratio_ = std::tan(global_slope_max_angle_rad_); RCLCPP_DEBUG( @@ -722,7 +723,7 @@ rcl_interfaces::msg::SetParametersResult ScanGroundFilterComponent::onParameter( RCLCPP_DEBUG(get_logger(), "Setting global_slope_max_ratio to: %f.", global_slope_max_ratio_); } double local_slope_max_angle_deg{get_parameter("local_slope_max_angle_deg").as_double()}; - if (get_param(p, "local_slope_max_angle_deg", local_slope_max_angle_deg)) { + if (get_param(param, "local_slope_max_angle_deg", local_slope_max_angle_deg)) { local_slope_max_angle_rad_ = deg2rad(local_slope_max_angle_deg); local_slope_max_ratio_ = std::tan(local_slope_max_angle_rad_); RCLCPP_DEBUG( @@ -730,14 +731,14 @@ rcl_interfaces::msg::SetParametersResult ScanGroundFilterComponent::onParameter( RCLCPP_DEBUG(get_logger(), "Setting local_slope_max_ratio to: %f.", local_slope_max_ratio_); } double radial_divider_angle_deg{get_parameter("radial_divider_angle_deg").as_double()}; - if (get_param(p, "radial_divider_angle_deg", radial_divider_angle_deg)) { + if (get_param(param, "radial_divider_angle_deg", radial_divider_angle_deg)) { radial_divider_angle_rad_ = deg2rad(radial_divider_angle_deg); radial_dividers_num_ = std::ceil(2.0 * M_PI / radial_divider_angle_rad_); RCLCPP_DEBUG( get_logger(), "Setting radial_divider_angle_rad to: %f.", radial_divider_angle_rad_); RCLCPP_DEBUG(get_logger(), "Setting radial_dividers_num to: %zu.", radial_dividers_num_); } - if (get_param(p, "split_points_distance_tolerance", split_points_distance_tolerance_)) { + if (get_param(param, "split_points_distance_tolerance", split_points_distance_tolerance_)) { split_points_distance_tolerance_square_ = split_points_distance_tolerance_ * split_points_distance_tolerance_; RCLCPP_DEBUG( @@ -747,15 +748,15 @@ rcl_interfaces::msg::SetParametersResult ScanGroundFilterComponent::onParameter( get_logger(), "Setting split_points_distance_tolerance_square to: %f.", split_points_distance_tolerance_square_); } - if (get_param(p, "split_height_distance", split_height_distance_)) { + if (get_param(param, "split_height_distance", split_height_distance_)) { RCLCPP_DEBUG(get_logger(), "Setting split_height_distance to: %f.", split_height_distance_); } - if (get_param(p, "use_virtual_ground_point", use_virtual_ground_point_)) { + if (get_param(param, "use_virtual_ground_point", use_virtual_ground_point_)) { RCLCPP_DEBUG_STREAM( get_logger(), "Setting use_virtual_ground_point to: " << std::boolalpha << use_virtual_ground_point_); } - if (get_param(p, "use_recheck_ground_cluster", use_recheck_ground_cluster_)) { + if (get_param(param, "use_recheck_ground_cluster", use_recheck_ground_cluster_)) { RCLCPP_DEBUG_STREAM( get_logger(), "Setting use_recheck_ground_cluster to: " << std::boolalpha << use_recheck_ground_cluster_); diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp index 12590afd5fb86..bccef138e754e 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp @@ -19,6 +19,7 @@ #include "autoware/pointcloud_preprocessor/transform_info.hpp" #include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware_vehicle_info_utils/vehicle_info.hpp" +#include "grid.hpp" #include @@ -134,7 +135,7 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt addPoint(radius, height); } - float getAverageSlope() { return std::atan2(height_avg, radius_avg); } + float getAverageSlope() const { return std::atan2(height_avg, radius_avg); } float getAverageHeight() const { return height_avg; } @@ -144,8 +145,8 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt float getMinHeight() const { return height_min; } - pcl::PointIndices & getIndicesRef() { return pcl_indices; } - std::vector & getHeightListRef() { return height_list; } + const pcl::PointIndices & getIndicesRef() const { return pcl_indices; } + const std::vector & getHeightListRef() const { return height_list; } }; void filter( @@ -160,47 +161,56 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt tf2_ros::Buffer tf_buffer_{get_clock()}; tf2_ros::TransformListener tf_listener_{tf_buffer_}; - int x_offset_; - int y_offset_; - int z_offset_; - int intensity_offset_; + int data_offset_x_; + int data_offset_y_; + int data_offset_z_; + int data_offset_intensity_; int intensity_type_; - bool offset_initialized_; - - void set_field_offsets(const PointCloud2ConstPtr & input); - - void get_point_from_global_offset( - const PointCloud2ConstPtr & input, pcl::PointXYZ & point, size_t global_offset); + bool data_offset_initialized_; const uint16_t gnd_grid_continual_thresh_ = 3; bool elevation_grid_mode_; float non_ground_height_threshold_; - float grid_size_rad_; - float tan_grid_size_rad_; - float grid_size_m_; float low_priority_region_x_; - uint16_t gnd_grid_buffer_size_; - float grid_mode_switch_grid_id_; - float grid_mode_switch_angle_rad_; - float virtual_lidar_z_; - float detection_range_z_max_; - float center_pcl_shift_; // virtual center of pcl to center mass - float grid_mode_switch_radius_; // non linear grid size switching distance + float center_pcl_shift_; // virtual center of pcl to center mass + + // common parameters + double radial_divider_angle_rad_; // distance in rads between dividers + size_t radial_dividers_num_; + VehicleInfo vehicle_info_; + + // common thresholds double global_slope_max_angle_rad_; // radians double local_slope_max_angle_rad_; // radians double global_slope_max_ratio_; double local_slope_max_ratio_; - double radial_divider_angle_rad_; // distance in rads between dividers double split_points_distance_tolerance_; // distance in meters between concentric divisions double split_points_distance_tolerance_square_; + + // non-grid mode parameters + bool use_virtual_ground_point_; double // minimum height threshold regardless the slope, split_height_distance_; // useful for close points - bool use_virtual_ground_point_; + + // grid mode parameters bool use_recheck_ground_cluster_; // to enable recheck ground cluster bool use_lowest_point_; // to select lowest point for reference in recheck ground cluster, // otherwise select middle point - size_t radial_dividers_num_; - VehicleInfo vehicle_info_; + float detection_range_z_max_; + + // grid parameters + float grid_size_m_; + float grid_mode_switch_radius_; // non linear grid size switching distance + uint16_t gnd_grid_buffer_size_; + float virtual_lidar_z_; + + // grid data + ScanGroundGrid grid_; + + // data access methods + void set_field_index_offsets(const PointCloud2ConstPtr & input); + void get_point_from_data_index( + const PointCloud2ConstPtr & input, const size_t data_index, pcl::PointXYZ & point) const; // time keeper related rclcpp::Publisher::SharedPtr @@ -224,17 +234,15 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt */ void convertPointcloud( const PointCloud2ConstPtr & in_cloud, - std::vector & out_radial_ordered_points); + std::vector & out_radial_ordered_points) const; void convertPointcloudGridScan( const PointCloud2ConstPtr & in_cloud, - std::vector & out_radial_ordered_points); + std::vector & out_radial_ordered_points) const; /*! * Output ground center of front wheels as the virtual ground point * @param[out] point Virtual ground origin point */ - void calcVirtualGroundOrigin(pcl::PointXYZ & point); - - float calcGridSize(const PointData & p); + void calcVirtualGroundOrigin(pcl::PointXYZ & point) const; /*! * Classifies Points in the PointCloud as Ground and Not Ground @@ -245,23 +253,25 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt */ void initializeFirstGndGrids( - const float h, const float r, const uint16_t id, std::vector & gnd_grids); + const float h, const float r, const uint16_t id, std::vector & gnd_grids) const; void checkContinuousGndGrid( - PointData & p, const pcl::PointXYZ & p_orig_point, - const std::vector & gnd_grids_list); + PointData & pd, const pcl::PointXYZ & point_curr, + const std::vector & gnd_grids_list) const; void checkDiscontinuousGndGrid( - PointData & p, const pcl::PointXYZ & p_orig_point, - const std::vector & gnd_grids_list); + PointData & pd, const pcl::PointXYZ & point_curr, + const std::vector & gnd_grids_list) const; void checkBreakGndGrid( - PointData & p, const pcl::PointXYZ & p_orig_point, - const std::vector & gnd_grids_list); + PointData & pd, const pcl::PointXYZ & point_curr, + const std::vector & gnd_grids_list) const; void classifyPointCloud( - const PointCloud2ConstPtr & in_cloud, std::vector & in_radial_ordered_clouds, - pcl::PointIndices & out_no_ground_indices); + const PointCloud2ConstPtr & in_cloud, + const std::vector & in_radial_ordered_clouds, + pcl::PointIndices & out_no_ground_indices) const; void classifyPointCloudGridScan( - const PointCloud2ConstPtr & in_cloud, std::vector & in_radial_ordered_clouds, - pcl::PointIndices & out_no_ground_indices); + const PointCloud2ConstPtr & in_cloud, + const std::vector & in_radial_ordered_clouds, + pcl::PointIndices & out_no_ground_indices) const; /*! * Re-classifies point of ground cluster based on their height * @param gnd_cluster Input ground cluster for re-checking @@ -269,8 +279,8 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt * @param non_ground_indices Output non-ground PointCloud indices */ void recheckGroundCluster( - PointsCentroid & gnd_cluster, const float non_ground_threshold, const bool use_lowest_point, - pcl::PointIndices & non_ground_indices); + const PointsCentroid & gnd_cluster, const float non_ground_threshold, + const bool use_lowest_point, pcl::PointIndices & non_ground_indices) const; /*! * Returns the resulting complementary PointCloud, one with the points kept * and the other removed as indicated in the indices @@ -280,13 +290,14 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt */ void extractObjectPoints( const PointCloud2ConstPtr & in_cloud_ptr, const pcl::PointIndices & in_indices, - PointCloud2 & out_object_cloud); + PointCloud2 & out_object_cloud) const; /** \brief Parameter service callback result : needed to be hold */ OnSetParametersCallbackHandle::SharedPtr set_param_res_; /** \brief Parameter service callback */ - rcl_interfaces::msg::SetParametersResult onParameter(const std::vector & p); + rcl_interfaces::msg::SetParametersResult onParameter( + const std::vector & param); // debugger std::unique_ptr> stop_watch_ptr_{ From 146be20c760d6b1d9b8023dd5cd96ad2ab89917e Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 10 Oct 2024 13:35:42 +0900 Subject: [PATCH 228/701] refactor(goal_planner): remove lane parking pull over path (#9063) Signed-off-by: Mamoru Sobue --- .../pull_over_planner_base.hpp | 6 +++--- .../thread_data.hpp | 8 ------- .../src/goal_planner_module.cpp | 21 +++++++++++++------ 3 files changed, 18 insertions(+), 17 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp index 2a328a467723c..e061a0203602f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp @@ -55,7 +55,7 @@ struct PullOverPath size_t id() const { return id_; } Pose start_pose() const { return start_pose_; } Pose modified_goal_pose() const { return modified_goal_pose_.goal_pose; } - GoalCandidate modified_goal() const { return modified_goal_pose_; } + const GoalCandidate & modified_goal() const { return modified_goal_pose_; } std::vector & partial_paths() { return partial_paths_; } const std::vector & partial_paths() const { return partial_paths_; } @@ -63,8 +63,8 @@ struct PullOverPath // TODO(soblin): use reference to avoid copy once thread-safe design is finished const PathWithLaneId & full_path() const { return full_path_; } PathWithLaneId parking_path() const { return parking_path_; } - std::vector full_path_curvatures() { return full_path_curvatures_; } - std::vector parking_path_curvatures() const { return parking_path_curvatures_; } + const std::vector & full_path_curvatures() const { return full_path_curvatures_; } + const std::vector & parking_path_curvatures() const { return parking_path_curvatures_; } double full_path_max_curvature() const { return full_path_max_curvature_; } double parking_path_max_curvature() const { return parking_path_max_curvature_; } size_t path_idx() const { return path_idx_; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp index 2d3dd30bdf7ef..3991ae0f7dacd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp @@ -119,7 +119,6 @@ class ThreadSafeData } DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, pull_over_path) - DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, lane_parking_pull_over_path) DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_update_time) DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_idx_increment_time) @@ -137,9 +136,6 @@ class ThreadSafeData void set_pull_over_path_no_lock(const PullOverPath & path) { pull_over_path_ = std::make_shared(path); - if (path.type() != PullOverPlannerType::FREESPACE) { - lane_parking_pull_over_path_ = std::make_shared(path); - } last_path_update_time_ = clock_->now(); } @@ -147,9 +143,6 @@ class ThreadSafeData void set_pull_over_path_no_lock(const std::shared_ptr & path) { pull_over_path_ = path; - if (path->type() != PullOverPlannerType::FREESPACE) { - lane_parking_pull_over_path_ = path; - } last_path_update_time_ = clock_->now(); } @@ -164,7 +157,6 @@ class ThreadSafeData } std::shared_ptr pull_over_path_{nullptr}; - std::shared_ptr lane_parking_pull_over_path_{nullptr}; std::vector pull_over_path_candidates_; GoalCandidates goal_candidates_{}; std::optional last_path_update_time_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 03d5dfdcf2a24..4c53425d525f2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -17,6 +17,7 @@ #include "autoware/behavior_path_goal_planner_module/default_fixed_goal_planner.hpp" #include "autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp" #include "autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp" #include "autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp" #include "autoware/behavior_path_goal_planner_module/util.hpp" #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" @@ -856,13 +857,16 @@ bool GoalPlannerModule::canReturnToLaneParking(const PullOverContextData & conte return false; } - const auto lane_parking_path = thread_safe_data_.get_lane_parking_pull_over_path(); - if (!lane_parking_path) { + if (!context_data.pull_over_path_opt) { + return false; + } + if (context_data.pull_over_path_opt.value().type() == PullOverPlannerType::FREESPACE) { return false; } + const auto & lane_parking_path = context_data.pull_over_path_opt.value(); - const PathWithLaneId path = lane_parking_path->full_path(); - const std::vector curvatures = lane_parking_path->full_path_curvatures(); + const auto & path = lane_parking_path.full_path(); + const auto & curvatures = lane_parking_path.full_path_curvatures(); if ( parameters_->use_object_recognition && goal_planner_utils::checkObjectsCollision( @@ -1438,7 +1442,12 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( // return to lane parking if it is possible if (is_freespace && canReturnToLaneParking(context_data_with_velocity)) { - thread_safe_data_.set_pull_over_path(thread_safe_data_.get_lane_parking_pull_over_path()); + // TODO(soblin): return from freespace to lane is disabled temporarily, because if + // context_data_with_velocity contained freespace path, since lane_parking_pull_over_path is + // deleted, freespace path is set again + if (context_data_with_velocity.pull_over_path_opt) { + thread_safe_data_.set_pull_over_path(context_data_with_velocity.pull_over_path_opt.value()); + } } // For debug @@ -2728,7 +2737,7 @@ PathDecisionState PathDecisionStateController::get_next_state( // check current parking path collision const auto & parking_path = pull_over_path.parking_path(); - const std::vector parking_path_curvatures = pull_over_path.parking_path_curvatures(); + const auto & parking_path_curvatures = pull_over_path.parking_path_curvatures(); const double margin = parameters.object_recognition_collision_check_hard_margins.back() * hysteresis_factor; if (goal_planner_utils::checkObjectsCollision( From 23bb4a0ccf50c11fe9db7c27cf3844a9c4904dcc Mon Sep 17 00:00:00 2001 From: Samrat Thapa <38401989+SamratThapa120@users.noreply.github.com> Date: Thu, 10 Oct 2024 13:45:28 +0900 Subject: [PATCH 229/701] fix(autoware_lidar_transfusion): set tensor names by matching with predefined values. (#9057) * set tensor order using api Signed-off-by: Samrat Thapa * style(pre-commit): autofix Signed-off-by: Samrat Thapa * fix tensor order Signed-off-by: Samrat Thapa * style(pre-commit): autofix Signed-off-by: Samrat Thapa * style fix Signed-off-by: Samrat Thapa * style(pre-commit): autofix --------- Signed-off-by: Samrat Thapa Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../autoware/lidar_transfusion/utils.hpp | 2 +- .../lib/network/network_trt.cpp | 22 ++++++++++++++++++- 2 files changed, 22 insertions(+), 2 deletions(-) diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/utils.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/utils.hpp index feea2216c5f78..f3a7cecf9ce00 100644 --- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/utils.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/utils.hpp @@ -36,7 +36,7 @@ struct Box3D float yaw; }; -enum NetworkIO { voxels = 0, num_points, coors, cls_score, dir_pred, bbox_pred, ENUM_SIZE }; +enum NetworkIO { voxels = 0, num_points, coors, cls_score, bbox_pred, dir_pred, ENUM_SIZE }; // cspell: ignore divup template diff --git a/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp b/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp index 3eacf005cff4e..48e8c1014199c 100644 --- a/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp +++ b/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp @@ -23,6 +23,20 @@ namespace autoware::lidar_transfusion { +inline NetworkIO nameToNetworkIO(const char * name) +{ + static const std::unordered_map name_to_enum = { + {"voxels", NetworkIO::voxels}, {"num_points", NetworkIO::num_points}, + {"coors", NetworkIO::coors}, {"cls_score0", NetworkIO::cls_score}, + {"bbox_pred0", NetworkIO::bbox_pred}, {"dir_cls_pred0", NetworkIO::dir_pred}}; + + auto it = name_to_enum.find(name); + if (it != name_to_enum.end()) { + return it->second; + } + throw std::runtime_error("Invalid input name: " + std::string(name)); +} + std::ostream & operator<<(std::ostream & os, const ProfileDimension & profile) { std::string delim = ""; @@ -253,8 +267,14 @@ bool NetworkTRT::validateNetworkIO() << ". Actual size: " << engine->getNbIOTensors() << "." << std::endl; throw std::runtime_error("Failed to initialize TRT network."); } + + // Initialize tensors_names_ with null values + tensors_names_.resize(NetworkIO::ENUM_SIZE, nullptr); + + // Loop over the tensor names and place them in the correct positions for (int i = 0; i < NetworkIO::ENUM_SIZE; ++i) { - tensors_names_.push_back(engine->getIOTensorName(i)); + const char * name = engine->getIOTensorName(i); + tensors_names_[nameToNetworkIO(name)] = name; } // Log the network IO From 2ab8f882a4c2cdd6694a57c1b52fc8cb5becfea8 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 10 Oct 2024 14:02:08 +0900 Subject: [PATCH 230/701] refactor(goal_planner): remove prev_data / last_path_idx_time from ThreadSafeData (#9064) refactor(goal_planner): remove prev_data and last_path_idx_update_time Signed-off-by: Mamoru Sobue --- .../goal_planner_module.hpp | 15 +++++-- .../thread_data.hpp | 27 ++++++------- .../src/goal_planner_module.cpp | 40 +++++++++---------- 3 files changed, 44 insertions(+), 38 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 93fc38f261117..e8079c4e27720 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_ #define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_ +#include "autoware/behavior_path_goal_planner_module/decision_state.hpp" #include "autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp" #include "autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp" #include "autoware/behavior_path_goal_planner_module/goal_searcher.hpp" @@ -111,12 +112,15 @@ struct PullOverContextData explicit PullOverContextData( const bool is_stable_safe_path, const PredictedObjects & static_objects, const PredictedObjects & dynamic_objects, std::optional && pull_over_path_opt, - const std::vector & pull_over_path_candidates) + const std::vector & pull_over_path_candidates, + const PathDecisionState & prev_state) : is_stable_safe_path(is_stable_safe_path), static_target_objects(static_objects), dynamic_target_objects(dynamic_objects), pull_over_path_opt(pull_over_path_opt), - pull_over_path_candidates(pull_over_path_candidates) + pull_over_path_candidates(pull_over_path_candidates), + prev_state_for_debug(prev_state), + last_path_idx_increment_time(std::nullopt) { } const bool is_stable_safe_path; @@ -126,6 +130,8 @@ struct PullOverContextData std::optional pull_over_path_opt; const std::vector pull_over_path_candidates; // TODO(soblin): goal_candidate_from_thread, modifed_goal_pose_from_thread, closest_start_pose + const PathDecisionState prev_state_for_debug; + std::optional last_path_idx_increment_time; }; class GoalPlannerModule : public SceneModuleInterface @@ -364,7 +370,8 @@ class GoalPlannerModule : public SceneModuleInterface PathWithLaneId generateStopPath(const PullOverContextData & context_data) const; PathWithLaneId generateFeasibleStopPath(const PathWithLaneId & path) const; - void keepStoppedWithCurrentPath(PathWithLaneId & path) const; + void keepStoppedWithCurrentPath( + const PullOverContextData & ctx_data, PathWithLaneId & path) const; double calcSignedArcLengthFromEgo(const PathWithLaneId & path, const Pose & pose) const; // status @@ -464,7 +471,7 @@ class GoalPlannerModule : public SceneModuleInterface */ bool isSafePath( const std::shared_ptr planner_data, const bool found_pull_over_path, - const std::optional & pull_over_path_opt, + const std::optional & pull_over_path_opt, const PathDecisionState & prev_data, const GoalPlannerParameters & parameters, const std::shared_ptr & ego_predicted_path_params, const std::shared_ptr & objects_filtering_params, diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp index 3991ae0f7dacd..3b526bf3a8f24 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp @@ -63,11 +63,7 @@ class ThreadSafeData return false; } - if (pull_over_path_->incrementPathIndex()) { - last_path_idx_increment_time_ = clock_->now(); - return true; - } - return false; + return pull_over_path_->incrementPathIndex(); } void set_pull_over_path(const PullOverPath & path) @@ -112,25 +108,29 @@ class ThreadSafeData pull_over_path_candidates_.clear(); goal_candidates_.clear(); last_path_update_time_ = std::nullopt; - last_path_idx_increment_time_ = std::nullopt; closest_start_pose_ = std::nullopt; last_previous_module_output_ = std::nullopt; prev_data_ = PathDecisionState{}; } + // main --> lane/freespace + DEFINE_SETTER_GETTER_WITH_MUTEX(PredictedObjects, static_target_objects) + DEFINE_SETTER_GETTER_WITH_MUTEX(PredictedObjects, dynamic_target_objects) + // main --> lane + DEFINE_SETTER_GETTER_WITH_MUTEX(PathDecisionState, prev_data) + DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, last_previous_module_output) + + // lane --> main + DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, closest_start_pose) + DEFINE_SETTER_GETTER_WITH_MUTEX(std::vector, pull_over_path_candidates) + + // main <--> lane/freespace DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, pull_over_path) DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_update_time) - DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_idx_increment_time) - DEFINE_SETTER_GETTER_WITH_MUTEX(std::vector, pull_over_path_candidates) DEFINE_SETTER_GETTER_WITH_MUTEX(GoalCandidates, goal_candidates) - DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, closest_start_pose) - DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, last_previous_module_output) DEFINE_SETTER_GETTER_WITH_MUTEX( utils::path_safety_checker::CollisionCheckDebugMap, collision_check) - DEFINE_SETTER_GETTER_WITH_MUTEX(PredictedObjects, static_target_objects) - DEFINE_SETTER_GETTER_WITH_MUTEX(PredictedObjects, dynamic_target_objects) - DEFINE_SETTER_GETTER_WITH_MUTEX(PathDecisionState, prev_data) private: void set_pull_over_path_no_lock(const PullOverPath & path) @@ -160,7 +160,6 @@ class ThreadSafeData std::vector pull_over_path_candidates_; GoalCandidates goal_candidates_{}; std::optional last_path_update_time_; - std::optional last_path_idx_increment_time_; std::optional closest_start_pose_{}; std::optional last_previous_module_output_{}; utils::path_safety_checker::CollisionCheckDebugMap collision_check_{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 4c53425d525f2..88349f20a0540 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -572,9 +572,12 @@ void GoalPlannerModule::updateData() return pull_over_path.modified_goal(); }(); + // save "old" state + const auto prev_decision_state = path_decision_controller_.get_current_state(); const bool is_current_safe = isSafePath( - planner_data_, found_pull_over_path, pull_over_path_recv, *parameters_, + planner_data_, found_pull_over_path, pull_over_path_recv, prev_decision_state, *parameters_, ego_predicted_path_params_, objects_filtering_params_, safety_check_params_); + // update to latest state path_decision_controller_.transit_state( found_pull_over_path, clock_->now(), static_target_objects, dynamic_target_objects, modified_goal_pose, planner_data_, occupancy_grid_map_, is_current_safe, *parameters_, @@ -583,8 +586,8 @@ void GoalPlannerModule::updateData() context_data_.emplace( path_decision_controller_.get_current_state().is_stable_safe, static_target_objects, dynamic_target_objects, std::move(pull_over_path_recv), - thread_safe_data_.get_pull_over_path_candidates()); - const auto & ctx_data = context_data_.value(); + thread_safe_data_.get_pull_over_path_candidates(), prev_decision_state); + auto & ctx_data = context_data_.value(); // update goal searcher and generate goal candidates if (thread_safe_data_.get_goal_candidates().empty()) { @@ -600,7 +603,9 @@ void GoalPlannerModule::updateData() } if (hasFinishedCurrentPath(ctx_data)) { - thread_safe_data_.incrementPathIndex(); + if (thread_safe_data_.incrementPathIndex()) { + ctx_data.last_path_idx_increment_time = clock_->now(); + } } if (!last_approval_data_) { @@ -1032,7 +1037,7 @@ std::optional GoalPlannerModule::selectPullOverPath( // Create a map of PullOverPath pointer to largest collision check margin std::map path_id_to_rough_margin_map; - const auto target_objects = thread_safe_data_.get_static_target_objects(); + const auto & target_objects = context_data.static_target_objects; for (const size_t i : sorted_path_indices) { const auto & path = pull_over_path_candidates[i]; const double distance = utils::path_safety_checker::calculateRoughDistanceToObjects( @@ -1212,7 +1217,7 @@ void GoalPlannerModule::setOutput( // keep stop if not enough time passed, // because it takes time for the trajectory to be reflected auto current_path = pull_over_path.getCurrentPath(); - keepStoppedWithCurrentPath(current_path); + keepStoppedWithCurrentPath(context_data, current_path); output.path = current_path; } @@ -1471,7 +1476,7 @@ void GoalPlannerModule::postProcess() RCLCPP_ERROR(getLogger(), " [pull_over] postProcess() is called without valid context_data"); } const auto context_data_dummy = - PullOverContextData(true, PredictedObjects{}, PredictedObjects{}, std::nullopt, {}); + PullOverContextData(true, PredictedObjects{}, PredictedObjects{}, std::nullopt, {}, {}); const auto & context_data = context_data_.has_value() ? context_data_.value() : context_data_dummy; @@ -1957,15 +1962,16 @@ bool GoalPlannerModule::hasEnoughDistance( return true; } -void GoalPlannerModule::keepStoppedWithCurrentPath(PathWithLaneId & path) const +void GoalPlannerModule::keepStoppedWithCurrentPath( + const PullOverContextData & ctx_data, PathWithLaneId & path) const { + const auto last_path_idx_increment_time = ctx_data.last_path_idx_increment_time; constexpr double keep_stop_time = 2.0; - if (!thread_safe_data_.get_last_path_idx_increment_time()) { + if (!last_path_idx_increment_time) { return; } - const auto time_diff = - (clock_->now() - *thread_safe_data_.get_last_path_idx_increment_time()).seconds(); + const auto time_diff = (clock_->now() - last_path_idx_increment_time.value()).seconds(); if (time_diff > keep_stop_time) { return; } @@ -2225,7 +2231,8 @@ static std::vector filterOb bool GoalPlannerModule::isSafePath( const std::shared_ptr planner_data, const bool found_pull_over_path, - const std::optional & pull_over_path_opt, const GoalPlannerParameters & parameters, + const std::optional & pull_over_path_opt, const PathDecisionState & prev_data, + const GoalPlannerParameters & parameters, const std::shared_ptr & ego_predicted_path_params, const std::shared_ptr & objects_filtering_params, const std::shared_ptr & safety_check_params) const @@ -2312,7 +2319,6 @@ bool GoalPlannerModule::isSafePath( const auto filtered_objects = filterObjectsByWithinPolicy( dynamic_object, {merged_expanded_pull_over_lanes}, objects_filtering_params); - const auto prev_data = thread_safe_data_.get_prev_data(); const double hysteresis_factor = prev_data.is_stable_safe ? 1.0 : parameters.hysteresis_factor_expand_rate; @@ -2417,12 +2423,6 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) add(createPathMarkerArray( getPreviousModuleOutput().path, "previous_module_path", 0, 1.0, 0.0, 0.0)); - const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); - if (last_previous_module_output.has_value()) { - add(createPathMarkerArray( - last_previous_module_output.value().path, "last_previous_module_path", 0, 0.0, 1.0, 1.0)); - } - // Visualize path and related pose if (context_data.pull_over_path_opt) { const auto & pull_over_path = context_data.pull_over_path_opt.value(); @@ -2506,7 +2506,7 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) // visualize safety status maker { - const auto prev_data = thread_safe_data_.get_prev_data(); + const auto & prev_data = context_data.prev_state_for_debug; visualization_msgs::msg::MarkerArray marker_array{}; const auto color = prev_data.is_stable_safe ? createMarkerColor(1.0, 1.0, 1.0, 0.99) : createMarkerColor(1.0, 0.0, 0.0, 0.99); From 17467985414019c0861505c7b5a77ae427ae3977 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E3=81=90=E3=82=8B=E3=81=90=E3=82=8B?= Date: Thu, 10 Oct 2024 14:42:02 +0900 Subject: [PATCH 231/701] fix: fix Boost.Optional build error on Jazzy (#7602) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto --- .../test/src/lowpass_filter_1d_test.cpp | 6 ++++-- .../test/src/lowpass_filter_test.cpp | 6 ++++-- .../test/src/test_predicted_path_utils.cpp | 12 +++++++----- 3 files changed, 15 insertions(+), 9 deletions(-) diff --git a/common/autoware_signal_processing/test/src/lowpass_filter_1d_test.cpp b/common/autoware_signal_processing/test/src/lowpass_filter_1d_test.cpp index 44e8a1ffce437..ba43219f325ff 100644 --- a/common/autoware_signal_processing/test/src/lowpass_filter_1d_test.cpp +++ b/common/autoware_signal_processing/test/src/lowpass_filter_1d_test.cpp @@ -14,6 +14,8 @@ #include "autoware/signal_processing/lowpass_filter_1d.hpp" +#include + #include constexpr double epsilon = 1e-6; @@ -25,7 +27,7 @@ TEST(lowpass_filter_1d, filter) LowpassFilter1d lowpass_filter_1d(0.1); // initial state - EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none); + EXPECT_FALSE(lowpass_filter_1d.getValue()); // random filter EXPECT_NEAR(lowpass_filter_1d.filter(0.0), 0.0, epsilon); @@ -35,7 +37,7 @@ TEST(lowpass_filter_1d, filter) // reset without value lowpass_filter_1d.reset(); - EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none); + EXPECT_FALSE(lowpass_filter_1d.getValue()); // reset with value lowpass_filter_1d.reset(-1.1); diff --git a/common/autoware_signal_processing/test/src/lowpass_filter_test.cpp b/common/autoware_signal_processing/test/src/lowpass_filter_test.cpp index 864378719dd5c..83ccc0f5dab03 100644 --- a/common/autoware_signal_processing/test/src/lowpass_filter_test.cpp +++ b/common/autoware_signal_processing/test/src/lowpass_filter_test.cpp @@ -14,6 +14,8 @@ #include "autoware/signal_processing/lowpass_filter.hpp" +#include + #include constexpr double epsilon = 1e-6; @@ -41,7 +43,7 @@ TEST(lowpass_filter_twist, filter) LowpassFilterTwist lowpass_filter_(0.1); { // initial state - EXPECT_EQ(lowpass_filter_.getValue(), boost::none); + EXPECT_FALSE(lowpass_filter_.getValue()); } { // random filter @@ -58,7 +60,7 @@ TEST(lowpass_filter_twist, filter) { // reset without value lowpass_filter_.reset(); - EXPECT_EQ(lowpass_filter_.getValue(), boost::none); + EXPECT_FALSE(lowpass_filter_.getValue()); } { // reset with value diff --git a/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp b/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp index 305a1173acf12..228a0d097fde6 100644 --- a/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp +++ b/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp @@ -16,6 +16,8 @@ #include "autoware/universe_utils/math/unit_conversion.hpp" #include "object_recognition_utils/predicted_path_utils.hpp" +#include + #include using autoware::universe_utils::Point2d; @@ -75,7 +77,7 @@ TEST(predicted_path_utils, testCalcInterpolatedPose) for (double t = 0.0; t < 9.0 + 1e-6; t += 1.0) { const auto p = calcInterpolatedPose(path, t); - EXPECT_NE(p, boost::none); + EXPECT_TRUE(p); EXPECT_NEAR(p->position.x, t * 1.0, epsilon); EXPECT_NEAR(p->position.y, 0.0, epsilon); EXPECT_NEAR(p->position.z, 0.0, epsilon); @@ -92,7 +94,7 @@ TEST(predicted_path_utils, testCalcInterpolatedPose) for (double t = 0.0; t < 9.0; t += 0.3) { const auto p = calcInterpolatedPose(path, t); - EXPECT_NE(p, boost::none); + EXPECT_TRUE(p); EXPECT_NEAR(p->position.x, t * 1.0, epsilon); EXPECT_NEAR(p->position.y, 0.0, epsilon); EXPECT_NEAR(p->position.z, 0.0, epsilon); @@ -108,20 +110,20 @@ TEST(predicted_path_utils, testCalcInterpolatedPose) // Negative time { const auto p = calcInterpolatedPose(path, -1.0); - EXPECT_EQ(p, boost::none); + EXPECT_FALSE(p); } // Over the time horizon { const auto p = calcInterpolatedPose(path, 11.0); - EXPECT_EQ(p, boost::none); + EXPECT_FALSE(p); } // Empty Path { PredictedPath empty_path; const auto p = calcInterpolatedPose(empty_path, 5.0); - EXPECT_EQ(p, boost::none); + EXPECT_FALSE(p); } } } From b93ddd96aede44ec8bc66b766ea939747b866f69 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 10 Oct 2024 16:42:45 +0900 Subject: [PATCH 232/701] test(bpp_common): add test for occupancy grid based collision detector (#9066) * add test for occupancy grid based collision detector Signed-off-by: Go Sakayori * remove unnnecessary header Signed-off-by: Go Sakayori * fix Signed-off-by: Go Sakayori * change map resolution and corresponding index Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori --- .../CMakeLists.txt | 8 + ...ccupancy_grid_based_collision_detector.hpp | 86 ++++++---- ...ccupancy_grid_based_collision_detector.cpp | 51 ++---- ...ccupancy_grid_based_collision_detector.cpp | 149 ++++++++++++++++++ 4 files changed, 226 insertions(+), 68 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_occupancy_grid_based_collision_detector.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index 046675f357923..e24abb51de6fc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -50,6 +50,14 @@ if(BUILD_TESTING) ${PROJECT_NAME} ) + ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_occupancy_grid_based_collision_detector + test/test_occupancy_grid_based_collision_detector.cpp + ) + + target_link_libraries(test_${PROJECT_NAME}_occupancy_grid_based_collision_detector + ${PROJECT_NAME} + ) + ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_safety_check test/test_safety_check.cpp ) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp index fa04ff04c8e44..434eb79189eaf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp @@ -25,7 +25,13 @@ namespace autoware::behavior_path_planner { -int discretizeAngle(const double theta, const int theta_size); +/** + * @brief Discretizes a given angle into an index within a specified range. + * @param theta The angle in radians to discretize. + * @param theta_size The number of discrete bins or angular intervals. + * @return The discretized angle as an integer index. + */ +int discretize_angle(const double theta, const int theta_size); struct IndexXYT { @@ -40,19 +46,36 @@ struct IndexXY int y; }; +/** + * @brief Converts a given local pose into a 3D grid index (x, y, theta). + * @param costmap The occupancy grid used for indexing. + * @param pose_local The local pose. + * @param theta_size The number of discrete angular intervals for yaw. + * @return IndexXYT The grid index representing the position and discretized orientation. + */ IndexXYT pose2index( const nav_msgs::msg::OccupancyGrid & costmap, const geometry_msgs::msg::Pose & pose_local, const int theta_size); +/** + * @brief Converts a grid index (x, y, theta) back into a pose in the local frame. + * @param costmap The occupancy grid used for indexing. + * @param index The grid index containing x, y, and theta. + * @param theta_size The number of discrete angular intervals for yaw. + * @return geometry_msgs::msg::Pose The corresponding local pose. + */ geometry_msgs::msg::Pose index2pose( const nav_msgs::msg::OccupancyGrid & costmap, const IndexXYT & index, const int theta_size); +/** + * @brief Transforms a global pose into a local pose relative to the costmap's origin. + * @param costmap The occupancy grid that defines the local frame. + * @param pose_global The global pose to transform. + * @return geometry_msgs::msg::Pose The transformed pose in the local frame. + */ geometry_msgs::msg::Pose global2local( const nav_msgs::msg::OccupancyGrid & costmap, const geometry_msgs::msg::Pose & pose_global); -geometry_msgs::msg::Pose local2global( - const nav_msgs::msg::OccupancyGrid & costmap, const geometry_msgs::msg::Pose & pose_local); - struct VehicleShape { double length; // X [m] @@ -76,12 +99,6 @@ struct PlannerWaypoint bool is_back = false; }; -struct PlannerWaypoints -{ - std_msgs::msg::Header header; - std::vector waypoints; -}; - class OccupancyGridBasedCollisionDetector { public: @@ -92,21 +109,40 @@ class OccupancyGridBasedCollisionDetector default; OccupancyGridBasedCollisionDetector & operator=(OccupancyGridBasedCollisionDetector &&) = delete; void setParam(const OccupancyGridMapParam & param) { param_ = param; }; - OccupancyGridMapParam getParam() const { return param_; }; + [[nodiscard]] OccupancyGridMapParam getParam() const { return param_; }; void setMap(const nav_msgs::msg::OccupancyGrid & costmap); - nav_msgs::msg::OccupancyGrid getMap() const { return costmap_; }; - void setVehicleShape(const VehicleShape & vehicle_shape) { param_.vehicle_shape = vehicle_shape; } - bool hasObstacleOnPath( - const geometry_msgs::msg::PoseArray & path, const bool check_out_of_range) const; - bool hasObstacleOnPath( + [[nodiscard]] nav_msgs::msg::OccupancyGrid getMap() const { return costmap_; }; + + /** + * @brief Detects if a collision occurs with given path. + * @param path The path to check collision defined in a global frame + * @param check_out_of_range A boolean flag indicating whether out-of-range conditions is + * collision + * @return true if a collision is detected, false if no collision is detected. + */ + [[nodiscard]] bool hasObstacleOnPath( const tier4_planning_msgs::msg::PathWithLaneId & path, const bool check_out_of_range) const; - const PlannerWaypoints & getWaypoints() const { return waypoints_; } - bool detectCollision(const IndexXYT & base_index, const bool check_out_of_range) const; + + /** + * @brief Detects if a collision occurs at the specified base index in the occupancy grid map. + * @param base_index The 3D index (x, y, theta) of the base position in the occupancy grid. + * @param check_out_of_range A boolean flag indicating whether out-of-range conditions is + * collision + * @return true if a collision is detected, false if no collision is detected. + */ + [[nodiscard]] bool detectCollision( + const IndexXYT & base_index, const bool check_out_of_range) const; virtual ~OccupancyGridBasedCollisionDetector() = default; protected: - void computeCollisionIndexes(int theta_index, std::vector & indexes); - inline bool isOutOfRange(const IndexXYT & index) const + /** + * @brief Computes the 2D grid indexes where collision might occur for a given theta index. + * @param theta_index The discretized orientation index for yaw. + * @param indexes_2d The output vector of 2D grid indexes where collisions could happen. + */ + void compute_collision_indexes(int theta_index, std::vector & indexes); + + [[nodiscard]] inline bool is_out_of_range(const IndexXYT & index) const { if (index.x < 0 || static_cast(costmap_.info.width) <= index.x) { return true; @@ -116,7 +152,7 @@ class OccupancyGridBasedCollisionDetector } return false; } - inline bool isObs(const IndexXYT & index) const + [[nodiscard]] inline bool is_obs(const IndexXYT & index) const { // NOTE: Accessing by .at() instead makes 1.2 times slower here. // Also, boundary check is already done in isOutOfRange before calling this function. @@ -134,15 +170,7 @@ class OccupancyGridBasedCollisionDetector // is_obstacle's table std::vector> is_obstacle_table_; - - // pose in costmap frame - geometry_msgs::msg::Pose start_pose_; - geometry_msgs::msg::Pose goal_pose_; - - // result path - PlannerWaypoints waypoints_; }; - } // namespace autoware::behavior_path_planner #endif // AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__UTILS__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp index e4f1919b08dbc..e65c67065bc54 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp @@ -25,7 +25,7 @@ using autoware::universe_utils::createQuaternionFromYaw; using autoware::universe_utils::normalizeRadian; using autoware::universe_utils::transformPose; -int discretizeAngle(const double theta, const int theta_size) +int discretize_angle(const double theta, const int theta_size) { const double one_angle_range = 2.0 * M_PI / theta_size; return static_cast(std::rint(normalizeRadian(theta, 0.0) / one_angle_range)) % theta_size; @@ -37,7 +37,7 @@ IndexXYT pose2index( { const int index_x = pose_local.position.x / costmap.info.resolution; const int index_y = pose_local.position.y / costmap.info.resolution; - const int index_theta = discretizeAngle(tf2::getYaw(pose_local.orientation), theta_size); + const int index_theta = discretize_angle(tf2::getYaw(pose_local.orientation), theta_size); return {index_x, index_y, index_theta}; } @@ -68,18 +68,6 @@ geometry_msgs::msg::Pose global2local( return transformPose(pose_global, transform); } -geometry_msgs::msg::Pose local2global( - const nav_msgs::msg::OccupancyGrid & costmap, const geometry_msgs::msg::Pose & pose_local) -{ - tf2::Transform tf_origin; - tf2::convert(costmap.info.origin, tf_origin); - - geometry_msgs::msg::TransformStamped transform; - transform.transform = tf2::toMsg(tf_origin); - - return transformPose(pose_local, transform); -} - void OccupancyGridBasedCollisionDetector::setMap(const nav_msgs::msg::OccupancyGrid & costmap) { costmap_ = costmap; @@ -105,7 +93,7 @@ void OccupancyGridBasedCollisionDetector::setMap(const nav_msgs::msg::OccupancyG coll_indexes_table_.clear(); for (int i = 0; i < param_.theta_size; i++) { std::vector indexes_2d; - computeCollisionIndexes(i, indexes_2d); + compute_collision_indexes(i, indexes_2d); coll_indexes_table_.push_back(indexes_2d); } } @@ -118,7 +106,7 @@ static IndexXY position2index( return {index_x, index_y}; } -void OccupancyGridBasedCollisionDetector::computeCollisionIndexes( +void OccupancyGridBasedCollisionDetector::compute_collision_indexes( int theta_index, std::vector & indexes_2d) { IndexXYT base_index{0, 0, theta_index}; @@ -134,7 +122,7 @@ void OccupancyGridBasedCollisionDetector::computeCollisionIndexes( const auto base_theta = tf2::getYaw(base_pose.orientation); // Convert each point to index and check if the node is Obstacle - const auto addIndex2d = [&](const double x, const double y) { + const auto add_index2d = [&](const double x, const double y) { // Calculate offset in rotated frame const double offset_x = std::cos(base_theta) * x - std::sin(base_theta) * y; const double offset_y = std::sin(base_theta) * x + std::cos(base_theta) * y; @@ -149,14 +137,14 @@ void OccupancyGridBasedCollisionDetector::computeCollisionIndexes( for (double x = back; x <= front; x += costmap_.info.resolution / 2) { for (double y = right; y <= left; y += costmap_.info.resolution / 2) { - addIndex2d(x, y); + add_index2d(x, y); } - addIndex2d(x, left); + add_index2d(x, left); } for (double y = right; y <= left; y += costmap_.info.resolution / 2) { - addIndex2d(front, y); + add_index2d(front, y); } - addIndex2d(front, left); + add_index2d(front, left); } bool OccupancyGridBasedCollisionDetector::detectCollision( @@ -175,27 +163,12 @@ bool OccupancyGridBasedCollisionDetector::detectCollision( coll_index.x += base_index.x; coll_index.y += base_index.y; if (check_out_of_range) { - if (isOutOfRange(coll_index) || isObs(coll_index)) return true; + if (is_out_of_range(coll_index) || is_obs(coll_index)) return true; } else { - if (isOutOfRange(coll_index)) return false; - if (isObs(coll_index)) return true; - } - } - return false; -} - -bool OccupancyGridBasedCollisionDetector::hasObstacleOnPath( - const geometry_msgs::msg::PoseArray & path, const bool check_out_of_range) const -{ - for (const auto & pose : path.poses) { - const auto pose_local = global2local(costmap_, pose); - const auto index = pose2index(costmap_, pose_local, param_.theta_size); - - if (detectCollision(index, check_out_of_range)) { - return true; + if (is_out_of_range(coll_index)) return false; + if (is_obs(coll_index)) return true; } } - return false; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_occupancy_grid_based_collision_detector.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_occupancy_grid_based_collision_detector.cpp new file mode 100644 index 0000000000000..b212cce551252 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_occupancy_grid_based_collision_detector.cpp @@ -0,0 +1,149 @@ +// Copyright 2024 Tier IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" + +#include + +#include + +using autoware::behavior_path_planner::OccupancyGridBasedCollisionDetector; +using autoware::behavior_path_planner::OccupancyGridMapParam; +using autoware::test_utils::createPose; + +class OccupancyGridBasedCollisionDetectorTest : public ::testing::Test +{ +protected: + OccupancyGridBasedCollisionDetector detector_; + nav_msgs::msg::OccupancyGrid costmap_; + OccupancyGridMapParam param_; + + void SetUp() override + { + costmap_.info.width = 40; + costmap_.info.height = 40; + costmap_.info.resolution = 0.25; + costmap_.data = std::vector(1600, 0); + costmap_.data[28 * costmap_.info.width + 28] = 100; + costmap_.info.origin = createPose(1.0, 1.0, 0.0, 0.0, 0.0, 0.0); + + param_.theta_size = 8; + param_.obstacle_threshold = 1; + param_.vehicle_shape.base2back = 0.0; + param_.vehicle_shape.length = 4.0; + param_.vehicle_shape.width = 2.0; + detector_.setParam(param_); + } +}; + +TEST_F(OccupancyGridBasedCollisionDetectorTest, discretize_angle) +{ + using autoware::behavior_path_planner::discretize_angle; + + int theta_size = 8; + + EXPECT_EQ(discretize_angle(0.0, theta_size), 0); + EXPECT_EQ(discretize_angle(M_PI * 0.25, theta_size), 1); + EXPECT_EQ(discretize_angle(2.5 * M_PI, theta_size), 2); +} + +TEST_F(OccupancyGridBasedCollisionDetectorTest, pose2index) +{ + using autoware::behavior_path_planner::pose2index; + + auto pose_local = createPose(2.0, 3.0, 0.0, 0.0, 0.0, 0.0); + + int theta_size = 8; + auto index = pose2index(costmap_, pose_local, theta_size); + + EXPECT_EQ(index.x, 8); + EXPECT_EQ(index.y, 12); + EXPECT_EQ(index.theta, 0); +} + +TEST_F(OccupancyGridBasedCollisionDetectorTest, index2pose) +{ + using autoware::behavior_path_planner::index2pose; + + autoware::behavior_path_planner::IndexXYT index{4, 6, 2}; + + int theta_size = 8; + auto pose_local = index2pose(costmap_, index, theta_size); + + EXPECT_DOUBLE_EQ(pose_local.position.x, 1.0); + EXPECT_DOUBLE_EQ(pose_local.position.y, 1.5); + EXPECT_DOUBLE_EQ(tf2::getYaw(pose_local.orientation), M_PI * 0.5); +} + +TEST_F(OccupancyGridBasedCollisionDetectorTest, global2local) +{ + using autoware::behavior_path_planner::global2local; + + auto pose_global = createPose(2.0, 2.0, 0.0, 0.0, 0.0, 0.0); + auto pose_local = global2local(costmap_, pose_global); + + EXPECT_DOUBLE_EQ(pose_local.position.x, 1.0); + EXPECT_DOUBLE_EQ(pose_local.position.y, 1.0); +} + +TEST_F(OccupancyGridBasedCollisionDetectorTest, detectCollision) +{ + using autoware::behavior_path_planner::IndexXYT; + + // Condition: map not set + IndexXYT base_index{0, 0, 0}; + base_index.x = 24; + base_index.y = 24; + EXPECT_FALSE(detector_.detectCollision(base_index, true)); + + // Condition: with object + detector_.setMap(costmap_); + EXPECT_TRUE(detector_.detectCollision(base_index, true)); + + // Condition: position without obstacle + base_index.x = 4; + base_index.y = 4; + EXPECT_FALSE(detector_.detectCollision(base_index, true)); + + // Condition: position out of range + base_index.x = -100; + base_index.y = -100; + EXPECT_TRUE(detector_.detectCollision(base_index, true)); + EXPECT_FALSE(detector_.detectCollision(base_index, false)); +} + +TEST_F(OccupancyGridBasedCollisionDetectorTest, hasObstacleOnPath) +{ + tier4_planning_msgs::msg::PathWithLaneId path; + detector_.setMap(costmap_); + + // Condition: empty path + EXPECT_FALSE(detector_.hasObstacleOnPath(path, true)); + + // Condition: no obstacle on path + size_t path_length = 10; + path.points.reserve(path_length); + for (size_t i = 0; i < path_length; i++) { + tier4_planning_msgs::msg::PathPointWithLaneId path_point; + path_point.point.pose = createPose(static_cast(i), 0.0, 0.0, 0.0, 0.0, 0.0); + path.points.push_back(path_point); + } + EXPECT_FALSE(detector_.hasObstacleOnPath(path, false)); + + // Condition: obstacle on path + for (size_t i = 0; i < path_length; i++) { + path.points.at(i).point.pose.position.y = 8.0; + } + EXPECT_TRUE(detector_.hasObstacleOnPath(path, false)); +} From aaa8429d91670c813e6264a8382ae1ffab7179a9 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Thu, 10 Oct 2024 14:55:21 +0300 Subject: [PATCH 233/701] chore(obstacle_cruise_planner): add maintainer (#9077) --- planning/autoware_obstacle_cruise_planner/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index 9999be9937111..90a5e666f5f44 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -8,6 +8,7 @@ Kosuke Takeuchi Satoshi Ota Yuki Takagi + Berkay Karaman Apache License 2.0 From d1e689225224c0b1b1ca48d313b4b299a28dbc86 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 11 Oct 2024 10:18:43 +0900 Subject: [PATCH 234/701] test(traffic_light): write test for utils (#9046) * refactor: separate utils file Signed-off-by: satoshi-ota * refactor: utils function output Signed-off-by: satoshi-ota * test: write test for utils Signed-off-by: satoshi-ota * chore: add doxygen Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../CMakeLists.txt | 10 + .../package.xml | 2 + .../src/scene.cpp | 148 ++------------ .../src/utils.cpp | 144 +++++++++++++ .../src/utils.hpp | 82 ++++++++ .../test/test_utils.cpp | 190 ++++++++++++++++++ 6 files changed, 441 insertions(+), 135 deletions(-) create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_utils.cpp diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt index db5b02916a103..6370dd5e6c21d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt @@ -9,8 +9,18 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp src/manager.cpp src/scene.cpp + src/utils.cpp ) +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_utils.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + ${PROJECT_NAME} + ) +endif() + ament_auto_package(INSTALL_TO_SHARE config) install(PROGRAMS diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml index 45a17e8e8f598..51992a6fa40d3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml @@ -37,8 +37,10 @@ traffic_light_utils visualization_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common + autoware_test_utils ament_cmake diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp index af16cd85741e5..af5eac943ec13 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -14,6 +14,8 @@ #include "scene.hpp" +#include "utils.hpp" + #include #include #include @@ -36,131 +38,6 @@ namespace autoware::behavior_velocity_planner { -namespace bg = boost::geometry; - -namespace -{ -bool getBackwardPointFromBasePoint( - const Eigen::Vector2d & line_point1, const Eigen::Vector2d & line_point2, - const Eigen::Vector2d & base_point, const double backward_length, Eigen::Vector2d & output_point) -{ - Eigen::Vector2d line_vec = line_point2 - line_point1; - Eigen::Vector2d backward_vec = backward_length * line_vec.normalized(); - output_point = base_point + backward_vec; - return true; -} - -std::optional findNearestCollisionPoint( - const LineString2d & line1, const LineString2d & line2, const Point2d & origin) -{ - std::vector collision_points; - bg::intersection(line1, line2, collision_points); - - if (collision_points.empty()) { - return std::nullopt; - } - - // check nearest collision point - Point2d nearest_collision_point; - double min_dist = 0.0; - - for (size_t i = 0; i < collision_points.size(); ++i) { - double dist = bg::distance(origin, collision_points.at(i)); - if (i == 0 || dist < min_dist) { - min_dist = dist; - nearest_collision_point = collision_points.at(i); - } - } - return nearest_collision_point; -} - -bool createTargetPoint( - const tier4_planning_msgs::msg::PathWithLaneId & input, const LineString2d & stop_line, - const double offset, size_t & target_point_idx, Eigen::Vector2d & target_point) -{ - if (input.points.size() < 2) { - return false; - } - for (size_t i = 0; i < input.points.size() - 1; ++i) { - Point2d path_line_begin = { - input.points.at(i).point.pose.position.x, input.points.at(i).point.pose.position.y}; - Point2d path_line_end = { - input.points.at(i + 1).point.pose.position.x, input.points.at(i + 1).point.pose.position.y}; - LineString2d path_line = {path_line_begin, path_line_end}; - - // check nearest collision point - const auto nearest_collision_point = - findNearestCollisionPoint(path_line, stop_line, path_line_begin); - if (!nearest_collision_point) { - continue; - } - - // search target point index - target_point_idx = 0; - double length_sum = 0; - - Eigen::Vector2d point1, point2; - if (0 <= offset) { - point1 << nearest_collision_point->x(), nearest_collision_point->y(); - point2 << path_line_begin.x(), path_line_begin.y(); - length_sum += (point2 - point1).norm(); - for (size_t j = i; 0 < j; --j) { - if (offset < length_sum) { - target_point_idx = j + 1; - break; - } - point1 << input.points.at(j).point.pose.position.x, - input.points.at(j).point.pose.position.y; - point2 << input.points.at(j - 1).point.pose.position.x, - input.points.at(j - 1).point.pose.position.y; - length_sum += (point2 - point1).norm(); - } - } else { - point1 << nearest_collision_point->x(), nearest_collision_point->y(); - point2 << path_line_end.x(), path_line_end.y(); - length_sum -= (point2 - point1).norm(); - for (size_t j = i + 1; j < input.points.size() - 1; ++j) { - if (length_sum < offset) { - target_point_idx = j; - break; - } - point1 << input.points.at(j).point.pose.position.x, - input.points.at(j).point.pose.position.y; - point2 << input.points.at(j + 1).point.pose.position.x, - input.points.at(j + 1).point.pose.position.y; - length_sum -= (point2 - point1).norm(); - } - } - // create target point - getBackwardPointFromBasePoint( - point2, point1, point2, std::fabs(length_sum - offset), target_point); - return true; - } - return false; -} - -bool calcStopPointAndInsertIndex( - const tier4_planning_msgs::msg::PathWithLaneId & input_path, - const lanelet::ConstLineString3d & lanelet_stop_lines, const double & offset, - const double & stop_line_extend_length, Eigen::Vector2d & stop_line_point, - size_t & stop_line_point_idx) -{ - LineString2d stop_line; - - for (size_t i = 0; i < lanelet_stop_lines.size() - 1; ++i) { - stop_line = planning_utils::extendLine( - lanelet_stop_lines[i], lanelet_stop_lines[i + 1], stop_line_extend_length); - - // Calculate stop pose and insert index, - // if there is a collision point between path and stop line - if (createTargetPoint(input_path, stop_line, offset, stop_line_point_idx, stop_line_point)) { - return true; - } - } - return false; -} -} // namespace - TrafficLightModule::TrafficLightModule( const int64_t lane_id, const lanelet::TrafficLight & traffic_light_reg_elem, lanelet::ConstLanelet lane, const PlannerParam & planner_param, const rclcpp::Logger logger, @@ -193,12 +70,12 @@ bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason * lanelet::ConstLineString3d lanelet_stop_lines = *(traffic_light_reg_elem_.stopLine()); // Calculate stop pose and insert index - Eigen::Vector2d stop_line_point{}; - size_t stop_line_point_idx{}; - if (!calcStopPointAndInsertIndex( - input_path, lanelet_stop_lines, - planner_param_.stop_margin + planner_data_->vehicle_info_.max_longitudinal_offset_m, - planner_data_->stop_line_extend_length, stop_line_point, stop_line_point_idx)) { + const auto stop_line = calcStopPointAndInsertIndex( + input_path, lanelet_stop_lines, + planner_param_.stop_margin + planner_data_->vehicle_info_.max_longitudinal_offset_m, + planner_data_->stop_line_extend_length); + + if (!stop_line.has_value()) { RCLCPP_WARN_STREAM_ONCE( logger_, "Failed to calculate stop point and insert index for regulatory element id " << traffic_light_reg_elem_.id()); @@ -209,8 +86,8 @@ bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason * // Calculate dist to stop pose geometry_msgs::msg::Point stop_line_point_msg; - stop_line_point_msg.x = stop_line_point.x(); - stop_line_point_msg.y = stop_line_point.y(); + stop_line_point_msg.x = stop_line.value().second.x(); + stop_line_point_msg.y = stop_line.value().second.y(); const double signed_arc_length_to_stop_point = autoware::motion_utils::calcSignedArcLength( input_path.points, self_pose->pose.position, stop_line_point_msg); setDistance(signed_arc_length_to_stop_point); @@ -226,7 +103,7 @@ bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason * return true; } - first_ref_stop_path_point_index_ = stop_line_point_idx; + first_ref_stop_path_point_index_ = stop_line.value().first; // Check if stop is coming. const bool is_stop_signal = isStopSignal(); @@ -256,7 +133,8 @@ bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason * // Decide whether to stop or pass even if a stop signal is received. if (!isPassthrough(signed_arc_length_to_stop_point)) { - *path = insertStopPose(input_path, stop_line_point_idx, stop_line_point, stop_reason); + *path = + insertStopPose(input_path, stop_line.value().first, stop_line.value().second, stop_reason); is_prev_state_stop_ = true; } return true; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp new file mode 100644 index 0000000000000..c9eb93abb2e2f --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp @@ -0,0 +1,144 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "utils.hpp" + +#include + +#include +#include + +namespace autoware::behavior_velocity_planner +{ +namespace bg = boost::geometry; + +auto getOffsetPoint(const Eigen::Vector2d & src, const Eigen::Vector2d & dst, const double length) + -> Eigen::Vector2d +{ + Eigen::Vector2d line_vec = dst - src; + Eigen::Vector2d backward_vec = length * line_vec.normalized(); + return src + backward_vec; +} + +auto findNearestCollisionPoint( + const LineString2d & line1, const LineString2d & line2, + const Point2d & origin) -> std::optional +{ + std::vector collision_points; + bg::intersection(line1, line2, collision_points); + + if (collision_points.empty()) { + return std::nullopt; + } + + // check nearest collision point + Point2d nearest_collision_point; + double min_dist = 0.0; + + for (size_t i = 0; i < collision_points.size(); ++i) { + double dist = bg::distance(origin, collision_points.at(i)); + if (i == 0 || dist < min_dist) { + min_dist = dist; + nearest_collision_point = collision_points.at(i); + } + } + return nearest_collision_point; +} + +auto createTargetPoint( + const tier4_planning_msgs::msg::PathWithLaneId & input, const LineString2d & stop_line, + const double offset) -> std::optional> +{ + if (input.points.size() < 2) { + return std::nullopt; + } + size_t target_point_idx{}; + for (size_t i = 0; i < input.points.size() - 1; ++i) { + Point2d path_line_begin = { + input.points.at(i).point.pose.position.x, input.points.at(i).point.pose.position.y}; + Point2d path_line_end = { + input.points.at(i + 1).point.pose.position.x, input.points.at(i + 1).point.pose.position.y}; + LineString2d path_line = {path_line_begin, path_line_end}; + + // check nearest collision point + const auto nearest_collision_point = + findNearestCollisionPoint(path_line, stop_line, path_line_begin); + if (!nearest_collision_point) { + continue; + } + + // search target point index + target_point_idx = 0; + double length_sum = 0; + + Eigen::Vector2d point1, point2; + if (0 <= offset) { + point1 << nearest_collision_point->x(), nearest_collision_point->y(); + point2 << path_line_begin.x(), path_line_begin.y(); + length_sum += (point2 - point1).norm(); + for (size_t j = i; 0 < j; --j) { + if (offset < length_sum) { + target_point_idx = j + 1; + break; + } + point1 << input.points.at(j).point.pose.position.x, + input.points.at(j).point.pose.position.y; + point2 << input.points.at(j - 1).point.pose.position.x, + input.points.at(j - 1).point.pose.position.y; + length_sum += (point2 - point1).norm(); + } + } else { + point1 << nearest_collision_point->x(), nearest_collision_point->y(); + point2 << path_line_end.x(), path_line_end.y(); + length_sum -= (point2 - point1).norm(); + for (size_t j = i + 1; j < input.points.size() - 1; ++j) { + if (length_sum < offset) { + target_point_idx = j; + break; + } + point1 << input.points.at(j).point.pose.position.x, + input.points.at(j).point.pose.position.y; + point2 << input.points.at(j + 1).point.pose.position.x, + input.points.at(j + 1).point.pose.position.y; + length_sum -= (point2 - point1).norm(); + } + } + // create target point + return std::make_pair( + target_point_idx, getOffsetPoint(point2, point1, std::fabs(length_sum - offset))); + } + return std::nullopt; +} + +auto calcStopPointAndInsertIndex( + const tier4_planning_msgs::msg::PathWithLaneId & input_path, + const lanelet::ConstLineString3d & lanelet_stop_lines, const double & offset, + const double & stop_line_extend_length) -> std::optional> +{ + LineString2d stop_line; + + for (size_t i = 0; i < lanelet_stop_lines.size() - 1; ++i) { + stop_line = planning_utils::extendLine( + lanelet_stop_lines[i], lanelet_stop_lines[i + 1], stop_line_extend_length); + + // Calculate stop pose and insert index, + // if there is a collision point between path and stop line + const auto output = createTargetPoint(input_path, stop_line, offset); + if (output.has_value()) { + return output; + } + } + return std::nullopt; +} +} // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp new file mode 100644 index 0000000000000..c6655064d3ffa --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp @@ -0,0 +1,82 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UTILS_HPP_ +#define UTILS_HPP_ + +#include +#include +#include + +#define EIGEN_MPL2_ONLY +#include +#include +#include +#include + +#include + +namespace autoware::behavior_velocity_planner +{ + +/** + * @brief create offset point. + * @param src point of vector. this point is a base point for offset point. + * @param dst point of vector. + * @param offset length. + * @return offset point. + */ +auto getOffsetPoint(const Eigen::Vector2d & src, const Eigen::Vector2d & dst, const double length) + -> Eigen::Vector2d; + +/** + * @brief find intersection point between a path segment and stop line and return the point. + * @param path segment. + * @param stop line. + * @param base point to find nearest intersection point. + * @return intersection point. if there is no intersection point, return std::nullopt. + */ +auto findNearestCollisionPoint( + const LineString2d & line1, const LineString2d & line2, + const Point2d & origin) -> std::optional; + +/** + * @brief find intersection point between path and stop line and return the point. + * @param input path. + * @param stop line. + * @param longitudinal offset. + * @return first: insert point index, second: insert point position. if there is no intersection + * point, return std::nullopt. + */ +auto createTargetPoint( + const tier4_planning_msgs::msg::PathWithLaneId & input, const LineString2d & stop_line, + const double offset) -> std::optional>; + +/** + * @brief find intersection point between path and stop line and return the point. + * @param input path. + * @param stop line. + * @param longitudinal offset. + * @param extend length to find intersection point between path and stop line. + * @return first: insert point index, second: insert point position. if there is no intersection + * point, return std::nullopt. + */ +auto calcStopPointAndInsertIndex( + const tier4_planning_msgs::msg::PathWithLaneId & input_path, + const lanelet::ConstLineString3d & lanelet_stop_lines, const double & offset, + const double & stop_line_extend_length) -> std::optional>; + +} // namespace autoware::behavior_velocity_planner + +#endif // UTILS_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_utils.cpp new file mode 100644 index 0000000000000..a5d09acc103e9 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_utils.cpp @@ -0,0 +1,190 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "../src/utils.hpp" +#include "autoware/universe_utils/geometry/geometry.hpp" + +#include + +namespace autoware::behavior_velocity_planner +{ + +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; + +using autoware::universe_utils::createPoint; +using autoware::universe_utils::createQuaternion; + +PathWithLaneId generatePath(const geometry_msgs::msg::Pose & pose) +{ + constexpr double interval_distance = 1.0; + + PathWithLaneId traj; + for (double s = 0.0; s <= 10.0 * interval_distance; s += interval_distance) { + PathPointWithLaneId p; + p.point.pose = pose; + p.point.pose.position.x += s; + traj.points.push_back(p); + } + + return traj; +} + +TEST(BehaviorTrafficLightModuleUtilsTest, getOffsetPoint) +{ + constexpr double length = 2.0; + Point2d p1 = {0.0, 0.0}; + Point2d p2 = {1.0, 1.0}; + + const auto output = getOffsetPoint(p1, p2, length); + + EXPECT_DOUBLE_EQ(output.x(), 1.41421356237309505); + EXPECT_DOUBLE_EQ(output.y(), 1.41421356237309505); +} + +TEST(BehaviorTrafficLightModuleUtilsTest, findNearestCollisionPoint) +{ + { + Point2d p = {0.5, 0.5}; + LineString2d line1 = {{-1.0, 0.0}, {1.0, 0.0}}; + LineString2d line2 = {{0.0, -1.0}, {0.0, 1.0}}; + + const auto output = findNearestCollisionPoint(line1, line2, p); + + EXPECT_TRUE(output.has_value()); + EXPECT_DOUBLE_EQ(output.value().x(), 0.0); + EXPECT_DOUBLE_EQ(output.value().y(), 0.0); + } + + { + Point2d p = {0.5, 0.5}; + LineString2d line1 = {{-1.0, -1.0}, {-1.0, 1.0}}; + LineString2d line2 = {{1.0, -1.0}, {1.0, 1.0}}; + + const auto output = findNearestCollisionPoint(line1, line2, p); + + EXPECT_FALSE(output.has_value()); + } +} + +TEST(BehaviorTrafficLightModuleUtilsTest, createTargetPoint) +{ + const auto pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternion(0.0, 0.0, 0.0, 1.0)); + const auto path = generatePath(pose); + + { + constexpr double offset = 1.75; + LineString2d line = {{5.5, -1.0}, {5.5, 1.0}}; + const auto output = createTargetPoint(PathWithLaneId{}, line, offset); + + EXPECT_FALSE(output.has_value()); + } + + { + constexpr double offset = 1.75; + LineString2d line = {{5.5, -1.0}, {5.5, 1.0}}; + const auto output = createTargetPoint(path, line, offset); + + EXPECT_TRUE(output.has_value()); + EXPECT_EQ(output.value().first, size_t(4)); + EXPECT_DOUBLE_EQ(output.value().second.x(), 3.75); + EXPECT_DOUBLE_EQ(output.value().second.y(), 0.0); + } + + { + constexpr double offset = -1.75; + LineString2d line = {{5.5, -1.0}, {5.5, 1.0}}; + const auto output = createTargetPoint(path, line, offset); + + EXPECT_TRUE(output.has_value()); + EXPECT_EQ(output.value().first, size_t(8)); + EXPECT_DOUBLE_EQ(output.value().second.x(), 7.25); + EXPECT_DOUBLE_EQ(output.value().second.y(), 0.0); + } + + { + constexpr double offset = 1.75; + LineString2d line = {{5.5, 2.0}, {5.5, 1.0}}; + const auto output = createTargetPoint(path, line, offset); + + EXPECT_FALSE(output.has_value()); + } +} + +TEST(BehaviorTrafficLightModuleUtilsTest, calcStopPointAndInsertIndex) +{ + const auto pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternion(0.0, 0.0, 0.0, 1.0)); + const auto path = generatePath(pose); + constexpr double offset = 1.75; + + { + lanelet::Points3d basic_line; + basic_line.emplace_back(lanelet::InvalId, 5.5, -1.0, 0.0); + basic_line.emplace_back(lanelet::InvalId, 5.5, 1.0, 0.0); + + const auto line = lanelet::LineString3d(lanelet::InvalId, basic_line); + constexpr double extend_length = 0.0; + const auto output = calcStopPointAndInsertIndex(PathWithLaneId{}, line, offset, extend_length); + + EXPECT_FALSE(output.has_value()); + } + + { + lanelet::Points3d basic_line; + basic_line.emplace_back(lanelet::InvalId, 5.5, -1.0, 0.0); + basic_line.emplace_back(lanelet::InvalId, 5.5, 1.0, 0.0); + + const auto line = lanelet::LineString3d(lanelet::InvalId, basic_line); + constexpr double extend_length = 0.0; + const auto output = calcStopPointAndInsertIndex(path, line, offset, extend_length); + + EXPECT_TRUE(output.has_value()); + EXPECT_EQ(output.value().first, size_t(4)); + EXPECT_DOUBLE_EQ(output.value().second.x(), 3.75); + EXPECT_DOUBLE_EQ(output.value().second.y(), 0.0); + } + + { + lanelet::Points3d basic_line; + basic_line.emplace_back(lanelet::InvalId, 5.5, 2.0, 0.0); + basic_line.emplace_back(lanelet::InvalId, 5.5, 1.0, 0.0); + + const auto line = lanelet::LineString3d(lanelet::InvalId, basic_line); + constexpr double extend_length = 2.0; + const auto output = calcStopPointAndInsertIndex(path, line, offset, extend_length); + + EXPECT_TRUE(output.has_value()); + EXPECT_EQ(output.value().first, size_t(4)); + EXPECT_DOUBLE_EQ(output.value().second.x(), 3.75); + EXPECT_DOUBLE_EQ(output.value().second.y(), 0.0); + } + + { + lanelet::Points3d basic_line; + basic_line.emplace_back(lanelet::InvalId, 5.5, 2.0, 0.0); + basic_line.emplace_back(lanelet::InvalId, 5.5, 1.0, 0.0); + + const auto line = lanelet::LineString3d(lanelet::InvalId, basic_line); + constexpr double extend_length = 0.0; + const auto output = calcStopPointAndInsertIndex(path, line, offset, extend_length); + + EXPECT_FALSE(output.has_value()); + } +} + +} // namespace autoware::behavior_velocity_planner From d01ae0d5e4cf990f752f75d9c16dfadb53e22a58 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 11 Oct 2024 13:15:16 +0900 Subject: [PATCH 235/701] fix(crosswalk): fix passing direction calclation for the objects (#9071) Signed-off-by: Yuki Takagi --- .../src/scene_crosswalk.cpp | 33 ++++++++----------- 1 file changed, 13 insertions(+), 20 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index f56552485b5fc..4ec3e43ee91ca 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -353,13 +353,16 @@ std::optional CrosswalkModule::checkStopForCrosswalkUsers( if (collision_state != CollisionState::YIELD) { continue; } + if ( isVehicleType(object.classification) && ego_crosswalk_passage_direction && collision_point.crosswalk_passage_direction) { - const double direction_diff = autoware::universe_utils::normalizeRadian( + double direction_diff = std::abs(std::fmod( collision_point.crosswalk_passage_direction.value() - - ego_crosswalk_passage_direction.value()); - if (std::fabs(direction_diff) < planner_param_.vehicle_object_cross_angle_threshold) { + ego_crosswalk_passage_direction.value(), + M_PI_2)); + direction_diff = std::min(direction_diff, M_PI_2 - direction_diff); + if (direction_diff < planner_param_.vehicle_object_cross_angle_threshold) { continue; } } @@ -670,8 +673,8 @@ std::pair CrosswalkModule::clampAttentionRangeByNeighborCrosswal std::optional CrosswalkModule::findEgoPassageDirectionAlongPath( const PathWithLaneId & path) const { - auto findIntersectPoint = [&](const lanelet::ConstLineString3d line) - -> std::optional> { + auto findIntersectPoint = + [&](const lanelet::ConstLineString3d line) -> std::optional { const auto line_start = autoware::universe_utils::createPoint(line.front().x(), line.front().y(), line.front().z()); const auto line_end = @@ -682,29 +685,19 @@ std::optional CrosswalkModule::findEgoPassageDirectionAlongPath( if (const auto intersect = autoware::universe_utils::intersect(line_start, line_end, start, end); intersect.has_value()) { - return std::make_optional(std::make_pair(i, intersect.value())); + return intersect; } } return std::nullopt; }; - const auto intersect_pt1 = findIntersectPoint(crosswalk_.leftBound()); - const auto intersect_pt2 = findIntersectPoint(crosswalk_.rightBound()); + const auto pt1 = findIntersectPoint(crosswalk_.leftBound()); + const auto pt2 = findIntersectPoint(crosswalk_.rightBound()); - if (!intersect_pt1 || !intersect_pt2) { + if (!pt1 || !pt2) { return std::nullopt; } - const auto idx1 = intersect_pt1.value().first; - const auto idx2 = intersect_pt2.value().first; - - const auto min_idx = std::min(idx1, idx2); - const auto dist1 = calcSignedArcLength(path.points, min_idx, intersect_pt1.value().second); - const auto dist2 = calcSignedArcLength(path.points, min_idx, intersect_pt2.value().second); - - const auto & front = dist1 > dist2 ? intersect_pt2.value().second : intersect_pt1.value().second; - const auto & back = dist1 > dist2 ? intersect_pt1.value().second : intersect_pt2.value().second; - - return std::atan2(back.y - front.y, back.x - front.x); + return std::atan2(pt2->y - pt1->y, pt2->x - pt1->x); } std::optional CrosswalkModule::findObjectPassageDirectionAlongVehicleLane( From dbcf7aa9da79468ff28ee89483af5a2264384e0e Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 11 Oct 2024 14:18:48 +0900 Subject: [PATCH 236/701] fix(lane_change): insert stop for current lanes object (RT0-33761) (#9070) * RT0-33761 fix lc insert stop for current lanes object Signed-off-by: Zulfaqar Azmi * fix wrong value used for comparison Signed-off-by: Zulfaqar Azmi * ignore current lane object that is not on ego's path Signed-off-by: Zulfaqar Azmi * remove print Signed-off-by: Zulfaqar Azmi * update readme Signed-off-by: Zulfaqar Azmi * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * revert is_within_vel_th removal Signed-off-by: Zulfaqar Azmi * fix flowchart too wide Signed-off-by: Zulfaqar Azmi * rename variable in has_blocking_target_object_for_stopping Signed-off-by: Zulfaqar Azmi * Add docstring and rename function Signed-off-by: Zulfaqar Azmi * change color Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --- .../README.md | 91 +++++++- .../scene.hpp | 6 +- .../utils/base_class.hpp | 2 +- .../utils/utils.hpp | 42 ++++ .../src/interface.cpp | 2 +- .../src/scene.cpp | 205 ++++++++---------- .../src/utils/utils.cpp | 65 ++++++ 7 files changed, 286 insertions(+), 127 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md index 02280f7ffa697..a52d842b5dcb9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md @@ -195,7 +195,7 @@ if (max_lane_change_length > ego's distance to the end of the current lanes.) t stop endif -if ego is stuck in the current lanes then (yes) +if (ego is stuck in the current lanes) then (yes) :Return **sampled acceleration values**; stop else (no) @@ -540,14 +540,65 @@ The following figure illustrates when the lane is blocked in multiple lane chang ![multiple-lane-changes](./images/lane_change-when_cannot_change_lanes.png) -#### Stopping position when an object exists ahead +### Stopping behavior -When an obstacle is in front of the ego vehicle, stop with keeping a distance for lane change. -The position to be stopped depends on the situation, such as when the lane change is blocked by the target lane obstacle, or when the lane change is not needed immediately.The following shows the division in that case. +The stopping behavior of the ego vehicle is determined based on various factors, such as the number of lane changes required, the presence of obstacles, and the position of blocking objects in relation to the lane change plan. The objective is to choose a suitable stopping point that allows for a safe and effective lane change while adapting to different traffic scenarios. -##### When the ego vehicle is near the end of the lane change +The following flowchart and subsections explain the conditions for deciding where to insert a stop point when an obstacle is ahead. -Regardless of the presence or absence of objects in the lane change target lane, stop by keeping the distance necessary for lane change to the object ahead. +```plantuml +@startuml +skinparam defaultTextAlignment center +skinparam backgroundColor #WHITE + +title Inserting Stop Point + +start +if (number of lane changes is zero?) then (YES) +stop +else (NO) +endif + +if (do we want to insert stop point in current lanes?) then (NO) +#LightPink:Insert stop point at next lane change terminal start.; +stop +else (YES) +endif + +if (Is there leading object in the current lanes that blocks ego's path?) then (NO) +#LightPink:Insert stop point at terminal stop.; +stop +else (YES) +endif + +if (Blocking object's position is after target lane's start position?) then (NO) +#LightPink:Insert stop at the target lane's start position.; +stop +else (YES) +endif + +if (Blocking object's position is before terminal stop position?) then (NO) +#LightPink:Insert stop at the terminal stop position; +stop +else (YES) +endif + +if (Are there target lane objects between the ego and the blocking object?) then (NO) +#LightGreen:Insert stop behind the blocking object; +stop +else (YES) +#LightPink:Insert stop at terminal stop; +stop +@enduml +``` + +#### Ego vehicle's stopping position when an object exists ahead + +When the ego vehicle encounters an obstacle ahead, it stops while maintaining a safe distance to prepare for a possible lane change. The exact stopping position depends on factors like whether the target lane is clear or if the lane change needs to be delayed. The following explains how different stopping scenarios are handled: + +##### When the near the end of the lane change + +Whether the target lane has obstacles or is clear, the ego vehicle stops while keeping a safe distance from the obstacle ahead, ensuring there is enough room for the lane change. ![stop_at_terminal_no_block](./images/lane_change-stop_at_terminal_no_block.drawio.svg) @@ -555,20 +606,40 @@ Regardless of the presence or absence of objects in the lane change target lane, ##### When the ego vehicle is not near the end of the lane change -If there are NO objects in the lane change section of the target lane, stop by keeping the distance necessary for lane change to the object ahead. +The ego vehicle stops while maintaining a safe distance from the obstacle ahead, ensuring there is enough space for a lane change. + +![stop_not_at_terminal_no_blocking_object](./images/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg) + +#### Ego vehicle's stopping position when an object exists in the lane changing section + +If there are objects within the lane change section of the target lane, the ego vehicle stops closer to the obstacle ahead, without maintaining the usual distance for a lane change. + +##### When near the end of the lane change + +Regardless of whether there are obstacles in the target lane, the ego vehicle stops while keeping a safe distance from the obstacle ahead, allowing for the lane change. + +![stop_at_terminal_no_block](./images/lane_change-stop_at_terminal_no_block.drawio.svg) + +![stop_at_terminal](./images/lane_change-stop_at_terminal.drawio.svg) + +##### When not near the end of the lane change + +If there are no obstacles in the lane change section of the target lane, the ego vehicle stops while keeping a safe distance from the obstacle ahead to accommodate the lane change. ![stop_not_at_terminal_no_blocking_object](./images/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg) -If there are objects in the lane change section of the target lane, stop WITHOUT keeping the distance necessary for lane change to the object ahead. +If there are obstacles within the lane change section of the target lane, the ego vehicle stops closer to the obstacle ahead, without keeping the usual distance needed for a lane change. ![stop_not_at_terminal](./images/lane_change-stop_not_at_terminal.drawio.svg) -##### When the target lane is far away +#### When the target lane is far away -When the target lane for lane change is far away and not next to the current lane, do not keep the distance necessary for lane change to the object ahead. +If the target lane for the lane change is far away and not next to the current lane, the ego vehicle stops closer to the obstacle ahead, as maintaining the usual distance for a lane change is not necessary. ![stop_far_from_target_lane](./images/lane_change-stop_far_from_target_lane.drawio.svg) +![stop_not_at_terminal](./images/lane_change-stop_not_at_terminal.drawio.svg) + ### Lane Change When Stuck The ego vehicle is considered stuck if it is stopped and meets any of the following conditions: diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp index cc06d0b114d7b..3b414235a9f54 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp @@ -70,7 +70,9 @@ class NormalLaneChange : public LaneChangeBase void extendOutputDrivableArea(BehaviorModuleOutput & output) const override; - void insertStopPoint(const lanelet::ConstLanelets & lanelets, PathWithLaneId & path) override; + void insert_stop_point(const lanelet::ConstLanelets & lanelets, PathWithLaneId & path) override; + + void insert_stop_point_on_current_lanes(PathWithLaneId & path); PathWithLaneId getReferencePath() const override; @@ -209,7 +211,7 @@ class NormalLaneChange : public LaneChangeBase std::pair calcCurrentMinMaxAcceleration() const; - void setStopPose(const Pose & stop_pose); + void set_stop_pose(const double arc_length_to_stop_pose, PathWithLaneId & path); void updateStopTime(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp index c124353e2873a..aaf9df7144d74 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp @@ -127,7 +127,7 @@ class LaneChangeBase virtual void updateSpecialData() {} - virtual void insertStopPoint( + virtual void insert_stop_point( [[maybe_unused]] const lanelet::ConstLanelets & lanelets, [[maybe_unused]] PathWithLaneId & path) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index 3219dc7e777f1..729eaa5ca8268 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -266,6 +266,48 @@ ExtendedPredictedObjects transform_to_extended_objects( double get_distance_to_next_regulatory_element( const CommonDataPtr & common_data_ptr, const bool ignore_crosswalk = false, const bool ignore_intersection = false); + +/** + * @brief Calculates the minimum distance to a stationary object in the current lanes. + * + * This function determines the closest distance from the ego vehicle to a stationary object + * in the current lanes. It checks if the object is within the stopping criteria based on its + * velocity and calculates the distance while accounting for the object's size. Only objects + * positioned after the specified distance to the target lane's start are considered. + * + * @param common_data_ptr Pointer to the common data structure containing parameters for lane + * change. + * @param filtered_objects A collection of objects filtered by lanes, including those in the current + * lane. + * @param dist_to_target_lane_start The distance to the start of the target lane from the ego + * vehicle. + * @param path The current path of the ego vehicle, containing path points and lane information. + * @return The minimum distance to a stationary object in the current lanes. If no valid object is + * found, returns the maximum possible double value. + */ +double get_min_dist_to_current_lanes_obj( + const CommonDataPtr & common_data_ptr, const FilteredByLanesExtendedObjects & filtered_objects, + const double dist_to_target_lane_start, const PathWithLaneId & path); + +/** + * @brief Checks if there is an object in the target lane that influences the decision to insert a + * stop point. + * + * This function determines whether any objects exist in the target lane that would affect + * the decision to place a stop point behind a blocking object in the current lane. + * + * @param common_data_ptr Pointer to the common data structure containing parameters for the lane + * change. + * @param filtered_objects A collection of objects filtered by lanes, including those in the target + * lane. + * @param stop_arc_length The arc length at which the ego vehicle is expected to stop. + * @param path The current path of the ego vehicle, containing path points and lane information. + * @return true if there is an object in the target lane that influences the stop point decision; + * otherwise, false. + */ +bool has_blocking_target_object( + const CommonDataPtr & common_data_ptr, const FilteredByLanesExtendedObjects & filtered_objects, + const double stop_arc_length, const PathWithLaneId & path); } // namespace autoware::behavior_path_planner::utils::lane_change #endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index 09550a135ba3c..8fb1459f62c98 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -154,7 +154,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() BehaviorModuleOutput out = getPreviousModuleOutput(); - module_type_->insertStopPoint(module_type_->get_current_lanes(), out.path); + module_type_->insert_stop_point(module_type_->get_current_lanes(), out.path); out.turn_signal_info = module_type_->get_current_turn_signal_info(); const auto & lane_change_debug = module_type_->getDebugData(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 5a9ee485320b8..532a99a67195b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -370,14 +370,14 @@ BehaviorModuleOutput NormalLaneChange::generateOutput() universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (!status_.is_valid_path) { RCLCPP_DEBUG(logger_, "No valid path found. Returning previous module's path as output."); - insertStopPoint(get_current_lanes(), prev_module_output_.path); + insert_stop_point(get_current_lanes(), prev_module_output_.path); return prev_module_output_; } auto output = prev_module_output_; if (isAbortState() && abort_path_) { output.path = abort_path_->path; - insertStopPoint(get_current_lanes(), output.path); + insert_stop_point(get_current_lanes(), output.path); } else { output.path = status_.lane_change_path.path; @@ -395,10 +395,9 @@ BehaviorModuleOutput NormalLaneChange::generateOutput() output.path.points, output.path.points.front().point.pose.position, getEgoPosition()); const auto stop_dist = -(current_velocity * current_velocity / (2.0 * planner_data_->parameters.min_acc)); - const auto stop_point = utils::insertStopPoint(stop_dist + current_dist, output.path); - setStopPose(stop_point.point.pose); + set_stop_pose(stop_dist + current_dist, output.path); } else { - insertStopPoint(get_target_lanes(), output.path); + insert_stop_point(get_target_lanes(), output.path); } } @@ -432,7 +431,7 @@ void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output) c current_drivable_area_info, prev_module_output_.drivable_area_info); } -void NormalLaneChange::insertStopPoint( +void NormalLaneChange::insert_stop_point( const lanelet::ConstLanelets & lanelets, PathWithLaneId & path) { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -446,131 +445,109 @@ void NormalLaneChange::insertStopPoint( return; } - const auto [_, lanes_dist_buffer] = - calculation::calc_lc_length_and_dist_buffer(common_data_ptr_, lanelets); + const auto & current_lanes = get_current_lanes(); + const auto is_current_lane = lanelets.front().id() == current_lanes.front().id() && + lanelets.back().id() == current_lanes.back().id(); + + // if input is not current lane, we can just insert the points at terminal. + if (!is_current_lane) { + const auto arc_length_to_stop_pose = motion_utils::calcArcLength(path.points) - + common_data_ptr_->transient_data.next_dist_buffer.min; + set_stop_pose(arc_length_to_stop_pose, path); + return; + } + + insert_stop_point_on_current_lanes(path); +} - const auto getDistanceAlongLanelet = [&](const geometry_msgs::msg::Pose & target) { - return utils::getSignedDistance(path.points.front().point.pose, target, lanelets); +void NormalLaneChange::insert_stop_point_on_current_lanes(PathWithLaneId & path) +{ + const auto & path_front_pose = path.points.front().point.pose; + const auto & center_line = common_data_ptr_->current_lanes_path.points; + const auto get_arc_length_along_lanelet = [&](const geometry_msgs::msg::Pose & target) { + return motion_utils::calcSignedArcLength( + center_line, path_front_pose.position, target.position); }; - // If lanelets.back() is in goal route section, get distance to goal. - // Otherwise, get distance to end of lane. - double distance_to_terminal = 0.0; - if (route_handler->isInGoalRouteSection(lanelets.back())) { - const auto goal = route_handler->getGoalPose(); - distance_to_terminal = getDistanceAlongLanelet(goal); - } else { - distance_to_terminal = utils::getDistanceToEndOfLane(path.points.front().point.pose, lanelets); - } + const auto & transient_data = common_data_ptr_->transient_data; + const auto & lanes_ptr = common_data_ptr_->lanes_ptr; + const auto & lc_param_ptr = common_data_ptr_->lc_param_ptr; - const double stop_point_buffer = lane_change_parameters_->backward_length_buffer_for_end_of_lane; - const auto target_objects = filterObjects(); - double stopping_distance = distance_to_terminal - lanes_dist_buffer.min - stop_point_buffer; + const auto dist_to_terminal = std::invoke([&]() -> double { + const auto target_pose = (lanes_ptr->current_lane_in_goal_section) + ? common_data_ptr_->route_handler_ptr->getGoalPose() + : center_line.back().point.pose; + return get_arc_length_along_lanelet(target_pose); + }); - const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current.value(); - if (utils::isEgoWithinOriginalLane(curr_lanes_poly, getEgoPose(), planner_data_->parameters)) { - const double distance_to_last_fit_width = - utils::lane_change::calculation::calc_dist_to_last_fit_width( - lanelets, path.points.front().point.pose, planner_data_->parameters); - stopping_distance = std::min(stopping_distance, distance_to_last_fit_width); - } + const auto & bpp_param_ptr = common_data_ptr_->bpp_param_ptr; + const auto min_dist_buffer = transient_data.current_dist_buffer.min; + const auto dist_to_terminal_start = + dist_to_terminal - min_dist_buffer - calculation::calc_stopping_distance(lc_param_ptr); - const auto & lc_start_point = status_.lane_change_path.info.lane_changing_start; + const auto distance_to_last_fit_width = std::invoke([&]() -> double { + const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current.value(); + if (utils::isEgoWithinOriginalLane(curr_lanes_poly, getEgoPose(), *bpp_param_ptr)) { + return utils::lane_change::calculation::calc_dist_to_last_fit_width( + lanes_ptr->current, path.points.front().point.pose, *bpp_param_ptr); + } + return std::numeric_limits::max(); + }); - if (!is_valid_start_point(common_data_ptr_, lc_start_point)) { - const auto stop_point = utils::insertStopPoint(stopping_distance, path); - setStopPose(stop_point.point.pose); + const auto dist_to_terminal_stop = std::min(dist_to_terminal_start, distance_to_last_fit_width); + if (filtered_objects_.current_lane.empty()) { + set_stop_pose(dist_to_terminal_stop, path); return; } - // calculate minimum distance from path front to the stationary object on the ego lane. - const auto distance_to_ego_lane_obj = [&]() -> double { - double distance_to_obj = distance_to_terminal; - const double distance_to_ego = getDistanceAlongLanelet(getEgoPose()); - - for (const auto & object : target_objects.current_lane) { - // check if stationary - const auto obj_v = std::abs(object.initial_twist.linear.x); - if (obj_v > lane_change_parameters_->stopped_object_velocity_threshold) { - continue; - } + const auto dist_to_target_lane_start = std::invoke([&]() -> double { + const auto & front_lane = lanes_ptr->target_neighbor.front(); + const auto target_front = + utils::to_geom_msg_pose(front_lane.centerline2d().front(), front_lane); + return get_arc_length_along_lanelet(target_front); + }); - // calculate distance from path front to the stationary object polygon on the ego lane. - const auto polygon = - autoware::universe_utils::toPolygon2d(object.initial_pose, object.shape).outer(); - for (const auto & polygon_p : polygon) { - const auto p_fp = autoware::universe_utils::toMsg(polygon_p.to_3d()); - const auto lateral_fp = autoware::motion_utils::calcLateralOffset(path.points, p_fp); + const auto arc_length_to_current_obj = utils::lane_change::get_min_dist_to_current_lanes_obj( + common_data_ptr_, filtered_objects_, dist_to_target_lane_start, path); - // ignore if the point is around the ego path - if (std::abs(lateral_fp) > planner_data_->parameters.vehicle_width) { - continue; - } + // margin with leading vehicle + // consider rss distance when the LC need to avoid obstacles + const auto rss_dist = calcRssDistance( + 0.0, lc_param_ptr->minimum_lane_changing_velocity, lc_param_ptr->rss_params_for_parked); - const double current_distance_to_obj = calcSignedArcLength(path.points, 0, p_fp); + const auto stop_margin = transient_data.lane_changing_length.min + + lc_param_ptr->backward_length_buffer_for_blocking_object + rss_dist + + bpp_param_ptr->base_link2front; + const auto stop_arc_length_behind_obj = arc_length_to_current_obj - stop_margin; - // ignore backward object - if (current_distance_to_obj < distance_to_ego) { - continue; - } - distance_to_obj = std::min(distance_to_obj, current_distance_to_obj); - } - } - return distance_to_obj; - }(); - - // Need to stop before blocking obstacle - if (distance_to_ego_lane_obj < distance_to_terminal) { - // consider rss distance when the LC need to avoid obstacles - const auto rss_dist = calcRssDistance( - 0.0, lane_change_parameters_->minimum_lane_changing_velocity, - lane_change_parameters_->rss_params); - - const auto stopping_distance_for_obj = - distance_to_ego_lane_obj - lanes_dist_buffer.min - - lane_change_parameters_->backward_length_buffer_for_blocking_object - rss_dist - - getCommonParam().base_link2front; - - // If the target lane in the lane change section is blocked by a stationary obstacle, there - // is no reason for stopping with a lane change margin. Instead, stop right behind the - // obstacle. - // ---------------------------------------------------------- - // [obj]> - // ---------------------------------------------------------- - // [ego]> | <--- lane change margin ---> [obj]> - // ---------------------------------------------------------- - const bool has_blocking_target_lane_obj = std::any_of( - target_objects.target_lane_leading.begin(), target_objects.target_lane_leading.end(), - [&](const auto & o) { - const auto v = std::abs(o.initial_twist.linear.x); - if (v > lane_change_parameters_->stopped_object_velocity_threshold) { - return false; - } + if (stop_arc_length_behind_obj < dist_to_target_lane_start) { + set_stop_pose(dist_to_target_lane_start, path); + return; + } - // target_objects includes objects out of target lanes, so filter them out - if (!boost::geometry::intersects( - autoware::universe_utils::toPolygon2d(o.initial_pose, o.shape).outer(), - lanelet::utils::combineLaneletsShape(get_target_lanes()) - .polygon2d() - .basicPolygon())) { - return false; - } + if (stop_arc_length_behind_obj > dist_to_terminal_stop) { + set_stop_pose(dist_to_terminal_stop, path); + return; + } - const double distance_to_target_lane_obj = getDistanceAlongLanelet(o.initial_pose); - return stopping_distance_for_obj < distance_to_target_lane_obj && - distance_to_target_lane_obj < distance_to_ego_lane_obj; - }); + // If the target lane in the lane change section is blocked by a stationary obstacle, there + // is no reason for stopping with a lane change margin. Instead, stop right behind the + // obstacle. + // ---------------------------------------------------------- + // [obj]> + // ---------------------------------------------------------- + // [ego]> | <--- stop margin ---> [obj]> + // ---------------------------------------------------------- + const auto has_blocking_target_lane_obj = utils::lane_change::has_blocking_target_object( + common_data_ptr_, filtered_objects_, stop_arc_length_behind_obj, path); - if (!has_blocking_target_lane_obj) { - stopping_distance = stopping_distance_for_obj; - } + if (has_blocking_target_lane_obj || stop_arc_length_behind_obj <= 0.0) { + set_stop_pose(dist_to_terminal_stop, path); + return; } - if (stopping_distance > 0.0) { - const auto stop_point = utils::insertStopPoint(stopping_distance, path); - setStopPose(stop_point.point.pose); - } + set_stop_pose(stop_arc_length_behind_obj, path); } PathWithLaneId NormalLaneChange::getReferencePath() const @@ -1109,6 +1086,7 @@ FilteredByLanesExtendedObjects NormalLaneChange::filterObjects() const }); } + // TODO(Azu): We have to think about how to remove is_within_vel_th without breaking AW behavior utils::path_safety_checker::filterObjects( filtered_by_lanes_objects.current_lane, [&](const PredictedObject & object) { const auto ahead_of_ego = utils::lane_change::is_ahead_of_ego(common_data_ptr_, path, object); @@ -2182,9 +2160,10 @@ bool NormalLaneChange::is_valid_start_point( boost::geometry::covered_by(lc_start_point, target_lane_poly); } -void NormalLaneChange::setStopPose(const Pose & stop_pose) +void NormalLaneChange::set_stop_pose(const double arc_length_to_stop_pose, PathWithLaneId & path) { - lane_change_stop_pose_ = stop_pose; + const auto stop_point = utils::insertStopPoint(arc_length_to_stop_pose, path); + lane_change_stop_pose_ = stop_point.point.pose; } void NormalLaneChange::updateStopTime() diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index 20bc982445b07..c4fe5fa9902c5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -1250,4 +1250,69 @@ double get_distance_to_next_regulatory_element( return distance; } + +double get_min_dist_to_current_lanes_obj( + const CommonDataPtr & common_data_ptr, const FilteredByLanesExtendedObjects & filtered_objects, + const double dist_to_target_lane_start, const PathWithLaneId & path) +{ + const auto & path_points = path.points; + auto min_dist_to_obj = std::numeric_limits::max(); + for (const auto & object : filtered_objects.current_lane) { + // check if stationary + const auto obj_v = std::abs(object.initial_twist.linear.x); + if (obj_v > common_data_ptr->lc_param_ptr->stop_velocity_threshold) { + continue; + } + + // provide "estimation" based on size of object + const auto dist_to_obj = + motion_utils::calcSignedArcLength( + path_points, path_points.front().point.pose.position, object.initial_pose.position) - + (object.shape.dimensions.x / 2); + + if (dist_to_obj < dist_to_target_lane_start) { + continue; + } + + // calculate distance from path front to the stationary object polygon on the ego lane. + for (const auto & polygon_p : object.initial_polygon.outer()) { + const auto p_fp = autoware::universe_utils::toMsg(polygon_p.to_3d()); + const auto lateral_fp = motion_utils::calcLateralOffset(path_points, p_fp); + + // ignore if the point is not on ego path + if (std::abs(lateral_fp) > (common_data_ptr->bpp_param_ptr->vehicle_width / 2)) { + continue; + } + + const auto current_distance_to_obj = motion_utils::calcSignedArcLength(path_points, 0, p_fp); + min_dist_to_obj = std::min(min_dist_to_obj, current_distance_to_obj); + } + } + return min_dist_to_obj; +} + +bool has_blocking_target_object( + const CommonDataPtr & common_data_ptr, const FilteredByLanesExtendedObjects & filtered_objects, + const double stop_arc_length, const PathWithLaneId & path) +{ + return std::any_of( + filtered_objects.target_lane_leading.begin(), filtered_objects.target_lane_leading.end(), + [&](const auto & object) { + const auto v = std::abs(object.initial_twist.linear.x); + if (v > common_data_ptr->lc_param_ptr->stop_velocity_threshold) { + return false; + } + + // filtered_objects includes objects out of target lanes, so filter them out + if (boost::geometry::disjoint( + object.initial_polygon, common_data_ptr->lanes_polygon_ptr->target.value())) { + return false; + } + + const auto arc_length_to_target_lane_obj = motion_utils::calcSignedArcLength( + path.points, path.points.front().point.pose.position, object.initial_pose.position); + const auto width_margin = object.shape.dimensions.x / 2; + return (arc_length_to_target_lane_obj - width_margin) >= stop_arc_length; + }); +} } // namespace autoware::behavior_path_planner::utils::lane_change From f5818f71e4b5212815b012895cec409de29a2c78 Mon Sep 17 00:00:00 2001 From: Kazunori-Nakajima <169115284+Kazunori-Nakajima@users.noreply.github.com> Date: Fri, 11 Oct 2024 14:56:11 +0900 Subject: [PATCH 237/701] fix(.github): change `runs-on` value from `ubuntu-latest` to `ubuntu-22.04` (#9080) fix(.github): change value from to Signed-off-by: Kasunori-Nakajima --- .github/workflows/build-and-test-differential.yaml | 2 +- .github/workflows/cancel-previous-workflows.yaml | 2 +- .github/workflows/check-build-depends.yaml | 2 +- .github/workflows/clang-tidy-pr-comments-manually.yaml | 2 +- .github/workflows/clang-tidy-pr-comments.yaml | 2 +- .github/workflows/comment-on-pr.yaml | 2 +- .github/workflows/cppcheck-differential.yaml | 2 +- .github/workflows/cppcheck-weekly.yaml | 2 +- .github/workflows/dco.yaml | 2 +- .github/workflows/delete-closed-pr-docs.yaml | 2 +- .github/workflows/deploy-docs.yaml | 2 +- .github/workflows/github-release.yaml | 2 +- .github/workflows/json-schema-check.yaml | 6 +++--- .github/workflows/pr-agent.yaml | 2 +- .github/workflows/pr-labeler.yaml | 2 +- .github/workflows/pre-commit-autoupdate.yaml | 2 +- .github/workflows/pre-commit-optional.yaml | 2 +- .github/workflows/pre-commit.yaml | 2 +- .github/workflows/spell-check-daily.yaml | 2 +- .github/workflows/spell-check-differential.yaml | 2 +- .github/workflows/sync-files.yaml | 2 +- .github/workflows/update-codeowners-from-packages.yaml | 2 +- 22 files changed, 24 insertions(+), 24 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 5e1f3e2c093a5..cda1666603926 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -75,7 +75,7 @@ jobs: clang-tidy-differential: needs: build-and-test-differential - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda steps: - name: Set PR fetch depth diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml index 44983f7deadcb..bd2463d5a8eea 100644 --- a/.github/workflows/cancel-previous-workflows.yaml +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -5,7 +5,7 @@ on: jobs: cancel-previous-workflows: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Cancel previous runs uses: styfle/cancel-workflow-action@0.12.1 diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml index 81618a1db0eea..74c97e3bf4be4 100644 --- a/.github/workflows/check-build-depends.yaml +++ b/.github/workflows/check-build-depends.yaml @@ -7,7 +7,7 @@ on: jobs: check-build-depends: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 container: ${{ matrix.container }} strategy: fail-fast: false diff --git a/.github/workflows/clang-tidy-pr-comments-manually.yaml b/.github/workflows/clang-tidy-pr-comments-manually.yaml index 9bccd972becde..a4df9f9dec3ed 100644 --- a/.github/workflows/clang-tidy-pr-comments-manually.yaml +++ b/.github/workflows/clang-tidy-pr-comments-manually.yaml @@ -8,7 +8,7 @@ on: required: true jobs: clang-tidy-pr-comments-manually: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v3 diff --git a/.github/workflows/clang-tidy-pr-comments.yaml b/.github/workflows/clang-tidy-pr-comments.yaml index baaa0fb8e7744..bf2ed81d7ae48 100644 --- a/.github/workflows/clang-tidy-pr-comments.yaml +++ b/.github/workflows/clang-tidy-pr-comments.yaml @@ -10,7 +10,7 @@ on: jobs: clang-tidy-pr-comments: if: ${{ github.event.workflow_run.event == 'pull_request' && contains(fromJson('["success", "failure"]'), github.event.workflow_run.conclusion) }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v3 diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml index e517016a300d9..c80141ddac6b0 100644 --- a/.github/workflows/comment-on-pr.yaml +++ b/.github/workflows/comment-on-pr.yaml @@ -4,7 +4,7 @@ on: jobs: comment-on-pr: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 permissions: pull-requests: write steps: diff --git a/.github/workflows/cppcheck-differential.yaml b/.github/workflows/cppcheck-differential.yaml index 8c2edd3c76724..09b9b6e983f06 100644 --- a/.github/workflows/cppcheck-differential.yaml +++ b/.github/workflows/cppcheck-differential.yaml @@ -5,7 +5,7 @@ on: jobs: cppcheck-differential: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Set PR fetch depth diff --git a/.github/workflows/cppcheck-weekly.yaml b/.github/workflows/cppcheck-weekly.yaml index 573dcc54aa8c0..28be3897ae4f8 100644 --- a/.github/workflows/cppcheck-weekly.yaml +++ b/.github/workflows/cppcheck-weekly.yaml @@ -7,7 +7,7 @@ on: jobs: cppcheck-weekly: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Checkout code diff --git a/.github/workflows/dco.yaml b/.github/workflows/dco.yaml index db7ace467c658..e95b394ac63d0 100644 --- a/.github/workflows/dco.yaml +++ b/.github/workflows/dco.yaml @@ -4,7 +4,7 @@ on: pull_request: jobs: dco: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - uses: actions/checkout@v4 diff --git a/.github/workflows/delete-closed-pr-docs.yaml b/.github/workflows/delete-closed-pr-docs.yaml index b7b009fb00263..192e138a83c22 100644 --- a/.github/workflows/delete-closed-pr-docs.yaml +++ b/.github/workflows/delete-closed-pr-docs.yaml @@ -7,7 +7,7 @@ on: jobs: delete-closed-pr-docs: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v3 diff --git a/.github/workflows/deploy-docs.yaml b/.github/workflows/deploy-docs.yaml index b48d70dbacb0c..771b4bd36ca9d 100644 --- a/.github/workflows/deploy-docs.yaml +++ b/.github/workflows/deploy-docs.yaml @@ -27,7 +27,7 @@ jobs: deploy-docs: needs: prevent-no-label-execution if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v3 diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index b426d0cba6614..4b1d7f47c6c0c 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -15,7 +15,7 @@ on: jobs: github-release: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Set tag name id: set-tag-name diff --git a/.github/workflows/json-schema-check.yaml b/.github/workflows/json-schema-check.yaml index 5c223edf1eec2..be9b8e3ce20fe 100644 --- a/.github/workflows/json-schema-check.yaml +++ b/.github/workflows/json-schema-check.yaml @@ -6,7 +6,7 @@ on: jobs: check-if-relevant-files-changed: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 outputs: run-check: ${{ steps.paths_filter.outputs.json_or_yaml }} steps: @@ -22,7 +22,7 @@ jobs: json-schema-check: needs: check-if-relevant-files-changed if: needs.check-if-relevant-files-changed.outputs.run-check == 'true' - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v4 @@ -33,7 +33,7 @@ jobs: no-relevant-changes: needs: check-if-relevant-files-changed if: needs.check-if-relevant-files-changed.outputs.run-check == 'false' - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Dummy step run: echo "No relevant changes, passing check" diff --git a/.github/workflows/pr-agent.yaml b/.github/workflows/pr-agent.yaml index 98646d8161da2..5cd0845b3d9b4 100644 --- a/.github/workflows/pr-agent.yaml +++ b/.github/workflows/pr-agent.yaml @@ -13,7 +13,7 @@ jobs: pr_agent_job: needs: prevent-no-label-execution-pr-agent if: ${{ needs.prevent-no-label-execution-pr-agent.outputs.run == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 permissions: issues: write pull-requests: write diff --git a/.github/workflows/pr-labeler.yaml b/.github/workflows/pr-labeler.yaml index d45067bee59ed..cc2b26fd3e422 100644 --- a/.github/workflows/pr-labeler.yaml +++ b/.github/workflows/pr-labeler.yaml @@ -8,7 +8,7 @@ on: jobs: label: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - uses: actions/labeler@v4 with: diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml index 23b403f2a52af..8d57a53b5ccab 100644 --- a/.github/workflows/pre-commit-autoupdate.yaml +++ b/.github/workflows/pre-commit-autoupdate.yaml @@ -14,7 +14,7 @@ jobs: pre-commit-autoupdate: needs: check-secret if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index 38738196a0bd3..12f536c551646 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -5,7 +5,7 @@ on: jobs: pre-commit-optional: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v4 diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index c724885fcb3e4..4d005e849b5ec 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -6,7 +6,7 @@ on: jobs: pre-commit: if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token diff --git a/.github/workflows/spell-check-daily.yaml b/.github/workflows/spell-check-daily.yaml index dcee449abc728..8c0373594a90e 100644 --- a/.github/workflows/spell-check-daily.yaml +++ b/.github/workflows/spell-check-daily.yaml @@ -7,7 +7,7 @@ on: jobs: spell-check-daily: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v4 diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml index ee9d451ba9b9e..3542659332532 100644 --- a/.github/workflows/spell-check-differential.yaml +++ b/.github/workflows/spell-check-differential.yaml @@ -5,7 +5,7 @@ on: jobs: spell-check-differential: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository uses: actions/checkout@v4 diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml index 51e523b8031bf..0cffbcd2a269f 100644 --- a/.github/workflows/sync-files.yaml +++ b/.github/workflows/sync-files.yaml @@ -14,7 +14,7 @@ jobs: sync-files: needs: check-secret if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml index 8b3d2407fbc75..760a647ffbf56 100644 --- a/.github/workflows/update-codeowners-from-packages.yaml +++ b/.github/workflows/update-codeowners-from-packages.yaml @@ -14,7 +14,7 @@ jobs: update-codeowners-from-packages: needs: check-secret if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token From 543b45eea074ffd511863c6cac18916f8e38ccef Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Fri, 11 Oct 2024 16:37:01 +0900 Subject: [PATCH 238/701] refactor(autoware_autonomous_emergency_braking): rename info_marker_publisher to virtual_wall_publisher (#9078) Signed-off-by: kyoichi-sugahara --- .../autoware/autonomous_emergency_braking/node.hpp | 2 +- .../autoware_autonomous_emergency_braking/src/node.cpp | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp index 214a6dc309210..32bedd15c5c53 100644 --- a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp +++ b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp @@ -341,7 +341,7 @@ class AEB : public rclcpp::Node // publisher rclcpp::Publisher::SharedPtr pub_obstacle_pointcloud_; rclcpp::Publisher::SharedPtr debug_marker_publisher_; - rclcpp::Publisher::SharedPtr info_marker_publisher_; + rclcpp::Publisher::SharedPtr virtual_wall_publisher_; rclcpp::Publisher::SharedPtr debug_processing_time_detail_pub_; rclcpp::Publisher::SharedPtr debug_rss_distance_publisher_; diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index b3988ba238fe7..df78ffc156802 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -138,7 +138,7 @@ AEB::AEB(const rclcpp::NodeOptions & node_options) pub_obstacle_pointcloud_ = this->create_publisher("~/debug/obstacle_pointcloud", 1); debug_marker_publisher_ = this->create_publisher("~/debug/markers", 1); - info_marker_publisher_ = this->create_publisher("~/info/markers", 1); + virtual_wall_publisher_ = this->create_publisher("~/virtual_wall", 1); debug_rss_distance_publisher_ = this->create_publisher("~/debug/rss_distance", 1); } @@ -398,7 +398,7 @@ bool AEB::fetchLatestData() void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) { MarkerArray debug_markers; - MarkerArray info_markers; + MarkerArray virtual_wall_marker; checkCollision(debug_markers); if (!collision_data_keeper_.checkCollisionExpired()) { @@ -414,7 +414,7 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) addCollisionMarker(data.value(), debug_markers); } } - addVirtualStopWallMarker(info_markers); + addVirtualStopWallMarker(virtual_wall_marker); } else { const std::string error_msg = "[AEB]: No Collision"; const auto diag_level = DiagnosticStatus::OK; @@ -423,7 +423,7 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) // publish debug markers debug_marker_publisher_->publish(debug_markers); - info_marker_publisher_->publish(info_markers); + virtual_wall_publisher_->publish(virtual_wall_marker); } bool AEB::checkCollision(MarkerArray & debug_markers) From a71ef19650009d3862c4c2dd53aa5c0f95fa4ae9 Mon Sep 17 00:00:00 2001 From: melike tanrikulu <41450930+meliketanrikulu@users.noreply.github.com> Date: Fri, 11 Oct 2024 13:32:55 +0300 Subject: [PATCH 239/701] docs(autoware_pose_covariance_modifier): fix gt symbol (#9082) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Melike Tanrıkulu --- localization/autoware_pose_covariance_modifier/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/localization/autoware_pose_covariance_modifier/README.md b/localization/autoware_pose_covariance_modifier/README.md index 60ecf4bde3508..201fb8bb37103 100644 --- a/localization/autoware_pose_covariance_modifier/README.md +++ b/localization/autoware_pose_covariance_modifier/README.md @@ -80,12 +80,12 @@ graph TD pc1{{"gnss_pose_yaw
stddev"}} pc1 -->|"<= 0.3 rad"| pc2{{"gnss_pose_z
stddev"}} pc2 -->|"<= 0.1 m"| pc3{{"gnss_pose_xy
stddev"}} - pc2 -->|"> 0.1 m"| ndt_pose("NDT Pose") + pc2 -->|"> 0.1 m"| ndt_pose("NDT Pose") pc3 -->|"<= 0.1 m"| gnss_pose("GNSS Pose") pc3 -->|"0.1 m < x <= 0.2 m"| gnss_ndt_pose("`Both GNSS and NDT Pose (_with modified covariance_)`") - pc3 -->|"> 0.2 m"| ndt_pose - pc1 -->|"> 0.3 rad"| ndt_pose + pc3 -->|"> 0.2 m"| ndt_pose + pc1 -->|"> 0.3 rad"| ndt_pose end pose_covariance_modifier_node -->|"/localization/pose_estimator/pose_with_covariance"| ekf_localizer["ekf_localizer"] From d137f7c732ddad85b2b002b5f4395188a4686bed Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 15 Oct 2024 03:27:56 +0200 Subject: [PATCH 240/701] refactor(osqp_interface): added autoware prefix to osqp_interface (#8958) Signed-off-by: Esteve Fernandez --- .../CMakeLists.txt | 14 +++++------ .../design/osqp_interface-design.md | 2 +- .../osqp_interface/csc_matrix_conv.hpp | 18 +++++--------- .../osqp_interface/osqp_interface.hpp | 20 ++++++---------- .../osqp_interface/visibility_control.hpp | 6 ++--- .../package.xml | 2 +- .../src/csc_matrix_conv.cpp | 12 +++------- .../src/osqp_interface.cpp | 14 ++++------- .../test/test_csc_matrix_conv.cpp | 18 +++++++------- .../test/test_osqp_interface.cpp | 24 +++++++++---------- .../qp_solver/qp_solver_osqp.hpp | 4 ++-- .../package.xml | 2 +- .../package.xml | 2 +- .../velocity_optimizer.hpp | 4 ++-- .../package.xml | 2 +- .../autoware/path_optimizer/mpt_optimizer.hpp | 4 ++-- planning/autoware_path_optimizer/package.xml | 2 +- .../src/mpt_optimizer.cpp | 14 +++++------ .../autoware/path_smoother/elastic_band.hpp | 4 ++-- planning/autoware_path_smoother/package.xml | 2 +- .../src/elastic_band.cpp | 2 +- .../package.xml | 2 +- .../autoware/velocity_smoother/node.hpp | 2 +- .../smoother/l2_pseudo_jerk_smoother.hpp | 4 ++-- .../smoother/linf_pseudo_jerk_smoother.hpp | 4 ++-- .../autoware_velocity_smoother/package.xml | 2 +- 26 files changed, 81 insertions(+), 105 deletions(-) rename common/{osqp_interface => autoware_osqp_interface}/CMakeLists.txt (78%) rename common/{osqp_interface => autoware_osqp_interface}/design/osqp_interface-design.md (96%) rename common/{osqp_interface/include => autoware_osqp_interface/include/autoware}/osqp_interface/csc_matrix_conv.hpp (83%) rename common/{osqp_interface/include => autoware_osqp_interface/include/autoware}/osqp_interface/osqp_interface.hpp (96%) rename common/{osqp_interface/include => autoware_osqp_interface/include/autoware}/osqp_interface/visibility_control.hpp (89%) rename common/{osqp_interface => autoware_osqp_interface}/package.xml (96%) rename common/{osqp_interface => autoware_osqp_interface}/src/csc_matrix_conv.cpp (94%) rename common/{osqp_interface => autoware_osqp_interface}/src/osqp_interface.cpp (98%) rename common/{osqp_interface => autoware_osqp_interface}/test/test_csc_matrix_conv.cpp (93%) rename common/{osqp_interface => autoware_osqp_interface}/test/test_osqp_interface.cpp (85%) diff --git a/common/osqp_interface/CMakeLists.txt b/common/autoware_osqp_interface/CMakeLists.txt similarity index 78% rename from common/osqp_interface/CMakeLists.txt rename to common/autoware_osqp_interface/CMakeLists.txt index 5a4231c15e8fd..e9ed0ce25f2f8 100644 --- a/common/osqp_interface/CMakeLists.txt +++ b/common/autoware_osqp_interface/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(osqp_interface) +project(autoware_osqp_interface) find_package(autoware_cmake REQUIRED) autoware_package() @@ -17,9 +17,9 @@ set(OSQP_INTERFACE_LIB_SRC ) set(OSQP_INTERFACE_LIB_HEADERS - include/osqp_interface/csc_matrix_conv.hpp - include/osqp_interface/osqp_interface.hpp - include/osqp_interface/visibility_control.hpp + include/autoware/osqp_interface/csc_matrix_conv.hpp + include/autoware/osqp_interface/osqp_interface.hpp + include/autoware/osqp_interface/visibility_control.hpp ) ament_auto_add_library(${PROJECT_NAME} SHARED @@ -28,18 +28,18 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast -Wno-error=useless-cast) -target_include_directories(osqp_interface +target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${OSQP_INCLUDE_DIR}" "${EIGEN3_INCLUDE_DIR}" ) -ament_target_dependencies(osqp_interface +ament_target_dependencies(${PROJECT_NAME} Eigen3 osqp_vendor ) -# crucial so downstream package builds because osqp_interface exposes osqp.hpp +# crucial so downstream package builds because autoware_osqp_interface exposes osqp.hpp ament_export_include_directories("${OSQP_INCLUDE_DIR}") # crucial so the linking order is correct in a downstream package: libosqp_interface.a should come before libosqp.a ament_export_libraries(osqp::osqp) diff --git a/common/osqp_interface/design/osqp_interface-design.md b/common/autoware_osqp_interface/design/osqp_interface-design.md similarity index 96% rename from common/osqp_interface/design/osqp_interface-design.md rename to common/autoware_osqp_interface/design/osqp_interface-design.md index e9ff4a2a3bc3a..887a4b4d9af3f 100644 --- a/common/osqp_interface/design/osqp_interface-design.md +++ b/common/autoware_osqp_interface/design/osqp_interface-design.md @@ -1,6 +1,6 @@ # Interface for the OSQP library -This is the design document for the `osqp_interface` package. +This is the design document for the `autoware_osqp_interface` package. ## Purpose / Use cases diff --git a/common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp b/common/autoware_osqp_interface/include/autoware/osqp_interface/csc_matrix_conv.hpp similarity index 83% rename from common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp rename to common/autoware_osqp_interface/include/autoware/osqp_interface/csc_matrix_conv.hpp index a919bc1f1c038..8c21553152d70 100644 --- a/common/osqp_interface/include/osqp_interface/csc_matrix_conv.hpp +++ b/common/autoware_osqp_interface/include/autoware/osqp_interface/csc_matrix_conv.hpp @@ -12,21 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ -#define OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ +#ifndef AUTOWARE__OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ +#define AUTOWARE__OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ +#include "autoware/osqp_interface/visibility_control.hpp" #include "osqp/glob_opts.h" // for 'c_int' type ('long' or 'long long') -#include "osqp_interface/visibility_control.hpp" #include #include -namespace autoware -{ -namespace common -{ -namespace osqp +namespace autoware::osqp_interface { /// \brief Compressed-Column-Sparse Matrix struct OSQP_INTERFACE_PUBLIC CSC_Matrix @@ -46,8 +42,6 @@ OSQP_INTERFACE_PUBLIC CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & /// \brief Print the given CSC matrix to the standard output OSQP_INTERFACE_PUBLIC void printCSCMatrix(const CSC_Matrix & csc_mat); -} // namespace osqp -} // namespace common -} // namespace autoware +} // namespace autoware::osqp_interface -#endif // OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ +#endif // AUTOWARE__OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_ diff --git a/common/osqp_interface/include/osqp_interface/osqp_interface.hpp b/common/autoware_osqp_interface/include/autoware/osqp_interface/osqp_interface.hpp similarity index 96% rename from common/osqp_interface/include/osqp_interface/osqp_interface.hpp rename to common/autoware_osqp_interface/include/autoware/osqp_interface/osqp_interface.hpp index f126ba9329d3e..ff3013bd61514 100644 --- a/common/osqp_interface/include/osqp_interface/osqp_interface.hpp +++ b/common/autoware_osqp_interface/include/autoware/osqp_interface/osqp_interface.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OSQP_INTERFACE__OSQP_INTERFACE_HPP_ -#define OSQP_INTERFACE__OSQP_INTERFACE_HPP_ +#ifndef AUTOWARE__OSQP_INTERFACE__OSQP_INTERFACE_HPP_ +#define AUTOWARE__OSQP_INTERFACE__OSQP_INTERFACE_HPP_ +#include "autoware/osqp_interface/csc_matrix_conv.hpp" +#include "autoware/osqp_interface/visibility_control.hpp" #include "osqp/osqp.h" -#include "osqp_interface/csc_matrix_conv.hpp" -#include "osqp_interface/visibility_control.hpp" #include #include @@ -28,11 +28,7 @@ #include #include -namespace autoware -{ -namespace common -{ -namespace osqp +namespace autoware::osqp_interface { constexpr c_float INF = 1e30; @@ -193,8 +189,6 @@ class OSQP_INTERFACE_PUBLIC OSQPInterface void logUnsolvedStatus(const std::string & prefix_message = "") const; }; -} // namespace osqp -} // namespace common -} // namespace autoware +} // namespace autoware::osqp_interface -#endif // OSQP_INTERFACE__OSQP_INTERFACE_HPP_ +#endif // AUTOWARE__OSQP_INTERFACE__OSQP_INTERFACE_HPP_ diff --git a/common/osqp_interface/include/osqp_interface/visibility_control.hpp b/common/autoware_osqp_interface/include/autoware/osqp_interface/visibility_control.hpp similarity index 89% rename from common/osqp_interface/include/osqp_interface/visibility_control.hpp rename to common/autoware_osqp_interface/include/autoware/osqp_interface/visibility_control.hpp index 070a5c5f1542c..a6cdaa8a0a74e 100644 --- a/common/osqp_interface/include/osqp_interface/visibility_control.hpp +++ b/common/autoware_osqp_interface/include/autoware/osqp_interface/visibility_control.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OSQP_INTERFACE__VISIBILITY_CONTROL_HPP_ -#define OSQP_INTERFACE__VISIBILITY_CONTROL_HPP_ +#ifndef AUTOWARE__OSQP_INTERFACE__VISIBILITY_CONTROL_HPP_ +#define AUTOWARE__OSQP_INTERFACE__VISIBILITY_CONTROL_HPP_ //////////////////////////////////////////////////////////////////////////////// #if defined(__WIN32) @@ -34,4 +34,4 @@ #error "Unsupported Build Configuration" #endif -#endif // OSQP_INTERFACE__VISIBILITY_CONTROL_HPP_ +#endif // AUTOWARE__OSQP_INTERFACE__VISIBILITY_CONTROL_HPP_ diff --git a/common/osqp_interface/package.xml b/common/autoware_osqp_interface/package.xml similarity index 96% rename from common/osqp_interface/package.xml rename to common/autoware_osqp_interface/package.xml index 41ee5bb9055a6..d49ce63bd8c93 100644 --- a/common/osqp_interface/package.xml +++ b/common/autoware_osqp_interface/package.xml @@ -1,7 +1,7 @@ - osqp_interface + autoware_osqp_interface 1.0.0 Interface for the OSQP solver Maxime CLEMENT diff --git a/common/osqp_interface/src/csc_matrix_conv.cpp b/common/autoware_osqp_interface/src/csc_matrix_conv.cpp similarity index 94% rename from common/osqp_interface/src/csc_matrix_conv.cpp rename to common/autoware_osqp_interface/src/csc_matrix_conv.cpp index 1944face4516b..c6e1a0a42d938 100644 --- a/common/osqp_interface/src/csc_matrix_conv.cpp +++ b/common/autoware_osqp_interface/src/csc_matrix_conv.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "osqp_interface/csc_matrix_conv.hpp" +#include "autoware/osqp_interface/csc_matrix_conv.hpp" #include #include @@ -21,11 +21,7 @@ #include #include -namespace autoware -{ -namespace common -{ -namespace osqp +namespace autoware::osqp_interface { CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat) { @@ -136,6 +132,4 @@ void printCSCMatrix(const CSC_Matrix & csc_mat) std::cout << "]\n"; } -} // namespace osqp -} // namespace common -} // namespace autoware +} // namespace autoware::osqp_interface diff --git a/common/osqp_interface/src/osqp_interface.cpp b/common/autoware_osqp_interface/src/osqp_interface.cpp similarity index 98% rename from common/osqp_interface/src/osqp_interface.cpp rename to common/autoware_osqp_interface/src/osqp_interface.cpp index f0dbc3ab22e4a..9ebf132f65028 100644 --- a/common/osqp_interface/src/osqp_interface.cpp +++ b/common/autoware_osqp_interface/src/osqp_interface.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "osqp_interface/osqp_interface.hpp" +#include "autoware/osqp_interface/osqp_interface.hpp" +#include "autoware/osqp_interface/csc_matrix_conv.hpp" #include "osqp/osqp.h" -#include "osqp_interface/csc_matrix_conv.hpp" #include #include @@ -25,11 +25,7 @@ #include #include -namespace autoware -{ -namespace common -{ -namespace osqp +namespace autoware::osqp_interface { OSQPInterface::OSQPInterface(const c_float eps_abs, const bool polish) : m_work{nullptr, OSQPWorkspaceDeleter} @@ -436,6 +432,4 @@ void OSQPInterface::logUnsolvedStatus(const std::string & prefix_message) const // log with warning RCLCPP_WARN(rclcpp::get_logger("osqp_interface"), output_message.c_str()); } -} // namespace osqp -} // namespace common -} // namespace autoware +} // namespace autoware::osqp_interface diff --git a/common/osqp_interface/test/test_csc_matrix_conv.cpp b/common/autoware_osqp_interface/test/test_csc_matrix_conv.cpp similarity index 93% rename from common/osqp_interface/test/test_csc_matrix_conv.cpp rename to common/autoware_osqp_interface/test/test_csc_matrix_conv.cpp index 765f1a1afed3b..a63f979a966bf 100644 --- a/common/osqp_interface/test/test_csc_matrix_conv.cpp +++ b/common/autoware_osqp_interface/test/test_csc_matrix_conv.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/osqp_interface/csc_matrix_conv.hpp" #include "gtest/gtest.h" -#include "osqp_interface/csc_matrix_conv.hpp" #include @@ -23,8 +23,8 @@ TEST(TestCscMatrixConv, Nominal) { - using autoware::common::osqp::calCSCMatrix; - using autoware::common::osqp::CSC_Matrix; + using autoware::osqp_interface::calCSCMatrix; + using autoware::osqp_interface::CSC_Matrix; Eigen::MatrixXd rect1(1, 2); rect1 << 0.0, 1.0; @@ -117,8 +117,8 @@ TEST(TestCscMatrixConv, Nominal) } TEST(TestCscMatrixConv, Trapezoidal) { - using autoware::common::osqp::calCSCMatrixTrapezoidal; - using autoware::common::osqp::CSC_Matrix; + using autoware::osqp_interface::calCSCMatrixTrapezoidal; + using autoware::osqp_interface::CSC_Matrix; Eigen::MatrixXd square1(2, 2); Eigen::MatrixXd square2(3, 3); @@ -166,10 +166,10 @@ TEST(TestCscMatrixConv, Trapezoidal) } TEST(TestCscMatrixConv, Print) { - using autoware::common::osqp::calCSCMatrix; - using autoware::common::osqp::calCSCMatrixTrapezoidal; - using autoware::common::osqp::CSC_Matrix; - using autoware::common::osqp::printCSCMatrix; + using autoware::osqp_interface::calCSCMatrix; + using autoware::osqp_interface::calCSCMatrixTrapezoidal; + using autoware::osqp_interface::CSC_Matrix; + using autoware::osqp_interface::printCSCMatrix; Eigen::MatrixXd square1(2, 2); Eigen::MatrixXd rect1(1, 2); square1 << 1.0, 2.0, 2.0, 4.0; diff --git a/common/osqp_interface/test/test_osqp_interface.cpp b/common/autoware_osqp_interface/test/test_osqp_interface.cpp similarity index 85% rename from common/osqp_interface/test/test_osqp_interface.cpp rename to common/autoware_osqp_interface/test/test_osqp_interface.cpp index 4644ec6c3e019..d03713f82566f 100644 --- a/common/osqp_interface/test/test_osqp_interface.cpp +++ b/common/autoware_osqp_interface/test/test_osqp_interface.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/osqp_interface/osqp_interface.hpp" #include "gtest/gtest.h" -#include "osqp_interface/osqp_interface.hpp" #include @@ -39,9 +39,9 @@ namespace TEST(TestOsqpInterface, BasicQp) { - using autoware::common::osqp::calCSCMatrix; - using autoware::common::osqp::calCSCMatrixTrapezoidal; - using autoware::common::osqp::CSC_Matrix; + using autoware::osqp_interface::calCSCMatrix; + using autoware::osqp_interface::calCSCMatrixTrapezoidal; + using autoware::osqp_interface::CSC_Matrix; auto check_result = [](const std::tuple, std::vector, int, int, int> & result) { @@ -66,12 +66,12 @@ TEST(TestOsqpInterface, BasicQp) const Eigen::MatrixXd P = (Eigen::MatrixXd(2, 2) << 4, 1, 1, 2).finished(); const Eigen::MatrixXd A = (Eigen::MatrixXd(4, 2) << 1, 1, 1, 0, 0, 1, 0, 1).finished(); const std::vector q = {1.0, 1.0}; - const std::vector l = {1.0, 0.0, 0.0, -autoware::common::osqp::INF}; - const std::vector u = {1.0, 0.7, 0.7, autoware::common::osqp::INF}; + const std::vector l = {1.0, 0.0, 0.0, -autoware::osqp_interface::INF}; + const std::vector u = {1.0, 0.7, 0.7, autoware::osqp_interface::INF}; { // Define problem during optimization - autoware::common::osqp::OSQPInterface osqp; + autoware::osqp_interface::OSQPInterface osqp; std::tuple, std::vector, int, int, int> result = osqp.optimize(P, A, q, l, u); check_result(result); @@ -79,7 +79,7 @@ TEST(TestOsqpInterface, BasicQp) { // Define problem during initialization - autoware::common::osqp::OSQPInterface osqp(P, A, q, l, u, 1e-6); + autoware::osqp_interface::OSQPInterface osqp(P, A, q, l, u, 1e-6); std::tuple, std::vector, int, int, int> result = osqp.optimize(); check_result(result); } @@ -92,7 +92,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - autoware::common::osqp::OSQPInterface osqp(P_ini, A_ini, q_ini, l_ini, u_ini, 1e-6); + autoware::osqp_interface::OSQPInterface osqp(P_ini, A_ini, q_ini, l_ini, u_ini, 1e-6); osqp.optimize(); // Redefine problem before optimization @@ -105,7 +105,7 @@ TEST(TestOsqpInterface, BasicQp) // Define problem during initialization with csc matrix CSC_Matrix P_csc = calCSCMatrixTrapezoidal(P); CSC_Matrix A_csc = calCSCMatrix(A); - autoware::common::osqp::OSQPInterface osqp(P_csc, A_csc, q, l, u, 1e-6); + autoware::osqp_interface::OSQPInterface osqp(P_csc, A_csc, q, l, u, 1e-6); std::tuple, std::vector, int, int, int> result = osqp.optimize(); check_result(result); } @@ -118,7 +118,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - autoware::common::osqp::OSQPInterface osqp(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini, 1e-6); + autoware::osqp_interface::OSQPInterface osqp(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini, 1e-6); osqp.optimize(); // Redefine problem before optimization @@ -138,7 +138,7 @@ TEST(TestOsqpInterface, BasicQp) std::vector q_ini(2, 0.0); std::vector l_ini(4, 0.0); std::vector u_ini(4, 0.0); - autoware::common::osqp::OSQPInterface osqp(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini, 1e-6); + autoware::osqp_interface::OSQPInterface osqp(P_ini_csc, A_ini_csc, q_ini, l_ini, u_ini, 1e-6); osqp.optimize(); // Redefine problem before optimization diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp index 1e1295cb06b1e..ab9b3392449ee 100644 --- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp @@ -16,7 +16,7 @@ #define AUTOWARE__MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_ #include "autoware/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp" -#include "osqp_interface/osqp_interface.hpp" +#include "autoware/osqp_interface/osqp_interface.hpp" #include "rclcpp/rclcpp.hpp" namespace autoware::motion::control::mpc_lateral_controller @@ -58,7 +58,7 @@ class QPSolverOSQP : public QPSolverInterface double getObjVal() const override { return osqpsolver_.getObjVal(); } private: - autoware::common::osqp::OSQPInterface osqpsolver_; + autoware::osqp_interface::OSQPInterface osqpsolver_; rclcpp::Logger logger_; }; } // namespace autoware::motion::control::mpc_lateral_controller diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml index 5c5f8886d6ed3..ee9ede3598256 100644 --- a/control/autoware_mpc_lateral_controller/package.xml +++ b/control/autoware_mpc_lateral_controller/package.xml @@ -20,6 +20,7 @@ autoware_control_msgs autoware_interpolation autoware_motion_utils + autoware_osqp_interface autoware_planning_msgs autoware_trajectory_follower_base autoware_universe_utils @@ -29,7 +30,6 @@ diagnostic_updater eigen geometry_msgs - osqp_interface rclcpp rclcpp_components std_msgs diff --git a/control/autoware_trajectory_follower_base/package.xml b/control/autoware_trajectory_follower_base/package.xml index 548129eb06f8c..c4b6fbfeb4ca6 100644 --- a/control/autoware_trajectory_follower_base/package.xml +++ b/control/autoware_trajectory_follower_base/package.xml @@ -23,6 +23,7 @@ autoware_control_msgs autoware_interpolation autoware_motion_utils + autoware_osqp_interface autoware_planning_msgs autoware_universe_utils autoware_vehicle_info_utils @@ -31,7 +32,6 @@ diagnostic_updater eigen geometry_msgs - osqp_interface rclcpp rclcpp_components std_msgs diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp index a2ac86ee6c86b..ca17b428e369a 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp @@ -15,7 +15,7 @@ #define AUTOWARE__OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_ #include "autoware/obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp" -#include "osqp_interface/osqp_interface.hpp" +#include "autoware/osqp_interface/osqp_interface.hpp" #include @@ -69,7 +69,7 @@ class VelocityOptimizer double over_j_weight_; // QPSolver - autoware::common::osqp::OSQPInterface qp_solver_; + autoware::osqp_interface::OSQPInterface qp_solver_; }; #endif // AUTOWARE__OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_ diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index 90a5e666f5f44..ed3cd2169e343 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -22,6 +22,7 @@ autoware_interpolation autoware_lanelet2_extension autoware_motion_utils + autoware_osqp_interface autoware_perception_msgs autoware_planning_msgs autoware_planning_test_manager @@ -31,7 +32,6 @@ geometry_msgs nav_msgs object_recognition_utils - osqp_interface rclcpp rclcpp_components std_msgs diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp index 3d9192c93d5b1..9a397e255da13 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp @@ -17,6 +17,7 @@ #include "autoware/interpolation/linear_interpolation.hpp" #include "autoware/interpolation/spline_interpolation_points_2d.hpp" +#include "autoware/osqp_interface/osqp_interface.hpp" #include "autoware/path_optimizer/common_structs.hpp" #include "autoware/path_optimizer/state_equation_generator.hpp" #include "autoware/path_optimizer/type_alias.hpp" @@ -24,7 +25,6 @@ #include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" #include "gtest/gtest.h" -#include "osqp_interface/osqp_interface.hpp" #include #include @@ -228,7 +228,7 @@ class MPTOptimizer MPTParam mpt_param_; StateEquationGenerator state_equation_generator_; - std::unique_ptr osqp_solver_ptr_; + std::unique_ptr osqp_solver_ptr_; const double osqp_epsilon_ = 1.0e-3; diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml index 1a7869b6a87fd..cdd7123d21ab8 100644 --- a/planning/autoware_path_optimizer/package.xml +++ b/planning/autoware_path_optimizer/package.xml @@ -16,13 +16,13 @@ autoware_interpolation autoware_motion_utils + autoware_osqp_interface autoware_planning_msgs autoware_planning_test_manager autoware_universe_utils autoware_vehicle_info_utils geometry_msgs nav_msgs - osqp_interface rclcpp rclcpp_components std_msgs diff --git a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp index 8b48f78d117bb..df07f3f98957a 100644 --- a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp +++ b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp @@ -414,7 +414,7 @@ MPTOptimizer::MPTOptimizer( StateEquationGenerator(vehicle_info_.wheel_base_m, mpt_param_.max_steer_rad, time_keeper_); // osqp solver - osqp_solver_ptr_ = std::make_unique(osqp_epsilon_); + osqp_solver_ptr_ = std::make_unique(osqp_epsilon_); // publisher debug_fixed_traj_pub_ = node->create_publisher("~/debug/mpt_fixed_traj", 1); @@ -1330,8 +1330,8 @@ MPTOptimizer::ConstraintMatrix MPTOptimizer::calcConstraintMatrix( // NOTE: The following takes 1 [ms] Eigen::MatrixXd A = Eigen::MatrixXd::Zero(A_rows, N_v); - Eigen::VectorXd lb = Eigen::VectorXd::Constant(A_rows, -autoware::common::osqp::INF); - Eigen::VectorXd ub = Eigen::VectorXd::Constant(A_rows, autoware::common::osqp::INF); + Eigen::VectorXd lb = Eigen::VectorXd::Constant(A_rows, -autoware::osqp_interface::INF); + Eigen::VectorXd ub = Eigen::VectorXd::Constant(A_rows, autoware::osqp_interface::INF); size_t A_rows_end = 0; // 1. State equation @@ -1502,9 +1502,9 @@ std::optional MPTOptimizer::calcOptimizedSteerAngles( // initialize or update solver according to warm start time_keeper_->start_track("initOsqp"); - const autoware::common::osqp::CSC_Matrix P_csc = - autoware::common::osqp::calCSCMatrixTrapezoidal(H); - const autoware::common::osqp::CSC_Matrix A_csc = autoware::common::osqp::calCSCMatrix(A); + const autoware::osqp_interface::CSC_Matrix P_csc = + autoware::osqp_interface::calCSCMatrixTrapezoidal(H); + const autoware::osqp_interface::CSC_Matrix A_csc = autoware::osqp_interface::calCSCMatrix(A); if ( prev_solution_status_ == 1 && mpt_param_.enable_warm_start && prev_mat_n_ == H.rows() && prev_mat_m_ == A.rows()) { @@ -1515,7 +1515,7 @@ std::optional MPTOptimizer::calcOptimizedSteerAngles( osqp_solver_ptr_->updateBounds(lower_bound, upper_bound); } else { RCLCPP_INFO_EXPRESSION(logger_, enable_debug_info_, "no warm start"); - osqp_solver_ptr_ = std::make_unique( + osqp_solver_ptr_ = std::make_unique( P_csc, A_csc, f, lower_bound, upper_bound, osqp_epsilon_); } prev_mat_n_ = H.rows(); diff --git a/planning/autoware_path_smoother/include/autoware/path_smoother/elastic_band.hpp b/planning/autoware_path_smoother/include/autoware/path_smoother/elastic_band.hpp index 1d0441c66c481..2d6c1d1b2d002 100644 --- a/planning/autoware_path_smoother/include/autoware/path_smoother/elastic_band.hpp +++ b/planning/autoware_path_smoother/include/autoware/path_smoother/elastic_band.hpp @@ -15,9 +15,9 @@ #ifndef AUTOWARE__PATH_SMOOTHER__ELASTIC_BAND_HPP_ #define AUTOWARE__PATH_SMOOTHER__ELASTIC_BAND_HPP_ +#include "autoware/osqp_interface/osqp_interface.hpp" #include "autoware/path_smoother/common_structs.hpp" #include "autoware/path_smoother/type_alias.hpp" -#include "osqp_interface/osqp_interface.hpp" #include @@ -109,7 +109,7 @@ class EBPathSmoother rclcpp::Publisher::SharedPtr debug_eb_traj_pub_; rclcpp::Publisher::SharedPtr debug_eb_fixed_traj_pub_; - std::unique_ptr osqp_solver_ptr_; + std::unique_ptr osqp_solver_ptr_; std::shared_ptr> prev_eb_traj_points_ptr_{nullptr}; std::vector insertFixedPoint( diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml index b9b79bb6ceaf6..582553c2a94b2 100644 --- a/planning/autoware_path_smoother/package.xml +++ b/planning/autoware_path_smoother/package.xml @@ -16,12 +16,12 @@ autoware_interpolation autoware_motion_utils + autoware_osqp_interface autoware_planning_msgs autoware_planning_test_manager autoware_universe_utils geometry_msgs nav_msgs - osqp_interface rclcpp rclcpp_components std_msgs diff --git a/planning/autoware_path_smoother/src/elastic_band.cpp b/planning/autoware_path_smoother/src/elastic_band.cpp index 4222e0fe98438..0bec4e46c8b42 100644 --- a/planning/autoware_path_smoother/src/elastic_band.cpp +++ b/planning/autoware_path_smoother/src/elastic_band.cpp @@ -381,7 +381,7 @@ void EBPathSmoother::updateConstraint( osqp_solver_ptr_->updateBounds(lower_bound, upper_bound); osqp_solver_ptr_->updateEpsRel(p.qp_param.eps_rel); } else { - osqp_solver_ptr_ = std::make_unique( + osqp_solver_ptr_ = std::make_unique( P, A, q, lower_bound, upper_bound, p.qp_param.eps_abs); osqp_solver_ptr_->updateEpsRel(p.qp_param.eps_rel); osqp_solver_ptr_->updateEpsAbs(p.qp_param.eps_abs); diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index 2abae4af2ca67..4f1399533ed46 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -23,6 +23,7 @@ autoware_map_projection_loader autoware_mission_planner autoware_motion_utils + autoware_osqp_interface autoware_path_optimizer autoware_path_smoother autoware_perception_msgs @@ -33,7 +34,6 @@ geometry_msgs global_parameter_loader map_loader - osqp_interface rclcpp rclcpp_components tier4_map_msgs diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp index d6033b66d5d6f..3f1c313e052da 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp @@ -17,6 +17,7 @@ #include "autoware/motion_utils/trajectory/conversion.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" +#include "autoware/osqp_interface/osqp_interface.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/logger_level_configure.hpp" @@ -31,7 +32,6 @@ #include "autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp" #include "autoware/velocity_smoother/smoother/smoother_base.hpp" #include "autoware/velocity_smoother/trajectory_utils.hpp" -#include "osqp_interface/osqp_interface.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2/utils.h" #include "tf2_ros/transform_listener.h" diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp index 8f6bbc2236eb6..fda8e8f31df95 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp @@ -16,10 +16,10 @@ #define AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__L2_PSEUDO_JERK_SMOOTHER_HPP_ #include "autoware/motion_utils/trajectory/trajectory.hpp" +#include "autoware/osqp_interface/osqp_interface.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware/velocity_smoother/smoother/smoother_base.hpp" -#include "osqp_interface/osqp_interface.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" @@ -57,7 +57,7 @@ class L2PseudoJerkSmoother : public SmootherBase private: Param smoother_param_; - autoware::common::osqp::OSQPInterface qp_solver_; + autoware::osqp_interface::OSQPInterface qp_solver_; rclcpp::Logger logger_{rclcpp::get_logger("smoother").get_child("l2_pseudo_jerk_smoother")}; }; } // namespace autoware::velocity_smoother diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp index e27a4db10e748..119cb4d358de2 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp @@ -16,10 +16,10 @@ #define AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__LINF_PSEUDO_JERK_SMOOTHER_HPP_ #include "autoware/motion_utils/trajectory/trajectory.hpp" +#include "autoware/osqp_interface/osqp_interface.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware/velocity_smoother/smoother/smoother_base.hpp" -#include "osqp_interface/osqp_interface.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" @@ -57,7 +57,7 @@ class LinfPseudoJerkSmoother : public SmootherBase private: Param smoother_param_; - autoware::common::osqp::OSQPInterface qp_solver_; + autoware::osqp_interface::OSQPInterface qp_solver_; rclcpp::Logger logger_{rclcpp::get_logger("smoother").get_child("linf_pseudo_jerk_smoother")}; }; } // namespace autoware::velocity_smoother diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml index 65684e414e90d..222b189057820 100644 --- a/planning/autoware_velocity_smoother/package.xml +++ b/planning/autoware_velocity_smoother/package.xml @@ -23,13 +23,13 @@ autoware_interpolation autoware_motion_utils + autoware_osqp_interface autoware_planning_msgs autoware_planning_test_manager autoware_universe_utils autoware_vehicle_info_utils geometry_msgs nav_msgs - osqp_interface qp_interface rclcpp tf2 From 0de8669e2d112b1b51edc38b831a3e07963993b7 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 15 Oct 2024 10:32:52 +0900 Subject: [PATCH 241/701] test(no_stopping_area): refactor and add tests (#9009) Signed-off-by: Maxime CLEMENT Co-authored-by: Kosuke Takeuchi --- .../CMakeLists.txt | 13 +- .../package.xml | 8 +- .../src/debug.cpp | 35 +- .../src/manager.cpp | 5 - .../src/manager.hpp | 2 +- .../src/scene_no_stopping_area.cpp | 295 ++---------- .../src/scene_no_stopping_area.hpp | 92 +--- .../src/utils.cpp | 262 +++++++++++ .../src/utils.hpp | 165 +++++++ .../test/test_utils.cpp | 438 ++++++++++++++++++ .../scene_module_interface.hpp | 2 +- 11 files changed, 936 insertions(+), 381 deletions(-) create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.cpp create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.hpp create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/test/test_utils.cpp diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CMakeLists.txt index f4646b1b9eb6e..b710924410549 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CMakeLists.txt @@ -6,9 +6,16 @@ autoware_package() pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED - src/debug.cpp - src/manager.cpp - src/scene_no_stopping_area.cpp + DIRECTORY src ) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_utils.cpp + ) + target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME}) +endif() + ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml index 21664f7596d60..18a35ea12d5f6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml @@ -8,6 +8,7 @@ Kosuke Takeuchi Tomoya Kimura Shumpei Wakabayashi + Shumpei Wakabayashi Apache License 2.0 @@ -15,7 +16,6 @@ ament_cmake_auto autoware_cmake - eigen3_cmake_module autoware_behavior_velocity_planner_common autoware_interpolation @@ -23,20 +23,16 @@ autoware_motion_utils autoware_perception_msgs autoware_planning_msgs - autoware_route_handler autoware_universe_utils autoware_vehicle_info_utils - eigen geometry_msgs libboost-dev pluginlib rclcpp - tf2 - tf2_eigen - tf2_geometry_msgs tier4_planning_msgs visualization_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/debug.cpp index 09f1908b107d5..b9509e308d1fc 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/debug.cpp @@ -13,17 +13,13 @@ // limitations under the License. #include "scene_no_stopping_area.hpp" +#include "utils.hpp" #include #include #include #include #include -#ifdef ROS_DISTRO_GALACTIC -#include -#else -#include -#endif #include #include @@ -33,13 +29,13 @@ namespace autoware::behavior_velocity_planner namespace { const double marker_lifetime = 0.2; -using DebugData = NoStoppingAreaModule::DebugData; +using DebugData = no_stopping_area::DebugData; using autoware::universe_utils::appendMarkerArray; using autoware::universe_utils::createDefaultMarker; using autoware::universe_utils::createMarkerColor; using autoware::universe_utils::createMarkerScale; -lanelet::BasicPoint3d getCentroidPoint(const lanelet::BasicPolygon3d & poly) +lanelet::BasicPoint3d get_centroid_point(const lanelet::BasicPolygon3d & poly) { lanelet::BasicPoint3d p_sum{0.0, 0.0, 0.0}; for (const auto & p : poly) { @@ -48,7 +44,7 @@ lanelet::BasicPoint3d getCentroidPoint(const lanelet::BasicPolygon3d & poly) return p_sum / poly.size(); } -geometry_msgs::msg::Point toMsg(const lanelet::BasicPoint3d & point) +geometry_msgs::msg::Point to_msg(const lanelet::BasicPoint3d & point) { geometry_msgs::msg::Point msg; msg.x = point.x(); @@ -57,7 +53,7 @@ geometry_msgs::msg::Point toMsg(const lanelet::BasicPoint3d & point) return msg; } -visualization_msgs::msg::MarkerArray createLaneletInfoMarkerArray( +visualization_msgs::msg::MarkerArray create_lanelet_info_marker_array( const lanelet::autoware::NoStoppingArea & no_stopping_area_reg_elem, const rclcpp::Time & now) { visualization_msgs::msg::MarkerArray msg; @@ -65,7 +61,7 @@ visualization_msgs::msg::MarkerArray createLaneletInfoMarkerArray( // ID { auto marker = createDefaultMarker( - "map", now, "no_stopping_area_id", no_stopping_area_reg_elem.id(), + "map", now, "no_stopping_area_id", static_cast(no_stopping_area_reg_elem.id()), visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.0, 0.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999)); marker.lifetime = rclcpp::Duration::from_seconds(marker_lifetime); @@ -73,7 +69,7 @@ visualization_msgs::msg::MarkerArray createLaneletInfoMarkerArray( for (const auto & detection_area : no_stopping_area_reg_elem.noStoppingAreas()) { const auto poly = detection_area.basicPolygon(); - marker.pose.position = toMsg(poly.front()); + marker.pose.position = to_msg(poly.front()); marker.pose.position.z += 2.0; marker.text = std::to_string(no_stopping_area_reg_elem.id()); @@ -84,7 +80,7 @@ visualization_msgs::msg::MarkerArray createLaneletInfoMarkerArray( // Polygon { auto marker = createDefaultMarker( - "map", now, "no_stopping_area_polygon", no_stopping_area_reg_elem.id(), + "map", now, "no_stopping_area_polygon", static_cast(no_stopping_area_reg_elem.id()), visualization_msgs::msg::Marker::LINE_LIST, createMarkerScale(0.1, 0.0, 0.0), createMarkerColor(0.1, 0.1, 1.0, 0.500)); marker.lifetime = rclcpp::Duration::from_seconds(marker_lifetime); @@ -99,8 +95,8 @@ visualization_msgs::msg::MarkerArray createLaneletInfoMarkerArray( const auto & p_front = poly.at(idx_front); const auto & p_back = poly.at(idx_back); - marker.points.push_back(toMsg(p_front)); - marker.points.push_back(toMsg(p_back)); + marker.points.push_back(to_msg(p_front)); + marker.points.push_back(to_msg(p_back)); } } msg.markers.push_back(marker); @@ -112,16 +108,17 @@ visualization_msgs::msg::MarkerArray createLaneletInfoMarkerArray( const auto stop_line_center_point = (stop_line.value().front().basicPoint() + stop_line.value().back().basicPoint()) / 2; auto marker = createDefaultMarker( - "map", now, "no_stopping_area_correspondence", no_stopping_area_reg_elem.id(), + "map", now, "no_stopping_area_correspondence", + static_cast(no_stopping_area_reg_elem.id()), visualization_msgs::msg::Marker::LINE_STRIP, createMarkerScale(0.1, 0.0, 0.0), createMarkerColor(0.1, 0.1, 1.0, 0.500)); marker.lifetime = rclcpp::Duration::from_seconds(marker_lifetime); for (const auto & detection_area : no_stopping_area_reg_elem.noStoppingAreas()) { const auto poly = detection_area.basicPolygon(); - const auto centroid_point = getCentroidPoint(poly); + const auto centroid_point = get_centroid_point(poly); for (size_t i = 0; i < poly.size(); ++i) { - marker.points.push_back(toMsg(centroid_point)); - marker.points.push_back(toMsg(stop_line_center_point)); + marker.points.push_back(to_msg(centroid_point)); + marker.points.push_back(to_msg(stop_line_center_point)); } } msg.markers.push_back(marker); @@ -137,7 +134,7 @@ visualization_msgs::msg::MarkerArray NoStoppingAreaModule::createDebugMarkerArra const rclcpp::Time now = clock_->now(); appendMarkerArray( - createLaneletInfoMarkerArray(no_stopping_area_reg_elem_, now), &debug_marker_array, now); + create_lanelet_info_marker_array(no_stopping_area_reg_elem_, now), &debug_marker_array, now); if (!debug_data_.stuck_points.empty()) { appendMarkerArray( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp index 4631195ec47fc..9d66aa6672d36 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp @@ -16,17 +16,12 @@ #include #include -#include - -#include #include #include #include #include -#include #include -#include namespace autoware::behavior_velocity_planner { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.hpp index 1abd36d585d51..7009e94612580 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.hpp @@ -37,7 +37,7 @@ class NoStoppingAreaModuleManager : public SceneModuleManagerInterfaceWithRTC const char * getModuleName() override { return "no_stopping_area"; } private: - NoStoppingAreaModule::PlannerParam planner_param_; + NoStoppingAreaModule::PlannerParam planner_param_{}; void launchNewModules(const tier4_planning_msgs::msg::PathWithLaneId & path) override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp index ac58c62036e26..031f2976da0a7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp @@ -14,26 +14,22 @@ #include "scene_no_stopping_area.hpp" -#include -#include +#include "utils.hpp" + +#include #include #include #include #include #include +#include +#include #include +#include #include -#ifdef ROS_DISTRO_GALACTIC -#include -#else -#include -#endif -#include -#include -#include -#include +#include #include namespace autoware::behavior_velocity_planner @@ -43,7 +39,7 @@ namespace bg = boost::geometry; NoStoppingAreaModule::NoStoppingAreaModule( const int64_t module_id, const int64_t lane_id, const lanelet::autoware::NoStoppingArea & no_stopping_area_reg_elem, - const PlannerParam & planner_param, const rclcpp::Logger logger, + const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock) : SceneModuleInterface(module_id, logger, clock), lane_id_(lane_id), @@ -56,55 +52,6 @@ NoStoppingAreaModule::NoStoppingAreaModule( state_machine_.setMarginTime(planner_param_.state_clear_time); } -boost::optional NoStoppingAreaModule::getStopLineGeometry2d( - const tier4_planning_msgs::msg::PathWithLaneId & path, const double stop_line_margin) const -{ - // get stop line from map - { - const auto & stop_line = no_stopping_area_reg_elem_.stopLine(); - if (stop_line) { - return planning_utils::extendLine( - stop_line.value()[0], stop_line.value()[1], planner_data_->stop_line_extend_length); - } - } - // auto gen stop line - { - LineString2d stop_line; - /** - * @brief auto gen no stopping area stop line from area polygon if stop line is not set - * --------------- - * ------col-------------|--> ego path - * | Area | - * --------------- - **/ - - for (const auto & no_stopping_area : no_stopping_area_reg_elem_.noStoppingAreas()) { - const auto & area_poly = lanelet::utils::to2D(no_stopping_area).basicPolygon(); - lanelet::BasicLineString2d path_line; - for (size_t i = 0; i < path.points.size() - 1; ++i) { - const auto p0 = path.points.at(i).point.pose.position; - const auto p1 = path.points.at(i + 1).point.pose.position; - const LineString2d line{{p0.x, p0.y}, {p1.x, p1.y}}; - std::vector collision_points; - bg::intersection(area_poly, line, collision_points); - if (!collision_points.empty()) { - const double yaw = autoware::universe_utils::calcAzimuthAngle(p0, p1); - const double w = planner_data_->vehicle_info_.vehicle_width_m; - const double l = stop_line_margin; - stop_line.emplace_back( - -l * std::cos(yaw) + collision_points.front().x() + w * std::cos(yaw + M_PI_2), - collision_points.front().y() + w * std::sin(yaw + M_PI_2)); - stop_line.emplace_back( - -l * std::cos(yaw) + collision_points.front().x() + w * std::cos(yaw - M_PI_2), - collision_points.front().y() + w * std::sin(yaw - M_PI_2)); - return stop_line; - } - } - } - } - return {}; -} - bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) { // Store original path @@ -115,12 +62,16 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason return true; } // Reset data - debug_data_ = DebugData(); + debug_data_ = no_stopping_area::DebugData(); debug_data_.base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; *stop_reason = planning_utils::initializeStopReason(StopReason::NO_STOPPING_AREA); + const no_stopping_area::EgoData ego_data(*planner_data_); + // Get stop line geometry - const auto stop_line = getStopLineGeometry2d(original_path, planner_param_.stop_line_margin); + const auto stop_line = no_stopping_area::get_stop_line_geometry2d( + original_path, no_stopping_area_reg_elem_, planner_param_.stop_line_margin, + planner_data_->stop_line_extend_length, planner_data_->vehicle_info_.vehicle_width_m); if (!stop_line) { setSafe(true); return true; @@ -146,14 +97,16 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason const double margin = planner_param_.stop_line_margin; const double ego_space_in_front_of_stuck_vehicle = margin + vi.vehicle_length_m + planner_param_.stuck_vehicle_front_margin; - const Polygon2d stuck_vehicle_detect_area = generateEgoNoStoppingAreaLanePolygon( - *path, current_pose->pose, ego_space_in_front_of_stuck_vehicle, - planner_param_.detection_area_length); + const Polygon2d stuck_vehicle_detect_area = + no_stopping_area::generate_ego_no_stopping_area_lane_polygon( + *path, current_pose->pose, no_stopping_area_reg_elem_, ego_space_in_front_of_stuck_vehicle, + planner_param_.detection_area_length, planner_param_.path_expand_width, logger_, *clock_); const double ego_space_in_front_of_stop_line = margin + planner_param_.stop_margin + vi.rear_overhang_m; - const Polygon2d stop_line_detect_area = generateEgoNoStoppingAreaLanePolygon( - *path, current_pose->pose, ego_space_in_front_of_stop_line, - planner_param_.detection_area_length); + const Polygon2d stop_line_detect_area = + no_stopping_area::generate_ego_no_stopping_area_lane_polygon( + *path, current_pose->pose, no_stopping_area_reg_elem_, ego_space_in_front_of_stop_line, + planner_param_.detection_area_length, planner_param_.path_expand_width, logger_, *clock_); if (stuck_vehicle_detect_area.outer().empty() && stop_line_detect_area.outer().empty()) { setSafe(true); return true; @@ -162,26 +115,28 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason debug_data_.stop_line_detect_area = toGeomPoly(stop_line_detect_area); // Find stuck vehicle in no stopping area const bool is_entry_prohibited_by_stuck_vehicle = - checkStuckVehiclesInNoStoppingArea(stuck_vehicle_detect_area, predicted_obj_arr_ptr); + check_stuck_vehicles_in_no_stopping_area(stuck_vehicle_detect_area, predicted_obj_arr_ptr); // Find stop line in no stopping area const bool is_entry_prohibited_by_stop_line = - checkStopLinesInNoStoppingArea(*path, stop_line_detect_area); + no_stopping_area::check_stop_lines_in_no_stopping_area( + *path, stop_line_detect_area, debug_data_); const bool is_entry_prohibited = is_entry_prohibited_by_stuck_vehicle || is_entry_prohibited_by_stop_line; - if (!isStoppable(current_pose->pose, stop_point->second)) { + if (!no_stopping_area::is_stoppable( + pass_judge_, current_pose->pose, stop_point->second, ego_data, logger_, *clock_)) { state_machine_.setState(StateMachine::State::GO); setSafe(true); return false; - } else { - state_machine_.setStateWithMarginTime( - is_entry_prohibited ? StateMachine::State::STOP : StateMachine::State::GO, - logger_.get_child("state_machine"), *clock_); } + state_machine_.setStateWithMarginTime( + is_entry_prohibited ? StateMachine::State::STOP : StateMachine::State::GO, + logger_.get_child("state_machine"), *clock_); + setSafe(state_machine_.getState() != StateMachine::State::STOP); if (!isActivated()) { // ----------------stop reason and stop point-------------------------- - insertStopPoint(*path, *stop_point); + no_stopping_area::insert_stop_point(*path, *stop_point); // For virtual wall debug_data_.stop_poses.push_back(stop_pose); @@ -208,19 +163,19 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason } } else if (state_machine_.getState() == StateMachine::State::GO) { // reset pass judge if current state is go - is_stoppable_ = true; - pass_judged_ = false; + pass_judge_.is_stoppable = true; + pass_judge_.pass_judged = false; } return true; } -bool NoStoppingAreaModule::checkStuckVehiclesInNoStoppingArea( +bool NoStoppingAreaModule::check_stuck_vehicles_in_no_stopping_area( const Polygon2d & poly, const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr & predicted_obj_arr_ptr) { // stuck points by predicted objects for (const auto & object : predicted_obj_arr_ptr->objects) { - if (!isTargetStuckVehicleType(object)) { + if (!no_stopping_area::is_vehicle_type(object)) { continue; // not target vehicle type } const auto obj_v = std::fabs(object.kinematics.initial_twist_with_covariance.twist.linear.x); @@ -248,182 +203,4 @@ bool NoStoppingAreaModule::checkStuckVehiclesInNoStoppingArea( } return false; } -bool NoStoppingAreaModule::checkStopLinesInNoStoppingArea( - const tier4_planning_msgs::msg::PathWithLaneId & path, const Polygon2d & poly) -{ - const double stop_vel = std::numeric_limits::min(); - - // if the detected stop point is near goal, it's ignored. - static constexpr double close_to_goal_distance = 1.0; - - // stuck points by stop line - for (size_t i = 0; i < path.points.size() - 1; ++i) { - const auto p0 = path.points.at(i).point.pose.position; - const auto p1 = path.points.at(i + 1).point.pose.position; - const auto v0 = path.points.at(i).point.longitudinal_velocity_mps; - const auto v1 = path.points.at(i + 1).point.longitudinal_velocity_mps; - if (v0 > stop_vel && v1 > stop_vel) { - continue; - } - // judge if stop point p0 is near goal, by its distance to the path end. - const double dist_to_path_end = - autoware::motion_utils::calcSignedArcLength(path.points, i, path.points.size() - 1); - if (dist_to_path_end < close_to_goal_distance) { - // exit with false, cause position is near goal. - return false; - } - - const LineString2d line{{p0.x, p0.y}, {p1.x, p1.y}}; - std::vector collision_points; - bg::intersection(poly, line, collision_points); - if (!collision_points.empty()) { - geometry_msgs::msg::Point point; - point.x = collision_points.front().x(); - point.y = collision_points.front().y(); - point.z = 0.0; - debug_data_.stuck_points.emplace_back(point); - return true; - } - } - return false; -} - -Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon( - const tier4_planning_msgs::msg::PathWithLaneId & path, const geometry_msgs::msg::Pose & ego_pose, - const double margin, const double extra_dist) const -{ - Polygon2d ego_area; // open polygon - double dist_from_start_sum = 0.0; - const double interpolation_interval = 0.5; - bool is_in_area = false; - tier4_planning_msgs::msg::PathWithLaneId interpolated_path; - if (!splineInterpolate(path, interpolation_interval, interpolated_path, logger_)) { - return ego_area; - } - auto & pp = interpolated_path.points; - /* calc closest index */ - const auto closest_idx_opt = - autoware::motion_utils::findNearestIndex(interpolated_path.points, ego_pose, 3.0, M_PI_4); - if (!closest_idx_opt) { - RCLCPP_WARN_SKIPFIRST_THROTTLE( - logger_, *clock_, 1000 /* ms */, "autoware::motion_utils::findNearestIndex fail"); - return ego_area; - } - const size_t closest_idx = closest_idx_opt.value(); - - const int num_ignore_nearest = 1; // Do not consider nearest lane polygon - size_t ego_area_start_idx = closest_idx + num_ignore_nearest; - // return if area size is not intentional - if (no_stopping_area_reg_elem_.noStoppingAreas().size() != 1) { - return ego_area; - } - const auto no_stopping_area = no_stopping_area_reg_elem_.noStoppingAreas().front(); - for (size_t i = closest_idx + num_ignore_nearest; i < pp.size() - 1; ++i) { - dist_from_start_sum += autoware::universe_utils::calcDistance2d(pp.at(i), pp.at(i - 1)); - const auto & p = pp.at(i).point.pose.position; - if (bg::within(Point2d{p.x, p.y}, lanelet::utils::to2D(no_stopping_area).basicPolygon())) { - is_in_area = true; - break; - } - if (dist_from_start_sum > extra_dist) { - return ego_area; - } - ++ego_area_start_idx; - } - if (ego_area_start_idx > num_ignore_nearest) { - ego_area_start_idx--; - } - if (!is_in_area) { - return ego_area; - } - double dist_from_area_sum = 0.0; - // decide end idx with extract distance - size_t ego_area_end_idx = ego_area_start_idx; - for (size_t i = ego_area_start_idx; i < pp.size() - 1; ++i) { - dist_from_start_sum += autoware::universe_utils::calcDistance2d(pp.at(i), pp.at(i - 1)); - const auto & p = pp.at(i).point.pose.position; - if (!bg::within(Point2d{p.x, p.y}, lanelet::utils::to2D(no_stopping_area).basicPolygon())) { - dist_from_area_sum += autoware::universe_utils::calcDistance2d(pp.at(i), pp.at(i - 1)); - } - if (dist_from_start_sum > extra_dist || dist_from_area_sum > margin) { - break; - } - ++ego_area_end_idx; - } - - const auto width = planner_param_.path_expand_width; - ego_area = planning_utils::generatePathPolygon( - interpolated_path, ego_area_start_idx, ego_area_end_idx, width); - return ego_area; -} - -bool NoStoppingAreaModule::isTargetStuckVehicleType( - const autoware_perception_msgs::msg::PredictedObject & object) const -{ - if ( - object.classification.front().label == - autoware_perception_msgs::msg::ObjectClassification::CAR || - object.classification.front().label == - autoware_perception_msgs::msg::ObjectClassification::BUS || - object.classification.front().label == - autoware_perception_msgs::msg::ObjectClassification::TRUCK || - object.classification.front().label == - autoware_perception_msgs::msg::ObjectClassification::TRAILER || - object.classification.front().label == - autoware_perception_msgs::msg::ObjectClassification::MOTORCYCLE) { - return true; - } - return false; -} - -bool NoStoppingAreaModule::isStoppable( - const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose) const -{ - // get vehicle info and compute pass_judge_line_distance - const auto current_velocity = planner_data_->current_velocity->twist.linear.x; - const auto current_acceleration = planner_data_->current_acceleration->accel.accel.linear.x; - const double max_acc = planner_data_->max_stop_acceleration_threshold; - const double max_jerk = planner_data_->max_stop_jerk_threshold; - const double delay_response_time = planner_data_->delay_response_time; - const double stoppable_distance = planning_utils::calcJudgeLineDistWithJerkLimit( - current_velocity, current_acceleration, max_acc, max_jerk, delay_response_time); - const double signed_arc_length = - arc_lane_utils::calcSignedDistance(self_pose, line_pose.position); - const bool distance_stoppable = stoppable_distance < signed_arc_length; - const bool slow_velocity = planner_data_->current_velocity->twist.linear.x < 2.0; - // ego vehicle is high speed and can't stop before stop line -> GO - const bool not_stoppable = !distance_stoppable && !slow_velocity; - // stoppable or not is judged only once - RCLCPP_DEBUG( - logger_, "stoppable_dist: %lf signed_arc_length: %lf", stoppable_distance, signed_arc_length); - if (!distance_stoppable && !pass_judged_) { - pass_judged_ = true; - // can't stop using maximum brake consider jerk limit - if (not_stoppable) { - // pass through - is_stoppable_ = false; - RCLCPP_WARN_THROTTLE( - logger_, *clock_, 1000, "[NoStoppingArea] can't stop in front of no stopping area"); - } else { - is_stoppable_ = true; - } - } - return is_stoppable_; -} - -void NoStoppingAreaModule::insertStopPoint( - tier4_planning_msgs::msg::PathWithLaneId & path, const PathIndexWithPose & stop_point) -{ - size_t insert_idx = static_cast(stop_point.first + 1); - const auto stop_pose = stop_point.second; - - // To PathPointWithLaneId - tier4_planning_msgs::msg::PathPointWithLaneId stop_point_with_lane_id; - stop_point_with_lane_id = path.points.at(insert_idx); - stop_point_with_lane_id.point.pose = stop_pose; - stop_point_with_lane_id.point.longitudinal_velocity_mps = 0.0; - - // Insert stop point or replace with zero velocity - planning_utils::insertVelocity(path, stop_point_with_lane_id, 0.0, insert_idx); -} } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp index 2c553ac457ef0..886c8f04dc702 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp @@ -15,48 +15,25 @@ #ifndef SCENE_NO_STOPPING_AREA_HPP_ #define SCENE_NO_STOPPING_AREA_HPP_ -#define EIGEN_MPL2_ONLY +#include "utils.hpp" -#include #include #include #include #include #include -#include #include #include #include -#include - -#include -#include - #include -#include -#include namespace autoware::behavior_velocity_planner { -using PathIndexWithPose = std::pair; // front index, pose -using PathIndexWithPoint2d = std::pair; // front index, point2d -using PathIndexWithOffset = std::pair; // front index, offset - class NoStoppingAreaModule : public SceneModuleInterface { public: - struct DebugData - { - double base_link2front; - std::vector stop_poses; - geometry_msgs::msg::Pose first_stop_pose; - std::vector stuck_points; - geometry_msgs::msg::Polygon stuck_vehicle_detect_area; - geometry_msgs::msg::Polygon stop_line_detect_area; - }; - struct PlannerParam { /** @@ -76,11 +53,10 @@ class NoStoppingAreaModule : public SceneModuleInterface double path_expand_width; //! [m] path width to calculate the edge line for both side }; -public: NoStoppingAreaModule( const int64_t module_id, const int64_t lane_id, const lanelet::autoware::NoStoppingArea & no_stopping_area_reg_elem, - const PlannerParam & planner_param, const rclcpp::Logger logger, + const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; @@ -91,77 +67,19 @@ class NoStoppingAreaModule : public SceneModuleInterface private: const int64_t lane_id_; - mutable bool pass_judged_ = false; - mutable bool is_stoppable_ = true; + no_stopping_area::PassJudge pass_judge_; StateMachine state_machine_; //! for state - /** - * @brief check if the object has a target type for stuck check - * @param object target object - * @return true if the object has a target type - */ - bool isTargetStuckVehicleType( - const autoware_perception_msgs::msg::PredictedObject & object) const; - /** * @brief Check if there is a stopped vehicle in stuck vehicle detect area. * @param poly ego focusing area polygon * @param objects_ptr target objects * @return true if exists */ - bool checkStuckVehiclesInNoStoppingArea( + bool check_stuck_vehicles_in_no_stopping_area( const Polygon2d & poly, const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr & predicted_obj_arr_ptr); - /** - * @brief Check if there is a stop line in "stop line detect area". - * @param path ego-car lane - * @param poly ego focusing area polygon - * @return true if exists - */ - bool checkStopLinesInNoStoppingArea( - const tier4_planning_msgs::msg::PathWithLaneId & path, const Polygon2d & poly); - - /** - * @brief Calculate the polygon of the path from the ego-car position to the end of the - * no stopping lanelet (+ extra distance). - * @param path ego-car lane - * @param ego_pose ego-car pose - * @param margin margin from the end point of the ego-no stopping area lane - * @param extra_dist extra distance from the end point of the no stopping area lanelet - * @return generated polygon - */ - Polygon2d generateEgoNoStoppingAreaLanePolygon( - const tier4_planning_msgs::msg::PathWithLaneId & path, - const geometry_msgs::msg::Pose & ego_pose, const double margin, const double extra_dist) const; - - /** - * @brief Calculate the polygon of the path from the ego-car position to the end of the - * no stopping lanelet (+ extra distance). - * @param path ego-car lane - * @param stop_line_margin stop line margin from the stopping area lane - * @return generated stop line - */ - boost::optional getStopLineGeometry2d( - const tier4_planning_msgs::msg::PathWithLaneId & path, const double stop_line_margin) const; - - /** - * @brief Calculate if it's possible for ego-vehicle to stop before area consider jerk limit - * @param self_pose ego-car pose - * @param line_pose stop line pose on the lane - * @return is stoppable in front of no stopping area - */ - bool isStoppable( - const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose) const; - - /** - * @brief insert stop point on ego path - * @param path original path - * @param stop_point stop line point on the lane - */ - void insertStopPoint( - tier4_planning_msgs::msg::PathWithLaneId & path, const PathIndexWithPose & stop_point); - // Key Feature const lanelet::autoware::NoStoppingArea & no_stopping_area_reg_elem_; std::shared_ptr last_obstacle_found_time_; @@ -170,7 +88,7 @@ class NoStoppingAreaModule : public SceneModuleInterface PlannerParam planner_param_; // Debug - DebugData debug_data_; + no_stopping_area::DebugData debug_data_; }; } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.cpp new file mode 100644 index 0000000000000..5159233c341ed --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.cpp @@ -0,0 +1,262 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "utils.hpp" + +#include +#include +#include +#include +#include + +#include + +#include +#include + +#include + +namespace autoware::behavior_velocity_planner::no_stopping_area +{ + +bool is_vehicle_type(const autoware_perception_msgs::msg::PredictedObject & object) +{ + // TODO(anyone): should we switch to using functions from the common object_recognition_utils ? + return !object.classification.empty() && + (object.classification.front().label == + autoware_perception_msgs::msg::ObjectClassification::CAR || + object.classification.front().label == + autoware_perception_msgs::msg::ObjectClassification::BUS || + object.classification.front().label == + autoware_perception_msgs::msg::ObjectClassification::TRUCK || + object.classification.front().label == + autoware_perception_msgs::msg::ObjectClassification::TRAILER || + object.classification.front().label == + autoware_perception_msgs::msg::ObjectClassification::MOTORCYCLE); +} + +void insert_stop_point( + tier4_planning_msgs::msg::PathWithLaneId & path, const PathIndexWithPose & stop_point) +{ + auto insert_idx = stop_point.first + 1UL; + const auto & stop_pose = stop_point.second; + + // To PathPointWithLaneId + tier4_planning_msgs::msg::PathPointWithLaneId stop_point_with_lane_id; + stop_point_with_lane_id = path.points.at(insert_idx); + stop_point_with_lane_id.point.pose = stop_pose; + stop_point_with_lane_id.point.longitudinal_velocity_mps = 0.0; + + // Insert stop point or replace with zero velocity + planning_utils::insertVelocity(path, stop_point_with_lane_id, 0.0, insert_idx); +} + +std::optional generate_stop_line( + const tier4_planning_msgs::msg::PathWithLaneId & path, + const lanelet::ConstPolygons3d & no_stopping_areas, const double ego_width, + const double stop_line_margin) +{ + LineString2d stop_line; + for (const auto & no_stopping_area : no_stopping_areas) { + const auto & area_poly = lanelet::utils::to2D(no_stopping_area).basicPolygon(); + for (size_t i = 0; i < path.points.size() - 1; ++i) { + const auto p0 = path.points.at(i).point.pose.position; + const auto p1 = path.points.at(i + 1).point.pose.position; + const LineString2d line{{p0.x, p0.y}, {p1.x, p1.y}}; + std::vector collision_points; + boost::geometry::intersection(area_poly, line, collision_points); + if (!collision_points.empty()) { + const double yaw = autoware::universe_utils::calcAzimuthAngle(p0, p1); + const double w = ego_width; + const double l = stop_line_margin; + stop_line.emplace_back( + -l * std::cos(yaw) + collision_points.front().x() + w * std::cos(yaw + M_PI_2), + collision_points.front().y() + w * std::sin(yaw + M_PI_2)); + stop_line.emplace_back( + -l * std::cos(yaw) + collision_points.front().x() + w * std::cos(yaw - M_PI_2), + collision_points.front().y() + w * std::sin(yaw - M_PI_2)); + return stop_line; + } + } + } + return {}; +} + +bool is_stoppable( + PassJudge & pass_judge, const geometry_msgs::msg::Pose & self_pose, + const geometry_msgs::msg::Pose & line_pose, const EgoData & ego_data, + const rclcpp::Logger & logger, rclcpp::Clock & clock) +{ + // compute pass_judge_line_distance + const double stoppable_distance = planning_utils::calcJudgeLineDistWithJerkLimit( + ego_data.current_velocity, ego_data.current_acceleration, ego_data.max_stop_acc, + ego_data.max_stop_jerk, ego_data.delay_response_time); + const double signed_arc_length = + arc_lane_utils::calcSignedDistance(self_pose, line_pose.position); + const bool distance_stoppable = stoppable_distance < signed_arc_length; + const bool slow_velocity = ego_data.current_velocity < 2.0; + // ego vehicle is high speed and can't stop before stop line -> GO + const bool not_stoppable = !distance_stoppable && !slow_velocity; + // stoppable or not is judged only once + RCLCPP_DEBUG( + logger, "stoppable_dist: %lf signed_arc_length: %lf", stoppable_distance, signed_arc_length); + if (!distance_stoppable && !pass_judge.pass_judged) { + pass_judge.pass_judged = true; + // can't stop using maximum brake consider jerk limit + if (not_stoppable) { // TODO(someone): this can be replaced by !slow_velocity, is this correct? + // pass through + pass_judge.is_stoppable = false; + RCLCPP_WARN_THROTTLE( + logger, clock, 1000, "[NoStoppingArea] can't stop in front of no stopping area"); + } else { + pass_judge.is_stoppable = true; + } + } + return pass_judge.is_stoppable; +} + +Polygon2d generate_ego_no_stopping_area_lane_polygon( + const tier4_planning_msgs::msg::PathWithLaneId & path, const geometry_msgs::msg::Pose & ego_pose, + const lanelet::autoware::NoStoppingArea & no_stopping_area_reg_elem, const double margin, + const double max_polygon_length, const double path_expand_width, const rclcpp::Logger & logger, + rclcpp::Clock & clock) +{ + Polygon2d ego_area; // open polygon + double dist_from_start_sum = 0.0; + constexpr double interpolation_interval = 0.5; + bool is_in_area = false; + tier4_planning_msgs::msg::PathWithLaneId interpolated_path; + if (!splineInterpolate(path, interpolation_interval, interpolated_path, logger)) { + return ego_area; + } + const auto & pp = interpolated_path.points; + /* calc closest index */ + const auto closest_idx_opt = autoware::motion_utils::findNearestIndex(pp, ego_pose, 3.0, M_PI_4); + if (!closest_idx_opt) { + RCLCPP_WARN_SKIPFIRST_THROTTLE( + logger, clock, 1000 /* ms */, "autoware::motion_utils::findNearestIndex fail"); + return ego_area; + } + const size_t closest_idx = closest_idx_opt.value(); + + const int num_ignore_nearest = 1; // Do not consider nearest lane polygon + size_t ego_area_start_idx = closest_idx + num_ignore_nearest; + // return if area size is not intentional + if (no_stopping_area_reg_elem.noStoppingAreas().size() != 1) { + return ego_area; + } + const auto no_stopping_area = no_stopping_area_reg_elem.noStoppingAreas().front(); + for (size_t i = ego_area_start_idx; i < pp.size() - 1; ++i) { + dist_from_start_sum += autoware::universe_utils::calcDistance2d(pp.at(i), pp.at(i - 1)); + const auto & p = pp.at(i).point.pose.position; + // TODO(someone): within will skip points on the edge of polygons so some points can be skipped + // depending on the interpolation + if (bg::within(Point2d{p.x, p.y}, lanelet::utils::to2D(no_stopping_area).basicPolygon())) { + is_in_area = true; + break; + } + if (dist_from_start_sum > max_polygon_length) { + return ego_area; + } + ++ego_area_start_idx; + } + if (ego_area_start_idx > num_ignore_nearest) { + // TODO(someone): check if this is a bug + // this -1 causes pp[ego_area_start_idx] to be outside the no_stopping_area + // it causes "dist_from_area" to count the first point in the next loop + // moreover it causes the "dist_from_start_sum" to count the same point twice + ego_area_start_idx--; + } + if (!is_in_area) { + return ego_area; + } + double dist_from_area_sum = 0.0; + // decide end idx with extract distance + size_t ego_area_end_idx = ego_area_start_idx; + for (size_t i = ego_area_start_idx; i < pp.size() - 1; ++i) { + dist_from_start_sum += autoware::universe_utils::calcDistance2d(pp.at(i), pp.at(i - 1)); + const auto & p = pp.at(i).point.pose.position; + // TODO(someone): within will skip points on the edge of polygons so some points can be skipped + // depending on the interpolation + if (!bg::within(Point2d{p.x, p.y}, lanelet::utils::to2D(no_stopping_area).basicPolygon())) { + dist_from_area_sum += autoware::universe_utils::calcDistance2d(pp.at(i), pp.at(i - 1)); + } + if (dist_from_start_sum > max_polygon_length || dist_from_area_sum > margin) { + break; + } + ++ego_area_end_idx; + } + + ego_area = planning_utils::generatePathPolygon( + interpolated_path, ego_area_start_idx, ego_area_end_idx, path_expand_width); + return ego_area; +} + +bool check_stop_lines_in_no_stopping_area( + const tier4_planning_msgs::msg::PathWithLaneId & path, const Polygon2d & poly, + no_stopping_area::DebugData & debug_data) +{ + const double stop_vel = std::numeric_limits::min(); + + // if the detected stop point is near goal, it's ignored. + static constexpr double close_to_goal_distance = 1.0; + + // stuck points by stop line + for (size_t i = 0; i + 1 < path.points.size(); ++i) { + const auto p0 = path.points.at(i).point.pose.position; + const auto p1 = path.points.at(i + 1).point.pose.position; + const auto v0 = path.points.at(i).point.longitudinal_velocity_mps; + const auto v1 = path.points.at(i + 1).point.longitudinal_velocity_mps; + if (v0 > stop_vel && v1 > stop_vel) { + continue; + } + // judge if stop point p0 is near goal, by its distance to the path end. + const double dist_to_path_end = + autoware::motion_utils::calcSignedArcLength(path.points, i, path.points.size() - 1); + if (dist_to_path_end < close_to_goal_distance) { + // exit with false, cause position is near goal. + return false; + } + + const LineString2d line{{p0.x, p0.y}, {p1.x, p1.y}}; + std::vector collision_points; + bg::intersection(poly, line, collision_points); + if (!collision_points.empty()) { + geometry_msgs::msg::Point point; + point.x = collision_points.front().x(); + point.y = collision_points.front().y(); + point.z = 0.0; + debug_data.stuck_points.emplace_back(point); + return true; + } + } + return false; +} + +std::optional get_stop_line_geometry2d( + const tier4_planning_msgs::msg::PathWithLaneId & path, + const lanelet::autoware::NoStoppingArea & no_stopping_area_reg_elem, + const double stop_line_margin, const double stop_line_extend_length, const double vehicle_width) +{ + const auto & stop_line = no_stopping_area_reg_elem.stopLine(); + if (stop_line && stop_line->size() >= 2) { + // get stop line from map + return planning_utils::extendLine( + stop_line.value()[0], stop_line.value()[1], stop_line_extend_length); + } + return generate_stop_line( + path, no_stopping_area_reg_elem.noStoppingAreas(), vehicle_width, stop_line_margin); +} + +} // namespace autoware::behavior_velocity_planner::no_stopping_area diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.hpp new file mode 100644 index 0000000000000..73b835b4701dc --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.hpp @@ -0,0 +1,165 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UTILS_HPP_ +#define UTILS_HPP_ + +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include +#include +#include + +namespace autoware::behavior_velocity_planner::no_stopping_area +{ +using PathIndexWithPose = std::pair; // front index, pose +using PathIndexWithPoint2d = std::pair; // front index, point2d +using PathIndexWithOffset = std::pair; // front index, offset + +struct PassJudge +{ + bool pass_judged = false; + bool is_stoppable = true; +}; + +struct DebugData +{ + double base_link2front; + std::vector stop_poses; + geometry_msgs::msg::Pose first_stop_pose; + std::vector stuck_points; + geometry_msgs::msg::Polygon stuck_vehicle_detect_area; + geometry_msgs::msg::Polygon stop_line_detect_area; +}; + +// intermediate data about the ego vehicle taken from the PlannerData +struct EgoData +{ + EgoData() = default; + explicit EgoData(const PlannerData & planner_data) + { + current_velocity = planner_data.current_velocity->twist.linear.x; + current_acceleration = planner_data.current_acceleration->accel.accel.linear.x; + max_stop_acc = planner_data.max_stop_acceleration_threshold; + max_stop_jerk = planner_data.max_stop_jerk_threshold; + delay_response_time = planner_data.delay_response_time; + } + + double current_velocity{}; + double current_acceleration{}; + double max_stop_acc{}; + double max_stop_jerk{}; + double delay_response_time{}; +}; + +/** + * @brief check if the object is a vehicle (car, bus, truck, trailer, motorcycle) + * @param object input object + * @return true if the object is a vehicle + */ +bool is_vehicle_type(const autoware_perception_msgs::msg::PredictedObject & object); + +/** + * @brief insert stop point on ego path + * @param path original path + * @param stop_point stop line point on the lane + */ +void insert_stop_point( + tier4_planning_msgs::msg::PathWithLaneId & path, const PathIndexWithPose & stop_point); + +/** + * @brief generate stop line from no stopping area polygons + * ________________ + * ------|--|--------------|--> ego path + * stop | | Area | + * line | L______________/ + * @param path input path + * @param no_stopping_areas no stopping area polygons + * @param ego_width [m] width of ego + * @param stop_line_margin [m] margin to keep between the stop line and the no stopping areas + **/ +std::optional generate_stop_line( + const tier4_planning_msgs::msg::PathWithLaneId & path, + const lanelet::ConstPolygons3d & no_stopping_areas, const double ego_width, + const double stop_line_margin); + +/** + * @brief Calculate if it's possible for ego-vehicle to stop before area consider jerk limit + * @param [inout] pass_judge the pass judge decision to update + * @param self_pose ego-car pose + * @param line_pose stop line pose on the lane + * @param ego_data planner data with ego pose, velocity, etc + * @param logger ros logger + * @param clock ros clock + * @return is stoppable in front of no stopping area + */ +bool is_stoppable( + PassJudge & pass_judge, const geometry_msgs::msg::Pose & self_pose, + const geometry_msgs::msg::Pose & line_pose, const EgoData & ego_data, + const rclcpp::Logger & logger, rclcpp::Clock & clock); + +/** + * @brief Calculate the polygon of the path from the ego-car position to the end of the + * no stopping lanelet (+ extra distance). + * @param path ego-car lane + * @param ego_pose ego-car pose + * @param margin margin from the end point of the ego-no stopping area lane + * @param max_polygon_length maximum length of the polygon + * @return generated polygon + */ +Polygon2d generate_ego_no_stopping_area_lane_polygon( + const tier4_planning_msgs::msg::PathWithLaneId & path, const geometry_msgs::msg::Pose & ego_pose, + const lanelet::autoware::NoStoppingArea & no_stopping_area_reg_elem, const double margin, + const double max_polygon_length, const double path_expand_width, const rclcpp::Logger & logger, + rclcpp::Clock & clock); + +/** + * @brief Check if there is a stop line in "stop line detect area". + * @param path ego-car lane + * @param poly ego focusing area polygon + * @param [out] debug_data structure to store the stuck points for debugging + * @return true if exists + */ +bool check_stop_lines_in_no_stopping_area( + const tier4_planning_msgs::msg::PathWithLaneId & path, const Polygon2d & poly, + DebugData & debug_data); + +/** + * @brief Calculate the stop line of a no stopping area + * @details use the stop line of the regulatory element if it exists, otherwise generate it + * @param path ego path + * @param no_stopping_area_reg_elem no_stopping_area regulatory element + * @param stop_line_margin [m] margin between the stop line and the start of the no stopping area + * @param stop_line_extend_length [m] extra length to add on each side of the stop line (only added + * to the stop line of the regulatory element) + * @param vehicle_width [m] width of the ego vehicle + * @return generated stop line + */ +std::optional get_stop_line_geometry2d( + const tier4_planning_msgs::msg::PathWithLaneId & path, + const lanelet::autoware::NoStoppingArea & no_stopping_area_reg_elem, + const double stop_line_margin, const double stop_line_extend_length, const double vehicle_width); + +} // namespace autoware::behavior_velocity_planner::no_stopping_area + +#endif // UTILS_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/test/test_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/test/test_utils.cpp new file mode 100644 index 0000000000000..cc5bbd2903a52 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/test/test_utils.cpp @@ -0,0 +1,438 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "../src/utils.hpp" + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include + +#include + +template +bool point_in_polygon(const Point & p, const Polygon & poly) +{ + return std::find_if(poly.outer().begin(), poly.outer().end(), [&](const auto & o) { + return p.x() == o.x() && p.y() == o.y(); + }) != poly.outer().end(); +} + +tier4_planning_msgs::msg::PathWithLaneId generate_straight_path( + const size_t nb_points, const float velocity = 0.0, const double resolution = 1.0) +{ + tier4_planning_msgs::msg::PathWithLaneId path; + for (auto x = 0UL; x < nb_points; ++x) { + tier4_planning_msgs::msg::PathPointWithLaneId p; + p.point.pose.position.x = resolution * static_cast(x); + p.point.pose.position.y = 0.0; + p.point.longitudinal_velocity_mps = velocity; + path.points.push_back(p); + } + return path; +} + +TEST(NoStoppingAreaTest, isTargetStuckVehicleType) +{ + using autoware::behavior_velocity_planner::no_stopping_area::is_vehicle_type; + autoware_perception_msgs::msg::PredictedObject object; + EXPECT_NO_FATAL_FAILURE(is_vehicle_type(object)); + autoware_perception_msgs::msg::ObjectClassification classification; + for (const auto label : { + autoware_perception_msgs::msg::ObjectClassification::CAR, + autoware_perception_msgs::msg::ObjectClassification::BUS, + autoware_perception_msgs::msg::ObjectClassification::TRUCK, + autoware_perception_msgs::msg::ObjectClassification::TRAILER, + autoware_perception_msgs::msg::ObjectClassification::MOTORCYCLE, + }) { + classification.label = label; + object.classification = {classification}; + EXPECT_TRUE(is_vehicle_type(object)); + } +} + +TEST(NoStoppingAreaTest, insertStopPoint) +{ + using autoware::behavior_velocity_planner::no_stopping_area::insert_stop_point; + constexpr auto nb_points = 10; + constexpr auto default_velocity = 5.0; + const tier4_planning_msgs::msg::PathWithLaneId base_path = + generate_straight_path(nb_points, default_velocity); + autoware::behavior_velocity_planner::no_stopping_area::PathIndexWithPose stop_point; + // stop exactly at a point, expect no new points but a 0 velocity at the stop point and after + auto path = base_path; + stop_point.first = 4UL; + stop_point.second = path.points[stop_point.first].point.pose; + insert_stop_point(path, stop_point); + ASSERT_EQ(path.points.size(), nb_points); + for (auto i = 0UL; i < stop_point.first; ++i) { + EXPECT_EQ(path.points[i].point.longitudinal_velocity_mps, default_velocity); + } + for (auto i = stop_point.first; i < nb_points; ++i) { + EXPECT_EQ(path.points[i].point.longitudinal_velocity_mps, 0.0); + } + + // stop between points + path = base_path; + stop_point.first = 3UL; + stop_point.second.position.x = 3.5; + insert_stop_point(path, stop_point); + ASSERT_EQ(path.points.size(), nb_points + 1); + EXPECT_EQ(path.points[stop_point.first + 1].point.pose.position.x, stop_point.second.position.x); + for (auto i = 0UL; i <= stop_point.first; ++i) { + EXPECT_EQ(path.points[i].point.longitudinal_velocity_mps, default_velocity); + } + for (auto i = stop_point.first + 1; i < nb_points + 1; ++i) { + EXPECT_EQ(path.points[i].point.longitudinal_velocity_mps, 0.0); + } + + // stop at the last point: exception // TODO(anyone): is this okay ? + path = base_path; + stop_point.first = path.points.size() - 1; + stop_point.second = path.points.back().point.pose; + EXPECT_THROW(insert_stop_point(path, stop_point), std::out_of_range); +} + +TEST(NoStoppingAreaTest, generateStopLine) +{ + using autoware::behavior_velocity_planner::no_stopping_area::generate_stop_line; + constexpr auto nb_points = 10; + const tier4_planning_msgs::msg::PathWithLaneId path = generate_straight_path(nb_points); + lanelet::ConstPolygons3d no_stopping_areas; + double ego_width = 0.0; + double stop_line_margin = 0.0; + // no areas, expect no stop line + auto stop_line = generate_stop_line(path, no_stopping_areas, ego_width, stop_line_margin); + EXPECT_FALSE(stop_line.has_value()); + + // area outside of the path + lanelet::Polygon3d poly; + poly.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, -2.0)); + poly.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, -0.5)); + poly.push_back(lanelet::Point3d(lanelet::InvalId, 5.0, -0.5)); + poly.push_back(lanelet::Point3d(lanelet::InvalId, 5.0, -2.0)); + no_stopping_areas.push_back(poly); + stop_line = generate_stop_line(path, no_stopping_areas, ego_width, stop_line_margin); + EXPECT_FALSE(stop_line.has_value()); + // area on the path, 0 margin and 0 width + poly.push_back(lanelet::Point3d(lanelet::InvalId, 5.0, -1.0)); + poly.push_back(lanelet::Point3d(lanelet::InvalId, 5.0, 1.0)); + poly.push_back(lanelet::Point3d(lanelet::InvalId, 6.0, 1.0)); + poly.push_back(lanelet::Point3d(lanelet::InvalId, 6.0, -1.0)); + no_stopping_areas.push_back(poly); + stop_line = generate_stop_line(path, no_stopping_areas, ego_width, stop_line_margin); + EXPECT_TRUE(stop_line.has_value()); + ASSERT_EQ(stop_line->size(), 2UL); + EXPECT_EQ(stop_line->front().x(), 5.0); + EXPECT_EQ(stop_line->front().y(), 0.0); + EXPECT_EQ(stop_line->back().x(), 5.0); + EXPECT_EQ(stop_line->back().y(), 0.0); + // set a margin + stop_line_margin = 1.0; + stop_line = generate_stop_line(path, no_stopping_areas, ego_width, stop_line_margin); + EXPECT_TRUE(stop_line.has_value()); + ASSERT_EQ(stop_line->size(), 2UL); + EXPECT_EQ(stop_line->front().x(), 4.0); + EXPECT_EQ(stop_line->front().y(), 0.0); + EXPECT_EQ(stop_line->back().x(), 4.0); + EXPECT_EQ(stop_line->back().y(), 0.0); + // set a width + ego_width = 2.0; + stop_line = generate_stop_line(path, no_stopping_areas, ego_width, stop_line_margin); + EXPECT_TRUE(stop_line.has_value()); + ASSERT_EQ(stop_line->size(), 2UL); + // TODO(anyone): if we stop at this stop line ego overlaps the 1st area, is this okay ? + EXPECT_EQ(stop_line->front().x(), 4.0); + EXPECT_EQ(stop_line->front().y(), 2.0); + EXPECT_EQ(stop_line->back().x(), 4.0); + EXPECT_EQ(stop_line->back().y(), -2.0); +} + +TEST(NoStoppingAreaTest, isStoppable) +{ + using autoware::behavior_velocity_planner::no_stopping_area::is_stoppable; + autoware::behavior_velocity_planner::no_stopping_area::PassJudge pass_judge; + geometry_msgs::msg::Pose self_pose; + geometry_msgs::msg::Pose line_pose; + rclcpp::Clock clock; + auto logger = rclcpp::get_logger("test_logger"); + logger.set_level(rclcpp::Logger::Level::Debug); + autoware::behavior_velocity_planner::no_stopping_area::EgoData ego_data; + ego_data.current_velocity = 1.0; + ego_data.current_acceleration = 0.0; + ego_data.delay_response_time = 0.0; + ego_data.max_stop_acc = -1.0; + ego_data.max_stop_jerk = -1.0; + // try to stop 1m ahead + self_pose.position.x = 0.0; + self_pose.position.y = 0.0; + line_pose.position.x = 1.0; + line_pose.position.y = 0.0; + + // enough distance to stop and slow velocity + EXPECT_TRUE(is_stoppable(pass_judge, self_pose, line_pose, ego_data, logger, clock)); + EXPECT_TRUE(pass_judge.is_stoppable); + EXPECT_FALSE(pass_judge.pass_judged); + + // unstoppable and fast velocity + ego_data.current_velocity = 10.0; + EXPECT_FALSE(is_stoppable(pass_judge, self_pose, line_pose, ego_data, logger, clock)); + EXPECT_FALSE(pass_judge.is_stoppable); + EXPECT_TRUE(pass_judge.pass_judged); + + // unstoppable and slow velocity, but since we already judged, it is not updated + ego_data.current_velocity = 1.9; + EXPECT_FALSE(is_stoppable(pass_judge, self_pose, line_pose, ego_data, logger, clock)); + EXPECT_FALSE(pass_judge.is_stoppable); + EXPECT_TRUE(pass_judge.pass_judged); + + // reset and result is updated + // TODO(someone): is this the correct behavior ? distance is unstoppable but result is stoppable + pass_judge.pass_judged = false; + EXPECT_TRUE(is_stoppable(pass_judge, self_pose, line_pose, ego_data, logger, clock)); + EXPECT_TRUE(pass_judge.is_stoppable); + EXPECT_TRUE(pass_judge.pass_judged); +} + +TEST(NoStoppingAreaTest, generateEgoNoStoppingAreaLanePolygon) +{ + using autoware::behavior_velocity_planner::no_stopping_area:: + generate_ego_no_stopping_area_lane_polygon; + using autoware::universe_utils::Point2d; + geometry_msgs::msg::Pose ego_pose; // ego at (0,0) + ego_pose.position.x = 0.0; + ego_pose.position.y = 0.0; + const tier4_planning_msgs::msg::PathWithLaneId path = + generate_straight_path(8); // ego path at x = 0, 1,..., 7 and y=0 + double margin = 1.0; // desired margin added to the polygon after the end of the area + double max_polygon_length = 10.0; // maximum length of the generated polygon + double path_expand_width = 2.0; // width of the generated polygon + auto logger = rclcpp::get_logger("test_logger"); + logger.set_level(rclcpp::Logger::Level::Debug); + rclcpp::Clock clock; + + lanelet::Polygon3d no_stopping_area; + no_stopping_area.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, -1.0)); + no_stopping_area.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, 1.0)); + no_stopping_area.push_back(lanelet::Point3d(lanelet::InvalId, 5.0, 1.0)); + no_stopping_area.push_back(lanelet::Point3d(lanelet::InvalId, 5.0, -1.0)); + const auto no_stopping_area_reg_elem = + lanelet::autoware::NoStoppingArea::make(lanelet::InvalId, {}, {no_stopping_area}, {}); + // basic case + { + const auto lane_poly = generate_ego_no_stopping_area_lane_polygon( + path, ego_pose, *no_stopping_area_reg_elem, margin, max_polygon_length, path_expand_width, + logger, clock); + autoware::universe_utils::Polygon2d simplified_poly; + EXPECT_FALSE(lane_poly.outer().empty()); + EXPECT_TRUE(lane_poly.inners().empty()); + // simplify the polygon to make it easier to check + boost::geometry::simplify(lane_poly, simplified_poly, 1.0); + EXPECT_EQ(simplified_poly.outer().size(), 5UL); // closed polygon so 1st point == last point + // polygon over the path/no_stop_area overlap and with the desired width + // TODO(someone): we expect x=6 (end of area [5] + margin [1]) but current is 5.5 because a + // point is counted twice + // EXPECT_TRUE(point_in_polygon(Point2d(6.0, 2.0), simplified_poly)); + // EXPECT_TRUE(point_in_polygon(Point2d(6.0, -2.0), simplified_poly)); + EXPECT_TRUE(point_in_polygon(Point2d(3.0, 2.0), simplified_poly)); + EXPECT_TRUE(point_in_polygon(Point2d(3.0, -2.0), simplified_poly)); + } + + // big margin -> get a polygon until the end of the path + { + const double big_margin = 10.0; + const auto lane_poly = generate_ego_no_stopping_area_lane_polygon( + path, ego_pose, *no_stopping_area_reg_elem, big_margin, max_polygon_length, path_expand_width, + logger, clock); + autoware::universe_utils::Polygon2d simplified_poly; + EXPECT_FALSE(lane_poly.outer().empty()); + EXPECT_TRUE(lane_poly.inners().empty()); + // simplify the polygon to make it easier to check + boost::geometry::simplify(lane_poly, simplified_poly, 1.0); + EXPECT_EQ(simplified_poly.outer().size(), 5UL); // closed polygon so 1st point == last point + // polygon over the path/no_stop_area overlap and with the desired width + EXPECT_TRUE(point_in_polygon(Point2d(7.0, 2.0), simplified_poly)); + EXPECT_TRUE(point_in_polygon(Point2d(7.0, -2.0), simplified_poly)); + EXPECT_TRUE(point_in_polygon(Point2d(3.0, 2.0), simplified_poly)); + EXPECT_TRUE(point_in_polygon(Point2d(3.0, -2.0), simplified_poly)); + } + // small max polygon length + { + const double small_polygon_length = 5.0; + const auto lane_poly = generate_ego_no_stopping_area_lane_polygon( + path, ego_pose, *no_stopping_area_reg_elem, margin, small_polygon_length, path_expand_width, + logger, clock); + autoware::universe_utils::Polygon2d simplified_poly; + EXPECT_FALSE(lane_poly.outer().empty()); + EXPECT_TRUE(lane_poly.inners().empty()); + // simplify the polygon to make it easier to check + boost::geometry::simplify(lane_poly, simplified_poly, 1.0); + EXPECT_EQ(simplified_poly.outer().size(), 5UL); // closed polygon so 1st point == last point + // polygon over the path/no_stop_area overlap and with the desired width + // TODO(someone): the length calculation is currently buggy + // ego at x=0, no_stopping_area starts at x=3 so we expect a lane polygon of length = 2.0, but + // some point is counted twice so the length is only 1.5 (interpolation interval is 0.5) + // EXPECT_TRUE(point_in_polygon(Point2d(4.0, 2.0), simplified_poly)); + // EXPECT_TRUE(point_in_polygon(Point2d(4.0, -2.0), simplified_poly)); + EXPECT_TRUE(point_in_polygon(Point2d(3.0, 2.0), simplified_poly)); + EXPECT_TRUE(point_in_polygon(Point2d(3.0, -2.0), simplified_poly)); + } + + // cases where the polygon returned is empty + // path is empty + { + tier4_planning_msgs::msg::PathWithLaneId empty_path; + const auto lane_poly = generate_ego_no_stopping_area_lane_polygon( + empty_path, ego_pose, *no_stopping_area_reg_elem, margin, max_polygon_length, + path_expand_width, logger, clock); + EXPECT_TRUE(lane_poly.outer().empty()); + EXPECT_TRUE(lane_poly.inners().empty()); + } + // path points do not enter the no stopping area + // ego is far from the path + { + auto far_ego_pose = ego_pose; + far_ego_pose.position.y = 10.0; + const auto lane_poly = generate_ego_no_stopping_area_lane_polygon( + path, far_ego_pose, *no_stopping_area_reg_elem, margin, max_polygon_length, path_expand_width, + logger, clock); + EXPECT_TRUE(lane_poly.outer().empty()); + EXPECT_TRUE(lane_poly.inners().empty()); + } + // no stopping area starts after the minimum length + { + const double short_max_polygon_length = 2.0; + const auto lane_poly = generate_ego_no_stopping_area_lane_polygon( + path, ego_pose, *no_stopping_area_reg_elem, margin, short_max_polygon_length, + path_expand_width, logger, clock); + EXPECT_TRUE(lane_poly.outer().empty()); + EXPECT_TRUE(lane_poly.inners().empty()); + } + // path crosses the no stopping area but the current interpolation (0.5) is not enough to detect + // it + // TODO(someone): should this be fixed ? + { + lanelet::Polygon3d small_no_stopping_area; + small_no_stopping_area.push_back(lanelet::Point3d(lanelet::InvalId, 3.1, -1.0)); + small_no_stopping_area.push_back(lanelet::Point3d(lanelet::InvalId, 3.1, 1.0)); + small_no_stopping_area.push_back(lanelet::Point3d(lanelet::InvalId, 3.4, 1.0)); + small_no_stopping_area.push_back(lanelet::Point3d(lanelet::InvalId, 3.4, -1.0)); + const auto small_no_stopping_area_reg_elem = + lanelet::autoware::NoStoppingArea::make(lanelet::InvalId, {}, {small_no_stopping_area}, {}); + const auto lane_poly = generate_ego_no_stopping_area_lane_polygon( + path, ego_pose, *small_no_stopping_area_reg_elem, margin, max_polygon_length, + path_expand_width, logger, clock); + EXPECT_TRUE(lane_poly.outer().empty()); + EXPECT_TRUE(lane_poly.inners().empty()); + } +} + +TEST(NoStoppingAreaTest, checkStopLinesInNoStoppingArea) +{ + using autoware::behavior_velocity_planner::no_stopping_area::check_stop_lines_in_no_stopping_area; + tier4_planning_msgs::msg::PathWithLaneId path; + autoware::universe_utils::Polygon2d poly; + autoware::behavior_velocity_planner::no_stopping_area::DebugData debug_data; + + // empty inputs + EXPECT_FALSE(check_stop_lines_in_no_stopping_area(path, poly, debug_data)); + + constexpr auto nb_points = 10; + constexpr auto non_stopped_velocity = 5.0; + const tier4_planning_msgs::msg::PathWithLaneId non_stopping_path = + generate_straight_path(nb_points, non_stopped_velocity); + path = non_stopping_path; + // set x=4 and x=5 to be stopping points + path.points[4].point.longitudinal_velocity_mps = 0.0; + path.points[5].point.longitudinal_velocity_mps = 0.0; + // empty polygon + EXPECT_FALSE(check_stop_lines_in_no_stopping_area(path, poly, debug_data)); + // non stopping path + poly.outer().emplace_back(3.0, -1.0); + poly.outer().emplace_back(3.0, 1.0); + poly.outer().emplace_back(5.0, 1.0); + poly.outer().emplace_back(5.0, -1.0); + poly.outer().push_back(poly.outer().front()); // close the polygon + EXPECT_FALSE(check_stop_lines_in_no_stopping_area(non_stopping_path, poly, debug_data)); + // stop in the area + EXPECT_TRUE(check_stop_lines_in_no_stopping_area(path, poly, debug_data)); + // if stop in the area is within 1m of the end of the path we ignore it: only for 1st stop + path.points[8].point.longitudinal_velocity_mps = 0.0; + path.points[9].point.longitudinal_velocity_mps = 0.0; + EXPECT_TRUE(check_stop_lines_in_no_stopping_area(path, poly, debug_data)); + // if stop in the area is within 1m of the end of the path we ignore it + path.points[4].point.longitudinal_velocity_mps = non_stopped_velocity; + path.points[5].point.longitudinal_velocity_mps = non_stopped_velocity; + EXPECT_FALSE(check_stop_lines_in_no_stopping_area(path, poly, debug_data)); +} + +TEST(NoStoppingAreaTest, getStopLineGeometry2d) +{ + using autoware::behavior_velocity_planner::no_stopping_area::generate_stop_line; + using autoware::behavior_velocity_planner::no_stopping_area::get_stop_line_geometry2d; + const tier4_planning_msgs::msg::PathWithLaneId path = generate_straight_path(10); + lanelet::Polygon3d no_stopping_area; + no_stopping_area.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, -1.0)); + no_stopping_area.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, 1.0)); + no_stopping_area.push_back(lanelet::Point3d(lanelet::InvalId, 5.0, 1.0)); + no_stopping_area.push_back(lanelet::Point3d(lanelet::InvalId, 5.0, -1.0)); + double stop_line_margin = 1.0; + double stop_line_extend_length = 1.0; + double vehicle_width = 1.0; + { // get stop line of the regulatory element extended by the extend length + lanelet::LineString3d reg_elem_stop_line; + reg_elem_stop_line.push_back(lanelet::Point3d(lanelet::InvalId, 0.0, 0.0)); + reg_elem_stop_line.push_back(lanelet::Point3d(lanelet::InvalId, 1.0, 0.0)); + const auto no_stopping_area_reg_elem = lanelet::autoware::NoStoppingArea::make( + lanelet::InvalId, {}, {no_stopping_area}, reg_elem_stop_line); + const auto stop_line = get_stop_line_geometry2d( + path, *no_stopping_area_reg_elem, stop_line_margin, stop_line_extend_length, vehicle_width); + ASSERT_TRUE(stop_line.has_value()); + ASSERT_EQ(stop_line->size(), 2UL); + EXPECT_EQ(stop_line->front().x(), -1.0); + EXPECT_EQ(stop_line->front().y(), 0.0); + EXPECT_EQ(stop_line->back().x(), 2.0); + EXPECT_EQ(stop_line->back().y(), 0.0); + } + { // regulatory element has no stop line -> get the same stop line as generate_stop_line + const auto no_stopping_area_reg_elem = + lanelet::autoware::NoStoppingArea::make(lanelet::InvalId, {}, {no_stopping_area}, {}); + const auto stop_line = get_stop_line_geometry2d( + path, *no_stopping_area_reg_elem, stop_line_margin, stop_line_extend_length, vehicle_width); + const auto generated_stop_line = + generate_stop_line(path, {no_stopping_area}, vehicle_width, stop_line_margin); + ASSERT_TRUE(stop_line.has_value()); + ASSERT_TRUE(generated_stop_line.has_value()); + ASSERT_EQ(stop_line->size(), generated_stop_line->size()); + for (auto i = 0UL; i < stop_line->size(); ++i) { + EXPECT_EQ(stop_line->at(i).x(), generated_stop_line->at(i).x()); + EXPECT_EQ(stop_line->at(i).y(), generated_stop_line->at(i).y()); + } + } +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp index 29f3794516ef5..9dd645f08fdad 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp @@ -274,7 +274,7 @@ class SceneModuleManagerInterfaceWithRTC : public SceneModuleManagerInterface void deleteExpiredModules(const tier4_planning_msgs::msg::PathWithLaneId & path) override; - bool getEnableRTC(rclcpp::Node & node, const std::string & param_name) + static bool getEnableRTC(rclcpp::Node & node, const std::string & param_name) { bool enable_rtc = true; From 8c63c61381b88527ffb5fb2ce8120db5e53f1179 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Tue, 15 Oct 2024 12:31:21 +0900 Subject: [PATCH 242/701] refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (#9081) * remove unused function Signed-off-by: Go Sakayori * mover path shifter utils function to autoware motion utils Signed-off-by: Go Sakayori * minor change in license header Signed-off-by: Go Sakayori * fix warning message Signed-off-by: Go Sakayori * remove header file Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../motion_utils/trajectory/path_shift.hpp | 71 ++++++++++++ .../src/trajectory/path_shift.cpp | 105 ++++++++++++++++++ .../src/pull_over_planner/shift_pull_over.cpp | 3 +- .../src/scene.cpp | 9 +- .../src/utils/calculation.cpp | 10 +- .../utils/path_shifter/path_shifter.hpp | 31 ------ .../src/utils/path_shifter/path_shifter.cpp | 101 ----------------- .../src/scene.cpp | 3 +- .../src/shift_pull_out.cpp | 3 +- .../helper.hpp | 17 +-- .../src/scene.cpp | 10 +- .../src/shift_line_generator.cpp | 4 +- 12 files changed, 210 insertions(+), 157 deletions(-) create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_shift.hpp create mode 100644 common/autoware_motion_utils/src/trajectory/path_shift.cpp diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_shift.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_shift.hpp new file mode 100644 index 0000000000000..f4602ffff83e4 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_shift.hpp @@ -0,0 +1,71 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_SHIFT_HPP_ +#define AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_SHIFT_HPP_ + +namespace autoware::motion_utils +{ +/** + * @brief Calculates the velocity required for shifting + * @param lateral lateral distance + * @param jerk lateral jerk + * @param longitudinal_distance longitudinal distance + * @return velocity + */ +double calc_feasible_velocity_from_jerk( + const double lateral, const double jerk, const double longitudinal_distance); + +/** + * @brief Calculates the lateral distance required for shifting + * @param longitudinal longitudinal distance + * @param jerk lateral jerk + * @param velocity velocity + * @return lateral distance + */ +double calc_lateral_dist_from_jerk( + const double longitudinal, const double jerk, const double velocity); + +/** + * @brief Calculates the lateral distance required for shifting + * @param lateral lateral distance + * @param jerk lateral jerk + * @param velocity velocity + * @return longitudinal distance + */ +double calc_longitudinal_dist_from_jerk( + const double lateral, const double jerk, const double velocity); + +/** + * @brief Calculates the total time required for shifting + * @param lateral lateral distance + * @param jerk lateral jerk + * @param acc lateral acceleration + * @return time + */ +double calc_shift_time_from_jerk(const double lateral, const double jerk, const double acc); + +/** + * @brief Calculates the required jerk from lateral/longitudinal distance + * @param lateral lateral distance + * @param longitudinal longitudinal distance + * @param velocity velocity + * @return jerk + */ +double calc_jerk_from_lat_lon_distance( + const double lateral, const double longitudinal, const double velocity); + +} // namespace autoware::motion_utils + +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_SHIFT_HPP_ diff --git a/common/autoware_motion_utils/src/trajectory/path_shift.cpp b/common/autoware_motion_utils/src/trajectory/path_shift.cpp new file mode 100644 index 0000000000000..6f57f34a56190 --- /dev/null +++ b/common/autoware_motion_utils/src/trajectory/path_shift.cpp @@ -0,0 +1,105 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/motion_utils/trajectory/path_shift.hpp" + +#include "autoware/motion_utils/trajectory/trajectory.hpp" + +namespace autoware::motion_utils +{ +double calc_feasible_velocity_from_jerk( + const double lateral, const double jerk, const double longitudinal_distance) +{ + const double j = std::abs(jerk); + const double l = std::abs(lateral); + const double d = std::abs(longitudinal_distance); + if (j < 1.0e-8 || l < 1.0e-8) { + const std::string error_message( + std::string(__func__) + ": Failed to calculate velocity due to invalid arg"); + RCLCPP_WARN(get_logger(), "%s", error_message.c_str()); + return 1.0e10; + } + return d / (4.0 * std::pow(0.5 * l / j, 1.0 / 3.0)); +} + +double calc_lateral_dist_from_jerk( + const double longitudinal, const double jerk, const double velocity) +{ + const double j = std::abs(jerk); + const double d = std::abs(longitudinal); + const double v = std::abs(velocity); + + if (j < 1.0e-8 || v < 1.0e-8) { + const std::string error_message( + std::string(__func__) + ": Failed to calculate lateral distance due to invalid arg"); + RCLCPP_WARN(get_logger(), "%s", error_message.c_str()); + return 1.0e10; + } + return 2.0 * std::pow(d / (4.0 * v), 3.0) * j; +} + +double calc_longitudinal_dist_from_jerk( + const double lateral, const double jerk, const double velocity) +{ + const double j = std::abs(jerk); + const double l = std::abs(lateral); + const double v = std::abs(velocity); + if (j < 1.0e-8) { + const std::string error_message( + std::string(__func__) + ": Failed to calculate longitudinal distance due to invalid arg"); + RCLCPP_WARN(get_logger(), "%s", error_message.c_str()); + return 1.0e10; + } + return 4.0 * std::pow(0.5 * l / j, 1.0 / 3.0) * v; +} + +double calc_shift_time_from_jerk(const double lateral, const double jerk, const double acc) +{ + const double j = std::abs(jerk); + const double a = std::abs(acc); + const double l = std::abs(lateral); + if (j < 1.0e-8 || a < 1.0e-8) { + const std::string error_message( + std::string(__func__) + ": Failed to calculate shift time due to invalid arg"); + RCLCPP_WARN(get_logger(), "%s", error_message.c_str()); + return 1.0e10; // TODO(Horibe) maybe invalid arg? + } + + // time with constant jerk + double tj = a / j; + + // time with constant acceleration (zero jerk) + double ta = (std::sqrt(a * a + 4.0 * j * j * l / a) - 3.0 * a) / (2.0 * j); + + if (ta < 0.0) { + // it will not hit the acceleration limit this time + tj = std::pow(l / (2.0 * j), 1.0 / 3.0); + ta = 0.0; + } + + const double t_total = 4.0 * tj + 2.0 * ta; + return t_total; +} + +double calc_jerk_from_lat_lon_distance( + const double lateral, const double longitudinal, const double velocity) +{ + constexpr double ep = 1.0e-3; + const double lat = std::abs(lateral); + const double lon = std::max(std::abs(longitudinal), ep); + const double v = std::abs(velocity); + return 0.5 * lat * std::pow(4.0 * v / lon, 3); +} + +} // namespace autoware::motion_utils diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp index 30f250634c028..f70dbbd9c1e50 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp @@ -18,6 +18,7 @@ #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" #include "autoware/behavior_path_planner_common/utils/path_utils.hpp" +#include #include #include @@ -181,7 +182,7 @@ std::optional ShiftPullOver::generatePullOverPath( .y; // calculate shift start pose on road lane - const double pull_over_distance = PathShifter::calcLongitudinalDistFromJerk( + const double pull_over_distance = autoware::motion_utils::calc_longitudinal_dist_from_jerk( shift_end_road_to_target_distance, lateral_jerk, pull_over_velocity); const double before_shifted_pull_over_distance = calcBeforeShiftedArcLength( processed_prev_module_path.value(), pull_over_distance, shift_end_road_to_target_distance); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 532a99a67195b..5961435085346 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -23,6 +23,8 @@ #include "autoware/behavior_path_planner_common/utils/traffic_light_utils.hpp" #include "autoware/behavior_path_planner_common/utils/utils.hpp" +#include +#include #include #include #include @@ -1612,7 +1614,7 @@ std::optional NormalLaneChange::calcTerminalLaneChangePath( const auto [min_lateral_acc, max_lateral_acc] = lane_change_parameters_->lane_change_lat_acc_map.find(minimum_lane_changing_velocity); - const auto lane_changing_time = PathShifter::calcShiftTimeFromJerk( + const auto lane_changing_time = autoware::motion_utils::calc_shift_time_from_jerk( shift_length, lane_change_parameters_->lane_changing_lateral_jerk, max_lateral_acc); const auto target_lane_length = common_data_ptr_->transient_data.target_lane_length; @@ -1876,9 +1878,8 @@ bool NormalLaneChange::calcAbortPath() PathShifter path_shifter; path_shifter.setPath(lane_changing_path); path_shifter.addShiftLine(shift_line); - const auto lateral_jerk = - autoware::behavior_path_planner::PathShifter::calcJerkFromLatLonDistance( - shift_line.end_shift_length, abort_start_dist, current_velocity); + const auto lateral_jerk = autoware::motion_utils::calc_jerk_from_lat_lon_distance( + shift_line.end_shift_length, abort_start_dist, current_velocity); path_shifter.setVelocity(current_velocity); const auto lateral_acc_range = lane_change_parameters_->lane_change_lat_acc_map.find(current_velocity); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index 1c4aede51074a..762cada4e59d2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -15,6 +15,7 @@ #include #include +#include #include @@ -163,7 +164,7 @@ double calc_maximum_lane_change_length( const auto [min_lat_acc, max_lat_acc] = lane_change_parameters.lane_change_lat_acc_map.find(vel); const auto t_lane_changing = - PathShifter::calcShiftTimeFromJerk(shift_interval, lat_jerk, max_lat_acc); + autoware::motion_utils::calc_shift_time_from_jerk(shift_interval, lat_jerk, max_lat_acc); const auto lane_changing_length = vel * t_lane_changing + 0.5 * max_acc * t_lane_changing * t_lane_changing; @@ -208,7 +209,8 @@ std::vector calc_all_min_lc_lengths( min_lc_lengths.reserve(shift_intervals.size()); const auto min_lc_length = [&](const auto shift_interval) { - const auto t = PathShifter::calcShiftTimeFromJerk(shift_interval, lat_jerk, max_lat_acc); + const auto t = + autoware::motion_utils::calc_shift_time_from_jerk(shift_interval, lat_jerk, max_lat_acc); return min_vel * t; }; @@ -248,7 +250,7 @@ std::vector calc_all_max_lc_lengths( // lane changing section const auto [min_lat_acc, max_lat_acc] = lc_param_ptr->lane_change_lat_acc_map.find(vel); const auto t_lane_changing = - PathShifter::calcShiftTimeFromJerk(shift_interval, lat_jerk, max_lat_acc); + autoware::motion_utils::calc_shift_time_from_jerk(shift_interval, lat_jerk, max_lat_acc); const auto lane_changing_length = vel * t_lane_changing + 0.5 * max_acc * t_lane_changing * t_lane_changing; @@ -410,7 +412,7 @@ std::vector calc_shift_phase_metrics( for (double lat_acc = min_lateral_acc; lat_acc < max_lateral_acc + eps; lat_acc += lateral_acc_resolution) { - const auto lane_changing_duration = PathShifter::calcShiftTimeFromJerk( + const auto lane_changing_duration = autoware::motion_utils::calc_shift_time_from_jerk( shift_length, common_data_ptr->lc_param_ptr->lane_changing_lateral_jerk, lat_acc); const double lane_changing_accel = calc_lane_changing_acceleration( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp index 8164ef659b7b1..4364bb1744a7e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp @@ -108,11 +108,6 @@ class PathShifter */ std::vector getShiftLines() const { return shift_lines_; } - /** - * @brief Get shift points size. - */ - size_t getShiftLinesSize() const { return shift_lines_.size(); } - /** * @brief Get base offset. */ @@ -138,36 +133,10 @@ class PathShifter */ void removeBehindShiftLineAndSetBaseOffset(const size_t nearest_idx); - //////////////////////////////////////// - // Utility Functions - //////////////////////////////////////// - - static double calcFeasibleVelocityFromJerk( - const double lateral, const double jerk, const double longitudinal_distance); - - static double calcLateralDistFromJerk( - const double longitudinal, const double jerk, const double velocity); - - static double calcLongitudinalDistFromJerk( - const double lateral, const double jerk, const double velocity); - - static double calcShiftTimeFromJerk(const double lateral, const double jerk, const double acc); - - static double calcJerkFromLatLonDistance( - const double lateral, const double longitudinal, const double velocity); - - double getTotalShiftLength() const; - double getLastShiftLength() const; std::optional getLastShiftLine() const; - /** - * @brief Calculate the theoretical lateral jerk by spline shifting for current shift_lines_. - * @return Jerk array. The size is same as the shift points. - */ - std::vector calcLateralJerk() const; - private: // The reference path along which the shift will be performed. PathWithLaneId reference_path_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp index 69c538fa6cb54..22baffe80fdf6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp @@ -395,27 +395,6 @@ std::pair, std::vector> PathShifter::calcBaseLengths return {base_lon, base_lat}; } -std::vector PathShifter::calcLateralJerk() const -{ - const auto arclength_arr = utils::calcPathArcLengthArray(reference_path_); - - constexpr double epsilon = 1.0e-8; // to avoid 0 division - - std::vector lateral_jerk{}; - - // TODO(Watanabe) write docs. - double current_shift = base_offset_; - for (const auto & shift_line : shift_lines_) { - const double delta_shift = shift_line.end_shift_length - current_shift; - const auto shifting_arclength = std::max( - arclength_arr.at(shift_line.end_idx) - arclength_arr.at(shift_line.start_idx), epsilon); - lateral_jerk.push_back((delta_shift / 2.0) / std::pow(shifting_arclength / 4.0, 3.0)); - current_shift = shift_line.end_shift_length; - } - - return lateral_jerk; -} - void PathShifter::updateShiftLinesIndices(ShiftLineArray & shift_lines) const { if (reference_path_.points.empty()) { @@ -542,86 +521,6 @@ void PathShifter::shiftBaseLength(ShiftedPath * path, double offset) } } -double PathShifter::calcShiftTimeFromJerk(const double lateral, const double jerk, const double acc) -{ - const double j = std::abs(jerk); - const double a = std::abs(acc); - const double l = std::abs(lateral); - if (j < 1.0e-8 || a < 1.0e-8) { - return 1.0e10; // TODO(Horibe) maybe invalid arg? - } - - // time with constant jerk - double tj = a / j; - - // time with constant acceleration (zero jerk) - double ta = (std::sqrt(a * a + 4.0 * j * j * l / a) - 3.0 * a) / (2.0 * j); - - if (ta < 0.0) { - // it will not hit the acceleration limit this time - tj = std::pow(l / (2.0 * j), 1.0 / 3.0); - ta = 0.0; - } - - const double t_total = 4.0 * tj + 2.0 * ta; - return t_total; -} - -double PathShifter::calcFeasibleVelocityFromJerk( - const double lateral, const double jerk, const double longitudinal_distance) -{ - const double j = std::abs(jerk); - const double l = std::abs(lateral); - const double d = std::abs(longitudinal_distance); - if (j < 1.0e-8) { - return 1.0e10; // TODO(Horibe) maybe invalid arg? - } - return d / (4.0 * std::pow(0.5 * l / j, 1.0 / 3.0)); -} - -double PathShifter::calcLateralDistFromJerk( - const double longitudinal, const double jerk, const double velocity) -{ - const double j = std::abs(jerk); - const double d = std::abs(longitudinal); - const double v = std::abs(velocity); - if (j < 1.0e-8) { - return 1.0e10; // TODO(Horibe) maybe invalid arg? - } - return 2.0 * std::pow(d / (4.0 * v), 3.0) * j; -} - -double PathShifter::calcLongitudinalDistFromJerk( - const double lateral, const double jerk, const double velocity) -{ - const double j = std::abs(jerk); - const double l = std::abs(lateral); - const double v = std::abs(velocity); - if (j < 1.0e-8) { - return 1.0e10; // TODO(Horibe) maybe invalid arg? - } - return 4.0 * std::pow(0.5 * l / j, 1.0 / 3.0) * v; -} - -double PathShifter::calcJerkFromLatLonDistance( - const double lateral, const double longitudinal, const double velocity) -{ - constexpr double ep = 1.0e-3; - const double lat = std::abs(lateral); - const double lon = std::max(std::abs(longitudinal), ep); - const double v = std::abs(velocity); - return 0.5 * lat * std::pow(4.0 * v / lon, 3); -} - -double PathShifter::getTotalShiftLength() const -{ - double sum = base_offset_; - for (const auto & l : shift_lines_) { - sum += l.end_shift_length; - } - return sum; -} - double PathShifter::getLastShiftLength() const { if (shift_lines_.empty()) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp index d831f65b23117..e1f6d0bb6af9c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp @@ -20,6 +20,7 @@ #include "autoware/behavior_path_planner_common/utils/utils.hpp" #include "autoware/behavior_path_side_shift_module/utils.hpp" +#include #include #include @@ -346,7 +347,7 @@ ShiftLine SideShiftModule::calcShiftLine() const const double dist_to_end = [&]() { const double shift_length = requested_lateral_offset_ - getClosestShiftLength(); - const double jerk_shifting_distance = path_shifter_.calcLongitudinalDistFromJerk( + const double jerk_shifting_distance = autoware::motion_utils::calc_longitudinal_dist_from_jerk( shift_length, p->shifting_lateral_jerk, std::max(ego_speed, p->min_shifting_speed)); const double shifting_distance = std::max(jerk_shifting_distance, p->min_shifting_distance); const double dist_to_end = dist_to_start + shifting_distance; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp index 3f750a7f1a87b..2d94ceb85de28 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp @@ -22,6 +22,7 @@ #include "autoware/motion_utils/trajectory/path_with_lane_id.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" +#include #include #include @@ -306,7 +307,7 @@ std::vector ShiftPullOut::calcPullOutPaths( path_shifter.setPath(road_lane_reference_path); const double shift_time = - PathShifter::calcShiftTimeFromJerk(shift_length, lateral_jerk, lateral_acc); + autoware::motion_utils::calc_shift_time_from_jerk(shift_length, lateral_jerk, lateral_acc); const double longitudinal_acc = std::clamp(road_velocity / shift_time, 0.0, /* max acc */ 1.0); const auto pull_out_distance = calcPullOutLongitudinalDistance( longitudinal_acc, shift_time, shift_length, maximum_curvature, diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp index 0f3536eeb4e7c..b59dc9e91e23c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp @@ -20,6 +20,8 @@ #include "autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp" #include "autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp" +#include + #include #include #include @@ -118,26 +120,27 @@ class AvoidanceHelper const auto nominal_speed = std::max(getEgoSpeed(), p->nominal_avoidance_speed); const auto nominal_jerk = p->lateral_min_jerk_map.at(getConstraintsMapIndex(nominal_speed, p->velocity_map)); - return PathShifter::calcLongitudinalDistFromJerk(shift_length, nominal_jerk, nominal_speed); + return autoware::motion_utils::calc_longitudinal_dist_from_jerk( + shift_length, nominal_jerk, nominal_speed); } double getMinAvoidanceDistance(const double shift_length) const { const auto & p = parameters_; - return PathShifter::calcLongitudinalDistFromJerk( + return autoware::motion_utils::calc_longitudinal_dist_from_jerk( shift_length, p->lateral_max_jerk_map.front(), p->velocity_map.front()); } double getMaxAvoidanceDistance(const double shift_length) const { - const auto distance_from_jerk = PathShifter::calcLongitudinalDistFromJerk( + const auto distance_from_jerk = autoware::motion_utils::calc_longitudinal_dist_from_jerk( shift_length, getLateralMinJerkLimit(), getAvoidanceEgoSpeed()); return std::max(getNominalAvoidanceDistance(shift_length), distance_from_jerk); } double getSharpAvoidanceDistance(const double shift_length) const { - return PathShifter::calcLongitudinalDistFromJerk( + return autoware::motion_utils::calc_longitudinal_dist_from_jerk( shift_length, getLateralMaxJerkLimit(), getAvoidanceEgoSpeed()); } @@ -227,8 +230,8 @@ class AvoidanceHelper const auto max_shift_length = std::max( std::abs(parameters_->max_right_shift_length), std::abs(parameters_->max_left_shift_length)); - const auto dynamic_distance = - PathShifter::calcLongitudinalDistFromJerk(max_shift_length, getLateralMinJerkLimit(), speed); + const auto dynamic_distance = autoware::motion_utils::calc_longitudinal_dist_from_jerk( + max_shift_length, getLateralMinJerkLimit(), speed); return std::clamp( 1.5 * dynamic_distance + getNominalPrepareDistance(), @@ -312,7 +315,7 @@ class AvoidanceHelper { const auto JERK_BUFFER = 0.1; // [m/sss] return std::all_of(shift_lines.begin(), shift_lines.end(), [&](const auto & line) { - return PathShifter::calcJerkFromLatLonDistance( + return autoware::motion_utils::calc_jerk_from_lat_lon_distance( line.getRelativeLength(), line.getRelativeLongitudinal(), getAvoidanceEgoSpeed()) < getLateralMaxJerkLimit() + JERK_BUFFER; }); diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 4d13d4164d263..2c5950bfeae0c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -1316,7 +1316,7 @@ void StaticObstacleAvoidanceModule::addNewShiftLines( const double road_velocity = avoid_data_.reference_path.points.at(front_new_shift_line.start_idx) .point.longitudinal_velocity_mps; - const double shift_time = PathShifter::calcShiftTimeFromJerk( + const double shift_time = autoware::motion_utils::calc_shift_time_from_jerk( front_new_shift_line.getRelativeLength(), helper_->getLateralMaxJerkLimit(), helper_->getLateralMaxAccelLimit()); const double longitudinal_acc = @@ -1673,7 +1673,7 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( getEgoPosition(), to_stop_line - parameters_->stop_buffer, 0.0, shifted_path.path, stop_pose_); // insert slow down speed. - const double current_target_velocity = PathShifter::calcFeasibleVelocityFromJerk( + const double current_target_velocity = autoware::motion_utils::calc_feasible_velocity_from_jerk( shift_length, helper_->getLateralMinJerkLimit(), to_stop_line); if (current_target_velocity < getEgoSpeed()) { RCLCPP_DEBUG(getLogger(), "current velocity exceeds target slow down speed."); @@ -1692,7 +1692,7 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( } // target speed with nominal jerk limits. - const double v_target = PathShifter::calcFeasibleVelocityFromJerk( + const double v_target = autoware::motion_utils::calc_feasible_velocity_from_jerk( shift_length, helper_->getLateralMinJerkLimit(), shift_longitudinal_distance); const double v_original = shifted_path.path.points.at(i).point.longitudinal_velocity_mps; const double v_insert = @@ -1880,7 +1880,7 @@ void StaticObstacleAvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_ const auto lower_speed = object.value().avoid_required ? 0.0 : parameters_->min_slow_down_speed; // insert slow down speed. - const double current_target_velocity = PathShifter::calcFeasibleVelocityFromJerk( + const double current_target_velocity = autoware::motion_utils::calc_feasible_velocity_from_jerk( shift_length, helper_->getLateralMinJerkLimit(), distance_to_object); if (current_target_velocity < getEgoSpeed() + parameters_->buf_slow_down_speed) { utils::static_obstacle_avoidance::insertDecelPoint( @@ -1901,7 +1901,7 @@ void StaticObstacleAvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_ } // target speed with nominal jerk limits. - const double v_target = PathShifter::calcFeasibleVelocityFromJerk( + const double v_target = autoware::motion_utils::calc_feasible_velocity_from_jerk( shift_length, helper_->getLateralMinJerkLimit(), shift_longitudinal_distance); const double v_original = shifted_path.path.points.at(i).point.longitudinal_velocity_mps; const double v_insert = std::max(v_target - parameters_->buf_slow_down_speed, lower_speed); diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp index 10d003fcad90f..917736b1680db 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp @@ -179,7 +179,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( } // calculate lateral jerk. - const auto required_jerk = PathShifter::calcJerkFromLatLonDistance( + const auto required_jerk = autoware::motion_utils::calc_jerk_from_lat_lon_distance( avoiding_shift, avoidance_distance, helper_->getAvoidanceEgoSpeed()); // relax lateral jerk limit. avoidable. @@ -201,7 +201,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( } // output avoidance path under lateral jerk constraints. - const auto feasible_relative_shift_length = PathShifter::calcLateralDistFromJerk( + const auto feasible_relative_shift_length = autoware::motion_utils::calc_lateral_dist_from_jerk( avoidance_distance, helper_->getLateralMaxJerkLimit(), helper_->getAvoidanceEgoSpeed()); if (std::abs(feasible_relative_shift_length) < parameters_->lateral_execution_threshold) { From bb825f0021e5aa0e1962ca982bb537b1562df2da Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Tue, 15 Oct 2024 14:12:45 +0900 Subject: [PATCH 243/701] test(motion_utils): add test for path shift (#9083) * remove unused function Signed-off-by: Go Sakayori * mover path shifter utils function to autoware motion utils Signed-off-by: Go Sakayori * minor change in license header Signed-off-by: Go Sakayori * fix warning message Signed-off-by: Go Sakayori * remove header file Signed-off-by: Go Sakayori * add test file Signed-off-by: Go Sakayori * add unit test to all function Signed-off-by: Go Sakayori * fix spelling Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../test/src/trajectory/test_path_shift.cpp | 163 ++++++++++++++++++ 1 file changed, 163 insertions(+) create mode 100644 common/autoware_motion_utils/test/src/trajectory/test_path_shift.cpp diff --git a/common/autoware_motion_utils/test/src/trajectory/test_path_shift.cpp b/common/autoware_motion_utils/test/src/trajectory/test_path_shift.cpp new file mode 100644 index 0000000000000..fbdcc7a8f6f81 --- /dev/null +++ b/common/autoware_motion_utils/test/src/trajectory/test_path_shift.cpp @@ -0,0 +1,163 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/motion_utils/trajectory/path_shift.hpp" + +#include + +TEST(path_shift_test, calc_feasible_velocity_from_jerk) +{ + using autoware::motion_utils::calc_feasible_velocity_from_jerk; + + double longitudinal_distance = 0.0; + double lateral_distance = 0.0; + double lateral_jerk = 0.0; + + // Condition: zero lateral jerk + EXPECT_DOUBLE_EQ( + calc_feasible_velocity_from_jerk(lateral_distance, lateral_jerk, longitudinal_distance), + 1.0e10); + + // Condition: zero lateral distance + lateral_jerk = 1.0; + EXPECT_DOUBLE_EQ( + calc_feasible_velocity_from_jerk(lateral_distance, lateral_jerk, longitudinal_distance), + 1.0e10); + + // Condition: zero longitudinal distance + lateral_distance = 2.0; + EXPECT_DOUBLE_EQ( + calc_feasible_velocity_from_jerk(lateral_distance, lateral_jerk, longitudinal_distance), 0.0); + + // Condition: random condition + longitudinal_distance = 50.0; + EXPECT_DOUBLE_EQ( + calc_feasible_velocity_from_jerk(lateral_distance, lateral_jerk, longitudinal_distance), 12.5); +} + +TEST(path_shift_test, calc_lateral_dist_from_jerk) +{ + using autoware::motion_utils::calc_lateral_dist_from_jerk; + + double longitudinal_distance = 0.0; + double lateral_jerk = 0.0; + double velocity = 0.0; + + // Condition: zero lateral jerk + EXPECT_DOUBLE_EQ( + calc_lateral_dist_from_jerk(longitudinal_distance, lateral_jerk, velocity), 1.0e10); + + // Condition: zero velocity + lateral_jerk = 2.0; + EXPECT_DOUBLE_EQ( + calc_lateral_dist_from_jerk(longitudinal_distance, lateral_jerk, velocity), 1.0e10); + + // Condition: zero longitudinal distance + velocity = 10.0; + EXPECT_DOUBLE_EQ(calc_lateral_dist_from_jerk(longitudinal_distance, lateral_jerk, velocity), 0.0); + + // Condition: random condition + longitudinal_distance = 100.0; + EXPECT_DOUBLE_EQ( + calc_lateral_dist_from_jerk(longitudinal_distance, lateral_jerk, velocity), 62.5); +} + +TEST(path_shift_test, calc_longitudinal_dist_from_jerk) +{ + using autoware::motion_utils::calc_longitudinal_dist_from_jerk; + + double lateral_distance = 0.0; + double lateral_jerk = 0.0; + double velocity = 0.0; + + // Condition: zero lateral jerk + EXPECT_DOUBLE_EQ( + calc_longitudinal_dist_from_jerk(lateral_distance, lateral_jerk, velocity), 1.0e10); + + // Condition: zero lateral distance + lateral_jerk = -1.0; + velocity = 10.0; + EXPECT_DOUBLE_EQ(calc_longitudinal_dist_from_jerk(lateral_distance, lateral_jerk, velocity), 0.0); + + // Condition: zero velocity + velocity = 0.0; + lateral_distance = 54.0; + EXPECT_DOUBLE_EQ(calc_longitudinal_dist_from_jerk(lateral_distance, lateral_jerk, velocity), 0.0); + + // Condition: random + velocity = 8.0; + EXPECT_DOUBLE_EQ( + calc_longitudinal_dist_from_jerk(lateral_distance, lateral_jerk, velocity), 96.0); +} + +TEST(path_shift_test, calc_shift_time_from_jerk) +{ + constexpr double epsilon = 1e-6; + + using autoware::motion_utils::calc_shift_time_from_jerk; + + double lateral_distance = 0.0; + double lateral_jerk = 0.0; + double lateral_acceleration = 0.0; + + // Condition: zero lateral jerk + EXPECT_DOUBLE_EQ( + calc_shift_time_from_jerk(lateral_distance, lateral_jerk, lateral_acceleration), 1.0e10); + + // Condition: zero lateral acceleration + lateral_jerk = -2.0; + EXPECT_DOUBLE_EQ( + calc_shift_time_from_jerk(lateral_distance, lateral_jerk, lateral_acceleration), 1.0e10); + + // Condition: zero lateral distance + lateral_acceleration = -4.0; + EXPECT_DOUBLE_EQ( + calc_shift_time_from_jerk(lateral_distance, lateral_jerk, lateral_acceleration), 0.0); + + // Condition: random (TODO: use DOUBLE_EQ in future. currently not precise enough) + lateral_distance = 80.0; + EXPECT_NEAR( + calc_shift_time_from_jerk(lateral_distance, lateral_jerk, lateral_acceleration), 11.16515139, + epsilon); +} + +TEST(path_shift_test, calc_jerk_from_lat_lon_distance) +{ + using autoware::motion_utils::calc_jerk_from_lat_lon_distance; + + double lateral_distance = 0.0; + double longitudinal_distance = 100.0; + double velocity = 10.0; + + // Condition: zero lateral distance + EXPECT_DOUBLE_EQ( + calc_jerk_from_lat_lon_distance(lateral_distance, longitudinal_distance, velocity), 0.0); + + // Condition: zero velocity + lateral_distance = 5.0; + velocity = 0.0; + EXPECT_DOUBLE_EQ( + calc_jerk_from_lat_lon_distance(lateral_distance, longitudinal_distance, velocity), 0.0); + + // Condition: zero longitudinal distance + longitudinal_distance = 0.0; + velocity = 10.0; + EXPECT_DOUBLE_EQ( + calc_jerk_from_lat_lon_distance(lateral_distance, longitudinal_distance, velocity), 1.6 * 1e14); + + // Condition: random + longitudinal_distance = 100.0; + EXPECT_DOUBLE_EQ( + calc_jerk_from_lat_lon_distance(lateral_distance, longitudinal_distance, velocity), 0.16); +} From 328ffa9fb4c6ab0084ffcc65f8a428ed32252431 Mon Sep 17 00:00:00 2001 From: Kazunori-Nakajima <169115284+Kazunori-Nakajima@users.noreply.github.com> Date: Tue, 15 Oct 2024 17:54:28 +0900 Subject: [PATCH 244/701] feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (#9065) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub Signed-off-by: Kazunori-Nakajima * fix: pre-commit Signed-off-by: Kasunori-Nakajima * feat(costmap_generator): fix: No output when not Active. Signed-off-by: Kasunori-Nakajima * fix: clang-format Signed-off-by: Kasunori-Nakajima * Re: fix: clang-format Signed-off-by: Kasunori-Nakajima --------- Signed-off-by: Kazunori-Nakajima Signed-off-by: Kasunori-Nakajima --- .../control_validator/control_validator.hpp | 5 +++++ .../src/control_validator.cpp | 11 ++++++++++ .../src/vehicle_cmd_gate.cpp | 22 +++++++++++++++++++ .../src/vehicle_cmd_gate.hpp | 6 +++++ .../costmap_generator.hpp | 7 ++++++ .../costmap_generator_node.cpp | 14 ++++++++++++ .../autoware/scenario_selector/node.hpp | 6 +++++ .../autoware_scenario_selector/src/node.cpp | 11 ++++++++++ .../src/node.cpp | 11 ++++++++++ .../src/node.hpp | 2 ++ .../config/processing_time_checker.param.yaml | 5 +++++ 11 files changed, 100 insertions(+) diff --git a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp index 56a1e39391b10..551ee08aa3327 100644 --- a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp +++ b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp @@ -20,12 +20,14 @@ #include "autoware_vehicle_info_utils/vehicle_info.hpp" #include "diagnostic_updater/diagnostic_updater.hpp" +#include #include #include #include #include #include +#include #include #include @@ -143,6 +145,7 @@ class ControlValidator : public rclcpp::Node universe_utils::InterProcessPollingSubscriber::SharedPtr sub_reference_traj_; rclcpp::Publisher::SharedPtr pub_status_; rclcpp::Publisher::SharedPtr pub_markers_; + rclcpp::Publisher::SharedPtr pub_processing_time_; // system parameters int64_t diag_error_count_threshold_ = 0; @@ -167,6 +170,8 @@ class ControlValidator : public rclcpp::Node Odometry::ConstSharedPtr current_kinematics_; + autoware::universe_utils::StopWatch stop_watch; + std::shared_ptr debug_pose_publisher_; }; } // namespace autoware::control_validator diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp index 2370d274fecc8..d601319d47bc5 100644 --- a/control/autoware_control_validator/src/control_validator.cpp +++ b/control/autoware_control_validator/src/control_validator.cpp @@ -47,6 +47,9 @@ ControlValidator::ControlValidator(const rclcpp::NodeOptions & options) pub_markers_ = create_publisher("~/output/markers", 1); + pub_processing_time_ = + this->create_publisher("~/debug/processing_time_ms", 1); + debug_pose_publisher_ = std::make_shared(this); setup_parameters(); @@ -134,6 +137,8 @@ bool ControlValidator::is_data_ready() void ControlValidator::on_predicted_trajectory(const Trajectory::ConstSharedPtr msg) { + stop_watch.tic(); + current_predicted_trajectory_ = msg; current_reference_trajectory_ = sub_reference_traj_->takeData(); current_kinematics_ = sub_kinematics_->takeData(); @@ -162,6 +167,12 @@ void ControlValidator::publish_debug_info() debug_pose_publisher_->push_warning_msg(front_pose, "INVALID CONTROL"); } debug_pose_publisher_->publish(); + + // Publish ProcessingTime + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + pub_processing_time_->publish(processing_time_msg); } void ControlValidator::validate( diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp index bf61b69857849..b028455ab3354 100644 --- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp @@ -77,6 +77,8 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options) engage_pub_ = create_publisher("output/engage", durable_qos); pub_external_emergency_ = create_publisher("output/external_emergency", durable_qos); operation_mode_pub_ = create_publisher("output/operation_mode", durable_qos); + processing_time_pub_ = + this->create_publisher("~/debug/processing_time_ms", 1); is_filter_activated_pub_ = create_publisher("~/is_filter_activated", durable_qos); @@ -375,6 +377,8 @@ T VehicleCmdGate::getContinuousTopic( void VehicleCmdGate::onTimer() { + stop_watch.tic(); + // Subscriber for auto const auto msg_auto_command_turn_indicator = auto_turn_indicator_cmd_sub_.takeData(); if (msg_auto_command_turn_indicator) @@ -573,12 +577,18 @@ void VehicleCmdGate::publishControlCommands(const Commands & commands) vehicle_cmd_emergency.emergency = (use_emergency_handling_ && is_system_emergency_); vehicle_cmd_emergency.stamp = filtered_control.stamp; + // ProcessingTime + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + // Publish commands vehicle_cmd_emergency_pub_->publish(vehicle_cmd_emergency); control_cmd_pub_->publish(filtered_control); published_time_publisher_->publish_if_subscribed(control_cmd_pub_, filtered_control.stamp); adapi_pause_->publish(); moderate_stop_interface_->publish(); + processing_time_pub_->publish(processing_time_msg); // Save ControlCmd to steering angle when disengaged prev_control_cmd_ = filtered_control; @@ -616,12 +626,18 @@ void VehicleCmdGate::publishEmergencyStopControlCommands() vehicle_cmd_emergency.stamp = stamp; vehicle_cmd_emergency.emergency = true; + // ProcessingTime + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + // Publish topics vehicle_cmd_emergency_pub_->publish(vehicle_cmd_emergency); control_cmd_pub_->publish(control_cmd); turn_indicator_cmd_pub_->publish(turn_indicator); hazard_light_cmd_pub_->publish(hazard_light); gear_cmd_pub_->publish(gear); + processing_time_pub_->publish(processing_time_msg); } void VehicleCmdGate::publishStatus() @@ -638,12 +654,18 @@ void VehicleCmdGate::publishStatus() external_emergency.stamp = stamp; external_emergency.emergency = is_external_emergency_stop_; + // ProcessingTime + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + gate_mode_pub_->publish(current_gate_mode_); engage_pub_->publish(autoware_engage); pub_external_emergency_->publish(external_emergency); operation_mode_pub_->publish(current_operation_mode_); adapi_pause_->publish(); moderate_stop_interface_->publish(); + processing_time_pub_->publish(processing_time_msg); } Control VehicleCmdGate::filterControlCommand(const Control & in) diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp index 6863015443363..c2716ea3baa6a 100644 --- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp @@ -23,6 +23,7 @@ #include #include #include +#include #include #include #include @@ -41,6 +42,7 @@ #include #include #include +#include #include #include #include @@ -114,6 +116,7 @@ class VehicleCmdGate : public rclcpp::Node rclcpp::Publisher::SharedPtr filter_activated_marker_pub_; rclcpp::Publisher::SharedPtr filter_activated_marker_raw_pub_; rclcpp::Publisher::SharedPtr filter_activated_flag_pub_; + rclcpp::Publisher::SharedPtr processing_time_pub_; // Parameter callback OnSetParametersCallbackHandle::SharedPtr set_param_res_; rcl_interfaces::msg::SetParametersResult onParameter( @@ -268,6 +271,9 @@ class VehicleCmdGate : public rclcpp::Node std::unique_ptr vehicle_stop_checker_; double stop_check_duration_; + // processing time + autoware::universe_utils::StopWatch stop_watch; + // debug MarkerArray createMarkerArray(const IsFilterActivated & filter_activated); void publishMarkers(const IsFilterActivated & filter_activated); diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp index b08d16c68fa6f..434440359f282 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp +++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp @@ -49,6 +49,8 @@ #include "autoware_costmap_generator/points_to_costmap.hpp" #include "costmap_generator_node_parameters.hpp" +#include +#include #include #include #include @@ -58,6 +60,7 @@ #include #include #include +#include #include #include @@ -91,6 +94,7 @@ class CostmapGenerator : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_costmap_; rclcpp::Publisher::SharedPtr pub_occupancy_grid_; rclcpp::Publisher::SharedPtr pub_processing_time_; + rclcpp::Publisher::SharedPtr pub_processing_time_ms_; rclcpp::Subscription::SharedPtr sub_points_; rclcpp::Subscription::SharedPtr sub_objects_; @@ -175,6 +179,9 @@ class CostmapGenerator : public rclcpp::Node /// \brief calculate cost for final output grid_map::Matrix generateCombinedCostmap(); + + /// \brief measure processing time + autoware::universe_utils::StopWatch stop_watch; }; } // namespace autoware::costmap_generator diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp index 9012b7f3250b4..07bf9eb33ffbe 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp @@ -192,6 +192,8 @@ CostmapGenerator::CostmapGenerator(const rclcpp::NodeOptions & node_options) pub_processing_time_ = create_publisher("processing_time", 1); time_keeper_ = std::make_shared(pub_processing_time_); + pub_processing_time_ms_ = + this->create_publisher("~/debug/processing_time_ms", 1); // Timer const auto period_ns = rclcpp::Rate(param_->update_rate).period(); @@ -277,7 +279,13 @@ void CostmapGenerator::onScenario(const tier4_planning_msgs::msg::Scenario::Cons void CostmapGenerator::onTimer() { autoware::universe_utils::ScopedTimeTrack scoped_time_track(__func__, *time_keeper_); + stop_watch.tic(); if (!isActive()) { + // Publish ProcessingTime + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + pub_processing_time_ms_->publish(processing_time_msg); return; } @@ -467,6 +475,12 @@ void CostmapGenerator::publishCostmap(const grid_map::GridMap & costmap) auto out_gridmap_msg = grid_map::GridMapRosConverter::toMessage(costmap); out_gridmap_msg->header = header; pub_costmap_->publish(*out_gridmap_msg); + + // Publish ProcessingTime + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + pub_processing_time_ms_->publish(processing_time_msg); } } // namespace autoware::costmap_generator diff --git a/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp b/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp index 487c643fe5673..244876ee2cb22 100644 --- a/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp +++ b/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp @@ -25,6 +25,7 @@ #include #include #include +#include #include #include @@ -37,6 +38,7 @@ #endif #include #include +#include #include #include @@ -95,6 +97,7 @@ class ScenarioSelectorNode : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_parking_trajectory_; rclcpp::Publisher::SharedPtr pub_trajectory_; rclcpp::Publisher::SharedPtr pub_scenario_; + rclcpp::Publisher::SharedPtr pub_processing_time_; // polling subscribers universe_utils::InterProcessPollingSubscriber< @@ -130,6 +133,9 @@ class ScenarioSelectorNode : public rclcpp::Node static constexpr double lane_stopping_timeout_s = 5.0; static constexpr double empty_parking_trajectory_timeout_s = 3.0; + + // processing time + autoware::universe_utils::StopWatch stop_watch; }; } // namespace autoware::scenario_selector #endif // AUTOWARE__SCENARIO_SELECTOR__NODE_HPP_ diff --git a/planning/autoware_scenario_selector/src/node.cpp b/planning/autoware_scenario_selector/src/node.cpp index 1f4547d04c8fc..eb3303766205f 100644 --- a/planning/autoware_scenario_selector/src/node.cpp +++ b/planning/autoware_scenario_selector/src/node.cpp @@ -330,6 +330,9 @@ bool ScenarioSelectorNode::isDataReady() void ScenarioSelectorNode::updateData() { + { + stop_watch.tic(); + } { auto msg = sub_parking_state_->takeData(); is_parking_completed_ = msg ? msg->data : is_parking_completed_; @@ -370,6 +373,12 @@ void ScenarioSelectorNode::onTimer() } pub_scenario_->publish(scenario); + + // Publish ProcessingTime + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + pub_processing_time_->publish(processing_time_msg); } void ScenarioSelectorNode::onLaneDrivingTrajectory( @@ -466,6 +475,8 @@ ScenarioSelectorNode::ScenarioSelectorNode(const rclcpp::NodeOptions & node_opti this, get_clock(), period_ns, std::bind(&ScenarioSelectorNode::onTimer, this)); published_time_publisher_ = std::make_unique(this); + pub_processing_time_ = + this->create_publisher("~/debug/processing_time_ms", 1); } } // namespace autoware::scenario_selector diff --git a/planning/autoware_surround_obstacle_checker/src/node.cpp b/planning/autoware_surround_obstacle_checker/src/node.cpp index 719a507ab569b..da0dd0ec09a26 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.cpp +++ b/planning/autoware_surround_obstacle_checker/src/node.cpp @@ -17,6 +17,7 @@ #include #include #include +#include #include #include @@ -109,6 +110,8 @@ SurroundObstacleCheckerNode::SurroundObstacleCheckerNode(const rclcpp::NodeOptio "~/output/velocity_limit_clear_command", rclcpp::QoS{1}.transient_local()); pub_velocity_limit_ = this->create_publisher( "~/output/max_velocity", rclcpp::QoS{1}.transient_local()); + pub_processing_time_ = + this->create_publisher("~/debug/processing_time_ms", 1); using std::chrono_literals::operator""ms; timer_ = rclcpp::create_timer( @@ -151,6 +154,9 @@ bool SurroundObstacleCheckerNode::getUseDynamicObject() const void SurroundObstacleCheckerNode::onTimer() { + autoware::universe_utils::StopWatch stop_watch; + stop_watch.tic(); + odometry_ptr_ = sub_odometry_.takeData(); pointcloud_ptr_ = sub_pointcloud_.takeData(); object_ptr_ = sub_dynamic_objects_.takeData(); @@ -256,6 +262,11 @@ void SurroundObstacleCheckerNode::onTimer() no_start_reason_diag = makeStopReasonDiag("obstacle", odometry_ptr_->pose.pose); } + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + pub_processing_time_->publish(processing_time_msg); + pub_stop_reason_->publish(no_start_reason_diag); debug_ptr_->publish(); } diff --git a/planning/autoware_surround_obstacle_checker/src/node.hpp b/planning/autoware_surround_obstacle_checker/src/node.hpp index f04a3aba07baf..480a937a4a909 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.hpp +++ b/planning/autoware_surround_obstacle_checker/src/node.hpp @@ -29,6 +29,7 @@ #include #include #include +#include #include #include #include @@ -106,6 +107,7 @@ class SurroundObstacleCheckerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_stop_reason_; rclcpp::Publisher::SharedPtr pub_clear_velocity_limit_; rclcpp::Publisher::SharedPtr pub_velocity_limit_; + rclcpp::Publisher::SharedPtr pub_processing_time_; // parameter callback result OnSetParametersCallbackHandle::SharedPtr set_param_res_; diff --git a/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml b/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml index 84e7d79079dae..033b20d234fd9 100644 --- a/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml +++ b/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml @@ -2,9 +2,11 @@ ros__parameters: update_rate: 10.0 processing_time_topic_name_list: + - /control/control_validator/debug/processing_time_ms - /control/trajectory_follower/controller_node_exe/lateral/debug/processing_time_ms - /control/trajectory_follower/controller_node_exe/longitudinal/debug/processing_time_ms - /control/trajectory_follower/lane_departure_checker_node/debug/processing_time_ms + - /control/vehicle_cmd_gate/debug/processing_time_ms - /perception/object_recognition/prediction/map_based_prediction/debug/processing_time_ms - /perception/object_recognition/tracking/multi_object_tracker/debug/processing_time_ms - /planning/planning_validator/debug/processing_time_ms @@ -33,5 +35,8 @@ - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/processing_time_ms - /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/processing_time_ms - /planning/scenario_planning/lane_driving/motion_planning/path_optimizer/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/processing_time_ms + - /planning/scenario_planning/parking/costmap_generator/debug/processing_time_ms + - /planning/scenario_planning/scenario_selector/debug/processing_time_ms - /planning/scenario_planning/velocity_smoother/debug/processing_time_ms - /simulation/shape_estimation/debug/processing_time_ms From 08d4914d04282c5cb059d34163ed09b02d0b5a46 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 15 Oct 2024 11:02:45 +0000 Subject: [PATCH 245/701] refactor(polar_grid): add autoware prefix to polar_grid (#8945) Signed-off-by: Esteve Fernandez --- .../CMakeLists.txt | 6 +++--- .../{polar_grid => autoware_polar_grid}/Readme.md | 0 .../icons/classes/PolarGridDisplay.png | Bin .../{polar_grid => autoware_polar_grid}/package.xml | 4 ++-- .../plugins/plugin_description.xml | 2 +- .../src/polar_grid_display.cpp | 0 .../src/polar_grid_display.hpp | 0 7 files changed, 6 insertions(+), 6 deletions(-) rename common/{polar_grid => autoware_polar_grid}/CMakeLists.txt (85%) rename common/{polar_grid => autoware_polar_grid}/Readme.md (100%) rename common/{polar_grid => autoware_polar_grid}/icons/classes/PolarGridDisplay.png (100%) rename common/{polar_grid => autoware_polar_grid}/package.xml (90%) rename common/{polar_grid => autoware_polar_grid}/plugins/plugin_description.xml (81%) rename common/{polar_grid => autoware_polar_grid}/src/polar_grid_display.cpp (100%) rename common/{polar_grid => autoware_polar_grid}/src/polar_grid_display.hpp (100%) diff --git a/common/polar_grid/CMakeLists.txt b/common/autoware_polar_grid/CMakeLists.txt similarity index 85% rename from common/polar_grid/CMakeLists.txt rename to common/autoware_polar_grid/CMakeLists.txt index 9932dc594d552..efa068a3f64a4 100644 --- a/common/polar_grid/CMakeLists.txt +++ b/common/autoware_polar_grid/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(polar_grid) +project(autoware_polar_grid) find_package(autoware_cmake REQUIRED) autoware_package() @@ -10,12 +10,12 @@ set(CMAKE_AUTOMOC ON) set(CMAKE_INCLUDE_CURRENT_DIR ON) add_definitions(-DQT_NO_KEYWORDS) -ament_auto_add_library(polar_grid SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/polar_grid_display.cpp src/polar_grid_display.hpp ) -target_link_libraries(polar_grid +target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ) diff --git a/common/polar_grid/Readme.md b/common/autoware_polar_grid/Readme.md similarity index 100% rename from common/polar_grid/Readme.md rename to common/autoware_polar_grid/Readme.md diff --git a/common/polar_grid/icons/classes/PolarGridDisplay.png b/common/autoware_polar_grid/icons/classes/PolarGridDisplay.png similarity index 100% rename from common/polar_grid/icons/classes/PolarGridDisplay.png rename to common/autoware_polar_grid/icons/classes/PolarGridDisplay.png diff --git a/common/polar_grid/package.xml b/common/autoware_polar_grid/package.xml similarity index 90% rename from common/polar_grid/package.xml rename to common/autoware_polar_grid/package.xml index ece156669c85b..3b376b3a75185 100644 --- a/common/polar_grid/package.xml +++ b/common/autoware_polar_grid/package.xml @@ -1,9 +1,9 @@ - polar_grid + autoware_polar_grid 0.1.0 - The polar_grid package + The autoware_polar_grid package Yukihiro Saito Apache License 2.0 diff --git a/common/polar_grid/plugins/plugin_description.xml b/common/autoware_polar_grid/plugins/plugin_description.xml similarity index 81% rename from common/polar_grid/plugins/plugin_description.xml rename to common/autoware_polar_grid/plugins/plugin_description.xml index 1ccaf8725d4de..a09fb5ed6a5d4 100644 --- a/common/polar_grid/plugins/plugin_description.xml +++ b/common/autoware_polar_grid/plugins/plugin_description.xml @@ -1,4 +1,4 @@ - + diff --git a/common/polar_grid/src/polar_grid_display.cpp b/common/autoware_polar_grid/src/polar_grid_display.cpp similarity index 100% rename from common/polar_grid/src/polar_grid_display.cpp rename to common/autoware_polar_grid/src/polar_grid_display.cpp diff --git a/common/polar_grid/src/polar_grid_display.hpp b/common/autoware_polar_grid/src/polar_grid_display.hpp similarity index 100% rename from common/polar_grid/src/polar_grid_display.hpp rename to common/autoware_polar_grid/src/polar_grid_display.hpp From b50235190f945cf09111d7f2a8f9c9cc1bc91f27 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Tue, 15 Oct 2024 20:57:33 +0900 Subject: [PATCH 246/701] refactor(freespace_planner): move functions to utils (#9058) * refactor freespace planner Signed-off-by: mohammad alqudah * add function is_near_target to freespace planner utils Signed-off-by: mohammad alqudah * add freespace planner utils namespace Signed-off-by: mohammad alqudah * fix function call Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .../autoware_freespace_planner/CMakeLists.txt | 1 + .../autoware/freespace_planner/utils.hpp | 78 +++++ .../freespace_planner_node.cpp | 268 ++++-------------- .../src/autoware_freespace_planner/utils.cpp | 178 ++++++++++++ 4 files changed, 306 insertions(+), 219 deletions(-) create mode 100644 planning/autoware_freespace_planner/include/autoware/freespace_planner/utils.hpp create mode 100644 planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp diff --git a/planning/autoware_freespace_planner/CMakeLists.txt b/planning/autoware_freespace_planner/CMakeLists.txt index 7901be70fbc63..bbbb09c7d5af1 100644 --- a/planning/autoware_freespace_planner/CMakeLists.txt +++ b/planning/autoware_freespace_planner/CMakeLists.txt @@ -6,6 +6,7 @@ autoware_package() ament_auto_add_library(freespace_planner_node SHARED src/autoware_freespace_planner/freespace_planner_node.cpp + src/autoware_freespace_planner/utils.cpp ) rclcpp_components_register_node(freespace_planner_node diff --git a/planning/autoware_freespace_planner/include/autoware/freespace_planner/utils.hpp b/planning/autoware_freespace_planner/include/autoware/freespace_planner/utils.hpp new file mode 100644 index 0000000000000..4a7f3b1cd6c2b --- /dev/null +++ b/planning/autoware_freespace_planner/include/autoware/freespace_planner/utils.hpp @@ -0,0 +1,78 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__FREESPACE_PLANNER__UTILS_HPP_ +#define AUTOWARE__FREESPACE_PLANNER__UTILS_HPP_ + +#include "autoware/freespace_planning_algorithms/abstract_algorithm.hpp" + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace autoware::freespace_planner::utils +{ +using autoware::freespace_planning_algorithms::PlannerWaypoint; +using autoware::freespace_planning_algorithms::PlannerWaypoints; +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; +using geometry_msgs::msg::Pose; +using geometry_msgs::msg::PoseArray; +using geometry_msgs::msg::PoseStamped; +using geometry_msgs::msg::TransformStamped; +using nav_msgs::msg::Odometry; +using tier4_planning_msgs::msg::Scenario; + +PoseArray trajectory_to_pose_array(const Trajectory & trajectory); + +double calc_distance_2d(const Trajectory & trajectory, const Pose & pose); + +Pose transform_pose(const Pose & pose, const TransformStamped & transform); + +bool is_active(const Scenario::ConstSharedPtr & scenario); + +std::vector get_reversing_indices(const Trajectory & trajectory); + +size_t get_next_target_index( + const size_t trajectory_size, const std::vector & reversing_indices, + const size_t current_target_index); + +Trajectory get_partial_trajectory( + const Trajectory & trajectory, const size_t start_index, const size_t end_index); + +Trajectory create_trajectory( + const PoseStamped & current_pose, const PlannerWaypoints & planner_waypoints, + const double & velocity); + +Trajectory create_stop_trajectory(const PoseStamped & current_pose); + +Trajectory create_stop_trajectory(const Trajectory & trajectory); + +bool is_stopped( + const std::deque & odom_buffer, const double th_stopped_velocity_mps); + +bool is_near_target( + const Pose & target_pose, const Pose & current_pose, const double th_distance_m); +} // namespace autoware::freespace_planner::utils + +#endif // AUTOWARE__FREESPACE_PLANNER__UTILS_HPP_ diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp index 267fd9932e781..a2a4d1f079b3c 100644 --- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp @@ -30,6 +30,7 @@ #include "autoware/freespace_planner/freespace_planner_node.hpp" +#include "autoware/freespace_planner/utils.hpp" #include "autoware/freespace_planning_algorithms/abstract_algorithm.hpp" #include @@ -43,181 +44,6 @@ #include #include -namespace -{ -using autoware_planning_msgs::msg::Trajectory; -using autoware_planning_msgs::msg::TrajectoryPoint; -using TrajectoryPoints = std::vector; -using autoware::freespace_planning_algorithms::AstarSearch; -using autoware::freespace_planning_algorithms::PlannerWaypoint; -using autoware::freespace_planning_algorithms::PlannerWaypoints; -using autoware::freespace_planning_algorithms::RRTStar; -using geometry_msgs::msg::Pose; -using geometry_msgs::msg::PoseArray; -using geometry_msgs::msg::PoseStamped; -using geometry_msgs::msg::TransformStamped; -using geometry_msgs::msg::Twist; -using nav_msgs::msg::Odometry; -using tier4_planning_msgs::msg::Scenario; - -bool isActive(const Scenario::ConstSharedPtr & scenario) -{ - if (!scenario) { - return false; - } - - const auto & s = scenario->activating_scenarios; - if (std::find(std::begin(s), std::end(s), Scenario::PARKING) != std::end(s)) { - return true; - } - - return false; -} - -PoseArray trajectory2PoseArray(const Trajectory & trajectory) -{ - PoseArray pose_array; - pose_array.header = trajectory.header; - - for (const auto & point : trajectory.points) { - pose_array.poses.push_back(point.pose); - } - - return pose_array; -} - -std::vector getReversingIndices(const Trajectory & trajectory) -{ - std::vector indices; - - for (size_t i = 0; i < trajectory.points.size() - 1; ++i) { - if ( - trajectory.points.at(i).longitudinal_velocity_mps * - trajectory.points.at(i + 1).longitudinal_velocity_mps < - 0) { - indices.push_back(i); - } - } - - return indices; -} - -size_t getNextTargetIndex( - const size_t trajectory_size, const std::vector & reversing_indices, - const size_t current_target_index) -{ - if (!reversing_indices.empty()) { - for (const auto reversing_index : reversing_indices) { - if (reversing_index > current_target_index) { - return reversing_index; - } - } - } - - return trajectory_size - 1; -} - -Trajectory getPartialTrajectory( - const Trajectory & trajectory, const size_t start_index, const size_t end_index) -{ - Trajectory partial_trajectory; - partial_trajectory.header = trajectory.header; - partial_trajectory.header.stamp = rclcpp::Clock().now(); - - partial_trajectory.points.reserve(trajectory.points.size()); - for (size_t i = start_index; i <= end_index; ++i) { - partial_trajectory.points.push_back(trajectory.points.at(i)); - } - - // Modify velocity at start/end point - if (partial_trajectory.points.size() >= 2) { - partial_trajectory.points.front().longitudinal_velocity_mps = - partial_trajectory.points.at(1).longitudinal_velocity_mps; - } - if (!partial_trajectory.points.empty()) { - partial_trajectory.points.back().longitudinal_velocity_mps = 0; - } - - return partial_trajectory; -} - -double calcDistance2d(const Trajectory & trajectory, const Pose & pose) -{ - const auto idx = autoware::motion_utils::findNearestIndex(trajectory.points, pose.position); - return autoware::universe_utils::calcDistance2d(trajectory.points.at(idx), pose); -} - -Pose transformPose(const Pose & pose, const TransformStamped & transform) -{ - PoseStamped transformed_pose; - PoseStamped orig_pose; - orig_pose.pose = pose; - tf2::doTransform(orig_pose, transformed_pose, transform); - - return transformed_pose.pose; -} - -Trajectory createTrajectory( - const PoseStamped & current_pose, const PlannerWaypoints & planner_waypoints, - const double & velocity) -{ - Trajectory trajectory; - trajectory.header = planner_waypoints.header; - - for (const auto & awp : planner_waypoints.waypoints) { - TrajectoryPoint point; - - point.pose = awp.pose.pose; - - point.pose.position.z = current_pose.pose.position.z; // height = const - point.longitudinal_velocity_mps = velocity / 3.6; // velocity = const - - // switch sign by forward/backward - point.longitudinal_velocity_mps = (awp.is_back ? -1 : 1) * point.longitudinal_velocity_mps; - - trajectory.points.push_back(point); - } - - return trajectory; -} - -Trajectory createStopTrajectory(const PoseStamped & current_pose) -{ - PlannerWaypoints waypoints; - PlannerWaypoint waypoint; - - waypoints.header.stamp = rclcpp::Clock().now(); - waypoints.header.frame_id = current_pose.header.frame_id; - waypoint.pose.header = waypoints.header; - waypoint.pose.pose = current_pose.pose; - waypoint.is_back = false; - waypoints.waypoints.push_back(waypoint); - - return createTrajectory(current_pose, waypoints, 0.0); -} - -Trajectory createStopTrajectory(const Trajectory & trajectory) -{ - Trajectory stop_trajectory = trajectory; - for (size_t i = 0; i < trajectory.points.size(); ++i) { - stop_trajectory.points.at(i).longitudinal_velocity_mps = 0.0; - } - return stop_trajectory; -} - -bool isStopped( - const std::deque & odom_buffer, const double th_stopped_velocity_mps) -{ - for (const auto & odom : odom_buffer) { - if (std::abs(odom->twist.twist.linear.x) > th_stopped_velocity_mps) { - return false; - } - } - return true; -} - -} // namespace - namespace autoware::freespace_planner { FreespacePlannerNode::FreespacePlannerNode(const rclcpp::NodeOptions & node_options) @@ -321,8 +147,8 @@ bool FreespacePlannerNode::isPlanRequired() } if (node_param_.replan_when_course_out) { - const bool is_course_out = - calcDistance2d(trajectory_, current_pose_.pose) > node_param_.th_course_out_distance_m; + const bool is_course_out = utils::calc_distance_2d(trajectory_, current_pose_.pose) > + node_param_.th_course_out_distance_m; if (is_course_out) { RCLCPP_INFO(get_logger(), "Course out"); return true; @@ -340,10 +166,10 @@ bool FreespacePlannerNode::checkCurrentTrajectoryCollision() partial_trajectory_.points, current_pose_.pose.position); const size_t end_index_partial = partial_trajectory_.points.size() - 1; const auto forward_trajectory = - getPartialTrajectory(partial_trajectory_, nearest_index_partial, end_index_partial); + utils::get_partial_trajectory(partial_trajectory_, nearest_index_partial, end_index_partial); const bool is_obs_found = - algo_->hasObstacleOnTrajectory(trajectory2PoseArray(forward_trajectory)); + algo_->hasObstacleOnTrajectory(utils::trajectory_to_pose_array(forward_trajectory)); if (!is_obs_found) { obs_found_time_ = {}; @@ -357,28 +183,30 @@ bool FreespacePlannerNode::checkCurrentTrajectoryCollision() void FreespacePlannerNode::updateTargetIndex() { - const double long_disp_to_target = autoware::universe_utils::calcLongitudinalDeviation( - trajectory_.points.at(target_index_).pose, current_pose_.pose.position); - const auto is_near_target = std::abs(long_disp_to_target) < node_param_.th_arrived_distance_m; - - const auto is_stopped = isStopped(odom_buffer_, node_param_.th_stopped_velocity_mps); - - if (is_near_target && is_stopped) { - const auto new_target_index = - getNextTargetIndex(trajectory_.points.size(), reversing_indices_, target_index_); - - if (new_target_index == target_index_) { - // Finished publishing all partial trajectories - is_completed_ = true; - RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 1000, "Freespace planning completed"); - std_msgs::msg::Bool is_completed_msg; - is_completed_msg.data = is_completed_; - parking_state_pub_->publish(is_completed_msg); - } else { - // Switch to next partial trajectory - prev_target_index_ = target_index_; - target_index_ = new_target_index; - } + if (!utils::is_stopped(odom_buffer_, node_param_.th_stopped_velocity_mps)) { + return; + } + + const auto is_near_target = utils::is_near_target( + trajectory_.points.at(target_index_).pose, current_pose_.pose, + node_param_.th_arrived_distance_m); + + if (!is_near_target) return; + + const auto new_target_index = + utils::get_next_target_index(trajectory_.points.size(), reversing_indices_, target_index_); + + if (new_target_index == target_index_) { + // Finished publishing all partial trajectories + is_completed_ = true; + RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 1000, "Freespace planning completed"); + std_msgs::msg::Bool is_completed_msg; + is_completed_msg.data = is_completed_; + parking_state_pub_->publish(is_completed_msg); + } else { + // Switch to next partial trajectory + prev_target_index_ = target_index_; + target_index_ = new_target_index; } } @@ -450,7 +278,7 @@ bool FreespacePlannerNode::isDataReady() void FreespacePlannerNode::onTimer() { scenario_ = scenario_sub_.takeData(); - if (!isActive(scenario_)) { + if (!utils::is_active(scenario_)) { reset(); return; } @@ -463,7 +291,7 @@ void FreespacePlannerNode::onTimer() if (is_completed_) { partial_trajectory_.header = odom_->header; - const auto stop_trajectory = createStopTrajectory(partial_trajectory_); + const auto stop_trajectory = utils::create_stop_trajectory(partial_trajectory_); trajectory_pub_->publish(stop_trajectory); return; } @@ -483,11 +311,11 @@ void FreespacePlannerNode::onTimer() // stops. if (!is_new_parking_cycle_) { const auto stop_trajectory = partial_trajectory_.points.empty() - ? createStopTrajectory(current_pose_) - : createStopTrajectory(partial_trajectory_); + ? utils::create_stop_trajectory(current_pose_) + : utils::create_stop_trajectory(partial_trajectory_); trajectory_pub_->publish(stop_trajectory); - debug_pose_array_pub_->publish(trajectory2PoseArray(stop_trajectory)); - debug_partial_pose_array_pub_->publish(trajectory2PoseArray(stop_trajectory)); + debug_pose_array_pub_->publish(utils::trajectory_to_pose_array(stop_trajectory)); + debug_partial_pose_array_pub_->publish(utils::trajectory_to_pose_array(stop_trajectory)); } reset(); @@ -496,8 +324,9 @@ void FreespacePlannerNode::onTimer() } if (reset_in_progress_) { - const auto is_stopped = isStopped(odom_buffer_, node_param_.th_stopped_velocity_mps); - if (is_stopped) { + const auto is_ego_stopped = + utils::is_stopped(odom_buffer_, node_param_.th_stopped_velocity_mps); + if (is_ego_stopped) { // Plan new trajectory planTrajectory(); reset_in_progress_ = false; @@ -517,12 +346,13 @@ void FreespacePlannerNode::onTimer() // Update partial trajectory updateTargetIndex(); - partial_trajectory_ = getPartialTrajectory(trajectory_, prev_target_index_, target_index_); + partial_trajectory_ = + utils::get_partial_trajectory(trajectory_, prev_target_index_, target_index_); // Publish messages trajectory_pub_->publish(partial_trajectory_); - debug_pose_array_pub_->publish(trajectory2PoseArray(trajectory_)); - debug_partial_pose_array_pub_->publish(trajectory2PoseArray(partial_trajectory_)); + debug_pose_array_pub_->publish(utils::trajectory_to_pose_array(trajectory_)); + debug_partial_pose_array_pub_->publish(utils::trajectory_to_pose_array(partial_trajectory_)); is_new_parking_cycle_ = false; } @@ -537,11 +367,11 @@ void FreespacePlannerNode::planTrajectory() algo_->setMap(*occupancy_grid_); // Calculate poses in costmap frame - const auto current_pose_in_costmap_frame = transformPose( + const auto current_pose_in_costmap_frame = utils::transform_pose( current_pose_.pose, getTransform(occupancy_grid_->header.frame_id, current_pose_.header.frame_id)); - const auto goal_pose_in_costmap_frame = transformPose( + const auto goal_pose_in_costmap_frame = utils::transform_pose( goal_pose_.pose, getTransform(occupancy_grid_->header.frame_id, goal_pose_.header.frame_id)); // execute planning @@ -559,12 +389,12 @@ void FreespacePlannerNode::planTrajectory() if (result) { RCLCPP_DEBUG(get_logger(), "Found goal!"); - trajectory_ = - createTrajectory(current_pose_, algo_->getWaypoints(), node_param_.waypoints_velocity); - reversing_indices_ = getReversingIndices(trajectory_); + trajectory_ = utils::create_trajectory( + current_pose_, algo_->getWaypoints(), node_param_.waypoints_velocity); + reversing_indices_ = utils::get_reversing_indices(trajectory_); prev_target_index_ = 0; - target_index_ = - getNextTargetIndex(trajectory_.points.size(), reversing_indices_, prev_target_index_); + target_index_ = utils::get_next_target_index( + trajectory_.points.size(), reversing_indices_, prev_target_index_); } else { RCLCPP_INFO(get_logger(), "Can't find goal: %s", error_msg.c_str()); reset(); diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp new file mode 100644 index 0000000000000..badd9c824468a --- /dev/null +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp @@ -0,0 +1,178 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/freespace_planner/utils.hpp" + +#include + +namespace autoware::freespace_planner::utils +{ + +PoseArray trajectory_to_pose_array(const Trajectory & trajectory) +{ + PoseArray pose_array; + pose_array.header = trajectory.header; + + for (const auto & point : trajectory.points) { + pose_array.poses.push_back(point.pose); + } + + return pose_array; +} + +double calc_distance_2d(const Trajectory & trajectory, const Pose & pose) +{ + const auto idx = autoware::motion_utils::findNearestIndex(trajectory.points, pose.position); + return autoware::universe_utils::calcDistance2d(trajectory.points.at(idx), pose); +} + +Pose transform_pose(const Pose & pose, const TransformStamped & transform) +{ + PoseStamped transformed_pose; + PoseStamped orig_pose; + orig_pose.pose = pose; + tf2::doTransform(orig_pose, transformed_pose, transform); + + return transformed_pose.pose; +} + +bool is_active(const Scenario::ConstSharedPtr & scenario) +{ + if (!scenario) return false; + + const auto & s = scenario->activating_scenarios; + return std::find(std::begin(s), std::end(s), Scenario::PARKING) != std::end(s); +} + +std::vector get_reversing_indices(const Trajectory & trajectory) +{ + std::vector indices; + + for (size_t i = 0; i < trajectory.points.size() - 1; ++i) { + if ( + trajectory.points.at(i).longitudinal_velocity_mps * + trajectory.points.at(i + 1).longitudinal_velocity_mps < + 0) { + indices.push_back(i); + } + } + + return indices; +} + +size_t get_next_target_index( + const size_t trajectory_size, const std::vector & reversing_indices, + const size_t current_target_index) +{ + if (!reversing_indices.empty()) { + for (const auto reversing_index : reversing_indices) { + if (reversing_index > current_target_index) { + return reversing_index; + } + } + } + + return trajectory_size - 1; +} + +Trajectory get_partial_trajectory( + const Trajectory & trajectory, const size_t start_index, const size_t end_index) +{ + Trajectory partial_trajectory; + partial_trajectory.header = trajectory.header; + partial_trajectory.header.stamp = rclcpp::Clock().now(); + + partial_trajectory.points.reserve(trajectory.points.size()); + for (size_t i = start_index; i <= end_index; ++i) { + partial_trajectory.points.push_back(trajectory.points.at(i)); + } + + // Modify velocity at start/end point + if (partial_trajectory.points.size() >= 2) { + partial_trajectory.points.front().longitudinal_velocity_mps = + partial_trajectory.points.at(1).longitudinal_velocity_mps; + } + if (!partial_trajectory.points.empty()) { + partial_trajectory.points.back().longitudinal_velocity_mps = 0; + } + + return partial_trajectory; +} + +Trajectory create_trajectory( + const PoseStamped & current_pose, const PlannerWaypoints & planner_waypoints, + const double & velocity) +{ + Trajectory trajectory; + trajectory.header = planner_waypoints.header; + + for (const auto & awp : planner_waypoints.waypoints) { + TrajectoryPoint point; + + point.pose = awp.pose.pose; + + point.pose.position.z = current_pose.pose.position.z; // height = const + point.longitudinal_velocity_mps = velocity / 3.6; // velocity = const + + // switch sign by forward/backward + point.longitudinal_velocity_mps = (awp.is_back ? -1 : 1) * point.longitudinal_velocity_mps; + + trajectory.points.push_back(point); + } + + return trajectory; +} + +Trajectory create_stop_trajectory(const PoseStamped & current_pose) +{ + PlannerWaypoints waypoints; + PlannerWaypoint waypoint; + + waypoints.header.stamp = rclcpp::Clock().now(); + waypoints.header.frame_id = current_pose.header.frame_id; + waypoint.pose.header = waypoints.header; + waypoint.pose.pose = current_pose.pose; + waypoint.is_back = false; + waypoints.waypoints.push_back(waypoint); + + return create_trajectory(current_pose, waypoints, 0.0); +} + +Trajectory create_stop_trajectory(const Trajectory & trajectory) +{ + Trajectory stop_trajectory = trajectory; + for (size_t i = 0; i < trajectory.points.size(); ++i) { + stop_trajectory.points.at(i).longitudinal_velocity_mps = 0.0; + } + return stop_trajectory; +} + +bool is_stopped( + const std::deque & odom_buffer, const double th_stopped_velocity_mps) +{ + for (const auto & odom : odom_buffer) { + if (std::abs(odom->twist.twist.linear.x) > th_stopped_velocity_mps) { + return false; + } + } + return true; +} + +bool is_near_target(const Pose & target_pose, const Pose & current_pose, const double th_distance_m) +{ + const double long_disp_to_target = + autoware::universe_utils::calcLongitudinalDeviation(target_pose, current_pose.position); + return std::abs(long_disp_to_target) < th_distance_m; +} +} // namespace autoware::freespace_planner::utils From 95bb2c61df36d4862432d437b7627a5d8fbc8a9c Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 15 Oct 2024 14:51:05 +0000 Subject: [PATCH 247/701] refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (#8946) Signed-off-by: Esteve Fernandez --- .github/CODEOWNERS | 2 +- .../CMakeLists.txt | 6 ++--- .../README.md | 2 +- .../object_recognition_utils/conversion.hpp | 10 ++++---- .../object_recognition_utils/geometry.hpp | 10 ++++---- .../object_recognition_utils/matching.hpp | 12 ++++----- .../object_classification.hpp | 10 ++++---- .../object_recognition_utils.hpp | 25 +++++++++++++++++++ .../predicted_path_utils.hpp | 10 ++++---- .../object_recognition_utils/transform.hpp | 10 ++++---- .../package.xml | 4 +-- .../src/conversion.cpp | 6 ++--- .../src/predicted_path_utils.cpp | 6 ++--- .../test/src/test_conversion.cpp | 6 ++--- .../test/src/test_geometry.cpp | 4 +-- .../test/src/test_matching.cpp | 10 ++++---- .../test/src/test_object_classification.cpp | 20 +++++++-------- .../test/src/test_predicted_path_utils.cpp | 8 +++--- .../object_recognition_utils.hpp | 25 ------------------- .../perception_online_evaluator/package.xml | 2 +- .../src/metrics/detection_count.cpp | 5 ++-- .../src/metrics_calculator.cpp | 6 ++--- .../autoware_cluster_merger/package.xml | 2 +- .../src/cluster_merger_node.cpp | 6 ++--- .../package.xml | 2 +- .../src/lanelet_filter/lanelet_filter.cpp | 4 +-- .../obstacle_pointcloud_validator.cpp | 4 +-- .../occupancy_grid_map_validator.cpp | 10 ++++---- .../autoware_detection_by_tracker/package.xml | 2 +- .../src/detection_by_tracker_node.cpp | 20 +++++++-------- .../package.xml | 2 +- .../src/roi_detected_object_fusion/node.cpp | 11 ++++---- .../postprocess/non_maximum_suppression.cpp | 15 ++++++----- .../lib/ros_utils.cpp | 4 +-- .../autoware_lidar_centerpoint/package.xml | 2 +- .../postprocess/non_maximum_suppression.cpp | 15 ++++++----- .../lib/ros_utils.cpp | 4 +-- .../autoware_lidar_transfusion/package.xml | 2 +- .../tracker/model/tracker_base.hpp | 4 +-- .../uncertainty/uncertainty_processor.hpp | 2 +- .../lib/association/association.cpp | 6 ++--- .../lib/tracker/model/bicycle_tracker.cpp | 8 +++--- .../lib/tracker/model/big_vehicle_tracker.cpp | 8 +++--- .../model/multiple_vehicle_tracker.cpp | 4 ++- .../tracker/model/normal_vehicle_tracker.cpp | 8 +++--- .../tracker/model/pass_through_tracker.cpp | 4 +-- .../model/pedestrian_and_bicycle_tracker.cpp | 4 ++- .../lib/tracker/model/pedestrian_tracker.cpp | 8 +++--- .../lib/tracker/model/unknown_tracker.cpp | 4 +-- .../lib/uncertainty/uncertainty_processor.cpp | 2 +- .../autoware_multi_object_tracker/package.xml | 2 +- .../src/multi_object_tracker_node.cpp | 2 +- .../src/processor/processor.cpp | 8 +++--- perception/autoware_object_merger/package.xml | 2 +- .../src/association/data_association.cpp | 8 +++--- .../src/object_association_merger_node.cpp | 21 +++++++++------- .../package.xml | 2 +- .../src/radar_object_clustering_node.cpp | 4 +-- .../association/data_association.hpp | 2 +- .../tracker/model/tracker_base.hpp | 4 +-- .../autoware_radar_object_tracker/package.xml | 2 +- .../src/association/data_association.cpp | 4 +-- .../src/radar_object_tracker_node.cpp | 8 +++--- .../constant_turn_rate_motion_tracker.cpp | 6 +++-- .../tracker/model/linear_motion_tracker.cpp | 6 +++-- .../tensorrt_yolox/tensorrt_yolox_node.hpp | 2 +- .../autoware_tensorrt_yolox/package.xml | 2 +- .../src/tensorrt_yolox_node.cpp | 6 ++--- .../package.xml | 2 +- .../src/association/data_association.cpp | 9 ++++--- .../src/decorative_tracker_merger_node.cpp | 6 ++--- .../package.xml | 2 +- .../src/node.cpp | 6 ++--- .../src/utils.cpp | 5 ++-- .../package.xml | 2 +- .../src/scene.cpp | 6 ++--- .../src/utils/utils.cpp | 4 +-- .../package.xml | 2 +- .../package.xml | 2 +- .../path_safety_checker/objects_filtering.cpp | 4 +-- .../package.xml | 2 +- .../src/scene.cpp | 2 +- .../src/scene.hpp | 2 +- 83 files changed, 273 insertions(+), 240 deletions(-) rename common/{object_recognition_utils => autoware_object_recognition_utils}/CMakeLists.txt (79%) rename common/{object_recognition_utils => autoware_object_recognition_utils}/README.md (87%) rename common/{object_recognition_utils/include => autoware_object_recognition_utils/include/autoware}/object_recognition_utils/conversion.hpp (80%) rename common/{object_recognition_utils/include => autoware_object_recognition_utils/include/autoware}/object_recognition_utils/geometry.hpp (85%) rename common/{object_recognition_utils/include => autoware_object_recognition_utils/include/autoware}/object_recognition_utils/matching.hpp (93%) rename common/{object_recognition_utils/include => autoware_object_recognition_utils/include/autoware}/object_recognition_utils/object_classification.hpp (94%) create mode 100644 common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_recognition_utils.hpp rename common/{object_recognition_utils/include => autoware_object_recognition_utils/include/autoware}/object_recognition_utils/predicted_path_utils.hpp (88%) rename common/{object_recognition_utils/include => autoware_object_recognition_utils/include/autoware}/object_recognition_utils/transform.hpp (95%) rename common/{object_recognition_utils => autoware_object_recognition_utils}/package.xml (90%) rename common/{object_recognition_utils => autoware_object_recognition_utils}/src/conversion.cpp (94%) rename common/{object_recognition_utils => autoware_object_recognition_utils}/src/predicted_path_utils.cpp (96%) rename common/{object_recognition_utils => autoware_object_recognition_utils}/test/src/test_conversion.cpp (98%) rename common/{object_recognition_utils => autoware_object_recognition_utils}/test/src/test_geometry.cpp (97%) rename common/{object_recognition_utils => autoware_object_recognition_utils}/test/src/test_matching.cpp (97%) rename common/{object_recognition_utils => autoware_object_recognition_utils}/test/src/test_object_classification.cpp (95%) rename common/{object_recognition_utils => autoware_object_recognition_utils}/test/src/test_predicted_path_utils.cpp (97%) delete mode 100644 common/object_recognition_utils/include/object_recognition_utils/object_recognition_utils.hpp diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 7594271eae3c5..b00fe3371d11f 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -6,6 +6,7 @@ common/autoware_grid_map_utils/** maxime.clement@tier4.jp common/autoware_interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +common/autoware_object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp @@ -24,7 +25,6 @@ common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabay common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/glog_component/** takamasa.horibe@tier4.jp common/goal_distance_calculator/** taiki.tanaka@tier4.jp -common/object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/polar_grid/** yukihiro.saito@tier4.jp common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp diff --git a/common/object_recognition_utils/CMakeLists.txt b/common/autoware_object_recognition_utils/CMakeLists.txt similarity index 79% rename from common/object_recognition_utils/CMakeLists.txt rename to common/autoware_object_recognition_utils/CMakeLists.txt index 4f05298573c18..9e1276db8d635 100644 --- a/common/object_recognition_utils/CMakeLists.txt +++ b/common/autoware_object_recognition_utils/CMakeLists.txt @@ -1,12 +1,12 @@ cmake_minimum_required(VERSION 3.14) -project(object_recognition_utils) +project(autoware_object_recognition_utils) find_package(autoware_cmake REQUIRED) autoware_package() find_package(Boost REQUIRED) -ament_auto_add_library(object_recognition_utils SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/predicted_path_utils.cpp src/conversion.cpp ) @@ -19,7 +19,7 @@ if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_object_recognition_utils ${test_files}) target_link_libraries(test_object_recognition_utils - object_recognition_utils + ${PROJECT_NAME} ) endif() diff --git a/common/object_recognition_utils/README.md b/common/autoware_object_recognition_utils/README.md similarity index 87% rename from common/object_recognition_utils/README.md rename to common/autoware_object_recognition_utils/README.md index 74a585e2dbd44..8d4eabd19c76d 100644 --- a/common/object_recognition_utils/README.md +++ b/common/autoware_object_recognition_utils/README.md @@ -1,4 +1,4 @@ -# object_recognition_utils +# autoware_object_recognition_utils ## Purpose diff --git a/common/object_recognition_utils/include/object_recognition_utils/conversion.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/conversion.hpp similarity index 80% rename from common/object_recognition_utils/include/object_recognition_utils/conversion.hpp rename to common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/conversion.hpp index 207f76a1c31a8..5b3be48cc2598 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/conversion.hpp +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/conversion.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ -#define OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ #include #include -namespace object_recognition_utils +namespace autoware::object_recognition_utils { using autoware_perception_msgs::msg::DetectedObject; using autoware_perception_msgs::msg::DetectedObjects; @@ -28,6 +28,6 @@ using autoware_perception_msgs::msg::TrackedObjects; DetectedObject toDetectedObject(const TrackedObject & tracked_object); DetectedObjects toDetectedObjects(const TrackedObjects & tracked_objects); TrackedObject toTrackedObject(const DetectedObject & detected_object); -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils -#endif // OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ diff --git a/common/object_recognition_utils/include/object_recognition_utils/geometry.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/geometry.hpp similarity index 85% rename from common/object_recognition_utils/include/object_recognition_utils/geometry.hpp rename to common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/geometry.hpp index 28cc9a786ecac..a5acc210d92be 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/geometry.hpp +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/geometry.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_ -#define OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_ +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_ #include #include #include #include -namespace object_recognition_utils +namespace autoware::object_recognition_utils { template geometry_msgs::msg::Pose getPose([[maybe_unused]] const T & p) @@ -52,6 +52,6 @@ inline geometry_msgs::msg::Pose getPose(const autoware_perception_msgs::msg::Pre { return obj.kinematics.initial_pose_with_covariance.pose; } -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils -#endif // OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_ +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__GEOMETRY_HPP_ diff --git a/common/object_recognition_utils/include/object_recognition_utils/matching.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/matching.hpp similarity index 93% rename from common/object_recognition_utils/include/object_recognition_utils/matching.hpp rename to common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/matching.hpp index ae50227df1166..59c01c6d873e7 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/matching.hpp +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/matching.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RECOGNITION_UTILS__MATCHING_HPP_ -#define OBJECT_RECOGNITION_UTILS__MATCHING_HPP_ +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__MATCHING_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__MATCHING_HPP_ +#include "autoware/object_recognition_utils/geometry.hpp" #include "autoware/universe_utils/geometry/boost_geometry.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" -#include "object_recognition_utils/geometry.hpp" #include @@ -26,7 +26,7 @@ #include #include -namespace object_recognition_utils +namespace autoware::object_recognition_utils { using autoware::universe_utils::Polygon2d; // minimum area to avoid division by zero @@ -126,6 +126,6 @@ double get2dRecall(const T1 source_object, const T2 target_object) return std::min(1.0, intersection_area / target_area); } -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils -#endif // OBJECT_RECOGNITION_UTILS__MATCHING_HPP_ +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__MATCHING_HPP_ diff --git a/common/object_recognition_utils/include/object_recognition_utils/object_classification.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_classification.hpp similarity index 94% rename from common/object_recognition_utils/include/object_recognition_utils/object_classification.hpp rename to common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_classification.hpp index 4ffafc22339d6..432abcbe10c55 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/object_classification.hpp +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_classification.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_ -#define OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_ +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_ #include "autoware_perception_msgs/msg/object_classification.hpp" #include #include -namespace object_recognition_utils +namespace autoware::object_recognition_utils { using autoware_perception_msgs::msg::ObjectClassification; @@ -169,6 +169,6 @@ inline std::string convertLabelToString( return convertLabelToString(highest_prob_label); } -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils -#endif // OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_ +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_CLASSIFICATION_HPP_ diff --git a/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_recognition_utils.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_recognition_utils.hpp new file mode 100644 index 0000000000000..d73e2e4dc67db --- /dev/null +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/object_recognition_utils.hpp @@ -0,0 +1,25 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_ + +#include "autoware/object_recognition_utils/conversion.hpp" +#include "autoware/object_recognition_utils/geometry.hpp" +#include "autoware/object_recognition_utils/matching.hpp" +#include "autoware/object_recognition_utils/object_classification.hpp" +#include "autoware/object_recognition_utils/predicted_path_utils.hpp" +#include "autoware/object_recognition_utils/transform.hpp" + +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_ diff --git a/common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/predicted_path_utils.hpp similarity index 88% rename from common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp rename to common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/predicted_path_utils.hpp index 72e70185d553b..836b5296497e8 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/predicted_path_utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_ -#define OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_ +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_ #include "autoware/universe_utils/geometry/geometry.hpp" @@ -24,7 +24,7 @@ #include -namespace object_recognition_utils +namespace autoware::object_recognition_utils { /** * @brief Calculate Interpolated Pose from predicted path by time @@ -61,6 +61,6 @@ autoware_perception_msgs::msg::PredictedPath resamplePredictedPath( const autoware_perception_msgs::msg::PredictedPath & path, const double sampling_time_interval, const double sampling_horizon, const bool use_spline_for_xy = true, const bool use_spline_for_z = false); -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils -#endif // OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_ +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_ diff --git a/common/object_recognition_utils/include/object_recognition_utils/transform.hpp b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/transform.hpp similarity index 95% rename from common/object_recognition_utils/include/object_recognition_utils/transform.hpp rename to common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/transform.hpp index b03270133a52c..ced5956e079e6 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/transform.hpp +++ b/common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/transform.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_ -#define OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_ +#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_ +#define AUTOWARE__OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_ #include @@ -71,7 +71,7 @@ namespace detail } } // namespace detail -namespace object_recognition_utils +namespace autoware::object_recognition_utils { template bool transformObjects( @@ -147,6 +147,6 @@ bool transformObjectsWithFeature( } return true; } -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils -#endif // OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_ +#endif // AUTOWARE__OBJECT_RECOGNITION_UTILS__TRANSFORM_HPP_ diff --git a/common/object_recognition_utils/package.xml b/common/autoware_object_recognition_utils/package.xml similarity index 90% rename from common/object_recognition_utils/package.xml rename to common/autoware_object_recognition_utils/package.xml index a3f4a99300716..8fcc19ec7a53c 100644 --- a/common/object_recognition_utils/package.xml +++ b/common/autoware_object_recognition_utils/package.xml @@ -1,9 +1,9 @@ - object_recognition_utils + autoware_object_recognition_utils 0.1.0 - The object_recognition_utils package + The autoware_object_recognition_utils package Takayuki Murooka Shunsuke Miura Yoshi Ri diff --git a/common/object_recognition_utils/src/conversion.cpp b/common/autoware_object_recognition_utils/src/conversion.cpp similarity index 94% rename from common/object_recognition_utils/src/conversion.cpp rename to common/autoware_object_recognition_utils/src/conversion.cpp index c9c057ad93644..6f8e6aa27cfb4 100644 --- a/common/object_recognition_utils/src/conversion.cpp +++ b/common/autoware_object_recognition_utils/src/conversion.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "object_recognition_utils/conversion.hpp" +#include "autoware/object_recognition_utils/conversion.hpp" -namespace object_recognition_utils +namespace autoware::object_recognition_utils { using autoware_perception_msgs::msg::DetectedObject; using autoware_perception_msgs::msg::DetectedObjects; @@ -68,4 +68,4 @@ TrackedObject toTrackedObject(const DetectedObject & detected_object) tracked_object.shape = detected_object.shape; return tracked_object; } -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils diff --git a/common/object_recognition_utils/src/predicted_path_utils.cpp b/common/autoware_object_recognition_utils/src/predicted_path_utils.cpp similarity index 96% rename from common/object_recognition_utils/src/predicted_path_utils.cpp rename to common/autoware_object_recognition_utils/src/predicted_path_utils.cpp index 96c62d9f50323..196f82b69161a 100644 --- a/common/object_recognition_utils/src/predicted_path_utils.cpp +++ b/common/autoware_object_recognition_utils/src/predicted_path_utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "object_recognition_utils/predicted_path_utils.hpp" +#include "autoware/object_recognition_utils/predicted_path_utils.hpp" #include "autoware/interpolation/linear_interpolation.hpp" #include "autoware/interpolation/spherical_linear_interpolation.hpp" @@ -20,7 +20,7 @@ #include -namespace object_recognition_utils +namespace autoware::object_recognition_utils { boost::optional calcInterpolatedPose( const autoware_perception_msgs::msg::PredictedPath & path, const double relative_time) @@ -129,4 +129,4 @@ autoware_perception_msgs::msg::PredictedPath resamplePredictedPath( resampled_path.time_step = rclcpp::Duration::from_seconds(sampling_time_interval); return resampled_path; } -} // namespace object_recognition_utils +} // namespace autoware::object_recognition_utils diff --git a/common/object_recognition_utils/test/src/test_conversion.cpp b/common/autoware_object_recognition_utils/test/src/test_conversion.cpp similarity index 98% rename from common/object_recognition_utils/test/src/test_conversion.cpp rename to common/autoware_object_recognition_utils/test/src/test_conversion.cpp index a9b462f9ec4c4..6a05771149ad2 100644 --- a/common/object_recognition_utils/test/src/test_conversion.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_conversion.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/object_recognition_utils/conversion.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "object_recognition_utils/conversion.hpp" #include @@ -42,8 +42,8 @@ autoware_perception_msgs::msg::ObjectClassification createObjectClassification( // NOTE: covariance is not checked TEST(conversion, test_toDetectedObject) { + using autoware::object_recognition_utils::toDetectedObject; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::toDetectedObject; autoware_perception_msgs::msg::TrackedObject tracked_obj; // existence probability @@ -160,8 +160,8 @@ TEST(conversion, test_toDetectedObject) // NOTE: covariance is not checked TEST(conversion, test_toTrackedObject) { + using autoware::object_recognition_utils::toTrackedObject; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::toTrackedObject; autoware_perception_msgs::msg::DetectedObject detected_obj; // existence probability diff --git a/common/object_recognition_utils/test/src/test_geometry.cpp b/common/autoware_object_recognition_utils/test/src/test_geometry.cpp similarity index 97% rename from common/object_recognition_utils/test/src/test_geometry.cpp rename to common/autoware_object_recognition_utils/test/src/test_geometry.cpp index ab3ba8fcec7d4..f5165482a23bf 100644 --- a/common/object_recognition_utils/test/src/test_geometry.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_geometry.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "object_recognition_utils/geometry.hpp" +#include "autoware/object_recognition_utils/geometry.hpp" #include @@ -20,7 +20,7 @@ TEST(geometry, getPose) { - using object_recognition_utils::getPose; + using autoware::object_recognition_utils::getPose; const double x_ans = 1.0; const double y_ans = 2.0; diff --git a/common/object_recognition_utils/test/src/test_matching.cpp b/common/autoware_object_recognition_utils/test/src/test_matching.cpp similarity index 97% rename from common/object_recognition_utils/test/src/test_matching.cpp rename to common/autoware_object_recognition_utils/test/src/test_matching.cpp index 6005ac8d1efbc..aefc6251c6276 100644 --- a/common/object_recognition_utils/test/src/test_matching.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_matching.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/object_recognition_utils/matching.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "object_recognition_utils/matching.hpp" #include @@ -37,8 +37,8 @@ geometry_msgs::msg::Pose createPose(const double x, const double y, const double TEST(matching, test_get2dIoU) { + using autoware::object_recognition_utils::get2dIoU; using autoware_perception_msgs::msg::DetectedObject; - using object_recognition_utils::get2dIoU; const double quart_circle = 0.16237976320958225; @@ -93,7 +93,7 @@ TEST(matching, test_get2dIoU) TEST(object_recognition_utils, test_get2dGeneralizedIoU) { - using object_recognition_utils::get2dGeneralizedIoU; + using autoware::object_recognition_utils::get2dGeneralizedIoU; // TODO(Shin-kyoto): // get2dGeneralizedIoU uses outer points of each polygon. // But these points contain an sampling error of outer line, @@ -153,8 +153,8 @@ TEST(object_recognition_utils, test_get2dGeneralizedIoU) TEST(matching, test_get2dPrecision) { + using autoware::object_recognition_utils::get2dPrecision; using autoware_perception_msgs::msg::DetectedObject; - using object_recognition_utils::get2dPrecision; const double quart_circle = 0.16237976320958225; { // non overlapped @@ -220,8 +220,8 @@ TEST(matching, test_get2dPrecision) TEST(matching, test_get2dRecall) { + using autoware::object_recognition_utils::get2dRecall; using autoware_perception_msgs::msg::DetectedObject; - using object_recognition_utils::get2dRecall; const double quart_circle = 0.16237976320958225; { // non overlapped diff --git a/common/object_recognition_utils/test/src/test_object_classification.cpp b/common/autoware_object_recognition_utils/test/src/test_object_classification.cpp similarity index 95% rename from common/object_recognition_utils/test/src/test_object_classification.cpp rename to common/autoware_object_recognition_utils/test/src/test_object_classification.cpp index 697a7e8447732..1482158581a8e 100644 --- a/common/object_recognition_utils/test/src/test_object_classification.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_object_classification.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "object_recognition_utils/object_classification.hpp" +#include "autoware/object_recognition_utils/object_classification.hpp" #include @@ -34,8 +34,8 @@ autoware_perception_msgs::msg::ObjectClassification createObjectClassification( TEST(object_classification, test_getHighestProbLabel) { + using autoware::object_recognition_utils::getHighestProbLabel; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::getHighestProbLabel; { // empty std::vector classifications; @@ -67,8 +67,8 @@ TEST(object_classification, test_getHighestProbLabel) // Test isVehicle TEST(object_classification, test_isVehicle) { + using autoware::object_recognition_utils::isVehicle; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::isVehicle; { // True Case with uint8_t EXPECT_TRUE(isVehicle(ObjectClassification::BICYCLE)); @@ -106,8 +106,8 @@ TEST(object_classification, test_isVehicle) // TEST isCarLikeVehicle TEST(object_classification, test_isCarLikeVehicle) { + using autoware::object_recognition_utils::isCarLikeVehicle; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::isCarLikeVehicle; { // True Case with uint8_t EXPECT_TRUE(isCarLikeVehicle(ObjectClassification::BUS)); @@ -157,8 +157,8 @@ TEST(object_classification, test_isCarLikeVehicle) // TEST isLargeVehicle TEST(object_classification, test_isLargeVehicle) { + using autoware::object_recognition_utils::isLargeVehicle; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::isLargeVehicle; { // True Case with uint8_t EXPECT_TRUE(isLargeVehicle(ObjectClassification::BUS)); @@ -197,8 +197,8 @@ TEST(object_classification, test_isLargeVehicle) TEST(object_classification, test_getHighestProbClassification) { + using autoware::object_recognition_utils::getHighestProbClassification; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::getHighestProbClassification; { // empty std::vector classifications; @@ -232,10 +232,10 @@ TEST(object_classification, test_getHighestProbClassification) TEST(object_classification, test_fromString) { + using autoware::object_recognition_utils::toLabel; + using autoware::object_recognition_utils::toObjectClassification; + using autoware::object_recognition_utils::toObjectClassifications; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::toLabel; - using object_recognition_utils::toObjectClassification; - using object_recognition_utils::toObjectClassifications; // toLabel { @@ -266,8 +266,8 @@ TEST(object_classification, test_fromString) TEST(object_classification, test_convertLabelToString) { + using autoware::object_recognition_utils::convertLabelToString; using autoware_perception_msgs::msg::ObjectClassification; - using object_recognition_utils::convertLabelToString; // from label { diff --git a/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp b/common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp similarity index 97% rename from common/object_recognition_utils/test/src/test_predicted_path_utils.cpp rename to common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp index 228a0d097fde6..a93d253bfd052 100644 --- a/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/object_recognition_utils/predicted_path_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" -#include "object_recognition_utils/predicted_path_utils.hpp" #include @@ -64,10 +64,10 @@ PredictedPath createTestPredictedPath( TEST(predicted_path_utils, testCalcInterpolatedPose) { + using autoware::object_recognition_utils::calcInterpolatedPose; using autoware::universe_utils::createQuaternionFromRPY; using autoware::universe_utils::createQuaternionFromYaw; using autoware::universe_utils::deg2rad; - using object_recognition_utils::calcInterpolatedPose; const auto path = createTestPredictedPath(100, 0.1, 1.0); @@ -130,10 +130,10 @@ TEST(predicted_path_utils, testCalcInterpolatedPose) TEST(predicted_path_utils, resamplePredictedPath_by_vector) { + using autoware::object_recognition_utils::resamplePredictedPath; using autoware::universe_utils::createQuaternionFromRPY; using autoware::universe_utils::createQuaternionFromYaw; using autoware::universe_utils::deg2rad; - using object_recognition_utils::resamplePredictedPath; const auto path = createTestPredictedPath(10, 1.0, 1.0); @@ -207,10 +207,10 @@ TEST(predicted_path_utils, resamplePredictedPath_by_vector) TEST(predicted_path_utils, resamplePredictedPath_by_sampling_time) { + using autoware::object_recognition_utils::resamplePredictedPath; using autoware::universe_utils::createQuaternionFromRPY; using autoware::universe_utils::createQuaternionFromYaw; using autoware::universe_utils::deg2rad; - using object_recognition_utils::resamplePredictedPath; const auto path = createTestPredictedPath(10, 1.0, 1.0); diff --git a/common/object_recognition_utils/include/object_recognition_utils/object_recognition_utils.hpp b/common/object_recognition_utils/include/object_recognition_utils/object_recognition_utils.hpp deleted file mode 100644 index 4a4ef4f246453..0000000000000 --- a/common/object_recognition_utils/include/object_recognition_utils/object_recognition_utils.hpp +++ /dev/null @@ -1,25 +0,0 @@ -// Copyright 2022 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_ -#define OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_ - -#include "object_recognition_utils/conversion.hpp" -#include "object_recognition_utils/geometry.hpp" -#include "object_recognition_utils/matching.hpp" -#include "object_recognition_utils/object_classification.hpp" -#include "object_recognition_utils/predicted_path_utils.hpp" -#include "object_recognition_utils/transform.hpp" - -#endif // OBJECT_RECOGNITION_UTILS__OBJECT_RECOGNITION_UTILS_HPP_ diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml index 23b1210063705..0103200511e73 100644 --- a/evaluator/perception_online_evaluator/package.xml +++ b/evaluator/perception_online_evaluator/package.xml @@ -19,6 +19,7 @@ autoware_lanelet2_extension autoware_motion_utils + autoware_object_recognition_utils autoware_perception_msgs autoware_universe_utils autoware_vehicle_info_utils @@ -27,7 +28,6 @@ geometry_msgs glog nav_msgs - object_recognition_utils pluginlib rclcpp rclcpp_components diff --git a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp b/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp index 5859bf055d4aa..ab69ea9cb8c7b 100644 --- a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp +++ b/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp @@ -14,8 +14,8 @@ #include "perception_online_evaluator/metrics/detection_count.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include "perception_online_evaluator/utils/objects_filtering.hpp" #include @@ -72,7 +72,8 @@ void DetectionCounter::addObjects( for (const auto & object : objects.objects) { const auto uuid = toHexString(object.object_id); - const auto label = object_recognition_utils::getHighestProbLabel(object.classification); + const auto label = + autoware::object_recognition_utils::getHighestProbLabel(object.classification); if (!isCountObject(label, parameters_->object_parameters)) { continue; } diff --git a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp index 212af8711a62e..fea4316fa6820 100644 --- a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp +++ b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp @@ -15,16 +15,16 @@ #include "perception_online_evaluator/metrics_calculator.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" +#include "autoware/object_recognition_utils/object_classification.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "object_recognition_utils/object_classification.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include namespace perception_diagnostics { +using autoware::object_recognition_utils::convertLabelToString; using autoware::universe_utils::inverseTransformPoint; -using object_recognition_utils::convertLabelToString; std::optional MetricsCalculator::calculate(const Metric & metric) const { diff --git a/perception/autoware_cluster_merger/package.xml b/perception/autoware_cluster_merger/package.xml index 879cf1da2a565..ff3eb60ec9c45 100644 --- a/perception/autoware_cluster_merger/package.xml +++ b/perception/autoware_cluster_merger/package.xml @@ -12,11 +12,11 @@ ament_cmake_auto + autoware_object_recognition_utils autoware_test_utils autoware_universe_utils geometry_msgs message_filters - object_recognition_utils rclcpp rclcpp_components tier4_perception_msgs diff --git a/perception/autoware_cluster_merger/src/cluster_merger_node.cpp b/perception/autoware_cluster_merger/src/cluster_merger_node.cpp index 554196787c028..42e0ef005057f 100644 --- a/perception/autoware_cluster_merger/src/cluster_merger_node.cpp +++ b/perception/autoware_cluster_merger/src/cluster_merger_node.cpp @@ -14,7 +14,7 @@ #include "cluster_merger_node.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -52,9 +52,9 @@ void ClusterMergerNode::objectsCallback( DetectedObjectsWithFeature transformed_objects0; DetectedObjectsWithFeature transformed_objects1; if ( - !object_recognition_utils::transformObjectsWithFeature( + !autoware::object_recognition_utils::transformObjectsWithFeature( *input_objects0_msg, output_frame_id_, tf_buffer_, transformed_objects0) || - !object_recognition_utils::transformObjectsWithFeature( + !autoware::object_recognition_utils::transformObjectsWithFeature( *input_objects1_msg, output_frame_id_, tf_buffer_, transformed_objects1)) { return; } diff --git a/perception/autoware_detected_object_validation/package.xml b/perception/autoware_detected_object_validation/package.xml index b46c182d2cb57..4f136ad6270c8 100644 --- a/perception/autoware_detected_object_validation/package.xml +++ b/perception/autoware_detected_object_validation/package.xml @@ -19,12 +19,12 @@ autoware_lanelet2_extension autoware_map_msgs + autoware_object_recognition_utils autoware_perception_msgs autoware_test_utils autoware_universe_utils message_filters nav_msgs - object_recognition_utils pcl_conversions rclcpp rclcpp_components diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp index 59de872ae9b90..e54ffd5452e7c 100644 --- a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp +++ b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp @@ -14,11 +14,11 @@ #include "lanelet_filter.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware_lanelet2_extension/utility/message_conversion.hpp" #include "autoware_lanelet2_extension/utility/query.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -97,7 +97,7 @@ void ObjectLaneletFilterNode::objectCallback( return; } autoware_perception_msgs::msg::DetectedObjects transformed_objects; - if (!object_recognition_utils::transformObjects( + if (!autoware::object_recognition_utils::transformObjects( *input_msg, lanelet_frame_id_, tf_buffer_, transformed_objects)) { RCLCPP_ERROR(get_logger(), "Failed transform to %s.", lanelet_frame_id_.c_str()); return; diff --git a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp index 7f55c86080fd2..e3889ae8f6513 100644 --- a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp +++ b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp @@ -16,8 +16,8 @@ #include "obstacle_pointcloud_validator.hpp" +#include #include -#include #include @@ -325,7 +325,7 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud( // Transform to pointcloud frame autoware_perception_msgs::msg::DetectedObjects transformed_objects; - if (!object_recognition_utils::transformObjects( + if (!autoware::object_recognition_utils::transformObjects( *input_objects, input_obstacle_pointcloud->header.frame_id, tf_buffer_, transformed_objects)) { // objects_pub_->publish(*input_objects); diff --git a/perception/autoware_detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp b/perception/autoware_detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp index 51df1929a300c..a78e2bf90d8c2 100644 --- a/perception/autoware_detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp +++ b/perception/autoware_detected_object_validation/src/occupancy_grid_map/occupancy_grid_map_validator.cpp @@ -16,9 +16,9 @@ #include "occupancy_grid_map_validator.hpp" +#include "autoware/object_recognition_utils/object_classification.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" -#include "object_recognition_utils/object_classification.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include @@ -68,7 +68,7 @@ void OccupancyGridBasedValidator::onObjectsAndOccGrid( // Transform to occ grid frame autoware_perception_msgs::msg::DetectedObjects transformed_objects; - if (!object_recognition_utils::transformObjects( + if (!autoware::object_recognition_utils::transformObjects( *input_objects, input_occ_grid->header.frame_id, tf_buffer_, transformed_objects)) return; @@ -80,7 +80,7 @@ void OccupancyGridBasedValidator::onObjectsAndOccGrid( const auto & transformed_object = transformed_objects.objects.at(i); const auto & object = input_objects->objects.at(i); const auto & label = object.classification.front().label; - if (object_recognition_utils::isCarLikeVehicle(label)) { + if (autoware::object_recognition_utils::isCarLikeVehicle(label)) { auto mask = getMask(*input_occ_grid, transformed_object); const float mean = mask ? cv::mean(occ_grid, mask.value())[0] * 0.01 : 1.0; if (mean_threshold_ < mean) output.objects.push_back(object); @@ -159,7 +159,7 @@ void OccupancyGridBasedValidator::showDebugImage( // Get vehicle mask image and calculate mean within mask. for (const auto & object : objects.objects) { const auto & label = object.classification.front().label; - if (object_recognition_utils::isCarLikeVehicle(label)) { + if (autoware::object_recognition_utils::isCarLikeVehicle(label)) { auto mask = getMask(ros_occ_grid, object); const float mean = mask ? cv::mean(occ_grid, mask.value())[0] * 0.01 : 1.0; if (mean_threshold_ < mean) { diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml index 6f23baeefbd3e..e84e13c484e16 100644 --- a/perception/autoware_detection_by_tracker/package.xml +++ b/perception/autoware_detection_by_tracker/package.xml @@ -14,10 +14,10 @@ eigen3_cmake_module autoware_euclidean_cluster + autoware_object_recognition_utils autoware_shape_estimation autoware_universe_utils eigen - object_recognition_utils rclcpp rclcpp_components tf2 diff --git a/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp b/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp index 4c65500d96aaa..571b6682eb5b0 100644 --- a/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp +++ b/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp @@ -16,9 +16,9 @@ #include "detection_by_tracker_node.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -161,14 +161,14 @@ void DetectionByTracker::onObjects( tracker_handler_.estimateTrackedObjects(input_msg->header.stamp, objects); if ( !available_trackers || - !object_recognition_utils::transformObjects( + !autoware::object_recognition_utils::transformObjects( objects, input_msg->header.frame_id, tf_buffer_, transformed_objects)) { objects_pub_->publish(detected_objects); published_time_publisher_->publish_if_subscribed(objects_pub_, detected_objects.header.stamp); return; } // to simplify post processes, convert tracked_objects to DetectedObjects message. - tracked_objects = object_recognition_utils::toDetectedObjects(transformed_objects); + tracked_objects = autoware::object_recognition_utils::toDetectedObjects(transformed_objects); } debugger_->publishInitialObjects(*input_msg); debugger_->publishTrackedObjects(tracked_objects); @@ -233,9 +233,9 @@ void DetectionByTracker::divideUnderSegmentedObjects( } // detect under segmented cluster const float recall = - object_recognition_utils::get2dRecall(initial_object.object, tracked_object); + autoware::object_recognition_utils::get2dRecall(initial_object.object, tracked_object); const float precision = - object_recognition_utils::get2dPrecision(initial_object.object, tracked_object); + autoware::object_recognition_utils::get2dPrecision(initial_object.object, tracked_object); const bool is_under_segmented = (recall_min_threshold < recall && precision < precision_max_threshold); if (!is_under_segmented) { @@ -310,7 +310,7 @@ float DetectionByTracker::optimizeUnderSegmentedObject( if (!is_shape_estimated) { continue; } - const float iou = object_recognition_utils::get2dIoU( + const float iou = autoware::object_recognition_utils::get2dIoU( highest_iou_object_in_current_iter.object, target_object); if (highest_iou_in_current_iter < iou) { highest_iou_in_current_iter = iou; @@ -332,7 +332,7 @@ float DetectionByTracker::optimizeUnderSegmentedObject( // build output highest_iou_object.object.classification = target_object.classification; highest_iou_object.object.existence_probability = - object_recognition_utils::get2dIoU(target_object, highest_iou_object.object); + autoware::object_recognition_utils::get2dIoU(target_object, highest_iou_object.object); output = highest_iou_object; return highest_iou; @@ -370,8 +370,8 @@ void DetectionByTracker::mergeOverSegmentedObjects( } // If there is an initial object in the tracker, it will be merged. - const float precision = - object_recognition_utils::get2dPrecision(initial_object.object, extended_tracked_object); + const float precision = autoware::object_recognition_utils::get2dPrecision( + initial_object.object, extended_tracked_object); if (precision < precision_threshold) { continue; } @@ -401,7 +401,7 @@ void DetectionByTracker::mergeOverSegmentedObjects( } feature_object.object.existence_probability = - object_recognition_utils::get2dIoU(tracked_object, feature_object.object); + autoware::object_recognition_utils::get2dIoU(tracked_object, feature_object.object); setClusterInObjectWithFeature(in_cluster_objects.header, pcl_merged_cluster, feature_object); out_objects.feature_objects.push_back(feature_object); } diff --git a/perception/autoware_image_projection_based_fusion/package.xml b/perception/autoware_image_projection_based_fusion/package.xml index f08ab04bc6616..b494f2d13887d 100644 --- a/perception/autoware_image_projection_based_fusion/package.xml +++ b/perception/autoware_image_projection_based_fusion/package.xml @@ -18,6 +18,7 @@ autoware_euclidean_cluster autoware_lidar_centerpoint + autoware_object_recognition_utils autoware_perception_msgs autoware_point_types autoware_universe_utils @@ -25,7 +26,6 @@ image_geometry image_transport message_filters - object_recognition_utils perception_utils rclcpp rclcpp_components diff --git a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp index 39835b465d8af..043e648403f3b 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp @@ -14,7 +14,7 @@ #include "autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -50,8 +50,9 @@ void RoiDetectedObjectFusionNode::preprocess(DetectedObjects & output_msg) ignored_object_flags.resize(output_msg.objects.size()); for (std::size_t obj_i = 0; obj_i < output_msg.objects.size(); ++obj_i) { const auto & object = output_msg.objects.at(obj_i); - const auto label = object_recognition_utils::getHighestProbLabel(object.classification); - const auto pos = object_recognition_utils::getPose(object).position; + const auto label = + autoware::object_recognition_utils::getHighestProbLabel(object.classification); + const auto pos = autoware::object_recognition_utils::getPose(object).position; const auto object_sqr_dist = pos.x * pos.x + pos.y * pos.y; const auto prob_threshold = fusion_params_.passthrough_lower_bound_probability_thresholds.at(label); @@ -222,9 +223,9 @@ void RoiDetectedObjectFusionNode::fuseObjectsOnImage( for (const auto & image_roi : image_rois) { const auto & object_roi = object_pair.second; const auto object_roi_label = - object_recognition_utils::getHighestProbLabel(object_roi.object.classification); + autoware::object_recognition_utils::getHighestProbLabel(object_roi.object.classification); const auto image_roi_label = - object_recognition_utils::getHighestProbLabel(image_roi.object.classification); + autoware::object_recognition_utils::getHighestProbLabel(image_roi.object.classification); if (!fusion_params_.can_assign_matrix(object_roi_label, image_roi_label)) { continue; } diff --git a/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp b/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp index f7dd85b019250..8f3f0fa9b20e2 100644 --- a/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp +++ b/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp @@ -14,9 +14,9 @@ #include "autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp" +#include +#include #include -#include -#include namespace autoware::lidar_centerpoint { @@ -41,8 +41,10 @@ bool NonMaximumSuppression::isTargetLabel(const uint8_t label) bool NonMaximumSuppression::isTargetPairObject( const DetectedObject & object1, const DetectedObject & object2) { - const auto label1 = object_recognition_utils::getHighestProbLabel(object1.classification); - const auto label2 = object_recognition_utils::getHighestProbLabel(object2.classification); + const auto label1 = + autoware::object_recognition_utils::getHighestProbLabel(object1.classification); + const auto label2 = + autoware::object_recognition_utils::getHighestProbLabel(object2.classification); if (isTargetLabel(label1) && isTargetLabel(label2)) { return true; @@ -50,7 +52,8 @@ bool NonMaximumSuppression::isTargetPairObject( const auto search_sqr_dist_2d = params_.search_distance_2d_ * params_.search_distance_2d_; const auto sqr_dist_2d = autoware::universe_utils::calcSquaredDistance2d( - object_recognition_utils::getPose(object1), object_recognition_utils::getPose(object2)); + autoware::object_recognition_utils::getPose(object1), + autoware::object_recognition_utils::getPose(object2)); return sqr_dist_2d <= search_sqr_dist_2d; } @@ -69,7 +72,7 @@ Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix( } if (params_.nms_type_ == NMS_TYPE::IoU_BEV) { - const double iou = object_recognition_utils::get2dIoU(target_obj, source_obj); + const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj); triangular_matrix(target_i, source_i) = iou; // NOTE: If the target object has any objects with iou > iou_threshold, it // will be suppressed regardless of later results. diff --git a/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp b/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp index feeab969e88bd..c76fa6567ab51 100644 --- a/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp +++ b/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp @@ -14,9 +14,9 @@ #include "autoware/lidar_centerpoint/ros_utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/constants.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" namespace autoware::lidar_centerpoint { @@ -41,7 +41,7 @@ void box3DToDetectedObject( rclcpp::get_logger("lidar_centerpoint"), "Unexpected label: UNKNOWN is set."); } - if (object_recognition_utils::isCarLikeVehicle(classification.label)) { + if (autoware::object_recognition_utils::isCarLikeVehicle(classification.label)) { obj.kinematics.orientation_availability = autoware_perception_msgs::msg::DetectedObjectKinematics::SIGN_UNKNOWN; } diff --git a/perception/autoware_lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml index 07f67f7e3c11e..29a7bc122707e 100644 --- a/perception/autoware_lidar_centerpoint/package.xml +++ b/perception/autoware_lidar_centerpoint/package.xml @@ -12,9 +12,9 @@ ament_cmake_python autoware_cmake + autoware_object_recognition_utils autoware_perception_msgs autoware_universe_utils - object_recognition_utils pcl_ros rclcpp rclcpp_components diff --git a/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp b/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp index 6e563f706e3b2..1ce151d2960ef 100644 --- a/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp +++ b/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp @@ -14,9 +14,9 @@ #include "autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp" +#include +#include #include -#include -#include namespace autoware::lidar_transfusion { @@ -41,8 +41,10 @@ bool NonMaximumSuppression::isTargetLabel(const uint8_t label) bool NonMaximumSuppression::isTargetPairObject( const DetectedObject & object1, const DetectedObject & object2) { - const auto label1 = object_recognition_utils::getHighestProbLabel(object1.classification); - const auto label2 = object_recognition_utils::getHighestProbLabel(object2.classification); + const auto label1 = + autoware::object_recognition_utils::getHighestProbLabel(object1.classification); + const auto label2 = + autoware::object_recognition_utils::getHighestProbLabel(object2.classification); if (isTargetLabel(label1) && isTargetLabel(label2)) { return true; @@ -50,7 +52,8 @@ bool NonMaximumSuppression::isTargetPairObject( const auto search_sqr_dist_2d = params_.search_distance_2d_ * params_.search_distance_2d_; const auto sqr_dist_2d = autoware::universe_utils::calcSquaredDistance2d( - object_recognition_utils::getPose(object1), object_recognition_utils::getPose(object2)); + autoware::object_recognition_utils::getPose(object1), + autoware::object_recognition_utils::getPose(object2)); return sqr_dist_2d <= search_sqr_dist_2d; } @@ -69,7 +72,7 @@ Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix( } if (params_.nms_type_ == NMS_TYPE::IoU_BEV) { - const double iou = object_recognition_utils::get2dIoU(target_obj, source_obj); + const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj); triangular_matrix(target_i, source_i) = iou; // NOTE: If the target object has any objects with iou > iou_threshold, it // will be suppressed regardless of later results. diff --git a/perception/autoware_lidar_transfusion/lib/ros_utils.cpp b/perception/autoware_lidar_transfusion/lib/ros_utils.cpp index ce2a8d1911941..88f6497f8d656 100644 --- a/perception/autoware_lidar_transfusion/lib/ros_utils.cpp +++ b/perception/autoware_lidar_transfusion/lib/ros_utils.cpp @@ -14,9 +14,9 @@ #include "autoware/lidar_transfusion/ros_utils.hpp" +#include #include #include -#include namespace autoware::lidar_transfusion { @@ -40,7 +40,7 @@ void box3DToDetectedObject( rclcpp::get_logger("lidar_transfusion"), "Unexpected label: UNKNOWN is set."); } - if (object_recognition_utils::isCarLikeVehicle(classification.label)) { + if (autoware::object_recognition_utils::isCarLikeVehicle(classification.label)) { obj.kinematics.orientation_availability = autoware_perception_msgs::msg::DetectedObjectKinematics::SIGN_UNKNOWN; } diff --git a/perception/autoware_lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml index 834afba1221ad..791832ef44bda 100644 --- a/perception/autoware_lidar_transfusion/package.xml +++ b/perception/autoware_lidar_transfusion/package.xml @@ -12,11 +12,11 @@ ament_cmake_auto autoware_cmake + autoware_object_recognition_utils autoware_perception_msgs autoware_point_types autoware_universe_utils launch_ros - object_recognition_utils pcl_ros rclcpp rclcpp_components diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp index bc52e49f763fd..0b9ea9c44a6cf 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp @@ -21,7 +21,7 @@ #define EIGEN_MPL2_ONLY #include "autoware/multi_object_tracker/utils/utils.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -79,7 +79,7 @@ class Tracker } std::uint8_t getHighestProbLabel() const { - return object_recognition_utils::getHighestProbLabel(classification_); + return autoware::object_recognition_utils::getHighestProbLabel(classification_); } // existence states diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp index 52781be1b8201..c67e71b38a6f9 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp @@ -20,7 +20,7 @@ #include "autoware/multi_object_tracker/object_model/object_model.hpp" -#include +#include #include diff --git a/perception/autoware_multi_object_tracker/lib/association/association.cpp b/perception/autoware_multi_object_tracker/lib/association/association.cpp index ac31cad4cc13c..0c809ee5f086d 100644 --- a/perception/autoware_multi_object_tracker/lib/association/association.cpp +++ b/perception/autoware_multi_object_tracker/lib/association/association.cpp @@ -16,7 +16,7 @@ #include "autoware/multi_object_tracker/association/solver/gnn_solver.hpp" #include "autoware/multi_object_tracker/utils/utils.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -165,7 +165,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( const autoware_perception_msgs::msg::DetectedObject & measurement_object = measurements.objects.at(measurement_idx); const std::uint8_t measurement_label = - object_recognition_utils::getHighestProbLabel(measurement_object.classification); + autoware::object_recognition_utils::getHighestProbLabel(measurement_object.classification); double score = 0.0; if (can_assign_matrix_(tracker_label, measurement_label)) { @@ -210,7 +210,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( if (passed_gate) { const double min_iou = min_iou_matrix_(tracker_label, measurement_label); const double min_union_iou_area = 1e-2; - const double iou = object_recognition_utils::get2dIoU( + const double iou = autoware::object_recognition_utils::get2dIoU( measurement_object, tracked_object, min_union_iou_area); if (iou < min_iou) passed_gate = false; } diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp index 38a49e48d8d10..098ad39dd3df9 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp @@ -20,11 +20,11 @@ #include "autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp" #include "autoware/multi_object_tracker/utils/utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/math/normalization.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -246,7 +246,9 @@ bool BicycleTracker::measure( // update classification const auto & current_classification = getClassification(); - if (object_recognition_utils::getHighestProbLabel(object.classification) == Label::UNKNOWN) { + if ( + autoware::object_recognition_utils::getHighestProbLabel(object.classification) == + Label::UNKNOWN) { setClassification(current_classification); } @@ -272,7 +274,7 @@ bool BicycleTracker::measure( bool BicycleTracker::getTrackedObject( const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const { - object = object_recognition_utils::toTrackedObject(object_); + object = autoware::object_recognition_utils::toTrackedObject(object_); object.object_id = getUUID(); object.classification = getClassification(); diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp index d5913eccdf0bf..349ffb1eec634 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp @@ -20,11 +20,11 @@ #include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp" #include "autoware/multi_object_tracker/utils/utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/math/normalization.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -301,7 +301,9 @@ bool BigVehicleTracker::measure( // update classification const auto & current_classification = getClassification(); - if (object_recognition_utils::getHighestProbLabel(object.classification) == Label::UNKNOWN) { + if ( + autoware::object_recognition_utils::getHighestProbLabel(object.classification) == + Label::UNKNOWN) { setClassification(current_classification); } @@ -327,7 +329,7 @@ bool BigVehicleTracker::measure( bool BigVehicleTracker::getTrackedObject( const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const { - object = object_recognition_utils::toTrackedObject(object_); + object = autoware::object_recognition_utils::toTrackedObject(object_); object.object_id = getUUID(); object.classification = getClassification(); diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp index a6e5021e4fe7d..4751e3d1c894f 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp @@ -48,7 +48,9 @@ bool MultipleVehicleTracker::measure( { big_vehicle_tracker_.measure(object, time, self_transform); normal_vehicle_tracker_.measure(object, time, self_transform); - if (object_recognition_utils::getHighestProbLabel(object.classification) != Label::UNKNOWN) + if ( + autoware::object_recognition_utils::getHighestProbLabel(object.classification) != + Label::UNKNOWN) updateClassification(object.classification); return true; } diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp index a9260201722b3..b4be5e42b0397 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp @@ -20,11 +20,11 @@ #include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp" #include "autoware/multi_object_tracker/utils/utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/math/normalization.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -303,7 +303,9 @@ bool NormalVehicleTracker::measure( // update classification const auto & current_classification = getClassification(); - if (object_recognition_utils::getHighestProbLabel(object.classification) == Label::UNKNOWN) { + if ( + autoware::object_recognition_utils::getHighestProbLabel(object.classification) == + Label::UNKNOWN) { setClassification(current_classification); } @@ -329,7 +331,7 @@ bool NormalVehicleTracker::measure( bool NormalVehicleTracker::getTrackedObject( const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const { - object = object_recognition_utils::toTrackedObject(object_); + object = autoware::object_recognition_utils::toTrackedObject(object_); object.object_id = getUUID(); object.classification = getClassification(); diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp index c872944fab3d7..f66e616241ae0 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp @@ -19,8 +19,8 @@ #include "autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp" #include "autoware/multi_object_tracker/utils/utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -91,7 +91,7 @@ bool PassThroughTracker::getTrackedObject( const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const { using autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - object = object_recognition_utils::toTrackedObject(object_); + object = autoware::object_recognition_utils::toTrackedObject(object_); object.object_id = getUUID(); object.classification = getClassification(); object.kinematics.pose_with_covariance.covariance[XYZRPY_COV_IDX::X_X] = 0.0; diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp index 8c665e6078a2b..1b8018351f5a5 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp @@ -48,7 +48,9 @@ bool PedestrianAndBicycleTracker::measure( { pedestrian_tracker_.measure(object, time, self_transform); bicycle_tracker_.measure(object, time, self_transform); - if (object_recognition_utils::getHighestProbLabel(object.classification) != Label::UNKNOWN) + if ( + autoware::object_recognition_utils::getHighestProbLabel(object.classification) != + Label::UNKNOWN) updateClassification(object.classification); return true; } diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp index 591453a14f116..2135514df8485 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp @@ -20,11 +20,11 @@ #include "autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp" #include "autoware/multi_object_tracker/utils/utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/math/normalization.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -242,7 +242,9 @@ bool PedestrianTracker::measure( object_ = object; const auto & current_classification = getClassification(); - if (object_recognition_utils::getHighestProbLabel(object.classification) == Label::UNKNOWN) { + if ( + autoware::object_recognition_utils::getHighestProbLabel(object.classification) == + Label::UNKNOWN) { setClassification(current_classification); } @@ -269,7 +271,7 @@ bool PedestrianTracker::measure( bool PedestrianTracker::getTrackedObject( const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const { - object = object_recognition_utils::toTrackedObject(object_); + object = autoware::object_recognition_utils::toTrackedObject(object_); object.object_id = getUUID(); object.classification = getClassification(); diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/unknown_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/unknown_tracker.cpp index 0648007e0b807..2805e43b88323 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/unknown_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/unknown_tracker.cpp @@ -34,7 +34,7 @@ #else #include #endif -#include "object_recognition_utils/object_recognition_utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" namespace autoware::multi_object_tracker { @@ -217,7 +217,7 @@ bool UnknownTracker::measure( bool UnknownTracker::getTrackedObject( const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const { - object = object_recognition_utils::toTrackedObject(object_); + object = autoware::object_recognition_utils::toTrackedObject(object_); object.object_id = getUUID(); object.classification = getClassification(); diff --git a/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp b/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp index 6770b298bdbda..840879f9bd7aa 100644 --- a/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp +++ b/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp @@ -108,7 +108,7 @@ DetectedObjects modelUncertainty(const DetectedObjects & detected_objects) continue; } const ObjectClassification & object_class = - object_recognition_utils::getHighestProbClassification(object.classification); + autoware::object_recognition_utils::getHighestProbClassification(object.classification); updating_objects.objects.push_back(modelUncertaintyByClass(object, object_class)); } return updating_objects; diff --git a/perception/autoware_multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml index 405ce7eced625..d7250293df28e 100644 --- a/perception/autoware_multi_object_tracker/package.xml +++ b/perception/autoware_multi_object_tracker/package.xml @@ -14,13 +14,13 @@ eigen3_cmake_module autoware_kalman_filter + autoware_object_recognition_utils autoware_perception_msgs autoware_universe_utils diagnostic_updater eigen glog mussp - object_recognition_utils rclcpp rclcpp_components tf2 diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp index e5ffddb31ccce..24bf4ef9c123d 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp @@ -282,7 +282,7 @@ void MultiObjectTracker::runProcess( // Transform the objects to the world frame DetectedObjects transformed_objects; - if (!object_recognition_utils::transformObjects( + if (!autoware::object_recognition_utils::transformObjects( input_objects_with_uncertainty, world_frame_id_, tf_buffer_, transformed_objects)) { return; } diff --git a/perception/autoware_multi_object_tracker/src/processor/processor.cpp b/perception/autoware_multi_object_tracker/src/processor/processor.cpp index 17871c89b5258..ba9b3d17fd20f 100644 --- a/perception/autoware_multi_object_tracker/src/processor/processor.cpp +++ b/perception/autoware_multi_object_tracker/src/processor/processor.cpp @@ -15,7 +15,7 @@ #include "processor.hpp" #include "autoware/multi_object_tracker/tracker/tracker.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware_perception_msgs/msg/tracked_objects.hpp" @@ -90,7 +90,8 @@ std::shared_ptr TrackerProcessor::createNewTracker( const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, const geometry_msgs::msg::Transform & self_transform, const uint & channel_index) const { - const std::uint8_t label = object_recognition_utils::getHighestProbLabel(object.classification); + const std::uint8_t label = + autoware::object_recognition_utils::getHighestProbLabel(object.classification); if (tracker_map_.count(label) != 0) { const auto tracker = tracker_map_.at(label); if (tracker == "bicycle_tracker") @@ -168,7 +169,8 @@ void TrackerProcessor::removeOverlappedTracker(const rclcpp::Time & time) // Check the Intersection over Union (IoU) between the two objects const double min_union_iou_area = 1e-2; - const auto iou = object_recognition_utils::get2dIoU(object1, object2, min_union_iou_area); + const auto iou = + autoware::object_recognition_utils::get2dIoU(object1, object2, min_union_iou_area); const auto & label1 = (*itr1)->getHighestProbLabel(); const auto & label2 = (*itr2)->getHighestProbLabel(); bool should_delete_tracker1 = false; diff --git a/perception/autoware_object_merger/package.xml b/perception/autoware_object_merger/package.xml index e87ef8d81b01b..77c30aa6d4556 100644 --- a/perception/autoware_object_merger/package.xml +++ b/perception/autoware_object_merger/package.xml @@ -13,11 +13,11 @@ autoware_cmake eigen3_cmake_module + autoware_object_recognition_utils autoware_perception_msgs autoware_universe_utils eigen mussp - object_recognition_utils rclcpp rclcpp_components tf2 diff --git a/perception/autoware_object_merger/src/association/data_association.cpp b/perception/autoware_object_merger/src/association/data_association.cpp index 8b40178b592f8..bec2d48469562 100644 --- a/perception/autoware_object_merger/src/association/data_association.cpp +++ b/perception/autoware_object_merger/src/association/data_association.cpp @@ -15,8 +15,8 @@ #include "autoware/object_merger/association/data_association.hpp" #include "autoware/object_merger/association/solver/gnn_solver.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -124,13 +124,13 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( const autoware_perception_msgs::msg::DetectedObject & object1 = objects1.objects.at(objects1_idx); const std::uint8_t object1_label = - object_recognition_utils::getHighestProbLabel(object1.classification); + autoware::object_recognition_utils::getHighestProbLabel(object1.classification); for (size_t objects0_idx = 0; objects0_idx < objects0.objects.size(); ++objects0_idx) { const autoware_perception_msgs::msg::DetectedObject & object0 = objects0.objects.at(objects0_idx); const std::uint8_t object0_label = - object_recognition_utils::getHighestProbLabel(object0.classification); + autoware::object_recognition_utils::getHighestProbLabel(object0.classification); double score = 0.0; if (can_assign_matrix_(object1_label, object0_label)) { @@ -158,7 +158,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( const double min_iou = min_iou_matrix_(object1_label, object0_label); const double min_union_iou_area = 1e-2; const double iou = - object_recognition_utils::get2dIoU(object0, object1, min_union_iou_area); + autoware::object_recognition_utils::get2dIoU(object0, object1, min_union_iou_area); if (iou < min_iou) passed_gate = false; } diff --git a/perception/autoware_object_merger/src/object_association_merger_node.cpp b/perception/autoware_object_merger/src/object_association_merger_node.cpp index 663a338649d3c..af9d0e15f4894 100644 --- a/perception/autoware_object_merger/src/object_association_merger_node.cpp +++ b/perception/autoware_object_merger/src/object_association_merger_node.cpp @@ -16,8 +16,8 @@ #include "autoware/object_merger/object_association_merger_node.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -40,18 +40,19 @@ bool isUnknownObjectOverlapped( const std::map & generalized_iou_threshold_map) { const double generalized_iou_threshold = generalized_iou_threshold_map.at( - object_recognition_utils::getHighestProbLabel(known_object.classification)); + autoware::object_recognition_utils::getHighestProbLabel(known_object.classification)); const double distance_threshold = distance_threshold_map.at( - object_recognition_utils::getHighestProbLabel(known_object.classification)); + autoware::object_recognition_utils::getHighestProbLabel(known_object.classification)); const double sq_distance_threshold = std::pow(distance_threshold, 2.0); const double sq_distance = autoware::universe_utils::calcSquaredDistance2d( unknown_object.kinematics.pose_with_covariance.pose, known_object.kinematics.pose_with_covariance.pose); if (sq_distance_threshold < sq_distance) return false; - const auto precision = object_recognition_utils::get2dPrecision(unknown_object, known_object); - const auto recall = object_recognition_utils::get2dRecall(unknown_object, known_object); + const auto precision = + autoware::object_recognition_utils::get2dPrecision(unknown_object, known_object); + const auto recall = autoware::object_recognition_utils::get2dRecall(unknown_object, known_object); const auto generalized_iou = - object_recognition_utils::get2dGeneralizedIoU(unknown_object, known_object); + autoware::object_recognition_utils::get2dGeneralizedIoU(unknown_object, known_object); return precision > precision_threshold || recall > recall_threshold || generalized_iou > generalized_iou_threshold; } @@ -142,9 +143,9 @@ void ObjectAssociationMergerNode::objectsCallback( /* transform to base_link coordinate */ autoware_perception_msgs::msg::DetectedObjects transformed_objects0, transformed_objects1; if ( - !object_recognition_utils::transformObjects( + !autoware::object_recognition_utils::transformObjects( *input_objects0_msg, base_link_frame_id_, tf_buffer_, transformed_objects0) || - !object_recognition_utils::transformObjects( + !autoware::object_recognition_utils::transformObjects( *input_objects1_msg, base_link_frame_id_, tf_buffer_, transformed_objects1)) { return; } @@ -198,7 +199,9 @@ void ObjectAssociationMergerNode::objectsCallback( unknown_objects.reserve(output_msg.objects.size()); known_objects.reserve(output_msg.objects.size()); for (const auto & object : output_msg.objects) { - if (object_recognition_utils::getHighestProbLabel(object.classification) == Label::UNKNOWN) { + if ( + autoware::object_recognition_utils::getHighestProbLabel(object.classification) == + Label::UNKNOWN) { unknown_objects.push_back(object); } else { known_objects.push_back(object); diff --git a/perception/autoware_radar_object_clustering/package.xml b/perception/autoware_radar_object_clustering/package.xml index d9c3464e02b18..00106ee38e82f 100644 --- a/perception/autoware_radar_object_clustering/package.xml +++ b/perception/autoware_radar_object_clustering/package.xml @@ -14,10 +14,10 @@ ament_cmake_auto + autoware_object_recognition_utils autoware_perception_msgs autoware_universe_utils geometry_msgs - object_recognition_utils rclcpp rclcpp_components tf2 diff --git a/perception/autoware_radar_object_clustering/src/radar_object_clustering_node.cpp b/perception/autoware_radar_object_clustering/src/radar_object_clustering_node.cpp index 4db4c578f9f89..cf686e3ae1055 100644 --- a/perception/autoware_radar_object_clustering/src/radar_object_clustering_node.cpp +++ b/perception/autoware_radar_object_clustering/src/radar_object_clustering_node.cpp @@ -14,9 +14,9 @@ #include "radar_object_clustering_node.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include @@ -162,7 +162,7 @@ void RadarObjectClusteringNode::onObjects(const DetectedObjects::ConstSharedPtr // Fixed label correction if (node_param_.is_fixed_label) { clustered_output_object.classification.at(0).label = - object_recognition_utils::toLabel(node_param_.fixed_label); + autoware::object_recognition_utils::toLabel(node_param_.fixed_label); } // Fixed size correction diff --git a/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/data_association.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/data_association.hpp index efde1e6763cdd..ad53f8f9d7bf0 100644 --- a/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/data_association.hpp +++ b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/association/data_association.hpp @@ -21,9 +21,9 @@ #define EIGEN_MPL2_ONLY +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware_radar_object_tracker/association/solver/gnn_solver.hpp" #include "autoware_radar_object_tracker/tracker/tracker.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include diff --git a/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/tracker_base.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/tracker_base.hpp index caea725ef8f81..cc51af599cdd9 100644 --- a/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/tracker_base.hpp +++ b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/tracker_base.hpp @@ -20,8 +20,8 @@ #define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_ #define EIGEN_MPL2_ONLY +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware_radar_object_tracker/utils/utils.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -68,7 +68,7 @@ class Tracker } std::uint8_t getHighestProbLabel() const { - return object_recognition_utils::getHighestProbLabel(classification_); + return autoware::object_recognition_utils::getHighestProbLabel(classification_); } int getNoMeasurementCount() const { return no_measurement_count_; } int getTotalNoMeasurementCount() const { return total_no_measurement_count_; } diff --git a/perception/autoware_radar_object_tracker/package.xml b/perception/autoware_radar_object_tracker/package.xml index 6829c26f797c7..3a18b93451d39 100644 --- a/perception/autoware_radar_object_tracker/package.xml +++ b/perception/autoware_radar_object_tracker/package.xml @@ -15,13 +15,13 @@ autoware_kalman_filter autoware_lanelet2_extension + autoware_object_recognition_utils autoware_perception_msgs autoware_universe_utils eigen glog mussp nlohmann-json-dev - object_recognition_utils rclcpp rclcpp_components tf2 diff --git a/perception/autoware_radar_object_tracker/src/association/data_association.cpp b/perception/autoware_radar_object_tracker/src/association/data_association.cpp index 2d906ce55bcec..673ae084fb242 100644 --- a/perception/autoware_radar_object_tracker/src/association/data_association.cpp +++ b/perception/autoware_radar_object_tracker/src/association/data_association.cpp @@ -176,7 +176,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( const autoware_perception_msgs::msg::DetectedObject & measurement_object = measurements.objects.at(measurement_idx); const std::uint8_t measurement_label = - object_recognition_utils::getHighestProbLabel(measurement_object.classification); + autoware::object_recognition_utils::getHighestProbLabel(measurement_object.classification); // Create a JSON object to hold the log data for this pair nlohmann::json pair_log_data; @@ -259,7 +259,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( if (passed_gate) { const double min_iou = min_iou_matrix_(tracker_label, measurement_label); const double min_union_iou_area = 1e-2; - const double iou = object_recognition_utils::get2dIoU( + const double iou = autoware::object_recognition_utils::get2dIoU( measurement_object, tracked_object, min_union_iou_area); if (iou < min_iou) { passed_gate = false; diff --git a/perception/autoware_radar_object_tracker/src/radar_object_tracker_node.cpp b/perception/autoware_radar_object_tracker/src/radar_object_tracker_node.cpp index 10bf11e46abb9..1815b8ed64b04 100644 --- a/perception/autoware_radar_object_tracker/src/radar_object_tracker_node.cpp +++ b/perception/autoware_radar_object_tracker/src/radar_object_tracker_node.cpp @@ -150,7 +150,7 @@ void RadarObjectTrackerNode::onMeasurement( /* transform to world coordinate */ autoware_perception_msgs::msg::DetectedObjects transformed_objects; - if (!object_recognition_utils::transformObjects( + if (!autoware::object_recognition_utils::transformObjects( *input_objects_msg, world_frame_id_, tf_buffer_, transformed_objects)) { return; } @@ -215,7 +215,8 @@ std::shared_ptr RadarObjectTrackerNode::createNewTracker( const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, const geometry_msgs::msg::Transform & /*self_transform*/) const { - const std::uint8_t label = object_recognition_utils::getHighestProbLabel(object.classification); + const std::uint8_t label = + autoware::object_recognition_utils::getHighestProbLabel(object.classification); if (tracker_map_.count(label) != 0) { const auto tracker = tracker_map_.at(label); @@ -347,7 +348,8 @@ void RadarObjectTrackerNode::sanitizeTracker( } const double min_union_iou_area = 1e-2; - const auto iou = object_recognition_utils::get2dIoU(object1, object2, min_union_iou_area); + const auto iou = + autoware::object_recognition_utils::get2dIoU(object1, object2, min_union_iou_area); const auto & label1 = (*itr1)->getHighestProbLabel(); const auto & label2 = (*itr2)->getHighestProbLabel(); bool should_delete_tracker1 = false; diff --git a/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp b/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp index f30e4f984f8a1..47b9430616fc9 100644 --- a/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp +++ b/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp @@ -497,7 +497,9 @@ bool ConstantTurnRateMotionTracker::measure( { const auto & current_classification = getClassification(); object_ = object; - if (object_recognition_utils::getHighestProbLabel(object.classification) == Label::UNKNOWN) { + if ( + autoware::object_recognition_utils::getHighestProbLabel(object.classification) == + Label::UNKNOWN) { setClassification(current_classification); } @@ -517,7 +519,7 @@ bool ConstantTurnRateMotionTracker::measure( bool ConstantTurnRateMotionTracker::getTrackedObject( const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const { - object = object_recognition_utils::toTrackedObject(object_); + object = autoware::object_recognition_utils::toTrackedObject(object_); object.object_id = getUUID(); object.classification = getClassification(); diff --git a/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp b/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp index dbadb3366ba0c..6facac3707c56 100644 --- a/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp +++ b/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp @@ -516,7 +516,9 @@ bool LinearMotionTracker::measure( { const auto & current_classification = getClassification(); object_ = object; - if (object_recognition_utils::getHighestProbLabel(object.classification) == Label::UNKNOWN) { + if ( + autoware::object_recognition_utils::getHighestProbLabel(object.classification) == + Label::UNKNOWN) { setClassification(current_classification); } @@ -536,7 +538,7 @@ bool LinearMotionTracker::measure( bool LinearMotionTracker::getTrackedObject( const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const { - object = object_recognition_utils::toTrackedObject(object_); + object = autoware::object_recognition_utils::toTrackedObject(object_); object.object_id = getUUID(); object.classification = getClassification(); diff --git a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp index 2e317139f27c0..905957178ebd6 100644 --- a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp +++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_ #define AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_ -#include "object_recognition_utils/object_recognition_utils.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include #include diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml index cd9dc6bac015d..749624bcbe5a3 100644 --- a/perception/autoware_tensorrt_yolox/package.xml +++ b/perception/autoware_tensorrt_yolox/package.xml @@ -19,12 +19,12 @@ cudnn_cmake_module tensorrt_cmake_module + autoware_object_recognition_utils autoware_perception_msgs cuda_utils cv_bridge image_transport libopencv-dev - object_recognition_utils perception_utils rclcpp rclcpp_components diff --git a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp index 2455411618ceb..753e51d51265c 100644 --- a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp +++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp @@ -14,7 +14,7 @@ #include "autoware/tensorrt_yolox/tensorrt_yolox_node.hpp" -#include "object_recognition_utils/object_classification.hpp" +#include "autoware/object_recognition_utils/object_classification.hpp" #include "perception_utils/run_length_encoder.hpp" #include @@ -168,8 +168,8 @@ void TrtYoloXNode::onImage(const sensor_msgs::msg::Image::ConstSharedPtr msg) object.feature.roi.width = yolox_object.width; object.feature.roi.height = yolox_object.height; object.object.existence_probability = yolox_object.score; - object.object.classification = - object_recognition_utils::toObjectClassifications(label_map_[yolox_object.type], 1.0f); + object.object.classification = autoware::object_recognition_utils::toObjectClassifications( + label_map_[yolox_object.type], 1.0f); out_objects.feature_objects.push_back(object); const auto left = std::max(0, static_cast(object.feature.roi.x_offset)); const auto top = std::max(0, static_cast(object.feature.roi.y_offset)); diff --git a/perception/autoware_tracking_object_merger/package.xml b/perception/autoware_tracking_object_merger/package.xml index 321016ac0ff48..ce4cf5276ab80 100644 --- a/perception/autoware_tracking_object_merger/package.xml +++ b/perception/autoware_tracking_object_merger/package.xml @@ -13,12 +13,12 @@ autoware_cmake eigen3_cmake_module + autoware_object_recognition_utils autoware_perception_msgs autoware_universe_utils eigen glog mussp - object_recognition_utils rclcpp rclcpp_components tf2 diff --git a/perception/autoware_tracking_object_merger/src/association/data_association.cpp b/perception/autoware_tracking_object_merger/src/association/data_association.cpp index 119c95c86daf8..771fcb5f1a484 100644 --- a/perception/autoware_tracking_object_merger/src/association/data_association.cpp +++ b/perception/autoware_tracking_object_merger/src/association/data_association.cpp @@ -14,10 +14,10 @@ #include "autoware/tracking_object_merger/association/data_association.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/tracking_object_merger/association/solver/gnn_solver.hpp" #include "autoware/tracking_object_merger/utils/utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -178,9 +178,9 @@ double DataAssociation::calcScoreBetweenObjects( const autoware_perception_msgs::msg::TrackedObject & object1) const { const std::uint8_t object1_label = - object_recognition_utils::getHighestProbLabel(object1.classification); + autoware::object_recognition_utils::getHighestProbLabel(object1.classification); const std::uint8_t object0_label = - object_recognition_utils::getHighestProbLabel(object0.classification); + autoware::object_recognition_utils::getHighestProbLabel(object0.classification); double score = 0.0; if (can_assign_matrix_(object1_label, object0_label)) { @@ -206,7 +206,8 @@ double DataAssociation::calcScoreBetweenObjects( if (passed_gate) { const double min_iou = min_iou_matrix_(object1_label, object0_label); const double min_union_iou_area = 1e-2; - const double iou = object_recognition_utils::get2dIoU(object0, object1, min_union_iou_area); + const double iou = + autoware::object_recognition_utils::get2dIoU(object0, object1, min_union_iou_area); if (iou < min_iou) passed_gate = false; } // max velocity diff gate diff --git a/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp b/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp index 295a350071ac8..55d31a1b890cd 100644 --- a/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp +++ b/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp @@ -16,9 +16,9 @@ #include "autoware/tracking_object_merger/decorative_tracker_merger_node.hpp" +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "autoware/tracking_object_merger/association/solver/ssp.hpp" #include "autoware/tracking_object_merger/utils/utils.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -200,7 +200,7 @@ void DecorativeTrackerMergerNode::mainObjectsCallback( /* transform to target merge coordinate */ TrackedObjects transformed_objects; - if (!object_recognition_utils::transformObjects( + if (!autoware::object_recognition_utils::transformObjects( *main_objects, merge_frame_id_, tf_buffer_, transformed_objects)) { return; } @@ -258,7 +258,7 @@ void DecorativeTrackerMergerNode::subObjectsCallback(const TrackedObjects::Const { /* transform to target merge coordinate */ TrackedObjects transformed_objects; - if (!object_recognition_utils::transformObjects( + if (!autoware::object_recognition_utils::transformObjects( *msg, merge_frame_id_, tf_buffer_, transformed_objects)) { return; } diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index ed3cd2169e343..d1c3b8b00e069 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -22,6 +22,7 @@ autoware_interpolation autoware_lanelet2_extension autoware_motion_utils + autoware_object_recognition_utils autoware_osqp_interface autoware_perception_msgs autoware_planning_msgs @@ -31,7 +32,6 @@ autoware_vehicle_info_utils geometry_msgs nav_msgs - object_recognition_utils rclcpp rclcpp_components std_msgs diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp index f5cac52a68681..37b82ecb66e74 100644 --- a/planning/autoware_obstacle_cruise_planner/src/node.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp @@ -16,12 +16,12 @@ #include "autoware/motion_utils/resample/resample.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" +#include "autoware/object_recognition_utils/predicted_path_utils.hpp" #include "autoware/obstacle_cruise_planner/polygon_utils.hpp" #include "autoware/obstacle_cruise_planner/utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/ros/marker_helper.hpp" #include "autoware/universe_utils/ros/update_param.hpp" -#include "object_recognition_utils/predicted_path_utils.hpp" #include #include @@ -99,7 +99,7 @@ std::vector resampleHighestConfidencePredictedPaths( continue; } resampled_paths.push_back( - object_recognition_utils::resamplePredictedPath(path, time_interval, time_horizon)); + autoware::object_recognition_utils::resamplePredictedPath(path, time_interval, time_horizon)); } return resampled_paths; @@ -1758,7 +1758,7 @@ std::optional ObstacleCruisePlannerNode::createStopObstacleForPred if (resampled_predicted_paths.empty() || resampled_predicted_paths.front().path.empty()) { return false; } - const auto future_obj_pose = object_recognition_utils::calcInterpolatedPose( + const auto future_obj_pose = autoware::object_recognition_utils::calcInterpolatedPose( resampled_predicted_paths.front(), time_to_reach_stop_point - p.collision_time_margin); Obstacle tmp_future_obs = obstacle; diff --git a/planning/autoware_obstacle_cruise_planner/src/utils.cpp b/planning/autoware_obstacle_cruise_planner/src/utils.cpp index 8162d8036d9dc..bc52e800c8fc5 100644 --- a/planning/autoware_obstacle_cruise_planner/src/utils.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/utils.cpp @@ -14,8 +14,8 @@ #include "autoware/obstacle_cruise_planner/utils.hpp" +#include "autoware/object_recognition_utils/predicted_path_utils.hpp" #include "autoware/universe_utils/ros/marker_helper.hpp" -#include "object_recognition_utils/predicted_path_utils.hpp" namespace obstacle_cruise_utils { @@ -30,7 +30,8 @@ std::optional getCurrentObjectPoseFromPredictedPath( return std::nullopt; } - const auto pose = object_recognition_utils::calcInterpolatedPose(predicted_path, rel_time); + const auto pose = + autoware::object_recognition_utils::calcInterpolatedPose(predicted_path, rel_time); if (!pose) { return std::nullopt; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml index 9308aab7642f5..858bc78de09eb 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml @@ -20,6 +20,7 @@ autoware_behavior_path_planner_common autoware_lanelet2_extension autoware_motion_utils + autoware_object_recognition_utils autoware_perception_msgs autoware_planning_msgs autoware_signal_processing @@ -27,7 +28,6 @@ autoware_vehicle_msgs geometry_msgs lanelet2_core - object_recognition_utils pluginlib rclcpp tf2 diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp index 3fa3f04435e87..852a3fe0feedf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp @@ -16,9 +16,9 @@ #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" #include "autoware/behavior_path_planner_common/utils/utils.hpp" +#include "autoware/object_recognition_utils/predicted_path_utils.hpp" #include "autoware/signal_processing/lowpass_filter_1d.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" -#include "object_recognition_utils/predicted_path_utils.hpp" #include #include @@ -796,7 +796,7 @@ void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObje return is_object_left; } const auto future_obj_pose = - object_recognition_utils::calcInterpolatedPose(obj_path, time_to_collision); + autoware::object_recognition_utils::calcInterpolatedPose(obj_path, time_to_collision); const size_t future_obj_idx = autoware::motion_utils::findNearestIndex(input_path.points, future_obj_pose->position); @@ -1001,7 +1001,7 @@ DynamicObstacleAvoidanceModule::calcCollisionSection( const auto future_ego_pose = ego_path.at(i); const auto future_obj_pose = - object_recognition_utils::calcInterpolatedPose(obj_path, elapsed_time); + autoware::object_recognition_utils::calcInterpolatedPose(obj_path, elapsed_time); if (future_obj_pose) { const double dist_ego_to_obj = diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index c4fe5fa9902c5..82a832d30c0b5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -24,8 +24,8 @@ #include "autoware/behavior_path_planner_common/utils/path_utils.hpp" #include "autoware/behavior_path_planner_common/utils/traffic_light_utils.hpp" #include "autoware/behavior_path_planner_common/utils/utils.hpp" +#include "autoware/object_recognition_utils/predicted_path_utils.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" -#include "object_recognition_utils/predicted_path_utils.hpp" #include #include @@ -990,7 +990,7 @@ ExtendedPredictedObject transform( if (t < prepare_duration && obj_vel_norm < velocity_threshold) { continue; } - const auto obj_pose = object_recognition_utils::calcInterpolatedPose(path, t); + const auto obj_pose = autoware::object_recognition_utils::calcInterpolatedPose(path, t); if (obj_pose) { const auto obj_polygon = autoware::universe_utils::toPolygon2d(*obj_pose, object.shape); extended_object.predicted_paths.at(i).path.emplace_back( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml index 6196a4f02cff9..1c3509bc22482 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml @@ -44,6 +44,7 @@ autoware_lane_departure_checker autoware_lanelet2_extension autoware_motion_utils + autoware_object_recognition_utils autoware_path_sampler autoware_perception_msgs autoware_planning_msgs @@ -57,7 +58,6 @@ libboost-dev libopencv-dev magic_enum - object_recognition_utils pluginlib rclcpp rclcpp_components diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml index 28b79b502599d..d98e832e23e00 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml @@ -48,6 +48,7 @@ autoware_lane_departure_checker autoware_lanelet2_extension autoware_motion_utils + autoware_object_recognition_utils autoware_objects_of_interest_marker_interface autoware_perception_msgs autoware_planning_msgs @@ -57,7 +58,6 @@ autoware_vehicle_info_utils geometry_msgs magic_enum - object_recognition_utils rclcpp tf2 tier4_planning_msgs diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp index 20221fff82175..f183f5160cea8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp @@ -15,7 +15,7 @@ #include "autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp" #include "autoware/behavior_path_planner_common/utils/utils.hpp" -#include "object_recognition_utils/predicted_path_utils.hpp" +#include "autoware/object_recognition_utils/predicted_path_utils.hpp" #include #include @@ -336,7 +336,7 @@ ExtendedPredictedObject transform( // Create path based on time horizon and resolution for (double t = 0.0; t < safety_check_time_horizon + 1e-3; t += safety_check_time_resolution) { - const auto obj_pose = object_recognition_utils::calcInterpolatedPose(path, t); + const auto obj_pose = autoware::object_recognition_utils::calcInterpolatedPose(path, t); if (obj_pose) { const auto obj_polygon = autoware::universe_utils::toPolygon2d(*obj_pose, object.shape); extended_object.predicted_paths[i].path.emplace_back( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml index ce6cf92fc6450..b8fc098826e7a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml @@ -22,6 +22,7 @@ autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_planner_common autoware_motion_utils + autoware_object_recognition_utils autoware_perception_msgs autoware_planning_msgs autoware_route_handler @@ -31,7 +32,6 @@ geometry_msgs libboost-dev message_filters - object_recognition_utils pcl_conversions pluginlib rclcpp diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp index 0a38e8d47ea36..5a219f654561a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp @@ -37,7 +37,7 @@ namespace autoware::behavior_velocity_planner { namespace bg = boost::geometry; -using object_recognition_utils::convertLabelToString; +using autoware::object_recognition_utils::convertLabelToString; RunOutModule::RunOutModule( const int64_t module_id, const std::shared_ptr & planner_data, diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp index 7d8513485ac52..4f326aef298be 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp @@ -15,9 +15,9 @@ #ifndef SCENE_HPP_ #define SCENE_HPP_ +#include "autoware/object_recognition_utils/object_recognition_utils.hpp" #include "debug.hpp" #include "dynamic_obstacle.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include "state_machine.hpp" #include "utils.hpp" From bc1e8d5c0cc17c971905055f045c2d13ed05c3ee Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Wed, 16 Oct 2024 09:24:30 +0900 Subject: [PATCH 248/701] test(freespace_planner): add unit tests for util functions (#9059) * refactor freespace planner Signed-off-by: mohammad alqudah * add function is_near_target to freespace planner utils Signed-off-by: mohammad alqudah * add freespace planner utils namespace Signed-off-by: mohammad alqudah * fix function call Signed-off-by: mohammad alqudah * implement unit tests for freespace planner util functions Signed-off-by: mohammad alqudah * add freespace planner utils namespace Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .../autoware_freespace_planner/CMakeLists.txt | 1 + .../test/test_freespace_planner_utils.cpp | 263 ++++++++++++++++++ 2 files changed, 264 insertions(+) create mode 100644 planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp diff --git a/planning/autoware_freespace_planner/CMakeLists.txt b/planning/autoware_freespace_planner/CMakeLists.txt index bbbb09c7d5af1..12ec72d53d854 100644 --- a/planning/autoware_freespace_planner/CMakeLists.txt +++ b/planning/autoware_freespace_planner/CMakeLists.txt @@ -17,6 +17,7 @@ rclcpp_components_register_node(freespace_planner_node if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_${PROJECT_NAME} test/test_freespace_planner_node_interface.cpp + test/test_freespace_planner_utils.cpp ) target_link_libraries(test_${PROJECT_NAME} freespace_planner_node diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp new file mode 100644 index 0000000000000..bccff30e11583 --- /dev/null +++ b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp @@ -0,0 +1,263 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/freespace_planner/utils.hpp" + +#include + +#include + +#include +#include + +using autoware::freespace_planner::utils::Odometry; +using autoware::freespace_planner::utils::Scenario; +using autoware::freespace_planner::utils::Trajectory; +using autoware::freespace_planner::utils::TrajectoryPoint; +using autoware::freespace_planning_algorithms::PlannerWaypoint; +using autoware::freespace_planning_algorithms::PlannerWaypoints; + +Trajectory get_trajectory(const size_t n_switches) +{ + const auto get_traj_point = [](const double x, const double y, const float v) { + TrajectoryPoint point; + point.pose.position.x = x; + point.pose.position.y = y; + point.longitudinal_velocity_mps = v; + return point; + }; + + Trajectory trajectory; + constexpr double eps = 0.001; + constexpr double res = 0.5; + + const auto add_points = [&](const double length, const bool forward) { + auto x = trajectory.points.empty() ? 0.0 : trajectory.points.back().pose.position.x; + + if (forward) { + const auto target = x + length; + for (; x < target + eps; x += res) { + trajectory.points.push_back(get_traj_point(x, 0.0, 1.0)); + } + } else { + const auto target = x - length; + for (; x > target - eps; x -= res) { + trajectory.points.push_back(get_traj_point(x, 0.0, -1.0)); + } + } + }; + + bool forward = true; + for (size_t i = 0; i <= n_switches; ++i) { + const auto length = forward ? 5.0 : 3.0; + add_points(length, forward); + forward = !forward; + } + + return trajectory; +} + +PlannerWaypoints get_waypoints(const size_t n_switches) +{ + const auto get_waypoint = [](const double x, const double y, const bool is_back) { + PlannerWaypoint point; + point.pose.pose.position.x = x; + point.pose.pose.position.y = y; + point.is_back = is_back; + return point; + }; + + PlannerWaypoints waypoints; + constexpr double eps = 0.001; + constexpr double res = 0.5; + + const auto add_points = [&](const double length, const bool forward) { + auto x = waypoints.waypoints.empty() ? 0.0 : waypoints.waypoints.back().pose.pose.position.x; + + if (forward) { + const auto target = x + length; + for (; x < target + eps; x += res) { + waypoints.waypoints.push_back(get_waypoint(x, 0.0, !forward)); + } + } else { + const auto target = x - length; + for (; x > target - eps; x -= res) { + waypoints.waypoints.push_back(get_waypoint(x, 0.0, !forward)); + } + } + }; + + bool forward = true; + for (size_t i = 0; i <= n_switches; ++i) { + const auto length = forward ? 5.0 : 3.0; + add_points(length, forward); + forward = !forward; + } + + return waypoints; +} + +TEST(FreespacePlannerUtilsTest, testIsActive) +{ + Scenario::ConstSharedPtr scenario_ptr; + + EXPECT_FALSE(autoware::freespace_planner::utils::is_active(scenario_ptr)); + + Scenario scenario; + scenario.current_scenario = Scenario::EMPTY; + scenario_ptr = std::make_shared(scenario); + EXPECT_FALSE(autoware::freespace_planner::utils::is_active(scenario_ptr)); + + scenario.current_scenario = Scenario::LANEDRIVING; + scenario_ptr = std::make_shared(scenario); + EXPECT_FALSE(autoware::freespace_planner::utils::is_active(scenario_ptr)); + + scenario.current_scenario = Scenario::PARKING; + scenario.activating_scenarios.push_back(Scenario::PARKING); + scenario_ptr = std::make_shared(scenario); + EXPECT_TRUE(autoware::freespace_planner::utils::is_active(scenario_ptr)); +} + +TEST(FreespacePlannerUtilsTest, testIsStopped) +{ + std::deque odometry_buffer; + const double th_stopped_velocity_mps = 0.01; + EXPECT_TRUE( + autoware::freespace_planner::utils::is_stopped(odometry_buffer, th_stopped_velocity_mps)); + + Odometry odometry; + odometry.twist.twist.linear.x = 0.0; + odometry_buffer.push_back(std::make_shared(odometry)); + EXPECT_TRUE( + autoware::freespace_planner::utils::is_stopped(odometry_buffer, th_stopped_velocity_mps)); + + odometry.twist.twist.linear.x = 1.0; + odometry_buffer.push_back(std::make_shared(odometry)); + EXPECT_FALSE( + autoware::freespace_planner::utils::is_stopped(odometry_buffer, th_stopped_velocity_mps)); +} + +TEST(FreespacePlannerUtilsTest, testGetReversingIndices) +{ + auto trajectory = get_trajectory(0ul); + auto reversing_indices = autoware::freespace_planner::utils::get_reversing_indices(trajectory); + EXPECT_EQ(reversing_indices.size(), 0ul); + + trajectory = get_trajectory(1ul); + reversing_indices = autoware::freespace_planner::utils::get_reversing_indices(trajectory); + EXPECT_EQ(reversing_indices.size(), 1ul); + if (!reversing_indices.empty()) { + EXPECT_EQ(reversing_indices.front(), 10ul); + } + + trajectory = get_trajectory(2ul); + reversing_indices = autoware::freespace_planner::utils::get_reversing_indices(trajectory); + EXPECT_EQ(reversing_indices.size(), 2ul); + if (!reversing_indices.empty()) { + EXPECT_EQ(reversing_indices.front(), 10ul); + EXPECT_EQ(reversing_indices.back(), 17ul); + } +} + +TEST(FreespacePlannerUtilsTest, testGetNextTargetIndex) +{ + auto trajectory = get_trajectory(0ul); + auto reversing_indices = autoware::freespace_planner::utils::get_reversing_indices(trajectory); + auto current_target_index = 0ul; + auto next_target_index = autoware::freespace_planner::utils::get_next_target_index( + trajectory.points.size(), reversing_indices, current_target_index); + EXPECT_EQ(next_target_index, trajectory.points.size() - 1); + + trajectory = get_trajectory(2ul); + reversing_indices = autoware::freespace_planner::utils::get_reversing_indices(trajectory); + ASSERT_EQ(reversing_indices.size(), 2ul); + + next_target_index = autoware::freespace_planner::utils::get_next_target_index( + trajectory.points.size(), reversing_indices, current_target_index); + EXPECT_EQ(next_target_index, reversing_indices.front()); + + current_target_index = reversing_indices.front(); + next_target_index = autoware::freespace_planner::utils::get_next_target_index( + trajectory.points.size(), reversing_indices, current_target_index); + EXPECT_EQ(next_target_index, reversing_indices.back()); +} + +TEST(FreespacePlannerUtilsTest, testGetPartialTrajectory) +{ + const auto trajectory = get_trajectory(2ul); + const auto reversing_indices = + autoware::freespace_planner::utils::get_reversing_indices(trajectory); + + ASSERT_EQ(reversing_indices.size(), 2ul); + + auto partial_traj = autoware::freespace_planner::utils::get_partial_trajectory( + trajectory, 0ul, reversing_indices.front()); + ASSERT_FALSE(partial_traj.points.empty()); + auto expected_size = reversing_indices.front() + 1ul; + EXPECT_EQ(partial_traj.points.size(), expected_size); + EXPECT_TRUE(partial_traj.points.front().longitudinal_velocity_mps > 0.0); + EXPECT_FLOAT_EQ(partial_traj.points.back().longitudinal_velocity_mps, 0.0); + + partial_traj = autoware::freespace_planner::utils::get_partial_trajectory( + trajectory, reversing_indices.front(), reversing_indices.back()); + ASSERT_FALSE(partial_traj.points.empty()); + expected_size = reversing_indices.back() - reversing_indices.front() + 1ul; + EXPECT_EQ(partial_traj.points.size(), expected_size); + EXPECT_TRUE(partial_traj.points.front().longitudinal_velocity_mps < 0.0); + EXPECT_FLOAT_EQ(partial_traj.points.back().longitudinal_velocity_mps, 0.0); +} + +TEST(FreespacePlannerUtilsTest, testCreateTrajectory) +{ + const auto waypoints = get_waypoints(1ul); + + geometry_msgs::msg::PoseStamped current_pose; + current_pose.pose.position.z = 1.0; + const double velocity = 1.0; + + const auto trajectory = + autoware::freespace_planner::utils::create_trajectory(current_pose, waypoints, velocity); + + ASSERT_FALSE(trajectory.points.empty()); + EXPECT_EQ(trajectory.points.size(), waypoints.waypoints.size()); + EXPECT_EQ(trajectory.points.front().pose.position.z, current_pose.pose.position.z); + EXPECT_EQ(trajectory.points.back().pose.position.z, current_pose.pose.position.z); + EXPECT_TRUE(trajectory.points.front().longitudinal_velocity_mps > 0.0); + EXPECT_TRUE(trajectory.points.back().longitudinal_velocity_mps < 0.0); +} + +TEST(FreespacePlannerUtilsTest, testCreateStopTrajectory) +{ + geometry_msgs::msg::PoseStamped current_pose; + current_pose.pose.position.x = 1.0; + + auto stop_traj = autoware::freespace_planner::utils::create_stop_trajectory(current_pose); + EXPECT_EQ(stop_traj.points.size(), 1ul); + if (!stop_traj.points.empty()) { + EXPECT_DOUBLE_EQ(stop_traj.points.front().pose.position.x, 1.0); + EXPECT_DOUBLE_EQ(stop_traj.points.front().longitudinal_velocity_mps, 0.0); + } + + const auto trajectory = get_trajectory(0ul); + stop_traj = autoware::freespace_planner::utils::create_stop_trajectory(trajectory); + EXPECT_EQ(stop_traj.points.size(), trajectory.points.size()); + if (!stop_traj.points.empty()) { + EXPECT_DOUBLE_EQ( + stop_traj.points.front().pose.position.x, trajectory.points.front().pose.position.x); + EXPECT_DOUBLE_EQ( + stop_traj.points.back().pose.position.x, trajectory.points.back().pose.position.x); + EXPECT_DOUBLE_EQ(stop_traj.points.front().longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(stop_traj.points.back().longitudinal_velocity_mps, 0.0); + } +} From 7cf1ffad44e480983ba24273dced8c720ab9ebc0 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Wed, 16 Oct 2024 10:22:31 +0900 Subject: [PATCH 249/701] test(freespace_planner): make unit tests for member functions (#9060) * refactor freespace planner Signed-off-by: mohammad alqudah * implement unit tests for freespace planner util functions Signed-off-by: mohammad alqudah * add freespace planner utils namespace Signed-off-by: mohammad alqudah * add function is_near_target to freespace planner utils Signed-off-by: mohammad alqudah * unit test for is_near_target function Signed-off-by: mohammad alqudah * implement unit tests for FreespacePlanner member functions Signed-off-by: mohammad alqudah * add docstring for functions Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .../autoware_freespace_planner/CMakeLists.txt | 1 + .../freespace_planner_node.hpp | 40 +++- .../test/test_freespace_planner.cpp | 226 ++++++++++++++++++ .../test/test_freespace_planner_utils.cpp | 19 ++ 4 files changed, 281 insertions(+), 5 deletions(-) create mode 100644 planning/autoware_freespace_planner/test/test_freespace_planner.cpp diff --git a/planning/autoware_freespace_planner/CMakeLists.txt b/planning/autoware_freespace_planner/CMakeLists.txt index 12ec72d53d854..5c9e5cf15f9b0 100644 --- a/planning/autoware_freespace_planner/CMakeLists.txt +++ b/planning/autoware_freespace_planner/CMakeLists.txt @@ -18,6 +18,7 @@ if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_${PROJECT_NAME} test/test_freespace_planner_node_interface.cpp test/test_freespace_planner_utils.cpp + test/test_freespace_planner.cpp ) target_link_libraries(test_${PROJECT_NAME} freespace_planner_node diff --git a/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp b/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp index b381f4dc1d0e7..55d7bf966b24f 100644 --- a/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp +++ b/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp @@ -64,6 +64,8 @@ #include #include +class TestFreespacePlanner; + namespace autoware::freespace_planner { using autoware::freespace_planning_algorithms::AbstractPlanningAlgorithm; @@ -159,22 +161,50 @@ class FreespacePlannerNode : public rclcpp::Node void onRoute(const LaneletRoute::ConstSharedPtr msg); void onOdometry(const Odometry::ConstSharedPtr msg); + void onTimer(); void updateData(); + void reset(); + void planTrajectory(); + void initializePlanningAlgorithm(); bool isDataReady(); - void onTimer(); - - void reset(); + /** + * @brief Checks if a new trajectory planning is required. + * @details A new trajectory planning is required if: + * - Current trajectory points are empty, or + * - Current trajectory collides with an object, or + * - Ego deviates from current trajectory + * @return true if any of the conditions are met. + */ bool isPlanRequired(); - void planTrajectory(); + + /** + * @brief Sets the target index along the current trajectory points + * @details if Ego is stopped AND is near the current target index along the trajectory, + * then will get the next target index along the trajectory. + * If the new target index is the same as the current target index, then + * is_complete_ is set to true, and will publish is_completed_msg. + * Otherwise will update prev_target_index_ and target_index_, to continue + * following the trajectory. + */ void updateTargetIndex(); - void initializePlanningAlgorithm(); + /** + * @brief Checks if current trajectory is colliding with an object. + * @details Will check if an obstacle exists along the current trajectory, + * if there is no obstacle along the current trajectory, will reset obs_found_time_. + * If an obstacle exists and the variable obs_found_time_ is not initialized, + * will initialize with the current time. + * @return true if there is an obstacle along current trajectory, AND duration since + * obs_found_time_ exceeds the parameter th_obstacle_time_sec + */ bool checkCurrentTrajectoryCollision(); TransformStamped getTransform(const std::string & from, const std::string & to); std::unique_ptr logger_configure_; + + friend class ::TestFreespacePlanner; }; } // namespace autoware::freespace_planner diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner.cpp new file mode 100644 index 0000000000000..37ea52c07734b --- /dev/null +++ b/planning/autoware_freespace_planner/test/test_freespace_planner.cpp @@ -0,0 +1,226 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/freespace_planner/freespace_planner_node.hpp" +#include "autoware/freespace_planner/utils.hpp" + +#include +#include +#include + +#include +#include + +#include +#include + +using autoware::freespace_planner::FreespacePlannerNode; +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; +using geometry_msgs::msg::Pose; +using nav_msgs::msg::OccupancyGrid; +using nav_msgs::msg::Odometry; + +class TestFreespacePlanner : public ::testing::Test +{ +public: + void SetUp() override + { + rclcpp::init(0, nullptr); + set_up_node(); + set_up_costmap(); + set_up_trajectory(); + } + + void set_up_node() + { + auto node_options = rclcpp::NodeOptions{}; + const auto autoware_test_utils_dir = + ament_index_cpp::get_package_share_directory("autoware_test_utils"); + const auto freespace_planner_dir = + ament_index_cpp::get_package_share_directory("autoware_freespace_planner"); + node_options.arguments( + {"--ros-args", "--params-file", + autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file", + freespace_planner_dir + "/config/freespace_planner.param.yaml"}); + freespace_planner_ = std::make_shared(node_options); + } + + void set_up_costmap() + { + const size_t width = 80; + const size_t height = 80; + const double resolution = 0.5; + costmap_ = autoware::test_utils::makeCostMapMsg(width, height, resolution); + } + + void set_up_trajectory() + { + trajectory_.points.clear(); + + const double y = 0.5 * costmap_.info.height * costmap_.info.resolution; + + // forward trajectory for 20.0 m + double x = 5.0; + for (; x < 25.0 + std::numeric_limits::epsilon(); x += costmap_.info.resolution) { + TrajectoryPoint point; + point.pose.position.x = x; + point.pose.position.y = y; + point.longitudinal_velocity_mps = 1.0; + trajectory_.points.push_back(point); + } + + // backward trajectory for 10.0 m + x = trajectory_.points.back().pose.position.x - costmap_.info.resolution; + for (; x > 15.0 - std::numeric_limits::epsilon(); x -= costmap_.info.resolution) { + TrajectoryPoint point; + point.pose.position.x = x; + point.pose.position.y = y; + point.longitudinal_velocity_mps = -1.0; + trajectory_.points.push_back(point); + } + + // forward trajectory for 20.0 m + x = trajectory_.points.back().pose.position.x + costmap_.info.resolution; + for (; x < 35.0 + std::numeric_limits::epsilon(); x += costmap_.info.resolution) { + TrajectoryPoint point; + point.pose.position.x = x; + point.pose.position.y = y; + point.longitudinal_velocity_mps = 1.0; + trajectory_.points.push_back(point); + } + + reversing_indices = autoware::freespace_planner::utils::get_reversing_indices(trajectory_); + } + + [[nodiscard]] OccupancyGrid get_blocked_costmap() const + { + auto costmap = costmap_; + const auto block_y = 0.5 * costmap.info.height * costmap.info.resolution; + const auto block_x = 20.0; + const int index_x = std::round(block_x / costmap.info.resolution); + const int index_y = std::round(block_y / costmap.info.resolution); + const auto id = index_y * costmap.info.width + index_x; + costmap.data.at(id) = 100; + return costmap; + } + + bool test_is_plan_required( + const bool empty_traj = false, const bool colliding = false, const bool out_of_course = false) + { + freespace_planner_->trajectory_ = Trajectory(); + freespace_planner_->partial_trajectory_ = Trajectory(); + freespace_planner_->reversing_indices_.clear(); + freespace_planner_->obs_found_time_ = {}; + + freespace_planner_->occupancy_grid_ = std::make_shared(costmap_); + + if (empty_traj) { + return freespace_planner_->isPlanRequired(); + } + + freespace_planner_->trajectory_ = trajectory_; + freespace_planner_->reversing_indices_ = reversing_indices; + freespace_planner_->partial_trajectory_ = + autoware::freespace_planner::utils::get_partial_trajectory( + trajectory_, 0, reversing_indices.front()); + freespace_planner_->current_pose_.pose = trajectory_.points.front().pose; + + if (colliding) { + freespace_planner_->obs_found_time_ = freespace_planner_->get_clock()->now(); + freespace_planner_->occupancy_grid_ = std::make_shared(get_blocked_costmap()); + std::this_thread::sleep_for(std::chrono::seconds(1)); + } + + if (out_of_course) { + freespace_planner_->current_pose_.pose.position.y += + (freespace_planner_->node_param_.th_course_out_distance_m + 0.1); + } + + return freespace_planner_->isPlanRequired(); + } + + std::pair test_update_target_index( + const bool stopped = false, const bool near_target = false) + { + freespace_planner_->trajectory_ = trajectory_; + freespace_planner_->reversing_indices_ = reversing_indices; + freespace_planner_->prev_target_index_ = 0; + freespace_planner_->target_index_ = autoware::freespace_planner::utils::get_next_target_index( + trajectory_.points.size(), reversing_indices, freespace_planner_->prev_target_index_); + freespace_planner_->partial_trajectory_ = + autoware::freespace_planner::utils::get_partial_trajectory( + trajectory_, freespace_planner_->prev_target_index_, freespace_planner_->target_index_); + + Odometry odom; + odom.pose.pose = trajectory_.points.front().pose; + odom.twist.twist.linear.x = 1.0; + + if (stopped) odom.twist.twist.linear.x = 0.0; + if (near_target) odom.pose.pose = trajectory_.points.at(freespace_planner_->target_index_).pose; + + freespace_planner_->odom_buffer_.clear(); + freespace_planner_->odom_ = std::make_shared(odom); + freespace_planner_->odom_buffer_.push_back(freespace_planner_->odom_); + freespace_planner_->current_pose_.pose = odom.pose.pose; + + freespace_planner_->updateTargetIndex(); + + return {freespace_planner_->prev_target_index_, freespace_planner_->target_index_}; + } + + void TearDown() override + { + freespace_planner_ = nullptr; + trajectory_ = Trajectory(); + costmap_ = OccupancyGrid(); + rclcpp::shutdown(); + } + + std::shared_ptr freespace_planner_; + OccupancyGrid costmap_; + Trajectory trajectory_; + std::vector reversing_indices; +}; + +TEST_F(TestFreespacePlanner, testIsPlanRequired) +{ + EXPECT_FALSE(test_is_plan_required()); + // test with empty current trajectory + EXPECT_TRUE(test_is_plan_required(true)); + // test with blocked trajectory + EXPECT_TRUE(test_is_plan_required(false, true)); + // test with deviation from trajectory + EXPECT_TRUE(test_is_plan_required(false, false, true)); +} + +TEST_F(TestFreespacePlanner, testUpdateTargetIndex) +{ + size_t prev_target_index, target_index; + std::tie(prev_target_index, target_index) = test_update_target_index(); + EXPECT_EQ(prev_target_index, 0ul); + EXPECT_EQ(target_index, reversing_indices.front()); + + std::tie(prev_target_index, target_index) = test_update_target_index(true); + EXPECT_EQ(prev_target_index, 0ul); + EXPECT_EQ(target_index, reversing_indices.front()); + + std::tie(prev_target_index, target_index) = test_update_target_index(false, true); + EXPECT_EQ(prev_target_index, 0ul); + EXPECT_EQ(target_index, reversing_indices.front()); + + std::tie(prev_target_index, target_index) = test_update_target_index(true, true); + EXPECT_EQ(prev_target_index, reversing_indices.front()); + EXPECT_EQ(target_index, *std::next(reversing_indices.begin())); +} diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp index bccff30e11583..071f7e2cfcaa0 100644 --- a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp @@ -148,6 +148,25 @@ TEST(FreespacePlannerUtilsTest, testIsStopped) autoware::freespace_planner::utils::is_stopped(odometry_buffer, th_stopped_velocity_mps)); } +TEST(FreespacePlannerUtilsTest, testIsNearTarget) +{ + const auto trajectory = get_trajectory(0ul); + const auto target_pose = trajectory.points.back().pose; + + auto current_pose = target_pose; + current_pose.position.x -= 1.0; + current_pose.position.y += 1.0; + + const double th_distance_m = 0.5; + + EXPECT_FALSE( + autoware::freespace_planner::utils::is_near_target(target_pose, current_pose, th_distance_m)); + + current_pose.position.x += 0.6; + EXPECT_TRUE( + autoware::freespace_planner::utils::is_near_target(target_pose, current_pose, th_distance_m)); +} + TEST(FreespacePlannerUtilsTest, testGetReversingIndices) { auto trajectory = get_trajectory(0ul); From a3c7ede30310891996a7249fc60b3405fc913567 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 16 Oct 2024 10:40:31 +0900 Subject: [PATCH 250/701] test(bpp_common): add test for objects filtering except for lanelet using functions (#9049) * add test for objects filtering except for lanelet using functions Signed-off-by: Go Sakayori * remove unnecessary include file Signed-off-by: Go Sakayori * add doxygen Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori --- .../CMakeLists.txt | 1 + .../path_safety_checker/objects_filtering.hpp | 32 +- .../path_safety_checker/objects_filtering.cpp | 2 + .../test/test_objects_filtering.cpp | 382 ++++++++++++++++++ 4 files changed, 416 insertions(+), 1 deletion(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index e24abb51de6fc..d3f76ed904244 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -60,6 +60,7 @@ if(BUILD_TESTING) ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_safety_check test/test_safety_check.cpp + test/test_objects_filtering.cpp ) target_link_libraries(test_${PROJECT_NAME}_safety_check diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp index 3d7532ba5b244..d9873975dabe1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp @@ -34,14 +34,44 @@ namespace autoware::behavior_path_planner::utils::path_safety_checker::filter using autoware_perception_msgs::msg::PredictedObject; using tier4_planning_msgs::msg::PathPointWithLaneId; +/** + * @brief Filters object based on velocity. + * + * @param object The predicted object to filter. + * @param velocity_threshold Lower bound + * @param max_velocity Upper bound + * @return Returns true when the object is within a certain velocity range. + */ bool velocity_filter( const PredictedObject & object, double velocity_threshold, double max_velocity); +/** + * @brief Filters object based on position. + * + * @param object The predicted object to filter. + * @param path_points Ego path + * @param current_pose Ego current pose + * @param forward_distance Upper bound for relative distance + * @param backward_distance Lower bound for relative distance + * @return Returns true when the object is within a certain distance. + */ bool position_filter( - PredictedObject & object, const std::vector & path_points, + const PredictedObject & object, const std::vector & path_points, const geometry_msgs::msg::Point & current_pose, const double forward_distance, const double backward_distance); +/** + * @brief Filters object by searching within a radius. + * + * @param object The predicted object to filter. + * @param reference_point Reference point + * @param search_radius Search radius + * @return Returns true when the object is within radius. + */ +bool is_within_circle( + const geometry_msgs::msg::Point & object_pos, const geometry_msgs::msg::Point & reference_point, + const double search_radius); + } // namespace autoware::behavior_path_planner::utils::path_safety_checker::filter namespace autoware::behavior_path_planner::utils::path_safety_checker diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp index f183f5160cea8..80936b655cc48 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp @@ -39,6 +39,8 @@ bool position_filter( const geometry_msgs::msg::Point & current_pose, const double forward_distance, const double backward_distance) { + if (path_points.empty()) return false; + const auto dist_ego_to_obj = autoware::motion_utils::calcSignedArcLength( path_points, current_pose, object.kinematics.initial_pose_with_covariance.pose.position); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp new file mode 100644 index 0000000000000..a2058db51c9ea --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp @@ -0,0 +1,382 @@ +// Copyright 2024 Tier IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp" +#include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" + +#include +#include + +#include +#include + +using PredictedObject = autoware_perception_msgs::msg::PredictedObject; +using PredictedObjects = autoware_perception_msgs::msg::PredictedObjects; +using ObjectClassification = autoware_perception_msgs::msg::ObjectClassification; +using PoseWithCovariance = geometry_msgs::msg::PoseWithCovariance; +using TwistWithCovariance = geometry_msgs::msg::TwistWithCovariance; +using autoware_perception_msgs::msg::PredictedPath; +using autoware_planning_msgs::msg::Trajectory; +using tier4_planning_msgs::msg::PathPointWithLaneId; + +using autoware::test_utils::createPose; +using autoware::test_utils::generateTrajectory; +using autoware::universe_utils::createPoint; + +constexpr double epsilon = 1e-6; + +std::vector trajectory_to_path_with_lane_id(const Trajectory & trajectory) +{ + std::vector path_with_lane_id; + PathPointWithLaneId path_point_with_lane_id; + for (const auto & point : trajectory.points) { + path_point_with_lane_id.point.pose = point.pose; + path_point_with_lane_id.point.lateral_velocity_mps = point.lateral_velocity_mps; + path_point_with_lane_id.point.longitudinal_velocity_mps = point.longitudinal_velocity_mps; + path_point_with_lane_id.point.heading_rate_rps = point.heading_rate_rps; + path_with_lane_id.push_back(path_point_with_lane_id); + } + return path_with_lane_id; +} + +PredictedPath trajectory_to_predicted_path(const Trajectory & trajectory) +{ + PredictedPath path; + geometry_msgs::msg::Pose pose; + for (const auto & point : trajectory.points) { + pose = point.pose; + path.path.push_back(pose); + } + return path; +} + +TEST(BehaviorPathPlanningObjectsFiltering, velocity_filter) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::filter::velocity_filter; + + PredictedObject predicted_obj; + predicted_obj.kinematics.initial_twist_with_covariance.twist.linear.x = 4.0; + predicted_obj.kinematics.initial_twist_with_covariance.twist.linear.y = 3.0; + + EXPECT_TRUE(velocity_filter(predicted_obj, 4.0, 10.0)); + EXPECT_FALSE(velocity_filter(predicted_obj, 6.0, 10.0)); + EXPECT_FALSE(velocity_filter(predicted_obj, 2.0, 4.9)); + EXPECT_FALSE(velocity_filter(predicted_obj, 6.0, 2.0)); +} + +TEST(BehaviorPathPlanningObjectsFiltering, position_filter) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::filter::position_filter; + + auto current_pos = createPoint(0.0, 0.0, 0.0); + PredictedObject object; + object.kinematics.initial_pose_with_covariance.pose = createPose(10.0, 0.0, 0.0, 0.0, 0.0, 0.0); + auto straight_trajectory = generateTrajectory(20, 1.0); + double forward_distance = 20.0; + double backward_distance = 1.0; + + std::vector empty_path; + auto straight_path = trajectory_to_path_with_lane_id(generateTrajectory(20, 1.0)); + auto curved_path = + trajectory_to_path_with_lane_id(generateTrajectory(20, 1.0, 0.0, 0.0, 0.01)); + + EXPECT_TRUE( + position_filter(object, straight_path, current_pos, forward_distance, -backward_distance)); + EXPECT_FALSE( + position_filter(object, empty_path, current_pos, forward_distance, -backward_distance)); + EXPECT_TRUE( + position_filter(object, curved_path, current_pos, forward_distance, -backward_distance)); + + forward_distance = 2.0; + EXPECT_FALSE( + position_filter(object, straight_path, current_pos, forward_distance, -backward_distance)); + EXPECT_FALSE( + position_filter(object, curved_path, current_pos, forward_distance, -backward_distance)); +} + +TEST(BehaviorPathPlanningObjectsFiltering, is_within_circle) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::filter::is_within_circle; + + auto object_pos = createPoint(0.0, 0.0, 0.0); + auto ref_point = createPoint(0.0, 0.0, 0.0); + double search_radius = 1.0; + + EXPECT_TRUE(is_within_circle(object_pos, ref_point, search_radius)); + + object_pos.x = 2.0; + object_pos.x = 2.0; + + EXPECT_FALSE(is_within_circle(object_pos, ref_point, search_radius)); + + ref_point.x = 2.5; + ref_point.y = 2.4; + object_pos.x = 3.0; + object_pos.y = 3.0; + + EXPECT_TRUE(is_within_circle(object_pos, ref_point, search_radius)); +} + +TEST(BehaviorPathPlanningObjectsFiltering, filterObjectsByVelocity) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::filterObjectsByVelocity; + + PredictedObjects objects; + PredictedObject slow_obj; + PredictedObject fast_obj; + double vel_thr = 5.0; + + slow_obj.object_id = autoware::universe_utils::generateUUID(); + slow_obj.kinematics.initial_twist_with_covariance.twist.linear.x = 2.0; + slow_obj.kinematics.initial_twist_with_covariance.twist.linear.y = 0.0; + objects.objects.push_back(slow_obj); + + fast_obj.object_id = autoware::universe_utils::generateUUID(); + fast_obj.kinematics.initial_twist_with_covariance.twist.linear.x = 10.0; + fast_obj.kinematics.initial_twist_with_covariance.twist.linear.y = 0.0; + objects.objects.push_back(fast_obj); + + auto filtered_obj = filterObjectsByVelocity(objects, vel_thr, false); + ASSERT_FALSE(filtered_obj.objects.empty()); + EXPECT_EQ(filtered_obj.objects.front().object_id, slow_obj.object_id); + + filtered_obj = filterObjectsByVelocity(objects, vel_thr, true); + ASSERT_FALSE(filtered_obj.objects.empty()); + EXPECT_EQ(filtered_obj.objects.front().object_id, fast_obj.object_id); + + vel_thr = 0.0; + filtered_obj = filterObjectsByVelocity(objects, vel_thr, false); + EXPECT_TRUE(filtered_obj.objects.empty()); + + filtered_obj = filterObjectsByVelocity(objects, vel_thr, true); + EXPECT_EQ(filtered_obj.objects.size(), 2); +} + +TEST(BehaviorPathPlanningObjectsFiltering, filterObjectsByPosition) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::filterObjectsByPosition; + using autoware::behavior_path_planner::utils::path_safety_checker::filterObjectsWithinRadius; + + auto current_pos = createPoint(0.0, 0.0, 0.0); + auto straight_path = trajectory_to_path_with_lane_id(generateTrajectory(20, 1.0)); + double forward_distance = 10.0; + double backward_distance = 1.0; + double search_radius = 10.0; + + PredictedObjects objects; + PredictedObject far_obj; + PredictedObject near_obj; + + near_obj.object_id = autoware::universe_utils::generateUUID(); + near_obj.kinematics.initial_pose_with_covariance.pose = createPose(5.0, 0.0, 0.0, 0.0, 0.0, 0.0); + objects.objects.push_back(near_obj); + auto target_uuid = near_obj.object_id; + + far_obj.object_id = autoware::universe_utils::generateUUID(); + far_obj.kinematics.initial_pose_with_covariance.pose = createPose(50.0, 0.0, 0.0, 0.0, 0.0, 0.0); + objects.objects.push_back(far_obj); + + filterObjectsByPosition(objects, straight_path, current_pos, forward_distance, backward_distance); + + ASSERT_FALSE(objects.objects.empty()); + EXPECT_EQ(objects.objects.front().object_id, target_uuid); + + objects.objects.clear(); + objects.objects.push_back(far_obj); + objects.objects.push_back(near_obj); + + filterObjectsWithinRadius(objects, current_pos, search_radius); + ASSERT_FALSE(objects.objects.empty()); + EXPECT_EQ(objects.objects.front().object_id, target_uuid); +} + +TEST(BehaviorPathPlanningObjectsFiltering, createPredictedPath) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::createPredictedPath; + + std::shared_ptr< + autoware::behavior_path_planner::utils::path_safety_checker::EgoPredictedPathParams> + param = std::make_shared< + autoware::behavior_path_planner::utils::path_safety_checker::EgoPredictedPathParams>(); + + param->min_velocity = -1.0; + param->acceleration = 0.1; + param->max_velocity = 5.0; + param->time_horizon_for_front_object = 2.0; + param->time_horizon_for_rear_object = 1.0; + param->time_resolution = 0.5; + param->delay_until_departure = 0.1; + + auto vehicle_pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + + std::vector empty_path; + auto predicted_path = createPredictedPath(param, empty_path, vehicle_pose, 0.0, 0, false, false); + EXPECT_TRUE(predicted_path.empty()); + + size_t i = 0; + auto straight_path = trajectory_to_path_with_lane_id(generateTrajectory(20, 1.0)); + predicted_path = createPredictedPath(param, straight_path, vehicle_pose, 0.0, 0, true, false); + + ASSERT_EQ(predicted_path.size(), 4); + for (const auto & point : predicted_path) { + auto time = + std::max(0.0, param->time_resolution * static_cast(i) - param->delay_until_departure); + EXPECT_NEAR(point.time, i * param->time_resolution, epsilon); + EXPECT_NEAR(point.pose.position.x, std::pow(time, 2.0) * param->acceleration * 0.5, epsilon); + EXPECT_NEAR(point.velocity, time * param->acceleration, epsilon); + i++; + } + + i = 0; + predicted_path = createPredictedPath(param, straight_path, vehicle_pose, 0.0, 0, false, false); + + ASSERT_EQ(predicted_path.size(), 2); + for (const auto & point : predicted_path) { + auto time = + std::max(0.0, param->time_resolution * static_cast(i) - param->delay_until_departure); + EXPECT_NEAR(point.time, i * param->time_resolution, epsilon); + EXPECT_NEAR(point.pose.position.x, std::pow(time, 2.0) * param->acceleration * 0.5, epsilon); + EXPECT_NEAR(point.velocity, time * param->acceleration, epsilon); + i++; + } +} + +TEST(BehaviorPathPlanningObjectsFiltering, transform) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::transform; + auto velocity = autoware::universe_utils::createVector3(2.0, 0.0, 0.0); + auto angular = autoware::universe_utils::createVector3(0.0, 0.0, 0.0); + + PredictedObject obj; + obj.object_id = autoware::universe_utils::generateUUID(); + obj.kinematics.initial_pose_with_covariance.pose = createPose(2.0, 0.0, 0.0, 0.0, 0.0, 0.0); + obj.kinematics.initial_twist_with_covariance.twist = + autoware::universe_utils::createTwist(velocity, angular); + autoware_perception_msgs::msg::PredictedPath predicted_path; + auto straight_path = trajectory_to_predicted_path(generateTrajectory(5, 1.0)); + straight_path.confidence = 0.6; + straight_path.time_step.sec = 1.0; + obj.kinematics.predicted_paths.push_back(straight_path); + obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + obj.shape.dimensions.x = 2.0; + obj.shape.dimensions.y = 1.0; + obj.shape.dimensions.z = 1.0; + + double safety_check_time_horizon = 2.0; + double safety_check_time_resolution = 0.5; + + auto extended_obj = transform(obj, safety_check_time_horizon, safety_check_time_resolution); + EXPECT_NEAR( + extended_obj.predicted_paths.front().confidence, + obj.kinematics.predicted_paths.front().confidence, epsilon); + ASSERT_FALSE(extended_obj.predicted_paths.empty()); + EXPECT_EQ(extended_obj.predicted_paths.front().path.size(), 5); + + size_t i = 0; + for (const auto & point : extended_obj.predicted_paths.front().path) { + EXPECT_NEAR(point.pose.position.x, i * 0.5, epsilon); + EXPECT_NEAR(point.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(point.velocity, velocity.x, epsilon); + ASSERT_EQ(point.poly.outer().size(), 5); + + EXPECT_NEAR( + point.poly.outer().at(0).x(), point.pose.position.x + 0.5 * obj.shape.dimensions.x, epsilon); + EXPECT_NEAR( + point.poly.outer().at(0).y(), point.pose.position.y + 0.5 * obj.shape.dimensions.y, epsilon); + + EXPECT_NEAR( + point.poly.outer().at(1).x(), point.pose.position.x + 0.5 * obj.shape.dimensions.x, epsilon); + EXPECT_NEAR( + point.poly.outer().at(1).y(), point.pose.position.y - 0.5 * obj.shape.dimensions.y, epsilon); + + EXPECT_NEAR( + point.poly.outer().at(2).x(), point.pose.position.x - 0.5 * obj.shape.dimensions.x, epsilon); + EXPECT_NEAR( + point.poly.outer().at(2).y(), point.pose.position.y - 0.5 * obj.shape.dimensions.y, epsilon); + + EXPECT_NEAR( + point.poly.outer().at(3).x(), point.pose.position.x - 0.5 * obj.shape.dimensions.x, epsilon); + EXPECT_NEAR( + point.poly.outer().at(3).y(), point.pose.position.y + 0.5 * obj.shape.dimensions.y, epsilon); + i++; + } +} + +TEST(BehaviorPathPlanningObjectsFiltering, filterObjectsByClass) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::filterObjectsByClass; + + PredictedObjects objects; + PredictedObject car; + PredictedObject truck; + PredictedObject pedestrian; + ObjectClassification classification; + autoware::behavior_path_planner::utils::path_safety_checker::ObjectTypesToCheck types_to_check; + + car.object_id = autoware::universe_utils::generateUUID(); + classification.label = ObjectClassification::Type::CAR; + classification.probability = 1.0; + car.classification.push_back(classification); + objects.objects.push_back(car); + + truck.object_id = autoware::universe_utils::generateUUID(); + classification.label = ObjectClassification::Type::TRUCK; + classification.probability = 1.0; + truck.classification.push_back(classification); + objects.objects.push_back(truck); + + pedestrian.object_id = autoware::universe_utils::generateUUID(); + classification.label = ObjectClassification::Type::PEDESTRIAN; + classification.probability = 1.0; + pedestrian.classification.push_back(classification); + objects.objects.push_back(pedestrian); + + filterObjectsByClass(objects, types_to_check); + EXPECT_EQ(objects.objects.size(), 3); + + types_to_check.check_pedestrian = false; + filterObjectsByClass(objects, types_to_check); + EXPECT_EQ(objects.objects.size(), 2); + + types_to_check.check_car = false; + types_to_check.check_truck = false; + filterObjectsByClass(objects, types_to_check); + EXPECT_TRUE(objects.objects.empty()); +} + +TEST(BehaviorPathPlanningObjectsFiltering, isTargetObjectType) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::isTargetObjectType; + + autoware::behavior_path_planner::utils::path_safety_checker::ObjectTypesToCheck types_to_check; + PredictedObject obj; + ObjectClassification classification; + classification.label = ObjectClassification::Type::CAR; + classification.probability = 0.6; + obj.classification.push_back(classification); + classification.label = ObjectClassification::Type::TRUCK; + classification.probability = 0.4; + obj.classification.push_back(classification); + + EXPECT_TRUE(isTargetObjectType(obj, types_to_check)); + types_to_check.check_car = false; + EXPECT_FALSE(isTargetObjectType(obj, types_to_check)); + + obj.classification.front().probability = 0.4; + obj.classification.at(1).probability = 0.6; + EXPECT_TRUE(isTargetObjectType(obj, types_to_check)); + + obj.classification.at(1).label = ObjectClassification::Type::PEDESTRIAN; + EXPECT_TRUE(isTargetObjectType(obj, types_to_check)); +} From 23f4c8646764969eecdd1694bca9bed3b0ec9e08 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Wed, 16 Oct 2024 16:30:35 +0900 Subject: [PATCH 251/701] refactor(obstacle_collision_checker): move to autoware namespace (#9047) Signed-off-by: Maxime CLEMENT --- .github/CODEOWNERS | 2 +- .../CMakeLists.txt | 7 +- .../README.md | 0 .../obstacle_collision_checker.param.yaml | 0 .../obstacle_collision_checker/debug.hpp | 32 +++++++ .../obstacle_collision_checker.hpp | 10 +-- .../obstacle_collision_checker_node.hpp | 16 ++-- .../obstacle_collision_checker.launch.xml | 4 +- .../package.xml | 2 +- .../autoware_obstacle_collision_checker.json} | 0 .../src/debug.cpp | 89 +++++++++++++++++++ .../src}/obstacle_collision_checker.cpp | 6 +- .../src}/obstacle_collision_checker_node.cpp | 88 ++---------------- .../test/test_obstacle_collision_checker.cpp | 7 +- .../launch/control.launch.xml | 2 +- 15 files changed, 155 insertions(+), 110 deletions(-) rename control/{obstacle_collision_checker => autoware_obstacle_collision_checker}/CMakeLists.txt (72%) rename control/{obstacle_collision_checker => autoware_obstacle_collision_checker}/README.md (100%) rename control/{obstacle_collision_checker => autoware_obstacle_collision_checker}/config/obstacle_collision_checker.param.yaml (100%) create mode 100644 control/autoware_obstacle_collision_checker/include/autoware/obstacle_collision_checker/debug.hpp rename control/{obstacle_collision_checker/include => autoware_obstacle_collision_checker/include/autoware}/obstacle_collision_checker/obstacle_collision_checker.hpp (90%) rename control/{obstacle_collision_checker/include => autoware_obstacle_collision_checker/include/autoware}/obstacle_collision_checker/obstacle_collision_checker_node.hpp (87%) rename control/{obstacle_collision_checker => autoware_obstacle_collision_checker}/launch/obstacle_collision_checker.launch.xml (79%) rename control/{obstacle_collision_checker => autoware_obstacle_collision_checker}/package.xml (97%) rename control/{obstacle_collision_checker/schema/obstacle_collision_checker.json => autoware_obstacle_collision_checker/schema/autoware_obstacle_collision_checker.json} (100%) create mode 100644 control/autoware_obstacle_collision_checker/src/debug.cpp rename control/{obstacle_collision_checker/src/obstacle_collision_checker_node => autoware_obstacle_collision_checker/src}/obstacle_collision_checker.cpp (98%) rename control/{obstacle_collision_checker/src/obstacle_collision_checker_node => autoware_obstacle_collision_checker/src}/obstacle_collision_checker_node.cpp (74%) rename control/{obstacle_collision_checker => autoware_obstacle_collision_checker}/test/test_obstacle_collision_checker.cpp (97%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index b00fe3371d11f..e03ca0b8ad30f 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -58,7 +58,7 @@ control/autoware_trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.m control/autoware_trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +control/autoware_obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/predicted_path_checker/** berkay@leodrive.ai evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp evaluator/autoware_evaluator_utils/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp diff --git a/control/obstacle_collision_checker/CMakeLists.txt b/control/autoware_obstacle_collision_checker/CMakeLists.txt similarity index 72% rename from control/obstacle_collision_checker/CMakeLists.txt rename to control/autoware_obstacle_collision_checker/CMakeLists.txt index a57aeb093332b..cfe2546617140 100644 --- a/control/obstacle_collision_checker/CMakeLists.txt +++ b/control/autoware_obstacle_collision_checker/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(obstacle_collision_checker) +project(autoware_obstacle_collision_checker) find_package(autoware_cmake REQUIRED) autoware_package() @@ -12,12 +12,11 @@ include_directories( ) ament_auto_add_library(obstacle_collision_checker SHARED - src/obstacle_collision_checker_node/obstacle_collision_checker.cpp - src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp + DIRECTORY src ) rclcpp_components_register_node(obstacle_collision_checker - PLUGIN "obstacle_collision_checker::ObstacleCollisionCheckerNode" + PLUGIN "autoware::obstacle_collision_checker::ObstacleCollisionCheckerNode" EXECUTABLE obstacle_collision_checker_node ) diff --git a/control/obstacle_collision_checker/README.md b/control/autoware_obstacle_collision_checker/README.md similarity index 100% rename from control/obstacle_collision_checker/README.md rename to control/autoware_obstacle_collision_checker/README.md diff --git a/control/obstacle_collision_checker/config/obstacle_collision_checker.param.yaml b/control/autoware_obstacle_collision_checker/config/obstacle_collision_checker.param.yaml similarity index 100% rename from control/obstacle_collision_checker/config/obstacle_collision_checker.param.yaml rename to control/autoware_obstacle_collision_checker/config/obstacle_collision_checker.param.yaml diff --git a/control/autoware_obstacle_collision_checker/include/autoware/obstacle_collision_checker/debug.hpp b/control/autoware_obstacle_collision_checker/include/autoware/obstacle_collision_checker/debug.hpp new file mode 100644 index 0000000000000..017e64ab15e02 --- /dev/null +++ b/control/autoware_obstacle_collision_checker/include/autoware/obstacle_collision_checker/debug.hpp @@ -0,0 +1,32 @@ +// Copyright 2024 Tier IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__OBSTACLE_COLLISION_CHECKER__DEBUG_HPP_ +#define AUTOWARE__OBSTACLE_COLLISION_CHECKER__DEBUG_HPP_ + +#include "autoware/obstacle_collision_checker/obstacle_collision_checker.hpp" + +#include + +namespace autoware::obstacle_collision_checker +{ +/// @brief create debug markers of the given output +/// @param output structure with output data calculated by the obstacle_collision_checker module +/// @param base_link_z current z value of the base_link in map frame +/// @param now current time +/// @return debug markers +visualization_msgs::msg::MarkerArray create_marker_array( + const Output & output, const double base_link_z, const rclcpp::Time & now); +} // namespace autoware::obstacle_collision_checker +#endif // AUTOWARE__OBSTACLE_COLLISION_CHECKER__DEBUG_HPP_ diff --git a/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp b/control/autoware_obstacle_collision_checker/include/autoware/obstacle_collision_checker/obstacle_collision_checker.hpp similarity index 90% rename from control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp rename to control/autoware_obstacle_collision_checker/include/autoware/obstacle_collision_checker/obstacle_collision_checker.hpp index dd09c8ee34ce8..2a3d8cf8778b2 100644 --- a/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp +++ b/control/autoware_obstacle_collision_checker/include/autoware/obstacle_collision_checker/obstacle_collision_checker.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_HPP_ -#define OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_HPP_ +#ifndef AUTOWARE__OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_HPP_ +#define AUTOWARE__OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_HPP_ #include @@ -30,7 +30,7 @@ #include #include -namespace obstacle_collision_checker +namespace autoware::obstacle_collision_checker { using autoware::universe_utils::LinearRing2d; @@ -89,6 +89,6 @@ bool will_collide( bool has_collision( const pcl::PointCloud & obstacle_pointcloud, const LinearRing2d & vehicle_footprint); -} // namespace obstacle_collision_checker +} // namespace autoware::obstacle_collision_checker -#endif // OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_HPP_ +#endif // AUTOWARE__OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_HPP_ diff --git a/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker_node.hpp b/control/autoware_obstacle_collision_checker/include/autoware/obstacle_collision_checker/obstacle_collision_checker_node.hpp similarity index 87% rename from control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker_node.hpp rename to control/autoware_obstacle_collision_checker/include/autoware/obstacle_collision_checker/obstacle_collision_checker_node.hpp index 94f08136e064d..86fe8e06872b9 100644 --- a/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker_node.hpp +++ b/control/autoware_obstacle_collision_checker/include/autoware/obstacle_collision_checker/obstacle_collision_checker_node.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_NODE_HPP_ -#define OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_NODE_HPP_ +#ifndef AUTOWARE__OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_NODE_HPP_ +#define AUTOWARE__OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_NODE_HPP_ -#include "obstacle_collision_checker/obstacle_collision_checker.hpp" +#include "autoware/obstacle_collision_checker/obstacle_collision_checker.hpp" #include #include @@ -30,12 +30,11 @@ #include #include #include -#include #include #include -namespace obstacle_collision_checker +namespace autoware::obstacle_collision_checker { struct NodeParam { @@ -101,10 +100,7 @@ class ObstacleCollisionCheckerNode : public rclcpp::Node diagnostic_updater::Updater updater_; void check_lane_departure(diagnostic_updater::DiagnosticStatusWrapper & stat); - - // Visualization - visualization_msgs::msg::MarkerArray create_marker_array() const; }; -} // namespace obstacle_collision_checker +} // namespace autoware::obstacle_collision_checker -#endif // OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_NODE_HPP_ +#endif // AUTOWARE__OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_NODE_HPP_ diff --git a/control/obstacle_collision_checker/launch/obstacle_collision_checker.launch.xml b/control/autoware_obstacle_collision_checker/launch/obstacle_collision_checker.launch.xml similarity index 79% rename from control/obstacle_collision_checker/launch/obstacle_collision_checker.launch.xml rename to control/autoware_obstacle_collision_checker/launch/obstacle_collision_checker.launch.xml index f82384534e040..c2cb75415a0f3 100755 --- a/control/obstacle_collision_checker/launch/obstacle_collision_checker.launch.xml +++ b/control/autoware_obstacle_collision_checker/launch/obstacle_collision_checker.launch.xml @@ -4,11 +4,11 @@ - + - + diff --git a/control/obstacle_collision_checker/package.xml b/control/autoware_obstacle_collision_checker/package.xml similarity index 97% rename from control/obstacle_collision_checker/package.xml rename to control/autoware_obstacle_collision_checker/package.xml index 45b142fe601fe..9dc29ce6fd387 100644 --- a/control/obstacle_collision_checker/package.xml +++ b/control/autoware_obstacle_collision_checker/package.xml @@ -1,7 +1,7 @@ - obstacle_collision_checker + autoware_obstacle_collision_checker 0.1.0 The obstacle_collision_checker package Taiki Tanaka diff --git a/control/obstacle_collision_checker/schema/obstacle_collision_checker.json b/control/autoware_obstacle_collision_checker/schema/autoware_obstacle_collision_checker.json similarity index 100% rename from control/obstacle_collision_checker/schema/obstacle_collision_checker.json rename to control/autoware_obstacle_collision_checker/schema/autoware_obstacle_collision_checker.json diff --git a/control/autoware_obstacle_collision_checker/src/debug.cpp b/control/autoware_obstacle_collision_checker/src/debug.cpp new file mode 100644 index 0000000000000..ac847264d3b66 --- /dev/null +++ b/control/autoware_obstacle_collision_checker/src/debug.cpp @@ -0,0 +1,89 @@ +// Copyright 2024 Tier IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/obstacle_collision_checker/debug.hpp" + +#include + +namespace autoware::obstacle_collision_checker +{ +visualization_msgs::msg::MarkerArray create_marker_array( + const Output & output, const double base_link_z, const rclcpp::Time & now) +{ + using autoware::universe_utils::createDefaultMarker; + using autoware::universe_utils::createMarkerColor; + using autoware::universe_utils::createMarkerScale; + + visualization_msgs::msg::MarkerArray marker_array; + + if (output.resampled_trajectory.points.size() >= 2) { + // Line of resampled_trajectory + { + auto marker = createDefaultMarker( + "map", now, "resampled_trajectory_line", 0, visualization_msgs::msg::Marker::LINE_STRIP, + createMarkerScale(0.05, 0, 0), createMarkerColor(1.0, 1.0, 1.0, 0.999)); + + for (const auto & p : output.resampled_trajectory.points) { + marker.points.push_back(p.pose.position); + marker.colors.push_back(marker.color); + } + + marker_array.markers.push_back(marker); + } + + // Points of resampled_trajectory + { + auto marker = createDefaultMarker( + "map", now, "resampled_trajectory_points", 0, visualization_msgs::msg::Marker::SPHERE_LIST, + createMarkerScale(0.1, 0.1, 0.1), createMarkerColor(0.0, 1.0, 0.0, 0.999)); + + for (const auto & p : output.resampled_trajectory.points) { + marker.points.push_back(p.pose.position); + marker.colors.push_back(marker.color); + } + + marker_array.markers.push_back(marker); + } + } + + // Vehicle Footprints + { + const auto color_ok = createMarkerColor(0.0, 1.0, 0.0, 0.5); + const auto color_will_collide = createMarkerColor(1.0, 0.0, 0.0, 0.5); + + auto color = color_ok; + if (output.will_collide) { + color = color_will_collide; + } + + auto marker = createDefaultMarker( + "map", now, "vehicle_footprints", 0, visualization_msgs::msg::Marker::LINE_LIST, + createMarkerScale(0.05, 0, 0), color); + + for (const auto & vehicle_footprint : output.vehicle_footprints) { + for (size_t i = 0; i < vehicle_footprint.size() - 1; ++i) { + const auto & p1 = vehicle_footprint.at(i); + const auto & p2 = vehicle_footprint.at(i + 1); + + marker.points.push_back(toMsg(p1.to_3d(base_link_z))); + marker.points.push_back(toMsg(p2.to_3d(base_link_z))); + } + } + + marker_array.markers.push_back(marker); + } + + return marker_array; +} +} // namespace autoware::obstacle_collision_checker diff --git a/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker.cpp b/control/autoware_obstacle_collision_checker/src/obstacle_collision_checker.cpp similarity index 98% rename from control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker.cpp rename to control/autoware_obstacle_collision_checker/src/obstacle_collision_checker.cpp index b5a2859cfbd54..bc8cb373a60df 100644 --- a/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker.cpp +++ b/control/autoware_obstacle_collision_checker/src/obstacle_collision_checker.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "obstacle_collision_checker/obstacle_collision_checker.hpp" +#include "autoware/obstacle_collision_checker/obstacle_collision_checker.hpp" #include #include @@ -74,7 +74,7 @@ double calc_braking_distance( } // namespace -namespace obstacle_collision_checker +namespace autoware::obstacle_collision_checker { Output check_for_collisions(const Input & input) { @@ -253,4 +253,4 @@ bool has_collision( return false; } -} // namespace obstacle_collision_checker +} // namespace autoware::obstacle_collision_checker diff --git a/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp b/control/autoware_obstacle_collision_checker/src/obstacle_collision_checker_node.cpp similarity index 74% rename from control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp rename to control/autoware_obstacle_collision_checker/src/obstacle_collision_checker_node.cpp index 0b0ac42589a72..598ae592f4c8d 100644 --- a/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp +++ b/control/autoware_obstacle_collision_checker/src/obstacle_collision_checker_node.cpp @@ -12,11 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "obstacle_collision_checker/obstacle_collision_checker_node.hpp" +#include "autoware/obstacle_collision_checker/obstacle_collision_checker_node.hpp" + +#include "autoware/obstacle_collision_checker/debug.hpp" #include #include -#include #include #include @@ -24,7 +25,7 @@ #include #include -namespace obstacle_collision_checker +namespace autoware::obstacle_collision_checker { ObstacleCollisionCheckerNode::ObstacleCollisionCheckerNode(const rclcpp::NodeOptions & node_options) : Node("obstacle_collision_checker_node", node_options), @@ -45,7 +46,7 @@ ObstacleCollisionCheckerNode::ObstacleCollisionCheckerNode(const rclcpp::NodeOpt // Dynamic Reconfigure set_param_res_ = this->add_on_set_parameters_callback(std::bind( - &::obstacle_collision_checker::ObstacleCollisionCheckerNode::param_callback, this, _1)); + &autoware::obstacle_collision_checker::ObstacleCollisionCheckerNode::param_callback, this, _1)); // Subscriber self_pose_listener_ = std::make_shared(this); @@ -207,7 +208,8 @@ void ObstacleCollisionCheckerNode::on_timer() updater_.force_update(); - debug_publisher_->publish("marker_array", create_marker_array()); + debug_publisher_->publish( + "marker_array", create_marker_array(output_, current_pose_->pose.position.z, this->now())); time_publisher_->publish(output_.processing_time_map); } @@ -256,79 +258,7 @@ void ObstacleCollisionCheckerNode::check_lane_departure( stat.summary(level, msg); } - -visualization_msgs::msg::MarkerArray ObstacleCollisionCheckerNode::create_marker_array() const -{ - using autoware::universe_utils::createDefaultMarker; - using autoware::universe_utils::createMarkerColor; - using autoware::universe_utils::createMarkerScale; - - visualization_msgs::msg::MarkerArray marker_array; - - const auto base_link_z = current_pose_->pose.position.z; - - if (output_.resampled_trajectory.points.size() >= 2) { - // Line of resampled_trajectory - { - auto marker = createDefaultMarker( - "map", this->now(), "resampled_trajectory_line", 0, - visualization_msgs::msg::Marker::LINE_STRIP, createMarkerScale(0.05, 0, 0), - createMarkerColor(1.0, 1.0, 1.0, 0.999)); - - for (const auto & p : output_.resampled_trajectory.points) { - marker.points.push_back(p.pose.position); - marker.colors.push_back(marker.color); - } - - marker_array.markers.push_back(marker); - } - - // Points of resampled_trajectory - { - auto marker = createDefaultMarker( - "map", this->now(), "resampled_trajectory_points", 0, - visualization_msgs::msg::Marker::SPHERE_LIST, createMarkerScale(0.1, 0.1, 0.1), - createMarkerColor(0.0, 1.0, 0.0, 0.999)); - - for (const auto & p : output_.resampled_trajectory.points) { - marker.points.push_back(p.pose.position); - marker.colors.push_back(marker.color); - } - - marker_array.markers.push_back(marker); - } - } - - // Vehicle Footprints - { - const auto color_ok = createMarkerColor(0.0, 1.0, 0.0, 0.5); - const auto color_will_collide = createMarkerColor(1.0, 0.0, 0.0, 0.5); - - auto color = color_ok; - if (output_.will_collide) { - color = color_will_collide; - } - - auto marker = createDefaultMarker( - "map", this->now(), "vehicle_footprints", 0, visualization_msgs::msg::Marker::LINE_LIST, - createMarkerScale(0.05, 0, 0), color); - - for (const auto & vehicle_footprint : output_.vehicle_footprints) { - for (size_t i = 0; i < vehicle_footprint.size() - 1; ++i) { - const auto & p1 = vehicle_footprint.at(i); - const auto & p2 = vehicle_footprint.at(i + 1); - - marker.points.push_back(toMsg(p1.to_3d(base_link_z))); - marker.points.push_back(toMsg(p2.to_3d(base_link_z))); - } - } - - marker_array.markers.push_back(marker); - } - - return marker_array; -} -} // namespace obstacle_collision_checker +} // namespace autoware::obstacle_collision_checker #include -RCLCPP_COMPONENTS_REGISTER_NODE(obstacle_collision_checker::ObstacleCollisionCheckerNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::obstacle_collision_checker::ObstacleCollisionCheckerNode) diff --git a/control/obstacle_collision_checker/test/test_obstacle_collision_checker.cpp b/control/autoware_obstacle_collision_checker/test/test_obstacle_collision_checker.cpp similarity index 97% rename from control/obstacle_collision_checker/test/test_obstacle_collision_checker.cpp rename to control/autoware_obstacle_collision_checker/test/test_obstacle_collision_checker.cpp index 581b75ca463ab..97b26162812ef 100644 --- a/control/obstacle_collision_checker/test/test_obstacle_collision_checker.cpp +++ b/control/autoware_obstacle_collision_checker/test/test_obstacle_collision_checker.cpp @@ -1,4 +1,4 @@ -// Copyright 2022 Tier IV, Inc. All rights reserved. +// Copyright 2022-2024 Tier IV, Inc. All rights reserved. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,9 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "../src/obstacle_collision_checker_node/obstacle_collision_checker.cpp" // NOLINT +#include "../src/obstacle_collision_checker.cpp" // NOLINT #include "gtest/gtest.h" -#include "obstacle_collision_checker/obstacle_collision_checker.hpp" #include @@ -159,7 +158,7 @@ TEST(test_obstacle_collision_checker, calcBrakingDistance) TEST(test_obstacle_collision_checker, check_for_collisions) { - obstacle_collision_checker::Input input; + autoware::obstacle_collision_checker::Input input; // call with empty input causes a segfault // const auto output = check_for_collisions(input); input.param.delay_time = 1.0; diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml index cc24f339ed404..9b2efd2da8961 100644 --- a/launch/tier4_control_launch/launch/control.launch.xml +++ b/launch/tier4_control_launch/launch/control.launch.xml @@ -174,7 +174,7 @@ - + From 2be4572f0f3ddbcee2a261e66594fb6d5cf546f1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= <76053179+StepTurtle@users.noreply.github.com> Date: Wed, 16 Oct 2024 16:28:56 +0300 Subject: [PATCH 252/701] fix(tensorrt_common): add enqueueV3 support (#9018) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * fix: add enqueueV3 support Signed-off-by: Barış Zeren * chore: update multiplier Signed-off-by: Barış Zeren * fix: wrong multiplier Signed-off-by: Barış Zeren * fix: macros Signed-off-by: Barış Zeren --------- Signed-off-by: Barış Zeren Co-authored-by: Amadeusz Szymko --- .../tensorrt_common/tensorrt_common.hpp | 9 +++++ .../tensorrt_common/src/tensorrt_common.cpp | 35 ++++++++++++++++--- 2 files changed, 40 insertions(+), 4 deletions(-) diff --git a/common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp b/common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp index 6691c1fb9e97d..9e11f5f220492 100644 --- a/common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp +++ b/common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp @@ -184,12 +184,21 @@ class TrtCommon // NOLINT */ void setup(); +#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8500 + void setupBindings(std::vector & bindings); +#endif + bool isInitialized(); nvinfer1::Dims getBindingDimensions(const int32_t index) const; int32_t getNbBindings(); bool setBindingDimensions(const int32_t index, const nvinfer1::Dims & dimensions) const; +#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8500 + bool enqueueV3(cudaStream_t stream); +#endif +#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH < 10000 bool enqueueV2(void ** bindings, cudaStream_t stream, cudaEvent_t * input_consumed); +#endif /** * @brief output per-layer information diff --git a/common/tensorrt_common/src/tensorrt_common.cpp b/common/tensorrt_common/src/tensorrt_common.cpp index 74fd331b40ae7..9024207d9fe50 100644 --- a/common/tensorrt_common/src/tensorrt_common.cpp +++ b/common/tensorrt_common/src/tensorrt_common.cpp @@ -225,6 +225,16 @@ void TrtCommon::setup() is_initialized_ = true; } +#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8500 +void TrtCommon::setupBindings(std::vector & bindings) +{ + for (int32_t i = 0, e = engine_->getNbIOTensors(); i < e; i++) { + auto const name = engine_->getIOTensorName(i); + context_->setTensorAddress(name, bindings.at(i)); + } +} +#endif + bool TrtCommon::loadEngine(const std::string & engine_file_path) { std::ifstream engine_file(engine_file_path); @@ -303,8 +313,7 @@ void TrtCommon::printNetworkInfo(const std::string & onnx_file_path) total_gflops += gflops; total_params += num_weights; std::cout << "L" << i << " [conv " << k_dims.d[0] << "x" << k_dims.d[1] << " (" << groups - << ") " - << "/" << s_dims.d[0] << "] " << dim_in.d[3] << "x" << dim_in.d[2] << "x" + << ") " << "/" << s_dims.d[0] << "] " << dim_in.d[3] << "x" << dim_in.d[2] << "x" << dim_in.d[1] << " -> " << dim_out.d[3] << "x" << dim_out.d[2] << "x" << dim_out.d[1]; std::cout << " weights:" << num_weights; @@ -369,8 +378,7 @@ bool TrtCommon::buildEngineFromOnnx( if (num_available_dla > 0) { std::cout << "###" << num_available_dla << " DLAs are supported! ###" << std::endl; } else { - std::cout << "###Warning : " - << "No DLA is supported! ###" << std::endl; + std::cout << "###Warning : " << "No DLA is supported! ###" << std::endl; } config->setDefaultDeviceType(nvinfer1::DeviceType::kDLA); config->setDLACore(build_config_->dla_core_id); @@ -567,6 +575,24 @@ bool TrtCommon::setBindingDimensions(const int32_t index, const nvinfer1::Dims & return context_->setBindingDimensions(index, dimensions); } +#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8500 +bool TrtCommon::enqueueV3(cudaStream_t stream) +{ + if (build_config_->profile_per_layer) { + auto inference_start = std::chrono::high_resolution_clock::now(); + + bool ret = context_->enqueueV3(stream); + + auto inference_end = std::chrono::high_resolution_clock::now(); + host_profiler_.reportLayerTime( + "inference", + std::chrono::duration(inference_end - inference_start).count()); + return ret; + } + return context_->enqueueV3(stream); +} +#endif +#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH < 10000 bool TrtCommon::enqueueV2(void ** bindings, cudaStream_t stream, cudaEvent_t * input_consumed) { if (build_config_->profile_per_layer) { @@ -583,6 +609,7 @@ bool TrtCommon::enqueueV2(void ** bindings, cudaStream_t stream, cudaEvent_t * i return context_->enqueueV2(bindings, stream, input_consumed); } } +#endif void TrtCommon::printProfiling() { From 37808bfb9ab8e866b340a511220b97c612d2e8e2 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 17 Oct 2024 09:23:16 +0900 Subject: [PATCH 253/701] fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader (#9024) * fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader Signed-off-by: badai-nguyen * chore: typo Signed-off-by: badai-nguyen * fix: launch Signed-off-by: badai-nguyen * Update perception/autoware_compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json Co-authored-by: Yoshi Ri * fix: change to RCLCPP_ERROR Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen Co-authored-by: Yoshi Ri --- .../config/distance_based_compare_map_filter.param.yaml | 1 + .../voxel_based_approximate_compare_map_filter.param.yaml | 1 + .../config/voxel_based_compare_map_filter.param.yaml | 1 + .../voxel_distance_based_compare_map_filter.param.yaml | 1 + .../schema/distance_based_compare_map_filter.schema.json | 8 +++++++- ...voxel_based_approximate_compare_map_filter.schema.json | 8 +++++++- .../schema/voxel_based_compare_map_filter.schema.json | 8 +++++++- .../voxel_distance_based_compare_map_filter.schema.json | 8 +++++++- .../src/voxel_grid_map_loader/voxel_grid_map_loader.cpp | 1 + .../src/voxel_grid_map_loader/voxel_grid_map_loader.hpp | 8 ++++++++ 10 files changed, 41 insertions(+), 4 deletions(-) diff --git a/perception/autoware_compare_map_segmentation/config/distance_based_compare_map_filter.param.yaml b/perception/autoware_compare_map_segmentation/config/distance_based_compare_map_filter.param.yaml index f95c0b0c94b92..12fd2e1f27f0a 100644 --- a/perception/autoware_compare_map_segmentation/config/distance_based_compare_map_filter.param.yaml +++ b/perception/autoware_compare_map_segmentation/config/distance_based_compare_map_filter.param.yaml @@ -6,3 +6,4 @@ map_update_distance_threshold: 10.0 map_loader_radius: 150.0 publish_debug_pcd: False + max_map_grid_size: 100.0 diff --git a/perception/autoware_compare_map_segmentation/config/voxel_based_approximate_compare_map_filter.param.yaml b/perception/autoware_compare_map_segmentation/config/voxel_based_approximate_compare_map_filter.param.yaml index d54f7a96ecda0..56ab652265de5 100644 --- a/perception/autoware_compare_map_segmentation/config/voxel_based_approximate_compare_map_filter.param.yaml +++ b/perception/autoware_compare_map_segmentation/config/voxel_based_approximate_compare_map_filter.param.yaml @@ -7,3 +7,4 @@ map_update_distance_threshold: 10.0 map_loader_radius: 150.0 publish_debug_pcd: False + max_map_grid_size: 100.0 diff --git a/perception/autoware_compare_map_segmentation/config/voxel_based_compare_map_filter.param.yaml b/perception/autoware_compare_map_segmentation/config/voxel_based_compare_map_filter.param.yaml index d54f7a96ecda0..56ab652265de5 100644 --- a/perception/autoware_compare_map_segmentation/config/voxel_based_compare_map_filter.param.yaml +++ b/perception/autoware_compare_map_segmentation/config/voxel_based_compare_map_filter.param.yaml @@ -7,3 +7,4 @@ map_update_distance_threshold: 10.0 map_loader_radius: 150.0 publish_debug_pcd: False + max_map_grid_size: 100.0 diff --git a/perception/autoware_compare_map_segmentation/config/voxel_distance_based_compare_map_filter.param.yaml b/perception/autoware_compare_map_segmentation/config/voxel_distance_based_compare_map_filter.param.yaml index d54f7a96ecda0..56ab652265de5 100644 --- a/perception/autoware_compare_map_segmentation/config/voxel_distance_based_compare_map_filter.param.yaml +++ b/perception/autoware_compare_map_segmentation/config/voxel_distance_based_compare_map_filter.param.yaml @@ -7,3 +7,4 @@ map_update_distance_threshold: 10.0 map_loader_radius: 150.0 publish_debug_pcd: False + max_map_grid_size: 100.0 diff --git a/perception/autoware_compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json b/perception/autoware_compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json index b389e496fc477..75be17a3ec6b3 100644 --- a/perception/autoware_compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json +++ b/perception/autoware_compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json @@ -35,6 +35,11 @@ "type": "boolean", "default": "false", "description": "Publish a downsampled map pointcloud for debugging" + }, + "max_map_grid_size": { + "type": "number", + "default": "100.0", + "description": "Threshold of grid size to split map pointcloud" } }, "required": [ @@ -43,7 +48,8 @@ "timer_interval_ms", "map_update_distance_threshold", "map_loader_radius", - "publish_debug_pcd" + "publish_debug_pcd", + "max_map_grid_size" ], "additionalProperties": false } diff --git a/perception/autoware_compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json b/perception/autoware_compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json index 1b2e8ba5d51f8..f9a9d3a877adf 100644 --- a/perception/autoware_compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json +++ b/perception/autoware_compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json @@ -40,6 +40,11 @@ "type": "boolean", "default": "false", "description": "Publish a downsampled map pointcloud for debugging" + }, + "max_map_grid_size": { + "type": "number", + "default": "100.0", + "description": "Threshold of grid size to split map pointcloud" } }, "required": [ @@ -49,7 +54,8 @@ "timer_interval_ms", "map_update_distance_threshold", "map_loader_radius", - "publish_debug_pcd" + "publish_debug_pcd", + "max_map_grid_size" ], "additionalProperties": false } diff --git a/perception/autoware_compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json b/perception/autoware_compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json index 8cf95b8a3098e..326cc867bfd30 100644 --- a/perception/autoware_compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json +++ b/perception/autoware_compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json @@ -40,6 +40,11 @@ "type": "boolean", "default": "false", "description": "Publish a downsampled map pointcloud for debugging" + }, + "max_map_grid_size": { + "type": "number", + "default": "100.0", + "description": "Threshold of grid size to split map pointcloud" } }, "required": [ @@ -49,7 +54,8 @@ "timer_interval_ms", "map_update_distance_threshold", "map_loader_radius", - "publish_debug_pcd" + "publish_debug_pcd", + "max_map_grid_size" ], "additionalProperties": false } diff --git a/perception/autoware_compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json b/perception/autoware_compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json index d743fb45cfd60..27eb38d7449d7 100644 --- a/perception/autoware_compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json +++ b/perception/autoware_compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json @@ -40,6 +40,11 @@ "type": "boolean", "default": "false", "description": "Publish a downsampled map pointcloud for debugging" + }, + "max_map_grid_size": { + "type": "number", + "default": "100.0", + "description": "Maximum size of the pcd map with dynamic map loading." } }, "required": [ @@ -49,7 +54,8 @@ "timer_interval_ms", "map_update_distance_threshold", "map_loader_radius", - "publish_debug_pcd" + "publish_debug_pcd", + "max_map_grid_size" ], "additionalProperties": false } diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp index 195e09e4b406e..a36372efe4428 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp @@ -293,6 +293,7 @@ VoxelGridDynamicMapLoader::VoxelGridDynamicMapLoader( auto timer_interval_ms = node->declare_parameter("timer_interval_ms"); map_update_distance_threshold_ = node->declare_parameter("map_update_distance_threshold"); map_loader_radius_ = node->declare_parameter("map_loader_radius"); + max_map_grid_size_ = node->declare_parameter("max_map_grid_size"); auto main_sub_opt = rclcpp::SubscriptionOptions(); main_sub_opt.callback_group = main_callback_group; sub_kinematic_state_ = node->create_subscription( diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp index 4a044596b3dee..f860e7e6c87fd 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp @@ -152,6 +152,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader rclcpp::TimerBase::SharedPtr map_update_timer_; double map_update_distance_threshold_; double map_loader_radius_; + double max_map_grid_size_; rclcpp::Client::SharedPtr map_update_client_; rclcpp::CallbackGroup::SharedPtr client_callback_group_; @@ -270,6 +271,13 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader { map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x; map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y; + if (map_grid_size_x_ > max_map_grid_size_ || map_grid_size_y_ > max_map_grid_size_) { + RCLCPP_ERROR( + logger_, + "Map was not split or split map grid size is too large. Split map with grid size smaller " + "than %f", + max_map_grid_size_); + } origin_x_remainder_ = std::remainder(map_cell_to_add.metadata.min_x, map_grid_size_x_); origin_y_remainder_ = std::remainder(map_cell_to_add.metadata.min_y, map_grid_size_y_); From 2b9138d6af9e4b843ef002db0187d8a3ab26c030 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 17 Oct 2024 11:07:39 +0900 Subject: [PATCH 254/701] refactor(lane_change): reducing clang-tidy warnings (#9085) * refactor(lane_change): reducing clang-tidy warnings Signed-off-by: Zulfaqar Azmi * change function name to snake case Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../scene.hpp | 4 ++-- .../utils/calculation.hpp | 2 +- .../utils/utils.hpp | 4 ++-- .../src/scene.cpp | 22 ++++++++----------- .../src/utils/utils.cpp | 21 +++++++----------- 5 files changed, 22 insertions(+), 31 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp index 3b414235a9f54..4dec256a65703 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp @@ -126,8 +126,8 @@ class NormalLaneChange : public LaneChangeBase std::vector calc_prepare_durations() const; - lane_change::TargetObjects getTargetObjects( - const FilteredByLanesExtendedObjects & predicted_objects, + lane_change::TargetObjects get_target_objects( + const FilteredByLanesExtendedObjects & filtered_objects, const lanelet::ConstLanelets & current_lanes) const; FilteredByLanesExtendedObjects filterObjects() const; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp index 021fa16fa6ec1..233fc886f836f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp @@ -140,7 +140,7 @@ std::vector calc_prepare_phase_metrics( std::vector calc_shift_phase_metrics( const CommonDataPtr & common_data_ptr, const double shift_length, const double initial_velocity, - const double max_velocity, const double lon_accel, + const double max_path_velocity, const double lon_accel, const double max_length_threshold = std::numeric_limits::max()); /** diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index 729eaa5ca8268..b6c234fd7035d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -84,8 +84,8 @@ std::vector replaceWithSortedIds( std::vector> get_sorted_lane_ids(const CommonDataPtr & common_data_ptr); -lanelet::ConstLanelets getTargetNeighborLanes( - const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, +lanelet::ConstLanelets get_target_neighbor_lanes( + const RouteHandler & route_handler, const lanelet::ConstLanelets & current_lanes, const LaneChangeModuleType & type); bool isPathInLanelets( diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 5961435085346..6f71ffff734a0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -46,7 +46,6 @@ namespace autoware::behavior_path_planner using autoware::motion_utils::calcSignedArcLength; using utils::lane_change::create_lanes_polygon; using utils::path_safety_checker::isPolygonOverlapLanelet; -using utils::traffic_light::getDistanceToNextTrafficLight; namespace calculation = utils::lane_change::calculation; NormalLaneChange::NormalLaneChange( @@ -91,7 +90,7 @@ void NormalLaneChange::update_lanes(const bool is_approved) common_data_ptr_->current_lanes_path = route_handler_ptr->getCenterLinePath(current_lanes, 0.0, std::numeric_limits::max()); - common_data_ptr_->lanes_ptr->target_neighbor = utils::lane_change::getTargetNeighborLanes( + common_data_ptr_->lanes_ptr->target_neighbor = utils::lane_change::get_target_neighbor_lanes( *route_handler_ptr, current_lanes, common_data_ptr_->lc_type); common_data_ptr_->lanes_ptr->current_lane_in_goal_section = @@ -560,7 +559,7 @@ PathWithLaneId NormalLaneChange::getReferencePath() const get_target_lanes(), getEgoPose(), &closest_lanelet)) { return prev_module_output_.reference_path; } - const auto reference_path = utils::getCenterLinePathFromLanelet(closest_lanelet, planner_data_); + auto reference_path = utils::getCenterLinePathFromLanelet(closest_lanelet, planner_data_); if (reference_path.points.empty()) { return prev_module_output_.reference_path; } @@ -1014,7 +1013,7 @@ bool NormalLaneChange::get_prepare_segment( return true; } -lane_change::TargetObjects NormalLaneChange::getTargetObjects( +lane_change::TargetObjects NormalLaneChange::get_target_objects( const FilteredByLanesExtendedObjects & filtered_objects, [[maybe_unused]] const lanelet::ConstLanelets & current_lanes) const { @@ -1365,7 +1364,7 @@ bool NormalLaneChange::get_lane_change_paths(LaneChangePaths & candidate_paths) const auto current_velocity = getEgoVelocity(); const auto sorted_lane_ids = utils::lane_change::get_sorted_lane_ids(common_data_ptr_); - const auto target_objects = getTargetObjects(filtered_objects_, current_lanes); + const auto target_objects = get_target_objects(filtered_objects_, current_lanes); const auto prepare_phase_metrics = get_prepare_metrics(); @@ -1667,7 +1666,8 @@ std::optional NormalLaneChange::calcTerminalLaneChangePath( utils::clipPathLength(reference_segment, 0, length_to_lane_changing_start, 0.0); // remove terminal points because utils::clipPathLength() calculates extra long path reference_segment.points.pop_back(); - reference_segment.points.back().point.longitudinal_velocity_mps = minimum_lane_changing_velocity; + reference_segment.points.back().point.longitudinal_velocity_mps = + static_cast(minimum_lane_changing_velocity); const auto terminal_lane_change_path = utils::lane_change::construct_candidate_path( common_data_ptr_, lane_change_info, reference_segment, target_lane_reference_path, @@ -1686,7 +1686,7 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const return {true, true}; } - const auto target_objects = getTargetObjects(filtered_objects_, current_lanes); + const auto target_objects = get_target_objects(filtered_objects_, current_lanes); CollisionCheckDebugMap debug_data; @@ -1773,11 +1773,7 @@ bool NormalLaneChange::isValidPath(const PathWithLaneId & path) const } // check relative angle - if (!utils::checkPathRelativeAngle(path, M_PI)) { - return false; - } - - return true; + return utils::checkPathRelativeAngle(path, M_PI); } bool NormalLaneChange::isRequiredStop(const bool is_trailing_object) @@ -1921,7 +1917,7 @@ bool NormalLaneChange::calcAbortPath() PathWithLaneId aborting_path; aborting_path.points.insert( aborting_path.points.begin(), shifted_path.path.points.begin(), - shifted_path.path.points.begin() + abort_return_idx); + shifted_path.path.points.begin() + static_cast(abort_return_idx)); if (!reference_lane_segment.points.empty()) { abort_path.path = utils::combinePath(aborting_path, reference_lane_segment); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index 82a832d30c0b5..b8d34afeaab54 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -14,10 +14,8 @@ #include "autoware/behavior_path_lane_change_module/utils/utils.hpp" -#include "autoware/behavior_path_lane_change_module/utils/calculation.hpp" #include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp" #include "autoware/behavior_path_lane_change_module/utils/path.hpp" -#include "autoware/behavior_path_planner_common/marker_utils/utils.hpp" #include "autoware/behavior_path_planner_common/parameters.hpp" #include "autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp" #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" @@ -52,7 +50,6 @@ #include #include #include -#include #include #include #include @@ -61,7 +58,6 @@ namespace autoware::behavior_path_planner::utils::lane_change { using autoware::route_handler::RouteHandler; using autoware::universe_utils::LineString2d; -using autoware::universe_utils::Point2d; using autoware::universe_utils::Polygon2d; using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObjects; @@ -117,10 +113,9 @@ void setPrepareVelocity( { if (current_velocity < prepare_velocity) { // acceleration - for (size_t i = 0; i < prepare_segment.points.size(); ++i) { - prepare_segment.points.at(i).point.longitudinal_velocity_mps = std::min( - prepare_segment.points.at(i).point.longitudinal_velocity_mps, - static_cast(prepare_velocity)); + for (auto & point : prepare_segment.points) { + point.point.longitudinal_velocity_mps = + std::min(point.point.longitudinal_velocity_mps, static_cast(prepare_velocity)); } } else { // deceleration @@ -142,7 +137,7 @@ std::vector getAccelerationValues( } constexpr double epsilon = 0.001; - const auto resolution = std::abs(max_acc - min_acc) / sampling_num; + const auto resolution = std::abs(max_acc - min_acc) / static_cast(sampling_num); std::vector sampled_values{min_acc}; for (double sampled_acc = min_acc + resolution; @@ -159,7 +154,7 @@ std::vector getAccelerationValues( return sampled_values; } -lanelet::ConstLanelets getTargetNeighborLanes( +lanelet::ConstLanelets get_target_neighbor_lanes( const RouteHandler & route_handler, const lanelet::ConstLanelets & current_lanes, const LaneChangeModuleType & type) { @@ -430,7 +425,7 @@ std::vector generateDrivableLanes( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & lane_change_lanes) { const auto has_same_lane = - [](const lanelet::ConstLanelets lanes, const lanelet::ConstLanelet & lane) { + [](const lanelet::ConstLanelets & lanes, const lanelet::ConstLanelet & lane) { if (lanes.empty()) return false; const auto has_same = [&](const auto & ll) { return ll.id() == lane.id(); }; return std::find_if(lanes.begin(), lanes.end(), has_same) != lanes.end(); @@ -752,7 +747,7 @@ bool isParkedObject( most_left_lanelet.attribute(lanelet::AttributeName::Subtype); for (const auto & ll : most_left_lanelet_candidates) { - const lanelet::Attribute sub_type = ll.attribute(lanelet::AttributeName::Subtype); + const auto & sub_type = ll.attribute(lanelet::AttributeName::Subtype); if (sub_type.value() == "road_shoulder") { most_left_lanelet = ll; } @@ -773,7 +768,7 @@ bool isParkedObject( most_right_lanelet.attribute(lanelet::AttributeName::Subtype); for (const auto & ll : most_right_lanelet_candidates) { - const lanelet::Attribute sub_type = ll.attribute(lanelet::AttributeName::Subtype); + const auto & sub_type = ll.attribute(lanelet::AttributeName::Subtype); if (sub_type.value() == "road_shoulder") { most_right_lanelet = ll; } From dd6e677e39cfe48438503bc63731ac88c9d0c098 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 17 Oct 2024 13:24:17 +0900 Subject: [PATCH 255/701] fix(autoware_ground_segmentation): fix scan ground filter logic (#9084) * refactor: initialize gnd_grids in ScanGroundFilterComponent::initializeFirstGndGrids Initialize gnd_grids vector in the ScanGroundFilterComponent::initializeFirstGndGrids function to ensure it is empty and has the correct capacity. This improves the efficiency of the function and ensures accurate grid initialization. Signed-off-by: Taekjin LEE * refactor: initialize gnd_grids vector in initializeFirstGndGrids function Initialize the gnd_grids vector in the initializeFirstGndGrids function to ensure it is empty and has the correct capacity. This improves the efficiency of the function and ensures accurate grid initialization. Signed-off-by: Taekjin LEE * refactor: improve efficiency and accuracy of grid initialization Initialize the gnd_grids vector in the initializeFirstGndGrids function to ensure it is empty and has the correct capacity. This refactor improves the efficiency of the function and ensures accurate grid initialization. Signed-off-by: Taekjin LEE * refactor: improve efficiency of checkDiscontinuousGndGrid function Refactor the checkDiscontinuousGndGrid function in node.cpp to improve its efficiency. The changes include optimizing the conditional statements and reducing unnecessary calculations. Signed-off-by: Taekjin LEE * refactor: improve efficiency of checkDiscontinuousGndGrid function Signed-off-by: Taekjin LEE * fix: add missing condition Signed-off-by: Taekjin LEE * style(pre-commit): autofix * refactor: fix height_max initialization in node.hpp Signed-off-by: Taekjin LEE * fix: bring back inequality sign Signed-off-by: Taekjin LEE * fix: parameters from float to double following the guideline https://docs.ros.org/en/foxy/Concepts/About-ROS-2-Parameters.html#overview Signed-off-by: Taekjin LEE * refactor: fix logic description comment Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/scan_ground_filter/node.cpp | 238 +++++++++++------- .../src/scan_ground_filter/node.hpp | 20 +- 2 files changed, 156 insertions(+), 102 deletions(-) diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp index c0419c7121c64..df0c0d77eeb44 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp @@ -42,15 +42,19 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & elevation_grid_mode_ = declare_parameter("elevation_grid_mode"); // common parameters - radial_divider_angle_rad_ = deg2rad(declare_parameter("radial_divider_angle_deg")); + radial_divider_angle_rad_ = + static_cast(deg2rad(declare_parameter("radial_divider_angle_deg"))); radial_dividers_num_ = std::ceil(2.0 * M_PI / radial_divider_angle_rad_); // common thresholds - global_slope_max_angle_rad_ = deg2rad(declare_parameter("global_slope_max_angle_deg")); - local_slope_max_angle_rad_ = deg2rad(declare_parameter("local_slope_max_angle_deg")); + global_slope_max_angle_rad_ = + static_cast(deg2rad(declare_parameter("global_slope_max_angle_deg"))); + local_slope_max_angle_rad_ = + static_cast(deg2rad(declare_parameter("local_slope_max_angle_deg"))); global_slope_max_ratio_ = std::tan(global_slope_max_angle_rad_); local_slope_max_ratio_ = std::tan(local_slope_max_angle_rad_); - split_points_distance_tolerance_ = declare_parameter("split_points_distance_tolerance"); + split_points_distance_tolerance_ = + static_cast(declare_parameter("split_points_distance_tolerance")); split_points_distance_tolerance_square_ = split_points_distance_tolerance_ * split_points_distance_tolerance_; @@ -59,19 +63,21 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & // non-grid parameters use_virtual_ground_point_ = declare_parameter("use_virtual_ground_point"); - split_height_distance_ = declare_parameter("split_height_distance"); + split_height_distance_ = static_cast(declare_parameter("split_height_distance")); // grid mode parameters use_recheck_ground_cluster_ = declare_parameter("use_recheck_ground_cluster"); use_lowest_point_ = declare_parameter("use_lowest_point"); - detection_range_z_max_ = declare_parameter("detection_range_z_max"); - low_priority_region_x_ = declare_parameter("low_priority_region_x"); - center_pcl_shift_ = declare_parameter("center_pcl_shift"); - non_ground_height_threshold_ = declare_parameter("non_ground_height_threshold"); + detection_range_z_max_ = static_cast(declare_parameter("detection_range_z_max")); + low_priority_region_x_ = static_cast(declare_parameter("low_priority_region_x")); + center_pcl_shift_ = static_cast(declare_parameter("center_pcl_shift")); + non_ground_height_threshold_ = + static_cast(declare_parameter("non_ground_height_threshold")); // grid parameters - grid_size_m_ = declare_parameter("grid_size_m"); - grid_mode_switch_radius_ = declare_parameter("grid_mode_switch_radius"); + grid_size_m_ = static_cast(declare_parameter("grid_size_m")); + grid_mode_switch_radius_ = + static_cast(declare_parameter("grid_mode_switch_radius")); gnd_grid_buffer_size_ = declare_parameter("gnd_grid_buffer_size"); virtual_lidar_z_ = vehicle_info_.vehicle_height_m; @@ -250,17 +256,29 @@ void ScanGroundFilterComponent::calcVirtualGroundOrigin(pcl::PointXYZ & point) c void ScanGroundFilterComponent::initializeFirstGndGrids( const float h, const float r, const uint16_t id, std::vector & gnd_grids) const { + // initialize gnd_grids + gnd_grids.clear(); + gnd_grids.reserve(gnd_grid_buffer_size_); + + // Index of grids + // id is the first grid, will be filled by initial centroid_bin + // id - gnd_grid_buffer_size_ is the first grid of zero-zero position + // the intermediate grids are generated by linear interpolation + const uint16_t estimating_grid_num = gnd_grid_buffer_size_ + 1; + const uint16_t idx_estimate_from = id - estimating_grid_num; + const float gradient = h / r; + GridCenter curr_gnd_grid; - for (int ind_grid = id - 1 - gnd_grid_buffer_size_; ind_grid < id - 1; ++ind_grid) { - float ind_gnd_z = ind_grid - id + 1 + gnd_grid_buffer_size_; - ind_gnd_z *= h / static_cast(gnd_grid_buffer_size_); + for (uint16_t idx = 1; idx < estimating_grid_num; ++idx) { + float interpolation_ratio = static_cast(idx) / static_cast(estimating_grid_num); + const uint16_t ind_grid = idx_estimate_from + idx; - float ind_gnd_radius = ind_grid - id + 1 + gnd_grid_buffer_size_; - ind_gnd_radius *= r / static_cast(gnd_grid_buffer_size_); + const float interpolated_r = r * interpolation_ratio; + const float interpolated_z = gradient * interpolated_r; - curr_gnd_grid.radius = ind_gnd_radius; - curr_gnd_grid.avg_height = ind_gnd_z; - curr_gnd_grid.max_height = ind_gnd_z; + curr_gnd_grid.radius = interpolated_r; + curr_gnd_grid.avg_height = interpolated_z; + curr_gnd_grid.max_height = interpolated_z; curr_gnd_grid.grid_id = ind_grid; gnd_grids.push_back(curr_gnd_grid); } @@ -270,42 +288,54 @@ void ScanGroundFilterComponent::checkContinuousGndGrid( PointData & pd, const pcl::PointXYZ & point_curr, const std::vector & gnd_grids_list) const { - float next_gnd_z = 0.0f; - float curr_gnd_slope_ratio = 0.0f; + // 1. check local slope + { + // reference gird is the last-1 + const auto reference_grid_it = gnd_grids_list.end() - 2; + const float delta_z = point_curr.z - reference_grid_it->avg_height; + const float delta_radius = pd.radius - reference_grid_it->radius; + const float local_slope_ratio = delta_z / delta_radius; + + if (abs(local_slope_ratio) < local_slope_max_ratio_) { + pd.point_state = PointLabel::GROUND; + return; + } + } + + // 2. mean of grid buffer(filtering) + // get mean of buffer except the last grid float gnd_buff_z_mean = 0.0f; float gnd_buff_radius = 0.0f; - - for (auto it = gnd_grids_list.end() - gnd_grid_buffer_size_ - 1; it < gnd_grids_list.end() - 1; + for (auto it = gnd_grids_list.end() - 1 - gnd_grid_buffer_size_; it < gnd_grids_list.end() - 1; ++it) { gnd_buff_radius += it->radius; gnd_buff_z_mean += it->avg_height; } - - gnd_buff_radius /= static_cast(gnd_grid_buffer_size_ - 1); - gnd_buff_z_mean /= static_cast(gnd_grid_buffer_size_ - 1); - - float tmp_delta_mean_z = gnd_grids_list.back().avg_height - gnd_buff_z_mean; - float tmp_delta_radius = gnd_grids_list.back().radius - gnd_buff_radius; - - curr_gnd_slope_ratio = tmp_delta_mean_z / tmp_delta_radius; - curr_gnd_slope_ratio = curr_gnd_slope_ratio < -global_slope_max_ratio_ ? -global_slope_max_ratio_ - : curr_gnd_slope_ratio; + gnd_buff_radius /= static_cast(gnd_grid_buffer_size_); + gnd_buff_z_mean /= static_cast(gnd_grid_buffer_size_); + + // reference gradient(slope) from mean of previous gnd grids + // reference position is the last grid + const float delta_z = gnd_grids_list.back().avg_height - gnd_buff_z_mean; + const float delta_radius = gnd_grids_list.back().radius - gnd_buff_radius; + float curr_gnd_slope_ratio = delta_z / delta_radius; curr_gnd_slope_ratio = - curr_gnd_slope_ratio > global_slope_max_ratio_ ? global_slope_max_ratio_ : curr_gnd_slope_ratio; + std::clamp(curr_gnd_slope_ratio, -global_slope_max_ratio_, global_slope_max_ratio_); - next_gnd_z = curr_gnd_slope_ratio * (pd.radius - gnd_buff_radius) + gnd_buff_z_mean; + // extrapolate next ground height + const float next_gnd_z = curr_gnd_slope_ratio * (pd.radius - gnd_buff_radius) + gnd_buff_z_mean; - float gnd_z_local_thresh = std::tan(DEG2RAD(5.0)) * (pd.radius - gnd_grids_list.back().radius); + // calculate fixed angular threshold from the reference position + const float gnd_z_local_thresh = + std::tan(DEG2RAD(5.0)) * (pd.radius - gnd_grids_list.back().radius); - tmp_delta_mean_z = point_curr.z - (gnd_grids_list.end() - 2)->avg_height; - tmp_delta_radius = pd.radius - (gnd_grids_list.end() - 2)->radius; - float local_slope_ratio = tmp_delta_mean_z / tmp_delta_radius; - if ( - abs(point_curr.z - next_gnd_z) <= non_ground_height_threshold_ + gnd_z_local_thresh || - abs(local_slope_ratio) <= local_slope_max_ratio_) { + if (abs(point_curr.z - next_gnd_z) <= non_ground_height_threshold_ + gnd_z_local_thresh) { pd.point_state = PointLabel::GROUND; - } else if (point_curr.z - next_gnd_z > non_ground_height_threshold_ + gnd_z_local_thresh) { + return; + } + if (point_curr.z - next_gnd_z >= non_ground_height_threshold_ + gnd_z_local_thresh) { pd.point_state = PointLabel::NON_GROUND; + return; } } @@ -313,18 +343,26 @@ void ScanGroundFilterComponent::checkDiscontinuousGndGrid( PointData & pd, const pcl::PointXYZ & point_curr, const std::vector & gnd_grids_list) const { - float tmp_delta_max_z = point_curr.z - gnd_grids_list.back().max_height; - float tmp_delta_avg_z = point_curr.z - gnd_grids_list.back().avg_height; - float tmp_delta_radius = pd.radius - gnd_grids_list.back().radius; - float local_slope_ratio = tmp_delta_avg_z / tmp_delta_radius; - - if ( - abs(local_slope_ratio) < local_slope_max_ratio_ || - abs(tmp_delta_avg_z) < non_ground_height_threshold_ || - abs(tmp_delta_max_z) < non_ground_height_threshold_) { + const auto & grid_ref = gnd_grids_list.back(); + const float delta_avg_z = point_curr.z - grid_ref.avg_height; + if (abs(delta_avg_z) < non_ground_height_threshold_) { + pd.point_state = PointLabel::GROUND; + return; + } + const float delta_max_z = point_curr.z - grid_ref.max_height; + if (abs(delta_max_z) < non_ground_height_threshold_) { pd.point_state = PointLabel::GROUND; - } else if (local_slope_ratio > global_slope_max_ratio_) { + return; + } + const float delta_radius = pd.radius - grid_ref.radius; + const float local_slope_ratio = delta_avg_z / delta_radius; + if (abs(local_slope_ratio) < local_slope_max_ratio_) { + pd.point_state = PointLabel::GROUND; + return; + } + if (local_slope_ratio >= local_slope_max_ratio_) { pd.point_state = PointLabel::NON_GROUND; + return; } } @@ -332,13 +370,17 @@ void ScanGroundFilterComponent::checkBreakGndGrid( PointData & pd, const pcl::PointXYZ & point_curr, const std::vector & gnd_grids_list) const { - float tmp_delta_avg_z = point_curr.z - gnd_grids_list.back().avg_height; - float tmp_delta_radius = pd.radius - gnd_grids_list.back().radius; - float local_slope_ratio = tmp_delta_avg_z / tmp_delta_radius; + const auto & grid_ref = gnd_grids_list.back(); + const float delta_avg_z = point_curr.z - grid_ref.avg_height; + const float delta_radius = pd.radius - grid_ref.radius; + const float local_slope_ratio = delta_avg_z / delta_radius; if (abs(local_slope_ratio) < global_slope_max_ratio_) { pd.point_state = PointLabel::GROUND; - } else if (local_slope_ratio > global_slope_max_ratio_) { + return; + } + if (local_slope_ratio >= global_slope_max_ratio_) { pd.point_state = PointLabel::NON_GROUND; + return; } } @@ -346,7 +388,7 @@ void ScanGroundFilterComponent::recheckGroundCluster( const PointsCentroid & gnd_cluster, const float non_ground_threshold, const bool use_lowest_point, pcl::PointIndices & non_ground_indices) const { - float reference_height = + const float reference_height = use_lowest_point ? gnd_cluster.getMinHeight() : gnd_cluster.getAverageHeight(); const pcl::PointIndices & gnd_indices = gnd_cluster.getIndicesRef(); const std::vector & height_list = gnd_cluster.getHeightListRef(); @@ -379,62 +421,70 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( } bool initialized_first_gnd_grid = false; - bool prev_list_init = false; PointData pd_curr, pd_prev; pcl::PointXYZ point_curr, point_prev; // initialize the previous point - pd_curr = in_radial_ordered_clouds[i][0]; + { + pd_curr = in_radial_ordered_clouds[i][0]; + const size_t data_index = in_cloud->point_step * pd_curr.orig_index; + get_point_from_data_index(in_cloud, data_index, point_curr); + } // iterate over the points in the ray for (const auto & point : in_radial_ordered_clouds[i]) { // set the previous point - point_prev = point_curr; pd_prev = pd_curr; + point_prev = point_curr; // set the current point pd_curr = point; const size_t data_index = in_cloud->point_step * pd_curr.orig_index; get_point_from_data_index(in_cloud, data_index, point_curr); - // set the thresholds - const float global_slope_ratio_p = point_curr.z / pd_curr.radius; - float non_ground_height_threshold_local = non_ground_height_threshold_; - if (point_curr.x < low_priority_region_x_) { - non_ground_height_threshold_local = - non_ground_height_threshold_ * abs(point_curr.x / low_priority_region_x_); - } + // determine if the current point is in new grid + const bool is_curr_in_next_grid = pd_curr.grid_id > pd_prev.grid_id; + // initialization process for the first grid and interpolate the previous grids if (!initialized_first_gnd_grid) { - // classify first grid's point cloud + // set the thresholds + const float global_slope_ratio_p = point_prev.z / pd_prev.radius; + float non_ground_height_threshold_local = non_ground_height_threshold_; + if (point_prev.x < low_priority_region_x_) { + non_ground_height_threshold_local = + non_ground_height_threshold_ * abs(point_prev.x / low_priority_region_x_); + } + // non_ground_height_threshold_local is only for initialization + + // prepare centroid_bin for the first grid if ( + // classify previous point global_slope_ratio_p >= global_slope_max_ratio_ && - point_curr.z > non_ground_height_threshold_local) { - out_no_ground_indices.indices.push_back(pd_curr.orig_index); - pd_curr.point_state = PointLabel::NON_GROUND; + point_prev.z > non_ground_height_threshold_local) { + out_no_ground_indices.indices.push_back(pd_prev.orig_index); + pd_prev.point_state = PointLabel::NON_GROUND; } else if ( abs(global_slope_ratio_p) < global_slope_max_ratio_ && - abs(point_curr.z) < non_ground_height_threshold_local) { - centroid_bin.addPoint(pd_curr.radius, point_curr.z, pd_curr.orig_index); - pd_curr.point_state = PointLabel::GROUND; - // if the gird id is not the initial grid_id, then the first gnd grid is initialized - initialized_first_gnd_grid = static_cast(pd_curr.grid_id - pd_prev.grid_id); + abs(point_prev.z) < non_ground_height_threshold_local) { + centroid_bin.addPoint(pd_prev.radius, point_prev.z, pd_prev.orig_index); + pd_prev.point_state = PointLabel::GROUND; + // centroid_bin is filled at least once + // if the current point is in the next gird, it is ready to be initialized + initialized_first_gnd_grid = is_curr_in_next_grid; } - // else, the point is not classified - continue; - } - - // initialize gnd_grids based on the initial centroid_bin - if (!prev_list_init) { + // keep filling the centroid_bin until it is ready to be initialized + if (!initialized_first_gnd_grid) { + continue; + } + // estimate previous grids by linear interpolation float h = centroid_bin.getAverageHeight(); float r = centroid_bin.getAverageRadius(); - initializeFirstGndGrids(h, r, pd_curr.grid_id, gnd_grids); - prev_list_init = true; + initializeFirstGndGrids(h, r, pd_prev.grid_id, gnd_grids); } // finalize the current centroid_bin and update the gnd_grids - if (pd_curr.grid_id > pd_prev.grid_id && centroid_bin.getAverageRadius() > 0.0) { + if (is_curr_in_next_grid && centroid_bin.getIndicesRef().indices.size() > 0) { // check if the prev grid have ground point cloud if (use_recheck_ground_cluster_) { recheckGroundCluster( @@ -452,8 +502,12 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( centroid_bin.initialize(); } + // 0: set the thresholds + const float global_slope_ratio_p = point_curr.z / pd_curr.radius; + const auto & grid_ref = gnd_grids.back(); + // 1: height is out-of-range - if (point_curr.z - gnd_grids.back().avg_height > detection_range_z_max_) { + if (point_curr.z - grid_ref.avg_height > detection_range_z_max_) { pd_curr.point_state = PointLabel::OUT_OF_RANGE; continue; } @@ -477,17 +531,17 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( continue; } - uint16_t next_gnd_grid_id_thresh = (gnd_grids.end() - gnd_grid_buffer_size_)->grid_id + - gnd_grid_buffer_size_ + gnd_grid_continual_thresh_; - float curr_grid_size = grid_.getGridSize(pd_curr.radius, pd_curr.grid_id); + const uint16_t next_gnd_grid_id_thresh = (gnd_grids.end() - gnd_grid_buffer_size_)->grid_id + + gnd_grid_buffer_size_ + gnd_grid_continual_thresh_; + const float curr_grid_width = grid_.getGridSize(pd_curr.radius, pd_curr.grid_id); if ( // 4: the point is continuous with the previous grid pd_curr.grid_id < next_gnd_grid_id_thresh && - pd_curr.radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * curr_grid_size) { + pd_curr.radius - grid_ref.radius < gnd_grid_continual_thresh_ * curr_grid_width) { checkContinuousGndGrid(pd_curr, point_curr, gnd_grids); } else if ( // 5: the point is discontinuous with the previous grid - pd_curr.radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * curr_grid_size) { + pd_curr.radius - grid_ref.radius < gnd_grid_continual_thresh_ * curr_grid_width) { checkDiscontinuousGndGrid(pd_curr, point_curr, gnd_grids); } else { // 6: the point is break the previous grid diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp index bccef138e754e..cb663d1d8e9d4 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp @@ -97,7 +97,7 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt height_sum(0.0f), radius_avg(0.0f), height_avg(0.0f), - height_max(0.0f), + height_max(-10.0f), height_min(10.0f), point_num(0), grid_id(0) @@ -110,7 +110,7 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt height_sum = 0.0f; radius_avg = 0.0f; height_avg = 0.0f; - height_max = 0.0f; + height_max = -10.0f; height_min = 10.0f; point_num = 0; grid_id = 0; @@ -175,21 +175,21 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt float center_pcl_shift_; // virtual center of pcl to center mass // common parameters - double radial_divider_angle_rad_; // distance in rads between dividers + float radial_divider_angle_rad_; // distance in rads between dividers size_t radial_dividers_num_; VehicleInfo vehicle_info_; // common thresholds - double global_slope_max_angle_rad_; // radians - double local_slope_max_angle_rad_; // radians - double global_slope_max_ratio_; - double local_slope_max_ratio_; - double split_points_distance_tolerance_; // distance in meters between concentric divisions - double split_points_distance_tolerance_square_; + float global_slope_max_angle_rad_; // radians + float local_slope_max_angle_rad_; // radians + float global_slope_max_ratio_; + float local_slope_max_ratio_; + float split_points_distance_tolerance_; // distance in meters between concentric divisions + float split_points_distance_tolerance_square_; // non-grid mode parameters bool use_virtual_ground_point_; - double // minimum height threshold regardless the slope, + float // minimum height threshold regardless the slope, split_height_distance_; // useful for close points // grid mode parameters From 92868c099304b9c37e5e9983e3a79d5c8c6f9d5d Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 18 Oct 2024 08:26:29 +0900 Subject: [PATCH 256/701] fix(avoidance): don't insert stop line if the ego can't avoid or return (#9089) * fix(avoidance): don't insert stop line if the ego can't avoid or return Signed-off-by: satoshi-ota * fix: build error Signed-off-by: satoshi-ota * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp Co-authored-by: Go Sakayori --------- Signed-off-by: satoshi-ota Co-authored-by: Go Sakayori --- .../helper.hpp | 13 +++++++++++++ .../src/scene.cpp | 19 +++++++++++++++++++ 2 files changed, 32 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp index b59dc9e91e23c..7672ded75f1fd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp @@ -321,6 +321,19 @@ class AvoidanceHelper }); } + bool isFeasible(const AvoidLineArray & shift_lines) const + { + constexpr double JERK_BUFFER = 0.1; // [m/sss] + const auto & values = parameters_->velocity_map; + const auto idx = getConstraintsMapIndex(0.0, values); // use minimum avoidance speed + const auto jerk_limit = parameters_->lateral_max_jerk_map.at(idx); + return std::all_of(shift_lines.begin(), shift_lines.end(), [&](const auto & line) { + return autoware::motion_utils::calc_jerk_from_lat_lon_distance( + line.getRelativeLength(), line.getRelativeLongitudinal(), values.at(idx)) < + jerk_limit + JERK_BUFFER; + }); + } + bool isReady(const ObjectDataArray & objects) const { if (objects.empty()) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 2c5950bfeae0c..fb63180be7ac4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -1630,6 +1630,11 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & data = avoid_data_; + if (data.new_shift_line.empty()) { + RCLCPP_WARN(getLogger(), "module doesn't have return shift line."); + return; + } + if (data.to_return_point > planner_data_->parameters.forward_path_length) { RCLCPP_DEBUG(getLogger(), "return dead line is far enough."); return; @@ -1642,6 +1647,11 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( return; } + if (!helper_->isFeasible(data.new_shift_line)) { + RCLCPP_WARN(getLogger(), "return shift line is not feasible. do nothing.."); + return; + } + // Consider the difference in path length between the shifted path and original path (the path // that is shifted inward has a shorter distance to the end of the path than the other one.) const auto & to_reference_path_end = data.arclength_from_ego.back(); @@ -1652,6 +1662,10 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( const auto min_return_distance = helper_->getMinAvoidanceDistance(shift_length) + helper_->getNominalPrepareDistance(0.0); const auto to_stop_line = data.to_return_point - min_return_distance - buffer; + if (to_stop_line < 0.0) { + RCLCPP_WARN(getLogger(), "ego overran return shift dead line. do nothing."); + return; + } // If we don't need to consider deceleration constraints, insert a deceleration point // and return immediately @@ -1721,6 +1735,11 @@ void StaticObstacleAvoidanceModule::insertWaitPoint( return; } + if (data.to_stop_line < 0.0) { + RCLCPP_WARN(getLogger(), "ego overran avoidance dead line. do nothing."); + return; + } + // If we don't need to consider deceleration constraints, insert a deceleration point // and return immediately if (!use_constraints_for_decel) { From 582d9f11b9be92cb5d82f7a407408e06a59c6828 Mon Sep 17 00:00:00 2001 From: Tiankui Xian <1041084556@qq.com> Date: Fri, 18 Oct 2024 14:16:30 +0900 Subject: [PATCH 257/701] test(autoware_control_evaluator): add test for autoware_control_evaluator. (#9114) * init Signed-off-by: xtk8532704 <1041084556@qq.com> * tmp save. Signed-off-by: xtk8532704 <1041084556@qq.com> * save, there is a bug Signed-off-by: xtk8532704 <1041084556@qq.com> * update package.xml Signed-off-by: xtk8532704 <1041084556@qq.com> * coverage rate 64.5 Signed-off-by: xtk8532704 <1041084556@qq.com> * remove comments. Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com> --- .../autoware_control_evaluator/CMakeLists.txt | 9 + .../control_evaluator_node.hpp | 2 - .../autoware_control_evaluator/package.xml | 5 +- .../test/test_control_evaluator_node.cpp | 197 ++++++++++++++++++ 4 files changed, 210 insertions(+), 3 deletions(-) create mode 100644 evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp diff --git a/evaluator/autoware_control_evaluator/CMakeLists.txt b/evaluator/autoware_control_evaluator/CMakeLists.txt index 2e6f9851cafce..5d6474de88015 100644 --- a/evaluator/autoware_control_evaluator/CMakeLists.txt +++ b/evaluator/autoware_control_evaluator/CMakeLists.txt @@ -16,6 +16,15 @@ rclcpp_components_register_node(control_evaluator_node EXECUTABLE control_evaluator ) +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_control_evaluator + test/test_control_evaluator_node.cpp + ) + target_link_libraries(test_control_evaluator + control_evaluator_node + ) +endif() + ament_auto_package( INSTALL_TO_SHARE diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index e2437e614d211..9641f4f75026a 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -56,8 +56,6 @@ class ControlEvaluatorNode : public rclcpp::Node const Trajectory & traj, const Point & ego_point); DiagnosticStatus generateYawDeviationDiagnosticStatus( const Trajectory & traj, const Pose & ego_pose); - std::optional generateStopDiagnosticStatus( - const DiagnosticArray & diag, const std::string & function_name); DiagnosticStatus generateAEBDiagnosticStatus(const DiagnosticStatus & diag); DiagnosticStatus generateLaneletDiagnosticStatus(const Pose & ego_pose) const; diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml index 52f5a04092713..1de3c0ecacae6 100644 --- a/evaluator/autoware_control_evaluator/package.xml +++ b/evaluator/autoware_control_evaluator/package.xml @@ -20,12 +20,15 @@ autoware_motion_utils autoware_planning_msgs autoware_route_handler + autoware_test_utils autoware_universe_utils diagnostic_msgs + nav_msgs pluginlib rclcpp rclcpp_components - + tf2 + tf2_ros ament_cmake_ros ament_lint_auto diff --git a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp new file mode 100644 index 0000000000000..ca51721fa1932 --- /dev/null +++ b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp @@ -0,0 +1,197 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "ament_index_cpp/get_package_share_directory.hpp" +#include "gtest/gtest.h" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/time.hpp" +#include "tf2_ros/transform_broadcaster.h" + +#include + +#include "autoware_planning_msgs/msg/trajectory.hpp" +#include "diagnostic_msgs/msg/diagnostic_array.hpp" +#include "geometry_msgs/msg/transform_stamped.hpp" + +#include "boost/lexical_cast.hpp" + +#include + +#include +#include +#include +#include + +using EvalNode = control_diagnostics::ControlEvaluatorNode; +using Trajectory = autoware_planning_msgs::msg::Trajectory; +using TrajectoryPoint = autoware_planning_msgs::msg::TrajectoryPoint; +using diagnostic_msgs::msg::DiagnosticArray; +using nav_msgs::msg::Odometry; + +constexpr double epsilon = 1e-6; + +class EvalTest : public ::testing::Test +{ +protected: + void SetUp() override + { + rclcpp::init(0, nullptr); + + rclcpp::NodeOptions options; + const auto share_dir = + ament_index_cpp::get_package_share_directory("autoware_control_evaluator"); + + dummy_node = std::make_shared("control_evaluator_test_node"); + eval_node = std::make_shared(options); + // Enable all logging in the node + auto ret = rcutils_logging_set_logger_level( + dummy_node->get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG); + if (ret != RCUTILS_RET_OK) { + std::cerr << "Failed to set logging severity to DEBUG\n"; + } + ret = rcutils_logging_set_logger_level( + eval_node->get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG); + if (ret != RCUTILS_RET_OK) { + std::cerr << "Failed to set logging severity to DEBUG\n"; + } + traj_pub_ = + rclcpp::create_publisher(dummy_node, "/control_evaluator/input/trajectory", 1); + odom_pub_ = + rclcpp::create_publisher(dummy_node, "/control_evaluator/input/odometry", 1); + tf_broadcaster_ = std::make_unique(dummy_node); + publishEgoPose(0.0, 0.0, 0.0); + } + + ~EvalTest() override { rclcpp::shutdown(); } + + void setTargetMetric(const std::string & metric_str) + { + const auto is_target_metric = [metric_str](const auto & status) { + return status.name == metric_str; + }; + metric_sub_ = rclcpp::create_subscription( + dummy_node, "/control_evaluator/metrics", 1, [=](const DiagnosticArray::ConstSharedPtr msg) { + const auto it = std::find_if(msg->status.begin(), msg->status.end(), is_target_metric); + if (it != msg->status.end()) { + metric_value_ = boost::lexical_cast(it->values[0].value); + metric_updated_ = true; + } + }); + } + + Trajectory makeTrajectory(const std::vector> & traj) + { + Trajectory t; + t.header.frame_id = "map"; + TrajectoryPoint p; + for (const std::pair & point : traj) { + p.pose.position.x = point.first; + p.pose.position.y = point.second; + t.points.push_back(p); + } + return t; + } + + void publishTrajectory(const Trajectory & traj) + { + traj_pub_->publish(traj); + rclcpp::spin_some(eval_node); + rclcpp::spin_some(dummy_node); + rclcpp::sleep_for(std::chrono::milliseconds(100)); + } + + double publishTrajectoryAndGetMetric(const Trajectory & traj) + { + metric_updated_ = false; + traj_pub_->publish(traj); + while (!metric_updated_) { + rclcpp::spin_some(eval_node); + rclcpp::spin_some(dummy_node); + rclcpp::sleep_for(std::chrono::milliseconds(100)); + } + return metric_value_; + } + + void publishEgoPose(const double x, const double y, const double yaw) + { + Odometry odom; + odom.header.frame_id = "map"; + odom.header.stamp = dummy_node->now(); + odom.pose.pose.position.x = x; + odom.pose.pose.position.y = y; + odom.pose.pose.position.z = 0.0; + tf2::Quaternion q; + q.setRPY(0.0, 0.0, yaw); + odom.pose.pose.orientation.x = q.x(); + odom.pose.pose.orientation.y = q.y(); + odom.pose.pose.orientation.z = q.z(); + odom.pose.pose.orientation.w = q.w(); + + odom_pub_->publish(odom); + rclcpp::spin_some(eval_node); + rclcpp::spin_some(dummy_node); + rclcpp::sleep_for(std::chrono::milliseconds(100)); + } + + // Latest metric value + bool metric_updated_ = false; + double metric_value_; + // Node + rclcpp::Node::SharedPtr dummy_node; + EvalNode::SharedPtr eval_node; + // Trajectory publishers + rclcpp::Publisher::SharedPtr traj_pub_; + rclcpp::Publisher::SharedPtr odom_pub_; + rclcpp::Subscription::SharedPtr metric_sub_; + // TF broadcaster + std::unique_ptr tf_broadcaster_; +}; + +TEST_F(EvalTest, TestYawDeviation) +{ + auto setYaw = [](geometry_msgs::msg::Quaternion & msg, const double yaw_rad) { + tf2::Quaternion q; + q.setRPY(0.0, 0.0, yaw_rad); + msg.x = q.x(); + msg.y = q.y(); + msg.z = q.z(); + msg.w = q.w(); + }; + setTargetMetric("yaw_deviation"); + Trajectory t = makeTrajectory({{0.0, 0.0}, {1.0, 0.0}}); + for (auto & p : t.points) { + setYaw(p.pose.orientation, M_PI); + } + + publishEgoPose(0.0, 0.0, M_PI); + EXPECT_NEAR(publishTrajectoryAndGetMetric(t), 0.0, epsilon); + + publishEgoPose(0.0, 0.0, 0.0); + EXPECT_NEAR(publishTrajectoryAndGetMetric(t), M_PI, epsilon); + + publishEgoPose(0.0, 0.0, -M_PI); + EXPECT_NEAR(publishTrajectoryAndGetMetric(t), 0.0, epsilon); +} + +TEST_F(EvalTest, TestLateralDeviation) +{ + setTargetMetric("lateral_deviation"); + Trajectory t = makeTrajectory({{0.0, 0.0}, {1.0, 0.0}}); + + publishEgoPose(0.0, 0.0, 0.0); + EXPECT_NEAR(publishTrajectoryAndGetMetric(t), 0.0, epsilon); + + publishEgoPose(1.0, 1.0, 0.0); + EXPECT_NEAR(publishTrajectoryAndGetMetric(t), 1.0, epsilon); +} From ae24913390600d95b3194f7e3ddf43ac823261ce Mon Sep 17 00:00:00 2001 From: Jesus Armando Anaya Date: Fri, 18 Oct 2024 00:56:14 -0700 Subject: [PATCH 258/701] fix(autoware_carla_interface): resolve init file error and colcon marker warning (#9115) Signed-off-by: Jesus Armando Anaya --- .../resource/{carla_autoware => autoware_carla_interface} | 0 simulator/autoware_carla_interface/setup.py | 1 + .../src/autoware_carla_interface/__init__.py | 0 .../src/autoware_carla_interface/modules/__init__.py | 0 4 files changed, 1 insertion(+) rename simulator/autoware_carla_interface/resource/{carla_autoware => autoware_carla_interface} (100%) create mode 100644 simulator/autoware_carla_interface/src/autoware_carla_interface/__init__.py create mode 100644 simulator/autoware_carla_interface/src/autoware_carla_interface/modules/__init__.py diff --git a/simulator/autoware_carla_interface/resource/carla_autoware b/simulator/autoware_carla_interface/resource/autoware_carla_interface similarity index 100% rename from simulator/autoware_carla_interface/resource/carla_autoware rename to simulator/autoware_carla_interface/resource/autoware_carla_interface diff --git a/simulator/autoware_carla_interface/setup.py b/simulator/autoware_carla_interface/setup.py index 32bf726b02299..9b3ce02a4989c 100644 --- a/simulator/autoware_carla_interface/setup.py +++ b/simulator/autoware_carla_interface/setup.py @@ -14,6 +14,7 @@ ("share/" + package_name, glob("calibration_maps/*.csv")), ("share/" + package_name, ["package.xml"]), (os.path.join("share", package_name), glob("launch/autoware_carla_interface.launch.xml")), + ("share/ament_index/resource_index/packages", ["resource/autoware_carla_interface"]), ], install_requires=["setuptools"], zip_safe=True, diff --git a/simulator/autoware_carla_interface/src/autoware_carla_interface/__init__.py b/simulator/autoware_carla_interface/src/autoware_carla_interface/__init__.py new file mode 100644 index 0000000000000..e69de29bb2d1d diff --git a/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/__init__.py b/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/__init__.py new file mode 100644 index 0000000000000..e69de29bb2d1d From 6ff212147b2159e67462c0e90d80c3b1905e5bb7 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Sun, 20 Oct 2024 21:29:03 +0900 Subject: [PATCH 259/701] test(detection_area): refactor and add unit tests (#9087) Signed-off-by: Maxime CLEMENT --- .../CMakeLists.txt | 13 +- .../package.xml | 1 + .../src/scene.cpp | 169 ++-------------- .../src/scene.hpp | 12 +- .../src/utils.cpp | 165 ++++++++++++++++ .../src/utils.hpp | 71 +++++++ .../test/test_utils.cpp | 183 ++++++++++++++++++ 7 files changed, 448 insertions(+), 166 deletions(-) create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.hpp create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/test/test_utils.cpp diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt index 57eb826927663..3aff4a524ffdd 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt @@ -6,9 +6,16 @@ autoware_package() pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED - src/debug.cpp - src/manager.cpp - src/scene.cpp + DIRECTORY src ) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_utils.cpp + ) + target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME}) +endif() + ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml index c707e2fbfdbde..8669aa16b7252 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml @@ -33,6 +33,7 @@ tf2_geometry_msgs visualization_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp index d6a1747259962..ad3ba986733e1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp @@ -14,32 +14,28 @@ #include "scene.hpp" +#include "utils.hpp" + #include #include #include -#ifdef ROS_DISTRO_GALACTIC -#include -#else #include -#endif #include -#include #include #include #include namespace autoware::behavior_velocity_planner { -namespace bg = boost::geometry; using autoware::motion_utils::calcLongitudinalOffsetPose; using autoware::motion_utils::calcSignedArcLength; DetectionAreaModule::DetectionAreaModule( const int64_t module_id, const int64_t lane_id, const lanelet::autoware::DetectionArea & detection_area_reg_elem, - const PlannerParam & planner_param, const rclcpp::Logger logger, + const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock) : SceneModuleInterface(module_id, logger, clock), lane_id_(lane_id), @@ -51,13 +47,6 @@ DetectionAreaModule::DetectionAreaModule( velocity_factor_.init(PlanningBehavior::USER_DEFINED_DETECTION_AREA); } -LineString2d DetectionAreaModule::getStopLineGeometry2d() const -{ - const lanelet::ConstLineString3d stop_line = detection_area_reg_elem_.stopLine(); - return planning_utils::extendLine( - stop_line[0], stop_line[1], planner_data_->stop_line_extend_length); -} - bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) { // Store original path @@ -69,14 +58,16 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * *stop_reason = planning_utils::initializeStopReason(StopReason::DETECTION_AREA); // Find obstacles in detection area - const auto obstacle_points = getObstaclePoints(); + const auto obstacle_points = detection_area::get_obstacle_points( + detection_area_reg_elem_.detectionAreas(), *planner_data_->no_ground_pointcloud); debug_data_.obstacle_points = obstacle_points; if (!obstacle_points.empty()) { last_obstacle_found_time_ = std::make_shared(clock_->now()); } // Get stop line geometry - const auto stop_line = getStopLineGeometry2d(); + const auto stop_line = detection_area::get_stop_line_geometry2d( + detection_area_reg_elem_, planner_data_->stop_line_extend_length); // Get self pose const auto & self_pose = planner_data_->current_odometry->pose; @@ -118,7 +109,8 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * setDistance(stop_dist); // Check state - setSafe(canClearStopState()); + setSafe(detection_area::can_clear_stop_state( + last_obstacle_found_time_, clock_->now(), planner_param_.state_clear_time)); if (isActivated()) { state_ = State::GO; last_obstacle_found_time_ = {}; @@ -165,7 +157,14 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * // Ignore objects if braking distance is not enough if (planner_param_.use_pass_judge_line) { - if (state_ != State::STOP && !hasEnoughBrakingDistance(self_pose, stop_point->second)) { + const auto current_velocity = planner_data_->current_velocity->twist.linear.x; + const double pass_judge_line_distance = planning_utils::calcJudgeLineDistWithAccLimit( + current_velocity, planner_data_->current_acceleration->accel.accel.linear.x, + planner_data_->delay_response_time); + if ( + state_ != State::STOP && + !detection_area::has_enough_braking_distance( + self_pose, stop_point->second, pass_judge_line_distance, current_velocity)) { RCLCPP_WARN_THROTTLE( logger_, *clock_, std::chrono::milliseconds(1000).count(), "[detection_area] vehicle is over stop border"); @@ -206,138 +205,4 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * return true; } - -// calc smallest enclosing circle with average O(N) algorithm -// reference: -// https://erickimphotography.com/blog/wp-content/uploads/2018/09/Computational-Geometry-Algorithms-and-Applications-3rd-Ed.pdf -std::pair calcSmallestEnclosingCircle( - const lanelet::ConstPolygon2d & poly) -{ - // The `eps` is used to avoid precision bugs in circle inclusion checks. - // If the value of `eps` is too small, this function doesn't work well. More than 1e-10 is - // recommended. - const double eps = 1e-5; - lanelet::BasicPoint2d center(0.0, 0.0); - double radius_squared = 0.0; - - auto cross = [](const lanelet::BasicPoint2d & p1, const lanelet::BasicPoint2d & p2) -> double { - return p1.x() * p2.y() - p1.y() * p2.x(); - }; - - auto make_circle_3 = [&]( - const lanelet::BasicPoint2d & p1, const lanelet::BasicPoint2d & p2, - const lanelet::BasicPoint2d & p3) -> void { - // reference for circumcenter vector https://en.wikipedia.org/wiki/Circumscribed_circle - const double A = (p2 - p3).squaredNorm(); - const double B = (p3 - p1).squaredNorm(); - const double C = (p1 - p2).squaredNorm(); - const double S = cross(p2 - p1, p3 - p1); - if (std::abs(S) < eps) return; - center = (A * (B + C - A) * p1 + B * (C + A - B) * p2 + C * (A + B - C) * p3) / (4 * S * S); - radius_squared = (center - p1).squaredNorm() + eps; - }; - - auto make_circle_2 = - [&](const lanelet::BasicPoint2d & p1, const lanelet::BasicPoint2d & p2) -> void { - center = (p1 + p2) * 0.5; - radius_squared = (center - p1).squaredNorm() + eps; - }; - - auto in_circle = [&](const lanelet::BasicPoint2d & p) -> bool { - return (center - p).squaredNorm() <= radius_squared; - }; - - // mini disc - for (size_t i = 1; i < poly.size(); i++) { - const auto p1 = poly[i].basicPoint2d(); - if (in_circle(p1)) continue; - - // mini disc with point - const auto p0 = poly[0].basicPoint2d(); - make_circle_2(p0, p1); - for (size_t j = 0; j < i; j++) { - const auto p2 = poly[j].basicPoint2d(); - if (in_circle(p2)) continue; - - // mini disc with two points - make_circle_2(p1, p2); - for (size_t k = 0; k < j; k++) { - const auto p3 = poly[k].basicPoint2d(); - if (in_circle(p3)) continue; - - // mini disc with tree points - make_circle_3(p1, p2, p3); - } - } - } - - return std::make_pair(center, radius_squared); -} - -std::vector DetectionAreaModule::getObstaclePoints() const -{ - std::vector obstacle_points; - - const auto detection_areas = detection_area_reg_elem_.detectionAreas(); - const auto & points = *(planner_data_->no_ground_pointcloud); - - for (const auto & detection_area : detection_areas) { - const auto poly = lanelet::utils::to2D(detection_area); - const auto circle = calcSmallestEnclosingCircle(poly); - for (const auto p : points) { - const double squared_dist = (circle.first.x() - p.x) * (circle.first.x() - p.x) + - (circle.first.y() - p.y) * (circle.first.y() - p.y); - if (squared_dist <= circle.second) { - if (bg::within(Point2d{p.x, p.y}, poly.basicPolygon())) { - obstacle_points.push_back(autoware::universe_utils::createPoint(p.x, p.y, p.z)); - // get all obstacle point becomes high computation cost so skip if any point is found - break; - } - } - } - } - - return obstacle_points; -} - -bool DetectionAreaModule::canClearStopState() const -{ - // vehicle can clear stop state if the obstacle has never appeared in detection area - if (!last_obstacle_found_time_) { - return true; - } - - // vehicle can clear stop state if the certain time has passed since the obstacle disappeared - const auto elapsed_time = clock_->now() - *last_obstacle_found_time_; - if (elapsed_time.seconds() >= planner_param_.state_clear_time) { - return true; - } - - // rollback in simulation mode - if (elapsed_time.seconds() < 0.0) { - return true; - } - - return false; -} - -bool DetectionAreaModule::hasEnoughBrakingDistance( - const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose) const -{ - // get vehicle info and compute pass_judge_line_distance - const auto current_velocity = planner_data_->current_velocity->twist.linear.x; - const double max_acc = planner_data_->max_stop_acceleration_threshold; - const double delay_response_time = planner_data_->delay_response_time; - const double pass_judge_line_distance = - planning_utils::calcJudgeLineDistWithAccLimit(current_velocity, max_acc, delay_response_time); - - // prevent from being judged as not having enough distance when the current velocity is zero - // and the vehicle crosses the stop line - if (current_velocity < 1e-3) { - return true; - } - - return arc_lane_utils::calcSignedDistance(self_pose, line_pose.position) > - pass_judge_line_distance; -} } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp index efc1c1809302a..d756ea39a7f92 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp @@ -63,11 +63,10 @@ class DetectionAreaModule : public SceneModuleInterface double distance_to_judge_over_stop_line; }; -public: DetectionAreaModule( const int64_t module_id, const int64_t lane_id, const lanelet::autoware::DetectionArea & detection_area_reg_elem, - const PlannerParam & planner_param, const rclcpp::Logger logger, + const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; @@ -76,15 +75,6 @@ class DetectionAreaModule : public SceneModuleInterface autoware::motion_utils::VirtualWalls createVirtualWalls() override; private: - LineString2d getStopLineGeometry2d() const; - - std::vector getObstaclePoints() const; - - bool canClearStopState() const; - - bool hasEnoughBrakingDistance( - const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose) const; - // Lane id int64_t lane_id_; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp new file mode 100644 index 0000000000000..6b3bf416e6d99 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp @@ -0,0 +1,165 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "utils.hpp" + +#include +#include +#include +#include + +#include +#include + +#include + +namespace +{ +// calc smallest enclosing circle with average O(N) algorithm +// reference: +// https://erickimphotography.com/blog/wp-content/uploads/2018/09/Computational-Geometry-Algorithms-and-Applications-3rd-Ed.pdf +std::pair get_smallest_enclosing_circle( + const lanelet::ConstPolygon2d & poly) +{ + // The `eps` is used to avoid precision bugs in circle inclusion checks. + // If the value of `eps` is too small, this function doesn't work well. More than 1e-10 is + // recommended. + const double eps = 1e-5; + lanelet::BasicPoint2d center(0.0, 0.0); + double radius_squared = 0.0; + + auto cross = [](const lanelet::BasicPoint2d & p1, const lanelet::BasicPoint2d & p2) -> double { + return p1.x() * p2.y() - p1.y() * p2.x(); + }; + + auto make_circle_3 = [&]( + const lanelet::BasicPoint2d & p1, const lanelet::BasicPoint2d & p2, + const lanelet::BasicPoint2d & p3) -> void { + // reference for circumcenter vector https://en.wikipedia.org/wiki/Circumscribed_circle + const double a = (p2 - p3).squaredNorm(); + const double b = (p3 - p1).squaredNorm(); + const double c = (p1 - p2).squaredNorm(); + const double s = cross(p2 - p1, p3 - p1); + if (std::abs(s) < eps) return; + center = (a * (b + c - a) * p1 + b * (c + a - b) * p2 + c * (a + b - c) * p3) / (4 * s * s); + radius_squared = (center - p1).squaredNorm() + eps; + }; + + auto make_circle_2 = + [&](const lanelet::BasicPoint2d & p1, const lanelet::BasicPoint2d & p2) -> void { + center = (p1 + p2) * 0.5; + radius_squared = (center - p1).squaredNorm() + eps; + }; + + auto in_circle = [&](const lanelet::BasicPoint2d & p) -> bool { + return (center - p).squaredNorm() <= radius_squared; + }; + + // mini disc + for (size_t i = 1; i < poly.size(); i++) { + const auto p1 = poly[i].basicPoint2d(); + if (in_circle(p1)) continue; + + // mini disc with point + const auto p0 = poly[0].basicPoint2d(); + make_circle_2(p0, p1); + for (size_t j = 0; j < i; j++) { + const auto p2 = poly[j].basicPoint2d(); + if (in_circle(p2)) continue; + + // mini disc with two points + make_circle_2(p1, p2); + for (size_t k = 0; k < j; k++) { + const auto p3 = poly[k].basicPoint2d(); + if (in_circle(p3)) continue; + + // mini disc with tree points + make_circle_3(p1, p2, p3); + } + } + } + + return std::make_pair(center, radius_squared); +} +} // namespace + +namespace autoware::behavior_velocity_planner::detection_area +{ +universe_utils::LineString2d get_stop_line_geometry2d( + const lanelet::autoware::DetectionArea & detection_area, const double extend_length) +{ + const auto stop_line = detection_area.stopLine(); + return planning_utils::extendLine(stop_line[0], stop_line[1], extend_length); +} + +std::vector get_obstacle_points( + const lanelet::ConstPolygons3d & detection_areas, const pcl::PointCloud & points) +{ + std::vector obstacle_points; + for (const auto & detection_area : detection_areas) { + const auto poly = lanelet::utils::to2D(detection_area); + const auto circle = get_smallest_enclosing_circle(poly); + for (const auto p : points) { + const double squared_dist = (circle.first.x() - p.x) * (circle.first.x() - p.x) + + (circle.first.y() - p.y) * (circle.first.y() - p.y); + if (squared_dist <= circle.second) { + if (boost::geometry::within(Point2d{p.x, p.y}, poly.basicPolygon())) { + obstacle_points.push_back(autoware::universe_utils::createPoint(p.x, p.y, p.z)); + // get all obstacle point becomes high computation cost so skip if any point is found + break; + } + } + } + } + return obstacle_points; +} + +bool can_clear_stop_state( + const std::shared_ptr & last_obstacle_found_time, const rclcpp::Time & now, + const double state_clear_time) +{ + // vehicle can clear stop state if the obstacle has never appeared in detection area + if (!last_obstacle_found_time) { + return true; + } + + // vehicle can clear stop state if the certain time has passed since the obstacle disappeared + const auto elapsed_time = now - *last_obstacle_found_time; + if (elapsed_time.seconds() >= state_clear_time) { + return true; + } + + // rollback in simulation mode + if (elapsed_time.seconds() < 0.0) { + return true; + } + + return false; +} + +bool has_enough_braking_distance( + const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose, + const double pass_judge_line_distance, const double current_velocity) +{ + // prevent from being judged as not having enough distance when the current velocity is zero + // and the vehicle crosses the stop line + if (current_velocity < 1e-3) { + return true; + } + + return arc_lane_utils::calcSignedDistance(self_pose, line_pose.position) > + pass_judge_line_distance; +} + +} // namespace autoware::behavior_velocity_planner::detection_area diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.hpp new file mode 100644 index 0000000000000..3a0ba0172cbd1 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.hpp @@ -0,0 +1,71 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UTILS_HPP_ +#define UTILS_HPP_ + +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include +#include + +namespace autoware::behavior_velocity_planner::detection_area +{ + +/// @brief get the extended stop line of the given detection area +/// @param [in] detection_area detection area +/// @param [in] extend_length [m] extension length to add on each edge of the stop line +/// @return extended stop line +universe_utils::LineString2d get_stop_line_geometry2d( + const lanelet::autoware::DetectionArea & detection_area, const double extend_length); + +/// @brief get the obstacle points found inside a detection area +/// @param [in] detection_areas detection area polygons +/// @param [in] points obstacle points +/// @return the first obstacle point found in each detection area +std::vector get_obstacle_points( + const lanelet::ConstPolygons3d & detection_areas, const pcl::PointCloud & points); + +/// @brief return true if the stop state can be cleared +/// @details can be cleared if enough time passed since last detecting an obstacle +/// @param [in] last_obstacle_found_time pointer to the time when an obstacle was last detected +/// @param [in] now current time +/// @param [in] state_clear_time [s] minimum duration since last obstacle detection to clear the +/// stop state +/// @return true if the stop state can be cleared +bool can_clear_stop_state( + const std::shared_ptr & last_obstacle_found_time, const rclcpp::Time & now, + const double state_clear_time); + +/// @brief return true if distance to brake is enough +/// @param self_pose current ego pose +/// @param line_pose stop pose +/// @param pass_judge_line_distance braking distance +/// @param current_velocity current ego velocity +/// @return true if the distance to brake is enough +bool has_enough_braking_distance( + const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose, + const double pass_judge_line_distance, const double current_velocity); +} // namespace autoware::behavior_velocity_planner::detection_area + +#endif // UTILS_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/test/test_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/test/test_utils.cpp new file mode 100644 index 0000000000000..9b4dc5193f655 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/test/test_utils.cpp @@ -0,0 +1,183 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "../src/utils.hpp" + +#include +#include +#include +#include + +#include +#include + +TEST(TestUtils, getStopLine) +{ + using autoware::behavior_velocity_planner::detection_area::get_stop_line_geometry2d; + lanelet::LineString3d line; + line.push_back(lanelet::Point3d(lanelet::InvalId, 0.0, -1.0)); + line.push_back(lanelet::Point3d(lanelet::InvalId, 0.0, 1.0)); + lanelet::Polygons3d detection_areas; + lanelet::Polygon3d area; + area.push_back(lanelet::Point3d(lanelet::InvalId, 1.0, -1.0)); + area.push_back(lanelet::Point3d(lanelet::InvalId, 1.0, 1.0)); + area.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, 1.0)); + area.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, -1.0)); + detection_areas.push_back(area); + auto detection_area = + lanelet::autoware::DetectionArea::make(lanelet::InvalId, {}, detection_areas, line); + { + const double extend_length = 0.0; + const auto stop_line = get_stop_line_geometry2d(*detection_area, extend_length); + ASSERT_EQ(stop_line.size(), 2UL); + EXPECT_EQ(stop_line[0].x(), line[0].x()); + EXPECT_EQ(stop_line[0].y(), line[0].y()); + EXPECT_EQ(stop_line[1].x(), line[1].x()); + EXPECT_EQ(stop_line[1].y(), line[1].y()); + } + // extended line + for (auto extend_length = -2.0; extend_length < 2.0; extend_length += 0.1) { + const auto stop_line = get_stop_line_geometry2d(*detection_area, extend_length); + ASSERT_EQ(stop_line.size(), 2UL); + EXPECT_EQ(stop_line[0].x(), line[0].x()); + EXPECT_EQ(stop_line[0].y(), line[0].y() - extend_length); + EXPECT_EQ(stop_line[1].x(), line[1].x()); + EXPECT_EQ(stop_line[1].y(), line[1].y() + extend_length); + } +} + +TEST(TestUtils, getObstaclePoints) +{ + using autoware::behavior_velocity_planner::detection_area::get_obstacle_points; + lanelet::ConstPolygons3d detection_areas; + lanelet::Polygon3d area; + area.push_back(lanelet::Point3d(lanelet::InvalId, 1.0, -1.0)); + area.push_back(lanelet::Point3d(lanelet::InvalId, 1.0, 1.0)); + area.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, 1.0)); + area.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, -1.0)); + detection_areas.push_back(area); + pcl::PointCloud points; + // empty points + { + const auto obstacle_points = get_obstacle_points(detection_areas, points); + EXPECT_TRUE(obstacle_points.empty()); + } + // add points outside the detection area + points.emplace_back(0.0, 0.0, 0.0); + points.emplace_back(4.0, 4.0, 0.0); + { + const auto obstacle_points = get_obstacle_points(detection_areas, points); + EXPECT_TRUE(obstacle_points.empty()); + } + // add point on the edge of the detection area (will not be found) + points.emplace_back(1.0, 1.0, 0.0); + { + const auto obstacle_points = get_obstacle_points(detection_areas, points); + EXPECT_TRUE(obstacle_points.empty()); + } + // add point inside the detection area (will be found) + points.emplace_back(2.0, 0.0, 0.0); + { + const auto obstacle_points = get_obstacle_points(detection_areas, points); + ASSERT_EQ(obstacle_points.size(), 1UL); + EXPECT_EQ(obstacle_points[0].x, points[3].x); + EXPECT_EQ(obstacle_points[0].y, points[3].y); + } + // add a detection area that covers all points + lanelet::Polygon3d full_area; + full_area.push_back(lanelet::Point3d(lanelet::InvalId, -10.0, -10.0)); + full_area.push_back(lanelet::Point3d(lanelet::InvalId, -10.0, 10.0)); + full_area.push_back(lanelet::Point3d(lanelet::InvalId, 10.0, 10.0)); + full_area.push_back(lanelet::Point3d(lanelet::InvalId, 10.0, -10.0)); + detection_areas.push_back(full_area); + { + const auto obstacle_points = get_obstacle_points(detection_areas, points); + ASSERT_EQ(obstacle_points.size(), 2UL); // only the 1st point found for each area are returned + EXPECT_EQ(obstacle_points[0].x, points[3].x); + EXPECT_EQ(obstacle_points[0].y, points[3].y); + EXPECT_EQ(obstacle_points[1].x, points[0].x); + EXPECT_EQ(obstacle_points[1].y, points[0].y); + } +} + +TEST(TestUtils, canClearStopState) +{ + using autoware::behavior_velocity_planner::detection_area::can_clear_stop_state; + std::shared_ptr last_obstacle_found_time = nullptr; + // can clear if we never found an obstacle + for (auto now_s = 0; now_s <= 10; now_s += 1) { + for (auto now_ns = 0; now_ns <= 1e9; now_ns += 1e8) { + for (double state_clear_time = 0.0; state_clear_time <= 10.0; state_clear_time += 0.1) { + const auto can_clear = can_clear_stop_state( + last_obstacle_found_time, rclcpp::Time(now_s, now_ns, RCL_CLOCK_UNINITIALIZED), + state_clear_time); + EXPECT_TRUE(can_clear); + } + } + } + last_obstacle_found_time = std::make_shared(1.0, 0.0); + const auto state_clear_time = 1.0; + // special case for negative time difference which may occur with simulated time + EXPECT_TRUE(can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(0, 0), state_clear_time)); + EXPECT_TRUE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(0, 9 * 1e8), state_clear_time)); + // cannot clear before the time has passed since the obstacle disappeared + EXPECT_FALSE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(1, 1), state_clear_time)); + EXPECT_FALSE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(1, 1e9 - 1), state_clear_time)); + // can clear after the time has passed + EXPECT_TRUE(can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(2, 1), state_clear_time)); + EXPECT_TRUE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(100, 0), state_clear_time)); + // negative time + const auto negative_state_clear_time = -1.0; + EXPECT_TRUE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(0, 0), negative_state_clear_time)); + EXPECT_TRUE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(1, 0), negative_state_clear_time)); + EXPECT_TRUE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(2, 0), negative_state_clear_time)); +} + +TEST(TestUtils, hasEnoughBrakingDistance) +{ + using autoware::behavior_velocity_planner::detection_area::has_enough_braking_distance; + // prepare a stop pose 10m away from the self pose + geometry_msgs::msg::Pose self_pose; + self_pose.position.x = 0.0; + self_pose.position.y = 0.0; + geometry_msgs::msg::Pose line_pose; + line_pose.position.x = 10.0; + line_pose.position.y = 0.0; + // can always brake at zero velocity + for (auto pass_judge_line_distance = 0.0; pass_judge_line_distance <= 20.0; + pass_judge_line_distance += 0.1) { + double current_velocity = 0.0; + EXPECT_TRUE(has_enough_braking_distance( + self_pose, line_pose, pass_judge_line_distance, current_velocity)); + } + // if velocity is not zero, can brake if the pass judge line distance is lower than 10m + const double current_velocity = 5.0; + for (auto pass_judge_line_distance = 0.0; pass_judge_line_distance < 10.0; + pass_judge_line_distance += 0.1) { + EXPECT_TRUE(has_enough_braking_distance( + self_pose, line_pose, pass_judge_line_distance, current_velocity)); + } + for (auto pass_judge_line_distance = 10.0; pass_judge_line_distance <= 20.0; + pass_judge_line_distance += 0.1) { + EXPECT_FALSE(has_enough_braking_distance( + self_pose, line_pose, pass_judge_line_distance, current_velocity)); + } +} From ebc8c7a6859a3bdc9bfadecc0649c0d25e6c6cda Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 21 Oct 2024 09:30:39 +0900 Subject: [PATCH 260/701] feat(autoware_ground_segmentation): implementing linear least square fitting for local gradient calculation (#9116) * refactor: calculate local ground gradient in classifyPointCloudGridScan Calculate the local ground gradient by fitting a line to the ground grids in the classifyPointCloudGridScan function. This improves the accuracy of the gradient calculation and ensures more precise extrapolation of the ground height. Signed-off-by: Taekjin LEE * refactor: calculate local ground gradient in classifyPointCloudGridScan Signed-off-by: Taekjin LEE * refactor: update ground gradient calculation in classifyPointCloudGridScan function Signed-off-by: Taekjin LEE * style(pre-commit): autofix Signed-off-by: Taekjin LEE * chore: rename gradient variables Signed-off-by: Taekjin LEE * refactor: initialize all the member of the struct GridCenter Signed-off-by: Taekjin LEE * refactor: fix ground gradient calculation in checkContinuousGndGrid function Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/scan_ground_filter/node.cpp | 58 +++++++++++++------ .../src/scan_ground_filter/node.hpp | 5 ++ 2 files changed, 44 insertions(+), 19 deletions(-) diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp index df0c0d77eeb44..0d7c41802cca9 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp @@ -279,11 +279,35 @@ void ScanGroundFilterComponent::initializeFirstGndGrids( curr_gnd_grid.radius = interpolated_r; curr_gnd_grid.avg_height = interpolated_z; curr_gnd_grid.max_height = interpolated_z; + curr_gnd_grid.gradient = gradient; + curr_gnd_grid.intercept = 0.0f; curr_gnd_grid.grid_id = ind_grid; gnd_grids.push_back(curr_gnd_grid); } } +void ScanGroundFilterComponent::fitLineFromGndGrid( + const std::vector & gnd_grids_list, const size_t start_idx, const size_t end_idx, + float & a, float & b) const +{ + // calculate local gradient by least square method + float sum_x = 0.0f; + float sum_y = 0.0f; + float sum_xy = 0.0f; + float sum_x2 = 0.0f; + for (auto it = gnd_grids_list.begin() + start_idx; it < gnd_grids_list.begin() + end_idx; ++it) { + sum_x += it->radius; + sum_y += it->avg_height; + sum_xy += it->radius * it->avg_height; + sum_x2 += it->radius * it->radius; + } + const float n = static_cast(end_idx - start_idx); + + // y = a * x + b + a = (n * sum_xy - sum_x * sum_y) / (n * sum_x2 - sum_x * sum_x); + b = (sum_y - a * sum_x) / n; +} + void ScanGroundFilterComponent::checkContinuousGndGrid( PointData & pd, const pcl::PointXYZ & point_curr, const std::vector & gnd_grids_list) const @@ -303,27 +327,12 @@ void ScanGroundFilterComponent::checkContinuousGndGrid( } // 2. mean of grid buffer(filtering) - // get mean of buffer except the last grid - float gnd_buff_z_mean = 0.0f; - float gnd_buff_radius = 0.0f; - for (auto it = gnd_grids_list.end() - 1 - gnd_grid_buffer_size_; it < gnd_grids_list.end() - 1; - ++it) { - gnd_buff_radius += it->radius; - gnd_buff_z_mean += it->avg_height; - } - gnd_buff_radius /= static_cast(gnd_grid_buffer_size_); - gnd_buff_z_mean /= static_cast(gnd_grid_buffer_size_); - - // reference gradient(slope) from mean of previous gnd grids - // reference position is the last grid - const float delta_z = gnd_grids_list.back().avg_height - gnd_buff_z_mean; - const float delta_radius = gnd_grids_list.back().radius - gnd_buff_radius; - float curr_gnd_slope_ratio = delta_z / delta_radius; - curr_gnd_slope_ratio = - std::clamp(curr_gnd_slope_ratio, -global_slope_max_ratio_, global_slope_max_ratio_); + const float gradient = + std::clamp(gnd_grids_list.back().gradient, -global_slope_max_ratio_, global_slope_max_ratio_); + const float & intercept = gnd_grids_list.back().intercept; // extrapolate next ground height - const float next_gnd_z = curr_gnd_slope_ratio * (pd.radius - gnd_buff_radius) + gnd_buff_z_mean; + const float next_gnd_z = gradient * pd.radius + intercept; // calculate fixed angular threshold from the reference position const float gnd_z_local_thresh = @@ -497,9 +506,20 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( curr_gnd_grid.avg_height = centroid_bin.getAverageHeight(); curr_gnd_grid.max_height = centroid_bin.getMaxHeight(); curr_gnd_grid.grid_id = pd_prev.grid_id; + curr_gnd_grid.gradient = 0.0f; // not calculated yet + curr_gnd_grid.intercept = 0.0f; // not calculated yet gnd_grids.push_back(curr_gnd_grid); // clear the centroid_bin centroid_bin.initialize(); + + // calculate local ground gradient + float gradient, intercept; + fitLineFromGndGrid( + gnd_grids, gnd_grids.size() - gnd_grid_buffer_size_, gnd_grids.size(), gradient, + intercept); + // update the current grid + gnd_grids.back().gradient = gradient; // update the gradient + gnd_grids.back().intercept = intercept; // update the intercept } // 0: set the thresholds diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp index cb663d1d8e9d4..acc6114ed0acc 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp @@ -76,6 +76,8 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt float radius; float avg_height; float max_height; + float gradient; + float intercept; uint16_t grid_id; }; @@ -255,6 +257,9 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt void initializeFirstGndGrids( const float h, const float r, const uint16_t id, std::vector & gnd_grids) const; + void fitLineFromGndGrid( + const std::vector & gnd_grids_list, const size_t start_idx, const size_t end_idx, + float & a, float & b) const; void checkContinuousGndGrid( PointData & pd, const pcl::PointXYZ & point_curr, const std::vector & gnd_grids_list) const; From 20ebe9d4375e1349f75e45a0a471fcfb80258d72 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 21 Oct 2024 10:38:39 +0900 Subject: [PATCH 261/701] feat(lane_change): add unit test for normal lane change class (RT1-7970) (#9090) * RT1-7970 testing base class Signed-off-by: Zulfaqar Azmi * additional test Signed-off-by: Zulfaqar Azmi * Added update lanes Signed-off-by: Zulfaqar Azmi * check path generation Signed-off-by: Zulfaqar Azmi * check is lane change required Signed-off-by: Zulfaqar Azmi * fix PRs comment Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../CMakeLists.txt | 1 + .../manager.hpp | 3 + .../utils/base_class.hpp | 3 + .../src/manager.cpp | 19 +- .../test/test_lane_change_scene.cpp | 229 ++++++++++++++++++ .../scene_module_manager_interface.hpp | 2 +- .../src/utils/utils.cpp | 13 +- 7 files changed, 261 insertions(+), 9 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt index 509f38d52dd45..6ae84881477e8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt @@ -18,6 +18,7 @@ if(BUILD_TESTING) ament_add_ros_isolated_gmock(test_${PROJECT_NAME} test/test_behavior_path_planner_node_interface.cpp test/test_lane_change_utils.cpp + test/test_lane_change_scene.cpp ) target_link_libraries(test_${PROJECT_NAME} diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp index 6e6d267dc445f..2a1862de6a27e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp @@ -27,6 +27,7 @@ namespace autoware::behavior_path_planner { +using autoware::behavior_path_planner::lane_change::LCParamPtr; using autoware::route_handler::Direction; class LaneChangeModuleManager : public SceneModuleManagerInterface @@ -44,6 +45,8 @@ class LaneChangeModuleManager : public SceneModuleManagerInterface void updateModuleParams(const std::vector & parameters) override; + static LCParamPtr set_params(rclcpp::Node * node, const std::string & node_name); + protected: void initParams(rclcpp::Node * node); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp index aaf9df7144d74..634f3b737942b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp @@ -35,6 +35,7 @@ #include #include +class TestNormalLaneChange; namespace autoware::behavior_path_planner { using autoware::route_handler::Direction; @@ -296,6 +297,8 @@ class LaneChangeBase mutable rclcpp::Clock clock_{RCL_ROS_TIME}; mutable std::shared_ptr time_keeper_; + + friend class ::TestNormalLaneChange; }; } // namespace autoware::behavior_path_planner #endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp index dd7382d8f7116..db6acc9ecd05b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -34,7 +34,7 @@ void LaneChangeModuleManager::init(rclcpp::Node * node) initParams(node); } -void LaneChangeModuleManager::initParams(rclcpp::Node * node) +LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::string & node_name) { using autoware::universe_utils::getOrDeclareParameter; @@ -188,7 +188,7 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node) if (p.backward_length_buffer_for_end_of_lane < 1.0) { RCLCPP_WARN_STREAM( - node->get_logger().get_child(name()), + node->get_logger().get_child(node_name), "Lane change buffer must be more than 1 meter. Modifying the buffer."); } @@ -203,7 +203,7 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node) lateral_acc_velocity.size() != min_lateral_acc.size() || lateral_acc_velocity.size() != max_lateral_acc.size()) { RCLCPP_ERROR( - node->get_logger().get_child(name()), + node->get_logger().get_child(node_name), "Lane change lateral acceleration map has invalid size."); exit(EXIT_FAILURE); } @@ -259,7 +259,7 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node) // validation of parameters if (p.longitudinal_acc_sampling_num < 1 || p.lateral_acc_sampling_num < 1) { RCLCPP_FATAL_STREAM( - node->get_logger().get_child(name()), + node->get_logger().get_child(node_name), "lane_change_sampling_num must be positive integer. Given longitudinal parameter: " << p.longitudinal_acc_sampling_num << "Given lateral parameter: " << p.lateral_acc_sampling_num << std::endl @@ -284,19 +284,24 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node) p.rss_params.longitudinal_velocity_delta_time > p.rss_params_for_abort.longitudinal_velocity_delta_time) { RCLCPP_FATAL_STREAM( - node->get_logger().get_child(name()), + node->get_logger().get_child(node_name), "abort parameter might be loose... Terminating the program..."); exit(EXIT_FAILURE); } } if (p.cancel.delta_time < 1.0) { RCLCPP_WARN_STREAM( - node->get_logger().get_child(name()), + node->get_logger().get_child(node_name), "cancel.delta_time: " << p.cancel.delta_time << ", is too short. This could cause a danger behavior."); } - parameters_ = std::make_shared(p); + return std::make_shared(p); +} + +void LaneChangeModuleManager::initParams(rclcpp::Node * node) +{ + parameters_ = set_params(node, name()); } std::unique_ptr LaneChangeModuleManager::createNewSceneModuleInstance() diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp new file mode 100644 index 0000000000000..01b4c451ebf9e --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp @@ -0,0 +1,229 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_path_lane_change_module/manager.hpp" +#include "autoware/behavior_path_lane_change_module/scene.hpp" +#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp" +#include "autoware/behavior_path_planner_common/data_manager.hpp" +#include "autoware_test_utils/autoware_test_utils.hpp" +#include "autoware_test_utils/mock_data_parser.hpp" + +#include + +#include + +#include + +using autoware::behavior_path_planner::LaneChangeModuleManager; +using autoware::behavior_path_planner::LaneChangeModuleType; +using autoware::behavior_path_planner::NormalLaneChange; +using autoware::behavior_path_planner::PlannerData; +using autoware::behavior_path_planner::lane_change::CommonDataPtr; +using autoware::behavior_path_planner::lane_change::LCParamPtr; +using autoware::behavior_path_planner::lane_change::RouteHandlerPtr; +using autoware::route_handler::Direction; +using autoware::route_handler::RouteHandler; +using autoware::test_utils::get_absolute_path_to_config; +using autoware::test_utils::get_absolute_path_to_lanelet_map; +using autoware::test_utils::get_absolute_path_to_route; +using autoware_map_msgs::msg::LaneletMapBin; +using geometry_msgs::msg::Pose; +using tier4_planning_msgs::msg::PathWithLaneId; + +class TestNormalLaneChange : public ::testing::Test +{ +public: + void SetUp() override + { + rclcpp::init(0, nullptr); + init_param(); + init_module(); + } + + void init_param() + { + auto node_options = get_node_options(); + auto node = rclcpp::Node(name_, node_options); + planner_data_->init_parameters(node); + lc_param_ptr_ = LaneChangeModuleManager::set_params(&node, node.get_name()); + planner_data_->route_handler = init_route_handler(); + + ego_pose_ = autoware::test_utils::createPose(-50.0, 1.75, 0.0, 0.0, 0.0, 0.0); + planner_data_->self_odometry = set_odometry(ego_pose_); + planner_data_->dynamic_object = + std::make_shared(); + } + + void init_module() + { + normal_lane_change_ = + std::make_shared(lc_param_ptr_, lc_type_, lc_direction_); + normal_lane_change_->setData(planner_data_); + set_previous_approved_path(); + } + + [[nodiscard]] const CommonDataPtr & get_common_data_ptr() const + { + return normal_lane_change_->common_data_ptr_; + } + + [[nodiscard]] rclcpp::NodeOptions get_node_options() const + { + auto node_options = rclcpp::NodeOptions{}; + + const auto common_param = + get_absolute_path_to_config(test_utils_dir_, "test_common.param.yaml"); + const auto nearest_search_param = + get_absolute_path_to_config(test_utils_dir_, "test_nearest_search.param.yaml"); + const auto vehicle_info_param = + get_absolute_path_to_config(test_utils_dir_, "test_vehicle_info.param.yaml"); + + std::string bpp_dir{"autoware_behavior_path_planner"}; + const auto bpp_param = get_absolute_path_to_config(bpp_dir, "behavior_path_planner.param.yaml"); + const auto drivable_area_expansion_param = + get_absolute_path_to_config(bpp_dir, "drivable_area_expansion.param.yaml"); + const auto scene_module_manager_param = + get_absolute_path_to_config(bpp_dir, "scene_module_manager.param.yaml"); + + std::string lc_dir{"autoware_behavior_path_lane_change_module"}; + const auto lc_param = get_absolute_path_to_config(lc_dir, "lane_change.param.yaml"); + + autoware::test_utils::updateNodeOptions( + node_options, {common_param, nearest_search_param, vehicle_info_param, bpp_param, + drivable_area_expansion_param, scene_module_manager_param, lc_param}); + return node_options; + } + + [[nodiscard]] RouteHandlerPtr init_route_handler() const + { + std::string autoware_route_handler_dir{"autoware_route_handler"}; + std::string lane_change_right_test_route_filename{"lane_change_test_route.yaml"}; + std::string lanelet_map_filename{"2km_test.osm"}; + const auto lanelet2_path = + get_absolute_path_to_lanelet_map(test_utils_dir_, lanelet_map_filename); + const auto map_bin_msg = autoware::test_utils::make_map_bin_msg(lanelet2_path, 5.0); + auto route_handler_ptr = std::make_shared(map_bin_msg); + const auto rh_test_route = + get_absolute_path_to_route(autoware_route_handler_dir, lane_change_right_test_route_filename); + route_handler_ptr->setRoute(autoware::test_utils::parse_lanelet_route_file(rh_test_route)); + + return route_handler_ptr; + } + + static std::shared_ptr set_odometry(const Pose & pose) + { + nav_msgs::msg::Odometry odom; + odom.pose.pose = pose; + return std::make_shared(odom); + } + + void set_previous_approved_path() + { + normal_lane_change_->prev_module_output_.path = create_previous_approved_path(); + } + + [[nodiscard]] PathWithLaneId create_previous_approved_path() const + { + const auto & common_data_ptr = get_common_data_ptr(); + const auto & route_handler_ptr = common_data_ptr->route_handler_ptr; + lanelet::ConstLanelet closest_lane; + const auto current_pose = planner_data_->self_odometry->pose.pose; + route_handler_ptr->getClosestLaneletWithinRoute(current_pose, &closest_lane); + const auto backward_distance = common_data_ptr->bpp_param_ptr->backward_path_length; + const auto forward_distance = common_data_ptr->bpp_param_ptr->forward_path_length; + const auto current_lanes = route_handler_ptr->getLaneletSequence( + closest_lane, current_pose, backward_distance, forward_distance); + + return route_handler_ptr->getCenterLinePath( + current_lanes, 0.0, std::numeric_limits::max()); + } + + void TearDown() override + { + normal_lane_change_ = nullptr; + lc_param_ptr_ = nullptr; + planner_data_ = nullptr; + rclcpp::shutdown(); + } + + LCParamPtr lc_param_ptr_; + std::shared_ptr normal_lane_change_; + std::shared_ptr planner_data_ = std::make_shared(); + LaneChangeModuleType lc_type_{LaneChangeModuleType::NORMAL}; + Direction lc_direction_{Direction::RIGHT}; + std::string name_{"test_lane_change_scene"}; + std::string test_utils_dir_{"autoware_test_utils"}; + Pose ego_pose_; +}; + +TEST_F(TestNormalLaneChange, testBaseClassInitialize) +{ + const auto type = normal_lane_change_->getModuleType(); + const auto type_str = normal_lane_change_->getModuleTypeStr(); + + ASSERT_EQ(type, LaneChangeModuleType::NORMAL); + const auto is_type_str = type_str == "NORMAL"; + ASSERT_TRUE(is_type_str); + + ASSERT_EQ(normal_lane_change_->getDirection(), Direction::RIGHT); + + ASSERT_TRUE(get_common_data_ptr()); + + ASSERT_TRUE(get_common_data_ptr()->is_data_available()); + ASSERT_FALSE(get_common_data_ptr()->is_lanes_available()); +} + +TEST_F(TestNormalLaneChange, testUpdateLanes) +{ + constexpr auto is_approved = true; + + normal_lane_change_->update_lanes(is_approved); + + ASSERT_FALSE(get_common_data_ptr()->is_lanes_available()); + + normal_lane_change_->update_lanes(!is_approved); + + ASSERT_TRUE(get_common_data_ptr()->is_lanes_available()); +} + +TEST_F(TestNormalLaneChange, testGetPathWhenInvalid) +{ + constexpr auto is_approved = true; + normal_lane_change_->update_lanes(!is_approved); + normal_lane_change_->update_filtered_objects(); + normal_lane_change_->update_transient_data(); + normal_lane_change_->updateLaneChangeStatus(); + const auto & lc_status = normal_lane_change_->getLaneChangeStatus(); + + ASSERT_FALSE(lc_status.is_valid_path); +} + +TEST_F(TestNormalLaneChange, testGetPathWhenValid) +{ + constexpr auto is_approved = true; + ego_pose_ = autoware::test_utils::createPose(1.0, 1.75, 0.0, 0.0, 0.0, 0.0); + planner_data_->self_odometry = set_odometry(ego_pose_); + set_previous_approved_path(); + normal_lane_change_->update_lanes(!is_approved); + normal_lane_change_->update_filtered_objects(); + normal_lane_change_->update_transient_data(); + const auto lane_change_required = normal_lane_change_->isLaneChangeRequired(); + + ASSERT_TRUE(lane_change_required); + + normal_lane_change_->updateLaneChangeStatus(); + const auto & lc_status = normal_lane_change_->getLaneChangeStatus(); + + ASSERT_TRUE(lc_status.is_valid_path); +} diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index 0e49fc60920c4..2020399531e7e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -247,9 +247,9 @@ class SceneModuleManagerInterface virtual void updateModuleParams(const std::vector & parameters) = 0; -protected: void initInterface(rclcpp::Node * node, const std::vector & rtc_types); +protected: virtual std::unique_ptr createNewSceneModuleInstance() = 0; rclcpp::Node * node_ = nullptr; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp index 57641306cfa2b..a546c0026d4d6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp @@ -1063,8 +1063,19 @@ lanelet::ConstLanelets getCurrentLanes(const std::shared_ptr lanelet::ConstLanelets getCurrentLanesFromPath( const PathWithLaneId & path, const std::shared_ptr & planner_data) { + if (path.points.empty() || !planner_data) { + return {}; + } + const auto & route_handler = planner_data->route_handler; - const auto & current_pose = planner_data->self_odometry->pose.pose; + const auto & self_odometry = planner_data->self_odometry; + + if (!route_handler || !self_odometry) { + return {}; + } + + const auto & current_pose = self_odometry->pose.pose; + const auto & p = planner_data->parameters; std::set lane_ids; From 35d5fbf1cb878541368bba9da32ec98722f2d1e5 Mon Sep 17 00:00:00 2001 From: Amadeusz Szymko Date: Mon, 21 Oct 2024 11:26:02 +0900 Subject: [PATCH 262/701] refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (#9099) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace Signed-off-by: amadeuszsz * refactor(tensorrt_common): directory structure Signed-off-by: amadeuszsz * style(pre-commit): autofix * fix(tensorrt_common): correct package name for logging Signed-off-by: amadeuszsz --------- Signed-off-by: amadeuszsz Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa --- .github/CODEOWNERS | 2 +- .github/labeler.yaml | 2 - common/.pages | 2 - perception/autoware_bytetrack/package.xml | 2 +- .../CMakeLists.txt | 8 +- .../detector.hpp | 4 +- .../package.xml | 2 +- .../src/detector.cpp | 4 +- .../network/tensorrt_wrapper.hpp | 12 +-- .../lib/network/network_trt.cpp | 2 +- .../lib/network/tensorrt_wrapper.cpp | 58 ++++++++------- .../autoware_lidar_centerpoint/package.xml | 2 +- .../lidar_transfusion/network/network_trt.hpp | 12 +-- .../lib/network/network_trt.cpp | 73 ++++++++++--------- .../autoware_lidar_transfusion/package.xml | 2 +- .../tensorrt_shape_estimator.hpp | 11 +-- .../lib/tensorrt_shape_estimator.cpp | 6 +- .../autoware_shape_estimation/package.xml | 2 +- .../src/shape_estimation_node.cpp | 2 +- .../src/shape_estimation_node.hpp | 2 +- .../tensorrt_classifier.hpp | 10 +-- .../autoware_tensorrt_classifier/package.xml | 2 +- .../src/tensorrt_classifier.cpp | 12 +-- .../autoware_tensorrt_common}/CMakeLists.txt | 4 +- .../autoware_tensorrt_common}/README.md | 2 +- .../autoware}/tensorrt_common/logger.hpp | 9 ++- .../tensorrt_common/simple_profiler.hpp | 9 ++- .../tensorrt_common/tensorrt_common.hpp | 13 ++-- .../autoware_tensorrt_common}/package.xml | 2 +- .../src/simple_profiler.cpp | 5 +- .../src/tensorrt_common.cpp | 5 +- .../autoware_tensorrt_yolox/CMakeLists.txt | 10 +-- .../tensorrt_yolox/tensorrt_yolox.hpp | 9 ++- .../autoware_tensorrt_yolox/package.xml | 2 +- .../src/tensorrt_yolox.cpp | 15 ++-- .../src/tensorrt_yolox_node.cpp | 4 +- .../package.xml | 2 +- .../src/classifier/cnn_classifier.cpp | 4 +- .../src/classifier/cnn_classifier.hpp | 2 +- .../src/traffic_light_fine_detector_node.cpp | 8 +- 40 files changed, 179 insertions(+), 160 deletions(-) rename {common/tensorrt_common => perception/autoware_tensorrt_common}/CMakeLists.txt (92%) rename {common/tensorrt_common => perception/autoware_tensorrt_common}/README.md (88%) rename {common/tensorrt_common/include => perception/autoware_tensorrt_common/include/autoware}/tensorrt_common/logger.hpp (98%) rename {common/tensorrt_common/include => perception/autoware_tensorrt_common/include/autoware}/tensorrt_common/simple_profiler.hpp (88%) rename {common/tensorrt_common/include => perception/autoware_tensorrt_common/include/autoware}/tensorrt_common/tensorrt_common.hpp (95%) rename {common/tensorrt_common => perception/autoware_tensorrt_common}/package.xml (96%) rename {common/tensorrt_common => perception/autoware_tensorrt_common}/src/simple_profiler.cpp (97%) rename {common/tensorrt_common => perception/autoware_tensorrt_common}/src/tensorrt_common.cpp (99%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index e03ca0b8ad30f..7080897e9fab5 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -28,7 +28,6 @@ common/goal_distance_calculator/** taiki.tanaka@tier4.jp common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/polar_grid/** yukihiro.saito@tier4.jp common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp -common/tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp common/tier4_api_utils/** isamu.takagi@tier4.jp common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp @@ -132,6 +131,7 @@ perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier perception/autoware_shape_estimation/** kcolak@leodrive.ai yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp +perception/autoware_tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp kotaro.uetake@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp diff --git a/.github/labeler.yaml b/.github/labeler.yaml index 0716dfa9b75dd..115f75197f41a 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -42,5 +42,3 @@ "tag:require-cuda-build-and-test": - perception/**/* - sensing/**/* - - common/cuda_utils/**/* - - common/tensorrt_common/**/* diff --git a/common/.pages b/common/.pages index 362e6dffba002..60453f2294f27 100644 --- a/common/.pages +++ b/common/.pages @@ -9,7 +9,6 @@ nav: - 'comparisons': common/autoware_auto_common/design/comparisons - 'autoware_grid_map_utils': common/autoware_grid_map_utils - 'autoware_point_types': common/autoware_point_types - - 'Cuda Utils': common/cuda_utils - 'Geography Utils': common/geography_utils - 'Global Parameter Loader': common/global_parameter_loader/Readme - 'Glog Component': common/glog_component @@ -24,7 +23,6 @@ nav: - 'Signal Processing': - 'Introduction': common/signal_processing - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter - - 'TensorRT Common': common/tensorrt_common - 'autoware_universe_utils': common/autoware_universe_utils - 'traffic_light_utils': common/traffic_light_utils - 'TVM Utility': diff --git a/perception/autoware_bytetrack/package.xml b/perception/autoware_bytetrack/package.xml index 581d908b61a51..fd30fe00f64df 100644 --- a/perception/autoware_bytetrack/package.xml +++ b/perception/autoware_bytetrack/package.xml @@ -17,6 +17,7 @@ autoware_kalman_filter autoware_perception_msgs + autoware_tensorrt_common cuda_utils cv_bridge eigen @@ -26,7 +27,6 @@ rclcpp rclcpp_components sensor_msgs - tensorrt_common tier4_perception_msgs yaml-cpp diff --git a/perception/autoware_lidar_apollo_instance_segmentation/CMakeLists.txt b/perception/autoware_lidar_apollo_instance_segmentation/CMakeLists.txt index b08fd94b192e2..5da8ed745be15 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/CMakeLists.txt +++ b/perception/autoware_lidar_apollo_instance_segmentation/CMakeLists.txt @@ -12,9 +12,9 @@ find_package(autoware_universe_utils REQUIRED) find_package(tier4_debug_msgs REQUIRED) find_package(tier4_perception_msgs REQUIRED) -find_package(tensorrt_common) -if(NOT ${tensorrt_common_FOUND}) - message(WARNING "The tensorrt_common package is not found. Please check its dependencies.") +find_package(autoware_tensorrt_common) +if(NOT ${autoware_tensorrt_common_FOUND}) + message(WARNING "The autoware_tensorrt_common package is not found. Please check its dependencies.") # to avoid launch file missing without a gpu ament_package() install( @@ -48,8 +48,8 @@ target_link_libraries(${PROJECT_NAME} pcl_common rclcpp::rclcpp rclcpp_components::component - tensorrt_common::tensorrt_common tf2_eigen::tf2_eigen + ${autoware_tensorrt_common_TARGETS} ${tier4_debug_msgs_TARGETS} ${tier4_perception_msgs_TARGETS} ) diff --git a/perception/autoware_lidar_apollo_instance_segmentation/include/autoware/lidar_apollo_instance_segmentation/detector.hpp b/perception/autoware_lidar_apollo_instance_segmentation/include/autoware/lidar_apollo_instance_segmentation/detector.hpp index 053cdcfdd8d76..c724a5ed31706 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/include/autoware/lidar_apollo_instance_segmentation/detector.hpp +++ b/perception/autoware_lidar_apollo_instance_segmentation/include/autoware/lidar_apollo_instance_segmentation/detector.hpp @@ -19,10 +19,10 @@ #include "autoware/lidar_apollo_instance_segmentation/feature_generator.hpp" #include "autoware/lidar_apollo_instance_segmentation/node.hpp" +#include #include #include #include -#include #include #include @@ -54,7 +54,7 @@ class LidarApolloInstanceSegmentation : public LidarInstanceSegmentationInterfac const sensor_msgs::msg::PointCloud2 & input, sensor_msgs::msg::PointCloud2 & transformed_cloud, float z_offset); - std::unique_ptr trt_common_; + std::unique_ptr trt_common_; rclcpp::Node * node_; std::shared_ptr cluster2d_; diff --git a/perception/autoware_lidar_apollo_instance_segmentation/package.xml b/perception/autoware_lidar_apollo_instance_segmentation/package.xml index 57bcc9c6881c6..c924701841d7e 100755 --- a/perception/autoware_lidar_apollo_instance_segmentation/package.xml +++ b/perception/autoware_lidar_apollo_instance_segmentation/package.xml @@ -14,13 +14,13 @@ ament_cmake autoware_perception_msgs + autoware_tensorrt_common autoware_universe_utils cuda_utils libpcl-all-dev pcl_conversions rclcpp rclcpp_components - tensorrt_common tf2_eigen tier4_debug_msgs tier4_perception_msgs diff --git a/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp b/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp index ff96bad131aee..a0f48a39ecc6a 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp +++ b/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp @@ -47,8 +47,8 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node * z_offset_ = node_->declare_parameter("z_offset", -2.0); const auto precision = node_->declare_parameter("precision", "fp32"); - trt_common_ = std::make_unique( - onnx_file, precision, nullptr, tensorrt_common::BatchConfig{1, 1, 1}, 1 << 30); + trt_common_ = std::make_unique( + onnx_file, precision, nullptr, autoware::tensorrt_common::BatchConfig{1, 1, 1}, 1 << 30); trt_common_->setup(); if (!trt_common_->isInitialized()) { diff --git a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp index d4c9fc85a085d..d56ccc699add3 100644 --- a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp @@ -17,7 +17,7 @@ #include "NvInfer.h" #include "autoware/lidar_centerpoint/centerpoint_config.hpp" -#include "tensorrt_common/tensorrt_common.hpp" +#include "autoware/tensorrt_common/tensorrt_common.hpp" #include #include @@ -36,7 +36,7 @@ class TensorRTWrapper bool init( const std::string & onnx_path, const std::string & engine_path, const std::string & precision); - tensorrt_common::TrtUniquePtr context_{nullptr}; + autoware::tensorrt_common::TrtUniquePtr context_{nullptr}; protected: virtual bool setProfile( @@ -44,7 +44,7 @@ class TensorRTWrapper nvinfer1::IBuilderConfig & config) = 0; CenterPointConfig config_; - tensorrt_common::Logger logger_; + autoware::tensorrt_common::Logger logger_; private: bool parseONNX( @@ -57,9 +57,9 @@ class TensorRTWrapper bool createContext(); - tensorrt_common::TrtUniquePtr runtime_{nullptr}; - tensorrt_common::TrtUniquePtr plan_{nullptr}; - tensorrt_common::TrtUniquePtr engine_{nullptr}; + autoware::tensorrt_common::TrtUniquePtr runtime_{nullptr}; + autoware::tensorrt_common::TrtUniquePtr plan_{nullptr}; + autoware::tensorrt_common::TrtUniquePtr engine_{nullptr}; }; } // namespace autoware::lidar_centerpoint diff --git a/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp b/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp index e7484b21d2fd2..d0c0bb156f4a2 100644 --- a/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp +++ b/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp @@ -63,7 +63,7 @@ bool HeadTRT::setProfile( if ( out_name == std::string("heatmap") && network.getOutput(ci)->getDimensions().d[1] != static_cast(out_channel_sizes_[ci])) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Expected and actual number of classes do not match" << std::endl; return false; } diff --git a/perception/autoware_lidar_centerpoint/lib/network/tensorrt_wrapper.cpp b/perception/autoware_lidar_centerpoint/lib/network/tensorrt_wrapper.cpp index 6fbc09c968594..6d4c2e053b34f 100644 --- a/perception/autoware_lidar_centerpoint/lib/network/tensorrt_wrapper.cpp +++ b/perception/autoware_lidar_centerpoint/lib/network/tensorrt_wrapper.cpp @@ -37,10 +37,10 @@ TensorRTWrapper::~TensorRTWrapper() bool TensorRTWrapper::init( const std::string & onnx_path, const std::string & engine_path, const std::string & precision) { - runtime_ = - tensorrt_common::TrtUniquePtr(nvinfer1::createInferRuntime(logger_)); + runtime_ = autoware::tensorrt_common::TrtUniquePtr( + nvinfer1::createInferRuntime(logger_)); if (!runtime_) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create runtime" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create runtime" << std::endl; return false; } @@ -63,15 +63,15 @@ bool TensorRTWrapper::init( bool TensorRTWrapper::createContext() { if (!engine_) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create context: Engine was not created" << std::endl; return false; } - context_ = - tensorrt_common::TrtUniquePtr(engine_->createExecutionContext()); + context_ = autoware::tensorrt_common::TrtUniquePtr( + engine_->createExecutionContext()); if (!context_) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create context" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create context" << std::endl; return false; } @@ -82,17 +82,17 @@ bool TensorRTWrapper::parseONNX( const std::string & onnx_path, const std::string & engine_path, const std::string & precision, const std::size_t workspace_size) { - auto builder = - tensorrt_common::TrtUniquePtr(nvinfer1::createInferBuilder(logger_)); + auto builder = autoware::tensorrt_common::TrtUniquePtr( + nvinfer1::createInferBuilder(logger_)); if (!builder) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create builder" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create builder" << std::endl; return false; } - auto config = - tensorrt_common::TrtUniquePtr(builder->createBuilderConfig()); + auto config = autoware::tensorrt_common::TrtUniquePtr( + builder->createBuilderConfig()); if (!config) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create config" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create config" << std::endl; return false; } #if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8400 @@ -102,42 +102,43 @@ bool TensorRTWrapper::parseONNX( #endif if (precision == "fp16") { if (builder->platformHasFastFp16()) { - tensorrt_common::LOG_INFO(logger_) << "Using TensorRT FP16 Inference" << std::endl; + autoware::tensorrt_common::LOG_INFO(logger_) << "Using TensorRT FP16 Inference" << std::endl; config->setFlag(nvinfer1::BuilderFlag::kFP16); } else { - tensorrt_common::LOG_INFO(logger_) + autoware::tensorrt_common::LOG_INFO(logger_) << "TensorRT FP16 Inference isn't supported in this environment" << std::endl; } } const auto flag = 1U << static_cast(nvinfer1::NetworkDefinitionCreationFlag::kEXPLICIT_BATCH); - auto network = - tensorrt_common::TrtUniquePtr(builder->createNetworkV2(flag)); + auto network = autoware::tensorrt_common::TrtUniquePtr( + builder->createNetworkV2(flag)); if (!network) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create network" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create network" << std::endl; return false; } - auto parser = tensorrt_common::TrtUniquePtr( + auto parser = autoware::tensorrt_common::TrtUniquePtr( nvonnxparser::createParser(*network, logger_)); parser->parseFromFile(onnx_path.c_str(), static_cast(nvinfer1::ILogger::Severity::kERROR)); if (!setProfile(*builder, *network, *config)) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to set profile" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to set profile" << std::endl; return false; } - plan_ = tensorrt_common::TrtUniquePtr( + plan_ = autoware::tensorrt_common::TrtUniquePtr( builder->buildSerializedNetwork(*network, *config)); if (!plan_) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create serialized network" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) + << "Failed to create serialized network" << std::endl; return false; } - engine_ = tensorrt_common::TrtUniquePtr( + engine_ = autoware::tensorrt_common::TrtUniquePtr( runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!engine_) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create engine" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create engine" << std::endl; return false; } @@ -146,7 +147,7 @@ bool TensorRTWrapper::parseONNX( bool TensorRTWrapper::saveEngine(const std::string & engine_path) { - tensorrt_common::LOG_INFO(logger_) << "Writing to " << engine_path << std::endl; + autoware::tensorrt_common::LOG_INFO(logger_) << "Writing to " << engine_path << std::endl; std::ofstream file(engine_path, std::ios::out | std::ios::binary); file.write(reinterpret_cast(plan_->data()), plan_->size()); return true; @@ -158,9 +159,10 @@ bool TensorRTWrapper::loadEngine(const std::string & engine_path) std::stringstream engine_buffer; engine_buffer << engine_file.rdbuf(); std::string engine_str = engine_buffer.str(); - engine_ = tensorrt_common::TrtUniquePtr(runtime_->deserializeCudaEngine( - reinterpret_cast(engine_str.data()), engine_str.size())); - tensorrt_common::LOG_INFO(logger_) << "Loaded engine from " << engine_path << std::endl; + engine_ = + autoware::tensorrt_common::TrtUniquePtr(runtime_->deserializeCudaEngine( + reinterpret_cast(engine_str.data()), engine_str.size())); + autoware::tensorrt_common::LOG_INFO(logger_) << "Loaded engine from " << engine_path << std::endl; return true; } diff --git a/perception/autoware_lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml index 29a7bc122707e..b16133f3c6079 100644 --- a/perception/autoware_lidar_centerpoint/package.xml +++ b/perception/autoware_lidar_centerpoint/package.xml @@ -14,11 +14,11 @@ autoware_object_recognition_utils autoware_perception_msgs + autoware_tensorrt_common autoware_universe_utils pcl_ros rclcpp rclcpp_components - tensorrt_common tf2_eigen tf2_geometry_msgs tf2_sensor_msgs diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/network/network_trt.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/network/network_trt.hpp index 1057703643ec1..71cd08acdb8c8 100644 --- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/network/network_trt.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/network/network_trt.hpp @@ -18,7 +18,7 @@ #include "autoware/lidar_transfusion/transfusion_config.hpp" #include "autoware/lidar_transfusion/utils.hpp" -#include +#include #include @@ -57,8 +57,8 @@ class NetworkTRT const std::string & onnx_path, const std::string & engine_path, const std::string & precision); const char * getTensorName(NetworkIO name); - tensorrt_common::TrtUniquePtr engine{nullptr}; - tensorrt_common::TrtUniquePtr context{nullptr}; + autoware::tensorrt_common::TrtUniquePtr engine{nullptr}; + autoware::tensorrt_common::TrtUniquePtr context{nullptr}; private: bool parseONNX( @@ -73,9 +73,9 @@ class NetworkTRT bool validateNetworkIO(); nvinfer1::Dims validateTensorShape(NetworkIO name, const std::vector shape); - tensorrt_common::TrtUniquePtr runtime_{nullptr}; - tensorrt_common::TrtUniquePtr plan_{nullptr}; - tensorrt_common::Logger logger_; + autoware::tensorrt_common::TrtUniquePtr runtime_{nullptr}; + autoware::tensorrt_common::TrtUniquePtr plan_{nullptr}; + autoware::tensorrt_common::Logger logger_; TransfusionConfig config_; std::vector tensors_names_; diff --git a/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp b/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp index 48e8c1014199c..052b7627166f9 100644 --- a/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp +++ b/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp @@ -93,10 +93,10 @@ NetworkTRT::~NetworkTRT() bool NetworkTRT::init( const std::string & onnx_path, const std::string & engine_path, const std::string & precision) { - runtime_ = - tensorrt_common::TrtUniquePtr(nvinfer1::createInferRuntime(logger_)); + runtime_ = autoware::tensorrt_common::TrtUniquePtr( + nvinfer1::createInferRuntime(logger_)); if (!runtime_) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create runtime" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create runtime" << std::endl; return false; } @@ -157,15 +157,15 @@ bool NetworkTRT::setProfile( bool NetworkTRT::createContext() { if (!engine) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create context: Engine was not created" << std::endl; return false; } - context = - tensorrt_common::TrtUniquePtr(engine->createExecutionContext()); + context = autoware::tensorrt_common::TrtUniquePtr( + engine->createExecutionContext()); if (!context) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create context" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create context" << std::endl; return false; } @@ -176,17 +176,17 @@ bool NetworkTRT::parseONNX( const std::string & onnx_path, const std::string & engine_path, const std::string & precision, const size_t workspace_size) { - auto builder = - tensorrt_common::TrtUniquePtr(nvinfer1::createInferBuilder(logger_)); + auto builder = autoware::tensorrt_common::TrtUniquePtr( + nvinfer1::createInferBuilder(logger_)); if (!builder) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create builder" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create builder" << std::endl; return false; } - auto config = - tensorrt_common::TrtUniquePtr(builder->createBuilderConfig()); + auto config = autoware::tensorrt_common::TrtUniquePtr( + builder->createBuilderConfig()); if (!config) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create config" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create config" << std::endl; return false; } #if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8400 @@ -196,42 +196,43 @@ bool NetworkTRT::parseONNX( #endif if (precision == "fp16") { if (builder->platformHasFastFp16()) { - tensorrt_common::LOG_INFO(logger_) << "Using TensorRT FP16 Inference" << std::endl; + autoware::tensorrt_common::LOG_INFO(logger_) << "Using TensorRT FP16 Inference" << std::endl; config->setFlag(nvinfer1::BuilderFlag::kFP16); } else { - tensorrt_common::LOG_INFO(logger_) + autoware::tensorrt_common::LOG_INFO(logger_) << "TensorRT FP16 Inference isn't supported in this environment" << std::endl; } } const auto flag = 1U << static_cast(nvinfer1::NetworkDefinitionCreationFlag::kEXPLICIT_BATCH); - auto network = - tensorrt_common::TrtUniquePtr(builder->createNetworkV2(flag)); + auto network = autoware::tensorrt_common::TrtUniquePtr( + builder->createNetworkV2(flag)); if (!network) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create network" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create network" << std::endl; return false; } - auto parser = tensorrt_common::TrtUniquePtr( + auto parser = autoware::tensorrt_common::TrtUniquePtr( nvonnxparser::createParser(*network, logger_)); parser->parseFromFile(onnx_path.c_str(), static_cast(nvinfer1::ILogger::Severity::kERROR)); if (!setProfile(*builder, *network, *config)) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to set profile" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to set profile" << std::endl; return false; } - plan_ = tensorrt_common::TrtUniquePtr( + plan_ = autoware::tensorrt_common::TrtUniquePtr( builder->buildSerializedNetwork(*network, *config)); if (!plan_) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create serialized network" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) + << "Failed to create serialized network" << std::endl; return false; } - engine = tensorrt_common::TrtUniquePtr( + engine = autoware::tensorrt_common::TrtUniquePtr( runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!engine) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create engine" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create engine" << std::endl; return false; } @@ -240,7 +241,7 @@ bool NetworkTRT::parseONNX( bool NetworkTRT::saveEngine(const std::string & engine_path) { - tensorrt_common::LOG_INFO(logger_) << "Writing to " << engine_path << std::endl; + autoware::tensorrt_common::LOG_INFO(logger_) << "Writing to " << engine_path << std::endl; std::ofstream file(engine_path, std::ios::out | std::ios::binary); file.write(reinterpret_cast(plan_->data()), plan_->size()); return validateNetworkIO(); @@ -252,9 +253,10 @@ bool NetworkTRT::loadEngine(const std::string & engine_path) std::stringstream engine_buffer; engine_buffer << engine_file.rdbuf(); std::string engine_str = engine_buffer.str(); - engine = tensorrt_common::TrtUniquePtr(runtime_->deserializeCudaEngine( - reinterpret_cast(engine_str.data()), engine_str.size())); - tensorrt_common::LOG_INFO(logger_) << "Loaded engine from " << engine_path << std::endl; + engine = + autoware::tensorrt_common::TrtUniquePtr(runtime_->deserializeCudaEngine( + reinterpret_cast(engine_str.data()), engine_str.size())); + autoware::tensorrt_common::LOG_INFO(logger_) << "Loaded engine from " << engine_path << std::endl; return validateNetworkIO(); } @@ -262,7 +264,7 @@ bool NetworkTRT::validateNetworkIO() { // Whether the number of IO match the expected size if (engine->getNbIOTensors() != NetworkIO::ENUM_SIZE) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Invalid network IO. Expected size: " << NetworkIO::ENUM_SIZE << ". Actual size: " << engine->getNbIOTensors() << "." << std::endl; throw std::runtime_error("Failed to initialize TRT network."); @@ -281,7 +283,7 @@ bool NetworkTRT::validateNetworkIO() std::string tensors = std::accumulate( tensors_names_.begin(), tensors_names_.end(), std::string(), [](const std::string & a, const std::string & b) -> std::string { return a + b + " "; }); - tensorrt_common::LOG_INFO(logger_) << "Network IO: " << tensors << std::endl; + autoware::tensorrt_common::LOG_INFO(logger_) << "Network IO: " << tensors << std::endl; // Whether the current engine input profile match the config input profile for (int i = 0; i <= NetworkIO::coors; ++i) { @@ -290,11 +292,11 @@ bool NetworkTRT::validateNetworkIO() engine->getProfileShape(tensors_names_[i], 0, nvinfer1::OptProfileSelector::kOPT), engine->getProfileShape(tensors_names_[i], 0, nvinfer1::OptProfileSelector::kMAX)}; - tensorrt_common::LOG_INFO(logger_) + autoware::tensorrt_common::LOG_INFO(logger_) << "Profile for " << tensors_names_[i] << ": " << engine_dims << std::endl; if (engine_dims != in_profile_dims_[i]) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Invalid network input dimension. Config: " << in_profile_dims_[i] << ". Please change the input profile or delete the engine file and build engine again." << std::endl; @@ -312,7 +314,8 @@ bool NetworkTRT::validateNetworkIO() NetworkIO::cls_score, {static_cast(config_.batch_size_), static_cast(config_.num_classes_), static_cast(config_.num_proposals_)}); - tensorrt_common::LOG_INFO(logger_) << "Network num classes: " << cls_score.d[1] << std::endl; + autoware::tensorrt_common::LOG_INFO(logger_) + << "Network num classes: " << cls_score.d[1] << std::endl; validateTensorShape( NetworkIO::dir_pred, {static_cast(config_.batch_size_), 2, static_cast(config_.num_proposals_)}); // x, y @@ -333,14 +336,14 @@ nvinfer1::Dims NetworkTRT::validateTensorShape(NetworkIO name, const std::vector { auto tensor_shape = engine->getTensorShape(tensors_names_[name]); if (tensor_shape.nbDims != static_cast(shape.size())) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Invalid tensor shape for " << tensors_names_[name] << ". Expected size: " << shape.size() << ". Actual size: " << tensor_shape.nbDims << "." << std::endl; throw std::runtime_error("Failed to initialize TRT network."); } for (int i = 0; i < tensor_shape.nbDims; ++i) { if (tensor_shape.d[i] != static_cast(shape[i])) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Invalid tensor shape for " << tensors_names_[name] << ". Expected: " << shape[i] << ". Actual: " << tensor_shape.d[i] << "." << std::endl; throw std::runtime_error("Failed to initialize TRT network."); diff --git a/perception/autoware_lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml index 791832ef44bda..211011918b04e 100644 --- a/perception/autoware_lidar_transfusion/package.xml +++ b/perception/autoware_lidar_transfusion/package.xml @@ -15,12 +15,12 @@ autoware_object_recognition_utils autoware_perception_msgs autoware_point_types + autoware_tensorrt_common autoware_universe_utils launch_ros pcl_ros rclcpp rclcpp_components - tensorrt_common tf2_eigen tf2_geometry_msgs tf2_sensor_msgs diff --git a/perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp index d046e1d717b89..e74b3c6e8e809 100644 --- a/perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp +++ b/perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp @@ -15,11 +15,11 @@ #ifndef AUTOWARE__SHAPE_ESTIMATION__TENSORRT_SHAPE_ESTIMATOR_HPP_ #define AUTOWARE__SHAPE_ESTIMATION__TENSORRT_SHAPE_ESTIMATOR_HPP_ +#include #include #include #include #include -#include #include #include @@ -49,9 +49,10 @@ class TrtShapeEstimator public: TrtShapeEstimator( const std::string & model_path, const std::string & precision, - const tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size = (1 << 30), - const tensorrt_common::BuildConfig build_config = - tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0)); + const autoware::tensorrt_common::BatchConfig & batch_config, + const size_t max_workspace_size = (1 << 30), + const autoware::tensorrt_common::BuildConfig build_config = + autoware::tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0)); ~TrtShapeEstimator() = default; @@ -68,7 +69,7 @@ class TrtShapeEstimator static double class2angle(int pred_cls, double residual, int num_class); StreamUniquePtr stream_{makeCudaStream()}; - std::unique_ptr trt_common_; + std::unique_ptr trt_common_; std::vector input_pc_h_; CudaUniquePtr input_pc_d_; diff --git a/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp b/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp index a097060081dc9..05f5d59813c2b 100644 --- a/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp +++ b/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp @@ -25,10 +25,10 @@ namespace autoware::shape_estimation { TrtShapeEstimator::TrtShapeEstimator( const std::string & model_path, const std::string & precision, - const tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size, - const tensorrt_common::BuildConfig build_config) + const autoware::tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size, + const autoware::tensorrt_common::BuildConfig build_config) { - trt_common_ = std::make_unique( + trt_common_ = std::make_unique( model_path, precision, nullptr, batch_config, max_workspace_size, build_config); trt_common_->setup(); diff --git a/perception/autoware_shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml index 644a9de661eca..cad2d93e38f1c 100644 --- a/perception/autoware_shape_estimation/package.xml +++ b/perception/autoware_shape_estimation/package.xml @@ -18,6 +18,7 @@ tensorrt_cmake_module autoware_perception_msgs + autoware_tensorrt_common autoware_universe_utils cuda_utils eigen @@ -26,7 +27,6 @@ pcl_conversions rclcpp rclcpp_components - tensorrt_common tf2 tf2_eigen tf2_geometry_msgs diff --git a/perception/autoware_shape_estimation/src/shape_estimation_node.cpp b/perception/autoware_shape_estimation/src/shape_estimation_node.cpp index 9c9c996ba0c6d..e8abddb30d7ae 100644 --- a/perception/autoware_shape_estimation/src/shape_estimation_node.cpp +++ b/perception/autoware_shape_estimation/src/shape_estimation_node.cpp @@ -63,7 +63,7 @@ ShapeEstimationNode::ShapeEstimationNode(const rclcpp::NodeOptions & node_option min_points_ = declare_parameter("model_params.minimum_points"); std::string precision = declare_parameter("model_params.precision"); int batch_size = declare_parameter("model_params.batch_size"); - tensorrt_common::BatchConfig batch_config{batch_size, batch_size, batch_size}; + autoware::tensorrt_common::BatchConfig batch_config{batch_size, batch_size, batch_size}; tensorrt_shape_estimator_ = std::make_unique(model_path, precision, batch_config); if (this->declare_parameter("model_params.build_only", false)) { diff --git a/perception/autoware_shape_estimation/src/shape_estimation_node.hpp b/perception/autoware_shape_estimation/src/shape_estimation_node.hpp index a98d45453086b..afb020de5838d 100644 --- a/perception/autoware_shape_estimation/src/shape_estimation_node.hpp +++ b/perception/autoware_shape_estimation/src/shape_estimation_node.hpp @@ -20,7 +20,7 @@ #ifdef USE_CUDA #include "autoware/shape_estimation/tensorrt_shape_estimator.hpp" -#include +#include #endif #include diff --git a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp index 9fb1beaac39de..f5bafbd04cd51 100644 --- a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp +++ b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp @@ -15,11 +15,11 @@ #ifndef AUTOWARE__TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ #define AUTOWARE__TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ +#include #include #include #include #include -#include #include #include @@ -54,12 +54,12 @@ class TrtClassifier */ TrtClassifier( const std::string & model_path, const std::string & precision, - const tensorrt_common::BatchConfig & batch_config = {1, 1, 1}, + const autoware::tensorrt_common::BatchConfig & batch_config = {1, 1, 1}, const std::vector & mean = {123.675, 116.28, 103.53}, const std::vector & std = {58.395, 57.12, 57.375}, const size_t max_workspace_size = (1 << 30), const std::string & calibration_images = "", - const tensorrt_common::BuildConfig build_config = - tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0), + const autoware::tensorrt_common::BuildConfig build_config = + autoware::tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0), const bool cuda = false); /** * @brief Deconstruct TrtClassifier @@ -102,7 +102,7 @@ class TrtClassifier const std::vector & images, std::vector & results, std::vector & probabilities); - std::unique_ptr trt_common_; + std::unique_ptr trt_common_; std::vector input_h_; CudaUniquePtr input_d_; diff --git a/perception/autoware_tensorrt_classifier/package.xml b/perception/autoware_tensorrt_classifier/package.xml index e41625886d8ae..a3daf27f8dbf2 100644 --- a/perception/autoware_tensorrt_classifier/package.xml +++ b/perception/autoware_tensorrt_classifier/package.xml @@ -19,10 +19,10 @@ autoware_cmake + autoware_tensorrt_common cuda_utils libopencv-dev rclcpp - tensorrt_common ament_lint_auto autoware_lint_common diff --git a/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp b/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp index 19d3fb3036471..8889406e48eaa 100644 --- a/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp +++ b/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp @@ -99,10 +99,10 @@ namespace autoware::tensorrt_classifier { TrtClassifier::TrtClassifier( const std::string & model_path, const std::string & precision, - const tensorrt_common::BatchConfig & batch_config, const std::vector & mean, + const autoware::tensorrt_common::BatchConfig & batch_config, const std::vector & mean, const std::vector & std, const size_t max_workspace_size, - const std::string & calibration_image_list_path, tensorrt_common::BuildConfig build_config, - const bool cuda) + const std::string & calibration_image_list_path, + autoware::tensorrt_common::BuildConfig build_config, const bool cuda) { src_width_ = -1; src_height_ = -1; @@ -115,7 +115,7 @@ TrtClassifier::TrtClassifier( batch_size_ = batch_config[2]; if (precision == "int8") { int max_batch_size = batch_config[2]; - nvinfer1::Dims input_dims = tensorrt_common::get_input_dims(model_path); + nvinfer1::Dims input_dims = autoware::tensorrt_common::get_input_dims(model_path); std::vector calibration_images; if (calibration_image_list_path != "") { calibration_images = loadImageList(calibration_image_list_path, ""); @@ -152,10 +152,10 @@ TrtClassifier::TrtClassifier( calibrator.reset(new autoware::tensorrt_classifier::Int8MinMaxCalibrator( stream, calibration_table, mean_, std_)); } - trt_common_ = std::make_unique( + trt_common_ = std::make_unique( model_path, precision, std::move(calibrator), batch_config, max_workspace_size, build_config); } else { - trt_common_ = std::make_unique( + trt_common_ = std::make_unique( model_path, precision, nullptr, batch_config, max_workspace_size, build_config); } trt_common_->setup(); diff --git a/common/tensorrt_common/CMakeLists.txt b/perception/autoware_tensorrt_common/CMakeLists.txt similarity index 92% rename from common/tensorrt_common/CMakeLists.txt rename to perception/autoware_tensorrt_common/CMakeLists.txt index cb24448f1a993..3105523a509e3 100644 --- a/common/tensorrt_common/CMakeLists.txt +++ b/perception/autoware_tensorrt_common/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.17) -project(tensorrt_common) +project(autoware_tensorrt_common) find_package(ament_cmake REQUIRED) find_package(cudnn_cmake_module REQUIRED) @@ -42,7 +42,7 @@ set_target_properties(${PROJECT_NAME} CXX_EXTENSIONS NO ) -# TODO(tensorrt_common): Remove -Wno-deprecated-declarations once upgrading to TensorRT 8.5 is complete +# TODO(autoware_tensorrt_common): Remove -Wno-deprecated-declarations once upgrading to TensorRT 8.5 is complete target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wno-deprecated-declarations ) diff --git a/common/tensorrt_common/README.md b/perception/autoware_tensorrt_common/README.md similarity index 88% rename from common/tensorrt_common/README.md rename to perception/autoware_tensorrt_common/README.md index 18625d0961ce3..c828be58c1c1c 100644 --- a/common/tensorrt_common/README.md +++ b/perception/autoware_tensorrt_common/README.md @@ -1,4 +1,4 @@ -# tensorrt_common +# autoware_tensorrt_common ## Purpose diff --git a/common/tensorrt_common/include/tensorrt_common/logger.hpp b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp similarity index 98% rename from common/tensorrt_common/include/tensorrt_common/logger.hpp rename to perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp index 355efe5167885..cf5ebdc525a89 100644 --- a/common/tensorrt_common/include/tensorrt_common/logger.hpp +++ b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef TENSORRT_COMMON__LOGGER_HPP_ -#define TENSORRT_COMMON__LOGGER_HPP_ +#ifndef AUTOWARE__TENSORRT_COMMON__LOGGER_HPP_ +#define AUTOWARE__TENSORRT_COMMON__LOGGER_HPP_ #include "NvInferRuntimeCommon.h" @@ -29,6 +29,8 @@ #include #include +namespace autoware +{ namespace tensorrt_common { using Severity = nvinfer1::ILogger::Severity; @@ -548,5 +550,6 @@ inline LogStreamConsumer LOG_FATAL(const Logger & logger) } // anonymous namespace } // namespace tensorrt_common +} // namespace autoware -#endif // TENSORRT_COMMON__LOGGER_HPP_ +#endif // AUTOWARE__TENSORRT_COMMON__LOGGER_HPP_ diff --git a/common/tensorrt_common/include/tensorrt_common/simple_profiler.hpp b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/simple_profiler.hpp similarity index 88% rename from common/tensorrt_common/include/tensorrt_common/simple_profiler.hpp rename to perception/autoware_tensorrt_common/include/autoware/tensorrt_common/simple_profiler.hpp index b89950b86ee19..a8d504fb2861a 100644 --- a/common/tensorrt_common/include/tensorrt_common/simple_profiler.hpp +++ b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/simple_profiler.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TENSORRT_COMMON__SIMPLE_PROFILER_HPP_ -#define TENSORRT_COMMON__SIMPLE_PROFILER_HPP_ +#ifndef AUTOWARE__TENSORRT_COMMON__SIMPLE_PROFILER_HPP_ +#define AUTOWARE__TENSORRT_COMMON__SIMPLE_PROFILER_HPP_ #include @@ -22,6 +22,8 @@ #include #include +namespace autoware +{ namespace tensorrt_common { struct LayerInfo @@ -67,4 +69,5 @@ class SimpleProfiler : public nvinfer1::IProfiler std::map m_layer_dict; }; } // namespace tensorrt_common -#endif // TENSORRT_COMMON__SIMPLE_PROFILER_HPP_ +} // namespace autoware +#endif // AUTOWARE__TENSORRT_COMMON__SIMPLE_PROFILER_HPP_ diff --git a/common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp similarity index 95% rename from common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp rename to perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp index 9e11f5f220492..6fb90d1415244 100644 --- a/common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp +++ b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TENSORRT_COMMON__TENSORRT_COMMON_HPP_ -#define TENSORRT_COMMON__TENSORRT_COMMON_HPP_ +#ifndef AUTOWARE__TENSORRT_COMMON__TENSORRT_COMMON_HPP_ +#define AUTOWARE__TENSORRT_COMMON__TENSORRT_COMMON_HPP_ #ifndef YOLOX_STANDALONE #include @@ -30,14 +30,16 @@ namespace fs = ::std::filesystem; namespace fs = ::std::experimental::filesystem; #endif -#include -#include +#include +#include #include #include #include #include +namespace autoware +{ namespace tensorrt_common { /** @@ -236,5 +238,6 @@ class TrtCommon // NOLINT }; } // namespace tensorrt_common +} // namespace autoware -#endif // TENSORRT_COMMON__TENSORRT_COMMON_HPP_ +#endif // AUTOWARE__TENSORRT_COMMON__TENSORRT_COMMON_HPP_ diff --git a/common/tensorrt_common/package.xml b/perception/autoware_tensorrt_common/package.xml similarity index 96% rename from common/tensorrt_common/package.xml rename to perception/autoware_tensorrt_common/package.xml index f124dc4c29dc6..b6bf89dd652a3 100644 --- a/common/tensorrt_common/package.xml +++ b/perception/autoware_tensorrt_common/package.xml @@ -1,6 +1,6 @@ - tensorrt_common + autoware_tensorrt_common 0.0.1 tensorrt utility wrapper diff --git a/common/tensorrt_common/src/simple_profiler.cpp b/perception/autoware_tensorrt_common/src/simple_profiler.cpp similarity index 97% rename from common/tensorrt_common/src/simple_profiler.cpp rename to perception/autoware_tensorrt_common/src/simple_profiler.cpp index b9400c284c2eb..c538470711fb8 100644 --- a/common/tensorrt_common/src/simple_profiler.cpp +++ b/perception/autoware_tensorrt_common/src/simple_profiler.cpp @@ -12,10 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include +namespace autoware +{ namespace tensorrt_common { @@ -130,3 +132,4 @@ std::ostream & operator<<(std::ostream & out, const SimpleProfiler & value) return out; } } // namespace tensorrt_common +} // namespace autoware diff --git a/common/tensorrt_common/src/tensorrt_common.cpp b/perception/autoware_tensorrt_common/src/tensorrt_common.cpp similarity index 99% rename from common/tensorrt_common/src/tensorrt_common.cpp rename to perception/autoware_tensorrt_common/src/tensorrt_common.cpp index 9024207d9fe50..632501c0dc057 100644 --- a/common/tensorrt_common/src/tensorrt_common.cpp +++ b/perception/autoware_tensorrt_common/src/tensorrt_common.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include #include @@ -33,6 +33,8 @@ bool contain(const std::string & s, const T & v) } } // anonymous namespace +namespace autoware +{ namespace tensorrt_common { nvinfer1::Dims get_input_dims(const std::string & onnx_file_path) @@ -632,3 +634,4 @@ std::string TrtCommon::getLayerInformation(nvinfer1::LayerInformationFormat form #endif } // namespace tensorrt_common +} // namespace autoware diff --git a/perception/autoware_tensorrt_yolox/CMakeLists.txt b/perception/autoware_tensorrt_yolox/CMakeLists.txt index 1f54326f2b33a..17b31fc7e8df1 100644 --- a/perception/autoware_tensorrt_yolox/CMakeLists.txt +++ b/perception/autoware_tensorrt_yolox/CMakeLists.txt @@ -1,9 +1,9 @@ cmake_minimum_required(VERSION 3.17) project(autoware_tensorrt_yolox) -find_package(tensorrt_common) -if(NOT ${tensorrt_common_FOUND}) - message(WARNING "The tensorrt_common package is not found. Please check its dependencies.") +find_package(autoware_tensorrt_common) +if(NOT ${autoware_tensorrt_common_FOUND}) + message(WARNING "The autoware_tensorrt_common package is not found. Please check its dependencies.") return() endif() @@ -107,12 +107,12 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) ) target_link_libraries(${PROJECT_NAME} - ${tensorrt_common_LIBRARIES} + ${autoware_tensorrt_common_LIBRARIES} ${PROJECT_NAME}_gpu_preprocess ) else() target_link_libraries(${PROJECT_NAME} - ${tensorrt_common_LIBRARIES} + ${autoware_tensorrt_common_LIBRARIES} ) endif() diff --git a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp index 6fba801d1072b..c9f14e818a781 100644 --- a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp +++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp @@ -15,11 +15,11 @@ #ifndef AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_ #define AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_ +#include #include #include #include #include -#include #include #include @@ -88,11 +88,12 @@ class TrtYoloX TrtYoloX( const std::string & model_path, const std::string & precision, const int num_class = 8, const float score_threshold = 0.3, const float nms_threshold = 0.7, - const tensorrt_common::BuildConfig build_config = tensorrt_common::BuildConfig(), + const autoware::tensorrt_common::BuildConfig build_config = + autoware::tensorrt_common::BuildConfig(), const bool use_gpu_preprocess = false, const uint8_t gpu_id = 0, std::string calibration_image_list_file = std::string(), const double norm_factor = 1.0, [[maybe_unused]] const std::string & cache_dir = "", - const tensorrt_common::BatchConfig & batch_config = {1, 1, 1}, + const autoware::tensorrt_common::BatchConfig & batch_config = {1, 1, 1}, const size_t max_workspace_size = (1 << 30), const std::string & color_map_path = ""); /** * @brief Deconstruct TrtYoloX @@ -265,7 +266,7 @@ class TrtYoloX */ cv::Mat getMaskImageGpu(float * d_prob, nvinfer1::Dims dims, int out_w, int out_h, int b); - std::unique_ptr trt_common_; + std::unique_ptr trt_common_; std::vector input_h_; CudaUniquePtr input_d_; diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml index 749624bcbe5a3..b9f2feaf7464c 100644 --- a/perception/autoware_tensorrt_yolox/package.xml +++ b/perception/autoware_tensorrt_yolox/package.xml @@ -21,6 +21,7 @@ autoware_object_recognition_utils autoware_perception_msgs + autoware_tensorrt_common cuda_utils cv_bridge image_transport @@ -29,7 +30,6 @@ rclcpp rclcpp_components sensor_msgs - tensorrt_common tier4_perception_msgs autoware_image_transport_decompressor diff --git a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp index b6da363a9a237..ab2d772be0c20 100644 --- a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp @@ -155,10 +155,11 @@ namespace autoware::tensorrt_yolox { TrtYoloX::TrtYoloX( const std::string & model_path, const std::string & precision, const int num_class, - const float score_threshold, const float nms_threshold, tensorrt_common::BuildConfig build_config, - const bool use_gpu_preprocess, const uint8_t gpu_id, std::string calibration_image_list_path, - const double norm_factor, [[maybe_unused]] const std::string & cache_dir, - const tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size, + const float score_threshold, const float nms_threshold, + autoware::tensorrt_common::BuildConfig build_config, const bool use_gpu_preprocess, + const uint8_t gpu_id, std::string calibration_image_list_path, const double norm_factor, + [[maybe_unused]] const std::string & cache_dir, + const autoware::tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size, const std::string & color_map_path) : gpu_id_(gpu_id), is_gpu_initialized_(false) { @@ -188,7 +189,7 @@ TrtYoloX::TrtYoloX( } int max_batch_size = batch_size_; - nvinfer1::Dims input_dims = tensorrt_common::get_input_dims(model_path); + nvinfer1::Dims input_dims = autoware::tensorrt_common::get_input_dims(model_path); std::vector calibration_images; if (calibration_image_list_path != "") { calibration_images = loadImageList(calibration_image_list_path, ""); @@ -226,10 +227,10 @@ TrtYoloX::TrtYoloX( calibrator.reset( new tensorrt_yolox::Int8MinMaxCalibrator(stream, calibration_table, norm_factor_)); } - trt_common_ = std::make_unique( + trt_common_ = std::make_unique( model_path, precision, std::move(calibrator), batch_config, max_workspace_size, build_config); } else { - trt_common_ = std::make_unique( + trt_common_ = std::make_unique( model_path, precision, nullptr, batch_config, max_workspace_size, build_config); } trt_common_->setup(); diff --git a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp index 753e51d51265c..94a3a37a4d08f 100644 --- a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp +++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp @@ -83,13 +83,13 @@ TrtYoloXNode::TrtYoloXNode(const rclcpp::NodeOptions & node_options) roi_overlay_segment_labels_.ANIMAL = declare_parameter("roi_overlay_segment_label.ANIMAL"); replaceLabelMap(); - tensorrt_common::BuildConfig build_config( + autoware::tensorrt_common::BuildConfig build_config( calibration_algorithm, dla_core_id, quantize_first_layer, quantize_last_layer, profile_per_layer, clip_value); const double norm_factor = 1.0; const std::string cache_dir = ""; - const tensorrt_common::BatchConfig batch_config{1, 1, 1}; + const autoware::tensorrt_common::BatchConfig batch_config{1, 1, 1}; const size_t max_workspace_size = (1 << 30); trt_yolox_ = std::make_unique( diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml index 6da678e02cfb2..663c7a91204b1 100644 --- a/perception/autoware_traffic_light_classifier/package.xml +++ b/perception/autoware_traffic_light_classifier/package.xml @@ -15,6 +15,7 @@ autoware_cmake autoware_tensorrt_classifier + autoware_tensorrt_common cuda_utils cv_bridge image_transport @@ -23,7 +24,6 @@ rclcpp rclcpp_components sensor_msgs - tensorrt_common tier4_perception_msgs diff --git a/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.cpp b/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.cpp index 7a6d00f0135c5..f9bf2509aa2ae 100644 --- a/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.cpp +++ b/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.cpp @@ -51,11 +51,11 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr) } readLabelfile(label_file_path, labels_); - nvinfer1::Dims input_dim = tensorrt_common::get_input_dims(model_file_path); + nvinfer1::Dims input_dim = autoware::tensorrt_common::get_input_dims(model_file_path); assert(input_dim.d[0] > 0); batch_size_ = input_dim.d[0]; - tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_}; + autoware::tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_}; classifier_ = std::make_unique( model_file_path, precision, batch_config, mean_, std_); if (node_ptr_->declare_parameter("build_only", false)) { diff --git a/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.hpp b/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.hpp index 85895cfc9e637..b6338a0d89358 100644 --- a/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.hpp +++ b/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.hpp @@ -18,6 +18,7 @@ #include "classifier_interface.hpp" #include +#include #include #include #include @@ -25,7 +26,6 @@ #include #include #include -#include #include diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp index 5963efe611c00..76f5e608ca425 100644 --- a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp +++ b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp @@ -73,17 +73,17 @@ TrafficLightFineDetectorNode::TrafficLightFineDetectorNode(const rclcpp::NodeOpt RCLCPP_ERROR(this->get_logger(), "Could not find tlr id"); } - const tensorrt_common::BuildConfig build_config = - tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0); + const autoware::tensorrt_common::BuildConfig build_config = + autoware::tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0); const bool cuda_preprocess = true; const std::string calib_image_list = ""; const double scale = 1.0; const std::string cache_dir = ""; - nvinfer1::Dims input_dim = tensorrt_common::get_input_dims(model_path); + nvinfer1::Dims input_dim = autoware::tensorrt_common::get_input_dims(model_path); assert(input_dim.d[0] > 0); batch_size_ = input_dim.d[0]; - const tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_}; + const autoware::tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_}; trt_yolox_ = std::make_unique( model_path, precision, num_class, score_thresh_, nms_threshold, build_config, cuda_preprocess, From 0e7c08779ca6c12ca33c5751d02dd036b0420640 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 21 Oct 2024 13:12:55 +0900 Subject: [PATCH 263/701] feat(test_utils): add simple path with lane id generator (#9113) * add simple path with lane id generator Signed-off-by: Go Sakayori * chnage to explicit template Signed-off-by: Go Sakayori * fix Signed-off-by: Go Sakayori * add static cast Signed-off-by: Go Sakayori * remove header file --------- Signed-off-by: Go Sakayori --- .../autoware_test_utils.hpp | 33 +++++++++++++++++-- .../src/autoware_test_utils.cpp | 1 - .../test/test_utils.cpp | 18 ++-------- 3 files changed, 32 insertions(+), 20 deletions(-) diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp index fd18d5c620832..c5c6cdf015e4d 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp @@ -369,9 +369,9 @@ T generateTrajectory( T traj; for (size_t i = 0; i < num_points; ++i) { - const double theta = init_theta + i * delta_theta; - const double x = i * point_interval * std::cos(theta); - const double y = i * point_interval * std::sin(theta); + const double theta = init_theta + static_cast(i) * delta_theta; + const double x = static_cast(i) * point_interval * std::cos(theta); + const double y = static_cast(i) * point_interval * std::sin(theta); Point p; p.pose = createPose(x, y, 0.0, 0.0, 0.0, theta); @@ -387,6 +387,33 @@ T generateTrajectory( return traj; } +template <> +inline PathWithLaneId generateTrajectory( + const size_t num_points, const double point_interval, const double velocity, + const double init_theta, const double delta_theta, const size_t overlapping_point_index) +{ + PathWithLaneId traj; + + for (size_t i = 0; i < num_points; i++) { + const double theta = init_theta + static_cast(i) * delta_theta; + const double x = static_cast(i) * point_interval * std::cos(theta); + const double y = static_cast(i) * point_interval * std::sin(theta); + + PathPointWithLaneId p; + p.point.pose = createPose(x, y, 0.0, 0.0, 0.0, theta); + p.point.longitudinal_velocity_mps = static_cast(velocity); + p.lane_ids.push_back(static_cast(i)); + traj.points.push_back(p); + + if (i == overlapping_point_index) { + auto value_to_insert = traj.points.at(overlapping_point_index); + traj.points.insert( + traj.points.begin() + static_cast(overlapping_point_index) + 1, value_to_insert); + } + } + return traj; +} + /** * @brief Creates a publisher with appropriate QoS settings. * diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp index a0e0b7518aedc..549d9e7863fde 100644 --- a/common/autoware_test_utils/src/autoware_test_utils.cpp +++ b/common/autoware_test_utils/src/autoware_test_utils.cpp @@ -357,5 +357,4 @@ PathWithLaneId loadPathWithLaneIdInYaml() } return path_msg; } - } // namespace autoware::test_utils diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp index 51d5fb7055a4f..09c7561955801 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp @@ -29,20 +29,6 @@ using ObjectClassification = autoware_perception_msgs::msg::ObjectClassification using autoware::test_utils::createPose; using autoware::test_utils::generateTrajectory; -PathWithLaneId trajectory_to_path_with_lane_id(const Trajectory & trajectory) -{ - PathWithLaneId path_with_lane_id; - PathPointWithLaneId path_point_with_lane_id; - for (const auto & point : trajectory.points) { - path_point_with_lane_id.point.pose = point.pose; - path_point_with_lane_id.point.lateral_velocity_mps = point.lateral_velocity_mps; - path_point_with_lane_id.point.longitudinal_velocity_mps = point.longitudinal_velocity_mps; - path_point_with_lane_id.point.heading_rate_rps = point.heading_rate_rps; - path_with_lane_id.points.push_back(path_point_with_lane_id); - } - return path_with_lane_id; -} - TEST(BehaviorPathPlanningUtilTest, l2Norm) { using autoware::behavior_path_planner::utils::l2Norm; @@ -79,12 +65,12 @@ TEST(BehaviorPathPlanningUtilTest, checkCollisionBetweenPathFootprintsAndObjects checkCollisionBetweenPathFootprintsAndObjects(base_footprint, ego_path, objs, margin)); // Condition: object in front of path - ego_path = trajectory_to_path_with_lane_id(generateTrajectory(5, 1.0)); + ego_path = generateTrajectory(5, 1.0); EXPECT_FALSE( checkCollisionBetweenPathFootprintsAndObjects(base_footprint, ego_path, objs, margin)); // Condition: object overlapping path - ego_path = trajectory_to_path_with_lane_id(generateTrajectory(10, 1.0)); + ego_path = generateTrajectory(10, 1.0); EXPECT_TRUE( checkCollisionBetweenPathFootprintsAndObjects(base_footprint, ego_path, objs, margin)); } From 070a0657d8bd9430d641b90333da1f6e1685ff15 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 21 Oct 2024 14:26:42 +0900 Subject: [PATCH 264/701] fix(intersection): handle pass judge after red/arrow-signal to ignore NPCs after the signal changed to green again (#9119) Signed-off-by: Mamoru Sobue --- .../src/scene_intersection.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp index 9f6935e6d7e7b..9037a416e6e46 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -1341,6 +1341,10 @@ IntersectionModule::PassJudgeStatus IntersectionModule::isOverPassJudgeLinesStat if (std::holds_alternative(prev_decision_result_)) { return true; } + if (std::holds_alternative(prev_decision_result_)) { + const auto & prev_decision = std::get(prev_decision_result_); + return !prev_decision.collision_detected; + } if (std::holds_alternative(prev_decision_result_)) { const auto & state = std::get(prev_decision_result_); return !state.collision_detected; From 64e5a8bdf770428ba2dee317bfe0196b99aafbf4 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 21 Oct 2024 14:35:23 +0900 Subject: [PATCH 265/701] refactor(autoware_pointcloud_preprocessor): rework crop box parameters (#8466) * feat: add parameter schema for crop box Signed-off-by: vividf * chore: fix readme Signed-off-by: vividf * chore: remove filter.param.yaml file Signed-off-by: vividf * chore: add negative parameter for voxel grid based euclidean cluster Signed-off-by: vividf * chore: fix schema description Signed-off-by: vividf * chore: fix description of negative param Signed-off-by: vividf --------- Signed-off-by: vividf --- ...el_grid_based_euclidean_cluster.param.yaml | 1 + .../CMakeLists.txt | 2 +- .../config/crop_box_filter_node.param.yaml | 9 +++ .../docs/crop-box-filter.md | 9 +-- ...r_nodelet.hpp => crop_box_filter_node.hpp} | 6 +- .../launch/crop_box_filter_node.launch.xml | 16 +++++ .../schema/crop_box_filter_node.schema.json | 63 +++++++++++++++++++ ...r_nodelet.cpp => crop_box_filter_node.cpp} | 18 +++--- 8 files changed, 103 insertions(+), 21 deletions(-) create mode 100644 sensing/autoware_pointcloud_preprocessor/config/crop_box_filter_node.param.yaml rename sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/{crop_box_filter_nodelet.hpp => crop_box_filter_node.hpp} (98%) create mode 100644 sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml create mode 100644 sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json rename sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/{crop_box_filter_nodelet.cpp => crop_box_filter_node.cpp} (95%) diff --git a/perception/autoware_euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml b/perception/autoware_euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml index 26b027f0077aa..15f03fb95911e 100644 --- a/perception/autoware_euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml +++ b/perception/autoware_euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml @@ -15,3 +15,4 @@ min_y: -200.0 max_z: 2.0 min_z: -10.0 + negative: false diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt index 94deffd5ae9d0..247a8faf6b13a 100644 --- a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt @@ -64,8 +64,8 @@ ament_target_dependencies(faster_voxel_grid_downsample_filter ament_auto_add_library(pointcloud_preprocessor_filter SHARED src/concatenate_data/concatenate_and_time_sync_nodelet.cpp src/concatenate_data/concatenate_pointclouds.cpp + src/crop_box_filter/crop_box_filter_node.cpp src/time_synchronizer/time_synchronizer_node.cpp - src/crop_box_filter/crop_box_filter_nodelet.cpp src/downsample_filter/voxel_grid_downsample_filter_node.cpp src/downsample_filter/random_downsample_filter_node.cpp src/downsample_filter/approximate_downsample_filter_node.cpp diff --git a/sensing/autoware_pointcloud_preprocessor/config/crop_box_filter_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/crop_box_filter_node.param.yaml new file mode 100644 index 0000000000000..4ec29e8f66137 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/config/crop_box_filter_node.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + min_x: -1.0 + min_y: -1.0 + min_z: -1.0 + max_x: 1.0 + max_y: 1.0 + max_z: 1.0 + negative: false diff --git a/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md index 4539a85e26a1d..3f8373f1d65bc 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md @@ -20,14 +20,7 @@ This implementation inherit `autoware::pointcloud_preprocessor::Filter` class, p ### Core Parameters -| Name | Type | Default Value | Description | -| ------- | ------ | ------------- | ----------------------------------------- | -| `min_x` | double | -1.0 | x-coordinate minimum value for crop range | -| `max_x` | double | 1.0 | x-coordinate maximum value for crop range | -| `min_y` | double | -1.0 | y-coordinate minimum value for crop range | -| `max_y` | double | 1.0 | y-coordinate maximum value for crop range | -| `min_z` | double | -1.0 | z-coordinate minimum value for crop range | -| `max_z` | double | 1.0 | z-coordinate maximum value for crop range | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp similarity index 98% rename from sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp index 09b5c7fd5f5fa..7cc61798bfef9 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp @@ -50,8 +50,8 @@ * */ -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_ +#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODE_HPP_ +#define AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODE_HPP_ #include "autoware/pointcloud_preprocessor/filter.hpp" #include "autoware/pointcloud_preprocessor/transform_info.hpp" @@ -104,4 +104,4 @@ class CropBoxFilterComponent : public autoware::pointcloud_preprocessor::Filter }; } // namespace autoware::pointcloud_preprocessor -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_ +#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODE_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml new file mode 100644 index 0000000000000..bb07daf8841b9 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json new file mode 100644 index 0000000000000..31fdef4a2a7a0 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json @@ -0,0 +1,63 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Crop Box Filter Node", + "type": "object", + "definitions": { + "crop_box_filter": { + "type": "object", + "properties": { + "min_x": { + "type": "number", + "description": "minimum x-coordinate value for crop range in meters", + "default": "-1.0" + }, + "min_y": { + "type": "number", + "description": "minimum y-coordinate value for crop range in meters", + "default": "-1.0" + }, + "min_z": { + "type": "number", + "description": "minimum z-coordinate value for crop range in meters", + "default": "-1.0" + }, + "max_x": { + "type": "number", + "description": "maximum x-coordinate value for crop range in meters", + "default": "1.0" + }, + "max_y": { + "type": "number", + "description": "maximum y-coordinate value for crop range in meters", + "default": "1.0" + }, + "max_z": { + "type": "number", + "description": "maximum z-coordinate value for crop range in meters", + "default": "1.0" + }, + "negative": { + "type": "boolean", + "description": "if true, remove points within the box from the pointcloud; otherwise, remove points outside the box.", + "default": "false" + } + }, + "required": ["min_x", "min_y", "min_z", "max_x", "max_y", "max_z", "negative"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/crop_box_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp similarity index 95% rename from sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp index a09b6bfb6a1ce..c1b3605c8b97c 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -49,7 +49,7 @@ * */ -#include "autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp" +#include "autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp" #include @@ -73,13 +73,13 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio // set initial parameters { auto & p = param_; - p.min_x = static_cast(declare_parameter("min_x", -1.0)); - p.min_y = static_cast(declare_parameter("min_y", -1.0)); - p.min_z = static_cast(declare_parameter("min_z", -1.0)); - p.max_x = static_cast(declare_parameter("max_x", 1.0)); - p.max_y = static_cast(declare_parameter("max_y", 1.0)); - p.max_z = static_cast(declare_parameter("max_z", 1.0)); - p.negative = static_cast(declare_parameter("negative", false)); + p.min_x = declare_parameter("min_x"); + p.min_y = declare_parameter("min_y"); + p.min_z = declare_parameter("min_z"); + p.max_x = declare_parameter("max_x"); + p.max_y = declare_parameter("max_y"); + p.max_z = declare_parameter("max_z"); + p.negative = declare_parameter("negative"); if (tf_input_frame_.empty()) { throw std::invalid_argument("Crop box requires non-empty input_frame"); } From 8c3859033c6e5c602866f1074ef7344f1399b35c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 21 Oct 2024 15:53:12 +0900 Subject: [PATCH 266/701] refactor(goal_planner): move last_previous_module_output_path out of ThreadSafeData (#9075) Signed-off-by: Mamoru Sobue --- .../goal_planner_module.hpp | 14 +++++-- .../thread_data.hpp | 4 -- .../src/goal_planner_module.cpp | 42 +++++++++---------- 3 files changed, 30 insertions(+), 30 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index e8079c4e27720..f3fa2898ce833 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -219,9 +219,13 @@ class GoalPlannerModule : public SceneModuleInterface */ struct GoalPlannerData { - GoalPlannerData(const PlannerData & planner_data, const GoalPlannerParameters & parameters) + GoalPlannerData( + const PlannerData & planner_data, const GoalPlannerParameters & parameters, + const BehaviorModuleOutput & previous_module_output_) { initializeOccupancyGridMap(planner_data, parameters); + previous_module_output = previous_module_output_; + last_previous_module_output = previous_module_output_; }; GoalPlannerParameters parameters; autoware::universe_utils::LinearRing2d vehicle_footprint; @@ -229,6 +233,7 @@ class GoalPlannerModule : public SceneModuleInterface PlannerData planner_data; ModuleStatus current_status; BehaviorModuleOutput previous_module_output; + BehaviorModuleOutput last_previous_module_output; // occupancy_grid_map; @@ -437,9 +442,12 @@ class GoalPlannerModule : public SceneModuleInterface TurnSignalInfo calcTurnSignalInfo(const PullOverContextData & context_data); std::optional ignore_signal_{std::nullopt}; - bool hasPreviousModulePathShapeChanged(const BehaviorModuleOutput & previous_module_output) const; + bool hasPreviousModulePathShapeChanged( + const BehaviorModuleOutput & previous_module_output, + const BehaviorModuleOutput & last_previous_module_output) const; bool hasDeviatedFromLastPreviousModulePath( - const std::shared_ptr planner_data) const; + const std::shared_ptr planner_data, + const BehaviorModuleOutput & last_previous_module_output) const; bool hasDeviatedFromCurrentPreviousModulePath( const std::shared_ptr planner_data, const BehaviorModuleOutput & previous_module_output) const; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp index 3b526bf3a8f24..a0d5d40d8c8d5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp @@ -109,7 +109,6 @@ class ThreadSafeData goal_candidates_.clear(); last_path_update_time_ = std::nullopt; closest_start_pose_ = std::nullopt; - last_previous_module_output_ = std::nullopt; prev_data_ = PathDecisionState{}; } @@ -118,7 +117,6 @@ class ThreadSafeData DEFINE_SETTER_GETTER_WITH_MUTEX(PredictedObjects, dynamic_target_objects) // main --> lane DEFINE_SETTER_GETTER_WITH_MUTEX(PathDecisionState, prev_data) - DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, last_previous_module_output) // lane --> main DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, closest_start_pose) @@ -150,7 +148,6 @@ class ThreadSafeData void set_no_lock(const std::vector & arg) { pull_over_path_candidates_ = arg; } void set_no_lock(const std::shared_ptr & arg) { set_pull_over_path_no_lock(arg); } void set_no_lock(const PullOverPath & arg) { set_pull_over_path_no_lock(arg); } - void set_no_lock(const BehaviorModuleOutput & arg) { last_previous_module_output_ = arg; } void set_no_lock(const utils::path_safety_checker::CollisionCheckDebugMap & arg) { collision_check_ = arg; @@ -161,7 +158,6 @@ class ThreadSafeData GoalCandidates goal_candidates_{}; std::optional last_path_update_time_; std::optional closest_start_pose_{}; - std::optional last_previous_module_output_{}; utils::path_safety_checker::CollisionCheckDebugMap collision_check_{}; PredictedObjects static_target_objects_{}; PredictedObjects dynamic_target_objects_{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 88349f20a0540..b4707d50c20e1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -144,21 +144,17 @@ GoalPlannerModule::GoalPlannerModule( } bool GoalPlannerModule::hasPreviousModulePathShapeChanged( - const BehaviorModuleOutput & previous_module_output) const + const BehaviorModuleOutput & previous_module_output, + const BehaviorModuleOutput & last_previous_module_output) const { - const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); - if (!last_previous_module_output) { - return true; - } - // Calculate the lateral distance between each point of the current path and the nearest point of // the last path constexpr double LATERAL_DEVIATION_THRESH = 0.3; for (const auto & p : previous_module_output.path.points) { const size_t nearest_seg_idx = autoware::motion_utils::findNearestSegmentIndex( - last_previous_module_output->path.points, p.point.pose.position); - const auto seg_front = last_previous_module_output->path.points.at(nearest_seg_idx); - const auto seg_back = last_previous_module_output->path.points.at(nearest_seg_idx + 1); + last_previous_module_output.path.points, p.point.pose.position); + const auto seg_front = last_previous_module_output.path.points.at(nearest_seg_idx); + const auto seg_back = last_previous_module_output.path.points.at(nearest_seg_idx + 1); // Check if the target point is within the segment const Eigen::Vector3d segment_vec{ seg_back.point.pose.position.x - seg_front.point.pose.position.x, @@ -174,7 +170,7 @@ bool GoalPlannerModule::hasPreviousModulePathShapeChanged( continue; } const double lateral_distance = std::abs(autoware::motion_utils::calcLateralOffset( - last_previous_module_output->path.points, p.point.pose.position, nearest_seg_idx)); + last_previous_module_output.path.points, p.point.pose.position, nearest_seg_idx)); if (lateral_distance > LATERAL_DEVIATION_THRESH) { return true; } @@ -183,14 +179,11 @@ bool GoalPlannerModule::hasPreviousModulePathShapeChanged( } bool GoalPlannerModule::hasDeviatedFromLastPreviousModulePath( - const std::shared_ptr planner_data) const + const std::shared_ptr planner_data, + const BehaviorModuleOutput & last_previous_module_output) const { - const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); - if (!last_previous_module_output) { - return true; - } return std::abs(autoware::motion_utils::calcLateralOffset( - last_previous_module_output->path.points, + last_previous_module_output.path.points, planner_data->self_odometry->pose.pose.position)) > 0.3; } @@ -212,6 +205,7 @@ void GoalPlannerModule::onTimer() std::shared_ptr local_planner_data{nullptr}; std::optional current_status_opt{std::nullopt}; std::optional previous_module_output_opt{std::nullopt}; + std::optional last_previous_module_output_opt{std::nullopt}; std::shared_ptr occupancy_grid_map{nullptr}; std::optional parameters_opt{std::nullopt}; std::shared_ptr goal_searcher{nullptr}; @@ -224,6 +218,7 @@ void GoalPlannerModule::onTimer() local_planner_data = std::make_shared(gp_planner_data.planner_data); current_status_opt = gp_planner_data.current_status; previous_module_output_opt = gp_planner_data.previous_module_output; + last_previous_module_output_opt = gp_planner_data.last_previous_module_output; occupancy_grid_map = gp_planner_data.occupancy_grid_map; parameters_opt = gp_planner_data.parameters; goal_searcher = gp_planner_data.goal_searcher; @@ -232,7 +227,7 @@ void GoalPlannerModule::onTimer() // end of critical section if ( !local_planner_data || !current_status_opt || !previous_module_output_opt || - !occupancy_grid_map || !parameters_opt || !goal_searcher) { + !last_previous_module_output_opt || !occupancy_grid_map || !parameters_opt || !goal_searcher) { RCLCPP_ERROR( getLogger(), "failed to get valid " @@ -242,6 +237,7 @@ void GoalPlannerModule::onTimer() } const auto & current_status = current_status_opt.value(); const auto & previous_module_output = previous_module_output_opt.value(); + const auto & last_previous_module_output = last_previous_module_output_opt.value(); const auto & parameters = parameters_opt.value(); if (current_status == ModuleStatus::IDLE) { @@ -280,12 +276,12 @@ void GoalPlannerModule::onTimer() if (thread_safe_data_.get_pull_over_path_candidates().empty()) { return true; } - if (hasPreviousModulePathShapeChanged(previous_module_output)) { + if (hasPreviousModulePathShapeChanged(previous_module_output, last_previous_module_output)) { RCLCPP_DEBUG(getLogger(), "has previous module path shape changed"); return true; } if ( - hasDeviatedFromLastPreviousModulePath(local_planner_data) && + hasDeviatedFromLastPreviousModulePath(local_planner_data, last_previous_module_output) && current_state != PathDecisionState::DecisionKind::DECIDED) { RCLCPP_DEBUG(getLogger(), "has deviated from last previous module path"); return true; @@ -369,8 +365,6 @@ void GoalPlannerModule::onTimer() thread_safe_data_.set_pull_over_path_candidates(path_candidates); thread_safe_data_.set_closest_start_pose(closest_start_pose); RCLCPP_INFO(getLogger(), "generated %lu pull over path candidates", path_candidates.size()); - - thread_safe_data_.set_last_previous_module_output(previous_module_output); } void GoalPlannerModule::onFreespaceParkingTimer() @@ -518,7 +512,7 @@ void GoalPlannerModule::updateData() { std::lock_guard guard(gp_planner_data_mutex_); if (!gp_planner_data_) { - gp_planner_data_ = GoalPlannerData(*planner_data_, *parameters_); + gp_planner_data_ = GoalPlannerData(*planner_data_, *parameters_, getPreviousModuleOutput()); } auto & gp_planner_data = gp_planner_data_.value(); // NOTE: for the above reasons, PlannerManager/behavior_path_planner_node ensure that @@ -2618,7 +2612,8 @@ void GoalPlannerModule::GoalPlannerData::initializeOccupancyGridMap( GoalPlannerModule::GoalPlannerData GoalPlannerModule::GoalPlannerData::clone() const { - GoalPlannerModule::GoalPlannerData gp_planner_data(planner_data, parameters); + GoalPlannerModule::GoalPlannerData gp_planner_data( + planner_data, parameters, last_previous_module_output); gp_planner_data.update( parameters, planner_data, current_status, previous_module_output, goal_searcher, vehicle_footprint); @@ -2637,6 +2632,7 @@ void GoalPlannerModule::GoalPlannerData::update( planner_data = planner_data_; planner_data.route_handler = std::make_shared(*(planner_data_.route_handler)); current_status = current_status_; + last_previous_module_output = previous_module_output; previous_module_output = previous_module_output_; occupancy_grid_map->setMap(*(planner_data.occupancy_grid)); // to create a deepcopy of GoalPlanner(not GoalPlannerBase), goal_searcher_ is not enough, so From b4d8e7c75d21a5ec492ed1f9ac7f4e70ca7ab1d6 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 21 Oct 2024 16:32:17 +0900 Subject: [PATCH 267/701] test(bpp_common): add test for path utils (#9122) * add test file for path utils Signed-off-by: Go Sakayori * fix Signed-off-by: Go Sakayori * add tests for map irrelevant function Signed-off-by: Go Sakayori * add test for getUnshiftedEgoPose Signed-off-by: Go Sakayori * add docstring and remove unneccesary function Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori --- .../CMakeLists.txt | 3 +- .../utils/path_utils.hpp | 56 +++- .../src/utils/path_utils.cpp | 15 +- .../test/test_path_utils.cpp | 250 ++++++++++++++++++ .../src/scene.cpp | 8 +- 5 files changed, 314 insertions(+), 18 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index d3f76ed904244..9380bce784cc7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -34,7 +34,8 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC if(BUILD_TESTING) ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_utilities - test/test_utils.cpp + test/test_utils.cpp + test/test_path_utils.cpp ) target_link_libraries(test_${PROJECT_NAME}_utilities diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp index dc371e3063822..3e4f180035b20 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp @@ -58,34 +58,76 @@ PathWithLaneId resamplePathWithSpline( const PathWithLaneId & path, const double interval, const bool keep_input_points = false, const std::pair target_section = {0.0, std::numeric_limits::max()}); +/** + * @brief Gets index based on target index and arc length. + * @param [in] path Path. + * @param [in] target_idx Target index. + * @param [in] signed_arc Signed arc length. (Positive is forward) + * @return Index + */ size_t getIdxByArclength( const PathWithLaneId & path, const size_t target_idx, const double signed_arc); +/** + * @brief Clips path according to the target index and length. + * @param [in] path Path. + * @param [in] target_idx Target index. + * @param [in] forward Forward distance from target index. + * @param [in] backward Backward distance from target index. + * @return Index + */ void clipPathLength( PathWithLaneId & path, const size_t target_idx, const double forward, const double backward); -void clipPathLength( - PathWithLaneId & path, const size_t target_idx, const BehaviorPathPlannerParameters & params); - PathWithLaneId convertWayPointsToPathWithLaneId( const autoware::freespace_planning_algorithms::PlannerWaypoints & waypoints, const double velocity, const lanelet::ConstLanelets & lanelets); +/** + * @brief Get indices where the driving direction would reverse. + * @param [in] path Original path. + * @return Indices. + */ std::vector getReversingIndices(const PathWithLaneId & path); +/** + * @brief Divide path by given indices. + * @param [in] path Original path. + * @param [in] indices Where to split the path. + * @return Divided paths. + */ std::vector dividePath( const PathWithLaneId & path, const std::vector & indices); +/** + * @brief Corrects the velocity implemented in the trajectory by judging the vehicle driving + * direction. + * @param [in] divided_paths Multiple path with lane ID. + * @return + */ void correctDividedPathVelocity(std::vector & divided_paths); // only two points is supported -std::vector splineTwoPoints( +std::vector spline_two_points( const std::vector & base_s, const std::vector & base_x, const double begin_diff, const double end_diff, const std::vector & new_s); +/** + * @brief Interpolates pose between 2 pose. + * @param [in] start_pose Start pose. + * @param [in] end_pose End pose. + * @param [in] resample_interval Resampling interval. + * @return Array of pose + */ std::vector interpolatePose( const Pose & start_pose, const Pose & end_pose, const double resample_interval); +/** + * @brief Get ego pose which is not shifted. + * @param [in] ego_pose Ego pose. + * @param [in] prev_path Previous path with lane ID. + * @return Unshifted pose. + */ geometry_msgs::msg::Pose getUnshiftedEgoPose( const geometry_msgs::msg::Pose & ego_pose, const ShiftedPath & prev_path); @@ -94,6 +136,12 @@ PathWithLaneId calcCenterLinePath( const double longest_dist_to_shift_line, const std::optional & prev_module_path = std::nullopt); +/** + * @brief Combines 2 path which do not overlap. + * @param [in] path1 First path. + * @param [in] path2 Second path. + * @return Combined path. + */ PathWithLaneId combinePath(const PathWithLaneId & path1, const PathWithLaneId & path2); BehaviorModuleOutput getReferencePath( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp index 3b06e084690e3..d6f56f9c90168 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp @@ -27,7 +27,6 @@ #include #include -#include #include #include #include @@ -102,6 +101,7 @@ PathWithLaneId resamplePathWithSpline( transformed_path, 0, transformed_path.size()); for (size_t i = 0; i < path.points.size(); ++i) { const double s = s_vec.at(i); + for (const auto & lane_id : path.points.at(i).lane_ids) { if (!keep_input_points && (unique_lane_ids.find(lane_id) != unique_lane_ids.end())) { continue; @@ -202,13 +202,6 @@ void clipPathLength( path.points = clipped_points; } -// TODO(murooka) This function should be replaced with autoware::motion_utils::cropPoints -void clipPathLength( - PathWithLaneId & path, const size_t target_idx, const BehaviorPathPlannerParameters & params) -{ - clipPathLength(path, target_idx, params.forward_path_length, params.backward_path_length); -} - PathWithLaneId convertWayPointsToPathWithLaneId( const autoware::freespace_planning_algorithms::PlannerWaypoints & waypoints, const double velocity, const lanelet::ConstLanelets & lanelets) @@ -311,7 +304,7 @@ void correctDividedPathVelocity(std::vector & divided_paths) } // only two points is supported -std::vector splineTwoPoints( +std::vector spline_two_points( const std::vector & base_s, const std::vector & base_x, const double begin_diff, const double end_diff, const std::vector & new_s) { @@ -350,10 +343,10 @@ std::vector interpolatePose( new_s.push_back(s); } - const std::vector interpolated_x = splineTwoPoints( + const std::vector interpolated_x = spline_two_points( base_s, base_x, std::cos(tf2::getYaw(start_pose.orientation)), std::cos(tf2::getYaw(end_pose.orientation)), new_s); - const std::vector interpolated_y = splineTwoPoints( + const std::vector interpolated_y = spline_two_points( base_s, base_y, std::sin(tf2::getYaw(start_pose.orientation)), std::sin(tf2::getYaw(end_pose.orientation)), new_s); for (size_t i = 0; i < interpolated_x.size(); ++i) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp new file mode 100644 index 0000000000000..d96b30cccdfaa --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp @@ -0,0 +1,250 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" +#include "autoware/behavior_path_planner_common/utils/path_utils.hpp" + +#include + +#include + +#include + +#include + +using tier4_planning_msgs::msg::PathWithLaneId; + +using autoware::test_utils::createPose; +using autoware::test_utils::generateTrajectory; + +TEST(BehaviorPathPlanningPathUtilTest, calcPathArcLengthArray) +{ + using autoware::behavior_path_planner::utils::calcPathArcLengthArray; + + auto path = generateTrajectory(10, 1.0); + auto arc_length_array = calcPathArcLengthArray(path); + + ASSERT_EQ(arc_length_array.size(), path.points.size()); + + size_t i = 0; + for (const auto & arc_length : arc_length_array) { + EXPECT_DOUBLE_EQ(arc_length, 1.0 * i); + i++; + } +} + +TEST(BehaviorPathPlanningPathUtilTest, resamplePathWithSpline) +{ + using autoware::behavior_path_planner::utils::resamplePathWithSpline; + + // Condition: path point less than 2 + auto path = generateTrajectory(1, 1.0); + EXPECT_EQ(resamplePathWithSpline(path, 1.0).points.size(), path.points.size()); + + // Condition: not enough point for spline interpolation + path = generateTrajectory(10, 0.01); + EXPECT_EQ(resamplePathWithSpline(path, 1.0).points.size(), path.points.size()); + + // Condition: spline interpolation + path = generateTrajectory(10, 0.1); + auto resampled_path = resamplePathWithSpline(path, 1.0); + EXPECT_EQ(resampled_path.points.size(), 5); +} + +TEST(BehaviorPathPlanningPathUtilTest, getIdxByArclength) +{ + using autoware::behavior_path_planner::utils::getIdxByArclength; + + tier4_planning_msgs::msg::PathWithLaneId path; + + // Condition: empty points + EXPECT_ANY_THROW(getIdxByArclength(path, 5, 1.0)); + + // Condition: negative arc with idx 0 + path = generateTrajectory(10, 1.0); + EXPECT_EQ(getIdxByArclength(path, 0, -1.0), 0); + + // Condition: negative arc + EXPECT_EQ(getIdxByArclength(path, 5, -2.0), 2); + + // Condition: positive arc + EXPECT_EQ(getIdxByArclength(path, 3, 4.0), 8); +} + +TEST(BehaviorPathPlanningPathUtilTest, clipPathLength) +{ + using autoware::behavior_path_planner::utils::clipPathLength; + + // Condition: path point less than 3 + auto path = generateTrajectory(2, 1.0); + clipPathLength(path, 5, 10.0, 1.0); + EXPECT_EQ(path.points.size(), 2); + + // Condition: path to be cropped + path = generateTrajectory(10, 1.0); + clipPathLength(path, 5, 10.0, 1.0); + EXPECT_EQ(path.points.size(), 7); + + size_t i = 0; + for (const auto & point : path.points) { + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 3.0 + i); + i++; + } +} + +TEST(BehaviorPathPlanningPathUtilTest, getReversingIndices) +{ + using autoware::behavior_path_planner::utils::getReversingIndices; + + size_t target_index = 7; + auto path = generateTrajectory(10, 1.0, 1.0); + path.points.at(target_index).point.longitudinal_velocity_mps = -1.0; + auto reversing_indices = getReversingIndices(path); + EXPECT_EQ(reversing_indices.size(), 2); + + size_t i = 0; + for (const auto & index : reversing_indices) { + EXPECT_EQ(index, target_index - 1 + i); + i++; + } +} + +TEST(BehaviorPathPlanningPathUtilTest, dividePath) +{ + using autoware::behavior_path_planner::utils::dividePath; + auto path = generateTrajectory(10, 1.0); + + // Condition: empty indices + std::vector indices; + auto divided_path = dividePath(path, indices); + EXPECT_EQ(divided_path.size(), 1); + + // Condition: divide path + indices = {3, 5, 8}; + divided_path = dividePath(path, indices); + ASSERT_EQ(divided_path.size(), 4); + EXPECT_EQ(divided_path.at(0).points.size(), 4); + EXPECT_EQ(divided_path.at(1).points.size(), 3); + EXPECT_EQ(divided_path.at(2).points.size(), 4); + EXPECT_EQ(divided_path.at(3).points.size(), 2); +} + +TEST(BehaviorPathPlanningPathUtilTest, correctDividedPathVelocity) +{ + using autoware::behavior_path_planner::utils::correctDividedPathVelocity; + + double velocity = 1.0; + std::vector divided_paths; + // forward driving + divided_paths.push_back(generateTrajectory(10, 1.0, velocity)); + // reverse driving + divided_paths.push_back(generateTrajectory(10, -1.0, velocity, M_PI)); + correctDividedPathVelocity(divided_paths); + + for (const auto & point : divided_paths.at(0).points) { + if (point == divided_paths.at(0).points.back()) { + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + } else { + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, velocity); + } + } + + for (const auto & point : divided_paths.at(1).points) { + if (point == divided_paths.at(1).points.back()) { + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + } else { + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, -velocity); + } + } +} + +TEST(BehaviorPathPlanningPathUtilTest, interpolatePose) +{ + using autoware::behavior_path_planner::utils::interpolatePose; + + auto start_pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + auto end_pose = createPose(10.0, 2.0, 0.0, 0.0, 0.0, M_PI_2); + double resample_interval = 1.0; + + auto resampled_pose = interpolatePose(start_pose, end_pose, resample_interval); + EXPECT_EQ(resampled_pose.size(), 10); +} + +TEST(BehaviorPathPlanningPathUtilTest, getUnshiftedEgoPose) +{ + using autoware::behavior_path_planner::utils::getUnshiftedEgoPose; + + auto ego_pose = createPose(2.0, 4.0, 0.0, 0.0, 0.0, 0.0); + autoware::behavior_path_planner::ShiftedPath shifted_path; + + // Condition: empty path + auto unshifted_ego_pose = getUnshiftedEgoPose(ego_pose, shifted_path); + EXPECT_DOUBLE_EQ(unshifted_ego_pose.position.x, ego_pose.position.x); + EXPECT_DOUBLE_EQ(unshifted_ego_pose.position.y, ego_pose.position.y); + + shifted_path.path = generateTrajectory(10, 1.0); + for (size_t i = 0; i < shifted_path.path.points.size(); i++) { + shifted_path.shift_length.push_back(static_cast(i) * 0.1); + } + + // Condition: path with increasing offset + unshifted_ego_pose = getUnshiftedEgoPose(ego_pose, shifted_path); + EXPECT_DOUBLE_EQ(unshifted_ego_pose.position.x, ego_pose.position.x); + EXPECT_DOUBLE_EQ(unshifted_ego_pose.position.y, -0.2); +} + +TEST(BehaviorPathPlanningPathUtilTest, combinePath) +{ + using autoware::behavior_path_planner::utils::combinePath; + + PathWithLaneId first_path; + auto second_path = generateTrajectory(10, 1.0); + + // Condition: first path empty + auto combined_path = combinePath(first_path, second_path); + EXPECT_EQ(combined_path.points.size(), 10); + size_t i = 0; + for (const auto & point : combined_path.points) { + EXPECT_DOUBLE_EQ(point.point.pose.position.x, static_cast(i)); + i++; + } + + // Condition: second path empty + first_path = generateTrajectory(4, 0.5); + second_path.points.clear(); + combined_path = combinePath(first_path, second_path); + EXPECT_EQ(combined_path.points.size(), 4); + i = 0; + for (const auto & point : combined_path.points) { + EXPECT_DOUBLE_EQ(point.point.pose.position.x, static_cast(i) * 0.5); + i++; + } + + // Condition: combine path + second_path = generateTrajectory(20, 0.25); + for (auto & point : second_path.points) { + point.point.pose.position.x += 1.5; + } + combined_path = combinePath(first_path, second_path); + EXPECT_EQ(combined_path.points.size(), 23); + i = 0; + for (const auto & point : combined_path.points) { + if (i < 4) + EXPECT_DOUBLE_EQ(point.point.pose.position.x, static_cast(i) * 0.5); + else + EXPECT_DOUBLE_EQ(point.point.pose.position.x, static_cast(i - 3) * 0.25 + 1.5); + + i++; + } +} diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index fb63180be7ac4..9b04847bd59b0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -1125,7 +1125,9 @@ BehaviorModuleOutput StaticObstacleAvoidanceModule::plan() path_reference_ = std::make_shared(getPreviousModuleOutput().reference_path); const size_t ego_idx = planner_data_->findEgoIndex(output.path.points); - utils::clipPathLength(output.path, ego_idx, planner_data_->parameters); + utils::clipPathLength( + output.path, ego_idx, planner_data_->parameters.forward_path_length, + planner_data_->parameters.backward_path_length); // Drivable area generation. { @@ -1176,7 +1178,9 @@ CandidateOutput StaticObstacleAvoidanceModule::planCandidate() const if (data.safe_shift_line.empty()) { const size_t ego_idx = planner_data_->findEgoIndex(shifted_path.path.points); - utils::clipPathLength(shifted_path.path, ego_idx, planner_data_->parameters); + utils::clipPathLength( + shifted_path.path, ego_idx, planner_data_->parameters.forward_path_length, + planner_data_->parameters.backward_path_length); output.path_candidate = shifted_path.path; return output; From 641476da902cf78d55f35fea9505731f282169ec Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 21 Oct 2024 17:18:22 +0900 Subject: [PATCH 268/701] refactor(virtual_traffic_light): move to utils for unit test (#9106) Signed-off-by: kosuke55 --- .../CMakeLists.txt | 1 + .../src/scene.cpp | 169 ++---------------- .../src/utils.cpp | 123 +++++++++++++ .../src/utils.hpp | 107 +++++++++++ 4 files changed, 241 insertions(+), 159 deletions(-) create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.hpp diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt index 9d1fe762262dd..5c9e503afc2e3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt @@ -9,6 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp src/manager.cpp src/scene.cpp + src/utils.cpp ) ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp index f990d11927a24..e60e2a42e3a47 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp @@ -14,174 +14,25 @@ #include "scene.hpp" +#include "utils.hpp" + #include #include #include -#include - #include #include namespace autoware::behavior_velocity_planner { -namespace -{ -using autoware::universe_utils::calcDistance2d; - -struct SegmentIndexWithPoint -{ - size_t index; - geometry_msgs::msg::Point point; -}; - -struct SegmentIndexWithOffset -{ - size_t index; -}; - -tier4_v2x_msgs::msg::KeyValue createKeyValue(const std::string & key, const std::string & value) -{ - return tier4_v2x_msgs::build().key(key).value(value); -} - -autoware::universe_utils::LineString3d toAutowarePoints( - const lanelet::ConstLineString3d & line_string) -{ - autoware::universe_utils::LineString3d output; - for (const auto & p : line_string) { - output.emplace_back(p.x(), p.y(), p.z()); - } - return output; -} - -std::optional toAutowarePoints( - const lanelet::Optional & line_string) -{ - if (!line_string) { - return {}; - } - return toAutowarePoints(*line_string); -} - -std::vector toAutowarePoints( - const lanelet::ConstLineStrings3d & line_strings) -{ - std::vector output; - for (const auto & line_string : line_strings) { - output.emplace_back(toAutowarePoints(line_string)); - } - return output; -} - -[[maybe_unused]] autoware::universe_utils::LineString2d to_2d( - const autoware::universe_utils::LineString3d & line_string) -{ - autoware::universe_utils::LineString2d output; - for (const auto & p : line_string) { - output.emplace_back(p.x(), p.y()); - } - return output; -} - -autoware::universe_utils::Point3d calcCenter( - const autoware::universe_utils::LineString3d & line_string) -{ - const auto p1 = line_string.front(); - const auto p2 = line_string.back(); - const auto p_center = (p1 + p2) / 2; - return {p_center.x(), p_center.y(), p_center.z()}; -} - -geometry_msgs::msg::Pose calcHeadPose( - const geometry_msgs::msg::Pose & base_link_pose, const double base_link_to_front) -{ - return autoware::universe_utils::calcOffsetPose(base_link_pose, base_link_to_front, 0.0, 0.0); -} - -geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Point3d & p) -{ - geometry_msgs::msg::Point geom_p; - geom_p.x = p.x(); - geom_p.y = p.y(); - - return geom_p; -} - -template -std::optional findLastCollisionBeforeEndLine( - const T & points, const autoware::universe_utils::LineString3d & target_line, - const size_t end_line_idx) -{ - const auto target_line_p1 = convertToGeomPoint(target_line.at(0)); - const auto target_line_p2 = convertToGeomPoint(target_line.at(1)); - - for (size_t i = end_line_idx; 0 < i; - --i) { // NOTE: size_t can be used since it will not be negative. - const auto & p1 = autoware::universe_utils::getPoint(points.at(i)); - const auto & p2 = autoware::universe_utils::getPoint(points.at(i - 1)); - const auto collision_point = - arc_lane_utils::checkCollision(p1, p2, target_line_p1, target_line_p2); - - if (collision_point) { - return SegmentIndexWithPoint{i, collision_point.value()}; - } - } - - return {}; -} - -template -std::optional findLastCollisionBeforeEndLine( - const T & points, const std::vector & lines, - const size_t end_line_idx) -{ - for (const auto & line : lines) { - const auto collision = findLastCollisionBeforeEndLine(points, line, end_line_idx); - if (collision) { - return collision; - } - } - - return {}; -} - -void insertStopVelocityFromStart(tier4_planning_msgs::msg::PathWithLaneId * path) -{ - for (auto & p : path->points) { - p.point.longitudinal_velocity_mps = 0.0; - } -} - -std::optional insertStopVelocityAtCollision( - const SegmentIndexWithPoint & collision, const double offset, - tier4_planning_msgs::msg::PathWithLaneId * path) -{ - const auto collision_offset = autoware::motion_utils::calcLongitudinalOffsetToSegment( - path->points, collision.index, collision.point); - - const auto offset_segment = - arc_lane_utils::findOffsetSegment(*path, collision.index, offset + collision_offset); - if (!offset_segment) { - return {}; - } - - const auto interpolated_pose = arc_lane_utils::calcTargetPose(*path, *offset_segment); - - if (offset_segment->second < 0) { - insertStopVelocityFromStart(path); - return 0; - } - - auto insert_index = static_cast(offset_segment->first + 1); - auto insert_point = path->points.at(insert_index); - insert_point.point.pose = interpolated_pose; - // Insert 0 velocity after stop point or replace velocity with 0 - autoware::behavior_velocity_planner::planning_utils::insertVelocity( - *path, insert_point, 0.0, insert_index); - return insert_index; -} -} // namespace +using virtual_traffic_light::calcCenter; +using virtual_traffic_light::calcHeadPose; +using virtual_traffic_light::createKeyValue; +using virtual_traffic_light::findLastCollisionBeforeEndLine; +using virtual_traffic_light::insertStopVelocityFromStart; +using virtual_traffic_light::SegmentIndexWithOffset; +using virtual_traffic_light::SegmentIndexWithPoint; +using virtual_traffic_light::toAutowarePoints; VirtualTrafficLightModule::VirtualTrafficLightModule( const int64_t module_id, const int64_t lane_id, diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp new file mode 100644 index 0000000000000..940e29f0a0c0e --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp @@ -0,0 +1,123 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "utils.hpp" + +#include +#include +#include +#include + +#include + +namespace autoware::behavior_velocity_planner::virtual_traffic_light +{ + +using autoware::universe_utils::calcDistance2d; + +tier4_v2x_msgs::msg::KeyValue createKeyValue(const std::string & key, const std::string & value) +{ + return tier4_v2x_msgs::build().key(key).value(value); +} + +autoware::universe_utils::LineString3d toAutowarePoints( + const lanelet::ConstLineString3d & line_string) +{ + autoware::universe_utils::LineString3d output; + for (const auto & p : line_string) { + output.emplace_back(p.x(), p.y(), p.z()); + } + return output; +} + +std::optional toAutowarePoints( + const lanelet::Optional & line_string) +{ + if (!line_string) { + return {}; + } + return toAutowarePoints(*line_string); +} + +std::vector toAutowarePoints( + const lanelet::ConstLineStrings3d & line_strings) +{ + std::vector output; + for (const auto & line_string : line_strings) { + output.emplace_back(toAutowarePoints(line_string)); + } + return output; +} + +autoware::universe_utils::Point3d calcCenter( + const autoware::universe_utils::LineString3d & line_string) +{ + const auto p1 = line_string.front(); + const auto p2 = line_string.back(); + const auto p_center = (p1 + p2) / 2; + return {p_center.x(), p_center.y(), p_center.z()}; +} + +geometry_msgs::msg::Pose calcHeadPose( + const geometry_msgs::msg::Pose & base_link_pose, const double base_link_to_front) +{ + return autoware::universe_utils::calcOffsetPose(base_link_pose, base_link_to_front, 0.0, 0.0); +} + +geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Point3d & p) +{ + geometry_msgs::msg::Point geom_p; + geom_p.x = p.x(); + geom_p.y = p.y(); + + return geom_p; +} + +void insertStopVelocityFromStart(tier4_planning_msgs::msg::PathWithLaneId * path) +{ + for (auto & p : path->points) { + p.point.longitudinal_velocity_mps = 0.0; + } +} + +std::optional insertStopVelocityAtCollision( + const SegmentIndexWithPoint & collision, const double offset, + tier4_planning_msgs::msg::PathWithLaneId * path) +{ + const auto collision_offset = autoware::motion_utils::calcLongitudinalOffsetToSegment( + path->points, collision.index, collision.point); + + const auto offset_segment = + arc_lane_utils::findOffsetSegment(*path, collision.index, offset + collision_offset); + if (!offset_segment) { + return {}; + } + + const auto interpolated_pose = arc_lane_utils::calcTargetPose(*path, *offset_segment); + + if (offset_segment->second < 0) { + insertStopVelocityFromStart(path); + return 0; + } + + auto insert_index = static_cast(offset_segment->first + 1); + auto insert_point = path->points.at(insert_index); + insert_point.point.pose = interpolated_pose; + // Insert 0 velocity after stop point or replace velocity with 0 + autoware::behavior_velocity_planner::planning_utils::insertVelocity( + *path, insert_point, 0.0, insert_index); + return insert_index; +} + +} // namespace autoware::behavior_velocity_planner::virtual_traffic_light diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.hpp new file mode 100644 index 0000000000000..ab11ca5c81391 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.hpp @@ -0,0 +1,107 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UTILS_HPP_ +#define UTILS_HPP_ + +#include +#include + +#include +#include + +#include +#include +#include +#include + +namespace autoware::behavior_velocity_planner::virtual_traffic_light +{ +struct SegmentIndexWithPoint +{ + size_t index; + geometry_msgs::msg::Point point; +}; + +struct SegmentIndexWithOffset +{ + size_t index; +}; + +tier4_v2x_msgs::msg::KeyValue createKeyValue(const std::string & key, const std::string & value); + +autoware::universe_utils::LineString3d toAutowarePoints( + const lanelet::ConstLineString3d & line_string); + +std::optional toAutowarePoints( + const lanelet::Optional & line_string); + +std::vector toAutowarePoints( + const lanelet::ConstLineStrings3d & line_strings); + +autoware::universe_utils::Point3d calcCenter( + const autoware::universe_utils::LineString3d & line_string); + +geometry_msgs::msg::Pose calcHeadPose( + const geometry_msgs::msg::Pose & base_link_pose, const double base_link_to_front); + +geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Point3d & p); + +void insertStopVelocityFromStart(tier4_planning_msgs::msg::PathWithLaneId * path); + +std::optional insertStopVelocityAtCollision( + const SegmentIndexWithPoint & collision, const double offset, + tier4_planning_msgs::msg::PathWithLaneId * path); + +template +std::optional findLastCollisionBeforeEndLine( + const T & points, const autoware::universe_utils::LineString3d & target_line, + const size_t end_line_idx) +{ + const auto target_line_p1 = convertToGeomPoint(target_line.at(0)); + const auto target_line_p2 = convertToGeomPoint(target_line.at(1)); + + for (size_t i = end_line_idx; 0 < i; + --i) { // NOTE: size_t can be used since it will not be negative. + const auto & p1 = autoware::universe_utils::getPoint(points.at(i)); + const auto & p2 = autoware::universe_utils::getPoint(points.at(i - 1)); + const auto collision_point = + arc_lane_utils::checkCollision(p1, p2, target_line_p1, target_line_p2); + + if (collision_point) { + return SegmentIndexWithPoint{i, collision_point.value()}; + } + } + + return {}; +} + +template +std::optional findLastCollisionBeforeEndLine( + const T & points, const std::vector & lines, + const size_t end_line_idx) +{ + for (const auto & line : lines) { + const auto collision = findLastCollisionBeforeEndLine(points, line, end_line_idx); + if (collision) { + return collision; + } + } + + return {}; +} + +} // namespace autoware::behavior_velocity_planner::virtual_traffic_light + +#endif // UTILS_HPP_ From 5a89973fb7aa94d37488144b933324e0860d675b Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 21 Oct 2024 17:25:54 +0900 Subject: [PATCH 269/701] chore(autoware_map_based_prediction): add maintainers to package.xml (#9125) chore: add maintainers to package.xml The package.xml file was updated to include additional maintainers' email addresses. Signed-off-by: Taekjin LEE --- perception/autoware_map_based_prediction/package.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml index cd0b42f030eaf..fbb760b45bc63 100644 --- a/perception/autoware_map_based_prediction/package.xml +++ b/perception/autoware_map_based_prediction/package.xml @@ -9,6 +9,8 @@ Takayuki Murooka Kyoichi Sugahara Kotaro Uetake + Mamoru Sobue + Taekjin Lee Apache License 2.0 ament_cmake From d7bc6f4f363f82320551d41839f316eeae6a3856 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 21 Oct 2024 18:05:40 +0900 Subject: [PATCH 270/701] feat(autoware_test_utils): move test_map, add launcher for test_map (#9045) Signed-off-by: Mamoru Sobue --- common/autoware_test_utils/CMakeLists.txt | 1 + common/autoware_test_utils/README.md | 36 +- .../images}/intersection_test_map.png | Bin .../images}/road_shoulder_test_map.png | Bin .../launch/psim_intersection.launch.xml | 16 + .../launch/psim_road_shoulder.launch.xml | 16 + .../test_map/intersection/lanelet2_map.osm | 22377 +++++ .../test_map/intersection}/pointcloud_map.pcd | Bin .../test_map/road_shoulder/lanelet2_map.osm | 67758 ++++++++++++++++ .../road_shoulder}/pointcloud_map.pcd | Bin .../test/test_util.cpp | 39 +- .../CMakeLists.txt | 2 +- .../behavior_path_planner_develop_maps.md | 11 - .../test_map/road_shoulder/lanelet2_map.osm | 10068 --- .../CMakeLists.txt | 2 +- .../README.md | 14 - .../test_map/intersection/lanelet2_map.osm | 20181 ----- 17 files changed, 90240 insertions(+), 30281 deletions(-) rename {planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/docs => common/autoware_test_utils/images}/intersection_test_map.png (100%) rename {planning/behavior_path_planner/autoware_behavior_path_planner_common/docs => common/autoware_test_utils/images}/road_shoulder_test_map.png (100%) create mode 100644 common/autoware_test_utils/launch/psim_intersection.launch.xml create mode 100644 common/autoware_test_utils/launch/psim_road_shoulder.launch.xml create mode 100644 common/autoware_test_utils/test_map/intersection/lanelet2_map.osm rename {planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder => common/autoware_test_utils/test_map/intersection}/pointcloud_map.pcd (100%) create mode 100644 common/autoware_test_utils/test_map/road_shoulder/lanelet2_map.osm rename {planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection => common/autoware_test_utils/test_map/road_shoulder}/pointcloud_map.pcd (100%) delete mode 100644 planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_develop_maps.md delete mode 100644 planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm delete mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm diff --git a/common/autoware_test_utils/CMakeLists.txt b/common/autoware_test_utils/CMakeLists.txt index 6a12539d06cbf..09d2a6b2efa7b 100644 --- a/common/autoware_test_utils/CMakeLists.txt +++ b/common/autoware_test_utils/CMakeLists.txt @@ -25,4 +25,5 @@ ament_auto_package(INSTALL_TO_SHARE config test_map test_data + launch ) diff --git a/common/autoware_test_utils/README.md b/common/autoware_test_utils/README.md index a656f35a90ce4..57e065c154c8f 100644 --- a/common/autoware_test_utils/README.md +++ b/common/autoware_test_utils/README.md @@ -15,7 +15,7 @@ The objective of the `test_utils` is to develop a unit testing library for the A ## Available Maps -The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_test_utils/test_map) +The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/common/autoware_test_utils/test_map) ### Common @@ -33,6 +33,40 @@ The following illustrates the design of the map. ![straight_diagram](./images/2km-test.svg) +### road_shoulders + +The road_shoulders lanelet map consist of a variety of pick-up/drop-off site maps with road_shoulder tags including: + +- pick-up/drop-off sites on the side of street lanes +- pick-up/drop-off sites on the side of curved lanes +- pick-up/drop-off sites inside a private area + +![road_shoulder_test](./images/road_shoulder_test_map.png) + +You can easily launch planning_simulator by + +```bash +ros2 launch autoware_test_utils psim_road_shoulder.launch.xml vehicle_model:=<> sensor_model:=<> use_sim_time:=true +``` + +### intersection + +The intersections lanelet map consist of a variety of intersections including: + +- 4-way crossing with traffic light +- 4-way crossing without traffic light +- T-shape crossing without traffic light +- intersection with a loop +- complicated intersection + +![intersection_test](./images/intersection_test_map.png) + +You can easily launch planning_simulator by + +```bash +ros2 launch autoware_test_utils psim_intersection.launch.xml vehicle_model:=<> sensor_model:=<> use_sim_time:=true +``` + ## Example use cases ### Autoware Planning Test Manager diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/docs/intersection_test_map.png b/common/autoware_test_utils/images/intersection_test_map.png similarity index 100% rename from planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/docs/intersection_test_map.png rename to common/autoware_test_utils/images/intersection_test_map.png diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/road_shoulder_test_map.png b/common/autoware_test_utils/images/road_shoulder_test_map.png similarity index 100% rename from planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/road_shoulder_test_map.png rename to common/autoware_test_utils/images/road_shoulder_test_map.png diff --git a/common/autoware_test_utils/launch/psim_intersection.launch.xml b/common/autoware_test_utils/launch/psim_intersection.launch.xml new file mode 100644 index 0000000000000..75322e0699d62 --- /dev/null +++ b/common/autoware_test_utils/launch/psim_intersection.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml b/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml new file mode 100644 index 0000000000000..73cedd98647b7 --- /dev/null +++ b/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm b/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm new file mode 100644 index 0000000000000..92307e28cf6cc --- /dev/null +++ b/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm @@ -0,0 +1,22377 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/pointcloud_map.pcd b/common/autoware_test_utils/test_map/road_shoulder/pointcloud_map.pcd similarity index 100% rename from planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/pointcloud_map.pcd rename to common/autoware_test_utils/test_map/road_shoulder/pointcloud_map.pcd diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp index b50ee083fddc8..64dbac4ff9adf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp @@ -37,7 +37,38 @@ class TestUtilWithMap : public ::testing::Test // lanelet map const std::string shoulder_map_path = autoware::test_utils::get_absolute_path_to_lanelet_map( - "autoware_behavior_path_planner_common", "road_shoulder/lanelet2_map.osm"); + "autoware_test_utils", "road_shoulder/lanelet2_map.osm"); + const auto map_bin_msg = autoware::test_utils::make_map_bin_msg(shoulder_map_path, 0.5); + + // load map + route_handler = std::make_shared(map_bin_msg); + } + + void TearDown() override { rclcpp::shutdown(); } + +public: + std::shared_ptr route_handler; + autoware::vehicle_info_utils::VehicleInfo vehicle_info; +}; + +class DISABLED_TestUtilWithMap : public ::testing::Test +{ +protected: + void SetUp() override + { + rclcpp::init(0, nullptr); + // parameters + auto node_options = rclcpp::NodeOptions{}; + node_options.arguments(std::vector{ + "--ros-args", "--params-file", + ament_index_cpp::get_package_share_directory("autoware_test_utils") + + "/config/test_vehicle_info.param.yaml"}); + auto node = rclcpp::Node::make_shared("test", node_options); + vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*node).getVehicleInfo(); + + // lanelet map + const std::string shoulder_map_path = autoware::test_utils::get_absolute_path_to_lanelet_map( + "autoware_test_utils", "road_shoulder/lanelet2_map.osm"); const auto map_bin_msg = autoware::test_utils::make_map_bin_msg(shoulder_map_path, 0.5); // load map @@ -57,10 +88,10 @@ TEST_F(TestUtilWithMap, getBusStopAreaPolygons) const auto shoulder_lanes = lanelet::utils::query::shoulderLanelets(lanes); const auto bus_stop_area_polygons = autoware::behavior_path_planner::goal_planner_utils::getBusStopAreaPolygons(shoulder_lanes); - EXPECT_EQ(bus_stop_area_polygons.size(), 2); + EXPECT_EQ(bus_stop_area_polygons.size(), 1); } -TEST_F(TestUtilWithMap, isWithinAreas) +TEST_F(DISABLED_TestUtilWithMap, isWithinAreas) { const auto lanes = lanelet::utils::query::laneletLayer(route_handler->getLaneletMapPtr()); const auto shoulder_lanes = lanelet::utils::query::shoulderLanelets(lanes); @@ -110,7 +141,7 @@ TEST_F(TestUtilWithMap, combineLanePoints) } } -TEST_F(TestUtilWithMap, createDepartureCheckLanelet) +TEST_F(DISABLED_TestUtilWithMap, createDepartureCheckLanelet) { const auto lanelet_map_ptr = route_handler->getLaneletMapPtr(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index 9380bce784cc7..e38a75a554682 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -85,4 +85,4 @@ if(BUILD_TESTING) ) endif() -ament_auto_package(INSTALL_TO_SHARE test_map) +ament_auto_package() diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_develop_maps.md b/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_develop_maps.md deleted file mode 100644 index 1c3c01857e73f..0000000000000 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_develop_maps.md +++ /dev/null @@ -1,11 +0,0 @@ -# Develop purpose maps - -## road_shoulders - -The road_shoulders lanelet map consist of a variety of pick-up/drop-off site maps with road_shoulder tags including: - -- pick-up/drop-off sites on the side of street lanes -- pick-up/drop-off sites on the side of curved lanes -- pick-up/drop-off sites inside a private area - -![road_shoulder_test](./road_shoulder_test_map.png) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm deleted file mode 100644 index 8539aec143d67..0000000000000 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm +++ /dev/null @@ -1,10068 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt index 49ab46e26bd17..9cb992312f52a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt @@ -26,4 +26,4 @@ if(BUILD_TESTING) ) endif() -ament_auto_package(INSTALL_TO_SHARE test_map) +ament_auto_package() diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md index 311728b6b58d5..2abbb83575af5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md @@ -1,17 +1,3 @@ # Behavior Velocity Planner Common This package provides common functions as a library, which are used in the `behavior_velocity_planner` node and modules. - -## Test map - -### intersection - -The intersections lanelet map consist of a variety of intersections including: - -- 4-way crossing with traffic light -- 4-way crossing without traffic light -- T-shape crossing without traffic light -- intersection with a loop -- complicated intersection - -![intersection_test](./docs/intersection_test_map.png) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm deleted file mode 100644 index 70ebd23ae88ee..0000000000000 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm +++ /dev/null @@ -1,20181 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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add03e2d57171e448fef5bf1bfb8e4160293bafd Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 21 Oct 2024 18:14:42 +0900 Subject: [PATCH 271/701] fix(crosswalk): fix occlusion detection range calculation and add debug markers (#9121) Signed-off-by: Maxime CLEMENT --- .../util.hpp | 5 +- .../src/debug.cpp | 22 +++++- .../src/occluded_crosswalk.cpp | 16 ++--- .../src/occluded_crosswalk.hpp | 19 +++-- .../src/scene_crosswalk.cpp | 71 ++++++++++--------- 5 files changed, 82 insertions(+), 51 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp index 34e67cee12af2..64c98017d3007 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp @@ -21,7 +21,6 @@ #include #include -#include #include #include #include @@ -83,6 +82,10 @@ struct DebugData std::vector crosswalk_polygon; std::vector> ego_polygons; std::vector> obj_polygons; + + // occlusion data + std::vector occlusion_detection_areas; + geometry_msgs::msg::Point crosswalk_origin; }; std::vector> getCrosswalksOnPath( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp index d96256d2753ce..757803ef35578 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp @@ -24,8 +24,6 @@ namespace autoware::behavior_velocity_planner { -using autoware::motion_utils::createSlowDownVirtualWallMarker; -using autoware::motion_utils::createStopVirtualWallMarker; using autoware::universe_utils::appendMarkerArray; using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::createDefaultMarker; @@ -173,6 +171,26 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers( msg.markers.push_back(marker); } + if (!debug_data.occlusion_detection_areas.empty()) { + auto marker = createDefaultMarker( + "map", now, "occlusion_detection_areas", uid, Marker::LINE_LIST, + createMarkerScale(0.25, 0.25, 0.0), createMarkerColor(1.0, 1.0, 1.0, 0.5)); + for (const auto & area : debug_data.occlusion_detection_areas) { + for (auto i = 0UL; i + 1 < area.size(); ++i) { + const auto & p1 = area[i]; + const auto & p2 = area[i + 1]; + marker.points.push_back(createPoint(p1.x(), p1.y(), 0.0)); + marker.points.push_back(createPoint(p2.x(), p2.y(), 0.0)); + } + } + msg.markers.push_back(marker); + marker = createDefaultMarker( + "map", now, "crosswalk_origin", uid, Marker::SPHERE, createMarkerScale(0.25, 0.25, 0.25), + createMarkerColor(1.0, 1.0, 1.0, 0.5)); + marker.pose.position = debug_data.crosswalk_origin; + msg.markers.push_back(marker); + } + return msg; } } // namespace diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp index 6b78a72e887d0..112c54a38139f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp @@ -14,18 +14,18 @@ #include "occluded_crosswalk.hpp" -#include "autoware/behavior_velocity_crosswalk_module/util.hpp" - #include #include +#include + #include #include namespace autoware::behavior_velocity_planner { bool is_occluded( - const grid_map::GridMap & grid_map, const int min_nb_of_cells, const grid_map::Index idx, + const grid_map::GridMap & grid_map, const int min_nb_of_cells, const grid_map::Index & idx, const autoware::behavior_velocity_planner::CrosswalkModule::PlannerParam & params) { grid_map::Index idx_offset; @@ -112,7 +112,7 @@ void clear_occlusions_behind_objects( }; const lanelet::BasicPoint2d grid_map_position = grid_map.getPosition(); const auto range = grid_map.getLength().maxCoeff() / 2.0; - for (auto object : objects) { + for (auto & object : objects) { const lanelet::BasicPoint2d object_position = { object.kinematics.initial_pose_with_covariance.pose.position.x, object.kinematics.initial_pose_with_covariance.pose.position.y}; @@ -137,9 +137,8 @@ void clear_occlusions_behind_objects( } bool is_crosswalk_occluded( - const lanelet::ConstLanelet & crosswalk_lanelet, const nav_msgs::msg::OccupancyGrid & occupancy_grid, - const geometry_msgs::msg::Point & path_intersection, const double detection_range, + const std::vector & detection_areas, const std::vector & dynamic_objects, const autoware::behavior_velocity_planner::CrosswalkModule::PlannerParam & params) { @@ -153,8 +152,7 @@ bool is_crosswalk_occluded( clear_occlusions_behind_objects(grid_map, objects); } const auto min_nb_of_cells = std::ceil(params.occlusion_min_size / grid_map.getResolution()); - for (const auto & detection_area : calculate_detection_areas( - crosswalk_lanelet, {path_intersection.x, path_intersection.y}, detection_range)) { + for (const auto & detection_area : detection_areas) { grid_map::Polygon poly; for (const auto & p : detection_area) poly.addVertex(grid_map::Position(p.x(), p.y())); for (autoware::grid_map_utils::PolygonIterator iter(grid_map, poly); !iter.isPastEnd(); ++iter) @@ -169,6 +167,6 @@ double calculate_detection_range( { constexpr double min_ego_velocity = 1.0; const auto time_to_crosswalk = dist_ego_to_crosswalk / std::max(min_ego_velocity, ego_velocity); - return time_to_crosswalk > 0.0 ? time_to_crosswalk / occluded_object_velocity : 20.0; + return time_to_crosswalk > 0.0 ? time_to_crosswalk * occluded_object_velocity : 20.0; } } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.hpp index c4f2c1a23c57e..1cf3131f1a7d3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.hpp @@ -26,7 +26,6 @@ #include #include -#include #include namespace autoware::behavior_velocity_planner @@ -39,7 +38,7 @@ namespace autoware::behavior_velocity_planner /// @param [in] params parameters /// @return true if the index is occluded bool is_occluded( - const grid_map::GridMap & grid_map, const int min_nb_of_cells, const grid_map::Index idx, + const grid_map::GridMap & grid_map, const int min_nb_of_cells, const grid_map::Index & idx, const autoware::behavior_velocity_planner::CrosswalkModule::PlannerParam & params); /// @brief interpolate a point beyond the end of the given segment @@ -50,17 +49,14 @@ lanelet::BasicPoint2d interpolate_point( const lanelet::BasicSegment2d & segment, const double extra_distance); /// @brief check if the crosswalk is occluded -/// @param crosswalk_lanelet lanelet of the crosswalk /// @param occupancy_grid occupancy grid with the occlusion information -/// @param path_intersection intersection between the crosswalk and the ego path -/// @param detection_range range away from the crosswalk until occlusions are considered +/// @param detection_areas areas to check for occlusions /// @param dynamic_objects dynamic objects /// @param params parameters /// @return true if the crosswalk is occluded bool is_crosswalk_occluded( - const lanelet::ConstLanelet & crosswalk_lanelet, const nav_msgs::msg::OccupancyGrid & occupancy_grid, - const geometry_msgs::msg::Point & path_intersection, const double detection_range, + const std::vector & detection_areas, const std::vector & dynamic_objects, const autoware::behavior_velocity_planner::CrosswalkModule::PlannerParam & params); @@ -89,6 +85,15 @@ std::vector select_and_inflate_o void clear_occlusions_behind_objects( grid_map::GridMap & grid_map, const std::vector & objects); + +/// @brief calculate areas to check for occlusions around the given crosswalk +/// @param crosswalk_lanelet crosswalk lanelet +/// @param crosswalk_origin crosswalk point from which to calculate the distances +/// @param detection_range [m] desired distance from the crosswalk origin +/// @return detection areas within the detection range of the crosswalk +std::vector calculate_detection_areas( + const lanelet::ConstLanelet & crosswalk_lanelet, const lanelet::BasicPoint2d & crosswalk_origin, + const double detection_range); } // namespace autoware::behavior_velocity_planner #endif // OCCLUDED_CROSSWALK_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 4ec3e43ee91ca..a56038d3a89d4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -49,13 +49,11 @@ using autoware::motion_utils::calcLongitudinalOffsetPose; using autoware::motion_utils::calcSignedArcLength; using autoware::motion_utils::calcSignedArcLengthPartialSum; using autoware::motion_utils::findNearestSegmentIndex; -using autoware::motion_utils::insertTargetPoint; using autoware::motion_utils::resamplePath; using autoware::universe_utils::createPoint; using autoware::universe_utils::getPose; using autoware::universe_utils::Point2d; using autoware::universe_utils::Polygon2d; -using autoware::universe_utils::pose2transform; using autoware::universe_utils::toHexString; namespace @@ -936,37 +934,46 @@ void CrosswalkModule::applySlowDownByOcclusion( const auto is_crosswalk_ignored = (planner_param_.occlusion_ignore_with_traffic_light && crosswalk_has_traffic_light) || crosswalk_.hasAttribute("skip_occluded_slowdown"); - if (planner_param_.occlusion_enable && !is_crosswalk_ignored) { - const auto dist_ego_to_crosswalk = - calcSignedArcLength(output.points, ego_pos, first_path_point_on_crosswalk); - const auto detection_range = - planner_data_->vehicle_info_.max_lateral_offset_m + - calculate_detection_range( - planner_param_.occlusion_occluded_object_velocity, dist_ego_to_crosswalk, - planner_data_->current_velocity->twist.linear.x); - const auto is_ego_on_the_crosswalk = - dist_ego_to_crosswalk <= planner_data_->vehicle_info_.max_longitudinal_offset_m; - if (!is_ego_on_the_crosswalk) { - if (is_crosswalk_occluded( - crosswalk_, *planner_data_->occupancy_grid, first_path_point_on_crosswalk, - detection_range, objects_ptr->objects, planner_param_)) { - if (!current_initial_occlusion_time_) current_initial_occlusion_time_ = now; - if (cmp_with_time_buffer(current_initial_occlusion_time_, std::greater_equal{})) - most_recent_occlusion_time_ = now; - } else if (!cmp_with_time_buffer(most_recent_occlusion_time_, std::greater{})) { - current_initial_occlusion_time_.reset(); - } - - if (cmp_with_time_buffer(most_recent_occlusion_time_, std::less_equal{})) { - const auto target_velocity = calcTargetVelocity(first_path_point_on_crosswalk, output); - applySlowDown( - output, first_path_point_on_crosswalk, last_path_point_on_crosswalk, - std::max(target_velocity, planner_param_.occlusion_slow_down_velocity)); - debug_data_.virtual_wall_suffix = " (occluded)"; - } else { - most_recent_occlusion_time_.reset(); - } + if (!planner_param_.occlusion_enable || is_crosswalk_ignored) { + return; + } + const auto dist_ego_to_crosswalk = + calcSignedArcLength(output.points, ego_pos, first_path_point_on_crosswalk); + const auto is_ego_on_the_crosswalk = + dist_ego_to_crosswalk <= planner_data_->vehicle_info_.max_longitudinal_offset_m; + if (is_ego_on_the_crosswalk) { + return; + } + const auto detection_range = + planner_data_->vehicle_info_.max_lateral_offset_m + + calculate_detection_range( + planner_param_.occlusion_occluded_object_velocity, dist_ego_to_crosswalk, + planner_data_->current_velocity->twist.linear.x); + const auto detection_areas = calculate_detection_areas( + crosswalk_, {first_path_point_on_crosswalk.x, first_path_point_on_crosswalk.y}, + detection_range); + debug_data_.occlusion_detection_areas = detection_areas; + debug_data_.crosswalk_origin = first_path_point_on_crosswalk; + if (is_crosswalk_occluded( + *planner_data_->occupancy_grid, detection_areas, objects_ptr->objects, planner_param_)) { + if (!current_initial_occlusion_time_) { + current_initial_occlusion_time_ = now; + } + if (cmp_with_time_buffer(current_initial_occlusion_time_, std::greater_equal{})) { + most_recent_occlusion_time_ = now; } + } else if (!cmp_with_time_buffer(most_recent_occlusion_time_, std::greater{})) { + current_initial_occlusion_time_.reset(); + } + + if (cmp_with_time_buffer(most_recent_occlusion_time_, std::less_equal{})) { + const auto target_velocity = calcTargetVelocity(first_path_point_on_crosswalk, output); + applySlowDown( + output, first_path_point_on_crosswalk, last_path_point_on_crosswalk, + std::max(target_velocity, planner_param_.occlusion_slow_down_velocity)); + debug_data_.virtual_wall_suffix = " (occluded)"; + } else { + most_recent_occlusion_time_.reset(); } } From 06adbc4e06c9c58eb184175f256a1ac7a0a1c739 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 21 Oct 2024 21:22:52 +0900 Subject: [PATCH 272/701] feat(goal_planner): use vehicle side edge to check isCrossingPossible for pull over execution (#9102) Signed-off-by: kosuke55 --- .../src/goal_planner_module.cpp | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index b4707d50c20e1..b17a5588835a5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -704,11 +704,19 @@ bool GoalPlannerModule::isExecutionRequested() const lanelet::ConstLanelet target_lane{}; lanelet::utils::query::getClosestLanelet(pull_over_lanes, goal_pose, &target_lane); - lanelet::ConstLanelet previous_module_terminal_lane{}; + // Get the lanelet of the ego vehicle's side edge at the terminal pose of the previous module's + // path. Check if the lane is the target lane or the neighboring lane. NOTE: This is because in + // the case of avoidance, there is a possibility of base_link entering the neighboring lane, and + // we want to activate the pull over at this time as well. + const Pose previous_terminal_pose = getPreviousModuleOutput().path.points.back().point.pose; + const double vehicle_half_width = planner_data_->parameters.vehicle_width / 2.0; + const Pose previous_terminal_vehicle_edge_pose = calcOffsetPose( + previous_terminal_pose, 0, left_side_parking_ ? vehicle_half_width : -vehicle_half_width, 0); + lanelet::ConstLanelet previous_module_terminal_vehicle_edge_lane{}; route_handler->getClosestLaneletWithinRoute( - getPreviousModuleOutput().path.points.back().point.pose, &previous_module_terminal_lane); + previous_terminal_vehicle_edge_pose, &previous_module_terminal_vehicle_edge_lane); - if (!isCrossingPossible(previous_module_terminal_lane, target_lane)) { + if (!isCrossingPossible(previous_module_terminal_vehicle_edge_lane, target_lane)) { return false; } From a303f3637a9cdc909582022794e83dc77fd7d723 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 22 Oct 2024 00:27:02 +0200 Subject: [PATCH 273/701] refactor(component_interface_tools): prefix package and namespace with autoware (#9093) Signed-off-by: Esteve Fernandez --- .../CMakeLists.txt | 2 +- .../README.md | 2 +- .../launch/service_log_checker.launch.xml | 3 +++ .../package.xml | 4 ++-- .../src/service_log_checker.cpp | 0 .../src/service_log_checker.hpp | 0 .../launch/service_log_checker.launch.xml | 3 --- 7 files changed, 7 insertions(+), 7 deletions(-) rename common/{component_interface_tools => autoware_component_interface_tools}/CMakeLists.txt (88%) rename common/{component_interface_tools => autoware_component_interface_tools}/README.md (83%) create mode 100644 common/autoware_component_interface_tools/launch/service_log_checker.launch.xml rename common/{component_interface_tools => autoware_component_interface_tools}/package.xml (86%) rename common/{component_interface_tools => autoware_component_interface_tools}/src/service_log_checker.cpp (100%) rename common/{component_interface_tools => autoware_component_interface_tools}/src/service_log_checker.hpp (100%) delete mode 100644 common/component_interface_tools/launch/service_log_checker.launch.xml diff --git a/common/component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt similarity index 88% rename from common/component_interface_tools/CMakeLists.txt rename to common/autoware_component_interface_tools/CMakeLists.txt index 2b896a951b8ed..e51db41ca0ea2 100644 --- a/common/component_interface_tools/CMakeLists.txt +++ b/common/autoware_component_interface_tools/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(component_interface_tools) +project(autoware_component_interface_tools) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/component_interface_tools/README.md b/common/autoware_component_interface_tools/README.md similarity index 83% rename from common/component_interface_tools/README.md rename to common/autoware_component_interface_tools/README.md index 630483acc1d9e..48492664a647e 100644 --- a/common/component_interface_tools/README.md +++ b/common/autoware_component_interface_tools/README.md @@ -1,4 +1,4 @@ -# component_interface_tools +# autoware_component_interface_tools This package provides the following tools for component interface. diff --git a/common/autoware_component_interface_tools/launch/service_log_checker.launch.xml b/common/autoware_component_interface_tools/launch/service_log_checker.launch.xml new file mode 100644 index 0000000000000..be822497bb744 --- /dev/null +++ b/common/autoware_component_interface_tools/launch/service_log_checker.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/common/component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml similarity index 86% rename from common/component_interface_tools/package.xml rename to common/autoware_component_interface_tools/package.xml index 6df07af8729ff..103489adc1a53 100644 --- a/common/component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -1,9 +1,9 @@ - component_interface_tools + autoware_component_interface_tools 0.1.0 - The component_interface_tools package + The autoware_component_interface_tools package Takagi, Isamu Apache License 2.0 diff --git a/common/component_interface_tools/src/service_log_checker.cpp b/common/autoware_component_interface_tools/src/service_log_checker.cpp similarity index 100% rename from common/component_interface_tools/src/service_log_checker.cpp rename to common/autoware_component_interface_tools/src/service_log_checker.cpp diff --git a/common/component_interface_tools/src/service_log_checker.hpp b/common/autoware_component_interface_tools/src/service_log_checker.hpp similarity index 100% rename from common/component_interface_tools/src/service_log_checker.hpp rename to common/autoware_component_interface_tools/src/service_log_checker.hpp diff --git a/common/component_interface_tools/launch/service_log_checker.launch.xml b/common/component_interface_tools/launch/service_log_checker.launch.xml deleted file mode 100644 index c7845198955c1..0000000000000 --- a/common/component_interface_tools/launch/service_log_checker.launch.xml +++ /dev/null @@ -1,3 +0,0 @@ - - - From 93867c5d4c297fcc49dbc82834e96ccf7381735f Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 22 Oct 2024 08:26:45 +0900 Subject: [PATCH 274/701] fix(utils): fix envelope polygon update logic (#9123) Signed-off-by: satoshi-ota --- .../src/utils.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index adea18c726ced..079682502fa2c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -1486,7 +1486,7 @@ void fillObjectEnvelopePolygon( calcErrorEclipseLongRadius(object_data.object.kinematics.initial_pose_with_covariance); if (error_eclipse_long_radius > object_parameter.th_error_eclipse_long_radius) { - if (error_eclipse_long_radius < object_data.error_eclipse_max) { + if (error_eclipse_long_radius < same_id_obj->error_eclipse_max) { object_data.error_eclipse_max = error_eclipse_long_radius; object_data.envelope_poly = one_shot_envelope_poly; return; From 3da6a6a69a7762b8fd8c5f2ec312dd26bc8c61d4 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 22 Oct 2024 09:41:38 +0900 Subject: [PATCH 275/701] fix(system): fixed to use autoware_component_interface_tools (#9133) Fixed component_interface_tools Signed-off-by: Shintaro SAKODA --- launch/tier4_system_launch/launch/system.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml index 19e5120d605e2..5090f9ab83293 100644 --- a/launch/tier4_system_launch/launch/system.launch.xml +++ b/launch/tier4_system_launch/launch/system.launch.xml @@ -67,7 +67,7 @@ - + From d322a3516d9a2b6a7be91e523910658f660bd296 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 22 Oct 2024 09:44:12 +0900 Subject: [PATCH 276/701] fix(mission_planner): return without change_route if new route is empty (#9101) fix(mission_planner): return if new route is empty without change_route Signed-off-by: kosuke55 --- .../src/mission_planner/mission_planner.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp index 992879a5b3b74..bd7c8a63bb1d3 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp @@ -198,6 +198,7 @@ void MissionPlanner::on_modified_goal(const PoseWithUuidStamped::ConstSharedPtr cancel_route(); change_state(RouteState::SET); RCLCPP_ERROR(get_logger(), "The planned route is empty."); + return; } change_route(route); From 68b3a3d2439eaf9b28aab32e6f54ea9499f6430c Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 22 Oct 2024 11:18:52 +0900 Subject: [PATCH 277/701] chore(simple_planning_simulator): add stop_filter_param_path (#9127) Signed-off-by: Yuki Takagi --- launch/tier4_simulator_launch/launch/simulator.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 330abaee3c839..7be992e2e4764 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -8,6 +8,7 @@ + From e5ad593636cd7ffef672563ce221c81eeceadced Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 22 Oct 2024 14:38:57 +0900 Subject: [PATCH 278/701] fix(behavior_velocity_planner_common): fix findOffsetSegment (#9130) Signed-off-by: kosuke55 --- .../utilization/arc_lane_util.hpp | 19 ++++++++++++++++--- 1 file changed, 16 insertions(+), 3 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp index 769932259e3e6..56154879ea938 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp @@ -95,13 +95,19 @@ std::optional findForwardOffsetSegment( { double sum_length = 0.0; for (size_t i = base_idx; i < path.points.size() - 1; ++i) { - sum_length += + const double segment_length = autoware::universe_utils::calcDistance2d(path.points.at(i), path.points.at(i + 1)); // If it's over offset point, return front index and remain offset length - if (sum_length >= offset_length) { - return std::make_pair(i, sum_length - offset_length); + /** + * (base_idx) --- offset_length ---------> + * --------- (i) <-- remain -->-----------> (i+1) + */ + if (sum_length + segment_length >= offset_length) { + return std::make_pair(i, offset_length - sum_length); } + + sum_length += segment_length; } // No enough path length @@ -119,6 +125,10 @@ std::optional findBackwardOffsetSegment( autoware::universe_utils::calcDistance2d(path.points.at(i), path.points.at(i + 1)); // If it's over offset point, return front index and remain offset length + /** + * <-------- offset_length --- (base_idx) + * ----- (i) <-- remain -->-------> (i+1) + */ if (sum_length >= offset_length) { const auto k = static_cast(i); return std::make_pair(k, sum_length - offset_length); @@ -165,6 +175,9 @@ geometry_msgs::msg::Pose calcTargetPose(const T & path, const PathIndexWithOffse const auto p_eigen_back = Eigen::Vector2d(p_back.x, p_back.y); // Calculate interpolation ratio + /** + * (front) <-- remain_length --> (interp) <----> (back) + */ const auto interpolate_ratio = remain_offset_length / (p_eigen_back - p_eigen_front).norm(); // Add offset to front point From 99b8664861e99d8647544315c7d7a3c2485839d7 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 22 Oct 2024 17:21:10 +0900 Subject: [PATCH 279/701] test(static_obstacle_avoidance): add unit test for utils functions (#9134) * docs(static_obstacle_avoidance): add doxygen Signed-off-by: satoshi-ota * test: add test Signed-off-by: satoshi-ota * fix: assert and expect Signed-off-by: satoshi-ota * fix: wrong comment Signed-off-by: satoshi-ota * refactor: use autoware test utils Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../type_alias.hpp | 2 + .../utils.hpp | 100 +- .../package.xml | 1 + .../src/utils.cpp | 85 + .../test/test_utils.cpp | 1532 ++++++++++++++++- 5 files changed, 1694 insertions(+), 26 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp index d9055bc8a1c34..293b2d9bc6f28 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp @@ -34,8 +34,10 @@ namespace autoware::behavior_path_planner { // auto msgs +using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedPath; +using autoware_perception_msgs::msg::Shape; using tier4_planning_msgs::msg::PathWithLaneId; // ROS 2 general msgs diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp index a6efb1d3b2542..56d1a93ea1799 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp @@ -36,17 +36,41 @@ using autoware::behavior_path_planner::utils::path_safety_checker::PredictedPath static constexpr const char * logger_namespace = "planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.static_obstacle_" "avoidance.utils"; - +/** + * @brief check object offset direction. + * @param object data. + * @return if the object is on right side of ego path, return true. + */ bool isOnRight(const ObjectData & obj); +/** + * @brief calculate shift length from centerline of current lane. + * @param object offset direction. + * @param distance between object polygon and centerline of current lane. (signed) + * @param margin distance between ego and object. + * @return necessary shift length. (signed) + */ double calcShiftLength( const bool & is_object_on_right, const double & overhang_dist, const double & avoid_margin); bool isWithinLanes( const lanelet::ConstLanelets & lanelets, const std::shared_ptr & planner_data); +/** + * @brief check if the ego has to shift driving position. + * @param if object is on right side of ego path. + * @param ego shift length. + * @return necessity of shifting. + */ bool isShiftNecessary(const bool & is_object_on_right, const double & shift_length); +/** + * @brief check if the ego has to avoid object with the trajectory whose shift direction is same as + * object offset. + * @param object offset direction. + * @param ego shift length. + * @return if the direction of shift and object offset, return true. + */ bool isSameDirectionShift(const bool & is_object_on_right, const double & shift_length); size_t findPathIndexFromArclength( @@ -62,9 +86,23 @@ std::vector calcParentIds(const AvoidLineArray & lines1, const AvoidLine & double lerpShiftLengthOnArc(double arc, const AvoidLine & al); +/** + * @brief calculate distance between ego and object. object length along with the path is calculated + * as well. + * @param current path. + * @param ego position. + * @param object data. + */ void fillLongitudinalAndLengthByClosestEnvelopeFootprint( const PathWithLaneId & path, const Point & ego_pos, ObjectData & obj); +/** + * @brief calculate overhang distance for all of the envelope polygon outer points. + * @param object data. + * @param current path. + * @return first: overhang distance, second: outer point. this vector is sorted by overhang + * distance. + */ std::vector> calcEnvelopeOverhangDistance( const ObjectData & object_data, const PathWithLaneId & path); @@ -76,12 +114,33 @@ void setStartData( AvoidLine & al, const double start_shift_length, const geometry_msgs::msg::Pose & start, const size_t start_idx, const double start_dist); +/** + * @brief create envelope polygon which is parallel to current path. + * @param object polygon. + * @param closest point pose of the current path. + * @param buffer. + * @return envelope polygon. + */ Polygon2d createEnvelopePolygon( const Polygon2d & object_polygon, const Pose & closest_pose, const double envelope_buffer); +/** + * @brief create envelope polygon which is parallel to current path. + * @param object data. + * @param closest point pose of the current path. + * @param buffer. + * @return envelope polygon. + */ Polygon2d createEnvelopePolygon( const ObjectData & object_data, const Pose & closest_pose, const double envelope_buffer); +/** + * @brief create data structs which are used in clipping drivable area process. + * @param objects. + * @param avoidance module parameters. + * @param ego vehicle width. + * @return struct which includes expanded polygon. + */ std::vector generateObstaclePolygonsForDrivableArea( const ObjectDataArray & objects, const std::shared_ptr & parameters, const double vehicle_width); @@ -98,18 +157,45 @@ lanelet::ConstLanelets getExtendLanes( const lanelet::ConstLanelets & lanelets, const Pose & ego_pose, const std::shared_ptr & planner_data); +/** + * @brief insert target stop/decel point. + * @param ego current position. + * @param distance between ego and stop/decel position. + * @param target velocity. + * @param target path. + * @param insert point. + */ void insertDecelPoint( const Point & p_src, const double offset, const double velocity, PathWithLaneId & path, std::optional & p_out); +/** + * @brief update envelope polygon based on object position reliability. + * @param current detected object. + * @param previous stopped objects. + * @param base pose to create envelope polygon. + * @param threshold parameters. + */ void fillObjectEnvelopePolygon( ObjectData & object_data, const ObjectDataArray & registered_objects, const Pose & closest_pose, const std::shared_ptr & parameters); +/** + * @brief fill stopping duration. + * @param current detected object. + * @param previous stopped objects. + * @param threshold parameters. + */ void fillObjectMovingTime( ObjectData & object_data, ObjectDataArray & stopped_objects, const std::shared_ptr & parameters); +/** + * @brief check whether ego has to avoid the objects. + * @param current detected object. + * @param previous stopped objects. + * @param threshold parameters. + */ void fillAvoidanceNecessity( ObjectData & object_data, const ObjectDataArray & registered_objects, const double vehicle_width, const std::shared_ptr & parameters); @@ -120,6 +206,13 @@ void fillObjectStoppableJudge( void updateClipObject(ObjectDataArray & clip_objects, AvoidancePlanningData & data); +/** + * @brief compensate lost objects until a certain time elapses. + * @param previous stopped object. + * @param avoidance planning data. + * @param current time. + * @param avoidance parameters which includes duration of compensation. + */ void compensateLostTargetObjects( ObjectDataArray & stored_objects, AvoidancePlanningData & data, const rclcpp::Time & now, const std::shared_ptr & planner_data, @@ -175,6 +268,11 @@ double calcDistanceToAvoidStartLine( const std::shared_ptr & planner_data, const std::shared_ptr & parameters); +/** + * @brief calculate error eclipse radius based on object pose covariance. + * @param pose with covariance. + * @return error eclipse long radius. + */ double calcErrorEclipseLongRadius(const PoseWithCovariance & pose); } // namespace autoware::behavior_path_planner::utils::static_obstacle_avoidance diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index 328ac199aca1a..dd15cd70b4d85 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -30,6 +30,7 @@ autoware_route_handler autoware_rtc_interface autoware_signal_processing + autoware_test_utils autoware_universe_utils autoware_vehicle_info_utils geometry_msgs diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index 079682502fa2c..091a15bea158b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -162,6 +162,12 @@ void pushUniqueVector(T & base_vector, const T & additional_vector) namespace filtering_utils { +/** + * @brief check whether the object is avoidance target object type. + * @param object data. + * @param parameters. + * @return if the object is avoidance target object type, return true. + */ bool isAvoidanceTargetObjectType( const PredictedObject & object, const std::shared_ptr & parameters) { @@ -174,6 +180,12 @@ bool isAvoidanceTargetObjectType( return parameters->object_parameters.at(object_type).is_avoidance_target; } +/** + * @brief check whether the object is safety check target object type. + * @param object data. + * @param parameters. + * @return if the object is safety check target object type, return true. + */ bool isSafetyCheckTargetObjectType( const PredictedObject & object, const std::shared_ptr & parameters) { @@ -186,12 +198,23 @@ bool isSafetyCheckTargetObjectType( return parameters->object_parameters.at(object_type).is_safety_check_target; } +/** + * @brief check whether the object type is ObjectClassification::UNKNOWN. + * @param object data. + * @return if the object label whose probability is the highest among the candidate is UNKNOWN, + * return true. + */ bool isUnknownTypeObject(const ObjectData & object) { const auto object_type = utils::getHighestProbLabel(object.object.classification); return object_type == ObjectClassification::UNKNOWN; } +/** + * @brief classify object by whether it's vehicle or not. + * @param object data. + * @return if the object type is vehicle, return true. + */ bool isVehicleTypeObject(const ObjectData & object) { const auto object_type = utils::getHighestProbLabel(object.object.classification); @@ -207,6 +230,14 @@ bool isVehicleTypeObject(const ObjectData & object) return true; } +/** + * @brief check whether the object is moving or not. + * @param object data. + * @param parameters. + * @return if the object keeps moving more than threshold time duration, return true. if the object + * hasn't been moving for more than threshold time, this function return false even if the object + * speed is NOT zero. + */ bool isMovingObject( const ObjectData & object, const std::shared_ptr & parameters) { @@ -291,6 +322,12 @@ bool isWithinFreespace( lanelet::utils::to2D(polygons.front().basicPolygon())); } +/** + * @brief check whether the object is on ego driving lane. + * @param object data. + * @param route handler. + * @return if the object is on ego lane, return true. + */ bool isOnEgoLane(const ObjectData & object, const std::shared_ptr & route_handler) { if (boost::geometry::within( @@ -370,6 +407,14 @@ bool isMergingToEgoLane(const ObjectData & object) return true; } +/** + * @brief check whether the object is parking on road shoulder. + * @param object polygon. + * @param avoidance module data. + * @param route handler. + * @param parameters. + * @return if the object is close to road shoulder of the lane, return true. + */ bool isParkedVehicle( ObjectData & object, const AvoidancePlanningData & data, const std::shared_ptr & route_handler, @@ -749,6 +794,18 @@ bool isObviousAvoidanceTarget( return false; } +/** + * @brief this function includes some conditions which apply to both vehicle and non-vehicle object. + * @param object data. + * @param current reference path. + * @param object detection range. + * @param distance between object and goal point. + * @param ego position. + * @param if the goal point can be moved by external module when there is obstacle around the goal, + * this flag will be true. + * @param parameters. + * @return if the object is potentially target object, return true. + */ bool isSatisfiedWithCommonCondition( ObjectData & object, const PathWithLaneId & path, const double forward_detection_range, const double to_goal_distance, const Point & ego_pos, const bool is_allowed_goal_modification, @@ -860,6 +917,13 @@ bool isSatisfiedWithNonVehicleCondition( return true; } +/** + * @brief estimate object's behavior based on its relative yaw angle to lane. + * @param object data. + * @param parameters. + * @return return DEVIATING, MERGING and NONE. NONE means the object has no intent to leave or merge + * the ego lane. + */ ObjectData::Behavior getObjectBehavior( const ObjectData & object, const std::shared_ptr & parameters) { @@ -927,6 +991,13 @@ bool isSatisfiedWithVehicleCondition( return false; } +/** + * @brief check the ego has to avoid the object for lateral margin. + * @param object data. + * @param parameters. + * @return if the ego doesn't have to shift driving position to avoid object, return false. if the + * shift length is less than threshold, this fuction returns false. + */ bool isNoNeedAvoidanceBehavior( ObjectData & object, const std::shared_ptr & parameters) { @@ -949,6 +1020,13 @@ bool isNoNeedAvoidanceBehavior( return false; } +/** + * @brief get avoidance lateral margin based on road width. + * @param object data. + * @param planner data, which includes ego vehicle footprint info. + * @param parameters. + * @return if this function finds there is no enough space to avoid, return nullopt. + */ std::optional getAvoidMargin( const ObjectData & object, const std::shared_ptr & planner_data, const std::shared_ptr & parameters) @@ -982,6 +1060,13 @@ std::optional getAvoidMargin( return std::min(soft_lateral_distance_limit, max_avoid_margin); } +/** + * @brief get avoidance lateral margin based on road width. + * @param object data. + * @param avoidance module data, which includes current reference path. + * @param planner data, which includes ego vehicle footprint info. + * @return if this function finds there is no enough space to avoid, return nullopt. + */ double getRoadShoulderDistance( ObjectData & object, const AvoidancePlanningData & data, const std::shared_ptr & planner_data) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp index bafe50b12edc3..7b0cef7e00bb6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp @@ -12,46 +12,1528 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "../src/utils.cpp" // NOLINT #include "autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp" +#include "autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp" +#include "autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp" #include "autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp" +#include "autoware/universe_utils/math/unit_conversion.hpp" +#include "autoware_test_utils/autoware_test_utils.hpp" + +#include +#include #include #include +namespace autoware::behavior_path_planner::utils::static_obstacle_avoidance +{ + +using autoware::behavior_path_planner::AvoidanceParameters; using autoware::behavior_path_planner::ObjectData; -using autoware::behavior_path_planner::utils::static_obstacle_avoidance::isOnRight; -using autoware::behavior_path_planner::utils::static_obstacle_avoidance::isSameDirectionShift; -using autoware::behavior_path_planner::utils::static_obstacle_avoidance::isShiftNecessary; +using autoware::behavior_path_planner::helper::static_obstacle_avoidance::AvoidanceHelper; using autoware::route_handler::Direction; +using autoware::universe_utils::createPoint; +using autoware::universe_utils::createQuaternionFromRPY; +using autoware::universe_utils::createVector3; +using autoware::universe_utils::deg2rad; +using autoware::universe_utils::generateUUID; + +constexpr double epsilon = 1e-6; + +ObjectData create_test_object( + const Pose & pose, const Vector3 & velocity, const Shape & shape, const uint8_t type) +{ + ObjectData object_data; + object_data.object.shape = shape; + object_data.object.kinematics.initial_pose_with_covariance.pose = pose; + object_data.object.kinematics.initial_twist_with_covariance.twist.linear = velocity; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build().label(type).probability(1.0)); + return object_data; +} + +auto get_planner_data() -> std::shared_ptr +{ + PlannerData planner_data; + + // set odometry. + Odometry odometry; + odometry.pose.pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + odometry.twist.twist.linear = createVector3(0.0, 0.0, 0.0); + + planner_data.self_odometry = std::make_shared(odometry); + + // set vehicle info. + planner_data.parameters.vehicle_width = 2.0; + + return std::make_shared(planner_data); +} + +auto get_parameters() -> std::shared_ptr +{ + AvoidanceParameters parameters; + + parameters.object_check_backward_distance = 1.0; + parameters.object_check_goal_distance = 2.0; + parameters.object_check_yaw_deviation = deg2rad(20); + parameters.object_check_backward_distance = 1.0; + parameters.object_check_goal_distance = 2.0; + parameters.object_check_shiftable_ratio = 0.6; + parameters.object_check_min_road_shoulder_width = 0.5; + parameters.object_last_seen_threshold = 0.2; + parameters.threshold_distance_object_is_on_center = 1.0; + parameters.hard_drivable_bound_margin = 0.1; + parameters.soft_drivable_bound_margin = 0.5; + parameters.lateral_execution_threshold = 0.5; + + parameters.min_prepare_distance = 1.5; + parameters.max_prepare_time = 3.0; + parameters.nominal_avoidance_speed = 8.0; + parameters.velocity_map = {1.0, 3.0, 10.0}; + parameters.lateral_min_jerk_map = {0.1, 1.0, 10.0}; + parameters.lateral_max_jerk_map = {0.4, 1.5, 15.0}; + parameters.lateral_max_accel_map = {0.7, 0.8, 0.9}; + + const auto get_truck_param = []() { + ObjectParameter param{}; + param.is_avoidance_target = true; + param.is_safety_check_target = true; + param.moving_time_threshold = 0.5; + param.moving_speed_threshold = 1.0; + param.lateral_soft_margin = 0.7; + param.lateral_hard_margin = 0.2; + param.lateral_hard_margin_for_parked_vehicle = 0.7; + param.envelope_buffer_margin = 0.0; + param.th_error_eclipse_long_radius = 2.0; + return param; + }; + + parameters.object_parameters.emplace(ObjectClassification::TRUCK, get_truck_param()); + + const auto get_unknown_param = []() { + ObjectParameter param{}; + param.is_avoidance_target = false; + param.is_safety_check_target = false; + param.moving_time_threshold = 0.5; + param.moving_speed_threshold = 1.0; + param.lateral_soft_margin = 0.7; + param.lateral_hard_margin = 0.2; + param.lateral_hard_margin_for_parked_vehicle = 0.7; + param.envelope_buffer_margin = 0.0; + param.th_error_eclipse_long_radius = 2.0; + return param; + }; + + parameters.object_parameters.emplace(ObjectClassification::UNKNOWN, get_unknown_param()); + + return std::make_shared(parameters); +} + +TEST(TestUtils, isMovingObject) +{ + { + ObjectData object_data; + object_data.move_time = 0.49; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + EXPECT_FALSE(filtering_utils::isMovingObject(object_data, get_parameters())); + } + + { + ObjectData object_data; + object_data.move_time = 0.51; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + EXPECT_TRUE(filtering_utils::isMovingObject(object_data, get_parameters())); + } +} + +TEST(TestUtils, getObjectBehavior) +{ + const auto parameters = get_parameters(); + + lanelet::LineString3d left_bound; + lanelet::LineString3d right_bound; + + left_bound.push_back(lanelet::Point3d{lanelet::InvalId, -1, -1}); + left_bound.push_back(lanelet::Point3d{lanelet::InvalId, 0, -1}); + left_bound.push_back(lanelet::Point3d{lanelet::InvalId, 1, -1}); + right_bound.push_back(lanelet::Point3d{lanelet::InvalId, -1, 1}); + right_bound.push_back(lanelet::Point3d{lanelet::InvalId, 0, 1}); + right_bound.push_back(lanelet::Point3d{lanelet::InvalId, 1, 1}); + + lanelet::Lanelet lanelet{lanelet::InvalId, left_bound, right_bound}; + + lanelet::LineString3d centerline; + centerline.push_back(lanelet::Point3d{lanelet::InvalId, -1, 0}); + centerline.push_back(lanelet::Point3d{lanelet::InvalId, 0, 0}); + centerline.push_back(lanelet::Point3d{lanelet::InvalId, 1, 0}); + + lanelet.setCenterline(centerline); + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::LEFT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, 0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::NONE); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::RIGHT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, -0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(170))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::NONE); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::LEFT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, 0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(30))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::DEVIATING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::RIGHT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, -0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(30))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::MERGING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::LEFT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, 0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(-150))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::DEVIATING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::RIGHT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, -0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(-150))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::MERGING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::LEFT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, 0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(-30))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::MERGING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::RIGHT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, -0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(-30))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::DEVIATING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::LEFT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, 0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(150))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::MERGING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::RIGHT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, -0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(150))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::DEVIATING); + } +} + +TEST(TestUtils, isNoNeedAvoidanceBehavior) +{ + const auto parameters = get_parameters(); + + const auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); + + const auto object_pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto nearest_path_pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + const auto shape = autoware_perception_msgs::build() + .type(Shape::BOUNDING_BOX) + .footprint(geometry_msgs::msg::Polygon{}) + .dimensions(createVector3(2.8284271247461901, 1.41421356237309505, 2.0)); + + auto object_data = + create_test_object(object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::CAR); + + // object is NOT avoidable. but there is possibility that the ego has to avoid it. + { + object_data.avoid_margin = std::nullopt; + + EXPECT_FALSE(filtering_utils::isNoNeedAvoidanceBehavior(object_data, parameters)); + } + + // don't have to avoid. + { + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(2.5, 3.6, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + object_data.direction = Direction::LEFT; + object_data.avoid_margin = 2.0; + object_data.envelope_poly = createEnvelopePolygon(object_data, nearest_path_pose, 0.0); + object_data.overhang_points = calcEnvelopeOverhangDistance(object_data, path); + + EXPECT_TRUE(filtering_utils::isNoNeedAvoidanceBehavior(object_data, parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::ENOUGH_LATERAL_DISTANCE); + } + + // smaller than execution threshold. + { + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(2.5, 3.4, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + object_data.direction = Direction::LEFT; + object_data.avoid_margin = 2.0; + object_data.envelope_poly = createEnvelopePolygon(object_data, nearest_path_pose, 0.0); + object_data.overhang_points = calcEnvelopeOverhangDistance(object_data, path); + + EXPECT_TRUE(filtering_utils::isNoNeedAvoidanceBehavior(object_data, parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::LESS_THAN_EXECUTION_THRESHOLD); + } + + // larger than execution threshold. + { + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(2.5, 2.9, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + object_data.direction = Direction::LEFT; + object_data.avoid_margin = 2.0; + object_data.envelope_poly = createEnvelopePolygon(object_data, nearest_path_pose, 0.0); + object_data.overhang_points = calcEnvelopeOverhangDistance(object_data, path); + + EXPECT_FALSE(filtering_utils::isNoNeedAvoidanceBehavior(object_data, parameters)); + } +} + +TEST(TestUtils, getAvoidMargin) +{ + const auto parameters = get_parameters(); + + const auto planner_data = get_planner_data(); + + // wide road + { + ObjectData object_data; + object_data.is_parked = false; + object_data.distance_factor = 1.0; + object_data.to_road_shoulder_distance = 5.0; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + const auto output = filtering_utils::getAvoidMargin(object_data, planner_data, parameters); + ASSERT_TRUE(output.has_value()); + EXPECT_DOUBLE_EQ(output.value(), 1.9); + } + + // narrow road (relax lateral soft margin) + { + ObjectData object_data; + object_data.is_parked = false; + object_data.distance_factor = 1.0; + object_data.to_road_shoulder_distance = 3.0; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + const auto output = filtering_utils::getAvoidMargin(object_data, planner_data, parameters); + ASSERT_TRUE(output.has_value()); + EXPECT_DOUBLE_EQ(output.value(), 1.5); + } + + // narrow road (relax drivable bound margin) + { + ObjectData object_data; + object_data.is_parked = false; + object_data.distance_factor = 1.0; + object_data.to_road_shoulder_distance = 2.5; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + const auto output = filtering_utils::getAvoidMargin(object_data, planner_data, parameters); + ASSERT_TRUE(output.has_value()); + EXPECT_DOUBLE_EQ(output.value(), 1.2); + } + + // road width is not enough. + { + ObjectData object_data; + object_data.is_parked = true; + object_data.distance_factor = 1.0; + object_data.to_road_shoulder_distance = 2.5; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + const auto output = filtering_utils::getAvoidMargin(object_data, planner_data, parameters); + EXPECT_FALSE(output.has_value()); + } +} + +TEST(TestUtils, isSafetyCheckTargetObjectType) +{ + const auto parameters = get_parameters(); + + { + ObjectData object_data; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + EXPECT_TRUE(filtering_utils::isSafetyCheckTargetObjectType(object_data.object, parameters)); + EXPECT_TRUE(filtering_utils::isVehicleTypeObject(object_data)); + EXPECT_FALSE(filtering_utils::isUnknownTypeObject(object_data)); + } + + { + ObjectData object_data; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::UNKNOWN) + .probability(1.0)); + + EXPECT_FALSE(filtering_utils::isSafetyCheckTargetObjectType(object_data.object, parameters)); + EXPECT_TRUE(filtering_utils::isVehicleTypeObject(object_data)); + EXPECT_TRUE(filtering_utils::isUnknownTypeObject(object_data)); + } + + { + ObjectData object_data; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::PEDESTRIAN) + .probability(1.0)); + + EXPECT_FALSE(filtering_utils::isSafetyCheckTargetObjectType(object_data.object, parameters)); + EXPECT_FALSE(filtering_utils::isVehicleTypeObject(object_data)); + EXPECT_FALSE(filtering_utils::isUnknownTypeObject(object_data)); + } +} + +TEST(TestUtils, isSatisfiedWithCommonCondition) +{ + constexpr double forward_detection_range = 5.5; + + const auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); + + const auto parameters = get_parameters(); + + // no configuration for this object. + { + ObjectData object_data; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::PEDESTRIAN) + .probability(1.0)); + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(0.0, 0.0, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::IS_NOT_TARGET_OBJECT); + } + + // not target object. + { + ObjectData object_data; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::UNKNOWN) + .probability(1.0)); + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(0.0, 0.0, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::IS_NOT_TARGET_OBJECT); + } + + // moving object. + { + ObjectData object_data; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.6; + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(0.0, 0.0, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::MOVING_OBJECT); + } + + // object behind the ego. + { + const auto object_pose = geometry_msgs::build() + .position(createPoint(2.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + ObjectData object_data; + object_data.object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object_data.object.shape.dimensions.x = 2.8284271247461901; + object_data.object.shape.dimensions.y = 1.41421356237309505; + object_data.object.kinematics.initial_pose_with_covariance.pose = object_pose; + object_data.direction = Direction::LEFT; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.4; + + constexpr double margin = 0.0; + const auto pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + object_data.envelope_poly = createEnvelopePolygon(object_data, pose, margin); + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(8.0, 0.5, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::FURTHER_THAN_THRESHOLD); + } + + // farther than detection range. + { + const auto object_pose = geometry_msgs::build() + .position(createPoint(7.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + ObjectData object_data; + object_data.object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object_data.object.shape.dimensions.x = 2.8284271247461901; + object_data.object.shape.dimensions.y = 1.41421356237309505; + object_data.object.kinematics.initial_pose_with_covariance.pose = object_pose; + object_data.direction = Direction::LEFT; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.4; + + constexpr double margin = 0.0; + const auto pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + object_data.envelope_poly = createEnvelopePolygon(object_data, pose, margin); + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(0.0, 0.0, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::FURTHER_THAN_THRESHOLD); + } + + // farther than goal position. + { + const auto object_pose = geometry_msgs::build() + .position(createPoint(7.0, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + ObjectData object_data; + object_data.object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object_data.object.shape.dimensions.x = 2.8284271247461901; + object_data.object.shape.dimensions.y = 1.41421356237309505; + object_data.object.kinematics.initial_pose_with_covariance.pose = object_pose; + object_data.direction = Direction::LEFT; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.4; + + constexpr double margin = 0.0; + const auto pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + object_data.envelope_poly = createEnvelopePolygon(object_data, pose, margin); + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(0.0, 0.0, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::FURTHER_THAN_GOAL); + } + + // within detection range. + { + const auto object_pose = geometry_msgs::build() + .position(createPoint(4.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + ObjectData object_data; + object_data.object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object_data.object.shape.dimensions.x = 2.8284271247461901; + object_data.object.shape.dimensions.y = 1.41421356237309505; + object_data.object.kinematics.initial_pose_with_covariance.pose = object_pose; + object_data.direction = Direction::LEFT; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.4; + + constexpr double margin = 0.0; + const auto pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + object_data.envelope_poly = createEnvelopePolygon(object_data, pose, margin); + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 6.4, createPoint(0.0, 0.0, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::TOO_NEAR_TO_GOAL); + } + + // within detection range. + { + const auto object_pose = geometry_msgs::build() + .position(createPoint(4.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + ObjectData object_data; + object_data.object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object_data.object.shape.dimensions.x = 2.8284271247461901; + object_data.object.shape.dimensions.y = 1.41421356237309505; + object_data.object.kinematics.initial_pose_with_covariance.pose = object_pose; + object_data.direction = Direction::LEFT; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.4; + + constexpr double margin = 0.0; + const auto pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + object_data.envelope_poly = createEnvelopePolygon(object_data, pose, margin); + + EXPECT_TRUE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 6.6, createPoint(0.0, 0.0, 0.0), false, + parameters)); + } + + // within detection range. + { + const auto object_pose = geometry_msgs::build() + .position(createPoint(4.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + ObjectData object_data; + object_data.object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object_data.object.shape.dimensions.x = 2.8284271247461901; + object_data.object.shape.dimensions.y = 1.41421356237309505; + object_data.object.kinematics.initial_pose_with_covariance.pose = object_pose; + object_data.direction = Direction::LEFT; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.4; + + constexpr double margin = 0.0; + const auto pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + object_data.envelope_poly = createEnvelopePolygon(object_data, pose, margin); + + EXPECT_TRUE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(0.0, 0.0, 0.0), true, + parameters)); + } +} + +TEST(TestUtils, isSameDirectionShift) +{ + constexpr double negative_shift_length = -1.0; + constexpr double positive_shift_length = 1.0; + + { + ObjectData object; + object.direction = Direction::RIGHT; + + EXPECT_TRUE(isSameDirectionShift(isOnRight(object), negative_shift_length)); + EXPECT_FALSE(isSameDirectionShift(isOnRight(object), positive_shift_length)); + } + + { + ObjectData object; + object.direction = Direction::LEFT; + EXPECT_TRUE(isSameDirectionShift(isOnRight(object), positive_shift_length)); + EXPECT_FALSE(isSameDirectionShift(isOnRight(object), negative_shift_length)); + } + + { + ObjectData object; + object.direction = Direction::NONE; + EXPECT_THROW(isSameDirectionShift(isOnRight(object), positive_shift_length), std::logic_error); + } +} + +TEST(TestUtils, isShiftNecessary) +{ + constexpr double negative_shift_length = -1.0; + constexpr double positive_shift_length = 1.0; + + { + ObjectData object; + object.direction = Direction::RIGHT; + + EXPECT_TRUE(isShiftNecessary(isOnRight(object), positive_shift_length)); + EXPECT_FALSE(isShiftNecessary(isOnRight(object), negative_shift_length)); + } + + { + ObjectData object; + object.direction = Direction::LEFT; + EXPECT_TRUE(isShiftNecessary(isOnRight(object), negative_shift_length)); + EXPECT_FALSE(isShiftNecessary(isOnRight(object), positive_shift_length)); + } + + { + ObjectData object; + object.direction = Direction::NONE; + EXPECT_THROW(isShiftNecessary(isOnRight(object), positive_shift_length), std::logic_error); + } +} -TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftLengthDirectionTest) +TEST(TestUtils, calcShiftLength) { - ObjectData right_obj; - right_obj.direction = Direction::RIGHT; - const double negative_shift_length = -1.0; - const double positive_shift_length = 1.0; + { + constexpr bool is_on_right = true; + constexpr double overhang = -1.0; + constexpr double margin = 1.5; - ASSERT_TRUE(isSameDirectionShift(isOnRight(right_obj), negative_shift_length)); - ASSERT_FALSE(isSameDirectionShift(isOnRight(right_obj), positive_shift_length)); + const auto output = calcShiftLength(is_on_right, overhang, margin); + EXPECT_DOUBLE_EQ(output, 0.5); + } - ObjectData left_obj; - left_obj.direction = Direction::LEFT; - ASSERT_TRUE(isSameDirectionShift(isOnRight(left_obj), positive_shift_length)); - ASSERT_FALSE(isSameDirectionShift(isOnRight(left_obj), negative_shift_length)); + { + constexpr bool is_on_right = false; + constexpr double overhang = -1.0; + constexpr double margin = 1.5; + + const auto output = calcShiftLength(is_on_right, overhang, margin); + EXPECT_DOUBLE_EQ(output, -2.5); + } +} + +TEST(TestUtils, insertDecelPoint) +{ + // invalid target decel point + { + auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); + + const auto ego_position = createPoint(2.5, 0.5, 0.0); + constexpr double offset = 100.0; + constexpr double velocity = 1.0; + + std::optional p_out{std::nullopt}; + insertDecelPoint(ego_position, offset, velocity, path, p_out); + + EXPECT_FALSE(p_out.has_value()); + std::for_each(path.points.begin(), path.points.end(), [](const auto & p) { + EXPECT_DOUBLE_EQ(p.point.longitudinal_velocity_mps, 20.0); + }); + } + + // nominal case + { + auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); + + const auto ego_position = createPoint(3.5, 0.5, 0.0); + constexpr double offset = 3.0; + constexpr double velocity = 1.0; + + std::optional p_out{std::nullopt}; + insertDecelPoint(ego_position, offset, velocity, path, p_out); + + ASSERT_TRUE(p_out.has_value()); + EXPECT_DOUBLE_EQ(p_out.value().position.x, 6.5); + EXPECT_DOUBLE_EQ(p_out.value().position.y, 0.0); + EXPECT_DOUBLE_EQ(p_out.value().position.z, 0.0); + for (size_t i = 7; i < path.points.size(); i++) { + EXPECT_DOUBLE_EQ(path.points.at(i).point.longitudinal_velocity_mps, 1.0); + } + } +} + +TEST(TestUtils, DISABLED_fillObjectMovingTime) +{ + using namespace std::literals::chrono_literals; + + const auto parameters = get_parameters(); + + const auto object_pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto shape = autoware_perception_msgs::build() + .type(Shape::BOUNDING_BOX) + .footprint(geometry_msgs::msg::Polygon{}) + .dimensions(createVector3(2.0, 1.0, 2.0)); + + const auto uuid = generateUUID(); + + auto old_object = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + + // set previous object data. + { + old_object.object.object_id = uuid; + old_object.last_move = rclcpp::Clock{RCL_ROS_TIME}.now(); + old_object.last_stop = rclcpp::Clock{RCL_ROS_TIME}.now(); + old_object.move_time = 0.0; + old_object.object.kinematics.initial_twist_with_covariance.twist.linear = + createVector3(0.0, 0.0, 0.0); + } + + rclcpp::sleep_for(490ms); + + auto new_object = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + + // find new stop object + { + new_object.object.object_id = generateUUID(); + new_object.object.kinematics.initial_twist_with_covariance.twist.linear = + createVector3(0.99, 0.0, 0.0); + + ObjectDataArray buffer{}; + fillObjectMovingTime(new_object, buffer, parameters); + EXPECT_NEAR(new_object.stop_time, 0.0, 1e-3); + EXPECT_NEAR(new_object.move_time, 0.0, 1e-3); + EXPECT_FALSE(buffer.empty()); + } + + // find new move object + { + new_object.object.object_id = generateUUID(); + new_object.object.kinematics.initial_twist_with_covariance.twist.linear = + createVector3(1.01, 0.0, 0.0); + + ObjectDataArray buffer{}; + fillObjectMovingTime(new_object, buffer, parameters); + EXPECT_NEAR(new_object.stop_time, 0.0, 1e-3); + EXPECT_TRUE(buffer.empty()); + } + + // stop to move (moving time < threshold) + { + new_object.object.object_id = uuid; + new_object.object.kinematics.initial_twist_with_covariance.twist.linear = + createVector3(1.01, 0.0, 0.0); + + ObjectDataArray buffer{old_object}; + fillObjectMovingTime(new_object, buffer, parameters); + + EXPECT_NEAR(new_object.stop_time, 0.0, 1e-3); + EXPECT_NEAR(new_object.move_time, 0.49, 1e-3); + EXPECT_FALSE(buffer.empty()); + } + + // stop to stop + { + new_object.object.object_id = uuid; + new_object.object.kinematics.initial_twist_with_covariance.twist.linear = + createVector3(0.99, 0.0, 0.0); + + ObjectDataArray buffer{old_object}; + fillObjectMovingTime(new_object, buffer, parameters); + + EXPECT_NEAR(new_object.stop_time, 0.49, 1e-3); + EXPECT_NEAR(new_object.move_time, 0.0, 1e-3); + EXPECT_FALSE(buffer.empty()); + } + + rclcpp::sleep_for(20ms); + + // stop to move (threshold < moving time) + { + new_object.object.object_id = uuid; + new_object.object.kinematics.initial_twist_with_covariance.twist.linear = + createVector3(1.01, 0.0, 0.0); + + ObjectDataArray buffer{old_object}; + fillObjectMovingTime(new_object, buffer, parameters); + + EXPECT_NEAR(new_object.stop_time, 0.0, 1e-3); + EXPECT_NEAR(new_object.move_time, 0.51, 1e-3); + EXPECT_TRUE(buffer.empty()); + } +} + +TEST(TestUtils, calcEnvelopeOverhangDistance) +{ + const auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); + + const auto object_pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto nearest_path_pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + const auto shape = autoware_perception_msgs::build() + .type(Shape::BOUNDING_BOX) + .footprint(geometry_msgs::msg::Polygon{}) + .dimensions(createVector3(2.8284271247461901, 1.41421356237309505, 2.0)); + + auto object_data = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + + { + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(2.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + object_data.direction = Direction::LEFT; + object_data.envelope_poly = createEnvelopePolygon(object_data, nearest_path_pose, 0.0); + + const auto output = calcEnvelopeOverhangDistance(object_data, path); + + ASSERT_EQ(output.size(), 5); + EXPECT_NEAR(output.at(0).first, -0.5, epsilon); + EXPECT_NEAR(output.at(1).first, -0.5, epsilon); + EXPECT_NEAR(output.at(2).first, -0.5, epsilon); + EXPECT_NEAR(output.at(3).first, 2.5, epsilon); + EXPECT_NEAR(output.at(4).first, 2.5, epsilon); + } + + { + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(2.5, -1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + object_data.direction = Direction::RIGHT; + object_data.envelope_poly = createEnvelopePolygon(object_data, nearest_path_pose, 0.0); + + const auto output = calcEnvelopeOverhangDistance(object_data, path); + + ASSERT_EQ(output.size(), 5); + EXPECT_NEAR(output.at(0).first, 0.5, epsilon); + EXPECT_NEAR(output.at(1).first, 0.5, epsilon); + EXPECT_NEAR(output.at(2).first, -2.5, epsilon); + EXPECT_NEAR(output.at(3).first, -2.5, epsilon); + EXPECT_NEAR(output.at(4).first, -2.5, epsilon); + } +} + +TEST(TestUtils, createEnvelopePolygon) +{ + Polygon2d footprint; + footprint.outer() = { + Point2d{1.0, 0.0}, Point2d{3.0, 0.0}, Point2d{3.0, 1.0}, Point2d{1.0, 1.0}, Point2d{1.0, 0.0}}; + + constexpr double margin = 0.353553390593273762; + const auto pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto output = createEnvelopePolygon(footprint, pose, margin); + + ASSERT_EQ(output.outer().size(), 5); + EXPECT_NEAR(output.outer().at(0).x(), 2.0, epsilon); + EXPECT_NEAR(output.outer().at(0).y(), -1.5, epsilon); + EXPECT_NEAR(output.outer().at(1).x(), 0.0, epsilon); + EXPECT_NEAR(output.outer().at(1).y(), 0.5, epsilon); + EXPECT_NEAR(output.outer().at(2).x(), 2.0, epsilon); + EXPECT_NEAR(output.outer().at(2).y(), 2.5, epsilon); + EXPECT_NEAR(output.outer().at(3).x(), 4.0, epsilon); + EXPECT_NEAR(output.outer().at(3).y(), 0.5, epsilon); + EXPECT_NEAR(output.outer().at(4).x(), 2.0, epsilon); + EXPECT_NEAR(output.outer().at(4).y(), -1.5, epsilon); +} + +TEST(TestUtils, generateObstaclePolygonsForDrivableArea) +{ + const auto create_params = []( + const double envelope_buffer, const double hard, const double soft) { + ObjectParameter param{}; + param.envelope_buffer_margin = envelope_buffer; + param.lateral_soft_margin = soft; + param.lateral_hard_margin = hard; + return param; + }; + + constexpr double vehicle_width = 1.0; + constexpr double envelope_buffer = 0.353553390593273762; + constexpr double lateral_soft_margin = 0.707106781186547524; + + const auto parameters = std::make_shared(); + parameters->object_parameters.emplace( + ObjectClassification::TRUCK, create_params(envelope_buffer, 0.5, lateral_soft_margin)); + + const auto object_pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto shape = autoware_perception_msgs::build() + .type(Shape::BOUNDING_BOX) + .footprint(geometry_msgs::msg::Polygon{}) + .dimensions(createVector3(2.0, 1.0, 2.0)); + + auto object_data = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + + // empty + { + ObjectDataArray objects{}; + const auto output = generateObstaclePolygonsForDrivableArea(objects, parameters, vehicle_width); + EXPECT_TRUE(output.empty()); + } + + // invalid margin + { + const auto object_type = utils::getHighestProbLabel(object_data.object.classification); + const auto object_parameter = parameters->object_parameters.at(object_type); + object_data.avoid_margin = std::nullopt; + + Polygon2d footprint; + footprint.outer() = { + Point2d{1.0, 0.0}, Point2d{3.0, 0.0}, Point2d{3.0, 1.0}, Point2d{1.0, 1.0}, + Point2d{1.0, 0.0}}; + + object_data.envelope_poly = + createEnvelopePolygon(footprint, object_pose, object_parameter.envelope_buffer_margin); + + ObjectDataArray objects{object_data}; + const auto output = generateObstaclePolygonsForDrivableArea(objects, parameters, vehicle_width); + EXPECT_TRUE(output.empty()); + } + + // invalid envelope polygon + { + const auto object_type = utils::getHighestProbLabel(object_data.object.classification); + const auto object_parameter = parameters->object_parameters.at(object_type); + object_data.avoid_margin = object_parameter.lateral_soft_margin + 0.5 * vehicle_width; + object_data.envelope_poly = {}; + + ObjectDataArray objects{object_data}; + const auto output = generateObstaclePolygonsForDrivableArea(objects, parameters, vehicle_width); + EXPECT_TRUE(output.empty()); + } + + // nominal case + { + object_data.direction = Direction::RIGHT; + const auto object_type = utils::getHighestProbLabel(object_data.object.classification); + const auto object_parameter = parameters->object_parameters.at(object_type); + object_data.avoid_margin = object_parameter.lateral_soft_margin + 0.5 * vehicle_width; + + Polygon2d footprint; + footprint.outer() = { + Point2d{1.0, 0.0}, Point2d{3.0, 0.0}, Point2d{3.0, 1.0}, Point2d{1.0, 1.0}, + Point2d{1.0, 0.0}}; + + object_data.envelope_poly = + createEnvelopePolygon(footprint, object_pose, object_parameter.envelope_buffer_margin); + + ObjectDataArray objects{object_data}; + const auto output = generateObstaclePolygonsForDrivableArea(objects, parameters, vehicle_width); + EXPECT_FALSE(output.empty()); + + ASSERT_EQ(output.front().poly.outer().size(), 5); + EXPECT_NEAR(output.front().poly.outer().at(0).x(), 2.0, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(0).y(), -2.0, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(1).x(), -0.5, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(1).y(), 0.5, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(2).x(), 2.0, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(2).y(), 3.0, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(3).x(), 4.5, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(3).y(), 0.5, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(4).x(), 2.0, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(4).y(), -2.0, epsilon); + } } -TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftNecessaryTest) +TEST(TestUtils, fillLongitudinalAndLengthByClosestEnvelopeFootprint) { - ObjectData right_obj; - right_obj.direction = Direction::RIGHT; - const double negative_shift_length = -1.0; - const double positive_shift_length = 1.0; + const auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); - ASSERT_TRUE(isShiftNecessary(isOnRight(right_obj), positive_shift_length)); - ASSERT_FALSE(isShiftNecessary(isOnRight(right_obj), negative_shift_length)); + const auto object_pose = geometry_msgs::build() + .position(createPoint(2.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto nearest_path_pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + const auto shape = autoware_perception_msgs::build() + .type(Shape::BOUNDING_BOX) + .footprint(geometry_msgs::msg::Polygon{}) + .dimensions(createVector3(2.8284271247461901, 1.41421356237309505, 2.0)); + + auto object_data = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + object_data.direction = Direction::LEFT; + object_data.envelope_poly = createEnvelopePolygon(object_data, nearest_path_pose, 0.0); + + fillLongitudinalAndLengthByClosestEnvelopeFootprint( + path, createPoint(0.0, 0.0, 0.0), object_data); + EXPECT_NEAR(object_data.longitudinal, 1.0, epsilon); + EXPECT_NEAR(object_data.length, 3.0, epsilon); +} + +TEST(TestUtils, fillObjectEnvelopePolygon) +{ + const auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); + + const auto parameters = get_parameters(); + + const auto uuid = generateUUID(); + + const auto object_pose = geometry_msgs::build() + .position(createPoint(2.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto nearest_path_pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + const auto shape = autoware_perception_msgs::build() + .type(Shape::BOUNDING_BOX) + .footprint(geometry_msgs::msg::Polygon{}) + .dimensions(createVector3(2.8284271247461901, 1.41421356237309505, 2.0)); + + auto stored_object = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + stored_object.object.object_id = uuid; + stored_object.envelope_poly = createEnvelopePolygon(stored_object, nearest_path_pose, 0.0); + stored_object.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build() + .pose(object_pose) + .covariance({1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + stored_object.error_eclipse_max = + calcErrorEclipseLongRadius(stored_object.object.kinematics.initial_pose_with_covariance); + stored_object.direction = Direction::LEFT; + + auto object_data = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + + // new object. + { + ObjectDataArray stored_objects{}; + + object_data.object.object_id = generateUUID(); + object_data.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build() + .pose(object_pose) + .covariance({1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + object_data.direction = Direction::LEFT; + fillObjectEnvelopePolygon(object_data, stored_objects, nearest_path_pose, parameters); + + ASSERT_EQ(object_data.envelope_poly.outer().size(), 5); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).y(), -0.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).x(), 4.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).x(), 4.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).y(), -0.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).y(), -0.5, epsilon); + } + + // update envelope polygon by new pose. + { + ObjectDataArray stored_objects{stored_object}; + + const auto new_pose = geometry_msgs::build() + .position(createPoint(3.0, 0.5, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + object_data.object.object_id = uuid; + object_data.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build().pose(new_pose).covariance( + {1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + object_data.direction = Direction::LEFT; + fillObjectEnvelopePolygon(object_data, stored_objects, nearest_path_pose, parameters); + + ASSERT_EQ(object_data.envelope_poly.outer().size(), 5); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).y(), -1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).x(), 4.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).x(), 4.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).y(), -1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).y(), -1.0, epsilon); + } + + // use previous envelope polygon because new pose's error eclipse long radius is larger than + // threshold. error eclipse long radius: 2.1213203435596 + { + ObjectDataArray stored_objects{stored_object}; + + const auto new_pose = geometry_msgs::build() + .position(createPoint(3.0, 0.5, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + object_data.object.object_id = uuid; + object_data.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build().pose(new_pose).covariance( + {2.5, 2.0, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + object_data.direction = Direction::LEFT; + fillObjectEnvelopePolygon(object_data, stored_objects, nearest_path_pose, parameters); + + ASSERT_EQ(object_data.envelope_poly.outer().size(), 5); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).y(), -0.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).x(), 4.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).x(), 4.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).y(), -0.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).y(), -0.5, epsilon); + } + + // use new envelope polygon because new pose's error eclipse long radius is smaller than + // threshold. + { + auto huge_covariance_object = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + huge_covariance_object.object.object_id = uuid; + huge_covariance_object.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build() + .pose(object_pose) + .covariance({5.0, 4.0, 0.0, 0.0, 0.0, 0.0, 4.0, 5.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + huge_covariance_object.error_eclipse_max = calcErrorEclipseLongRadius( + huge_covariance_object.object.kinematics.initial_pose_with_covariance); + huge_covariance_object.direction = Direction::LEFT; + + huge_covariance_object.envelope_poly = + createEnvelopePolygon(huge_covariance_object, nearest_path_pose, 0.0); + + ObjectDataArray stored_objects{huge_covariance_object}; + + const auto new_pose = geometry_msgs::build() + .position(createPoint(3.0, 0.5, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + object_data.object.object_id = uuid; + object_data.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build().pose(new_pose).covariance( + {2.5, 2.0, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + object_data.direction = Direction::LEFT; + fillObjectEnvelopePolygon(object_data, stored_objects, nearest_path_pose, parameters); + + ASSERT_EQ(object_data.envelope_poly.outer().size(), 5); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).x(), 1.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).y(), -1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).x(), 1.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).y(), 2.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).x(), 4.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).y(), 2.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).x(), 4.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).y(), -1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).x(), 1.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).y(), -1.0, epsilon); + } + + // use previous envelope polygon because the new one is within old one. + { + ObjectDataArray stored_objects{stored_object}; + + object_data.object.object_id = uuid; + object_data.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build() + .pose(object_pose) + .covariance({1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + object_data.direction = Direction::LEFT; + fillObjectEnvelopePolygon(object_data, stored_objects, nearest_path_pose, parameters); + + ASSERT_EQ(object_data.envelope_poly.outer().size(), 5); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).y(), -0.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).x(), 4.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).x(), 4.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).y(), -0.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).y(), -0.5, epsilon); + } +} + +TEST(TestUtils, compensateLostTargetObjects) +{ + using namespace std::literals::chrono_literals; + + const auto parameters = get_parameters(); + + const auto planner_data = get_planner_data(); + + const auto uuid = generateUUID(); + + const auto init_time = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectData stored_object; + stored_object.object.object_id = uuid; + stored_object.last_seen = init_time; + stored_object.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(1.0, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + + rclcpp::sleep_for(100ms); + + // add stored objects. + { + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectDataArray stored_objects{}; + + ObjectData new_object; + new_object.object.object_id = generateUUID(); + new_object.last_seen = now; + new_object.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(2.0, 5.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + + AvoidancePlanningData avoidance_planning_data; + avoidance_planning_data.target_objects = {new_object}; + avoidance_planning_data.other_objects = {}; + + compensateLostTargetObjects( + stored_objects, avoidance_planning_data, now, planner_data, parameters); + ASSERT_FALSE(stored_objects.empty()); + EXPECT_EQ(stored_objects.front().object.object_id, new_object.object.object_id); + } + + // compensate detection lost. + { + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectDataArray stored_objects{stored_object}; + + AvoidancePlanningData avoidance_planning_data; + avoidance_planning_data.target_objects = {}; + avoidance_planning_data.other_objects = {}; + + compensateLostTargetObjects( + stored_objects, avoidance_planning_data, now, planner_data, parameters); + ASSERT_FALSE(avoidance_planning_data.target_objects.empty()); + EXPECT_EQ( + avoidance_planning_data.target_objects.front().object.object_id, + stored_object.object.object_id); + } + + // update stored objects (same uuid). + { + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectDataArray stored_objects{stored_object}; + + ObjectData detected_object; + detected_object.object.object_id = uuid; + detected_object.last_seen = now; + detected_object.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(1.0, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + + AvoidancePlanningData avoidance_planning_data; + avoidance_planning_data.target_objects = {detected_object}; + avoidance_planning_data.other_objects = {}; + + compensateLostTargetObjects( + stored_objects, avoidance_planning_data, now, planner_data, parameters); + ASSERT_FALSE(stored_objects.empty()); + EXPECT_EQ(stored_objects.front().last_seen, detected_object.last_seen); + } + + // update stored objects (detected near the stored object). + { + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectDataArray stored_objects{stored_object}; + + ObjectData detected_object; + detected_object.object.object_id = generateUUID(); + detected_object.last_seen = now; + detected_object.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(1.1, 1.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + + AvoidancePlanningData avoidance_planning_data; + avoidance_planning_data.target_objects = {detected_object}; + avoidance_planning_data.other_objects = {}; + + compensateLostTargetObjects( + stored_objects, avoidance_planning_data, now, planner_data, parameters); + ASSERT_FALSE(stored_objects.empty()); + EXPECT_EQ(stored_objects.front().last_seen, detected_object.last_seen); + } + + // don't update stored object because there is no matched object. + { + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectDataArray stored_objects{stored_object}; + + ObjectData detected_object; + detected_object.object.object_id = generateUUID(); + detected_object.last_seen = now; + detected_object.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(3.0, 3.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + + AvoidancePlanningData avoidance_planning_data; + avoidance_planning_data.target_objects = {detected_object}; + avoidance_planning_data.other_objects = {}; + + compensateLostTargetObjects( + stored_objects, avoidance_planning_data, now, planner_data, parameters); + ASSERT_FALSE(stored_objects.empty()); + EXPECT_EQ(stored_objects.front().last_seen, init_time); + } + + rclcpp::sleep_for(200ms); + + // don't compensate detection lost because time elapses more than threshold. + { + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectDataArray stored_objects{stored_object}; + + AvoidancePlanningData avoidance_planning_data; + avoidance_planning_data.target_objects = {}; + avoidance_planning_data.other_objects = {}; + + compensateLostTargetObjects( + stored_objects, avoidance_planning_data, now, planner_data, parameters); + EXPECT_TRUE(avoidance_planning_data.target_objects.empty()); + } +} + +TEST(TestUtils, calcErrorEclipseLongRadius) +{ + const auto pose = geometry_msgs::build() + .position(createPoint(3.0, 3.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + const auto pose_with_covariance = + geometry_msgs::build().pose(pose).covariance( + {5.0, 4.0, 0.0, 0.0, 0.0, 0.0, 4.0, 5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); - ObjectData left_obj; - left_obj.direction = Direction::LEFT; - ASSERT_TRUE(isShiftNecessary(isOnRight(left_obj), negative_shift_length)); - ASSERT_FALSE(isShiftNecessary(isOnRight(left_obj), positive_shift_length)); + EXPECT_DOUBLE_EQ(calcErrorEclipseLongRadius(pose_with_covariance), 3.0); } +} // namespace autoware::behavior_path_planner::utils::static_obstacle_avoidance From 41d6312a9edb95b73e41c905bbb753e17011bd27 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Wed, 23 Oct 2024 08:07:42 +0900 Subject: [PATCH 280/701] feat(autoware_test_utils): add path with lane id parser (#9098) * add path with lane id parser Signed-off-by: Zulfaqar Azmi * refactor parse to use template Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../autoware_test_utils/mock_data_parser.hpp | 58 ++++++++- .../src/autoware_test_utils.cpp | 56 +-------- .../src/mock_data_parser.cpp | 114 ++++++++++++++++-- .../test/test_mock_data_parser.cpp | 61 +++++++++- .../path_with_lane_id_parser_test.yaml | 48 ++++++++ .../test/test_route_handler.hpp | 2 +- .../test/test_lane_change_scene.cpp | 5 +- 7 files changed, 267 insertions(+), 77 deletions(-) create mode 100644 common/autoware_test_utils/test_data/path_with_lane_id_parser_test.yaml diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp index 47284da447133..84e001aa8806e 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp @@ -19,6 +19,7 @@ #include #include #include +#include #include @@ -30,17 +31,64 @@ namespace autoware::test_utils using autoware_planning_msgs::msg::LaneletPrimitive; using autoware_planning_msgs::msg::LaneletRoute; using autoware_planning_msgs::msg::LaneletSegment; +using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; +using std_msgs::msg::Header; +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; -Pose parse_pose(const YAML::Node & node); +/** + * @brief Parses a YAML node and converts it into an object of type T. + * + * This function extracts data from the given YAML node and converts it into an object of type T. + * If no specialization exists for T, it will result in a compile-time error. + * + * @tparam T The type of object to parse the node contents into. + * @param node The YAML node to be parsed. + * @return T An object of type T containing the parsed data. + */ +template +T parse(const YAML::Node & node); -LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node); +template <> +Pose parse(const YAML::Node & node); -std::vector parse_lanelet_primitives(const YAML::Node & node); +template <> +LaneletPrimitive parse(const YAML::Node & node); -std::vector parse_segments(const YAML::Node & node); +template <> +std::vector parse(const YAML::Node & node); -LaneletRoute parse_lanelet_route_file(const std::string & filename); +template <> +std::vector parse(const YAML::Node & node); + +template <> +std::vector parse(const YAML::Node & node); + +template <> +Header parse(const YAML::Node & node); + +template <> +std::vector parse(const YAML::Node & node); + +/** + * @brief Parses a YAML file and converts it into an object of type T. + * + * This function reads the specified YAML file and converts its contents into an object of the given + * type T. If no specialization exists for T, it will result in a compile-time error. + * + * @tparam T The type of object to parse the file contents into. + * @param filename The path to the YAML file to be parsed. + * @return T An object of type T containing the parsed data. + */ +template +T parse(const std::string & filename); + +template <> +LaneletRoute parse(const std::string & filename); + +template <> +PathWithLaneId parse(const std::string & filename); } // namespace autoware::test_utils #endif // AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp index 549d9e7863fde..fe2d4fbe9351e 100644 --- a/common/autoware_test_utils/src/autoware_test_utils.cpp +++ b/common/autoware_test_utils/src/autoware_test_utils.cpp @@ -14,6 +14,7 @@ #include #include +#include #include #include #include @@ -301,60 +302,7 @@ PathWithLaneId loadPathWithLaneIdInYaml() { const auto yaml_path = get_absolute_path_to_config("autoware_test_utils", "path_with_lane_id_data.yaml"); - YAML::Node yaml_node = YAML::LoadFile(yaml_path); - PathWithLaneId path_msg; - - // Convert YAML data to PathWithLaneId message - // Fill the header - path_msg.header.stamp.sec = yaml_node["header"]["stamp"]["sec"].as(); - path_msg.header.stamp.nanosec = yaml_node["header"]["stamp"]["nanosec"].as(); - path_msg.header.frame_id = yaml_node["header"]["frame_id"].as(); - - // Fill the points - for (const auto & point_node : yaml_node["points"]) { - PathPointWithLaneId point; - // Fill the PathPoint data - point.point.pose.position.x = point_node["point"]["pose"]["position"]["x"].as(); - point.point.pose.position.y = point_node["point"]["pose"]["position"]["y"].as(); - point.point.pose.position.z = point_node["point"]["pose"]["position"]["z"].as(); - point.point.pose.orientation.x = point_node["point"]["pose"]["orientation"]["x"].as(); - point.point.pose.orientation.y = point_node["point"]["pose"]["orientation"]["y"].as(); - point.point.pose.orientation.z = point_node["point"]["pose"]["orientation"]["z"].as(); - point.point.pose.orientation.w = point_node["point"]["pose"]["orientation"]["w"].as(); - point.point.longitudinal_velocity_mps = - point_node["point"]["longitudinal_velocity_mps"].as(); - point.point.lateral_velocity_mps = point_node["point"]["lateral_velocity_mps"].as(); - point.point.heading_rate_rps = point_node["point"]["heading_rate_rps"].as(); - point.point.is_final = point_node["point"]["is_final"].as(); - // Fill the lane_ids - for (const auto & lane_id_node : point_node["lane_ids"]) { - point.lane_ids.push_back(lane_id_node.as()); - } - - path_msg.points.push_back(point); - } - - // Fill the left_bound - for (const auto & point_node : yaml_node["left_bound"]) { - Point point; - // Fill the Point data (left_bound) - point.x = point_node["x"].as(); - point.y = point_node["y"].as(); - point.z = point_node["z"].as(); - path_msg.left_bound.push_back(point); - } - - // Fill the right_bound - for (const auto & point_node : yaml_node["right_bound"]) { - Point point; - // Fill the Point data - point.x = point_node["x"].as(); - point.y = point_node["y"].as(); - point.z = point_node["z"].as(); - - path_msg.right_bound.push_back(point); - } - return path_msg; + return parse(yaml_path); } } // namespace autoware::test_utils diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp index 6ad03071a881a..ef92533e9bf4a 100644 --- a/common/autoware_test_utils/src/mock_data_parser.cpp +++ b/common/autoware_test_utils/src/mock_data_parser.cpp @@ -29,7 +29,8 @@ namespace autoware::test_utils { -Pose parse_pose(const YAML::Node & node) +template <> +Pose parse(const YAML::Node & node) { Pose pose; pose.position.x = node["position"]["x"].as(); @@ -42,7 +43,8 @@ Pose parse_pose(const YAML::Node & node) return pose; } -LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node) +template <> +LaneletPrimitive parse(const YAML::Node & node) { LaneletPrimitive primitive; primitive.id = node["id"].as(); @@ -51,43 +53,131 @@ LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node) return primitive; } -std::vector parse_lanelet_primitives(const YAML::Node & node) +template <> +std::vector parse(const YAML::Node & node) { std::vector primitives; primitives.reserve(node.size()); std::transform(node.begin(), node.end(), std::back_inserter(primitives), [&](const auto & p) { - return parse_lanelet_primitive(p); + return parse(p); }); return primitives; } -std::vector parse_segments(const YAML::Node & node) +template <> +std::vector parse(const YAML::Node & node) { std::vector segments; std::transform(node.begin(), node.end(), std::back_inserter(segments), [&](const auto & input) { LaneletSegment segment; - segment.preferred_primitive = parse_lanelet_primitive(input["preferred_primitive"]); - segment.primitives = parse_lanelet_primitives(input["primitives"]); + segment.preferred_primitive = parse(input["preferred_primitive"]); + segment.primitives = parse>(input["primitives"]); return segment; }); return segments; } -// cppcheck-suppress unusedFunction -LaneletRoute parse_lanelet_route_file(const std::string & filename) +template <> +std::vector parse(const YAML::Node & node) +{ + std::vector geom_points; + + std::transform( + node.begin(), node.end(), std::back_inserter(geom_points), [&](const YAML::Node & input) { + Point point; + point.x = input["x"].as(); + point.y = input["y"].as(); + point.z = input["z"].as(); + return point; + }); + + return geom_points; +} + +template <> +Header parse(const YAML::Node & node) +{ + Header header; + + if (!node["header"]) { + return header; + } + + header.stamp.sec = node["header"]["stamp"]["sec"].as(); + header.stamp.nanosec = node["header"]["stamp"]["nanosec"].as(); + header.frame_id = node["header"]["frame_id"].as(); + + return header; +} + +template <> +std::vector parse>(const YAML::Node & node) +{ + std::vector path_points; + + if (!node["points"]) { + return path_points; + } + + const auto & points = node["points"]; + path_points.reserve(points.size()); + std::transform( + points.begin(), points.end(), std::back_inserter(path_points), [&](const YAML::Node & input) { + PathPointWithLaneId point; + if (!input["point"]) { + return point; + } + const auto & point_node = input["point"]; + point.point.pose = parse(point_node["pose"]); + + point.point.longitudinal_velocity_mps = point_node["longitudinal_velocity_mps"].as(); + point.point.lateral_velocity_mps = point_node["lateral_velocity_mps"].as(); + point.point.heading_rate_rps = point_node["heading_rate_rps"].as(); + point.point.is_final = point_node["is_final"].as(); + // Fill the lane_ids + for (const auto & lane_id_node : input["lane_ids"]) { + point.lane_ids.push_back(lane_id_node.as()); + } + + return point; + }); + + return path_points; +} + +template <> +LaneletRoute parse(const std::string & filename) { LaneletRoute lanelet_route; try { YAML::Node config = YAML::LoadFile(filename); - lanelet_route.start_pose = (config["start_pose"]) ? parse_pose(config["start_pose"]) : Pose(); - lanelet_route.goal_pose = (config["goal_pose"]) ? parse_pose(config["goal_pose"]) : Pose(); - lanelet_route.segments = parse_segments(config["segments"]); + lanelet_route.start_pose = (config["start_pose"]) ? parse(config["start_pose"]) : Pose(); + lanelet_route.goal_pose = (config["goal_pose"]) ? parse(config["goal_pose"]) : Pose(); + lanelet_route.segments = parse>(config["segments"]); } catch (const std::exception & e) { RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what()); } return lanelet_route; } + +template <> +PathWithLaneId parse(const std::string & filename) +{ + PathWithLaneId path; + try { + YAML::Node yaml_node = YAML::LoadFile(filename); + + path.header = parse
(yaml_node); + path.points = parse>(yaml_node); + path.left_bound = parse>(yaml_node["left_bound"]); + path.right_bound = parse>(yaml_node["right_bound"]); + } catch (const std::exception & e) { + RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what()); + } + + return path; +} } // namespace autoware::test_utils diff --git a/common/autoware_test_utils/test/test_mock_data_parser.cpp b/common/autoware_test_utils/test/test_mock_data_parser.cpp index f9e37a521c42c..cbb93ec96b3de 100644 --- a/common/autoware_test_utils/test/test_mock_data_parser.cpp +++ b/common/autoware_test_utils/test/test_mock_data_parser.cpp @@ -18,8 +18,12 @@ #include "ament_index_cpp/get_package_share_directory.hpp" #include "autoware_test_utils/mock_data_parser.hpp" +#include + namespace autoware::test_utils { +using tier4_planning_msgs::msg::PathWithLaneId; + // Example YAML structure as a string for testing const char g_complete_yaml[] = R"( start_pose: @@ -58,8 +62,8 @@ TEST(ParseFunctions, CompleteYAMLTest) YAML::Node config = YAML::Load(g_complete_yaml); // Test parsing of start_pose and goal_pose - Pose start_pose = parse_pose(config["start_pose"]); - Pose goal_pose = parse_pose(config["goal_pose"]); + Pose start_pose = parse(config["start_pose"]); + Pose goal_pose = parse(config["goal_pose"]); EXPECT_DOUBLE_EQ(start_pose.position.x, 1.0); EXPECT_DOUBLE_EQ(start_pose.position.y, 2.0); @@ -79,7 +83,7 @@ TEST(ParseFunctions, CompleteYAMLTest) EXPECT_DOUBLE_EQ(goal_pose.orientation.w, 0.8); // Test parsing of segments - std::vector segments = parse_segments(config["segments"]); + const auto segments = parse>(config["segments"]); ASSERT_EQ( segments.size(), uint64_t(1)); // Assuming only one segment in the provided YAML for this test @@ -99,7 +103,7 @@ TEST(ParseFunction, CompleteFromFilename) const auto parser_test_route = autoware_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml"; - const auto lanelet_route = parse_lanelet_route_file(parser_test_route); + const auto lanelet_route = parse(parser_test_route); EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0); EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0); EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0); @@ -132,4 +136,53 @@ TEST(ParseFunction, CompleteFromFilename) EXPECT_EQ(segment1.primitives[3].id, 88); EXPECT_EQ(segment1.primitives[3].primitive_type, "lane"); } + +TEST(ParseFunction, ParsePathWithLaneID) +{ + const auto autoware_test_utils_dir = + ament_index_cpp::get_package_share_directory("autoware_test_utils"); + const auto parser_test_path = + autoware_test_utils_dir + "/test_data/path_with_lane_id_parser_test.yaml"; + + const auto path = parse(parser_test_path); + EXPECT_EQ(path.header.stamp.sec, 20); + EXPECT_EQ(path.header.stamp.nanosec, 5); + + const auto path_points = path.points; + const auto & p1 = path_points.front(); + EXPECT_DOUBLE_EQ(p1.point.pose.position.x, 12.9); + EXPECT_DOUBLE_EQ(p1.point.pose.position.y, 3.8); + EXPECT_DOUBLE_EQ(p1.point.pose.position.z, 4.7); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.x, 1.0); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.y, 2.0); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.z, 3.0); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.w, 4.0); + EXPECT_FLOAT_EQ(p1.point.longitudinal_velocity_mps, 1.2); + EXPECT_FLOAT_EQ(p1.point.lateral_velocity_mps, 3.4); + EXPECT_FLOAT_EQ(p1.point.heading_rate_rps, 5.6); + EXPECT_TRUE(p1.point.is_final); + EXPECT_EQ(p1.lane_ids.front(), 912); + + const auto & p2 = path_points.back(); + EXPECT_DOUBLE_EQ(p2.point.pose.position.x, 0.0); + EXPECT_DOUBLE_EQ(p2.point.pose.position.y, 20.5); + EXPECT_DOUBLE_EQ(p2.point.pose.position.z, 90.11); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.x, 4.0); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.y, 3.0); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.z, 2.0); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.w, 1.0); + EXPECT_FLOAT_EQ(p2.point.longitudinal_velocity_mps, 2.1); + EXPECT_FLOAT_EQ(p2.point.lateral_velocity_mps, 4.3); + EXPECT_FLOAT_EQ(p2.point.heading_rate_rps, 6.5); + EXPECT_FALSE(p2.point.is_final); + EXPECT_EQ(p2.lane_ids.front(), 205); + + EXPECT_DOUBLE_EQ(path.left_bound.front().x, 55.0); + EXPECT_DOUBLE_EQ(path.left_bound.front().y, 66.0); + EXPECT_DOUBLE_EQ(path.left_bound.front().z, 77.0); + + EXPECT_DOUBLE_EQ(path.right_bound.front().x, 0.55); + EXPECT_DOUBLE_EQ(path.right_bound.front().y, 0.66); + EXPECT_DOUBLE_EQ(path.right_bound.front().z, 0.77); +} } // namespace autoware::test_utils diff --git a/common/autoware_test_utils/test_data/path_with_lane_id_parser_test.yaml b/common/autoware_test_utils/test_data/path_with_lane_id_parser_test.yaml new file mode 100644 index 0000000000000..ecd0dd8dd6989 --- /dev/null +++ b/common/autoware_test_utils/test_data/path_with_lane_id_parser_test.yaml @@ -0,0 +1,48 @@ +header: + stamp: + sec: 20 + nanosec: 5 + frame_id: autoware +points: + - point: + pose: + position: + x: 12.9 + y: 3.8 + z: 4.7 + orientation: + x: 1.0 + y: 2.0 + z: 3.0 + w: 4.0 + longitudinal_velocity_mps: 1.2 + lateral_velocity_mps: 3.4 + heading_rate_rps: 5.6 + is_final: true + lane_ids: + - 912 + - point: + pose: + position: + x: 0.0 + y: 20.5 + z: 90.11 + orientation: + x: 4.0 + y: 3.0 + z: 2.0 + w: 1.0 + longitudinal_velocity_mps: 2.1 + lateral_velocity_mps: 4.3 + heading_rate_rps: 6.5 + is_final: false + lane_ids: + - 205 +left_bound: + - x: 55.0 + y: 66.0 + z: 77.0 +right_bound: + - x: 0.55 + y: 0.66 + z: 0.77 diff --git a/planning/autoware_route_handler/test/test_route_handler.hpp b/planning/autoware_route_handler/test/test_route_handler.hpp index cd7813243c25e..1a9359dc8e17d 100644 --- a/planning/autoware_route_handler/test/test_route_handler.hpp +++ b/planning/autoware_route_handler/test/test_route_handler.hpp @@ -68,7 +68,7 @@ class TestRouteHandler : public ::testing::Test { const auto rh_test_route = get_absolute_path_to_route(autoware_route_handler_dir, route_filename); - route_handler_->setRoute(autoware::test_utils::parse_lanelet_route_file(rh_test_route)); + route_handler_->setRoute(autoware::test_utils::parse(rh_test_route)); } lanelet::ConstLanelets get_current_lanes() diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp index 01b4c451ebf9e..6f285190c4169 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp @@ -21,6 +21,8 @@ #include +#include "autoware_planning_msgs/msg/lanelet_route.hpp" + #include #include @@ -38,6 +40,7 @@ using autoware::test_utils::get_absolute_path_to_config; using autoware::test_utils::get_absolute_path_to_lanelet_map; using autoware::test_utils::get_absolute_path_to_route; using autoware_map_msgs::msg::LaneletMapBin; +using autoware_planning_msgs::msg::LaneletRoute; using geometry_msgs::msg::Pose; using tier4_planning_msgs::msg::PathWithLaneId; @@ -116,7 +119,7 @@ class TestNormalLaneChange : public ::testing::Test auto route_handler_ptr = std::make_shared(map_bin_msg); const auto rh_test_route = get_absolute_path_to_route(autoware_route_handler_dir, lane_change_right_test_route_filename); - route_handler_ptr->setRoute(autoware::test_utils::parse_lanelet_route_file(rh_test_route)); + route_handler_ptr->setRoute(autoware::test_utils::parse(rh_test_route)); return route_handler_ptr; } From be12c107ad3e9e47dcb7fe07bed720831b051104 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Wed, 23 Oct 2024 11:59:09 +0900 Subject: [PATCH 281/701] refactor(lane_change): refactor longitudinal acceleration sampling (#9091) * fix calc_all_max_lc_lengths function Signed-off-by: mohammad alqudah * remove unused functions Signed-off-by: mohammad alqudah * remove limit on velocity in calc_all_max_lc_lengths function Signed-off-by: mohammad alqudah * sample longitudinal acceleration separately for each prepater duration Signed-off-by: mohammad alqudah * refactor prepare phase metrics calculation Signed-off-by: mohammad alqudah * check for zero value prepare duration Signed-off-by: mohammad alqudah * refactor calc_lon_acceleration_samples function Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .../scene.hpp | 11 - .../utils/calculation.hpp | 19 +- .../utils/data_structs.hpp | 4 +- .../utils/utils.hpp | 11 - .../src/scene.cpp | 145 ++--------- .../src/utils/calculation.cpp | 225 ++++++++++++------ .../src/utils/utils.cpp | 48 ---- 7 files changed, 179 insertions(+), 284 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp index 4dec256a65703..5334af7ab6e8e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp @@ -120,12 +120,6 @@ class NormalLaneChange : public LaneChangeBase TurnSignalInfo get_terminal_turn_signal_info() const final; - std::vector sampleLongitudinalAccValues( - const lanelet::ConstLanelets & current_lanes, - const lanelet::ConstLanelets & target_lanes) const; - - std::vector calc_prepare_durations() const; - lane_change::TargetObjects get_target_objects( const FilteredByLanesExtendedObjects & filtered_objects, const lanelet::ConstLanelets & current_lanes) const; @@ -206,11 +200,6 @@ class NormalLaneChange : public LaneChangeBase bool check_prepare_phase() const; - double calcMaximumLaneChangeLength( - const lanelet::ConstLanelet & current_terminal_lanelet, const double max_acc) const; - - std::pair calcCurrentMinMaxAcceleration() const; - void set_stop_pose(const double arc_length_to_stop_pose, PathWithLaneId & path); void updateStopTime(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp index 233fc886f836f..b6e6cb968ace8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp @@ -27,6 +27,8 @@ using behavior_path_planner::lane_change::LCParamPtr; using behavior_path_planner::lane_change::MinMaxValue; using behavior_path_planner::lane_change::PhaseMetrics; +static constexpr double eps = 0.001; + double calc_dist_from_pose_to_terminal_end( const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelets & lanes, const Pose & src_pose); @@ -103,14 +105,6 @@ double calc_ego_dist_to_lanes_start( const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes); -double calc_maximum_lane_change_length( - const double current_velocity, const LaneChangeParameters & lane_change_parameters, - const std::vector & shift_intervals, const double max_acc); - -double calc_maximum_lane_change_length( - const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelet & current_terminal_lanelet, - const double max_acc); - double calc_lane_changing_acceleration( const double initial_lane_changing_velocity, const double max_path_velocity, const double lane_changing_time, const double prepare_longitudinal_acc); @@ -132,10 +126,13 @@ double calc_phase_length( const double velocity, const double maximum_velocity, const double acceleration, const double duration); +std::vector calc_lon_acceleration_samples( + const CommonDataPtr & common_data_ptr, const double max_path_velocity, + const double prepare_duration); + std::vector calc_prepare_phase_metrics( - const CommonDataPtr & common_data_ptr, const std::vector & prepare_durations, - const std::vector & lon_accel_values, const double current_velocity, - const double min_length_threshold = 0.0, + const CommonDataPtr & common_data_ptr, const double current_velocity, + const double max_path_velocity, const double min_length_threshold = 0.0, const double max_length_threshold = std::numeric_limits::max()); std::vector calc_shift_phase_metrics( diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp index e4f70f54a8437..5178d76aca29e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp @@ -323,7 +323,6 @@ struct MinMaxValue struct TransientData { - MinMaxValue acc; // acceleration profile for accelerating lane change path MinMaxValue lane_changing_length; // lane changing length for a single lane change MinMaxValue current_dist_buffer; // distance buffer computed backward from current lanes' terminal end @@ -343,6 +342,9 @@ struct TransientData lanelet::ArcCoordinates current_lanes_ego_arc; // arc coordinates of ego pose along current lanes lanelet::ArcCoordinates target_lanes_ego_arc; // arc coordinates of ego pose along target lanes + size_t current_path_seg_idx; // index of nearest segment to ego along current path + double current_path_velocity; // velocity of the current path at the ego position along the path + bool is_ego_near_current_terminal_start{false}; bool is_ego_stuck{false}; }; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index b6c234fd7035d..18fa418a0970d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -64,20 +64,9 @@ bool is_mandatory_lane_change(const ModuleType lc_type); double calcLaneChangeResampleInterval( const double lane_changing_length, const double lane_changing_velocity); -double calcMinimumAcceleration( - const double current_velocity, const double min_longitudinal_acc, - const LaneChangeParameters & lane_change_parameters); - -double calcMaximumAcceleration( - const double current_velocity, const double current_max_velocity, - const double max_longitudinal_acc, const LaneChangeParameters & lane_change_parameters); - void setPrepareVelocity( PathWithLaneId & prepare_segment, const double current_velocity, const double prepare_velocity); -std::vector getAccelerationValues( - const double min_acc, const double max_acc, const size_t sampling_num); - std::vector replaceWithSortedIds( const std::vector & original_lane_ids, const std::vector> & sorted_lane_ids); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 6f71ffff734a0..36b90dbf10ffa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -114,7 +114,15 @@ void NormalLaneChange::update_transient_data() } auto & transient_data = common_data_ptr_->transient_data; - std::tie(transient_data.acc.min, transient_data.acc.max) = calcCurrentMinMaxAcceleration(); + + const auto & p = *common_data_ptr_->bpp_param_ptr; + const auto nearest_seg_idx = + autoware::motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( + prev_module_output_.path.points, common_data_ptr_->get_ego_pose(), + p.ego_nearest_dist_threshold, p.ego_nearest_yaw_threshold); + transient_data.current_path_velocity = + prev_module_output_.path.points.at(nearest_seg_idx).point.longitudinal_velocity_mps; + transient_data.current_path_seg_idx = nearest_seg_idx; std::tie(transient_data.lane_changing_length, transient_data.current_dist_buffer) = calculation::calc_lc_length_and_dist_buffer(common_data_ptr_, get_current_lanes()); @@ -145,8 +153,6 @@ void NormalLaneChange::update_transient_data() updateStopTime(); transient_data.is_ego_stuck = is_ego_stuck(); - RCLCPP_DEBUG( - logger_, "acc - min: %.4f, max: %.4f", transient_data.acc.min, transient_data.acc.max); RCLCPP_DEBUG( logger_, "lane_changing_length - min: %.4f, max: %.4f", transient_data.lane_changing_length.min, transient_data.lane_changing_length.max); @@ -308,11 +314,9 @@ TurnSignalInfo NormalLaneChange::get_terminal_turn_signal_info() const const auto terminal_turn_signal_info = get_turn_signal(*start_pose, getLaneChangePath().info.lane_changing_end); - const double nearest_dist_threshold = common_param.ego_nearest_dist_threshold; - const double nearest_yaw_threshold = common_param.ego_nearest_yaw_threshold; - const size_t current_nearest_seg_idx = - autoware::motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( - path.points, current_pose, nearest_dist_threshold, nearest_yaw_threshold); + const auto nearest_dist_threshold = common_param.ego_nearest_dist_threshold; + const auto nearest_yaw_threshold = common_param.ego_nearest_yaw_threshold; + const auto current_nearest_seg_idx = common_data_ptr_->transient_data.current_path_seg_idx; return getTurnSignalDecider().overwrite_turn_signal( path, current_pose, current_nearest_seg_idx, original_turn_signal_info, @@ -861,6 +865,7 @@ bool NormalLaneChange::isAbortState() const lane_change_debug_.is_abort = true; return true; } + int NormalLaneChange::getNumToPreferredLane(const lanelet::ConstLanelet & lane) const { const auto get_opposite_direction = @@ -868,114 +873,6 @@ int NormalLaneChange::getNumToPreferredLane(const lanelet::ConstLanelet & lane) return std::abs(getRouteHandler()->getNumLaneToPreferredLane(lane, get_opposite_direction)); } -std::pair NormalLaneChange::calcCurrentMinMaxAcceleration() const -{ - const auto & p = getCommonParam(); - - const auto vehicle_min_acc = std::max(p.min_acc, lane_change_parameters_->min_longitudinal_acc); - const auto vehicle_max_acc = std::min(p.max_acc, lane_change_parameters_->max_longitudinal_acc); - - const auto ego_seg_idx = autoware::motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( - prev_module_output_.path.points, getEgoPose(), p.ego_nearest_dist_threshold, - p.ego_nearest_yaw_threshold); - const auto max_path_velocity = - prev_module_output_.path.points.at(ego_seg_idx).point.longitudinal_velocity_mps; - - // calculate minimum and maximum acceleration - const auto min_acc = utils::lane_change::calcMinimumAcceleration( - getEgoVelocity(), vehicle_min_acc, *lane_change_parameters_); - const auto max_acc = utils::lane_change::calcMaximumAcceleration( - getEgoVelocity(), max_path_velocity, vehicle_max_acc, *lane_change_parameters_); - - return {min_acc, max_acc}; -} - -std::vector NormalLaneChange::sampleLongitudinalAccValues( - const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes) const -{ - // TODO(Azu): sampler should work even when we're not approaching terminal - if (prev_module_output_.path.points.empty()) { - return {}; - } - - const auto & route_handler = *getRouteHandler(); - const auto current_pose = getEgoPose(); - const auto longitudinal_acc_sampling_num = lane_change_parameters_->longitudinal_acc_sampling_num; - - const auto [min_acc, max_acc] = calcCurrentMinMaxAcceleration(); - - // if max acc is not positive, then we do the normal sampling - if (max_acc <= 0.0) { - RCLCPP_DEBUG( - logger_, "Available max acc <= 0. Normal sampling for acc: [%f ~ %f]", min_acc, max_acc); - return utils::lane_change::getAccelerationValues( - min_acc, max_acc, longitudinal_acc_sampling_num); - } - - // calculate maximum lane change length - // TODO(Azu) Double check why it's failing with transient data - const auto current_max_dist_buffer = - calculation::calc_maximum_lane_change_length(common_data_ptr_, current_lanes.back(), max_acc); - - if (current_max_dist_buffer > common_data_ptr_->transient_data.dist_to_terminal_end) { - RCLCPP_DEBUG( - logger_, "No enough distance to the end of lane. Normal sampling for acc: [%f ~ %f]", min_acc, - max_acc); - return utils::lane_change::getAccelerationValues( - min_acc, max_acc, longitudinal_acc_sampling_num); - } - - // If the ego is in stuck, sampling all possible accelerations to find avoiding path. - if (common_data_ptr_->transient_data.is_ego_stuck) { - auto clock = rclcpp::Clock(RCL_ROS_TIME); - RCLCPP_INFO_THROTTLE( - logger_, clock, 1000, "Vehicle is in stuck. Sample all possible acc: [%f ~ %f]", min_acc, - max_acc); - return utils::lane_change::getAccelerationValues( - min_acc, max_acc, longitudinal_acc_sampling_num); - } - - // if maximum lane change length is less than length to goal or the end of target lanes, only - // sample max acc - if (route_handler.isInGoalRouteSection(target_lanes.back())) { - const auto goal_pose = route_handler.getGoalPose(); - if (current_max_dist_buffer < utils::getSignedDistance(current_pose, goal_pose, target_lanes)) { - RCLCPP_DEBUG( - logger_, "Distance to goal has enough distance. Sample only max_acc: %f", max_acc); - return {max_acc}; - } - } else if (current_max_dist_buffer < utils::getDistanceToEndOfLane(current_pose, target_lanes)) { - RCLCPP_DEBUG( - logger_, "Distance to end of lane has enough distance. Sample only max_acc: %f", max_acc); - return {max_acc}; - } - - RCLCPP_DEBUG(logger_, "Normal sampling for acc: [%f ~ %f]", min_acc, max_acc); - return utils::lane_change::getAccelerationValues(min_acc, max_acc, longitudinal_acc_sampling_num); -} - -std::vector NormalLaneChange::calc_prepare_durations() const -{ - const auto & lc_param_ptr = common_data_ptr_->lc_param_ptr; - const auto threshold = common_data_ptr_->bpp_param_ptr->base_link2front + - lc_param_ptr->min_length_for_turn_signal_activation; - const auto max_prepare_duration = lc_param_ptr->lane_change_prepare_duration; - - // TODO(Azu) this check seems to cause scenario failures. - if (common_data_ptr_->transient_data.dist_to_terminal_start >= threshold) { - return {max_prepare_duration}; - } - - std::vector prepare_durations; - constexpr double step = 0.5; - - for (double duration = max_prepare_duration; duration >= 0.0; duration -= step) { - prepare_durations.push_back(duration); - } - - return prepare_durations; -} - bool NormalLaneChange::get_prepare_segment( PathWithLaneId & prepare_segment, const double prepare_length) const { @@ -1296,22 +1193,14 @@ std::vector NormalLaneChange::get_prepare_metrics() cons const auto & current_lanes = common_data_ptr_->lanes_ptr->current; const auto & target_lanes = common_data_ptr_->lanes_ptr->target; const auto current_velocity = getEgoVelocity(); - - // get sampling acceleration values - const auto longitudinal_acc_sampling_values = - sampleLongitudinalAccValues(current_lanes, target_lanes); - - const auto prepare_durations = calc_prepare_durations(); - - RCLCPP_DEBUG( - logger_, "lane change sampling start. Sampling num for prep_time: %lu, acc: %lu", - prepare_durations.size(), longitudinal_acc_sampling_values.size()); + // set speed limit to be current path velocity; + const auto max_path_velocity = common_data_ptr_->transient_data.current_path_velocity; const auto dist_to_target_start = calculation::calc_ego_dist_to_lanes_start(common_data_ptr_, current_lanes, target_lanes); return calculation::calc_prepare_phase_metrics( - common_data_ptr_, prepare_durations, longitudinal_acc_sampling_values, current_velocity, - dist_to_target_start, common_data_ptr_->transient_data.dist_to_terminal_start); + common_data_ptr_, current_velocity, max_path_velocity, dist_to_target_start, + common_data_ptr_->transient_data.dist_to_terminal_start); } std::vector NormalLaneChange::get_lane_changing_metrics( diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index 762cada4e59d2..741a5d7b4761d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -141,59 +141,26 @@ double calc_ego_dist_to_lanes_start( return motion_utils::calcSignedArcLength(path.points, ego_position, target_front_pt); } -double calc_maximum_lane_change_length( - const double current_velocity, const LaneChangeParameters & lane_change_parameters, - const std::vector & shift_intervals, const double max_acc) +double calc_minimum_acceleration( + const LaneChangeParameters & lane_change_parameters, const double current_velocity, + const double min_acc_threshold, const double prepare_duration) { - if (shift_intervals.empty()) { - return 0.0; - } - - const auto finish_judge_buffer = lane_change_parameters.lane_change_finish_judge_buffer; - const auto lat_jerk = lane_change_parameters.lane_changing_lateral_jerk; - const auto t_prepare = lane_change_parameters.lane_change_prepare_duration; - - auto vel = current_velocity; - - const auto calc_sum = [&](double sum, double shift_interval) { - // prepare section - const auto prepare_length = vel * t_prepare + 0.5 * max_acc * t_prepare * t_prepare; - vel = vel + max_acc * t_prepare; - - // lane changing section - const auto [min_lat_acc, max_lat_acc] = - lane_change_parameters.lane_change_lat_acc_map.find(vel); - const auto t_lane_changing = - autoware::motion_utils::calc_shift_time_from_jerk(shift_interval, lat_jerk, max_lat_acc); - const auto lane_changing_length = - vel * t_lane_changing + 0.5 * max_acc * t_lane_changing * t_lane_changing; - - vel = vel + max_acc * t_lane_changing; - return sum + (prepare_length + lane_changing_length + finish_judge_buffer); - }; - - const auto total_length = - std::accumulate(shift_intervals.begin(), shift_intervals.end(), 0.0, calc_sum); - - const auto backward_buffer = lane_change_parameters.backward_length_buffer_for_end_of_lane; - return total_length + backward_buffer * (static_cast(shift_intervals.size()) - 1.0); + if (prepare_duration < eps) return -std::abs(min_acc_threshold); + const double min_lc_velocity = lane_change_parameters.minimum_lane_changing_velocity; + const double acc = (min_lc_velocity - current_velocity) / prepare_duration; + return std::clamp(acc, -std::abs(min_acc_threshold), -eps); } -double calc_maximum_lane_change_length( - const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelet & current_terminal_lanelet, - const double max_acc) +double calc_maximum_acceleration( + const double prepare_duration, const double current_velocity, const double current_max_velocity, + const double max_acc_threshold) { - const auto shift_intervals = - common_data_ptr->route_handler_ptr->getLateralIntervalsToPreferredLane( - current_terminal_lanelet); - const auto vel = std::max( - common_data_ptr->get_ego_speed(), - common_data_ptr->lc_param_ptr->minimum_lane_changing_velocity); - return calc_maximum_lane_change_length( - vel, *common_data_ptr->lc_param_ptr, shift_intervals, max_acc); + if (prepare_duration < eps) return max_acc_threshold; + const double acc = (current_max_velocity - current_velocity) / prepare_duration; + return std::clamp(acc, 0.0, max_acc_threshold); } -std::vector calc_all_min_lc_lengths( +std::vector calc_min_lane_change_lengths( const LCParamPtr & lc_param_ptr, const std::vector & shift_intervals) { if (shift_intervals.empty()) { @@ -221,7 +188,7 @@ std::vector calc_all_min_lc_lengths( return min_lc_lengths; } -std::vector calc_all_max_lc_lengths( +std::vector calc_max_lane_change_lengths( const CommonDataPtr & common_data_ptr, const std::vector & shift_intervals) { if (shift_intervals.empty()) { @@ -231,21 +198,28 @@ std::vector calc_all_max_lc_lengths( const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; const auto lat_jerk = lc_param_ptr->lane_changing_lateral_jerk; const auto t_prepare = lc_param_ptr->lane_change_prepare_duration; - const auto max_acc = common_data_ptr->transient_data.acc.max; + const auto current_velocity = common_data_ptr->get_ego_speed(); + const auto path_velocity = common_data_ptr->transient_data.current_path_velocity; - const auto limit_vel = [&](const auto vel) { - const auto max_global_vel = common_data_ptr->bpp_param_ptr->max_vel; - return std::clamp(vel, lc_param_ptr->minimum_lane_changing_velocity, max_global_vel); - }; + const auto max_acc = calc_maximum_acceleration( + t_prepare, current_velocity, path_velocity, lc_param_ptr->max_longitudinal_acc); + + // TODO(Quda, Azu): should probably limit upper bound of velocity as well, but + // disabled due failing evaluation tests. + // const auto limit_vel = [&](const auto vel) { + // const auto max_global_vel = common_data_ptr->bpp_param_ptr->max_vel; + // return std::clamp(vel, lc_param_ptr->minimum_lane_changing_velocity, max_global_vel); + // }; - auto vel = limit_vel(common_data_ptr->get_ego_speed()); + auto vel = + std::max(common_data_ptr->get_ego_speed(), lc_param_ptr->minimum_lane_changing_velocity); std::vector max_lc_lengths{}; const auto max_lc_length = [&](const auto shift_interval) { // prepare section - vel = limit_vel(vel + max_acc * t_prepare); const auto prepare_length = vel * t_prepare + 0.5 * max_acc * t_prepare * t_prepare; + vel = vel + max_acc * t_prepare; // lane changing section const auto [min_lat_acc, max_lat_acc] = lc_param_ptr->lane_change_lat_acc_map.find(vel); @@ -254,7 +228,7 @@ std::vector calc_all_max_lc_lengths( const auto lane_changing_length = vel * t_lane_changing + 0.5 * max_acc * t_lane_changing * t_lane_changing; - vel = limit_vel(vel + max_acc * t_lane_changing); + vel = vel + max_acc * t_lane_changing; return prepare_length + lane_changing_length; }; @@ -264,17 +238,16 @@ std::vector calc_all_max_lc_lengths( return max_lc_lengths; } -double calc_distance_buffer( - const LCParamPtr & lc_param_ptr, const std::vector & min_lc_lengths) +double calc_distance_buffer(const LCParamPtr & lc_param_ptr, const std::vector & lc_lengths) { - if (min_lc_lengths.empty()) { + if (lc_lengths.empty()) { return std::numeric_limits::max(); } const auto finish_judge_buffer = lc_param_ptr->lane_change_finish_judge_buffer; const auto backward_buffer = calc_stopping_distance(lc_param_ptr); - const auto lengths_sum = std::accumulate(min_lc_lengths.begin(), min_lc_lengths.end(), 0.0); - const auto num_of_lane_changes = static_cast(min_lc_lengths.size()); + const auto lengths_sum = std::accumulate(lc_lengths.begin(), lc_lengths.end(), 0.0); + const auto num_of_lane_changes = static_cast(lc_lengths.size()); return lengths_sum + (num_of_lane_changes * finish_judge_buffer) + ((num_of_lane_changes - 1.0) * backward_buffer); } @@ -299,19 +272,19 @@ std::pair calc_lc_length_and_dist_buffer( return {}; } const auto shift_intervals = calculation::calc_shift_intervals(common_data_ptr, lanes); - const auto all_min_lc_lengths = - calculation::calc_all_min_lc_lengths(common_data_ptr->lc_param_ptr, shift_intervals); + const auto min_lc_lengths = + calculation::calc_min_lane_change_lengths(common_data_ptr->lc_param_ptr, shift_intervals); const auto min_lc_length = - !all_min_lc_lengths.empty() ? all_min_lc_lengths.front() : std::numeric_limits::max(); + !min_lc_lengths.empty() ? min_lc_lengths.front() : std::numeric_limits::max(); const auto min_dist_buffer = - calculation::calc_distance_buffer(common_data_ptr->lc_param_ptr, all_min_lc_lengths); + calculation::calc_distance_buffer(common_data_ptr->lc_param_ptr, min_lc_lengths); - const auto all_max_lc_lengths = - calculation::calc_all_max_lc_lengths(common_data_ptr, shift_intervals); + const auto max_lc_lengths = + calculation::calc_max_lane_change_lengths(common_data_ptr, shift_intervals); const auto max_lc_length = - !all_max_lc_lengths.empty() ? all_max_lc_lengths.front() : std::numeric_limits::max(); + !max_lc_lengths.empty() ? max_lc_lengths.front() : std::numeric_limits::max(); const auto max_dist_buffer = - calculation::calc_distance_buffer(common_data_ptr->lc_param_ptr, all_max_lc_lengths); + calculation::calc_distance_buffer(common_data_ptr->lc_param_ptr, max_lc_lengths); return {{min_lc_length, max_lc_length}, {min_dist_buffer, max_dist_buffer}}; } @@ -326,6 +299,85 @@ double calc_phase_length( return std::min(length_with_acceleration, length_with_max_velocity); } +std::pair calc_min_max_acceleration( + const CommonDataPtr & common_data_ptr, const double max_path_velocity, + const double prepare_duration) +{ + const auto & lc_params = *common_data_ptr->lc_param_ptr; + const auto & bpp_params = *common_data_ptr->bpp_param_ptr; + const auto current_ego_velocity = common_data_ptr->get_ego_speed(); + + const auto min_accel_threshold = std::max(bpp_params.min_acc, lc_params.min_longitudinal_acc); + const auto max_accel_threshold = std::min(bpp_params.max_acc, lc_params.max_longitudinal_acc); + + // calculate minimum and maximum acceleration + const auto min_acc = calc_minimum_acceleration( + lc_params, current_ego_velocity, min_accel_threshold, prepare_duration); + const auto max_acc = calc_maximum_acceleration( + prepare_duration, current_ego_velocity, max_path_velocity, max_accel_threshold); + + return {min_acc, max_acc}; +} + +std::vector calc_acceleration_values( + const double min_accel, const double max_accel, const double sampling_num) +{ + if (min_accel > max_accel) return {}; + + if (max_accel - min_accel < eps) { + return {min_accel}; + } + + const auto resolution = std::abs(max_accel - min_accel) / sampling_num; + + std::vector sampled_values{min_accel}; + for (double accel = min_accel + resolution; accel < max_accel + eps; accel += resolution) { + // check whether if we need to add 0.0 + if (sampled_values.back() < -eps && accel > eps) { + sampled_values.push_back(0.0); + } + + sampled_values.push_back(accel); + } + std::reverse(sampled_values.begin(), sampled_values.end()); + + return sampled_values; +} + +std::vector calc_lon_acceleration_samples( + const CommonDataPtr & common_data_ptr, const double max_path_velocity, + const double prepare_duration) +{ + const auto & transient_data = common_data_ptr->transient_data; + const auto & current_pose = common_data_ptr->get_ego_pose(); + const auto & target_lanes = common_data_ptr->lanes_ptr->target; + const auto goal_pose = common_data_ptr->route_handler_ptr->getGoalPose(); + const auto sampling_num = common_data_ptr->lc_param_ptr->longitudinal_acc_sampling_num; + + const auto [min_accel, max_accel] = + calc_min_max_acceleration(common_data_ptr, max_path_velocity, prepare_duration); + + const auto is_sampling_required = std::invoke([&]() -> bool { + if (max_accel < 0.0 || transient_data.is_ego_stuck) return true; + + const auto max_dist_buffer = transient_data.current_dist_buffer.max; + if (max_dist_buffer > transient_data.dist_to_terminal_end) return true; + + const auto dist_to_target_lane_end = + common_data_ptr->lanes_ptr->target_lane_in_goal_section + ? utils::getSignedDistance(current_pose, goal_pose, target_lanes) + : utils::getDistanceToEndOfLane(current_pose, target_lanes); + + return max_dist_buffer >= dist_to_target_lane_end; + }); + + if (is_sampling_required) { + return calc_acceleration_values(min_accel, max_accel, sampling_num); + } + + return {max_accel}; +} + double calc_lane_changing_acceleration( const double initial_lane_changing_velocity, const double max_path_velocity, const double lane_changing_time, const double prepare_longitudinal_acc) @@ -339,10 +391,32 @@ double calc_lane_changing_acceleration( prepare_longitudinal_acc); } +std::vector calc_prepare_durations(const CommonDataPtr & common_data_ptr) +{ + const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; + const auto threshold = common_data_ptr->bpp_param_ptr->base_link2front + + lc_param_ptr->min_length_for_turn_signal_activation; + const auto max_prepare_duration = lc_param_ptr->lane_change_prepare_duration; + + // TODO(Azu) this check seems to cause scenario failures. + if (common_data_ptr->transient_data.dist_to_terminal_start >= threshold) { + return {max_prepare_duration}; + } + + std::vector prepare_durations; + constexpr double step = 0.5; + + for (double duration = max_prepare_duration; duration >= 0.0; duration -= step) { + prepare_durations.push_back(duration); + } + + return prepare_durations; +} + std::vector calc_prepare_phase_metrics( - const CommonDataPtr & common_data_ptr, const std::vector & prepare_durations, - const std::vector & lon_accel_values, const double current_velocity, - const double min_length_threshold, const double max_length_threshold) + const CommonDataPtr & common_data_ptr, const double current_velocity, + const double max_path_velocity, const double min_length_threshold, + const double max_length_threshold) { const auto & min_lc_vel = common_data_ptr->lc_param_ptr->minimum_lane_changing_velocity; const auto & max_vel = common_data_ptr->bpp_param_ptr->max_vel; @@ -360,9 +434,12 @@ std::vector calc_prepare_phase_metrics( return false; }; - metrics.reserve(prepare_durations.size() * lon_accel_values.size()); + const auto prepare_durations = calc_prepare_durations(common_data_ptr); + for (const auto & prepare_duration : prepare_durations) { - for (const auto & lon_accel : lon_accel_values) { + const auto lon_accel_samples = + calc_lon_acceleration_samples(common_data_ptr, max_path_velocity, prepare_duration); + for (const auto & lon_accel : lon_accel_samples) { const auto prepare_velocity = std::clamp(current_velocity + lon_accel * prepare_duration, min_lc_vel, max_vel); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index b8d34afeaab54..c900b7fe54302 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -89,25 +89,6 @@ double calcLaneChangeResampleInterval( lane_changing_length / min_resampling_points, lane_changing_velocity * resampling_dt); } -double calcMinimumAcceleration( - const double current_velocity, const double min_longitudinal_acc, - const LaneChangeParameters & lane_change_parameters) -{ - const double min_lane_changing_velocity = lane_change_parameters.minimum_lane_changing_velocity; - const double prepare_duration = lane_change_parameters.lane_change_prepare_duration; - const double acc = (min_lane_changing_velocity - current_velocity) / prepare_duration; - return std::clamp(acc, -std::abs(min_longitudinal_acc), -std::numeric_limits::epsilon()); -} - -double calcMaximumAcceleration( - const double current_velocity, const double current_max_velocity, - const double max_longitudinal_acc, const LaneChangeParameters & lane_change_parameters) -{ - const double prepare_duration = lane_change_parameters.lane_change_prepare_duration; - const double acc = (current_max_velocity - current_velocity) / prepare_duration; - return std::clamp(acc, 0.0, max_longitudinal_acc); -} - void setPrepareVelocity( PathWithLaneId & prepare_segment, const double current_velocity, const double prepare_velocity) { @@ -125,35 +106,6 @@ void setPrepareVelocity( } } -std::vector getAccelerationValues( - const double min_acc, const double max_acc, const size_t sampling_num) -{ - if (min_acc > max_acc) { - return {}; - } - - if (max_acc - min_acc < std::numeric_limits::epsilon()) { - return {min_acc}; - } - - constexpr double epsilon = 0.001; - const auto resolution = std::abs(max_acc - min_acc) / static_cast(sampling_num); - - std::vector sampled_values{min_acc}; - for (double sampled_acc = min_acc + resolution; - sampled_acc < max_acc + std::numeric_limits::epsilon(); sampled_acc += resolution) { - // check whether if we need to add 0.0 - if (sampled_values.back() < -epsilon && sampled_acc > epsilon) { - sampled_values.push_back(0.0); - } - - sampled_values.push_back(sampled_acc); - } - std::reverse(sampled_values.begin(), sampled_values.end()); - - return sampled_values; -} - lanelet::ConstLanelets get_target_neighbor_lanes( const RouteHandler & route_handler, const lanelet::ConstLanelets & current_lanes, const LaneChangeModuleType & type) From c7d9b9bffe26726523d72b84fce855e62c689961 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 23 Oct 2024 12:51:44 +0900 Subject: [PATCH 282/701] feat(control_validator): add hold and lpf (#9120) Signed-off-by: Yuki Takagi --- control/autoware_control_validator/README.md | 19 +++--- .../config/control_validator.param.yaml | 8 ++- .../control_validator/control_validator.hpp | 22 +++---- .../msg/ControlValidatorStatus.msg | 7 ++- .../autoware_control_validator/package.xml | 1 + .../src/control_validator.cpp | 63 ++++++++++++------- 6 files changed, 71 insertions(+), 49 deletions(-) diff --git a/control/autoware_control_validator/README.md b/control/autoware_control_validator/README.md index 2ace3a403c073..cc3d2069c940f 100644 --- a/control/autoware_control_validator/README.md +++ b/control/autoware_control_validator/README.md @@ -9,10 +9,10 @@ The `control_validator` is a module that checks the validity of the output of th The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation. -| Description | Arguments | Diagnostic equation | Implemented function name | -| ---------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------- | :-----------------------------------------------: | ------------------------------- | -| Inverse velocity: Measured velocity has a different sign from the target velocity. | measured velocity $v$, target velocity $\hat{v}$, and threshold velocity parameter $k$ | $v \hat{v} < 0, \quad \lvert v \rvert > k$ | `checkValidVelocityDeviation()` | -| Overspeed: Measured speed exceeds target speed significantly. | measured velocity $v$, target velocity $\hat{v}$, and threshold ratio parameter $r$ | $\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert$ | `checkValidVelocityDeviation()` | +| Description | Arguments | Diagnostic equation | +| ---------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------- | :---------------------------------------------------: | +| Inverse velocity: Measured velocity has a different sign from the target velocity. | measured velocity $v$, target velocity $\hat{v}$, and velocity parameter $c$ | $v \hat{v} < 0, \quad \lvert v \rvert > c$ | +| Overspeed: Measured speed exceeds target speed significantly. | measured velocity $v$, target velocity $\hat{v}$, ratio parameter $r$, and offset parameter $c$ | $\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert + c$ | - **Deviation check between reference trajectory and predicted trajectory** : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold. @@ -57,8 +57,9 @@ The following parameters can be set for the `control_validator`: The input trajectory is detected as invalid if the index exceeds the following thresholds. -| Name | Type | Description | Default value | -| :----------------------------------- | :----- | :---------------------------------------------------------------------------------------------------------- | :------------ | -| `thresholds.max_distance_deviation` | double | invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m] | 1.0 | -| `thresholds.max_reverse_velocity` | double | threshold velocity to valid the vehicle velocity [m/s] | WIP | -| `thresholds.max_over_velocity_ratio` | double | threshold ratio to valid the vehicle velocity [*] | WIP | +| Name | Type | Description | Default value | +| :---------------------------------- | :----- | :---------------------------------------------------------------------------------------------------------- | :------------ | +| `thresholds.max_distance_deviation` | double | invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m] | 1.0 | +| `thresholds.rolling_back_velocity` | double | threshold velocity to valid the vehicle velocity [m/s] | 0.5 | +| `thresholds.over_velocity_offset` | double | threshold velocity offset to valid the vehicle velocity [m/s] | 2.0 | +| `thresholds.over_velocity_ratio` | double | threshold ratio to valid the vehicle velocity [*] | 0.2 | diff --git a/control/autoware_control_validator/config/control_validator.param.yaml b/control/autoware_control_validator/config/control_validator.param.yaml index 2735a7e935ddc..577bb7dbf7706 100644 --- a/control/autoware_control_validator/config/control_validator.param.yaml +++ b/control/autoware_control_validator/config/control_validator.param.yaml @@ -9,5 +9,9 @@ thresholds: max_distance_deviation: 1.0 - max_reverse_velocity: 0.2 - max_over_velocity_ratio: 0.1 + rolling_back_velocity: 0.5 + over_velocity_offset: 2.0 + over_velocity_ratio: 0.2 + + vel_lpf_gain: 0.9 # Time constant 0.33 + hold_velocity_error_until_stop: true diff --git a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp index 551ee08aa3327..86ffac1ec371e 100644 --- a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp +++ b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp @@ -20,6 +20,7 @@ #include "autoware_vehicle_info_utils/vehicle_info.hpp" #include "diagnostic_updater/diagnostic_updater.hpp" +#include #include #include #include @@ -47,8 +48,9 @@ using nav_msgs::msg::Odometry; struct ValidationParams { double max_distance_deviation_threshold; - double max_reverse_velocity_threshold; - double max_over_velocity_ratio_threshold; + double rolling_back_velocity; + double over_velocity_ratio; + double over_velocity_offset; }; /** @@ -81,16 +83,8 @@ class ControlValidator : public rclcpp::Node std::pair calc_lateral_deviation_status( const Trajectory & predicted_trajectory, const Trajectory & reference_trajectory) const; - /** - * @brief Calculate the velocity deviation between the reference trajectory and the current - * vehicle kinematics. - * @param reference_trajectory Reference trajectory - * @param kinematics Current vehicle kinematics - * @return A tuple containing the current velocity, desired velocity, and a boolean indicating - * validity - */ - std::tuple calc_velocity_deviation_status( - const Trajectory & reference_trajectory, const Odometry & kinematics) const; + void calc_velocity_deviation_status( + const Trajectory & reference_trajectory, const Odometry & kinematics); private: /** @@ -155,6 +149,10 @@ class ControlValidator : public rclcpp::Node ControlValidatorStatus validation_status_; ValidationParams validation_params_; // for thresholds + bool is_velocity_valid_{true}; + autoware::signal_processing::LowpassFilter1d vehicle_vel_{0.0}; + autoware::signal_processing::LowpassFilter1d target_vel_{0.0}; + bool hold_velocity_error_until_stop_{false}; vehicle_info_utils::VehicleInfo vehicle_info_; diff --git a/control/autoware_control_validator/msg/ControlValidatorStatus.msg b/control/autoware_control_validator/msg/ControlValidatorStatus.msg index c7dbdbb048e4e..5db179f5a9257 100644 --- a/control/autoware_control_validator/msg/ControlValidatorStatus.msg +++ b/control/autoware_control_validator/msg/ControlValidatorStatus.msg @@ -2,11 +2,12 @@ builtin_interfaces/Time stamp # states bool is_valid_max_distance_deviation -bool is_valid_velocity_deviation +bool is_rolling_back +bool is_over_velocity # values float64 max_distance_deviation -float64 desired_velocity -float64 current_velocity +float64 target_vel +float64 vehicle_vel int64 invalid_count diff --git a/control/autoware_control_validator/package.xml b/control/autoware_control_validator/package.xml index b48ebef70bc58..060fda93f87a8 100644 --- a/control/autoware_control_validator/package.xml +++ b/control/autoware_control_validator/package.xml @@ -22,6 +22,7 @@ autoware_motion_utils autoware_planning_msgs + autoware_signal_processing autoware_universe_utils autoware_vehicle_info_utils diagnostic_updater diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp index d601319d47bc5..796928519e8d1 100644 --- a/control/autoware_control_validator/src/control_validator.cpp +++ b/control/autoware_control_validator/src/control_validator.cpp @@ -66,9 +66,15 @@ void ControlValidator::setup_parameters() auto & p = validation_params_; const std::string t = "thresholds."; p.max_distance_deviation_threshold = declare_parameter(t + "max_distance_deviation"); - p.max_reverse_velocity_threshold = declare_parameter(t + "max_reverse_velocity"); - p.max_over_velocity_ratio_threshold = declare_parameter(t + "max_over_velocity_ratio"); + p.rolling_back_velocity = declare_parameter(t + "rolling_back_velocity"); + p.over_velocity_offset = declare_parameter(t + "over_velocity_offset"); + p.over_velocity_ratio = declare_parameter(t + "over_velocity_ratio"); } + const auto lpf_gain = declare_parameter("vel_lpf_gain"); + vehicle_vel_.setGain(lpf_gain); + target_vel_.setGain(lpf_gain); + + hold_velocity_error_until_stop_ = declare_parameter("hold_velocity_error_until_stop"); try { vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo(); @@ -109,10 +115,15 @@ void ControlValidator::setup_diag() stat, validation_status_.is_valid_max_distance_deviation, "control output is deviated from trajectory"); }); - d.add(ns + "velocity_deviation", [&](auto & stat) { + d.add(ns + "rolling_back", [&](auto & stat) { + set_status( + stat, !validation_status_.is_rolling_back, + "The vehicle is rolling back. The velocity has the opposite sign to the target."); + }); + d.add(ns + "over_velocity", [&](auto & stat) { set_status( - stat, validation_status_.is_valid_velocity_deviation, - "current velocity is deviated from the desired velocity"); + stat, !validation_status_.is_over_velocity, + "The vehicle is over-speeding against the target."); }); } @@ -198,10 +209,7 @@ void ControlValidator::validate( validation_status_.max_distance_deviation, validation_status_.is_valid_max_distance_deviation) = calc_lateral_deviation_status(predicted_trajectory, *current_reference_trajectory_); - std::tie( - validation_status_.current_velocity, validation_status_.desired_velocity, - validation_status_.is_valid_velocity_deviation) = - calc_velocity_deviation_status(*current_reference_trajectory_, kinematics); + calc_velocity_deviation_status(*current_reference_trajectory_, kinematics); validation_status_.invalid_count = is_all_valid(validation_status_) ? 0 : validation_status_.invalid_count + 1; @@ -217,28 +225,37 @@ std::pair ControlValidator::calc_lateral_deviation_status( max_distance_deviation <= validation_params_.max_distance_deviation_threshold}; } -std::tuple ControlValidator::calc_velocity_deviation_status( - const Trajectory & reference_trajectory, const Odometry & kinematics) const +void ControlValidator::calc_velocity_deviation_status( + const Trajectory & reference_trajectory, const Odometry & kinematics) { - const double current_vel = kinematics.twist.twist.linear.x; - const double desired_vel = + auto & status = validation_status_; + const auto & params = validation_params_; + status.vehicle_vel = vehicle_vel_.filter(kinematics.twist.twist.linear.x); + status.target_vel = target_vel_.filter( autoware::motion_utils::calcInterpolatedPoint(reference_trajectory, kinematics.pose.pose) - .longitudinal_velocity_mps; + .longitudinal_velocity_mps); + + const bool is_rolling_back = std::signbit(status.vehicle_vel * status.target_vel) && + std::abs(status.vehicle_vel) > params.rolling_back_velocity; + if ( + !hold_velocity_error_until_stop_ || !status.is_rolling_back || + std::abs(status.vehicle_vel) < 0.05) { + status.is_rolling_back = is_rolling_back; + } const bool is_over_velocity = - std::abs(current_vel) > - std::abs(desired_vel) * (1.0 + validation_params_.max_over_velocity_ratio_threshold) + - validation_params_.max_reverse_velocity_threshold; - const bool is_reverse_velocity = - std::signbit(current_vel * desired_vel) && - std::abs(current_vel) > validation_params_.max_reverse_velocity_threshold; - - return {current_vel, desired_vel, !(is_over_velocity || is_reverse_velocity)}; + std::abs(status.vehicle_vel) > + std::abs(status.target_vel) * (1.0 + params.over_velocity_ratio) + params.over_velocity_offset; + if ( + !hold_velocity_error_until_stop_ || !status.is_over_velocity || + std::abs(status.vehicle_vel) < 0.05) { + status.is_over_velocity = is_over_velocity; + } } bool ControlValidator::is_all_valid(const ControlValidatorStatus & s) { - return s.is_valid_max_distance_deviation && s.is_valid_velocity_deviation; + return s.is_valid_max_distance_deviation && !s.is_rolling_back && !s.is_over_velocity; } void ControlValidator::display_status() From b76d195f71ac758aaa07841c20b04e0a67b4d69f Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 23 Oct 2024 15:39:39 +0900 Subject: [PATCH 283/701] chore(goal_planner): compare sampled/filtered candidate paths on plot (#9140) Signed-off-by: Mamoru Sobue Co-authored-by: Kosuke Takeuchi --- .../CMakeLists.txt | 2 +- .../examples/plot_map.cpp | 430 +++++++++++++----- 2 files changed, 321 insertions(+), 111 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt index d3f7f7a4015f0..6446f4aec6851 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt @@ -27,7 +27,7 @@ if(BUILD_EXAMPLES) FetchContent_Declare( matplotlibcpp17 GIT_REPOSITORY https://github.com/soblin/matplotlibcpp17.git - GIT_TAG master + GIT_TAG main ) FetchContent_MakeAvailable(matplotlibcpp17) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp index 7e9ccea9ac0c2..3afdb28f80a6c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp @@ -12,11 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/behavior_path_goal_planner_module/goal_searcher.hpp" + #include #include #include #include #include +#include +#include #include #include #include @@ -40,15 +44,26 @@ using namespace std::chrono_literals; // NOLINT +using autoware::behavior_path_planner::BehaviorModuleOutput; +using autoware::behavior_path_planner::GoalCandidate; +using autoware::behavior_path_planner::GoalCandidates; +using autoware::behavior_path_planner::GoalPlannerParameters; +using autoware::behavior_path_planner::PlannerData; +using autoware::behavior_path_planner::PullOverPath; +using autoware::behavior_path_planner::utils::parking_departure::calcFeasibleDecelDistance; +using autoware_planning_msgs::msg::LaneletRoute; +using tier4_planning_msgs::msg::PathWithLaneId; + void plot_path_with_lane_id( - matplotlibcpp17::axes::Axes & axes, const tier4_planning_msgs::msg::PathWithLaneId path) + matplotlibcpp17::axes::Axes & axes, const PathWithLaneId & path, + const std::string & color = "red") { std::vector xs, ys; for (const auto & point : path.points) { xs.push_back(point.point.pose.position.x); ys.push_back(point.point.pose.position.y); } - axes.plot(Args(xs, ys), Kwargs("color"_a = "red", "linewidth"_a = 1.0)); + axes.plot(Args(xs, ys), Kwargs("color"_a = color, "linewidth"_a = 1.0)); } void plot_lanelet( @@ -82,135 +97,317 @@ void plot_lanelet( Kwargs("color"_a = "black", "linewidth"_a = linewidth, "linestyle"_a = "dashed")); } -int main(int argc, char ** argv) +std::shared_ptr instantiate_planner_data( + rclcpp::Node::SharedPtr node, const std::string & map_path, const LaneletRoute & route_msg) { - rclcpp::init(argc, argv); - - const auto road_shoulder_test_map_path = - ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner_common") + - "/test_map/road_shoulder/lanelet2_map.osm"; - lanelet::ErrorMessages errors{}; lanelet::projection::MGRSProjector projector{}; - const lanelet::LaneletMapPtr lanelet_map_ptr = - lanelet::load(road_shoulder_test_map_path, projector, &errors); + const lanelet::LaneletMapPtr lanelet_map_ptr = lanelet::load(map_path, projector, &errors); if (!errors.empty()) { for (const auto & error : errors) { std::cout << error << std::endl; } - return 1; + return nullptr; + } + autoware_map_msgs::msg::LaneletMapBin map_bin; + lanelet::utils::conversion::toBinMsg( + lanelet_map_ptr, &map_bin); // TODO(soblin): pass lanelet_map_ptr to RouteHandler + + auto planner_data = std::make_shared(); + planner_data->init_parameters(*node); + planner_data->route_handler->setMap(map_bin); + planner_data->route_handler->setRoute(route_msg); + + nav_msgs::msg::Odometry odom; + odom.pose.pose = route_msg.start_pose; + auto odometry = std::make_shared(odom); + planner_data->self_odometry = odometry; + + geometry_msgs::msg::AccelWithCovarianceStamped accel; + accel.accel.accel.linear.x = 0.537018510955429; + accel.accel.accel.linear.y = -0.2435352815388478; + auto accel_ptr = std::make_shared(accel); + planner_data->self_acceleration = accel_ptr; + return planner_data; +} + +bool hasEnoughDistance( + const PullOverPath & pull_over_path, const PathWithLaneId & long_tail_reference_path, + const std::shared_ptr planner_data, const GoalPlannerParameters & parameters) +{ + using autoware::motion_utils::calcSignedArcLength; + + const Pose & current_pose = planner_data->self_odometry->pose.pose; + const double current_vel = planner_data->self_odometry->twist.twist.linear.x; + + // when the path is separated and start_pose is close, + // once stopped, the vehicle cannot start again. + // so need enough distance to restart. + // distance to restart should be less than decide_path_distance. + // otherwise, the goal would change immediately after departure. + const bool is_separated_path = pull_over_path.partial_paths().size() > 1; + const double distance_to_start = calcSignedArcLength( + long_tail_reference_path.points, current_pose.position, pull_over_path.start_pose().position); + const double distance_to_restart = parameters.decide_path_distance / 2; + const double eps_vel = 0.01; + const bool is_stopped = std::abs(current_vel) < eps_vel; + if (is_separated_path && is_stopped && distance_to_start < distance_to_restart) { + return false; + } + + const auto current_to_stop_distance = calcFeasibleDecelDistance( + planner_data, parameters.maximum_deceleration, parameters.maximum_jerk, 0.0); + if (!current_to_stop_distance) { + return false; } - autoware_planning_msgs::msg::LaneletRoute route_msg; - route_msg.start_pose = geometry_msgs::build() - .position(geometry_msgs::build() - .x(530.707103865218) - .y(436.8758309382301) - .z(100.0)) - .orientation(geometry_msgs::build() - .x(0.0) - .y(0.0) - .z(0.2187392230193602) - .w(0.9757833531644647)); - route_msg.goal_pose = geometry_msgs::build() - .position(geometry_msgs::build() - .x(571.8018955394537) - .y(435.6819504507543) - .z(100.0)) - .orientation(geometry_msgs::build() - .x(0.0) - .y(0.0) - .z(-0.3361155457734493) - .w(0.9418207578352774)); /* + // If the stop line is subtly exceeded, it is assumed that there is not enough distance to the + // starting point of parking, so to prevent this, once the vehicle has stopped, it also has a + // stop_distance_buffer to allow for the amount exceeded. + const double buffer = is_stopped ? stop_distance_buffer_ : 0.0; + if (distance_to_start + buffer < *current_to_stop_distance) { + return false; + }*/ + + return true; +} + +std::vector selectPullOverPaths( + const std::vector & pull_over_path_candidates, + const GoalCandidates & goal_candidates, const std::shared_ptr planner_data, + const GoalPlannerParameters & parameters, const BehaviorModuleOutput & previous_module_output) +{ + using autoware::behavior_path_planner::utils::getExtendedCurrentLanesFromPath; + using autoware::motion_utils::calcSignedArcLength; + + const auto & goal_pose = planner_data->route_handler->getOriginalGoalPose(); + const double backward_length = + parameters.backward_goal_search_length + parameters.decide_path_distance; + + std::vector sorted_path_indices; + sorted_path_indices.reserve(pull_over_path_candidates.size()); + + std::unordered_map goal_candidate_map; + for (const auto & goal_candidate : goal_candidates) { + goal_candidate_map[goal_candidate.id] = goal_candidate; + } + for (size_t i = 0; i < pull_over_path_candidates.size(); ++i) { + const auto & path = pull_over_path_candidates[i]; + const auto goal_candidate_it = goal_candidate_map.find(path.goal_id()); + if (goal_candidate_it != goal_candidate_map.end() && goal_candidate_it->second.is_safe) { + sorted_path_indices.push_back(i); + } + } + + const double prev_path_front_to_goal_dist = calcSignedArcLength( + previous_module_output.path.points, + previous_module_output.path.points.front().point.pose.position, goal_pose.position); + const auto & long_tail_reference_path = [&]() { + if (prev_path_front_to_goal_dist > backward_length) { + return previous_module_output.path; + } + // get road lanes which is at least backward_length[m] behind the goal + const auto road_lanes = getExtendedCurrentLanesFromPath( + previous_module_output.path, planner_data, backward_length, 0.0, false); + const auto goal_pose_length = lanelet::utils::getArcCoordinates(road_lanes, goal_pose).length; + return planner_data->route_handler->getCenterLinePath( + road_lanes, std::max(0.0, goal_pose_length - backward_length), + goal_pose_length + parameters.forward_goal_search_length); + }(); + + sorted_path_indices.erase( + std::remove_if( + sorted_path_indices.begin(), sorted_path_indices.end(), + [&](const size_t i) { + return !hasEnoughDistance( + pull_over_path_candidates[i], long_tail_reference_path, planner_data, parameters); + }), + sorted_path_indices.end()); + + // compare to sort pull_over_path_candidates based on the order in efficient_path_order + const auto comparePathTypePriority = [&](const PullOverPath & a, const PullOverPath & b) -> bool { + const auto & order = parameters.efficient_path_order; + const auto a_pos = std::find(order.begin(), order.end(), magic_enum::enum_name(a.type())); + const auto b_pos = std::find(order.begin(), order.end(), magic_enum::enum_name(b.type())); + return a_pos < b_pos; + }; + + const auto & soft_margins = parameters.object_recognition_collision_check_soft_margins; + const auto & hard_margins = parameters.object_recognition_collision_check_hard_margins; + + const auto [margins, margins_with_zero] = + std::invoke([&]() -> std::tuple, std::vector> { + std::vector margins = soft_margins; + margins.insert(margins.end(), hard_margins.begin(), hard_margins.end()); + std::vector margins_with_zero = margins; + margins_with_zero.push_back(0.0); + return std::make_tuple(margins, margins_with_zero); + }); + + // Create a map of PullOverPath pointer to largest collision check margin + std::map path_id_to_rough_margin_map; + const auto & target_objects = autoware_perception_msgs::msg::PredictedObjects{}; + for (const size_t i : sorted_path_indices) { + const auto & path = pull_over_path_candidates[i]; + const double distance = + autoware::behavior_path_planner::utils::path_safety_checker::calculateRoughDistanceToObjects( + path.parking_path(), target_objects, planner_data->parameters, false, "max"); + auto it = std::lower_bound( + margins_with_zero.begin(), margins_with_zero.end(), distance, std::greater()); + if (it == margins_with_zero.end()) { + path_id_to_rough_margin_map[path.id()] = margins_with_zero.back(); + } else { + path_id_to_rough_margin_map[path.id()] = *it; + } + } + + // sorts in descending order so the item with larger margin comes first + std::stable_sort( + sorted_path_indices.begin(), sorted_path_indices.end(), + [&](const size_t a_i, const size_t b_i) { + const auto & a = pull_over_path_candidates[a_i]; + const auto & b = pull_over_path_candidates[b_i]; + if ( + std::abs(path_id_to_rough_margin_map[a.id()] - path_id_to_rough_margin_map[b.id()]) < + 0.01) { + return false; + } + return path_id_to_rough_margin_map[a.id()] > path_id_to_rough_margin_map[b.id()]; + }); + + // STEP2-3: Sort by curvature + // If the curvature is less than the threshold, prioritize the path. + const auto isHighCurvature = [&](const PullOverPath & path) -> bool { + return path.parking_path_max_curvature() >= parameters.high_curvature_threshold; + }; + + const auto isSoftMargin = [&](const PullOverPath & path) -> bool { + const double margin = path_id_to_rough_margin_map[path.id()]; + return std::any_of( + soft_margins.begin(), soft_margins.end(), + [margin](const double soft_margin) { return std::abs(margin - soft_margin) < 0.01; }); + }; + const auto isSameHardMargin = [&](const PullOverPath & a, const PullOverPath & b) -> bool { + return !isSoftMargin(a) && !isSoftMargin(b) && + std::abs(path_id_to_rough_margin_map[a.id()] - path_id_to_rough_margin_map[b.id()]) < + 0.01; + }; + + // NOTE: this is just partition sort based on curvature threshold within each sub partitions + std::stable_sort( + sorted_path_indices.begin(), sorted_path_indices.end(), + [&](const size_t a_i, const size_t b_i) { + const auto & a = pull_over_path_candidates[a_i]; + const auto & b = pull_over_path_candidates[b_i]; + // if both are soft margin or both are same hard margin, prioritize the path with lower + // curvature. + if ((isSoftMargin(a) && isSoftMargin(b)) || isSameHardMargin(a, b)) { + return !isHighCurvature(a) && isHighCurvature(b); + } + // otherwise, keep the order based on the margin. + return false; + }); + + // STEP2-4: Sort pull_over_path_candidates based on the order in efficient_path_order keeping + // the collision check margin and curvature priority. + if (parameters.path_priority == "efficient_path") { + std::stable_sort( + sorted_path_indices.begin(), sorted_path_indices.end(), + [&](const size_t a_i, const size_t b_i) { + // if any of following conditions are met, sort by path type priority + // - both are soft margin + // - both are same hard margin + const auto & a = pull_over_path_candidates[a_i]; + const auto & b = pull_over_path_candidates[b_i]; + if ((isSoftMargin(a) && isSoftMargin(b)) || isSameHardMargin(a, b)) { + return comparePathTypePriority(a, b); + } + // otherwise, keep the order. + return false; + }); + } + + std::vector selected; + for (const auto & sorted_index : sorted_path_indices) { + selected.push_back(pull_over_path_candidates.at(sorted_index)); + } + + return selected; +} + +int main(int argc, char ** argv) +{ + using autoware::behavior_path_planner::utils::getReferencePath; + rclcpp::init(argc, argv); + + autoware_planning_msgs::msg::LaneletRoute route_msg; + route_msg.start_pose = + geometry_msgs::build() + .position(geometry_msgs::build().x(729.944).y(695.124).z(381.18)) + .orientation( + geometry_msgs::build().x(0.0).y(0.0).z(0.437138).w( + 0.899395)); route_msg.goal_pose = geometry_msgs::build() - .position( - geometry_msgs::build().x(568.836731).y(437.871904).z(100.0)) + .position(geometry_msgs::build().x(797.526).y(694.105).z(381.18)) .orientation( - geometry_msgs::build().x(0.0).y(0.0).z(-0.292125).w( - 0.956380)); - */ + geometry_msgs::build().x(0.0).y(0.0).z(-0.658723).w( + 0.752386)); route_msg.segments = std::vector{ autoware_planning_msgs::build() .preferred_primitive( autoware_planning_msgs::build() - .id(17757) + .id(15214) .primitive_type("")) .primitives(std::vector{ autoware_planning_msgs::build() - .id(17756) + .id(15214) .primitive_type("lane"), autoware_planning_msgs::build() - .id(17757) + .id(15213) .primitive_type("lane"), }), autoware_planning_msgs::build() .preferred_primitive( autoware_planning_msgs::build() - .id(18494) + .id(15226) .primitive_type("")) .primitives(std::vector{ autoware_planning_msgs::build() - .id(18494) + .id(15226) .primitive_type("lane"), autoware_planning_msgs::build() - .id(18493) + .id(15225) .primitive_type("lane"), }), autoware_planning_msgs::build() .preferred_primitive( autoware_planning_msgs::build() - .id(18496) + .id(15228) .primitive_type("")) .primitives(std::vector{ autoware_planning_msgs::build() - .id(18496) + .id(15228) .primitive_type("lane"), autoware_planning_msgs::build() - .id(18497) + .id(15229) + .primitive_type("lane"), + }), + autoware_planning_msgs::build() + .preferred_primitive( + autoware_planning_msgs::build() + .id(15231) + .primitive_type("")) + .primitives(std::vector{ + autoware_planning_msgs::build() + .id(15231) .primitive_type("lane"), }), }; route_msg.allow_modification = false; - autoware_map_msgs::msg::LaneletMapBin map_bin; - lanelet::utils::conversion::toBinMsg( - lanelet_map_ptr, &map_bin); // TODO(soblin): pass lanelet_map_ptr to RouteHandler - /* - reference: - https://github.com/ros2/rclcpp/blob/ee94bc63e4ce47a502891480a2796b53d54fcdfc/rclcpp/test/rclcpp/test_parameter_client.cpp#L927 - */ - /* - auto node = rclcpp::Node::make_shared( - "node", "namespace", rclcpp::NodeOptions().allow_undeclared_parameters(true)); - auto param_node = std::make_shared(node, ""); - { - auto future = param_node->load_parameters( - ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner") + - "/config/behavior_path_planner.param.yaml"); - if (rclcpp::spin_until_future_complete(node, future) != rclcpp::FutureReturnCode::SUCCESS) { - RCLCPP_INFO(node->get_logger(), "failed to load behavior_path_planner.param.yaml"); - } - } - { - auto future = param_node->load_parameters( - ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner") + - "/config/drivable_area_expansion.param.yaml"); - if (rclcpp::spin_until_future_complete(node, future) != rclcpp::FutureReturnCode::SUCCESS) { - RCLCPP_INFO(node->get_logger(), "failed to load drivable_area_expansion.param.yaml"); - } - } - { - auto future = param_node->load_parameters( - ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner") + - "/config/scene_module_manager.param.yaml"); - if (rclcpp::spin_until_future_complete(node, future) != rclcpp::FutureReturnCode::SUCCESS) { - RCLCPP_INFO(node->get_logger(), "failed to load scene_module_manager.param.yaml"); - } - } - */ auto node_options = rclcpp::NodeOptions{}; node_options.parameter_overrides( std::vector{{"launch_modules", std::vector{}}}); @@ -238,20 +435,16 @@ int main(int argc, char ** argv) "/config/goal_planner.param.yaml"}); auto node = rclcpp::Node::make_shared("plot_map", node_options); - auto planner_data = std::make_shared(); - planner_data->init_parameters(*node); - planner_data->route_handler->setMap(map_bin); - planner_data->route_handler->setRoute(route_msg); - nav_msgs::msg::Odometry odom; - odom.pose.pose = route_msg.start_pose; - auto odometry = std::make_shared(odom); - planner_data->self_odometry = odometry; + auto planner_data = instantiate_planner_data( + node, + ament_index_cpp::get_package_share_directory("autoware_test_utils") + + "/test_map/road_shoulder/lanelet2_map.osm", + route_msg); + lanelet::ConstLanelet current_route_lanelet; planner_data->route_handler->getClosestLaneletWithinRoute( route_msg.start_pose, ¤t_route_lanelet); - std::cout << "current_route_lanelet is " << current_route_lanelet.id() << std::endl; - const auto reference_path = - autoware::behavior_path_planner::utils::getReferencePath(current_route_lanelet, planner_data); + const auto reference_path = getReferencePath(current_route_lanelet, planner_data); auto goal_planner_parameter = autoware::behavior_path_planner::GoalPlannerModuleManager::initGoalPlannerParameters( node.get(), "goal_planner."); @@ -262,30 +455,47 @@ int main(int argc, char ** argv) lane_departure_checker_params.footprint_extra_margin = goal_planner_parameter.lane_departure_check_expansion_margin; lane_departure_checker.setParam(lane_departure_checker_params); - auto shift_pull_over_planner = autoware::behavior_path_planner::ShiftPullOver( - *node, goal_planner_parameter, lane_departure_checker); - const auto pull_over_path_opt = - shift_pull_over_planner.plan(0, 0, planner_data, reference_path, route_msg.goal_pose); + autoware::behavior_path_planner::GoalSearcher goal_searcher( + goal_planner_parameter, vehicle_info.createFootprint()); + const auto goal_candidates = goal_searcher.search(planner_data); pybind11::scoped_interpreter guard{}; auto plt = matplotlibcpp17::pyplot::import(); - auto [fig, ax] = plt.subplots(); + auto [fig, axes] = plt.subplots(1, 2); - const std::vector ids{17756, 17757, 18493, 18494, 18496, 18497, - 18492, 18495, 18498, 18499, 18500}; + auto & ax1 = axes[0]; + auto & ax2 = axes[1]; + const std::vector ids{15213, 15214, 15225, 15226, 15224, 15227, + 15228, 15229, 15230, 15231, 15232}; for (const auto & id : ids) { - const auto lanelet = lanelet_map_ptr->laneletLayer.get(id); - plot_lanelet(ax, lanelet); + const auto lanelet = planner_data->route_handler->getLaneletMapPtr()->laneletLayer.get(id); + plot_lanelet(ax1, lanelet); + plot_lanelet(ax2, lanelet); } - plot_path_with_lane_id(ax, reference_path.path); - std::cout << pull_over_path_opt.has_value() << std::endl; - if (pull_over_path_opt) { - const auto & pull_over_path = pull_over_path_opt.value(); - const auto & full_path = pull_over_path.full_path; - plot_path_with_lane_id(ax, full_path); + plot_path_with_lane_id(ax1, reference_path.path, "green"); + + std::vector candidates; + for (const auto & goal_candidate : goal_candidates) { + auto shift_pull_over_planner = autoware::behavior_path_planner::ShiftPullOver( + *node, goal_planner_parameter, lane_departure_checker); + const auto pull_over_path_opt = + shift_pull_over_planner.plan(goal_candidate, 0, planner_data, reference_path); + if (pull_over_path_opt) { + const auto & pull_over_path = pull_over_path_opt.value(); + const auto & full_path = pull_over_path.full_path(); + candidates.push_back(pull_over_path); + plot_path_with_lane_id(ax1, full_path); + } + } + const auto filtered_paths = selectPullOverPaths( + candidates, goal_candidates, planner_data, goal_planner_parameter, reference_path); + for (const auto & filtered_path : filtered_paths) { + plot_path_with_lane_id(ax2, filtered_path.full_path(), "blue"); } - ax.set_aspect(Args("equal")); + + ax1.set_aspect(Args("equal")); + ax2.set_aspect(Args("equal")); plt.show(); rclcpp::shutdown(); From 8cfc3b832d4047986e7d9ef4871297214fb1db0e Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 23 Oct 2024 16:40:29 +0900 Subject: [PATCH 284/701] fix(static_obstacle_avoidance): suppress unnecessary warning (#9142) Signed-off-by: satoshi-ota --- .../src/scene.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 9b04847bd59b0..23c3d6a3ad443 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -1634,11 +1634,6 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & data = avoid_data_; - if (data.new_shift_line.empty()) { - RCLCPP_WARN(getLogger(), "module doesn't have return shift line."); - return; - } - if (data.to_return_point > planner_data_->parameters.forward_path_length) { RCLCPP_DEBUG(getLogger(), "return dead line is far enough."); return; @@ -1651,6 +1646,11 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( return; } + if (data.new_shift_line.empty()) { + RCLCPP_WARN(getLogger(), "module doesn't have return shift line."); + return; + } + if (!helper_->isFeasible(data.new_shift_line)) { RCLCPP_WARN(getLogger(), "return shift line is not feasible. do nothing.."); return; From 3711683079876acad9431e13539f41857f5a2bbd Mon Sep 17 00:00:00 2001 From: cyn-liu <104069308+cyn-liu@users.noreply.github.com> Date: Wed, 23 Oct 2024 18:16:29 +0800 Subject: [PATCH 285/701] fix(tier4_map_launch): remove parameter use_intra_process (#9138) Signed-off-by: liu cui --- launch/tier4_map_launch/launch/map.launch.xml | 7 ------- 1 file changed, 7 deletions(-) diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml index bd97963bd1268..3b30a891ae555 100644 --- a/launch/tier4_map_launch/launch/map.launch.xml +++ b/launch/tier4_map_launch/launch/map.launch.xml @@ -11,9 +11,6 @@ - - - @@ -32,25 +29,21 @@ - - - - From 8e0d40b8510ff69c4653842433dd4d4b284beb79 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 24 Oct 2024 10:14:24 +0900 Subject: [PATCH 286/701] fix(autonomous_emergency_braking): fix no backward imu path and wrong back distance usage (#9141) * fix no backward imu path and wrong back distance usage Signed-off-by: Daniel Sanchez * use the motion utils isDrivingForward function Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../src/node.cpp | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index df78ffc156802..5d12031f9039b 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -15,6 +15,7 @@ #include #include #include +#include #include #include #include @@ -642,7 +643,7 @@ Path AEB::generateEgoPath(const double curr_v, const double curr_w) ini_pose.orientation = autoware::universe_utils::createQuaternionFromYaw(curr_yaw); path.push_back(ini_pose); const double & dt = imu_prediction_time_interval_; - const double distance_between_points = curr_v * dt; + const double distance_between_points = std::abs(curr_v) * dt; constexpr double minimum_distance_between_points{1e-2}; // if current velocity is too small, assume it stops at the same point // if distance between points is too small, arc length calculation is unreliable, so we skip @@ -887,7 +888,11 @@ void AEB::getClosestObjectsOnPath( if (ego_path.size() < 2 || points_belonging_to_cluster_hulls->empty()) { return; } - + const auto ego_is_driving_forward_opt = autoware::motion_utils::isDrivingForward(ego_path); + if (!ego_is_driving_forward_opt.has_value()) { + return; + } + const bool ego_is_driving_forward = ego_is_driving_forward_opt.value(); // select points inside the ego footprint path const auto current_p = [&]() { const auto & first_point_of_path = ego_path.front(); @@ -916,11 +921,9 @@ void AEB::getClosestObjectsOnPath( // If the object is behind the ego, we need to use the backward long offset. The distance should // be a positive number in any case - const bool is_object_in_front_of_ego = obj_arc_length > 0.0; - const double dist_ego_to_object = (is_object_in_front_of_ego) + const double dist_ego_to_object = (ego_is_driving_forward) ? obj_arc_length - vehicle_info_.max_longitudinal_offset_m : obj_arc_length + vehicle_info_.min_longitudinal_offset_m; - ObjectData obj; obj.stamp = stamp; obj.position = obj_position; From 4c97c182a111d6c7e6c602c63ab60695a18da5c3 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Thu, 24 Oct 2024 05:40:54 +0000 Subject: [PATCH 287/701] chore: update CODEOWNERS (#9079) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/CODEOWNERS | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 7080897e9fab5..cffb8d2b99280 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,17 +1,20 @@ ### Automatically generated from package.xml ### common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +common/autoware_component_interface_tools/** isamu.takagi@tier4.jp common/autoware_geography_utils/** koji.minoda@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp common/autoware_interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp common/autoware_object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp +common/autoware_osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp +common/autoware_polar_grid/** yukihiro.saito@tier4.jp common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @@ -19,14 +22,11 @@ common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp common/autoware_vehicle_info_utils/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp common/component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp -common/component_interface_tools/** isamu.takagi@tier4.jp common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/glog_component/** takamasa.horibe@tier4.jp common/goal_distance_calculator/** taiki.tanaka@tier4.jp -common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp -common/polar_grid/** yukihiro.saito@tier4.jp common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp common/tier4_api_utils/** isamu.takagi@tier4.jp @@ -48,6 +48,7 @@ control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@t control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp zulfaqar.azmi@tier4.jp control/autoware_mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/autoware_obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_operation_mode_transition_manager/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_pure_pursuit/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @@ -57,7 +58,6 @@ control/autoware_trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.m control/autoware_trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -control/autoware_obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/predicted_path_checker/** berkay@leodrive.ai evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp evaluator/autoware_evaluator_utils/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp @@ -115,7 +115,7 @@ perception/autoware_image_projection_based_fusion/** dai.nguyen@tier4.jp koji.mi perception/autoware_lidar_apollo_instance_segmentation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp perception/autoware_lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp -perception/autoware_map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp +perception/autoware_map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp taekjin.lee@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp perception/autoware_multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_object_range_splitter/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @@ -148,7 +148,7 @@ planning/autoware_freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@ planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp -planning/autoware_obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp +planning/autoware_obstacle_cruise_planner/** berkay@leodrive.ai kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp planning/autoware_obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp planning/autoware_path_optimizer/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp @@ -178,7 +178,7 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/* planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp From 26f617d45eebcc2fa025528df420f74d52add338 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 24 Oct 2024 15:03:07 +0900 Subject: [PATCH 288/701] feat(autoware_external_cmd_converter): add ext cmd converter tests (#9118) * add ext cmd converter tests Signed-off-by: Daniel Sanchez * add briefs to describe the tests Signed-off-by: Daniel Sanchez * update tests and add nan and inf check Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../CMakeLists.txt | 10 + .../test_external_cmd_converter.param.yaml | 9 + .../autoware_external_cmd_converter/node.hpp | 4 + .../package.xml | 2 + .../src/node.cpp | 9 + .../tests/test_external_cmd_converter.cpp | 284 ++++++++++++++++++ 6 files changed, 318 insertions(+) create mode 100644 vehicle/autoware_external_cmd_converter/config/test_external_cmd_converter.param.yaml create mode 100644 vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp diff --git a/vehicle/autoware_external_cmd_converter/CMakeLists.txt b/vehicle/autoware_external_cmd_converter/CMakeLists.txt index 27a256ea775c5..01e82c99a9c4d 100644 --- a/vehicle/autoware_external_cmd_converter/CMakeLists.txt +++ b/vehicle/autoware_external_cmd_converter/CMakeLists.txt @@ -13,6 +13,16 @@ rclcpp_components_register_node(autoware_external_cmd_converter EXECUTABLE external_cmd_converter_node ) +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + tests/test_external_cmd_converter.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + autoware_external_cmd_converter + ) +endif() + + ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/vehicle/autoware_external_cmd_converter/config/test_external_cmd_converter.param.yaml b/vehicle/autoware_external_cmd_converter/config/test_external_cmd_converter.param.yaml new file mode 100644 index 0000000000000..caba3777feeaf --- /dev/null +++ b/vehicle/autoware_external_cmd_converter/config/test_external_cmd_converter.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + csv_path_accel_map: $(var csv_path_accel_map) + csv_path_brake_map: $(var csv_path_brake_map) + ref_vel_gain: 0.2 + timer_rate: 0.5 + wait_for_first_topic: false + control_command_timeout: 2.0 + emergency_stop_timeout: 2.0 diff --git a/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp b/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp index c219c162d6b37..8d045279fc281 100644 --- a/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp +++ b/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp @@ -32,6 +32,8 @@ #include #include +class TestExternalCmdConverter; + namespace autoware::external_cmd_converter { using GearCommand = autoware_vehicle_msgs::msg::GearCommand; @@ -103,6 +105,8 @@ class ExternalCmdConverterNode : public rclcpp::Node double calculate_acc(const ExternalControlCommand & cmd, const double vel); double get_shift_velocity_sign(const GearCommand & cmd); + + friend class ::TestExternalCmdConverter; }; } // namespace autoware::external_cmd_converter diff --git a/vehicle/autoware_external_cmd_converter/package.xml b/vehicle/autoware_external_cmd_converter/package.xml index f98c14f4fd2c3..59e2077d45cc5 100644 --- a/vehicle/autoware_external_cmd_converter/package.xml +++ b/vehicle/autoware_external_cmd_converter/package.xml @@ -15,6 +15,7 @@ autoware_control_msgs autoware_raw_vehicle_cmd_converter + autoware_test_utils autoware_vehicle_msgs diagnostic_updater geometry_msgs @@ -26,6 +27,7 @@ tier4_external_api_msgs tier4_system_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/vehicle/autoware_external_cmd_converter/src/node.cpp b/vehicle/autoware_external_cmd_converter/src/node.cpp index 22fc1c319a4e3..0f7166c71fbff 100644 --- a/vehicle/autoware_external_cmd_converter/src/node.cpp +++ b/vehicle/autoware_external_cmd_converter/src/node.cpp @@ -15,6 +15,7 @@ #include "autoware_external_cmd_converter/node.hpp" #include +#include #include #include #include @@ -147,6 +148,14 @@ double ExternalCmdConverterNode::calculate_acc(const ExternalControlCommand & cm { const double desired_throttle = cmd.control.throttle; const double desired_brake = cmd.control.brake; + if ( + std::isnan(desired_throttle) || std::isnan(desired_brake) || std::isinf(desired_throttle) || + std::isinf(desired_brake)) { + std::cerr << "Input brake or throttle is out of range. returning 0.0 acceleration." + << std::endl; + return 0.0; + } + const double desired_pedal = desired_throttle - desired_brake; double ref_acceleration = 0.0; diff --git a/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp b/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp new file mode 100644 index 0000000000000..a508359af60e8 --- /dev/null +++ b/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp @@ -0,0 +1,284 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware_external_cmd_converter/node.hpp" + +#include +#include +#include +#include +#include + +#include + +#include +#include +using autoware::external_cmd_converter::ExternalCmdConverterNode; +using nav_msgs::msg::Odometry; +using tier4_control_msgs::msg::GateMode; +using GearCommand = autoware_vehicle_msgs::msg::GearCommand; +using autoware_control_msgs::msg::Control; +using ExternalControlCommand = tier4_external_api_msgs::msg::ControlCommandStamped; +using autoware::raw_vehicle_cmd_converter::AccelMap; +using autoware::raw_vehicle_cmd_converter::BrakeMap; + +class TestExternalCmdConverter : public ::testing::Test +{ +public: + void SetUp() override + { + rclcpp::init(0, nullptr); + set_up_node(); + } + + void set_up_node() + { + auto node_options = rclcpp::NodeOptions{}; + const auto external_cmd_converter_dir = + ament_index_cpp::get_package_share_directory("autoware_external_cmd_converter"); + node_options.arguments( + {"--ros-args", "--params-file", + external_cmd_converter_dir + "/config/test_external_cmd_converter.param.yaml"}); + external_cmd_converter_ = std::make_shared(node_options); + } + + void TearDown() override + { + external_cmd_converter_ = nullptr; + rclcpp::shutdown(); + } + + /** + * @brief Test the external command converter's check_remote_topic_rate method under + * different circumstances: + * @param received_data wether to simulate if the emergency heartbeat and gate mode messages have + * been received or not + * @param is_external set the gate mode to Auto or External + * @param time_has_passed wether to sleep for a certain time to make sure the timeout period of + * the function has expired or not. + */ + bool test_check_remote_topic_rate(bool received_data, bool is_auto, bool time_has_passed) + { + if (!received_data) { + return external_cmd_converter_->check_remote_topic_rate(); + } + GateMode gate; + gate.data = (is_auto) ? tier4_control_msgs::msg::GateMode::AUTO + : tier4_control_msgs::msg::GateMode::EXTERNAL; + external_cmd_converter_->current_gate_mode_ = std::make_shared(gate); + external_cmd_converter_->latest_cmd_received_time_ = + std::make_shared(external_cmd_converter_->now()); + + if (!time_has_passed) { + return external_cmd_converter_->check_remote_topic_rate(); + } + const int sleep_time = static_cast(external_cmd_converter_->control_command_timeout_) + 1; + std::this_thread::sleep_for(std::chrono::seconds(sleep_time)); + return external_cmd_converter_->check_remote_topic_rate(); + } + + /** + * @brief Test the external command converter's check_emergency_stop_topic_timeout method under + * different circumstances: + * @param received_data wether to simulate if the emergency heartbeat and gate mode messages have + * been received or not + * @param is_auto set the gate mode to Auto or External + * @param time_has_passed wether to sleep for a certain time to make sure the timeout period of + * the function has expired or not. + */ + bool test_check_emergency_stop_topic_timeout( + bool received_data, bool is_auto, bool time_has_passed) + { + if (!received_data) { + return external_cmd_converter_->check_emergency_stop_topic_timeout(); + } + tier4_external_api_msgs::msg::Heartbeat::ConstSharedPtr msg; + external_cmd_converter_->on_emergency_stop_heartbeat(msg); + GateMode gate; + gate.data = (is_auto) ? tier4_control_msgs::msg::GateMode::AUTO + : tier4_control_msgs::msg::GateMode::EXTERNAL; + external_cmd_converter_->current_gate_mode_ = std::make_shared(gate); + + const int sleep_time = static_cast(external_cmd_converter_->emergency_stop_timeout_) + 1; + if (time_has_passed) std::this_thread::sleep_for(std::chrono::seconds(sleep_time)); + return external_cmd_converter_->check_emergency_stop_topic_timeout(); + } + + /** + * @brief Test the external command converter's get_shift_velocity_sign. This function is a + * wrapper to call the converter's function during the test and does nothing but pass the command + * to the function. + * @param cmd the command to be passed to the get_shift_velocity_sign member function. + */ + double test_get_shift_velocity_sign(const GearCommand & cmd) + { + return external_cmd_converter_->get_shift_velocity_sign(cmd); + } + + /** + * @brief Helper function to initialize the accel and brake maps for testing. + */ + void initialize_maps(const std::string & accel_map, const std::string & brake_map) + { + external_cmd_converter_->accel_map_.readAccelMapFromCSV(accel_map); + external_cmd_converter_->brake_map_.readBrakeMapFromCSV(brake_map); + external_cmd_converter_->acc_map_initialized_ = true; + } + + /** + * @brief Test the external command converter's calculate_acc. This function is a + * wrapper to call the converter's function during the test and does nothing but pass the command + * to the function. + * @param cmd the command to be passed to the calculate_acc member function. + * @param vel the velocity to be passed to the calculate_acc member function. + */ + double test_calculate_acc( + + const ExternalControlCommand & cmd, const double vel) + { + return external_cmd_converter_->calculate_acc(cmd, vel); + } + + std::shared_ptr external_cmd_converter_; +}; + +/** + * @brief Test the external command converter's check_emergency_stop_topic_timeout method under + * different circumstances by setting different combinations of conditions for the function + * execution. the test_check_emergency_stop_topic_timeout() function's brief should be read for + * further details. + */ +TEST_F(TestExternalCmdConverter, testCheckEmergencyStopTimeout) +{ + EXPECT_TRUE(test_check_emergency_stop_topic_timeout(false, false, false)); + EXPECT_FALSE(test_check_emergency_stop_topic_timeout(true, true, false)); + EXPECT_TRUE(test_check_emergency_stop_topic_timeout(true, false, false)); + EXPECT_FALSE(test_check_emergency_stop_topic_timeout(true, false, true)); +} + +/** + * @brief Test the external command converter's check_remote_topic_rate method under + * different circumstances by setting different combinations of conditions for the function + * execution. the test_check_remote_topic_rate() function's brief should be read for further + * details. + */ +TEST_F(TestExternalCmdConverter, testRemoteTopicRate) +{ + EXPECT_TRUE(test_check_remote_topic_rate(false, false, false)); + EXPECT_TRUE(test_check_remote_topic_rate(true, true, false)); + EXPECT_TRUE(test_check_remote_topic_rate(true, true, true)); + EXPECT_FALSE(test_check_remote_topic_rate(true, false, true)); +} + +/** + * @brief Test the external command converter's get_shift_velocity_sign function. It tests different + * combinations of input commands for the functions. + */ +TEST_F(TestExternalCmdConverter, testGetShiftVelocitySign) +{ + GearCommand cmd; + cmd.command = GearCommand::DRIVE; + EXPECT_DOUBLE_EQ(1.0, test_get_shift_velocity_sign(cmd)); + cmd.command = GearCommand::LOW; + EXPECT_DOUBLE_EQ(1.0, test_get_shift_velocity_sign(cmd)); + cmd.command = GearCommand::REVERSE; + EXPECT_DOUBLE_EQ(-1.0, test_get_shift_velocity_sign(cmd)); + cmd.command = GearCommand::LOW_2; + EXPECT_DOUBLE_EQ(0.0, test_get_shift_velocity_sign(cmd)); +} + +/** + * @brief Test the external command converter's calculate_acc function. It tests different + * combinations of input commands and velocities for the functions. + */ +TEST_F(TestExternalCmdConverter, testCalculateAcc) +{ + const auto map_dir = + ament_index_cpp::get_package_share_directory("autoware_raw_vehicle_cmd_converter"); + const auto accel_map_path = map_dir + "/data/default/accel_map.csv"; + const auto brake_map_path = map_dir + "/data/default/brake_map.csv"; + initialize_maps(accel_map_path, brake_map_path); + + // test standard cases + { + ExternalControlCommand cmd; + cmd.control.throttle = 1.0; + cmd.control.brake = 0.0; + double vel = 0.0; + EXPECT_TRUE(test_calculate_acc(cmd, vel) > 0.0); + cmd.control.throttle = 0.0; + cmd.control.brake = 1.0; + EXPECT_TRUE(test_calculate_acc(cmd, vel) < 0.0); + + cmd.control.throttle = 1.0; + cmd.control.brake = 0.5; + vel = 1.0; + EXPECT_TRUE(test_calculate_acc(cmd, vel) > 0.0); + cmd.control.throttle = 0.5; + cmd.control.brake = 1.0; + EXPECT_TRUE(test_calculate_acc(cmd, vel) < 0.0); + } + // test border cases + { + // input brake or throttle are infinite. finite velocity. + ExternalControlCommand cmd; + cmd.control.throttle = std::numeric_limits::infinity(); + cmd.control.brake = 0.0; + double vel = 0.0; + double acc = test_calculate_acc(cmd, vel); + EXPECT_DOUBLE_EQ(acc, 0.0); + cmd.control.throttle = 0.0; + cmd.control.brake = std::numeric_limits::infinity(); + acc = test_calculate_acc(cmd, vel); + EXPECT_DOUBLE_EQ(acc, 0.0); + + // input brake or throttle are infinite. velocity is infinite. + // Check that acc is not NaN and not infinite + + vel = std::numeric_limits::infinity(); + cmd.control.throttle = std::numeric_limits::infinity(); + cmd.control.brake = 0.0; + acc = test_calculate_acc(cmd, vel); + EXPECT_FALSE(std::isnan(acc)); + EXPECT_FALSE(std::isinf(acc)); + EXPECT_DOUBLE_EQ(acc, 0.0); + cmd.control.throttle = 0.0; + cmd.control.brake = std::numeric_limits::infinity(); + acc = test_calculate_acc(cmd, vel); + EXPECT_FALSE(std::isnan(acc)); + EXPECT_FALSE(std::isinf(acc)); + EXPECT_DOUBLE_EQ(acc, 0.0); + + cmd.control.throttle = std::numeric_limits::infinity(); + cmd.control.brake = std::numeric_limits::infinity(); + acc = test_calculate_acc(cmd, vel); + EXPECT_FALSE(std::isnan(acc)); + EXPECT_FALSE(std::isinf(acc)); + EXPECT_DOUBLE_EQ(acc, 0.0); + + cmd.control.throttle = std::numeric_limits::quiet_NaN(); + cmd.control.brake = std::numeric_limits::quiet_NaN(); + acc = test_calculate_acc(cmd, vel); + EXPECT_FALSE(std::isnan(acc)); + EXPECT_FALSE(std::isinf(acc)); + EXPECT_DOUBLE_EQ(acc, 0.0); + + cmd.control.throttle = std::numeric_limits::signaling_NaN(); + cmd.control.brake = std::numeric_limits::signaling_NaN(); + acc = test_calculate_acc(cmd, vel); + EXPECT_FALSE(std::isnan(acc)); + EXPECT_FALSE(std::isinf(acc)); + EXPECT_DOUBLE_EQ(acc, 0.0); + } +} From b74a59ade9a6279c9726cc2bc23c7ea0614487ca Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Thu, 24 Oct 2024 18:01:14 +0900 Subject: [PATCH 289/701] chore(tier4_perception_launch): enable to receive argument `centerpoint_model_name` from autoware_launch (#9003) * enable to receive arguments Signed-off-by: MasatoSaeki * adopt transfusion Signed-off-by: MasatoSaeki * add lidar_detection_model_type Signed-off-by: MasatoSaeki * style(pre-commit): autofix * integrate all in lidar_detection_model Signed-off-by: MasatoSaeki * separate name and config Signed-off-by: MasatoSaeki * remove transfusion change Signed-off-by: MasatoSaeki * add default config on pp and transfusion Signed-off-by: MasatoSaeki * change variable name for easy to read Signed-off-by: MasatoSaeki * change variable name Signed-off-by: MasatoSaeki * fix condition when default model name Signed-off-by: MasatoSaeki --------- Signed-off-by: MasatoSaeki Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../detection/detection.launch.xml | 21 ++++++++------ .../detector/camera_lidar_detector.launch.xml | 12 ++++---- .../detector/lidar_dnn_detector.launch.xml | 28 +++++++++---------- .../merger/camera_lidar_merger.launch.xml | 8 +++--- .../camera_lidar_radar_merger.launch.xml | 8 +++--- .../detection/merger/lidar_merger.launch.xml | 6 ++-- .../launch/perception.launch.xml | 15 ++++++---- 7 files changed, 53 insertions(+), 45 deletions(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml index 8f64b624540e7..499cf3c192164 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml @@ -5,7 +5,8 @@ - + + @@ -51,11 +52,11 @@ - + - + @@ -159,7 +160,8 @@ - + + @@ -173,7 +175,8 @@ - + + @@ -283,7 +286,7 @@ - + @@ -333,7 +336,7 @@ - + @@ -348,7 +351,7 @@ - + @@ -376,7 +379,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml index 9cc5fcf847212..e06682853d956 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml @@ -1,7 +1,8 @@ - + + @@ -55,7 +56,8 @@ --> - + + @@ -86,10 +88,10 @@ - + - - + + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml index c914723f69e4a..e56cb93baceb5 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml @@ -1,12 +1,10 @@ - - - + + + - - @@ -15,7 +13,8 @@ - + + @@ -23,10 +22,10 @@ - + - - + + @@ -36,7 +35,8 @@ - + + @@ -44,10 +44,10 @@ - + - - + + @@ -57,7 +57,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml index 196325974c10c..fcfa9baf4ae20 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml @@ -5,7 +5,7 @@ - + @@ -51,18 +51,18 @@ - + - + - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml index b14ccc563ebae..c289a81c906fe 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml @@ -6,7 +6,7 @@ - + @@ -61,18 +61,18 @@ - + - + - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml index b9bb765cb1b16..a492e7667c347 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml @@ -5,7 +5,7 @@ - + @@ -19,7 +19,7 @@ - + @@ -28,7 +28,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 160ddb0285d9b..5c04cc3e10679 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -35,19 +35,21 @@ + - - + + + - - + - + + @@ -197,7 +199,8 @@ - + + From 25342a93c2d147df042d96ddf33fec42072cb686 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 24 Oct 2024 18:47:38 +0900 Subject: [PATCH 290/701] chore(virtual_traffic_light): add soblin to maintainer (#9147) Signed-off-by: kosuke55 --- .../package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml index 23dd3bc85b226..971a9aec26a06 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml @@ -8,6 +8,7 @@ Kosuke Takeuchi Tomoya Kimura Shumpei Wakabayashi + Mamoru Sobue Apache License 2.0 From bca5be3acbcdf19e29d307ad18b1765888edb4d5 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 24 Oct 2024 18:48:45 +0900 Subject: [PATCH 291/701] test(virtual_traffic_light): add unit tests for utils (#9107) Signed-off-by: kosuke55 --- .../CMakeLists.txt | 10 + .../package.xml | 1 + .../test/test_utils.cpp | 462 ++++++++++++++++++ 3 files changed, 473 insertions(+) create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt index 5c9e503afc2e3..1d1484ec9647e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt @@ -13,3 +13,13 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) ament_auto_package(INSTALL_TO_SHARE config) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + file(GLOB_RECURSE TEST_SOURCES test/*.cpp) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + ${TEST_SOURCES} + ) + target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME}) +endif() diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml index 971a9aec26a06..f2400839313b4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml @@ -33,6 +33,7 @@ tier4_v2x_msgs visualization_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp new file mode 100644 index 0000000000000..dd01b1be7fb83 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp @@ -0,0 +1,462 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "../src/utils.hpp" + +#include +#include + +#include + +#include + +using autoware::behavior_velocity_planner::virtual_traffic_light::calcCenter; +using autoware::behavior_velocity_planner::virtual_traffic_light::calcHeadPose; +using autoware::behavior_velocity_planner::virtual_traffic_light::convertToGeomPoint; +using autoware::behavior_velocity_planner::virtual_traffic_light::createKeyValue; +using autoware::behavior_velocity_planner::virtual_traffic_light::findLastCollisionBeforeEndLine; +using autoware::behavior_velocity_planner::virtual_traffic_light::insertStopVelocityAtCollision; +using autoware::behavior_velocity_planner::virtual_traffic_light::insertStopVelocityFromStart; +using autoware::behavior_velocity_planner::virtual_traffic_light::SegmentIndexWithPoint; +using autoware::behavior_velocity_planner::virtual_traffic_light::toAutowarePoints; + +tier4_planning_msgs::msg::PathWithLaneId generateStraightPath() +{ + tier4_planning_msgs::msg::PathWithLaneId path; + for (size_t i = 0; i < 10; ++i) { + tier4_planning_msgs::msg::PathPointWithLaneId point; + point.point.pose.position.x = static_cast(i); + point.point.pose.position.y = 0; + point.point.pose.position.z = 0; + point.point.longitudinal_velocity_mps = 10.0; + path.points.push_back(point); + } + return path; +} + +TEST(VirtualTrafficLightTest, CreateKeyValue) +{ + auto key_value = createKeyValue("test_key", "test_value"); + EXPECT_EQ(key_value.key, "test_key"); + EXPECT_EQ(key_value.value, "test_value"); +} + +TEST(VirtualTrafficLightTest, ToAutowarePoints) +{ + // lanelet::ConstLineString3d line_string + { + lanelet::LineString3d line_string; + line_string.push_back(lanelet::Point3d(1, 1.0, 2.0, 3.0)); + line_string.push_back(lanelet::Point3d(2, 4.0, 5.0, 6.0)); + + const auto result = toAutowarePoints(line_string); + ASSERT_EQ(result.size(), 2); + EXPECT_DOUBLE_EQ(result[0].x(), 1.0); + EXPECT_DOUBLE_EQ(result[0].y(), 2.0); + EXPECT_DOUBLE_EQ(result[0].z(), 3.0); + EXPECT_DOUBLE_EQ(result[1].x(), 4.0); + EXPECT_DOUBLE_EQ(result[1].y(), 5.0); + EXPECT_DOUBLE_EQ(result[1].z(), 6.0); + } + + // lanelet::Optional line_string + { + lanelet::LineString3d line_string; + line_string = lanelet::LineString3d(); + line_string.push_back(lanelet::Point3d(1, 1.0, 2.0, 3.0)); + line_string.push_back(lanelet::Point3d(2, 4.0, 5.0, 6.0)); + lanelet::Optional line_string_opt = line_string; + + const auto result = toAutowarePoints(line_string_opt); + ASSERT_TRUE(result.has_value()); + ASSERT_EQ(result.value().size(), 2); + EXPECT_DOUBLE_EQ(result.value()[0].x(), 1.0); + EXPECT_DOUBLE_EQ(result.value()[0].y(), 2.0); + EXPECT_DOUBLE_EQ(result.value()[0].z(), 3.0); + EXPECT_DOUBLE_EQ(result.value()[1].x(), 4.0); + EXPECT_DOUBLE_EQ(result.value()[1].y(), 5.0); + EXPECT_DOUBLE_EQ(result.value()[1].z(), 6.0); + + // nullopt + const lanelet::Optional line_string_nullopt = {}; + const auto result_nullopt = toAutowarePoints(line_string_nullopt); + ASSERT_FALSE(result_nullopt.has_value()); + } + + // lanelet::ConstLineStrings3d line_strings + { + lanelet::LineString3d line_string1; + line_string1.push_back(lanelet::Point3d(1, 1.0, 2.0, 3.0)); + line_string1.push_back(lanelet::Point3d(2, 4.0, 5.0, 6.0)); + + lanelet::LineString3d line_string2; + line_string2.push_back(lanelet::Point3d(3, 7.0, 8.0, 9.0)); + line_string2.push_back(lanelet::Point3d(4, 10.0, 11.0, 12.0)); + + lanelet::ConstLineStrings3d line_strings; + line_strings.push_back(line_string1); + line_strings.push_back(line_string2); + + const auto result = toAutowarePoints(line_strings); + ASSERT_EQ(result.size(), 2); + ASSERT_EQ(result[0].size(), 2); + ASSERT_EQ(result[1].size(), 2); + EXPECT_DOUBLE_EQ(result[0][0].x(), 1.0); + EXPECT_DOUBLE_EQ(result[0][0].y(), 2.0); + EXPECT_DOUBLE_EQ(result[0][0].z(), 3.0); + EXPECT_DOUBLE_EQ(result[0][1].x(), 4.0); + EXPECT_DOUBLE_EQ(result[0][1].y(), 5.0); + EXPECT_DOUBLE_EQ(result[0][1].z(), 6.0); + EXPECT_DOUBLE_EQ(result[1][0].x(), 7.0); + EXPECT_DOUBLE_EQ(result[1][0].y(), 8.0); + EXPECT_DOUBLE_EQ(result[1][0].z(), 9.0); + EXPECT_DOUBLE_EQ(result[1][1].x(), 10.0); + EXPECT_DOUBLE_EQ(result[1][1].y(), 11.0); + EXPECT_DOUBLE_EQ(result[1][1].z(), 12.0); + } +} + +TEST(VirtualTrafficLightTest, CalcCenter) +{ + autoware::universe_utils::LineString3d line_string; + line_string.emplace_back(1.0, 2.0, 3.0); + line_string.emplace_back(4.0, 5.0, 6.0); + + auto center = calcCenter(line_string); + EXPECT_DOUBLE_EQ(center.x(), 2.5); + EXPECT_DOUBLE_EQ(center.y(), 3.5); + EXPECT_DOUBLE_EQ(center.z(), 4.5); +} + +TEST(VirtualTrafficLightTest, CalcHeadPose) +{ + geometry_msgs::msg::Pose base_link_pose; + base_link_pose.position.x = 1.0; + base_link_pose.position.y = 2.0; + base_link_pose.position.z = 3.0; + + double base_link_to_front = 1.0; + auto head_pose = calcHeadPose(base_link_pose, base_link_to_front); + + EXPECT_DOUBLE_EQ(head_pose.position.x, 2.0); + EXPECT_DOUBLE_EQ(head_pose.position.y, 2.0); + EXPECT_DOUBLE_EQ(head_pose.position.z, 3.0); +} + +TEST(VirtualTrafficLightTest, ConvertToGeomPoint) +{ + autoware::universe_utils::Point3d point(1.0, 2.0, 3.0); + auto geom_point = convertToGeomPoint(point); + + EXPECT_DOUBLE_EQ(geom_point.x, 1.0); + EXPECT_DOUBLE_EQ(geom_point.y, 2.0); + EXPECT_DOUBLE_EQ(geom_point.z, 0.0); // z is not set in convertToGeomPoint +} + +TEST(VirtualTrafficLightTest, InsertStopVelocityFromStart) +{ + tier4_planning_msgs::msg::PathWithLaneId path; + tier4_planning_msgs::msg::PathPointWithLaneId point; + point.point.longitudinal_velocity_mps = 10.0; + path.points.push_back(point); + + insertStopVelocityFromStart(&path); + for (const auto & p : path.points) { + EXPECT_DOUBLE_EQ(p.point.longitudinal_velocity_mps, 0.0); + } +} + +TEST(VirtualTrafficLightTest, InsertStopVelocityAtCollision) +{ + // 1) insert stop velocity at first point + { + std::cout << "----- insert stop velocity at first point -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.0; + SegmentIndexWithPoint collision; + collision.index = 0; + collision.point.x = 0.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 0); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 0.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 2) insert stop velocity at middle point + { + std::cout << "----- insert stop velocity at middle point -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.0; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 5); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 3) insert stop velocity at last + // NOTE: autoware::motion_utils::calcLongitudinalOffsetToSegment() return std::nan(""); + // so cannot insert stop velocity at last point. + // todo(someone): We need to review whether this is the correct specification. + { + std::cout << "----- insert stop velocity at last -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.0; + SegmentIndexWithPoint collision; + collision.index = 9; + collision.point.x = 9.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_FALSE(result.has_value()); + } + + // 4) insert stop velocity at middle point with offset 0.01 + { + std::cout << "----- insert stop velocity at middle point with offset 0.01 -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.01; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 6); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 5) insert stop velocity at middle point with offset 0.5 + { + std::cout << "----- insert stop velocity at middle point with offset 0.4 -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.4; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 6); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 6) insert stop velocity at middle point with offset 1.0 + { + std::cout << "----- insert stop velocity at middle point with offset 1.0 -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 1.0; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 6); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } +} + +TEST(VirtualTrafficLightTest, insertStopVelocityAtCollision) +{ + // 1) insert stop velocity at first point + { + std::cout << "----- insert stop velocity at first point -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.0; + SegmentIndexWithPoint collision; + collision.index = 0; + collision.point.x = 0.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 0); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 0.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 2) insert stop velocity at middle point + { + std::cout << "----- insert stop velocity at middle point -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.0; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 5); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 3) insert stop velocity at last + // NOTE: autoware::motion_utils::calcLongitudinalOffsetToSegment() return std::nan(""); + // so cannot insert stop velocity at last point. + // todo(someone): We need to review whether this is the correct specification. + { + std::cout << "----- insert stop velocity at last -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.0; + SegmentIndexWithPoint collision; + collision.index = 9; + collision.point.x = 9.0; + collision.point.y = 0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_FALSE(result.has_value()); + } + + // 4) insert stop velocity at middle with offset + { + std::cout << "----- insert stop velocity at middle point with 0.5 offset -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.5; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 6); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 5) insert stop velocity at middle with negative offset + { + std::cout << "----- insert stop velocity at middle point with -0.5 offset -----" << std::endl; + auto path = generateStraightPath(); + const double offset = -0.5; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 5); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } +} + +TEST(VirtualTrafficLightTest, FindLastCollisionBeforeEndLine) +{ + // LineString3d + // 1) find first collision point + { + std::cout << "----- find first collision point -----" << std::endl; + autoware::universe_utils::LineString3d target_line; + target_line.emplace_back(0.0, -1.0, 0.0); + target_line.emplace_back(0.0, 1.0, 0.0); + + const auto path = generateStraightPath(); + + const auto result = + findLastCollisionBeforeEndLine(path.points, target_line, path.points.size() - 1); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value().index, 1); + } + + // 2-1) find middle collision point + { + std::cout << "----- find middle collision point -----" << std::endl; + + autoware::universe_utils::LineString3d target_line; + target_line.emplace_back(5.0, -1.0, 0.0); + target_line.emplace_back(5.0, 1.0, 0.0); + + const auto path = generateStraightPath(); + + // target line intersects with p5-p6 + const auto result = + findLastCollisionBeforeEndLine(path.points, target_line, path.points.size() - 1); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value().index, 6); + } + + // 2-2) find middle collision point + { + std::cout << "----- find middle collision point -----" << std::endl; + + autoware::universe_utils::LineString3d target_line; + target_line.emplace_back(4.5, -1.0, 0.0); + target_line.emplace_back(4.5, 1.0, 0.0); + + const auto path = generateStraightPath(); + + // target line intersects with p4-p5 + const auto result = + findLastCollisionBeforeEndLine(path.points, target_line, path.points.size() - 1); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value().index, 5); + } + + // std::vector + // 3) find middle collision point with multi target lines + { + std::cout << "----- find collision point with multi target lines -----" << std::endl; + + std::vector target_lines; + { + autoware::universe_utils::LineString3d target_line1; + + target_line1.emplace_back(3.5, -1.0, 0.0); + target_line1.emplace_back(3.5, 1.0, 0.0); + + autoware::universe_utils::LineString3d target_line2; + target_line2.emplace_back(6.5, -1.0, 0.0); + target_line2.emplace_back(6.5, 1.0, 0.0); + + target_lines.push_back(target_line1); + target_lines.push_back(target_line2); + + const auto path = generateStraightPath(); + + // NOTE: the name of this function is findLastCollisionBeforeEndLine, but it returns the + // collision with the first line added to multiple lines + // the first target line intersects with p3-p4 + const auto result = + findLastCollisionBeforeEndLine(path.points, target_lines, path.points.size() - 1); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value().index, 4); + } + } +} From 3e0d3c74e1021f9331a1a5b6545a4939d15faf40 Mon Sep 17 00:00:00 2001 From: T-Kimura-MM <119379767+T-Kimura-MM@users.noreply.github.com> Date: Thu, 24 Oct 2024 18:50:44 +0900 Subject: [PATCH 292/701] fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (#9103) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID Signed-off-by: T-Kimura-MM * style(pre-commit): autofix * fix typo Signed-off-by: T-Kimura-MM * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation Signed-off-by: T-Kimura-MM --------- Signed-off-by: T-Kimura-MM Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/utils/utils.cpp | 12 ++++++++++-- .../drivable_area_expansion/static_drivable_area.cpp | 12 ++++++++++-- .../src/utils.cpp | 12 ++++++++++-- .../src/util.cpp | 4 ++++ 4 files changed, 34 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index c900b7fe54302..455792733ac97 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -1001,8 +1001,16 @@ bool isWithinIntersection( return false; } - const auto lanelet_polygon = - route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(id.c_str())); + if (!std::atoi(id.c_str())) { + return false; + } + + const auto lanelet_polygon_opt = + route_handler->getLaneletMapPtr()->polygonLayer.find(std::atoi(id.c_str())); + if (lanelet_polygon_opt == route_handler->getLaneletMapPtr()->polygonLayer.end()) { + return false; + } + const auto & lanelet_polygon = *lanelet_polygon_opt; return boost::geometry::within( polygon, utils::toPolygon2d(lanelet::utils::to2D(lanelet_polygon.basicPolygon()))); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp index 3d5908bc4e02f..9c35032e51063 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp @@ -1193,11 +1193,19 @@ std::vector getBoundWithIntersectionAreas( continue; } + if (!std::atoi(id.c_str())) { + continue; + } + // Step1. extract intersection partial bound. std::vector intersection_bound{}; { - const auto polygon = - route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(id.c_str())); + const auto polygon_opt = + route_handler->getLaneletMapPtr()->polygonLayer.find(std::atoi(id.c_str())); + if (polygon_opt == route_handler->getLaneletMapPtr()->polygonLayer.end()) { + continue; + } + const auto & polygon = *polygon_opt; const auto is_clockwise_polygon = boost::geometry::is_valid(lanelet::utils::to2D(polygon.basicPolygon())); diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index 091a15bea158b..72b75586d42c5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -282,13 +282,21 @@ bool isWithinIntersection( return false; } + if (!std::atoi(area_id.c_str())) { + return false; + } + const std::string location = object.overhang_lanelet.attributeOr("location", "else"); if (location == "private") { return false; } - const auto polygon = - route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(area_id.c_str())); + const auto polygon_opt = + route_handler->getLaneletMapPtr()->polygonLayer.find(std::atoi(area_id.c_str())); + if (polygon_opt == route_handler->getLaneletMapPtr()->polygonLayer.end()) { + return false; + } + const auto & polygon = *polygon_opt; return boost::geometry::within( lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object.getPosition())) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp index a446493793c53..6474435afa26e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp @@ -342,8 +342,12 @@ std::optional getIntersectionArea( { const std::string area_id_str = assigned_lane.attributeOr("intersection_area", "else"); if (area_id_str == "else") return std::nullopt; + if (!std::atoi(area_id_str.c_str())) return std::nullopt; const lanelet::Id area_id = std::atoi(area_id_str.c_str()); + const auto polygon_opt = lanelet_map_ptr->polygonLayer.find(area_id); + if (polygon_opt == lanelet_map_ptr->polygonLayer.end()) return std::nullopt; + const auto poly_3d = lanelet_map_ptr->polygonLayer.get(area_id); Polygon2d poly{}; for (const auto & p : poly_3d) poly.outer().emplace_back(p.x(), p.y()); From a633deabfdbd727b1a6cf7fcb4a29b72a72d71c9 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Fri, 25 Oct 2024 14:34:08 +0900 Subject: [PATCH 293/701] fix(autoware_image_projection_based_fusion): pointpainting bug fix for point projection (#9150) fix: projected 2d point has 1.0 of depth Signed-off-by: Taekjin LEE --- .../src/pointpainting_fusion/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp index f999dcd8b0f3f..03a950f68bbd2 100644 --- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -350,7 +350,7 @@ dc | dc dc dc dc ||zc| sensor_msgs::msg::RegionOfInterest roi = feature_object.feature.roi; // paint current point if it is inside bbox int label2d = feature_object.object.classification.front().label; - if (!isUnknown(label2d) && isInsideBbox(projected_point.x(), projected_point.y(), roi, p_z)) { + if (!isUnknown(label2d) && isInsideBbox(projected_point.x(), projected_point.y(), roi, 1.0)) { // cppcheck-suppress invalidPointerCast auto p_class = reinterpret_cast(&output[stride + class_offset]); for (const auto & cls : isClassTable_) { From f5016255ca76cad1243700bdb4dec3293a1bdf88 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 25 Oct 2024 15:21:22 +0900 Subject: [PATCH 294/701] refactor(vehicle_info): add API description, add owner (#9151) Signed-off-by: Mamoru Sobue --- .../CMakeLists.txt | 20 ++++-- .../vehicle_info.hpp | 54 +++++++++----- .../vehicle_info_utils.hpp | 5 +- .../autoware_vehicle_info_utils/package.xml | 3 + .../src/vehicle_info.cpp | 42 +++++++---- .../src/vehicle_info_utils.cpp | 31 ++++---- .../test/test_vehicle_info_utils.cpp | 72 +++++++++++++++++++ 7 files changed, 173 insertions(+), 54 deletions(-) create mode 100644 common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp diff --git a/common/autoware_vehicle_info_utils/CMakeLists.txt b/common/autoware_vehicle_info_utils/CMakeLists.txt index 6d090ab3ebff7..024d0428b3576 100644 --- a/common/autoware_vehicle_info_utils/CMakeLists.txt +++ b/common/autoware_vehicle_info_utils/CMakeLists.txt @@ -9,13 +9,23 @@ ament_auto_add_library(vehicle_info_utils SHARED src/vehicle_info_utils.cpp ) -ament_auto_package( - INSTALL_TO_SHARE - config - launch -) +if(BUILD_TESTING) + file(GLOB_RECURSE test_files test/**/*.cpp) + + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} test/test_vehicle_info_utils.cpp) + + target_link_libraries(test_${PROJECT_NAME} + vehicle_info_utils + ) +endif() install(PROGRAMS scripts/min_turning_radius_calculator.py DESTINATION lib/${PROJECT_NAME} ) + +ament_auto_package( + INSTALL_TO_SHARE + config + launch +) diff --git a/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp b/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp index 923fc53055475..0e783cd006986 100644 --- a/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp +++ b/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp @@ -24,30 +24,48 @@ struct VehicleInfo { // Base parameters. These describe the vehicle's bounding box and the // position and radius of the wheels. - double wheel_radius_m; - double wheel_width_m; - double wheel_base_m; - double wheel_tread_m; - double front_overhang_m; - double rear_overhang_m; - double left_overhang_m; - double right_overhang_m; - double vehicle_height_m; - double max_steer_angle_rad; + double wheel_radius_m{}; // front-left + static constexpr size_t RearRightIndex = 3; // front-right + static constexpr size_t RearLeftIndex = 4; // rear-right + + /** + * @brief calculate the vehicle footprint in clockwise manner starting from the front-left edge, + * through front-right edge, center-right point, to front-left edge again to form a enclosed + * polygon + * @param margin the longitudinal and lateral inflation margin + */ autoware::universe_utils::LinearRing2d createFootprint(const double margin = 0.0) const; + + /** + * @brief calculate the vehicle footprint in clockwise manner starting from the front-left edge, + * through front-right edge, center-right point, to front-left edge again to form a enclosed + * polygon + * @param margin the longitudinal and lateral inflation margin + */ autoware::universe_utils::LinearRing2d createFootprint( const double lat_margin, const double lon_margin) const; diff --git a/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info_utils.hpp b/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info_utils.hpp index d3ca339f78451..8c320e711cfaf 100644 --- a/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info_utils.hpp +++ b/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info_utils.hpp @@ -17,7 +17,7 @@ #include "autoware_vehicle_info_utils/vehicle_info.hpp" -#include +#include namespace autoware::vehicle_info_utils { @@ -28,10 +28,11 @@ class VehicleInfoUtils { public: /// Constructor + // NOTE(soblin): this throws which should be replaced with a factory explicit VehicleInfoUtils(rclcpp::Node & node); /// Get vehicle info - VehicleInfo getVehicleInfo(); + VehicleInfo getVehicleInfo() const; private: /// Buffer for base parameters diff --git a/common/autoware_vehicle_info_utils/package.xml b/common/autoware_vehicle_info_utils/package.xml index c5d09bd039691..daf88af16a0d9 100644 --- a/common/autoware_vehicle_info_utils/package.xml +++ b/common/autoware_vehicle_info_utils/package.xml @@ -9,6 +9,7 @@ Taiki Tanaka Tomoya Kimura Shumpei Wakabayashi + Mamoru Sobue Apache License 2.0 Yamato ANDO @@ -19,6 +20,8 @@ autoware_universe_utils rclcpp + ament_cmake_ros + ament_index_cpp ament_lint_auto autoware_lint_common diff --git a/common/autoware_vehicle_info_utils/src/vehicle_info.cpp b/common/autoware_vehicle_info_utils/src/vehicle_info.cpp index 2dd5b19f2f523..c1e762811ede3 100644 --- a/common/autoware_vehicle_info_utils/src/vehicle_info.cpp +++ b/common/autoware_vehicle_info_utils/src/vehicle_info.cpp @@ -14,6 +14,8 @@ #include "autoware_vehicle_info_utils/vehicle_info.hpp" +#include + namespace autoware::vehicle_info_utils { autoware::universe_utils::LinearRing2d VehicleInfo::createFootprint(const double margin) const @@ -46,11 +48,36 @@ autoware::universe_utils::LinearRing2d VehicleInfo::createFootprint( } VehicleInfo createVehicleInfo( - const double wheel_radius_m, const double wheel_width_m, const double wheel_base_m, + const double wheel_radius_m, const double wheel_width_m, const double wheel_base_m_arg, const double wheel_tread_m, const double front_overhang_m, const double rear_overhang_m, const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m, - const double max_steer_angle_rad) + const double max_steer_angle_rad_arg) { + double wheel_base_m = wheel_base_m_arg; + static constexpr double MIN_WHEEL_BASE_M = 1e-6; + if (std::abs(wheel_base_m) < MIN_WHEEL_BASE_M) { + RCLCPP_ERROR( + rclcpp::get_logger("vehicle_info"), "wheel_base_m %f is almost 0.0, clamping to %f", + wheel_base_m, MIN_WHEEL_BASE_M); + wheel_base_m = MIN_WHEEL_BASE_M; + } + double max_steer_angle_rad = max_steer_angle_rad_arg; + static constexpr double MAX_STEER_ANGLE_RAD = 1e-6; + if (std::abs(max_steer_angle_rad) < MAX_STEER_ANGLE_RAD) { + RCLCPP_ERROR( + rclcpp::get_logger("vehicle_info"), "max_steer_angle_rad %f is almost 0.0, clamping to %f", + max_steer_angle_rad, MAX_STEER_ANGLE_RAD); + max_steer_angle_rad = MAX_STEER_ANGLE_RAD; + } + + if ( + wheel_radius_m <= 0 || wheel_width_m <= 0 || wheel_base_m <= 0 || wheel_tread_m <= 0 || + front_overhang_m <= 0 || rear_overhang_m <= 0 || left_overhang_m <= 0 || + right_overhang_m <= 0 || vehicle_height_m <= 0 || max_steer_angle_rad <= 0) { + RCLCPP_ERROR( + rclcpp::get_logger("vehicle_info"), "given parameters contain non positive values"); + } + // Calculate derived parameters const double vehicle_length_m_ = front_overhang_m + wheel_base_m + rear_overhang_m; const double vehicle_width_m_ = wheel_tread_m + left_overhang_m + right_overhang_m; @@ -87,26 +114,15 @@ VehicleInfo createVehicleInfo( double VehicleInfo::calcMaxCurvature() const { - if (std::abs(wheel_base_m) < 1e-6) { - throw std::invalid_argument("wheel_base_m is 0."); - } - if (std::abs(max_steer_angle_rad) < 1e-6) { - return std::numeric_limits::max(); - } - const double radius = wheel_base_m / std::tan(max_steer_angle_rad); const double curvature = 1.0 / radius; return curvature; } double VehicleInfo::calcCurvatureFromSteerAngle(const double steer_angle) const { - if (std::abs(wheel_base_m) < 1e-6) { - throw std::invalid_argument("wheel_base_m is 0."); - } if (std::abs(steer_angle) < 1e-6) { return std::numeric_limits::max(); } - const double radius = wheel_base_m / std::tan(steer_angle); const double curvature = 1.0 / radius; return curvature; diff --git a/common/autoware_vehicle_info_utils/src/vehicle_info_utils.cpp b/common/autoware_vehicle_info_utils/src/vehicle_info_utils.cpp index e313391f6207a..fc60f46315ae8 100644 --- a/common/autoware_vehicle_info_utils/src/vehicle_info_utils.cpp +++ b/common/autoware_vehicle_info_utils/src/vehicle_info_utils.cpp @@ -40,24 +40,23 @@ namespace autoware::vehicle_info_utils { VehicleInfoUtils::VehicleInfoUtils(rclcpp::Node & node) { - vehicle_info_.wheel_radius_m = getParameter(node, "wheel_radius"); - vehicle_info_.wheel_width_m = getParameter(node, "wheel_width"); - vehicle_info_.wheel_base_m = getParameter(node, "wheel_base"); - vehicle_info_.wheel_tread_m = getParameter(node, "wheel_tread"); - vehicle_info_.front_overhang_m = getParameter(node, "front_overhang"); - vehicle_info_.rear_overhang_m = getParameter(node, "rear_overhang"); - vehicle_info_.left_overhang_m = getParameter(node, "left_overhang"); - vehicle_info_.right_overhang_m = getParameter(node, "right_overhang"); - vehicle_info_.vehicle_height_m = getParameter(node, "vehicle_height"); - vehicle_info_.max_steer_angle_rad = getParameter(node, "max_steer_angle"); + const auto wheel_radius_m = getParameter(node, "wheel_radius"); + const auto wheel_width_m = getParameter(node, "wheel_width"); + const auto wheel_base_m = getParameter(node, "wheel_base"); + const auto wheel_tread_m = getParameter(node, "wheel_tread"); + const auto front_overhang_m = getParameter(node, "front_overhang"); + const auto rear_overhang_m = getParameter(node, "rear_overhang"); + const auto left_overhang_m = getParameter(node, "left_overhang"); + const auto right_overhang_m = getParameter(node, "right_overhang"); + const auto vehicle_height_m = getParameter(node, "vehicle_height"); + const auto max_steer_angle_rad = getParameter(node, "max_steer_angle"); + vehicle_info_ = createVehicleInfo( + wheel_radius_m, wheel_width_m, wheel_base_m, wheel_tread_m, front_overhang_m, rear_overhang_m, + left_overhang_m, right_overhang_m, vehicle_height_m, max_steer_angle_rad); } -VehicleInfo VehicleInfoUtils::getVehicleInfo() +VehicleInfo VehicleInfoUtils::getVehicleInfo() const { - return createVehicleInfo( - vehicle_info_.wheel_radius_m, vehicle_info_.wheel_width_m, vehicle_info_.wheel_base_m, - vehicle_info_.wheel_tread_m, vehicle_info_.front_overhang_m, vehicle_info_.rear_overhang_m, - vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m, - vehicle_info_.max_steer_angle_rad); + return vehicle_info_; } } // namespace autoware::vehicle_info_utils diff --git a/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp b/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp new file mode 100644 index 0000000000000..3ad19ba9cab35 --- /dev/null +++ b/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp @@ -0,0 +1,72 @@ +// Copyright 2020-2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include + +class VehicleInfoUtilTest : public ::testing::Test +{ +protected: + void SetUp() override + { + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.arguments( + {"--ros-args", "--params-file", + ament_index_cpp::get_package_share_directory("autoware_vehicle_info_utils") + + "/config/vehicle_info.param.yaml"}); + node_ = std::make_shared("test_vehicle_info_utils", options); + } + + void TearDown() override { rclcpp::shutdown(); } + + std::shared_ptr node_; +}; + +TEST_F(VehicleInfoUtilTest, check_vehicle_info_value) +{ + using autoware::vehicle_info_utils::VehicleInfo; + using autoware::vehicle_info_utils::VehicleInfoUtils; + std::optional vehicle_info_util_opt{std::nullopt}; + ASSERT_NO_THROW({ vehicle_info_util_opt.emplace(VehicleInfoUtils(*node_)); }); + const auto & vehicle_info_util = vehicle_info_util_opt.value(); + const auto vehicle_info = vehicle_info_util.getVehicleInfo(); + + EXPECT_FLOAT_EQ(0.39, vehicle_info.wheel_radius_m); + EXPECT_FLOAT_EQ(0.42, vehicle_info.wheel_width_m); + EXPECT_FLOAT_EQ(2.74, vehicle_info.wheel_base_m); + EXPECT_FLOAT_EQ(1.63, vehicle_info.wheel_tread_m); + EXPECT_FLOAT_EQ(1.0, vehicle_info.front_overhang_m); + EXPECT_FLOAT_EQ(1.03, vehicle_info.rear_overhang_m); + EXPECT_FLOAT_EQ(0.1, vehicle_info.left_overhang_m); + EXPECT_FLOAT_EQ(0.1, vehicle_info.right_overhang_m); + EXPECT_FLOAT_EQ(2.5, vehicle_info.vehicle_height_m); + EXPECT_FLOAT_EQ(0.7, vehicle_info.max_steer_angle_rad); + + const auto footprint = vehicle_info.createFootprint(); + // front-left + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::FrontLeftIndex).x(), 2.74 + 1.0); + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::FrontLeftIndex).y(), 1.63 / 2 + 0.1); + // front-right + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::FrontRightIndex).x(), 2.74 + 1.0); + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::FrontRightIndex).y(), -(1.63 / 2 + 0.1)); + // rear-right + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::RearRightIndex).x(), -1.03); + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::RearRightIndex).y(), -(1.63 / 2 + 0.1)); + // rear-left + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::RearLeftIndex).x(), -1.03); + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::RearLeftIndex).y(), 1.63 / 2 + 0.1); +} From 35ecc1952d6f8a540172e7e5f6bc007d489faa32 Mon Sep 17 00:00:00 2001 From: Kazunori-Nakajima <169115284+Kazunori-Nakajima@users.noreply.github.com> Date: Fri, 25 Oct 2024 16:21:17 +0900 Subject: [PATCH 295/701] feat(control_evaluator): add goal accuracy longitudinal, lateral, yaw (#9155) * feat(control_evaluator): add goal accuracy longitudinal, lateral, yaw Signed-off-by: Kasunori-Nakajima * style(pre-commit): autofix * fix: content of kosuke55-san comments Signed-off-by: Kasunori-Nakajima * fix: variable name Signed-off-by: Kasunori-Nakajima * fix: variable name Signed-off-by: Kasunori-Nakajima --------- Signed-off-by: Kasunori-Nakajima Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../control_evaluator_node.hpp | 3 ++ .../metrics/deviation_metrics.hpp | 24 +++++++++ .../src/control_evaluator_node.cpp | 51 +++++++++++++++++++ .../src/metrics/deviation_metrics.cpp | 15 ++++++ 4 files changed, 93 insertions(+) diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index 9641f4f75026a..d1c459d1462e9 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -56,6 +56,9 @@ class ControlEvaluatorNode : public rclcpp::Node const Trajectory & traj, const Point & ego_point); DiagnosticStatus generateYawDeviationDiagnosticStatus( const Trajectory & traj, const Pose & ego_pose); + DiagnosticStatus generateGoalLongitudinalDeviationDiagnosticStatus(const Pose & ego_pose); + DiagnosticStatus generateGoalLateralDeviationDiagnosticStatus(const Pose & ego_pose); + DiagnosticStatus generateGoalYawDeviationDiagnosticStatus(const Pose & ego_pose); DiagnosticStatus generateAEBDiagnosticStatus(const DiagnosticStatus & diag); DiagnosticStatus generateLaneletDiagnosticStatus(const Pose & ego_pose) const; diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/deviation_metrics.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/deviation_metrics.hpp index 94fbd53532e7d..e0e04b0a65070 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/deviation_metrics.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/deviation_metrics.hpp @@ -42,6 +42,30 @@ double calcLateralDeviation(const Trajectory & traj, const Point & point); */ double calcYawDeviation(const Trajectory & traj, const Pose & pose); +/** + * @brief calculate longitudinal deviation from target_point to base_pose + * @param [in] pose input base_pose + * @param [in] point input target_point + * @return longitudinal deviation from base_pose to target_point + */ +double calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point); + +/** + * @brief calculate lateral deviation from target_point to base_pose + * @param [in] pose input base_pose + * @param [in] point input target_point + * @return lateral deviation from base_pose to target_point + */ +double calcLateralDeviation(const Pose & base_pose, const Point & target_point); + +/** + * @brief calculate yaw deviation from base_pose to target_pose + * @param [in] pose input base_pose + * @param [in] pose input target_pose + * @return yaw deviation from base_pose to target_pose + */ +double calcYawDeviation(const Pose & base_pose, const Pose & target_pose); + } // namespace metrics } // namespace control_diagnostics diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index c14878a3c6f7e..9fb9d4bd080f7 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -186,6 +186,53 @@ DiagnosticStatus ControlEvaluatorNode::generateYawDeviationDiagnosticStatus( return status; } +DiagnosticStatus ControlEvaluatorNode::generateGoalLongitudinalDeviationDiagnosticStatus( + const Pose & ego_pose) +{ + DiagnosticStatus status; + const double longitudinal_deviation = + metrics::calcLongitudinalDeviation(route_handler_.getGoalPose(), ego_pose.position); + + status.level = status.OK; + status.name = "goal_longitudinal_deviation"; + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = "metrics_value"; + key_value.value = std::to_string(longitudinal_deviation); + status.values.push_back(key_value); + return status; +} + +DiagnosticStatus ControlEvaluatorNode::generateGoalLateralDeviationDiagnosticStatus( + const Pose & ego_pose) +{ + DiagnosticStatus status; + const double lateral_deviation = + metrics::calcLateralDeviation(route_handler_.getGoalPose(), ego_pose.position); + + status.level = status.OK; + status.name = "goal_lateral_deviation"; + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = "metrics_value"; + key_value.value = std::to_string(lateral_deviation); + status.values.push_back(key_value); + return status; +} + +DiagnosticStatus ControlEvaluatorNode::generateGoalYawDeviationDiagnosticStatus( + const Pose & ego_pose) +{ + DiagnosticStatus status; + const double yaw_deviation = metrics::calcYawDeviation(route_handler_.getGoalPose(), ego_pose); + + status.level = status.OK; + status.name = "goal_yaw_deviation"; + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = "metrics_value"; + key_value.value = std::to_string(yaw_deviation); + status.values.push_back(key_value); + return status; +} + void ControlEvaluatorNode::onTimer() { DiagnosticArray metrics_msg; @@ -222,6 +269,10 @@ void ControlEvaluatorNode::onTimer() if (odom && route_handler_.isHandlerReady()) { const Pose ego_pose = odom->pose.pose; metrics_msg.status.push_back(generateLaneletDiagnosticStatus(ego_pose)); + + metrics_msg.status.push_back(generateGoalLongitudinalDeviationDiagnosticStatus(ego_pose)); + metrics_msg.status.push_back(generateGoalLateralDeviationDiagnosticStatus(ego_pose)); + metrics_msg.status.push_back(generateGoalYawDeviationDiagnosticStatus(ego_pose)); } if (odom && acc) { diff --git a/evaluator/autoware_control_evaluator/src/metrics/deviation_metrics.cpp b/evaluator/autoware_control_evaluator/src/metrics/deviation_metrics.cpp index 689291da09f6d..a851eeb410620 100644 --- a/evaluator/autoware_control_evaluator/src/metrics/deviation_metrics.cpp +++ b/evaluator/autoware_control_evaluator/src/metrics/deviation_metrics.cpp @@ -38,5 +38,20 @@ double calcYawDeviation(const Trajectory & traj, const Pose & pose) autoware::universe_utils::calcYawDeviation(traj.points[nearest_index].pose, pose)); } +double calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point) +{ + return std::abs(autoware::universe_utils::calcLongitudinalDeviation(base_pose, target_point)); +} + +double calcLateralDeviation(const Pose & base_pose, const Point & target_point) +{ + return std::abs(autoware::universe_utils::calcLateralDeviation(base_pose, target_point)); +} + +double calcYawDeviation(const Pose & base_pose, const Pose & target_pose) +{ + return std::abs(autoware::universe_utils::calcYawDeviation(base_pose, target_pose)); +} + } // namespace metrics } // namespace control_diagnostics From 631279cf95bd447cee02446d45c0258b5bd4e1b3 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 25 Oct 2024 20:03:39 +0900 Subject: [PATCH 296/701] feat(start_planner): update param to match launch (#9158) update param to match launch Signed-off-by: Daniel Sanchez --- .../config/start_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml index a71c202b05043..a5bc59e519eba 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml @@ -50,7 +50,7 @@ max_back_distance: 20.0 backward_search_resolution: 2.0 backward_path_update_duration: 3.0 - ignore_distance_from_lane_end: 15.0 + ignore_distance_from_lane_end: 0.0 # turns signal prepare_time_before_start: 0.0 # freespace planner From bd59970a96a609f3100423ef1dbbe6f1982aeba6 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 28 Oct 2024 09:17:08 +0900 Subject: [PATCH 297/701] refactor(autoware_map_based_prediction): refactoring lanelet path prediction and pose path conversion (#9104) * refactor: update predictObjectManeuver function parameters Signed-off-by: Taekjin LEE * refactor: update hash function for LaneletPath in map_based_prediction_node.hpp Signed-off-by: Taekjin LEE * refactor: path list rename Signed-off-by: Taekjin LEE * refactor: take the path conversion out of the lanelet prediction Signed-off-by: Taekjin LEE * refactor: lanelet possible paths Signed-off-by: Taekjin LEE * refactor: separate converter of lanelet path to pose path Signed-off-by: Taekjin LEE * refactor: block each path lanelet process Signed-off-by: Taekjin LEE * refactor: fix time keeper Signed-off-by: Taekjin LEE * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp --------- Signed-off-by: Taekjin LEE Co-authored-by: Mamoru Sobue --- .../map_based_prediction_node.hpp | 50 +- .../src/map_based_prediction_node.cpp | 481 ++++++++++-------- 2 files changed, 283 insertions(+), 248 deletions(-) diff --git a/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp b/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp index d1d8bb172d247..cf1ed28a037cb 100644 --- a/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp +++ b/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp @@ -59,19 +59,15 @@ namespace std { template <> -struct hash +struct hash { // 0x9e3779b9 is a magic number. See // https://stackoverflow.com/questions/4948780/magic-number-in-boosthash-combine - size_t operator()(const lanelet::routing::LaneletPaths & paths) const + size_t operator()(const lanelet::routing::LaneletPath & path) const { size_t seed = 0; - for (const auto & path : paths) { - for (const auto & lanelet : path) { - seed ^= hash{}(lanelet.id()) + 0x9e3779b9 + (seed << 6U) + (seed >> 2U); - } - // Add a separator between paths - seed ^= hash{}(0) + 0x9e3779b9 + (seed << 6U) + (seed >> 2U); + for (const auto & lanelet : path) { + seed ^= hash{}(lanelet.id()) + 0x9e3779b9 + (seed << 6U) + (seed >> 2U); } return seed; } @@ -158,6 +154,7 @@ using autoware_perception_msgs::msg::TrafficLightGroupArray; using autoware_planning_msgs::msg::TrajectoryPoint; using tier4_debug_msgs::msg::StringStamped; using TrajectoryPoints = std::vector; +using LaneletPathWithPathInfo = std::pair; class MapBasedPredictionNode : public rclcpp::Node { public: @@ -294,12 +291,15 @@ class MapBasedPredictionNode : public rclcpp::Node const std::string & object_id, std::unordered_map & current_users); std::optional searchProperStartingRefPathIndex( const TrackedObject & object, const PosePath & pose_path) const; - std::vector getPredictedReferencePath( + std::vector getPredictedReferencePath( const TrackedObject & object, const LaneletsData & current_lanelets_data, const double object_detected_time, const double time_horizon); + std::vector convertPredictedReferencePath( + const TrackedObject & object, + const std::vector & lanelet_ref_paths) const; Maneuver predictObjectManeuver( - const TrackedObject & object, const LaneletData & current_lanelet_data, - const double object_detected_time); + const std::string & object_id, const geometry_msgs::msg::Pose & object_pose, + const LaneletData & current_lanelet_data, const double object_detected_time); geometry_msgs::msg::Pose compensateTimeDelay( const geometry_msgs::msg::Pose & delayed_pose, const geometry_msgs::msg::Twist & twist, const double dt) const; @@ -308,24 +308,16 @@ class MapBasedPredictionNode : public rclcpp::Node double calcLeftLateralOffset( const lanelet::ConstLineString2d & boundary_line, const geometry_msgs::msg::Pose & search_pose); ManeuverProbability calculateManeuverProbability( - const Maneuver & predicted_maneuver, const lanelet::routing::LaneletPaths & left_paths, - const lanelet::routing::LaneletPaths & right_paths, - const lanelet::routing::LaneletPaths & center_paths); - - void addReferencePaths( - const TrackedObject & object, const lanelet::routing::LaneletPaths & candidate_paths, - const float path_probability, const ManeuverProbability & maneuver_probability, - const Maneuver & maneuver, std::vector & reference_paths, - const double speed_limit = 0.0); - - mutable universe_utils::LRUCache< - lanelet::routing::LaneletPaths, std::vector>> + const Maneuver & predicted_maneuver, const bool & left_paths_exists, + const bool & right_paths_exists, const bool & center_paths_exists) const; + + mutable universe_utils::LRUCache> lru_cache_of_convert_path_type_{1000}; - std::vector> convertPathType( - const lanelet::routing::LaneletPaths & paths) const; + std::pair convertLaneletPathToPosePath( + const lanelet::routing::LaneletPath & path) const; void updateFuturePossibleLanelets( - const TrackedObject & object, const lanelet::routing::LaneletPaths & paths); + const std::string & object_id, const lanelet::routing::LaneletPaths & paths); bool isDuplicated( const std::pair & target_lanelet, @@ -342,11 +334,11 @@ class MapBasedPredictionNode : public rclcpp::Node const TrackedObject & object, const Maneuver & maneuver, const size_t obj_num); Maneuver predictObjectManeuverByTimeToLaneChange( - const TrackedObject & object, const LaneletData & current_lanelet_data, + const std::string & object_id, const LaneletData & current_lanelet_data, const double object_detected_time); Maneuver predictObjectManeuverByLatDiffDistance( - const TrackedObject & object, const LaneletData & current_lanelet_data, - const double object_detected_time); + const std::string & object_id, const geometry_msgs::msg::Pose & object_pose, + const LaneletData & current_lanelet_data, const double object_detected_time); void publish( const PredictedObjects & output, diff --git a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp index 5a43a8fb25633..d9097f1907f51 100644 --- a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -1109,9 +1109,10 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt // Get Predicted Reference Path for Each Maneuver and current lanelets // return: - const auto ref_paths = getPredictedReferencePath( + const auto lanelet_ref_paths = getPredictedReferencePath( transformed_object, current_lanelets, objects_detected_time, prediction_time_horizon_.vehicle); + const auto ref_paths = convertPredictedReferencePath(transformed_object, lanelet_ref_paths); // If predicted reference path is empty, assume this object is out of the lane if (ref_paths.empty()) { @@ -1845,101 +1846,7 @@ void MapBasedPredictionNode::updateRoadUsersHistory( } } -std::optional MapBasedPredictionNode::searchProperStartingRefPathIndex( - const TrackedObject & object, const PosePath & pose_path) const -{ - std::unique_ptr st1_ptr; - if (time_keeper_) st1_ptr = std::make_unique(__func__, *time_keeper_); - - bool is_position_found = false; - std::optional opt_index{std::nullopt}; - auto & index = opt_index.emplace(); - - // starting segment index is a segment close enough to the object - const auto obj_point = object.kinematics.pose_with_covariance.pose.position; - { - std::unique_ptr st2_ptr; - if (time_keeper_) - st2_ptr = std::make_unique("find_close_segment_index", *time_keeper_); - double min_dist_sq = std::numeric_limits::max(); - constexpr double acceptable_dist_sq = 1.0; // [m2] - for (size_t i = 0; i < pose_path.size(); i++) { - const double dx = pose_path.at(i).position.x - obj_point.x; - const double dy = pose_path.at(i).position.y - obj_point.y; - const double dist_sq = dx * dx + dy * dy; - if (dist_sq < min_dist_sq) { - min_dist_sq = dist_sq; - index = i; - } - if (dist_sq < acceptable_dist_sq) { - break; - } - } - } - - // calculate score that object can reach the target path smoothly, and search the - // starting segment index that have the best score - size_t idx = 0; - { // find target segmentation index - std::unique_ptr st3_ptr; - if (time_keeper_) - st3_ptr = std::make_unique("find_target_seg_index", *time_keeper_); - - constexpr double search_distance = 22.0; // [m] - constexpr double yaw_diff_limit = M_PI / 3.0; // 60 degrees - - const double obj_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); - const size_t search_segment_count = - static_cast(std::floor(search_distance / reference_path_resolution_)); - const size_t search_segment_num = - std::min(search_segment_count, static_cast(pose_path.size() - index)); - - // search for the best score, which is the smallest - double best_score = 1e9; // initial value is large enough - for (size_t i = 0; i < search_segment_num; ++i) { - const auto & path_pose = pose_path.at(index + i); - // yaw difference - const double path_yaw = tf2::getYaw(path_pose.orientation); - const double relative_path_yaw = autoware_utils::normalize_radian(path_yaw - obj_yaw); - if (std::abs(relative_path_yaw) > yaw_diff_limit) { - continue; - } - - const double dx = path_pose.position.x - obj_point.x; - const double dy = path_pose.position.y - obj_point.y; - const double dx_cp = std::cos(obj_yaw) * dx + std::sin(obj_yaw) * dy; - const double dy_cp = -std::sin(obj_yaw) * dx + std::cos(obj_yaw) * dy; - const double neutral_yaw = std::atan2(dy_cp, dx_cp) * 2.0; - const double delta_yaw = autoware_utils::normalize_radian(path_yaw - obj_yaw - neutral_yaw); - if (std::abs(delta_yaw) > yaw_diff_limit) { - continue; - } - - // objective function score - constexpr double weight_ratio = 0.01; - double score = delta_yaw * delta_yaw + weight_ratio * neutral_yaw * neutral_yaw; - constexpr double acceptable_score = 1e-3; - - if (score < best_score) { - best_score = score; - idx = i; - is_position_found = true; - if (score < acceptable_score) { - // if the score is small enough, we can break the loop - break; - } - } - } - } - - // update starting segment index - index += idx; - index = std::clamp(index, 0ul, pose_path.size() - 1); - - return is_position_found ? opt_index : std::nullopt; -} - -std::vector MapBasedPredictionNode::getPredictedReferencePath( +std::vector MapBasedPredictionNode::getPredictedReferencePath( const TrackedObject & object, const LaneletsData & current_lanelets_data, const double object_detected_time, const double time_horizon) { @@ -1959,11 +1866,14 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( : 0.0; const double t_h = time_horizon; const double lambda = std::log(2) / acceleration_exponential_half_life_; + const double validate_time_horizon = t_h * prediction_time_horizon_rate_for_validate_lane_length_; + const double final_speed_after_acceleration = + obj_vel + obj_acc * (1.0 / lambda) * (1.0 - std::exp(-lambda * t_h)); auto get_search_distance_with_decaying_acc = [&]() -> double { const double acceleration_distance = obj_acc * (1.0 / lambda) * t_h + - obj_acc * (1.0 / std::pow(lambda, 2)) * std::expm1(-lambda * t_h); + obj_acc * (1.0 / (lambda * lambda)) * std::expm1(-lambda * t_h); double search_dist = acceleration_distance + obj_vel * t_h; return search_dist; }; @@ -1987,29 +1897,31 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( return search_dist; }; + std::string object_id = autoware::universe_utils::toHexString(object.object_id); + geometry_msgs::msg::Pose object_pose = object.kinematics.pose_with_covariance.pose; + // Step 2. Get possible paths for each lanelet - std::vector all_ref_paths; + std::vector lanelet_ref_paths; for (const auto & current_lanelet_data : current_lanelets_data) { - // Set condition on each lanelet - const lanelet::traffic_rules::SpeedLimitInformation limit = - traffic_rules_ptr_->speedLimit(current_lanelet_data.lanelet); - const double legal_speed_limit = static_cast(limit.speedLimit.value()); + std::vector ref_paths_per_lanelet; - double final_speed_after_acceleration = - obj_vel + obj_acc * (1.0 / lambda) * (1.0 - std::exp(-lambda * t_h)); - - const double final_speed_limit = legal_speed_limit * speed_limit_multiplier_; - const bool final_speed_surpasses_limit = final_speed_after_acceleration > final_speed_limit; - const bool object_has_surpassed_limit_already = obj_vel > final_speed_limit; - - double search_dist = (final_speed_surpasses_limit && !object_has_surpassed_limit_already) - ? get_search_distance_with_partial_acc(final_speed_limit) - : get_search_distance_with_decaying_acc(); - search_dist += lanelet::utils::getLaneletLength3d(current_lanelet_data.lanelet); - - lanelet::routing::PossiblePathsParams possible_params{search_dist, {}, 0, false, true}; - const double validate_time_horizon = - t_h * prediction_time_horizon_rate_for_validate_lane_length_; + // Set condition on each lanelet + lanelet::routing::PossiblePathsParams possible_params{0, {}, 0, false, true}; + double target_speed_limit = 0.0; + { + const lanelet::traffic_rules::SpeedLimitInformation limit = + traffic_rules_ptr_->speedLimit(current_lanelet_data.lanelet); + const double legal_speed_limit = static_cast(limit.speedLimit.value()); + target_speed_limit = legal_speed_limit * speed_limit_multiplier_; + const bool final_speed_surpasses_limit = final_speed_after_acceleration > target_speed_limit; + const bool object_has_surpassed_limit_already = obj_vel > target_speed_limit; + + double search_dist = (final_speed_surpasses_limit && !object_has_surpassed_limit_already) + ? get_search_distance_with_partial_acc(target_speed_limit) + : get_search_distance_with_decaying_acc(); + search_dist += lanelet::utils::getLaneletLength3d(current_lanelet_data.lanelet); + possible_params.routingCostLimit = search_dist; + } // lambda function to get possible paths for isolated lanelet // isolated is often caused by lanelet with no connection e.g. shoulder-lane @@ -2056,74 +1968,94 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( return std::nullopt; }; + bool left_paths_exists = false; + bool right_paths_exists = false; + bool center_paths_exists = false; + // a-1. Get the left lanelet - lanelet::routing::LaneletPaths left_paths; - const auto left_lanelet = getLeftOrRightLanelets(current_lanelet_data.lanelet, true); - if (!!left_lanelet) { - left_paths = getPathsForNormalOrIsolatedLanelet(left_lanelet.value()); + { + PredictedRefPath ref_path_info; + lanelet::routing::LaneletPaths left_paths; + const auto left_lanelet = getLeftOrRightLanelets(current_lanelet_data.lanelet, true); + if (!!left_lanelet) { + left_paths = getPathsForNormalOrIsolatedLanelet(left_lanelet.value()); + left_paths_exists = !left_paths.empty(); + } + ref_path_info.speed_limit = target_speed_limit; + ref_path_info.maneuver = Maneuver::LEFT_LANE_CHANGE; + for (auto & path : left_paths) { + ref_paths_per_lanelet.emplace_back(path, ref_path_info); + } } // a-2. Get the right lanelet - lanelet::routing::LaneletPaths right_paths; - const auto right_lanelet = getLeftOrRightLanelets(current_lanelet_data.lanelet, false); - if (!!right_lanelet) { - right_paths = getPathsForNormalOrIsolatedLanelet(right_lanelet.value()); + { + PredictedRefPath ref_path_info; + lanelet::routing::LaneletPaths right_paths; + const auto right_lanelet = getLeftOrRightLanelets(current_lanelet_data.lanelet, false); + if (!!right_lanelet) { + right_paths = getPathsForNormalOrIsolatedLanelet(right_lanelet.value()); + right_paths_exists = !right_paths.empty(); + } + ref_path_info.speed_limit = target_speed_limit; + ref_path_info.maneuver = Maneuver::RIGHT_LANE_CHANGE; + for (auto & path : right_paths) { + ref_paths_per_lanelet.emplace_back(path, ref_path_info); + } } // a-3. Get the center lanelet - lanelet::routing::LaneletPaths center_paths = - getPathsForNormalOrIsolatedLanelet(current_lanelet_data.lanelet); + { + PredictedRefPath ref_path_info; + lanelet::routing::LaneletPaths center_paths = + getPathsForNormalOrIsolatedLanelet(current_lanelet_data.lanelet); + center_paths_exists = !center_paths.empty(); + ref_path_info.speed_limit = target_speed_limit; + ref_path_info.maneuver = Maneuver::LANE_FOLLOW; + for (auto & path : center_paths) { + ref_paths_per_lanelet.emplace_back(path, ref_path_info); + } + } // Skip calculations if all paths are empty - if (left_paths.empty() && right_paths.empty() && center_paths.empty()) { + if (ref_paths_per_lanelet.empty()) { continue; } // b. Predict Object Maneuver const Maneuver predicted_maneuver = - predictObjectManeuver(object, current_lanelet_data, object_detected_time); + predictObjectManeuver(object_id, object_pose, current_lanelet_data, object_detected_time); // c. Allocate probability for each predicted maneuver - const auto maneuver_prob = - calculateManeuverProbability(predicted_maneuver, left_paths, right_paths, center_paths); - - // d. add candidate reference paths to the all_ref_paths - const float path_prob = current_lanelet_data.probability; - const auto addReferencePathsLocal = [&](const auto & paths, const auto & maneuver) { - addReferencePaths( - object, paths, path_prob, maneuver_prob, maneuver, all_ref_paths, final_speed_limit); - }; - addReferencePathsLocal(left_paths, Maneuver::LEFT_LANE_CHANGE); - addReferencePathsLocal(right_paths, Maneuver::RIGHT_LANE_CHANGE); - addReferencePathsLocal(center_paths, Maneuver::LANE_FOLLOW); - } - - // Step 3. Search starting point for each reference path - for (auto it = all_ref_paths.begin(); it != all_ref_paths.end();) { - std::unique_ptr st1_ptr; - if (time_keeper_) - st1_ptr = - std::make_unique("searching_ref_path_starting_point", *time_keeper_); - - auto & pose_path = it->path; - if (pose_path.empty()) { - continue; + const float & path_prob = current_lanelet_data.probability; + const auto maneuver_prob = calculateManeuverProbability( + predicted_maneuver, left_paths_exists, right_paths_exists, center_paths_exists); + for (auto & ref_path : ref_paths_per_lanelet) { + auto & ref_path_info = ref_path.second; + ref_path_info.probability = maneuver_prob.at(ref_path_info.maneuver) * path_prob; } - const std::optional opt_starting_idx = - searchProperStartingRefPathIndex(object, pose_path); + // move the calculated ref paths to the lanelet_ref_paths + lanelet_ref_paths.insert( + lanelet_ref_paths.end(), ref_paths_per_lanelet.begin(), ref_paths_per_lanelet.end()); + } - if (opt_starting_idx.has_value()) { - // Trim the reference path - pose_path.erase(pose_path.begin(), pose_path.begin() + opt_starting_idx.value()); - ++it; - } else { - // Proper starting point is not found, remove the reference path - it = all_ref_paths.erase(it); + // update future possible lanelets + if (road_users_history.count(object_id) != 0) { + std::vector & possible_lanelets = + road_users_history.at(object_id).back().future_possible_lanelets; + for (const auto & ref_path : lanelet_ref_paths) { + for (const auto & lanelet : ref_path.first) { + if ( + std::find(possible_lanelets.begin(), possible_lanelets.end(), lanelet) == + possible_lanelets.end()) { + possible_lanelets.push_back(lanelet); + } + } } } - return all_ref_paths; + return lanelet_ref_paths; } /** @@ -2131,8 +2063,8 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( * @return predicted manuever (lane follow, left/right lane change) */ Maneuver MapBasedPredictionNode::predictObjectManeuver( - const TrackedObject & object, const LaneletData & current_lanelet_data, - const double object_detected_time) + const std::string & object_id, const geometry_msgs::msg::Pose & object_pose, + const LaneletData & current_lanelet_data, const double object_detected_time) { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); @@ -2141,15 +2073,14 @@ Maneuver MapBasedPredictionNode::predictObjectManeuver( const auto current_maneuver = [&]() { if (lane_change_detection_method_ == "time_to_change_lane") { return predictObjectManeuverByTimeToLaneChange( - object, current_lanelet_data, object_detected_time); + object_id, current_lanelet_data, object_detected_time); } else if (lane_change_detection_method_ == "lat_diff_distance") { return predictObjectManeuverByLatDiffDistance( - object, current_lanelet_data, object_detected_time); + object_id, object_pose, current_lanelet_data, object_detected_time); } throw std::logic_error("Lane change detection method is invalid."); }(); - const std::string object_id = autoware::universe_utils::toHexString(object.object_id); if (road_users_history.count(object_id) == 0) { return current_maneuver; } @@ -2184,14 +2115,13 @@ Maneuver MapBasedPredictionNode::predictObjectManeuver( } Maneuver MapBasedPredictionNode::predictObjectManeuverByTimeToLaneChange( - const TrackedObject & object, const LaneletData & current_lanelet_data, + const std::string & object_id, const LaneletData & current_lanelet_data, const double /*object_detected_time*/) { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); // Step1. Check if we have the object in the buffer - const std::string object_id = autoware::universe_utils::toHexString(object.object_id); if (road_users_history.count(object_id) == 0) { return Maneuver::LANE_FOLLOW; } @@ -2258,14 +2188,13 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByTimeToLaneChange( } Maneuver MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance( - const TrackedObject & object, const LaneletData & current_lanelet_data, - const double /*object_detected_time*/) + const std::string & object_id, const geometry_msgs::msg::Pose & object_pose, + const LaneletData & current_lanelet_data, const double /*object_detected_time*/) { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); // Step1. Check if we have the object in the buffer - const std::string object_id = autoware::universe_utils::toHexString(object.object_id); if (road_users_history.count(object_id) == 0) { return Maneuver::LANE_FOLLOW; } @@ -2312,7 +2241,7 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance( // Step4. Check if the vehicle has changed lane const auto current_lanelet = current_lanelet_data.lanelet; - const auto current_pose = object.kinematics.pose_with_covariance.pose; + const auto current_pose = object_pose; const double dist = autoware::universe_utils::calcDistance2d(prev_pose, current_pose); lanelet::routing::LaneletPaths possible_paths = routing_graph_ptr_->possiblePaths(prev_lanelet, dist + 2.0, 0, false); @@ -2424,12 +2353,11 @@ double MapBasedPredictionNode::calcLeftLateralOffset( } void MapBasedPredictionNode::updateFuturePossibleLanelets( - const TrackedObject & object, const lanelet::routing::LaneletPaths & paths) + const std::string & object_id, const lanelet::routing::LaneletPaths & paths) { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - std::string object_id = autoware::universe_utils::toHexString(object.object_id); if (road_users_history.count(object_id) == 0) { return; } @@ -2447,34 +2375,9 @@ void MapBasedPredictionNode::updateFuturePossibleLanelets( } } -void MapBasedPredictionNode::addReferencePaths( - const TrackedObject & object, const lanelet::routing::LaneletPaths & candidate_paths, - const float path_probability, const ManeuverProbability & maneuver_probability, - const Maneuver & maneuver, std::vector & reference_paths, - const double speed_limit) -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - if (!candidate_paths.empty()) { - updateFuturePossibleLanelets(object, candidate_paths); - const auto converted_paths = convertPathType(candidate_paths); - for (const auto & converted_path : converted_paths) { - PredictedRefPath predicted_path; - predicted_path.probability = maneuver_probability.at(maneuver) * path_probability; - predicted_path.path = converted_path.first; - predicted_path.width = converted_path.second; - predicted_path.maneuver = maneuver; - predicted_path.speed_limit = speed_limit; - reference_paths.push_back(predicted_path); - } - } -} - ManeuverProbability MapBasedPredictionNode::calculateManeuverProbability( - const Maneuver & predicted_maneuver, const lanelet::routing::LaneletPaths & left_paths, - const lanelet::routing::LaneletPaths & right_paths, - const lanelet::routing::LaneletPaths & center_paths) + const Maneuver & predicted_maneuver, const bool & left_paths_exists, + const bool & right_paths_exists, const bool & center_paths_exists) const { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); @@ -2482,29 +2385,29 @@ ManeuverProbability MapBasedPredictionNode::calculateManeuverProbability( float left_lane_change_probability = 0.0; float right_lane_change_probability = 0.0; float lane_follow_probability = 0.0; - if (!left_paths.empty() && predicted_maneuver == Maneuver::LEFT_LANE_CHANGE) { + if (left_paths_exists && predicted_maneuver == Maneuver::LEFT_LANE_CHANGE) { constexpr float LF_PROB_WHEN_LC = 0.9; // probability for lane follow during lane change constexpr float LC_PROB_WHEN_LC = 1.0; // probability for left lane change left_lane_change_probability = LC_PROB_WHEN_LC; right_lane_change_probability = 0.0; lane_follow_probability = LF_PROB_WHEN_LC; - } else if (!right_paths.empty() && predicted_maneuver == Maneuver::RIGHT_LANE_CHANGE) { + } else if (right_paths_exists && predicted_maneuver == Maneuver::RIGHT_LANE_CHANGE) { constexpr float LF_PROB_WHEN_LC = 0.9; // probability for lane follow during lane change constexpr float RC_PROB_WHEN_LC = 1.0; // probability for right lane change left_lane_change_probability = 0.0; right_lane_change_probability = RC_PROB_WHEN_LC; lane_follow_probability = LF_PROB_WHEN_LC; - } else if (!center_paths.empty()) { + } else if (center_paths_exists) { constexpr float LF_PROB = 1.0; // probability for lane follow constexpr float LC_PROB = 0.3; // probability for left lane change constexpr float RC_PROB = 0.3; // probability for right lane change if (predicted_maneuver == Maneuver::LEFT_LANE_CHANGE) { // If prediction says left change, but left lane is empty, assume lane follow left_lane_change_probability = 0.0; - right_lane_change_probability = (!right_paths.empty()) ? RC_PROB : 0.0; + right_lane_change_probability = (right_paths_exists) ? RC_PROB : 0.0; } else if (predicted_maneuver == Maneuver::RIGHT_LANE_CHANGE) { // If prediction says right change, but right lane is empty, assume lane follow - left_lane_change_probability = (!left_paths.empty()) ? LC_PROB : 0.0; + left_lane_change_probability = (left_paths_exists) ? LC_PROB : 0.0; right_lane_change_probability = 0.0; } else { // Predicted Maneuver is Lane Follow @@ -2519,8 +2422,8 @@ ManeuverProbability MapBasedPredictionNode::calculateManeuverProbability( lane_follow_probability = 0.0; // If the given lane is empty, the probability goes to 0 - left_lane_change_probability = left_paths.empty() ? 0.0 : LC_PROB; - right_lane_change_probability = right_paths.empty() ? 0.0 : RC_PROB; + left_lane_change_probability = left_paths_exists ? LC_PROB : 0.0; + right_lane_change_probability = right_paths_exists ? RC_PROB : 0.0; } const float MIN_PROBABILITY = 1e-3; @@ -2538,18 +2441,64 @@ ManeuverProbability MapBasedPredictionNode::calculateManeuverProbability( return maneuver_prob; } -std::vector> MapBasedPredictionNode::convertPathType( - const lanelet::routing::LaneletPaths & paths) const +std::vector MapBasedPredictionNode::convertPredictedReferencePath( + const TrackedObject & object, + const std::vector & lanelet_ref_paths) const { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - if (lru_cache_of_convert_path_type_.contains(paths)) { - return *lru_cache_of_convert_path_type_.get(paths); + std::vector converted_ref_paths; + + // Step 1. Convert lanelet path to pose path + for (const auto & ref_path : lanelet_ref_paths) { + const auto & lanelet_path = ref_path.first; + const auto & ref_path_info = ref_path.second; + const auto converted_path = convertLaneletPathToPosePath(lanelet_path); + PredictedRefPath predicted_path; + predicted_path.probability = ref_path_info.probability; + predicted_path.path = converted_path.first; + predicted_path.width = converted_path.second; + predicted_path.maneuver = ref_path_info.maneuver; + predicted_path.speed_limit = ref_path_info.speed_limit; + converted_ref_paths.push_back(predicted_path); } - std::vector> converted_paths; - for (const auto & path : paths) { + // Step 2. Search starting point for each reference path + for (auto it = converted_ref_paths.begin(); it != converted_ref_paths.end();) { + auto & pose_path = it->path; + if (pose_path.empty()) { + continue; + } + + const std::optional opt_starting_idx = + searchProperStartingRefPathIndex(object, pose_path); + + if (opt_starting_idx.has_value()) { + // Trim the reference path + pose_path.erase(pose_path.begin(), pose_path.begin() + opt_starting_idx.value()); + ++it; + } else { + // Proper starting point is not found, remove the reference path + it = converted_ref_paths.erase(it); + } + } + + return converted_ref_paths; +} + +std::pair MapBasedPredictionNode::convertLaneletPathToPosePath( + const lanelet::routing::LaneletPath & path) const +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + if (lru_cache_of_convert_path_type_.contains(path)) { + return *lru_cache_of_convert_path_type_.get(path); + } + + std::pair converted_path_and_width; + { PosePath converted_path; double width = 10.0; // Initialize with a large value @@ -2638,11 +2587,105 @@ std::vector> MapBasedPredictionNode::convertPathType // interpolation for xy const auto resampled_converted_path = autoware::motion_utils::resamplePoseVector( converted_path, reference_path_resolution_, use_akima_spline_for_xy, use_lerp_for_z); - converted_paths.push_back(std::make_pair(resampled_converted_path, width)); + converted_path_and_width = std::make_pair(resampled_converted_path, width); + } + + lru_cache_of_convert_path_type_.put(path, converted_path_and_width); + return converted_path_and_width; +} + +std::optional MapBasedPredictionNode::searchProperStartingRefPathIndex( + const TrackedObject & object, const PosePath & pose_path) const +{ + std::unique_ptr st1_ptr; + if (time_keeper_) st1_ptr = std::make_unique(__func__, *time_keeper_); + + bool is_position_found = false; + std::optional opt_index{std::nullopt}; + auto & index = opt_index.emplace(0); + + // starting segment index is a segment close enough to the object + const auto obj_point = object.kinematics.pose_with_covariance.pose.position; + { + std::unique_ptr st2_ptr; + if (time_keeper_) + st2_ptr = std::make_unique("find_close_segment_index", *time_keeper_); + double min_dist_sq = std::numeric_limits::max(); + constexpr double acceptable_dist_sq = 1.0; // [m2] + for (size_t i = 0; i < pose_path.size(); i++) { + const double dx = pose_path.at(i).position.x - obj_point.x; + const double dy = pose_path.at(i).position.y - obj_point.y; + const double dist_sq = dx * dx + dy * dy; + if (dist_sq < min_dist_sq) { + min_dist_sq = dist_sq; + index = i; + } + if (dist_sq < acceptable_dist_sq) { + break; + } + } + } + + // calculate score that object can reach the target path smoothly, and search the + // starting segment index that have the best score + size_t idx = 0; + { // find target segmentation index + std::unique_ptr st3_ptr; + if (time_keeper_) + st3_ptr = std::make_unique("find_target_seg_index", *time_keeper_); + + constexpr double search_distance = 22.0; // [m] + constexpr double yaw_diff_limit = M_PI / 3.0; // 60 degrees + + const double obj_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); + const size_t search_segment_count = + static_cast(std::floor(search_distance / reference_path_resolution_)); + const size_t search_segment_num = + std::min(search_segment_count, static_cast(pose_path.size() - index)); + + // search for the best score, which is the smallest + double best_score = 1e9; // initial value is large enough + for (size_t i = 0; i < search_segment_num; ++i) { + const auto & path_pose = pose_path.at(index + i); + // yaw difference + const double path_yaw = tf2::getYaw(path_pose.orientation); + const double relative_path_yaw = autoware_utils::normalize_radian(path_yaw - obj_yaw); + if (std::abs(relative_path_yaw) > yaw_diff_limit) { + continue; + } + + const double dx = path_pose.position.x - obj_point.x; + const double dy = path_pose.position.y - obj_point.y; + const double dx_cp = std::cos(obj_yaw) * dx + std::sin(obj_yaw) * dy; + const double dy_cp = -std::sin(obj_yaw) * dx + std::cos(obj_yaw) * dy; + const double neutral_yaw = std::atan2(dy_cp, dx_cp) * 2.0; + const double delta_yaw = autoware_utils::normalize_radian(path_yaw - obj_yaw - neutral_yaw); + if (std::abs(delta_yaw) > yaw_diff_limit) { + continue; + } + + // objective function score + constexpr double weight_ratio = 0.01; + double score = delta_yaw * delta_yaw + weight_ratio * neutral_yaw * neutral_yaw; + constexpr double acceptable_score = 1e-3; + + if (score < best_score) { + best_score = score; + idx = i; + is_position_found = true; + if (score < acceptable_score) { + // if the score is small enough, we can break the loop + break; + } + } + } } - lru_cache_of_convert_path_type_.put(paths, converted_paths); - return converted_paths; + // update starting segment index + index += idx; + index = std::clamp(index, 0ul, pose_path.size() - 1); + + return is_position_found ? opt_index : std::nullopt; } bool MapBasedPredictionNode::isDuplicated( From 4cbf89a6ac07869a02546505e2bbe620c42a49b2 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Mon, 28 Oct 2024 02:32:29 +0000 Subject: [PATCH 298/701] chore: update CODEOWNERS (#9153) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/CODEOWNERS | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index cffb8d2b99280..768f59e832c05 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -19,7 +19,7 @@ common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.j common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp -common/autoware_vehicle_info_utils/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp +common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp common/component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp @@ -187,7 +187,7 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/ planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** alqudah.mohammad@tier4.jp maxime.clement@tier4.jp From 6e58cc20561662f3e19d69a4d0a1024cbe1b8516 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 28 Oct 2024 16:52:59 +0900 Subject: [PATCH 299/701] fix(traffic_light_utils): prevent accessing nullopt (#9163) Signed-off-by: satoshi-ota --- .../src/utils/traffic_light_utils.cpp | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp index 40802558c0b38..739f5d21346bd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp @@ -34,11 +34,13 @@ double getDistanceToNextTrafficLight( lanelet::utils::to2D(lanelet_point).basicPoint()); for (const auto & element : current_lanelet.regulatoryElementsAs()) { - lanelet::ConstLineString3d lanelet_stop_lines = element->stopLine().value(); + const auto lanelet_stop_lines = element->stopLine(); + + if (!lanelet_stop_lines.has_value()) continue; const auto to_stop_line = lanelet::geometry::toArcCoordinates( lanelet::utils::to2D(current_lanelet.centerline()), - lanelet::utils::to2D(lanelet_stop_lines).front().basicPoint()); + lanelet::utils::to2D(lanelet_stop_lines.value()).front().basicPoint()); const auto distance_object_to_stop_line = to_stop_line.length - to_object.length; @@ -61,11 +63,13 @@ double getDistanceToNextTrafficLight( } for (const auto & element : llt.regulatoryElementsAs()) { - lanelet::ConstLineString3d lanelet_stop_lines = element->stopLine().value(); + const auto lanelet_stop_lines = element->stopLine(); + + if (!lanelet_stop_lines.has_value()) continue; const auto to_stop_line = lanelet::geometry::toArcCoordinates( lanelet::utils::to2D(llt.centerline()), - lanelet::utils::to2D(lanelet_stop_lines).front().basicPoint()); + lanelet::utils::to2D(lanelet_stop_lines.value()).front().basicPoint()); return distance + to_stop_line.length - to_object.length; } From def61032987b7978166a7f3530e9d9a797c5999a Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 28 Oct 2024 18:40:35 +0900 Subject: [PATCH 300/701] feat(goal_planner): align vehicle footprint heading parallel to parking side lane boundary (#9159) Signed-off-by: Mamoru Sobue --- .../CMakeLists.txt | 2 +- .../examples/plot_map.cpp | 116 ++++++++++++++++-- .../goal_planner_module.hpp | 1 - .../util.hpp | 12 +- .../src/goal_planner_module.cpp | 65 ++-------- .../src/goal_searcher.cpp | 22 ++++ .../src/util.cpp | 82 +++++++++++++ 7 files changed, 230 insertions(+), 70 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt index 6446f4aec6851..d3f7f7a4015f0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt @@ -27,7 +27,7 @@ if(BUILD_EXAMPLES) FetchContent_Declare( matplotlibcpp17 GIT_REPOSITORY https://github.com/soblin/matplotlibcpp17.git - GIT_TAG main + GIT_TAG master ) FetchContent_MakeAvailable(matplotlibcpp17) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp index 3afdb28f80a6c..af64dc5220010 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include "autoware/behavior_path_goal_planner_module/goal_searcher.hpp" +#include "autoware/behavior_path_goal_planner_module/util.hpp" #include #include @@ -23,6 +24,7 @@ #include #include #include +#include #include #include #include @@ -40,6 +42,7 @@ #include #include +#include #include using namespace std::chrono_literals; // NOLINT @@ -54,16 +57,58 @@ using autoware::behavior_path_planner::utils::parking_departure::calcFeasibleDec using autoware_planning_msgs::msg::LaneletRoute; using tier4_planning_msgs::msg::PathWithLaneId; +void plot_footprint( + matplotlibcpp17::axes::Axes & axes, const autoware::universe_utils::LinearRing2d & footprint, + const std::string & color = "blue") +{ + std::vector xs, ys; + for (const auto & pt : footprint) { + xs.push_back(pt.x()); + ys.push_back(pt.y()); + } + xs.push_back(xs.front()); + ys.push_back(ys.front()); + axes.plot(Args(xs, ys), Kwargs("color"_a = color, "linestyle"_a = "dotted")); +} + +void plot_goal_candidates( + matplotlibcpp17::axes::Axes & axes, const GoalCandidates & goals, + const autoware::universe_utils::LinearRing2d & local_footprint, + const std::string & color = "green") +{ + std::vector xs, ys; + std::vector yaw_cos, yaw_sin; + for (const auto & goal : goals) { + const auto goal_footprint = + transformVector(local_footprint, autoware::universe_utils::pose2transform(goal.goal_pose)); + plot_footprint(axes, goal_footprint); + xs.push_back(goal.goal_pose.position.x); + ys.push_back(goal.goal_pose.position.y); + axes.text(Args(xs.back(), ys.back(), std::to_string(goal.id))); + const double yaw = autoware::universe_utils::getRPY(goal.goal_pose).z; + yaw_cos.push_back(std::cos(yaw)); + yaw_sin.push_back(std::sin(yaw)); + } + axes.scatter(Args(xs, ys), Kwargs("color"_a = color)); + axes.quiver( + Args(xs, ys, yaw_cos, yaw_sin), + Kwargs("angles"_a = "xy", "scale_units"_a = "xy", "scale"_a = 1.0)); +} + void plot_path_with_lane_id( matplotlibcpp17::axes::Axes & axes, const PathWithLaneId & path, - const std::string & color = "red") + const std::string & color = "red", const std::string & label = "") { std::vector xs, ys; for (const auto & point : path.points) { xs.push_back(point.point.pose.position.x); ys.push_back(point.point.pose.position.y); } - axes.plot(Args(xs, ys), Kwargs("color"_a = color, "linewidth"_a = 1.0)); + if (label == "") { + axes.plot(Args(xs, ys), Kwargs("color"_a = color, "linewidth"_a = 1.0)); + } else { + axes.plot(Args(xs, ys), Kwargs("color"_a = color, "linewidth"_a = 1.0, "label"_a = label)); + } } void plot_lanelet( @@ -97,7 +142,7 @@ void plot_lanelet( Kwargs("color"_a = "black", "linewidth"_a = linewidth, "linestyle"_a = "dashed")); } -std::shared_ptr instantiate_planner_data( +std::shared_ptr instantiate_planner_data( rclcpp::Node::SharedPtr node, const std::string & map_path, const LaneletRoute & route_msg) { lanelet::ErrorMessages errors{}; @@ -336,6 +381,51 @@ std::vector selectPullOverPaths( return selected; } +std::optional calculate_centerline_path( + const geometry_msgs::msg::Pose & original_goal_pose, + const std::shared_ptr planner_data, const GoalPlannerParameters & parameters) +{ + const auto refined_goal_opt = + autoware::behavior_path_planner::goal_planner_utils::calcRefinedGoal( + original_goal_pose, planner_data->route_handler, true, + planner_data->parameters.vehicle_length, planner_data->parameters.base_link2front, + planner_data->parameters.base_link2front, parameters); + if (!refined_goal_opt) { + return std::nullopt; + } + const auto & refined_goal = refined_goal_opt.value(); + + const auto & route_handler = planner_data->route_handler; + const double forward_length = parameters.forward_goal_search_length; + const double backward_length = parameters.backward_goal_search_length; + const bool use_bus_stop_area = parameters.bus_stop_area.use_bus_stop_area; + /* + const double margin_from_boundary = parameters.margin_from_boundary; + const double lateral_offset_interval = use_bus_stop_area + ? parameters.bus_stop_area.lateral_offset_interval + : parameters.lateral_offset_interval; + const double max_lateral_offset = parameters.max_lateral_offset; + const double ignore_distance_from_lane_start = parameters.ignore_distance_from_lane_start; + */ + + const auto pull_over_lanes = + autoware::behavior_path_planner::goal_planner_utils::getPullOverLanes( + *route_handler, true, parameters.backward_goal_search_length, + parameters.forward_goal_search_length); + const auto departure_check_lane = + autoware::behavior_path_planner::goal_planner_utils::createDepartureCheckLanelet( + pull_over_lanes, *route_handler, true); + const auto goal_arc_coords = lanelet::utils::getArcCoordinates(pull_over_lanes, refined_goal); + const double s_start = std::max(0.0, goal_arc_coords.length - backward_length); + const double s_end = goal_arc_coords.length + forward_length; + const double longitudinal_interval = use_bus_stop_area + ? parameters.bus_stop_area.goal_search_interval + : parameters.goal_search_interval; + auto center_line_path = autoware::behavior_path_planner::utils::resamplePathWithSpline( + route_handler->getCenterLinePath(pull_over_lanes, s_start, s_end), longitudinal_interval); + return center_line_path; +} + int main(int argc, char ** argv) { using autoware::behavior_path_planner::utils::getReferencePath; @@ -455,8 +545,8 @@ int main(int argc, char ** argv) lane_departure_checker_params.footprint_extra_margin = goal_planner_parameter.lane_departure_check_expansion_margin; lane_departure_checker.setParam(lane_departure_checker_params); - autoware::behavior_path_planner::GoalSearcher goal_searcher( - goal_planner_parameter, vehicle_info.createFootprint()); + const auto footprint = vehicle_info.createFootprint(); + autoware::behavior_path_planner::GoalSearcher goal_searcher(goal_planner_parameter, footprint); const auto goal_candidates = goal_searcher.search(planner_data); pybind11::scoped_interpreter guard{}; @@ -473,7 +563,9 @@ int main(int argc, char ** argv) plot_lanelet(ax2, lanelet); } - plot_path_with_lane_id(ax1, reference_path.path, "green"); + plot_goal_candidates(ax1, goal_candidates, footprint); + + plot_path_with_lane_id(ax2, reference_path.path, "green", "reference_path"); std::vector candidates; for (const auto & goal_candidate : goal_candidates) { @@ -488,14 +580,18 @@ int main(int argc, char ** argv) plot_path_with_lane_id(ax1, full_path); } } - const auto filtered_paths = selectPullOverPaths( + [[maybe_unused]] const auto filtered_paths = selectPullOverPaths( candidates, goal_candidates, planner_data, goal_planner_parameter, reference_path); - for (const auto & filtered_path : filtered_paths) { - plot_path_with_lane_id(ax2, filtered_path.full_path(), "blue"); - } + const auto centerline_path = + calculate_centerline_path(route_msg.goal_pose, planner_data, goal_planner_parameter); + if (centerline_path) { + plot_path_with_lane_id(ax2, centerline_path.value(), "red", "centerline_path"); + } ax1.set_aspect(Args("equal")); ax2.set_aspect(Args("equal")); + ax1.legend(); + ax2.legend(); plt.show(); rclcpp::shutdown(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index f3fa2898ce833..6caeff97c2607 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -364,7 +364,6 @@ class GoalPlannerModule : public SceneModuleInterface const std::shared_ptr occupancy_grid_map) const; // goal seach - Pose calcRefinedGoal(const Pose & goal_pose) const; GoalCandidates generateGoalCandidates() const; // stop or decelerate diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp index 52dfbbddc79ff..f00d9d41622e9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp @@ -20,16 +20,17 @@ #include -#include "visualization_msgs/msg/detail/marker_array__struct.hpp" #include #include #include #include #include +#include #include #include +#include #include #include @@ -175,6 +176,15 @@ lanelet::Points3d combineLanePoints( lanelet::Lanelet createDepartureCheckLanelet( const lanelet::ConstLanelets & pull_over_lanes, const route_handler::RouteHandler & route_handler, const bool left_side_parking); + +std::optional calcRefinedGoal( + const Pose & goal_pose, const std::shared_ptr route_handler, + const bool left_side_parking, const double vehicle_width, const double base_link2front, + const double base_link2rear, const GoalPlannerParameters & parameters); + +std::optional calcClosestPose( + const lanelet::ConstLineString3d line, const Point & query_point); + } // namespace autoware::behavior_path_planner::goal_planner_utils #endif // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index b17a5588835a5..f72c96fedbe34 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -585,8 +585,14 @@ void GoalPlannerModule::updateData() // update goal searcher and generate goal candidates if (thread_safe_data_.get_goal_candidates().empty()) { - goal_searcher_->setReferenceGoal( - calcRefinedGoal(planner_data_->route_handler->getOriginalGoalPose())); + const auto refined_goal = goal_planner_utils::calcRefinedGoal( + planner_data_->route_handler->getOriginalGoalPose(), planner_data_->route_handler, + left_side_parking_, planner_data_->parameters.vehicle_width, + planner_data_->parameters.base_link2front, planner_data_->parameters.base_link2rear, + *parameters_); + if (refined_goal) { + goal_searcher_->setReferenceGoal(refined_goal.value()); + } thread_safe_data_.set_goal_candidates(generateGoalCandidates()); } @@ -757,61 +763,6 @@ double GoalPlannerModule::calcModuleRequestLength() const return std::max(minimum_request_length, parameters_->pull_over_minimum_request_length); } -Pose GoalPlannerModule::calcRefinedGoal(const Pose & goal_pose) const -{ - const double vehicle_width = planner_data_->parameters.vehicle_width; - const double base_link2front = planner_data_->parameters.base_link2front; - const double base_link2rear = planner_data_->parameters.base_link2rear; - - const lanelet::ConstLanelets pull_over_lanes = goal_planner_utils::getPullOverLanes( - *(planner_data_->route_handler), left_side_parking_, parameters_->backward_goal_search_length, - parameters_->forward_goal_search_length); - - lanelet::Lanelet closest_pull_over_lanelet{}; - lanelet::utils::query::getClosestLanelet(pull_over_lanes, goal_pose, &closest_pull_over_lanelet); - - // calc closest center line pose - Pose center_pose{}; - { - // find position - const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(goal_pose.position); - const auto segment = lanelet::utils::getClosestSegment( - lanelet::utils::to2D(lanelet_point), closest_pull_over_lanelet.centerline()); - const auto p1 = segment.front().basicPoint(); - const auto p2 = segment.back().basicPoint(); - const auto direction_vector = (p2 - p1).normalized(); - const auto p1_to_goal = lanelet_point.basicPoint() - p1; - const double s = direction_vector.dot(p1_to_goal); - const auto refined_point = p1 + direction_vector * s; - - center_pose.position.x = refined_point.x(); - center_pose.position.y = refined_point.y(); - center_pose.position.z = refined_point.z(); - - // find orientation - const double yaw = std::atan2(direction_vector.y(), direction_vector.x()); - tf2::Quaternion tf_quat; - tf_quat.setRPY(0, 0, yaw); - center_pose.orientation = tf2::toMsg(tf_quat); - } - - const auto distance_from_bound = utils::getSignedDistanceFromBoundary( - pull_over_lanes, vehicle_width, base_link2front, base_link2rear, center_pose, - left_side_parking_); - if (!distance_from_bound) { - RCLCPP_ERROR(getLogger(), "fail to calculate refined goal"); - return goal_pose; - } - - const double sign = left_side_parking_ ? -1.0 : 1.0; - const double offset_from_center_line = - sign * (distance_from_bound.value() + parameters_->margin_from_boundary); - - const auto refined_goal_pose = calcOffsetPose(center_pose, 0, -offset_from_center_line, 0); - - return refined_goal_pose; -} - bool GoalPlannerModule::planFreespacePath( std::shared_ptr planner_data, const std::shared_ptr goal_searcher, diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp index ea0816954d0e1..0bca5ba7a7864 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -20,8 +20,11 @@ #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp" #include "autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp" +#include "autoware_lanelet2_extension/utility/query.hpp" #include "autoware_lanelet2_extension/utility/utilities.hpp" +#include + #include #include @@ -193,8 +196,27 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p continue; } + // modify the goal_pose orientation so that vehicle footprint front heading is parallel to the + // lane boundary + const auto vehicle_front_midpoint = + (transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontLeftIndex) + + transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontRightIndex)) / + 2.0; + lanelet::ConstLanelet vehicle_front_closest_lanelet; + lanelet::utils::query::getClosestLanelet( + pull_over_lanes, search_pose, &vehicle_front_closest_lanelet); + const auto vehicle_front_pose_for_bound_opt = goal_planner_utils::calcClosestPose( + left_side_parking_ ? vehicle_front_closest_lanelet.leftBound() + : vehicle_front_closest_lanelet.rightBound(), + autoware::universe_utils::createPoint( + vehicle_front_midpoint.x(), vehicle_front_midpoint.y(), search_pose.position.z)); + if (!vehicle_front_pose_for_bound_opt) { + continue; + } + const auto & vehicle_front_pose_for_bound = vehicle_front_pose_for_bound_opt.value(); GoalCandidate goal_candidate{}; goal_candidate.goal_pose = search_pose; + goal_candidate.goal_pose.orientation = vehicle_front_pose_for_bound.orientation; goal_candidate.lateral_offset = dy; goal_candidate.id = goal_id; goal_id++; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp index 3815acc4561e7..75cdb2d892510 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp @@ -740,4 +740,86 @@ lanelet::Lanelet createDepartureCheckLanelet( left_side_parking ? inner_linestring : outer_linestring); } +std::optional calcRefinedGoal( + const Pose & goal_pose, const std::shared_ptr route_handler, + const bool left_side_parking, const double vehicle_width, const double base_link2front, + const double base_link2rear, const GoalPlannerParameters & parameters) +{ + const lanelet::ConstLanelets pull_over_lanes = goal_planner_utils::getPullOverLanes( + *route_handler, left_side_parking, parameters.backward_goal_search_length, + parameters.forward_goal_search_length); + + lanelet::Lanelet closest_pull_over_lanelet{}; + lanelet::utils::query::getClosestLanelet(pull_over_lanes, goal_pose, &closest_pull_over_lanelet); + + // calc closest center line pose + Pose center_pose{}; + { + // find position + const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(goal_pose.position); + const auto segment = lanelet::utils::getClosestSegment( + lanelet::utils::to2D(lanelet_point), closest_pull_over_lanelet.centerline()); + const auto p1 = segment.front().basicPoint(); + const auto p2 = segment.back().basicPoint(); + const auto direction_vector = (p2 - p1).normalized(); + const auto p1_to_goal = lanelet_point.basicPoint() - p1; + const double s = direction_vector.dot(p1_to_goal); + const auto refined_point = p1 + direction_vector * s; + + center_pose.position.x = refined_point.x(); + center_pose.position.y = refined_point.y(); + center_pose.position.z = refined_point.z(); + + // find orientation + const double yaw = std::atan2(direction_vector.y(), direction_vector.x()); + tf2::Quaternion tf_quat; + tf_quat.setRPY(0, 0, yaw); + center_pose.orientation = tf2::toMsg(tf_quat); + } + + const auto distance_from_bound = utils::getSignedDistanceFromBoundary( + pull_over_lanes, vehicle_width, base_link2front, base_link2rear, center_pose, + left_side_parking); + if (!distance_from_bound) { + return std::nullopt; + } + + const double sign = left_side_parking ? -1.0 : 1.0; + const double offset_from_center_line = + sign * (distance_from_bound.value() + parameters.margin_from_boundary); + + const auto refined_goal_pose = calcOffsetPose(center_pose, 0, -offset_from_center_line, 0); + + return refined_goal_pose; +} + +std::optional calcClosestPose( + const lanelet::ConstLineString3d line, const Point & query_point) +{ + const auto segment = + lanelet::utils::getClosestSegment(lanelet::BasicPoint2d{query_point.x, query_point.y}, line); + if (segment.empty()) { + return std::nullopt; + } + + const Eigen::Vector2d direction( + (segment.back().basicPoint2d() - segment.front().basicPoint2d()).normalized()); + const Eigen::Vector2d xf(segment.front().basicPoint2d()); + const Eigen::Vector2d x(query_point.x, query_point.y); + const Eigen::Vector2d p = xf + (x - xf).dot(direction) * direction; + + geometry_msgs::msg::Pose closest_pose; + closest_pose.position.x = p.x(); + closest_pose.position.y = p.y(); + closest_pose.position.z = query_point.z; + + const double lane_yaw = + std::atan2(segment.back().y() - segment.front().y(), segment.back().x() - segment.front().x()); + tf2::Quaternion q; + q.setRPY(0, 0, lane_yaw); + closest_pose.orientation = tf2::toMsg(q); + + return closest_pose; +} + } // namespace autoware::behavior_path_planner::goal_planner_utils From 40610413676346b5897c06936b930bcca9f0681b Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 28 Oct 2024 22:55:58 +0900 Subject: [PATCH 301/701] feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance (#8380) * feat: add option for updating distance and azimuth value Signed-off-by: vividf * chore: clean code Signed-off-by: vividf * chore: remove space Signed-off-by: vividf * chore: add documentation Signed-off-by: vividf * chore: fix docs Signed-off-by: vividf * feat: conversion formula implementation for degree, still need to change to rad Signed-off-by: vividf * chore: fix tests for AzimuthConversionExists function Signed-off-by: vividf * feat: add fastatan to utils Signed-off-by: vividf * feat: remove seperate sin, cos and use sin_and_cos function Signed-off-by: vividf * chore: fix readme Signed-off-by: vividf * chore: fix some grammar errors Signed-off-by: vividf * chore: fix spell error Signed-off-by: vividf * chore: set debug mode to false Signed-off-by: vividf * chore: set update_azimuth_and_distance default value to false Signed-off-by: vividf * chore: update readme Signed-off-by: vividf * chore: remove cout Signed-off-by: vividf * chore: add opencv license Signed-off-by: vividf * chore: fix grammar error Signed-off-by: vividf * style(pre-commit): autofix * chore: add runtime error when azimuth conversion failed Signed-off-by: vividf * chore: change default pointcloud Signed-off-by: vividf * chore: change function name Signed-off-by: vividf * chore: move variables to structure Signed-off-by: vividf * chore: add random seed Signed-off-by: vividf * chore: rewrite get conversion function Signed-off-by: vividf * chore: fix opencv fast atan2 function Signed-off-by: vividf * chore: fix schema description Signed-off-by: vividf * Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> * Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> * chore: move code to function for readability Signed-off-by: vividf * chore: simplify code Signed-off-by: vividf * chore: fix sentence, angle conversion Signed-off-by: vividf * chore: add more invalid condition Signed-off-by: vividf * chore: fix the string name to enum Signed-off-by: vividf * chore: remove runtime error Signed-off-by: vividf * chore: use optional for AngleConversion structure Signed-off-by: vividf * chore: fix bug and clean code Signed-off-by: vividf * chore: refactor the logic of calculating conversion Signed-off-by: vividf * chore: refactor function in unit test Signed-off-by: vividf * chore: RCLCPP_WARN_STREAM logging when failed to get angle conversion Signed-off-by: vividf * chore: improve normalize angle algorithm Signed-off-by: vividf * chore: improve multiple_of_90_degrees logic Signed-off-by: vividf * chore: add opencv license Signed-off-by: vividf * style(pre-commit): autofix * chore: clean code Signed-off-by: vividf * chore: fix sentence Signed-off-by: vividf * style(pre-commit): autofix * chore: add 0 0 0 points in test case Signed-off-by: vividf * chore: fix spell error Signed-off-by: vividf * Update common/autoware_universe_utils/NOTICE Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> * Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> * Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> * chore: use constexpr for threshold Signed-off-by: vividf * chore: fix the path of license Signed-off-by: vividf * chore: explanation for failures Signed-off-by: vividf * chore: use throttle Signed-off-by: vividf * chore: fix empty pointcloud function Signed-off-by: vividf * refactor: change camel to snake case Signed-off-by: vividf * Update sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> * Update sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> * style(pre-commit): autofix * Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> * refactor: refactor virtual function in base class Signed-off-by: vividf * chore: fix test naming error Signed-off-by: vividf * chore: fix clang error Signed-off-by: vividf * chore: fix error Signed-off-by: vividf * chore: fix clangd Signed-off-by: vividf * chore: add runtime error if the setting is wrong Signed-off-by: vividf * chore: clean code Signed-off-by: vividf * Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> * style(pre-commit): autofix * chore: fix unit test for runtime error Signed-off-by: vividf * Update sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: Kenzo Lobos Tsunekawa * chore: fix offset_rad_threshold Signed-off-by: vividf * chore: change pointer to reference Signed-off-by: vividf * chore: snake_case for unit test Signed-off-by: vividf * chore: fix refactor process twist and imu Signed-off-by: vividf * chore: fix abs and return type of matrix to tf2 Signed-off-by: vividf * chore: fix grammar error Signed-off-by: vividf * chore: fix readme description Signed-off-by: vividf * chore: remove runtime error Signed-off-by: vividf --------- Signed-off-by: vividf Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa --- common/autoware_universe_utils/NOTICE | 2 + .../universe_utils/math/trigonometry.hpp | 2 + .../src/math/trigonometry.cpp | 53 + .../test/src/math/test_trigonometry.cpp | 25 + .../third_party_licenses/opencv-license.md | 201 ++++ .../distortion_corrector_node.param.yaml | 1 + .../docs/distortion-corrector.md | 21 + .../docs/image/hesai.drawio.png | Bin 0 -> 12136 bytes .../docs/image/velodyne.drawio.png | Bin 0 -> 12192 bytes .../distortion_corrector.hpp | 124 +- .../distortion_corrector_node.hpp | 10 +- .../distortion_corrector_node.schema.json | 13 +- .../distortion_corrector.cpp | 340 ++++-- .../distortion_corrector_node.cpp | 42 +- .../test/test_distortion_corrector_node.cpp | 1045 +++++++++++------ 15 files changed, 1369 insertions(+), 510 deletions(-) create mode 100644 common/autoware_universe_utils/NOTICE create mode 100644 common/autoware_universe_utils/third_party_licenses/opencv-license.md create mode 100644 sensing/autoware_pointcloud_preprocessor/docs/image/hesai.drawio.png create mode 100644 sensing/autoware_pointcloud_preprocessor/docs/image/velodyne.drawio.png diff --git a/common/autoware_universe_utils/NOTICE b/common/autoware_universe_utils/NOTICE new file mode 100644 index 0000000000000..845c72f5edb36 --- /dev/null +++ b/common/autoware_universe_utils/NOTICE @@ -0,0 +1,2 @@ +The function 'opencv_fast_atan2' in /autoware/src/universe/autoware.universe/common/autoware_universe_utils/src/math/trigonometry.cpp +is a modified version of 'fastAtan2' in the OpenCV project. (https://github.com/opencv/opencv/blob/4.x/modules/core/src/mathfuncs_core.simd.hpp) diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp index 19a59523c7f08..184538f158c3c 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp @@ -26,6 +26,8 @@ float cos(float radian); std::pair sin_and_cos(float radian); +float opencv_fast_atan2(float dy, float dx); + } // namespace autoware::universe_utils #endif // AUTOWARE__UNIVERSE_UTILS__MATH__TRIGONOMETRY_HPP_ diff --git a/common/autoware_universe_utils/src/math/trigonometry.cpp b/common/autoware_universe_utils/src/math/trigonometry.cpp index 586b9075ba6d5..2966f35bfe59e 100644 --- a/common/autoware_universe_utils/src/math/trigonometry.cpp +++ b/common/autoware_universe_utils/src/math/trigonometry.cpp @@ -72,4 +72,57 @@ std::pair sin_and_cos(float radian) } } +// This code is modified from a part of the OpenCV project +// (https://github.com/opencv/opencv/blob/4.x/modules/core/src/mathfuncs_core.simd.hpp). It is +// subject to the license terms in the LICENSE file found in the top-level directory of this +// distribution and at http://opencv.org/license.html. +// The license can be found in +// common/autoware_universe_utils/third_party_licenses/opencv-license.md +// and https://github.com/opencv/opencv/blob/master/LICENSE + +// Modification: +// 1. use autoware defined PI +// 2. output of the function is changed from degrees to radians. +namespace detail_fast_atan2 +{ +static const float atan2_p1 = + 0.9997878412794807f * static_cast(180) / autoware::universe_utils::pi; +static const float atan2_p3 = + -0.3258083974640975f * static_cast(180) / autoware::universe_utils::pi; +static const float atan2_p5 = + 0.1555786518463281f * static_cast(180) / autoware::universe_utils::pi; +static const float atan2_p7 = + -0.04432655554792128f * static_cast(180) / autoware::universe_utils::pi; +static const float atan2_DBL_EPSILON = 2.2204460492503131e-016f; +} // namespace detail_fast_atan2 + +float opencv_fast_atan2(float dy, float dx) +{ + float ax = std::abs(dx); + float ay = std::abs(dy); + float a, c, c2; + if (ax >= ay) { + c = ay / (ax + detail_fast_atan2::atan2_DBL_EPSILON); + c2 = c * c; + a = (((detail_fast_atan2::atan2_p7 * c2 + detail_fast_atan2::atan2_p5) * c2 + + detail_fast_atan2::atan2_p3) * + c2 + + detail_fast_atan2::atan2_p1) * + c; + } else { + c = ax / (ay + detail_fast_atan2::atan2_DBL_EPSILON); + c2 = c * c; + a = 90.f - (((detail_fast_atan2::atan2_p7 * c2 + detail_fast_atan2::atan2_p5) * c2 + + detail_fast_atan2::atan2_p3) * + c2 + + detail_fast_atan2::atan2_p1) * + c; + } + if (dx < 0) a = 180.f - a; + if (dy < 0) a = 360.f - a; + + a = a * autoware::universe_utils::pi / 180.f; + return a; +} + } // namespace autoware::universe_utils diff --git a/common/autoware_universe_utils/test/src/math/test_trigonometry.cpp b/common/autoware_universe_utils/test/src/math/test_trigonometry.cpp index b55b27a34a6ac..df05b698693d6 100644 --- a/common/autoware_universe_utils/test/src/math/test_trigonometry.cpp +++ b/common/autoware_universe_utils/test/src/math/test_trigonometry.cpp @@ -50,3 +50,28 @@ TEST(trigonometry, sin_and_cos) EXPECT_TRUE(std::abs(std::cos(x * static_cast(i)) - sin_and_cos.second) < 10e-7); } } + +float normalize_angle(double angle) +{ + const double tau = 2 * autoware::universe_utils::pi; + double factor = std::floor(angle / tau); + return static_cast(angle - (factor * tau)); +} + +TEST(trigonometry, opencv_fast_atan2) +{ + for (int i = 0; i < 100; ++i) { + // Generate random x and y between -10 and 10 + std::srand(0); + float x = static_cast(std::rand()) / RAND_MAX * 20.0 - 10.0; + float y = static_cast(std::rand()) / RAND_MAX * 20.0 - 10.0; + + float fast_atan = autoware::universe_utils::opencv_fast_atan2(y, x); + float std_atan = normalize_angle(std::atan2(y, x)); + + // 0.3 degree accuracy + ASSERT_NEAR(fast_atan, std_atan, 6e-3) + << "Test failed for input (" << y << ", " << x << "): " + << "fast atan2 = " << fast_atan << ", std::atan2 = " << std_atan; + } +} diff --git a/common/autoware_universe_utils/third_party_licenses/opencv-license.md b/common/autoware_universe_utils/third_party_licenses/opencv-license.md new file mode 100644 index 0000000000000..c319da33b7428 --- /dev/null +++ b/common/autoware_universe_utils/third_party_licenses/opencv-license.md @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + +TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + +1. 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However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + +END OF TERMS AND CONDITIONS + +APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + +Copyright [yyyy] [name of copyright owner] + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. diff --git a/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml index eca08c37b6458..90ded7ffc9c97 100644 --- a/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml +++ b/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml @@ -3,4 +3,5 @@ base_frame: base_link use_imu: true use_3d_distortion_correction: false + update_azimuth_and_distance: false has_static_tf_only: true diff --git a/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md b/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md index ab5a07b5279bc..75cdccc4453ba 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md @@ -48,3 +48,24 @@ ros2 launch autoware_pointcloud_preprocessor distortion_corrector.launch.xml - The node requires time synchronization between the topics from lidars, twist, and IMU. - If you want to use a 3D distortion corrector without IMU, please check that the linear and angular velocity fields of your twist message are not empty. +- The node updates the per-point azimuth and distance values based on the undistorted XYZ coordinates when the input point cloud is in the sensor frame (not in the `base_link`) and the `update_azimuth_and_distance` parameter is set to `true`. The azimuth values are calculated using a modified version of OpenCV's `cv::fastAtan2` function. +- Please note that updating the azimuth and distance fields increases the execution time by approximately 20%. Additionally, due to the `cv::fastAtan2` algorithm's has a maximum error of 0.3 degrees, there is a **possibility of changing the beam order for high azimuth resolution LiDAR**. +- LiDARs from different vendors have different azimuth coordinates, as shown in the images below. Currently, the coordinate systems listed below have been tested, and the node will update the azimuth based on the input coordinate system. + - `velodyne`: (x: 0 degrees, y: 270 degrees) + - `hesai`: (x: 90 degrees, y: 0 degrees) + - `others`: (x: 0 degrees, y: 90 degrees) and (x: 270 degrees, y: 0 degrees) + + + + + + + + + + +
velodyne azimuth coordinatehesai azimuth coordinate

Velodyne azimuth coordinate

Hesai azimuth coordinate

+ +## References/External links + + diff --git a/sensing/autoware_pointcloud_preprocessor/docs/image/hesai.drawio.png b/sensing/autoware_pointcloud_preprocessor/docs/image/hesai.drawio.png new file mode 100644 index 0000000000000000000000000000000000000000..d406eb3896850425576f44e1b449fabbd671bbe4 GIT binary patch literal 12136 zcmeHt2|U#8+JB@7$r1|5p2#vY_ASOTWGq>;H_Tu%%otOX^$>SM5dab}j&MS`?M%?a`k^rxgdkW;T3iws5xp`$jR8rNSy?p)NnWq${b~{iw5{;Nke4CAu{A8y4ogsa6zy-@Qgvb zpnx|R%E1LoUZU=d$GQR(Ef82nT$20+5RDOz2t4{17G#;cPk3`|ONdP~vAVgD8QVp0&{)VXUoEP}uh5+{daSw*Tk;QhFqmkP* zzq6)rj2=i1p=Rfe^|RN;fE*qF$ZeOWs}Bs1z&Yz-kthtn80oVk5J-MUN~G^LMOIRJ zTSzDT?mj!)k_pCWzulw!5F9M&v$L;WgWci)xAx<#dZ|$g}`|3T=}*>JqW(L1`HesP%JPC^>#)R zP{uff19_@9U|Rsqnc#{6K9T(o;ep%MwjlxHhI=xYv`w*U?{-H33y*XS3Aog zayyr?;}sC{WU@1R|FkjLohi=0nAa{1v18Rvzi}on{(CeJ%-J!Vzm}dHE&pI&f2!0S z_x?+zx*^rbo(QPU0fX@HKsx}p{EIH}SWh=3S&14zbo!$rkJcR~^VflVPmjs)!UH;4J_ z+u51@!%Y9DnSY-(%Wiw&zs#B)ugyH{QE7zyZ*bo<$tUt%l(NZ%U}Rh@gpMwA;jUgWGUnBNroFh)P%^(OG-*11;IZ_ 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processTwistMessage( - const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) = 0; - virtual void processIMUMessage( - const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) = 0; - virtual void setPointCloudTransform( - const std::string & base_frame, const std::string & lidar_frame) = 0; - virtual void initialize() = 0; - virtual void undistortPointCloud(bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) = 0; + // Equation for the conversion between sensor azimuth coordinates and Cartesian coordinates: + // sensor azimuth coordinates = offset_rad + sign * cartesian coordinates; + // offset_rad is restricted to be a multiple of 90, and sign is restricted to be 1 or -1. + float offset_rad{0}; + float sign{1}; + static constexpr float offset_rad_threshold{(5.0f / 180.0f) * M_PI}; + + static constexpr float sign_threshold{0.1f}; }; -template -class DistortionCorrector : public DistortionCorrectorBase +class DistortionCorrectorBase { protected: geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr_; bool pointcloud_transform_needed_{false}; bool pointcloud_transform_exists_{false}; bool imu_transform_exists_{false}; - rclcpp::Node * node_; std::unique_ptr managed_tf_buffer_{nullptr}; std::deque twist_queue_; std::deque angular_velocity_queue_; - void getIMUTransformation(const std::string & base_frame, const std::string & imu_frame); - void enqueueIMU(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); - void getTwistAndIMUIterator( + rclcpp::Node & node_; + + void get_imu_transformation(const std::string & base_frame, const std::string & imu_frame); + void enqueue_imu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); + void get_twist_and_imu_iterator( bool use_imu, double first_point_time_stamp_sec, std::deque::iterator & it_twist, std::deque::iterator & it_imu); - void warnIfTimestampIsTooLate(bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late); - void undistortPoint( - sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, - sensor_msgs::PointCloud2Iterator & it_z, - std::deque::iterator & it_twist, - std::deque::iterator & it_imu, float const & time_offset, - const bool & is_twist_valid, const bool & is_imu_valid) - { - static_cast(this)->undistortPointImplementation( - it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); - }; - void convertMatrixToTransform(const Eigen::Matrix4f & matrix, tf2::Transform & transform); + void warn_if_timestamp_is_too_late( + bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late); + static tf2::Transform convert_matrix_to_transform(const Eigen::Matrix4f & matrix); public: - explicit DistortionCorrector(rclcpp::Node * node, const bool & has_static_tf_only) : node_(node) + explicit DistortionCorrectorBase(rclcpp::Node & node, const bool & has_static_tf_only) + : node_(node) { managed_tf_buffer_ = - std::make_unique(node, has_static_tf_only); + std::make_unique(&node, has_static_tf_only); } - bool pointcloud_transform_exists(); - bool pointcloud_transform_needed(); + [[nodiscard]] bool pointcloud_transform_exists() const; + [[nodiscard]] bool pointcloud_transform_needed() const; std::deque get_twist_queue(); std::deque get_angular_velocity_queue(); - void processTwistMessage( - const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) override; + void process_twist_message( + const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg); + + void process_imu_message( + const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); + + std::optional try_compute_angle_conversion( + sensor_msgs::msg::PointCloud2 & pointcloud); + + bool is_pointcloud_valid(sensor_msgs::msg::PointCloud2 & pointcloud); + + virtual void set_pointcloud_transform( + const std::string & base_frame, const std::string & lidar_frame) = 0; + virtual void initialize() = 0; + virtual void undistort_pointcloud( + bool use_imu, std::optional angle_conversion_opt, + sensor_msgs::msg::PointCloud2 & pointcloud) = 0; +}; - void processIMUMessage( - const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) override; - void undistortPointCloud(bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) override; - bool isInputValid(sensor_msgs::msg::PointCloud2 & pointcloud); +template +class DistortionCorrector : public DistortionCorrectorBase +{ +public: + explicit DistortionCorrector(rclcpp::Node & node, const bool & has_static_tf_only) + : DistortionCorrectorBase(node, has_static_tf_only) + { + } + + void undistort_pointcloud( + bool use_imu, std::optional angle_conversion_opt, + sensor_msgs::msg::PointCloud2 & pointcloud) override; + + void undistort_point( + sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, + sensor_msgs::PointCloud2Iterator & it_z, + std::deque::iterator & it_twist, + std::deque::iterator & it_imu, float const & time_offset, + const bool & is_twist_valid, const bool & is_imu_valid) + { + static_cast(this)->undistort_point_implementation( + it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); + }; }; class DistortionCorrector2D : public DistortionCorrector @@ -134,20 +155,19 @@ class DistortionCorrector2D : public DistortionCorrector tf2::Transform tf2_base_link_to_lidar_; public: - explicit DistortionCorrector2D(rclcpp::Node * node, const bool & has_static_tf_only) + explicit DistortionCorrector2D(rclcpp::Node & node, const bool & has_static_tf_only) : DistortionCorrector(node, has_static_tf_only) { } void initialize() override; - void undistortPointImplementation( + void set_pointcloud_transform( + const std::string & base_frame, const std::string & lidar_frame) override; + void undistort_point_implementation( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, sensor_msgs::PointCloud2Iterator & it_z, std::deque::iterator & it_twist, std::deque::iterator & it_imu, const float & time_offset, const bool & is_twist_valid, const bool & is_imu_valid); - - void setPointCloudTransform( - const std::string & base_frame, const std::string & lidar_frame) override; }; class DistortionCorrector3D : public DistortionCorrector @@ -164,19 +184,19 @@ class DistortionCorrector3D : public DistortionCorrector Eigen::Matrix4f eigen_base_link_to_lidar_; public: - explicit DistortionCorrector3D(rclcpp::Node * node, const bool & has_static_tf_only) + explicit DistortionCorrector3D(rclcpp::Node & node, const bool & has_static_tf_only) : DistortionCorrector(node, has_static_tf_only) { } void initialize() override; - void undistortPointImplementation( + void set_pointcloud_transform( + const std::string & base_frame, const std::string & lidar_frame) override; + void undistort_point_implementation( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, sensor_msgs::PointCloud2Iterator & it_z, std::deque::iterator & it_twist, std::deque::iterator & it_imu, const float & time_offset, const bool & is_twist_valid, const bool & is_imu_valid); - void setPointCloudTransform( - const std::string & base_frame, const std::string & lidar_frame) override; }; } // namespace autoware::pointcloud_preprocessor diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp index 0d8c9436bda4b..b96774c37f621 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp @@ -52,12 +52,16 @@ class DistortionCorrectorComponent : public rclcpp::Node std::string base_frame_; bool use_imu_; bool use_3d_distortion_correction_; + bool update_azimuth_and_distance_; + + std::optional angle_conversion_opt_; std::unique_ptr distortion_corrector_; - void onPointCloud(PointCloud2::UniquePtr points_msg); - void onTwist(const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg); - void onImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); + void pointcloud_callback(PointCloud2::UniquePtr pointcloud_msg); + void twist_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg); + void imu_callback(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); }; } // namespace autoware::pointcloud_preprocessor diff --git a/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json index 75579227981ac..091695716c610 100644 --- a/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json +++ b/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json @@ -21,13 +21,24 @@ "description": "Use 3d distortion correction algorithm, otherwise, use 2d distortion correction algorithm.", "default": "false" }, + "update_azimuth_and_distance": { + "type": "boolean", + "description": "Flag to update the azimuth and distance values of each point after undistortion. If set to false, the azimuth and distance values will remain unchanged after undistortion, resulting in a mismatch with the updated x, y, z coordinates.", + "default": "false" + }, "has_static_tf_only": { "type": "boolean", "description": "Flag to indicate if only static TF is used.", "default": false } }, - "required": ["base_frame", "use_imu", "use_3d_distortion_correction", "has_static_tf_only"] + "required": [ + "base_frame", + "use_imu", + "use_3d_distortion_correction", + "update_azimuth_and_distance", + "has_static_tf_only" + ] } }, "properties": { diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index d0119fbc44f24..43a44f836b61a 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -15,91 +15,86 @@ #include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" #include "autoware/pointcloud_preprocessor/utility/memory.hpp" +#include "autoware/universe_utils/math/constants.hpp" #include #include -#include - namespace autoware::pointcloud_preprocessor { -template -bool DistortionCorrector::pointcloud_transform_exists() +bool DistortionCorrectorBase::pointcloud_transform_exists() const { return pointcloud_transform_exists_; } -template -bool DistortionCorrector::pointcloud_transform_needed() +bool DistortionCorrectorBase::pointcloud_transform_needed() const { return pointcloud_transform_needed_; } -template -std::deque DistortionCorrector::get_twist_queue() +std::deque DistortionCorrectorBase::get_twist_queue() { return twist_queue_; } -template -std::deque DistortionCorrector::get_angular_velocity_queue() +std::deque DistortionCorrectorBase::get_angular_velocity_queue() { return angular_velocity_queue_; } -template -void DistortionCorrector::processTwistMessage( +void DistortionCorrectorBase::process_twist_message( const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) { geometry_msgs::msg::TwistStamped msg; msg.header = twist_msg->header; msg.twist = twist_msg->twist.twist; - twist_queue_.push_back(msg); + + // If time jumps backwards (e.g. when a rosbag restarts), clear buffer + if (!twist_queue_.empty()) { + if (rclcpp::Time(twist_queue_.front().header.stamp) > rclcpp::Time(msg.header.stamp)) { + twist_queue_.clear(); + } + } + + // Twist data in the queue that is older than the current twist by 1 second will be cleared. + auto cutoff_time = rclcpp::Time(msg.header.stamp) - rclcpp::Duration::from_seconds(1.0); while (!twist_queue_.empty()) { - // for replay rosbag - if (rclcpp::Time(twist_queue_.front().header.stamp) > rclcpp::Time(twist_msg->header.stamp)) { - twist_queue_.pop_front(); - } else if ( // NOLINT - rclcpp::Time(twist_queue_.front().header.stamp) < - rclcpp::Time(twist_msg->header.stamp) - rclcpp::Duration::from_seconds(1.0)) { - twist_queue_.pop_front(); - } else { + if (rclcpp::Time(twist_queue_.front().header.stamp) > cutoff_time) { break; } + twist_queue_.pop_front(); } + + twist_queue_.push_back(msg); } -template -void DistortionCorrector::processIMUMessage( +void DistortionCorrectorBase::process_imu_message( const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) { - getIMUTransformation(base_frame, imu_msg->header.frame_id); - enqueueIMU(imu_msg); + get_imu_transformation(base_frame, imu_msg->header.frame_id); + enqueue_imu(imu_msg); } -template -void DistortionCorrector::getIMUTransformation( +void DistortionCorrectorBase::get_imu_transformation( const std::string & base_frame, const std::string & imu_frame) { if (imu_transform_exists_) { return; } - tf2::Transform tf2_imu_to_base_link; Eigen::Matrix4f eigen_imu_to_base_link; imu_transform_exists_ = managed_tf_buffer_->getTransform(base_frame, imu_frame, eigen_imu_to_base_link); - convertMatrixToTransform(eigen_imu_to_base_link, tf2_imu_to_base_link); + tf2::Transform tf2_imu_to_base_link = convert_matrix_to_transform(eigen_imu_to_base_link); geometry_imu_to_base_link_ptr_ = std::make_shared(); geometry_imu_to_base_link_ptr_->transform.rotation = tf2::toMsg(tf2_imu_to_base_link.getRotation()); } -template -void DistortionCorrector::enqueueIMU(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) +void DistortionCorrectorBase::enqueue_imu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) { geometry_msgs::msg::Vector3Stamped angular_velocity; angular_velocity.vector = imu_msg->angular_velocity; @@ -107,26 +102,30 @@ void DistortionCorrector::enqueueIMU(const sensor_msgs::msg::Imu::ConstShared geometry_msgs::msg::Vector3Stamped transformed_angular_velocity; tf2::doTransform(angular_velocity, transformed_angular_velocity, *geometry_imu_to_base_link_ptr_); transformed_angular_velocity.header = imu_msg->header; - angular_velocity_queue_.push_back(transformed_angular_velocity); - while (!angular_velocity_queue_.empty()) { - // for replay rosbag + // If time jumps backwards (e.g. when a rosbag restarts), clear buffer + if (!angular_velocity_queue_.empty()) { if ( rclcpp::Time(angular_velocity_queue_.front().header.stamp) > rclcpp::Time(imu_msg->header.stamp)) { - angular_velocity_queue_.pop_front(); - } else if ( // NOLINT - rclcpp::Time(angular_velocity_queue_.front().header.stamp) < - rclcpp::Time(imu_msg->header.stamp) - rclcpp::Duration::from_seconds(1.0)) { - angular_velocity_queue_.pop_front(); - } else { + angular_velocity_queue_.clear(); + } + } + + // IMU data in the queue that is older than the current imu msg by 1 second will be cleared. + auto cutoff_time = rclcpp::Time(imu_msg->header.stamp) - rclcpp::Duration::from_seconds(1.0); + + while (!angular_velocity_queue_.empty()) { + if (rclcpp::Time(angular_velocity_queue_.front().header.stamp) > cutoff_time) { break; } + angular_velocity_queue_.pop_front(); } + + angular_velocity_queue_.push_back(transformed_angular_velocity); } -template -void DistortionCorrector::getTwistAndIMUIterator( +void DistortionCorrectorBase::get_twist_and_imu_iterator( bool use_imu, double first_point_time_stamp_sec, std::deque::iterator & it_twist, std::deque::iterator & it_imu) @@ -149,13 +148,11 @@ void DistortionCorrector::getTwistAndIMUIterator( } } -template -bool DistortionCorrector::isInputValid(sensor_msgs::msg::PointCloud2 & pointcloud) +bool DistortionCorrectorBase::is_pointcloud_valid(sensor_msgs::msg::PointCloud2 & pointcloud) { - if (pointcloud.data.empty() || twist_queue_.empty()) { + if (pointcloud.data.empty()) { RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), *node_->get_clock(), 10000 /* ms */, - "input pointcloud or twist_queue_ is empty."); + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, "Input pointcloud is empty."); return false; } @@ -164,19 +161,18 @@ bool DistortionCorrector::isInputValid(sensor_msgs::msg::PointCloud2 & pointc [](const sensor_msgs::msg::PointField & field) { return field.name == "time_stamp"; }); if (time_stamp_field_it == pointcloud.fields.cend()) { RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), *node_->get_clock(), 10000 /* ms */, + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, "Required field time stamp doesn't exist in the point cloud."); return false; } if (!utils::is_data_layout_compatible_with_point_xyzircaedt(pointcloud)) { RCLCPP_ERROR( - node_->get_logger(), - "The pointcloud layout is not compatible with PointXYZIRCAEDT. Aborting"); + node_.get_logger(), "The pointcloud layout is not compatible with PointXYZIRCAEDT. Aborting"); if (utils::is_data_layout_compatible_with_point_xyziradrt(pointcloud)) { RCLCPP_ERROR( - node_->get_logger(), + node_.get_logger(), "The pointcloud layout is compatible with PointXYZIRADRT. You may be using legacy " "code/data"); } @@ -187,15 +183,141 @@ bool DistortionCorrector::isInputValid(sensor_msgs::msg::PointCloud2 & pointc return true; } +std::optional DistortionCorrectorBase::try_compute_angle_conversion( + sensor_msgs::msg::PointCloud2 & pointcloud) +{ + // This function tries to compute the angle conversion from Cartesian coordinates to LiDAR azimuth + // coordinates system + + if (!is_pointcloud_valid(pointcloud)) return std::nullopt; + + AngleConversion angle_conversion; + + sensor_msgs::PointCloud2Iterator it_x(pointcloud, "x"); + sensor_msgs::PointCloud2Iterator it_y(pointcloud, "y"); + sensor_msgs::PointCloud2Iterator it_azimuth(pointcloud, "azimuth"); + + auto next_it_x = it_x; + auto next_it_y = it_y; + auto next_it_azimuth = it_azimuth; + + if (it_x != it_x.end() && it_x + 1 != it_x.end()) { + next_it_x = it_x + 1; + next_it_y = it_y + 1; + next_it_azimuth = it_azimuth + 1; + } else { + RCLCPP_WARN_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, + "Current point cloud only has a single point. Could not calculate the angle conversion."); + return std::nullopt; + } + + for (; next_it_x != it_x.end(); + ++it_x, ++it_y, ++it_azimuth, ++next_it_x, ++next_it_y, ++next_it_azimuth) { + auto current_cartesian_rad = autoware::universe_utils::opencv_fast_atan2(*it_y, *it_x); + auto next_cartesian_rad = autoware::universe_utils::opencv_fast_atan2(*next_it_y, *next_it_x); + + // If the angle exceeds 180 degrees, it may cross the 0-degree axis, + // which could disrupt the calculation of the formula. + if ( + std::abs(*next_it_azimuth - *it_azimuth) == 0 || + std::abs(next_cartesian_rad - current_cartesian_rad) == 0) { + RCLCPP_DEBUG_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, + "Angle between two points is 0 degrees. Iterate to next point ..."); + continue; + } + + // restrict the angle difference between [-180, 180] (degrees) + float azimuth_diff = + std::abs(*next_it_azimuth - *it_azimuth) > autoware::universe_utils::pi + ? std::abs(*next_it_azimuth - *it_azimuth) - 2 * autoware::universe_utils::pi + : *next_it_azimuth - *it_azimuth; + float cartesian_rad_diff = + std::abs(next_cartesian_rad - current_cartesian_rad) > autoware::universe_utils::pi + ? std::abs(next_cartesian_rad - current_cartesian_rad) - 2 * autoware::universe_utils::pi + : next_cartesian_rad - current_cartesian_rad; + + float sign = azimuth_diff / cartesian_rad_diff; + + // Check if 'sign' can be adjusted to 1 or -1 + if (std::abs(sign - 1.0f) <= angle_conversion.sign_threshold) { + angle_conversion.sign = 1.0f; + } else if (std::abs(sign + 1.0f) <= angle_conversion.sign_threshold) { + angle_conversion.sign = -1.0f; + } else { + RCLCPP_DEBUG_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, + "Value of sign is not close to 1 or -1. Iterate to next point ..."); + continue; + } + + float offset_rad = *it_azimuth - sign * current_cartesian_rad; + // Check if 'offset_rad' can be adjusted to offset_rad multiple of π/2 + int multiple_of_90_degrees = std::round(offset_rad / (autoware::universe_utils::pi / 2)); + if ( + std::abs(offset_rad - multiple_of_90_degrees * (autoware::universe_utils::pi / 2)) > + angle_conversion.offset_rad_threshold) { + RCLCPP_DEBUG_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, + "Value of offset_rad is not close to multiplication of 90 degrees. Iterate to next point " + "..."); + continue; + } + + // Limit the range of offset_rad in [0, 360) + multiple_of_90_degrees = (multiple_of_90_degrees % 4 + 4) % 4; + + angle_conversion.offset_rad = multiple_of_90_degrees * (autoware::universe_utils::pi / 2); + + return angle_conversion; + } + return std::nullopt; +} + +void DistortionCorrectorBase::warn_if_timestamp_is_too_late( + bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late) +{ + if (is_twist_time_stamp_too_late) { + RCLCPP_WARN_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, + "Twist time_stamp is too late. Could not interpolate."); + } + + if (is_imu_time_stamp_too_late) { + RCLCPP_WARN_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, + "IMU time_stamp is too late. Could not interpolate."); + } +} + +tf2::Transform DistortionCorrectorBase::convert_matrix_to_transform(const Eigen::Matrix4f & matrix) +{ + tf2::Transform transform; + transform.setOrigin(tf2::Vector3(matrix(0, 3), matrix(1, 3), matrix(2, 3))); + transform.setBasis(tf2::Matrix3x3( + matrix(0, 0), matrix(0, 1), matrix(0, 2), matrix(1, 0), matrix(1, 1), matrix(1, 2), + matrix(2, 0), matrix(2, 1), matrix(2, 2))); + return transform; +} + template -void DistortionCorrector::undistortPointCloud( - bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) +void DistortionCorrector::undistort_pointcloud( + bool use_imu, std::optional angle_conversion_opt, + sensor_msgs::msg::PointCloud2 & pointcloud) { - if (!isInputValid(pointcloud)) return; + if (!is_pointcloud_valid(pointcloud)) return; + if (twist_queue_.empty()) { + RCLCPP_WARN_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, "Twist queue is empty."); + return; + } sensor_msgs::PointCloud2Iterator it_x(pointcloud, "x"); sensor_msgs::PointCloud2Iterator it_y(pointcloud, "y"); sensor_msgs::PointCloud2Iterator it_z(pointcloud, "z"); + sensor_msgs::PointCloud2Iterator it_azimuth(pointcloud, "azimuth"); + sensor_msgs::PointCloud2Iterator it_distance(pointcloud, "distance"); sensor_msgs::PointCloud2ConstIterator it_time_stamp(pointcloud, "time_stamp"); double prev_time_stamp_sec{ @@ -205,7 +327,7 @@ void DistortionCorrector::undistortPointCloud( std::deque::iterator it_twist; std::deque::iterator it_imu; - getTwistAndIMUIterator(use_imu, first_point_time_stamp_sec, it_twist, it_imu); + get_twist_and_imu_iterator(use_imu, first_point_time_stamp_sec, it_twist, it_imu); // For performance, do not instantiate `rclcpp::Time` inside of the for-loop double twist_stamp = rclcpp::Time(it_twist->header.stamp).seconds(); @@ -250,42 +372,39 @@ void DistortionCorrector::undistortPointCloud( is_imu_valid = false; } - float time_offset = static_cast(global_point_stamp - prev_time_stamp_sec); + auto time_offset = static_cast(global_point_stamp - prev_time_stamp_sec); // Undistort a single point based on the strategy - undistortPoint(it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); - - prev_time_stamp_sec = global_point_stamp; - } + undistort_point(it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); + + if (angle_conversion_opt.has_value()) { + if (!pointcloud_transform_needed_) { + throw std::runtime_error( + "The pointcloud is not in the sensor's frame and thus azimuth and distance cannot be " + "updated. " + "Please change the input pointcloud or set update_azimuth_and_distance to false."); + } + float cartesian_coordinate_azimuth = + autoware::universe_utils::opencv_fast_atan2(*it_y, *it_x); + float updated_azimuth = angle_conversion_opt->offset_rad + + angle_conversion_opt->sign * cartesian_coordinate_azimuth; + if (updated_azimuth < 0) { + updated_azimuth += autoware::universe_utils::pi * 2; + } else if (updated_azimuth > 2 * autoware::universe_utils::pi) { + updated_azimuth -= autoware::universe_utils::pi * 2; + } - warnIfTimestampIsTooLate(is_twist_time_stamp_too_late, is_imu_time_stamp_too_late); -} + *it_azimuth = updated_azimuth; + *it_distance = sqrt(*it_x * *it_x + *it_y * *it_y + *it_z * *it_z); -template -void DistortionCorrector::warnIfTimestampIsTooLate( - bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late) -{ - if (is_twist_time_stamp_too_late) { - RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), *node_->get_clock(), 10000 /* ms */, - "Twist time_stamp is too late. Could not interpolate."); - } + ++it_azimuth; + ++it_distance; + } - if (is_imu_time_stamp_too_late) { - RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), *node_->get_clock(), 10000 /* ms */, - "IMU time_stamp is too late. Could not interpolate."); + prev_time_stamp_sec = global_point_stamp; } -} -template -void DistortionCorrector::convertMatrixToTransform( - const Eigen::Matrix4f & matrix, tf2::Transform & transform) -{ - transform.setOrigin(tf2::Vector3(matrix(0, 3), matrix(1, 3), matrix(2, 3))); - transform.setBasis(tf2::Matrix3x3( - matrix(0, 0), matrix(0, 1), matrix(0, 2), matrix(1, 0), matrix(1, 1), matrix(1, 2), - matrix(2, 0), matrix(2, 1), matrix(2, 2))); + warn_if_timestamp_is_too_late(is_twist_time_stamp_too_late, is_imu_time_stamp_too_late); } ///////////////////////// Functions for different undistortion strategies ///////////////////////// @@ -302,7 +421,7 @@ void DistortionCorrector3D::initialize() prev_transformation_matrix_ = Eigen::Matrix4f::Identity(); } -void DistortionCorrector2D::setPointCloudTransform( +void DistortionCorrector2D::set_pointcloud_transform( const std::string & base_frame, const std::string & lidar_frame) { if (pointcloud_transform_exists_) { @@ -312,12 +431,12 @@ void DistortionCorrector2D::setPointCloudTransform( Eigen::Matrix4f eigen_lidar_to_base_link; pointcloud_transform_exists_ = managed_tf_buffer_->getTransform(base_frame, lidar_frame, eigen_lidar_to_base_link); - convertMatrixToTransform(eigen_lidar_to_base_link, tf2_lidar_to_base_link_); + tf2_lidar_to_base_link_ = convert_matrix_to_transform(eigen_lidar_to_base_link); tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_.inverse(); pointcloud_transform_needed_ = base_frame != lidar_frame && pointcloud_transform_exists_; } -void DistortionCorrector3D::setPointCloudTransform( +void DistortionCorrector3D::set_pointcloud_transform( const std::string & base_frame, const std::string & lidar_frame) { if (pointcloud_transform_exists_) { @@ -330,7 +449,7 @@ void DistortionCorrector3D::setPointCloudTransform( pointcloud_transform_needed_ = base_frame != lidar_frame && pointcloud_transform_exists_; } -inline void DistortionCorrector2D::undistortPointImplementation( +inline void DistortionCorrector2D::undistort_point_implementation( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, sensor_msgs::PointCloud2Iterator & it_z, std::deque::iterator & it_twist, @@ -338,7 +457,8 @@ inline void DistortionCorrector2D::undistortPointImplementation( const bool & is_twist_valid, const bool & is_imu_valid) { // Initialize linear velocity and angular velocity - float v{0.0f}, w{0.0f}; + float v{0.0f}; + float w{0.0f}; if (is_twist_valid) { v = static_cast(it_twist->twist.linear.x); w = static_cast(it_twist->twist.angular.z); @@ -354,14 +474,15 @@ inline void DistortionCorrector2D::undistortPointImplementation( point_tf_ = tf2_lidar_to_base_link_ * point_tf_; } theta_ += w * time_offset; + auto [sin_half_theta, cos_half_theta] = autoware::universe_utils::sin_and_cos(theta_ * 0.5f); + auto [sin_theta, cos_theta] = autoware::universe_utils::sin_and_cos(theta_); + baselink_quat_.setValue( - 0, 0, autoware::universe_utils::sin(theta_ * 0.5f), - autoware::universe_utils::cos( - theta_ * - 0.5f)); // baselink_quat.setRPY(0.0, 0.0, theta); (Note that the value is slightly different) + 0, 0, sin_half_theta, cos_half_theta); // baselink_quat.setRPY(0.0, 0.0, theta); (Note that the + // value is slightly different) const float dis = v * time_offset; - x_ += dis * autoware::universe_utils::cos(theta_); - y_ += dis * autoware::universe_utils::sin(theta_); + x_ += dis * cos_theta; + y_ += dis * sin_theta; baselink_tf_odom_.setOrigin(tf2::Vector3(x_, y_, 0.0)); baselink_tf_odom_.setRotation(baselink_quat_); @@ -377,7 +498,7 @@ inline void DistortionCorrector2D::undistortPointImplementation( *it_z = static_cast(undistorted_point_tf_.getZ()); } -inline void DistortionCorrector3D::undistortPointImplementation( +inline void DistortionCorrector3D::undistort_point_implementation( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, sensor_msgs::PointCloud2Iterator & it_z, std::deque::iterator & it_twist, @@ -385,19 +506,24 @@ inline void DistortionCorrector3D::undistortPointImplementation( const bool & is_twist_valid, const bool & is_imu_valid) { // Initialize linear velocity and angular velocity - float v_x_{0.0f}, v_y_{0.0f}, v_z_{0.0f}, w_x_{0.0f}, w_y_{0.0f}, w_z_{0.0f}; + float v_x{0.0f}; + float v_y{0.0f}; + float v_z{0.0f}; + float w_x{0.0f}; + float w_y{0.0f}; + float w_z{0.0f}; if (is_twist_valid) { - v_x_ = static_cast(it_twist->twist.linear.x); - v_y_ = static_cast(it_twist->twist.linear.y); - v_z_ = static_cast(it_twist->twist.linear.z); - w_x_ = static_cast(it_twist->twist.angular.x); - w_y_ = static_cast(it_twist->twist.angular.y); - w_z_ = static_cast(it_twist->twist.angular.z); + v_x = static_cast(it_twist->twist.linear.x); + v_y = static_cast(it_twist->twist.linear.y); + v_z = static_cast(it_twist->twist.linear.z); + w_x = static_cast(it_twist->twist.angular.x); + w_y = static_cast(it_twist->twist.angular.y); + w_z = static_cast(it_twist->twist.angular.z); } if (is_imu_valid) { - w_x_ = static_cast(it_imu->vector.x); - w_y_ = static_cast(it_imu->vector.y); - w_z_ = static_cast(it_imu->vector.z); + w_x = static_cast(it_imu->vector.x); + w_y = static_cast(it_imu->vector.y); + w_z = static_cast(it_imu->vector.z); } // Undistort point @@ -406,7 +532,7 @@ inline void DistortionCorrector3D::undistortPointImplementation( point_eigen_ = eigen_lidar_to_base_link_ * point_eigen_; } - Sophus::SE3f::Tangent twist(v_x_, v_y_, v_z_, w_x_, w_y_, w_z_); + Sophus::SE3f::Tangent twist(v_x, v_y, v_z, w_x, w_y, w_z); twist = twist * time_offset; transformation_matrix_ = Sophus::SE3f::exp(twist).matrix(); transformation_matrix_ = transformation_matrix_ * prev_transformation_matrix_; diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp index 8e4eaa6ec8f11..896c7fe563e64 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp @@ -35,6 +35,7 @@ DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOpt base_frame_ = declare_parameter("base_frame"); use_imu_ = declare_parameter("use_imu"); use_3d_distortion_correction_ = declare_parameter("use_3d_distortion_correction"); + update_azimuth_and_distance_ = declare_parameter("update_azimuth_and_distance"); auto has_static_tf_only = declare_parameter("has_static_tf_only", false); // TODO(amadeuszsz): remove default value @@ -50,39 +51,39 @@ DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOpt // Subscriber twist_sub_ = this->create_subscription( "~/input/twist", 10, - std::bind(&DistortionCorrectorComponent::onTwist, this, std::placeholders::_1)); + std::bind(&DistortionCorrectorComponent::twist_callback, this, std::placeholders::_1)); imu_sub_ = this->create_subscription( "~/input/imu", 10, - std::bind(&DistortionCorrectorComponent::onImu, this, std::placeholders::_1)); + std::bind(&DistortionCorrectorComponent::imu_callback, this, std::placeholders::_1)); pointcloud_sub_ = this->create_subscription( "~/input/pointcloud", rclcpp::SensorDataQoS(), - std::bind(&DistortionCorrectorComponent::onPointCloud, this, std::placeholders::_1)); + std::bind(&DistortionCorrectorComponent::pointcloud_callback, this, std::placeholders::_1)); // Setup the distortion corrector if (use_3d_distortion_correction_) { - distortion_corrector_ = std::make_unique(this, has_static_tf_only); + distortion_corrector_ = std::make_unique(*this, has_static_tf_only); } else { - distortion_corrector_ = std::make_unique(this, has_static_tf_only); + distortion_corrector_ = std::make_unique(*this, has_static_tf_only); } } -void DistortionCorrectorComponent::onTwist( +void DistortionCorrectorComponent::twist_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) { - distortion_corrector_->processTwistMessage(twist_msg); + distortion_corrector_->process_twist_message(twist_msg); } -void DistortionCorrectorComponent::onImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) +void DistortionCorrectorComponent::imu_callback(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) { if (!use_imu_) { return; } - distortion_corrector_->processIMUMessage(base_frame_, imu_msg); + distortion_corrector_->process_imu_message(base_frame_, imu_msg); } -void DistortionCorrectorComponent::onPointCloud(PointCloud2::UniquePtr pointcloud_msg) +void DistortionCorrectorComponent::pointcloud_callback(PointCloud2::UniquePtr pointcloud_msg) { stop_watch_ptr_->toc("processing_time", true); const auto points_sub_count = undistorted_pointcloud_pub_->get_subscription_count() + @@ -92,10 +93,25 @@ void DistortionCorrectorComponent::onPointCloud(PointCloud2::UniquePtr pointclou return; } - distortion_corrector_->setPointCloudTransform(base_frame_, pointcloud_msg->header.frame_id); - + distortion_corrector_->set_pointcloud_transform(base_frame_, pointcloud_msg->header.frame_id); distortion_corrector_->initialize(); - distortion_corrector_->undistortPointCloud(use_imu_, *pointcloud_msg); + + if (update_azimuth_and_distance_ && !angle_conversion_opt_.has_value()) { + angle_conversion_opt_ = distortion_corrector_->try_compute_angle_conversion(*pointcloud_msg); + if (angle_conversion_opt_.has_value()) { + RCLCPP_INFO( + this->get_logger(), + "Success to get the conversion formula between Cartesian coordinates and LiDAR azimuth " + "coordinates"); + } else { + RCLCPP_ERROR_STREAM_THROTTLE( + this->get_logger(), *this->get_clock(), 10000 /* ms */, + "Failed to get the angle conversion between Cartesian coordinates and LiDAR azimuth " + "coordinates. This pointcloud will not update azimuth and distance"); + } + } + + distortion_corrector_->undistort_pointcloud(use_imu_, angle_conversion_opt_, *pointcloud_msg); if (debug_publisher_) { auto pipeline_latency_ms = diff --git a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp index 047d021a4c6da..895061229a994 100644 --- a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp @@ -26,6 +26,7 @@ // 10.09, 10.117, 10.144, 10.171, 10.198, 10.225 #include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" +#include "autoware/universe_utils/math/constants.hpp" #include "autoware/universe_utils/math/trigonometry.hpp" #include @@ -41,6 +42,7 @@ #include +enum AngleCoordinateSystem { HESAI, VELODYNE, CARTESIAN }; class DistortionCorrectorTest : public ::testing::Test { protected: @@ -48,13 +50,13 @@ class DistortionCorrectorTest : public ::testing::Test { node_ = std::make_shared("test_node"); distortion_corrector_2d_ = - std::make_shared(node_.get(), true); + std::make_shared(*node_, true); distortion_corrector_3d_ = - std::make_shared(node_.get(), true); + std::make_shared(*node_, true); // Setup TF tf_broadcaster_ = std::make_shared(node_); - tf_broadcaster_->sendTransform(generateStaticTransformMsg()); + tf_broadcaster_->sendTransform(generate_static_transform_msgs()); // Spin the node for a while to ensure transforms are published auto start = std::chrono::steady_clock::now(); @@ -67,27 +69,27 @@ class DistortionCorrectorTest : public ::testing::Test void TearDown() override {} - void checkInput(int ms) { ASSERT_LT(ms, 1000) << "ms should be less than a second."; } + static void check_input(int ms) { ASSERT_LT(ms, 1000) << "ms should be less than a second."; } - rclcpp::Time addMilliseconds(rclcpp::Time stamp, int ms) + static rclcpp::Time add_milliseconds(const rclcpp::Time & stamp, int ms) { - checkInput(ms); + check_input(ms); auto ms_in_ns = rclcpp::Duration(0, ms * 1000000); return stamp + ms_in_ns; } - rclcpp::Time subtractMilliseconds(rclcpp::Time stamp, int ms) + static rclcpp::Time subtract_milliseconds(const rclcpp::Time & stamp, int ms) { - checkInput(ms); + check_input(ms); auto ms_in_ns = rclcpp::Duration(0, ms * 1000000); return stamp - ms_in_ns; } - geometry_msgs::msg::TransformStamped generateTransformMsg( + static geometry_msgs::msg::TransformStamped generate_transform_msg( const std::string & parent_frame, const std::string & child_frame, double x, double y, double z, double qx, double qy, double qz, double qw) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); geometry_msgs::msg::TransformStamped tf_msg; tf_msg.header.stamp = timestamp; tf_msg.header.frame_id = parent_frame; @@ -102,16 +104,16 @@ class DistortionCorrectorTest : public ::testing::Test return tf_msg; } - std::vector generateStaticTransformMsg() + static std::vector generate_static_transform_msgs() { // generate defined transformations return { - generateTransformMsg("base_link", "lidar_top", 5.0, 5.0, 5.0, 0.683, 0.5, 0.183, 0.499), - generateTransformMsg("base_link", "imu_link", 1.0, 1.0, 3.0, 0.278, 0.717, 0.441, 0.453)}; + generate_transform_msg("base_link", "lidar_top", 5.0, 5.0, 5.0, 0.683, 0.5, 0.183, 0.499), + generate_transform_msg("base_link", "imu_link", 1.0, 1.0, 3.0, 0.278, 0.717, 0.441, 0.453)}; } - std::shared_ptr generateTwistMsg( - double linear_x, double angular_z, rclcpp::Time stamp) + static std::shared_ptr generate_twist_msg( + double linear_x, double angular_z, const rclcpp::Time & stamp) { auto twist_msg = std::make_shared(); twist_msg->header.stamp = stamp; @@ -121,8 +123,8 @@ class DistortionCorrectorTest : public ::testing::Test return twist_msg; } - std::shared_ptr generateImuMsg( - double angular_vel_x, double angular_vel_y, double angular_vel_z, rclcpp::Time stamp) + static std::shared_ptr generate_imu_msg( + double angular_vel_x, double angular_vel_y, double angular_vel_z, const rclcpp::Time & stamp) { auto imu_msg = std::make_shared(); imu_msg->header.stamp = stamp; @@ -133,44 +135,98 @@ class DistortionCorrectorTest : public ::testing::Test return imu_msg; } - std::vector> generateTwistMsgs( - rclcpp::Time pointcloud_timestamp) + static std::vector> + generate_twist_msgs(const rclcpp::Time & pointcloud_timestamp) { std::vector> twist_msgs; - rclcpp::Time twist_stamp = subtractMilliseconds(pointcloud_timestamp, 5); + rclcpp::Time twist_stamp = subtract_milliseconds(pointcloud_timestamp, 5); - for (int i = 0; i < number_of_twist_msgs_; ++i) { - auto twist_msg = generateTwistMsg( - twist_linear_x_ + i * twist_linear_x_increment_, - twist_angular_z_ + i * twist_angular_z_increment_, twist_stamp); + for (int i = 0; i < number_of_twist_msgs; ++i) { + auto twist_msg = generate_twist_msg( + twist_linear_x + i * twist_linear_x_increment, + twist_angular_z + i * twist_angular_z_increment, twist_stamp); twist_msgs.push_back(twist_msg); - twist_stamp = addMilliseconds(twist_stamp, twist_msgs_interval_ms_); + twist_stamp = add_milliseconds(twist_stamp, twist_msgs_interval_ms); } return twist_msgs; } - std::vector> generateImuMsgs( - rclcpp::Time pointcloud_timestamp) + static std::vector> generate_imu_msgs( + const rclcpp::Time & pointcloud_timestamp) { std::vector> imu_msgs; - rclcpp::Time imu_stamp = subtractMilliseconds(pointcloud_timestamp, 10); + rclcpp::Time imu_stamp = subtract_milliseconds(pointcloud_timestamp, 10); - for (int i = 0; i < number_of_imu_msgs_; ++i) { - auto imu_msg = generateImuMsg( - imu_angular_x_ + i * imu_angular_x_increment_, - imu_angular_y_ + i * imu_angular_y_increment_, - imu_angular_z_ + i * imu_angular_z_increment_, imu_stamp); + for (int i = 0; i < number_of_imu_msgs; ++i) { + auto imu_msg = generate_imu_msg( + imu_angular_x + i * imu_angular_x_increment, imu_angular_y + i * imu_angular_y_increment, + imu_angular_z + i * imu_angular_z_increment, imu_stamp); imu_msgs.push_back(imu_msg); - imu_stamp = addMilliseconds(imu_stamp, imu_msgs_interval_ms_); + imu_stamp = add_milliseconds(imu_stamp, imu_msgs_interval_ms); } return imu_msgs; } - sensor_msgs::msg::PointCloud2 generatePointCloudMsg( - bool generate_points, bool is_lidar_frame, rclcpp::Time stamp) + static std::tuple, std::vector> generate_default_pointcloud( + AngleCoordinateSystem coordinate_system) + { + // Generate all combinations of signs { -, 0, + } x { -, 0, + } for x and y. + // Also include the case of (0, 0 ,0) + std::vector default_points = {{ + Eigen::Vector3f(0.0f, 0.0f, 0.0f), // point 1 + Eigen::Vector3f(0.0f, 0.0f, 0.0f), // point 2 + Eigen::Vector3f(10.0f, 0.0f, 1.0f), // point 3 + Eigen::Vector3f(5.0f, -5.0f, 2.0f), // point 4 + Eigen::Vector3f(0.0f, -10.0f, 3.0f), // point 5 + Eigen::Vector3f(-5.0f, -5.0f, 4.0f), // point 6 + Eigen::Vector3f(-10.0f, 0.0f, 5.0f), // point 7 + Eigen::Vector3f(-5.0f, 5.0f, -5.0f), // point 8 + Eigen::Vector3f(0.0f, 10.0f, -4.0f), // point 9 + Eigen::Vector3f(5.0f, 5.0f, -3.0f), // point 10 + }}; + + std::vector default_azimuths; + for (const auto & point : default_points) { + if (coordinate_system == AngleCoordinateSystem::VELODYNE) { + // velodyne coordinates: x-axis is 0 degrees, y-axis is 270 degrees, angle increase in + // clockwise direction + float cartesian_deg = std::atan2(point.y(), point.x()) * 180 / autoware::universe_utils::pi; + if (cartesian_deg < 0) cartesian_deg += 360; + float velodyne_deg = 360 - cartesian_deg; + if (velodyne_deg == 360) velodyne_deg = 0; + default_azimuths.push_back(velodyne_deg * autoware::universe_utils::pi / 180); + } else if (coordinate_system == AngleCoordinateSystem::HESAI) { + // hesai coordinates: y-axis is 0 degrees, x-axis is 90 degrees, angle increase in clockwise + // direction + float cartesian_deg = std::atan2(point.y(), point.x()) * 180 / autoware::universe_utils::pi; + if (cartesian_deg < 0) cartesian_deg += 360; + float hesai_deg = 90 - cartesian_deg < 0 ? 90 - cartesian_deg + 360 : 90 - cartesian_deg; + if (hesai_deg == 360) hesai_deg = 0; + default_azimuths.push_back(hesai_deg * autoware::universe_utils::pi / 180); + } else if (coordinate_system == AngleCoordinateSystem::CARTESIAN) { + // Cartesian coordinates: x-axis is 0 degrees, y-axis is 90 degrees, angle increase in + // counterclockwise direction + default_azimuths.push_back(std::atan2(point.y(), point.x())); + } else { + throw std::runtime_error("Invalid angle coordinate system"); + } + } + + return std::make_tuple(default_points, default_azimuths); + } + + sensor_msgs::msg::PointCloud2 generate_empty_pointcloud_msg(const rclcpp::Time & stamp) + { + auto empty_pointcloud_msg = generate_pointcloud_msg(true, stamp, {}, {}); + return empty_pointcloud_msg; + } + + sensor_msgs::msg::PointCloud2 generate_pointcloud_msg( + bool is_lidar_frame, const rclcpp::Time & stamp, std::vector points, + std::vector azimuths) { sensor_msgs::msg::PointCloud2 pointcloud_msg; pointcloud_msg.header.stamp = stamp; @@ -179,72 +235,81 @@ class DistortionCorrectorTest : public ::testing::Test pointcloud_msg.is_dense = true; pointcloud_msg.is_bigendian = false; - if (generate_points) { - std::array points = {{ - Eigen::Vector3f(10.0f, 0.0f, 0.0f), // point 1 - Eigen::Vector3f(0.0f, 10.0f, 0.0f), // point 2 - Eigen::Vector3f(0.0f, 0.0f, 10.0f), // point 3 - Eigen::Vector3f(20.0f, 0.0f, 0.0f), // point 4 - Eigen::Vector3f(0.0f, 20.0f, 0.0f), // point 5 - Eigen::Vector3f(0.0f, 0.0f, 20.0f), // point 6 - Eigen::Vector3f(30.0f, 0.0f, 0.0f), // point 7 - Eigen::Vector3f(0.0f, 30.0f, 0.0f), // point 8 - Eigen::Vector3f(0.0f, 0.0f, 30.0f), // point 9 - Eigen::Vector3f(10.0f, 10.0f, 10.0f) // point 10 - }}; - - // Generate timestamps for the points - std::vector timestamps = generatePointTimestamps(stamp, number_of_points_); - - sensor_msgs::PointCloud2Modifier modifier(pointcloud_msg); - modifier.setPointCloud2Fields( - 10, "x", 1, sensor_msgs::msg::PointField::FLOAT32, "y", 1, - sensor_msgs::msg::PointField::FLOAT32, "z", 1, sensor_msgs::msg::PointField::FLOAT32, - "intensity", 1, sensor_msgs::msg::PointField::UINT8, "return_type", 1, - sensor_msgs::msg::PointField::UINT8, "channel", 1, sensor_msgs::msg::PointField::UINT16, - "azimuth", 1, sensor_msgs::msg::PointField::FLOAT32, "elevation", 1, - sensor_msgs::msg::PointField::FLOAT32, "distance", 1, sensor_msgs::msg::PointField::FLOAT32, - "time_stamp", 1, sensor_msgs::msg::PointField::UINT32); - - modifier.resize(number_of_points_); - - sensor_msgs::PointCloud2Iterator iter_x(pointcloud_msg, "x"); - sensor_msgs::PointCloud2Iterator iter_y(pointcloud_msg, "y"); - sensor_msgs::PointCloud2Iterator iter_z(pointcloud_msg, "z"); - sensor_msgs::PointCloud2Iterator iter_t(pointcloud_msg, "time_stamp"); - - for (size_t i = 0; i < number_of_points_; ++i) { - *iter_x = points[i].x(); - *iter_y = points[i].y(); - *iter_z = points[i].z(); - *iter_t = timestamps[i]; - ++iter_x; - ++iter_y; - ++iter_z; - ++iter_t; - } - } else { - pointcloud_msg.width = 0; - pointcloud_msg.row_step = 0; + // Generate timestamps for the points + std::vector timestamps = generate_point_timestamps(stamp, points.size()); + + sensor_msgs::PointCloud2Modifier modifier(pointcloud_msg); + modifier.setPointCloud2Fields( + 10, "x", 1, sensor_msgs::msg::PointField::FLOAT32, "y", 1, + sensor_msgs::msg::PointField::FLOAT32, "z", 1, sensor_msgs::msg::PointField::FLOAT32, + "intensity", 1, sensor_msgs::msg::PointField::UINT8, "return_type", 1, + sensor_msgs::msg::PointField::UINT8, "channel", 1, sensor_msgs::msg::PointField::UINT16, + "azimuth", 1, sensor_msgs::msg::PointField::FLOAT32, "elevation", 1, + sensor_msgs::msg::PointField::FLOAT32, "distance", 1, sensor_msgs::msg::PointField::FLOAT32, + "time_stamp", 1, sensor_msgs::msg::PointField::UINT32); + + modifier.resize(points.size()); + + sensor_msgs::PointCloud2Iterator iter_x(pointcloud_msg, "x"); + sensor_msgs::PointCloud2Iterator iter_y(pointcloud_msg, "y"); + sensor_msgs::PointCloud2Iterator iter_z(pointcloud_msg, "z"); + sensor_msgs::PointCloud2Iterator iter_azimuth(pointcloud_msg, "azimuth"); + sensor_msgs::PointCloud2Iterator iter_distance(pointcloud_msg, "distance"); + sensor_msgs::PointCloud2Iterator iter_t(pointcloud_msg, "time_stamp"); + + for (size_t i = 0; i < points.size(); ++i) { + *iter_x = points[i].x(); + *iter_y = points[i].y(); + *iter_z = points[i].z(); + + *iter_azimuth = azimuths[i]; + *iter_distance = points[i].norm(); + *iter_t = timestamps[i]; + ++iter_x; + ++iter_y; + ++iter_z; + ++iter_azimuth; + ++iter_distance; + ++iter_t; } return pointcloud_msg; } - std::vector generatePointTimestamps( - rclcpp::Time pointcloud_timestamp, size_t number_of_points) + std::vector generate_point_timestamps( + const rclcpp::Time & pointcloud_timestamp, size_t number_of_points) { std::vector timestamps; rclcpp::Time global_point_stamp = pointcloud_timestamp; for (size_t i = 0; i < number_of_points; ++i) { std::uint32_t relative_timestamp = (global_point_stamp - pointcloud_timestamp).nanoseconds(); timestamps.push_back(relative_timestamp); - global_point_stamp = addMilliseconds(global_point_stamp, points_interval_ms_); + global_point_stamp = add_milliseconds(global_point_stamp, points_interval_ms); } return timestamps; } + template + void generate_and_process_twist_msgs( + const std::shared_ptr & distortion_corrector, const rclcpp::Time & timestamp) + { + auto twist_msgs = generate_twist_msgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector->process_twist_message(twist_msg); + } + } + + template + void generate_and_process_imu_msgs( + const std::shared_ptr & distortion_corrector, const rclcpp::Time & timestamp) + { + auto imu_msgs = generate_imu_msgs(timestamp); + for (const auto & imu_msg : imu_msgs) { + distortion_corrector->process_imu_message("base_link", imu_msg); + } + } + std::shared_ptr node_; std::shared_ptr distortion_corrector_2d_; @@ -252,29 +317,29 @@ class DistortionCorrectorTest : public ::testing::Test distortion_corrector_3d_; std::shared_ptr tf_broadcaster_; - static constexpr float standard_tolerance_{1e-4}; - static constexpr float coarse_tolerance_{5e-3}; - static constexpr int number_of_twist_msgs_{6}; - static constexpr int number_of_imu_msgs_{6}; - static constexpr size_t number_of_points_{10}; - static constexpr int32_t timestamp_seconds_{10}; - static constexpr uint32_t timestamp_nanoseconds_{100000000}; - - static constexpr double twist_linear_x_{10.0}; - static constexpr double twist_angular_z_{0.02}; - static constexpr double twist_linear_x_increment_{2.0}; - static constexpr double twist_angular_z_increment_{0.01}; - - static constexpr double imu_angular_x_{0.01}; - static constexpr double imu_angular_y_{-0.02}; - static constexpr double imu_angular_z_{0.05}; - static constexpr double imu_angular_x_increment_{0.005}; - static constexpr double imu_angular_y_increment_{0.005}; - static constexpr double imu_angular_z_increment_{0.005}; - - static constexpr int points_interval_ms_{10}; - static constexpr int twist_msgs_interval_ms_{24}; - static constexpr int imu_msgs_interval_ms_{27}; + static constexpr float standard_tolerance{1e-4}; + static constexpr float coarse_tolerance{5e-3}; + static constexpr int number_of_twist_msgs{6}; + static constexpr int number_of_imu_msgs{6}; + static constexpr size_t number_of_points{10}; + static constexpr int32_t timestamp_seconds{10}; + static constexpr uint32_t timestamp_nanoseconds{100000000}; + + static constexpr double twist_linear_x{10.0}; + static constexpr double twist_angular_z{0.02}; + static constexpr double twist_linear_x_increment{2.0}; + static constexpr double twist_angular_z_increment{0.01}; + + static constexpr double imu_angular_x{0.01}; + static constexpr double imu_angular_y{-0.02}; + static constexpr double imu_angular_z{0.05}; + static constexpr double imu_angular_x_increment{0.005}; + static constexpr double imu_angular_y_increment{0.005}; + static constexpr double imu_angular_z_increment{0.005}; + + static constexpr int points_interval_ms{10}; + static constexpr int twist_msgs_interval_ms{24}; + static constexpr int imu_msgs_interval_ms{27}; // for debugging or regenerating the ground truth point cloud bool debug_{false}; @@ -282,92 +347,87 @@ class DistortionCorrectorTest : public ::testing::Test TEST_F(DistortionCorrectorTest, TestProcessTwistMessage) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - auto twist_msg = generateTwistMsg(twist_linear_x_, twist_angular_z_, timestamp); - distortion_corrector_2d_->processTwistMessage(twist_msg); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto twist_msg = generate_twist_msg(twist_linear_x, twist_angular_z, timestamp); + distortion_corrector_2d_->process_twist_message(twist_msg); ASSERT_FALSE(distortion_corrector_2d_->get_twist_queue().empty()); - EXPECT_EQ(distortion_corrector_2d_->get_twist_queue().front().twist.linear.x, twist_linear_x_); - EXPECT_EQ(distortion_corrector_2d_->get_twist_queue().front().twist.angular.z, twist_angular_z_); + EXPECT_EQ(distortion_corrector_2d_->get_twist_queue().front().twist.linear.x, twist_linear_x); + EXPECT_EQ(distortion_corrector_2d_->get_twist_queue().front().twist.angular.z, twist_angular_z); } -TEST_F(DistortionCorrectorTest, TestProcessIMUMessage) +TEST_F(DistortionCorrectorTest, TestProcessImuMessage) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - auto imu_msg = generateImuMsg(imu_angular_x_, imu_angular_y_, imu_angular_z_, timestamp); - distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto imu_msg = generate_imu_msg(imu_angular_x, imu_angular_y, imu_angular_z, timestamp); + distortion_corrector_2d_->process_imu_message("base_link", imu_msg); ASSERT_FALSE(distortion_corrector_2d_->get_angular_velocity_queue().empty()); EXPECT_NEAR( distortion_corrector_2d_->get_angular_velocity_queue().front().vector.z, -0.03159, - standard_tolerance_); + standard_tolerance); } -TEST_F(DistortionCorrectorTest, TestIsInputValid) +TEST_F(DistortionCorrectorTest, TestIsPointcloudValid) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); - // input normal pointcloud without twist - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); - bool result = distortion_corrector_2d_->isInputValid(pointcloud); - EXPECT_FALSE(result); - - // input normal pointcloud with valid twist - auto twist_msg = generateTwistMsg(twist_linear_x_, twist_angular_z_, timestamp); - distortion_corrector_2d_->processTwistMessage(twist_msg); - - pointcloud = generatePointCloudMsg(true, false, timestamp); - result = distortion_corrector_2d_->isInputValid(pointcloud); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); + auto result = distortion_corrector_2d_->is_pointcloud_valid(pointcloud); EXPECT_TRUE(result); // input empty pointcloud - pointcloud = generatePointCloudMsg(false, false, timestamp); - result = distortion_corrector_2d_->isInputValid(pointcloud); + auto empty_pointcloud = generate_empty_pointcloud_msg(timestamp); + result = distortion_corrector_2d_->is_pointcloud_valid(empty_pointcloud); EXPECT_FALSE(result); } -TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithBaseLink) +TEST_F(DistortionCorrectorTest, TestSetPointcloudTransformWithBaseLink) { - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "base_link"); EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_exists()); EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_needed()); } -TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithLidarFrame) +TEST_F(DistortionCorrectorTest, TestSetPointcloudTransformWithLidarFrame) { - distortion_corrector_2d_->setPointCloudTransform("base_link", "lidar_top"); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "lidar_top"); EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_exists()); EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_needed()); } -TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithMissingFrame) +TEST_F(DistortionCorrectorTest, TestSetPointcloudTransformWithMissingFrame) { - distortion_corrector_2d_->setPointCloudTransform("base_link", "missing_lidar_frame"); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "missing_lidar_frame"); EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_exists()); EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_needed()); } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyTwist) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudWithEmptyTwist) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); // Generate the point cloud message - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Process empty twist queue distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->undistortPointCloud(false, pointcloud); + distortion_corrector_2d_->undistort_pointcloud(false, std::nullopt, pointcloud); // Verify the point cloud is not changed sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); sensor_msgs::PointCloud2ConstIterator iter_z(pointcloud, "z"); - std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.0f, 10.0f, 0.0f), - Eigen::Vector3f(0.0f, 0.0f, 10.0f), Eigen::Vector3f(20.0f, 0.0f, 0.0f), - Eigen::Vector3f(0.0f, 20.0f, 0.0f), Eigen::Vector3f(0.0f, 0.0f, 20.0f), - Eigen::Vector3f(30.0f, 0.0f, 0.0f), Eigen::Vector3f(0.0f, 30.0f, 0.0f), - Eigen::Vector3f(0.0f, 0.0f, 30.0f), Eigen::Vector3f(10.0f, 10.0f, 10.0f)}}; + std::array expected_pointcloud = { + {Eigen::Vector3f(0.0f, 0.0f, 0.0f), Eigen::Vector3f(0.0f, 0.0f, 0.0f), + Eigen::Vector3f(10.0f, 0.0f, 1.0f), Eigen::Vector3f(5.0f, -5.0f, 2.0f), + Eigen::Vector3f(0.0f, -10.0f, 3.0f), Eigen::Vector3f(-5.0f, -5.0f, 4.0f), + Eigen::Vector3f(-10.0f, 0.0f, 5.0f), Eigen::Vector3f(-5.0f, 5.0f, -5.0f), + Eigen::Vector3f(0.0f, 10.0f, -4.0f), Eigen::Vector3f(5.0f, 5.0f, -3.0f)}}; size_t i = 0; std::ostringstream oss; @@ -375,9 +435,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyTwist) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -385,42 +445,38 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyTwist) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyPointCloud) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudWithEmptyPointCloud) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_2d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); // Generate an empty point cloud message - sensor_msgs::msg::PointCloud2 empty_pointcloud = generatePointCloudMsg(false, false, timestamp); + auto empty_pointcloud = generate_empty_pointcloud_msg(timestamp); // Process empty point cloud distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->undistortPointCloud(true, empty_pointcloud); + distortion_corrector_2d_->undistort_pointcloud(true, std::nullopt, empty_pointcloud); // Verify the point cloud is still empty EXPECT_EQ(empty_pointcloud.width, 0); EXPECT_EQ(empty_pointcloud.row_step, 0); } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithoutImuInBaseLink) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloud2dWithoutImuInBaseLink) { // Generate the point cloud message - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_2d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); // Test using only twist distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_2d_->undistortPointCloud(false, pointcloud); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_2d_->undistort_pointcloud(false, std::nullopt, pointcloud); sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); @@ -428,11 +484,11 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithoutImuInBaseLink) // Expected undistorted point cloud values std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.117124f, 10.0f, 0.0f), - Eigen::Vector3f(0.26f, 0.000135182f, 10.0f), Eigen::Vector3f(20.4f, 0.0213818f, 0.0f), - Eigen::Vector3f(0.50932f, 20.0005f, 0.0f), Eigen::Vector3f(0.699999f, 0.000819721f, 20.0f), - Eigen::Vector3f(30.8599f, 0.076f, 0.0f), Eigen::Vector3f(0.947959f, 30.0016f, 0.0f), - Eigen::Vector3f(1.22f, 0.00244382f, 30.0f), Eigen::Vector3f(11.3568f, 10.0463f, 10.0f)}}; + {Eigen::Vector3f(0.0f, 0.0f, 0.0f), Eigen::Vector3f(0.12f, 3.45146e-05f, 0.0f), + Eigen::Vector3f(10.26f, 0.00684635f, 1.0f), Eigen::Vector3f(5.40527f, -4.99443f, 2.0f), + Eigen::Vector3f(0.55534f, -9.99949f, 3.0f), Eigen::Vector3f(-4.28992f, -5.00924f, 4.0f), + Eigen::Vector3f(-9.13997f, -0.0237086f, 5.0f), Eigen::Vector3f(-3.97532f, 4.98642f, -5.0f), + Eigen::Vector3f(1.18261f, 10.0024f, -4.0f), Eigen::Vector3f(6.37838f, 5.02475f, -3.0f)}}; // Verify each point in the undistorted point cloud size_t i = 0; @@ -441,9 +497,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithoutImuInBaseLink) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -451,27 +507,23 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithoutImuInBaseLink) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInBaseLink) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloud2dWithImuInBaseLink) { // Generate the point cloud message - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_2d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); // Generate and process multiple IMU messages - auto imu_msgs = generateImuMsgs(timestamp); - for (const auto & imu_msg : imu_msgs) { - distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); - } + generate_and_process_imu_msgs(distortion_corrector_2d_, timestamp); distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_2d_->undistortPointCloud(true, pointcloud); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_2d_->undistort_pointcloud(true, std::nullopt, pointcloud); sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); @@ -479,11 +531,11 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInBaseLink) // Expected undistorted point cloud values std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.122876f, 9.99996f, 0.0f), - Eigen::Vector3f(0.26f, -0.000115049f, 10.0f), Eigen::Vector3f(20.4f, -0.0174931f, 0.0f), - Eigen::Vector3f(0.56301f, 19.9996f, 0.0f), Eigen::Vector3f(0.7f, -0.000627014f, 20.0f), - Eigen::Vector3f(30.86f, -0.052675f, 0.0f), Eigen::Vector3f(1.1004f, 29.9987f, 0.0f), - Eigen::Vector3f(1.22f, -0.00166245f, 30.0f), Eigen::Vector3f(11.4249f, 9.97293f, 10.0f)}}; + {Eigen::Vector3f(0.0f, 0.0f, 0.0f), Eigen::Vector3f(0.12f, -3.45146e-05f, 0.0f), + Eigen::Vector3f(10.26f, -0.00586748f, 1.0f), Eigen::Vector3f(5.39568f, -5.00455f, 2.0f), + Eigen::Vector3f(0.528495f, -10.0004f, 3.0f), Eigen::Vector3f(-4.30719f, -4.99343f, 4.0f), + Eigen::Vector3f(-9.13999f, 0.0163541f, 5.0f), Eigen::Vector3f(-3.94992f, 5.0088f, -5.0f), + Eigen::Vector3f(1.24205f, 9.99831f, -4.0f), Eigen::Vector3f(6.41245f, 4.98541f, -3.0f)}}; // Verify each point in the undistorted point cloud size_t i = 0; @@ -492,9 +544,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInBaseLink) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -502,27 +554,23 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInBaseLink) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInLidarFrame) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloud2dWithImuInLidarFrame) { // Generate the point cloud message - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, true, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_2d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); // Generate and process multiple IMU messages - auto imu_msgs = generateImuMsgs(timestamp); - for (const auto & imu_msg : imu_msgs) { - distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); - } + generate_and_process_imu_msgs(distortion_corrector_2d_, timestamp); distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "lidar_top"); - distortion_corrector_2d_->undistortPointCloud(true, pointcloud); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "lidar_top"); + distortion_corrector_2d_->undistort_pointcloud(true, std::nullopt, pointcloud); sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); @@ -530,16 +578,14 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInLidarFrame) // Expected undistorted point cloud values std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, -1.77636e-15f, -4.44089e-16f), - Eigen::Vector3f(0.049989f, 10.0608f, 0.0924992f), - Eigen::Vector3f(0.106107f, 0.130237f, 10.1986f), - Eigen::Vector3f(20.1709f, 0.210011f, 0.32034f), - Eigen::Vector3f(0.220674f, 20.2734f, 0.417974f), - Eigen::Vector3f(0.274146f, 0.347043f, 20.5341f), - Eigen::Vector3f(30.3673f, 0.457564f, 0.700818f), - Eigen::Vector3f(0.418014f, 30.5259f, 0.807963f), - Eigen::Vector3f(0.464088f, 0.600081f, 30.9292f), - Eigen::Vector3f(10.5657f, 10.7121f, 11.094f)}}; + {Eigen::Vector3f(0.0f, 0.0f, 0.0f), Eigen::Vector3f(0.0512387f, 0.0608269f, 0.0917824f), + Eigen::Vector3f(10.1106f, 0.134026f, 1.20356f), Eigen::Vector3f(5.17128f, -4.79604f, 2.30806f), + Eigen::Vector3f(0.232686f, -9.7275f, 3.40938f), + Eigen::Vector3f(-4.70281f, -4.65034f, 4.52609f), + Eigen::Vector3f(-9.64009f, 0.425434f, 5.64106f), + Eigen::Vector3f(-4.55139f, 5.5241f, -4.21327f), + Eigen::Vector3f(0.519385f, 10.6188f, -3.06522f), + Eigen::Vector3f(5.5992f, 5.71475f, -1.91985f)}}; // Verify each point in the undistorted point cloud size_t i = 0; @@ -548,9 +594,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInLidarFrame) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -558,22 +604,21 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInLidarFrame) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithoutImuInBaseLink) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloud3dWithoutImuInBaseLink) { // Generate the point cloud message - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_3d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_3d_, timestamp); // Test using only twist distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_3d_->undistortPointCloud(false, pointcloud); + distortion_corrector_3d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_3d_->undistort_pointcloud(false, std::nullopt, pointcloud); sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); @@ -581,11 +626,11 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithoutImuInBaseLink) // Expected undistorted point cloud values std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.117f, 10.0f, 0.0f), - Eigen::Vector3f(0.26f, 9.27035e-05f, 10.0f), Eigen::Vector3f(20.4f, 0.0222176f, 0.0f), - Eigen::Vector3f(0.51f, 20.0004f, 0.0f), Eigen::Vector3f(0.7f, 0.000706573f, 20.0f), - Eigen::Vector3f(30.8599f, 0.0760946f, 0.0f), Eigen::Vector3f(0.946998f, 30.0015f, 0.0f), - Eigen::Vector3f(1.22f, 0.00234201f, 30.0f), Eigen::Vector3f(11.3569f, 10.046f, 10.0f)}}; + {Eigen::Vector3f(0.0f, 0.0f, 0.0f), Eigen::Vector3f(0.12f, 2.38419e-05f, 0.0f), + Eigen::Vector3f(10.26f, 0.0070927f, 1.0f), Eigen::Vector3f(5.4055f, -4.99428f, 2.0f), + Eigen::Vector3f(0.555f, -9.99959f, 3.0f), Eigen::Vector3f(-4.28999f, -5.00928f, 4.0f), + Eigen::Vector3f(-9.13997f, -0.0239053f, 5.0f), Eigen::Vector3f(-3.97548f, 4.98614f, -5.0f), + Eigen::Vector3f(1.183f, 10.0023f, -4.0f), Eigen::Vector3f(6.37845f, 5.02458f, -3.0f)}}; // Verify each point in the undistorted point cloud size_t i = 0; @@ -594,9 +639,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithoutImuInBaseLink) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -604,27 +649,23 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithoutImuInBaseLink) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInBaseLink) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloud3dWithImuInBaseLink) { // Generate the point cloud message - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_3d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_3d_, timestamp); // Generate and process multiple IMU messages - auto imu_msgs = generateImuMsgs(timestamp); - for (const auto & imu_msg : imu_msgs) { - distortion_corrector_3d_->processIMUMessage("base_link", imu_msg); - } + generate_and_process_imu_msgs(distortion_corrector_3d_, timestamp); distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_3d_->undistortPointCloud(true, pointcloud); + distortion_corrector_3d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_3d_->undistort_pointcloud(true, std::nullopt, pointcloud); sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); @@ -632,15 +673,14 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInBaseLink) // Expected undistorted point cloud values std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.123015f, 9.99998f, 0.00430552f), - Eigen::Vector3f(0.266103f, -0.00895269f, 9.99992f), - Eigen::Vector3f(20.4f, -0.0176539f, -0.0193392f), - Eigen::Vector3f(0.563265f, 19.9997f, 0.035628f), - Eigen::Vector3f(0.734597f, -0.046068f, 19.9993f), - Eigen::Vector3f(30.8599f, -0.0517931f, -0.0658165f), - Eigen::Vector3f(1.0995f, 29.9989f, 0.0956997f), - Eigen::Vector3f(1.31283f, -0.113544f, 29.9977f), - Eigen::Vector3f(11.461f, 9.93096f, 10.0035f)}}; + {Eigen::Vector3f(0.0f, 0.0f, 0.0f), Eigen::Vector3f(0.12f, -1.86084e-05f, -1.63216e-05f), + Eigen::Vector3f(10.2606f, -0.00683919f, 0.993812f), + Eigen::Vector3f(5.39753f, -5.00722f, 1.9883f), Eigen::Vector3f(0.532273f, -10.0057f, 2.98165f), + Eigen::Vector3f(-4.30025f, -5.0024f, 3.99665f), + Eigen::Vector3f(-9.12918f, 0.00256404f, 5.02064f), + Eigen::Vector3f(-3.96298f, 5.02511f, -4.97218f), + Eigen::Vector3f(1.23005f, 10.0137f, -3.96452f), + Eigen::Vector3f(6.40165f, 4.99868f, -2.99944f)}}; // Verify each point in the undistorted point cloud size_t i = 0; @@ -649,9 +689,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInBaseLink) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -659,27 +699,23 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInBaseLink) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInLidarFrame) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloud3dWithImuInLidarFrame) { // Generate the point cloud message - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, true, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_3d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_3d_, timestamp); // Generate and process multiple IMU messages - auto imu_msgs = generateImuMsgs(timestamp); - for (const auto & imu_msg : imu_msgs) { - distortion_corrector_3d_->processIMUMessage("base_link", imu_msg); - } + generate_and_process_imu_msgs(distortion_corrector_3d_, timestamp); distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "lidar_top"); - distortion_corrector_3d_->undistortPointCloud(true, pointcloud); + distortion_corrector_3d_->set_pointcloud_transform("base_link", "lidar_top"); + distortion_corrector_3d_->undistort_pointcloud(true, std::nullopt, pointcloud); sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); @@ -687,15 +723,13 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInLidarFrame) // Expected undistorted point cloud values std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.046484f, 10.0622f, 0.098484f), - Eigen::Vector3f(0.107595f, 0.123767f, 10.2026f), - Eigen::Vector3f(20.1667f, 0.22465f, 0.313351f), - Eigen::Vector3f(0.201149f, 20.2784f, 0.464665f), - Eigen::Vector3f(0.290531f, 0.303489f, 20.5452f), - Eigen::Vector3f(30.3598f, 0.494116f, 0.672914f), - Eigen::Vector3f(0.375848f, 30.5336f, 0.933633f), - Eigen::Vector3f(0.510001f, 0.479651f, 30.9493f), - Eigen::Vector3f(10.5629f, 10.6855f, 11.1461f)}}; + {Eigen::Vector3f(0.0f, 4.76837e-07f, 0.0f), Eigen::Vector3f(0.049716f, 0.0622373f, 0.0935726f), + Eigen::Vector3f(10.1082f, 0.139472f, 1.20323f), Eigen::Vector3f(5.17113f, -4.79225f, 2.30392f), + Eigen::Vector3f(0.23695f, -9.72807f, 3.39875f), + Eigen::Vector3f(-4.70053f, -4.65832f, 4.53053f), + Eigen::Vector3f(-9.64065f, 0.407413f, 5.66885f), Eigen::Vector3f(-4.5738f, 5.5446f, -4.17022f), + Eigen::Vector3f(0.489763f, 10.6448f, -3.00165f), + Eigen::Vector3f(5.57566f, 5.74589f, -1.88189f)}}; // Verify each point in the undistorted point cloud size_t i = 0; @@ -704,9 +738,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInLidarFrame) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -714,35 +748,39 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInLidarFrame) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureLinearMotion) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudWithPureLinearMotion) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 test2d_pointcloud = generatePointCloudMsg(true, false, timestamp); - sensor_msgs::msg::PointCloud2 test3d_pointcloud = generatePointCloudMsg(true, false, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto test2d_pointcloud = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); + auto test3d_pointcloud = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Generate and process a single twist message with constant linear velocity - auto twist_msg = generateTwistMsg(1.0, 0.0, timestamp); + auto twist_msg = generate_twist_msg(1.0, 0.0, timestamp); - distortion_corrector_2d_->processTwistMessage(twist_msg); + distortion_corrector_2d_->process_twist_message(twist_msg); distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_2d_->undistortPointCloud(false, test2d_pointcloud); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_2d_->undistort_pointcloud(false, std::nullopt, test2d_pointcloud); - distortion_corrector_3d_->processTwistMessage(twist_msg); + distortion_corrector_3d_->process_twist_message(twist_msg); distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_3d_->undistortPointCloud(false, test3d_pointcloud); + distortion_corrector_3d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_3d_->undistort_pointcloud(false, std::nullopt, test3d_pointcloud); // Generate expected point cloud for testing - sensor_msgs::msg::PointCloud2 expected_pointcloud_msg = - generatePointCloudMsg(true, false, timestamp); + auto expected_pointcloud = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Calculate expected point cloud values based on constant linear motion double velocity = 1.0; // 1 m/s linear velocity - sensor_msgs::PointCloud2Iterator iter_x(expected_pointcloud_msg, "x"); - sensor_msgs::PointCloud2Iterator iter_y(expected_pointcloud_msg, "y"); - sensor_msgs::PointCloud2Iterator iter_z(expected_pointcloud_msg, "z"); - sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud_msg, "time_stamp"); + sensor_msgs::PointCloud2Iterator iter_x(expected_pointcloud, "x"); + sensor_msgs::PointCloud2Iterator iter_y(expected_pointcloud, "y"); + sensor_msgs::PointCloud2Iterator iter_z(expected_pointcloud, "z"); + sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud, "time_stamp"); std::vector expected_points; for (; iter_t != iter_t.end(); ++iter_t, ++iter_x, ++iter_y, ++iter_z) { @@ -801,37 +839,41 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureLinearMotion) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureRotationalMotion) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudWithPureRotationalMotion) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 test2d_pointcloud = generatePointCloudMsg(true, false, timestamp); - sensor_msgs::msg::PointCloud2 test3d_pointcloud = generatePointCloudMsg(true, false, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto test2d_pointcloud = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); + auto test3d_pointcloud = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Generate and process a single twist message with constant angular velocity - auto twist_msg = generateTwistMsg(0.0, 0.1, timestamp); + auto twist_msg = generate_twist_msg(0.0, 0.1, timestamp); - distortion_corrector_2d_->processTwistMessage(twist_msg); + distortion_corrector_2d_->process_twist_message(twist_msg); distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_2d_->undistortPointCloud(false, test2d_pointcloud); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_2d_->undistort_pointcloud(false, std::nullopt, test2d_pointcloud); - distortion_corrector_3d_->processTwistMessage(twist_msg); + distortion_corrector_3d_->process_twist_message(twist_msg); distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_3d_->undistortPointCloud(false, test3d_pointcloud); + distortion_corrector_3d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_3d_->undistort_pointcloud(false, std::nullopt, test3d_pointcloud); // Generate expected point cloud for testing - sensor_msgs::msg::PointCloud2 expected_pointcloud_msg = - generatePointCloudMsg(true, false, timestamp); + auto expected_pointcloud = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Calculate expected point cloud values based on constant rotational motion double angular_velocity = 0.1; // 0.1 rad/s rotational velocity - sensor_msgs::PointCloud2Iterator iter_x(expected_pointcloud_msg, "x"); - sensor_msgs::PointCloud2Iterator iter_y(expected_pointcloud_msg, "y"); - sensor_msgs::PointCloud2Iterator iter_z(expected_pointcloud_msg, "z"); - sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud_msg, "time_stamp"); + sensor_msgs::PointCloud2Iterator iter_x(expected_pointcloud, "x"); + sensor_msgs::PointCloud2Iterator iter_y(expected_pointcloud, "y"); + sensor_msgs::PointCloud2Iterator iter_z(expected_pointcloud, "z"); + sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud, "time_stamp"); - std::vector expected_pointcloud; + std::vector expected_points; for (; iter_t != iter_t.end(); ++iter_t, ++iter_x, ++iter_y, ++iter_z) { double time_offset = static_cast(*iter_t) / 1e9; float angle = angular_velocity * time_offset; @@ -844,7 +886,7 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureRotationalMotion) tf2::Vector3 point(*iter_x, *iter_y, *iter_z); tf2::Vector3 rotated_point = tf2::quatRotate(quaternion, point); - expected_pointcloud.emplace_back( + expected_points.emplace_back( static_cast(rotated_point.x()), static_cast(rotated_point.y()), static_cast(rotated_point.z())); } @@ -862,9 +904,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureRotationalMotion) ++test2d_iter_x, ++test2d_iter_y, ++test2d_iter_z, ++i) { oss << "Point " << i << ": (" << *test2d_iter_x << ", " << *test2d_iter_y << ", " << *test2d_iter_z << ")\n"; - EXPECT_FLOAT_EQ(*test2d_iter_x, expected_pointcloud[i].x()); - EXPECT_FLOAT_EQ(*test2d_iter_y, expected_pointcloud[i].y()); - EXPECT_FLOAT_EQ(*test2d_iter_z, expected_pointcloud[i].z()); + EXPECT_FLOAT_EQ(*test2d_iter_x, expected_points[i].x()); + EXPECT_FLOAT_EQ(*test2d_iter_y, expected_points[i].y()); + EXPECT_FLOAT_EQ(*test2d_iter_z, expected_points[i].z()); } if (debug_) { @@ -891,9 +933,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureRotationalMotion) << *test2d_iter_z << ")" << " vs 3D: (" << *test3d_iter_x << ", " << *test3d_iter_y << ", " << *test3d_iter_z << ")\n"; - EXPECT_NEAR(*test2d_iter_x, *test3d_iter_x, coarse_tolerance_); - EXPECT_NEAR(*test2d_iter_y, *test3d_iter_y, coarse_tolerance_); - EXPECT_NEAR(*test2d_iter_z, *test3d_iter_z, coarse_tolerance_); + EXPECT_NEAR(*test2d_iter_x, *test3d_iter_x, coarse_tolerance); + EXPECT_NEAR(*test2d_iter_y, *test3d_iter_y, coarse_tolerance); + EXPECT_NEAR(*test2d_iter_z, *test3d_iter_z, coarse_tolerance); } if (debug_) { @@ -901,6 +943,341 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureRotationalMotion) } } +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudNotUpdatingAzimuthAndDistance) +{ + // Test the case when the cloud will not update the azimuth and distance values + // 1. when pointcloud is in base_link (pointcloud_transform_needed() is false) + + // Generate the point cloud message in base_link + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud_base_link = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); + + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + // Generate and process multiple IMU messages + generate_and_process_imu_msgs(distortion_corrector_2d_, timestamp); + + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "base_link"); + auto angle_conversion_opt = + distortion_corrector_2d_->try_compute_angle_conversion(pointcloud_base_link); + + // Test for expected runtime error + EXPECT_THROW( + { + distortion_corrector_2d_->undistort_pointcloud( + true, angle_conversion_opt, pointcloud_base_link); + }, + std::runtime_error); + + // Test the case when the cloud will not update the azimuth and distance values + // 2. when the return value of try_compute_angle_conversion is std::nullopt (couldn't find the + // angle conversion) + + // Generate the point cloud message in sensor frame + auto pointcloud_lidar_top = + generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); + + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + // Generate and process multiple IMU messages + generate_and_process_imu_msgs(distortion_corrector_2d_, timestamp); + + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "lidar_top"); + + angle_conversion_opt = std::nullopt; + distortion_corrector_2d_->undistort_pointcloud(true, angle_conversion_opt, pointcloud_lidar_top); + + auto original_pointcloud_lidar_top = + generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); + + sensor_msgs::PointCloud2ConstIterator test_iter_azimuth_lidar_top( + pointcloud_lidar_top, "azimuth"); + sensor_msgs::PointCloud2ConstIterator test_iter_distance_lidar_top( + pointcloud_lidar_top, "distance"); + + sensor_msgs::PointCloud2ConstIterator original_iter_azimuth_lidar_top( + original_pointcloud_lidar_top, "azimuth"); + sensor_msgs::PointCloud2ConstIterator original_iter_distance_lidar_top( + original_pointcloud_lidar_top, "distance"); + + size_t i = 0; + std::ostringstream oss; + + oss << "Expected pointcloud:\n"; + for (; test_iter_azimuth_lidar_top != test_iter_azimuth_lidar_top.end(); + ++test_iter_azimuth_lidar_top, ++test_iter_distance_lidar_top, + ++original_iter_azimuth_lidar_top, ++original_iter_distance_lidar_top, ++i) { + oss << "Point " << i << " - Output azimuth and distance: (" << *test_iter_azimuth_lidar_top + << ", " << *test_iter_distance_lidar_top << ")" + << " vs Original azimuth and distance: (" << *original_iter_azimuth_lidar_top << ", " + << *original_iter_distance_lidar_top << ")\n"; + + EXPECT_FLOAT_EQ(*test_iter_azimuth_lidar_top, *original_iter_azimuth_lidar_top); + EXPECT_FLOAT_EQ(*test_iter_distance_lidar_top, *original_iter_distance_lidar_top); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudUpdateAzimuthAndDistanceInVelodyne) +{ + // Generate the point cloud message in sensor frame + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::VELODYNE); + auto pointcloud = generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); + + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + // Generate and process multiple IMU messages + generate_and_process_imu_msgs(distortion_corrector_2d_, timestamp); + + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "lidar_top"); + + auto angle_conversion_opt = distortion_corrector_2d_->try_compute_angle_conversion(pointcloud); + distortion_corrector_2d_->undistort_pointcloud(true, angle_conversion_opt, pointcloud); + + auto original_pointcloud = + generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); + + sensor_msgs::PointCloud2ConstIterator iter_azimuth(pointcloud, "azimuth"); + sensor_msgs::PointCloud2ConstIterator iter_distance(pointcloud, "distance"); + + // Expected undistorted azimuth and distance values + std::array, 10> expected_azimuth_distance = {{ + {0.0f, 0.0f}, // points: (0.0f, 0.0f, 0.0f) + {5.41248f, 0.121447f}, // points: (0.0512387f, 0.0608269f, 0.0917824f) + {6.26993f, 10.1829f}, // points: (10.1106f, 0.134026f, 1.20356f) + {0.747926f, 7.421f}, // points: (5.17128f, -4.79604f, 2.30806f) + {1.54689f, 10.3103f}, // points: (0.232686f, -9.7275f, 3.40938f) + {2.36187f, 8.01421f}, // points: (-4.70281f, -4.65034f, 4.52609f) + {3.18569f, 11.1774f}, // points: (-9.64009f, 0.425434f, 5.64106f) + {4.02323f, 8.30557f}, // points: (-4.55139f, 5.5241f, -4.21327f) + {4.76125f, 11.0645f}, // points: (0.519385f, 10.6188f, -3.06522f) + {5.48757f, 8.22771f} // points: (5.5992f, 5.71475f, -1.91985f) + }}; + + size_t i = 0; + std::ostringstream oss; + + oss << "Expected pointcloud:\n"; + for (; iter_azimuth != iter_azimuth.end(); ++iter_azimuth, ++iter_distance, ++i) { + oss << "Point " << i << " - Output azimuth and distance: (" << *iter_azimuth << ", " + << *iter_distance << ")" + << " vs Expected azimuth and distance: (" << expected_azimuth_distance[i][0] << ", " + << expected_azimuth_distance[i][1] << ")\n"; + + EXPECT_NEAR(*iter_azimuth, expected_azimuth_distance[i][0], standard_tolerance); + EXPECT_NEAR(*iter_distance, expected_azimuth_distance[i][1], standard_tolerance); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudUpdateAzimuthAndDistanceInHesai) +{ + // Generate the point cloud message in sensor frame + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::HESAI); + auto pointcloud = generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); + + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + // Generate and process multiple IMU messages + generate_and_process_imu_msgs(distortion_corrector_2d_, timestamp); + + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "lidar_top"); + + auto angle_conversion_opt = distortion_corrector_2d_->try_compute_angle_conversion(pointcloud); + distortion_corrector_2d_->undistort_pointcloud(true, angle_conversion_opt, pointcloud); + + auto original_pointcloud = + generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); + + sensor_msgs::PointCloud2ConstIterator iter_azimuth(pointcloud, "azimuth"); + sensor_msgs::PointCloud2ConstIterator iter_distance(pointcloud, "distance"); + + // Expected undistorted azimuth and distance values + std::array, 10> expected_azimuth_distance = {{ + {1.5708f, 0.0f}, // points: (0.0f, 0.0f, 0.0f) + {0.70009f, 0.121447f}, // points: (0.0512387f, 0.0608269f, 0.0917824f) + {1.55754f, 10.1829f}, // points: (10.1106f, 0.134026f, 1.20356f) + {2.31872f, 7.421f}, // points: (5.17128f, -4.79604f, 2.30806f) + {3.11768f, 10.3103f}, // points: (0.232686f, -9.7275f, 3.40938f) + {3.93267f, 8.01421f}, // points: (-4.70281f, -4.65034f, 4.52609f) + {4.75648f, 11.1774f}, // points: (-9.64009f, 0.425434f, 5.64106f) + {5.59403f, 8.30557f}, // points: (-4.55139f, 5.5241f, -4.21327f) + {0.0488634f, 11.0645f}, // points: (0.519385f, 10.6188f, -3.06522f) + {0.775183f, 8.22771f} // points: (5.5992f, 5.71475f, -1.91985f) + }}; + + size_t i = 0; + std::ostringstream oss; + + oss << "Expected pointcloud:\n"; + for (; iter_azimuth != iter_azimuth.end(); ++iter_azimuth, ++iter_distance, ++i) { + oss << "Point " << i << " - Output azimuth and distance: (" << *iter_azimuth << ", " + << *iter_distance << ")" + << " vs Expected azimuth and distance: (" << expected_azimuth_distance[i][0] << ", " + << expected_azimuth_distance[i][1] << ")\n"; + + EXPECT_NEAR(*iter_azimuth, expected_azimuth_distance[i][0], standard_tolerance); + EXPECT_NEAR(*iter_distance, expected_azimuth_distance[i][1], standard_tolerance); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestTryComputeAngleConversionOnEmptyPointcloud) +{ + // test empty pointcloud + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + + auto empty_pointcloud = generate_empty_pointcloud_msg(timestamp); + auto angle_conversion_opt = + distortion_corrector_2d_->try_compute_angle_conversion(empty_pointcloud); + + EXPECT_FALSE(angle_conversion_opt.has_value()); +} + +TEST_F(DistortionCorrectorTest, TestTryComputeAngleConversionOnVelodynePointcloud) +{ + // test velodyne pointcloud (x-axis: 0 degree, y-axis: 270 degree) + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + + std::vector velodyne_points = { + Eigen::Vector3f(0.0f, 0.0f, 0.0f), + Eigen::Vector3f(1.0f, -1.0f, 1.0f), + Eigen::Vector3f(0.0f, -2.0f, 1.0f), + }; + std::vector velodyne_azimuths = { + 0.0f, autoware::universe_utils::pi / 4, autoware::universe_utils::pi / 2}; + + auto velodyne_pointcloud = + generate_pointcloud_msg(true, timestamp, velodyne_points, velodyne_azimuths); + auto angle_conversion_opt = + distortion_corrector_2d_->try_compute_angle_conversion(velodyne_pointcloud); + EXPECT_TRUE(angle_conversion_opt.has_value()); + + EXPECT_EQ(angle_conversion_opt->sign, -1); + EXPECT_NEAR(angle_conversion_opt->offset_rad, 0, standard_tolerance); +} + +TEST_F(DistortionCorrectorTest, TestTryComputeAngleConversionOnHesaiPointcloud) +{ + // test hesai pointcloud (x-axis: 90 degree, y-axis: 0 degree) + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + std::vector hesai_points = { + Eigen::Vector3f(0.0f, 0.0f, 0.0f), + Eigen::Vector3f(1.0f, -1.0f, 1.0f), + Eigen::Vector3f(0.0f, -2.0f, 1.0f), + }; + std::vector hesai_azimuths = { + autoware::universe_utils::pi / 2, autoware::universe_utils::pi * 3 / 4, + autoware::universe_utils::pi}; + + auto hesai_pointcloud = generate_pointcloud_msg(true, timestamp, hesai_points, hesai_azimuths); + auto angle_conversion_opt = + distortion_corrector_2d_->try_compute_angle_conversion(hesai_pointcloud); + + EXPECT_TRUE(angle_conversion_opt.has_value()); + EXPECT_EQ(angle_conversion_opt->sign, -1); + EXPECT_NEAR( + angle_conversion_opt->offset_rad, autoware::universe_utils::pi / 2, standard_tolerance); +} + +TEST_F(DistortionCorrectorTest, TestTryComputeAngleConversionCartesianPointcloud) +{ + // test pointcloud that use cartesian coordinate for azimuth (x-axis: 0 degree, y-axis: 90 degree) + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + std::vector cartesian_points = { + Eigen::Vector3f(0.0f, 0.0f, 0.0f), + Eigen::Vector3f(1.0f, 1.0f, 1.0f), + Eigen::Vector3f(0.0f, 2.0f, 1.0f), + }; + std::vector cartesian_azimuths = { + 0, autoware::universe_utils::pi / 4, autoware::universe_utils::pi / 2}; + + auto cartesian_pointcloud = + generate_pointcloud_msg(true, timestamp, cartesian_points, cartesian_azimuths); + auto angle_conversion_opt = + distortion_corrector_2d_->try_compute_angle_conversion(cartesian_pointcloud); + + EXPECT_TRUE(angle_conversion_opt.has_value()); + EXPECT_EQ(angle_conversion_opt->sign, 1); + EXPECT_NEAR(angle_conversion_opt->offset_rad, 0, standard_tolerance); +} + +TEST_F(DistortionCorrectorTest, TestTryComputeAngleConversionOnRandomPointcloud) +{ + // test pointcloud that use coordinate (x-axis: 270 degree, y-axis: 0 degree) + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + std::vector points = { + Eigen::Vector3f(0.0f, 1.0f, 0.0f), + Eigen::Vector3f(2.0f, 0.0f, 1.0f), + Eigen::Vector3f(1.0f, 1.0f, 1.0f), + }; + std::vector azimuths = { + 0, autoware::universe_utils::pi * 3 / 2, autoware::universe_utils::pi * 7 / 4}; + + auto pointcloud = generate_pointcloud_msg(true, timestamp, points, azimuths); + auto angle_conversion_opt = distortion_corrector_2d_->try_compute_angle_conversion(pointcloud); + + EXPECT_TRUE(angle_conversion_opt.has_value()); + EXPECT_EQ(angle_conversion_opt->sign, 1); + EXPECT_NEAR( + angle_conversion_opt->offset_rad, autoware::universe_utils::pi * 3 / 2, standard_tolerance); +} + +TEST_F(DistortionCorrectorTest, TestTryComputeAngleConversionOnBadAzimuthPointcloud) +{ + // test pointcloud that can cause the angle conversion to fail. + // 1. angle difference is 0 + // 2. azimuth value is wrong + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + std::vector points = { + Eigen::Vector3f(0.0f, 1.0f, 0.0f), + Eigen::Vector3f(2.0f, 0.0f, 1.0f), + Eigen::Vector3f(1.0f, 1.0f, 1.0f), + }; + + // generate random bad azimuths + std::vector azimuths = {0, 0, autoware::universe_utils::pi}; + + auto pointcloud = generate_pointcloud_msg(true, timestamp, points, azimuths); + auto angle_conversion_opt = distortion_corrector_2d_->try_compute_angle_conversion(pointcloud); + + EXPECT_FALSE(angle_conversion_opt.has_value()); +} + int main(int argc, char ** argv) { ::testing::InitGoogleTest(&argc, argv); From a5abc74b425a45d24f44530509514daf5f091512 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Mon, 28 Oct 2024 23:54:56 +0900 Subject: [PATCH 302/701] fix(compare_map_segmentation): add missing mutex lock (#9097) * fix(compare_map_segmentation): missing mutux Signed-off-by: badai-nguyen * chore: rename mutex_ Signed-off-by: badai-nguyen * fix: remove unnecessary mutex Signed-off-by: badai-nguyen * fix: typos Signed-off-by: badai-nguyen * chore: minimize mutex scope Signed-off-by: badai-nguyen * chore: change to lock_guard Signed-off-by: badai-nguyen * fix: check tree initialization Signed-off-by: badai-nguyen * fix: memory ordering Signed-off-by: badai-nguyen * fix: replace all static_map_loader_mutex_ Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- .../node.cpp | 14 +++++----- .../node.hpp | 11 ++++---- .../node.cpp | 5 ++-- .../node.hpp | 9 +++---- .../voxel_based_compare_map_filter/node.cpp | 5 ++-- .../node.cpp | 11 ++++---- .../node.hpp | 12 ++++----- .../voxel_grid_map_loader.cpp | 18 ++++++------- .../voxel_grid_map_loader.hpp | 26 +++++++++---------- 9 files changed, 53 insertions(+), 58 deletions(-) diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp index e5ff8da4e4da9..8b44d1661da48 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp @@ -32,8 +32,6 @@ void DistanceBasedStaticMapLoader::onMapCallback( pcl::PointCloud map_pcl; pcl::fromROSMsg(*map, map_pcl); const auto map_pcl_ptr = pcl::make_shared>(map_pcl); - - (*mutex_ptr_).lock(); map_ptr_ = map_pcl_ptr; *tf_map_input_frame_ = map_ptr_->header.frame_id; if (!tree_) { @@ -44,13 +42,15 @@ void DistanceBasedStaticMapLoader::onMapCallback( } } tree_->setInputCloud(map_ptr_); - - (*mutex_ptr_).unlock(); + is_initialized_.store(true, std::memory_order_release); } bool DistanceBasedStaticMapLoader::is_close_to_map( const pcl::PointXYZ & point, const double distance_threshold) { + if (!is_initialized_.load(std::memory_order_acquire)) { + return false; + } if (map_ptr_ == NULL) { return false; } @@ -126,10 +126,10 @@ DistanceBasedCompareMapFilterComponent::DistanceBasedCompareMapFilterComponent( rclcpp::CallbackGroup::SharedPtr main_callback_group; main_callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); distance_based_map_loader_ = std::make_unique( - this, distance_threshold_, &tf_input_frame_, &mutex_, main_callback_group); + this, distance_threshold_, &tf_input_frame_, main_callback_group); } else { - distance_based_map_loader_ = std::make_unique( - this, distance_threshold_, &tf_input_frame_, &mutex_); + distance_based_map_loader_ = + std::make_unique(this, distance_threshold_, &tf_input_frame_); } } diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp index d0cb5b3c62992..509303c3a4e0e 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp @@ -41,8 +41,8 @@ class DistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader public: DistanceBasedStaticMapLoader( - rclcpp::Node * node, double leaf_size, std::string * tf_map_input_frame, std::mutex * mutex) - : VoxelGridStaticMapLoader(node, leaf_size, 1.0, tf_map_input_frame, mutex) + rclcpp::Node * node, double leaf_size, std::string * tf_map_input_frame) + : VoxelGridStaticMapLoader(node, leaf_size, 1.0, tf_map_input_frame) { RCLCPP_INFO(logger_, "DistanceBasedStaticMapLoader initialized.\n"); } @@ -55,9 +55,9 @@ class DistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader { public: DistanceBasedDynamicMapLoader( - rclcpp::Node * node, double leaf_size, std::string * tf_map_input_frame, std::mutex * mutex, + rclcpp::Node * node, double leaf_size, std::string * tf_map_input_frame, rclcpp::CallbackGroup::SharedPtr main_callback_group) - : VoxelGridDynamicMapLoader(node, leaf_size, 1.0, tf_map_input_frame, mutex, main_callback_group) + : VoxelGridDynamicMapLoader(node, leaf_size, 1.0, tf_map_input_frame, main_callback_group) { RCLCPP_INFO(logger_, "DistanceBasedDynamicMapLoader initialized.\n"); } @@ -94,9 +94,8 @@ class DistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader current_voxel_grid_list_item.map_cell_kdtree = tree_tmp; // add - (*mutex_ptr_).lock(); + std::lock_guard lock(dynamic_map_loader_mutex_); current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item}); - (*mutex_ptr_).unlock(); } }; diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp index 3a04c3dc20902..7ffb825910f64 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp @@ -95,11 +95,10 @@ VoxelBasedApproximateCompareMapFilterComponent::VoxelBasedApproximateCompareMapF rclcpp::CallbackGroup::SharedPtr main_callback_group; main_callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); voxel_based_approximate_map_loader_ = std::make_unique( - this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, &mutex_, - main_callback_group); + this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, main_callback_group); } else { voxel_based_approximate_map_loader_ = std::make_unique( - this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, &mutex_); + this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_); } } diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp index 0466d20403ca3..c8ad7c16f59cb 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp @@ -33,8 +33,8 @@ class VoxelBasedApproximateStaticMapLoader : public VoxelGridStaticMapLoader public: explicit VoxelBasedApproximateStaticMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex) - : VoxelGridStaticMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex) + std::string * tf_map_input_frame) + : VoxelGridStaticMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame) { RCLCPP_INFO(logger_, "VoxelBasedApproximateStaticMapLoader initialized.\n"); } @@ -46,10 +46,9 @@ class VoxelBasedApproximateDynamicMapLoader : public VoxelGridDynamicMapLoader public: VoxelBasedApproximateDynamicMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex, - rclcpp::CallbackGroup::SharedPtr main_callback_group) + std::string * tf_map_input_frame, rclcpp::CallbackGroup::SharedPtr main_callback_group) : VoxelGridDynamicMapLoader( - node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex, main_callback_group) + node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, main_callback_group) { RCLCPP_INFO(logger_, "VoxelBasedApproximateDynamicMapLoader initialized.\n"); } diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp index a3eb866d77e31..e024d2b538e51 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp @@ -54,11 +54,10 @@ VoxelBasedCompareMapFilterComponent::VoxelBasedCompareMapFilterComponent( rclcpp::CallbackGroup::SharedPtr main_callback_group; main_callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); voxel_grid_map_loader_ = std::make_unique( - this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, &mutex_, - main_callback_group); + this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, main_callback_group); } else { voxel_grid_map_loader_ = std::make_unique( - this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, &mutex_); + this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_); } tf_input_frame_ = *(voxel_grid_map_loader_->tf_map_input_frame_); RCLCPP_INFO(this->get_logger(), "tf_map_input_frame: %s", tf_input_frame_.c_str()); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp index 7fdeb5d8ea163..62f126c0039f4 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp @@ -33,7 +33,6 @@ void VoxelDistanceBasedStaticMapLoader::onMapCallback( pcl::fromROSMsg(*map, map_pcl); const auto map_pcl_ptr = pcl::make_shared>(map_pcl); - (*mutex_ptr_).lock(); map_ptr_ = map_pcl_ptr; *tf_map_input_frame_ = map_ptr_->header.frame_id; // voxel @@ -53,12 +52,15 @@ void VoxelDistanceBasedStaticMapLoader::onMapCallback( } } tree_->setInputCloud(map_ptr_); - (*mutex_ptr_).unlock(); + is_initialized_.store(true, std::memory_order_release); } bool VoxelDistanceBasedStaticMapLoader::is_close_to_map( const pcl::PointXYZ & point, const double distance_threshold) { + if (!is_initialized_.load(std::memory_order_acquire)) { + return false; + } if (voxel_map_ptr_ == NULL) { return false; } @@ -124,11 +126,10 @@ VoxelDistanceBasedCompareMapFilterComponent::VoxelDistanceBasedCompareMapFilterC rclcpp::CallbackGroup::SharedPtr main_callback_group; main_callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); voxel_distance_based_map_loader_ = std::make_unique( - this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, &mutex_, - main_callback_group); + this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, main_callback_group); } else { voxel_distance_based_map_loader_ = std::make_unique( - this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, &mutex_); + this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_); } } diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp index 15ed2a32ff213..015ee52793768 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp @@ -43,8 +43,8 @@ class VoxelDistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader public: explicit VoxelDistanceBasedStaticMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex) - : VoxelGridStaticMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex) + std::string * tf_map_input_frame) + : VoxelGridStaticMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame) { RCLCPP_INFO(logger_, "VoxelDistanceBasedStaticMapLoader initialized.\n"); } @@ -61,10 +61,9 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader public: explicit VoxelDistanceBasedDynamicMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex, - rclcpp::CallbackGroup::SharedPtr main_callback_group) + std::string * tf_map_input_frame, rclcpp::CallbackGroup::SharedPtr main_callback_group) : VoxelGridDynamicMapLoader( - node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex, main_callback_group) + node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, main_callback_group) { RCLCPP_INFO(logger_, "VoxelDistanceBasedDynamicMapLoader initialized.\n"); } @@ -117,9 +116,8 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader current_voxel_grid_list_item.map_cell_kdtree = tree_tmp; // add - (*mutex_ptr_).lock(); + std::lock_guard lock(dynamic_map_loader_mutex_); current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item}); - (*mutex_ptr_).unlock(); } }; diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp index a36372efe4428..2627bbff64866 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp @@ -18,13 +18,12 @@ namespace autoware::compare_map_segmentation { VoxelGridMapLoader::VoxelGridMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex) + std::string * tf_map_input_frame) : logger_(node->get_logger()), voxel_leaf_size_(leaf_size), downsize_ratio_z_axis_(downsize_ratio_z_axis) { tf_map_input_frame_ = tf_map_input_frame; - mutex_ptr_ = mutex; downsampled_map_pub_ = node->create_publisher( "debug/downsampled_map/pointcloud", rclcpp::QoS{1}.transient_local()); @@ -245,8 +244,8 @@ bool VoxelGridMapLoader::is_in_voxel( VoxelGridStaticMapLoader::VoxelGridStaticMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex) -: VoxelGridMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex) + std::string * tf_map_input_frame) +: VoxelGridMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame) { voxel_leaf_size_z_ = voxel_leaf_size_ * downsize_ratio_z_axis_; sub_map_ = node->create_subscription( @@ -262,13 +261,12 @@ void VoxelGridStaticMapLoader::onMapCallback( pcl::fromROSMsg(*map, map_pcl); const auto map_pcl_ptr = pcl::make_shared>(map_pcl); *tf_map_input_frame_ = map_pcl_ptr->header.frame_id; - (*mutex_ptr_).lock(); voxel_map_ptr_.reset(new pcl::PointCloud); voxel_grid_.setLeafSize(voxel_leaf_size_, voxel_leaf_size_, voxel_leaf_size_z_); voxel_grid_.setInputCloud(map_pcl_ptr); voxel_grid_.setSaveLeafLayout(true); voxel_grid_.filter(*voxel_map_ptr_); - (*mutex_ptr_).unlock(); + is_initialized_.store(true, std::memory_order_release); if (debug_) { publish_downsampled_map(*voxel_map_ptr_); @@ -277,6 +275,9 @@ void VoxelGridStaticMapLoader::onMapCallback( bool VoxelGridStaticMapLoader::is_close_to_map( const pcl::PointXYZ & point, const double distance_threshold) { + if (!is_initialized_.load(std::memory_order_acquire)) { + return false; + } if (is_close_to_neighbor_voxels(point, distance_threshold, voxel_map_ptr_, voxel_grid_)) { return true; } @@ -285,9 +286,8 @@ bool VoxelGridStaticMapLoader::is_close_to_map( VoxelGridDynamicMapLoader::VoxelGridDynamicMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex, - rclcpp::CallbackGroup::SharedPtr main_callback_group) -: VoxelGridMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex) + std::string * tf_map_input_frame, rclcpp::CallbackGroup::SharedPtr main_callback_group) +: VoxelGridMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame) { voxel_leaf_size_z_ = voxel_leaf_size_ * downsize_ratio_z_axis_; auto timer_interval_ms = node->declare_parameter("timer_interval_ms"); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp index f860e7e6c87fd..f50d23d4af6e8 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp @@ -26,6 +26,7 @@ #include #include +#include #include #include #include @@ -85,7 +86,6 @@ class VoxelGridMapLoader { protected: rclcpp::Logger logger_; - std::mutex * mutex_ptr_; double voxel_leaf_size_; double voxel_leaf_size_z_{}; double downsize_ratio_z_axis_; @@ -98,7 +98,7 @@ class VoxelGridMapLoader typedef typename PointCloud::Ptr PointCloudPtr; explicit VoxelGridMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex); + std::string * tf_map_input_frame); virtual bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) = 0; static bool is_close_to_neighbor_voxels( @@ -121,11 +121,12 @@ class VoxelGridStaticMapLoader : public VoxelGridMapLoader rclcpp::Subscription::SharedPtr sub_map_; VoxelGridPointXYZ voxel_grid_; PointCloudPtr voxel_map_ptr_; + std::atomic_bool is_initialized_{false}; public: explicit VoxelGridStaticMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex); + std::string * tf_map_input_frame); virtual void onMapCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr map); bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; }; @@ -145,6 +146,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader /** \brief Map to hold loaded map grid id and it's voxel filter */ VoxelGridDict current_voxel_grid_dict_; + std::mutex dynamic_map_loader_mutex_; rclcpp::Subscription::SharedPtr sub_kinematic_state_; std::optional current_position_ = std::nullopt; @@ -182,8 +184,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader public: explicit VoxelGridDynamicMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex, - rclcpp::CallbackGroup::SharedPtr main_callback_group); + std::string * tf_map_input_frame, rclcpp::CallbackGroup::SharedPtr main_callback_group); void onEstimatedPoseCallback(nav_msgs::msg::Odometry::ConstSharedPtr msg); void timer_callback(); @@ -194,17 +195,19 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader bool is_close_to_next_map_grid( const pcl::PointXYZ & point, const int current_map_grid_index, const double distance_threshold); - inline pcl::PointCloud getCurrentDownsampledMapPc() const + inline pcl::PointCloud getCurrentDownsampledMapPc() { pcl::PointCloud output; + std::lock_guard lock(dynamic_map_loader_mutex_); for (const auto & kv : current_voxel_grid_dict_) { output = output + *(kv.second.map_cell_pc_ptr); } return output; } - inline std::vector getCurrentMapIDs() const + inline std::vector getCurrentMapIDs() { std::vector current_map_ids{}; + std::lock_guard lock(dynamic_map_loader_mutex_); for (auto & kv : current_voxel_grid_dict_) { current_map_ids.push_back(kv.first); } @@ -243,9 +246,9 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader return; } - (*mutex_ptr_).lock(); current_voxel_grid_array_.assign( map_grids_x_ * map_grid_size_y_, std::make_shared()); + std::lock_guard lock(dynamic_map_loader_mutex_); for (const auto & kv : current_voxel_grid_dict_) { int index = static_cast( std::floor((kv.second.min_b_x - origin_x_) / map_grid_size_x_) + @@ -256,14 +259,12 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader } current_voxel_grid_array_.at(index) = std::make_shared(kv.second); } - (*mutex_ptr_).unlock(); } inline void removeMapCell(const std::string & map_cell_id_to_remove) { - (*mutex_ptr_).lock(); + std::lock_guard lock(dynamic_map_loader_mutex_); current_voxel_grid_dict_.erase(map_cell_id_to_remove); - (*mutex_ptr_).unlock(); } virtual inline void addMapCellAndFilter( @@ -310,9 +311,8 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader current_voxel_grid_list_item.map_cell_pc_ptr.reset(new pcl::PointCloud); current_voxel_grid_list_item.map_cell_pc_ptr = std::move(map_cell_downsampled_pc_ptr_tmp); // add - (*mutex_ptr_).lock(); + std::lock_guard lock(dynamic_map_loader_mutex_); current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item}); - (*mutex_ptr_).unlock(); } }; From 6dad8036d2dc327f10d64ec3053c8a05719263b5 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 29 Oct 2024 09:46:54 +0900 Subject: [PATCH 303/701] feat(autoware_test_utils): add parser for geometry_msgs and others (#9167) Signed-off-by: Mamoru Sobue --- .../autoware_test_utils/mock_data_parser.hpp | 47 ++++- .../src/mock_data_parser.cpp | 153 ++++++++++---- .../test/test_mock_data_parser.cpp | 187 ++++++++++++++++++ 3 files changed, 345 insertions(+), 42 deletions(-) diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp index 84e001aa8806e..754f809fa3f23 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp @@ -18,11 +18,15 @@ #include #include #include -#include +#include +#include +#include +#include #include #include +#include #include #include @@ -31,8 +35,15 @@ namespace autoware::test_utils using autoware_planning_msgs::msg::LaneletPrimitive; using autoware_planning_msgs::msg::LaneletRoute; using autoware_planning_msgs::msg::LaneletSegment; +using geometry_msgs::msg::Accel; +using geometry_msgs::msg::AccelWithCovariance; +using geometry_msgs::msg::AccelWithCovarianceStamped; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; +using geometry_msgs::msg::PoseWithCovariance; +using geometry_msgs::msg::Twist; +using geometry_msgs::msg::TwistWithCovariance; +using nav_msgs::msg::Odometry; using std_msgs::msg::Header; using tier4_planning_msgs::msg::PathPointWithLaneId; using tier4_planning_msgs::msg::PathWithLaneId; @@ -50,23 +61,47 @@ using tier4_planning_msgs::msg::PathWithLaneId; template T parse(const YAML::Node & node); +template <> +Header parse(const YAML::Node & node); + +template <> +std::vector parse(const YAML::Node & node); + +template <> +std::array parse(const YAML::Node & node); + template <> Pose parse(const YAML::Node & node); template <> -LaneletPrimitive parse(const YAML::Node & node); +PoseWithCovariance parse(const YAML::Node & node); template <> -std::vector parse(const YAML::Node & node); +Twist parse(const YAML::Node & node); template <> -std::vector parse(const YAML::Node & node); +TwistWithCovariance parse(const YAML::Node & node); template <> -std::vector parse(const YAML::Node & node); +Odometry parse(const YAML::Node & node); template <> -Header parse(const YAML::Node & node); +Accel parse(const YAML::Node & node); + +template <> +AccelWithCovariance parse(const YAML::Node & node); + +template <> +AccelWithCovarianceStamped parse(const YAML::Node & node); + +template <> +LaneletPrimitive parse(const YAML::Node & node); + +template <> +std::vector parse(const YAML::Node & node); + +template <> +std::vector parse(const YAML::Node & node); template <> std::vector parse(const YAML::Node & node); diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp index ef92533e9bf4a..e9c7911af0e44 100644 --- a/common/autoware_test_utils/src/mock_data_parser.cpp +++ b/common/autoware_test_utils/src/mock_data_parser.cpp @@ -29,6 +29,47 @@ namespace autoware::test_utils { + +template <> +Header parse(const YAML::Node & node) +{ + Header header; + + header.stamp.sec = node["stamp"]["sec"].as(); + header.stamp.nanosec = node["stamp"]["nanosec"].as(); + header.frame_id = node["frame_id"].as(); + + return header; +} + +template <> +std::array parse(const YAML::Node & node) +{ + std::array msg{}; + const auto cov = node.as>(); + for (size_t i = 0; i < 36; ++i) { + msg[i] = cov.at(i); + } + return msg; +} + +template <> +std::vector parse(const YAML::Node & node) +{ + std::vector geom_points; + + std::transform( + node.begin(), node.end(), std::back_inserter(geom_points), [&](const YAML::Node & input) { + Point point; + point.x = input["x"].as(); + point.y = input["y"].as(); + point.z = input["z"].as(); + return point; + }); + + return geom_points; +} + template <> Pose parse(const YAML::Node & node) { @@ -43,6 +84,79 @@ Pose parse(const YAML::Node & node) return pose; } +template <> +PoseWithCovariance parse(const YAML::Node & node) +{ + PoseWithCovariance msg; + msg.pose = parse(node["pose"]); + msg.covariance = parse>(node["covariance"]); + return msg; +} + +template <> +Twist parse(const YAML::Node & node) +{ + Twist msg; + msg.linear.x = node["linear"]["x"].as(); + msg.linear.y = node["linear"]["y"].as(); + msg.linear.z = node["linear"]["z"].as(); + msg.angular.x = node["angular"]["x"].as(); + msg.angular.y = node["angular"]["y"].as(); + msg.angular.z = node["angular"]["z"].as(); + return msg; +} + +template <> +TwistWithCovariance parse(const YAML::Node & node) +{ + TwistWithCovariance msg; + msg.twist = parse(node["twist"]); + msg.covariance = parse>(node["covariance"]); + return msg; +} + +template <> +Odometry parse(const YAML::Node & node) +{ + Odometry msg; + msg.header = parse
(node["header"]); + msg.child_frame_id = node["child_frame_id"].as(); + msg.pose = parse(node["pose"]); + msg.twist = parse(node["twist"]); + return msg; +} + +template <> +Accel parse(const YAML::Node & node) +{ + Accel msg; + msg.linear.x = node["linear"]["x"].as(); + msg.linear.y = node["linear"]["y"].as(); + msg.linear.z = node["linear"]["z"].as(); + msg.angular.x = node["angular"]["x"].as(); + msg.angular.y = node["angular"]["y"].as(); + msg.angular.z = node["angular"]["z"].as(); + return msg; +} + +template <> +AccelWithCovariance parse(const YAML::Node & node) +{ + AccelWithCovariance msg; + msg.accel = parse(node["accel"]); + msg.covariance = parse>(node["covariance"]); + return msg; +} + +template <> +AccelWithCovarianceStamped parse(const YAML::Node & node) +{ + AccelWithCovarianceStamped msg; + msg.header = parse
(node["header"]); + msg.accel = parse(node["accel"]); + return msg; +} + template <> LaneletPrimitive parse(const YAML::Node & node) { @@ -79,39 +193,6 @@ std::vector parse(const YAML::Node & node) return segments; } -template <> -std::vector parse(const YAML::Node & node) -{ - std::vector geom_points; - - std::transform( - node.begin(), node.end(), std::back_inserter(geom_points), [&](const YAML::Node & input) { - Point point; - point.x = input["x"].as(); - point.y = input["y"].as(); - point.z = input["z"].as(); - return point; - }); - - return geom_points; -} - -template <> -Header parse(const YAML::Node & node) -{ - Header header; - - if (!node["header"]) { - return header; - } - - header.stamp.sec = node["header"]["stamp"]["sec"].as(); - header.stamp.nanosec = node["header"]["stamp"]["nanosec"].as(); - header.frame_id = node["header"]["frame_id"].as(); - - return header; -} - template <> std::vector parse>(const YAML::Node & node) { @@ -167,10 +248,10 @@ template <> PathWithLaneId parse(const std::string & filename) { PathWithLaneId path; - try { - YAML::Node yaml_node = YAML::LoadFile(filename); + YAML::Node yaml_node = YAML::LoadFile(filename); - path.header = parse
(yaml_node); + try { + path.header = parse
(yaml_node["header"]); path.points = parse>(yaml_node); path.left_bound = parse>(yaml_node["left_bound"]); path.right_bound = parse>(yaml_node["right_bound"]); diff --git a/common/autoware_test_utils/test/test_mock_data_parser.cpp b/common/autoware_test_utils/test/test_mock_data_parser.cpp index cbb93ec96b3de..64f7c59ba53f3 100644 --- a/common/autoware_test_utils/test/test_mock_data_parser.cpp +++ b/common/autoware_test_utils/test/test_mock_data_parser.cpp @@ -55,6 +55,161 @@ const char g_complete_yaml[] = R"( primitive_type: lane - id: 33 primitive_type: lane +self_odometry: + header: + stamp: + sec: 100 + nanosec: 100 + frame_id: map + child_frame_id: base_link + pose: + pose: + position: + x: 100 + y: 200 + z: 300 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.282884 + w: 0.959154 + covariance: + - 0.000100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.000100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + twist: + twist: + linear: + x: 1.00000 + y: 2.00000 + z: 3.00000 + angular: + x: 1.00000 + y: 2.00000 + z: 3.00000 + covariance: + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 +self_acceleration: + header: + stamp: + sec: 100 + nanosec: 100 + frame_id: /base_link + accel: + accel: + linear: + x: 1.00000 + y: 2.00000 + z: 3.00000 + angular: + x: 1.00000 + y: 2.00000 + z: 3.00000 + covariance: + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 )"; TEST(ParseFunctions, CompleteYAMLTest) @@ -94,6 +249,38 @@ TEST(ParseFunctions, CompleteYAMLTest) EXPECT_EQ(segment0.primitives[0].primitive_type, "lane"); EXPECT_EQ(segment0.primitives[1].id, 33); EXPECT_EQ(segment0.primitives[1].primitive_type, "lane"); + + const auto self_odometry = parse(config["self_odometry"]); + EXPECT_DOUBLE_EQ(self_odometry.header.stamp.sec, 100); + EXPECT_DOUBLE_EQ(self_odometry.header.stamp.nanosec, 100); + EXPECT_EQ(self_odometry.header.frame_id, "map"); + EXPECT_EQ(self_odometry.child_frame_id, "base_link"); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.position.x, 100); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.position.y, 200); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.position.z, 300); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.orientation.x, 0.0); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.orientation.y, 0.0); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.orientation.z, 0.282884); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.orientation.w, 0.959154); + EXPECT_DOUBLE_EQ(self_odometry.pose.covariance[0], 0.0001); + EXPECT_DOUBLE_EQ(self_odometry.twist.twist.linear.x, 1.0); + EXPECT_DOUBLE_EQ(self_odometry.twist.twist.linear.y, 2.0); + EXPECT_DOUBLE_EQ(self_odometry.twist.twist.linear.z, 3.0); + EXPECT_DOUBLE_EQ(self_odometry.twist.twist.angular.x, 1.0); + EXPECT_DOUBLE_EQ(self_odometry.twist.twist.angular.y, 2.0); + EXPECT_DOUBLE_EQ(self_odometry.twist.twist.angular.z, 3.0); + + const auto self_acceleration = parse(config["self_acceleration"]); + EXPECT_DOUBLE_EQ(self_acceleration.header.stamp.sec, 100); + EXPECT_DOUBLE_EQ(self_acceleration.header.stamp.nanosec, 100); + EXPECT_EQ(self_acceleration.header.frame_id, "/base_link"); + EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.linear.x, 1.00); + EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.linear.y, 2.00); + EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.linear.z, 3.00); + EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.angular.x, 1.00); + EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.angular.y, 2.00); + EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.angular.z, 3.00); + EXPECT_DOUBLE_EQ(self_acceleration.accel.covariance[0], 0.001); } TEST(ParseFunction, CompleteFromFilename) From ca2e1c4e7bbe8632b238d8eaf5f5dcbc4d7262b8 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Tue, 29 Oct 2024 10:30:40 +0900 Subject: [PATCH 304/701] feat(collision_detector): add autoware_collision_detector (#9157) * add new package autoware_collision_detector Signed-off-by: Go Sakayori * update to latest Signed-off-by: Go Sakayori * fix Signed-off-by: Go Sakayori * fix reference Signed-off-by: Go Sakayori * modify maintainer Signed-off-by: Go Sakayori * change definiton from filtering to exclude Signed-off-by: Go Sakayori * change description for parameters Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori --- .../CMakeLists.txt | 33 ++ control/autoware_collision_detector/README.md | 76 +++ .../config/collision_detector.param.yaml | 16 + .../autoware/collision_detector/node.hpp | 138 +++++ .../launch/collision_detector.launch.xml | 12 + .../autoware_collision_detector/package.xml | 44 ++ .../autoware_collision_detector/src/node.cpp | 523 ++++++++++++++++++ 7 files changed, 842 insertions(+) create mode 100644 control/autoware_collision_detector/CMakeLists.txt create mode 100644 control/autoware_collision_detector/README.md create mode 100644 control/autoware_collision_detector/config/collision_detector.param.yaml create mode 100644 control/autoware_collision_detector/include/autoware/collision_detector/node.hpp create mode 100644 control/autoware_collision_detector/launch/collision_detector.launch.xml create mode 100644 control/autoware_collision_detector/package.xml create mode 100644 control/autoware_collision_detector/src/node.cpp diff --git a/control/autoware_collision_detector/CMakeLists.txt b/control/autoware_collision_detector/CMakeLists.txt new file mode 100644 index 0000000000000..6fe72d173aaa9 --- /dev/null +++ b/control/autoware_collision_detector/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_collision_detector) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(eigen3_cmake_module REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(PCL REQUIRED COMPONENTS common) + +include_directories( + SYSTEM + ${EIGEN3_INCLUDE_DIR} +) + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/node.cpp +) + +target_link_libraries(${PROJECT_NAME} + ${PCL_LIBRARIES} +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::collision_detector::CollisionDetectorNode" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_auto_package( + INSTALL_TO_SHARE + config + launch +) diff --git a/control/autoware_collision_detector/README.md b/control/autoware_collision_detector/README.md new file mode 100644 index 0000000000000..74e45823bb818 --- /dev/null +++ b/control/autoware_collision_detector/README.md @@ -0,0 +1,76 @@ +# Collision Detector + +## Purpose + +This module subscribes required data (ego-pose, obstacles, etc), and publishes diagnostics if an object is within a specific distance. + +## Inner-workings / Algorithms + +### Flow chart + +### Algorithms + +### Check data + +Check that `collision_detector` receives no ground pointcloud, dynamic objects. + +### Object Filtering + +#### Recognition Assumptions + +1. If the classification changes but it's considered the same object, the uuid does not change. +2. It's possible for the same uuid to be recognized after being lost for a few frames. +3. Once an object is determined to be excluded, it continues to be excluded for a certain period of time. + +#### Filtering Process + +1. Initial Recognition and Exclusion: + + - The system checks if a newly recognized object's classification is listed in `nearby_object_type_filters`. + - If so, and the object is within the `nearby_filter_radius`, it is marked for exclusion. + +2. New Object Determination: + + - An object is considered "new" based on its UUID. + - If the UUID is not found in recent frame data, the object is treated as new. + +3. Exclusion Mechanism: + - Newly excluded objects are recorded by their UUID. + - These objects continue to be excluded for a set period (`keep_ignoring_time`) as long as they maintain the classification specified in `nearby_object_type_filters` and remain within the `nearby_filter_radius`. + +### Get distance to nearest object + +Calculate distance between ego vehicle and the nearest object. +In this function, it calculates the minimum distance between the polygon of ego vehicle and all points in pointclouds and the polygons of dynamic objects. + +## Inputs / Outputs + +### Input + +| Name | Type | Description | +| ---------------------------------------------- | ------------------------------------------------- | ------------------------------------------------------------------ | +| `/perception/obstacle_segmentation/pointcloud` | `sensor_msgs::msg::PointCloud2` | Pointcloud of obstacles which the ego-vehicle should stop or avoid | +| `/perception/object_recognition/objects` | `autoware_perception_msgs::msg::PredictedObjects` | Dynamic objects | +| `/tf` | `tf2_msgs::msg::TFMessage` | TF | +| `/tf_static` | `tf2_msgs::msg::TFMessage` | TF static | + +### Output + +| Name | Type | Description | +| -------------- | --------------------------------------- | ----------- | +| `/diagnostics` | `diagnostic_msgs::msg::DiagnosticArray` | Diagnostics | + +## Parameters + +| Name | Type | Description | Default value | +| :--------------------------- | :---------------------- | :--------------------------------------------------------------------------------------- | :------------------------------- | +| `use_pointcloud` | `bool` | Use pointcloud as obstacle check | `true` | +| `use_dynamic_object` | `bool` | Use dynamic object as obstacle check | `true` | +| `collision_distance` | `double` | Distance threshold at which an object is considered a collision. [m] | 0.15 | +| `nearby_filter_radius` | `double` | Distance range for filtering objects. Objects within this radius are considered. [m] | 5.0 | +| `keep_ignoring_time` | `double` | Time to keep filtering objects that first appeared in the vicinity [sec] | 10.0 | +| `nearby_object_type_filters` | `object of bool values` | Specifies which object types to filter. Only objects with `true` value will be filtered. | `{unknown: true, others: false}` | + +## Assumptions / Known limits + +- This module is based on `surround_obstacle_checker` diff --git a/control/autoware_collision_detector/config/collision_detector.param.yaml b/control/autoware_collision_detector/config/collision_detector.param.yaml new file mode 100644 index 0000000000000..842654c66fe5a --- /dev/null +++ b/control/autoware_collision_detector/config/collision_detector.param.yaml @@ -0,0 +1,16 @@ +/**: + ros__parameters: + use_pointcloud: false # use pointcloud as obstacle check + use_dynamic_object: true # use dynamic object as obstacle check + collision_distance: 0.1 # Distance at which an object is determined to have collided with ego [m] + nearby_filter_radius: 5.0 # Radius to filter nearby objects [m] + keep_ignoring_time: 10.0 # Time to keep filtering objects that first appeared in the vicinity + nearby_object_type_filters: # Classes subject to filtering for objects first appearing in the vicinity + filter_car: false + filter_truck: false + filter_bus: false + filter_trailer: false + filter_bicycle: false + filter_motorcycle: false + filter_pedestrian: false + filter_unknown: true diff --git a/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp b/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp new file mode 100644 index 0000000000000..dbd2fe59231e9 --- /dev/null +++ b/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp @@ -0,0 +1,138 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__COLLISION_DETECTOR__NODE_HPP_ +#define AUTOWARE__COLLISION_DETECTOR__NODE_HPP_ + +#include +#include +#include + +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include +#include +#include +#include + +namespace autoware::collision_detector +{ +using autoware::vehicle_info_utils::VehicleInfo; +using autoware_adapi_v1_msgs::msg::OperationModeState; +using autoware_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObjects; +using autoware_perception_msgs::msg::Shape; + +using Obstacle = std::pair; + +class CollisionDetectorNode : public rclcpp::Node +{ +public: + explicit CollisionDetectorNode(const rclcpp::NodeOptions & node_options); + + struct NearbyObjectTypeFilters + { + bool filter_car{false}; + bool filter_truck{false}; + bool filter_bus{false}; + bool filter_trailer{false}; + bool filter_unknown{false}; + bool filter_bicycle{false}; + bool filter_motorcycle{false}; + bool filter_pedestrian{false}; + }; + + struct NodeParam + { + bool use_pointcloud; + bool use_dynamic_object; + double collision_distance; + double nearby_filter_radius; + double keep_ignoring_time; + NearbyObjectTypeFilters nearby_object_type_filters; + }; + + struct TimestampedObject + { + unique_identifier_msgs::msg::UUID object_id; + rclcpp::Time timestamp; + }; + +private: + PredictedObjects filterObjects(const PredictedObjects & objects); + + void removeOldObjects( + std::vector & container, const rclcpp::Time & current_time, + const rclcpp::Duration & duration_sec); + + bool shouldBeExcluded( + const autoware_perception_msgs::msg::ObjectClassification::_label_type & classification) const; + + void checkCollision(diagnostic_updater::DiagnosticStatusWrapper & stat); + + void onPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg); + + void onDynamicObjects(const PredictedObjects::ConstSharedPtr msg); + + void onOperationMode(const OperationModeState::ConstSharedPtr msg); + + boost::optional getNearestObstacle() const; + + boost::optional getNearestObstacleByPointCloud() const; + + boost::optional getNearestObstacleByDynamicObject() const; + + boost::optional getTransform( + const std::string & source, const std::string & target, const rclcpp::Time & stamp, + double duration_sec) const; + + // ros + mutable tf2_ros::Buffer tf_buffer_{get_clock()}; + mutable tf2_ros::TransformListener tf_listener_{tf_buffer_}; + rclcpp::TimerBase::SharedPtr timer_; + + // publisher and subscriber + rclcpp::Subscription::SharedPtr sub_pointcloud_; + rclcpp::Subscription::SharedPtr sub_dynamic_objects_; + rclcpp::Subscription::SharedPtr sub_operation_mode_; + + // parameter + NodeParam node_param_; + autoware::vehicle_info_utils::VehicleInfo vehicle_info_; + + // data + sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_ptr_; + PredictedObjects::ConstSharedPtr object_ptr_; + OperationModeState::ConstSharedPtr operation_mode_ptr_; + rclcpp::Time last_obstacle_found_stamp_; + std::shared_ptr filtered_object_ptr_; + std::vector observed_objects_; + std::vector ignored_objects_; + + // Diagnostic Updater + diagnostic_updater::Updater updater_; +}; +} // namespace autoware::collision_detector + +#endif // AUTOWARE__COLLISION_DETECTOR__NODE_HPP_ diff --git a/control/autoware_collision_detector/launch/collision_detector.launch.xml b/control/autoware_collision_detector/launch/collision_detector.launch.xml new file mode 100644 index 0000000000000..bb3c51cff9009 --- /dev/null +++ b/control/autoware_collision_detector/launch/collision_detector.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/control/autoware_collision_detector/package.xml b/control/autoware_collision_detector/package.xml new file mode 100644 index 0000000000000..05b4111c504c7 --- /dev/null +++ b/control/autoware_collision_detector/package.xml @@ -0,0 +1,44 @@ + + + + autoware_collision_detector + 0.1.0 + The collision_detector package + + Kyoichi Sugahara + Go Sakayori + + Apache License 2.0 + + Shinnosuke Hirakawa + + ament_cmake + eigen3_cmake_module + + autoware_cmake + + autoware_adapi_v1_msgs + autoware_perception_msgs + autoware_utils + autoware_vehicle_info_utils + diagnostic_msgs + diagnostic_updater + eigen + libpcl-all-dev + pcl_conversions + rclcpp + rclcpp_components + sensor_msgs + std_msgs + tf2 + tf2_eigen + tf2_geometry_msgs + tf2_ros + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/control/autoware_collision_detector/src/node.cpp b/control/autoware_collision_detector/src/node.cpp new file mode 100644 index 0000000000000..ec0885422e7b9 --- /dev/null +++ b/control/autoware_collision_detector/src/node.cpp @@ -0,0 +1,523 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/collision_detector/node.hpp" + +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#define EIGEN_MPL2_ONLY +#include +#include + +namespace autoware::collision_detector +{ +namespace bg = boost::geometry; +using Point2d = bg::model::d2::point_xy; +using Polygon2d = bg::model::polygon; +using autoware::universe_utils::createPoint; +using autoware::universe_utils::pose2transform; + +namespace +{ + +geometry_msgs::msg::Point32 createPoint32(const double x, const double y, const double z) +{ + geometry_msgs::msg::Point32 p; + p.x = x; + p.y = y; + p.z = z; + return p; +} + +Polygon2d createObjPolygon( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Polygon & footprint) +{ + geometry_msgs::msg::Polygon transformed_polygon{}; + geometry_msgs::msg::TransformStamped geometry_tf{}; + geometry_tf.transform = pose2transform(pose); + tf2::doTransform(footprint, transformed_polygon, geometry_tf); + + Polygon2d object_polygon; + for (const auto & p : transformed_polygon.points) { + object_polygon.outer().push_back(Point2d(p.x, p.y)); + } + + bg::correct(object_polygon); + + return object_polygon; +} + +Polygon2d createObjPolygon( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & size) +{ + const double length_m = size.x / 2.0; + const double width_m = size.y / 2.0; + + geometry_msgs::msg::Polygon polygon{}; + + polygon.points.push_back(createPoint32(length_m, -width_m, 0.0)); + polygon.points.push_back(createPoint32(length_m, width_m, 0.0)); + polygon.points.push_back(createPoint32(-length_m, width_m, 0.0)); + polygon.points.push_back(createPoint32(-length_m, -width_m, 0.0)); + + return createObjPolygon(pose, polygon); +} + +Polygon2d createObjPolygonForCylinder(const geometry_msgs::msg::Pose & pose, const double diameter) +{ + geometry_msgs::msg::Polygon polygon{}; + + const double radius = diameter * 0.5; + // add hexagon points + for (int i = 0; i < 6; ++i) { + const double angle = 2.0 * M_PI * static_cast(i) / 6.0; + const double x = radius * std::cos(angle); + const double y = radius * std::sin(angle); + polygon.points.push_back(createPoint32(x, y, 0.0)); + } + + return createObjPolygon(pose, polygon); +} + +Polygon2d createSelfPolygon(const VehicleInfo & vehicle_info) +{ + const double & front_m = vehicle_info.max_longitudinal_offset_m; + const double & width_left_m = vehicle_info.max_lateral_offset_m; + const double & width_right_m = vehicle_info.min_lateral_offset_m; + const double & rear_m = vehicle_info.min_longitudinal_offset_m; + + Polygon2d ego_polygon; + + ego_polygon.outer().push_back(Point2d(front_m, width_left_m)); + ego_polygon.outer().push_back(Point2d(front_m, width_right_m)); + ego_polygon.outer().push_back(Point2d(rear_m, width_right_m)); + ego_polygon.outer().push_back(Point2d(rear_m, width_left_m)); + + bg::correct(ego_polygon); + + return ego_polygon; +} +} // namespace + +CollisionDetectorNode::CollisionDetectorNode(const rclcpp::NodeOptions & node_options) +: Node("collision_detector_node", node_options), updater_(this) +{ + // Parameters + { + auto & p = node_param_; + p.use_pointcloud = this->declare_parameter("use_pointcloud"); + p.use_dynamic_object = this->declare_parameter("use_dynamic_object"); + p.collision_distance = this->declare_parameter("collision_distance"); + p.nearby_filter_radius = this->declare_parameter("nearby_filter_radius"); + p.keep_ignoring_time = this->declare_parameter("keep_ignoring_time"); + p.nearby_object_type_filters.filter_car = + this->declare_parameter("nearby_object_type_filters.filter_car"); + p.nearby_object_type_filters.filter_truck = + this->declare_parameter("nearby_object_type_filters.filter_truck"); + p.nearby_object_type_filters.filter_bus = + this->declare_parameter("nearby_object_type_filters.filter_bus"); + p.nearby_object_type_filters.filter_trailer = + this->declare_parameter("nearby_object_type_filters.filter_trailer"); + p.nearby_object_type_filters.filter_unknown = + this->declare_parameter("nearby_object_type_filters.filter_unknown"); + p.nearby_object_type_filters.filter_bicycle = + this->declare_parameter("nearby_object_type_filters.filter_bicycle"); + p.nearby_object_type_filters.filter_motorcycle = + this->declare_parameter("nearby_object_type_filters.filter_motorcycle"); + p.nearby_object_type_filters.filter_pedestrian = + this->declare_parameter("nearby_object_type_filters.filter_pedestrian"); + } + + vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo(); + + // Subscribers + sub_pointcloud_ = this->create_subscription( + "~/input/pointcloud", rclcpp::SensorDataQoS(), + std::bind(&CollisionDetectorNode::onPointCloud, this, std::placeholders::_1)); + sub_dynamic_objects_ = this->create_subscription( + "~/input/objects", 1, + std::bind(&CollisionDetectorNode::onDynamicObjects, this, std::placeholders::_1)); + + sub_operation_mode_ = this->create_subscription( + "/api/operation_mode/state", rclcpp::QoS{1}.transient_local(), + std::bind(&CollisionDetectorNode::onOperationMode, this, std::placeholders::_1)); + + last_obstacle_found_stamp_ = this->now(); + + // Diagnostics Updater + updater_.setHardwareID("collision_detector"); + updater_.add("collision_detect", this, &CollisionDetectorNode::checkCollision); + updater_.setPeriod(0.1); +} + +PredictedObjects CollisionDetectorNode::filterObjects(const PredictedObjects & input_objects) +{ + PredictedObjects filtered_objects; + filtered_objects.header = input_objects.header; + filtered_objects.header.stamp = this->now(); + + const rclcpp::Time current_object_time = input_objects.header.stamp; + const rclcpp::Duration observed_objects_keep_time = + rclcpp::Duration::from_seconds(0.5); // 0.5 sec + const rclcpp::Duration ignored_objects_keep_time = + rclcpp::Duration::from_seconds(10.0); // 10 seconds + + // Remove old objects from observed_objects_ and ignored_objects_ + removeOldObjects(observed_objects_, current_object_time, observed_objects_keep_time); + removeOldObjects(ignored_objects_, current_object_time, ignored_objects_keep_time); + + // Get transform from object frame to base_link + const auto transform_stamped = + getTransform("base_link", input_objects.header.frame_id, input_objects.header.stamp, 0.5); + + if (!transform_stamped) { + RCLCPP_ERROR(this->get_logger(), "Failed to get transform from object frame to base_link"); + return filtered_objects; + } + + Eigen::Affine3f isometry = tf2::transformToEigen(transform_stamped.get().transform).cast(); + + for (const auto & object : input_objects.objects) { + // Transform object position to base_link frame + Eigen::Vector3f object_position( + object.kinematics.initial_pose_with_covariance.pose.position.x, + object.kinematics.initial_pose_with_covariance.pose.position.y, + object.kinematics.initial_pose_with_covariance.pose.position.z); + Eigen::Vector3f transformed_position = isometry * object_position; + + // Calculate object distance from base_link + const double object_distance = transformed_position.head<2>().norm(); + const bool is_within_range = (object_distance <= node_param_.nearby_filter_radius); + + // Determine if the object should be excluded based on its classification + bool should_be_excluded = shouldBeExcluded(object.classification.front().label); + + const bool is_within_range_and_filtering_class = is_within_range && should_be_excluded; + + // If the object is not within range or not a class to be filtered, add it directly + if (!is_within_range_and_filtering_class) { + filtered_objects.objects.push_back(object); + + // Update observed_objects_ + auto observed_it = std::find_if( + observed_objects_.begin(), observed_objects_.end(), + [&object](const auto & observed_object) { + return observed_object.object_id == object.object_id; + }); + if (observed_it != observed_objects_.end()) { + observed_it->timestamp = current_object_time; + } else { + observed_objects_.push_back({object.object_id, current_object_time}); + } + + continue; + } + + // Check if the object exists in ignored_objects_ + auto ignored_it = std::find_if( + ignored_objects_.begin(), ignored_objects_.end(), [&object](const auto & ignored_object) { + return ignored_object.object_id == object.object_id; + }); + const bool was_ignored = (ignored_it != ignored_objects_.end()); + + // If the object was ignored and is still within the ignore period, continue filtering + if ( + was_ignored && (current_object_time - ignored_it->timestamp) < + rclcpp::Duration::from_seconds(node_param_.keep_ignoring_time)) { + // Check if the object exists in observed_objects_ + auto observed_it = std::find_if( + observed_objects_.begin(), observed_objects_.end(), + [&object](const auto & observed_object) { + return observed_object.object_id == object.object_id; + }); + const bool was_observed = (observed_it != observed_objects_.end()); + if (was_observed) { + observed_it->timestamp = current_object_time; + } else { + // Add as a newly observed object and to the ignore list + observed_objects_.push_back({object.object_id, current_object_time}); + } + continue; + } + + // Check if the object exists in observed_objects_ + auto observed_it = std::find_if( + observed_objects_.begin(), observed_objects_.end(), [&object](const auto & observed_object) { + return observed_object.object_id == object.object_id; + }); + const bool was_observed = (observed_it != observed_objects_.end()); + + if (was_observed) { + observed_it->timestamp = current_object_time; + // Add without exclusion check + filtered_objects.objects.push_back(object); + } else { + // Add as a newly observed object and to the ignore list + observed_objects_.push_back({object.object_id, current_object_time}); + ignored_objects_.push_back({object.object_id, current_object_time}); + // Continue filtering + continue; + } + } + + return filtered_objects; +} + +void CollisionDetectorNode::removeOldObjects( + std::vector & container, const rclcpp::Time & current_time, + const rclcpp::Duration & duration_sec) +{ + container.erase( + std::remove_if( + container.begin(), container.end(), + [&](const TimestampedObject & obj) { return (current_time - obj.timestamp) > duration_sec; }), + container.end()); +} + +bool CollisionDetectorNode::shouldBeExcluded( + const autoware_perception_msgs::msg::ObjectClassification::_label_type & classification) const +{ + switch (classification) { + case autoware_perception_msgs::msg::ObjectClassification::CAR: + return node_param_.nearby_object_type_filters.filter_car; + case autoware_perception_msgs::msg::ObjectClassification::TRUCK: + return node_param_.nearby_object_type_filters.filter_truck; + case autoware_perception_msgs::msg::ObjectClassification::BUS: + return node_param_.nearby_object_type_filters.filter_bus; + case autoware_perception_msgs::msg::ObjectClassification::TRAILER: + return node_param_.nearby_object_type_filters.filter_trailer; + case autoware_perception_msgs::msg::ObjectClassification::UNKNOWN: + return node_param_.nearby_object_type_filters.filter_unknown; + case autoware_perception_msgs::msg::ObjectClassification::BICYCLE: + return node_param_.nearby_object_type_filters.filter_bicycle; + case autoware_perception_msgs::msg::ObjectClassification::MOTORCYCLE: + return node_param_.nearby_object_type_filters.filter_motorcycle; + case autoware_perception_msgs::msg::ObjectClassification::PEDESTRIAN: + return node_param_.nearby_object_type_filters.filter_pedestrian; + default: + return false; + } +} + +void CollisionDetectorNode::checkCollision(diagnostic_updater::DiagnosticStatusWrapper & stat) +{ + if (node_param_.use_pointcloud && !pointcloud_ptr_) { + RCLCPP_WARN_THROTTLE( + this->get_logger(), *this->get_clock(), 5000 /* ms */, "waiting for pointcloud info..."); + return; + } + + if (node_param_.use_dynamic_object && !object_ptr_) { + RCLCPP_WARN_THROTTLE( + this->get_logger(), *this->get_clock(), 5000 /* ms */, "waiting for dynamic object info..."); + return; + } + + if (!operation_mode_ptr_) { + RCLCPP_WARN_THROTTLE( + this->get_logger(), *this->get_clock(), 5000 /* ms */, "waiting for operation mode info..."); + return; + } + filtered_object_ptr_ = std::make_shared(filterObjects(*object_ptr_)); + + const auto nearest_obstacle = getNearestObstacle(); + + const auto is_obstacle_found = + !nearest_obstacle ? false : nearest_obstacle.get().first < node_param_.collision_distance; + + if (is_obstacle_found) { + last_obstacle_found_stamp_ = this->now(); + } + + const auto is_obstacle_found_recently = + (this->now() - last_obstacle_found_stamp_).seconds() < 1.0; + + diagnostic_msgs::msg::DiagnosticStatus status; + if ( + operation_mode_ptr_->mode == OperationModeState::AUTONOMOUS && + (is_obstacle_found || is_obstacle_found_recently)) { + status.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + status.message = "collision detected"; + if (is_obstacle_found) { + stat.addf("Distance to nearest neighbor object", "%lf", nearest_obstacle.get().first); + } + } else { + status.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + } + + stat.summary(status.level, status.message); +} + +void CollisionDetectorNode::onPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) +{ + pointcloud_ptr_ = msg; +} + +void CollisionDetectorNode::onDynamicObjects(const PredictedObjects::ConstSharedPtr msg) +{ + object_ptr_ = msg; +} + +void CollisionDetectorNode::onOperationMode(const OperationModeState::ConstSharedPtr msg) +{ + operation_mode_ptr_ = msg; +} + +boost::optional CollisionDetectorNode::getNearestObstacle() const +{ + boost::optional nearest_pointcloud{boost::none}; + boost::optional nearest_object{boost::none}; + + if (node_param_.use_pointcloud) { + nearest_pointcloud = getNearestObstacleByPointCloud(); + } + + if (node_param_.use_dynamic_object) { + nearest_object = getNearestObstacleByDynamicObject(); + } + + if (!nearest_pointcloud && !nearest_object) { + return {}; + } + + if (!nearest_pointcloud) { + return nearest_object; + } + + if (!nearest_object) { + return nearest_pointcloud; + } + + return nearest_pointcloud.get().first < nearest_object.get().first ? nearest_pointcloud + : nearest_object; +} + +boost::optional CollisionDetectorNode::getNearestObstacleByPointCloud() const +{ + const auto transform_stamped = + getTransform("base_link", pointcloud_ptr_->header.frame_id, pointcloud_ptr_->header.stamp, 0.5); + + geometry_msgs::msg::Point nearest_point; + auto minimum_distance = std::numeric_limits::max(); + + if (!transform_stamped) { + return {}; + } + + Eigen::Affine3f isometry = tf2::transformToEigen(transform_stamped.get().transform).cast(); + pcl::PointCloud transformed_pointcloud; + pcl::fromROSMsg(*pointcloud_ptr_, transformed_pointcloud); + pcl::transformPointCloud(transformed_pointcloud, transformed_pointcloud, isometry); + + const auto ego_polygon = createSelfPolygon(vehicle_info_); + + for (const auto & p : transformed_pointcloud) { + Point2d boost_point(p.x, p.y); + + const auto distance_to_object = bg::distance(ego_polygon, boost_point); + + if (distance_to_object < minimum_distance) { + nearest_point = createPoint(p.x, p.y, p.z); + minimum_distance = distance_to_object; + } + } + + return std::make_pair(minimum_distance, nearest_point); +} + +boost::optional CollisionDetectorNode::getNearestObstacleByDynamicObject() const +{ + const auto transform_stamped = getTransform( + filtered_object_ptr_->header.frame_id, "base_link", filtered_object_ptr_->header.stamp, 0.5); + + geometry_msgs::msg::Point nearest_point; + auto minimum_distance = std::numeric_limits::max(); + + if (!transform_stamped) { + return {}; + } + + tf2::Transform tf_src2target; + tf2::fromMsg(transform_stamped.get().transform, tf_src2target); + + const auto ego_polygon = createSelfPolygon(vehicle_info_); + + for (const auto & object : filtered_object_ptr_->objects) { + const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose; + + tf2::Transform tf_src2object; + tf2::fromMsg(object_pose, tf_src2object); + + geometry_msgs::msg::Pose transformed_object_pose; + tf2::toMsg(tf_src2target.inverse() * tf_src2object, transformed_object_pose); + + const auto object_polygon = [&]() { + switch (object.shape.type) { + case Shape::POLYGON: + return createObjPolygon(transformed_object_pose, object.shape.footprint); + case Shape::CYLINDER: + return createObjPolygonForCylinder(transformed_object_pose, object.shape.dimensions.x); + case Shape::BOUNDING_BOX: + return createObjPolygon(transformed_object_pose, object.shape.dimensions); + default: + // node return warning + RCLCPP_WARN(this->get_logger(), "Unsupported shape type: %d", object.shape.type); + return createObjPolygon(transformed_object_pose, object.shape.dimensions); + } + }(); + + const auto distance_to_object = bg::distance(ego_polygon, object_polygon); + + if (distance_to_object < minimum_distance) { + nearest_point = object_pose.position; + minimum_distance = distance_to_object; + } + } + + return std::make_pair(minimum_distance, nearest_point); +} + +boost::optional CollisionDetectorNode::getTransform( + const std::string & source, const std::string & target, const rclcpp::Time & stamp, + double duration_sec) const +{ + geometry_msgs::msg::TransformStamped transform_stamped; + + try { + transform_stamped = + tf_buffer_.lookupTransform(source, target, stamp, tf2::durationFromSec(duration_sec)); + } catch (const tf2::TransformException & ex) { + return {}; + } + + return transform_stamped; +} + +} // namespace autoware::collision_detector + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::collision_detector::CollisionDetectorNode) From e2dc86e30fafdd86f89938270bf40fa038350c66 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Tue, 29 Oct 2024 12:07:12 +0900 Subject: [PATCH 305/701] feat(autoware_shape_estimation): add reference object based corrector (#9148) * add object based corrector Signed-off-by: a-maumau * apply cppcheck suggestion Signed-off-by: a-maumau * fix typo Signed-off-by: a-maumau --------- Signed-off-by: a-maumau Co-authored-by: Taekjin LEE --- .../src/detection_by_tracker_node.cpp | 6 +- .../autoware_shape_estimation/CMakeLists.txt | 1 + .../shape_estimation/corrector/corrector.hpp | 1 + .../reference_object_based_corrector.hpp | 47 ++++++++++++ .../shape_estimation/corrector/utils.hpp | 4 + .../shape_estimation/shape_estimator.hpp | 2 + .../reference_object_based_corrector.cpp | 29 +++++++ .../lib/corrector/utils.cpp | 75 +++++++++++++++++++ .../lib/shape_estimator.cpp | 13 +++- .../src/shape_estimation_node.cpp | 3 +- .../shape_estimation/test_shape_estimator.cpp | 3 +- 11 files changed, 177 insertions(+), 7 deletions(-) create mode 100644 perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/reference_object_based_corrector.hpp create mode 100644 perception/autoware_shape_estimation/lib/corrector/reference_object_based_corrector.cpp diff --git a/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp b/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp index 571b6682eb5b0..8db8f6cb631d8 100644 --- a/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp +++ b/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp @@ -287,6 +287,7 @@ float DetectionByTracker::optimizeUnderSegmentedObject( // iterate to find best fit divided object float highest_iou = 0.0; tier4_perception_msgs::msg::DetectedObjectWithFeature highest_iou_object; + boost::optional ref_pose = boost::none; for (int iter_count = 0; iter_count < iter_max_count; ++iter_count, cluster_range *= iter_rate, voxel_size *= iter_rate) { // divide under segmented cluster @@ -304,7 +305,7 @@ float DetectionByTracker::optimizeUnderSegmentedObject( label, divided_cluster, getReferenceYawInfo( label, tf2::getYaw(target_object.kinematics.pose_with_covariance.pose.orientation)), - getReferenceShapeSizeInfo(label, target_object.shape), + getReferenceShapeSizeInfo(label, target_object.shape), ref_pose, highest_iou_object_in_current_iter.object.shape, highest_iou_object_in_current_iter.object.kinematics.pose_with_covariance.pose); if (!is_shape_estimated) { @@ -393,7 +394,8 @@ void DetectionByTracker::mergeOverSegmentedObjects( label, pcl_merged_cluster, getReferenceYawInfo( label, tf2::getYaw(tracked_object.kinematics.pose_with_covariance.pose.orientation)), - getReferenceShapeSizeInfo(label, tracked_object.shape), feature_object.object.shape, + getReferenceShapeSizeInfo(label, tracked_object.shape), + tracked_object.kinematics.pose_with_covariance.pose, feature_object.object.shape, feature_object.object.kinematics.pose_with_covariance.pose); if (!is_shape_estimated) { out_no_found_tracked_objects.objects.push_back(tracked_object); diff --git a/perception/autoware_shape_estimation/CMakeLists.txt b/perception/autoware_shape_estimation/CMakeLists.txt index 6cf93599f9964..d0eb2aa5535a8 100644 --- a/perception/autoware_shape_estimation/CMakeLists.txt +++ b/perception/autoware_shape_estimation/CMakeLists.txt @@ -34,6 +34,7 @@ set(${PROJECT_NAME}_SOURCES lib/corrector/utils.cpp lib/corrector/no_corrector.cpp lib/corrector/vehicle_corrector.cpp + lib/corrector/reference_object_based_corrector.cpp lib/corrector/reference_shape_size_corrector.cpp ) diff --git a/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp index dd4c4f68d3f46..090102a69afbf 100644 --- a/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp +++ b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp @@ -20,6 +20,7 @@ #include "autoware/shape_estimation/corrector/car_corrector.hpp" #include "autoware/shape_estimation/corrector/corrector_interface.hpp" #include "autoware/shape_estimation/corrector/no_corrector.hpp" +#include "autoware/shape_estimation/corrector/reference_object_based_corrector.hpp" #include "autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp" #include "autoware/shape_estimation/corrector/trailer_corrector.hpp" #include "autoware/shape_estimation/corrector/truck_corrector.hpp" diff --git a/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/reference_object_based_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/reference_object_based_corrector.hpp new file mode 100644 index 0000000000000..afc85a2204458 --- /dev/null +++ b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/reference_object_based_corrector.hpp @@ -0,0 +1,47 @@ +// Copyright 2024 Autoware Foundation. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__REFERENCE_OBJECT_BASED_CORRECTOR_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__REFERENCE_OBJECT_BASED_CORRECTOR_HPP_ + +#include "autoware/shape_estimation/corrector/corrector_interface.hpp" +#include "autoware/shape_estimation/shape_estimator.hpp" +#include "utils.hpp" + +namespace autoware::shape_estimation +{ +namespace corrector +{ + +class ReferenceObjectBasedVehicleCorrector : public ShapeEstimationCorrectorInterface +{ + ReferenceShapeSizeInfo ref_shape_size_info_; + geometry_msgs::msg::Pose ref_pose_; + +public: + explicit ReferenceObjectBasedVehicleCorrector( + const ReferenceShapeSizeInfo & ref_shape_size_info, const geometry_msgs::msg::Pose & ref_pose) + : ref_shape_size_info_(ref_shape_size_info), ref_pose_(ref_pose) + { + } + + virtual ~ReferenceObjectBasedVehicleCorrector() = default; + + bool correct( + autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose) override; +}; + +} // namespace corrector +} // namespace autoware::shape_estimation +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__REFERENCE_OBJECT_BASED_CORRECTOR_HPP_ diff --git a/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp index a16cb146ca4a3..e42bc60324dff 100644 --- a/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp +++ b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp @@ -47,6 +47,10 @@ bool correctWithReferenceYaw( const CorrectionBBParameters & param, autoware_perception_msgs::msg::Shape & shape_output, geometry_msgs::msg::Pose & pose_output); +bool correctWithReferenceShapeAndPose( + const ReferenceShapeSizeInfo & ref_shape_size_info, const geometry_msgs::msg::Pose & ref_pose, + autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose); + } // namespace corrector_utils } // namespace autoware::shape_estimation diff --git a/perception/autoware_shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp index 9759c7c77855e..0731cd478e56a 100644 --- a/perception/autoware_shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp +++ b/perception/autoware_shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp @@ -61,6 +61,7 @@ class ShapeEstimator bool applyCorrector( const uint8_t label, const bool use_reference_yaw, const boost::optional & ref_shape_size_info, + const boost::optional & ref_pose, autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose); bool use_corrector_; @@ -76,6 +77,7 @@ class ShapeEstimator const uint8_t label, const pcl::PointCloud & cluster, const boost::optional & ref_yaw_info, const boost::optional & ref_shape_size_info, + const boost::optional & ref_pose, autoware_perception_msgs::msg::Shape & shape_output, geometry_msgs::msg::Pose & pose_output); }; } // namespace autoware::shape_estimation diff --git a/perception/autoware_shape_estimation/lib/corrector/reference_object_based_corrector.cpp b/perception/autoware_shape_estimation/lib/corrector/reference_object_based_corrector.cpp new file mode 100644 index 0000000000000..b32073a6c8f5f --- /dev/null +++ b/perception/autoware_shape_estimation/lib/corrector/reference_object_based_corrector.cpp @@ -0,0 +1,29 @@ +// Copyright 2024 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/shape_estimation/corrector/reference_object_based_corrector.hpp" + +namespace autoware::shape_estimation +{ +namespace corrector +{ +bool ReferenceObjectBasedVehicleCorrector::correct( + autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose) +{ + return corrector_utils::correctWithReferenceShapeAndPose( + ref_shape_size_info_, ref_pose_, shape, pose); +} + +} // namespace corrector +} // namespace autoware::shape_estimation diff --git a/perception/autoware_shape_estimation/lib/corrector/utils.cpp b/perception/autoware_shape_estimation/lib/corrector/utils.cpp index a18e09d5b8a04..5e90c9d54f78a 100644 --- a/perception/autoware_shape_estimation/lib/corrector/utils.cpp +++ b/perception/autoware_shape_estimation/lib/corrector/utils.cpp @@ -401,6 +401,81 @@ bool correctWithReferenceYawAndShapeSize( pose.position.z = new_centroid.z(); return true; } + +// use the reference object to correct the initial bounding box +bool correctWithReferenceShapeAndPose( + const ReferenceShapeSizeInfo & ref_shape_size_info, const geometry_msgs::msg::Pose & ref_pose, + autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose) +{ + /* + c1 is farthest point from ref_pose and other points are arranged like below + c is center of bounding box + width + 4---2 + | | + length | c | → ey + | | + 3---1 + ↓ + ex + */ + + Eigen::Affine3d base2obj_transform; + tf2::fromMsg(pose, base2obj_transform); + + Eigen::Vector3d local_c1; + Eigen::Vector3d ref_center = Eigen::Vector3d(ref_pose.position.x, ref_pose.position.y, 0.0); + // local points + std::vector v_points; + v_points.push_back(Eigen::Vector3d(shape.dimensions.x * 0.5, shape.dimensions.y * 0.5, 0.0)); + v_points.push_back(Eigen::Vector3d(-shape.dimensions.x * 0.5, shape.dimensions.y * 0.5, 0.0)); + v_points.push_back(Eigen::Vector3d(shape.dimensions.x * 0.5, -shape.dimensions.y * 0.5, 0.0)); + v_points.push_back(Eigen::Vector3d(-shape.dimensions.x * 0.5, -shape.dimensions.y * 0.5, 0.0)); + + double max_dist = -1.0; + // search the most distant index (c1) from the reference object's center + for (std::size_t i = 0; i < v_points.size(); ++i) { + const double tmp_dist = ((base2obj_transform * v_points[i]) - ref_center).squaredNorm(); + if (tmp_dist > max_dist) { + local_c1 = v_points[i]; + max_dist = tmp_dist; + } + } + + Eigen::Vector3d ex = (Eigen::Vector3d(local_c1.x() / std::abs(local_c1.x()), 0, 0)); + Eigen::Vector3d ey = (Eigen::Vector3d(0, local_c1.y() / std::abs(local_c1.y()), 0)); + + double length; + if ( + ref_shape_size_info.mode == ReferenceShapeSizeInfo::Mode::Min && + ref_shape_size_info.shape.dimensions.x < shape.dimensions.x) { + length = shape.dimensions.x; + } else { + length = ref_shape_size_info.shape.dimensions.x; + } + + double width; + if ( + ref_shape_size_info.mode == ReferenceShapeSizeInfo::Mode::Min && + ref_shape_size_info.shape.dimensions.y < shape.dimensions.y) { + width = shape.dimensions.y; + } else { + width = ref_shape_size_info.shape.dimensions.y; + } + + shape.dimensions.x = length; + shape.dimensions.y = width; + + // compute a new center with correction vector + Eigen::Vector3d new_centroid = + (base2obj_transform * local_c1) - + (base2obj_transform.rotation() * (ex * length * 0.5 + ey * width * 0.5)); + pose.position.x = new_centroid.x(); + pose.position.y = new_centroid.y(); + pose.position.z = new_centroid.z(); + + return true; +} } // namespace corrector_utils } // namespace autoware::shape_estimation diff --git a/perception/autoware_shape_estimation/lib/shape_estimator.cpp b/perception/autoware_shape_estimation/lib/shape_estimator.cpp index 34eed5e641368..e5e1061075e4c 100644 --- a/perception/autoware_shape_estimation/lib/shape_estimator.cpp +++ b/perception/autoware_shape_estimation/lib/shape_estimator.cpp @@ -37,6 +37,7 @@ bool ShapeEstimator::estimateShapeAndPose( const uint8_t label, const pcl::PointCloud & cluster, const boost::optional & ref_yaw_info, const boost::optional & ref_shape_size_info, + const boost::optional & ref_pose, autoware_perception_msgs::msg::Shape & shape_output, geometry_msgs::msg::Pose & pose_output) { autoware_perception_msgs::msg::Shape shape; @@ -57,7 +58,7 @@ bool ShapeEstimator::estimateShapeAndPose( // rule based corrector if (use_corrector_) { bool use_reference_yaw = ref_yaw_info ? true : false; - if (!applyCorrector(label, use_reference_yaw, ref_shape_size_info, shape, pose)) { + if (!applyCorrector(label, use_reference_yaw, ref_shape_size_info, ref_pose, shape, pose)) { reverse_to_unknown = true; } } @@ -115,13 +116,19 @@ bool ShapeEstimator::applyFilter( bool ShapeEstimator::applyCorrector( const uint8_t label, const bool use_reference_yaw, const boost::optional & ref_shape_size_info, + const boost::optional & ref_pose, autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose) { std::unique_ptr corrector_ptr; if (ref_shape_size_info && use_reference_yaw) { - corrector_ptr.reset( - new corrector::ReferenceShapeBasedVehicleCorrector(ref_shape_size_info.get())); + if (ref_pose) { + corrector_ptr.reset(new corrector::ReferenceObjectBasedVehicleCorrector( + ref_shape_size_info.get(), ref_pose.get())); + } else { + corrector_ptr.reset( + new corrector::ReferenceShapeBasedVehicleCorrector(ref_shape_size_info.get())); + } } else if (label == Label::CAR) { corrector_ptr.reset(new corrector::CarCorrector(use_reference_yaw)); } else if (label == Label::BUS) { diff --git a/perception/autoware_shape_estimation/src/shape_estimation_node.cpp b/perception/autoware_shape_estimation/src/shape_estimation_node.cpp index e8abddb30d7ae..67402f68d63ef 100644 --- a/perception/autoware_shape_estimation/src/shape_estimation_node.cpp +++ b/perception/autoware_shape_estimation/src/shape_estimation_node.cpp @@ -142,6 +142,7 @@ void ShapeEstimationNode::callback(const DetectedObjectsWithFeature::ConstShared geometry_msgs::msg::Pose pose; boost::optional ref_yaw_info = boost::none; boost::optional ref_shape_size_info = boost::none; + boost::optional ref_pose = boost::none; if (use_vehicle_reference_yaw_ && is_vehicle) { ref_yaw_info = ReferenceYawInfo{ static_cast(tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation)), @@ -151,7 +152,7 @@ void ShapeEstimationNode::callback(const DetectedObjectsWithFeature::ConstShared ref_shape_size_info = ReferenceShapeSizeInfo{object.shape, ReferenceShapeSizeInfo::Mode::Min}; } const bool estimated_success = estimator_->estimateShapeAndPose( - label, *cluster, ref_yaw_info, ref_shape_size_info, shape, pose); + label, *cluster, ref_yaw_info, ref_shape_size_info, ref_pose, shape, pose); // If the shape estimation fails, change to Unknown object. if (!fix_filtered_objects_label_to_unknown_ && !estimated_success) { diff --git a/perception/autoware_shape_estimation/test/shape_estimation/test_shape_estimator.cpp b/perception/autoware_shape_estimation/test/shape_estimation/test_shape_estimator.cpp index 2e6dcc62d8699..b4f1ef7b35b38 100644 --- a/perception/autoware_shape_estimation/test/shape_estimation/test_shape_estimator.cpp +++ b/perception/autoware_shape_estimation/test/shape_estimation/test_shape_estimator.cpp @@ -207,6 +207,7 @@ TEST(ShapeEstimator, test_estimateShapeAndPose) boost::optional ref_yaw_info = boost::none; boost::optional ref_shape_size_info = boost::none; + boost::optional ref_shape = boost::none; ref_yaw_info = autoware::shape_estimation::ReferenceYawInfo{ static_cast(yaw), static_cast(deg2rad(10.0))}; @@ -218,7 +219,7 @@ TEST(ShapeEstimator, test_estimateShapeAndPose) // Test estimateShapeAndPose const bool result = shape_estimator.estimateShapeAndPose( - label, cluster, ref_yaw_info, ref_shape_size_info, shape_output, pose_output); + label, cluster, ref_yaw_info, ref_shape_size_info, ref_shape, shape_output, pose_output); EXPECT_TRUE(result); // Check shape_output From c5c0642be05f1e44e748be25e1fa764383beb852 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Tue, 29 Oct 2024 13:34:14 +0900 Subject: [PATCH 306/701] refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (#9162) * refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation Signed-off-by: Y.Hisaki * style(pre-commit): autofix * include message_filters as SYSTEM Signed-off-by: Y.Hisaki * style(pre-commit): autofix --------- Signed-off-by: Y.Hisaki Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/compare_elevation_map_filter/node.cpp | 2 -- .../src/compare_elevation_map_filter/node.hpp | 4 ---- .../src/distance_based_compare_map_filter/node.cpp | 8 ++++---- .../src/distance_based_compare_map_filter/node.hpp | 11 +++++------ .../node.cpp | 4 ++-- .../node.hpp | 5 ++--- .../src/voxel_based_compare_map_filter/node.cpp | 2 -- .../src/voxel_based_compare_map_filter/node.hpp | 7 ++----- .../voxel_distance_based_compare_map_filter/node.cpp | 8 ++++---- .../voxel_distance_based_compare_map_filter/node.hpp | 11 +++++------ .../voxel_grid_map_loader/voxel_grid_map_loader.cpp | 8 ++++---- .../voxel_grid_map_loader/voxel_grid_map_loader.hpp | 11 ++++++----- .../autoware_pointcloud_preprocessor/CMakeLists.txt | 2 ++ 13 files changed, 36 insertions(+), 47 deletions(-) diff --git a/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.cpp index 73390abae7301..848cc4606b230 100644 --- a/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.cpp @@ -29,9 +29,7 @@ #include #include // To be replaced by std::filesystem in C++17 -#include #include -#include namespace autoware::compare_map_segmentation { diff --git a/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.hpp index ceddaa67ac2cd..8e5015ef21ef7 100644 --- a/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.hpp @@ -24,11 +24,7 @@ #include -#include -#include -#include #include -#include namespace autoware::compare_map_segmentation { class CompareElevationMapFilterComponent : public autoware::pointcloud_preprocessor::Filter diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp index 8b44d1661da48..a2e3afd62cdad 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp @@ -51,10 +51,10 @@ bool DistanceBasedStaticMapLoader::is_close_to_map( if (!is_initialized_.load(std::memory_order_acquire)) { return false; } - if (map_ptr_ == NULL) { + if (map_ptr_ == nullptr) { return false; } - if (tree_ == NULL) { + if (tree_ == nullptr) { return false; } @@ -89,8 +89,8 @@ bool DistanceBasedDynamicMapLoader::is_close_to_map( if (static_cast(map_grid_index) >= current_voxel_grid_array_.size()) { return false; } - if (current_voxel_grid_array_.at(map_grid_index) != NULL) { - if (current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree == NULL) { + if (current_voxel_grid_array_.at(map_grid_index) != nullptr) { + if (current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree == nullptr) { return false; } std::vector nn_indices(1); diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp index 509303c3a4e0e..d6b65daa82267 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp @@ -24,14 +24,13 @@ #include #include -#include namespace autoware::compare_map_segmentation { -typedef typename pcl::Filter::PointCloud PointCloud; -typedef typename PointCloud::Ptr PointCloudPtr; -typedef typename PointCloud::ConstPtr PointCloudConstPtr; +using PointCloud = typename pcl::Filter::PointCloud; +using PointCloudPtr = typename PointCloud::Ptr; +using PointCloudConstPtr = typename PointCloud::ConstPtr; class DistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader { @@ -102,8 +101,8 @@ class DistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader class DistanceBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter { protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; private: double distance_threshold_; diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp index 7ffb825910f64..a02a6865ef9ef 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp @@ -29,7 +29,7 @@ namespace autoware::compare_map_segmentation bool VoxelBasedApproximateStaticMapLoader::is_close_to_map( const pcl::PointXYZ & point, [[maybe_unused]] const double distance_threshold) { - if (voxel_map_ptr_ == NULL) { + if (voxel_map_ptr_ == nullptr) { return false; } const int index = @@ -55,7 +55,7 @@ bool VoxelBasedApproximateDynamicMapLoader::is_close_to_map( if (static_cast(map_grid_index) >= current_voxel_grid_array_.size()) { return false; } - if (current_voxel_grid_array_.at(map_grid_index) != NULL) { + if (current_voxel_grid_array_.at(map_grid_index) != nullptr) { const int index = current_voxel_grid_array_.at(map_grid_index) ->map_cell_voxel_grid.getCentroidIndexAt( current_voxel_grid_array_.at(map_grid_index) diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp index c8ad7c16f59cb..1cbf9c0571b73 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp @@ -23,7 +23,6 @@ #include #include -#include namespace autoware::compare_map_segmentation { @@ -59,8 +58,8 @@ class VoxelBasedApproximateCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter { protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; private: double distance_threshold_; diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp index e024d2b538e51..cdad52b5a278d 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp @@ -22,11 +22,9 @@ #include #include -#include namespace autoware::compare_map_segmentation { -using autoware::pointcloud_preprocessor::get_param; VoxelBasedCompareMapFilterComponent::VoxelBasedCompareMapFilterComponent( const rclcpp::NodeOptions & options) diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp index ac81eae85b8a0..ba29f9ac25af0 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp @@ -22,15 +22,14 @@ #include #include -#include namespace autoware::compare_map_segmentation { class VoxelBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter { protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; private: // pcl::SegmentDifferences impl_; @@ -39,8 +38,6 @@ class VoxelBasedCompareMapFilterComponent : public autoware::pointcloud_preproce double distance_threshold_; bool set_map_in_voxel_grid_; - bool dynamic_map_load_enable_; - public: PCL_MAKE_ALIGNED_OPERATOR_NEW explicit VoxelBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp index 62f126c0039f4..291a19d02ed4b 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp @@ -61,13 +61,13 @@ bool VoxelDistanceBasedStaticMapLoader::is_close_to_map( if (!is_initialized_.load(std::memory_order_acquire)) { return false; } - if (voxel_map_ptr_ == NULL) { + if (voxel_map_ptr_ == nullptr) { return false; } - if (map_ptr_ == NULL) { + if (map_ptr_ == nullptr) { return false; } - if (tree_ == NULL) { + if (tree_ == nullptr) { return false; } if (is_close_to_neighbor_voxels(point, distance_threshold, voxel_grid_, tree_)) { @@ -91,7 +91,7 @@ bool VoxelDistanceBasedDynamicMapLoader::is_close_to_map( return false; } if ( - current_voxel_grid_array_.at(map_grid_index) != NULL && + current_voxel_grid_array_.at(map_grid_index) != nullptr && is_close_to_neighbor_voxels( point, distance_threshold, current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid, current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree)) { diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp index 015ee52793768..218f19601cd41 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp @@ -25,14 +25,13 @@ #include #include #include -#include namespace autoware::compare_map_segmentation { -typedef typename pcl::Filter::PointCloud PointCloud; -typedef typename PointCloud::Ptr PointCloudPtr; -typedef typename PointCloud::ConstPtr PointCloudConstPtr; +using PointCloud = typename pcl::Filter::PointCloud; +using PointCloudPtr = typename PointCloud::Ptr; +using PointCloudConstPtr = typename PointCloud::ConstPtr; class VoxelDistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader { @@ -124,8 +123,8 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader class VoxelDistanceBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter { protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; void input_target_callback(const PointCloud2ConstPtr map); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp index 2627bbff64866..6e927db4e298b 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp @@ -47,7 +47,7 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels( if (index != -1) { return true; } - if (tree == NULL) { + if (tree == nullptr) { return false; } std::vector nn_indices(1); @@ -64,7 +64,7 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels( { // check map downsampled pc double distance_threshold_z = downsize_ratio_z_axis_ * distance_threshold; - if (map == NULL) { + if (map == nullptr) { return false; } if (is_in_voxel( @@ -331,7 +331,7 @@ bool VoxelGridDynamicMapLoader::is_close_to_next_map_grid( if ( static_cast(neighbor_map_grid_index) >= current_voxel_grid_array_.size() || neighbor_map_grid_index == current_map_grid_index || - current_voxel_grid_array_.at(neighbor_map_grid_index) != NULL) { + current_voxel_grid_array_.at(neighbor_map_grid_index) != nullptr) { return false; } if (is_close_to_neighbor_voxels( @@ -360,7 +360,7 @@ bool VoxelGridDynamicMapLoader::is_close_to_map( return false; } if ( - current_voxel_grid_array_.at(map_grid_index) != NULL && + current_voxel_grid_array_.at(map_grid_index) != nullptr && is_close_to_neighbor_voxels( point, distance_threshold, current_voxel_grid_array_.at(map_grid_index)->map_cell_pc_ptr, current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid)) { diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp index f50d23d4af6e8..b24286874801f 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp @@ -30,7 +30,6 @@ #include #include #include -#include #include #include @@ -93,13 +92,15 @@ class VoxelGridMapLoader bool debug_ = false; public: - typedef VoxelGridEx VoxelGridPointXYZ; - typedef typename pcl::Filter::PointCloud PointCloud; - typedef typename PointCloud::Ptr PointCloudPtr; + using VoxelGridPointXYZ = VoxelGridEx; + using PointCloud = typename pcl::Filter::PointCloud; + using PointCloudPtr = typename PointCloud::Ptr; explicit VoxelGridMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, std::string * tf_map_input_frame); + virtual ~VoxelGridMapLoader() = default; + virtual bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) = 0; static bool is_close_to_neighbor_voxels( const pcl::PointXYZ & point, const double distance_threshold, VoxelGridPointXYZ & voxel, @@ -142,7 +143,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader pcl::search::Search::Ptr map_cell_kdtree; }; - typedef typename std::map VoxelGridDict; + using VoxelGridDict = typename std::map; /** \brief Map to hold loaded map grid id and it's voxel filter */ VoxelGridDict current_voxel_grid_dict_; diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt index 247a8faf6b13a..56dab521d7dff 100644 --- a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt @@ -36,6 +36,7 @@ target_include_directories(pointcloud_preprocessor_filter_base PUBLIC ) ament_target_dependencies(pointcloud_preprocessor_filter_base + SYSTEM message_filters pcl_conversions rclcpp @@ -56,6 +57,7 @@ target_include_directories(faster_voxel_grid_downsample_filter PUBLIC ) ament_target_dependencies(faster_voxel_grid_downsample_filter + SYSTEM pcl_conversions rclcpp sensor_msgs From 89acb611f6a69ba08197a988abada24b60559e8a Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 29 Oct 2024 15:00:18 +0900 Subject: [PATCH 307/701] perf(costmap_generator): manual blurring and fill polygons without OpenCV (#9160) Signed-off-by: Maxime CLEMENT --- .../costmap_generator.hpp | 25 +++---- .../object_map_utils.hpp | 34 ++++----- .../objects_to_costmap.hpp | 8 +- .../costmap_generator_node.cpp | 60 ++++++--------- .../object_map_utils.cpp | 75 ++++++------------- .../objects_to_costmap.cpp | 65 ++++++++++++---- .../autoware_costmap_generator/package.xml | 1 + 7 files changed, 126 insertions(+), 142 deletions(-) diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp index 434440359f282..a26589775ff3e 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp +++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp @@ -70,7 +70,6 @@ #include #include -#include #include namespace autoware::costmap_generator @@ -106,9 +105,9 @@ class CostmapGenerator : public rclcpp::Node tf2_ros::Buffer tf_buffer_; tf2_ros::TransformListener tf_listener_; - std::vector> primitives_points_; + std::vector primitives_polygons_; - PointsToCostmap points2costmap_; + PointsToCostmap points2costmap_{}; ObjectsToCostmap objects2costmap_; tier4_planning_msgs::msg::Scenario::ConstSharedPtr scenario_; @@ -150,19 +149,19 @@ class CostmapGenerator : public rclcpp::Node /// \param[in] gridmap with calculated cost void publishCostmap(const grid_map::GridMap & costmap); - /// \brief set area_points from lanelet polygons - /// \param [in] input lanelet_map - /// \param [out] calculated area_points of lanelet polygons - void loadRoadAreasFromLaneletMap( + /// \brief fill a vector with road area polygons + /// \param [in] lanelet_map input lanelet map + /// \param [out] area_polygons polygon vector to fill + static void loadRoadAreasFromLaneletMap( const lanelet::LaneletMapPtr lanelet_map, - std::vector> * area_points); + std::vector & area_polygons); - /// \brief set area_points from parking-area polygons - /// \param [in] input lanelet_map - /// \param [out] calculated area_points of lanelet polygons - void loadParkingAreasFromLaneletMap( + /// \brief fill a vector with parking-area polygons + /// \param [in] lanelet_map input lanelet map + /// \param [out] area_polygons polygon vector to fill + static void loadParkingAreasFromLaneletMap( const lanelet::LaneletMapPtr lanelet_map, - std::vector> * area_points); + std::vector & area_polygons); /// \brief calculate cost from pointcloud data /// \param[in] in_points: subscribed pointcloud data diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp index 55a032fc8bb5a..737af55aa0b92 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp +++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2020-2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -33,46 +33,38 @@ #ifndef AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ #define AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ -#include #include #include +#include #include - -#ifdef ROS_DISTRO_GALACTIC -#include -#else #include -#endif + #include #include #include #include -namespace object_map +namespace autoware::costmap_generator::object_map { /*! - * Projects the in_area_points forming the road, stores the result in out_grid_map. + * Fill the grid_map in the areas defined by the given polygons * @param[out] out_grid_map GridMap object to add the road grid - * @param[in] in_points Array of points containing the selected primitives + * @param[in] in_polygons polygons to fill in the grid map * @param[in] in_grid_layer_name Name to assign to the layer * @param[in] in_layer_background_value Empty state value - * @param[in] in_fill_color Value to fill on selected primitives - * @param[in] in_layer_min_value Minimum value in the layer - * @param[in] in_layer_max_value Maximum value in the layer + * @param[in] in_fill_value Value to fill inside the given polygons * @param[in] in_tf_target_frame Target frame to transform the points * @param[in] in_tf_source_frame Source frame, where the points are located * @param[in] in_tf_listener Valid listener to obtain the transformation */ -void FillPolygonAreas( - grid_map::GridMap & out_grid_map, - const std::vector> & in_points, - const std::string & in_grid_layer_name, const int in_layer_background_value, - const int in_fill_color, const int in_layer_min_value, const int in_layer_max_value, - const std::string & in_tf_target_frame, const std::string & in_tf_source_frame, - const tf2_ros::Buffer & in_tf_buffer); +void fill_polygon_areas( + grid_map::GridMap & out_grid_map, const std::vector & in_polygons, + const std::string & in_grid_layer_name, const float in_layer_background_value, + const float in_fill_value, const std::string & in_tf_target_frame, + const std::string & in_tf_source_frame, const tf2_ros::Buffer & in_tf_buffer); -} // namespace object_map +} // namespace autoware::costmap_generator::object_map #endif // AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp index aa11a98830dc3..a04e139fdaa6e 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp +++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp @@ -72,7 +72,7 @@ class ObjectsToCostmap /// \param[out] calculated cost in grid_map::Matrix format grid_map::Matrix makeCostmapFromObjects( const grid_map::GridMap & costmap, const double expand_polygon_size, - const double size_of_expansion_kernel, + const int64_t size_of_expansion_kernel, const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr in_objects); private: @@ -103,7 +103,7 @@ class ObjectsToCostmap /// \param[in] in_corner_point one of convex hull points /// \param[in] expand_polygon_size the param for expanding convex_hull points /// \param[out] expanded point - geometry_msgs::msg::Point makeExpandedPoint( + static geometry_msgs::msg::Point makeExpandedPoint( const geometry_msgs::msg::Point & in_centroid, const geometry_msgs::msg::Point32 & in_corner_point, const double expand_polygon_size); @@ -111,7 +111,7 @@ class ObjectsToCostmap /// \param[in] in_centroid: object's centroid /// \param[in] expand_polygon_size: expanding convex_hull points /// \param[out] polygon object with convex hull points - grid_map::Polygon makePolygonFromObjectConvexHull( + static grid_map::Polygon makePolygonFromObjectConvexHull( const std_msgs::msg::Header & header, const autoware_perception_msgs::msg::PredictedObject & in_object, const double expand_polygon_size); @@ -121,7 +121,7 @@ class ObjectsToCostmap /// \param[in] gridmap_layer_name: target gridmap layer name for calculated cost /// \param[in] score: set score as a cost for costmap /// \param[in] objects_costmap: update cost in this objects_costmap[gridmap_layer_name] - void setCostInPolygon( + static void setCostInPolygon( const grid_map::Polygon & polygon, const std::string & gridmap_layer_name, const float score, grid_map::GridMap & objects_costmap); }; diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp index 07bf9eb33ffbe..0a85f7520b317 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp @@ -52,6 +52,7 @@ #include #include +#include #include #include #include @@ -91,15 +92,14 @@ std::shared_ptr findNearestParkinglot( const std::shared_ptr & lanelet_map_ptr, const lanelet::BasicPoint2d & current_position) { - const auto linked_parking_lot = std::make_shared(); + auto linked_parking_lot = std::make_shared(); const auto result = lanelet::utils::query::getLinkedParkingLot( current_position, lanelet_map_ptr, linked_parking_lot.get()); if (result) { return linked_parking_lot; - } else { - return {}; } + return {}; } // copied from scenario selector @@ -120,20 +120,6 @@ bool isInParkingLot( return lanelet::geometry::within(search_point, nearest_parking_lot->basicPolygon()); } -// Convert from Point32 to Point -std::vector poly2vector(const geometry_msgs::msg::Polygon & poly) -{ - std::vector ps; - for (const auto & p32 : poly.points) { - geometry_msgs::msg::Point p; - p.x = p32.x; - p.y = p32.y; - p.z = p32.z; - ps.push_back(p); - } - return ps; -} - pcl::PointCloud getTransformedPointCloud( const sensor_msgs::msg::PointCloud2 & pointcloud_msg, const geometry_msgs::msg::Transform & transform) @@ -206,7 +192,7 @@ CostmapGenerator::CostmapGenerator(const rclcpp::NodeOptions & node_options) void CostmapGenerator::loadRoadAreasFromLaneletMap( const lanelet::LaneletMapPtr lanelet_map, - std::vector> * area_points) + std::vector & area_polygons) { // use all lanelets in map of subtype road to give way area lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map); @@ -215,21 +201,25 @@ void CostmapGenerator::loadRoadAreasFromLaneletMap( // convert lanelets to polygons and put into area_points array for (const auto & ll : road_lanelets) { geometry_msgs::msg::Polygon poly; - lanelet::visualization::lanelet2Polygon(ll, &poly); - area_points->push_back(poly2vector(poly)); + geometry_msgs::msg::Point32 pt; + for (const auto & p : ll.polygon3d().basicPolygon()) { + lanelet::utils::conversion::toGeomMsgPt32(p, &pt); + poly.points.push_back(pt); + } + area_polygons.push_back(poly); } } void CostmapGenerator::loadParkingAreasFromLaneletMap( const lanelet::LaneletMapPtr lanelet_map, - std::vector> * area_points) + std::vector & area_polygons) { // Parking lots lanelet::ConstPolygons3d all_parking_lots = lanelet::utils::query::getAllParkingLots(lanelet_map); for (const auto & ll_poly : all_parking_lots) { geometry_msgs::msg::Polygon poly; lanelet::utils::conversion::toGeomMsgPoly(ll_poly, &poly); - area_points->push_back(poly2vector(poly)); + area_polygons.push_back(poly); } // Parking spaces @@ -238,10 +228,9 @@ void CostmapGenerator::loadParkingAreasFromLaneletMap( for (const auto & parking_space : all_parking_spaces) { lanelet::ConstPolygon3d ll_poly; lanelet::utils::lineStringWithWidthToPolygon(parking_space, &ll_poly); - geometry_msgs::msg::Polygon poly; lanelet::utils::conversion::toGeomMsgPoly(ll_poly, &poly); - area_points->push_back(poly2vector(poly)); + area_polygons.push_back(poly); } } @@ -252,11 +241,11 @@ void CostmapGenerator::onLaneletMapBin( lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_); if (param_->use_wayarea) { - loadRoadAreasFromLaneletMap(lanelet_map_, &primitives_points_); + loadRoadAreasFromLaneletMap(lanelet_map_, primitives_polygons_); } if (param_->use_parkinglot) { - loadParkingAreasFromLaneletMap(lanelet_map_, &primitives_points_); + loadParkingAreasFromLaneletMap(lanelet_map_, primitives_polygons_); } } @@ -346,11 +335,10 @@ bool CostmapGenerator::isActive() } } return false; - } else { - const auto & current_pose_wrt_map = getCurrentPose(tf_buffer_, this->get_logger()); - if (!current_pose_wrt_map) return false; - return isInParkingLot(lanelet_map_, current_pose_wrt_map->pose); } + const auto & current_pose_wrt_map = getCurrentPose(tf_buffer_, this->get_logger()); + if (!current_pose_wrt_map) return false; + return isInParkingLot(lanelet_map_, current_pose_wrt_map->pose); } void CostmapGenerator::initGridmap() @@ -403,7 +391,8 @@ autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr transformObjects } for (auto & object : objects->objects) { - geometry_msgs::msg::PoseStamped output_stamped, input_stamped; + geometry_msgs::msg::PoseStamped output_stamped; + geometry_msgs::msg::PoseStamped input_stamped; input_stamped.pose = object.kinematics.initial_pose_with_covariance.pose; tf2::doTransform(input_stamped, output_stamped, objects2costmap); object.kinematics.initial_pose_with_covariance.pose = output_stamped.pose; @@ -428,11 +417,10 @@ grid_map::Matrix CostmapGenerator::generateObjectsCostmap( grid_map::Matrix CostmapGenerator::generatePrimitivesCostmap() { grid_map::GridMap lanelet2_costmap = costmap_; - if (!primitives_points_.empty()) { - object_map::FillPolygonAreas( - lanelet2_costmap, primitives_points_, LayerName::primitives, param_->grid_max_value, - param_->grid_min_value, param_->grid_min_value, param_->grid_max_value, param_->costmap_frame, - param_->map_frame, tf_buffer_); + if (!primitives_polygons_.empty()) { + object_map::fill_polygon_areas( + lanelet2_costmap, primitives_polygons_, LayerName::primitives, param_->grid_max_value, + param_->grid_min_value, param_->costmap_frame, param_->map_frame, tf_buffer_); } return lanelet2_costmap[LayerName::primitives]; } diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp index 297b6fe984cbd..d8413f197a349 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2020-2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -32,74 +32,43 @@ #include "autoware_costmap_generator/object_map_utils.hpp" +#include +#include + #include #include #include -namespace object_map +namespace autoware::costmap_generator::object_map { -void FillPolygonAreas( - grid_map::GridMap & out_grid_map, - const std::vector> & in_points, - const std::string & in_grid_layer_name, const int in_layer_background_value, - const int in_fill_color, const int in_layer_min_value, const int in_layer_max_value, - const std::string & in_tf_target_frame, const std::string & in_tf_source_frame, - const tf2_ros::Buffer & in_tf_buffer) +void fill_polygon_areas( + grid_map::GridMap & out_grid_map, const std::vector & in_polygons, + const std::string & in_grid_layer_name, const float in_layer_background_value, + const float in_fill_value, const std::string & in_tf_target_frame, + const std::string & in_tf_source_frame, const tf2_ros::Buffer & in_tf_buffer) { if (!out_grid_map.exists(in_grid_layer_name)) { out_grid_map.add(in_grid_layer_name); } out_grid_map[in_grid_layer_name].setConstant(in_layer_background_value); - cv::Mat original_image; - grid_map::GridMapCvConverter::toImage( - out_grid_map, in_grid_layer_name, CV_8UC1, in_layer_min_value, in_layer_max_value, - original_image); - - cv::Mat merged_filled_image = original_image.clone(); - - geometry_msgs::msg::TransformStamped transform; - transform = + const geometry_msgs::msg::TransformStamped transform = in_tf_buffer.lookupTransform(in_tf_target_frame, in_tf_source_frame, tf2::TimePointZero); - // calculate out_grid_map position - grid_map::Position map_pos = out_grid_map.getPosition(); - const double origin_x_offset = out_grid_map.getLength().x() / 2.0 - map_pos.x(); - const double origin_y_offset = out_grid_map.getLength().y() / 2.0 - map_pos.y(); - - for (const auto & points : in_points) { - std::vector cv_polygon; - - for (const auto & p : points) { - // transform to GridMap coordinate - geometry_msgs::msg::Point transformed_point; - geometry_msgs::msg::PointStamped output_stamped, input_stamped; - input_stamped.point = p; - tf2::doTransform(input_stamped, output_stamped, transform); - transformed_point = output_stamped.point; - - // coordinate conversion for cv image - const double cv_x = (out_grid_map.getLength().y() - origin_y_offset - transformed_point.y) / - out_grid_map.getResolution(); - const double cv_y = (out_grid_map.getLength().x() - origin_x_offset - transformed_point.x) / - out_grid_map.getResolution(); - cv_polygon.emplace_back(cv_x, cv_y); + for (const auto & poly : in_polygons) { + // transform from Map to GridMap coordinates + geometry_msgs::msg::Polygon transformed_poly; + tf2::doTransform(poly, transformed_poly, transform); + grid_map::Polygon grid_map_poly; + for (const auto & p : transformed_poly.points) { + grid_map_poly.addVertex({p.x, p.y}); + } + for (grid_map_utils::PolygonIterator it(out_grid_map, grid_map_poly); !it.isPastEnd(); ++it) { + out_grid_map.at(in_grid_layer_name, *it) = in_fill_value; } - - cv::Mat filled_image = original_image.clone(); - - std::vector> cv_polygons; - cv_polygons.push_back(cv_polygon); - cv::fillPoly(filled_image, cv_polygons, cv::Scalar(in_fill_color)); - - merged_filled_image &= filled_image; } - - // convert to ROS msg - grid_map::GridMapCvConverter::addLayerFromImage( - merged_filled_image, in_grid_layer_name, out_grid_map, in_layer_min_value, in_layer_max_value); } -} // namespace object_map +} // namespace autoware::costmap_generator::object_map diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp index afb2dbb9874c9..149586edeea28 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp @@ -44,6 +44,10 @@ #include "autoware_costmap_generator/objects_to_costmap.hpp" +#include +#include + +#include #include #include @@ -148,7 +152,7 @@ void ObjectsToCostmap::setCostInPolygon( const grid_map::Polygon & polygon, const std::string & gridmap_layer_name, const float score, grid_map::GridMap & objects_costmap) { - for (grid_map::PolygonIterator itr(objects_costmap, polygon); !itr.isPastEnd(); ++itr) { + for (grid_map_utils::PolygonIterator itr(objects_costmap, polygon); !itr.isPastEnd(); ++itr) { const float current_score = objects_costmap.at(gridmap_layer_name, *itr); if (score > current_score) { objects_costmap.at(gridmap_layer_name, *itr) = score; @@ -156,14 +160,40 @@ void ObjectsToCostmap::setCostInPolygon( } } +void naive_mean_filter_on_grid_edges( + // cppcheck-suppress constParameterReference + const grid_map::Matrix & input, const int kernel_size, grid_map::Matrix & output) +{ + for (auto i = 0; i < input.rows(); ++i) { + for (auto j = 0; j < input.cols(); ++j) { + const auto is_inside = + (i > kernel_size + 1 && j > kernel_size + 1) && + (i + kernel_size + 1 < input.rows() && j + kernel_size + 1 < input.cols()); + if (is_inside) { + continue; + } + auto size = 0.0f; + auto sum = 0.0f; + for (auto i_offset = std::max(0, i - kernel_size); + i_offset < i + kernel_size && i_offset < input.rows(); ++i_offset) { + for (auto j_offset = std::max(0, j - kernel_size); + j_offset < j + kernel_size && j_offset < input.cols(); ++j_offset) { + ++size; + sum += input(i_offset, j_offset); + } + } + output(i, j) = sum / size; + } + } +} + grid_map::Matrix ObjectsToCostmap::makeCostmapFromObjects( const grid_map::GridMap & costmap, const double expand_polygon_size, - const double size_of_expansion_kernel, + const int64_t size_of_expansion_kernel, const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr in_objects) { grid_map::GridMap objects_costmap = costmap; objects_costmap.add(OBJECTS_COSTMAP_LAYER_, 0); - objects_costmap.add(BLURRED_OBJECTS_COSTMAP_LAYER_, 0); for (const auto & object : in_objects->objects) { grid_map::Polygon polygon; @@ -178,23 +208,28 @@ grid_map::Matrix ObjectsToCostmap::makeCostmapFromObjects( const auto highest_probability_label = *std::max_element( object.classification.begin(), object.classification.end(), [](const auto & c1, const auto & c2) { return c1.probability < c2.probability; }); - const double highest_probability = static_cast(highest_probability_label.probability); - setCostInPolygon(polygon, OBJECTS_COSTMAP_LAYER_, highest_probability, objects_costmap); - setCostInPolygon(polygon, BLURRED_OBJECTS_COSTMAP_LAYER_, highest_probability, objects_costmap); + setCostInPolygon( + polygon, OBJECTS_COSTMAP_LAYER_, highest_probability_label.probability, objects_costmap); } + objects_costmap.add(BLURRED_OBJECTS_COSTMAP_LAYER_, 0.0); // Applying mean filter to expanded gridmap - const grid_map::SlidingWindowIterator::EdgeHandling edge_handling = - grid_map::SlidingWindowIterator::EdgeHandling::CROP; - for (grid_map::SlidingWindowIterator iterator( - objects_costmap, BLURRED_OBJECTS_COSTMAP_LAYER_, edge_handling, size_of_expansion_kernel); - !iterator.isPastEnd(); ++iterator) { - objects_costmap.at(BLURRED_OBJECTS_COSTMAP_LAYER_, *iterator) = - iterator.getData().meanOfFinites(); // Blurring. + const auto & original_matrix = objects_costmap[OBJECTS_COSTMAP_LAYER_]; + Eigen::MatrixXf & filtered_matrix = objects_costmap[BLURRED_OBJECTS_COSTMAP_LAYER_]; + // edge of the grid: naive filter + const auto kernel_size = static_cast(static_cast(size_of_expansion_kernel) / 2.0); + naive_mean_filter_on_grid_edges(original_matrix, kernel_size, filtered_matrix); + // inside the grid: optimized filter using Eigen block + for (auto i = 0; i < filtered_matrix.rows() - size_of_expansion_kernel; ++i) { + for (auto j = 0; j < filtered_matrix.cols() - size_of_expansion_kernel; ++j) { + const auto mean = + original_matrix.block(i, j, size_of_expansion_kernel, size_of_expansion_kernel).mean(); + filtered_matrix(i + kernel_size, j + kernel_size) = mean; + } } - objects_costmap[OBJECTS_COSTMAP_LAYER_] = objects_costmap[OBJECTS_COSTMAP_LAYER_].cwiseMax( - objects_costmap[BLURRED_OBJECTS_COSTMAP_LAYER_]); + objects_costmap[OBJECTS_COSTMAP_LAYER_] = + objects_costmap[OBJECTS_COSTMAP_LAYER_].cwiseMax(filtered_matrix); return objects_costmap[OBJECTS_COSTMAP_LAYER_]; } diff --git a/planning/autoware_costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml index 29c1be77d3d75..8ad90e12d4cd3 100644 --- a/planning/autoware_costmap_generator/package.xml +++ b/planning/autoware_costmap_generator/package.xml @@ -15,6 +15,7 @@ ament_cmake_auto autoware_cmake + autoware_grid_map_utils autoware_lanelet2_extension autoware_map_msgs autoware_perception_msgs From e382a07dd2b9a0b7630479ecc10b29e1fc206502 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 29 Oct 2024 15:03:40 +0900 Subject: [PATCH 308/701] fix(autoware_test_utils): remove unnecessary cppcheck suppression (#9165) Signed-off-by: veqcc --- common/autoware_test_utils/src/autoware_test_utils.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp index fe2d4fbe9351e..2c06d00263562 100644 --- a/common/autoware_test_utils/src/autoware_test_utils.cpp +++ b/common/autoware_test_utils/src/autoware_test_utils.cpp @@ -139,7 +139,6 @@ std::string get_absolute_path_to_lanelet_map( return dir + "/test_map/" + map_filename; } -// cppcheck-suppress unusedFunction std::string get_absolute_path_to_route( const std::string & package_name, const std::string & route_filename) { From 9bd0f77c255edcff129ff08d190a5fdd8c45b6dc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Tue, 29 Oct 2024 09:09:02 +0300 Subject: [PATCH 309/701] ci(build-and-test): reduce cores used by colcon build (#9166) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt Co-authored-by: M. Fatih Cırıt --- .github/workflows/build-and-test-differential-arm64.yaml | 2 +- .github/workflows/build-and-test-differential.yaml | 2 +- .github/workflows/build-and-test.yaml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build-and-test-differential-arm64.yaml b/.github/workflows/build-and-test-differential-arm64.yaml index 9e121aa028867..40d7a8846d13b 100644 --- a/.github/workflows/build-and-test-differential-arm64.yaml +++ b/.github/workflows/build-and-test-differential-arm64.yaml @@ -76,7 +76,7 @@ jobs: target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} build-depends-repos: ${{ matrix.build-depends-repos }} cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} - build-pre-command: taskset --cpu-list 0-6 + build-pre-command: taskset --cpu-list 0-5 - name: Test id: test diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index cda1666603926..30619f7ef5aff 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -46,7 +46,7 @@ jobs: build-depends-repos: build_depends.repos - container-suffix: -cuda runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large - build-pre-command: taskset --cpu-list 0-6 + build-pre-command: taskset --cpu-list 0-5 - container-suffix: "" runner: ubuntu-latest build-pre-command: "" diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 0f239cd328591..a79bb60fa2929 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -93,7 +93,7 @@ jobs: target-packages: ${{ steps.get-self-packages.outputs.self-packages }} build-depends-repos: ${{ matrix.build-depends-repos }} cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} - build-pre-command: taskset --cpu-list 0-6 + build-pre-command: taskset --cpu-list 0-5 - name: Show ccache stats after build run: du -sh ${CCACHE_DIR} && ccache -s From 589fee403543ca4db4ecb0ebb41cb54e1d05f74f Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 29 Oct 2024 10:24:17 +0100 Subject: [PATCH 310/701] refactor(component_interface_specs): prefix package and namespace with autoware (#9094) Signed-off-by: Esteve Fernandez --- .../CMakeLists.txt | 2 +- .../README.md | 2 +- .../component_interface_specs/control.hpp | 10 +-- .../localization.hpp | 10 +-- .../component_interface_specs/map.hpp | 10 +-- .../component_interface_specs/perception.hpp | 10 +-- .../component_interface_specs/planning.hpp | 10 +-- .../component_interface_specs/system.hpp | 10 +-- .../component_interface_specs/vehicle.hpp | 10 +-- .../package.xml | 4 +- .../test/gtest_main.cpp | 0 .../test/test_control.cpp | 8 +- .../test/test_localization.cpp | 8 +- .../test/test_map.cpp | 4 +- .../test/test_perception.cpp | 4 +- .../test/test_planning.cpp | 8 +- .../test/test_system.cpp | 6 +- .../test/test_vehicle.cpp | 12 +-- .../autoware_test_utils.hpp | 2 +- common/autoware_test_utils/package.xml | 2 +- .../package.xml | 2 +- .../src/node.hpp | 9 ++- control/autoware_vehicle_cmd_gate/package.xml | 2 +- .../src/adapi_pause_interface.hpp | 8 +- .../src/moderate_stop_interface.hpp | 8 +- .../predicted_path_checker_node.hpp | 14 ++-- control/predicted_path_checker/package.xml | 2 +- .../predicted_path_checker_node.cpp | 5 +- .../autoware_geo_pose_projector/package.xml | 2 +- .../src/geo_pose_projector.hpp | 4 +- .../autoware_pose_initializer/package.xml | 2 +- .../src/ekf_localization_trigger_module.cpp | 4 +- .../src/gnss_module.cpp | 4 +- .../src/localization_module.cpp | 4 +- .../src/ndt_localization_trigger_module.cpp | 4 +- .../src/pose_initializer_core.hpp | 6 +- .../map_projection_loader.hpp | 4 +- .../package.xml | 2 +- .../map_loader/lanelet2_map_loader_node.hpp | 4 +- map/map_loader/package.xml | 2 +- .../autoware_planning_test_manager.hpp | 2 +- .../package.xml | 2 +- .../autoware/gnss_poser/gnss_poser_node.hpp | 4 +- sensing/autoware_gnss_poser/package.xml | 2 +- system/autoware_default_adapi/package.xml | 2 +- .../autoware_default_adapi/src/fail_safe.hpp | 4 +- .../src/localization.hpp | 6 +- system/autoware_default_adapi/src/motion.cpp | 8 +- system/autoware_default_adapi/src/motion.hpp | 14 ++-- .../src/operation_mode.hpp | 14 ++-- .../autoware_default_adapi/src/perception.cpp | 3 +- .../autoware_default_adapi/src/perception.hpp | 7 +- .../autoware_default_adapi/src/planning.hpp | 12 +-- system/autoware_default_adapi/src/routing.cpp | 3 +- system/autoware_default_adapi/src/routing.hpp | 24 +++--- system/autoware_default_adapi/src/vehicle.cpp | 20 +++-- system/autoware_default_adapi/src/vehicle.hpp | 74 ++++++++++++------- .../src/vehicle_door.cpp | 6 +- .../src/vehicle_door.hpp | 13 ++-- 59 files changed, 243 insertions(+), 201 deletions(-) rename common/{component_interface_specs => autoware_component_interface_specs}/CMakeLists.txt (90%) rename common/{component_interface_specs => autoware_component_interface_specs}/README.md (61%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/control.hpp (88%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/localization.hpp (86%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/map.hpp (78%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/perception.hpp (77%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/planning.hpp (89%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/system.hpp (86%) rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/vehicle.hpp (92%) rename common/{component_interface_specs => autoware_component_interface_specs}/package.xml (90%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/gtest_main.cpp (100%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_control.cpp (84%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_localization.cpp (83%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_map.cpp (88%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_perception.cpp (87%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_planning.cpp (83%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_system.cpp (85%) rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_vehicle.cpp (81%) diff --git a/common/component_interface_specs/CMakeLists.txt b/common/autoware_component_interface_specs/CMakeLists.txt similarity index 90% rename from common/component_interface_specs/CMakeLists.txt rename to common/autoware_component_interface_specs/CMakeLists.txt index 146f3688513cd..a4e93cc8f04f9 100644 --- a/common/component_interface_specs/CMakeLists.txt +++ b/common/autoware_component_interface_specs/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(component_interface_specs) +project(autoware_component_interface_specs) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/component_interface_specs/README.md b/common/autoware_component_interface_specs/README.md similarity index 61% rename from common/component_interface_specs/README.md rename to common/autoware_component_interface_specs/README.md index b9fcd83a29dc0..9d9298a95e329 100644 --- a/common/component_interface_specs/README.md +++ b/common/autoware_component_interface_specs/README.md @@ -1,3 +1,3 @@ -# component_interface_specs +# autoware_component_interface_specs This package is a specification of component interfaces. diff --git a/common/component_interface_specs/include/component_interface_specs/control.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp similarity index 88% rename from common/component_interface_specs/include/component_interface_specs/control.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp index dfa708dd33403..03c93d75d674b 100644 --- a/common/component_interface_specs/include/component_interface_specs/control.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ -#define COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace control_interface +namespace autoware::component_interface_specs::control { struct SetPause @@ -65,6 +65,6 @@ struct IsStopped static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace control_interface +} // namespace autoware::component_interface_specs::control -#endif // COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/localization.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp similarity index 86% rename from common/component_interface_specs/include/component_interface_specs/localization.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp index e00d8cef1840d..b2e41a179506a 100644 --- a/common/component_interface_specs/include/component_interface_specs/localization.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ -#define COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ #include @@ -22,7 +22,7 @@ #include #include -namespace localization_interface +namespace autoware::component_interface_specs::localization { struct Initialize @@ -58,6 +58,6 @@ struct Acceleration static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace localization_interface +} // namespace autoware::component_interface_specs::localization -#endif // COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/map.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp similarity index 78% rename from common/component_interface_specs/include/component_interface_specs/map.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp index dc162d4a7267a..dd1c300a7a2ca 100644 --- a/common/component_interface_specs/include/component_interface_specs/map.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__MAP_HPP_ -#define COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_ #include #include -namespace map_interface +namespace autoware::component_interface_specs::map { struct MapProjectorInfo @@ -31,6 +31,6 @@ struct MapProjectorInfo static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace map_interface +} // namespace autoware::component_interface_specs::map -#endif // COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/perception.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp similarity index 77% rename from common/component_interface_specs/include/component_interface_specs/perception.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp index 0c72dbdb12078..4f450e6a3ee1c 100644 --- a/common/component_interface_specs/include/component_interface_specs/perception.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ -#define COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ #include #include -namespace perception_interface +namespace autoware::component_interface_specs::perception { struct ObjectRecognition @@ -31,6 +31,6 @@ struct ObjectRecognition static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace perception_interface +} // namespace autoware::component_interface_specs::perception -#endif // COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/planning.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp similarity index 89% rename from common/component_interface_specs/include/component_interface_specs/planning.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp index 58aba53d8ac8a..247844123881b 100644 --- a/common/component_interface_specs/include/component_interface_specs/planning.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ -#define COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ #include @@ -24,7 +24,7 @@ #include #include -namespace planning_interface +namespace autoware::component_interface_specs::planning { struct SetLaneletRoute @@ -73,6 +73,6 @@ struct Trajectory static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace planning_interface +} // namespace autoware::component_interface_specs::planning -#endif // COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/system.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp similarity index 86% rename from common/component_interface_specs/include/component_interface_specs/system.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp index 2132d16dd2969..6ae3447c0786d 100644 --- a/common/component_interface_specs/include/component_interface_specs/system.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ -#define COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ #include @@ -22,7 +22,7 @@ #include #include -namespace system_interface +namespace autoware::component_interface_specs::system { struct MrmState @@ -55,6 +55,6 @@ struct OperationModeState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace system_interface +} // namespace autoware::component_interface_specs::system -#endif // COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/vehicle.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp similarity index 92% rename from common/component_interface_specs/include/component_interface_specs/vehicle.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp index e7ce2c5212a25..945853d8f532e 100644 --- a/common/component_interface_specs/include/component_interface_specs/vehicle.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ -#define COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ #include @@ -26,7 +26,7 @@ #include #include -namespace vehicle_interface +namespace autoware::component_interface_specs::vehicle { struct SteeringStatus @@ -95,6 +95,6 @@ struct DoorStatus static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace vehicle_interface +} // namespace autoware::component_interface_specs::vehicle -#endif // COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ diff --git a/common/component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml similarity index 90% rename from common/component_interface_specs/package.xml rename to common/autoware_component_interface_specs/package.xml index fa57bb1641eed..3e53968a94d61 100644 --- a/common/component_interface_specs/package.xml +++ b/common/autoware_component_interface_specs/package.xml @@ -1,9 +1,9 @@ - component_interface_specs + autoware_component_interface_specs 0.0.0 - The component_interface_specs package + The autoware_component_interface_specs package Takagi, Isamu Yukihiro Saito Apache License 2.0 diff --git a/common/component_interface_specs/test/gtest_main.cpp b/common/autoware_component_interface_specs/test/gtest_main.cpp similarity index 100% rename from common/component_interface_specs/test/gtest_main.cpp rename to common/autoware_component_interface_specs/test/gtest_main.cpp diff --git a/common/component_interface_specs/test/test_control.cpp b/common/autoware_component_interface_specs/test/test_control.cpp similarity index 84% rename from common/component_interface_specs/test/test_control.cpp rename to common/autoware_component_interface_specs/test/test_control.cpp index 366641eacbd23..db6e7817e7a9d 100644 --- a/common/component_interface_specs/test/test_control.cpp +++ b/common/autoware_component_interface_specs/test/test_control.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/control.hpp" +#include "autoware/component_interface_specs/control.hpp" #include "gtest/gtest.h" TEST(control, interface) { { - using control_interface::IsPaused; + using autoware::component_interface_specs::control::IsPaused; IsPaused is_paused; size_t depth = 1; EXPECT_EQ(is_paused.depth, depth); @@ -27,7 +27,7 @@ TEST(control, interface) } { - using control_interface::IsStartRequested; + using autoware::component_interface_specs::control::IsStartRequested; IsStartRequested is_start_requested; size_t depth = 1; EXPECT_EQ(is_start_requested.depth, depth); @@ -36,7 +36,7 @@ TEST(control, interface) } { - using control_interface::IsStopped; + using autoware::component_interface_specs::control::IsStopped; IsStopped is_stopped; size_t depth = 1; EXPECT_EQ(is_stopped.depth, depth); diff --git a/common/component_interface_specs/test/test_localization.cpp b/common/autoware_component_interface_specs/test/test_localization.cpp similarity index 83% rename from common/component_interface_specs/test/test_localization.cpp rename to common/autoware_component_interface_specs/test/test_localization.cpp index 31d8e139bd69a..18ec5f15acaf8 100644 --- a/common/component_interface_specs/test/test_localization.cpp +++ b/common/autoware_component_interface_specs/test/test_localization.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/localization.hpp" +#include "autoware/component_interface_specs/localization.hpp" #include "gtest/gtest.h" TEST(localization, interface) { { - using localization_interface::InitializationState; + using autoware::component_interface_specs::localization::InitializationState; InitializationState initialization_state; size_t depth = 1; EXPECT_EQ(initialization_state.depth, depth); @@ -27,7 +27,7 @@ TEST(localization, interface) } { - using localization_interface::KinematicState; + using autoware::component_interface_specs::localization::KinematicState; KinematicState kinematic_state; size_t depth = 1; EXPECT_EQ(kinematic_state.depth, depth); @@ -36,7 +36,7 @@ TEST(localization, interface) } { - using localization_interface::Acceleration; + using autoware::component_interface_specs::localization::Acceleration; Acceleration acceleration; size_t depth = 1; EXPECT_EQ(acceleration.depth, depth); diff --git a/common/component_interface_specs/test/test_map.cpp b/common/autoware_component_interface_specs/test/test_map.cpp similarity index 88% rename from common/component_interface_specs/test/test_map.cpp rename to common/autoware_component_interface_specs/test/test_map.cpp index a65f2cb7120d1..aafb33e73c9dc 100644 --- a/common/component_interface_specs/test/test_map.cpp +++ b/common/autoware_component_interface_specs/test/test_map.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/map.hpp" +#include "autoware/component_interface_specs/map.hpp" #include "gtest/gtest.h" TEST(map, interface) { { - using map_interface::MapProjectorInfo; + using autoware::component_interface_specs::map::MapProjectorInfo; MapProjectorInfo map_projector; size_t depth = 1; EXPECT_EQ(map_projector.depth, depth); diff --git a/common/component_interface_specs/test/test_perception.cpp b/common/autoware_component_interface_specs/test/test_perception.cpp similarity index 87% rename from common/component_interface_specs/test/test_perception.cpp rename to common/autoware_component_interface_specs/test/test_perception.cpp index ec80c06bb119a..8ad6d9dfceb6f 100644 --- a/common/component_interface_specs/test/test_perception.cpp +++ b/common/autoware_component_interface_specs/test/test_perception.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/perception.hpp" +#include "autoware/component_interface_specs/perception.hpp" #include "gtest/gtest.h" TEST(perception, interface) { { - using perception_interface::ObjectRecognition; + using autoware::component_interface_specs::perception::ObjectRecognition; ObjectRecognition object_recognition; size_t depth = 1; EXPECT_EQ(object_recognition.depth, depth); diff --git a/common/component_interface_specs/test/test_planning.cpp b/common/autoware_component_interface_specs/test/test_planning.cpp similarity index 83% rename from common/component_interface_specs/test/test_planning.cpp rename to common/autoware_component_interface_specs/test/test_planning.cpp index c9cf353de5f34..8278bf86f3861 100644 --- a/common/component_interface_specs/test/test_planning.cpp +++ b/common/autoware_component_interface_specs/test/test_planning.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/planning.hpp" +#include "autoware/component_interface_specs/planning.hpp" #include "gtest/gtest.h" TEST(planning, interface) { { - using planning_interface::RouteState; + using autoware::component_interface_specs::planning::RouteState; RouteState state; size_t depth = 1; EXPECT_EQ(state.depth, depth); @@ -27,7 +27,7 @@ TEST(planning, interface) } { - using planning_interface::LaneletRoute; + using autoware::component_interface_specs::planning::LaneletRoute; LaneletRoute route; size_t depth = 1; EXPECT_EQ(route.depth, depth); @@ -36,7 +36,7 @@ TEST(planning, interface) } { - using planning_interface::Trajectory; + using autoware::component_interface_specs::planning::Trajectory; Trajectory trajectory; size_t depth = 1; EXPECT_EQ(trajectory.depth, depth); diff --git a/common/component_interface_specs/test/test_system.cpp b/common/autoware_component_interface_specs/test/test_system.cpp similarity index 85% rename from common/component_interface_specs/test/test_system.cpp rename to common/autoware_component_interface_specs/test/test_system.cpp index 416d2effad766..3faff08734905 100644 --- a/common/component_interface_specs/test/test_system.cpp +++ b/common/autoware_component_interface_specs/test/test_system.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/system.hpp" +#include "autoware/component_interface_specs/system.hpp" #include "gtest/gtest.h" TEST(system, interface) { { - using system_interface::MrmState; + using autoware::component_interface_specs::system::MrmState; MrmState state; size_t depth = 1; EXPECT_EQ(state.depth, depth); @@ -27,7 +27,7 @@ TEST(system, interface) } { - using system_interface::OperationModeState; + using autoware::component_interface_specs::system::OperationModeState; OperationModeState state; size_t depth = 1; EXPECT_EQ(state.depth, depth); diff --git a/common/component_interface_specs/test/test_vehicle.cpp b/common/autoware_component_interface_specs/test/test_vehicle.cpp similarity index 81% rename from common/component_interface_specs/test/test_vehicle.cpp rename to common/autoware_component_interface_specs/test/test_vehicle.cpp index 1f2041b6cb79e..e9ee65e2fa210 100644 --- a/common/component_interface_specs/test/test_vehicle.cpp +++ b/common/autoware_component_interface_specs/test/test_vehicle.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/vehicle.hpp" +#include "autoware/component_interface_specs/vehicle.hpp" #include "gtest/gtest.h" TEST(vehicle, interface) { { - using vehicle_interface::SteeringStatus; + using autoware::component_interface_specs::vehicle::SteeringStatus; SteeringStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -27,7 +27,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::GearStatus; + using autoware::component_interface_specs::vehicle::GearStatus; GearStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -36,7 +36,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::TurnIndicatorStatus; + using autoware::component_interface_specs::vehicle::TurnIndicatorStatus; TurnIndicatorStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -45,7 +45,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::HazardLightStatus; + using autoware::component_interface_specs::vehicle::HazardLightStatus; HazardLightStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -54,7 +54,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::EnergyStatus; + using autoware::component_interface_specs::vehicle::EnergyStatus; EnergyStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp index c5c6cdf015e4d..6b00a0dbdd4dc 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp @@ -15,12 +15,12 @@ #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ +#include #include #include #include #include #include -#include #include #include diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml index 0a4152404ab44..40edd451f3cab 100644 --- a/common/autoware_test_utils/package.xml +++ b/common/autoware_test_utils/package.xml @@ -16,6 +16,7 @@ autoware_cmake ament_index_cpp + autoware_component_interface_specs autoware_control_msgs autoware_lanelet2_extension autoware_map_msgs @@ -23,7 +24,6 @@ autoware_planning_msgs autoware_universe_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils lanelet2_io nav_msgs diff --git a/control/autoware_operation_mode_transition_manager/package.xml b/control/autoware_operation_mode_transition_manager/package.xml index de514e70a0f2e..ef6c0bc8d252b 100644 --- a/control/autoware_operation_mode_transition_manager/package.xml +++ b/control/autoware_operation_mode_transition_manager/package.xml @@ -12,12 +12,12 @@ autoware_cmake rosidl_default_generators + autoware_component_interface_specs autoware_control_msgs autoware_motion_utils autoware_universe_utils autoware_vehicle_info_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils geometry_msgs rclcpp diff --git a/control/autoware_operation_mode_transition_manager/src/node.hpp b/control/autoware_operation_mode_transition_manager/src/node.hpp index d9b8eaebc4ead..857217b2b23fc 100644 --- a/control/autoware_operation_mode_transition_manager/src/node.hpp +++ b/control/autoware_operation_mode_transition_manager/src/node.hpp @@ -18,8 +18,8 @@ #include "compatibility.hpp" #include "state.hpp" +#include #include -#include #include #include @@ -35,9 +35,10 @@ class OperationModeTransitionManager : public rclcpp::Node explicit OperationModeTransitionManager(const rclcpp::NodeOptions & options); private: - using ChangeAutowareControlAPI = system_interface::ChangeAutowareControl; - using ChangeOperationModeAPI = system_interface::ChangeOperationMode; - using OperationModeStateAPI = system_interface::OperationModeState; + using ChangeAutowareControlAPI = + autoware::component_interface_specs::system::ChangeAutowareControl; + using ChangeOperationModeAPI = autoware::component_interface_specs::system::ChangeOperationMode; + using OperationModeStateAPI = autoware::component_interface_specs::system::OperationModeState; component_interface_utils::Service::SharedPtr srv_autoware_control_; component_interface_utils::Service::SharedPtr srv_operation_mode_; component_interface_utils::Publisher::SharedPtr pub_operation_mode_; diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml index 60bbf23f9d5a8..532553da103e9 100644 --- a/control/autoware_vehicle_cmd_gate/package.xml +++ b/control/autoware_vehicle_cmd_gate/package.xml @@ -16,12 +16,12 @@ rosidl_default_generators autoware_adapi_v1_msgs + autoware_component_interface_specs autoware_control_msgs autoware_motion_utils autoware_universe_utils autoware_vehicle_info_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils diagnostic_updater geometry_msgs diff --git a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp index 6f3aa70bcea54..18e9bcead1b2b 100644 --- a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp +++ b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp @@ -15,7 +15,7 @@ #ifndef ADAPI_PAUSE_INTERFACE_HPP_ #define ADAPI_PAUSE_INTERFACE_HPP_ -#include +#include #include #include @@ -29,9 +29,9 @@ class AdapiPauseInterface private: static constexpr double eps = 1e-3; using Control = autoware_control_msgs::msg::Control; - using SetPause = control_interface::SetPause; - using IsPaused = control_interface::IsPaused; - using IsStartRequested = control_interface::IsStartRequested; + using SetPause = autoware::component_interface_specs::control::SetPause; + using IsPaused = autoware::component_interface_specs::control::IsPaused; + using IsStartRequested = autoware::component_interface_specs::control::IsStartRequested; public: explicit AdapiPauseInterface(rclcpp::Node * node); diff --git a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp index 012e75d0c207e..a9ac916d3c10d 100644 --- a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp +++ b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp @@ -15,7 +15,7 @@ #ifndef MODERATE_STOP_INTERFACE_HPP_ #define MODERATE_STOP_INTERFACE_HPP_ -#include +#include #include #include @@ -28,9 +28,9 @@ namespace autoware::vehicle_cmd_gate class ModerateStopInterface { private: - using SetStop = control_interface::SetStop; - using IsStopped = control_interface::IsStopped; - using IsStartRequested = control_interface::IsStartRequested; + using SetStop = autoware::component_interface_specs::control::SetStop; + using IsStopped = autoware::component_interface_specs::control::IsStopped; + using IsStartRequested = autoware::component_interface_specs::control::IsStartRequested; public: explicit ModerateStopInterface(rclcpp::Node * node); diff --git a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp index b3afcded60438..be3a9eace9aac 100644 --- a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp +++ b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp @@ -15,13 +15,13 @@ #ifndef PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ #define PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ +#include #include #include #include #include #include #include -#include #include #include #include @@ -96,10 +96,12 @@ class PredictedPathCheckerNode : public rclcpp::Node sub_predicted_trajectory_; rclcpp::Subscription::SharedPtr sub_odom_; rclcpp::Subscription::SharedPtr sub_accel_; - component_interface_utils::Subscription::SharedPtr sub_stop_state_; + component_interface_utils::Subscription< + autoware::component_interface_specs::control::IsStopped>::SharedPtr sub_stop_state_; // Client - component_interface_utils::Client::SharedPtr cli_set_stop_; + component_interface_utils::Client< + autoware::component_interface_specs::control::SetStop>::SharedPtr cli_set_stop_; // Data Buffer geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose_; @@ -108,7 +110,8 @@ class PredictedPathCheckerNode : public rclcpp::Node PredictedObjects::ConstSharedPtr object_ptr_{nullptr}; autoware_planning_msgs::msg::Trajectory::ConstSharedPtr reference_trajectory_; autoware_planning_msgs::msg::Trajectory::ConstSharedPtr predicted_trajectory_; - control_interface::IsStopped::Message::ConstSharedPtr is_stopped_ptr_{nullptr}; + autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr is_stopped_ptr_{ + nullptr}; // Core std::unique_ptr collision_checker_; @@ -126,7 +129,8 @@ class PredictedPathCheckerNode : public rclcpp::Node void onPredictedTrajectory(const autoware_planning_msgs::msg::Trajectory::SharedPtr msg); void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg); void onAccel(const geometry_msgs::msg::AccelWithCovarianceStamped::SharedPtr msg); - void onIsStopped(const control_interface::IsStopped::Message::ConstSharedPtr msg); + void onIsStopped( + const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr msg); // Timer rclcpp::TimerBase::SharedPtr timer_; diff --git a/control/predicted_path_checker/package.xml b/control/predicted_path_checker/package.xml index 153d11107a8cb..6bceb24c4439d 100644 --- a/control/predicted_path_checker/package.xml +++ b/control/predicted_path_checker/package.xml @@ -12,13 +12,13 @@ ament_cmake autoware_cmake + autoware_component_interface_specs autoware_motion_utils autoware_perception_msgs autoware_planning_msgs autoware_universe_utils autoware_vehicle_info_utils boost - component_interface_specs component_interface_utils diagnostic_updater eigen diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp index d8cf5c34bf535..4ebde9cc0fc72 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp +++ b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp @@ -132,7 +132,7 @@ void PredictedPathCheckerNode::onAccel( } void PredictedPathCheckerNode::onIsStopped( - const control_interface::IsStopped::Message::ConstSharedPtr msg) + const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr msg) { is_stopped_ptr_ = msg; @@ -415,7 +415,8 @@ void PredictedPathCheckerNode::checkVehicleState(diagnostic_updater::DiagnosticS void PredictedPathCheckerNode::sendRequest(bool make_stop_vehicle) { if (!is_calling_set_stop_ && cli_set_stop_->service_is_ready()) { - const auto req = std::make_shared(); + const auto req = + std::make_shared(); req->stop = make_stop_vehicle; req->request_source = "predicted_path_checker"; is_calling_set_stop_ = true; diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml index 2d7c09f9e2ce2..4f02d4ff40981 100644 --- a/localization/autoware_geo_pose_projector/package.xml +++ b/localization/autoware_geo_pose_projector/package.xml @@ -17,8 +17,8 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_specs autoware_geography_utils - component_interface_specs component_interface_utils geographic_msgs geometry_msgs diff --git a/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp b/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp index 3ece595a7b1bd..493d6cb13246a 100644 --- a/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp +++ b/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp @@ -15,7 +15,7 @@ #ifndef GEO_POSE_PROJECTOR_HPP_ #define GEO_POSE_PROJECTOR_HPP_ -#include +#include #include #include @@ -35,7 +35,7 @@ class GeoPoseProjector : public rclcpp::Node private: using GeoPoseWithCovariance = geographic_msgs::msg::GeoPoseWithCovarianceStamped; using PoseWithCovariance = geometry_msgs::msg::PoseWithCovarianceStamped; - using MapProjectorInfo = map_interface::MapProjectorInfo; + using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; public: explicit GeoPoseProjector(const rclcpp::NodeOptions & options); diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml index d1ffc4ca4aef5..83a961a322c6a 100644 --- a/localization/autoware_pose_initializer/package.xml +++ b/localization/autoware_pose_initializer/package.xml @@ -19,11 +19,11 @@ ament_cmake autoware_cmake + autoware_component_interface_specs autoware_localization_util autoware_map_height_fitter autoware_motion_utils autoware_universe_utils - component_interface_specs component_interface_utils geometry_msgs rclcpp diff --git a/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp index 630635da870b0..525ebfea4f07d 100644 --- a/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp +++ b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp @@ -14,7 +14,7 @@ #include "ekf_localization_trigger_module.hpp" -#include +#include #include #include @@ -23,7 +23,7 @@ namespace autoware::pose_initializer { using ServiceException = component_interface_utils::ServiceException; -using Initialize = localization_interface::Initialize; +using Initialize = autoware::component_interface_specs::localization::Initialize; EkfLocalizationTriggerModule::EkfLocalizationTriggerModule(rclcpp::Node * node) : node_(node) { diff --git a/localization/autoware_pose_initializer/src/gnss_module.cpp b/localization/autoware_pose_initializer/src/gnss_module.cpp index c5fd1490b271e..6d3979f2675ec 100644 --- a/localization/autoware_pose_initializer/src/gnss_module.cpp +++ b/localization/autoware_pose_initializer/src/gnss_module.cpp @@ -14,7 +14,7 @@ #include "gnss_module.hpp" -#include +#include #include #include @@ -37,7 +37,7 @@ void GnssModule::on_pose(PoseWithCovarianceStamped::ConstSharedPtr msg) geometry_msgs::msg::PoseWithCovarianceStamped GnssModule::get_pose() { - using Initialize = localization_interface::Initialize; + using Initialize = autoware::component_interface_specs::localization::Initialize; if (!pose_) { throw component_interface_utils::ServiceException( diff --git a/localization/autoware_pose_initializer/src/localization_module.cpp b/localization/autoware_pose_initializer/src/localization_module.cpp index 0b2a63a55447b..10345d2a39757 100644 --- a/localization/autoware_pose_initializer/src/localization_module.cpp +++ b/localization/autoware_pose_initializer/src/localization_module.cpp @@ -14,7 +14,7 @@ #include "localization_module.hpp" -#include +#include #include #include @@ -23,7 +23,7 @@ namespace autoware::pose_initializer { using ServiceException = component_interface_utils::ServiceException; -using Initialize = localization_interface::Initialize; +using Initialize = autoware::component_interface_specs::localization::Initialize; using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; LocalizationModule::LocalizationModule(rclcpp::Node * node, const std::string & service_name) diff --git a/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp index 5acf0909d21cf..39cb0f247c27f 100644 --- a/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp +++ b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp @@ -14,7 +14,7 @@ #include "ndt_localization_trigger_module.hpp" -#include +#include #include #include @@ -23,7 +23,7 @@ namespace autoware::pose_initializer { using ServiceException = component_interface_utils::ServiceException; -using Initialize = localization_interface::Initialize; +using Initialize = autoware::component_interface_specs::localization::Initialize; NdtLocalizationTriggerModule::NdtLocalizationTriggerModule(rclcpp::Node * node) : node_(node) { diff --git a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp index b9a6a66590b78..20922e4d46747 100644 --- a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp +++ b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp @@ -17,8 +17,8 @@ #include "autoware/localization_util/diagnostics_module.hpp" +#include #include -#include #include #include @@ -42,8 +42,8 @@ class PoseInitializer : public rclcpp::Node private: using ServiceException = component_interface_utils::ServiceException; - using Initialize = localization_interface::Initialize; - using State = localization_interface::InitializationState; + using Initialize = autoware::component_interface_specs::localization::Initialize; + using State = autoware::component_interface_specs::localization::InitializationState; using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; rclcpp::CallbackGroup::SharedPtr group_srv_; diff --git a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp index feb7483f37811..7abfd119ae412 100644 --- a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp @@ -17,7 +17,7 @@ #include "rclcpp/rclcpp.hpp" -#include +#include #include #include @@ -34,7 +34,7 @@ class MapProjectionLoader : public rclcpp::Node explicit MapProjectionLoader(const rclcpp::NodeOptions & options); private: - using MapProjectorInfo = map_interface::MapProjectorInfo; + using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; component_interface_utils::Publisher::SharedPtr publisher_; }; } // namespace autoware::map_projection_loader diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml index ca25cbf728d26..d58d4191300a3 100644 --- a/map/autoware_map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -16,8 +16,8 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_specs autoware_lanelet2_extension - component_interface_specs component_interface_utils rclcpp rclcpp_components diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp index e38d65201ee56..8f182e13ca346 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp +++ b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp @@ -15,8 +15,8 @@ #ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ #define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ +#include #include -#include #include #include @@ -44,7 +44,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node const rclcpp::Time & now); private: - using MapProjectorInfo = map_interface::MapProjectorInfo; + using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; void on_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg); diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml index b8f92504a8b99..6ab72f3d5f95b 100644 --- a/map/map_loader/package.xml +++ b/map/map_loader/package.xml @@ -19,10 +19,10 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_specs autoware_geography_utils autoware_lanelet2_extension autoware_map_msgs - component_interface_specs component_interface_utils fmt geometry_msgs diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp index 52c60a612d1bd..f26f9c8eb6dde 100644 --- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp +++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp @@ -30,7 +30,7 @@ << std::endl; \ } -#include +#include #include #include diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml index f2aa5513ee81a..898c78391fb72 100644 --- a/planning/autoware_planning_test_manager/package.xml +++ b/planning/autoware_planning_test_manager/package.xml @@ -13,6 +13,7 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_specs autoware_control_msgs autoware_lanelet2_extension autoware_map_msgs @@ -23,7 +24,6 @@ autoware_test_utils autoware_universe_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils lanelet2_io nav_msgs diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp index e551aedab8cf5..0f3437a2a8881 100644 --- a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp +++ b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp @@ -14,7 +14,7 @@ #ifndef AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_ #define AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_ -#include +#include #include #include @@ -47,7 +47,7 @@ class GNSSPoser : public rclcpp::Node explicit GNSSPoser(const rclcpp::NodeOptions & node_options); private: - using MapProjectorInfo = map_interface::MapProjectorInfo; + using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; void callback_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg); void callback_nav_sat_fix(const sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_fix_msg_ptr); diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml index 7d7fb27777fed..6565148df73cd 100644 --- a/sensing/autoware_gnss_poser/package.xml +++ b/sensing/autoware_gnss_poser/package.xml @@ -19,9 +19,9 @@ libboost-dev + autoware_component_interface_specs autoware_geography_utils autoware_sensing_msgs - component_interface_specs component_interface_utils geographic_msgs geographiclib diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml index 5c6e10a73fa9c..4c9664912db40 100644 --- a/system/autoware_default_adapi/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -15,13 +15,13 @@ autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs + autoware_component_interface_specs autoware_geography_utils autoware_motion_utils autoware_planning_msgs autoware_system_msgs autoware_vehicle_info_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils diagnostic_graph_utils geographic_msgs diff --git a/system/autoware_default_adapi/src/fail_safe.hpp b/system/autoware_default_adapi/src/fail_safe.hpp index 268fc6d4d95e4..7b42b97205672 100644 --- a/system/autoware_default_adapi/src/fail_safe.hpp +++ b/system/autoware_default_adapi/src/fail_safe.hpp @@ -15,8 +15,8 @@ #ifndef FAIL_SAFE_HPP_ #define FAIL_SAFE_HPP_ +#include #include -#include #include #include @@ -34,7 +34,7 @@ class FailSafeNode : public rclcpp::Node private: using MrmState = autoware_ad_api::fail_safe::MrmState::Message; Pub pub_mrm_state_; - Sub sub_mrm_state_; + Sub sub_mrm_state_; MrmState prev_state_; void on_state(const MrmState::ConstSharedPtr msg); }; diff --git a/system/autoware_default_adapi/src/localization.hpp b/system/autoware_default_adapi/src/localization.hpp index d9104f393f712..dbbc106621156 100644 --- a/system/autoware_default_adapi/src/localization.hpp +++ b/system/autoware_default_adapi/src/localization.hpp @@ -15,8 +15,8 @@ #ifndef LOCALIZATION_HPP_ #define LOCALIZATION_HPP_ +#include #include -#include #include // This file should be included after messages. @@ -34,8 +34,8 @@ class LocalizationNode : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr group_cli_; Srv srv_initialize_; Pub pub_state_; - Cli cli_initialize_; - Sub sub_state_; + Cli cli_initialize_; + Sub sub_state_; void on_initialize( const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req, diff --git a/system/autoware_default_adapi/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp index 87d4df371abb7..2073b1dad9f77 100644 --- a/system/autoware_default_adapi/src/motion.cpp +++ b/system/autoware_default_adapi/src/motion.cpp @@ -121,7 +121,8 @@ void MotionNode::update_pause(const State state) void MotionNode::change_pause(bool pause) { if (!is_calling_set_pause_ && cli_set_pause_->service_is_ready()) { - const auto req = std::make_shared(); + const auto req = + std::make_shared(); req->pause = pause; is_calling_set_pause_ = true; cli_set_pause_->async_send_request(req, [this](auto) { is_calling_set_pause_ = false; }); @@ -133,14 +134,15 @@ void MotionNode::on_timer() update_state(); } -void MotionNode::on_is_paused(const control_interface::IsPaused::Message::ConstSharedPtr msg) +void MotionNode::on_is_paused( + const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg) { is_paused_ = msg->data; update_state(); } void MotionNode::on_is_start_requested( - const control_interface::IsStartRequested::Message::ConstSharedPtr msg) + const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr msg) { is_start_requested_ = msg->data; update_state(); diff --git a/system/autoware_default_adapi/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp index 043eb6568e141..3854753a39cc7 100644 --- a/system/autoware_default_adapi/src/motion.hpp +++ b/system/autoware_default_adapi/src/motion.hpp @@ -15,9 +15,9 @@ #ifndef MOTION_HPP_ #define MOTION_HPP_ +#include #include #include -#include #include #include #include @@ -39,9 +39,9 @@ class MotionNode : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr group_cli_; Srv srv_accept_; Pub pub_state_; - Cli cli_set_pause_; - Sub sub_is_paused_; - Sub sub_is_start_requested_; + Cli cli_set_pause_; + Sub sub_is_paused_; + Sub sub_is_start_requested_; enum class State { Unknown, Pausing, Paused, Starting, Resuming, Resumed, Moving }; State state_; @@ -57,9 +57,11 @@ class MotionNode : public rclcpp::Node void update_pause(const State state); void change_pause(bool pause); void on_timer(); - void on_is_paused(const control_interface::IsPaused::Message::ConstSharedPtr msg); + void on_is_paused( + const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg); void on_is_start_requested( - const control_interface::IsStartRequested::Message::ConstSharedPtr msg); + const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr + msg); void on_accept( const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr req, const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res); diff --git a/system/autoware_default_adapi/src/operation_mode.hpp b/system/autoware_default_adapi/src/operation_mode.hpp index 3b139ad875b8d..c76cd5f92cdf0 100644 --- a/system/autoware_default_adapi/src/operation_mode.hpp +++ b/system/autoware_default_adapi/src/operation_mode.hpp @@ -15,8 +15,8 @@ #ifndef OPERATION_MODE_HPP_ #define OPERATION_MODE_HPP_ +#include #include -#include #include #include @@ -45,8 +45,10 @@ class OperationModeNode : public rclcpp::Node using ChangeToAutonomous = autoware_ad_api::operation_mode::ChangeToAutonomous; using ChangeToLocal = autoware_ad_api::operation_mode::ChangeToLocal; using ChangeToRemote = autoware_ad_api::operation_mode::ChangeToRemote; - using OperationModeRequest = system_interface::ChangeOperationMode::Service::Request; - using AutowareControlRequest = system_interface::ChangeAutowareControl::Service::Request; + using OperationModeRequest = + autoware::component_interface_specs::system::ChangeOperationMode::Service::Request; + using AutowareControlRequest = + autoware::component_interface_specs::system::ChangeAutowareControl::Service::Request; using OperationModeAvailability = tier4_system_msgs::msg::OperationModeAvailability; OperationModeState::Message curr_state_; @@ -62,9 +64,9 @@ class OperationModeNode : public rclcpp::Node Srv srv_remote_mode_; Srv srv_enable_control_; Srv srv_disable_control_; - Sub sub_state_; - Cli cli_mode_; - Cli cli_control_; + Sub sub_state_; + Cli cli_mode_; + Cli cli_control_; rclcpp::Subscription::SharedPtr sub_availability_; void on_change_to_stop( diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp index c92bac2f5f139..2b4eaae0e2afb 100644 --- a/system/autoware_default_adapi/src/perception.cpp +++ b/system/autoware_default_adapi/src/perception.cpp @@ -50,7 +50,8 @@ uint8_t PerceptionNode::mapping( } void PerceptionNode::object_recognize( - const perception_interface::ObjectRecognition::Message::ConstSharedPtr msg) + const autoware::component_interface_specs::perception::ObjectRecognition::Message::ConstSharedPtr + msg) { DynamicObjectArray::Message objects; objects.header = msg->header; diff --git a/system/autoware_default_adapi/src/perception.hpp b/system/autoware_default_adapi/src/perception.hpp index 4eb83c57293ba..af551d874663b 100644 --- a/system/autoware_default_adapi/src/perception.hpp +++ b/system/autoware_default_adapi/src/perception.hpp @@ -15,8 +15,8 @@ #ifndef PERCEPTION_HPP_ #define PERCEPTION_HPP_ +#include #include -#include #include #include @@ -41,8 +41,9 @@ class PerceptionNode : public rclcpp::Node private: Pub pub_object_recognized_; - Sub sub_object_recognized_; - void object_recognize(const perception_interface::ObjectRecognition::Message::ConstSharedPtr msg); + Sub sub_object_recognized_; + void object_recognize(const autoware::component_interface_specs::perception::ObjectRecognition:: + Message::ConstSharedPtr msg); uint8_t mapping( std::unordered_map hash_map, uint8_t input, uint8_t default_value); }; diff --git a/system/autoware_default_adapi/src/planning.hpp b/system/autoware_default_adapi/src/planning.hpp index f67de9f7b9221..50e044bec018c 100644 --- a/system/autoware_default_adapi/src/planning.hpp +++ b/system/autoware_default_adapi/src/planning.hpp @@ -15,10 +15,10 @@ #ifndef PLANNING_HPP_ #define PLANNING_HPP_ +#include +#include #include #include -#include -#include #include #include @@ -40,8 +40,8 @@ class PlanningNode : public rclcpp::Node using SteeringFactorArray = autoware_adapi_v1_msgs::msg::SteeringFactorArray; Pub pub_velocity_factors_; Pub pub_steering_factors_; - Sub sub_trajectory_; - Sub sub_kinematic_state_; + Sub sub_trajectory_; + Sub sub_kinematic_state_; std::vector::SharedPtr> sub_velocity_factors_; std::vector::SharedPtr> sub_steering_factors_; std::vector velocity_factors_; @@ -49,8 +49,8 @@ class PlanningNode : public rclcpp::Node rclcpp::TimerBase::SharedPtr timer_; using VehicleStopChecker = autoware::motion_utils::VehicleStopCheckerBase; - using Trajectory = planning_interface::Trajectory::Message; - using KinematicState = localization_interface::KinematicState::Message; + using Trajectory = autoware::component_interface_specs::planning::Trajectory::Message; + using KinematicState = autoware::component_interface_specs::localization::KinematicState::Message; void on_trajectory(const Trajectory::ConstSharedPtr msg); void on_kinematic_state(const KinematicState::ConstSharedPtr msg); void on_timer(); diff --git a/system/autoware_default_adapi/src/routing.cpp b/system/autoware_default_adapi/src/routing.cpp index 767cfc37d3f25..bdb745b0e0dac 100644 --- a/system/autoware_default_adapi/src/routing.cpp +++ b/system/autoware_default_adapi/src/routing.cpp @@ -74,7 +74,8 @@ RoutingNode::RoutingNode(const rclcpp::NodeOptions & options) : Node("routing", void RoutingNode::change_stop_mode() { - using OperationModeRequest = system_interface::ChangeOperationMode::Service::Request; + using OperationModeRequest = + autoware::component_interface_specs::system::ChangeOperationMode::Service::Request; if (is_auto_mode_) { const auto req = std::make_shared(); req->mode = OperationModeRequest::STOP; diff --git a/system/autoware_default_adapi/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp index 9033373c3a064..b78237697dcf0 100644 --- a/system/autoware_default_adapi/src/routing.hpp +++ b/system/autoware_default_adapi/src/routing.hpp @@ -15,9 +15,9 @@ #ifndef ROUTING_HPP_ #define ROUTING_HPP_ +#include +#include #include -#include -#include #include #include @@ -33,9 +33,9 @@ class RoutingNode : public rclcpp::Node explicit RoutingNode(const rclcpp::NodeOptions & options); private: - using OperationModeState = system_interface::OperationModeState; - using State = planning_interface::RouteState; - using Route = planning_interface::LaneletRoute; + using OperationModeState = autoware::component_interface_specs::system::OperationModeState; + using State = autoware::component_interface_specs::planning::RouteState; + using Route = autoware::component_interface_specs::planning::LaneletRoute; rclcpp::CallbackGroup::SharedPtr group_cli_; Pub pub_state_; @@ -45,13 +45,13 @@ class RoutingNode : public rclcpp::Node Srv srv_change_route_points_; Srv srv_change_route_; Srv srv_clear_route_; - Sub sub_state_; - Sub sub_route_; - Cli cli_set_waypoint_route_; - Cli cli_set_lanelet_route_; - Cli cli_clear_route_; - Cli cli_operation_mode_; - Sub sub_operation_mode_; + Sub sub_state_; + Sub sub_route_; + Cli cli_set_waypoint_route_; + Cli cli_set_lanelet_route_; + Cli cli_clear_route_; + Cli cli_operation_mode_; + Sub sub_operation_mode_; bool is_auto_mode_; State::Message state_; diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp index 5421f382795ef..a38bf9cb9a9b3 100644 --- a/system/autoware_default_adapi/src/vehicle.cpp +++ b/system/autoware_default_adapi/src/vehicle.cpp @@ -24,13 +24,14 @@ namespace autoware::default_adapi { -using GearReport = vehicle_interface::GearStatus::Message; +using GearReport = autoware::component_interface_specs::vehicle::GearStatus::Message; using ApiGear = autoware_adapi_v1_msgs::msg::Gear; -using TurnIndicatorsReport = vehicle_interface::TurnIndicatorStatus::Message; +using TurnIndicatorsReport = + autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message; using ApiTurnIndicator = autoware_adapi_v1_msgs::msg::TurnIndicators; -using HazardLightsReport = vehicle_interface::HazardLightStatus::Message; +using HazardLightsReport = autoware::component_interface_specs::vehicle::HazardLightStatus::Message; using ApiHazardLight = autoware_adapi_v1_msgs::msg::HazardLights; -using MapProjectorInfo = map_interface::MapProjectorInfo::Message; +using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo::Message; std::unordered_map gear_type_ = { {GearReport::NONE, ApiGear::UNKNOWN}, {GearReport::NEUTRAL, ApiGear::NEUTRAL}, @@ -89,19 +90,22 @@ uint8_t VehicleNode::mapping( } void VehicleNode::kinematic_state( - const localization_interface::KinematicState::Message::ConstSharedPtr msg_ptr) + const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr + msg_ptr) { kinematic_state_msgs_ = msg_ptr; } void VehicleNode::acceleration_status( - const localization_interface::Acceleration::Message::ConstSharedPtr msg_ptr) + const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr + msg_ptr) { acceleration_msgs_ = msg_ptr; } void VehicleNode::steering_status( - const vehicle_interface::SteeringStatus::Message::ConstSharedPtr msg_ptr) + const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr + msg_ptr) { steering_status_msgs_ = msg_ptr; } @@ -122,7 +126,7 @@ void VehicleNode::hazard_light_status(const HazardLightsReport::ConstSharedPtr m } void VehicleNode::energy_status( - const vehicle_interface::EnergyStatus::Message::ConstSharedPtr msg_ptr) + const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr msg_ptr) { energy_status_msgs_ = msg_ptr; } diff --git a/system/autoware_default_adapi/src/vehicle.hpp b/system/autoware_default_adapi/src/vehicle.hpp index 5e3818340b819..ad03aac9116ea 100644 --- a/system/autoware_default_adapi/src/vehicle.hpp +++ b/system/autoware_default_adapi/src/vehicle.hpp @@ -15,10 +15,10 @@ #ifndef VEHICLE_HPP_ #define VEHICLE_HPP_ +#include +#include +#include #include -#include -#include -#include #include #include @@ -42,37 +42,57 @@ class VehicleNode : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr group_cli_; Pub pub_kinematics_; Pub pub_status_; - Sub sub_kinematic_state_; - Sub sub_acceleration_; - Sub sub_steering_; - Sub sub_gear_state_; - Sub sub_turn_indicator_; - Sub sub_hazard_light_; - Sub sub_energy_level_; - Sub sub_map_projector_info_; + Sub sub_kinematic_state_; + Sub sub_acceleration_; + Sub sub_steering_; + Sub sub_gear_state_; + Sub sub_turn_indicator_; + Sub sub_hazard_light_; + Sub sub_energy_level_; + Sub sub_map_projector_info_; rclcpp::TimerBase::SharedPtr timer_; - localization_interface::KinematicState::Message::ConstSharedPtr kinematic_state_msgs_; - localization_interface::Acceleration::Message::ConstSharedPtr acceleration_msgs_; - vehicle_interface::SteeringStatus::Message::ConstSharedPtr steering_status_msgs_; - vehicle_interface::GearStatus::Message::ConstSharedPtr gear_status_msgs_; - vehicle_interface::TurnIndicatorStatus::Message::ConstSharedPtr turn_indicator_status_msgs_; - vehicle_interface::HazardLightStatus::Message::ConstSharedPtr hazard_light_status_msgs_; - vehicle_interface::EnergyStatus::Message::ConstSharedPtr energy_status_msgs_; - map_interface::MapProjectorInfo::Message::ConstSharedPtr map_projector_info_; + autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr + kinematic_state_msgs_; + autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr + acceleration_msgs_; + autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr + steering_status_msgs_; + autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr + gear_status_msgs_; + autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr + turn_indicator_status_msgs_; + autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr + hazard_light_status_msgs_; + autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr + energy_status_msgs_; + autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr + map_projector_info_; void kinematic_state( - const localization_interface::KinematicState::Message::ConstSharedPtr msg_ptr); + const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr + msg_ptr); void acceleration_status( - const localization_interface::Acceleration::Message::ConstSharedPtr msg_ptr); - void steering_status(const vehicle_interface::SteeringStatus::Message::ConstSharedPtr msg_ptr); - void gear_status(const vehicle_interface::GearStatus::Message::ConstSharedPtr msg_ptr); + const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr + msg_ptr); + void steering_status( + const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr + msg_ptr); + void gear_status( + const autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr + msg_ptr); void turn_indicator_status( - const vehicle_interface::TurnIndicatorStatus::Message::ConstSharedPtr msg_ptr); - void map_projector_info(const map_interface::MapProjectorInfo::Message::ConstSharedPtr msg_ptr); + const autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr + msg_ptr); + void map_projector_info( + const autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr + msg_ptr); void hazard_light_status( - const vehicle_interface::HazardLightStatus::Message::ConstSharedPtr msg_ptr); - void energy_status(const vehicle_interface::EnergyStatus::Message::ConstSharedPtr msg_ptr); + const autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr + msg_ptr); + void energy_status( + const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr + msg_ptr); uint8_t mapping( std::unordered_map hash_map, uint8_t input, uint8_t default_value); void publish_kinematics(); diff --git a/system/autoware_default_adapi/src/vehicle_door.cpp b/system/autoware_default_adapi/src/vehicle_door.cpp index e897bc37eff42..259ef907097de 100644 --- a/system/autoware_default_adapi/src/vehicle_door.cpp +++ b/system/autoware_default_adapi/src/vehicle_door.cpp @@ -30,10 +30,12 @@ VehicleDoorNode::VehicleDoorNode(const rclcpp::NodeOptions & options) adaptor.init_sub(sub_status_, this, &VehicleDoorNode::on_status); } -void VehicleDoorNode::on_status(vehicle_interface::DoorStatus::Message::ConstSharedPtr msg) +void VehicleDoorNode::on_status( + autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg) { utils::notify( - pub_status_, status_, *msg, utils::ignore_stamp); + pub_status_, status_, *msg, + utils::ignore_stamp); } } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/vehicle_door.hpp b/system/autoware_default_adapi/src/vehicle_door.hpp index 8f6c2da83247d..9b04b08adb438 100644 --- a/system/autoware_default_adapi/src/vehicle_door.hpp +++ b/system/autoware_default_adapi/src/vehicle_door.hpp @@ -15,8 +15,8 @@ #ifndef VEHICLE_DOOR_HPP_ #define VEHICLE_DOOR_HPP_ +#include #include -#include #include #include @@ -33,15 +33,16 @@ class VehicleDoorNode : public rclcpp::Node explicit VehicleDoorNode(const rclcpp::NodeOptions & options); private: - void on_status(vehicle_interface::DoorStatus::Message::ConstSharedPtr msg); + void on_status( + autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg); rclcpp::CallbackGroup::SharedPtr group_cli_; Srv srv_command_; Srv srv_layout_; Pub pub_status_; - Cli cli_command_; - Cli cli_layout_; - Sub sub_status_; - std::optional status_; + Cli cli_command_; + Cli cli_layout_; + Sub sub_status_; + std::optional status_; }; } // namespace autoware::default_adapi From e1bc982aa6607558130aa09a18a509e44481bd41 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Tue, 29 Oct 2024 19:24:42 +0900 Subject: [PATCH 311/701] feat(autoware_motion_utils): add spherical linear interpolator (#9175) Signed-off-by: Y.Hisaki --- .../trajectory_container/interpolator.hpp | 1 + .../detail/interpolator_mixin.hpp | 10 +-- .../interpolator/spherical_linear.hpp | 73 +++++++++++++++++++ .../interpolator/spherical_linear.cpp | 64 ++++++++++++++++ .../test_interpolator.cpp | 51 +++++++++++++ 5 files changed, 191 insertions(+), 8 deletions(-) create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/spherical_linear.hpp create mode 100644 common/autoware_motion_utils/src/trajectory_container/interpolator/spherical_linear.cpp diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp index a6a0c69744301..beb3b9c7ead3e 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp @@ -18,5 +18,6 @@ #include #include #include +#include #include #endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp index d3957567c49b5..c5446e945a799 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp @@ -49,7 +49,7 @@ struct InterpolatorMixin : public InterpolatorInterface { private: std::vector bases_; - std::vector values_; + std::vector values_; public: [[nodiscard]] Builder & set_bases(const Eigen::Ref & bases) @@ -64,18 +64,12 @@ struct InterpolatorMixin : public InterpolatorInterface return *this; } - [[nodiscard]] Builder & set_values(const std::vector & values) + [[nodiscard]] Builder & set_values(const std::vector & values) { values_ = values; return *this; } - [[nodiscard]] Builder & set_values(const Eigen::Ref & values) - { - values_ = std::vector(values.begin(), values.end()); - return *this; - } - template [[nodiscard]] std::optional build(Args &&... args) { diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/spherical_linear.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/spherical_linear.hpp new file mode 100644 index 0000000000000..6e47fb856e5b9 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/spherical_linear.hpp @@ -0,0 +1,73 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__SPHERICAL_LINEAR_HPP_ +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__SPHERICAL_LINEAR_HPP_ + +#include "autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp" + +#include + +#include + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +/** + * @brief Class for SphericalLinear interpolation. + * + * This class provides methods to perform SphericalLinear interpolation on a set of data points. + */ +class SphericalLinear +: public detail::InterpolatorMixin +{ +private: + std::vector quaternions_; + + /** + * @brief Build the interpolator with the given values. + * + * @param bases The bases values. + * @param values The values to interpolate. + * @return True if the interpolator was built successfully, false otherwise. + */ + void build_impl( + const std::vector & bases, + const std::vector & quaternions) override; + + /** + * @brief Compute the interpolated value at the given point. + * + * @param s The point at which to compute the interpolated value. + * @return The interpolated value. + */ + [[nodiscard]] geometry_msgs::msg::Quaternion compute_impl(const double & s) const override; + +public: + /** + * @brief Default constructor. + */ + SphericalLinear() = default; + + /** + * @brief Get the minimum number of required points for the interpolator. + * + * @return The minimum number of required points. + */ + [[nodiscard]] size_t minimum_required_points() const override; +}; + +} // namespace autoware::motion_utils::trajectory_container::interpolator + +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__SPHERICAL_LINEAR_HPP_ diff --git a/common/autoware_motion_utils/src/trajectory_container/interpolator/spherical_linear.cpp b/common/autoware_motion_utils/src/trajectory_container/interpolator/spherical_linear.cpp new file mode 100644 index 0000000000000..33aaea718376d --- /dev/null +++ b/common/autoware_motion_utils/src/trajectory_container/interpolator/spherical_linear.cpp @@ -0,0 +1,64 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/motion_utils/trajectory_container/interpolator/spherical_linear.hpp" + +#include + +#include + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +void SphericalLinear::build_impl( + const std::vector & bases, + const std::vector & quaternions) +{ + this->bases_ = bases; + this->quaternions_ = quaternions; +} + +geometry_msgs::msg::Quaternion SphericalLinear::compute_impl(const double & s) const +{ + const int32_t idx = this->get_index(s); + const double x0 = this->bases_.at(idx); + const double x1 = this->bases_.at(idx + 1); + const geometry_msgs::msg::Quaternion y0 = this->quaternions_.at(idx); + const geometry_msgs::msg::Quaternion y1 = this->quaternions_.at(idx + 1); + + // Spherical linear interpolation (Slerp) + const double t = (s - x0) / (x1 - x0); + + // Convert quaternions to Eigen vectors for calculation + Eigen::Quaterniond q0(y0.w, y0.x, y0.y, y0.z); + Eigen::Quaterniond q1(y1.w, y1.x, y1.y, y1.z); + + // Perform Slerp + Eigen::Quaterniond q_slerp = q0.slerp(t, q1); + + // Convert the result back to geometry_msgs::msg::Quaternion + geometry_msgs::msg::Quaternion result; + result.w = q_slerp.w(); + result.x = q_slerp.x(); + result.y = q_slerp.y(); + result.z = q_slerp.z(); + + return result; +} + +size_t SphericalLinear::minimum_required_points() const +{ + return 2; +} +} // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp b/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp index 82c387c416436..0b6747adedcb7 100644 --- a/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp +++ b/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp @@ -12,8 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/motion_utils/trajectory_container/interpolator/spherical_linear.hpp" + #include +#include + #include #include @@ -71,3 +75,50 @@ template class TestInterpolator< autoware::motion_utils::trajectory_container::interpolator::NearestNeighbor>; template class TestInterpolator< autoware::motion_utils::trajectory_container::interpolator::Stairstep>; + +/* + * Test SphericalLinear interpolator + */ + +geometry_msgs::msg::Quaternion create_quaternion(double w, double x, double y, double z) +{ + geometry_msgs::msg::Quaternion q; + q.w = w; + q.x = x; + q.y = y; + q.z = z; + return q; +} + +TEST(TestSphericalLinearInterpolator, compute) +{ + using autoware::motion_utils::trajectory_container::interpolator::SphericalLinear; + + std::vector bases = {0.0, 1.0}; + std::vector quaternions = { + create_quaternion(1.0, 0.0, 0.0, 0.0), create_quaternion(0.0, 1.0, 0.0, 0.0)}; + + auto interpolator = + autoware::motion_utils::trajectory_container::interpolator::SphericalLinear::Builder() + .set_bases(bases) + .set_values(quaternions) + .build(); + + if (!interpolator) { + FAIL(); + } + + double s = 0.5; + geometry_msgs::msg::Quaternion result = interpolator->compute(s); + + // Expected values (from SLERP calculation) + double expected_w = std::sqrt(2.0) / 2.0; + double expected_x = std::sqrt(2.0) / 2.0; + double expected_y = 0.0; + double expected_z = 0.0; + + EXPECT_NEAR(result.w, expected_w, 1e-6); + EXPECT_NEAR(result.x, expected_x, 1e-6); + EXPECT_NEAR(result.y, expected_y, 1e-6); + EXPECT_NEAR(result.z, expected_z, 1e-6); +} From b6f9ef8667929dead0a74ffdca0ff768bf61b1b3 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Tue, 29 Oct 2024 20:12:57 +0900 Subject: [PATCH 312/701] fix: fix internal door interface qos (#9144) Signed-off-by: Takagi, Isamu --- .../include/autoware/component_interface_specs/vehicle.hpp | 2 +- simulator/vehicle_door_simulator/src/dummy_doors.cpp | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp index 945853d8f532e..6c071299faae8 100644 --- a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp @@ -92,7 +92,7 @@ struct DoorStatus static constexpr char name[] = "/vehicle/doors/status"; static constexpr size_t depth = 1; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; - static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; } // namespace autoware::component_interface_specs::vehicle diff --git a/simulator/vehicle_door_simulator/src/dummy_doors.cpp b/simulator/vehicle_door_simulator/src/dummy_doors.cpp index b78ca9973e7e1..cad0aa721dc73 100644 --- a/simulator/vehicle_door_simulator/src/dummy_doors.cpp +++ b/simulator/vehicle_door_simulator/src/dummy_doors.cpp @@ -29,7 +29,8 @@ DummyDoors::DummyDoors() : Node("dummy_doors") srv_layout_ = create_service( "~/doors/layout", std::bind(&DummyDoors::on_layout, this, _1, _2)); - pub_status_ = create_publisher("~/doors/status", rclcpp::QoS(1)); + pub_status_ = + create_publisher("~/doors/status", rclcpp::QoS(1).transient_local()); const auto period = rclcpp::Rate(5.0).period(); timer_ = rclcpp::create_timer(this, get_clock(), period, [this]() { on_timer(); }); From 9805f1fbb81d45dc947fdf43d3bf16e831ecdf76 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 29 Oct 2024 12:57:57 +0100 Subject: [PATCH 313/701] refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (#9170) Signed-off-by: Esteve Fernandez --- .../grid_map_utils}/polygon_iterator.hpp | 6 +++--- common/autoware_grid_map_utils/src/polygon_iterator.cpp | 2 +- common/autoware_grid_map_utils/test/benchmark.cpp | 2 +- .../autoware_grid_map_utils/test/test_polygon_iterator.cpp | 2 +- .../src/elevation_map_loader_node.cpp | 2 +- .../src/occluded_crosswalk.cpp | 2 +- .../src/grid_utils.hpp | 2 +- .../src/occupancy_grid_utils.cpp | 2 +- 8 files changed, 10 insertions(+), 10 deletions(-) rename common/autoware_grid_map_utils/include/{autoware_grid_map_utils => autoware/grid_map_utils}/polygon_iterator.hpp (96%) diff --git a/common/autoware_grid_map_utils/include/autoware_grid_map_utils/polygon_iterator.hpp b/common/autoware_grid_map_utils/include/autoware/grid_map_utils/polygon_iterator.hpp similarity index 96% rename from common/autoware_grid_map_utils/include/autoware_grid_map_utils/polygon_iterator.hpp rename to common/autoware_grid_map_utils/include/autoware/grid_map_utils/polygon_iterator.hpp index 9bb82e7be50ea..a7bea0bcc8348 100644 --- a/common/autoware_grid_map_utils/include/autoware_grid_map_utils/polygon_iterator.hpp +++ b/common/autoware_grid_map_utils/include/autoware/grid_map_utils/polygon_iterator.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ -#define AUTOWARE_GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ +#ifndef AUTOWARE__GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ +#define AUTOWARE__GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ #include "grid_map_core/TypeDefs.hpp" @@ -126,4 +126,4 @@ class PolygonIterator }; } // namespace autoware::grid_map_utils -#endif // AUTOWARE_GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ +#endif // AUTOWARE__GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ diff --git a/common/autoware_grid_map_utils/src/polygon_iterator.cpp b/common/autoware_grid_map_utils/src/polygon_iterator.cpp index 1360ad6e6c255..d3c5de85c2ed2 100644 --- a/common/autoware_grid_map_utils/src/polygon_iterator.cpp +++ b/common/autoware_grid_map_utils/src/polygon_iterator.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_grid_map_utils/polygon_iterator.hpp" +#include "autoware/grid_map_utils/polygon_iterator.hpp" #include "grid_map_core/GridMap.hpp" #include "grid_map_core/Polygon.hpp" diff --git a/common/autoware_grid_map_utils/test/benchmark.cpp b/common/autoware_grid_map_utils/test/benchmark.cpp index a63ed9985fef1..1498b1f7f4e0b 100644 --- a/common/autoware_grid_map_utils/test/benchmark.cpp +++ b/common/autoware_grid_map_utils/test/benchmark.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_grid_map_utils/polygon_iterator.hpp" +#include "autoware/grid_map_utils/polygon_iterator.hpp" #include "grid_map_core/TypeDefs.hpp" #include "grid_map_cv/GridMapCvConverter.hpp" #include "grid_map_cv/GridMapCvProcessing.hpp" diff --git a/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp b/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp index 1646586853800..36cff60fc4abe 100644 --- a/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp +++ b/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_grid_map_utils/polygon_iterator.hpp" +#include "autoware/grid_map_utils/polygon_iterator.hpp" #include #include diff --git a/perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp b/perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp index 8eed81155cf96..969c287622757 100644 --- a/perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp +++ b/perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp @@ -16,7 +16,7 @@ #include "elevation_map_loader_node.hpp" -#include "autoware_grid_map_utils/polygon_iterator.hpp" +#include "autoware/grid_map_utils/polygon_iterator.hpp" #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp index 112c54a38139f..3428fa4e53edb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp @@ -14,7 +14,7 @@ #include "occluded_crosswalk.hpp" -#include +#include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp index d716f17751dc0..78abb19b3fdbe 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp @@ -17,9 +17,9 @@ #include #include +#include #include #include -#include #include #include #include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/occupancy_grid_utils.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/occupancy_grid_utils.cpp index 424734801eb8f..19ee076b978ac 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/occupancy_grid_utils.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/occupancy_grid_utils.cpp @@ -14,7 +14,7 @@ #include "occupancy_grid_utils.hpp" -#include +#include #include #include #include From 5813967a97dd5f0d67e68d620b167fa089fd9d24 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 29 Oct 2024 21:03:10 +0900 Subject: [PATCH 314/701] chore(intersection): print RTC status in diagnostic debug message (#9007) debug(intersection): print RTC status in diagnostic message Signed-off-by: Mamoru Sobue --- .../src/decision_result.cpp | 31 +++++++++++-------- .../src/decision_result.hpp | 3 +- .../src/scene_intersection.cpp | 3 +- 3 files changed, 22 insertions(+), 15 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp index 5d1f1a1fcfca2..c211e1f43783e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp @@ -16,53 +16,58 @@ namespace autoware::behavior_velocity_planner { -std::string formatDecisionResult(const DecisionResult & decision_result) +std::string formatDecisionResult( + const DecisionResult & decision_result, const bool int_activated, const bool int_occ_activated) { + const auto rtc = "RTC: intersection activated_ = " + std::to_string(int_activated) + + ", intersection_occlusion activated_ = " + std::to_string(int_occ_activated) + + "\n"; + if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "InternalError because " + state.error; + return rtc + "InternalError because " + state.error; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "OverPassJudge:\nsafety_report:" + state.safety_report + + return rtc + "OverPassJudge:\nsafety_report:" + state.safety_report + "\nevasive_report:" + state.evasive_report; } if (std::holds_alternative(decision_result)) { - return "StuckStop"; + return rtc + "StuckStop"; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "YieldStuckStop:\nocclusion_report:" + state.occlusion_report; + return rtc + "YieldStuckStop:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "NonOccludedCollisionStop:\nocclusion_report:" + state.occlusion_report; + return rtc + "NonOccludedCollisionStop:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "FirstWaitBeforeOcclusion:\nocclusion_report:" + state.occlusion_report; + return rtc + "FirstWaitBeforeOcclusion:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "PeekingTowardOcclusion:\nocclusion_report:" + state.occlusion_report; + return rtc + "PeekingTowardOcclusion:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "OccludedCollisionStop:\nocclusion_report:" + state.occlusion_report; + return rtc + "OccludedCollisionStop:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "OccludedAbsenceTrafficLight:\nocclusion_report:" + state.occlusion_report; + return rtc + "OccludedAbsenceTrafficLight:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "Safe:\nocclusion_report:" + state.occlusion_report; + return rtc + "Safe:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "FullyPrioritized\nsafety_report:" + state.safety_report; + return rtc + "FullyPrioritized\nsafety_report:" + state.safety_report; } - return ""; + return rtc + ""; } } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.hpp index 26f78616a7b61..743829c814440 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.hpp @@ -170,7 +170,8 @@ using DecisionResult = std::variant< FullyPrioritized //! only detect vehicles violating traffic rules >; -std::string formatDecisionResult(const DecisionResult & decision_result); +std::string formatDecisionResult( + const DecisionResult & decision_result, const bool int_activated, const bool int_occ_activated); } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp index 9037a416e6e46..844380f135559 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -103,7 +103,8 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason * { const std::string decision_type = - "intersection" + std::to_string(module_id_) + " : " + formatDecisionResult(decision_result); + "intersection" + std::to_string(module_id_) + " : " + + formatDecisionResult(decision_result, activated_, occlusion_activated_); internal_debug_data_.decision_type = decision_type; } From 443afea689b8ee4708b5a0484fd27c863643af16 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 29 Oct 2024 21:45:13 +0900 Subject: [PATCH 315/701] fix(costmap_generator): fix include for grid_map_utils (#9179) Signed-off-by: Maxime CLEMENT --- .../nodes/autoware_costmap_generator/object_map_utils.cpp | 2 +- .../nodes/autoware_costmap_generator/objects_to_costmap.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp index d8413f197a349..1b8764e4d3f1c 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp @@ -32,7 +32,7 @@ #include "autoware_costmap_generator/object_map_utils.hpp" -#include +#include #include #include diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp index 149586edeea28..efa0ea6651632 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp @@ -44,7 +44,7 @@ #include "autoware_costmap_generator/objects_to_costmap.hpp" -#include +#include #include #include From ef2777ca9600354d165a6d5e086cda39a192b062 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Wed, 30 Oct 2024 00:14:44 +0000 Subject: [PATCH 316/701] chore: update CODEOWNERS (#9182) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/CODEOWNERS | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 768f59e832c05..acfab7a2821fa 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,6 +1,7 @@ ### Automatically generated from package.xml ### common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_component_interface_tools/** isamu.takagi@tier4.jp common/autoware_geography_utils/** koji.minoda@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp @@ -21,7 +22,6 @@ common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpe common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp -common/component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp @@ -43,6 +43,7 @@ common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.j common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp From 23de3bdc12c4f6439726e2d4528104e0c1c02d19 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 30 Oct 2024 11:34:37 +0900 Subject: [PATCH 317/701] refactor(autoware_test_utils): sanitizer header (#9174) Signed-off-by: Mamoru Sobue --- .../autoware_test_utils.hpp | 20 ++----------------- .../autoware_test_utils/mock_data_parser.hpp | 1 + .../src/autoware_test_utils.cpp | 14 ++++++++++--- .../src/mock_data_parser.cpp | 7 ------- .../autoware_planning_test_manager_utils.hpp | 1 + 5 files changed, 15 insertions(+), 28 deletions(-) diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp index 6b00a0dbdd4dc..e87de2d15e75c 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp @@ -15,36 +15,25 @@ #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ -#include -#include -#include -#include -#include -#include +#include #include #include #include #include #include +#include #include #include #include #include #include -#include -#include #include #include #include #include -#include -#include #include -#include -#include -#include #include #include @@ -65,18 +54,13 @@ using autoware_planning_msgs::msg::Trajectory; using tier4_planning_msgs::msg::PathPointWithLaneId; using tier4_planning_msgs::msg::PathWithLaneId; using RouteSections = std::vector; -using autoware::universe_utils::createPoint; -using autoware::universe_utils::createQuaternionFromRPY; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using geometry_msgs::msg::PoseStamped; -using geometry_msgs::msg::TransformStamped; using nav_msgs::msg::OccupancyGrid; using nav_msgs::msg::Odometry; -using sensor_msgs::msg::PointCloud2; using tf2_msgs::msg::TFMessage; using tier4_planning_msgs::msg::Scenario; -using unique_identifier_msgs::msg::UUID; /** * @brief Creates a Pose message with the specified position and orientation. diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp index 754f809fa3f23..6e9902a3ec3b5 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ #define AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ +#include #include #include #include diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp index 2c06d00263562..f62c47b67fda6 100644 --- a/common/autoware_test_utils/src/autoware_test_utils.cpp +++ b/common/autoware_test_utils/src/autoware_test_utils.cpp @@ -13,20 +13,28 @@ // limitations under the License. #include +#include +#include +#include +#include +#include #include #include -#include -#include -#include #include #include +#include +#include #include namespace autoware::test_utils { +using autoware::universe_utils::createPoint; +using autoware::universe_utils::createQuaternionFromRPY; +using geometry_msgs::msg::TransformStamped; + geometry_msgs::msg::Pose createPose( double x, double y, double z, double roll, double pitch, double yaw) { diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp index e9c7911af0e44..b4b2a77edbc07 100644 --- a/common/autoware_test_utils/src/mock_data_parser.cpp +++ b/common/autoware_test_utils/src/mock_data_parser.cpp @@ -16,13 +16,6 @@ #include -#include -#include -#include -#include - -#include - #include #include #include diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp index 9a93b647dac02..63ad2ecce09cc 100644 --- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp +++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_ #define AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_ #include +#include #include #include From 6716a14ecb123ebb667bfe1908df2ffddc5a3849 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 30 Oct 2024 12:25:30 +0900 Subject: [PATCH 318/701] feat(autoware_test_utils): add parser for PredictedObjects (#9176) feat(autoware_test_utils): add parser for predicted objects Signed-off-by: Mamoru Sobue --- .../autoware_test_utils/mock_data_parser.hpp | 35 +++ .../src/mock_data_parser.cpp | 100 +++++++ .../test/test_mock_data_parser.cpp | 260 ++++++++++++++++++ 3 files changed, 395 insertions(+) diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp index 6e9902a3ec3b5..714d6d6710b32 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp @@ -15,7 +15,10 @@ #ifndef AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ #define AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ +#include + #include +#include #include #include #include @@ -33,9 +36,16 @@ namespace autoware::test_utils { +using autoware_perception_msgs::msg::ObjectClassification; +using autoware_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObjectKinematics; +using autoware_perception_msgs::msg::PredictedObjects; +using autoware_perception_msgs::msg::PredictedPath; +using autoware_perception_msgs::msg::Shape; using autoware_planning_msgs::msg::LaneletPrimitive; using autoware_planning_msgs::msg::LaneletRoute; using autoware_planning_msgs::msg::LaneletSegment; +using builtin_interfaces::msg::Duration; using geometry_msgs::msg::Accel; using geometry_msgs::msg::AccelWithCovariance; using geometry_msgs::msg::AccelWithCovarianceStamped; @@ -48,6 +58,7 @@ using nav_msgs::msg::Odometry; using std_msgs::msg::Header; using tier4_planning_msgs::msg::PathPointWithLaneId; using tier4_planning_msgs::msg::PathWithLaneId; +using unique_identifier_msgs::msg::UUID; /** * @brief Parses a YAML node and converts it into an object of type T. @@ -65,6 +76,9 @@ T parse(const YAML::Node & node); template <> Header parse(const YAML::Node & node); +template <> +Duration parse(const YAML::Node & node); + template <> std::vector parse(const YAML::Node & node); @@ -107,6 +121,27 @@ std::vector parse(const YAML::Node & node); template <> std::vector parse(const YAML::Node & node); +template <> +UUID parse(const YAML::Node & node); + +template <> +PredictedPath parse(const YAML::Node & node); + +template <> +ObjectClassification parse(const YAML::Node & node); + +template <> +Shape parse(const YAML::Node & node); + +template <> +PredictedObjectKinematics parse(const YAML::Node & node); + +template <> +PredictedObject parse(const YAML::Node & node); + +template <> +PredictedObjects parse(const YAML::Node & node); + /** * @brief Parses a YAML file and converts it into an object of type T. * diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp index b4b2a77edbc07..b876f1312a3e6 100644 --- a/common/autoware_test_utils/src/mock_data_parser.cpp +++ b/common/autoware_test_utils/src/mock_data_parser.cpp @@ -35,6 +35,15 @@ Header parse(const YAML::Node & node) return header; } +template <> +Duration parse(const YAML::Node & node) +{ + Duration msg; + msg.sec = node["sec"].as(); + msg.nanosec = node["nanosec"].as(); + return msg; +} + template <> std::array parse(const YAML::Node & node) { @@ -221,6 +230,97 @@ std::vector parse>(const Y return path_points; } +template <> +UUID parse(const YAML::Node & node) +{ + UUID msg; + const auto uuid = node["uuid"].as>(); + for (unsigned i = 0; i < 16; ++i) { + msg.uuid.at(i) = uuid.at(i); + } + return msg; +} + +template <> +ObjectClassification parse(const YAML::Node & node) +{ + ObjectClassification msg; + msg.label = node["label"].as(); + msg.probability = node["probability"].as(); + return msg; +} + +template <> +Shape parse(const YAML::Node & node) +{ + Shape msg; + msg.type = node["type"].as(); + for (const auto & footprint_point_node : node["footprint"]["points"]) { + geometry_msgs::msg::Point32 point; + point.x = footprint_point_node["x"].as(); + point.y = footprint_point_node["y"].as(); + point.z = footprint_point_node["z"].as(); + msg.footprint.points.push_back(point); + } + msg.dimensions.x = node["dimensions"]["x"].as(); + msg.dimensions.y = node["dimensions"]["y"].as(); + msg.dimensions.z = node["dimensions"]["z"].as(); + return msg; +} + +template <> +PredictedPath parse(const YAML::Node & node) +{ + PredictedPath path; + for (const auto & path_pose_node : node["path"]) { + path.path.push_back(parse(path_pose_node)); + } + path.time_step = parse(node["time_step"]); + path.confidence = node["confidence"].as(); + return path; +} + +template <> +PredictedObjectKinematics parse(const YAML::Node & node) +{ + PredictedObjectKinematics msg; + msg.initial_pose_with_covariance = + parse(node["initial_pose_with_covariance"]); + msg.initial_twist_with_covariance = + parse(node["initial_twist_with_covariance"]); + msg.initial_acceleration_with_covariance = + parse(node["initial_acceleration_with_covariance"]); + for (const auto & predicted_path_node : node["predicted_paths"]) { + msg.predicted_paths.push_back(parse(predicted_path_node)); + } + return msg; +} + +template <> +PredictedObject parse(const YAML::Node & node) +{ + PredictedObject msg; + msg.object_id = parse(node["object_id"]); + msg.existence_probability = node["existence_probability"].as(); + for (const auto & classification_node : node["classification"]) { + msg.classification.push_back(parse(classification_node)); + } + msg.kinematics = parse(node["kinematics"]); + msg.shape = parse(node["shape"]); + return msg; +} + +template <> +PredictedObjects parse(const YAML::Node & node) +{ + PredictedObjects msg; + msg.header = parse
(node["header"]); + for (const auto & object_node : node["objects"]) { + msg.objects.push_back(parse(object_node)); + } + return msg; +} + template <> LaneletRoute parse(const std::string & filename) { diff --git a/common/autoware_test_utils/test/test_mock_data_parser.cpp b/common/autoware_test_utils/test/test_mock_data_parser.cpp index 64f7c59ba53f3..b69dda17709ef 100644 --- a/common/autoware_test_utils/test/test_mock_data_parser.cpp +++ b/common/autoware_test_utils/test/test_mock_data_parser.cpp @@ -210,6 +210,244 @@ const char g_complete_yaml[] = R"( - 0.00000 - 0.00000 - 0.00100000 +dynamic_object: + header: + stamp: + sec: 348 + nanosec: 334918846 + frame_id: map + objects: + - object_id: + uuid: + - 233 + - 198 + - 185 + - 212 + - 242 + - 49 + - 117 + - 203 + - 59 + - 251 + - 182 + - 168 + - 212 + - 44 + - 72 + - 132 + existence_probability: 0.00000 + classification: + - label: 1 + probability: 1.00000 + kinematics: + initial_pose_with_covariance: + pose: + position: + x: 89616.1 + y: 42266.7 + z: 7.68325 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.882204 + w: 0.470868 + covariance: + - 0.0554278 + - -0.0187974 + - 0.000225879 + - 0.00000 + - 0.00000 + - 0.00000 + - -0.0187974 + - 0.0707268 + - -0.00540388 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.000225879 + - -0.00540388 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 1.40223e-05 + - 0.000549930 + - 0.00000 + - 0.00000 + - 0.00000 + - 1.40223e-05 + - 0.0100000 + - 0.00310481 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.000549930 + - 0.00310481 + - 0.00264476 + initial_twist_with_covariance: + twist: + linear: + x: 8.01698 + y: -0.00152468 + z: 0.00000 + angular: + x: 0.00000 + y: 0.00000 + z: -0.00138607 + covariance: + - 0.618731 + - -0.000104739 + - 0.00000 + - 0.00000 + - 0.00000 + - -9.52170e-05 + - -0.000104739 + - 0.00158706 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00144278 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - -9.52170e-05 + - 0.00144278 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00131162 + initial_acceleration_with_covariance: + accel: + linear: + x: 0.00000 + y: 0.00000 + z: 0.00000 + angular: + x: 0.00000 + y: 0.00000 + z: 0.00000 + covariance: + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + predicted_paths: + - path: + - position: + x: 89557.0 + y: 42366.9 + z: 6.82636 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.871073 + w: 0.491154 + - position: + x: 89554.9 + y: 42370.3 + z: 6.81617 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.870056 + w: 0.492952 + time_step: + sec: 0 + nanosec: 500000000 + confidence: 0.0476190 + - path: + - position: + x: 89616.1 + y: 42266.7 + z: 7.68325 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.882204 + w: 0.470868 + - position: + x: 89613.8 + y: 42270.0 + z: 7.27790 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.882135 + w: 0.470997 + time_step: + sec: 0 + nanosec: 500000000 + confidence: 0.158730 + shape: + type: 0 + footprint: + points: [] + dimensions: + x: 4.40000 + y: 1.85564 + z: 1.74263 +traffic_signal: + stamp: + sec: 1730184609 + nanosec: 816275300 + traffic_light_groups: + - traffic_light_group_id: 10352 + elements: + - color: 3 + shape: 1 + status: 2 + confidence: 1.00000 )"; TEST(ParseFunctions, CompleteYAMLTest) @@ -281,6 +519,28 @@ TEST(ParseFunctions, CompleteYAMLTest) EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.angular.y, 2.00); EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.angular.z, 3.00); EXPECT_DOUBLE_EQ(self_acceleration.accel.covariance[0], 0.001); + + const auto dynamic_object = parse(config["dynamic_object"]); + EXPECT_EQ(dynamic_object.header.stamp.sec, 348); + EXPECT_EQ(dynamic_object.header.stamp.nanosec, 334918846); + EXPECT_EQ(dynamic_object.header.frame_id, "map"); + EXPECT_EQ(dynamic_object.objects.at(0).object_id.uuid.at(0), 233); + EXPECT_EQ(dynamic_object.objects.at(0).classification.at(0).label, 1); + EXPECT_DOUBLE_EQ(dynamic_object.objects.at(0).classification.at(0).probability, 1.0); + EXPECT_DOUBLE_EQ( + dynamic_object.objects.at(0).kinematics.initial_pose_with_covariance.pose.position.x, 89616.1); + EXPECT_DOUBLE_EQ( + dynamic_object.objects.at(0).kinematics.initial_twist_with_covariance.twist.linear.x, 8.01698); + EXPECT_DOUBLE_EQ( + dynamic_object.objects.at(0).kinematics.predicted_paths.at(0).path.at(0).position.x, 89557.0); + EXPECT_EQ(dynamic_object.objects.at(0).kinematics.predicted_paths.at(0).time_step.sec, 0); + EXPECT_EQ( + dynamic_object.objects.at(0).kinematics.predicted_paths.at(0).time_step.nanosec, 500000000); + EXPECT_FLOAT_EQ( + dynamic_object.objects.at(0).kinematics.predicted_paths.at(0).confidence, 0.0476190); + EXPECT_EQ(dynamic_object.objects.at(0).shape.type, 0); + EXPECT_DOUBLE_EQ(dynamic_object.objects.at(0).shape.dimensions.x, 4.40000); + EXPECT_DOUBLE_EQ(dynamic_object.objects.at(0).shape.dimensions.y, 1.85564); } TEST(ParseFunction, CompleteFromFilename) From dbffbc9d45e98991de7bb3dba75429cf12692590 Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Wed, 30 Oct 2024 13:17:13 +0900 Subject: [PATCH 319/701] test(autoware_traffic_light_arbiter): add node test (#8747) * add test dir Signed-off-by: MasatoSaeki * update test node Signed-off-by: MasatoSaeki * style(pre-commit): autofix * refactor Signed-off-by: MasatoSaeki * style(pre-commit): autofix * add std namespace to size_t Signed-off-by: MasatoSaeki * fix typo Signed-off-by: MasatoSaeki --------- Signed-off-by: MasatoSaeki Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../CMakeLists.txt | 6 + .../package.xml | 1 + .../test/test_node.cpp | 276 ++++++++++++++++++ 3 files changed, 283 insertions(+) create mode 100644 perception/autoware_traffic_light_arbiter/test/test_node.cpp diff --git a/perception/autoware_traffic_light_arbiter/CMakeLists.txt b/perception/autoware_traffic_light_arbiter/CMakeLists.txt index 607f5f2e55b7a..503312b17d6dd 100644 --- a/perception/autoware_traffic_light_arbiter/CMakeLists.txt +++ b/perception/autoware_traffic_light_arbiter/CMakeLists.txt @@ -13,4 +13,10 @@ rclcpp_components_register_nodes(${PROJECT_NAME} "autoware::TrafficLightArbiter" ) +if(BUILD_TESTING) + ament_auto_add_gtest(${PROJECT_NAME}_test + test/test_node.cpp + ) +endif() + ament_auto_package(INSTALL_TO_SHARE launch config) diff --git a/perception/autoware_traffic_light_arbiter/package.xml b/perception/autoware_traffic_light_arbiter/package.xml index 3ebf90c9ba6e8..3636726bc6972 100644 --- a/perception/autoware_traffic_light_arbiter/package.xml +++ b/perception/autoware_traffic_light_arbiter/package.xml @@ -14,6 +14,7 @@ autoware_lanelet2_extension autoware_map_msgs autoware_perception_msgs + autoware_test_utils lanelet2_core rclcpp rclcpp_components diff --git a/perception/autoware_traffic_light_arbiter/test/test_node.cpp b/perception/autoware_traffic_light_arbiter/test/test_node.cpp new file mode 100644 index 0000000000000..6450787a9411e --- /dev/null +++ b/perception/autoware_traffic_light_arbiter/test/test_node.cpp @@ -0,0 +1,276 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/traffic_light_arbiter/traffic_light_arbiter.hpp" + +#include +#include + +#include + +#include +#include + +using autoware::TrafficLightArbiter; +using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin; +using TrafficSignalArray = autoware_perception_msgs::msg::TrafficLightGroupArray; +using TrafficSignal = autoware_perception_msgs::msg::TrafficLightGroup; +using TrafficElement = autoware_perception_msgs::msg::TrafficLightElement; + +std::shared_ptr generateTestManager() +{ + auto test_manager = std::make_shared(); + return test_manager; +} + +std::shared_ptr generateNode() +{ + auto node_options = rclcpp::NodeOptions{}; + const auto package_dir = + ament_index_cpp::get_package_share_directory("autoware_traffic_light_arbiter"); + node_options.arguments( + {"--ros-args", "--params-file", package_dir + "/config/traffic_light_arbiter.param.yaml"}); + return std::make_shared(node_options); +} + +void generateMap(LaneletMapBin & vector_map_msg) +{ + const auto package_dir = ament_index_cpp::get_package_share_directory("autoware_test_utils"); + lanelet::LaneletMapPtr vector_map_ptr = + autoware::test_utils::loadMap(package_dir + "/test_map/lanelet2_map.osm"); + vector_map_msg.header.frame_id = "base_link"; + lanelet::utils::conversion::toBinMsg(vector_map_ptr, &vector_map_msg); +} + +void generatePerceptionMsg(TrafficSignalArray & perception_msg) +{ + // traffic_light_group_id 1: 1012 + { + TrafficSignal traffic_light_groups; + traffic_light_groups.traffic_light_group_id = 1012; + // elements 1: red + circle + { + TrafficElement elements; + elements.color = TrafficElement::RED; + elements.shape = TrafficElement::CIRCLE; + elements.status = TrafficElement::SOLID_ON; + elements.confidence = 0.9; + traffic_light_groups.elements.push_back(elements); + } + // elements 2: green + right arrow + { + TrafficElement elements; + elements.color = TrafficElement::GREEN; + elements.shape = TrafficElement::RIGHT_ARROW; + elements.status = TrafficElement::SOLID_ON; + elements.confidence = 0.8; + traffic_light_groups.elements.push_back(elements); + } + perception_msg.traffic_light_groups.push_back(traffic_light_groups); + } +} + +void generateExternalMsg(TrafficSignalArray & external_msg) +{ + // traffic_light_group_id 1: 1012 + { + TrafficSignal traffic_light_groups; + traffic_light_groups.traffic_light_group_id = 1012; + // elements 1: green + circle + { + TrafficElement elements; + elements.color = TrafficElement::GREEN; + elements.shape = TrafficElement::CIRCLE; + elements.status = TrafficElement::SOLID_ON; + elements.confidence = 0.6; + traffic_light_groups.elements.push_back(elements); + } + // elements 2: green + right arrow + { + TrafficElement elements; + elements.color = TrafficElement::GREEN; + elements.shape = TrafficElement::RIGHT_ARROW; + elements.status = TrafficElement::SOLID_ON; + elements.confidence = 0.5; + traffic_light_groups.elements.push_back(elements); + } + external_msg.traffic_light_groups.push_back(traffic_light_groups); + } +} + +bool isMsgEqual(const TrafficSignalArray & input_msg, const TrafficSignalArray & gt_msg) +{ + // check number of groups + if (input_msg.traffic_light_groups.size() != gt_msg.traffic_light_groups.size()) { + return false; + } + + for (std::size_t group_idx = 0; group_idx < input_msg.traffic_light_groups.size(); ++group_idx) { + const auto & input_traffic_light_group = input_msg.traffic_light_groups.at(group_idx); + const auto & gt_traffic_light_group = gt_msg.traffic_light_groups.at(group_idx); + + // check traffic_light_group_id + if ( + input_traffic_light_group.traffic_light_group_id != + gt_traffic_light_group.traffic_light_group_id) { + return false; + } + + // check number of elements + if (input_traffic_light_group.elements.size() != gt_traffic_light_group.elements.size()) { + std::cout << input_traffic_light_group.elements.size() << std::endl; + std::cout << gt_traffic_light_group.elements.size() << std::endl; + return false; + } + + for (std::size_t element_idx = 0; element_idx < input_traffic_light_group.elements.size(); + ++element_idx) { + const auto & input_traffic_light_element = input_traffic_light_group.elements.at(element_idx); + const auto & gt_traffic_light_element = gt_traffic_light_group.elements.at(element_idx); + + // check color + if (input_traffic_light_element.color != gt_traffic_light_element.color) { + return false; + } + + // check shape + if (input_traffic_light_element.shape != gt_traffic_light_element.shape) { + return false; + } + + // check status + if (input_traffic_light_element.status != gt_traffic_light_element.status) { + return false; + } + + // check confidence + constexpr float error = std::numeric_limits::epsilon(); + if ( + std::fabs(input_traffic_light_element.confidence - gt_traffic_light_element.confidence) > + error) { + return false; + } + } + } + return true; +} + +TEST(TrafficLightArbiterTest, testTrafficSignalOnlyPerceptionMsg) +{ + rclcpp::init(0, nullptr); + const std::string input_map_topic = "/traffic_light_arbiter/sub/vector_map"; + const std::string input_perception_topic = + "/traffic_light_arbiter/sub/perception_traffic_signals"; + const std::string output_topic = "/traffic_light_arbiter/pub/traffic_signals"; + auto test_manager = generateTestManager(); + auto test_target_node = generateNode(); + + // map msg preparation + LaneletMapBin vector_map_msg; + generateMap(vector_map_msg); + + // perception msg preparation + TrafficSignalArray perception_msg; + generatePerceptionMsg(perception_msg); + + // test callback preparation + TrafficSignalArray latest_msg; + auto callback = [&latest_msg](const TrafficSignalArray::ConstSharedPtr msg) { + latest_msg = *msg; + }; + test_manager->set_subscriber(output_topic, callback); + + test_manager->test_pub_msg( + test_target_node, input_map_topic, vector_map_msg, rclcpp::QoS(1).transient_local()); + test_manager->test_pub_msg( + test_target_node, input_perception_topic, perception_msg); + + EXPECT_EQ(isMsgEqual(latest_msg, perception_msg), true); + rclcpp::shutdown(); +} + +TEST(TrafficLightArbiterTest, testTrafficSignalOnlyExternalMsg) +{ + rclcpp::init(0, nullptr); + const std::string input_map_topic = "/traffic_light_arbiter/sub/vector_map"; + const std::string input_external_topic = "/traffic_light_arbiter/sub/external_traffic_signals"; + const std::string output_topic = "/traffic_light_arbiter/pub/traffic_signals"; + auto test_manager = generateTestManager(); + auto test_target_node = generateNode(); + + // map msg preparation + LaneletMapBin vector_map_msg; + generateMap(vector_map_msg); + + // external msg preparation + TrafficSignalArray external_msg; + generateExternalMsg(external_msg); + + // test callback preparation + TrafficSignalArray latest_msg; + auto callback = [&latest_msg](const TrafficSignalArray::ConstSharedPtr msg) { + latest_msg = *msg; + }; + test_manager->set_subscriber(output_topic, callback); + + test_manager->test_pub_msg( + test_target_node, input_map_topic, vector_map_msg, rclcpp::QoS(1).transient_local()); + test_manager->test_pub_msg( + test_target_node, input_external_topic, external_msg); + + EXPECT_EQ(isMsgEqual(latest_msg, external_msg), true); + rclcpp::shutdown(); +} + +TEST(TrafficLightArbiterTest, testTrafficSignalBothMsg) +{ + rclcpp::init(0, nullptr); + const std::string input_map_topic = "/traffic_light_arbiter/sub/vector_map"; + const std::string input_perception_topic = + "/traffic_light_arbiter/sub/perception_traffic_signals"; + const std::string input_external_topic = "/traffic_light_arbiter/sub/external_traffic_signals"; + const std::string output_topic = "/traffic_light_arbiter/pub/traffic_signals"; + auto test_manager = generateTestManager(); + auto test_target_node = generateNode(); + + // map preparation + LaneletMapBin vector_map_msg; + generateMap(vector_map_msg); + + // perception preparation + TrafficSignalArray perception_msg; + generatePerceptionMsg(perception_msg); + + // external preparation + TrafficSignalArray external_msg; + generateExternalMsg(external_msg); + + // test callback preparation + TrafficSignalArray latest_msg; + auto callback = [&latest_msg](const TrafficSignalArray::ConstSharedPtr msg) { + latest_msg = *msg; + }; + test_manager->set_subscriber(output_topic, callback); + + test_manager->test_pub_msg( + test_target_node, input_map_topic, vector_map_msg, rclcpp::QoS(1).transient_local()); + test_manager->test_pub_msg( + test_target_node, input_external_topic, external_msg); + test_manager->test_pub_msg( + test_target_node, input_perception_topic, perception_msg); + + // latest_msg should be equal to perception_msg because it has higher confidence than external_msg + EXPECT_EQ(isMsgEqual(latest_msg, perception_msg), true); + rclcpp::shutdown(); +} From bc768162127c0606de85d394674d7d812753a4b9 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 30 Oct 2024 13:32:51 +0900 Subject: [PATCH 320/701] chore(collision_detector): add maintainer (#9184) add maintainer Signed-off-by: Go Sakayori --- control/autoware_collision_detector/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/control/autoware_collision_detector/package.xml b/control/autoware_collision_detector/package.xml index 05b4111c504c7..ff2facada87b4 100644 --- a/control/autoware_collision_detector/package.xml +++ b/control/autoware_collision_detector/package.xml @@ -7,6 +7,7 @@ Kyoichi Sugahara Go Sakayori + Tomohito Ando Apache License 2.0 From 77b11814cec8fff8b618fdbd37073b76397f8935 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 30 Oct 2024 13:37:30 +0900 Subject: [PATCH 321/701] fix(behavior_path_planner): suppress reseting root lanelet (#9129) fix(behavior_path_planner): suppress resseting root lanelet Signed-off-by: kosuke55 --- .../autoware/behavior_path_planner/planner_manager.hpp | 4 +++- .../src/behavior_path_planner_node.cpp | 2 +- .../src/planner_manager.cpp | 10 ++++++---- 3 files changed, 10 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp index 77f2ffc26f44d..0cb9c02ccbc4b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp @@ -551,8 +551,10 @@ class PlannerManager /** * @brief find and set the closest lanelet within the route to current route lanelet * @param planner data. + * @param is any approved module running. */ - void updateCurrentRouteLanelet(const std::shared_ptr & data); + void updateCurrentRouteLanelet( + const std::shared_ptr & data, const bool is_any_approved_module_running); void generateCombinedDrivableArea( BehaviorModuleOutput & output, const std::shared_ptr & data) const; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp index 2f9c82f46d3bc..d168361a19858 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp @@ -351,9 +351,9 @@ void BehaviorPathPlannerNode::run() if (!is_first_time && !has_same_route_id) { RCLCPP_INFO(get_logger(), "New uuid route is received. Resetting modules."); planner_manager_->reset(); + planner_manager_->resetCurrentRouteLanelet(planner_data_); planner_data_->prev_modified_goal.reset(); } - planner_manager_->resetCurrentRouteLanelet(planner_data_); } const auto controlled_by_autoware_autonomously = planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS && diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp index dc6f7552c5a61..ca83f6147b8c8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp @@ -135,7 +135,7 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & da const bool is_any_module_running = is_any_approved_module_running || is_any_candidate_module_running_or_idle; - updateCurrentRouteLanelet(data); + updateCurrentRouteLanelet(data, is_any_approved_module_running); const bool is_out_of_route = utils::isEgoOutOfRoute( data->self_odometry->pose.pose, current_route_lanelet_->value(), data->prev_modified_goal, @@ -228,7 +228,8 @@ void PlannerManager::generateCombinedDrivableArea( utils::extractObstaclesFromDrivableArea(output.path, di.obstacles); } -void PlannerManager::updateCurrentRouteLanelet(const std::shared_ptr & data) +void PlannerManager::updateCurrentRouteLanelet( + const std::shared_ptr & data, const bool is_any_approved_module_running) { const auto & route_handler = data->route_handler; const auto & pose = data->self_odometry->pose.pose; @@ -256,10 +257,11 @@ void PlannerManager::updateCurrentRouteLanelet(const std::shared_ptr Date: Wed, 30 Oct 2024 13:37:49 +0900 Subject: [PATCH 322/701] feat(mission_planner): reroute with current route start pose when triggered by modifed goal (#9136) * feat(mission_planner): reroute with current route start pose when triggered by modifed goal Signed-off-by: kosuke55 * check new ego goal is in original preffered lane as much as possible Signed-off-by: kosuke55 * check goal is in goal_lane Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../src/mission_planner/mission_planner.cpp | 25 ++++++++++++--- .../src/mission_planner/mission_planner.hpp | 4 +-- .../src/route_handler.cpp | 32 +++++++++++++++---- 3 files changed, 47 insertions(+), 14 deletions(-) diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp index bd7c8a63bb1d3..2b54160a81038 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp @@ -396,7 +396,8 @@ LaneletRoute MissionPlanner::create_route(const SetWaypointRoute::Request & req) const auto & uuid = req.uuid; const auto & allow_goal_modification = req.allow_modification; - return create_route(header, waypoints, goal_pose, uuid, allow_goal_modification); + return create_route( + header, waypoints, odometry_->pose.pose, goal_pose, uuid, allow_goal_modification); } LaneletRoute MissionPlanner::create_route(const PoseWithUuidStamped & msg) @@ -406,7 +407,21 @@ LaneletRoute MissionPlanner::create_route(const PoseWithUuidStamped & msg) const auto & uuid = msg.uuid; const auto & allow_goal_modification = current_route_->allow_modification; - return create_route(header, std::vector(), goal_pose, uuid, allow_goal_modification); + // NOTE: Reroute by modifed goal is assumed to be a slight modification near the goal lane. + // It is assumed that ego and goal are on the extension of the current route at least. + // Therefore, the start pose is the start pose of the current route if it exists. + // This prevents the route from becoming shorter due to reroute. + // Also, use start pose and waypoints that are on the preferred lanelet of the current route + // as much as possible. + // For this process, refer to RouteHandler::planPathLaneletsBetweenCheckpoints() or + // https://github.com/autowarefoundation/autoware.universe/pull/8238 too. + const auto & start_pose = current_route_ ? current_route_->start_pose : odometry_->pose.pose; + std::vector waypoints{}; + if (current_route_) { + waypoints.push_back(odometry_->pose.pose); + } + + return create_route(header, waypoints, start_pose, goal_pose, uuid, allow_goal_modification); } LaneletRoute MissionPlanner::create_route( @@ -425,11 +440,11 @@ LaneletRoute MissionPlanner::create_route( } LaneletRoute MissionPlanner::create_route( - const Header & header, const std::vector & waypoints, const Pose & goal_pose, - const UUID & uuid, const bool allow_goal_modification) + const Header & header, const std::vector & waypoints, const Pose & start_pose, + const Pose & goal_pose, const UUID & uuid, const bool allow_goal_modification) { PlannerPlugin::RoutePoints points; - points.push_back(odometry_->pose.pose); + points.push_back(start_pose); for (const auto & waypoint : waypoints) { points.push_back(transform_pose(waypoint, header)); } diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp index 99384e9ddeb3b..9342bc7840641 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp @@ -125,8 +125,8 @@ class MissionPlanner : public rclcpp::Node const Header & header, const std::vector & segments, const Pose & goal_pose, const UUID & uuid, const bool allow_goal_modification); LaneletRoute create_route( - const Header & header, const std::vector & waypoints, const Pose & goal_pose, - const UUID & uuid, const bool allow_goal_modification); + const Header & header, const std::vector & waypoints, const Pose & start_pose, + const Pose & goal_pose, const UUID & uuid, const bool allow_goal_modification); void publish_pose_log(const Pose & pose, const std::string & pose_type); diff --git a/planning/autoware_route_handler/src/route_handler.cpp b/planning/autoware_route_handler/src/route_handler.cpp index 616b91d1bc5f9..06dd7db7180da 100644 --- a/planning/autoware_route_handler/src/route_handler.cpp +++ b/planning/autoware_route_handler/src/route_handler.cpp @@ -1898,13 +1898,31 @@ bool RouteHandler::planPathLaneletsBetweenCheckpoints( std::remove_if( candidates.begin(), candidates.end(), [&](const auto & l) { return !isRoadLanelet(l); }), candidates.end()); - if (!lanelet::utils::query::getClosestLanelet(candidates, goal_checkpoint, &goal_lanelet)) { - RCLCPP_WARN_STREAM( - logger_, "Failed to find closest lanelet." - << std::endl - << " - start checkpoint: " << toString(start_checkpoint) << std::endl - << " - goal checkpoint: " << toString(goal_checkpoint) << std::endl); - return false; + // if there is a lanelet in candidates that is included in previous preferred lanelets, + // set it as goal_lanelet. + // this is to select the same lane as much as possible when rerouting with waypoints. + const auto findGoalClosestPreferredLanelet = [&]() -> std::optional { + lanelet::ConstLanelet closest_lanelet; + if (getClosestPreferredLaneletWithinRoute(goal_checkpoint, &closest_lanelet)) { + if (std::find(candidates.begin(), candidates.end(), closest_lanelet) != candidates.end()) { + if (lanelet::utils::isInLanelet(goal_checkpoint, closest_lanelet)) { + return closest_lanelet; + } + } + } + return std::nullopt; + }; + if (auto closest_lanelet = findGoalClosestPreferredLanelet()) { + goal_lanelet = closest_lanelet.value(); + } else { + if (!lanelet::utils::query::getClosestLanelet(candidates, goal_checkpoint, &goal_lanelet)) { + RCLCPP_WARN_STREAM( + logger_, "Failed to find closest lanelet." + << std::endl + << " - start checkpoint: " << toString(start_checkpoint) << std::endl + << " - goal checkpoint: " << toString(goal_checkpoint) << std::endl); + return false; + } } lanelet::Optional optional_route; From f3886e8c5cddc1fa0b18ae850dc5f2447b9a685a Mon Sep 17 00:00:00 2001 From: shulanbushangshu <102840938+shulanbushangshu@users.noreply.github.com> Date: Wed, 30 Oct 2024 15:30:09 +0800 Subject: [PATCH 323/701] fix: change remaning distance when the size of route is 1 (#8852) Signed-off-by: shulanbushangshu --- .../src/remaining_distance_time_calculator_node.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp index e507cc910cf86..383e85731604e 100644 --- a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp +++ b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp @@ -143,8 +143,9 @@ void RemainingDistanceTimeCalculatorNode::calculate_remaining_distance() for (auto & llt : remaining_shortest_path) { if (remaining_shortest_path.size() == 1) { - remaining_distance_ += autoware::universe_utils::calcDistance2d( - current_vehicle_pose_.position, goal_pose_.position); + auto arc_coord_cur = lanelet::utils::getArcCoordinates({llt}, current_vehicle_pose_); + auto arc_coord_goal = lanelet::utils::getArcCoordinates({llt}, goal_pose_); + remaining_distance_ += arc_coord_goal.length - arc_coord_cur.length; break; } From 6df4dea5a6cef5efb5e69a27ac0399cf50ee4a7d Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 30 Oct 2024 18:41:06 +0900 Subject: [PATCH 324/701] fix(autoware_traffic_light_arbiter): fix build error (#9186) fix build error Signed-off-by: Go Sakayori --- perception/autoware_traffic_light_arbiter/test/test_node.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/perception/autoware_traffic_light_arbiter/test/test_node.cpp b/perception/autoware_traffic_light_arbiter/test/test_node.cpp index 6450787a9411e..1419f8675d0fa 100644 --- a/perception/autoware_traffic_light_arbiter/test/test_node.cpp +++ b/perception/autoware_traffic_light_arbiter/test/test_node.cpp @@ -15,6 +15,7 @@ #include "autoware/traffic_light_arbiter/traffic_light_arbiter.hpp" #include +#include #include #include From dfe7108a69e76c182315fa9dfcab432632006394 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Wed, 30 Oct 2024 19:23:53 +0900 Subject: [PATCH 325/701] fix(autoware_route_handler): fix cppcheck unusedVariable (#9191) Signed-off-by: Ryuta Kambe --- planning/autoware_route_handler/src/route_handler.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/planning/autoware_route_handler/src/route_handler.cpp b/planning/autoware_route_handler/src/route_handler.cpp index 06dd7db7180da..ec5f7bb5e0080 100644 --- a/planning/autoware_route_handler/src/route_handler.cpp +++ b/planning/autoware_route_handler/src/route_handler.cpp @@ -1926,7 +1926,6 @@ bool RouteHandler::planPathLaneletsBetweenCheckpoints( } lanelet::Optional optional_route; - std::vector candidate_paths; lanelet::routing::LaneletPath shortest_path; bool is_route_found = false; From 68d3bcf24e2be0dd789a8d36318c884150bd25a1 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Wed, 30 Oct 2024 20:36:33 +0900 Subject: [PATCH 326/701] fix(autoware_behavior_path_planner): fix cppcheck unusedVariable (#9193) Signed-off-by: Ryuta Kambe --- .../autoware_behavior_path_planner/src/planner_manager.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp index ca83f6147b8c8..6281988036635 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp @@ -149,8 +149,6 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & da generateCombinedDrivableArea(result_output, data); return result_output; } - std::vector - deleted_modules; // store the scene modules deleted from approved modules SlotOutput result_output = SlotOutput{ getReferencePath(data), From 94b9ad0eb76fe1b824dec3ed5c0a27436a3b125b Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 30 Oct 2024 13:07:25 +0100 Subject: [PATCH 327/701] refactor(autoware_point_types): prefix namespace with autoware::point_types (#9169) Signed-off-by: Esteve Fernandez --- .../point_types}/types.hpp | 16 +++++------ .../test/test_point_types.cpp | 22 +++++++-------- .../src/lidar_marker_localizer.cpp | 28 +++++++++---------- ...test_distance_based_compare_map_filter.cpp | 6 ++-- ...l_based_approximate_compare_map_filter.cpp | 6 ++-- .../test_voxel_based_compare_map_filter.cpp | 6 ++-- ...oxel_distance_based_compare_map_filter.cpp | 6 ++-- ...est_voxel_grid_based_euclidean_cluster.cpp | 4 +-- .../src/pointpainting_fusion/node.cpp | 20 ++++++------- .../test/test_utils.cpp | 4 +-- .../preprocess/voxel_generator.hpp | 4 +-- .../autoware/lidar_transfusion/ros_utils.hpp | 12 ++++---- .../test/test_voxel_generator.cpp | 4 +-- .../test_low_intensity_cluster_filter.cpp | 8 +++--- .../concatenate_and_time_sync_nodelet.hpp | 4 +-- .../concatenate_pointclouds.hpp | 4 +-- .../ring_outlier_filter_node.hpp | 8 +++--- .../time_synchronizer_node.hpp | 4 +-- .../src/blockage_diag/blockage_diag_node.cpp | 4 +-- .../concatenate_and_time_sync_nodelet.cpp | 2 +- .../concatenate_pointclouds.cpp | 2 +- .../dual_return_outlier_filter_node.cpp | 6 ++-- .../ring_outlier_filter_node.cpp | 4 +-- .../time_synchronizer_node.cpp | 2 +- .../src/utility/memory.cpp | 18 ++++++------ 25 files changed, 102 insertions(+), 102 deletions(-) rename common/autoware_point_types/include/{autoware_point_types => autoware/point_types}/types.hpp (94%) diff --git a/common/autoware_point_types/include/autoware_point_types/types.hpp b/common/autoware_point_types/include/autoware/point_types/types.hpp similarity index 94% rename from common/autoware_point_types/include/autoware_point_types/types.hpp rename to common/autoware_point_types/include/autoware/point_types/types.hpp index a3b0670280530..0fde62222e276 100644 --- a/common/autoware_point_types/include/autoware_point_types/types.hpp +++ b/common/autoware_point_types/include/autoware/point_types/types.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_POINT_TYPES__TYPES_HPP_ -#define AUTOWARE_POINT_TYPES__TYPES_HPP_ +#ifndef AUTOWARE__POINT_TYPES__TYPES_HPP_ +#define AUTOWARE__POINT_TYPES__TYPES_HPP_ #include @@ -22,7 +22,7 @@ #include #include -namespace autoware_point_types +namespace autoware::point_types { template bool float_eq(const T a, const T b, const T eps = 10e-6) @@ -166,23 +166,23 @@ using PointXYZIRCAEDTGenerator = std::tuple< field_return_type_generator, field_channel_generator, field_azimuth_generator, field_elevation_generator, field_distance_generator, field_time_stamp_generator>; -} // namespace autoware_point_types +} // namespace autoware::point_types POINT_CLOUD_REGISTER_POINT_STRUCT( - autoware_point_types::PointXYZIRC, + autoware::point_types::PointXYZIRC, (float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)( std::uint8_t, return_type, return_type)(std::uint16_t, channel, channel)) POINT_CLOUD_REGISTER_POINT_STRUCT( - autoware_point_types::PointXYZIRADRT, + autoware::point_types::PointXYZIRADRT, (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(std::uint16_t, ring, ring)( float, azimuth, azimuth)(float, distance, distance)(std::uint8_t, return_type, return_type)( double, time_stamp, time_stamp)) POINT_CLOUD_REGISTER_POINT_STRUCT( - autoware_point_types::PointXYZIRCAEDT, + autoware::point_types::PointXYZIRCAEDT, (float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)( std::uint8_t, return_type, return_type)(std::uint16_t, channel, channel)(float, azimuth, azimuth)( float, elevation, elevation)(float, distance, distance)(std::uint32_t, time_stamp, time_stamp)) -#endif // AUTOWARE_POINT_TYPES__TYPES_HPP_ +#endif // AUTOWARE__POINT_TYPES__TYPES_HPP_ diff --git a/common/autoware_point_types/test/test_point_types.cpp b/common/autoware_point_types/test/test_point_types.cpp index 16887ac2aa498..08696a9948f60 100644 --- a/common/autoware_point_types/test/test_point_types.cpp +++ b/common/autoware_point_types/test/test_point_types.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include @@ -20,7 +20,7 @@ TEST(PointEquality, PointXYZI) { - using autoware_point_types::PointXYZI; + using autoware::point_types::PointXYZI; PointXYZI pt0{0, 1, 2, 3}; PointXYZI pt1{0, 1, 2, 3}; @@ -29,7 +29,7 @@ TEST(PointEquality, PointXYZI) TEST(PointEquality, PointXYZIRADRT) { - using autoware_point_types::PointXYZIRADRT; + using autoware::point_types::PointXYZIRADRT; PointXYZIRADRT pt0{0, 1, 2, 3, 4, 5, 6, 7, 8}; PointXYZIRADRT pt1{0, 1, 2, 3, 4, 5, 6, 7, 8}; @@ -38,7 +38,7 @@ TEST(PointEquality, PointXYZIRADRT) TEST(PointEquality, PointXYZIRCAEDT) { - using autoware_point_types::PointXYZIRCAEDT; + using autoware::point_types::PointXYZIRCAEDT; PointXYZIRCAEDT pt0{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; PointXYZIRCAEDT pt1{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; @@ -48,19 +48,19 @@ TEST(PointEquality, PointXYZIRCAEDT) TEST(PointEquality, FloatEq) { // test template - EXPECT_TRUE(autoware_point_types::float_eq(1, 1)); - EXPECT_TRUE(autoware_point_types::float_eq(1, 1)); + EXPECT_TRUE(autoware::point_types::float_eq(1, 1)); + EXPECT_TRUE(autoware::point_types::float_eq(1, 1)); // test floating point error - EXPECT_TRUE(autoware_point_types::float_eq(1, 1 + std::numeric_limits::epsilon())); + EXPECT_TRUE(autoware::point_types::float_eq(1, 1 + std::numeric_limits::epsilon())); // test difference of sign - EXPECT_FALSE(autoware_point_types::float_eq(2, -2)); - EXPECT_FALSE(autoware_point_types::float_eq(-2, 2)); + EXPECT_FALSE(autoware::point_types::float_eq(2, -2)); + EXPECT_FALSE(autoware::point_types::float_eq(-2, 2)); // small value difference - EXPECT_FALSE(autoware_point_types::float_eq(2, 2 + 10e-6)); + EXPECT_FALSE(autoware::point_types::float_eq(2, 2 + 10e-6)); // expect same value if epsilon is larger than difference - EXPECT_TRUE(autoware_point_types::float_eq(2, 2 + 10e-6, 10e-5)); + EXPECT_TRUE(autoware::point_types::float_eq(2, 2 + 10e-6, 10e-5)); } diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp index 06d2acf8a55fc..947ba02402697 100644 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp @@ -14,9 +14,9 @@ #include "lidar_marker_localizer.hpp" +#include #include #include -#include #include #include @@ -338,8 +338,8 @@ std::vector LidarMarkerLocalizer::detect_landmarks( // TODO(YamatoAndo) // Transform sensor_frame to base_link - pcl::PointCloud::Ptr points_ptr( - new pcl::PointCloud); + pcl::PointCloud::Ptr points_ptr( + new pcl::PointCloud); pcl::fromROSMsg(*points_msg_ptr, *points_ptr); if (points_ptr->empty()) { @@ -347,11 +347,11 @@ std::vector LidarMarkerLocalizer::detect_landmarks( return std::vector{}; } - std::vector> ring_points(128); + std::vector> ring_points(128); float min_x = std::numeric_limits::max(); float max_x = std::numeric_limits::lowest(); - for (const autoware_point_types::PointXYZIRC & point : points_ptr->points) { + for (const autoware::point_types::PointXYZIRC & point : points_ptr->points) { ring_points[point.channel].push_back(point); min_x = std::min(min_x, point.x); max_x = std::max(max_x, point.x); @@ -365,12 +365,12 @@ std::vector LidarMarkerLocalizer::detect_landmarks( std::vector min_y(bin_num, std::numeric_limits::max()); // for each channel - for (const pcl::PointCloud & one_ring : ring_points) { + for (const pcl::PointCloud & one_ring : ring_points) { std::vector intensity_sum(bin_num, 0.0); std::vector intensity_num(bin_num, 0); std::vector average_intensity(bin_num, 0.0); - for (const autoware_point_types::PointXYZIRC & point : one_ring.points) { + for (const autoware::point_types::PointXYZIRC & point : one_ring.points) { const int bin_index = static_cast((point.x - min_x) / param_.resolution); intensity_sum[bin_index] += point.intensity; intensity_num[bin_index]++; @@ -507,15 +507,15 @@ sensor_msgs::msg::PointCloud2::SharedPtr LidarMarkerLocalizer::extract_marker_po const geometry_msgs::msg::Pose marker_pose) const { // convert from ROSMsg to PCL - pcl::shared_ptr> points_ptr( - new pcl::PointCloud); + pcl::shared_ptr> points_ptr( + new pcl::PointCloud); pcl::fromROSMsg(*points_msg_ptr, *points_ptr); - pcl::shared_ptr> marker_points_ptr( - new pcl::PointCloud); + pcl::shared_ptr> marker_points_ptr( + new pcl::PointCloud); // extract marker pointcloud - for (const autoware_point_types::PointXYZIRC & point : points_ptr->points) { + for (const autoware::point_types::PointXYZIRC & point : points_ptr->points) { const double xy_distance = std::sqrt( std::pow(point.x - marker_pose.position.x, 2.0) + std::pow(point.y - marker_pose.position.y, 2.0)); @@ -546,8 +546,8 @@ void LidarMarkerLocalizer::save_detected_marker_log( marker_points_msg_sensor_frame_ptr); // convert from ROSMsg to PCL - pcl::shared_ptr> - marker_points_sensor_frame_ptr(new pcl::PointCloud); + pcl::shared_ptr> + marker_points_sensor_frame_ptr(new pcl::PointCloud); pcl::fromROSMsg(*marker_points_msg_sensor_frame_ptr, *marker_points_sensor_frame_ptr); // to csv format diff --git a/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp index 3d4ee272d7eaf..2ed66b9875ef8 100644 --- a/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp @@ -15,7 +15,7 @@ #include "../src/distance_based_compare_map_filter/node.hpp" #include -#include +#include #include #include @@ -24,8 +24,8 @@ #include using autoware::compare_map_segmentation::DistanceBasedCompareMapFilterComponent; -using autoware_point_types::PointXYZIRC; -using autoware_point_types::PointXYZIRCGenerator; +using autoware::point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRCGenerator; using point_cloud_msg_wrapper::PointCloud2Modifier; using sensor_msgs::msg::PointCloud2; diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp index e165efa640d15..816ba7e8174c7 100644 --- a/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp @@ -15,7 +15,7 @@ #include "../src/voxel_based_approximate_compare_map_filter/node.hpp" #include -#include +#include #include #include @@ -24,8 +24,8 @@ #include using autoware::compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent; -using autoware_point_types::PointXYZIRC; -using autoware_point_types::PointXYZIRCGenerator; +using autoware::point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRCGenerator; using point_cloud_msg_wrapper::PointCloud2Modifier; using sensor_msgs::msg::PointCloud2; diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp index 654d7443bd8d0..4fa0ab6321f1c 100644 --- a/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp @@ -15,7 +15,7 @@ #include "../src/voxel_based_compare_map_filter/node.hpp" #include -#include +#include #include #include @@ -24,8 +24,8 @@ #include using autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent; -using autoware_point_types::PointXYZIRC; -using autoware_point_types::PointXYZIRCGenerator; +using autoware::point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRCGenerator; using point_cloud_msg_wrapper::PointCloud2Modifier; using sensor_msgs::msg::PointCloud2; diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp index 4440a5eddc426..946eef9bd0a0e 100644 --- a/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp @@ -15,7 +15,7 @@ #include "../src/voxel_distance_based_compare_map_filter/node.hpp" #include -#include +#include #include #include @@ -24,8 +24,8 @@ #include using autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent; -using autoware_point_types::PointXYZIRC; -using autoware_point_types::PointXYZIRCGenerator; +using autoware::point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRCGenerator; using point_cloud_msg_wrapper::PointCloud2Modifier; using sensor_msgs::msg::PointCloud2; diff --git a/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp b/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp index 7d2edbe0de0d7..759e2b3653868 100644 --- a/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp +++ b/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp @@ -14,7 +14,7 @@ #include "autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" -#include +#include #include #include @@ -23,7 +23,7 @@ #include -using autoware_point_types::PointXYZI; +using autoware::point_types::PointXYZI; void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud) { pointcloud.fields.resize(4); diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp index 03a950f68bbd2..ba3f848a0e9a7 100644 --- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -14,7 +14,7 @@ #include "autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp" -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include #include @@ -293,15 +293,15 @@ void PointPaintingFusionNode::fuseOnSingleImage( // sensor_msgs::msg::PointCloud2 transformed_pointcloud; // tf2::doTransform(painted_pointcloud_msg, transformed_pointcloud, transform_stamped); - const auto x_offset = - painted_pointcloud_msg.fields.at(static_cast(autoware_point_types::PointXYZIRCIndex::X)) - .offset; - const auto y_offset = - painted_pointcloud_msg.fields.at(static_cast(autoware_point_types::PointXYZIRCIndex::Y)) - .offset; - const auto z_offset = - painted_pointcloud_msg.fields.at(static_cast(autoware_point_types::PointXYZIRCIndex::Z)) - .offset; + const auto x_offset = painted_pointcloud_msg.fields + .at(static_cast(autoware::point_types::PointXYZIRCIndex::X)) + .offset; + const auto y_offset = painted_pointcloud_msg.fields + .at(static_cast(autoware::point_types::PointXYZIRCIndex::Y)) + .offset; + const auto z_offset = painted_pointcloud_msg.fields + .at(static_cast(autoware::point_types::PointXYZIRCIndex::Z)) + .offset; const auto class_offset = painted_pointcloud_msg.fields.at(4).offset; const auto p_step = painted_pointcloud_msg.point_step; // projection matrix diff --git a/perception/autoware_image_projection_based_fusion/test/test_utils.cpp b/perception/autoware_image_projection_based_fusion/test/test_utils.cpp index 5fbd313d75dfe..ac179c66dd3d0 100644 --- a/perception/autoware_image_projection_based_fusion/test/test_utils.cpp +++ b/perception/autoware_image_projection_based_fusion/test/test_utils.cpp @@ -13,11 +13,11 @@ // limitations under the License. #include -#include +#include #include -using autoware_point_types::PointXYZI; +using autoware::point_types::PointXYZI; void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud) { diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp index 9f32c27a8841b..d420da6716cb1 100644 --- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp @@ -27,7 +27,7 @@ #include #endif -#include +#include #include @@ -39,7 +39,7 @@ namespace autoware::lidar_transfusion { constexpr std::size_t AFF_MAT_SIZE = 16; // 4x4 matrix -constexpr std::size_t MAX_CLOUD_STEP_SIZE = sizeof(autoware_point_types::PointXYZIRCAEDT); +constexpr std::size_t MAX_CLOUD_STEP_SIZE = sizeof(autoware::point_types::PointXYZIRCAEDT); class VoxelGenerator { diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp index 37b364ecf8a9d..c203693426ab3 100644 --- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp @@ -17,7 +17,7 @@ #include "autoware/lidar_transfusion/utils.hpp" -#include +#include #include #include @@ -45,10 +45,10 @@ namespace autoware::lidar_transfusion { using sensor_msgs::msg::PointField; -CHECK_FIELD(0, float, autoware_point_types::PointXYZIRCAEDT, x); -CHECK_FIELD(4, float, autoware_point_types::PointXYZIRCAEDT, y); -CHECK_FIELD(8, float, autoware_point_types::PointXYZIRCAEDT, z); -CHECK_FIELD(12, uint8_t, autoware_point_types::PointXYZIRCAEDT, intensity); +CHECK_FIELD(0, float, autoware::point_types::PointXYZIRCAEDT, x); +CHECK_FIELD(4, float, autoware::point_types::PointXYZIRCAEDT, y); +CHECK_FIELD(8, float, autoware::point_types::PointXYZIRCAEDT, z); +CHECK_FIELD(12, uint8_t, autoware::point_types::PointXYZIRCAEDT, intensity); struct CloudInfo { @@ -64,7 +64,7 @@ struct CloudInfo uint8_t y_count{1}; uint8_t z_count{1}; uint8_t intensity_count{1}; - uint32_t point_step{sizeof(autoware_point_types::PointXYZIRCAEDT)}; + uint32_t point_step{sizeof(autoware::point_types::PointXYZIRCAEDT)}; bool is_bigendian{false}; bool operator!=(const CloudInfo & rhs) const diff --git a/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp b/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp index 5a60c206314bf..df546dbde6d97 100644 --- a/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp +++ b/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp @@ -18,7 +18,7 @@ #include "autoware/lidar_transfusion/utils.hpp" #include "gtest/gtest.h" -#include +#include #include "sensor_msgs/point_cloud2_iterator.hpp" @@ -52,7 +52,7 @@ void VoxelGeneratorTest::SetUp() // Set up the fields point_cloud_msg_wrapper::PointCloud2Modifier< - autoware_point_types::PointXYZIRCAEDT, autoware_point_types::PointXYZIRCAEDTGenerator> + autoware::point_types::PointXYZIRCAEDT, autoware::point_types::PointXYZIRCAEDTGenerator> modifier{*cloud1_, lidar_frame_}; // Resize the cloud to hold points_per_pointcloud_ points diff --git a/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp b/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp index e6d058ef8f437..e7644ce45e443 100644 --- a/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp +++ b/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp @@ -15,7 +15,7 @@ #include "../src/low_intensity_cluster_filter_node.hpp" #include -#include +#include #include #include @@ -27,9 +27,9 @@ #include using autoware::low_intensity_cluster_filter::LowIntensityClusterFilter; +using autoware::point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRCGenerator; using autoware_perception_msgs::msg::ObjectClassification; -using autoware_point_types::PointXYZIRC; -using autoware_point_types::PointXYZIRCGenerator; using point_cloud_msg_wrapper::PointCloud2Modifier; using tier4_perception_msgs::msg::DetectedObjectsWithFeature; using tier4_perception_msgs::msg::DetectedObjectWithFeature; @@ -64,7 +64,7 @@ DetectedObjectsWithFeature create_cluster( feature_obj.object.classification.resize(1); feature_obj.object.classification[0].label = label; sensor_msgs::msg::PointCloud2 cluster; - PointCloud2Modifier modifier( + PointCloud2Modifier modifier( cluster, "base_link"); for (int i = 0; i < cluster_size; i++) { PointXYZIRC point; diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp index 977adc59cd7e5..40adad3521f8d 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp @@ -61,7 +61,7 @@ #include // ROS includes -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include #include @@ -88,7 +88,7 @@ namespace autoware::pointcloud_preprocessor { -using autoware_point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRC; using point_cloud_msg_wrapper::PointCloud2Modifier; /** \brief @b PointCloudConcatenateDataSynchronizerComponent is a special form of data diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp index b7e0e86ca1d3a..0e959eedae1b6 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp @@ -61,10 +61,10 @@ #include // ROS includes +#include #include #include #include -#include #include #include @@ -86,7 +86,7 @@ namespace autoware::pointcloud_preprocessor { -using autoware_point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRC; using point_cloud_msg_wrapper::PointCloud2Modifier; /** \brief @b PointCloudConcatenationComponent is a special form of data * synchronizer: it listens for a set of input PointCloud messages on the same topic, diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp index cf396e3e3a4be..b5aa9d56a0dfb 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp @@ -15,9 +15,9 @@ #ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODE_HPP_ #define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODE_HPP_ +#include "autoware/point_types/types.hpp" #include "autoware/pointcloud_preprocessor/filter.hpp" #include "autoware/pointcloud_preprocessor/transform_info.hpp" -#include "autoware_point_types/types.hpp" #include #include @@ -40,9 +40,9 @@ using point_cloud_msg_wrapper::PointCloud2Modifier; class RingOutlierFilterComponent : public autoware::pointcloud_preprocessor::Filter { protected: - using InputPointIndex = autoware_point_types::PointXYZIRCAEDTIndex; - using InputPointType = autoware_point_types::PointXYZIRCAEDT; - using OutputPointType = autoware_point_types::PointXYZIRC; + using InputPointIndex = autoware::point_types::PointXYZIRCAEDTIndex; + using InputPointType = autoware::point_types::PointXYZIRCAEDT; + using OutputPointType = autoware::point_types::PointXYZIRC; virtual void filter( const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp index b02860a6f112e..d36fcb36a7be1 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp @@ -61,10 +61,10 @@ #include // ROS includes +#include #include #include #include -#include #include #include @@ -87,7 +87,7 @@ namespace autoware::pointcloud_preprocessor { -using autoware_point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRC; using point_cloud_msg_wrapper::PointCloud2Modifier; // cspell:ignore Yoshi /** \brief @b PointCloudDataSynchronizerComponent is a special form of data diff --git a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp index 6703eb6b70741..26be762acca43 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp @@ -14,14 +14,14 @@ #include "autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp" -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include #include namespace autoware::pointcloud_preprocessor { -using autoware_point_types::PointXYZIRCAEDT; +using autoware::point_types::PointXYZIRCAEDT; using diagnostic_msgs::msg::DiagnosticStatus; BlockageDiagComponent::BlockageDiagComponent(const rclcpp::NodeOptions & options) diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index d0911f769d3bd..a67c9f7f018e1 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -481,7 +481,7 @@ void PointCloudConcatenateDataSynchronizerComponent::convertToXYZIRCCloud( { output_ptr->header = input_ptr->header; - PointCloud2Modifier output_modifier{ + PointCloud2Modifier output_modifier{ *output_ptr, input_ptr->header.frame_id}; output_modifier.reserve(input_ptr->width); diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp index 5e1911c93409d..ba29389b88bf7 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp @@ -311,7 +311,7 @@ void PointCloudConcatenationComponent::convertToXYZIRCCloud( { output_ptr->header = input_ptr->header; - PointCloud2Modifier output_modifier{ + PointCloud2Modifier output_modifier{ *output_ptr, input_ptr->header.frame_id}; output_modifier.reserve(input_ptr->width); diff --git a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp index d3f81473ed06f..a8024e02de2c1 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp @@ -14,7 +14,7 @@ #include "autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp" -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include @@ -28,8 +28,8 @@ namespace autoware::pointcloud_preprocessor { -using autoware_point_types::PointXYZIRCAEDT; -using autoware_point_types::ReturnType; +using autoware::point_types::PointXYZIRCAEDT; +using autoware::point_types::ReturnType; using diagnostic_msgs::msg::DiagnosticStatus; DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( diff --git a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp index bf140e662440b..59000d71b8ad6 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp @@ -14,7 +14,7 @@ #include "autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp" -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include @@ -22,7 +22,7 @@ #include namespace autoware::pointcloud_preprocessor { -using autoware_point_types::PointXYZIRADRT; +using autoware::point_types::PointXYZIRADRT; RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions & options) : Filter("RingOutlierFilter", options) diff --git a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp index e34c165383867..5bf5069f1200f 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp @@ -413,7 +413,7 @@ void PointCloudDataSynchronizerComponent::convertToXYZIRCCloud( { output_ptr->header = input_ptr->header; - PointCloud2Modifier output_modifier{ + PointCloud2Modifier output_modifier{ *output_ptr, input_ptr->header.frame_id}; output_modifier.reserve(input_ptr->width); diff --git a/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp b/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp index 7e265bcfb4960..c1fd55943d13a 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp @@ -14,14 +14,14 @@ #include "autoware/pointcloud_preprocessor/utility/memory.hpp" -#include +#include namespace autoware::pointcloud_preprocessor::utils { bool is_data_layout_compatible_with_point_xyzi(const sensor_msgs::msg::PointCloud2 & input) { - using PointIndex = autoware_point_types::PointXYZIIndex; - using autoware_point_types::PointXYZI; + using PointIndex = autoware::point_types::PointXYZIIndex; + using autoware::point_types::PointXYZI; if (input.fields.size() < 4) { return false; } @@ -51,8 +51,8 @@ bool is_data_layout_compatible_with_point_xyzi(const sensor_msgs::msg::PointClou bool is_data_layout_compatible_with_point_xyzirc(const sensor_msgs::msg::PointCloud2 & input) { - using PointIndex = autoware_point_types::PointXYZIRCIndex; - using autoware_point_types::PointXYZIRC; + using PointIndex = autoware::point_types::PointXYZIRCIndex; + using autoware::point_types::PointXYZIRC; if (input.fields.size() < 6) { return false; } @@ -93,8 +93,8 @@ bool is_data_layout_compatible_with_point_xyzirc(const sensor_msgs::msg::PointCl bool is_data_layout_compatible_with_point_xyziradrt(const sensor_msgs::msg::PointCloud2 & input) { - using PointIndex = autoware_point_types::PointXYZIRADRTIndex; - using autoware_point_types::PointXYZIRADRT; + using PointIndex = autoware::point_types::PointXYZIRADRTIndex; + using autoware::point_types::PointXYZIRADRT; if (input.fields.size() < 9) { return false; } @@ -149,8 +149,8 @@ bool is_data_layout_compatible_with_point_xyziradrt(const sensor_msgs::msg::Poin bool is_data_layout_compatible_with_point_xyzircaedt(const sensor_msgs::msg::PointCloud2 & input) { - using PointIndex = autoware_point_types::PointXYZIRCAEDTIndex; - using autoware_point_types::PointXYZIRCAEDT; + using PointIndex = autoware::point_types::PointXYZIRCAEDTIndex; + using autoware::point_types::PointXYZIRCAEDT; if (input.fields.size() != 10) { return false; } From b34d92c7ece8e738cef63bd0eb487a5e6f84816e Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 30 Oct 2024 15:26:48 +0100 Subject: [PATCH 328/701] refactor(goal_distance_calculator): prefix package and namespace with autoware (#9172) * refactor(goal_distance_calculator): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez * style(pre-commit): autofix --------- Signed-off-by: Esteve Fernandez Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .github/CODEOWNERS | 2 +- .../CMakeLists.txt | 21 +++++++++++++++++++ .../Readme.md | 2 +- .../goal_distance_calculator.param.yaml | 0 .../goal_distance_calculator.hpp | 10 ++++----- .../goal_distance_calculator_node.hpp | 12 +++++------ .../goal_distance_calculator.launch.xml | 2 +- .../package.xml | 4 ++-- .../goal_distance_calculator.schema.json | 0 .../src/goal_distance_calculator.cpp | 6 +++--- .../src/goal_distance_calculator_node.cpp | 8 +++---- .../goal_distance_calculator/CMakeLists.txt | 21 ------------------- 12 files changed, 44 insertions(+), 44 deletions(-) create mode 100644 common/autoware_goal_distance_calculator/CMakeLists.txt rename common/{goal_distance_calculator => autoware_goal_distance_calculator}/Readme.md (98%) rename common/{goal_distance_calculator => autoware_goal_distance_calculator}/config/goal_distance_calculator.param.yaml (100%) rename common/{goal_distance_calculator/include => autoware_goal_distance_calculator/include/autoware}/goal_distance_calculator/goal_distance_calculator.hpp (79%) rename common/{goal_distance_calculator/include => autoware_goal_distance_calculator/include/autoware}/goal_distance_calculator/goal_distance_calculator_node.hpp (82%) rename common/{goal_distance_calculator => autoware_goal_distance_calculator}/launch/goal_distance_calculator.launch.xml (55%) rename common/{goal_distance_calculator => autoware_goal_distance_calculator}/package.xml (86%) rename common/{goal_distance_calculator => autoware_goal_distance_calculator}/schema/goal_distance_calculator.schema.json (100%) rename common/{goal_distance_calculator => autoware_goal_distance_calculator}/src/goal_distance_calculator.cpp (83%) rename common/{goal_distance_calculator => autoware_goal_distance_calculator}/src/goal_distance_calculator_node.cpp (93%) delete mode 100644 common/goal_distance_calculator/CMakeLists.txt diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index acfab7a2821fa..6397141844469 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -4,6 +4,7 @@ common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.w common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_component_interface_tools/** isamu.takagi@tier4.jp common/autoware_geography_utils/** koji.minoda@tier4.jp +common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp common/autoware_interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp @@ -26,7 +27,6 @@ common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.j common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/glog_component/** takamasa.horibe@tier4.jp -common/goal_distance_calculator/** taiki.tanaka@tier4.jp common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp common/tier4_api_utils/** isamu.takagi@tier4.jp diff --git a/common/autoware_goal_distance_calculator/CMakeLists.txt b/common/autoware_goal_distance_calculator/CMakeLists.txt new file mode 100644 index 0000000000000..f6d326dd110af --- /dev/null +++ b/common/autoware_goal_distance_calculator/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_goal_distance_calculator) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/goal_distance_calculator_node.cpp + src/goal_distance_calculator.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::goal_distance_calculator::GoalDistanceCalculatorNode" + EXECUTABLE autoware_goal_distance_calculator_node +) + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/common/goal_distance_calculator/Readme.md b/common/autoware_goal_distance_calculator/Readme.md similarity index 98% rename from common/goal_distance_calculator/Readme.md rename to common/autoware_goal_distance_calculator/Readme.md index 062b23baabe47..28a1e2fada086 100644 --- a/common/goal_distance_calculator/Readme.md +++ b/common/autoware_goal_distance_calculator/Readme.md @@ -1,4 +1,4 @@ -# goal_distance_calculator +# autoware_goal_distance_calculator ## Purpose diff --git a/common/goal_distance_calculator/config/goal_distance_calculator.param.yaml b/common/autoware_goal_distance_calculator/config/goal_distance_calculator.param.yaml similarity index 100% rename from common/goal_distance_calculator/config/goal_distance_calculator.param.yaml rename to common/autoware_goal_distance_calculator/config/goal_distance_calculator.param.yaml diff --git a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp similarity index 79% rename from common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp rename to common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp index 69c8840b39421..99bc9bd73d140 100644 --- a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp +++ b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ -#define GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ +#ifndef AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ +#define AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ #include #include @@ -23,7 +23,7 @@ #include -namespace goal_distance_calculator +namespace autoware::goal_distance_calculator { using autoware::universe_utils::PoseDeviation; @@ -52,6 +52,6 @@ class GoalDistanceCalculator private: Param param_; }; -} // namespace goal_distance_calculator +} // namespace autoware::goal_distance_calculator -#endif // GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ +#endif // AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ diff --git a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp similarity index 82% rename from common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp rename to common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp index 602688ffe51d7..f6f617292ab15 100644 --- a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp +++ b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ -#define GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ +#ifndef AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ +#define AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ -#include "goal_distance_calculator/goal_distance_calculator.hpp" +#include "autoware/goal_distance_calculator/goal_distance_calculator.hpp" #include #include @@ -30,7 +30,7 @@ #include -namespace goal_distance_calculator +namespace autoware::goal_distance_calculator { struct NodeParam { @@ -66,5 +66,5 @@ class GoalDistanceCalculatorNode : public rclcpp::Node // Core std::unique_ptr goal_distance_calculator_; }; -} // namespace goal_distance_calculator -#endif // GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ +} // namespace autoware::goal_distance_calculator +#endif // AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ diff --git a/common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml b/common/autoware_goal_distance_calculator/launch/goal_distance_calculator.launch.xml similarity index 55% rename from common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml rename to common/autoware_goal_distance_calculator/launch/goal_distance_calculator.launch.xml index 7ba2eb45c9233..d35d17361bcb9 100644 --- a/common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml +++ b/common/autoware_goal_distance_calculator/launch/goal_distance_calculator.launch.xml @@ -1,6 +1,6 @@ - + diff --git a/common/goal_distance_calculator/package.xml b/common/autoware_goal_distance_calculator/package.xml similarity index 86% rename from common/goal_distance_calculator/package.xml rename to common/autoware_goal_distance_calculator/package.xml index 04ea8a37a5053..28472bee213ed 100644 --- a/common/goal_distance_calculator/package.xml +++ b/common/autoware_goal_distance_calculator/package.xml @@ -1,9 +1,9 @@ - goal_distance_calculator + autoware_goal_distance_calculator 0.0.0 - The goal_distance_calculator package + The autoware_goal_distance_calculator package Taiki Tanaka Apache License 2.0 diff --git a/common/goal_distance_calculator/schema/goal_distance_calculator.schema.json b/common/autoware_goal_distance_calculator/schema/goal_distance_calculator.schema.json similarity index 100% rename from common/goal_distance_calculator/schema/goal_distance_calculator.schema.json rename to common/autoware_goal_distance_calculator/schema/goal_distance_calculator.schema.json diff --git a/common/goal_distance_calculator/src/goal_distance_calculator.cpp b/common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp similarity index 83% rename from common/goal_distance_calculator/src/goal_distance_calculator.cpp rename to common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp index a577d43675224..0bf1d5d5f54bc 100755 --- a/common/goal_distance_calculator/src/goal_distance_calculator.cpp +++ b/common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "goal_distance_calculator/goal_distance_calculator.hpp" +#include "autoware/goal_distance_calculator/goal_distance_calculator.hpp" -namespace goal_distance_calculator +namespace autoware::goal_distance_calculator { Output GoalDistanceCalculator::update(const Input & input) { @@ -26,4 +26,4 @@ Output GoalDistanceCalculator::update(const Input & input) return output; } -} // namespace goal_distance_calculator +} // namespace autoware::goal_distance_calculator diff --git a/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp b/common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp similarity index 93% rename from common/goal_distance_calculator/src/goal_distance_calculator_node.cpp rename to common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp index 24d54ee2fcf87..c00a2e9bb452d 100644 --- a/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp +++ b/common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "goal_distance_calculator/goal_distance_calculator_node.hpp" +#include "autoware/goal_distance_calculator/goal_distance_calculator_node.hpp" #include #include @@ -26,7 +26,7 @@ #include #include -namespace goal_distance_calculator +namespace autoware::goal_distance_calculator { GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions & options) : Node("goal_distance_calculator", options), @@ -117,7 +117,7 @@ void GoalDistanceCalculatorNode::onTimer() rclcpp::shutdown(); } } -} // namespace goal_distance_calculator +} // namespace autoware::goal_distance_calculator #include -RCLCPP_COMPONENTS_REGISTER_NODE(goal_distance_calculator::GoalDistanceCalculatorNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::goal_distance_calculator::GoalDistanceCalculatorNode) diff --git a/common/goal_distance_calculator/CMakeLists.txt b/common/goal_distance_calculator/CMakeLists.txt deleted file mode 100644 index 62047f36accc8..0000000000000 --- a/common/goal_distance_calculator/CMakeLists.txt +++ /dev/null @@ -1,21 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(goal_distance_calculator) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(goal_distance_calculator SHARED - src/goal_distance_calculator_node.cpp - src/goal_distance_calculator.cpp -) - -rclcpp_components_register_node(goal_distance_calculator - PLUGIN "goal_distance_calculator::GoalDistanceCalculatorNode" - EXECUTABLE goal_distance_calculator_node -) - -ament_auto_package( - INSTALL_TO_SHARE - launch - config -) From 0280e0bc3cb2c7cdd0d8b72a304660b7e296f8cf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Dawid=20Moszy=C5=84ski?= <121798334+dmoszynski@users.noreply.github.com> Date: Wed, 30 Oct 2024 18:02:33 +0100 Subject: [PATCH 329/701] =?UTF-8?q?fix(simple=5Fplanning=5Fsimulator):=20c?= =?UTF-8?q?hange=20orger=20of=20IDX=20in=20SimModelDelayS=E2=80=A6=20(#912?= =?UTF-8?q?8)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Dawid Moszynski --- .../sim_model_delay_steer_acc_geared_wo_fall_guard.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp index 5d9c3ec74115a..83f574554fe76 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp @@ -63,8 +63,8 @@ class SimModelDelaySteerAccGearedWoFallGuard : public SimModelInterface YAW, VX, STEER, - PEDAL_ACCX, ACCX, + PEDAL_ACCX, }; enum IDX_U { PEDAL_ACCX_DES = 0, GEAR, SLOPE_ACCX, STEER_DES }; From d8c0e83d6b2254f2a22a4b91d8de3bb6ec1af134 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Thu, 31 Oct 2024 01:24:31 +0000 Subject: [PATCH 330/701] chore: update CODEOWNERS (#9203) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/CODEOWNERS | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 6397141844469..929cad046c7a1 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -43,7 +43,7 @@ common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.j common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp -control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp +control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp tomohito.ando@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp From dcdb139d2ec6c7d9f3c5e0f75296f7727befe78c Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Thu, 31 Oct 2024 02:27:07 +0100 Subject: [PATCH 331/701] refactor(time_utils): prefix package and namespace with autoware (#9173) * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez * style(pre-commit): autofix --------- Signed-off-by: Esteve Fernandez Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .github/CODEOWNERS | 2 +- .../CMakeLists.txt | 2 +- .../include/autoware}/time_utils/stopwatch.hpp | 12 ++++++------ .../include/autoware}/time_utils/time_utils.hpp | 12 ++++++------ .../autoware}/time_utils/visibility_control.hpp | 6 +++--- .../{time_utils => autoware_time_utils}/package.xml | 2 +- .../src/time_utils/time_utils.cpp | 6 +++--- 7 files changed, 21 insertions(+), 21 deletions(-) rename common/{time_utils => autoware_time_utils}/CMakeLists.txt (87%) rename common/{time_utils/include => autoware_time_utils/include/autoware}/time_utils/stopwatch.hpp (89%) rename common/{time_utils/include => autoware_time_utils/include/autoware}/time_utils/time_utils.hpp (77%) rename common/{time_utils/include => autoware_time_utils/include/autoware}/time_utils/visibility_control.hpp (89%) rename common/{time_utils => autoware_time_utils}/package.xml (96%) rename common/{time_utils => autoware_time_utils}/src/time_utils/time_utils.cpp (91%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 929cad046c7a1..1359ca6569056 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -20,6 +20,7 @@ common/autoware_polar_grid/** yukihiro.saito@tier4.jp common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +common/autoware_time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp @@ -38,7 +39,6 @@ common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khal common/tier4_system_rviz_plugin/** koji.minoda@tier4.jp common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp -common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp diff --git a/common/time_utils/CMakeLists.txt b/common/autoware_time_utils/CMakeLists.txt similarity index 87% rename from common/time_utils/CMakeLists.txt rename to common/autoware_time_utils/CMakeLists.txt index 2fc03843a643f..97c6dce02c4a2 100644 --- a/common/time_utils/CMakeLists.txt +++ b/common/autoware_time_utils/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(time_utils) +project(autoware_time_utils) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/time_utils/include/time_utils/stopwatch.hpp b/common/autoware_time_utils/include/autoware/time_utils/stopwatch.hpp similarity index 89% rename from common/time_utils/include/time_utils/stopwatch.hpp rename to common/autoware_time_utils/include/autoware/time_utils/stopwatch.hpp index 223e7ab700ac4..b2e5942434411 100644 --- a/common/time_utils/include/time_utils/stopwatch.hpp +++ b/common/autoware_time_utils/include/autoware/time_utils/stopwatch.hpp @@ -14,10 +14,10 @@ // // Co-developed by Tier IV, Inc. and Apex.AI, Inc. -#ifndef TIME_UTILS__STOPWATCH_HPP_ -#define TIME_UTILS__STOPWATCH_HPP_ +#ifndef AUTOWARE__TIME_UTILS__STOPWATCH_HPP_ +#define AUTOWARE__TIME_UTILS__STOPWATCH_HPP_ -#include +#include #include #include @@ -26,7 +26,7 @@ namespace autoware { namespace common { -namespace time_utils +namespace autoware::time_utils { namespace detail @@ -81,8 +81,8 @@ class TIME_UTILS_PUBLIC Stopwatch TimePoint m_start{Clock::now()}; }; -} // namespace time_utils +} // namespace autoware::time_utils } // namespace common } // namespace autoware -#endif // TIME_UTILS__STOPWATCH_HPP_ +#endif // AUTOWARE__TIME_UTILS__STOPWATCH_HPP_ diff --git a/common/time_utils/include/time_utils/time_utils.hpp b/common/autoware_time_utils/include/autoware/time_utils/time_utils.hpp similarity index 77% rename from common/time_utils/include/time_utils/time_utils.hpp rename to common/autoware_time_utils/include/autoware/time_utils/time_utils.hpp index cb369b4874872..450380680e202 100644 --- a/common/time_utils/include/time_utils/time_utils.hpp +++ b/common/autoware_time_utils/include/autoware/time_utils/time_utils.hpp @@ -13,20 +13,20 @@ // limitations under the License. // // Co-developed by Tier IV, Inc. and Apex.AI, Inc. -#ifndef TIME_UTILS__TIME_UTILS_HPP_ -#define TIME_UTILS__TIME_UTILS_HPP_ +#ifndef AUTOWARE__TIME_UTILS__TIME_UTILS_HPP_ +#define AUTOWARE__TIME_UTILS__TIME_UTILS_HPP_ +#include #include #include -#include #include -namespace time_utils +namespace autoware::time_utils { /// Standard interpolation TIME_UTILS_PUBLIC std::chrono::nanoseconds interpolate( std::chrono::nanoseconds a, std::chrono::nanoseconds b, float t) noexcept; -} // namespace time_utils +} // namespace autoware::time_utils -#endif // TIME_UTILS__TIME_UTILS_HPP_ +#endif // AUTOWARE__TIME_UTILS__TIME_UTILS_HPP_ diff --git a/common/time_utils/include/time_utils/visibility_control.hpp b/common/autoware_time_utils/include/autoware/time_utils/visibility_control.hpp similarity index 89% rename from common/time_utils/include/time_utils/visibility_control.hpp rename to common/autoware_time_utils/include/autoware/time_utils/visibility_control.hpp index ca9423d8df9ab..ebf444422ba91 100644 --- a/common/time_utils/include/time_utils/visibility_control.hpp +++ b/common/autoware_time_utils/include/autoware/time_utils/visibility_control.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TIME_UTILS__VISIBILITY_CONTROL_HPP_ -#define TIME_UTILS__VISIBILITY_CONTROL_HPP_ +#ifndef AUTOWARE__TIME_UTILS__VISIBILITY_CONTROL_HPP_ +#define AUTOWARE__TIME_UTILS__VISIBILITY_CONTROL_HPP_ #if defined(__WIN32) #if defined(TIME_UTILS_BUILDING_DLL) || defined(TIME_UTILS_EXPORTS) @@ -33,4 +33,4 @@ #error "Unsupported Build Configuration" #endif // defined(_WINDOWS) -#endif // TIME_UTILS__VISIBILITY_CONTROL_HPP_ +#endif // AUTOWARE__TIME_UTILS__VISIBILITY_CONTROL_HPP_ diff --git a/common/time_utils/package.xml b/common/autoware_time_utils/package.xml similarity index 96% rename from common/time_utils/package.xml rename to common/autoware_time_utils/package.xml index c4ad8f098a0e0..15a8699d6d65b 100644 --- a/common/time_utils/package.xml +++ b/common/autoware_time_utils/package.xml @@ -1,7 +1,7 @@ - time_utils + autoware_time_utils 1.0.0 Simple conversion methods to/from std::chrono to simplify algorithm development Christopher Ho diff --git a/common/time_utils/src/time_utils/time_utils.cpp b/common/autoware_time_utils/src/time_utils/time_utils.cpp similarity index 91% rename from common/time_utils/src/time_utils/time_utils.cpp rename to common/autoware_time_utils/src/time_utils/time_utils.cpp index fa1516c4bfef0..9801dbb762ab7 100644 --- a/common/time_utils/src/time_utils/time_utils.cpp +++ b/common/autoware_time_utils/src/time_utils/time_utils.cpp @@ -11,13 +11,13 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#include "time_utils/time_utils.hpp" +#include "autoware/time_utils/time_utils.hpp" #include #include #include -namespace time_utils +namespace autoware::time_utils { //////////////////////////////////////////////////////////////////////////////// std::chrono::nanoseconds interpolate( @@ -30,4 +30,4 @@ std::chrono::nanoseconds interpolate( return a + del_; } -} // namespace time_utils +} // namespace autoware::time_utils From d3c095eaf0c3e67bb54939515664e8028207a133 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 31 Oct 2024 10:54:59 +0900 Subject: [PATCH 332/701] feat(rtc_interface): add requested field (#9202) * add requested feature Signed-off-by: Go Sakayori * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Signed-off-by: Go Sakayori Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --- .../autoware_rtc_interface/CMakeLists.txt | 11 +- .../autoware/rtc_interface/rtc_interface.hpp | 5 +- planning/autoware_rtc_interface/package.xml | 3 + .../src/rtc_interface.cpp | 38 ++-- .../test/test_rtc_interface.cpp | 174 ++++++++++++++++++ 5 files changed, 207 insertions(+), 24 deletions(-) create mode 100644 planning/autoware_rtc_interface/test/test_rtc_interface.cpp diff --git a/planning/autoware_rtc_interface/CMakeLists.txt b/planning/autoware_rtc_interface/CMakeLists.txt index cd36121e6aee8..9cb83577348d5 100644 --- a/planning/autoware_rtc_interface/CMakeLists.txt +++ b/planning/autoware_rtc_interface/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(autoware_rtc_interface) +find_package(autoware_cmake REQUIRED) +autoware_package() + ### Compile options if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 17) @@ -18,8 +21,12 @@ ament_auto_add_library(autoware_rtc_interface SHARED # Test if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_rtc_interface.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + ${PROJECT_NAME} + ) endif() ament_auto_package() diff --git a/planning/autoware_rtc_interface/include/autoware/rtc_interface/rtc_interface.hpp b/planning/autoware_rtc_interface/include/autoware/rtc_interface/rtc_interface.hpp index 705395c2b1741..4d7e2aec46e33 100644 --- a/planning/autoware_rtc_interface/include/autoware/rtc_interface/rtc_interface.hpp +++ b/planning/autoware_rtc_interface/include/autoware/rtc_interface/rtc_interface.hpp @@ -54,7 +54,7 @@ class RTCInterface void publishCooperateStatus(const rclcpp::Time & stamp); void updateCooperateStatus( const UUID & uuid, const bool safe, const uint8_t state, const double start_distance, - const double finish_distance, const rclcpp::Time & stamp); + const double finish_distance, const rclcpp::Time & stamp, const bool requested = false); void removeCooperateStatus(const UUID & uuid); void removeExpiredCooperateStatus(); void clearCooperateStatus(); @@ -103,6 +103,9 @@ class RTCInterface std::string enable_auto_mode_namespace_ = "/planning/enable_auto_mode"; mutable std::mutex mutex_; + +public: + friend class RTCInterfaceTest; }; } // namespace autoware::rtc_interface diff --git a/planning/autoware_rtc_interface/package.xml b/planning/autoware_rtc_interface/package.xml index d08467d8f15a9..8ac9d32ba9b04 100644 --- a/planning/autoware_rtc_interface/package.xml +++ b/planning/autoware_rtc_interface/package.xml @@ -15,12 +15,15 @@ ament_cmake_auto + autoware_universe_utils rclcpp tier4_rtc_msgs unique_identifier_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common + autoware_test_utils ament_cmake diff --git a/planning/autoware_rtc_interface/src/rtc_interface.cpp b/planning/autoware_rtc_interface/src/rtc_interface.cpp index 25dd34332f684..71a197ccb93b4 100644 --- a/planning/autoware_rtc_interface/src/rtc_interface.cpp +++ b/planning/autoware_rtc_interface/src/rtc_interface.cpp @@ -14,8 +14,6 @@ #include "autoware/rtc_interface/rtc_interface.hpp" -#include - namespace { using tier4_rtc_msgs::msg::Module; @@ -33,7 +31,8 @@ std::string command_to_string(const uint8_t type) { if (type == tier4_rtc_msgs::msg::Command::ACTIVATE) { return "ACTIVATE"; - } else if (type == tier4_rtc_msgs::msg::Command::DEACTIVATE) { + } + if (type == tier4_rtc_msgs::msg::Command::DEACTIVATE) { return "DEACTIVATE"; } @@ -44,13 +43,17 @@ std::string state_to_string(const uint8_t type) { if (type == tier4_rtc_msgs::msg::State::WAITING_FOR_EXECUTION) { return "WAITING_FOR_EXECUTION"; - } else if (type == tier4_rtc_msgs::msg::State::RUNNING) { + } + if (type == tier4_rtc_msgs::msg::State::RUNNING) { return "RUNNING"; - } else if (type == tier4_rtc_msgs::msg::State::ABORTING) { + } + if (type == tier4_rtc_msgs::msg::State::ABORTING) { return "ABORTING"; - } else if (type == tier4_rtc_msgs::msg::State::SUCCEEDED) { + } + if (type == tier4_rtc_msgs::msg::State::SUCCEEDED) { return "SUCCEEDED"; - } else if (type == tier4_rtc_msgs::msg::State::FAILED) { + } + if (type == tier4_rtc_msgs::msg::State::FAILED) { return "FAILED"; } @@ -242,7 +245,7 @@ void RTCInterface::onTimer() void RTCInterface::updateCooperateStatus( const UUID & uuid, const bool safe, const uint8_t state, const double start_distance, - const double finish_distance, const rclcpp::Time & stamp) + const double finish_distance, const rclcpp::Time & stamp, const bool requested) { std::lock_guard lock(mutex_); // Find registered status which has same uuid @@ -257,6 +260,7 @@ void RTCInterface::updateCooperateStatus( status.uuid = uuid; status.module = module_; status.safe = safe; + status.requested = requested; status.command_status.type = Command::DEACTIVATE; status.state.type = State::WAITING_FOR_EXECUTION; status.start_distance = start_distance; @@ -370,11 +374,10 @@ bool RTCInterface::isActivated(const UUID & uuid) const if (itr->state.type == State::FAILED || itr->state.type == State::SUCCEEDED) { return false; } - if (itr->auto_mode) { + if (itr->auto_mode && !itr->requested) { return itr->safe; - } else { - return itr->command_status.type == Command::ACTIVATE; } + return itr->command_status.type == Command::ACTIVATE; } RCLCPP_WARN_STREAM( @@ -393,11 +396,8 @@ bool RTCInterface::isForceActivated(const UUID & uuid) const if (itr->state.type != State::WAITING_FOR_EXECUTION && itr->state.type != State::RUNNING) { return false; } - if (itr->command_status.type == Command::ACTIVATE && !itr->safe) { - return true; - } else { - return false; - } + if (itr->command_status.type != Command::ACTIVATE) return false; + return !itr->safe || itr->requested; } RCLCPP_WARN_STREAM( @@ -417,11 +417,7 @@ bool RTCInterface::isForceDeactivated(const UUID & uuid) const if (itr->state.type != State::RUNNING) { return false; } - if (itr->command_status.type == Command::DEACTIVATE && itr->safe && !itr->auto_mode) { - return true; - } else { - return false; - } + return itr->command_status.type == Command::DEACTIVATE && itr->safe && !itr->auto_mode; } RCLCPP_WARN_STREAM( diff --git a/planning/autoware_rtc_interface/test/test_rtc_interface.cpp b/planning/autoware_rtc_interface/test/test_rtc_interface.cpp new file mode 100644 index 0000000000000..84c6dbd343ea2 --- /dev/null +++ b/planning/autoware_rtc_interface/test/test_rtc_interface.cpp @@ -0,0 +1,174 @@ +// Copyright 2024 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/rtc_interface/rtc_interface.hpp" + +#include +#include +#include + +#include "tier4_rtc_msgs/msg/detail/command__struct.hpp" + +#include + +using tier4_rtc_msgs::msg::State; + +namespace autoware::rtc_interface +{ +class RTCInterfaceTest : public ::testing::Test +{ +public: + void update_cooperate_command_status(const std::vector & commands) + { + rtc_interface_->updateCooperateCommandStatus(commands); + } + + std::vector get_stored_command() { return rtc_interface_->stored_commands_; } + +protected: + rclcpp::Node::SharedPtr node; + std::shared_ptr rtc_interface_; + + void SetUp() override + { + rclcpp::init(0, nullptr); + node = std::make_shared("rtc_interface_node_test"); + rtc_interface_ = + std::make_shared(node.get(), "TestRTC", false); + } + + void TearDown() override { rclcpp::shutdown(); } +}; + +TEST_F(RTCInterfaceTest, uuid_to_string) +{ + auto uuid = autoware::universe_utils::generateUUID(); + rclcpp::Time stamp(1.0, 0); + + // Condition: no registered uuid + EXPECT_FALSE(rtc_interface_->isRegistered(uuid)); + EXPECT_FALSE(rtc_interface_->isActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); + EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); + EXPECT_TRUE(rtc_interface_->isTerminated(uuid)); + + // Condition: register uuid with WAITING_FOR_EXECUTION + rtc_interface_->updateCooperateStatus( + uuid, true, State::WAITING_FOR_EXECUTION, 10.0, 100.0, stamp); + EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); + EXPECT_TRUE(rtc_interface_->isActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); + EXPECT_FALSE(rtc_interface_->isRTCEnabled(uuid)); + EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); + + // Condition: remove registered uuid + rtc_interface_->removeCooperateStatus(uuid); + EXPECT_FALSE(rtc_interface_->isRegistered(uuid)); + + // Condition: register uuid with FAILED (should start with WAITING_FOR_EXECUTION) + rtc_interface_->updateCooperateStatus(uuid, true, State::FAILED, 10.0, 100.0, stamp); + EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); + EXPECT_TRUE(rtc_interface_->isActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); + EXPECT_FALSE(rtc_interface_->isRTCEnabled(uuid)); + EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); + + // Condition: update uuid as force activated + std::vector commands; + CooperateCommand command; + command.uuid = uuid; + command.command.type = tier4_rtc_msgs::msg::Command::ACTIVATE; + commands.push_back(command); + rtc_interface_->updateCooperateStatus(uuid, false, State::RUNNING, 10.0, 100.0, stamp); + update_cooperate_command_status(commands); + EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); + EXPECT_TRUE(rtc_interface_->isActivated(uuid)); + EXPECT_TRUE(rtc_interface_->isForceActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); + EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); + EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); + + // Condition: terminate uuid by transiting to SUCCEEDED + rtc_interface_->updateCooperateStatus(uuid, false, State::SUCCEEDED, 10.0, 100.0, stamp); + EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); + EXPECT_FALSE(rtc_interface_->isActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); + EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); + EXPECT_TRUE(rtc_interface_->isTerminated(uuid)); + + // Condition: clear registered uuid + rtc_interface_->clearCooperateStatus(); + EXPECT_FALSE(rtc_interface_->isRegistered(uuid)); + EXPECT_TRUE(get_stored_command().empty()); + + // Condition: update uuid as force deactivated + commands.front().command.type = tier4_rtc_msgs::msg::Command::DEACTIVATE; + rtc_interface_->updateCooperateStatus( + uuid, true, State::WAITING_FOR_EXECUTION, 10.0, 100.0, stamp); + rtc_interface_->updateCooperateStatus(uuid, true, State::RUNNING, 10.0, 100.0, stamp); + update_cooperate_command_status(commands); + EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); + EXPECT_FALSE(rtc_interface_->isActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); + EXPECT_TRUE(rtc_interface_->isForceDeactivated(uuid)); + EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); + EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); + + // Condition: uuid transiting to ABORTING + rtc_interface_->updateCooperateStatus(uuid, true, State::ABORTING, 10.0, 100.0, stamp); + EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); + EXPECT_FALSE(rtc_interface_->isActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); + EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); + EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); + + // Condition: uuid transiting to FAILED + rtc_interface_->updateCooperateStatus(uuid, true, State::FAILED, 10.0, 100.0, stamp); + EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); + EXPECT_FALSE(rtc_interface_->isActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); + EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); + EXPECT_TRUE(rtc_interface_->isTerminated(uuid)); + + rtc_interface_->clearCooperateStatus(); + + // Condition: register uuid with request to operator and transit to RUNNING (which shouldn't be + // allowed) + rtc_interface_->updateCooperateStatus( + uuid, true, State::WAITING_FOR_EXECUTION, 10.0, 100.0, stamp, true); + rtc_interface_->updateCooperateStatus(uuid, true, State::RUNNING, 10.0, 100.0, stamp); + EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); + EXPECT_FALSE(rtc_interface_->isActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); + EXPECT_FALSE(rtc_interface_->isRTCEnabled(uuid)); + EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); + + // Condition: update uuid cooperate command + commands.front().command.type = tier4_rtc_msgs::msg::Command::ACTIVATE; + update_cooperate_command_status(commands); + EXPECT_TRUE(rtc_interface_->isRegistered(uuid)); + EXPECT_TRUE(rtc_interface_->isActivated(uuid)); + EXPECT_TRUE(rtc_interface_->isForceActivated(uuid)); + EXPECT_FALSE(rtc_interface_->isForceDeactivated(uuid)); + EXPECT_TRUE(rtc_interface_->isRTCEnabled(uuid)); + EXPECT_FALSE(rtc_interface_->isTerminated(uuid)); +} +} // namespace autoware::rtc_interface From a4513b4b793655b745891550ace02740b50aea56 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 31 Oct 2024 11:03:22 +0900 Subject: [PATCH 333/701] fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (#9199) Signed-off-by: Maxime CLEMENT --- control/autoware_mpc_lateral_controller/src/mpc_utils.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp index c257bada0b0b2..820ee848c17fe 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp @@ -143,7 +143,7 @@ std::pair resampleMPCTrajectoryByDistance( output.x = spline_arc_length(input.x); output.y = spline_arc_length(input.y); output.z = spline_arc_length(input.z); - output.yaw = spline_arc_length(input.yaw); + output.yaw = spline_arc_length(input_yaw); output.vx = lerp_arc_length(input.vx); // must be linear output.k = spline_arc_length(input.k); output.smooth_k = spline_arc_length(input.smooth_k); From a339d0cf671f894c74b5f43923cc360d814f4389 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Thu, 31 Oct 2024 12:06:32 +0900 Subject: [PATCH 334/701] fix(bpp): prevent accessing nullopt (#9204) fix(bpp): calcDistanceToRedTrafficLight null Signed-off-by: Shumpei Wakabayashi --- .../src/utils/traffic_light_utils.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp index 739f5d21346bd..42f6cd02ad361 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp @@ -98,6 +98,7 @@ std::optional calcDistanceToRedTrafficLight( const auto & ego_pos = planner_data->self_odometry->pose.pose.position; lanelet::ConstLineString3d stop_line = *(element->stopLine()); + if (!stop_line.empty()) return std::nullopt; const auto x = 0.5 * (stop_line.front().x() + stop_line.back().x()); const auto y = 0.5 * (stop_line.front().y() + stop_line.back().y()); const auto z = 0.5 * (stop_line.front().z() + stop_line.back().z()); From a9763cbbf929ce380d544563be9c7fd1197f65cc Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 31 Oct 2024 17:06:56 +0900 Subject: [PATCH 335/701] refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (#9201) * refactor: grouping functions Signed-off-by: Taekjin LEE * refactor: grouping parameters Signed-off-by: Taekjin LEE * refactor: rename member road_users_history to road_users_history_ Signed-off-by: Taekjin LEE * refactor: separate util functions Signed-off-by: Taekjin LEE * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node Signed-off-by: Taekjin LEE * refactor: Add explicit template instantiation for removeOldObjectsHistory function Signed-off-by: Taekjin LEE * refactor: Add tf2_geometry_msgs to data_structure Signed-off-by: Taekjin LEE * refactor: Remove unused variables and functions in map_based_prediction_node.cpp Signed-off-by: Taekjin LEE * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp * Apply suggestions from code review * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE Co-authored-by: Mamoru Sobue Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../CMakeLists.txt | 11 +- .../map_based_prediction/data_structure.hpp | 95 ++ .../map_based_prediction_node.hpp | 220 ++-- .../map_based_prediction/path_generator.hpp | 4 +- .../map_based_prediction/predictor_vru.hpp | 140 +++ .../include/map_based_prediction/utils.hpp | 101 ++ .../src/debug.cpp | 1 + .../src/map_based_prediction_node.cpp | 1011 ++--------------- .../src/path_generator.cpp | 6 + .../src/predictor_vru.cpp | 706 ++++++++++++ .../src/utils.cpp | 222 ++++ .../test_path_generator.cpp | 1 + 12 files changed, 1442 insertions(+), 1076 deletions(-) create mode 100644 perception/autoware_map_based_prediction/include/map_based_prediction/data_structure.hpp create mode 100644 perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp create mode 100644 perception/autoware_map_based_prediction/include/map_based_prediction/utils.hpp create mode 100644 perception/autoware_map_based_prediction/src/predictor_vru.cpp create mode 100644 perception/autoware_map_based_prediction/src/utils.cpp diff --git a/perception/autoware_map_based_prediction/CMakeLists.txt b/perception/autoware_map_based_prediction/CMakeLists.txt index 9a1d9a1947c7c..71b47472f3d39 100644 --- a/perception/autoware_map_based_prediction/CMakeLists.txt +++ b/perception/autoware_map_based_prediction/CMakeLists.txt @@ -5,8 +5,9 @@ find_package(autoware_cmake REQUIRED) autoware_package() find_package(Eigen3 REQUIRED) - find_package(glog REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) include_directories( SYSTEM @@ -16,10 +17,16 @@ include_directories( ament_auto_add_library(map_based_prediction_node SHARED src/map_based_prediction_node.cpp src/path_generator.cpp + src/predictor_vru.cpp src/debug.cpp + src/utils.cpp ) -target_link_libraries(map_based_prediction_node glog::glog) +target_link_libraries(map_based_prediction_node + glog::glog + tf2::tf2 + tf2_geometry_msgs::tf2_geometry_msgs +) rclcpp_components_register_node(map_based_prediction_node PLUGIN "autoware::map_based_prediction::MapBasedPredictionNode" diff --git a/perception/autoware_map_based_prediction/include/map_based_prediction/data_structure.hpp b/perception/autoware_map_based_prediction/include/map_based_prediction/data_structure.hpp new file mode 100644 index 0000000000000..ae4e08774f679 --- /dev/null +++ b/perception/autoware_map_based_prediction/include/map_based_prediction/data_structure.hpp @@ -0,0 +1,95 @@ +// Copyright 2024 TIER IV, inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef MAP_BASED_PREDICTION__DATA_STRUCTURE_HPP_ +#define MAP_BASED_PREDICTION__DATA_STRUCTURE_HPP_ + +#include +#include +#include +#include +#include + +#include + +#include +#include + +namespace autoware::map_based_prediction +{ +using PosePath = std::vector; + +struct PredictionTimeHorizon +{ + // NOTE(Mamoru Sobue): motorcycle belongs to "vehicle" and bicycle to "pedestrian" + double vehicle; + double pedestrian; + double unknown; +}; + +struct LateralKinematicsToLanelet +{ + double dist_from_left_boundary; + double dist_from_right_boundary; + double left_lateral_velocity; + double right_lateral_velocity; + double filtered_left_lateral_velocity; + double filtered_right_lateral_velocity; +}; + +enum class Maneuver { + UNINITIALIZED = 0, + LANE_FOLLOW = 1, + LEFT_LANE_CHANGE = 2, + RIGHT_LANE_CHANGE = 3, +}; + +struct LaneletData +{ + lanelet::Lanelet lanelet; + float probability; +}; + +struct PredictedRefPath +{ + float probability; + double speed_limit; + double width; + PosePath path; + Maneuver maneuver; +}; + +struct ObjectData +{ + std_msgs::msg::Header header; + lanelet::ConstLanelets current_lanelets; + lanelet::ConstLanelets future_possible_lanelets; + geometry_msgs::msg::Pose pose; + geometry_msgs::msg::Twist twist; + double time_delay; + // for lane change prediction + std::unordered_map lateral_kinematics_set; + Maneuver one_shot_maneuver{Maneuver::UNINITIALIZED}; + Maneuver output_maneuver{ + Maneuver::UNINITIALIZED}; // output maneuver considering previous one shot maneuvers +}; +struct CrosswalkUserData +{ + std_msgs::msg::Header header; + autoware_perception_msgs::msg::TrackedObject tracked_object; +}; + +} // namespace autoware::map_based_prediction + +#endif // MAP_BASED_PREDICTION__DATA_STRUCTURE_HPP_ diff --git a/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp b/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp index cf1ed28a037cb..809692115060c 100644 --- a/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp +++ b/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp @@ -15,15 +15,16 @@ #ifndef MAP_BASED_PREDICTION__MAP_BASED_PREDICTION_NODE_HPP_ #define MAP_BASED_PREDICTION__MAP_BASED_PREDICTION_NODE_HPP_ -#include "autoware/universe_utils/geometry/geometry.hpp" -#include "autoware/universe_utils/ros/update_param.hpp" +#include "map_based_prediction/data_structure.hpp" #include "map_based_prediction/path_generator.hpp" -#include "tf2/LinearMath/Quaternion.h" +#include "map_based_prediction/predictor_vru.hpp" +#include #include #include #include #include +#include #include #include #include @@ -44,6 +45,7 @@ #include #include #include +#include #include #include @@ -75,67 +77,6 @@ struct hash } // namespace std namespace autoware::map_based_prediction { -struct LateralKinematicsToLanelet -{ - double dist_from_left_boundary; - double dist_from_right_boundary; - double left_lateral_velocity; - double right_lateral_velocity; - double filtered_left_lateral_velocity; - double filtered_right_lateral_velocity; -}; - -enum class Maneuver { - UNINITIALIZED = 0, - LANE_FOLLOW = 1, - LEFT_LANE_CHANGE = 2, - RIGHT_LANE_CHANGE = 3, -}; - -struct ObjectData -{ - std_msgs::msg::Header header; - lanelet::ConstLanelets current_lanelets; - lanelet::ConstLanelets future_possible_lanelets; - geometry_msgs::msg::Pose pose; - geometry_msgs::msg::Twist twist; - double time_delay; - // for lane change prediction - std::unordered_map lateral_kinematics_set; - Maneuver one_shot_maneuver{Maneuver::UNINITIALIZED}; - Maneuver output_maneuver{ - Maneuver::UNINITIALIZED}; // output maneuver considering previous one shot maneuvers -}; - -struct CrosswalkUserData -{ - std_msgs::msg::Header header; - autoware_perception_msgs::msg::TrackedObject tracked_object; -}; - -struct LaneletData -{ - lanelet::Lanelet lanelet; - float probability; -}; - -struct PredictedRefPath -{ - float probability; - double speed_limit; - double width; - PosePath path; - Maneuver maneuver; -}; - -struct PredictionTimeHorizon -{ - // NOTE(Mamoru Sobue): motorcycle belongs to "vehicle" and bicycle to "pedestrian" - double vehicle; - double pedestrian; - double unknown; -}; - using LaneletsData = std::vector; using ManeuverProbability = std::unordered_map; using autoware::universe_utils::StopWatch; @@ -174,18 +115,13 @@ class MapBasedPredictionNode : public rclcpp::Node std::unique_ptr processing_time_publisher_; // Object History - std::unordered_map> road_users_history; - std::map, rclcpp::Time> stopped_times_against_green_; - std::unordered_map> crosswalk_users_history_; - std::unordered_map known_matches_; + std::unordered_map> road_users_history_; // Lanelet Map Pointers std::shared_ptr lanelet_map_ptr_; std::shared_ptr routing_graph_ptr_; std::shared_ptr traffic_rules_ptr_; - std::unordered_map traffic_signal_id_map_; - // parameter update OnSetParametersCallbackHandle::SharedPtr set_param_res_; rcl_interfaces::msg::SetParametersResult onParam( @@ -197,112 +133,102 @@ class MapBasedPredictionNode : public rclcpp::Node // Path Generator std::shared_ptr path_generator_; - // Crosswalk Entry Points - lanelet::ConstLanelets crosswalks_; + // Predictor + std::shared_ptr predictor_vru_; - // Fences - lanelet::LaneletMapUPtr fence_layer_{nullptr}; + ////// Parameters - // Parameters + // Object Parameters bool enable_delay_compensation_; - PredictionTimeHorizon prediction_time_horizon_; - double lateral_control_time_horizon_; - double prediction_time_horizon_rate_for_validate_lane_length_; - double prediction_sampling_time_interval_; - double min_velocity_for_map_based_prediction_; - double min_crosswalk_user_velocity_; - double max_crosswalk_user_delta_yaw_threshold_for_lanelet_; - double debug_accumulated_time_; + + //// Vehicle Parameters + // Lanelet Parameters double dist_threshold_for_searching_lanelet_; double delta_yaw_threshold_for_searching_lanelet_; double sigma_lateral_offset_; double sigma_yaw_angle_deg_; + bool consider_only_routable_neighbours_; + + // Pedestrian Parameters + bool remember_lost_crosswalk_users_; + + // Object history parameters double object_buffer_time_length_; double history_time_length_; + double cutoff_freq_of_velocity_lpf_; + + // Prediction Parameters std::string lane_change_detection_method_; double dist_threshold_to_bound_; double time_threshold_to_bound_; - double cutoff_freq_of_velocity_lpf_; double dist_ratio_threshold_to_left_bound_; double dist_ratio_threshold_to_right_bound_; double diff_dist_threshold_to_left_bound_; double diff_dist_threshold_to_right_bound_; int num_continuous_state_transition_; - bool consider_only_routable_neighbours_; - double reference_path_resolution_; + // Path generation parameters + double lateral_control_time_horizon_; + PredictionTimeHorizon prediction_time_horizon_; + double prediction_time_horizon_rate_for_validate_lane_length_; + double prediction_sampling_time_interval_; + double min_velocity_for_map_based_prediction_; + double reference_path_resolution_; bool check_lateral_acceleration_constraints_; double max_lateral_accel_; double min_acceleration_before_curve_; - bool use_vehicle_acceleration_; double speed_limit_multiplier_; double acceleration_exponential_half_life_; - bool use_crosswalk_signal_; - double threshold_velocity_assumed_as_stopping_; - std::vector distance_set_for_no_intention_to_walk_; - std::vector timeout_set_for_no_intention_to_walk_; - - bool match_lost_and_appeared_crosswalk_users_; - bool remember_lost_crosswalk_users_; - - std::unique_ptr published_time_publisher_; - rclcpp::Publisher::SharedPtr - detailed_processing_time_publisher_; - std::shared_ptr time_keeper_; - - // Member Functions + ////// Member Functions + // Node callbacks void mapCallback(const LaneletMapBin::ConstSharedPtr msg); void trafficSignalsCallback(const TrafficLightGroupArray::ConstSharedPtr msg); void objectsCallback(const TrackedObjects::ConstSharedPtr in_objects); - bool doesPathCrossAnyFence(const PredictedPath & predicted_path); + // Map process bool doesPathCrossFence( const PredictedPath & predicted_path, const lanelet::ConstLineString3d & fence_line); lanelet::BasicLineString2d convertToFenceLine(const lanelet::ConstLineString3d & fence); - bool isIntersecting( - const geometry_msgs::msg::Point & point1, const geometry_msgs::msg::Point & point2, - const lanelet::ConstPoint3d & point3, const lanelet::ConstPoint3d & point4); - - PredictedObjectKinematics convertToPredictedKinematics( - const TrackedObjectKinematics & tracked_object); + // Object process PredictedObject convertToPredictedObject(const TrackedObject & tracked_object); + void updateObjectData(TrackedObject & object); + geometry_msgs::msg::Pose compensateTimeDelay( + const geometry_msgs::msg::Pose & delayed_pose, const geometry_msgs::msg::Twist & twist, + const double dt) const; - PredictedObject getPredictedObjectAsCrosswalkUser(const TrackedObject & object); - - void removeStaleTrafficLightInfo(const TrackedObjects::ConstSharedPtr in_objects); - + //// Vehicle process + // Lanelet process LaneletsData getCurrentLanelets(const TrackedObject & object); bool checkCloseLaneletCondition( const std::pair & lanelet, const TrackedObject & object); float calculateLocalLikelihood( const lanelet::Lanelet & current_lanelet, const TrackedObject & object) const; - void updateObjectData(TrackedObject & object); + bool isDuplicated( + const std::pair & target_lanelet, + const LaneletsData & lanelets_data); + bool isDuplicated( + const PredictedPath & predicted_path, const std::vector & predicted_paths); + std::optional getTrafficSignalId(const lanelet::ConstLanelet & way_lanelet); + // Vehicle history process void updateRoadUsersHistory( const std_msgs::msg::Header & header, const TrackedObject & object, const LaneletsData & current_lanelets_data); - void updateCrosswalkUserHistory( - const std_msgs::msg::Header & header, const TrackedObject & object, - const std::string & object_id); - std::string tryMatchNewObjectToDisappeared( - const std::string & object_id, std::unordered_map & current_users); - std::optional searchProperStartingRefPathIndex( - const TrackedObject & object, const PosePath & pose_path) const; - std::vector getPredictedReferencePath( - const TrackedObject & object, const LaneletsData & current_lanelets_data, - const double object_detected_time, const double time_horizon); - std::vector convertPredictedReferencePath( - const TrackedObject & object, - const std::vector & lanelet_ref_paths) const; + + // Vehicle Maneuver Prediction Maneuver predictObjectManeuver( const std::string & object_id, const geometry_msgs::msg::Pose & object_pose, const LaneletData & current_lanelet_data, const double object_detected_time); - geometry_msgs::msg::Pose compensateTimeDelay( - const geometry_msgs::msg::Pose & delayed_pose, const geometry_msgs::msg::Twist & twist, - const double dt) const; + Maneuver predictObjectManeuverByTimeToLaneChange( + const std::string & object_id, const LaneletData & current_lanelet_data, + const double object_detected_time); + Maneuver predictObjectManeuverByLatDiffDistance( + const std::string & object_id, const geometry_msgs::msg::Pose & object_pose, + const LaneletData & current_lanelet_data, const double object_detected_time); + double calcRightLateralOffset( const lanelet::ConstLineString2d & boundary_line, const geometry_msgs::msg::Pose & search_pose); double calcLeftLateralOffset( @@ -311,35 +237,29 @@ class MapBasedPredictionNode : public rclcpp::Node const Maneuver & predicted_maneuver, const bool & left_paths_exists, const bool & right_paths_exists, const bool & center_paths_exists) const; + // Vehicle path process + std::optional searchProperStartingRefPathIndex( + const TrackedObject & object, const PosePath & pose_path) const; + std::vector getPredictedReferencePath( + const TrackedObject & object, const LaneletsData & current_lanelets_data, + const double object_detected_time, const double time_horizon); + std::vector convertPredictedReferencePath( + const TrackedObject & object, + const std::vector & lanelet_ref_paths) const; mutable universe_utils::LRUCache> lru_cache_of_convert_path_type_{1000}; std::pair convertLaneletPathToPosePath( const lanelet::routing::LaneletPath & path) const; - void updateFuturePossibleLanelets( - const std::string & object_id, const lanelet::routing::LaneletPaths & paths); - - bool isDuplicated( - const std::pair & target_lanelet, - const LaneletsData & lanelets_data); - bool isDuplicated( - const PredictedPath & predicted_path, const std::vector & predicted_paths); - std::optional getTrafficSignalId(const lanelet::ConstLanelet & way_lanelet); - std::optional getTrafficSignalElement(const lanelet::Id & id); - bool calcIntentionToCrossWithTrafficSignal( - const TrackedObject & object, const lanelet::ConstLanelet & crosswalk, - const lanelet::Id & signal_id); - + ////// Debugger + std::unique_ptr published_time_publisher_; + rclcpp::Publisher::SharedPtr + detailed_processing_time_publisher_; + std::shared_ptr time_keeper_; visualization_msgs::msg::Marker getDebugMarker( const TrackedObject & object, const Maneuver & maneuver, const size_t obj_num); - Maneuver predictObjectManeuverByTimeToLaneChange( - const std::string & object_id, const LaneletData & current_lanelet_data, - const double object_detected_time); - Maneuver predictObjectManeuverByLatDiffDistance( - const std::string & object_id, const geometry_msgs::msg::Pose & object_pose, - const LaneletData & current_lanelet_data, const double object_detected_time); - + //// Node functions void publish( const PredictedObjects & output, const visualization_msgs::msg::MarkerArray & debug_markers) const; diff --git a/perception/autoware_map_based_prediction/include/map_based_prediction/path_generator.hpp b/perception/autoware_map_based_prediction/include/map_based_prediction/path_generator.hpp index 416efd2aa5616..8c2244304097f 100644 --- a/perception/autoware_map_based_prediction/include/map_based_prediction/path_generator.hpp +++ b/perception/autoware_map_based_prediction/include/map_based_prediction/path_generator.hpp @@ -15,6 +15,8 @@ #ifndef MAP_BASED_PREDICTION__PATH_GENERATOR_HPP_ #define MAP_BASED_PREDICTION__PATH_GENERATOR_HPP_ +#include "map_based_prediction/data_structure.hpp" + #include #include #include @@ -80,11 +82,11 @@ struct CrosswalkEdgePoints }; using FrenetPath = std::vector; -using PosePath = std::vector; class PathGenerator { public: + explicit PathGenerator(const double sampling_time_interval); PathGenerator(const double sampling_time_interval, const double min_crosswalk_user_velocity); void setTimeKeeper(std::shared_ptr time_keeper_ptr); diff --git a/perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp b/perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp new file mode 100644 index 0000000000000..4691178718f60 --- /dev/null +++ b/perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp @@ -0,0 +1,140 @@ +// Copyright 2024 TIER IV, inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef MAP_BASED_PREDICTION__PREDICTOR_VRU_HPP_ +#define MAP_BASED_PREDICTION__PREDICTOR_VRU_HPP_ + +#include "map_based_prediction/data_structure.hpp" +#include "map_based_prediction/path_generator.hpp" + +#include +#include +#include + +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace autoware::map_based_prediction +{ +using autoware_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObjectKinematics; +using autoware_perception_msgs::msg::TrackedObject; +using autoware_perception_msgs::msg::TrackedObjectKinematics; +using autoware_perception_msgs::msg::TrafficLightElement; +using autoware_perception_msgs::msg::TrafficLightGroup; +using autoware_perception_msgs::msg::TrafficLightGroupArray; + +class PredictorVru +{ +public: + explicit PredictorVru(rclcpp::Node & node) : node_(node) {} + ~PredictorVru() = default; + + void setParameters( + bool match_lost_and_appeared_crosswalk_users, double min_crosswalk_user_velocity, + double max_crosswalk_user_delta_yaw_threshold_for_lanelet, bool use_crosswalk_signal, + double threshold_velocity_assumed_as_stopping, + const std::vector & distance_set_for_no_intention_to_walk, + const std::vector & timeout_set_for_no_intention_to_walk, + double prediction_sampling_time_interval, double prediction_time_horizon) + { + match_lost_and_appeared_crosswalk_users_ = match_lost_and_appeared_crosswalk_users; + min_crosswalk_user_velocity_ = min_crosswalk_user_velocity; + max_crosswalk_user_delta_yaw_threshold_for_lanelet_ = + max_crosswalk_user_delta_yaw_threshold_for_lanelet; + use_crosswalk_signal_ = use_crosswalk_signal; + threshold_velocity_assumed_as_stopping_ = threshold_velocity_assumed_as_stopping; + distance_set_for_no_intention_to_walk_ = distance_set_for_no_intention_to_walk; + timeout_set_for_no_intention_to_walk_ = timeout_set_for_no_intention_to_walk; + prediction_time_horizon_ = prediction_time_horizon; + + path_generator_ = std::make_shared( + prediction_sampling_time_interval, min_crosswalk_user_velocity); + } + + void setLaneletMap(std::shared_ptr lanelet_map_ptr); + + void setTimeKeeper(std::shared_ptr time_keeper_ptr) + { + time_keeper_ = std::move(time_keeper_ptr); + } + + void setTrafficSignal(const TrafficLightGroupArray & traffic_signal_groups); + + void initialize(); + + void loadCurrentCrosswalkUsers(const TrackedObjects & objects); + void removeOldKnownMatches(const double current_time, const double buffer_time); + + PredictedObject predict(const std_msgs::msg::Header & header, const TrackedObject & object); + PredictedObjects retrieveUndetectedObjects(); + +private: + rclcpp::Node & node_; + std::shared_ptr time_keeper_; + + // Map data + std::shared_ptr lanelet_map_ptr_; + lanelet::ConstLanelets crosswalks_; + lanelet::LaneletMapUPtr fence_layer_{nullptr}; + std::shared_ptr path_generator_; + + // Data + std::unordered_map current_crosswalk_users_; + std::unordered_set predicted_crosswalk_users_ids_; + std::unordered_map> crosswalk_users_history_; + std::map, rclcpp::Time> stopped_times_against_green_; + std::unordered_map known_matches_; + std::unordered_map traffic_signal_id_map_; + + // Parameters + double prediction_time_horizon_; + bool match_lost_and_appeared_crosswalk_users_; + double min_crosswalk_user_velocity_; + double max_crosswalk_user_delta_yaw_threshold_for_lanelet_; + bool use_crosswalk_signal_; + double threshold_velocity_assumed_as_stopping_; + std::vector distance_set_for_no_intention_to_walk_; + std::vector timeout_set_for_no_intention_to_walk_; + + //// process + std::optional getTrafficSignalId(const lanelet::ConstLanelet & way_lanelet); + PredictedObject getPredictedObjectAsCrosswalkUser(const TrackedObject & object); + void updateCrosswalkUserHistory( + const std_msgs::msg::Header & header, const TrackedObject & object, + const std::string & object_id); + std::string tryMatchNewObjectToDisappeared( + const std::string & object_id, std::unordered_map & current_users); + bool calcIntentionToCrossWithTrafficSignal( + const TrackedObject & object, const lanelet::ConstLanelet & crosswalk, + const lanelet::Id & signal_id); + bool doesPathCrossAnyFence(const PredictedPath & predicted_path); + std::optional getTrafficSignalElement(const lanelet::Id & id); +}; + +} // namespace autoware::map_based_prediction + +#endif // MAP_BASED_PREDICTION__PREDICTOR_VRU_HPP_ diff --git a/perception/autoware_map_based_prediction/include/map_based_prediction/utils.hpp b/perception/autoware_map_based_prediction/include/map_based_prediction/utils.hpp new file mode 100644 index 0000000000000..06aab91c178eb --- /dev/null +++ b/perception/autoware_map_based_prediction/include/map_based_prediction/utils.hpp @@ -0,0 +1,101 @@ +// Copyright 2024 TIER IV, inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef MAP_BASED_PREDICTION__UTILS_HPP_ +#define MAP_BASED_PREDICTION__UTILS_HPP_ + +#include "map_based_prediction/data_structure.hpp" + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +namespace autoware::map_based_prediction +{ + +namespace utils +{ + +using autoware_perception_msgs::msg::ObjectClassification; +using autoware_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObjectKinematics; +using autoware_perception_msgs::msg::TrackedObject; +using autoware_perception_msgs::msg::TrackedObjectKinematics; + +/** + * @brief calc absolute normalized yaw difference between lanelet and object + * + * @param object + * @param lanelet + * @return double + */ +double calcAbsYawDiffBetweenLaneletAndObject( + const TrackedObject & object, const lanelet::ConstLanelet & lanelet); + +bool withinRoadLanelet( + const TrackedObject & object, + const std::vector> & surrounding_lanelets_with_dist, + const bool use_yaw_information = false); + +bool withinRoadLanelet( + const TrackedObject & object, const lanelet::LaneletMapPtr & lanelet_map_ptr, + const bool use_yaw_information = false); + +/** + * @brief change label for prediction + * + * @param label + * @return ObjectClassification::_label_type + */ +ObjectClassification::_label_type changeLabelForPrediction( + const ObjectClassification::_label_type & label, const TrackedObject & object, + const lanelet::LaneletMapPtr & lanelet_map_ptr_); + +template +std::unordered_set removeOldObjectsHistory( + const double current_time, const double buffer_time, + std::unordered_map> & target_objects); + +extern template std::unordered_set removeOldObjectsHistory( + const double current_time, const double buffer_time, + std::unordered_map> & target_objects); +extern template std::unordered_set removeOldObjectsHistory( + const double current_time, const double buffer_time, + std::unordered_map> & target_objects); + +PredictedObjectKinematics convertToPredictedKinematics( + const TrackedObjectKinematics & tracked_object); + +PredictedObject convertToPredictedObject(const TrackedObject & tracked_object); + +} // namespace utils + +} // namespace autoware::map_based_prediction + +#endif // MAP_BASED_PREDICTION__UTILS_HPP_ diff --git a/perception/autoware_map_based_prediction/src/debug.cpp b/perception/autoware_map_based_prediction/src/debug.cpp index bd40ee0981c0e..752b53b34322d 100644 --- a/perception/autoware_map_based_prediction/src/debug.cpp +++ b/perception/autoware_map_based_prediction/src/debug.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include "autoware/universe_utils/ros/marker_helper.hpp" +#include "map_based_prediction/data_structure.hpp" #include "map_based_prediction/map_based_prediction_node.hpp" namespace autoware::map_based_prediction diff --git a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp index d9097f1907f51..59826adb48b7e 100644 --- a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -14,6 +14,8 @@ #include "map_based_prediction/map_based_prediction_node.hpp" +#include "map_based_prediction/utils.hpp" + #include #include #include @@ -27,10 +29,12 @@ #include #include +#include #include #include +#include #include #include #include @@ -38,14 +42,6 @@ #include #include -#ifdef ROS_DISTRO_GALACTIC -#include -#else -#include -#endif - -#include - #include #include #include @@ -207,25 +203,6 @@ void updateLateralKinematicsVector( } } -/** - * @brief calc absolute normalized yaw difference between lanelet and object - * - * @param object - * @param lanelet - * @return double - */ -double calcAbsYawDiffBetweenLaneletAndObject( - const TrackedObject & object, const lanelet::ConstLanelet & lanelet) -{ - const double object_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); - const double lane_yaw = - lanelet::utils::getLaneletAngle(lanelet, object.kinematics.pose_with_covariance.pose.position); - const double delta_yaw = object_yaw - lane_yaw; - const double normalized_delta_yaw = autoware::universe_utils::normalizeRadian(delta_yaw); - const double abs_norm_delta = std::fabs(normalized_delta_yaw); - return abs_norm_delta; -} - /** * @brief Get the Right LineSharing Lanelets object * @@ -347,335 +324,6 @@ lanelet::ConstLanelets getLanelets(const map_based_prediction::LaneletsData & da return lanelets; } -CrosswalkEdgePoints getCrosswalkEdgePoints(const lanelet::ConstLanelet & crosswalk) -{ - const Eigen::Vector2d r_p_front = crosswalk.rightBound().front().basicPoint2d(); - const Eigen::Vector2d l_p_front = crosswalk.leftBound().front().basicPoint2d(); - const Eigen::Vector2d front_center_point = (r_p_front + l_p_front) / 2.0; - - const Eigen::Vector2d r_p_back = crosswalk.rightBound().back().basicPoint2d(); - const Eigen::Vector2d l_p_back = crosswalk.leftBound().back().basicPoint2d(); - const Eigen::Vector2d back_center_point = (r_p_back + l_p_back) / 2.0; - - return CrosswalkEdgePoints{front_center_point, r_p_front, l_p_front, - back_center_point, r_p_back, l_p_back}; -} - -bool withinRoadLanelet( - const TrackedObject & object, - const std::vector> & surrounding_lanelets_with_dist, - const bool use_yaw_information = false) -{ - for (const auto & [dist, lanelet] : surrounding_lanelets_with_dist) { - if (lanelet.hasAttribute(lanelet::AttributeName::Subtype)) { - lanelet::Attribute attr = lanelet.attribute(lanelet::AttributeName::Subtype); - if ( - attr.value() == lanelet::AttributeValueString::Crosswalk || - attr.value() == lanelet::AttributeValueString::Walkway) { - continue; - } - } - - constexpr float yaw_threshold = 0.6; - bool within_lanelet = std::abs(dist) < 1e-5; - if (use_yaw_information) { - within_lanelet = - within_lanelet && calcAbsYawDiffBetweenLaneletAndObject(object, lanelet) < yaw_threshold; - } - if (within_lanelet) { - return true; - } - } - - return false; -} - -bool withinRoadLanelet( - const TrackedObject & object, const lanelet::LaneletMapPtr & lanelet_map_ptr, - const bool use_yaw_information = false) -{ - const auto & obj_pos = object.kinematics.pose_with_covariance.pose.position; - lanelet::BasicPoint2d search_point(obj_pos.x, obj_pos.y); - // nearest lanelet - constexpr double search_radius = 10.0; // [m] - const auto surrounding_lanelets_with_dist = - lanelet::geometry::findWithin2d(lanelet_map_ptr->laneletLayer, search_point, search_radius); - - return withinRoadLanelet(object, surrounding_lanelets_with_dist, use_yaw_information); -} - -boost::optional isReachableCrosswalkEdgePoints( - const TrackedObject & object, const lanelet::ConstLanelets & surrounding_lanelets, - const lanelet::ConstLanelets & surrounding_crosswalks, const CrosswalkEdgePoints & edge_points, - const double time_horizon, const double min_object_vel) -{ - using Point = boost::geometry::model::d2::point_xy; - - const auto & obj_pos = object.kinematics.pose_with_covariance.pose.position; - const auto & obj_vel = object.kinematics.twist_with_covariance.twist.linear; - const auto yaw = autoware::universe_utils::getRPY(object.kinematics.pose_with_covariance.pose).z; - - lanelet::BasicPoint2d obj_pos_as_lanelet(obj_pos.x, obj_pos.y); - - const auto & p1 = edge_points.front_center_point; - const auto & p2 = edge_points.back_center_point; - - CrosswalkEdgePoints ret{p1, {}, {}, p2, {}, {}}; - auto distance_pedestrian_to_p1 = std::hypot(p1.x() - obj_pos.x, p1.y() - obj_pos.y); - auto distance_pedestrian_to_p2 = std::hypot(p2.x() - obj_pos.x, p2.y() - obj_pos.y); - - if (distance_pedestrian_to_p2 < distance_pedestrian_to_p1) { - ret.swap(); - std::swap(distance_pedestrian_to_p1, distance_pedestrian_to_p2); - } - - constexpr double stop_velocity_th = 0.14; // [m/s] - const auto estimated_velocity = std::hypot(obj_vel.x, obj_vel.y); - const auto is_stop_object = estimated_velocity < stop_velocity_th; - const auto velocity = std::max(min_object_vel, estimated_velocity); - - const auto isAcrossAnyRoad = [&surrounding_lanelets, &surrounding_crosswalks]( - const Point & p_src, const Point & p_dst) { - const auto withinAnyCrosswalk = [&surrounding_crosswalks](const Point & p) { - for (const auto & crosswalk : surrounding_crosswalks) { - if (boost::geometry::within(p, crosswalk.polygon2d().basicPolygon())) { - return true; - } - } - return false; - }; - - const auto isExist = [](const Point & p, const std::vector & points) { - for (const auto & existingPoint : points) { - if (boost::geometry::distance(p, existingPoint) < 1e-1) { - return true; - } - } - return false; - }; - - std::vector points_of_intersect; - const boost::geometry::model::linestring line{p_src, p_dst}; - for (const auto & lanelet : surrounding_lanelets) { - const lanelet::Attribute attr = lanelet.attribute(lanelet::AttributeName::Subtype); - if (attr.value() != lanelet::AttributeValueString::Road) { - continue; - } - - std::vector tmp_intersects; - boost::geometry::intersection(line, lanelet.polygon2d().basicPolygon(), tmp_intersects); - for (const auto & p : tmp_intersects) { - if (isExist(p, points_of_intersect) || withinAnyCrosswalk(p)) { - continue; - } - points_of_intersect.push_back(p); - if (points_of_intersect.size() >= 2) { - return true; - } - } - } - return false; - }; - - const bool first_intersects_road = isAcrossAnyRoad( - {obj_pos.x, obj_pos.y}, {ret.front_center_point.x(), ret.front_center_point.y()}); - const bool second_intersects_road = - isAcrossAnyRoad({obj_pos.x, obj_pos.y}, {ret.back_center_point.x(), ret.back_center_point.y()}); - - if (first_intersects_road && second_intersects_road) { - return {}; - } - - if (first_intersects_road && !second_intersects_road) { - ret.swap(); - } - - const Eigen::Vector2d pedestrian_to_crosswalk( - (ret.front_center_point.x() + ret.back_center_point.x()) / 2.0 - obj_pos.x, - (ret.front_center_point.y() + ret.back_center_point.y()) / 2.0 - obj_pos.y); - const Eigen::Vector2d pedestrian_heading_direction( - obj_vel.x * std::cos(yaw), obj_vel.x * std::sin(yaw)); - const auto reachable = - std::min(distance_pedestrian_to_p1, distance_pedestrian_to_p2) < velocity * time_horizon; - const auto heading_for_crosswalk = - pedestrian_to_crosswalk.dot(pedestrian_heading_direction) > 0.0; - - if ((reachable && heading_for_crosswalk) || (reachable && is_stop_object)) { - return ret; - } - - return {}; -} - -bool hasPotentialToReach( - const TrackedObject & object, const Eigen::Vector2d & center_point, - const Eigen::Vector2d & right_point, const Eigen::Vector2d & left_point, - const double time_horizon, const double min_object_vel, - const double max_crosswalk_user_delta_yaw_threshold_for_lanelet) -{ - const auto & obj_pos = object.kinematics.pose_with_covariance.pose.position; - const auto & obj_vel = object.kinematics.twist_with_covariance.twist.linear; - const auto yaw = autoware::universe_utils::getRPY(object.kinematics.pose_with_covariance.pose).z; - - constexpr double stop_velocity_th = 0.14; // [m/s] - const auto estimated_velocity = std::hypot(obj_vel.x, obj_vel.y); - const auto is_stop_object = estimated_velocity < stop_velocity_th; - const auto velocity = std::max(min_object_vel, estimated_velocity); - - const double pedestrian_to_crosswalk_center_direction = - std::atan2(center_point.y() - obj_pos.y, center_point.x() - obj_pos.x); - - const auto - [pedestrian_to_crosswalk_right_rel_direction, pedestrian_to_crosswalk_left_rel_direction] = - [&]() { - const double pedestrian_to_crosswalk_right_direction = - std::atan2(right_point.y() - obj_pos.y, right_point.x() - obj_pos.x); - const double pedestrian_to_crosswalk_left_direction = - std::atan2(left_point.y() - obj_pos.y, left_point.x() - obj_pos.x); - return std::make_pair( - autoware::universe_utils::normalizeRadian( - pedestrian_to_crosswalk_right_direction - pedestrian_to_crosswalk_center_direction), - autoware::universe_utils::normalizeRadian( - pedestrian_to_crosswalk_left_direction - pedestrian_to_crosswalk_center_direction)); - }(); - - const double pedestrian_heading_rel_direction = [&]() { - const double pedestrian_heading_direction = - std::atan2(obj_vel.x * std::sin(yaw), obj_vel.x * std::cos(yaw)); - return autoware::universe_utils::normalizeRadian( - pedestrian_heading_direction - pedestrian_to_crosswalk_center_direction); - }(); - - const double pedestrian_to_crosswalk_min_rel_direction = std::min( - pedestrian_to_crosswalk_right_rel_direction, pedestrian_to_crosswalk_left_rel_direction); - const double pedestrian_to_crosswalk_max_rel_direction = std::max( - pedestrian_to_crosswalk_right_rel_direction, pedestrian_to_crosswalk_left_rel_direction); - const double pedestrian_vel_angle_against_crosswalk = [&]() { - if (pedestrian_heading_rel_direction < pedestrian_to_crosswalk_min_rel_direction) { - return pedestrian_to_crosswalk_min_rel_direction - pedestrian_heading_rel_direction; - } - if (pedestrian_to_crosswalk_max_rel_direction < pedestrian_heading_rel_direction) { - return pedestrian_to_crosswalk_max_rel_direction - pedestrian_heading_rel_direction; - } - return 0.0; - }(); - const auto heading_for_crosswalk = std::abs(pedestrian_vel_angle_against_crosswalk) < - max_crosswalk_user_delta_yaw_threshold_for_lanelet; - const auto reachable = std::hypot(center_point.x() - obj_pos.x, center_point.y() - obj_pos.y) < - velocity * time_horizon; - - if (reachable && (heading_for_crosswalk || is_stop_object)) { - return true; - } - - return false; -} - -template -std::unordered_set removeOldObjectsHistory( - const double current_time, const double buffer_time, - std::unordered_map> & target_objects) -{ - std::unordered_set invalid_object_id; - for (auto iter = target_objects.begin(); iter != target_objects.end(); ++iter) { - const std::string object_id = iter->first; - std::deque & object_data = iter->second; - - // If object data is empty, we are going to delete the buffer for the obstacle - if (object_data.empty()) { - invalid_object_id.insert(object_id); - continue; - } - - const double latest_object_time = rclcpp::Time(object_data.back().header.stamp).seconds(); - - // Delete Old Objects - if (current_time - latest_object_time > buffer_time) { - invalid_object_id.insert(object_id); - continue; - } - - // Delete old information - while (!object_data.empty()) { - const double post_object_time = rclcpp::Time(object_data.front().header.stamp).seconds(); - if (current_time - post_object_time <= buffer_time) { - break; - } - object_data.pop_front(); - } - - if (object_data.empty()) { - invalid_object_id.insert(object_id); - continue; - } - } - - for (const auto & key : invalid_object_id) { - target_objects.erase(key); - } - - return invalid_object_id; -} - -/** - * @brief change label for prediction - * - * @param label - * @return ObjectClassification::_label_type - */ -ObjectClassification::_label_type changeLabelForPrediction( - const ObjectClassification::_label_type & label, const TrackedObject & object, - const lanelet::LaneletMapPtr & lanelet_map_ptr_) -{ - // for car like vehicle do not change labels - switch (label) { - case ObjectClassification::CAR: - case ObjectClassification::BUS: - case ObjectClassification::TRUCK: - case ObjectClassification::TRAILER: - case ObjectClassification::UNKNOWN: - return label; - - case ObjectClassification::MOTORCYCLE: - case ObjectClassification::BICYCLE: { // if object is within road lanelet and satisfies yaw - // constraints - const bool within_road_lanelet = withinRoadLanelet(object, lanelet_map_ptr_, true); - // if the object is within lanelet, do the same estimation with vehicle - if (within_road_lanelet) return ObjectClassification::MOTORCYCLE; - - constexpr float high_speed_threshold = - autoware::universe_utils::kmph2mps(25.0); // High speed bicycle 25 km/h - // calc abs speed from x and y velocity - const double abs_speed = std::hypot( - object.kinematics.twist_with_covariance.twist.linear.x, - object.kinematics.twist_with_covariance.twist.linear.y); - const bool high_speed_object = abs_speed > high_speed_threshold; - // high speed object outside road lanelet will move like unknown object - // return ObjectClassification::UNKNOWN; // temporary disabled - if (high_speed_object) return label; // Do nothing for now - return ObjectClassification::BICYCLE; - } - - case ObjectClassification::PEDESTRIAN: { - const float max_velocity_for_human_mps = - autoware::universe_utils::kmph2mps(25.0); // Max human being motion speed is 25km/h - const double abs_speed = std::hypot( - object.kinematics.twist_with_covariance.twist.linear.x, - object.kinematics.twist_with_covariance.twist.linear.y); - const bool high_speed_object = abs_speed > max_velocity_for_human_mps; - // fast, human-like object: like segway - // return ObjectClassification::MOTORCYCLE; - if (high_speed_object) return label; // currently do nothing - // fast human outside road lanelet will move like unknown object - // return ObjectClassification::UNKNOWN; - return label; - } - - default: - return label; - } -} - // NOTE: These two functions are copied from the route_handler package. lanelet::Lanelets getRightOppositeLanelets( const std::shared_ptr & lanelet_map_ptr, @@ -743,7 +391,7 @@ void replaceObjectYawWithLaneletsYaw( } // namespace MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_options) -: Node("map_based_prediction", node_options), debug_accumulated_time_(0.0) +: Node("map_based_prediction", node_options) { if (!google::IsGoogleLoggingInitialized()) { google::InitGoogleLogging("map_based_prediction_node"); @@ -759,9 +407,7 @@ MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_ prediction_sampling_time_interval_ = declare_parameter("prediction_sampling_delta_time"); min_velocity_for_map_based_prediction_ = declare_parameter("min_velocity_for_map_based_prediction"); - min_crosswalk_user_velocity_ = declare_parameter("min_crosswalk_user_velocity"); - max_crosswalk_user_delta_yaw_threshold_for_lanelet_ = - declare_parameter("max_crosswalk_user_delta_yaw_threshold_for_lanelet"); + dist_threshold_for_searching_lanelet_ = declare_parameter("dist_threshold_for_searching_lanelet"); delta_yaw_threshold_for_searching_lanelet_ = @@ -809,30 +455,49 @@ MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_ * parameter control the estimated path length = vx * th * (rate) */ prediction_time_horizon_rate_for_validate_lane_length_ = declare_parameter("prediction_time_horizon_rate_for_validate_shoulder_lane_length"); - match_lost_and_appeared_crosswalk_users_ = - declare_parameter("use_crosswalk_user_history.match_lost_and_appeared_users"); - remember_lost_crosswalk_users_ = - declare_parameter("use_crosswalk_user_history.remember_lost_users"); + use_vehicle_acceleration_ = declare_parameter("use_vehicle_acceleration"); speed_limit_multiplier_ = declare_parameter("speed_limit_multiplier"); acceleration_exponential_half_life_ = declare_parameter("acceleration_exponential_half_life"); - use_crosswalk_signal_ = declare_parameter("crosswalk_with_signal.use_crosswalk_signal"); - threshold_velocity_assumed_as_stopping_ = - declare_parameter("crosswalk_with_signal.threshold_velocity_assumed_as_stopping"); - distance_set_for_no_intention_to_walk_ = declare_parameter>( - "crosswalk_with_signal.distance_set_for_no_intention_to_walk"); - timeout_set_for_no_intention_to_walk_ = declare_parameter>( - "crosswalk_with_signal.timeout_set_for_no_intention_to_walk"); + // initialize VRU predictor + predictor_vru_ = std::make_unique(*this); + + // VRU parameters + remember_lost_crosswalk_users_ = + declare_parameter("use_crosswalk_user_history.remember_lost_users"); + { + bool match_lost_and_appeared_crosswalk_users = + declare_parameter("use_crosswalk_user_history.match_lost_and_appeared_users"); + double min_crosswalk_user_velocity = declare_parameter("min_crosswalk_user_velocity"); + double max_crosswalk_user_delta_yaw_threshold_for_lanelet = + declare_parameter("max_crosswalk_user_delta_yaw_threshold_for_lanelet"); + bool use_crosswalk_signal = + declare_parameter("crosswalk_with_signal.use_crosswalk_signal"); + double threshold_velocity_assumed_as_stopping = + declare_parameter("crosswalk_with_signal.threshold_velocity_assumed_as_stopping"); + std::vector distance_set_for_no_intention_to_walk = + declare_parameter>( + "crosswalk_with_signal.distance_set_for_no_intention_to_walk"); + std::vector timeout_set_for_no_intention_to_walk = + declare_parameter>( + "crosswalk_with_signal.timeout_set_for_no_intention_to_walk"); + predictor_vru_->setParameters( + match_lost_and_appeared_crosswalk_users, min_crosswalk_user_velocity, + max_crosswalk_user_delta_yaw_threshold_for_lanelet, use_crosswalk_signal, + threshold_velocity_assumed_as_stopping, distance_set_for_no_intention_to_walk, + timeout_set_for_no_intention_to_walk, prediction_sampling_time_interval_, + prediction_time_horizon_.pedestrian); + } // debug parameter bool use_time_publisher = declare_parameter("publish_processing_time"); bool use_time_keeper = declare_parameter("publish_processing_time_detail"); bool use_debug_marker = declare_parameter("publish_debug_markers"); - path_generator_ = std::make_shared( - prediction_sampling_time_interval_, min_crosswalk_user_velocity_); + // initialize path generator + path_generator_ = std::make_shared(prediction_sampling_time_interval_); path_generator_->setUseVehicleAcceleration(use_vehicle_acceleration_); path_generator_->setAccelerationHalfLife(acceleration_exponential_half_life_); @@ -867,6 +532,7 @@ MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_ auto time_keeper = autoware::universe_utils::TimeKeeper(detailed_processing_time_publisher_); time_keeper_ = std::make_shared(time_keeper); path_generator_->setTimeKeeper(time_keeper_); + predictor_vru_->setTimeKeeper(time_keeper_); } if (use_debug_marker) { @@ -901,31 +567,6 @@ rcl_interfaces::msg::SetParametersResult MapBasedPredictionNode::onParam( return result; } -PredictedObjectKinematics MapBasedPredictionNode::convertToPredictedKinematics( - const TrackedObjectKinematics & tracked_object) -{ - PredictedObjectKinematics output; - output.initial_pose_with_covariance = tracked_object.pose_with_covariance; - output.initial_twist_with_covariance = tracked_object.twist_with_covariance; - output.initial_acceleration_with_covariance = tracked_object.acceleration_with_covariance; - return output; -} - -PredictedObject MapBasedPredictionNode::convertToPredictedObject( - const TrackedObject & tracked_object) -{ - PredictedObject predicted_object; - predicted_object.kinematics = convertToPredictedKinematics(tracked_object.kinematics); - predicted_object.classification = tracked_object.classification; - predicted_object.object_id = tracked_object.object_id; - predicted_object.shape.type = tracked_object.shape.type; - predicted_object.shape.footprint = tracked_object.shape.footprint; - predicted_object.shape.dimensions = tracked_object.shape.dimensions; - predicted_object.existence_probability = tracked_object.existence_probability; - - return predicted_object; -} - void MapBasedPredictionNode::mapCallback(const LaneletMapBin::ConstSharedPtr msg) { RCLCPP_DEBUG(get_logger(), "[Map Based Prediction]: Start loading lanelet"); @@ -935,33 +576,14 @@ void MapBasedPredictionNode::mapCallback(const LaneletMapBin::ConstSharedPtr msg lru_cache_of_convert_path_type_.clear(); // clear cache RCLCPP_DEBUG(get_logger(), "[Map Based Prediction]: Map is loaded"); - const auto all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr_); - const auto crosswalks = lanelet::utils::query::crosswalkLanelets(all_lanelets); - const auto walkways = lanelet::utils::query::walkwayLanelets(all_lanelets); - crosswalks_.insert(crosswalks_.end(), crosswalks.begin(), crosswalks.end()); - crosswalks_.insert(crosswalks_.end(), walkways.begin(), walkways.end()); - - lanelet::LineStrings3d fences; - for (const auto & linestring : lanelet_map_ptr_->lineStringLayer) { - if (const std::string type = linestring.attributeOr(lanelet::AttributeName::Type, "none"); - type == "fence") { - fences.push_back(lanelet::LineString3d( - std::const_pointer_cast(linestring.constData()))); - } - } - fence_layer_ = lanelet::utils::createMap(fences); + predictor_vru_->setLaneletMap(lanelet_map_ptr_); } void MapBasedPredictionNode::trafficSignalsCallback( const TrafficLightGroupArray::ConstSharedPtr msg) { - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - traffic_signal_id_map_.clear(); - for (const auto & signal : msg->traffic_light_groups) { - traffic_signal_id_map_[signal.traffic_light_group_id] = signal; - } + // load traffic signals to the predictor + predictor_vru_->setTrafficSignal(*msg); } void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPtr in_objects) @@ -984,22 +606,27 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt return; } - // Remove old objects information in object history - const double objects_detected_time = rclcpp::Time(in_objects->header.stamp).seconds(); - removeOldObjectsHistory(objects_detected_time, object_buffer_time_length_, road_users_history); - removeStaleTrafficLightInfo(in_objects); - - auto invalidated_crosswalk_users = removeOldObjectsHistory( - objects_detected_time, object_buffer_time_length_, crosswalk_users_history_); - // delete matches that point to invalid object - for (auto it = known_matches_.begin(); it != known_matches_.end();) { - if (invalidated_crosswalk_users.count(it->second)) { - it = known_matches_.erase(it); - } else { - ++it; - } + // get world to map transform + geometry_msgs::msg::TransformStamped::ConstSharedPtr world2map_transform; + bool is_object_not_in_map_frame = in_objects->header.frame_id != "map"; + if (is_object_not_in_map_frame) { + world2map_transform = transform_listener_.getTransform( + "map", // target + in_objects->header.frame_id, // src + in_objects->header.stamp, rclcpp::Duration::from_seconds(0.1)); + if (!world2map_transform) return; } + // Get objects detected time + const double objects_detected_time = rclcpp::Time(in_objects->header.stamp).seconds(); + + // Remove old objects information in object history + // road users + utils::removeOldObjectsHistory( + objects_detected_time, object_buffer_time_length_, road_users_history_); + // crosswalk users + predictor_vru_->removeOldKnownMatches(objects_detected_time, object_buffer_time_length_); + // result output PredictedObjects output; output.header = in_objects->header; @@ -1009,31 +636,9 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt visualization_msgs::msg::MarkerArray debug_markers; // get current crosswalk users for later prediction - std::unordered_map current_crosswalk_users; - for (const auto & object : in_objects->objects) { - const auto label_for_prediction = - changeLabelForPrediction(object.classification.front().label, object, lanelet_map_ptr_); - if ( - label_for_prediction == ObjectClassification::PEDESTRIAN || - label_for_prediction == ObjectClassification::BICYCLE) { - const std::string object_id = autoware::universe_utils::toHexString(object.object_id); - current_crosswalk_users.emplace(object_id, object); - } - } - std::unordered_set predicted_crosswalk_users_ids; - - // get world to map transform - geometry_msgs::msg::TransformStamped::ConstSharedPtr world2map_transform; - - bool is_object_not_in_map_frame = in_objects->header.frame_id != "map"; - if (is_object_not_in_map_frame) { - world2map_transform = transform_listener_.getTransform( - "map", // target - in_objects->header.frame_id, // src - in_objects->header.stamp, rclcpp::Duration::from_seconds(0.1)); - if (!world2map_transform) return; - } + predictor_vru_->loadCurrentCrosswalkUsers(*in_objects); + // for each object for (const auto & object : in_objects->objects) { TrackedObject transformed_object = object; @@ -1048,20 +653,14 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt // get tracking label and update it for the prediction const auto & label_ = transformed_object.classification.front().label; - const auto label = changeLabelForPrediction(label_, object, lanelet_map_ptr_); + const auto label = utils::changeLabelForPrediction(label_, object, lanelet_map_ptr_); switch (label) { case ObjectClassification::PEDESTRIAN: case ObjectClassification::BICYCLE: { - std::string object_id = autoware::universe_utils::toHexString(object.object_id); - if (match_lost_and_appeared_crosswalk_users_) { - object_id = tryMatchNewObjectToDisappeared(object_id, current_crosswalk_users); - } - predicted_crosswalk_users_ids.insert(object_id); - updateCrosswalkUserHistory(output.header, transformed_object, object_id); - const auto predicted_object_crosswalk = - getPredictedObjectAsCrosswalkUser(transformed_object); - output.objects.push_back(predicted_object_crosswalk); + // Run pedestrian/bicycle prediction + const auto predicted_vru = predictor_vru_->predict(output.header, transformed_object); + output.objects.emplace_back(predicted_vru); break; } case ObjectClassification::CAR: @@ -1085,7 +684,7 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt predicted_path.confidence = 1.0; if (predicted_path.path.empty()) break; - auto predicted_object_vehicle = convertToPredictedObject(transformed_object); + auto predicted_object_vehicle = utils::convertToPredictedObject(transformed_object); predicted_object_vehicle.kinematics.predicted_paths.push_back(predicted_path); output.objects.push_back(predicted_object_vehicle); break; @@ -1101,7 +700,7 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt predicted_path.confidence = 1.0; if (predicted_path.path.empty()) break; - auto predicted_slow_object = convertToPredictedObject(transformed_object); + auto predicted_slow_object = utils::convertToPredictedObject(transformed_object); predicted_slow_object.kinematics.predicted_paths.push_back(predicted_path); output.objects.push_back(predicted_slow_object); break; @@ -1121,7 +720,7 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt predicted_path.confidence = 1.0; if (predicted_path.path.empty()) break; - auto predicted_object_out_of_lane = convertToPredictedObject(transformed_object); + auto predicted_object_out_of_lane = utils::convertToPredictedObject(transformed_object); predicted_object_out_of_lane.kinematics.predicted_paths.push_back(predicted_path); output.objects.push_back(predicted_object_out_of_lane); break; @@ -1206,7 +805,7 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt const float min_sum_confidence_value = 1e-3; sum_confidence = std::max(sum_confidence, min_sum_confidence_value); - auto predicted_object = convertToPredictedObject(transformed_object); + auto predicted_object = utils::convertToPredictedObject(transformed_object); for (auto & predicted_path : predicted_paths) { predicted_path.confidence = predicted_path.confidence / sum_confidence; @@ -1217,7 +816,7 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt break; } default: { - auto predicted_unknown_object = convertToPredictedObject(transformed_object); + auto predicted_unknown_object = utils::convertToPredictedObject(transformed_object); PredictedPath predicted_path = path_generator_->generatePathForNonVehicleObject( transformed_object, prediction_time_horizon_.unknown); predicted_path.confidence = 1.0; @@ -1231,15 +830,9 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt // process lost crosswalk users to tackle unstable detection if (remember_lost_crosswalk_users_) { - for (const auto & [id, crosswalk_user] : crosswalk_users_history_) { - // get a predicted path for crosswalk users in history who didn't get path yet using latest - // message - if (predicted_crosswalk_users_ids.count(id) == 0) { - const auto predicted_object = - getPredictedObjectAsCrosswalkUser(crosswalk_user.back().tracked_object); - output.objects.push_back(predicted_object); - } - } + PredictedObjects retrived_objects = predictor_vru_->retrieveUndetectedObjects(); + output.objects.insert( + output.objects.end(), retrived_objects.objects.begin(), retrived_objects.objects.end()); } // Publish Results @@ -1268,293 +861,6 @@ void MapBasedPredictionNode::publish( if (pub_debug_markers_) pub_debug_markers_->publish(debug_markers); } -void MapBasedPredictionNode::updateCrosswalkUserHistory( - const std_msgs::msg::Header & header, const TrackedObject & object, const std::string & object_id) -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - CrosswalkUserData crosswalk_user_data; - crosswalk_user_data.header = header; - crosswalk_user_data.tracked_object = object; - - if (crosswalk_users_history_.count(object_id) == 0) { - crosswalk_users_history_.emplace(object_id, std::deque{crosswalk_user_data}); - return; - } - - crosswalk_users_history_.at(object_id).push_back(crosswalk_user_data); -} - -std::string MapBasedPredictionNode::tryMatchNewObjectToDisappeared( - const std::string & object_id, std::unordered_map & current_users) -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - const auto known_match_opt = [&]() -> std::optional { - if (!known_matches_.count(object_id)) { - return std::nullopt; - } - - std::string match_id = known_matches_[object_id]; - // object in the history is already matched to something (possibly itself) - if (crosswalk_users_history_.count(match_id)) { - // avoid matching two appeared users to one user in history - current_users[match_id] = crosswalk_users_history_[match_id].back().tracked_object; - return match_id; - } else { - RCLCPP_WARN_STREAM( - get_logger(), "Crosswalk user was " - << object_id << "was matched to " << match_id - << " but history for the crosswalk user was deleted. Rematching"); - } - return std::nullopt; - }(); - // early return if the match is already known - if (known_match_opt.has_value()) { - return known_match_opt.value(); - } - - std::string match_id = object_id; - double best_score = std::numeric_limits::max(); - const auto object_pos = current_users[object_id].kinematics.pose_with_covariance.pose.position; - for (const auto & [user_id, user_history] : crosswalk_users_history_) { - // user present in current_users and will be matched to itself - if (current_users.count(user_id)) { - continue; - } - // TODO(dkoldaev): implement more sophisticated scoring, for now simply dst to last position in - // history - const auto match_candidate_pos = - user_history.back().tracked_object.kinematics.pose_with_covariance.pose.position; - const double score = - std::hypot(match_candidate_pos.x - object_pos.x, match_candidate_pos.y - object_pos.y); - if (score < best_score) { - best_score = score; - match_id = user_id; - } - } - - if (object_id != match_id) { - RCLCPP_INFO_STREAM( - get_logger(), "[Map Based Prediction]: Matched " << object_id << " to " << match_id); - // avoid matching two appeared users to one user in history - current_users[match_id] = crosswalk_users_history_[match_id].back().tracked_object; - } - - known_matches_[object_id] = match_id; - return match_id; -} - -bool MapBasedPredictionNode::doesPathCrossAnyFence(const PredictedPath & predicted_path) -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - lanelet::BasicLineString2d predicted_path_ls; - for (const auto & p : predicted_path.path) - predicted_path_ls.emplace_back(p.position.x, p.position.y); - const auto candidates = - fence_layer_->lineStringLayer.search(lanelet::geometry::boundingBox2d(predicted_path_ls)); - for (const auto & candidate : candidates) { - if (doesPathCrossFence(predicted_path, candidate)) { - return true; - } - } - return false; -} - -bool MapBasedPredictionNode::doesPathCrossFence( - const PredictedPath & predicted_path, const lanelet::ConstLineString3d & fence_line) -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - // check whether the predicted path cross with fence - for (size_t i = 0; i < predicted_path.path.size() - 1; ++i) { - for (size_t j = 0; j < fence_line.size() - 1; ++j) { - if (isIntersecting( - predicted_path.path[i].position, predicted_path.path[i + 1].position, fence_line[j], - fence_line[j + 1])) { - return true; - } - } - } - return false; -} - -bool MapBasedPredictionNode::isIntersecting( - const geometry_msgs::msg::Point & point1, const geometry_msgs::msg::Point & point2, - const lanelet::ConstPoint3d & point3, const lanelet::ConstPoint3d & point4) -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - const auto p1 = autoware::universe_utils::createPoint(point1.x, point1.y, 0.0); - const auto p2 = autoware::universe_utils::createPoint(point2.x, point2.y, 0.0); - const auto p3 = autoware::universe_utils::createPoint(point3.x(), point3.y(), 0.0); - const auto p4 = autoware::universe_utils::createPoint(point4.x(), point4.y(), 0.0); - const auto intersection = autoware::universe_utils::intersect(p1, p2, p3, p4); - return intersection.has_value(); -} - -PredictedObject MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser( - const TrackedObject & object) -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - auto predicted_object = convertToPredictedObject(object); - { - PredictedPath predicted_path = - path_generator_->generatePathForNonVehicleObject(object, prediction_time_horizon_.pedestrian); - predicted_path.confidence = 1.0; - - predicted_object.kinematics.predicted_paths.push_back(predicted_path); - } - - boost::optional crossing_crosswalk{boost::none}; - const auto & obj_pos = object.kinematics.pose_with_covariance.pose.position; - const auto & obj_vel = object.kinematics.twist_with_covariance.twist.linear; - const auto estimated_velocity = std::hypot(obj_vel.x, obj_vel.y); - const auto velocity = std::max(min_crosswalk_user_velocity_, estimated_velocity); - const auto surrounding_lanelets_with_dist = lanelet::geometry::findWithin2d( - lanelet_map_ptr_->laneletLayer, lanelet::BasicPoint2d{obj_pos.x, obj_pos.y}, - prediction_time_horizon_.pedestrian * velocity); - lanelet::ConstLanelets surrounding_lanelets; - lanelet::ConstLanelets surrounding_crosswalks; - for (const auto & [dist, lanelet] : surrounding_lanelets_with_dist) { - surrounding_lanelets.push_back(lanelet); - const auto attr = lanelet.attribute(lanelet::AttributeName::Subtype); - if ( - attr.value() == lanelet::AttributeValueString::Crosswalk || - attr.value() == lanelet::AttributeValueString::Walkway) { - const auto & crosswalk = lanelet; - surrounding_crosswalks.push_back(crosswalk); - if (std::abs(dist) < 1e-5) { - crossing_crosswalk = crosswalk; - } - } - } - - // If the object is in the crosswalk, generate path to the crosswalk edge - if (crossing_crosswalk) { - const auto edge_points = getCrosswalkEdgePoints(crossing_crosswalk.get()); - - if (hasPotentialToReach( - object, edge_points.front_center_point, edge_points.front_right_point, - edge_points.front_left_point, std::numeric_limits::max(), - min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) { - PredictedPath predicted_path = - path_generator_->generatePathToTargetPoint(object, edge_points.front_center_point); - predicted_path.confidence = 1.0; - predicted_object.kinematics.predicted_paths.push_back(predicted_path); - } - - if (hasPotentialToReach( - object, edge_points.back_center_point, edge_points.back_right_point, - edge_points.back_left_point, std::numeric_limits::max(), - min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) { - PredictedPath predicted_path = - path_generator_->generatePathToTargetPoint(object, edge_points.back_center_point); - predicted_path.confidence = 1.0; - predicted_object.kinematics.predicted_paths.push_back(predicted_path); - } - - // If the object is not crossing the crosswalk, in the road lanelets, try to find the closest - // crosswalk and generate path to the crosswalk edge - } else if (withinRoadLanelet(object, surrounding_lanelets_with_dist)) { - lanelet::ConstLanelet closest_crosswalk{}; - const auto & obj_pose = object.kinematics.pose_with_covariance.pose; - const auto found_closest_crosswalk = - lanelet::utils::query::getClosestLanelet(crosswalks_, obj_pose, &closest_crosswalk); - - if (found_closest_crosswalk) { - const auto edge_points = getCrosswalkEdgePoints(closest_crosswalk); - - if (hasPotentialToReach( - object, edge_points.front_center_point, edge_points.front_right_point, - edge_points.front_left_point, prediction_time_horizon_.pedestrian * 2.0, - min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) { - PredictedPath predicted_path = - path_generator_->generatePathToTargetPoint(object, edge_points.front_center_point); - predicted_path.confidence = 1.0; - predicted_object.kinematics.predicted_paths.push_back(predicted_path); - } - - if (hasPotentialToReach( - object, edge_points.back_center_point, edge_points.back_right_point, - edge_points.back_left_point, prediction_time_horizon_.pedestrian * 2.0, - min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) { - PredictedPath predicted_path = - path_generator_->generatePathToTargetPoint(object, edge_points.back_center_point); - predicted_path.confidence = 1.0; - predicted_object.kinematics.predicted_paths.push_back(predicted_path); - } - } - } - - // try to find the edge points for other surrounding crosswalks and generate path to the crosswalk - // edge - for (const auto & crosswalk : surrounding_crosswalks) { - if (crossing_crosswalk && crossing_crosswalk.get() == crosswalk) { - continue; - } - const auto crosswalk_signal_id_opt = getTrafficSignalId(crosswalk); - if (crosswalk_signal_id_opt.has_value() && use_crosswalk_signal_) { - if (!calcIntentionToCrossWithTrafficSignal( - object, crosswalk, crosswalk_signal_id_opt.value())) { - continue; - } - } - - const auto edge_points = getCrosswalkEdgePoints(crosswalk); - - const auto reachable_first = hasPotentialToReach( - object, edge_points.front_center_point, edge_points.front_right_point, - edge_points.front_left_point, prediction_time_horizon_.pedestrian, - min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_); - const auto reachable_second = hasPotentialToReach( - object, edge_points.back_center_point, edge_points.back_right_point, - edge_points.back_left_point, prediction_time_horizon_.pedestrian, - min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_); - - if (!reachable_first && !reachable_second) { - continue; - } - - const auto reachable_crosswalk = isReachableCrosswalkEdgePoints( - object, surrounding_lanelets, surrounding_crosswalks, edge_points, - prediction_time_horizon_.pedestrian, min_crosswalk_user_velocity_); - - if (!reachable_crosswalk) { - continue; - } - - PredictedPath predicted_path = path_generator_->generatePathForCrosswalkUser( - object, reachable_crosswalk.get(), prediction_time_horizon_.pedestrian); - predicted_path.confidence = 1.0; - - if (predicted_path.path.empty()) { - continue; - } - // If the predicted path to the crosswalk is crossing the fence, don't use it - if (doesPathCrossAnyFence(predicted_path)) { - continue; - } - - predicted_object.kinematics.predicted_paths.push_back(predicted_path); - } - - const auto n_path = predicted_object.kinematics.predicted_paths.size(); - for (auto & predicted_path : predicted_object.kinematics.predicted_paths) { - predicted_path.confidence = 1.0 / n_path; - } - - return predicted_object; -} - void MapBasedPredictionNode::updateObjectData(TrackedObject & object) { std::unique_ptr st_ptr; @@ -1607,23 +913,6 @@ void MapBasedPredictionNode::updateObjectData(TrackedObject & object) return; } -void MapBasedPredictionNode::removeStaleTrafficLightInfo( - const TrackedObjects::ConstSharedPtr in_objects) -{ - for (auto it = stopped_times_against_green_.begin(); it != stopped_times_against_green_.end();) { - const bool isDisappeared = std::none_of( - in_objects->objects.begin(), in_objects->objects.end(), - [&it](autoware_perception_msgs::msg::TrackedObject obj) { - return autoware::universe_utils::toHexString(obj.object_id) == it->first.first; - }); - if (isDisappeared) { - it = stopped_times_against_green_.erase(it); - } else { - ++it; - } - } -} - LaneletsData MapBasedPredictionNode::getCurrentLanelets(const TrackedObject & object) { std::unique_ptr st_ptr; @@ -1730,9 +1019,9 @@ bool MapBasedPredictionNode::checkCloseLaneletCondition( // If the object is in the objects history, we check if the target lanelet is // inside the current lanelets id or following lanelets const std::string object_id = autoware::universe_utils::toHexString(object.object_id); - if (road_users_history.count(object_id) != 0) { + if (road_users_history_.count(object_id) != 0) { const std::vector & possible_lanelet = - road_users_history.at(object_id).back().future_possible_lanelets; + road_users_history_.at(object_id).back().future_possible_lanelets; bool not_in_possible_lanelet = std::find(possible_lanelet.begin(), possible_lanelet.end(), lanelet.second) == @@ -1830,13 +1119,13 @@ void MapBasedPredictionNode::updateRoadUsersHistory( single_object_data.lateral_kinematics_set[current_lane] = lateral_kinematics; } - if (road_users_history.count(object_id) == 0) { + if (road_users_history_.count(object_id) == 0) { // New Object(Create a new object in object histories) std::deque object_data = {single_object_data}; - road_users_history.emplace(object_id, object_data); + road_users_history_.emplace(object_id, object_data); } else { // Object that is already in the object buffer - std::deque & object_data = road_users_history.at(object_id); + std::deque & object_data = road_users_history_.at(object_id); // get previous object data and update const auto prev_object_data = object_data.back(); updateLateralKinematicsVector( @@ -2041,9 +1330,9 @@ std::vector MapBasedPredictionNode::getPredictedReferen } // update future possible lanelets - if (road_users_history.count(object_id) != 0) { + if (road_users_history_.count(object_id) != 0) { std::vector & possible_lanelets = - road_users_history.at(object_id).back().future_possible_lanelets; + road_users_history_.at(object_id).back().future_possible_lanelets; for (const auto & ref_path : lanelet_ref_paths) { for (const auto & lanelet : ref_path.first) { if ( @@ -2081,10 +1370,10 @@ Maneuver MapBasedPredictionNode::predictObjectManeuver( throw std::logic_error("Lane change detection method is invalid."); }(); - if (road_users_history.count(object_id) == 0) { + if (road_users_history_.count(object_id) == 0) { return current_maneuver; } - auto & object_info = road_users_history.at(object_id); + auto & object_info = road_users_history_.at(object_id); // update maneuver in object history if (!object_info.empty()) { @@ -2122,11 +1411,11 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByTimeToLaneChange( if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); // Step1. Check if we have the object in the buffer - if (road_users_history.count(object_id) == 0) { + if (road_users_history_.count(object_id) == 0) { return Maneuver::LANE_FOLLOW; } - const std::deque & object_info = road_users_history.at(object_id); + const std::deque & object_info = road_users_history_.at(object_id); // Step2. Check if object history length longer than history_time_length const int latest_id = static_cast(object_info.size()) - 1; @@ -2195,11 +1484,11 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance( if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); // Step1. Check if we have the object in the buffer - if (road_users_history.count(object_id) == 0) { + if (road_users_history_.count(object_id) == 0) { return Maneuver::LANE_FOLLOW; } - const std::deque & object_info = road_users_history.at(object_id); + const std::deque & object_info = road_users_history_.at(object_id); const double current_time = (this->get_clock()->now()).seconds(); // Step2. Get the previous id @@ -2352,29 +1641,6 @@ double MapBasedPredictionNode::calcLeftLateralOffset( return -calcRightLateralOffset(boundary_line, search_pose); } -void MapBasedPredictionNode::updateFuturePossibleLanelets( - const std::string & object_id, const lanelet::routing::LaneletPaths & paths) -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - if (road_users_history.count(object_id) == 0) { - return; - } - - std::vector & possible_lanelets = - road_users_history.at(object_id).back().future_possible_lanelets; - for (const auto & path : paths) { - for (const auto & lanelet : path) { - bool not_in_buffer = std::find(possible_lanelets.begin(), possible_lanelets.end(), lanelet) == - possible_lanelets.end(); - if (not_in_buffer) { - possible_lanelets.push_back(lanelet); - } - } - } -} - ManeuverProbability MapBasedPredictionNode::calculateManeuverProbability( const Maneuver & predicted_maneuver, const bool & left_paths_exists, const bool & right_paths_exists, const bool & center_paths_exists) const @@ -2722,107 +1988,6 @@ bool MapBasedPredictionNode::isDuplicated( return false; } -std::optional MapBasedPredictionNode::getTrafficSignalId( - const lanelet::ConstLanelet & way_lanelet) -{ - const auto traffic_light_reg_elems = - way_lanelet.regulatoryElementsAs(); - if (traffic_light_reg_elems.empty()) { - return std::nullopt; - } else if (traffic_light_reg_elems.size() > 1) { - RCLCPP_ERROR( - get_logger(), - "[Map Based Prediction]: " - "Multiple regulatory elements as TrafficLight are defined to one lanelet object."); - } - return traffic_light_reg_elems.front()->id(); -} - -std::optional MapBasedPredictionNode::getTrafficSignalElement( - const lanelet::Id & id) -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - if (traffic_signal_id_map_.count(id) != 0) { - const auto & signal_elements = traffic_signal_id_map_.at(id).elements; - if (signal_elements.size() > 1) { - RCLCPP_ERROR( - get_logger(), "[Map Based Prediction]: Multiple TrafficSignalElement_ are received."); - } else if (!signal_elements.empty()) { - return signal_elements.front(); - } - } - return std::nullopt; -} - -bool MapBasedPredictionNode::calcIntentionToCrossWithTrafficSignal( - const TrackedObject & object, const lanelet::ConstLanelet & crosswalk, - const lanelet::Id & signal_id) -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - const auto signal_color = [&] { - const auto elem_opt = getTrafficSignalElement(signal_id); - return elem_opt ? elem_opt.value().color : TrafficLightElement::UNKNOWN; - }(); - - const auto key = - std::make_pair(autoware::universe_utils::toHexString(object.object_id), signal_id); - if ( - signal_color == TrafficLightElement::GREEN && - autoware::universe_utils::calcNorm(object.kinematics.twist_with_covariance.twist.linear) < - threshold_velocity_assumed_as_stopping_) { - stopped_times_against_green_.try_emplace(key, this->get_clock()->now()); - - const auto timeout_no_intention_to_walk = [&]() { - auto InterpolateMap = []( - const std::vector & key_set, - const std::vector & value_set, const double query) { - if (query <= key_set.front()) { - return value_set.front(); - } else if (query >= key_set.back()) { - return value_set.back(); - } - for (size_t i = 0; i < key_set.size() - 1; ++i) { - if (key_set.at(i) <= query && query <= key_set.at(i + 1)) { - auto ratio = - (query - key_set.at(i)) / std::max(key_set.at(i + 1) - key_set.at(i), 1.0e-5); - ratio = std::clamp(ratio, 0.0, 1.0); - return value_set.at(i) + ratio * (value_set.at(i + 1) - value_set.at(i)); - } - } - return value_set.back(); - }; - - const auto obj_position = object.kinematics.pose_with_covariance.pose.position; - const double distance_to_crosswalk = boost::geometry::distance( - crosswalk.polygon2d().basicPolygon(), - lanelet::BasicPoint2d(obj_position.x, obj_position.y)); - return InterpolateMap( - distance_set_for_no_intention_to_walk_, timeout_set_for_no_intention_to_walk_, - distance_to_crosswalk); - }(); - - if ( - (this->get_clock()->now() - stopped_times_against_green_.at(key)).seconds() > - timeout_no_intention_to_walk) { - return false; - } - - } else { - stopped_times_against_green_.erase(key); - // If the pedestrian disappears, another function erases the old data. - } - - if (signal_color == TrafficLightElement::RED) { - return false; - } - - return true; -} - } // namespace autoware::map_based_prediction #include diff --git a/perception/autoware_map_based_prediction/src/path_generator.cpp b/perception/autoware_map_based_prediction/src/path_generator.cpp index a2a1b8b3d3fda..57104082d0cf7 100644 --- a/perception/autoware_map_based_prediction/src/path_generator.cpp +++ b/perception/autoware_map_based_prediction/src/path_generator.cpp @@ -25,6 +25,12 @@ namespace autoware::map_based_prediction { using autoware::universe_utils::ScopedTimeTrack; +PathGenerator::PathGenerator(const double sampling_time_interval) +: sampling_time_interval_(sampling_time_interval) +{ + min_crosswalk_user_velocity_ = 0.1; +} + PathGenerator::PathGenerator( const double sampling_time_interval, const double min_crosswalk_user_velocity) : sampling_time_interval_(sampling_time_interval), diff --git a/perception/autoware_map_based_prediction/src/predictor_vru.cpp b/perception/autoware_map_based_prediction/src/predictor_vru.cpp new file mode 100644 index 0000000000000..31630f7645171 --- /dev/null +++ b/perception/autoware_map_based_prediction/src/predictor_vru.cpp @@ -0,0 +1,706 @@ +// Copyright 2024 TIER IV, inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "map_based_prediction/predictor_vru.hpp" + +#include "map_based_prediction/utils.hpp" + +#include +#include + +namespace autoware::map_based_prediction +{ +using autoware::universe_utils::ScopedTimeTrack; + +namespace +{ +boost::optional isReachableCrosswalkEdgePoints( + const TrackedObject & object, const lanelet::ConstLanelets & surrounding_lanelets, + const lanelet::ConstLanelets & surrounding_crosswalks, const CrosswalkEdgePoints & edge_points, + const double time_horizon, const double min_object_vel) +{ + using Point = boost::geometry::model::d2::point_xy; + + const auto & obj_pos = object.kinematics.pose_with_covariance.pose.position; + const auto & obj_vel = object.kinematics.twist_with_covariance.twist.linear; + const auto yaw = autoware::universe_utils::getRPY(object.kinematics.pose_with_covariance.pose).z; + + lanelet::BasicPoint2d obj_pos_as_lanelet(obj_pos.x, obj_pos.y); + + const auto & p1 = edge_points.front_center_point; + const auto & p2 = edge_points.back_center_point; + + CrosswalkEdgePoints ret{p1, {}, {}, p2, {}, {}}; + auto distance_pedestrian_to_p1 = std::hypot(p1.x() - obj_pos.x, p1.y() - obj_pos.y); + auto distance_pedestrian_to_p2 = std::hypot(p2.x() - obj_pos.x, p2.y() - obj_pos.y); + + if (distance_pedestrian_to_p2 < distance_pedestrian_to_p1) { + ret.swap(); + std::swap(distance_pedestrian_to_p1, distance_pedestrian_to_p2); + } + + constexpr double stop_velocity_th = 0.14; // [m/s] + const auto estimated_velocity = std::hypot(obj_vel.x, obj_vel.y); + const auto is_stop_object = estimated_velocity < stop_velocity_th; + const auto velocity = std::max(min_object_vel, estimated_velocity); + + const auto isAcrossAnyRoad = [&surrounding_lanelets, &surrounding_crosswalks]( + const Point & p_src, const Point & p_dst) { + const auto withinAnyCrosswalk = [&surrounding_crosswalks](const Point & p) { + for (const auto & crosswalk : surrounding_crosswalks) { + if (boost::geometry::within(p, crosswalk.polygon2d().basicPolygon())) { + return true; + } + } + return false; + }; + + const auto isExist = [](const Point & p, const std::vector & points) { + for (const auto & existingPoint : points) { + if (boost::geometry::distance(p, existingPoint) < 1e-1) { + return true; + } + } + return false; + }; + + std::vector points_of_intersect; + const boost::geometry::model::linestring line{p_src, p_dst}; + for (const auto & lanelet : surrounding_lanelets) { + const lanelet::Attribute attr = lanelet.attribute(lanelet::AttributeName::Subtype); + if (attr.value() != lanelet::AttributeValueString::Road) { + continue; + } + + std::vector tmp_intersects; + boost::geometry::intersection(line, lanelet.polygon2d().basicPolygon(), tmp_intersects); + for (const auto & p : tmp_intersects) { + if (isExist(p, points_of_intersect) || withinAnyCrosswalk(p)) { + continue; + } + points_of_intersect.push_back(p); + if (points_of_intersect.size() >= 2) { + return true; + } + } + } + return false; + }; + + const bool first_intersects_road = isAcrossAnyRoad( + {obj_pos.x, obj_pos.y}, {ret.front_center_point.x(), ret.front_center_point.y()}); + const bool second_intersects_road = + isAcrossAnyRoad({obj_pos.x, obj_pos.y}, {ret.back_center_point.x(), ret.back_center_point.y()}); + + if (first_intersects_road && second_intersects_road) { + return {}; + } + + if (first_intersects_road && !second_intersects_road) { + ret.swap(); + } + + const Eigen::Vector2d pedestrian_to_crosswalk( + (ret.front_center_point.x() + ret.back_center_point.x()) / 2.0 - obj_pos.x, + (ret.front_center_point.y() + ret.back_center_point.y()) / 2.0 - obj_pos.y); + const Eigen::Vector2d pedestrian_heading_direction( + obj_vel.x * std::cos(yaw), obj_vel.x * std::sin(yaw)); + const auto reachable = + std::min(distance_pedestrian_to_p1, distance_pedestrian_to_p2) < velocity * time_horizon; + const auto heading_for_crosswalk = + pedestrian_to_crosswalk.dot(pedestrian_heading_direction) > 0.0; + + if ((reachable && heading_for_crosswalk) || (reachable && is_stop_object)) { + return ret; + } + + return {}; +} + +bool hasPotentialToReach( + const TrackedObject & object, const Eigen::Vector2d & center_point, + const Eigen::Vector2d & right_point, const Eigen::Vector2d & left_point, + const double time_horizon, const double min_object_vel, + const double max_crosswalk_user_delta_yaw_threshold_for_lanelet) +{ + const auto & obj_pos = object.kinematics.pose_with_covariance.pose.position; + const auto & obj_vel = object.kinematics.twist_with_covariance.twist.linear; + const auto yaw = autoware::universe_utils::getRPY(object.kinematics.pose_with_covariance.pose).z; + + constexpr double stop_velocity_th = 0.14; // [m/s] + const auto estimated_velocity = std::hypot(obj_vel.x, obj_vel.y); + const auto is_stop_object = estimated_velocity < stop_velocity_th; + const auto velocity = std::max(min_object_vel, estimated_velocity); + + const double pedestrian_to_crosswalk_center_direction = + std::atan2(center_point.y() - obj_pos.y, center_point.x() - obj_pos.x); + + const auto + [pedestrian_to_crosswalk_right_rel_direction, pedestrian_to_crosswalk_left_rel_direction] = + [&]() { + const double pedestrian_to_crosswalk_right_direction = + std::atan2(right_point.y() - obj_pos.y, right_point.x() - obj_pos.x); + const double pedestrian_to_crosswalk_left_direction = + std::atan2(left_point.y() - obj_pos.y, left_point.x() - obj_pos.x); + return std::make_pair( + autoware::universe_utils::normalizeRadian( + pedestrian_to_crosswalk_right_direction - pedestrian_to_crosswalk_center_direction), + autoware::universe_utils::normalizeRadian( + pedestrian_to_crosswalk_left_direction - pedestrian_to_crosswalk_center_direction)); + }(); + + const double pedestrian_heading_rel_direction = [&]() { + const double pedestrian_heading_direction = + std::atan2(obj_vel.x * std::sin(yaw), obj_vel.x * std::cos(yaw)); + return autoware::universe_utils::normalizeRadian( + pedestrian_heading_direction - pedestrian_to_crosswalk_center_direction); + }(); + + const double pedestrian_to_crosswalk_min_rel_direction = std::min( + pedestrian_to_crosswalk_right_rel_direction, pedestrian_to_crosswalk_left_rel_direction); + const double pedestrian_to_crosswalk_max_rel_direction = std::max( + pedestrian_to_crosswalk_right_rel_direction, pedestrian_to_crosswalk_left_rel_direction); + const double pedestrian_vel_angle_against_crosswalk = [&]() { + if (pedestrian_heading_rel_direction < pedestrian_to_crosswalk_min_rel_direction) { + return pedestrian_to_crosswalk_min_rel_direction - pedestrian_heading_rel_direction; + } + if (pedestrian_to_crosswalk_max_rel_direction < pedestrian_heading_rel_direction) { + return pedestrian_to_crosswalk_max_rel_direction - pedestrian_heading_rel_direction; + } + return 0.0; + }(); + const auto heading_for_crosswalk = std::abs(pedestrian_vel_angle_against_crosswalk) < + max_crosswalk_user_delta_yaw_threshold_for_lanelet; + const auto reachable = std::hypot(center_point.x() - obj_pos.x, center_point.y() - obj_pos.y) < + velocity * time_horizon; + + if (reachable && (heading_for_crosswalk || is_stop_object)) { + return true; + } + + return false; +} + +CrosswalkEdgePoints getCrosswalkEdgePoints(const lanelet::ConstLanelet & crosswalk) +{ + const Eigen::Vector2d r_p_front = crosswalk.rightBound().front().basicPoint2d(); + const Eigen::Vector2d l_p_front = crosswalk.leftBound().front().basicPoint2d(); + const Eigen::Vector2d front_center_point = (r_p_front + l_p_front) / 2.0; + + const Eigen::Vector2d r_p_back = crosswalk.rightBound().back().basicPoint2d(); + const Eigen::Vector2d l_p_back = crosswalk.leftBound().back().basicPoint2d(); + const Eigen::Vector2d back_center_point = (r_p_back + l_p_back) / 2.0; + + return CrosswalkEdgePoints{front_center_point, r_p_front, l_p_front, + back_center_point, r_p_back, l_p_back}; +} + +bool isIntersecting( + const geometry_msgs::msg::Point & point1, const geometry_msgs::msg::Point & point2, + const lanelet::ConstPoint3d & point3, const lanelet::ConstPoint3d & point4) +{ + const auto p1 = autoware::universe_utils::createPoint(point1.x, point1.y, 0.0); + const auto p2 = autoware::universe_utils::createPoint(point2.x, point2.y, 0.0); + const auto p3 = autoware::universe_utils::createPoint(point3.x(), point3.y(), 0.0); + const auto p4 = autoware::universe_utils::createPoint(point4.x(), point4.y(), 0.0); + const auto intersection = autoware::universe_utils::intersect(p1, p2, p3, p4); + return intersection.has_value(); +} + +bool doesPathCrossFence( + const PredictedPath & predicted_path, const lanelet::ConstLineString3d & fence_line) +{ + // check whether the predicted path cross with fence + for (size_t i = 0; i < predicted_path.path.size() - 1; ++i) { + for (size_t j = 0; j < fence_line.size() - 1; ++j) { + if (isIntersecting( + predicted_path.path[i].position, predicted_path.path[i + 1].position, fence_line[j], + fence_line[j + 1])) { + return true; + } + } + } + return false; +} + +} // namespace + +void PredictorVru::initialize() +{ + current_crosswalk_users_.clear(); + predicted_crosswalk_users_ids_.clear(); +} + +void PredictorVru::setTrafficSignal(const TrafficLightGroupArray & traffic_signal) +{ + traffic_signal_id_map_.clear(); + for (const auto & signal : traffic_signal.traffic_light_groups) { + traffic_signal_id_map_[signal.traffic_light_group_id] = signal; + } +} + +void PredictorVru::setLaneletMap(std::shared_ptr lanelet_map_ptr) +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + lanelet_map_ptr_ = std::move(lanelet_map_ptr); + + const auto all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr_); + const auto crosswalks = lanelet::utils::query::crosswalkLanelets(all_lanelets); + const auto walkways = lanelet::utils::query::walkwayLanelets(all_lanelets); + crosswalks_.insert(crosswalks_.end(), crosswalks.begin(), crosswalks.end()); + crosswalks_.insert(crosswalks_.end(), walkways.begin(), walkways.end()); + + lanelet::LineStrings3d fences; + for (const auto & linestring : lanelet_map_ptr_->lineStringLayer) { + if (const std::string type = linestring.attributeOr(lanelet::AttributeName::Type, "none"); + type == "fence") { + fences.push_back(lanelet::LineString3d( + std::const_pointer_cast(linestring.constData()))); + } + } + fence_layer_ = lanelet::utils::createMap(fences); +} + +bool PredictorVru::doesPathCrossAnyFence(const PredictedPath & predicted_path) +{ + lanelet::BasicLineString2d predicted_path_ls; + for (const auto & p : predicted_path.path) + predicted_path_ls.emplace_back(p.position.x, p.position.y); + const auto candidates = + fence_layer_->lineStringLayer.search(lanelet::geometry::boundingBox2d(predicted_path_ls)); + for (const auto & candidate : candidates) { + if (doesPathCrossFence(predicted_path, candidate)) { + return true; + } + } + return false; +} + +void PredictorVru::loadCurrentCrosswalkUsers(const TrackedObjects & objects) +{ + if (!lanelet_map_ptr_) { + return; + } + + // removeStaleTrafficLightInfo + for (auto it = stopped_times_against_green_.begin(); it != stopped_times_against_green_.end();) { + const bool isDisappeared = std::none_of( + objects.objects.begin(), objects.objects.end(), + [&it](autoware_perception_msgs::msg::TrackedObject obj) { + return autoware::universe_utils::toHexString(obj.object_id) == it->first.first; + }); + if (isDisappeared) { + it = stopped_times_against_green_.erase(it); + } else { + ++it; + } + } + + // + initialize(); + + // load current crosswalk users + for (const auto & object : objects.objects) { + const auto label_for_prediction = utils::changeLabelForPrediction( + object.classification.front().label, object, lanelet_map_ptr_); + if ( + label_for_prediction == ObjectClassification::PEDESTRIAN || + label_for_prediction == ObjectClassification::BICYCLE) { + const std::string object_id = autoware::universe_utils::toHexString(object.object_id); + current_crosswalk_users_.emplace(object_id, object); + } + } +} + +void PredictorVru::removeOldKnownMatches(const double current_time, const double buffer_time) +{ + auto invalidated_crosswalk_users = + utils::removeOldObjectsHistory(current_time, buffer_time, crosswalk_users_history_); + // delete matches that point to invalid object + for (auto it = known_matches_.begin(); it != known_matches_.end();) { + if (invalidated_crosswalk_users.count(it->second)) { + it = known_matches_.erase(it); + } else { + ++it; + } + } +} + +PredictedObject PredictorVru::predict( + const std_msgs::msg::Header & header, const TrackedObject & object) +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + std::string object_id = autoware::universe_utils::toHexString(object.object_id); + if (match_lost_and_appeared_crosswalk_users_) { + object_id = tryMatchNewObjectToDisappeared(object_id, current_crosswalk_users_); + } + predicted_crosswalk_users_ids_.insert(object_id); + updateCrosswalkUserHistory(header, object, object_id); + return getPredictedObjectAsCrosswalkUser(object); +} + +PredictedObjects PredictorVru::retrieveUndetectedObjects() +{ + PredictedObjects output; + for (const auto & [id, crosswalk_user] : crosswalk_users_history_) { + // get a predicted path for crosswalk users in history who didn't get path yet using latest + // message + if (predicted_crosswalk_users_ids_.count(id) == 0) { + const auto predicted_object = + getPredictedObjectAsCrosswalkUser(crosswalk_user.back().tracked_object); + output.objects.push_back(predicted_object); + } + } + return output; +} + +PredictedObject PredictorVru::getPredictedObjectAsCrosswalkUser(const TrackedObject & object) +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + auto predicted_object = utils::convertToPredictedObject(object); + { + PredictedPath predicted_path = + path_generator_->generatePathForNonVehicleObject(object, prediction_time_horizon_); + predicted_path.confidence = 1.0; + + predicted_object.kinematics.predicted_paths.push_back(predicted_path); + } + + boost::optional crossing_crosswalk{boost::none}; + const auto & obj_pos = object.kinematics.pose_with_covariance.pose.position; + const auto & obj_vel = object.kinematics.twist_with_covariance.twist.linear; + const auto estimated_velocity = std::hypot(obj_vel.x, obj_vel.y); + const auto velocity = std::max(min_crosswalk_user_velocity_, estimated_velocity); + const auto surrounding_lanelets_with_dist = lanelet::geometry::findWithin2d( + lanelet_map_ptr_->laneletLayer, lanelet::BasicPoint2d{obj_pos.x, obj_pos.y}, + prediction_time_horizon_ * velocity); + lanelet::ConstLanelets surrounding_lanelets; + lanelet::ConstLanelets surrounding_crosswalks; + for (const auto & [dist, lanelet] : surrounding_lanelets_with_dist) { + surrounding_lanelets.push_back(lanelet); + const auto attr = lanelet.attribute(lanelet::AttributeName::Subtype); + if ( + attr.value() == lanelet::AttributeValueString::Crosswalk || + attr.value() == lanelet::AttributeValueString::Walkway) { + const auto & crosswalk = lanelet; + surrounding_crosswalks.push_back(crosswalk); + if (std::abs(dist) < 1e-5) { + crossing_crosswalk = crosswalk; + } + } + } + + // If the object is in the crosswalk, generate path to the crosswalk edge + if (crossing_crosswalk) { + const auto edge_points = getCrosswalkEdgePoints(crossing_crosswalk.get()); + + if (hasPotentialToReach( + object, edge_points.front_center_point, edge_points.front_right_point, + edge_points.front_left_point, std::numeric_limits::max(), + min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) { + PredictedPath predicted_path = + path_generator_->generatePathToTargetPoint(object, edge_points.front_center_point); + predicted_path.confidence = 1.0; + predicted_object.kinematics.predicted_paths.push_back(predicted_path); + } + + if (hasPotentialToReach( + object, edge_points.back_center_point, edge_points.back_right_point, + edge_points.back_left_point, std::numeric_limits::max(), + min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) { + PredictedPath predicted_path = + path_generator_->generatePathToTargetPoint(object, edge_points.back_center_point); + predicted_path.confidence = 1.0; + predicted_object.kinematics.predicted_paths.push_back(predicted_path); + } + + // If the object is not crossing the crosswalk, in the road lanelets, try to find the closest + // crosswalk and generate path to the crosswalk edge + } else if (utils::withinRoadLanelet(object, surrounding_lanelets_with_dist)) { + lanelet::ConstLanelet closest_crosswalk{}; + const auto & obj_pose = object.kinematics.pose_with_covariance.pose; + const auto found_closest_crosswalk = + lanelet::utils::query::getClosestLanelet(crosswalks_, obj_pose, &closest_crosswalk); + + if (found_closest_crosswalk) { + const auto edge_points = getCrosswalkEdgePoints(closest_crosswalk); + + if (hasPotentialToReach( + object, edge_points.front_center_point, edge_points.front_right_point, + edge_points.front_left_point, prediction_time_horizon_ * 2.0, + min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) { + PredictedPath predicted_path = + path_generator_->generatePathToTargetPoint(object, edge_points.front_center_point); + predicted_path.confidence = 1.0; + predicted_object.kinematics.predicted_paths.push_back(predicted_path); + } + + if (hasPotentialToReach( + object, edge_points.back_center_point, edge_points.back_right_point, + edge_points.back_left_point, prediction_time_horizon_ * 2.0, + min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) { + PredictedPath predicted_path = + path_generator_->generatePathToTargetPoint(object, edge_points.back_center_point); + predicted_path.confidence = 1.0; + predicted_object.kinematics.predicted_paths.push_back(predicted_path); + } + } + } + + // try to find the edge points for other surrounding crosswalks and generate path to the crosswalk + // edge + for (const auto & crosswalk : surrounding_crosswalks) { + if (crossing_crosswalk && crossing_crosswalk.get() == crosswalk) { + continue; + } + const auto crosswalk_signal_id_opt = getTrafficSignalId(crosswalk); + if (crosswalk_signal_id_opt.has_value() && use_crosswalk_signal_) { + if (!calcIntentionToCrossWithTrafficSignal( + object, crosswalk, crosswalk_signal_id_opt.value())) { + continue; + } + } + + const auto edge_points = getCrosswalkEdgePoints(crosswalk); + + const auto reachable_first = hasPotentialToReach( + object, edge_points.front_center_point, edge_points.front_right_point, + edge_points.front_left_point, prediction_time_horizon_, min_crosswalk_user_velocity_, + max_crosswalk_user_delta_yaw_threshold_for_lanelet_); + const auto reachable_second = hasPotentialToReach( + object, edge_points.back_center_point, edge_points.back_right_point, + edge_points.back_left_point, prediction_time_horizon_, min_crosswalk_user_velocity_, + max_crosswalk_user_delta_yaw_threshold_for_lanelet_); + + if (!reachable_first && !reachable_second) { + continue; + } + + const auto reachable_crosswalk = isReachableCrosswalkEdgePoints( + object, surrounding_lanelets, surrounding_crosswalks, edge_points, prediction_time_horizon_, + min_crosswalk_user_velocity_); + + if (!reachable_crosswalk) { + continue; + } + + PredictedPath predicted_path = path_generator_->generatePathForCrosswalkUser( + object, reachable_crosswalk.get(), prediction_time_horizon_); + predicted_path.confidence = 1.0; + + if (predicted_path.path.empty()) { + continue; + } + // If the predicted path to the crosswalk is crossing the fence, don't use it + if (doesPathCrossAnyFence(predicted_path)) { + continue; + } + + predicted_object.kinematics.predicted_paths.push_back(predicted_path); + } + + const auto n_path = predicted_object.kinematics.predicted_paths.size(); + for (auto & predicted_path : predicted_object.kinematics.predicted_paths) { + predicted_path.confidence = 1.0 / n_path; + } + + return predicted_object; +} + +std::optional PredictorVru::getTrafficSignalId( + const lanelet::ConstLanelet & way_lanelet) +{ + const auto traffic_light_reg_elems = + way_lanelet.regulatoryElementsAs(); + if (traffic_light_reg_elems.empty()) { + return std::nullopt; + } else if (traffic_light_reg_elems.size() > 1) { + RCLCPP_ERROR( + node_.get_logger(), + "[Map Based Prediction]: " + "Multiple regulatory elements as TrafficLight are defined to one lanelet object."); + } + return traffic_light_reg_elems.front()->id(); +} + +void PredictorVru::updateCrosswalkUserHistory( + const std_msgs::msg::Header & header, const TrackedObject & object, const std::string & object_id) +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + CrosswalkUserData crosswalk_user_data; + crosswalk_user_data.header = header; + crosswalk_user_data.tracked_object = object; + + if (crosswalk_users_history_.count(object_id) == 0) { + crosswalk_users_history_.emplace(object_id, std::deque{crosswalk_user_data}); + return; + } + + crosswalk_users_history_.at(object_id).push_back(crosswalk_user_data); +} + +std::string PredictorVru::tryMatchNewObjectToDisappeared( + const std::string & object_id, std::unordered_map & current_users) +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + const auto known_match_opt = [&]() -> std::optional { + if (!known_matches_.count(object_id)) { + return std::nullopt; + } + + std::string match_id = known_matches_[object_id]; + // object in the history is already matched to something (possibly itself) + if (crosswalk_users_history_.count(match_id)) { + // avoid matching two appeared users to one user in history + current_users[match_id] = crosswalk_users_history_[match_id].back().tracked_object; + return match_id; + } else { + RCLCPP_WARN_STREAM( + node_.get_logger(), "Crosswalk user was " + << object_id << "was matched to " << match_id + << " but history for the crosswalk user was deleted. Rematching"); + } + return std::nullopt; + }(); + // early return if the match is already known + if (known_match_opt.has_value()) { + return known_match_opt.value(); + } + + std::string match_id = object_id; + double best_score = std::numeric_limits::max(); + const auto object_pos = current_users[object_id].kinematics.pose_with_covariance.pose.position; + for (const auto & [user_id, user_history] : crosswalk_users_history_) { + // user present in current_users and will be matched to itself + if (current_users.count(user_id)) { + continue; + } + // TODO(dkoldaev): implement more sophisticated scoring, for now simply dst to last position in + // history + const auto match_candidate_pos = + user_history.back().tracked_object.kinematics.pose_with_covariance.pose.position; + const double score = + std::hypot(match_candidate_pos.x - object_pos.x, match_candidate_pos.y - object_pos.y); + if (score < best_score) { + best_score = score; + match_id = user_id; + } + } + + if (object_id != match_id) { + RCLCPP_INFO_STREAM( + node_.get_logger(), "[Map Based Prediction]: Matched " << object_id << " to " << match_id); + // avoid matching two appeared users to one user in history + current_users[match_id] = crosswalk_users_history_[match_id].back().tracked_object; + } + + known_matches_[object_id] = match_id; + return match_id; +} + +bool PredictorVru::calcIntentionToCrossWithTrafficSignal( + const TrackedObject & object, const lanelet::ConstLanelet & crosswalk, + const lanelet::Id & signal_id) +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + const auto signal_color = [&] { + const auto elem_opt = getTrafficSignalElement(signal_id); + return elem_opt ? elem_opt.value().color : TrafficLightElement::UNKNOWN; + }(); + + const auto key = + std::make_pair(autoware::universe_utils::toHexString(object.object_id), signal_id); + if ( + signal_color == TrafficLightElement::GREEN && + autoware::universe_utils::calcNorm(object.kinematics.twist_with_covariance.twist.linear) < + threshold_velocity_assumed_as_stopping_) { + stopped_times_against_green_.try_emplace(key, node_.get_clock()->now()); + + const auto timeout_no_intention_to_walk = [&]() { + auto InterpolateMap = []( + const std::vector & key_set, + const std::vector & value_set, const double query) { + if (query <= key_set.front()) { + return value_set.front(); + } else if (query >= key_set.back()) { + return value_set.back(); + } + for (size_t i = 0; i < key_set.size() - 1; ++i) { + if (key_set.at(i) <= query && query <= key_set.at(i + 1)) { + auto ratio = + (query - key_set.at(i)) / std::max(key_set.at(i + 1) - key_set.at(i), 1.0e-5); + ratio = std::clamp(ratio, 0.0, 1.0); + return value_set.at(i) + ratio * (value_set.at(i + 1) - value_set.at(i)); + } + } + return value_set.back(); + }; + + const auto obj_position = object.kinematics.pose_with_covariance.pose.position; + const double distance_to_crosswalk = boost::geometry::distance( + crosswalk.polygon2d().basicPolygon(), + lanelet::BasicPoint2d(obj_position.x, obj_position.y)); + return InterpolateMap( + distance_set_for_no_intention_to_walk_, timeout_set_for_no_intention_to_walk_, + distance_to_crosswalk); + }(); + + if ( + (node_.get_clock()->now() - stopped_times_against_green_.at(key)).seconds() > + timeout_no_intention_to_walk) { + return false; + } + + } else { + stopped_times_against_green_.erase(key); + // If the pedestrian disappears, another function erases the old data. + } + + if (signal_color == TrafficLightElement::RED) { + return false; + } + + return true; +} + +std::optional PredictorVru::getTrafficSignalElement(const lanelet::Id & id) +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + if (traffic_signal_id_map_.count(id) != 0) { + const auto & signal_elements = traffic_signal_id_map_.at(id).elements; + if (signal_elements.size() > 1) { + RCLCPP_ERROR( + node_.get_logger(), "[Map Based Prediction]: Multiple TrafficSignalElement_ are received."); + } else if (!signal_elements.empty()) { + return signal_elements.front(); + } + } + return std::nullopt; +} + +} // namespace autoware::map_based_prediction diff --git a/perception/autoware_map_based_prediction/src/utils.cpp b/perception/autoware_map_based_prediction/src/utils.cpp new file mode 100644 index 0000000000000..c9ebd9667659a --- /dev/null +++ b/perception/autoware_map_based_prediction/src/utils.cpp @@ -0,0 +1,222 @@ +// Copyright 2024 TIER IV, inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "map_based_prediction/utils.hpp" + +namespace autoware::map_based_prediction +{ +namespace utils +{ + +/** + * @brief calc absolute normalized yaw difference between lanelet and object + * + * @param object + * @param lanelet + * @return double + */ +double calcAbsYawDiffBetweenLaneletAndObject( + const TrackedObject & object, const lanelet::ConstLanelet & lanelet) +{ + const double object_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); + const double lane_yaw = + lanelet::utils::getLaneletAngle(lanelet, object.kinematics.pose_with_covariance.pose.position); + const double delta_yaw = object_yaw - lane_yaw; + const double normalized_delta_yaw = autoware::universe_utils::normalizeRadian(delta_yaw); + const double abs_norm_delta = std::fabs(normalized_delta_yaw); + return abs_norm_delta; +} + +bool withinRoadLanelet( + const TrackedObject & object, + const std::vector> & surrounding_lanelets_with_dist, + const bool use_yaw_information) +{ + for (const auto & [dist, lanelet] : surrounding_lanelets_with_dist) { + if (lanelet.hasAttribute(lanelet::AttributeName::Subtype)) { + lanelet::Attribute attr = lanelet.attribute(lanelet::AttributeName::Subtype); + if ( + attr.value() == lanelet::AttributeValueString::Crosswalk || + attr.value() == lanelet::AttributeValueString::Walkway) { + continue; + } + } + + constexpr float yaw_threshold = 0.6; + bool within_lanelet = std::abs(dist) < 1e-5; + if (use_yaw_information) { + within_lanelet = + within_lanelet && calcAbsYawDiffBetweenLaneletAndObject(object, lanelet) < yaw_threshold; + } + if (within_lanelet) { + return true; + } + } + + return false; +} + +bool withinRoadLanelet( + const TrackedObject & object, const lanelet::LaneletMapPtr & lanelet_map_ptr, + const bool use_yaw_information) +{ + const auto & obj_pos = object.kinematics.pose_with_covariance.pose.position; + lanelet::BasicPoint2d search_point(obj_pos.x, obj_pos.y); + // nearest lanelet + constexpr double search_radius = 10.0; // [m] + const auto surrounding_lanelets_with_dist = + lanelet::geometry::findWithin2d(lanelet_map_ptr->laneletLayer, search_point, search_radius); + + return withinRoadLanelet(object, surrounding_lanelets_with_dist, use_yaw_information); +} + +/** + * @brief change label for prediction + * + * @param label + * @return ObjectClassification::_label_type + */ +ObjectClassification::_label_type changeLabelForPrediction( + const ObjectClassification::_label_type & label, const TrackedObject & object, + const lanelet::LaneletMapPtr & lanelet_map_ptr_) +{ + // for car like vehicle do not change labels + switch (label) { + case ObjectClassification::CAR: + case ObjectClassification::BUS: + case ObjectClassification::TRUCK: + case ObjectClassification::TRAILER: + case ObjectClassification::UNKNOWN: + return label; + + case ObjectClassification::MOTORCYCLE: + case ObjectClassification::BICYCLE: { // if object is within road lanelet and satisfies yaw + // constraints + const bool within_road_lanelet = withinRoadLanelet(object, lanelet_map_ptr_, true); + // if the object is within lanelet, do the same estimation with vehicle + if (within_road_lanelet) return ObjectClassification::MOTORCYCLE; + + constexpr float high_speed_threshold = + autoware::universe_utils::kmph2mps(25.0); // High speed bicycle 25 km/h + // calc abs speed from x and y velocity + const double abs_speed = std::hypot( + object.kinematics.twist_with_covariance.twist.linear.x, + object.kinematics.twist_with_covariance.twist.linear.y); + const bool high_speed_object = abs_speed > high_speed_threshold; + // high speed object outside road lanelet will move like unknown object + // return ObjectClassification::UNKNOWN; // temporary disabled + if (high_speed_object) return label; // Do nothing for now + return ObjectClassification::BICYCLE; + } + + case ObjectClassification::PEDESTRIAN: { + const float max_velocity_for_human_mps = + autoware::universe_utils::kmph2mps(25.0); // Max human being motion speed is 25km/h + const double abs_speed = std::hypot( + object.kinematics.twist_with_covariance.twist.linear.x, + object.kinematics.twist_with_covariance.twist.linear.y); + const bool high_speed_object = abs_speed > max_velocity_for_human_mps; + // fast, human-like object: like segway + // return ObjectClassification::MOTORCYCLE; + if (high_speed_object) return label; // currently do nothing + // fast human outside road lanelet will move like unknown object + // return ObjectClassification::UNKNOWN; + return label; + } + + default: + return label; + } +} + +template +std::unordered_set removeOldObjectsHistory( + const double current_time, const double buffer_time, + std::unordered_map> & target_objects) +{ + std::unordered_set invalid_object_id; + for (auto iter = target_objects.begin(); iter != target_objects.end(); ++iter) { + const std::string object_id = iter->first; + std::deque & object_data = iter->second; + + // If object data is empty, we are going to delete the buffer for the obstacle + if (object_data.empty()) { + invalid_object_id.insert(object_id); + continue; + } + + const double latest_object_time = rclcpp::Time(object_data.back().header.stamp).seconds(); + + // Delete Old Objects + if (current_time - latest_object_time > buffer_time) { + invalid_object_id.insert(object_id); + continue; + } + + // Delete old information + while (!object_data.empty()) { + const double post_object_time = rclcpp::Time(object_data.front().header.stamp).seconds(); + if (current_time - post_object_time <= buffer_time) { + break; + } + object_data.pop_front(); + } + + if (object_data.empty()) { + invalid_object_id.insert(object_id); + continue; + } + } + + for (const auto & key : invalid_object_id) { + target_objects.erase(key); + } + + return invalid_object_id; +} + +// Explicit instantiation definitions +template std::unordered_set removeOldObjectsHistory( + const double current_time, const double buffer_time, + std::unordered_map> & target_objects); +template std::unordered_set removeOldObjectsHistory( + const double current_time, const double buffer_time, + std::unordered_map> & target_objects); + +PredictedObjectKinematics convertToPredictedKinematics( + const TrackedObjectKinematics & tracked_object) +{ + PredictedObjectKinematics output; + output.initial_pose_with_covariance = tracked_object.pose_with_covariance; + output.initial_twist_with_covariance = tracked_object.twist_with_covariance; + output.initial_acceleration_with_covariance = tracked_object.acceleration_with_covariance; + return output; +} + +PredictedObject convertToPredictedObject(const TrackedObject & tracked_object) +{ + PredictedObject predicted_object; + predicted_object.kinematics = convertToPredictedKinematics(tracked_object.kinematics); + predicted_object.classification = tracked_object.classification; + predicted_object.object_id = tracked_object.object_id; + predicted_object.shape.type = tracked_object.shape.type; + predicted_object.shape.footprint = tracked_object.shape.footprint; + predicted_object.shape.dimensions = tracked_object.shape.dimensions; + predicted_object.existence_probability = tracked_object.existence_probability; + + return predicted_object; +} + +} // namespace utils +} // namespace autoware::map_based_prediction diff --git a/perception/autoware_map_based_prediction/test/map_based_prediction/test_path_generator.cpp b/perception/autoware_map_based_prediction/test/map_based_prediction/test_path_generator.cpp index 08e5b4977e583..26b7be5c813f6 100644 --- a/perception/autoware_map_based_prediction/test/map_based_prediction/test_path_generator.cpp +++ b/perception/autoware_map_based_prediction/test/map_based_prediction/test_path_generator.cpp @@ -12,6 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "map_based_prediction/data_structure.hpp" #include "map_based_prediction/path_generator.hpp" #include From 6a062412411f1e3860ca9cd85befffb3057b88b9 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Thu, 31 Oct 2024 18:00:10 +0900 Subject: [PATCH 336/701] refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (#8912) * Moved ndt_omp into ndt_scan_matcher Signed-off-by: Shintaro Sakoda * Added Copyright Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda * Fixed cast style Signed-off-by: Shintaro Sakoda * Fixed include Signed-off-by: Shintaro Sakoda * Fixed honorific title Signed-off-by: Shintaro Sakoda * Fixed honorific title Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed hierarchy Signed-off-by: Shintaro Sakoda * Fixed NVTP to NVTL Signed-off-by: Shintaro Sakoda * Added cspell:ignore Signed-off-by: Shintaro Sakoda * Fixed miss spell Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda * Renamed applyFilter Signed-off-by: Shintaro Sakoda * Moved ***_impl.hpp from include/ to src/ Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed variable scope Signed-off-by: Shintaro Sakoda * Fixed to pass by reference Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Shintaro Sakoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../autoware_ndt_scan_matcher/CMakeLists.txt | 19 +- .../ndt_scan_matcher/hyper_parameters.hpp | 4 +- .../ndt_scan_matcher/map_update_module.hpp | 6 +- .../autoware/ndt_scan_matcher/ndt_omp/LICENSE | 25 + .../ndt_scan_matcher/ndt_omp/README.md | 12 + .../ndt_omp/estimate_covariance.hpp | 90 ++ .../ndt_omp/multi_voxel_grid_covariance_omp.h | 439 ++++++ .../ndt_omp/multigrid_ndt_omp.h | 573 ++++++++ .../ndt_scan_matcher/ndt_omp/ndt_struct.hpp | 107 ++ .../ndt_scan_matcher_core.hpp | 6 +- .../autoware_ndt_scan_matcher/package.xml | 1 - .../src/ndt_omp/estimate_covariance.cpp | 203 +++ .../multi_voxel_grid_covariance_omp.cpp | 18 + .../multi_voxel_grid_covariance_omp_impl.hpp | 477 +++++++ .../src/ndt_omp/multigrid_ndt_omp.cpp | 18 + .../src/ndt_omp/multigrid_ndt_omp_impl.hpp | 1243 +++++++++++++++++ .../src/ndt_scan_matcher_core.cpp | 2 +- 17 files changed, 3232 insertions(+), 11 deletions(-) create mode 100644 localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/LICENSE create mode 100644 localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/README.md create mode 100644 localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/estimate_covariance.hpp create mode 100644 localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h create mode 100644 localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h create mode 100644 localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/ndt_struct.hpp create mode 100644 localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp create mode 100644 localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp.cpp create mode 100644 localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp create mode 100644 localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp.cpp create mode 100644 localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp_impl.hpp diff --git a/localization/autoware_ndt_scan_matcher/CMakeLists.txt b/localization/autoware_ndt_scan_matcher/CMakeLists.txt index 98bdf9be8761e..fdec72e521d43 100644 --- a/localization/autoware_ndt_scan_matcher/CMakeLists.txt +++ b/localization/autoware_ndt_scan_matcher/CMakeLists.txt @@ -1,6 +1,8 @@ cmake_minimum_required(VERSION 3.14) project(autoware_ndt_scan_matcher) +# cspell:ignore multigrid + find_package(autoware_cmake REQUIRED) autoware_package() @@ -22,9 +24,24 @@ else() endif() endif() +find_package(OpenMP) + find_package(PCL REQUIRED COMPONENTS common io registration) include_directories(${PCL_INCLUDE_DIRS}) +ament_auto_add_library(multigrid_ndt_omp SHARED + src/ndt_omp/multi_voxel_grid_covariance_omp.cpp + src/ndt_omp/multigrid_ndt_omp.cpp + src/ndt_omp/estimate_covariance.cpp +) +target_link_libraries(multigrid_ndt_omp ${PCL_LIBRARIES}) + +if(OpenMP_CXX_FOUND) + target_link_libraries(multigrid_ndt_omp OpenMP::OpenMP_CXX) +else() + message(WARNING "OpenMP not found") +endif() + ament_auto_add_library(${PROJECT_NAME} SHARED src/map_update_module.cpp src/ndt_scan_matcher_core.cpp @@ -32,7 +49,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) link_directories(${PCL_LIBRARY_DIRS}) -target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES}) +target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} multigrid_ndt_omp) rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "autoware::ndt_scan_matcher::NDTScanMatcher" diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/hyper_parameters.hpp b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/hyper_parameters.hpp index c1ffbe696fda3..84e059f87b9d1 100644 --- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/hyper_parameters.hpp +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/hyper_parameters.hpp @@ -15,9 +15,9 @@ #ifndef AUTOWARE__NDT_SCAN_MATCHER__HYPER_PARAMETERS_HPP_ #define AUTOWARE__NDT_SCAN_MATCHER__HYPER_PARAMETERS_HPP_ -#include +#include "ndt_omp/multigrid_ndt_omp.h" -#include +#include #include #include diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp index 9b140977f4971..d2dce42e3923e 100644 --- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp @@ -17,8 +17,9 @@ #include "autoware/localization_util/diagnostics_module.hpp" #include "autoware/localization_util/util_func.hpp" -#include "autoware/ndt_scan_matcher/hyper_parameters.hpp" -#include "autoware/ndt_scan_matcher/particle.hpp" +#include "hyper_parameters.hpp" +#include "ndt_omp/multigrid_ndt_omp.h" +#include "particle.hpp" #include #include @@ -30,7 +31,6 @@ #include #include -#include #include #include diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/LICENSE b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/LICENSE new file mode 100644 index 0000000000000..612dceefd4493 --- /dev/null +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/LICENSE @@ -0,0 +1,25 @@ +BSD 2-Clause License + +Copyright (c) 2019, k.koide +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/README.md b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/README.md new file mode 100644 index 0000000000000..b742d988f7774 --- /dev/null +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/README.md @@ -0,0 +1,12 @@ +# ndt_omp + + + +cspell:ignore Kenji, Koide +<--> + +The codes in this directory are derived from , which is a fork of . + +We use this code in accordance with the LICENSE, and we have directly confirmed this with Dr. Kenji Koide. + +We sincerely appreciate Dr. Koide’s support and contributions. diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/estimate_covariance.hpp b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/estimate_covariance.hpp new file mode 100644 index 0000000000000..a4e9e64ac39af --- /dev/null +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/estimate_covariance.hpp @@ -0,0 +1,90 @@ +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__ESTIMATE_COVARIANCE_HPP_ +#define AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__ESTIMATE_COVARIANCE_HPP_ + +#include "multigrid_ndt_omp.h" + +#include + +#include +#include +#include + +namespace pclomp +{ + +struct ResultOfMultiNdtCovarianceEstimation +{ + Eigen::Vector2d mean; + Eigen::Matrix2d covariance; + std::vector ndt_initial_poses; + std::vector ndt_results; +}; + +/** \brief Estimate functions */ +Eigen::Matrix2d estimate_xy_covariance_by_laplace_approximation( + const Eigen::Matrix & hessian); +ResultOfMultiNdtCovarianceEstimation estimate_xy_covariance_by_multi_ndt( + const NdtResult & ndt_result, + const std::shared_ptr< + pclomp::MultiGridNormalDistributionsTransform> & ndt_ptr, + const std::vector & poses_to_search); +ResultOfMultiNdtCovarianceEstimation estimate_xy_covariance_by_multi_ndt_score( + const NdtResult & ndt_result, + const std::shared_ptr< + pclomp::MultiGridNormalDistributionsTransform> & ndt_ptr, + const std::vector & poses_to_search, const double temperature); + +/** \brief Find rotation matrix aligning covariance to principal axes + * (1) Compute eigenvalues and eigenvectors + * (2) Compute angle for first eigenvector + * (3) Return rotation matrix + */ +Eigen::Matrix2d find_rotation_matrix_aligning_covariance_to_principal_axes( + const Eigen::Matrix2d & matrix); + +/** \brief Propose poses to search. + * (1) Compute covariance by Laplace approximation + * (2) Find rotation matrix aligning covariance to principal axes + * (3) Propose search points by adding offset_x and offset_y to the center_pose + */ +std::vector propose_poses_to_search( + const NdtResult & ndt_result, const std::vector & offset_x, + const std::vector & offset_y); + +/** \brief Calculate weights by exponential */ +std::vector calc_weight_vec(const std::vector & score_vec, double temperature); + +/** \brief Calculate weighted mean and covariance */ +std::pair calculate_weighted_mean_and_cov( + const std::vector & pose_2d_vec, const std::vector & weight_vec); + +/** \brief Rotate covariance to base_link coordinate */ +Eigen::Matrix2d rotate_covariance_to_base_link( + const Eigen::Matrix2d & covariance, const Eigen::Matrix4f & pose); + +/** \brief Rotate covariance to map coordinate */ +Eigen::Matrix2d rotate_covariance_to_map( + const Eigen::Matrix2d & covariance, const Eigen::Matrix4f & pose); + +/** \brief Adjust diagonal covariance */ +Eigen::Matrix2d adjust_diagonal_covariance( + const Eigen::Matrix2d & covariance, const Eigen::Matrix4f & pose, const double fixed_cov00, + const double fixed_cov11); + +} // namespace pclomp + +#endif // AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__ESTIMATE_COVARIANCE_HPP_ diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h new file mode 100644 index 0000000000000..85f37e878bd48 --- /dev/null +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h @@ -0,0 +1,439 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2010-2011, Willow Garage, Inc. + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + */ + +#ifndef AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__MULTI_VOXEL_GRID_COVARIANCE_OMP_H_ +#define AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__MULTI_VOXEL_GRID_COVARIANCE_OMP_H_ + +// cspell:ignore Magnusson, Okorn, evecs, evals, covar, eigvalue, futs + +#include +#include + +// pcl_macros.h must come first +// clang-format off +#include +// clang-format on +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace pclomp +{ +/** \brief A searchable voxel structure containing the mean and covariance of the data. + * \note For more information please see + * Magnusson, M. (2009). The Three-Dimensional Normal-Distributions Transform — + * an Efficient Representation for Registration, Surface Analysis, and Loop Detection. + * PhD thesis, Orebro University. Orebro Studies in Technology 36 + * \author Brian Okorn (Space and Naval Warfare Systems Center Pacific) + */ +template +class MultiVoxelGridCovariance : public pcl::VoxelGrid +{ +protected: + using pcl::VoxelGrid::filter_name_; + using pcl::VoxelGrid::getClassName; + using pcl::VoxelGrid::input_; + using pcl::VoxelGrid::indices_; + using pcl::VoxelGrid::filter_limit_negative_; + using pcl::VoxelGrid::filter_limit_min_; + using pcl::VoxelGrid::filter_limit_max_; + + // using pcl::VoxelGrid::downsample_all_data_; + using pcl::VoxelGrid::leaf_size_; + using pcl::VoxelGrid::min_b_; + using pcl::VoxelGrid::max_b_; + using pcl::VoxelGrid::inverse_leaf_size_; + using pcl::VoxelGrid::div_b_; + using pcl::VoxelGrid::divb_mul_; + + typedef typename pcl::traits::fieldList::type FieldList; + typedef typename pcl::Filter::PointCloud PointCloud; + typedef typename PointCloud::Ptr PointCloudPtr; + typedef typename PointCloud::ConstPtr PointCloudConstPtr; + +public: +#if PCL_VERSION >= PCL_VERSION_CALC(1, 10, 0) + typedef pcl::shared_ptr> Ptr; + typedef pcl::shared_ptr> ConstPtr; +#else + typedef boost::shared_ptr> Ptr; + typedef boost::shared_ptr> ConstPtr; +#endif + + /** \brief Simple structure to hold a centroid, covariance and the number of points in a leaf. + * Inverse covariance, eigen vectors and eigen values are precomputed. */ + struct Leaf + { + /** \brief Constructor. + * Sets \ref nr_points_, \ref icov_, \ref mean_ and \ref evals_ to 0 and \ref cov_ and \ref + * evecs_ to the identity matrix + */ + Leaf() + : nr_points_(0), + mean_(Eigen::Vector3d::Zero()), + centroid_(), + cov_(Eigen::Matrix3d::Identity()), + icov_(Eigen::Matrix3d::Zero()), + evecs_(Eigen::Matrix3d::Identity()), + evals_(Eigen::Vector3d::Zero()) + { + } + + Leaf(const Leaf & other) + : mean_(other.mean_), + centroid_(other.centroid_), + cov_(other.cov_), + icov_(other.icov_), + evecs_(other.evecs_), + evals_(other.evals_) + { + nr_points_ = other.nr_points_; + } + + Leaf(Leaf && other) + : mean_(std::move(other.mean_)), + centroid_(std::move(other.centroid_)), + cov_(std::move(other.cov_)), + icov_(std::move(other.icov_)), + evecs_(std::move(other.evecs_)), + evals_(std::move(other.evals_)) + { + nr_points_ = other.nr_points_; + } + + Leaf & operator=(const Leaf & other) + { + mean_ = other.mean_; + centroid_ = other.centroid_; + cov_ = other.cov_; + icov_ = other.icov_; + evecs_ = other.evecs_; + evals_ = other.evals_; + nr_points_ = other.nr_points_; + + return *this; + } + + Leaf & operator=(Leaf && other) + { + mean_ = std::move(other.mean_); + centroid_ = std::move(other.centroid_); + cov_ = std::move(other.cov_); + icov_ = std::move(other.icov_); + evecs_ = std::move(other.evecs_); + evals_ = std::move(other.evals_); + nr_points_ = other.nr_points_; + + return *this; + } + + /** \brief Get the voxel covariance. + * \return covariance matrix + */ + const Eigen::Matrix3d & getCov() const { return (cov_); } + Eigen::Matrix3d & getCov() { return (cov_); } + + /** \brief Get the inverse of the voxel covariance. + * \return inverse covariance matrix + */ + const Eigen::Matrix3d & getInverseCov() const { return (icov_); } + + Eigen::Matrix3d & getInverseCov() { return (icov_); } + + /** \brief Get the voxel centroid. + * \return centroid + */ + const Eigen::Vector3d & getMean() const { return (mean_); } + + Eigen::Vector3d & getMean() { return (mean_); } + + /** \brief Get the eigen vectors of the voxel covariance. + * \note Order corresponds with \ref getEvals + * \return matrix whose columns contain eigen vectors + */ + const Eigen::Matrix3d & getEvecs() const { return (evecs_); } + + Eigen::Matrix3d & getEvecs() { return (evecs_); } + + /** \brief Get the eigen values of the voxel covariance. + * \note Order corresponds with \ref getEvecs + * \return vector of eigen values + */ + const Eigen::Vector3d & getEvals() const { return (evals_); } + + Eigen::Vector3d & getEvals() { return (evals_); } + + /** \brief Get the number of points contained by this voxel. + * \return number of points + */ + int getPointCount() const { return (nr_points_); } + + /** \brief Number of points contained by voxel */ + int nr_points_; + + /** \brief 3D voxel centroid */ + Eigen::Vector3d mean_; + + /** \brief Nd voxel centroid + * \note Differs from \ref mean_ when color data is used + */ + Eigen::VectorXf centroid_; + + /** \brief Voxel covariance matrix */ + Eigen::Matrix3d cov_; + + /** \brief Inverse of voxel covariance matrix */ + Eigen::Matrix3d icov_; + + /** \brief Eigen vectors of voxel covariance matrix */ + Eigen::Matrix3d evecs_; + + /** \brief Eigen values of voxel covariance matrix */ + Eigen::Vector3d evals_; + }; + + /** \brief Pointer to MultiVoxelGridCovariance leaf structure */ + typedef Leaf * LeafPtr; + + /** \brief Const pointer to MultiVoxelGridCovariance leaf structure */ + typedef const Leaf * LeafConstPtr; + + struct BoundingBox + { + Eigen::Vector4i max; + Eigen::Vector4i min; + Eigen::Vector4i div_mul; + }; + + // Each grid contains a vector of leaves and a kdtree built from those leaves + using GridNodeType = std::vector; + using GridNodePtr = std::shared_ptr; + +public: + /** \brief Constructor. + * Sets \ref leaf_size_ to 0 + */ + MultiVoxelGridCovariance() : min_points_per_voxel_(6), min_covar_eigvalue_mult_(0.01) + { + leaf_size_.setZero(); + min_b_.setZero(); + max_b_.setZero(); + filter_name_ = "MultiVoxelGridCovariance"; + + setThreadNum(1); + last_check_tid_ = -1; + } + + MultiVoxelGridCovariance(const MultiVoxelGridCovariance & other); + MultiVoxelGridCovariance(MultiVoxelGridCovariance && other) noexcept; + + MultiVoxelGridCovariance & operator=(const MultiVoxelGridCovariance & other); + MultiVoxelGridCovariance & operator=(MultiVoxelGridCovariance && other) noexcept; + + /** \brief Add a cloud to the voxel grid list and build a ND voxel grid from it. + */ + void setInputCloudAndFilter(const PointCloudConstPtr & cloud, const std::string & grid_id); + + /** \brief Remove a ND voxel grid corresponding to the specified id + */ + void removeCloud(const std::string & grid_id); + + /** \brief Build KdTrees from the NDT voxel for later radius search + */ + void createKdtree(); + + /** \brief Search for all the nearest occupied voxels of the query point in a given radius. + * \note Only voxels containing a sufficient number of points are used. + * \param[in] point the given query point + * \param[in] radius the radius of the sphere bounding all of p_q's neighbors + * \param[out] k_leaves the resultant leaves of the neighboring points + * \param[in] max_nn + * \return number of neighbors found + */ + int radiusSearch( + const PointT & point, double radius, std::vector & k_leaves, + unsigned int max_nn = 0) const; + + /** \brief Search for all the nearest occupied voxels of the query point in a given radius. + * \note Only voxels containing a sufficient number of points are used. + * \param[in] cloud the given query point + * \param[in] index a valid index in cloud representing a valid (i.e., finite) query point + * \param[in] radius the radius of the sphere bounding all of p_q's neighbors + * \param[out] k_leaves the resultant leaves of the neighboring points + * \param[in] max_nn + * \return number of neighbors found + */ + int radiusSearch( + const PointCloud & cloud, int index, double radius, std::vector & k_leaves, + unsigned int max_nn = 0) const; + + // Return a pointer to avoid multiple deep copies + PointCloud getVoxelPCD() const; + + // Return the string indices of currently loaded map pieces + std::vector getCurrentMapIDs() const; + + void setThreadNum(int thread_num) + { + sync(); + + if (thread_num <= 0) { + thread_num = 1; + } + + thread_num_ = thread_num; + thread_futs_.resize(thread_num_); + processing_inputs_.resize(thread_num_); + } + + ~MultiVoxelGridCovariance() + { + // Stop all threads in the case an intermediate interrupt occurs + sync(); + } + +protected: + // Return the index of an idle thread, which is not running any + // job, or has already finished its job and waiting for a join. + inline int get_idle_tid() + { + int tid = (last_check_tid_ == thread_num_ - 1) ? 0 : last_check_tid_ + 1; + std::chrono::microseconds span(50); + + // Loop until an idle thread is found + while (true) { + // Return immediately if a thread that has not been given a job is found + if (!thread_futs_[tid].valid()) { + last_check_tid_ = tid; + return tid; + } + + // If no such thread is found, wait for the current thread to finish its job + if (thread_futs_[tid].wait_for(span) == std::future_status::ready) { + last_check_tid_ = tid; + return tid; + } + + // If the current thread has not finished its job, check the next thread + tid = (tid == thread_num_ - 1) ? 0 : tid + 1; + } + } + + // Wait for all running threads to finish + inline void sync() + { + for (auto & tf : thread_futs_) { + if (tf.valid()) { + tf.wait(); + } + } + } + + // A wrapper of the real apply_filter + inline bool apply_filter_thread(int tid, GridNodeType & node) + { + apply_filter(processing_inputs_[tid], node); + processing_inputs_[tid].reset(); + + return true; + } + + /** \brief Filter cloud and initializes voxel structure. + * \param[out] output cloud containing centroids of voxels containing a sufficient number of + * points + */ + void apply_filter(const PointCloudConstPtr & input, GridNodeType & node); + + void updateLeaf(const PointT & point, const int & centroid_size, Leaf & leaf) const; + + void computeLeafParams( + const Eigen::Vector3d & pt_sum, Eigen::SelfAdjointEigenSolver & eigensolver, + Leaf & leaf) const; + + int64_t getLeafID(const PointT & point, const BoundingBox & bbox) const; + + /** \brief Minimum points contained with in a voxel to allow it to be usable. */ + int min_points_per_voxel_; + + /** \brief Minimum allowable ratio between eigenvalues to prevent singular covariance matrices. */ + double min_covar_eigvalue_mult_; + + // The point cloud containing the centroids of leaves + // Used to build a kdtree for radius search + PointCloudPtr voxel_centroids_ptr_; + + // Thread pooling, for parallel processing + int thread_num_; + std::vector> thread_futs_; + std::vector processing_inputs_; + int last_check_tid_; + + // A map to convert string index to integer index, used for grids + std::map sid_to_iid_; + // Grids of leaves are held in a vector for faster access speed + std::vector grid_list_; + // A kdtree built from the leaves of grids + pcl::KdTreeFLANN kdtree_; + // To access leaf by the search results by kdtree + std::vector leaf_ptrs_; +}; +} // namespace pclomp + +#endif // AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__MULTI_VOXEL_GRID_COVARIANCE_OMP_H_ diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h new file mode 100644 index 0000000000000..b173d164de97d --- /dev/null +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h @@ -0,0 +1,573 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2010-2012, Willow Garage, Inc. + * Copyright (c) 2012-, Open Perception, Inc. + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * $Id$ + * + */ + +#ifndef AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__MULTIGRID_NDT_OMP_H_ +#define AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__MULTIGRID_NDT_OMP_H_ + +// cspell:ignore multigrid, Magnusson, Thuente, Todor, Stoyanov, Okorn + +#include "multi_voxel_grid_covariance_omp.h" +#include "ndt_struct.hpp" + +#include +#include + +#include "boost/optional.hpp" + +#include + +#include +#include + +namespace pclomp +{ + +/** \brief A 3D Normal Distribution Transform registration implementation for point cloud data. + * \note For more information please see + * Magnusson, M. (2009). The Three-Dimensional Normal-Distributions Transform — + * an Efficient Representation for Registration, Surface Analysis, and Loop Detection. + * PhD thesis, Orebro University. Orebro Studies in Technology 36., + * More, J., and Thuente, D. (1994). Line Search Algorithm with Guaranteed Sufficient Decrease + * In ACM Transactions on Mathematical Software. and + * Sun, W. and Yuan, Y, (2006) Optimization Theory and Methods: Nonlinear Programming. 89-100 + * \note Math refactored by Todor Stoyanov. + * \author Brian Okorn (Space and Naval Warfare Systems Center Pacific) + */ +template +class MultiGridNormalDistributionsTransform : public pcl::Registration +{ +protected: + typedef pcl::Registration BaseRegType; + typedef typename BaseRegType::PointCloudSource PointCloudSource; + typedef typename PointCloudSource::Ptr PointCloudSourcePtr; + typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr; + + typedef typename BaseRegType::PointCloudTarget PointCloudTarget; + typedef typename PointCloudTarget::Ptr PointCloudTargetPtr; + typedef typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr; + + /** \brief Typename of searchable voxel grid containing mean and covariance. */ + typedef pclomp::MultiVoxelGridCovariance TargetGrid; + /** \brief Typename of const pointer to searchable voxel grid leaf. */ + typedef typename TargetGrid::LeafConstPtr TargetGridLeafConstPtr; + +public: +#if PCL_VERSION >= PCL_VERSION_CALC(1, 10, 0) + typedef pcl::shared_ptr> Ptr; + typedef pcl::shared_ptr> + ConstPtr; +#else + typedef boost::shared_ptr> Ptr; + typedef boost::shared_ptr> + ConstPtr; +#endif + + /** \brief Constructor. + * Sets \ref outlier_ratio_ to 0.35, \ref params_.step_size to 0.05 and \ref params_.resolution + * to 1.0 + */ + MultiGridNormalDistributionsTransform(); + + // Copy & move constructor + MultiGridNormalDistributionsTransform(const MultiGridNormalDistributionsTransform & other); + MultiGridNormalDistributionsTransform(MultiGridNormalDistributionsTransform && other) noexcept; + + // Copy & move assignments + MultiGridNormalDistributionsTransform & operator=( + const MultiGridNormalDistributionsTransform & other); + MultiGridNormalDistributionsTransform & operator=( + MultiGridNormalDistributionsTransform && other) noexcept; + + /** \brief Empty destructor */ + virtual ~MultiGridNormalDistributionsTransform() {} + + void setNumThreads(int n) + { + params_.num_threads = n; + + target_cells_.setThreadNum(params_.num_threads); + } + + inline int getNumThreads() const { return params_.num_threads; } + + inline void setInputSource(const PointCloudSourceConstPtr & input) + { + // This is to avoid segmentation fault when setting null input + // No idea why PCL does not check the nullity of input + if (input) { + BaseRegType::setInputSource(input); + } else { + std::cerr << "Error: Null input source cloud is not allowed" << std::endl; + exit(EXIT_FAILURE); + } + } + + inline void setInputTarget(const PointCloudTargetConstPtr & cloud) + { + const std::string default_target_id = "default"; + addTarget(cloud, default_target_id); + createVoxelKdtree(); + } + + /** \brief Provide a pointer to the input target (e.g., the point cloud that we want to align the + * input source to). \param[in] cloud the input point cloud target + */ + inline void addTarget(const PointCloudTargetConstPtr & cloud, const std::string & target_id) + { + BaseRegType::setInputTarget(cloud); + target_cells_.setLeafSize(params_.resolution, params_.resolution, params_.resolution); + target_cells_.setInputCloudAndFilter(cloud, target_id); + } + + inline void removeTarget(const std::string & target_id) { target_cells_.removeCloud(target_id); } + + inline void createVoxelKdtree() + { + target_cells_.createKdtree(); + target_cloud_updated_ = false; + } + + /** \brief Set/change the voxel grid resolution. + * \param[in] resolution side length of voxels + */ + inline void setResolution(float resolution) + { + // Prevents unnecessary voxel initiations + if (params_.resolution != resolution) { + params_.resolution = resolution; + if (input_) init(); + } + } + + /** \brief Get voxel grid resolution. + * \return side length of voxels + */ + inline float getResolution() const { return (params_.resolution); } + + /** \brief Get the newton line search maximum step length. + * \return maximum step length + */ + inline double getStepSize() const { return (params_.step_size); } + + /** \brief Set/change the newton line search maximum step length. + * \param[in] step_size maximum step length + */ + inline void setStepSize(double step_size) { params_.step_size = step_size; } + + /** \brief Get the point cloud outlier ratio. + * \return outlier ratio + */ + inline double getOutlierRatio() const { return (outlier_ratio_); } + + /** \brief Set/change the point cloud outlier ratio. + * \param[in] outlier_ratio outlier ratio + */ + inline void setOutlierRatio(double outlier_ratio) { outlier_ratio_ = outlier_ratio; } + + /** \brief Get the registration alignment probability. + * \return transformation probability + */ + inline double getTransformationProbability() const { return (trans_probability_); } + + inline double getNearestVoxelTransformationLikelihood() const + { + return nearest_voxel_transformation_likelihood_; + } + + /** \brief Get the number of iterations required to calculate alignment. + * \return final number of iterations + */ + inline int getFinalNumIteration() const { return (nr_iterations_); } + + /** \brief Return the hessian matrix */ + inline Eigen::Matrix getHessian() const { return hessian_; } + + /** \brief Return the transformation array */ + inline const std::vector> & + getFinalTransformationArray() const + { + return transformation_array_; + } + + /** \brief Convert 6 element transformation vector to affine transformation. + * \param[in] x transformation vector of the form [x, y, z, roll, pitch, yaw] + * \param[out] trans affine transform corresponding to given transformation vector + */ + static void convertTransform(const Eigen::Matrix & x, Eigen::Affine3f & trans) + { + trans = Eigen::Translation( + static_cast(x(0)), static_cast(x(1)), static_cast(x(2))) * + Eigen::AngleAxis(static_cast(x(3)), Eigen::Vector3f::UnitX()) * + Eigen::AngleAxis(static_cast(x(4)), Eigen::Vector3f::UnitY()) * + Eigen::AngleAxis(static_cast(x(5)), Eigen::Vector3f::UnitZ()); + } + + /** \brief Convert 6 element transformation vector to transformation matrix. + * \param[in] x transformation vector of the form [x, y, z, roll, pitch, yaw] + * \param[out] trans 4x4 transformation matrix corresponding to given transformation vector + */ + static void convertTransform(const Eigen::Matrix & x, Eigen::Matrix4f & trans) + { + Eigen::Affine3f _affine; + convertTransform(x, _affine); + trans = _affine.matrix(); + } + + // negative log likelihood function + // lower is better + double calculateTransformationProbability(const PointCloudSource & cloud) const; + double calculateNearestVoxelTransformationLikelihood(const PointCloudSource & cloud) const; + pcl::PointCloud calculateNearestVoxelScoreEachPoint( + const PointCloudSource & cloud) const; + + inline void setRegularizationScaleFactor(float regularization_scale_factor) + { + params_.regularization_scale_factor = regularization_scale_factor; + } + + inline void setRegularizationPose(Eigen::Matrix4f regularization_pose) + { + regularization_pose_ = regularization_pose; + } + + inline void unsetRegularizationPose() { regularization_pose_ = boost::none; } + + NdtResult getResult() + { + NdtResult ndt_result; + ndt_result.pose = this->getFinalTransformation(); + ndt_result.transformation_array = getFinalTransformationArray(); + ndt_result.transform_probability = getTransformationProbability(); + ndt_result.transform_probability_array = transform_probability_array_; + ndt_result.nearest_voxel_transformation_likelihood = getNearestVoxelTransformationLikelihood(); + ndt_result.nearest_voxel_transformation_likelihood_array = + nearest_voxel_transformation_likelihood_array_; + ndt_result.iteration_num = getFinalNumIteration(); + ndt_result.hessian = getHessian(); + return ndt_result; + } + + /** \brief Set the transformation epsilon (maximum allowable translation squared + * difference between two consecutive transformations) in order for an optimization to + * be considered as having converged to the final solution. \param[in] epsilon the + * transformation epsilon in order for an optimization to be considered as having + * converged to the final solution. + */ + inline void setTransformationEpsilon(double epsilon) { params_.trans_epsilon = epsilon; } + + /** \brief Get the transformation epsilon (maximum allowable translation squared + * difference between two consecutive transformations) as set by the user. + */ + inline double getTransformationEpsilon() { return (params_.trans_epsilon); } + + inline void setMaximumIterations(int max_iterations) + { + params_.max_iterations = max_iterations; + max_iterations_ = params_.max_iterations; + } + + inline int getMaxIterations() const { return params_.max_iterations; } + + inline int getMaxIterations() { return params_.max_iterations; } + + void setParams(const NdtParams & ndt_params) + { + params_ = ndt_params; + max_iterations_ = params_.max_iterations; + + target_cells_.setThreadNum(params_.num_threads); + } + + NdtParams getParams() const { return params_; } + + pcl::PointCloud getVoxelPCD() const { return target_cells_.getVoxelPCD(); } + + std::vector getCurrentMapIDs() const { return target_cells_.getCurrentMapIDs(); } + +protected: + using BaseRegType::converged_; + using BaseRegType::final_transformation_; + using BaseRegType::input_; + using BaseRegType::max_iterations_; + using BaseRegType::nr_iterations_; + using BaseRegType::previous_transformation_; + using BaseRegType::reg_name_; + using BaseRegType::target_; + using BaseRegType::target_cloud_updated_; + using BaseRegType::transformation_; + using BaseRegType::transformation_epsilon_; + + using BaseRegType::update_visualizer_; + + /** \brief Estimate the transformation and returns the transformed source (input) as output. + * \param[out] output the resultant input transformed point cloud dataset + */ + virtual void computeTransformation(PointCloudSource & output) + { + computeTransformation(output, Eigen::Matrix4f::Identity()); + } + + /** \brief Estimate the transformation and returns the transformed source (input) as output. + * \param[out] output the resultant input transformed point cloud dataset + * \param[in] guess the initial gross estimation of the transformation + */ + virtual void computeTransformation(PointCloudSource & output, const Eigen::Matrix4f & guess); + + /** \brief Initiate covariance voxel structure. */ + void inline init() {} + + /** \brief Compute derivatives of probability function w.r.t. the transformation vector. + * \note Equation 6.10, 6.12 and 6.13 [Magnusson 2009]. + * \param[out] score_gradient the gradient vector of the probability function w.r.t. the + * transformation vector \param[out] hessian the hessian matrix of the probability function w.r.t. + * the transformation vector \param[in] trans_cloud transformed point cloud \param[in] p the + * current transform vector \param[in] compute_hessian flag to calculate hessian, unnecessary for + * step calculation. + */ + double computeDerivatives( + Eigen::Matrix & score_gradient, Eigen::Matrix & hessian, + PointCloudSource & trans_cloud, Eigen::Matrix & p, bool compute_hessian = true); + + /** \brief Compute individual point contributions to derivatives of probability function w.r.t. + * the transformation vector. \note Equation 6.10, 6.12 and 6.13 [Magnusson 2009]. \param[in,out] + * score_gradient the gradient vector of the probability function w.r.t. the transformation vector + * \param[in,out] hessian the hessian matrix of the probability function w.r.t. the transformation + * vector \param[in] x_trans transformed point minus mean of occupied covariance voxel \param[in] + * c_inv covariance of occupied covariance voxel \param[in] compute_hessian flag to calculate + * hessian, unnecessary for step calculation. + */ + double updateDerivatives( + Eigen::Matrix & score_gradient, Eigen::Matrix & hessian, + const Eigen::Matrix & point_gradient, + const Eigen::Matrix & point_hessian, const Eigen::Vector3d & x_trans, + const Eigen::Matrix3d & c_inv, bool compute_hessian = true) const; + + /** \brief Precompute angular components of derivatives. + * \note Equation 6.19 and 6.21 [Magnusson 2009]. + * \param[in] p the current transform vector + * \param[in] compute_hessian flag to calculate hessian, unnecessary for step calculation. + */ + void computeAngleDerivatives(Eigen::Matrix & p, bool compute_hessian = true); + + /** \brief Compute point derivatives. + * \note Equation 6.18-21 [Magnusson 2009]. + * \param[in] x point from the input cloud + * \param[in] compute_hessian flag to calculate hessian, unnecessary for step calculation. + */ + void computePointDerivatives( + Eigen::Vector3d & x, Eigen::Matrix & point_gradient, + Eigen::Matrix & point_hessian, bool compute_hessian = true) const; + + /** \brief Compute hessian of probability function w.r.t. the transformation vector. + * \note Equation 6.13 [Magnusson 2009]. + * \param[out] hessian the hessian matrix of the probability function w.r.t. the transformation + * vector \param[in] trans_cloud transformed point cloud \param[in] p the current transform vector + */ + void computeHessian( + Eigen::Matrix & hessian, PointCloudSource & trans_cloud, + Eigen::Matrix & p); + + /** \brief Compute individual point contributions to hessian of probability function w.r.t. the + * transformation vector. \note Equation 6.13 [Magnusson 2009]. \param[in,out] hessian the hessian + * matrix of the probability function w.r.t. the transformation vector \param[in] x_trans + * transformed point minus mean of occupied covariance voxel \param[in] c_inv covariance of + * occupied covariance voxel + */ + void updateHessian( + Eigen::Matrix & hessian, const Eigen::Matrix & point_gradient, + const Eigen::Matrix & point_hessian, const Eigen::Vector3d & x_trans, + const Eigen::Matrix3d & c_inv) const; + + /** \brief Compute line search step length and update transform and probability derivatives using + * More-Thuente method. \note Search Algorithm [More, Thuente 1994] \param[in] x initial + * transformation vector, \f$ x \f$ in Equation 1.3 (Moore, Thuente 1994) and \f$ \vec{p} \f$ in + * Algorithm 2 [Magnusson 2009] \param[in] step_dir descent direction, \f$ p \f$ in Equation 1.3 + * (Moore, Thuente 1994) and \f$ \delta \vec{p} \f$ normalized in Algorithm 2 [Magnusson 2009] + * \param[in] step_init initial step length estimate, \f$ \alpha_0 \f$ in Moore-Thuente (1994) and + * the normal of \f$ \delta \vec{p} \f$ in Algorithm 2 [Magnusson 2009] \param[in] step_max + * maximum step length, \f$ \alpha_max \f$ in Moore-Thuente (1994) \param[in] step_min minimum + * step length, \f$ \alpha_min \f$ in Moore-Thuente (1994) \param[out] score final score function + * value, \f$ f(x + \alpha p) \f$ in Equation 1.3 (Moore, Thuente 1994) and \f$ score \f$ in + * Algorithm 2 [Magnusson 2009] \param[in,out] score_gradient gradient of score function w.r.t. + * transformation vector, \f$ f'(x + \alpha p) \f$ in Moore-Thuente (1994) and \f$ \vec{g} \f$ in + * Algorithm 2 [Magnusson 2009] \param[out] hessian hessian of score function w.r.t. + * transformation vector, \f$ f''(x + \alpha p) \f$ in Moore-Thuente (1994) and \f$ H \f$ in + * Algorithm 2 [Magnusson 2009] \param[in,out] trans_cloud transformed point cloud, \f$ X \f$ + * transformed by \f$ T(\vec{p},\vec{x}) \f$ in Algorithm 2 [Magnusson 2009] \return final step + * length + */ + double computeStepLengthMT( + const Eigen::Matrix & x, Eigen::Matrix & step_dir, double step_init, + double step_max, double step_min, double & score, Eigen::Matrix & score_gradient, + Eigen::Matrix & hessian, PointCloudSource & trans_cloud); + + /** \brief Update interval of possible step lengths for More-Thuente method, \f$ I \f$ in + * More-Thuente (1994) \note Updating Algorithm until some value satisfies \f$ \psi(\alpha_k) \leq + * 0 \f$ and \f$ \phi'(\alpha_k) \geq 0 \f$ and Modified Updating Algorithm from then on [More, + * Thuente 1994]. \param[in,out] a_l first endpoint of interval \f$ I \f$, \f$ \alpha_l \f$ in + * Moore-Thuente (1994) \param[in,out] f_l value at first endpoint, \f$ f_l \f$ in Moore-Thuente + * (1994), \f$ \psi(\alpha_l) \f$ for Update Algorithm and \f$ \phi(\alpha_l) \f$ for Modified + * Update Algorithm \param[in,out] g_l derivative at first endpoint, \f$ g_l \f$ in Moore-Thuente + * (1994), \f$ \psi'(\alpha_l) \f$ for Update Algorithm and \f$ \phi'(\alpha_l) \f$ for Modified + * Update Algorithm \param[in,out] a_u second endpoint of interval \f$ I \f$, \f$ \alpha_u \f$ in + * Moore-Thuente (1994) \param[in,out] f_u value at second endpoint, \f$ f_u \f$ in Moore-Thuente + * (1994), \f$ \psi(\alpha_u) \f$ for Update Algorithm and \f$ \phi(\alpha_u) \f$ for Modified + * Update Algorithm \param[in,out] g_u derivative at second endpoint, \f$ g_u \f$ in Moore-Thuente + * (1994), \f$ \psi'(\alpha_u) \f$ for Update Algorithm and \f$ \phi'(\alpha_u) \f$ for Modified + * Update Algorithm \param[in] a_t trial value, \f$ \alpha_t \f$ in Moore-Thuente (1994) + * \param[in] f_t value at trial value, \f$ f_t \f$ in Moore-Thuente (1994), \f$ \psi(\alpha_t) + * \f$ for Update Algorithm and \f$ \phi(\alpha_t) \f$ for Modified Update Algorithm \param[in] + * g_t derivative at trial value, \f$ g_t \f$ in Moore-Thuente (1994), \f$ \psi'(\alpha_t) \f$ for + * Update Algorithm and \f$ \phi'(\alpha_t) \f$ for Modified Update Algorithm \return if interval + * converges + */ + bool updateIntervalMT( + double & a_l, double & f_l, double & g_l, double & a_u, double & f_u, double & g_u, double a_t, + double f_t, double g_t); + + /** \brief Select new trial value for More-Thuente method. + * \note Trial Value Selection [More, Thuente 1994], \f$ \psi(\alpha_k) \f$ is used for \f$ f_k + * \f$ and \f$ g_k \f$ until some value satisfies the test \f$ \psi(\alpha_k) \leq 0 \f$ and \f$ + * \phi'(\alpha_k) \geq 0 \f$ then \f$ \phi(\alpha_k) \f$ is used from then on. \note + * Interpolation Minimizer equations from Optimization Theory and Methods: Nonlinear Programming + * By Wenyu Sun, Ya-xiang Yuan (89-100). \param[in] a_l first endpoint of interval \f$ I \f$, \f$ + * \alpha_l \f$ in Moore-Thuente (1994) \param[in] f_l value at first endpoint, \f$ f_l \f$ in + * Moore-Thuente (1994) \param[in] g_l derivative at first endpoint, \f$ g_l \f$ in Moore-Thuente + * (1994) \param[in] a_u second endpoint of interval \f$ I \f$, \f$ \alpha_u \f$ in Moore-Thuente + * (1994) \param[in] f_u value at second endpoint, \f$ f_u \f$ in Moore-Thuente (1994) \param[in] + * g_u derivative at second endpoint, \f$ g_u \f$ in Moore-Thuente (1994) \param[in] a_t previous + * trial value, \f$ \alpha_t \f$ in Moore-Thuente (1994) \param[in] f_t value at previous trial + * value, \f$ f_t \f$ in Moore-Thuente (1994) \param[in] g_t derivative at previous trial value, + * \f$ g_t \f$ in Moore-Thuente (1994) \return new trial value + */ + double trialValueSelectionMT( + double a_l, double f_l, double g_l, double a_u, double f_u, double g_u, double a_t, double f_t, + double g_t); + + /** \brief Auxiliary function used to determine endpoints of More-Thuente interval. + * \note \f$ \psi(\alpha) \f$ in Equation 1.6 (Moore, Thuente 1994) + * \param[in] a the step length, \f$ \alpha \f$ in More-Thuente (1994) + * \param[in] f_a function value at step length a, \f$ \phi(\alpha) \f$ in More-Thuente (1994) + * \param[in] f_0 initial function value, \f$ \phi(0) \f$ in Moore-Thuente (1994) + * \param[in] g_0 initial function gradient, \f$ \phi'(0) \f$ in More-Thuente (1994) + * \param[in] mu the step length, constant \f$ \mu \f$ in Equation 1.1 [More, Thuente 1994] + * \return sufficient decrease value + */ + inline double auxiliaryFunction_PsiMT( + double a, double f_a, double f_0, double g_0, double mu = 1.e-4) + { + return (f_a - f_0 - mu * g_0 * a); + } + + /** \brief Auxiliary function derivative used to determine endpoints of More-Thuente interval. + * \note \f$ \psi'(\alpha) \f$, derivative of Equation 1.6 (Moore, Thuente 1994) + * \param[in] g_a function gradient at step length a, \f$ \phi'(\alpha) \f$ in More-Thuente (1994) + * \param[in] g_0 initial function gradient, \f$ \phi'(0) \f$ in More-Thuente (1994) + * \param[in] mu the step length, constant \f$ \mu \f$ in Equation 1.1 [More, Thuente 1994] + * \return sufficient decrease derivative + */ + inline double auxiliaryFunction_dPsiMT(double g_a, double g_0, double mu = 1.e-4) + { + return (g_a - mu * g_0); + } + + /** \brief The voxel grid generated from target cloud containing point means and covariances. */ + TargetGrid target_cells_; + + // double fitness_epsilon_; + + /** \brief The ratio of outliers of points w.r.t. a normal distribution, Equation 6.7 [Magnusson + * 2009]. */ + double outlier_ratio_; + + /** \brief The normalization constants used fit the point distribution to a normal distribution, + * Equation 6.8 [Magnusson 2009]. */ + double gauss_d1_, gauss_d2_, gauss_d3_; + + /** \brief The probability score of the transform applied to the input cloud, Equation 6.9 + * and 6.10 [Magnusson 2009]. */ + double trans_probability_; + + /** \brief Precomputed Angular Gradient + * + * The precomputed angular derivatives for the jacobian of a transformation vector, Equation 6.19 + * [Magnusson 2009]. + */ + Eigen::Matrix j_ang_; + + /** \brief Precomputed Angular Hessian + * + * The precomputed angular derivatives for the hessian of a transformation vector, Equation 6.19 + * [Magnusson 2009]. + */ + Eigen::Matrix h_ang_; + + Eigen::Matrix hessian_; + std::vector> transformation_array_; + std::vector transform_probability_array_; + std::vector nearest_voxel_transformation_likelihood_array_; + double nearest_voxel_transformation_likelihood_{}; + + boost::optional regularization_pose_; + Eigen::Vector3f regularization_pose_translation_; + + NdtParams params_; + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +} // namespace pclomp + +#endif // AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__MULTIGRID_NDT_OMP_H_ diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/ndt_struct.hpp b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/ndt_struct.hpp new file mode 100644 index 0000000000000..51c8d47b2a46d --- /dev/null +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/ndt_struct.hpp @@ -0,0 +1,107 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +/* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2010-2012, Willow Garage, Inc. + * Copyright (c) 2012-, Open Perception, Inc. + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * $Id$ + * + */ + +#ifndef AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__NDT_STRUCT_HPP_ +#define AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__NDT_STRUCT_HPP_ + +#include +#include + +#include + +namespace pclomp +{ + +enum NeighborSearchMethod { KDTREE, DIRECT26, DIRECT7, DIRECT1 }; + +struct NdtResult +{ + Eigen::Matrix4f pose; + float transform_probability; + float nearest_voxel_transformation_likelihood; + int iteration_num; + std::vector> transformation_array; + Eigen::Matrix hessian; + std::vector transform_probability_array; + std::vector nearest_voxel_transformation_likelihood_array; + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + friend std::ostream & operator<<(std::ostream & os, const NdtResult & val) + { + os << "Pose: " << std::endl << val.pose << std::endl; + os << "TP: " << val.transform_probability << std::endl; + os << "NVTL: " << val.nearest_voxel_transformation_likelihood << std::endl; + os << "Iteration num: " << val.iteration_num << std::endl; + os << "Hessian: " << std::endl << val.hessian << std::endl; + return os; + } +}; + +struct NdtParams +{ + double trans_epsilon{}; + double step_size{}; + double resolution{}; + int max_iterations{}; + NeighborSearchMethod search_method{}; + int num_threads{}; + float regularization_scale_factor{}; + + // line search is false by default + // "use_lines_search = true" is not tested well + bool use_line_search = false; +}; + +} // namespace pclomp + +#endif // AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__NDT_STRUCT_HPP_ diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp index c47af70f4c189..22b6bfb2ff740 100644 --- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -19,8 +19,9 @@ #include "autoware/localization_util/diagnostics_module.hpp" #include "autoware/localization_util/smart_pose_buffer.hpp" -#include "autoware/ndt_scan_matcher/hyper_parameters.hpp" -#include "autoware/ndt_scan_matcher/map_update_module.hpp" +#include "hyper_parameters.hpp" +#include "map_update_module.hpp" +#include "ndt_omp/multigrid_ndt_omp.h" #include #include @@ -38,7 +39,6 @@ #include #include -#include #include #include #include diff --git a/localization/autoware_ndt_scan_matcher/package.xml b/localization/autoware_ndt_scan_matcher/package.xml index a4e5d71fa5c59..1d7cdadbd93c1 100644 --- a/localization/autoware_ndt_scan_matcher/package.xml +++ b/localization/autoware_ndt_scan_matcher/package.xml @@ -25,7 +25,6 @@ geometry_msgs libpcl-all-dev nav_msgs - ndt_omp pcl_conversions rclcpp rclcpp_components diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp new file mode 100644 index 0000000000000..8145bfa873b86 --- /dev/null +++ b/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp @@ -0,0 +1,203 @@ +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ndt_scan_matcher/ndt_omp/estimate_covariance.hpp" + +#include +#include + +namespace pclomp +{ + +Eigen::Matrix2d estimate_xy_covariance_by_laplace_approximation( + const Eigen::Matrix & hessian) +{ + const Eigen::Matrix2d hessian_xy = hessian.block<2, 2>(0, 0); + Eigen::Matrix2d covariance_xy = -hessian_xy.inverse(); + return covariance_xy; +} + +ResultOfMultiNdtCovarianceEstimation estimate_xy_covariance_by_multi_ndt( + const NdtResult & ndt_result, + const std::shared_ptr< + pclomp::MultiGridNormalDistributionsTransform> & ndt_ptr, + const std::vector & poses_to_search) +{ + // initialize by the main result + const Eigen::Vector2d ndt_pose_2d(ndt_result.pose(0, 3), ndt_result.pose(1, 3)); + std::vector ndt_pose_2d_vec{ndt_pose_2d}; + + // multiple searches + std::vector ndt_results; + for (const Eigen::Matrix4f & curr_pose : poses_to_search) { + auto sub_output_cloud = std::make_shared>(); + ndt_ptr->align(*sub_output_cloud, curr_pose); + const NdtResult sub_ndt_result = ndt_ptr->getResult(); + ndt_results.push_back(sub_ndt_result); + + const Eigen::Matrix4f sub_ndt_pose = sub_ndt_result.pose; + const Eigen::Vector2d sub_ndt_pose_2d = sub_ndt_pose.topRightCorner<2, 1>().cast(); + ndt_pose_2d_vec.emplace_back(sub_ndt_pose_2d); + } + + // calculate the weights + const int n = static_cast(ndt_results.size()) + 1; + const std::vector weight_vec(n, 1.0 / n); + + // calculate mean and covariance + auto [mean, covariance] = calculate_weighted_mean_and_cov(ndt_pose_2d_vec, weight_vec); + + // unbiased covariance + covariance *= static_cast(n - 1) / n; + + return {mean, covariance, poses_to_search, ndt_results}; +} + +ResultOfMultiNdtCovarianceEstimation estimate_xy_covariance_by_multi_ndt_score( + const NdtResult & ndt_result, + const std::shared_ptr< + pclomp::MultiGridNormalDistributionsTransform> & ndt_ptr, + const std::vector & poses_to_search, const double temperature) +{ + // initialize by the main result + const Eigen::Vector2d ndt_pose_2d(ndt_result.pose(0, 3), ndt_result.pose(1, 3)); + std::vector ndt_pose_2d_vec{ndt_pose_2d}; + std::vector score_vec{ndt_result.nearest_voxel_transformation_likelihood}; + + const pcl::PointCloud::ConstPtr input_cloud = ndt_ptr->getInputCloud(); + pcl::PointCloud trans_cloud; + + // multiple searches + std::vector ndt_results; + for (const Eigen::Matrix4f & curr_pose : poses_to_search) { + const Eigen::Vector2d sub_ndt_pose_2d = curr_pose.topRightCorner<2, 1>().cast(); + ndt_pose_2d_vec.emplace_back(sub_ndt_pose_2d); + + transformPointCloud(*input_cloud, trans_cloud, curr_pose); + const double nvtl = ndt_ptr->calculateNearestVoxelTransformationLikelihood(trans_cloud); + score_vec.emplace_back(nvtl); + + NdtResult sub_ndt_result{}; + sub_ndt_result.pose = curr_pose; + sub_ndt_result.iteration_num = 0; + sub_ndt_result.nearest_voxel_transformation_likelihood = static_cast(nvtl); + ndt_results.push_back(sub_ndt_result); + } + + // calculate the weights + const std::vector weight_vec = calc_weight_vec(score_vec, temperature); + + // calculate mean and covariance + const auto [mean, covariance] = calculate_weighted_mean_and_cov(ndt_pose_2d_vec, weight_vec); + return {mean, covariance, poses_to_search, ndt_results}; +} + +Eigen::Matrix2d find_rotation_matrix_aligning_covariance_to_principal_axes( + const Eigen::Matrix2d & matrix) +{ + const Eigen::SelfAdjointEigenSolver eigensolver(matrix); + if (eigensolver.info() == Eigen::Success) { + const Eigen::Vector2d eigen_vec = eigensolver.eigenvectors().col(0); + const double th = std::atan2(eigen_vec.y(), eigen_vec.x()); + return Eigen::Rotation2Dd(th).toRotationMatrix(); + } + throw std::runtime_error("Eigen solver failed. Return output_pose_covariance value."); +} + +std::vector propose_poses_to_search( + const NdtResult & ndt_result, const std::vector & offset_x, + const std::vector & offset_y) +{ + assert(offset_x.size() == offset_y.size()); + const Eigen::Matrix4f & center_pose = ndt_result.pose; + + // (1) calculate rot by pose (default) + const Eigen::Matrix2d rot = ndt_result.pose.topLeftCorner<2, 2>().cast(); + + // (2) calculate rot by covariance (alternative) + // const Eigen::Matrix & hessian = ndt_result.hessian; + // const Eigen::Matrix2d covariance = estimate_xy_covariance_by_Laplace_approximation(hessian); + // const Eigen::Matrix2d rot = + // find_rotation_matrix_aligning_covariance_to_principal_axes(-covariance); + + std::vector poses_to_search; + for (int i = 0; i < static_cast(offset_x.size()); i++) { + const Eigen::Vector2d pose_offset(offset_x[i], offset_y[i]); + const Eigen::Vector2d rotated_pose_offset_2d = rot * pose_offset; + Eigen::Matrix4f curr_pose = center_pose; + curr_pose(0, 3) += static_cast(rotated_pose_offset_2d.x()); + curr_pose(1, 3) += static_cast(rotated_pose_offset_2d.y()); + poses_to_search.emplace_back(curr_pose); + } + return poses_to_search; +} + +std::vector calc_weight_vec(const std::vector & score_vec, double temperature) +{ + const int n = static_cast(score_vec.size()); + const double max_score = *std::max_element(score_vec.begin(), score_vec.end()); + std::vector exp_score_vec(n); + double exp_score_sum = 0.0; + for (int i = 0; i < n; i++) { + exp_score_vec[i] = std::exp((score_vec[i] - max_score) / temperature); + exp_score_sum += exp_score_vec[i]; + } + for (int i = 0; i < n; i++) { + exp_score_vec[i] /= exp_score_sum; + } + return exp_score_vec; +} + +std::pair calculate_weighted_mean_and_cov( + const std::vector & pose_2d_vec, const std::vector & weight_vec) +{ + const int n = static_cast(pose_2d_vec.size()); + Eigen::Vector2d mean = Eigen::Vector2d::Zero(); + for (int i = 0; i < n; i++) { + mean += weight_vec[i] * pose_2d_vec[i]; + } + Eigen::Matrix2d covariance = Eigen::Matrix2d::Zero(); + for (int i = 0; i < n; i++) { + const Eigen::Vector2d diff = pose_2d_vec[i] - mean; + covariance += weight_vec[i] * diff * diff.transpose(); + } + return {mean, covariance}; +} + +Eigen::Matrix2d rotate_covariance_to_base_link( + const Eigen::Matrix2d & covariance, const Eigen::Matrix4f & pose) +{ + const Eigen::Matrix2d rot = pose.topLeftCorner<2, 2>().cast(); + return rot.transpose() * covariance * rot; +} + +Eigen::Matrix2d rotate_covariance_to_map( + const Eigen::Matrix2d & covariance, const Eigen::Matrix4f & pose) +{ + const Eigen::Matrix2d rot = pose.topLeftCorner<2, 2>().cast(); + return rot * covariance * rot.transpose(); +} + +Eigen::Matrix2d adjust_diagonal_covariance( + const Eigen::Matrix2d & covariance, const Eigen::Matrix4f & pose, const double fixed_cov00, + const double fixed_cov11) +{ + Eigen::Matrix2d cov_base_link = rotate_covariance_to_base_link(covariance, pose); + cov_base_link(0, 0) = std::max(cov_base_link(0, 0), fixed_cov00); + cov_base_link(1, 1) = std::max(cov_base_link(1, 1), fixed_cov11); + Eigen::Matrix2d cov_map = rotate_covariance_to_map(cov_base_link, pose); + return cov_map; +} + +} // namespace pclomp diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp.cpp new file mode 100644 index 0000000000000..e9fe39dc523f3 --- /dev/null +++ b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp.cpp @@ -0,0 +1,18 @@ +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "multi_voxel_grid_covariance_omp_impl.hpp" + +template class pclomp::MultiVoxelGridCovariance; +template class pclomp::MultiVoxelGridCovariance; diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp new file mode 100644 index 0000000000000..ef64471dd4784 --- /dev/null +++ b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp @@ -0,0 +1,477 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2010-2011, Willow Garage, Inc. + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + */ + +#ifndef NDT_OMP__MULTI_VOXEL_GRID_COVARIANCE_OMP_IMPL_HPP_ +#define NDT_OMP__MULTI_VOXEL_GRID_COVARIANCE_OMP_IMPL_HPP_ + +// cspell:ignore evecs, evals, covar, eigvalue, futs + +#include "autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h" + +#include +#include + +#include +#include +#include +#include +#include + +namespace pclomp +{ + +template +MultiVoxelGridCovariance::MultiVoxelGridCovariance(const MultiVoxelGridCovariance & other) +: pcl::VoxelGrid(other), + sid_to_iid_(other.sid_to_iid_), + grid_list_(other.grid_list_), + kdtree_(other.kdtree_), + leaf_ptrs_(other.leaf_ptrs_) +{ + min_points_per_voxel_ = other.min_points_per_voxel_; + min_covar_eigvalue_mult_ = other.min_covar_eigvalue_mult_; + + // Deep copy + voxel_centroids_ptr_.reset(new PointCloud); + + if (other.voxel_centroids_ptr_) { + *voxel_centroids_ptr_ = *other.voxel_centroids_ptr_; + } + + setThreadNum(other.thread_num_); + last_check_tid_ = -1; +} + +template +MultiVoxelGridCovariance::MultiVoxelGridCovariance( + MultiVoxelGridCovariance && other) noexcept +: pcl::VoxelGrid(std::move(other)), + voxel_centroids_ptr_(std::move(other.voxel_centroids_ptr_)), + sid_to_iid_(std::move(other.sid_to_iid_)), + grid_list_(std::move(other.grid_list_)), + kdtree_(std::move(other.kdtree_)), + leaf_ptrs_(std::move(other.leaf_ptrs_)) +{ + min_points_per_voxel_ = other.min_points_per_voxel_; + min_covar_eigvalue_mult_ = other.min_covar_eigvalue_mult_; + + setThreadNum(other.thread_num_); + last_check_tid_ = -1; +} + +template +MultiVoxelGridCovariance & pclomp::MultiVoxelGridCovariance::operator=( + const MultiVoxelGridCovariance & other) +{ + pcl::VoxelGrid::operator=(other); + voxel_centroids_ptr_ = other.voxel_centroids_ptr_; + sid_to_iid_ = other.sid_to_iid_; + grid_list_ = other.grid_list_; + kdtree_ = other.kdtree_; + leaf_ptrs_ = other.leaf_ptrs_; + min_points_per_voxel_ = other.min_points_per_voxel_; + min_covar_eigvalue_mult_ = other.min_covar_eigvalue_mult_; + + // Deep copy + voxel_centroids_ptr_.reset(new PointCloud); + + if (other.voxel_centroids_ptr_) { + *voxel_centroids_ptr_ = *other.voxel_centroids_ptr_; + } + + setThreadNum(other.thread_num_); + last_check_tid_ = -1; + + return *this; +} + +template +MultiVoxelGridCovariance & pclomp::MultiVoxelGridCovariance::operator=( + MultiVoxelGridCovariance && other) noexcept +{ + voxel_centroids_ptr_ = std::move(other.voxel_centroids_ptr_); + sid_to_iid_ = std::move(other.sid_to_iid_); + grid_list_ = std::move(other.grid_list_); + kdtree_ = std::move(other.kdtree_); + leaf_ptrs_ = std::move(other.leaf_ptrs_); + + min_points_per_voxel_ = other.min_points_per_voxel_; + min_covar_eigvalue_mult_ = other.min_covar_eigvalue_mult_; + + setThreadNum(other.thread_num_); + last_check_tid_ = -1; + + pcl::VoxelGrid::operator=(std::move(other)); + + return *this; +} + +template +void MultiVoxelGridCovariance::setInputCloudAndFilter( + const PointCloudConstPtr & cloud, const std::string & grid_id) +{ + // Creat a new grid and push it to the back of the vector grid_list_ + // The vector grid_list_ will be rebuilt after we remove obsolete grids + GridNodePtr new_grid(new GridNodeType); + + grid_list_.push_back(new_grid); + + sid_to_iid_[grid_id] = grid_list_.size() - 1; + + // If single thread, no parallel processing + if (thread_num_ == 1) { + apply_filter(cloud, *new_grid); + } else { + int idle_tid = get_idle_tid(); + + processing_inputs_[idle_tid] = cloud; + thread_futs_[idle_tid] = std::async( + std::launch::async, &MultiVoxelGridCovariance::apply_filter_thread, this, idle_tid, + std::ref(*new_grid)); + } +} + +template +void MultiVoxelGridCovariance::removeCloud(const std::string & grid_id) +{ + auto iid = sid_to_iid_.find(grid_id); + + if (iid == sid_to_iid_.end()) { + return; + } + + // Set the pointer corresponding to the specified grid to null + grid_list_[iid->second].reset(); + // Remove the specified grid from the conversion map + sid_to_iid_.erase(iid); +} + +template +void MultiVoxelGridCovariance::createKdtree() +{ + // Wait for all threads to finish + sync(); + + // Rebuild the grid_list_ and sid_to_iid_ to delete the data related to the removed clouds + const int new_grid_num = sid_to_iid_.size(); + std::vector new_grid_list(new_grid_num); + int new_pos = 0; + int total_leaf_num = 0; + + for (auto & it : sid_to_iid_) { + int & old_pos = it.second; + auto & grid_ptr = grid_list_[old_pos]; + + new_grid_list[new_pos] = grid_ptr; + old_pos = new_pos; + ++new_pos; + total_leaf_num = grid_ptr->size(); + } + + grid_list_ = std::move(new_grid_list); + + // Rebuild the voxel_centroids_ptr_ + voxel_centroids_ptr_.reset(new PointCloud); + voxel_centroids_ptr_->reserve(total_leaf_num); + leaf_ptrs_.clear(); + leaf_ptrs_.reserve(total_leaf_num); + + for (const auto & grid_ptr : grid_list_) { + for (const auto & leaf : *grid_ptr) { + PointT new_leaf; + + new_leaf.x = leaf.centroid_[0]; + new_leaf.y = leaf.centroid_[1]; + new_leaf.z = leaf.centroid_[2]; + voxel_centroids_ptr_->push_back(new_leaf); + leaf_ptrs_.push_back(&leaf); + } + } + + // Rebuild the kdtree_ of leaves + if (voxel_centroids_ptr_->size() > 0) { + kdtree_.setInputCloud(voxel_centroids_ptr_); + } +} + +template +int MultiVoxelGridCovariance::radiusSearch( + const PointT & point, double radius, std::vector & k_leaves, + unsigned int max_nn) const +{ + k_leaves.clear(); + + // Search from the kdtree to find neighbors of @point + std::vector k_sqr_distances; + std::vector k_indices; + const int k = kdtree_.radiusSearch(point, radius, k_indices, k_sqr_distances, max_nn); + + if (k <= 0) { + return 0; + } + + k_leaves.reserve(k); + + for (auto & nn_idx : k_indices) { + k_leaves.push_back(leaf_ptrs_[nn_idx]); + } + + return k_leaves.size(); +} + +template +int MultiVoxelGridCovariance::radiusSearch( + const PointCloud & cloud, int index, double radius, std::vector & k_leaves, + unsigned int max_nn) const +{ + if (index >= static_cast(cloud.size()) || index < 0) { + return 0; + } + + return (radiusSearch(cloud[index], radius, k_leaves, max_nn)); +} + +template +typename MultiVoxelGridCovariance::PointCloud +MultiVoxelGridCovariance::getVoxelPCD() const +{ + return *voxel_centroids_ptr_; +} + +template +std::vector MultiVoxelGridCovariance::getCurrentMapIDs() const +{ + std::vector output; + + output.reserve(sid_to_iid_.size()); + + for (const auto & element : sid_to_iid_) { + output.push_back(element.first); + } + + return output; +} + +////////////////////////////////////////////////////////////////////////////////////////// +template +void MultiVoxelGridCovariance::apply_filter( + const PointCloudConstPtr & input, GridNodeType & node) +{ + // Has the input dataset been set already? + if (!input) { + PCL_WARN("[pcl::%s::apply_filter] No input dataset given!\n", getClassName().c_str()); + return; + } + + Eigen::Vector4f min_p; + Eigen::Vector4f max_p; + pcl::getMinMax3D(*input, min_p, max_p); + + // Check that the leaf size is not too small, given the size of the data + int64_t dx = static_cast((max_p[0] - min_p[0]) * inverse_leaf_size_[0]) + 1; + int64_t dy = static_cast((max_p[1] - min_p[1]) * inverse_leaf_size_[1]) + 1; + int64_t dz = static_cast((max_p[2] - min_p[2]) * inverse_leaf_size_[2]) + 1; + + if ((dx * dy * dz) > std::numeric_limits::max()) { + PCL_WARN( + "[pcl::%s::apply_filter] Leaf size is too small for the input dataset. Integer indices would " + "overflow.", + getClassName().c_str()); + return; + } + + // Compute the minimum and maximum bounding box values + BoundingBox bbox; + bbox.min[0] = static_cast(floor(min_p[0] * inverse_leaf_size_[0])); + bbox.max[0] = static_cast(floor(max_p[0] * inverse_leaf_size_[0])); + bbox.min[1] = static_cast(floor(min_p[1] * inverse_leaf_size_[1])); + bbox.max[1] = static_cast(floor(max_p[1] * inverse_leaf_size_[1])); + bbox.min[2] = static_cast(floor(min_p[2] * inverse_leaf_size_[2])); + bbox.max[2] = static_cast(floor(max_p[2] * inverse_leaf_size_[2])); + + // Compute the number of divisions needed along all axis + Eigen::Vector4i div_b = bbox.max - bbox.min + Eigen::Vector4i::Ones(); + div_b[3] = 0; + + // Clear the leaves + node.clear(); + + // Set up the division multiplier + bbox.div_mul = Eigen::Vector4i(1, div_b[0], div_b[0] * div_b[1], 0); + + int centroid_size = 4; + std::map map_leaves; + + // First pass: go over all points and insert them into the right leaf + for (auto & p : *input) { + if (!input->is_dense) { + // Check if the point is invalid + if (!std::isfinite(p.x) || !std::isfinite(p.y) || !std::isfinite(p.z)) continue; + } + int64_t lid = getLeafID(p, bbox); + Leaf & leaf = map_leaves[lid]; + updateLeaf(p, centroid_size, leaf); + } + + // Second pass: go over all leaves and compute centroids and covariance matrices + + // Eigen values and vectors calculated to prevent near singular matrices + Eigen::SelfAdjointEigenSolver eigensolver; + Eigen::Vector3d pt_sum; + + node.reserve(map_leaves.size()); + + // Eigen values less than a threshold of max eigen value are inflated to a set fraction of the max + // eigen value. + for (auto & it : map_leaves) { + // Skip leaves that do not have enough points + if (it.second.nr_points_ < min_points_per_voxel_) { + continue; + } + + // Append qualified leaves to the end of the output vector + node.push_back(it.second); + + // Normalize the centroid + Leaf & leaf = node.back(); + + // Normalize the centroid + leaf.centroid_ /= static_cast(leaf.nr_points_); + // Point sum used for single pass covariance calculation + pt_sum = leaf.mean_; + // Normalize mean + leaf.mean_ /= leaf.nr_points_; + // Compute covariance matrices + computeLeafParams(pt_sum, eigensolver, leaf); + } +} + +template +int64_t pclomp::MultiVoxelGridCovariance::getLeafID( + const PointT & point, const BoundingBox & bbox) const +{ + int ijk0 = + static_cast(floor(point.x * inverse_leaf_size_[0]) - static_cast(bbox.min[0])); + int ijk1 = + static_cast(floor(point.y * inverse_leaf_size_[1]) - static_cast(bbox.min[1])); + int ijk2 = + static_cast(floor(point.z * inverse_leaf_size_[2]) - static_cast(bbox.min[2])); + + return ijk0 * bbox.div_mul[0] + ijk1 * bbox.div_mul[1] + ijk2 * bbox.div_mul[2]; +} + +template +void pclomp::MultiVoxelGridCovariance::updateLeaf( + const PointT & point, const int & centroid_size, Leaf & leaf) const +{ + if (leaf.nr_points_ == 0) { + leaf.centroid_.resize(centroid_size); + leaf.centroid_.setZero(); + } + + Eigen::Vector3d pt3d(point.x, point.y, point.z); + // Accumulate point sum for centroid calculation + leaf.mean_ += pt3d; + // Accumulate x*xT for single pass covariance calculation + leaf.cov_ += pt3d * pt3d.transpose(); + + Eigen::Vector4f pt(point.x, point.y, point.z, 0); + leaf.centroid_.template head<4>() += pt; + ++leaf.nr_points_; +} + +template +void pclomp::MultiVoxelGridCovariance::computeLeafParams( + const Eigen::Vector3d & pt_sum, Eigen::SelfAdjointEigenSolver & eigensolver, + Leaf & leaf) const +{ + // Single pass covariance calculation + leaf.cov_ = (leaf.cov_ - 2 * (pt_sum * leaf.mean_.transpose())) / leaf.nr_points_ + + leaf.mean_ * leaf.mean_.transpose(); + leaf.cov_ *= (leaf.nr_points_ - 1.0) / leaf.nr_points_; + + // Normalize Eigen Val such that max no more than 100x min. + eigensolver.compute(leaf.cov_); + Eigen::Matrix3d eigen_val = eigensolver.eigenvalues().asDiagonal(); + leaf.evecs_ = eigensolver.eigenvectors(); + + if (eigen_val(0, 0) < 0 || eigen_val(1, 1) < 0 || eigen_val(2, 2) <= 0) { + leaf.nr_points_ = -1; + return; + } + + // Avoids matrices near singularities (eq 6.11)[Magnusson 2009] + double min_covar_eigvalue = min_covar_eigvalue_mult_ * eigen_val(2, 2); + if (eigen_val(0, 0) < min_covar_eigvalue) { + eigen_val(0, 0) = min_covar_eigvalue; + + if (eigen_val(1, 1) < min_covar_eigvalue) { + eigen_val(1, 1) = min_covar_eigvalue; + } + + leaf.cov_ = leaf.evecs_ * eigen_val * leaf.evecs_.inverse(); + } + leaf.evals_ = eigen_val.diagonal(); + + leaf.icov_ = leaf.cov_.inverse(); + if ( + leaf.icov_.maxCoeff() == std::numeric_limits::infinity() || + leaf.icov_.minCoeff() == -std::numeric_limits::infinity()) { + leaf.nr_points_ = -1; + } +} + +} // namespace pclomp + +#define PCL_INSTANTIATE_VoxelGridCovariance(T) \ + template class PCL_EXPORTS pcl::VoxelGridCovariance; + +#endif // NDT_OMP__MULTI_VOXEL_GRID_COVARIANCE_OMP_IMPL_HPP_ diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp.cpp new file mode 100644 index 0000000000000..8a096cbf5ac92 --- /dev/null +++ b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp.cpp @@ -0,0 +1,18 @@ +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "multigrid_ndt_omp_impl.hpp" + +template class pclomp::MultiGridNormalDistributionsTransform; +template class pclomp::MultiGridNormalDistributionsTransform; diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp_impl.hpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp_impl.hpp new file mode 100644 index 0000000000000..3c5af25186bf4 --- /dev/null +++ b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp_impl.hpp @@ -0,0 +1,1243 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/* + * Software License Agreement (BSD License) + * + * Point Cloud Library (PCL) - www.pointclouds.org + * Copyright (c) 2010-2011, Willow Garage, Inc. + * Copyright (c) 2012-, Open Perception, Inc. + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the copyright holder(s) nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * $Id$ + * + */ + +#ifndef NDT_OMP__MULTIGRID_NDT_OMP_IMPL_HPP_ +#define NDT_OMP__MULTIGRID_NDT_OMP_IMPL_HPP_ + +// cspell:ignore multigrid, nnvn, colj + +#include "autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h" + +#include +#include +#include + +namespace pclomp +{ + +template +MultiGridNormalDistributionsTransform:: + MultiGridNormalDistributionsTransform(const MultiGridNormalDistributionsTransform & other) +: BaseRegType(other), target_cells_(other.target_cells_) +{ + params_ = other.params_; + outlier_ratio_ = other.outlier_ratio_; + gauss_d1_ = other.gauss_d1_; + gauss_d2_ = other.gauss_d2_; + gauss_d3_ = other.gauss_d3_; + trans_probability_ = other.trans_probability_; + // No need to copy j_ang_ and h_ang_, as those matrices are re-computed on every + // computeDerivatives() call + + hessian_ = other.hessian_; + transformation_array_ = other.transformation_array_; + transform_probability_array_ = other.transform_probability_array_; + nearest_voxel_transformation_likelihood_array_ = + other.nearest_voxel_transformation_likelihood_array_; + nearest_voxel_transformation_likelihood_ = other.nearest_voxel_transformation_likelihood_; + + regularization_pose_ = other.regularization_pose_; + regularization_pose_translation_ = other.regularization_pose_translation_; +} + +template +MultiGridNormalDistributionsTransform:: + MultiGridNormalDistributionsTransform(MultiGridNormalDistributionsTransform && other) noexcept +: BaseRegType(std::move(other)), + target_cells_(std::move(other.target_cells_)), + params_(std::move(other.params_)) +{ + outlier_ratio_ = other.outlier_ratio_; + gauss_d1_ = other.gauss_d1_; + gauss_d2_ = other.gauss_d2_; + gauss_d3_ = other.gauss_d3_; + trans_probability_ = other.trans_probability_; + + hessian_ = other.hessian_; + transformation_array_ = other.transformation_array_; + transform_probability_array_ = other.transform_probability_array_; + nearest_voxel_transformation_likelihood_array_ = + other.nearest_voxel_transformation_likelihood_array_; + nearest_voxel_transformation_likelihood_ = other.nearest_voxel_transformation_likelihood_; + + regularization_pose_ = other.regularization_pose_; + regularization_pose_translation_ = other.regularization_pose_translation_; +} + +template +MultiGridNormalDistributionsTransform & +MultiGridNormalDistributionsTransform::operator=( + const MultiGridNormalDistributionsTransform & other) +{ + target_cells_ = other.target_cells_; + params_ = other.params_; + + outlier_ratio_ = other.outlier_ratio_; + gauss_d1_ = other.gauss_d1_; + gauss_d2_ = other.gauss_d2_; + gauss_d3_ = other.gauss_d3_; + trans_probability_ = other.trans_probability_; + + hessian_ = other.hessian_; + transformation_array_ = other.transformation_array_; + transform_probability_array_ = other.transform_probability_array_; + nearest_voxel_transformation_likelihood_array_ = + other.nearest_voxel_transformation_likelihood_array_; + nearest_voxel_transformation_likelihood_ = other.nearest_voxel_transformation_likelihood_; + + regularization_pose_ = other.regularization_pose_; + regularization_pose_translation_ = other.regularization_pose_translation_; + + BaseRegType::operator=(other); + + return *this; +} + +template +MultiGridNormalDistributionsTransform & +MultiGridNormalDistributionsTransform::operator=( + MultiGridNormalDistributionsTransform && other) noexcept +{ + target_cells_ = std::move(other.target_cells_); + params_ = std::move(other.params_); + + outlier_ratio_ = other.outlier_ratio_; + gauss_d1_ = other.gauss_d1_; + gauss_d2_ = other.gauss_d2_; + gauss_d3_ = other.gauss_d3_; + trans_probability_ = other.trans_probability_; + + hessian_ = other.hessian_; + transformation_array_ = other.transformation_array_; + transform_probability_array_ = other.transform_probability_array_; + nearest_voxel_transformation_likelihood_array_ = + other.nearest_voxel_transformation_likelihood_array_; + nearest_voxel_transformation_likelihood_ = other.nearest_voxel_transformation_likelihood_; + + regularization_pose_ = other.regularization_pose_; + regularization_pose_translation_ = other.regularization_pose_translation_; + + BaseRegType::operator=(std::move(other)); + + return *this; +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +MultiGridNormalDistributionsTransform< + PointSource, PointTarget>::MultiGridNormalDistributionsTransform() +: target_cells_(), + outlier_ratio_(0.55), + gauss_d1_(), + gauss_d2_(), + gauss_d3_(), + trans_probability_(), + regularization_pose_(boost::none) +{ + reg_name_ = "MultiGridNormalDistributionsTransform"; + + params_.trans_epsilon = 0.1; + params_.step_size = 0.1; + params_.resolution = 1.0f; + params_.max_iterations = 35; + params_.search_method = KDTREE; // Only KDTREE is supported in multigrid_ndt_omp + params_.num_threads = omp_get_max_threads(); + params_.regularization_scale_factor = 0.0f; + params_.use_line_search = false; + + // Initializes the gaussian fitting parameters (eq. 6.8) [Magnusson 2009] + double gauss_c1 = 10.0 * (1 - outlier_ratio_); + double gauss_c2 = outlier_ratio_ / pow(params_.resolution, 3); + gauss_d3_ = -log(gauss_c2); + gauss_d1_ = -log(gauss_c1 + gauss_c2) - gauss_d3_; + gauss_d2_ = -2 * log((-log(gauss_c1 * exp(-0.5) + gauss_c2) - gauss_d3_) / gauss_d1_); +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +void MultiGridNormalDistributionsTransform::computeTransformation( + PointCloudSource & output, const Eigen::Matrix4f & guess) +{ + nr_iterations_ = 0; + converged_ = false; + + // Initializes the gaussian fitting parameters (eq. 6.8) [Magnusson 2009] + double gauss_c1 = 10 * (1 - outlier_ratio_); + double gauss_c2 = outlier_ratio_ / pow(params_.resolution, 3); + gauss_d3_ = -log(gauss_c2); + gauss_d1_ = -log(gauss_c1 + gauss_c2) - gauss_d3_; + gauss_d2_ = -2.0 * log((-log(gauss_c1 * exp(-0.5) + gauss_c2) - gauss_d3_) / gauss_d1_); + + if (guess != Eigen::Matrix4f::Identity()) { + // Initialise final transformation to the guessed one + final_transformation_ = guess; + // Apply guessed transformation prior to search for neighbours + transformPointCloud(output, output, guess); + } + + Eigen::Transform eig_transformation; + + eig_transformation.matrix() = final_transformation_; + transformation_array_.clear(); + transformation_array_.push_back(final_transformation_); + + transform_probability_array_.clear(); + nearest_voxel_transformation_likelihood_array_.clear(); + + // Convert initial guess matrix to 6 element transformation vector + Eigen::Matrix p; + Eigen::Matrix delta_p; + Eigen::Matrix score_gradient; + Eigen::Vector3f init_translation = eig_transformation.translation(); + Eigen::Vector3f init_rotation = eig_transformation.rotation().eulerAngles(0, 1, 2); + + p << init_translation(0), init_translation(1), init_translation(2), init_rotation(0), + init_rotation(1), init_rotation(2); + + Eigen::Matrix hessian; + + double score = 0; + + if (regularization_pose_) { + Eigen::Transform regularization_pose_transformation; + regularization_pose_transformation.matrix() = regularization_pose_.get(); + regularization_pose_translation_ = regularization_pose_transformation.translation(); + } + + // Calculate derivatives of initial transform vector, subsequent derivative calculations are done + // in the step length determination. + score = computeDerivatives(score_gradient, hessian, output, p); + + while (!converged_) { + // Store previous transformation + previous_transformation_ = transformation_; + + // Solve for decent direction using newton method, line 23 in Algorithm 2 [Magnusson 2009] + Eigen::JacobiSVD> sv( + hessian, Eigen::ComputeFullU | Eigen::ComputeFullV); + // Negative for maximization as opposed to minimization + delta_p = sv.solve(-score_gradient); + + // Calculate step length with guaranteed sufficient decrease [More, Thuente 1994] + double delta_p_norm = delta_p.norm(); + + if (delta_p_norm == 0 || delta_p_norm != delta_p_norm) { + if (input_->empty()) { + trans_probability_ = 0.0f; + } else { + trans_probability_ = score / static_cast(input_->size()); + } + + converged_ = delta_p_norm == delta_p_norm; + return; + } + + delta_p.normalize(); + delta_p_norm = computeStepLengthMT( + p, delta_p, delta_p_norm, params_.step_size, params_.trans_epsilon / 2.0, score, + score_gradient, hessian, output); + delta_p *= delta_p_norm; + + transformation_ = + (Eigen::Translation( + static_cast(delta_p(0)), static_cast(delta_p(1)), + static_cast(delta_p(2))) * + Eigen::AngleAxis(static_cast(delta_p(3)), Eigen::Vector3f::UnitX()) * + Eigen::AngleAxis(static_cast(delta_p(4)), Eigen::Vector3f::UnitY()) * + Eigen::AngleAxis(static_cast(delta_p(5)), Eigen::Vector3f::UnitZ())) + .matrix(); + + transformation_array_.push_back(final_transformation_); + + p = p + delta_p; + + // Update Visualizer (untested) + if (update_visualizer_ != 0) + update_visualizer_(output, std::vector(), *target_, std::vector()); + + nr_iterations_++; + + if ( + nr_iterations_ >= params_.max_iterations || + (nr_iterations_ && (std::fabs(delta_p_norm) < params_.trans_epsilon))) { + converged_ = true; + } + } + + // Store transformation probability. The relative differences within each scan registration are + // accurate but the normalization constants need to be modified for it to be globally accurate + if (input_->empty()) { + trans_probability_ = 0.0f; + } else { + trans_probability_ = score / static_cast(input_->size()); + } + + hessian_ = hessian; +} + +#ifndef _OPENMP +int omp_get_max_threads() +{ + return 1; +} +int omp_get_thread_num() +{ + return 0; +} +#endif + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +double MultiGridNormalDistributionsTransform::computeDerivatives( + Eigen::Matrix & score_gradient, Eigen::Matrix & hessian, + PointCloudSource & trans_cloud, Eigen::Matrix & p, bool compute_hessian) +{ + score_gradient.setZero(); + hessian.setZero(); + + double score = 0; + int total_neighborhood_count = 0; + double nearest_voxel_score = 0; + size_t found_neighborhood_voxel_num = 0; + + std::vector scores(params_.num_threads); + std::vector nearest_voxel_scores(params_.num_threads); + std::vector found_neighborhood_voxel_nums(params_.num_threads); + std::vector, Eigen::aligned_allocator>> + score_gradients(params_.num_threads); + std::vector, Eigen::aligned_allocator>> + hessians(params_.num_threads); + std::vector neighborhood_counts(params_.num_threads); + + // Pre-allocate thread-wise point derivative matrices to avoid reallocate too many times + std::vector> t_point_gradients(params_.num_threads); + std::vector> t_point_hessians(params_.num_threads); + + for (int i = 0; i < params_.num_threads; ++i) { + scores[i] = 0; + nearest_voxel_scores[i] = 0; + found_neighborhood_voxel_nums[i] = 0; + score_gradients[i].setZero(); + hessians[i].setZero(); + neighborhood_counts[i] = 0; + + // Initialize point derivatives + t_point_gradients[i].setZero(); + t_point_gradients[i].block<3, 3>(0, 0).setIdentity(); + t_point_hessians[i].setZero(); + } + + // Precompute Angular Derivatives (eq. 6.19 and 6.21)[Magnusson 2009] + computeAngleDerivatives(p); + + // Update gradient and hessian for each point, line 17 in Algorithm 2 [Magnusson 2009] +#pragma omp parallel for num_threads(params_.num_threads) schedule(guided, 8) + for (size_t idx = 0; idx < input_->size(); ++idx) { + int tid = omp_get_thread_num(); + // Searching for neighbors of the current transformed point + auto & x_trans_pt = trans_cloud[idx]; + std::vector neighborhood; + + // Neighborhood search method other than kdtree is disabled in multigrid_ndt_omp + target_cells_.radiusSearch(x_trans_pt, params_.resolution, neighborhood); + + if (neighborhood.empty()) { + continue; + } + + // Original Point + auto & x_pt = (*input_)[idx]; + // Original Point and Transformed Point (for math) + Eigen::Vector3d x(x_pt.x, x_pt.y, x_pt.z); + // Current Point Gradient and Hessian + auto & point_gradient = t_point_gradients[tid]; + auto & point_hessian = t_point_hessians[tid]; + + // Compute derivative of transform function w.r.t. transform vector, J_E and H_E in + // Equations 6.18 and 6.20 [Magnusson 2009] + computePointDerivatives(x, point_gradient, point_hessian); + + // Denorm point, x_k' in Equations 6.12 and 6.13 [Magnusson 2009] + const Eigen::Vector3d x_trans(x_trans_pt.x, x_trans_pt.y, x_trans_pt.z); + + double sum_score_pt = 0; + double nearest_voxel_score_pt = 0; + auto & score_gradient_pt = score_gradients[tid]; + auto & hessian_pt = hessians[tid]; + + for (auto & cell : neighborhood) { + // Update score, gradient and hessian, lines 19-21 in Algorithm 2, according to + // Equations 6.10, 6.12 and 6.13, respectively [Magnusson 2009] + double score_pt = updateDerivatives( + score_gradient_pt, hessian_pt, point_gradient, point_hessian, x_trans - cell->getMean(), + cell->getInverseCov(), compute_hessian); + sum_score_pt += score_pt; + + if (score_pt > nearest_voxel_score_pt) { + nearest_voxel_score_pt = score_pt; + } + } + + ++found_neighborhood_voxel_nums[tid]; + + scores[tid] += sum_score_pt; + nearest_voxel_scores[tid] += nearest_voxel_score_pt; + neighborhood_counts[tid] += neighborhood.size(); + } + + // Ensure that the result is invariant against the summing up order + for (int i = 0; i < params_.num_threads; ++i) { + score += scores[i]; + nearest_voxel_score += nearest_voxel_scores[i]; + found_neighborhood_voxel_num += found_neighborhood_voxel_nums[i]; + score_gradient += score_gradients[i]; + hessian += hessians[i]; + total_neighborhood_count += neighborhood_counts[i]; + } + + if (regularization_pose_) { + float regularization_score = 0.0f; + Eigen::Matrix regularization_gradient = Eigen::Matrix::Zero(); + Eigen::Matrix regularization_hessian = Eigen::Matrix::Zero(); + + const float dx = regularization_pose_translation_(0) - static_cast(p(0, 0)); + const float dy = regularization_pose_translation_(1) - static_cast(p(1, 0)); + const auto sin_yaw = static_cast(sin(p(5, 0))); + const auto cos_yaw = static_cast(cos(p(5, 0))); + const float longitudinal_distance = dy * sin_yaw + dx * cos_yaw; + const auto neighborhood_count_weight = static_cast(total_neighborhood_count); + + regularization_score = -params_.regularization_scale_factor * neighborhood_count_weight * + longitudinal_distance * longitudinal_distance; + + regularization_gradient(0, 0) = params_.regularization_scale_factor * + neighborhood_count_weight * 2.0f * cos_yaw * + longitudinal_distance; + regularization_gradient(1, 0) = params_.regularization_scale_factor * + neighborhood_count_weight * 2.0f * sin_yaw * + longitudinal_distance; + + regularization_hessian(0, 0) = + -params_.regularization_scale_factor * neighborhood_count_weight * 2.0f * cos_yaw * cos_yaw; + regularization_hessian(0, 1) = + -params_.regularization_scale_factor * neighborhood_count_weight * 2.0f * cos_yaw * sin_yaw; + regularization_hessian(1, 1) = + -params_.regularization_scale_factor * neighborhood_count_weight * 2.0f * sin_yaw * sin_yaw; + regularization_hessian(1, 0) = regularization_hessian(0, 1); + + score += regularization_score; + score_gradient += regularization_gradient; + hessian += regularization_hessian; + } + + if (found_neighborhood_voxel_num != 0) { + nearest_voxel_transformation_likelihood_ = + nearest_voxel_score / static_cast(found_neighborhood_voxel_num); + } else { + nearest_voxel_transformation_likelihood_ = 0.0; + } + nearest_voxel_transformation_likelihood_array_.push_back( + nearest_voxel_transformation_likelihood_); + const float transform_probability = + (input_->points.empty() ? 0.0f : score / static_cast(input_->points.size())); + transform_probability_array_.push_back(transform_probability); + return (score); +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +void MultiGridNormalDistributionsTransform::computeAngleDerivatives( + Eigen::Matrix & p, bool compute_hessian) +{ + // Simplified math for near 0 angles + double cx = 1.0; + double cy = 1.0; + double cz = 1.0; + double sx = 0.0; + double sy = 0.0; + double sz = 0.0; + if (fabs(p(3)) < 10e-5) { + // p(3) = 0; + cx = 1.0; + sx = 0.0; + } else { + cx = cos(p(3)); + sx = sin(p(3)); + } + if (fabs(p(4)) < 10e-5) { + // p(4) = 0; + cy = 1.0; + sy = 0.0; + } else { + cy = cos(p(4)); + sy = sin(p(4)); + } + + if (fabs(p(5)) < 10e-5) { + // p(5) = 0; + cz = 1.0; + sz = 0.0; + } else { + cz = cos(p(5)); + sz = sin(p(5)); + } + + // Precomputed angular gradient components. Letters correspond to Equation 6.19 [Magnusson 2009] + j_ang_.setZero(); + + j_ang_.row(0) << (-sx * sz + cx * sy * cz), (-sx * cz - cx * sy * sz), (-cx * cy), 0.0f; + j_ang_.row(1) << (cx * sz + sx * sy * cz), (cx * cz - sx * sy * sz), (-sx * cy), 0.0f; + j_ang_.row(2) << (-sy * cz), sy * sz, cy, 0.0f; + j_ang_.row(3) << sx * cy * cz, (-sx * cy * sz), sx * sy, 0.0f; + j_ang_.row(4) << (-cx * cy * cz), cx * cy * sz, (-cx * sy), 0.0f; + j_ang_.row(5) << (-cy * sz), (-cy * cz), 0.0f, 0.0f; + j_ang_.row(6) << (cx * cz - sx * sy * sz), (-cx * sz - sx * sy * cz), 0.0f, 0.0f; + j_ang_.row(7) << (sx * cz + cx * sy * sz), (cx * sy * cz - sx * sz), 0.0f, 0.0f; + + if (compute_hessian) { + // Precomputed angular hessian components. Letters correspond to Equation 6.21 and numbers + // correspond to row index [Magnusson 2009] + h_ang_.setZero(); + + h_ang_.row(0) << (-cx * sz - sx * sy * cz), (-cx * cz + sx * sy * sz), sx * cy, 0.0f; // a2 + h_ang_.row(1) << (-sx * sz + cx * sy * cz), (-cx * sy * sz - sx * cz), (-cx * cy), 0.0f; // a3 + + h_ang_.row(2) << (cx * cy * cz), (-cx * cy * sz), (cx * sy), 0.0f; // b2 + h_ang_.row(3) << (sx * cy * cz), (-sx * cy * sz), (sx * sy), 0.0f; // b3 + + h_ang_.row(4) << (-sx * cz - cx * sy * sz), (sx * sz - cx * sy * cz), 0.0f, 0.0f; // c2 + h_ang_.row(5) << (cx * cz - sx * sy * sz), (-sx * sy * cz - cx * sz), 0.0f, 0.0f; // c3 + + h_ang_.row(6) << (-cy * cz), (cy * sz), (sy), 0.0f; // d1 + h_ang_.row(7) << (-sx * sy * cz), (sx * sy * sz), (sx * cy), 0.0f; // d2 + h_ang_.row(8) << (cx * sy * cz), (-cx * sy * sz), (-cx * cy), 0.0f; // d3 + + h_ang_.row(9) << (sy * sz), (sy * cz), 0.0f, 0.0f; // e1 + h_ang_.row(10) << (-sx * cy * sz), (-sx * cy * cz), 0.0f, 0.0f; // e2 + h_ang_.row(11) << (cx * cy * sz), (cx * cy * cz), 0.0f, 0.0f; // e3 + + h_ang_.row(12) << (-cy * cz), (cy * sz), 0.0f, 0.0f; // f1 + h_ang_.row(13) << (-cx * sz - sx * sy * cz), (-cx * cz + sx * sy * sz), 0.0f, 0.0f; // f2 + h_ang_.row(14) << (-sx * sz + cx * sy * cz), (-cx * sy * sz - sx * cz), 0.0f, 0.0f; // f3 + } +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +void MultiGridNormalDistributionsTransform::computePointDerivatives( + Eigen::Vector3d & x, Eigen::Matrix & point_gradient, + Eigen::Matrix & point_hessian, bool compute_hessian) const +{ + Eigen::Vector4d x4(x[0], x[1], x[2], 0.0f); + + // Calculate first derivative of Transformation Equation 6.17 w.r.t. transform vector p. + // Derivative w.r.t. ith element of transform vector corresponds to column i, Equation 6.18 + // and 6.19 [Magnusson 2009] + auto x_j_ang = j_ang_ * x4; + + point_gradient(1, 3) = x_j_ang[0]; + point_gradient(2, 3) = x_j_ang[1]; + point_gradient(0, 4) = x_j_ang[2]; + point_gradient(1, 4) = x_j_ang[3]; + point_gradient(2, 4) = x_j_ang[4]; + point_gradient(0, 5) = x_j_ang[5]; + point_gradient(1, 5) = x_j_ang[6]; + point_gradient(2, 5) = x_j_ang[7]; + + if (compute_hessian) { + auto x_h_ang = h_ang_ * x4; + + // Vectors from Equation 6.21 [Magnusson 2009] + Eigen::Vector4d a(0.0f, x_h_ang[0], x_h_ang[1], 0.0f); + Eigen::Vector4d b(0.0f, x_h_ang[2], x_h_ang[3], 0.0f); + Eigen::Vector4d c(0.0f, x_h_ang[4], x_h_ang[5], 0.0f); + Eigen::Vector4d d(x_h_ang[6], x_h_ang[7], x_h_ang[8], 0.0f); + Eigen::Vector4d e(x_h_ang[9], x_h_ang[10], x_h_ang[11], 0.0f); + Eigen::Vector4d f(x_h_ang[12], x_h_ang[13], x_h_ang[14], 0.0f); + + // Calculate second derivative of Transformation Equation 6.17 w.r.t. transform vector p. + // Derivative w.r.t. ith and jth elements of transform vector corresponds to the 3x1 block + // matrix starting at (3i,j), Equation 6.20 and 6.21 [Magnusson 2009] + point_hessian.block<4, 1>(12, 3) = a; + point_hessian.block<4, 1>(16, 3) = b; + point_hessian.block<4, 1>(20, 3) = c; + point_hessian.block<4, 1>(12, 4) = b; + point_hessian.block<4, 1>(16, 4) = d; + point_hessian.block<4, 1>(20, 4) = e; + point_hessian.block<4, 1>(12, 5) = c; + point_hessian.block<4, 1>(16, 5) = e; + point_hessian.block<4, 1>(20, 5) = f; + } +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +double MultiGridNormalDistributionsTransform::updateDerivatives( + Eigen::Matrix & score_gradient, Eigen::Matrix & hessian, + const Eigen::Matrix & point_gradient, + const Eigen::Matrix & point_hessian, const Eigen::Vector3d & x_trans, + const Eigen::Matrix3d & c_inv, bool compute_hessian) const +{ + Eigen::Matrix x_trans4(x_trans[0], x_trans[1], x_trans[2], 0.0f); + Eigen::Matrix4d c_inv4 = Eigen::Matrix4d::Zero(); + + c_inv4.topLeftCorner(3, 3) = c_inv; + + // e^(-d_2/2 * (x_k - mu_k)^T Sigma_k^-1 (x_k - mu_k)) Equation 6.9 [Magnusson 2009] + double e_x_cov_x = exp(-gauss_d2_ * x_trans4.dot(x_trans4 * c_inv4) * 0.5f); + // Calculate probability of transformed points existence, Equation 6.9 [Magnusson 2009] + double score_inc = -gauss_d1_ * e_x_cov_x; + + e_x_cov_x = gauss_d2_ * e_x_cov_x; + + // Error checking for invalid values. + if (e_x_cov_x > 1 || e_x_cov_x < 0 || e_x_cov_x != e_x_cov_x) return (0); + + // Reusable portion of Equation 6.12 and 6.13 [Magnusson 2009] + e_x_cov_x *= gauss_d1_; + + Eigen::Matrix c_inv4_x_point_gradient4 = c_inv4 * point_gradient; + Eigen::Matrix x_trans4_dot_c_inv4_x_point_gradient4 = + x_trans4 * c_inv4_x_point_gradient4; + + score_gradient.noalias() += (e_x_cov_x * x_trans4_dot_c_inv4_x_point_gradient4).cast(); + + if (compute_hessian) { + Eigen::Matrix x_trans4_x_c_inv4 = x_trans4 * c_inv4; + Eigen::Matrix point_gradient4_colj_dot_c_inv4_x_point_gradient4_col_i = + point_gradient.transpose() * c_inv4_x_point_gradient4; + Eigen::Matrix x_trans4_dot_c_inv4_x_ext_point_hessian_4ij; + + for (int i = 0; i < 6; ++i) { + // Sigma_k^-1 d(T(x,p))/dpi, Reusable portion of Equation 6.12 and 6.13 [Magnusson 2009] + // Update gradient, Equation 6.12 [Magnusson 2009] + x_trans4_dot_c_inv4_x_ext_point_hessian_4ij.noalias() = + x_trans4_x_c_inv4 * point_hessian.block<4, 6>(i * 4, 0); + + for (int j = 0; j < hessian.cols(); j++) { + // Update hessian, Equation 6.13 [Magnusson 2009] + hessian(i, j) += + e_x_cov_x * (-gauss_d2_ * x_trans4_dot_c_inv4_x_point_gradient4(i) * + x_trans4_dot_c_inv4_x_point_gradient4(j) + + x_trans4_dot_c_inv4_x_ext_point_hessian_4ij(j) + + point_gradient4_colj_dot_c_inv4_x_point_gradient4_col_i(j, i)); + } + } + } + + return (score_inc); +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +void MultiGridNormalDistributionsTransform::computeHessian( + Eigen::Matrix & hessian, PointCloudSource & trans_cloud, + Eigen::Matrix &) +{ + // Initialize Point Gradient and Hessian + // Pre-allocate thread-wise point gradients and point hessians + std::vector> t_point_gradients(params_.num_threads); + std::vector> t_point_hessians(params_.num_threads); + std::vector> t_hessians(params_.num_threads); + + for (int i = 0; i < params_.num_threads; ++i) { + t_point_gradients[i].setZero(); + t_point_gradients[i].block<3, 3>(0, 0).setIdentity(); + t_point_hessians[i].setZero(); + t_hessians[i].setZero(); + } + + hessian.setZero(); + + // Precompute Angular Derivatives unnecessary because only used after regular derivative + // calculation + + // Update hessian for each point, line 17 in Algorithm 2 [Magnusson 2009] +#pragma omp parallel for num_threads(params_.num_threads) schedule(guided, 8) + for (size_t idx = 0; idx < input_->size(); ++idx) { + int tid = omp_get_thread_num(); + auto & x_trans_pt = trans_cloud[idx]; + + // Find neighbors (Radius search has been experimentally faster than direct neighbor checking. + std::vector neighborhood; + + // Neighborhood search method other than kdtree is disabled in multigrid_ndt_omp + target_cells_.radiusSearch(x_trans_pt, params_.resolution, neighborhood); + + if (neighborhood.empty()) { + continue; + } + + auto & x_pt = (*input_)[idx]; + // For math + Eigen::Vector3d x(x_pt.x, x_pt.y, x_pt.z); + const Eigen::Vector3d x_trans(x_trans_pt.x, x_trans_pt.y, x_trans_pt.z); + + auto & point_gradient = t_point_gradients[tid]; + auto & point_hessian = t_point_hessians[tid]; + auto & tmp_hessian = t_hessians[tid]; + + // Compute derivative of transform function w.r.t. transform vector, J_E and H_E in + // Equations 6.18 and 6.20 [Magnusson 2009] + computePointDerivatives(x, point_gradient, point_hessian); + + for (const auto & cell : neighborhood) { + // Update hessian, lines 21 in Algorithm 2, according to Equations 6.10, 6.12 and 6.13, + // respectively [Magnusson 2009] + updateHessian( + tmp_hessian, point_gradient, point_hessian, x_trans - cell->getMean(), + cell->getInverseCov()); + } + } + + // Sum over t_hessians + for (const auto & th : t_hessians) { + hessian += th; + } +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +void MultiGridNormalDistributionsTransform::updateHessian( + Eigen::Matrix & hessian, const Eigen::Matrix & point_gradient, + const Eigen::Matrix & point_hessian, const Eigen::Vector3d & x_trans, + const Eigen::Matrix3d & c_inv) const +{ + Eigen::Vector3d cov_dxd_pi; + // e^(-d_2/2 * (x_k - mu_k)^T Sigma_k^-1 (x_k - mu_k)) Equation 6.9 [Magnusson 2009] + double e_x_cov_x = gauss_d2_ * exp(-gauss_d2_ * x_trans.dot(c_inv * x_trans) / 2); + + // Error checking for invalid values. + if (e_x_cov_x > 1 || e_x_cov_x < 0 || e_x_cov_x != e_x_cov_x) return; + + // Reusable portion of Equation 6.12 and 6.13 [Magnusson 2009] + e_x_cov_x *= gauss_d1_; + + for (int i = 0; i < 6; ++i) { + // Sigma_k^-1 d(T(x,p))/dpi, Reusable portion of Equation 6.12 and 6.13 [Magnusson 2009] + cov_dxd_pi = c_inv * point_gradient.block<3, 1>(0, i); + + for (int j = 0; j < hessian.cols(); j++) { + // Update hessian, Equation 6.13 [Magnusson 2009] + Eigen::Vector3d pg_col = point_gradient.block<3, 1>(0, j); + + hessian(i, j) += + e_x_cov_x * + (-gauss_d2_ * x_trans.dot(cov_dxd_pi) * x_trans.dot(c_inv * pg_col) + + x_trans.dot(c_inv * point_hessian.block<3, 1>(3 * i, j)) + pg_col.dot(cov_dxd_pi)); + } + } +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +bool MultiGridNormalDistributionsTransform::updateIntervalMT( + double & a_l, double & f_l, double & g_l, double & a_u, double & f_u, double & g_u, double a_t, + double f_t, double g_t) +{ + // Case U1 in Update Algorithm and Case a in Modified Update Algorithm [More, Thuente 1994] + if (f_t > f_l) { + a_u = a_t; + f_u = f_t; + g_u = g_t; + return (false); + } + // Case U2 in Update Algorithm and Case b in Modified Update Algorithm [More, Thuente 1994] + if (g_t * (a_l - a_t) > 0) { + a_l = a_t; + f_l = f_t; + g_l = g_t; + return (false); + } + // Case U3 in Update Algorithm and Case c in Modified Update Algorithm [More, Thuente 1994] + if (g_t * (a_l - a_t) < 0) { + a_u = a_l; + f_u = f_l; + g_u = g_l; + + a_l = a_t; + f_l = f_t; + g_l = g_t; + return (false); + } + // Interval Converged + return (true); +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +double MultiGridNormalDistributionsTransform::trialValueSelectionMT( + double a_l, double f_l, double g_l, double a_u, double f_u, double g_u, double a_t, double f_t, + double g_t) +{ + // Case 1 in Trial Value Selection [More, Thuente 1994] + if (f_t > f_l) { + // Calculate the minimizer of the cubic that interpolates f_l, f_t, g_l and g_t + // Equation 2.4.52 [Sun, Yuan 2006] + double z = 3 * (f_t - f_l) / (a_t - a_l) - g_t - g_l; + double w = std::sqrt(z * z - g_t * g_l); + // Equation 2.4.56 [Sun, Yuan 2006] + double a_c = a_l + (a_t - a_l) * (w - g_l - z) / (g_t - g_l + 2 * w); + + // Calculate the minimizer of the quadratic that interpolates f_l, f_t and g_l + // Equation 2.4.2 [Sun, Yuan 2006] + double a_q = a_l - 0.5 * (a_l - a_t) * g_l / (g_l - (f_l - f_t) / (a_l - a_t)); + + if (std::fabs(a_c - a_l) < std::fabs(a_q - a_l)) { + return (a_c); + } + return (0.5 * (a_q + a_c)); + } + // Case 2 in Trial Value Selection [More, Thuente 1994] + if (g_t * g_l < 0) { + // Calculate the minimizer of the cubic that interpolates f_l, f_t, g_l and g_t + // Equation 2.4.52 [Sun, Yuan 2006] + double z = 3 * (f_t - f_l) / (a_t - a_l) - g_t - g_l; + double w = std::sqrt(z * z - g_t * g_l); + // Equation 2.4.56 [Sun, Yuan 2006] + double a_c = a_l + (a_t - a_l) * (w - g_l - z) / (g_t - g_l + 2 * w); + + // Calculate the minimizer of the quadratic that interpolates f_l, g_l and g_t + // Equation 2.4.5 [Sun, Yuan 2006] + double a_s = a_l - (a_l - a_t) / (g_l - g_t) * g_l; + + if (std::fabs(a_c - a_t) >= std::fabs(a_s - a_t)) { + return (a_c); + } + return (a_s); + } + // Case 3 in Trial Value Selection [More, Thuente 1994] + if (std::fabs(g_t) <= std::fabs(g_l)) { + // Calculate the minimizer of the cubic that interpolates f_l, f_t, g_l and g_t + // Equation 2.4.52 [Sun, Yuan 2006] + double z = 3 * (f_t - f_l) / (a_t - a_l) - g_t - g_l; + double w = std::sqrt(z * z - g_t * g_l); + double a_c = a_l + (a_t - a_l) * (w - g_l - z) / (g_t - g_l + 2 * w); + + // Calculate the minimizer of the quadratic that interpolates g_l and g_t + // Equation 2.4.5 [Sun, Yuan 2006] + double a_s = a_l - (a_l - a_t) / (g_l - g_t) * g_l; + + double a_t_next = 0.0; + + if (std::fabs(a_c - a_t) < std::fabs(a_s - a_t)) + a_t_next = a_c; + else + a_t_next = a_s; + + if (a_t > a_l) { + return (std::min(a_t + 0.66 * (a_u - a_t), a_t_next)); + } + return (std::max(a_t + 0.66 * (a_u - a_t), a_t_next)); + } + // Case 4 in Trial Value Selection [More, Thuente 1994] + // Calculate the minimizer of the cubic that interpolates f_u, f_t, g_u and g_t + // Equation 2.4.52 [Sun, Yuan 2006] + double z = 3 * (f_t - f_u) / (a_t - a_u) - g_t - g_u; + double w = std::sqrt(z * z - g_t * g_u); + // Equation 2.4.56 [Sun, Yuan 2006] + return (a_u + (a_t - a_u) * (w - g_u - z) / (g_t - g_u + 2 * w)); +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +template +double MultiGridNormalDistributionsTransform::computeStepLengthMT( + const Eigen::Matrix & x, Eigen::Matrix & step_dir, double step_init, + double step_max, double step_min, double & score, Eigen::Matrix & score_gradient, + Eigen::Matrix & hessian, PointCloudSource & trans_cloud) +{ + // Set the value of phi'(0), Equation 1.3 [More, Thuente 1994] + double d_phi_0 = -(score_gradient.dot(step_dir)); + + Eigen::Matrix x_t; + + if (d_phi_0 >= 0) { + // Not a decent direction + if (d_phi_0 == 0) return 0; + + // Reverse step direction and calculate optimal step. + d_phi_0 *= -1; + step_dir *= -1; + } + + double a_t = step_init; + a_t = std::min(a_t, step_max); + a_t = std::max(a_t, step_min); + + x_t = x + step_dir * a_t; + + final_transformation_ = + (Eigen::Translation( + static_cast(x_t(0)), static_cast(x_t(1)), static_cast(x_t(2))) * + Eigen::AngleAxis(static_cast(x_t(3)), Eigen::Vector3f::UnitX()) * + Eigen::AngleAxis(static_cast(x_t(4)), Eigen::Vector3f::UnitY()) * + Eigen::AngleAxis(static_cast(x_t(5)), Eigen::Vector3f::UnitZ())) + .matrix(); + + // New transformed point cloud + transformPointCloud(*input_, trans_cloud, final_transformation_); + + // Updates score, gradient and hessian. Hessian calculation is unnecessary but testing showed + // that most step calculations use the initial step suggestion and recalculation the reusable + // portions of the hessian would entail more computation time. + score = computeDerivatives(score_gradient, hessian, trans_cloud, x_t, true); + + // -------------------------------------------------------------------------------------------------------------------------------- + // FIXME(YamatoAndo): + // Currently, using LineSearch causes the following problems: + // It may converge to a local solution. + // There are cases where a loop process is executed without changing the variable values, + // resulting in unnecessary processing time. As better convergence results are obtained without + // using LineSearch, we have decided to disable this feature. If you have any suggestions on how + // to solve these issues, we would appreciate it if you could contribute. + // -------------------------------------------------------------------------------------------------------------------------------- + int step_iterations = 0; + + if (params_.use_line_search) { + // Set the value of phi(0), Equation 1.3 [More, Thuente 1994] + double phi_0 = -score; + + // The Search Algorithm for T(mu) [More, Thuente 1994] + + int max_step_iterations = 10; + + // Sufficient decrease constant, Equation 1.1 [More, Thuete 1994] + double mu = 1.e-4; + // Curvature condition constant, Equation 1.2 [More, Thuete 1994] + double nu = 0.9; + + // Initial endpoints of Interval I, + double a_l = 0; + double a_u = 0; + + // Auxiliary function psi is used until I is determined ot be a closed interval, Equation 2.1 + // [More, Thuente 1994] + double f_l = auxiliaryFunction_PsiMT(a_l, phi_0, phi_0, d_phi_0, mu); + double g_l = auxiliaryFunction_dPsiMT(d_phi_0, d_phi_0, mu); + + double f_u = auxiliaryFunction_PsiMT(a_u, phi_0, phi_0, d_phi_0, mu); + double g_u = auxiliaryFunction_dPsiMT(d_phi_0, d_phi_0, mu); + + // Check used to allow More-Thuente step length calculation to be skipped by making step_min == + // step_max + bool interval_converged = (step_max - step_min) < 0; + bool open_interval = true; + + // Calculate phi(alpha_t) + double phi_t = -score; + // Calculate phi'(alpha_t) + double d_phi_t = -(score_gradient.dot(step_dir)); + + // Calculate psi(alpha_t) + double psi_t = auxiliaryFunction_PsiMT(a_t, phi_t, phi_0, d_phi_0, mu); + // Calculate psi'(alpha_t) + double d_psi_t = auxiliaryFunction_dPsiMT(d_phi_t, d_phi_0, mu); + + // Iterate until max number of iterations, interval convergence or a value satisfies the + // sufficient decrease, Equation 1.1, and curvature condition, Equation 1.2 [More, Thuente 1994] + while ( + !interval_converged && step_iterations < max_step_iterations && + !(psi_t <= 0 /*Sufficient Decrease*/ && d_phi_t <= -nu * d_phi_0 /*Curvature Condition*/)) { + // Use auxiliary function if interval I is not closed + if (open_interval) { + a_t = trialValueSelectionMT(a_l, f_l, g_l, a_u, f_u, g_u, a_t, psi_t, d_psi_t); + } else { + a_t = trialValueSelectionMT(a_l, f_l, g_l, a_u, f_u, g_u, a_t, phi_t, d_phi_t); + } + + a_t = std::min(a_t, step_max); + a_t = std::max(a_t, step_min); + + x_t = x + step_dir * a_t; + + final_transformation_ = + (Eigen::Translation( + static_cast(x_t(0)), static_cast(x_t(1)), static_cast(x_t(2))) * + Eigen::AngleAxis(static_cast(x_t(3)), Eigen::Vector3f::UnitX()) * + Eigen::AngleAxis(static_cast(x_t(4)), Eigen::Vector3f::UnitY()) * + Eigen::AngleAxis(static_cast(x_t(5)), Eigen::Vector3f::UnitZ())) + .matrix(); + + // New transformed point cloud + // Done on final cloud to prevent wasted computation + transformPointCloud(*input_, trans_cloud, final_transformation_); + + // Updates score, gradient. Values stored to prevent wasted computation. + score = computeDerivatives(score_gradient, hessian, trans_cloud, x_t, false); + + // Calculate phi(alpha_t+) + phi_t = -score; + // Calculate phi'(alpha_t+) + d_phi_t = -(score_gradient.dot(step_dir)); + + // Calculate psi(alpha_t+) + psi_t = auxiliaryFunction_PsiMT(a_t, phi_t, phi_0, d_phi_0, mu); + // Calculate psi'(alpha_t+) + d_psi_t = auxiliaryFunction_dPsiMT(d_phi_t, d_phi_0, mu); + + // Check if I is now a closed interval + if (open_interval && (psi_t <= 0 && d_psi_t >= 0)) { + open_interval = false; + + // Converts f_l and g_l from psi to phi + f_l = f_l + phi_0 - mu * d_phi_0 * a_l; + g_l = g_l + mu * d_phi_0; + + // Converts f_u and g_u from psi to phi + f_u = f_u + phi_0 - mu * d_phi_0 * a_u; + g_u = g_u + mu * d_phi_0; + } + + if (open_interval) { + // Update interval end points using Updating Algorithm [More, Thuente 1994] + interval_converged = updateIntervalMT(a_l, f_l, g_l, a_u, f_u, g_u, a_t, psi_t, d_psi_t); + } else { + // Update interval end points using Modified Updating Algorithm [More, Thuente 1994] + interval_converged = updateIntervalMT(a_l, f_l, g_l, a_u, f_u, g_u, a_t, phi_t, d_phi_t); + } + + step_iterations++; + } + } + + // If inner loop was run then hessian needs to be calculated. + // Hessian is unnecessary for step length determination but gradients are required + // so derivative and transform data is stored for the next iteration. + if (step_iterations) computeHessian(hessian, trans_cloud, x_t); + + return (a_t); +} + +template +double +MultiGridNormalDistributionsTransform::calculateTransformationProbability( + const PointCloudSource & trans_cloud) const +{ + double score = 0; + + // Score per thread + std::vector t_scores(params_.num_threads, 0); + +#pragma omp parallel for num_threads(params_.num_threads) schedule(guided, 8) + for (size_t idx = 0; idx < trans_cloud.size(); ++idx) { + int tid = omp_get_thread_num(); + PointSource x_trans_pt = trans_cloud[idx]; + + // Find neighbors (Radius search has been experimentally faster than direct neighbor checking. + std::vector neighborhood; + + // Neighborhood search method other than kdtree is disabled in multigrid_ndt_omp + target_cells_.radiusSearch(x_trans_pt, params_.resolution, neighborhood); + + if (neighborhood.empty()) { + continue; + } + + double tmp_score = 0; + + for (auto & cell : neighborhood) { + Eigen::Vector3d x_trans(x_trans_pt.x, x_trans_pt.y, x_trans_pt.z); + + // Denorm point, x_k' in Equations 6.12 and 6.13 [Magnusson 2009] + x_trans -= cell->getMean(); + + // Calculate probability of transformed points existence, Equation 6.9 [Magnusson 2009] + // e^(-d_2/2 * (x_k - mu_k)^T Sigma_k^-1 (x_k - mu_k)) Equation 6.9 [Magnusson 2009] + tmp_score -= gauss_d1_ * exp(-gauss_d2_ * x_trans.dot(cell->getInverseCov() * x_trans) / 2.0); + } + + t_scores[tid] += tmp_score; + } + + // Sum the point-wise scores + for (const auto & ts : t_scores) { + score += ts; + } + + double output_score = 0; + if (!trans_cloud.empty()) { + output_score = (score) / static_cast(trans_cloud.size()); + } + return output_score; +} + +template +double MultiGridNormalDistributionsTransform:: + calculateNearestVoxelTransformationLikelihood(const PointCloudSource & trans_cloud) const +{ + double nearest_voxel_score = 0; + size_t found_neighborhood_voxel_num = 0; + + // Thread-wise results + std::vector t_nvs(params_.num_threads); + std::vector t_found_nnvn(params_.num_threads); + + for (int i = 0; i < params_.num_threads; ++i) { + t_nvs[i] = 0; + t_found_nnvn[i] = 0; + } + +#pragma omp parallel for num_threads(params_.num_threads) schedule(guided, 8) + for (size_t idx = 0; idx < trans_cloud.size(); ++idx) { + int tid = omp_get_thread_num(); + PointSource x_trans_pt = trans_cloud[idx]; + + // Find neighbors (Radius search has been experimentally faster than direct neighbor checking. + std::vector neighborhood; + + // Neighborhood search method other than kdtree is disabled in multigrid_ndt_omp + target_cells_.radiusSearch(x_trans_pt, params_.resolution, neighborhood); + + if (neighborhood.empty()) { + continue; + } + + double nearest_voxel_score_pt = 0; + + for (auto & cell : neighborhood) { + Eigen::Vector3d x_trans(x_trans_pt.x, x_trans_pt.y, x_trans_pt.z); + + // Denorm point, x_k' in Equations 6.12 and 6.13 [Magnusson 2009] + x_trans -= cell->getMean(); + + // e^(-d_2/2 * (x_k - mu_k)^T Sigma_k^-1 (x_k - mu_k)) Equation 6.9 [Magnusson 2009] + double e_x_cov_x = exp(-gauss_d2_ * x_trans.dot(cell->getInverseCov() * x_trans) / 2.0); + // Calculate probability of transformed points existence, Equation 6.9 [Magnusson 2009] + double score_inc = -gauss_d1_ * e_x_cov_x; + + if (score_inc > nearest_voxel_score_pt) { + nearest_voxel_score_pt = score_inc; + } + } + + t_nvs[tid] += nearest_voxel_score_pt; + ++t_found_nnvn[tid]; + } + + // Sum up point-wise scores + for (int idx = 0; idx < params_.num_threads; ++idx) { + found_neighborhood_voxel_num += t_found_nnvn[idx]; + nearest_voxel_score += t_nvs[idx]; + } + + double output_score = 0; + + if (found_neighborhood_voxel_num != 0) { + output_score = nearest_voxel_score / static_cast(found_neighborhood_voxel_num); + } + return output_score; +} + +template +pcl::PointCloud MultiGridNormalDistributionsTransform:: + calculateNearestVoxelScoreEachPoint(const PointCloudSource & trans_cloud) const +{ + // Thread-wise results + std::vector> threads_pc(params_.num_threads); + pcl::PointCloud score_points; + +#pragma omp parallel for num_threads(params_.num_threads) schedule(guided, 8) + for (size_t idx = 0; idx < trans_cloud.size(); ++idx) { + int tid = omp_get_thread_num(); + PointSource x_trans_pt = trans_cloud[idx]; + + // Find neighbors (Radius search has been experimentally faster than direct neighbor checking. + std::vector neighborhood; + + // Neighborhood search method other than kdtree is disabled in multigrid_ndt_omp + target_cells_.radiusSearch(x_trans_pt, params_.resolution, neighborhood); + + if (neighborhood.empty()) { + continue; + } + + double nearest_voxel_score_pt = 0; + + for (auto & cell : neighborhood) { + Eigen::Vector3d x_trans(x_trans_pt.x, x_trans_pt.y, x_trans_pt.z); + + // Denorm point, x_k' in Equations 6.12 and 6.13 [Magnusson 2009] + x_trans -= cell->getMean(); + + // e^(-d_2/2 * (x_k - mu_k)^T Sigma_k^-1 (x_k - mu_k)) Equation 6.9 [Magnusson 2009] + double e_x_cov_x = exp(-gauss_d2_ * x_trans.dot(cell->getInverseCov() * x_trans) / 2.0); + // Calculate probability of transformed points existence, Equation 6.9 [Magnusson 2009] + double score_inc = -gauss_d1_ * e_x_cov_x; + + if (score_inc > nearest_voxel_score_pt) { + nearest_voxel_score_pt = score_inc; + } + } + + pcl::PointXYZI sensor_point_score; + sensor_point_score.x = trans_cloud.points[idx].x; + sensor_point_score.y = trans_cloud.points[idx].y; + sensor_point_score.z = trans_cloud.points[idx].z; + sensor_point_score.intensity = nearest_voxel_score_pt; + threads_pc[tid].points.push_back(sensor_point_score); + } + + // Sum up point-wise scores + for (int idx = 0; idx < params_.num_threads; ++idx) { + for (size_t p_idx = 0; p_idx < threads_pc[idx].size(); ++p_idx) { + score_points.points.push_back(threads_pc[idx].points[p_idx]); + } + } + + return score_points; +} + +} // namespace pclomp + +#endif // NDT_OMP__MULTIGRID_NDT_OMP_IMPL_HPP_ diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index 8cc397c4531b5..a316c8fa346b9 100644 --- a/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -17,11 +17,11 @@ #include "autoware/localization_util/matrix_type.hpp" #include "autoware/localization_util/tree_structured_parzen_estimator.hpp" #include "autoware/localization_util/util_func.hpp" +#include "autoware/ndt_scan_matcher/ndt_omp/estimate_covariance.hpp" #include "autoware/ndt_scan_matcher/particle.hpp" #include #include -#include #include From 458f3d9c1b7d739295a5d81b8ed605f8c79d1b22 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 31 Oct 2024 19:19:12 +0900 Subject: [PATCH 337/701] feat(autoware_test_utils): add traffic light msgs parser (#9177) Signed-off-by: Mamoru Sobue --- .../autoware_test_utils/mock_data_parser.hpp | 23 ++++++++ .../src/mock_data_parser.cpp | 57 +++++++++++++++++++ .../test/test_mock_data_parser.cpp | 31 ++++++++++ 3 files changed, 111 insertions(+) diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp index 714d6d6710b32..8fc71cf95e1ac 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp @@ -16,9 +16,11 @@ #define AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ #include +#include #include #include +#include #include #include #include @@ -36,16 +38,22 @@ namespace autoware::test_utils { +using autoware_adapi_v1_msgs::msg::OperationModeState; using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjectKinematics; using autoware_perception_msgs::msg::PredictedObjects; using autoware_perception_msgs::msg::PredictedPath; using autoware_perception_msgs::msg::Shape; +using autoware_perception_msgs::msg::TrafficLightElement; +using autoware_perception_msgs::msg::TrafficLightGroup; +using autoware_perception_msgs::msg::TrafficLightGroupArray; + using autoware_planning_msgs::msg::LaneletPrimitive; using autoware_planning_msgs::msg::LaneletRoute; using autoware_planning_msgs::msg::LaneletSegment; using builtin_interfaces::msg::Duration; +using builtin_interfaces::msg::Time; using geometry_msgs::msg::Accel; using geometry_msgs::msg::AccelWithCovariance; using geometry_msgs::msg::AccelWithCovarianceStamped; @@ -79,6 +87,9 @@ Header parse(const YAML::Node & node); template <> Duration parse(const YAML::Node & node); +template <> +Time parse(const YAML::Node & node); + template <> std::vector parse(const YAML::Node & node); @@ -142,6 +153,18 @@ PredictedObject parse(const YAML::Node & node); template <> PredictedObjects parse(const YAML::Node & node); +template <> +TrafficLightGroupArray parse(const YAML::Node & node); + +template <> +TrafficLightGroup parse(const YAML::Node & node); + +template <> +TrafficLightElement parse(const YAML::Node & node); + +template <> +OperationModeState parse(const YAML::Node & node); + /** * @brief Parses a YAML file and converts it into an object of type T. * diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp index b876f1312a3e6..d2c6de5c0a46f 100644 --- a/common/autoware_test_utils/src/mock_data_parser.cpp +++ b/common/autoware_test_utils/src/mock_data_parser.cpp @@ -44,6 +44,15 @@ Duration parse(const YAML::Node & node) return msg; } +template <> +Time parse(const YAML::Node & node) +{ + Time msg; + msg.sec = node["sec"].as(); + msg.nanosec = node["nanosec"].as(); + return msg; +} + template <> std::array parse(const YAML::Node & node) { @@ -321,6 +330,54 @@ PredictedObjects parse(const YAML::Node & node) return msg; } +template <> +TrafficLightElement parse(const YAML::Node & node) +{ + TrafficLightElement msg; + msg.color = node["color"].as(); + msg.shape = node["shape"].as(); + msg.status = node["status"].as(); + msg.confidence = node["confidence"].as(); + return msg; +} + +template <> +TrafficLightGroup parse(const YAML::Node & node) +{ + TrafficLightGroup msg; + msg.traffic_light_group_id = node["traffic_light_group_id"].as(); + for (const auto & element_node : node["elements"]) { + msg.elements.push_back(parse(element_node)); + } + return msg; +} + +template <> +TrafficLightGroupArray parse(const YAML::Node & node) +{ + TrafficLightGroupArray msg; + msg.stamp = parse) + * use structures bindings + * add many comments + * remove obsolete include & alias + * fix miss of eagleye output relay + * fix 404 URL + * remove obsolete args + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(twist2accel): rework parameters (`#6266 `_) + * Added twist2accel.param.yaml + * Added twist2accel.schema.json + * Fixed README.md and description + * style(pre-commit): autofix + * Removed default parameters + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) + * feat!: replace use_pointcloud_container + * feat: remove from planning + * fix: fix to remove all use_pointcloud_container + * revert: revert change in planning.launch + * revert: revert rename of use_pointcloud_container + * fix: fix tier4_perception_launch to enable use_pointcloud_contaienr + * fix: fix unnecessary change + * fix: fix unnecessary change + * refactor: remove trailing whitespace + * revert other changes in perception + * revert change in readme + * feat: move glog to pointcloud_container.launch.py + * revert: revert glog porting + * style(pre-commit): autofix + * fix: fix pre-commit + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: add localization & mapping maintainers (`#6085 `_) + * Added lm maintainers + * Add more + * Fixed maintainer + --------- +* refactor(ndt_scan_matcher): fixed ndt_scan_matcher.launch.xml (`#6041 `_) + Fixed ndt_scan_matcher.launch.xml +* refactor(ar_tag_based_localizer): refactor pub/sub and so on (`#5854 `_) + * Fixed ar_tag_based_localizer pub/sub + * Remove dependency on image_transport + --------- +* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) + rename lidar topic + Co-authored-by: yamato-ando +* feat(localization): add `pose_instability_detector` (`#5439 `_) + * Added pose_instability_detector + * Renamed files + * Fixed parameter name + * Fixed to launch + * Fixed to run normally + * Fixed to publish diagnostics + * Fixed a variable name + * Fixed Copyright + * Added test + * Added maintainer + * Added maintainer + * Removed log output + * Modified test + * Fixed comment + * Added a test case + * Added set_first_odometry\_ + * Refactored test + * Fixed test + * Fixed topic name + * Fixed position + * Added twist message2 + * Fixed launch + * Updated README.md + * style(pre-commit): autofix + * Fixed as pointed out by clang-tidy + * Renamed parameters + * Fixed timer + * Fixed README.md + * Added debug publishers + * Fixed parameters + * style(pre-commit): autofix + * Fixed tests + * Changed the type of ekf_to_odom and add const + * Fixed DiagnosticStatus + * Changed odometry_data to std::optional + * Refactored debug output in pose instability detector + * style(pre-commit): autofix + * Remove warning message for negative time + difference in PoseInstabilityDetector + * Updated rqt_runtime_monitor.png + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(geo_pose_projector): use geo_pose_projector in eagleye (`#5513 `_) + * feat(tier4_geo_pose_projector): use tier4_geo_pose_projector in eagleye + * style(pre-commit): autofix + * fix(eagleye): split fix2pose + * style(pre-commit): autofix + * fix name: fuser -> fusion + * style(pre-commit): autofix + * update + * style(pre-commit): autofix + * update readme + * style(pre-commit): autofix + * add #include + * add rclcpp in dependency + * style(pre-commit): autofix + * add limitation in readme + * style(pre-commit): autofix + * update tier4_localization_launch + * update tier4_localization_launch + * rename package + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(eagleye): split fix2pose (`#5506 `_) + * fix(eagleye): split fix2pose + * style(pre-commit): autofix + * fix name: fuser -> fusion + * update package.xml + * style(pre-commit): autofix + * fix typo + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(landmark_based_localizer): refactored landmark_tf_caster (`#5414 `_) + * Removed landmark_tf_caster node + * Added maintainer + * style(pre-commit): autofix + * Renamed to landmark_parser + * Added include + * style(pre-commit): autofix + * Added publish_landmark_markers + * Removed unused package.xml + * Changed from depend to build_depend + * Fixed a local variable name + * Fixed Marker to MarkerArray + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) + * add raw image subscriber + * update README + * improve format and variable names + --------- +* feat(pose_twist_estimator): automatically initialize pose only with gnss (`#5115 `_) +* fix(tier4_localization_launch): fixed exec_depend (`#5075 `_) + * Fixed exec_depend + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(ar_tag_based_localizer): split the package `ar_tag_based_localizer` (`#5043 `_) + * Fix package name + * Removed utils + * Renamed tag_tf_caster to landmark_tf_caster + * Updated node_diagram + * Fixed documents + * style(pre-commit): autofix + * Fixed the directory name + * Fixed to split packages + * Removed unused package dependency + * style(pre-commit): autofix + * Fixed directory structure + * style(pre-commit): autofix + * Fixed ArTagDetector to ArTagBasedLocalizer + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(ar_tag_based_localizer): add ekf_pose subscriber (`#4946 `_) + * Fixed qos + * Fixed camera_frame\_ + * Fixed for awsim + * Removed camera_frame + * Fixed parameters + * Fixed variable name + * Updated README.md and added sample result + * Updated README.md + * Fixed distance_threshold to 13m + * Implemented sub ekf_pose + * style(pre-commit): autofix + * Fixed the type of second to double + * Fixed initializing + * Fix to use rclcpp::Time and rclcpp::Duration + * Added detail description about ekf_pose + * style(pre-commit): autofix + * Fixed nanoseconds + * Added comments to param.yaml + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(ar_tag_based_localizer): added small changes (`#4885 `_) + * Fixed qos + * Fixed camera_frame\_ + * Fixed for awsim + * Removed camera_frame + * Fixed parameters + * Fixed variable name + * Updated README.md and added sample result + * Updated README.md + * Fixed distance_threshold to 13m + --------- +* feat(localization): add a new localization package `ar_tag_based_localizer` (`#4347 `_) + * Added ar_tag_based_localizer + * style(pre-commit): autofix + * Added include + * Fixed typo + * style(pre-commit): autofix + * Added comment + * Updated license statements + * Updated default topic names + * Replaced "_2\_" to "_to\_" + * Fixed tf_listener\_ shared_ptr to unique_ptr + * Removed unused get_transform + * Fixed alt text + * Fixed topic name + * Fixed default topic name of tag_tf_caster + * Fixed AR Tag Based Localizer to work independently + * Added principle + * Fixed how to launch + * Added link to sample data + * Added sample_result.png + * Update localization/ar_tag_based_localizer/README.md + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + * Update localization/ar_tag_based_localizer/README.md + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + * Fixed LaneLet2 to Lanelet2 + * style(pre-commit): autofix + * Update localization/ar_tag_based_localizer/src/ar_tag_based_localizer_core.cpp + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + * style(pre-commit): autofix + * Update localization/ar_tag_based_localizer/config/tag_tf_caster.param.yaml + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + * Added unit to range parameter + * Removed std::pow + * Removed marker_size\_ != -1 + * Fixed maintainer + * Added ar_tag_based_localizer to tier4_localization_launch/package.xml + * style(pre-commit): autofix + * Fixed legend of node_diagram + * style(pre-commit): autofix + * Renamed range to distance_threshold + * Fixed topic names in README.md + * Fixed parameter input + * Removed right_to_left\_ + * Added namespace ar_tag_based_localizer + * Updated inputs/outputs + * Fixed covariance + * style(pre-commit): autofix + * Added principle of tag_tf_caster + * Removed ament_lint_auto + * Fixed launch name + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) + * feat(yabloc_monitor): add yabloc_monitor + * style(pre-commit): autofix + * add readme + * style(pre-commit): autofix + * update config + * style(pre-commit): autofix + * update + * style(pre-commit): autofix + * update + * style(pre-commit): autofix + * remove unnecessary part + * remove todo + * fix typo + * remove unnecessary part + * update readme + * shorten function + * reflect chatgpt + * style(pre-commit): autofix + * update + * cland-tidy + * style(pre-commit): autofix + * update variable name + * fix if name + * use nullopt (and moved yabloc monitor namespace + * fix readme + * style(pre-commit): autofix + * add dependency + * style(pre-commit): autofix + * reflect comment + * update comment + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(tier4_localization_launch): change input/pointcloud param (`#4411 `_) + * refactor(tier4_localization_launch): change input/pointcloud param + * parameter renaming moved util.launch.py +* feat(yabloc): change namespace (`#4389 `_) + * fix(yabloc): update namespace + * fix + --------- +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) + * feat(tier4_localization_launch): add pose_twist_estimator.launch.py + * update format + * update launcher + * update pose_initailizer config + * Move pose_initializer to pose_twist_estimator.launch.py, move yabloc namespace + * use launch.xml instead of launch.py + * Validated that all the configuration launches correctly (not performance eval yet) + * Remove arg + * style(pre-commit): autofix + * Update eagleye param path + * minor update + * fix minor bugs + * fix minor bugs + * Introduce use_eagleye_twist args in eagleye_rt.launch.xml to control pose/twist relay nodes + * Update pose_initializer input topic when using eagleye + * Add eagleye dependency in tier4_localization_launch + * Update tier4_localization_launch readme + * style(pre-commit): autofix + * Update svg + * Update svg again (transparent background) + * style(pre-commit): autofix + * Update yabloc document + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(yabloc): add camera and vector map localization (`#3946 `_) + * adopt scane_case to undistort, segment_filter + * adopt scane_case to ground_server, ll2_decomposer + * adopt scane_case to twist_converter, twist_estimator + * adopt scane_case to validation packages + * adopt scane_case tomodularized_particle_filter + * adopt scane_case to gnss_particle_corrector + * adopt scane_case to camera_particle_corrector + * adopt scane_case to antishadow_corrector + * adopt scane_case to particle_initializer + * organize launch files + * add twist_visualizer to validate odometry performance + * use SE3::exp() to predict particles & modify linear noise model + * stop to use LL2 to rectify initialpose2d + * fix redundant computation in segment_accumulator + * improve gnss_particle_corrector + * fix segment_accumulator's bug + * add doppler_converter + * add xx2.launch.xml + * add hsv_extractor + * pickup other regions which have same color histogram + * use additional region to filt line-segments + * improve graph-segmentation + * remove `truncate_pixel_threshold` + * refactor graph_segmentator & segment_filter + * add mahalanobis_distance_threshold in GNSS particle corrector + * add extract_line_segments.hpp + * use pcl::transformCloudWithNormals instead of transform_cloud + * filt accumulating segments by LL2 + * move herarchical_cost_map to common + * apply positive feedback for accumulation + * move transform_linesegments() to common pkg + * refactor + * use all projected lines for camera corrector + * evaluate iffy linesegments + * complete to unify ll2-assisted lsd clasification + * add abs_cos2() which is more strict direction constraint + * fix orientation initialization bug + * publish doppler direction + * TMP: add disable/enable switch for camera corrector + * implement doppler orientation correction but it's disabled by default + * speed up camera corrector + * update ros params + * implement kalman filter for ground tilt estimation + * continuous height estimation works well? + * estimate height cotiniously + * use only linesegments which are at same height + * add static_gyro_bias parameter + * fix bug about overlay varidation + * increse ll2 height marging in cost map generation + * add static_gyro_bias in twist.launch.xml + * load pcdless_init_area from ll2 + * add specified initialization area + * add corrector_manager node to disable/enable camera_corrector + * call service to disable camer_corrector from manager + * load corrector disable area + * overlay even if pose is not estiamted + * publish camera corrector's status as string + * add set_booL_panel for camera_corrector enable/disable + * load bounding box from lanelet2 + * draw bounding box on cost map + * remove at2,at1 from cost map + * use cost_map::at() instread pf at2() + * move cost map library from common to camera corrector + * use logit for particle weighting but it does not work well + * prob_to_logit() requires non-intuitive parameters + * goodbye stupid parameters (max_raw_score & score_offset) + * publish two scored pointclouds as debug + * can handle unmapped areas + * remove obsolete packages + * update README.md + * Update README.md + * add image of how_to_launch + * add node diagram in readme + * add rviz_description.png in README + * subscribe pose_with_cov & disconnect base_link <-> particle_pose + * remove segment_accumulator & launch ekf_localizer from this project + * add gnss_ekf_corrector + * add camera_ekf_corrector package + * subscribe ekf prediction & synch pose data + * WIP: ready to implement UKF? + * estimate weighted averaging as pose_estimator + * basic algorithm is implemented but it does not work proparly + * apply after_cov_gain\_ + * ekf corrector works a little bit appropriately + * increase twist covariance for ekf + * test probability theory + * updat prob.py + * implement de-bayesing but it loooks ugly + * remove obsolete parameters + * skip measurement publishing if travel distance is so short + * use constant covariance because i dont understand what is correct + * add submodule sample_vehicle_launch + * TMP but it works + * add ekf_trigger in particle_initializer.hpp + * publish gnss markers & camera_est pubishes constant cov + * back to pcd-less only launcher + * add bayes_util package + * apply de-bayesing for camera_ekf + * some launch file update + * organize launch files. we can choice mode from ekf/pekf/pf + * organize particle_initializer + * add swap_mode_adaptor WIP + * use latest ekf in autoware & sample_vehicle + * fix bug of swap_adalptor + * fix FIX & FLOAT converter + * fix septentrio doppler converter + * move ekf packages to ekf directory + * ignore corrector_manager + * add standalone arg in launch files + * update semseg_node + * add camera_pose_initializer pkg + * subscribe camera_info&tf and prepare semantic projection + * project semantic image + * create vector map image from ll2 + * create lane image from vector map + * search the most match angle by non-zero pixels + * camera based pose_initializer + * move ekf packages into unstable + * move ekf theory debugger + * add tier4_autoware_msgs as submodule + * move pose_initializer into initializer dir + * add semse_msgs pkg + * separate marker pub function + * separate projection functions + * add semseg_srv client + * move sem-seg directory + * camera pose initilizer works successfully + * rectify covariance along the orientation + * improve initialization parameters + * take into account covariance of request + * use lanelet direciton to compute init pose scores + * semseg download model automatically + * remove sample_vehicle_launch + * add autoware_msgs + * remove obsolete launch files + * add standalone mode for direct initialization + * fix fix_to_pose + * update launch files + * update rviz config + * remove lidar_particle_corrector + * remove Sophus from sunbmodule + * rename submodule directory + * update README and some sample images + * update README.md + * fix override_camera_frame_id bahaviors + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) + * use initialpose from Rviz to init + * add description about how-to-set-initialpose + --------- + * misc: add license (`#7 `_) + * WIP: add license description + * add license description + * add description about license in README + --------- + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) + * delete obsolete launch files + * update documents + --------- + * docs(readme): update architecture image (`#10 `_) + * replace architecture image in README + * update some images + --------- + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * remove not useful scripts + * rename scripts & add descriptions + * little change + * remove odaiba.rviz + * grammer fix + --------- + * fix(pcdless_launch): fix a build bug + * fix(twist_estimator): use velocity_report by default + * fix bug + * debugged, now works + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * make additional-graph-segment-pickup disablable + * enlarge gnss_mahalanobis_distance_threshold in expressway.launch + --------- + * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support + * update + * update + * fix typo + --------- + * refactor(retroactive_resampler): more readable (`#19 `_) + * make Hisotry class + * use boost:adaptors::indexed() + * add many comment in resampling() + * does not use ConstSharedPtr + * rename interface of resampler + * circular_buffer is unnecessary + --------- + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * resampling interval management should be done out of resample() + * resampler class throw exeption rather than optional + * split files for resampling_history + * split files for experimental/suspention_adaptor + --------- + * refactor(mpf::predictor): just refactoring (`#21 `_) + * remove obsolete functions + * remove test of predictor + * remove remapping in pf.launch.xml for suspension_adapator + * add some comments + --------- + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * feat(pcdless_launch): add multi camera launcher + * minor fix + --------- + * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor imgproc/*/CMakeListx.txt + * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg + * rename some files in twist/ & refactor pf/*/cmakelist + * refactor validation/*/CMakeListx.txt + * fix some obsolete executor name + --------- + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) + * rename pcdless to yabloc + * fix conflict miss + --------- + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) + * update mpf/README.md + * update gnss_corrector/README.md + * update camera_corrector/README.md + --------- + * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines + * update validation + * update imgproc (reverted) + * large change inclding refactoring + * major update + * revert rviz config + * minor fix in name + * add validation option + * update architecture svg + * rename validation.launch to overlay.launch + * no throw runtime_error (unintentionaly applying format) + --------- + Co-authored-by: Kento Yabuuchi + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) + * not use ublox_msg when run as autoware + * remove twist/kalman/twist & use twist_estimator/twist_with_covariance + * update particle_array stamp even if the time stamp seems wrong + --------- + * fix: suppress info/warn_stream (`#37 `_) + * does not stream undistortion time + * improve warn stream when skip particle weighting + * surpress frequency of warnings during synchronized particle searching + * fix camera_pose_initializer + --------- + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) + * add youtube link and change thumbnail + * improve input/output topics + * quick start demo screen image + * add abstruct architecture and detail architecture + --------- + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * fix package.xml to success build + * add 'rosdep install' in how-to-build + --------- + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) + * fix path search error in build stage + * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 + * Feature/remove submodule (`#47 `_) + * remove submodules + * remove doppler converter + --------- + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * change node namespace + * update namespace for autoware-mode + * update namespace in multi_camera.launch + --------- + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) + * make *.param.yaml in imgproc packages + * make *.param.yaml in initializer packages + * make *.param.yaml in map packages + * make *.param.yaml in pf packages + * make *.param.yaml in twist packages + * fix expressway parameter + * fix override_frame_id + * remove default parameters + * fix some remaining invalida parameters + --------- + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter + * remove particle_initializer + * remove debug message + * remove related parts + * update readme + * rename publishing topic + --------- + Co-authored-by: Kento Yabuuchi + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) + * combine some package about initializer + * yabloc_pose_initializer works well + * remove old initializer packages + * semseg node can launch + * fix bug + * revert initializer mode + --------- + * feature(imgproc): reudce imgproc packages (`#57 `_) + * combine some imgproc packages + * combine overlay monitors into imgproc + --------- + * feature(validation): remove validation packages (`#58 `_) + * remove validation packages + * remove path visualization + --------- + * feature(pf): combine some packages related to particle filter (`#59 `_) + * create yabloc_particle_filter + * combine gnss_particle_corrector + * combine ll2_cost_map + * combine camera_particle_corrector + * fix launch files + * split README & remove obsolete scripts + * fix config path of multi_camera mode + --------- + * feature: combine map and twist packages (`#60 `_) + * removed some twist nodes & rename remains to yabloc_twist + * fix launch files for yabloc_twist + * move map packages to yabloc_common + * WIP: I think its impossible + * Revert "WIP: I think its impossible" + This reverts commit 49da507bbf9abe8fcebed4d4df44ea5f4075f6d1. + * remove map packages & fix some launch files + --------- + * removed obsolete packages + * remove obsolete dot files + * use tier4_loc_launch instead of yabloc_loc_launch + * move launch files to each packages + * remove yabloc_localization_launch + * remove yabloc_launch + * modify yabloc/README.md + * update yabloc_common/README.md + * update yabloc_imgproc README + * update yabloc_particle_filter/README + * update yabloc_pose_initializer/README + * update README + * use native from_bin_msg + * use ifndef instead of pragma once in yabloc_common + * use ifndef instead of pragma once in yabloc_imgproc & yabloc_pf + * use ifndef instead of pragma once in yabloc_pose_initializer + * style(pre-commit): autofix + * use autoware_cmake & suppress build warning + * repalce yabloc::Timer with tier4_autoware_utils::StopWatch + * replace 1.414 with std::sqrt(2) + * style(pre-commit): autofix + * removed redundant ament_cmake_auto + * removed yabloc_common/timer.hpp + * replaced low_pass_filter with autoware's lowpass_filter_1d + * style(pre-commit): autofix + * Squashed commit of the following: + commit cb08e290cca5c00315a58a973ec068e559c9e0a9 + Author: Kento Yabuuchi + Date: Tue Jun 13 14:30:09 2023 +0900 + removed ublox_msgs in gnss_particle_corrector + commit c158133f184a43914ec5f929645a7869ef8d03be + Author: Kento Yabuuchi + Date: Tue Jun 13 14:24:19 2023 +0900 + removed obsolete yabloc_multi_camera.launch + commit 10f578945dc257ece936ede097544bf008e5f48d + Author: Kento Yabuuchi + Date: Tue Jun 13 14:22:14 2023 +0900 + removed ublox_msgs in yabloc_pose_initializer + * style(pre-commit): autofix + * removed fix2mgrs & ublox_stamp + * added ~/ at the top of topic name + * removed use_sim_time in yabloc launch files + * add architecture diagram in README + * rename lsd_node to line_segment_detector + * style(pre-commit): autofix + * Update localization/yabloc/README.md + fix typo + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * removed obsolete debug code in similar_area_searcher + * removed suspension_adaptor which manages lifecycle of particle predictor + * style(pre-commit): autofix + * renamed semseg to SemanticSegmentation + * style(pre-commit): autofix + * fixed README.md to solve markdownlint + * WIP: reflected cpplint's suggestion + * reflected cpplint's suggestion + * rename AbstParaticleFilter in config files + * fixed typo + * used autoware_lint_common + * fixed miss git add + * style(pre-commit): autofix + * replaced lanelet_util by lanelet2_extension + * replaced fast_math by tie4_autoware_utils + * sort package.xml + * renamed yabloc_imgproc with yabloc_image_processing + * reflected some review comments + * resolved some TODO + * prioritize NDT if both NDT and YabLoc initializer enabled + * changed localization_mode option names + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + Co-authored-by: kminoda + Co-authored-by: Akihiro Komori + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* style: fix typos (`#3617 `_) + * style: fix typos in documents + * style: fix typos in package.xml + * style: fix typos in launch files + * style: fix typos in comments + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat: add gnss/imu localizer (`#3063 `_) + * Add gnss_imu_localizar + * Fix twist switching bug + * Fix spell and reformat + * Parameterize directories with related launches + * Fix mis-spell + * Correction of characters not registered in the dictionary + * Make ealeye_twist false + * Delete unnecessary parts + * Rename localization switching parameters + * Rename twist_estimator_mode parameter pattern + * Simplify conditional branching + * Support for changes in pose_initializer + * Fix problem of double eagleye activation + * Fix unnecessary changes + * Remove conditional branching by pose_estimatar_mode in system_error_monitor + * Change launch directory structure + * Remove unnecessary parameters and files + * Fix indentations + * Coding modifications based on conventions + * Change the structure diagram in the package + * Integrate map4_localization_component1,2 + * Add drawio.svg + * Delete duplicate files + * Change auther and add maintainer + * Delete unnecessary modules in drawio + * Fixing confusing sentences + * Fine-tuning of drawio + * Fix authomaintainerr + * Rename ndt to ndt_scan_matcher + * follow the naming convention + * Add newlines to the end of files to fix end-of-file-fixer hook errors + * List the packages that depend on map4_localization_launch correctly + * Ran precommit locally + --------- +* chore(tier4_localization_launch): add maintainer (`#3133 `_) +* chore(ekf_localizer): move parameters to its dedicated yaml file (`#3039 `_) + * chores(ekf_localizer): move parameters to its dedicated yaml file + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) + * feat(pose_initializer): enable pose initialization while running (only for sim) + * both logsim and psim params + * only one pose_initializer_param_path arg + * use two param files for pose_initializer + --------- +* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) + * Support GNSS/IMU pose estimator + * style(pre-commit): autofix + * Revert gnss/imu support + * Support GNSS/IMU pose estimator + * style(pre-commit): autofix + * Separate EKF and NDT trigger modules + * Integrate activate and deactivate into sendRequest + * style(pre-commit): autofix + * Change sendRequest function arguments + * style(pre-commit): autofix + * Remove unused conditional branches + * Fix command name + * Change to snake_case + * Fix typos + * Update localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.cpp + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * Update localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.cpp + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * Update copyright year + * Set the copyright year of ekf_localization_module to 2022 + * Delete unnecessary conditional branches + * Add ekf_enabled parameter + * Add #include + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Ryohei Sasaki + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* feat(tier4_localization_launch): remove configs and move to autoware_launch (`#2537 `_) + * feat(tier4_localization_launch): remove configs and move to autoware_launch + * update readme + * Update launch/tier4_localization_launch/README.md + Co-authored-by: Yamato Ando + * fix order + * remove config + * update readme + * pre-commit + Co-authored-by: Yamato Ando +* feat(tier4_localization_launch): pass pc container to localization (`#2114 `_) + * feature(tier4_localization_launch): pass pc container to localization + * ci(pre-commit): autofix + * feature(tier4_localization_launch): update util.launch.xml + * feature(tier4_localization_launch): update use container param value + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* ci(pre-commit): format SVG files (`#2172 `_) + * ci(pre-commit): format SVG files + * ci(pre-commit): autofix + * apply pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(ndt): remove ndt package (`#2053 `_) + * first commit + * CMakeLists.txt does not work........ + * build works + * debugged + * remove unnecessary parameter + * ci(pre-commit): autofix + * removed 'omp'-related words completely + * ci(pre-commit): autofix + * fixed param description of converged_param + * remove OMPParams + * removed unnecessary includes + * removed default parameter from search_method + * small fix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: add adapi dependency (`#1892 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) + * feat(pose_initializer): support ad api + * docs: update readme + * fix: build error + * fix: test + * fix: auto format + * fix: auto format + * feat(autoware_ad_api_msgs): define localization interface + * feat: update readme + * fix: copyright + * fix: main function + * Add readme of localization message + * feat: modify stop check time + * fix: fix build error + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(tier4_localization_launch): manual sync with tier4/localization_launch (`#1442 `_) + * feat(tier4_localization_launch): manual sync with tier4/localization_launch + * ci(pre-commit): autofix + * fix + * revert modification + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(ekf_localizer): rename biased pose topics (`#1787 `_) + * fix(ekf_localizer): rename biased pose topics + * Update topic descriptions in README + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* feat(default_ad_api): add localization api (`#1431 `_) + * feat(default_ad_api): add localization api + * docs: add readme + * feat: add auto initial pose + * feat(autoware_ad_api_msgs): define localization interface + * fix(default_ad_api): fix interface definition + * feat(default_ad_api): modify interface version api to use spec package + * feat(default_ad_api): modify interface version api to use spec package + * fix: pre-commit + * fix: pre-commit + * fix: pre-commit + * fix: copyright + * feat: split helper package + * fix: change topic name to local + * fix: style + * fix: style + * fix: style + * fix: remove needless keyword + * feat: change api helper node namespace + * fix: fix launch file path +* chore(localization packages, etc): modify maintainer and e-mail address (`#1661 `_) + * chore(localization packages, etc): modify maintainer and e-mail address + * remove indent + * add authors + * Update localization/ekf_localizer/package.xml + Co-authored-by: Yukihiro Saito + * Update localization/localization_error_monitor/package.xml + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + * fix name + * add author + * add author + Co-authored-by: Yukihiro Saito + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* fix(ekf_localizer): enable enable_yaw_bias (`#1601 `_) + * fix(ekf_localizer): enable enable_yaw_bias + * remove proc_stddev_yaw_bias from ekf + * ci(pre-commit): autofix + * enlarge init covariance of yaw bias + * ci(pre-commit): autofix + * fixed minor bugs + * change default parameter + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(ndt_scan_matcher): fix default parameter to 0.0225 (`#1583 `_) + * fix(ndt_scan_matcher): fix default parameter to 0.0225 + * added a sidenote + * added a sidenote +* feat(localization_error_monitor): change subscribing topic type (`#1532 `_) + * feat(localization_error_monitor): change subscribing topic type + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(tier4_localization_launch): declare param path argument (`#1404 `_) + * first commit + * added arguments in each launch files + * finished implementation + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(tier4_localization_launch): change rectified pointcloud to outlier_filtered pointcloud (`#1365 `_) +* fix(tier4_localization_launch): add group tag (`#1237 `_) + * fix(tier4_localization_launch): add group tag + * add more args into group +* feat(localization_error_monitor): add a config file (`#1282 `_) + * feat(localization_error_monitor): add a config file + * ci(pre-commit): autofix + * feat(localization_error_monitor): add a config file in tier4_localization_launch too + * ci(pre-commit): autofix + * debugged + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(tier4_localization_launch): remove unnecessary param from pose_twist_fusion_filter.launch (`#1224 `_) +* feat(ekf_localizer): allow multi sensor inputs in ekf_localizer (`#1027 `_) + * first commit + * ci(pre-commit): autofix + * updated + * deque to queue + * ci(pre-commit): autofix + * queue debugged + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * deque to queue + * queue didn't support q.clear()... + * for debug, and must be ignored later + * ci(pre-commit): autofix + * removed dummy variables + * ci(pre-commit): autofix + * run pre-commit + * update readme + * update readme + * ci(pre-commit): autofix + * reflected some review comments + * reflected some review comments + * added smoothing_steps param in pose_info and twist_info + * ci(pre-commit): autofix + * use withcovariance in PoseInfo & TwistInfo, now build works + * ci(pre-commit): autofix + * (not verified yet) update z, roll, pitch using 1D filter + * ci(pre-commit): autofix + * added TODO comments + * ci(pre-commit): autofix + * update initialization of simple1DFilter + * fixed a bug (=NDT did not converge when launching logging_simulator) + * debug + * change gnss covariance, may have to be removed from PR + * ci(pre-commit): autofix + * removed unnecessary comments + * added known issue + * ci(pre-commit): autofix + * change the default gnss covariance to the previous one + * pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#1120 `_) + * first commit + * ci(pre-commit): autofix + * check if angular_velocity_queue\_ is empty or not + * move vehicle velocity converter to sensing + * ci(pre-commit): autofix + * fix + * ci(pre-commit): autofix + * reflected reviews + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: regularized NDT matching (`#1006 `_) + * add interface of gnss regularization in ndt class + * gnss pose is applied to regularize NDT + * add descriptions in ndt_scan_matcher/README + * fix typo in README + * applied formatter for README.md + * rename and refine functions for regularization + * fixed typo + * add descriptions of regularization to README + * modify README to visualize well + * fixed descriptions about principle of regularization + Co-authored-by: Kento Yabuuchi +* feat(twist2accel)!: add new package for estimating acceleration in localization module (`#1089 `_) + * first commit + * update launch arg names + * use lowpassfilter in signalprocessing + * fixed + * add acceleration estimation + * ci(pre-commit): autofix + * fix readme and lisence + * ci(pre-commit): autofix + * fix readme + * ci(pre-commit): autofix + * added covariance values + * removed unnecessary variable + * rename acceleration_estimator -> twist2accel + * ci(pre-commit): autofix + * added future work + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* style: fix format of package.xml (`#844 `_) +* feat: added raw twist in gyro_odometer (`#676 `_) + * feat: added raw twist output from gyro_odometer + * fix: prettier +* fix: localization and perception launch for tutorial (`#645 `_) + * fix: localization and perception launch for tutorial + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(ndt_scan_matcher): add nearest voxel transfromation probability (`#364 `_) + * feat(ndt_scan_matcher): add nearest voxel transfromation probability + * add calculateTransformationProbability funcs + * add calculateTransformationProbability funcs + * add converged_param_nearest_voxel_transformation_probability + * fix error + * refactoring convergence conditions + * fix error + * remove debug code + * remove debug code + * ci(pre-commit): autofix + * fix typo + * ci(pre-commit): autofix + * rename likelihood + * ci(pre-commit): autofix + * avoid a warning unused parameter + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(ndt_scan_matcher): add tolerance of initial pose (`#408 `_) + * feat(ndt_scan_matcher): add tolerance of initial pose + * move codes + * modify the default value + * change the variable names + * ci(pre-commit): autofix + * fix typo + * add depend fmt + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(ndt_scan_matcher): add particles param (`#330 `_) + * feat(ndt_scan_matcher): add particles param + * fix data type + * ci(pre-commit): autofix + * fix data type + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: remove unused param (`#291 `_) +* fix: typo in localization util.launch.py (`#277 `_) +* feat: add covariance param (`#281 `_) + * add covariance param + * add description + * add description + * fix typo + * refactor + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: change launch package name (`#186 `_) + * rename launch folder + * autoware_launch -> tier4_autoware_launch + * integration_launch -> tier4_integration_launch + * map_launch -> tier4_map_launch + * fix + * planning_launch -> tier4_planning_launch + * simulator_launch -> tier4_simulator_launch + * control_launch -> tier4_control_launch + * localization_launch -> tier4_localization_launch + * perception_launch -> tier4_perception_launch + * sensing_launch -> tier4_sensing_launch + * system_launch -> tier4_system_launch + * ci(pre-commit): autofix + * vehicle_launch -> tier4_vehicle_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: tanaka3 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* Contributors: Kaan Çolak, Kenji Miyake, Kento Yabuuchi, Muhammed Yavuz Köseoğlu, SakodaShintaro, Shumpei Wakabayashi, Shunsuke Miura, TaikiYamada4, Takagi, Isamu, Takeshi Ishita, Tomoya Kimura, Vincent Richard, Xinyu Wang, Yamato Ando, YamatoAndo, Yukihiro Saito, kminoda, ryohei sasaki diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 1cd48aee74469..89627ad420afc 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -2,7 +2,7 @@ tier4_localization_launch - 0.1.0 + 0.38.0 The tier4_localization_launch package Yamato Ando Kento Yabuuchi diff --git a/launch/tier4_map_launch/CHANGELOG.rst b/launch/tier4_map_launch/CHANGELOG.rst new file mode 100644 index 0000000000000..d70ee5384a0f4 --- /dev/null +++ b/launch/tier4_map_launch/CHANGELOG.rst @@ -0,0 +1,366 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tier4_map_launch +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(tier4_map_launch): remove parameter use_intra_process (`#9138 `_) +* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) + * add autoware\_ prefix + * add autoware\_ prefix + --------- + Co-authored-by: SakodaShintaro +* fix(map_tf_genrator): fix map launch prefix (`#8598 `_) + fix(map_tf_geenrator): fix map launch prefix +* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) + * add autoware\_ prefix + * add autoware\_ prefix + --------- + Co-authored-by: SakodaShintaro +* chore(localization, map): remove maintainer (`#7940 `_) +* chore(map): udpate maintainer (`#7405 `_) + udpate maintainer +* fix(tier4_map_launch): change log output (`#7289 `_) + change log output from screen to both + Co-authored-by: SakodaShintaro +* Contributors: Kosuke Takeuchi, Masaki Baba, Yamato Ando, Yutaka Kondo, cyn-liu, kminoda + +0.26.0 (2024-04-03) +------------------- +* refactor(map_tf_generator): rework parameters (`#6233 `_) + * refactor(map_tf_generator): rework parameters + * add config + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(map_projection_loader): rework parameters (`#6253 `_) + * Extract all params in map_projection_loader to map_projection_loader.param.yaml + Added launch argument map_projection_loader_param_path to map.launch.xml + * Added map_projection_loader.schema.json. + Modified README.md of map_projection_loader to read the schema.json file to construct the table of parameters + * style(pre-commit): autofix + * Fixed typo + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kotaro Yoshimoto +* chore(tier4_map_launch): add maintainer (`#6284 `_) +* refactor(map_launch): use map.launch.xml instead of map.launch.py (`#6185 `_) + * refactor(map_launch): use map.launch.xml instead of map.launch.py + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: add maintainer in map packages (`#5865 `_) + * add maintainer + * modify map_tf_generator's maintainer + --------- +* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) + * feat(map): use component_interface_specs in map_projection_loader + * update map_loader + * style(pre-commit): autofix + * feat: add dummy typo + * update name + * fix test + * fix test + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(map_projection_loader): add map_projection_loader (`#3986 `_) + * feat(map_projection_loader): add map_projection_loader + * style(pre-commit): autofix + * Update default algorithm + * fix test + * style(pre-commit): autofix + * add readme + * style(pre-commit): autofix + * fix launch file and fix map_loader + * style(pre-commit): autofix + * update lanelet2 + * fill yaml file path + * style(pre-commit): autofix + * update readme + * style(pre-commit): autofix + * minor fix + * style(pre-commit): autofix + * fix test + * style(pre-commit): autofix + * add include guard + * style(pre-commit): autofix + * update test + * update map_loader + * style(pre-commit): autofix + * update docs + * style(pre-commit): autofix + * update + * add dependency + * style(pre-commit): autofix + * remove unnecessary parameter + * update + * update test + * style(pre-commit): autofix + * add url + * enable python tests + * style(pre-commit): autofix + * small fix + * fix grammar + * remove transverse mercator + * style(pre-commit): autofix + * add rule in map + * fix readme of map loader + * remove transverse mercator for now + * add utm + * remove altitude from current projection loader + * style(pre-commit): autofix + * fix pre-commit + * fix build error + * fix: remove package.xml + * fix clang-tidy + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* style: fix typos (`#3617 `_) + * style: fix typos in documents + * style: fix typos in package.xml + * style: fix typos in launch files + * style: fix typos in comments + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat(map_loader): add selected map loader (`#3286 `_) + * add id based map loader + * add metadata publisher + * feat(map_loader): add support for sequential_map_loading + * feat(map_loader): add support for selected_map_loader and structure of metadata + * feat(map_loader): turn off selected_map_loading as default setting + * feat(map_loader): update map_loader corresponding to autoware_map_msgs update + * docs(map_loader): add description of selected pcd load server and pcd metadata publisher + * style(pre-commit): autofix + * feat(map_loader): change onServiceGetSelectedPointCloudMap into const function + --------- + Co-authored-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) + * feat(map_loader): add grid coordinates for partial/differential map load + * style(pre-commit): autofix + * update readme + * remove unnecessary line + * update arguments in readme + * slightly updated directory structure in readme + * update readme + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) + * chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch + Update launch/tier4_map_launch/launch/map.launch.xml + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + delete lanelet2_map_projector type in launch + remove config path + * chore(tier4_map_launch): fix lanelet launch name + --------- +* refactor(tier4_map_launch): remove unused config (`#2722 `_) + * refactor(tier4_map_launch): remove unused config + * load lanelet2 parameter from upper level + * revert the addition of lanelet2 param +* revert(tier4_map_launch): move config back to autoware.universe (`#2561 `_) + * revert(tier4_map_launch): move config back to autoware.universe + * fix map.launch.xml +* feat(tier4_map_launch): remove configs and move to autoware_launch (`#2538 `_) + * feat(tier4_map_launch): remove configs and move to autoware_launch + * update readme + * fix readme + * remove config + * update readme +* feat(map_loader): add differential map loading interface (`#2417 `_) + * first commit + * ci(pre-commit): autofix + * added module load in _node.cpp + * ci(pre-commit): autofix + * create pcd metadata dict when either of the flag is true + * ci(pre-commit): autofix + * fix readme + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) + * first commit + * debugged + * update readme + * update param in tier4_map_launch + * debug + * debugged + * Now build works + * ci(pre-commit): autofix + * set default param to false + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) + * first commit + * reverted unnecessary modification + * ci(pre-commit): autofix + * renamed some classes + * ci(pre-commit): autofix + * move autoware_map_msgs to autoware_msgs repos + * catch up with the modification in autoware_map_msgs + * ci(pre-commit): autofix + * aligned with autoware_map_msgs change (differential/partial modules seperation) + * ci(pre-commit): autofix + * debugged + * debugged + * added min-max info and others + * ci(pre-commit): autofix + * minor fix + * already_loaded -> cached + * ci(pre-commit): autofix + * load\_ -> get\_ + * ci(pre-commit): autofix + * resolve pre-commit + * ci(pre-commit): autofix + * minor fix + * ci(pre-commit): autofix + * update readme + * ci(pre-commit): autofix + * update readme + * minor fix in readme + * grammarly + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * fix copyright + * fix launch file + * remove leaf_size param + * removed unnecessary things + * removed downsample for now + * removed differential_map_loader for this PR (would make another PR for this) + * ci(pre-commit): autofix + * removed differential_map_loader, debugged + * ci(pre-commit): autofix + * removed leaf_size description + * ci(pre-commit): autofix + * refactor sphereAndBoxOverlapExists + * ci(pre-commit): autofix + * added test for sphereAndBoxOverlapExists + * ci(pre-commit): autofix + * remove downsample function for now + * remove fmt from target_link_libraries in test + * minor fix in cmakelists.txt + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(tier4_map_launch): add maintainers (`#2416 `_) +* ci(pre-commit): format SVG files (`#2172 `_) + * ci(pre-commit): format SVG files + * ci(pre-commit): autofix + * apply pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) + * organized planning authors and maintainers + * organized control authors and maintainers + * fix typo + * fix colcon test + * fix + Update control/external_cmd_selector/package.xml + Update control/vehicle_cmd_gate/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/motion_velocity_smoother/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/planning_debug_tools/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/shift_decider/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/pure_pursuit/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/freespace_planner/package.xml + Co-authored-by: Hiroki OTA + Update control/operation_mode_transition_manager/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/planning_debug_tools/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/shift_decider/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/pure_pursuit/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/operation_mode_transition_manager/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * fix + * fix + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat(map_tf_generator)!: launching planning_simulator without pointcloud map (`#1216 `_) + * feat(map_tf_generator): add vector map tf generator + * fix(ad_service_state_monitor): rm unused cofig param + * chore: change launching vector_map_tf_generator + * docs: update readme + * refactor: rename map_tf_generator -> pcd_map_tf_generator + * fix: build error + * Update map/map_tf_generator/Readme.md + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update map/map_tf_generator/src/vector_map_tf_generator_node.cpp + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update map/map_tf_generator/Readme.md + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update map/map_tf_generator/Readme.md + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat: add parameter argument for lanelet2_map_loader (`#954 `_) + * feat: add parameter argument for lanelet2_map_loader + * feat: add comment +* refactor: tier4_map_launch (`#953 `_) + * refactor: tier4_map_launch + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* style: fix format of package.xml (`#844 `_) +* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * fix(map_loader): add UTM projector to map_loader package + * fix(map_loader): update config + * fix(map_loader): update lanelet2_map_loader_node.cpp inlude structure + * fix(map_loader): update include structure + * fix(map_loader): add map_projector_type parameter to map.launch.py + * fix(map_loader): update map.launch.py + * fix(map_loader): update map.launch.py + * fix(map_loader): update map.launch.py + * fix(map_loader): update map.launch.py + * Update lanelet2_map_loader_node.cpp + Co-authored-by: M. Fatih Cırıt + * fix launch file + * ci(pre-commit): autofix + * Update launch/tier4_map_launch/launch/map.launch.py + Co-authored-by: Berkay + * ci(pre-commit): autofix + * update for merge error + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: M. Fatih Cırıt + Co-authored-by: Berkay +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: change launch package name (`#186 `_) + * rename launch folder + * autoware_launch -> tier4_autoware_launch + * integration_launch -> tier4_integration_launch + * map_launch -> tier4_map_launch + * fix + * planning_launch -> tier4_planning_launch + * simulator_launch -> tier4_simulator_launch + * control_launch -> tier4_control_launch + * localization_launch -> tier4_localization_launch + * perception_launch -> tier4_perception_launch + * sensing_launch -> tier4_sensing_launch + * system_launch -> tier4_system_launch + * ci(pre-commit): autofix + * vehicle_launch -> tier4_vehicle_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: tanaka3 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* Contributors: Hiroki OTA, Kenji Miyake, Kento Yabuuchi, Shumpei Wakabayashi, TaikiYamada4, Takayuki Murooka, Tomoya Kimura, Vincent Richard, Yamato Ando, Yukihiro Saito, kminoda, melike, melike tanrikulu diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index 76ff341b56cf9..ca2d46db38a52 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -2,7 +2,7 @@ tier4_map_launch - 0.1.0 + 0.38.0 The tier4_map_launch package Ryu Yamamoto Kento Yabuuchi diff --git a/launch/tier4_perception_launch/CHANGELOG.rst b/launch/tier4_perception_launch/CHANGELOG.rst new file mode 100644 index 0000000000000..22f5b181e4688 --- /dev/null +++ b/launch/tier4_perception_launch/CHANGELOG.rst @@ -0,0 +1,1626 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tier4_perception_launch +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(tier4_perception_launch): enable to receive argument `centerpoint_model_name` from autoware_launch (`#9003 `_) + * enable to receive arguments + * adopt transfusion + * add lidar_detection_model_type + * style(pre-commit): autofix + * integrate all in lidar_detection_model + * separate name and config + * remove transfusion change + * add default config on pp and transfusion + * change variable name for easy to read + * change variable name + * fix condition when default model name + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(tier4_perception_launch): remove duplicated parameter declaration (`#9031 `_) +* feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (`#8676 `_) + * main process + * style(pre-commit): autofix + * add exception if input is invalid + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(autoware_lidar_transfusion): split config (`#8205 `_) + * refactor(autoware_lidar_transfusion): split config + * style(pre-commit): autofix + * chore(autoware_lidar_transfusion): bypass schema CI workflow + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* fix(tier4_perception_launch): launch namespace of `detection_by_tracker` (`#8702 `_) + fix: namespace of detection_by_tracker do not need to have the prefix `autoware\_` +* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) + * add param and schema file, edit readme + * . + * correct linter errors + --------- +* fix(tier4_perception_launch): set `use_image_transport` in launch (`#8315 `_) + set use_image_transport in launch +* refactor: image transport decompressor/autoware prefix (`#8197 `_) + * refactor: add `autoware` namespace prefix to image_transport_decompressor + * refactor(image_transport_decompressor): add `autoware` prefix to the package code + * refactor: update package name in CODEOWNER + * fix: merge main into the branch + * refactor: update packages which depend on image_transport_decompressor + * refactor(image_transport_decompressor): update README + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Taekjin LEE +* refactor: traffic light arbiter/autoware prefix (`#8181 `_) + * refactor(traffic_light_arbiter): apply `autoware` namespace to traffic_light_arbiter + * refactor(traffic_light_arbiter): update the package name in CODEWONER + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) + * chore: fix package name probabilistic occupancy grid map + * fix: solve launch error + * chore: update occupancy_grid_map_outlier_filter + * style(pre-commit): autofix + * refactor: update package name to autoware_probabilistic_occupancy_grid_map on a test + * refactor: rename folder of occupancy_grid_map_outlier_filter + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Taekjin LEE +* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) + * refactor: add namespace, remove unused dependencies, file structure + chore: remove unused dependencies + style(pre-commit): autofix + * refactor: rename elevation_map_loader to autoware_elevation_map_loader + Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. + style(pre-commit): autofix +* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) + * refactor: add autoware namespace prefix to `tensorrt_yolox` + * refactor: apply `autoware` namespace to tensorrt_yolox + * chore: update CODEOWNERS + * fix: resolve `yolox_tiny` to work + --------- +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) + * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector + * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion + * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor + * chore: rename traffic_light_classifier to autoware_traffic_light_classifier + * chore: rename traffic_light_map_based_detector to autoware_traffic_light_map_based_detector + * chore: rename traffic_light_visualization to autoware_traffic_light_visualization + --------- +* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) + * refactor: add autoware namespace prefix + * chore: update CODEOWNERS + * refactor: add `autoware` prefix + --------- +* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) + refactor: rename image_projection_based_fusion to autoware_image_projection_based_fusion +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) + * refactor(compare_map_segmentation): add package name prefix of autoware\_ + * docs: update Readme + --------- +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) + * refactor(shape_estimation): add package name prefix of autoware\_ + * style(pre-commit): autofix + * fix: mising prefix + * fix: cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) + * refactor(ground_segmentation): add package name prefix of autoware\_ + * fix: update prefix cmake + --------- +* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) + * add prefix in lidar_centerpoint + * add .gitignore + * change include package name in image_projection_based fusion + * fix + * change in codeowner + * delete package + * style(pre-commit): autofix + * style(pre-commit): autofix + * solve conflict too + * fix include file + * fix typo in launch file + * add prefix in README + * fix bugs by conflict + * style(pre-commit): autofix + * change namespace from to + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) + refactor: rename detected_object_validation to autoware_detected_object_validation +* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) + refactor(detected_object_feature_remover): add package name prefix of autoware\_ +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) + * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware + * style(pre-commit): autofix + * style(pointcloud_preprocessor): suppress line length check for macros + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * refactor(pointcloud_preprocessor): directory structure (soft) + * refactor(pointcloud_preprocessor): directory structure (hard) + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(traffic_light_visualization): fix namespace and directory structure (`#7968 `_) + * feat: namespace fix and directory structure + * chore: Remove main.cpp and implement node by template + --------- +* refactor(traffic_light_fine_detector): fix namespace and directory structure (`#7973 `_) + * refactor: add autoware on the namespace + * refactor: rename nodelet to node + --------- +* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) + * add prefix + * add prefix in code owner + * style(pre-commit): autofix + * fix launcher + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Amadeusz Szymko + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) + * refactor(euclidean_cluster): add package name prefix of autoware\_ + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(traffic_light_classifier): fix namespace and directory structure (`#7970 `_) + * refactor: update namespace for traffic light classifier code + * refactor: directory structure + --------- +* fix(tier4_perception_launch): delete unnecessary dependency (`#8101 `_) + delete cluster merger +* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) + * refactor: rename multi_object_tracker package to autoware_multi_object_tracker + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) +* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) +* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) +* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) + * refactor(raindrop_cluster_filter): add package name prefix of autoware\_ + * fix: typo + --------- +* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) + * refactor: rename radar_object_tracker + * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker + * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering + * refactor: rename package from radar_fusion_to_detected_object to autoware_radar_fusion_to_detected_object + * refactor: rename radar_crossing_objects_noise_filter to autoware_radar_crossing_objects_noise_filter + * refactor: rename object_velocity_splitter to autoware_object_velocity_splitter + * refactor: rename object_range_splitter to autoware_object_range_splitter + * refactor: update readme + --------- +* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) + * feat: update namespace and directory structure for compare_map_segmentation code + * refactor: update directory structure + * fix: add missing include + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: add missing dependency (`#7919 `_) + add raindrop_cluster_filter dependency +* feat: migrating pointcloud types (`#6996 `_) + * feat: changed most of sensing to the new type + * chore: started applying changes to the perception stack + * feat: confirmed operation until centerpoint + * feat: reverted to the original implementation of pointpainting + * chore: forgot to push a header + * feat: also implemented the changes for the subsample filters that were out of scope before + * fix: some point type changes were missing from the latest merge from main + * chore: removed unused code, added comments, and brought back a removed publish + * chore: replaced pointcloud_raw for pointcloud_raw_ex to avoid extra processing time in the drivers + * feat: added memory layout checks + * chore: updated documentation regarding the point types + * chore: added hyperlinks to the point definitions. will be valid only once the PR is merged + * fix: fixed compilation due to moving the utilities files to the base library + * chore: separated the utilities functions due to a dependency issue + * chore: forgot that perception also uses the filter class + * feature: adapted the undistortion tests to the new point type + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> +* refactor(tier4_perception_launch): add maintainer to tier4_perception_launch (`#7893 `_) + refactor: add maintainer to tier4_perception_launch +* feat(tier4_perception_launch): add image segmentation based pointcloud filter (`#7225 `_) + * feat(tier4_perception_launch): add image segmentation based pointcloud filter + * chore: typo + * fix: detection launch + * chore: add maintainer + * Revert "chore: add maintainer" + This reverts commit 5adfef6e9ca8196d3ba88ad574b2ba35489a5e49. + --------- +* refactor(occupancy_grid_map_outlier_filter)!: fix namespace and directory structure (`#7748 `_) + chore: update namespace and file structure +* refactor(ground_segmentation)!: fix namespace and directory structure (`#7744 `_) + * refactor: update namespace in ground_segmentation files + * refactor: update namespace in ground_segmentation files + * refactor: update ground_segmentation namespace and file structure + * style(pre-commit): autofix + * refactor: update ground_segmentation plugin names scheme + * refactor: update ransac tester + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(ground_segmentation): fix bug (`#7771 `_) +* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) + * feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger + * feat: add use_multi_channel_tracker_merger argument to simulator launch + This commit adds the `use_multi_channel_tracker_merger` argument to the simulator launch file. The argument is set to `false` by default. This change enables the use of the multi-channel tracker merger in the simulator. + --------- +* feat(tier4_perception_launch): enable multi channel tracker merger (`#7459 `_) + * feat: introduce multi channel tracker merger + feat: separate filters + feat: filtering camera lidar fusion + fix: object validator to modular + fix: add missing config + fix: radar only mode for both fusion mode + fix + style(pre-commit): autofix + * fix: implement merger switching + * chore: move pointcloud filter from detection to filter group + * chore: define external and internal interfaces + * fix: set output of camera-lidar in absolute path + * chore: explicit object detection output + * style(pre-commit): autofix + * chore: update object detection input paths + fix radar output + * chore: update object detection input paths + * fix: radar pipeline output + * chore: update object detection input paths + This commit updates the input paths for object detection. It ensures that the correct paths are used for the detection process. + * style(pre-commit): autofix + * fix: group to avoid argument mixture + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(tier4_perception_launch): perception launcher refactoring second round (`#7440 `_) + * feat: separate filters + * fix: object validator to modular + * chore: remove default values from subsequent launch files + * chore: group interfaces and junctions + * Revert "chore: group interfaces and junctions" + This reverts commit 9d723c33c260a9a0ac896bdf81c2a6ebeb981479. + * chore: group interfaces and junctions + * fix: radar input + * fix: remove defaults from camera inputs + * chore: rename camera args + * chore: reorder + * fix: remove defaults from lidar interface + * Add use_pointcloud_map and use_validator arguments to detection.launch.xml + * fix: remove default from validators and filters + * fix: pointcloud container node name + * style(pre-commit): autofix + * Add use_low_intensity_cluster_filter argument to launch files + * fix: on off detector and merger + * fix: radar_far/objects default + * fix: radar object filter parameter + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* ci(pre-commit): autoupdate (`#7499 `_) + Co-authored-by: M. Fatih Cırıt +* chore(tier4_perception_launch): perception launcher refactoring (`#7194 `_) + * fix: reorder object merger launchers + * fix: separate detection by tracker launch + * fix: refactor tracking launch + * style(pre-commit): autofix + * fix: input pointcloud topic names, mot input channels + * feat: separate filters + * fix: object validator to modular + * fix: implement filters on mergers + * fix lidar only mode + chore: simplify mode check + * fix: fix a bug when use_radar_tracking_fusion is fault + * fix: rename radar detector to filter + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(tier4_perception_launch): enable low_intensity_filter as default (`#7390 `_) +* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) + * add prefix +* chore(tier4_perception_launch): rename autoware_map_based_prediction_depend (`#7395 `_) +* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) +* feat(lidar_transfusion): add lidar_transfusion 3D detection package (`#6890 `_) + * feat(lidar_transfusion): add lidar_transfusion 3D detection package + * style(pre-commit): autofix + * style(lidar_transfusion): cpplint + * style(lidar_transfusion): cspell + * fix(lidar_transfusion): CUDA mem allocation & inference input + * style(pre-commit): autofix + * fix(lidar_transfusion): arrays size + * style(pre-commit): autofix + * chore(lidar_transfusion): update maintainers + Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> + * fix(lidar_transfusion): array size & grid idx + * chore(lidar_transfusion): update maintainer email + * chore: added transfusion to the respective launchers + * refactor(lidar_transfusion): rename config + * refactor(lidar_transfusion): callback access specifier + * refactor(lidar_transfusion): pointers initialziation + * refactor(lidar_transfusion): change macros for constexpr + * refactor(lidar_transfusion): consts & uniform initialization + * refactor(lidar_transfusion): change to unique ptr & uniform initialization + * style(pre-commit): autofix + * refactor(lidar_transfusion): use of config params + * refactor(lidar_transfusion): remove unnecessary condition + * style(lidar_transfusion): switch naming (CPU to HOST) + * refactor(lidar_transfusion): remove redundant device sync + * style(lidar_transfusion): intensity naming + * feat(lidar_transfusion): full network shape validation + * feat(lidar_transfusion): validate objects' orientation in host processing + * feat(lidar_transfusion): add json schema + * style(pre-commit): autofix + * style(lidar_transfusion): affine matrix naming + * style(lidar_transfusion): transformed point naming + * refactor(lidar_transfusion): add param descriptor & arrays size check + * style(lidar_transfusion): affine matrix naming + * feat(lidar_transfusion): caching cloud input as device ptr + * fix(lidar_transfusion): logging + * chore(tier4_perception_launch): revert to centerpoint + * fix(lidar_transfusion): typo + * docs(lidar_transfusion): use hook for param description + * fix(lidar_transfusion): interpret eigen matrix as col major + * feat(lidar_transfusion): update to autware_msgs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) + * feat!: replace autoware_auto_msgs with autoware_msgs for launch files + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan + * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml + --------- + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan + Co-authored-by: Yukihiro Saito +* feat(multi_object_tracker): multi object input (`#6820 `_) + * refactor: frequently used types, namespace + * test: multiple inputs + * feat: check latest measurement time + * feat: define input manager class + * feat: interval measures + * feat: store and sort inputs PoC + * chore: rename classes + * feat: object collector + * impl input manager, no subscribe + * fix: subscribe and trigger callback + * fix: subscriber and callbacks are working + * fix: callback object is fixed, tracker is working + * fix: get object time argument revise + * feat: back to periodic publish, analyze input latency and timings + * fix: enable timing debugger + * fix: separate object interval function + * feat: prepare message triggered process + * feat: trigger tracker by main message arrive + * chore: clean-up, set namespace + * feat: object lists with detector index + * feat: define input channel struct + * fix: define type for object list + * feat: add channel wise existence probability + * fix: relocate debugger + * fix: total existence logic change + * feat: publishing object debug info, need to fix marker id + * feat: indexing marker step 1 + * fix: uuid management + * feat: association line fix + * feat: print channel names + * feat: association lines are color-coded + * fix: association debug marker bugfix + * style(pre-commit): autofix + * feat: add option for debug marker + * feat: skip time statistics update in case of outlier + * feat: auto-tune latency band + * feat: pre-defined channels, select on launcher + * feat: add input channels + * fix: remove marker idx map + * fix: to do not miss the latest message of the target stream + * fix: remove priority, separate timing optimization + * fix: time interval bug fix + * chore: refactoring timing state update + * fix: set parameters optionally + * feat: revise object time range logic + * fix: launcher to set input channels + * fix: exempt spell check 'pointpainting' + * feat: remove expected interval + * feat: implement spawn switch + * fix: remove debug messages + * chore: update readme + * fix: change tentative object topic + * Revert "fix: remove debug messages" + This reverts commit 725a49ee6c382f73b54fe50bf9077aca6049e199. + * fix: reset times when jumps to past + * fix: check if interval is negative + * fix: missing config, default value + * fix: remove debug messages + * fix: change no-object message level + * Update perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + * chore: Update copyright to uppercase + * chore: fix readme links to config files + * chore: move and rename uuid functions + * chore: fix debug topic to use node name + * chore: express meaning of threshold + * feat: revise decay rate, update function + * fix: define constants with explanation + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> +* feat(tier4_perception_launch): fix typo error (`#6999 `_) + * feat: downsample perception input pointcloud + * fix: add group if to switch downsample node + * fix: add test and exec depend + * Update launch/tier4_perception_launch/launch/perception.launch.xml + Co-authored-by: Yukihiro Saito + * chore: refactor perception.launch.xml + * fix: fix name + --------- + Co-authored-by: Yukihiro Saito +* feat(tier4_perception_launch): downsample perception input pointcloud (`#6886 `_) + * feat: downsample perception input pointcloud + * fix: add group if to switch downsample node + * fix: add test and exec depend + * Update launch/tier4_perception_launch/launch/perception.launch.xml + Co-authored-by: Yukihiro Saito + * chore: refactor perception.launch.xml + --------- + Co-authored-by: Yukihiro Saito +* feat: add low_intensity_cluster_filter (`#6850 `_) + * feat: add low_intensity_cluster_filter + * chore: typo + * fix: build test error + --------- +* fix(voxel_grid_downsample_filter): add intensity field (`#6849 `_) + fix(downsample_filter): add intensity field +* fix(lidar_centerpoint): add param file for centerpoint_tiny (`#6901 `_) +* refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages (`#6591 `_) + * refactor: lidar_centerpoint + * refactor: pointpainting + * chore: fix launch + * chore: fix launch + * chore: rearrange params + * fix: json-schema-check error + * fix: default param + * refactor: rename param file + * chore: typo + * fix: align centerpoint param namespace with pointpainting + * fix(centerpoint): add schema json + * fix(pointpainting): fix schema json typo + * style(pre-commit): autofix + * docs: update pointpainting fusion doc + * docs: update lidar centerpoint doc + * fix: change omp param + * fix:change twist and variance to model params + * fix: keep build_only in launch + * fix: schema check + * chore: temporary remove schema required + --------- + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(tier4_perception_launch): change traffic light recognition pipeline (`#6879 `_) + style(pre-commit): autofix + refactor: topic name +* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) +* feat(lidar_centerpoint): output the covariance of pose and twist (`#6573 `_) + * feat: postprocess variance + * feat: output variance + * feat: add has_variance to config + * fix: single_inference node + * style(pre-commit): autofix + * fix: add to pointpainting param + * Update perception/lidar_centerpoint/src/node.cpp + Co-authored-by: Yoshi Ri + * Update perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp + Co-authored-by: Yoshi Ri + * Update perception/lidar_centerpoint/src/node.cpp + Co-authored-by: Yoshi Ri + * fix: add options + * fix: avoid powf + * Update launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml + Co-authored-by: Taekjin LEE + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Yoshi Ri + Co-authored-by: Taekjin LEE +* fix(ground_segmentation launch): fix topic name conflict in additional_lidars option (`#6801 `_) + fix(ground_segmentation launch): fix topic name conflict when using additional lidars +* Contributors: Amadeusz Szymko, Esteve Fernandez, Kenzo Lobos Tsunekawa, Kosuke Takeuchi, Kotaro Uetake, Mamoru Sobue, Manato Hirabayashi, Masato Saeki, Mehmet Emin BAŞOĞLU, Ryohsuke Mitsudome, Shunsuke Miura, Taekjin LEE, Tao Zhong, Yoshi Ri, Yuki TAKAGI, Yutaka Kondo, awf-autoware-bot[bot], badai nguyen, oguzkaganozt + +0.26.0 (2024-04-03) +------------------- +* feat(probabilistic_occupancy_grid_map): add synchronized ogm fusion node (`#5485 `_) + * add synchronized ogm fusion node + * add launch test for grid map fusion node + * fix test cases input msg error + * change default fusion parameter + * rename parameter for ogm fusion + * feat: add multi_lidar_ogm generation method + * enable ogm creation launcher in tier4_perception_launch to call multi_lidar ogm creation + * fix: change ogm fusion node pub policy to reliable + * fix: fix to use lidar frame as scan frame + * fix: launcher node + * feat: update param name + * chore: fix ogm pointcloud subscription + * feat: enable to publish pipeline latency + --------- +* chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height (`#6549 `_) + * chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height + * fix: typo + --------- +* chore(ground_segmentation): rename topic and node (`#6536 `_) + * chore(ground_segmentation): rename topic and node + * docs: update synchronized_grid_map_fusion + --------- +* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) + * feat(perception_evaluator): add perception_evaluator + tmp + update + add + add + add + update + clean up + change time horizon + * fix build werror + * fix topic name + * clean up + * rename to perception_online_evaluator + * refactor: remove timer + * feat: add test + * fix: ci check + --------- +* chore(image_projection_based_fusion): rename debug topics (`#6418 `_) + * chore(image_projection_based_fusion): rename debug topics + * style(pre-commit): autofix + * fix: roi_pointcloud_fusion namespace + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: remove `tensorrt_yolo` from package dependencies in launcher (`#6377 `_) +* chore(traffic_light_map_based_detector): rework parameters (`#6200 `_) + * chore: use config + * chore: use config + * fix: revert min_timestamp_offset + * fix: revert min_timestamp_offset + * fix: delete param + * style(pre-commit): autofix + * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml + * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml + * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml + * revert: revert change in min&max timestamp offset + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: kminoda +* feat(tensorrt_yolo): remove package (`#6361 `_) + * feat(tensorrt_yolo): remove package + * remove tensorrt_yolo inclusion + * feat: add multiple yolox launcher + --------- + Co-authored-by: Shunsuke Miura +* chore(traffic_light_fine_detector_and_classifier): rework parameters (`#6216 `_) + * chore: use config + * style(pre-commit): autofix + * chore: move build only back + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(object_merger): rework parameters (`#6160 `_) + * chore(object_merger): parametrize some parameters + * style(pre-commit): autofix + * revert priority_mode + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(radar_object_tracker): move tracker config directory to parameter yaml (`#6250 `_) + * chore: move tracker config directory to parameter yaml + * fix: add allow_substs to fix error + * fix: use radar tracking parameter from autoware_launch + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* feat: remove use_pointcloud_container (`#6115 `_) + * feat!: remove use_pointcloud_container + * fix pre-commit + * fix: completely remove use_pointcloud_container after merge main + * fix: set use_pointcloud_container = true + * revert: revert change in probabilistic_occupancy_grid_map + * revert change in launcher of ogm + --------- +* chore(lidar_centerpoint): rework parameters (`#6167 `_) + * chore(lidar_centerpoint): use config + * revert unnecessary fix + * fix: revert build_only option + * docs: update readme + * style(pre-commit): autofix + * fix: add pr url + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* feat(detection): add container option (`#6228 `_) + * feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud_container option + * revert lidar_perception_model + * style(pre-commit): autofix + * fix: add options + * fix: fix default param + * update node name + * fix: fix IfCondition + * fix pointpainting namespace + * fix: fix launch args + * fix(euclidean_cluster): do not launch individual container when use_pointcloud_container is true + * fix(euclidean_cluster): fix launch condition + * fix(euclidean_cluster): fix launch condition + * Update perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* chore(tier4_perception_launch): fix arg name radar lanelet filter (`#6215 `_) +* chore(radar_crossing_objects_noise_filter): add config file (`#6210 `_) + * chore(radar_crossing_objects_noise_filter): add config file + * bug fix + * merge main branch + --------- +* chore(radar_object_clustering): fix config arg name (`#6214 `_) +* chore(object_velocity_splitter): rework parameters (`#6158 `_) + * chore(object_velocity_splitter): add param file + * fix + * fix arg name + * fix: update launch param handling + --------- +* fix(tier4_perception_launch): fix a bug in `#6159 `_ (`#6203 `_) +* chore(object_range_splitter): rework parameters (`#6159 `_) + * chore(object_range_splitter): add param file + * fix arg name + * feat: use param file from autoware.launch + --------- +* refactor(tier4_perception_launch): refactor object_recognition/detection launcher (`#6152 `_) + * refactor: align mode parameters + * refactor: cluster detector and merger + * refactor: separate object merger launches + * refactor: radar detector module + * refactor: lidar detector modules + * chore: fix mis spell, align typo, clean-up + --------- +* chore(pointcloud_container): move glog_component to autoware_launch (`#6114 `_) +* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) + * feat!: replace use_pointcloud_container + * feat: remove from planning + * fix: fix to remove all use_pointcloud_container + * revert: revert change in planning.launch + * revert: revert rename of use_pointcloud_container + * fix: fix tier4_perception_launch to enable use_pointcloud_contaienr + * fix: fix unnecessary change + * fix: fix unnecessary change + * refactor: remove trailing whitespace + * revert other changes in perception + * revert change in readme + * feat: move glog to pointcloud_container.launch.py + * revert: revert glog porting + * style(pre-commit): autofix + * fix: fix pre-commit + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(pointpainting): fix param path declaration (`#6106 `_) + * fix(pointpainting): fix param path declaration + * remove pointpainting_model_name + * revert: revert unnecessary change + --------- +* fix(image_projection_based_fusion): re-organize the parameters for image projection fusion (`#6075 `_) + re-organize the parameters for image projection fusion +* feat(probabilistic_occupancy_grid_map): add grid map fusion node (`#5993 `_) + * add synchronized ogm fusion node + * add launch test for grid map fusion node + * fix test cases input msg error + * change default fusion parameter + * rename parameter for ogm fusion + * feat: add multi_lidar_ogm generation method + * enable ogm creation launcher in tier4_perception_launch to call multi_lidar ogm creation + * fix: change ogm fusion node pub policy to reliable + * chore: remove files outof scope with divied PR + --------- +* feat(crosswalk_traffic_light): add detector and classifier for pedestrian traffic light (`#5871 `_) + * add: crosswalk traffic light recognition + * fix: set conf=0 when occluded + * fix: clean code + * fix: refactor + * fix: occlusion predictor + * fix: output not detected signals as unknown + * Revert "fix: output not detected signals as unknown" + This reverts commit 7a166596e760d7eb037570e28106dcd105860567. + * Revert "fix: occlusion predictor" + This reverts commit 47d8cdd7fee8b4432f7a440f87bc35b50a8bc897. + * fix: occlusion predictor + * fix: clean debug code + * style(pre-commit): autofix + * fix: launch file + * fix: set max angle range for different type + * fix: precommit + * fix: cancel the judge of flashing for estimated crosswalk traffic light + * delete: not necessary judgement on label + * Update perception/traffic_light_classifier/src/nodelet.cpp + Co-authored-by: Yusuke Muramatsu + * Update perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp + Co-authored-by: Yusuke Muramatsu + * Update perception/crosswalk_traffic_light_estimator/src/node.cpp + Co-authored-by: Yusuke Muramatsu + * style(pre-commit): autofix + * fix: topic names and message attribute name + * style(pre-commit): autofix + * fix: model names + * style(pre-commit): autofix + * Update perception/crosswalk_traffic_light_estimator/src/node.cpp + Co-authored-by: Yusuke Muramatsu + * Update perception/crosswalk_traffic_light_estimator/src/node.cpp + Co-authored-by: Yusuke Muramatsu + * Update perception/crosswalk_traffic_light_estimator/src/node.cpp + Co-authored-by: Yusuke Muramatsu + * Update perception/traffic_light_occlusion_predictor/src/nodelet.cpp + Co-authored-by: Yusuke Muramatsu + * Update perception/traffic_light_occlusion_predictor/src/nodelet.cpp + Co-authored-by: Yusuke Muramatsu + * Update perception/traffic_light_occlusion_predictor/src/nodelet.cpp + Co-authored-by: Yusuke Muramatsu + * fix: argument position + * fix: set classifier type in launch file + * fix: function and parameter name + * fix: func name + * Update launch/tier4_perception_launch/launch/perception.launch.xml + Co-authored-by: Yusuke Muramatsu + * Update perception/traffic_light_map_based_detector/src/node.cpp + Co-authored-by: Yusuke Muramatsu + * style(pre-commit): autofix + * fix: move max angle range to config + * Update launch/tier4_perception_launch/launch/perception.launch.xml + * Update launch/tier4_perception_launch/launch/perception.launch.xml + * Update launch/tier4_perception_launch/launch/perception.launch.xml + * Update launch/tier4_perception_launch/launch/perception.launch.xml + * Update launch/tier4_perception_launch/launch/perception.launch.xml + * fix: model name + * fix: conflict + * fix: precommit + * fix: CI test + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Yusuke Muramatsu +* feat: add support of overwriting signals if harsh backlight is detected (`#5852 `_) + * feat: add support of overwriting signals if backlit is detected + * feat: remove default parameter in nodelet and update lauch for composable node + * docs: update README + * docs: update README + * feat: update confidence to 0.0 corresponding signals overwritten by unkonwn + --------- +* chore: add glog_component for pointcloud_container (`#5716 `_) +* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) + rename lidar topic + Co-authored-by: yamato-ando +* fix: add missing param on perception launch: (`#5812 `_) + detection_by_tracker_param_path was missing +* refactor(multi_object_tracker): put node parameters to yaml file (`#5769 `_) + * rework multi object tracker parameters + * update README + * rework radar tracker parameter too + --------- +* refactor(tier4_perception_launch): refactor perception launcher (`#5630 `_) +* chore(tier4_perception_launcher): remove launch parameter default of detection_by_tracker (`#5664 `_) + * chore(tier4_perception_launcher): remove launch parameter default + * chore: typo + --------- +* feat(radar_object_tracker): Change to use `use_radar_tracking_fusion` as true (`#5605 `_) +* refactor(radar_object_clustering): move radar object clustering parameter to param file (`#5451 `_) + * move radar object clustering parameter to param file + * remove default parameter settings and fix cmakelists + --------- +* build(tier4_perception_launch): add tracking_object_merger (`#5602 `_) +* fix(detection_by_tracker): add ignore option for each label (`#5473 `_) + * fix(detection_by_tracker): add ignore for each class + * fix: launch + --------- +* feat(tier4_perception_launch): add parameter to control detection_by_tracker on/off (`#5313 `_) + * add parameter to control detection_by_tracker on/off + * style(pre-commit): autofix + * Update launch/tier4_perception_launch/launch/perception.launch.xml + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> +* fix(tracking_object_merger): fix unintended error in radar tracking merger (`#5328 `_) + * fix: fix tracking merger node + * fix: unintended condition setting + --------- +* feat(tier4_perception_launch): add radar far object integration in tracking stage (`#5269 `_) + * update tracking/perception launch + * switch tracker launcher mode with argument + * update prediction to switch by radar_long_range_integration paramter + * make radar far object integration switchable between detection/tracking + * fix camera lidar radar fusion flow when 'tracking' is used. + * fix spelling and appearance + * reconstruct topic flow when use tracking to merge far object detection and near object detection + * fix input topic miss in tracking.launch + * fix comment in camera_lidar_radar fusion + * refactor: rename and remove paramters in prediction.launch + * refactor: rename merger control variable from string to bool + --------- +* fix(image_projection_based_fusion): add iou_x use in long range for roi_cluster_fusion (`#5148 `_) + * fix: add iou_x for long range obj + * fix: add launch file param + * chore: fix unexpect calc iou in long range + * fix: multi iou usable + * chore: typo + * docs: update readme + * chore: refactor + --------- +* fix(tier4_perception_launch): fix faraway detection to reduce calculation cost (`#5233 `_) + * fix(tier4_perception_launch): fix node order in radar_based_detection.launch + * fix comment out unused node + --------- +* fix(detected_object_validation): change the points_num of the validator to be set class by class (`#5177 `_) + * fix: add param for each object class + * fix: add missing classes param + * fix: launch file + * fix: typo + * chore: refactor + --------- +* feat(perception_launch): add data_path arg to perception launch (`#5069 `_) + * feat(perception_launch): add var data_path to perception.launch + * feat(perception_launch): update default center_point_model_path + --------- +* fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order (`#5166 `_) + * fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order + * style(pre-commit): autofix + * add far_object_merger_sync_queue_size param for package arg + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(pointcloud_preprocessor): organize input twist topic (`#5125 `_) + * fix(pointcloud_preprocessor): organize input twist topic (`#25 `_) + * fix(pointcloud_preprocessor): organize input twist topic + * style(pre-commit): autofix + * fix build bug + * fix format error + * style(pre-commit): autofix + * fix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * minor fixes + * style(pre-commit): autofix + * add warning + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion (`#5026 `_) + * fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion + * fix conflict + --------- +* refactor(perception): rearrange clustering pipeline (`#4999 `_) + * fix: change downsample filter + * fix: remove downsamle after compare map + * fix: add low range cropbox + * refactor: use_pointcloud_map + * chore: refactor + * fix: add roi based clustering option + * chore: change node name + * fix: launch argument pasrer + --------- +* fix(tier4_perception_launch): camera lidar fusion launch (`#4983 `_) + fix: camera lidar fusion launch +* feat(image_projection_based_fusion): add roi based clustering for small unknown object detection (`#4681 `_) + * feat: add roi_pointcloud_fusion node + fix: postprocess + fix: launch file + chores: refactor + fix: closest cluster + * chores: refactor + * docs: add readme + * fix: add missed parameter declare + * fix: add center transform + * fix: typos in launch + * docs: update docs + * fix: change roi pointcloud fusion output to clusters + * fix: add cluster debug roi pointcloud fusion + * fix: use IoU_x in roi cluster fusion + * feat: add cluster merger package + * fix: camera lidar launch + * style(pre-commit): autofix + * fix: cluster merger + * fix: roi cluster fusion unknown object fix + * chore: typo + * docs: add readme cluster_merger + * docs: update roi pointcloud fusion readme + * chore: typo + * fix: multiple definition bug + * chore: refactor + * docs: update docs + * chore: refactor + * chore: pre-commit + * fix: update camera_lidar_radar mode launch + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(crosswalk_traffic_light_estimator): rework parameters (`#4699 `_) + * refactor the configuration files of the node crosswalk_traffic_light_estimator according to the new ROS node config guideline. + update the parameter information in the README.md + * style(pre-commit): autofix + * fix the xml pre-check issue + * delete the xml declaration to fix the xml pre-check issue + * Modify the CMakeLists.txt file to enalbe /config directory sharing when building the package. + * Update the bound for schema file. + * add crosswalk_traffic_light_estimator_param_file to traffic_light.launch.xml + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + Co-authored-by: Shunsuke Miura +* fix(crosswalk_traffic_light_estimator): move crosswalk after fusion (`#4734 `_) + * fix: move crosswalk after fusion + * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + * Rename TrafficLight to TrafficSignal + * change input to be considered as the regulatory-element + --------- + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + Co-authored-by: Shunsuke Miura +* chore: add TLR model args to launch files (`#4805 `_) +* fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar fusion pipeline (`#4779 `_) + * fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar fusion pipeline + * fix clustering update + * fix from Camera-LidAR fusion + * refactor + * refactor + * fix merge + * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + * style(pre-commit): autofix + --------- + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(launch): add missing launch args and defaults to lidar_based_detection.launch.xml (`#4596 `_) + * Update lidar_based_detection.launch.xml + Some launch arguments were missing. These arguments and their defaults were added. + * changed default of objects_filter_method + changed default of the "objects_filter_method" to "lanelet_filter" as requested. + --------- +* feat(tier4_perception_launch): lower the detection by tracker priority to suppress yaw oscillation (`#4690 `_) + lower the detection by tracker priority to suppress yaw oscillation +* feat(image_projection_based_fusion): add objects filter by rois (`#4546 `_) + * tmp + style(pre-commit): autofix + update + style(pre-commit): autofix + * fix: fix association bug + * feat: add prob_threshold for each class + * feat: use class label association between roi and object + * feat: add to tier4_perception_launch + * chore: disable debug_mode + * docs: update params + * fix: apply suggestion + * chore: update prob_thresholds of bicycle + * feat: add thresut_distance for each class + * docs: add thrust_distances + * style(pre-commit): autofix + * chore: remove unnecessary variable + * chore: rename to trust + * style(pre-commit): autofix + * chore: add param + * Update perception/image_projection_based_fusion/config/roi_detected_object_fusion.param.yaml + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> +* refactor(detected_object_validation): add an option for filtering and validation (`#4402 `_) + * init commit + * update occupancy_grid_map path + * update argument names + * correct radar launch objects_filter_method name + * remove radar option + --------- +* refactor(traffic_light_arbiter): read parameters from config file (`#4454 `_) +* fix(compare_map_segmentation): change to using kinematic_state topic (`#4448 `_) +* chore(tier4_perception_launch): fix typo (`#4406 `_) + * fix(tier4_perception_launch): fix typo + * fix typo + --------- +* fix(traffic_light): fix traffic_light_arbiter pipeline (`#4393 `_) + * fix(traffic_light): fix traffic_light_arbiter pipeline + * style(pre-commit): autofix + * fix: output topic name + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(euclidean_cluster): add disuse downsample in clustering pipeline (`#4385 `_) + * fix: add unuse downsample launch option + * fix: add default param for downsample option + * fix typo + --------- + Co-authored-by: Shunsuke Miura +* fix(compare_map_segmentation): add option to reduce distance_threshold in z axis (`#4243 `_) + * fix(compare_map_segmentation): keep low level pointcloud + * fix: add option to compare lower neighbor points + * docs: readme update + * fix: add param to launch + * Revert "fix(compare_map_segmentation): keep low level pointcloud" + This reverts commit eb07f954a7ca26a558c211a7a195d73147d5784c. + * fix: reduce z distance of low level neighbor point + * fix: reduce voxel leaf size in z axis + * fix: change param type + --------- +* refactor(image_projection_based_fusion): update rois topic names definitions (`#4356 `_) +* refactor(image_projection_based_fusion): read lidar models parameters from autoware_launch (`#4278 `_) + * init commit + * add centerpoints param + * add detection_class_remapper.param.yaml + * remove unused centerpoint param path + --------- + Co-authored-by: Yusuke Muramatsu +* feat(tier4_perception_launch): add radar tracking node to launcher (`#4361 `_) + * update tracking/perception launch + * switch tracker launcher mode with argument + * add radar tracker dependency + --------- + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> +* feat(tier4_perception_launch): add radar faraway detection (`#4330 `_) + * feat(tier4_perception_launch): add radar faraway detection + * apply pre-commit + * fix unused param + * rename launch name + * add exec depends + --------- + Co-authored-by: Shunsuke Miura +* refactor(object_merger): read parameters from autoware_launch (`#4339 `_) + init commit +* refactor(map_based_prediction): read parameters from autoware_launch (`#4337 `_) + init commit +* refactor(euclidean clustering): read parameters from autoware_launch (`#4262 `_) + * update clustering param path + * update param paths + * style(pre-commit): autofix + * add missing parameter paths + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: separate traffic_light_utils from perception_utils (`#4207 `_) + * separate traffic_light_utils from perception_utils + * style(pre-commit): autofix + * fix namespace bug + * remove unnecessary dependency + * rename rest of perception_utils to object_recognition_utils + * fix bug + * rename for added radar_object_clustering + * delete redundant namespace + * Update common/perception_utils/include/perception_utils/prime_synchronizer.hpp + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Correct the failure in the previous merge. + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> +* feat(tier4_perception_launch): update traffic light launch (`#4176 `_) + * first commit + * add image number arg + * style(pre-commit): autofix + * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml + * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml + * add traffic light namespace to fusion + * add tlr fusion only mode and camera number arg + * change to include traffic_light_arbiter launch + * delete relay topic type + --------- + Co-authored-by: Shunsuke Miura + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> +* feat(traffic_light): improved traffic_light_map_based_detector and new traffic_light_fine_detector package (`#4084 `_) + * update traffic_light_map_based_detector traffic_light_classifier traffic_light_fine_detector traffic_light_multi_camera_fusion + * replace autoware_auto_perception_msgs with tier4_perception_msgs + --------- +* refactor(occpuancy grid map): move param to yaml (`#4038 `_) +* fix(tier4_perception_launch): fix camera_lidar_radar_fusion_based_detection (`#3950 `_) + * fix: launch arguments + * chore: revert arg + --------- +* fix(tier4_perception_launch): sync param path (`#3713 `_) + * fix(tier4_perception_launch):modify sync_param_path reading method + * fix(tier4_perception_launch): fix image_number used for testing + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(tier4_perception_launch): fix image_number description (`#3686 `_) +* feat(traffic_light_ssd_fine_detector): add support of ssd trained by mmdetection (`#3485 `_) + * feat: update to allow out-of-order for scores and boxes + * feat: add GatherTopk plugin + * feat: add GridPriors plugin + * feat: update interface + * docs: update document + * feat: update parameter names + * fix: resolve to normalize output boxes + * refactor: refactoring paramters + * chore: update Tier IV to TIER IV + * feat: update launch parameter to dnn_header_type + * feat: update to use getTensorShape + * remove unused params + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + --------- + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> +* fix(tier4_perception_launch): fix duplicated topic name (`#3645 `_) + * fix(tier4_perception_launch): fix dublicated topic name + * chore: rename topic + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* fix(compare_map_segmentation): update voxel_based for dynamic map loader with map grid coordinate (`#3277 `_) + * fix: change map grid searching + * refactoring + * fix: reload map after initilization + * fix: check point on map grid boundary + * refactoring + * refactorng + * refactoring + * chore: remove unuse header + * fix: use initialization_state through component interface + * fix: add metadata into pointcloud map cell + * chore: update debug param + * fix: using localization interface + * fix: add launch missing param + * fix: deprecated component interface declaration + * chore: typo + * docs: correct parameter description + --------- +* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) + * add occcupancy_grid_map method/param var to launcher + * added CODEOWNER + * Revert "added CODEOWNER" + This reverts commit 2213c2956af19580d0a7788680aab321675aab3b. + * add maintainer + --------- +* feat(elevation_map_loader): add support for seleceted_map_loader (`#3344 `_) + * feat(elevation_map_loader): add support for sequential_map_loading + * fix(elevation_map_loader): fix bug + * feat(elevation_map_loader): make it possible to adjust the number of PCD maps loaded at once when using sequential map loading + * feat(elevation_map_loader): change default value of use_lane_filter as false + * fix(elevation_map_loader): fix typo + * refactor(elevation_map_loader): Add a range of param. And refactor receiveMap. + * feat(elevation_map_loader): Change info level log into debug level log with throttle. And remove abbreviation + --------- +* feat(tier4_perception_launch): refactored occupancy_grid_map launcher (`#3058 `_) + * rebase on to master + add scan_frame and raytrace center + * rebase to main + * fix config and launch file + * fixed laserscan based launcher + * add filter func to extract obstacle pc in sensor + * add switchable launcher + * back to pointcloud based method + and fix missing } + * remove unused launch.py + * fix: fix and refactor launch.py + * document: update README + * enable to change origins by lanch args + --------- +* chore(tier4_perception_launch): add custom parameters for roi_cluster_fusion (`#3281 `_) +* fix(tier4_perception_launch): add missing parameter for voxel based compare map filter (`#3251 `_) +* feat(compare_map_segmentation): add dynamic map loading for voxel_based_compare_map_filter (`#3087 `_) + * feat: add interface to dynamic loader + * refactor: refactoring + * refactor: refactoring + * refactor: refactoring + * docs: update readme + * chore: add default param and todo + * chore: typo + * chore: typo + * fix: remove unnecessary neighbor voxels calculation + * fix: add neighbor map_cell checking + * fix: neighbor map grid check + --------- +* feat(elevation_map_loader): use polygon iterator to speed up (`#2885 `_) + * use grid_map::PolygonIterator instead of grid_map::GridMapIterator + * formatting + * use use_lane_filter option + * delete unused use-lane-filter option + * change use_lane_filter to True, clarify the scope + * change to use grid_map_utils::PolygonIterator + * Add lane margin parameter + * use boost geometry buffer to expand lanes + * Change use_lane_filter param default to false + * update README + --------- +* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) + * fixed psim occupancy grid map problem + * fix parameter designation + --------- + Co-authored-by: Takayuki Murooka +* fix(tier4_perception_launch): fix config path (`#3078 `_) + * fix(tier4_perception_launch): fix config path + * use pointcloud_based_occupancy_grid_map.launch.py in tier4_simulator_launch + --------- +* feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation (`#3032 `_) + * add scan_frame and raytrace center + * add scan frame to laserscan based method + * update readme + * fix typo + * update laucher in perception_launch + * fix config and launch file + * fixed laserscan based launcher + --------- +* fix(tier4_perception_launch): remove unnecessary node (`#2941 `_) +* fix(tier4_perception_launch): fix typo (`#2926 `_) +* feat(tier4_perception_launch): update cam/lidar detection architecture (`#2845 `_) + * feat(tier4_perception_launch): update cam/lidar detection architecture + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* ci(pre-commit): autoupdate (`#2819 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(ground_segmentation): fix unuse_time_series_filter bug (`#2824 `_) +* feat(tier4_perception_launch): add option for euclidean lidar detection model (`#842 `_) + feat(tier4_perception_launch): add euclidean lidar detection model +* fix(tier4_perception_launch): sync with tier4/autoware_launch (`#2568 `_) + * fix(tier4_perception_launch): sync with tier4/autoware_launch + * move centerpoint configs to perception.launch.xml +* feat(tier4_perception_launch): change the merge priority of roi_cluster_fusion to the lowest (`#2522 `_) +* feat(tier4_perception_launch): remove configs and move to autoware_launch (`#2539 `_) + * feat(tier4_perception_launch): remove configs and move to autoware_launch + * update readme + * remove config + * update readme +* fix(ground segmentation): change crop box range and add processing time (`#2260 `_) + * fix(ground segmentation): change crop box range + * chore(ground_segmentation): add processing time +* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) + * sync launch file from tier4 autoware launch + * sync tlr launcher + * ci(pre-commit): autofix + * sync launch file from tier4 autoware launch + * sync tlr launcher + * ci(pre-commit): autofix + * fix exec_depend in package.xml + * Sync traffic light node + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(multiframe-pointpainting): add multi-sweep pointpainting (`#2124 `_) + * feat: multiframe-pointpainting + * ci(pre-commit): autofix + * fix: retrieve changes of classremap + * fix(image_projection_based_fusion): fix input to quaternion (`#1933 `_) + * add: launch files + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Yusuke Muramatsu +* ci(pre-commit): format SVG files (`#2172 `_) + * ci(pre-commit): format SVG files + * ci(pre-commit): autofix + * apply pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(tier4_perception_launch): fix missing container argument (`#2087 `_) + * fix(tier4_perception_launch): fix missing container argument + * fix(tier4_perception_launch): rm unused param +* chore: fix typos (`#2140 `_) + * chore: fix typos + * chore: remove names in NOTE +* feat: use tracker shape size in detection by tracker (`#1683 `_) + * support ref size in detection by tracker + * add priority mode in object_merger + * update launch + * update launch + * change to confidence mode + * change variable name + * Update perception/shape_estimation/lib/corrector/utils.cpp + Co-authored-by: Yusuke Muramatsu + * ci(pre-commit): autofix + * refactor + * ci(pre-commit): autofix + * :put_litter_in_its_place: + Co-authored-by: Yusuke Muramatsu + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(multi_object_tracking): enable delay compensation (`#1349 `_) +* fix(ground segmentation): add elevation grid ground filter (`#1899 `_) + * fix: add grid elevation scan ground filter + * chore: typo + * fix: merge with scan ground filter + * ci(pre-commit): autofix + * chore: update docs + * chore: remove debug variables + * chore: add switchable param for grid scan mode + * chore: typo + * chore: refactoring + * ci(pre-commit): autofix + * chore: refactoring + * chore: typo + * chore: refactoring + * chore: refactoring + * chore: refactoring + * chore: refactoring + * chore: refactoring + * chore: typo + * docs: update docs + * ci(pre-commit): autofix + * chore: typo + * chores: typo + * chore: typo + * docs: update + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(tier4_perception_launch): add enable_fine_detection_option (`#1991 `_) + * feat(tier4_perception_launch): add enable_fine_detection_option + * chore: rename + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(tier4_perception_launch): add arg to swtich lidar_centerpoint model (`#1865 `_) +* feat(multi_object_tracker): update bus size (`#1887 `_) +* refactor(lidar_centerpoint): change default threshold params (`#1874 `_) +* feat(multi_object_tracker): increase max-area for truck and trailer (`#1710 `_) + * feat(multi_object_tracker): increase max-area for truck + * feat: change truck and trailer max-area gate params + * feat: change trailer params +* fix(tier4_perception_launch): add input/pointcloud to ground-segmentation (`#1833 `_) +* feat(radar_object_fusion_to_detected_object): enable confidence compensation in radar fusion (`#1755 `_) + * update parameter + * feature(radar_fusion_to_detected_object): add debug topic + * feat(tier4_perception_launch): enable confidence compensation in radar fusion + * add compensate probability paramter + * fix parameter + * update paramter + * update paramter + * fix parameter + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(tier4_perception_launch): make lanelet object filter optional (`#1698 `_) + * feat(tier4_perception_launch): make lanelet object filter optional + * feat(tier4_perception_launch): fix arg + * feat(tier4_perception_launch): fix argument var + * feat(tier4_perception_launch): add new parameter + Co-authored-by: Kaan Colak +* fix(ground_filter): remove base_frame and fix ray_ground_filter (`#1614 `_) + * fix(ray_ground_filter): cannot remove ground pcl + * fix: remove base_frame + * docs: update docs + * chores: remove unnecessary calculation + * chores: remove unnecessary calculation + * docs: update parameters + * docs: update parameters +* fix(tier4_perception_launch): remove duplicated namespace of clustering in camera-lidar-fusion mode (`#1655 `_) +* feat(tier4_perception_launch): change unknown max area (`#1484 `_) +* fix(tier4_perception_launch): fix error of tier4_perception_launch_param_path (`#1445 `_) +* feat(tier4_perception_launch): declare param path argument (`#1394 `_) + * feat(tier4_perception_launch): declare param path argument + * Update launch/tier4_perception_launch/launch/perception.launch.xml + * fix ci error + * fix ci error +* feature: update and fix detection launch (`#1340 `_) + * cosmetic change + * fix bug + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(tier4_perception_launch): add group tag (`#1238 `_) + * fix(tier4_perception_launch): add group tag + * fix missing tag +* fix(tier4_perception_launch): pass pointcloud_container params to pointcloud_map_filter in detection module (`#1312 `_) + * fix(tier4_perception_launch): pass pointcloud_container to detection module + * fix(tier4_perception_launch): container name in detection +* feat(tier4_perception_launch): add object filter params to tier4_perception_launch (`#1322 `_) + * Add params to tier4_perception_launch + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: avoid same name nodes in detection module (`#1301 `_) + * fix: avoid same name nodes in detection module + * add node_name of object_association_merger + * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + * Update launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + * apply pre-commit + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> +* Feature/radar fusion launch (`#1294 `_) + * feat(tier4_perception_launch): add radar launcher (`#1263 `_) + * feat(tier4_perception_launch): add radar launcher + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix reviewed by `#1263 `_ + * fix format + * fix default arg + * Revert "fix default arg" + This reverts commit 72b2690dc8cbd91fa5b14da091f4027c2c5fa661. + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(tier4_perception_launch): revert `#1263 `_ (`#1285 `_) +* feat(tier4_perception_launch): add radar launcher (`#1263 `_) + * feat(tier4_perception_launch): add radar launcher + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: change iou param of multi object tracking (`#1267 `_) +* feat(object_filter): add detected object filter (`#1221 `_) + * Add detected object filter + * Refactor class name + * Add readme + * ADd lanelet filter option + * change default parameter + * refactor + * Update readme + * change detection launch + * ADd unknown only option + * Update launcher + * Fix bug + * Move object filter into detected_object_validator + * ci(pre-commit): autofix + * Add config parameter yaml for position filter + * Add config for each class + * ci(pre-commit): autofix + * Fix config + * Use shape instead of position + * Update read me + * Use disjoint instead of intersects + * ci(pre-commit): autofix + * Fix typo, remove debug code. + * Use shared_ptr + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: add option to use validator node in detection module (`#1233 `_) + * feat: add option to use validator node in detection module + * fix + * remove use_validator option in detection/perception.launch + * fix +* feat: change tracking param (`#1161 `_) +* feat: unknown objects from perception (`#870 `_) + * initial commit + * change param + * modify launch + * ci(pre-commit): autofix + * modify camera lidar fusion launch + * update config + * Update perception/detection_by_tracker/include/detection_by_tracker/utils.hpp + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update perception/detection_by_tracker/src/utils.cpp + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update perception/multi_object_tracker/src/utils/utils.cpp + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update perception/multi_object_tracker/src/multi_object_tracker_core.cpp + * modify for pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> +* feat: change data association param (`#1158 `_) +* fix(tier4_perception_launch): add missing dependencies in package.xml (`#1024 `_) +* feat: use multithread for traffic light container as default (`#995 `_) +* fix: delete unused arg (`#988 `_) + * fix: delete unused arg + * rename: detection_preprocessor -> pointcloud_map_filter +* fix(tier4_perception_launch): rename pkg name (`#981 `_) +* feat: add down sample filter before detection module (`#961 `_) + * feat: add down sample filter before detection module + * fix format + * change comment + * add output topic + * Update launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py + Co-authored-by: Yukihiro Saito + * Update launch/tier4_perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py + Co-authored-by: Yukihiro Saito + * ci(pre-commit): autofix + * fix pre-commit + Co-authored-by: Yukihiro Saito + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: remove deprecated package in prediction launch (`#875 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* style: fix format of package.xml (`#844 `_) +* feat: change ogm default launch (`#735 `_) +* feat(scan_ground_filter): change launch option and threshold (`#670 `_) + * Add care for near but high points + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(image_projection_based_fusion, roi_cluster_fusion): roi and obstacle fusion method (`#548 `_) + * feat: init image_projection_based_fusion package + * feat: debugger + * feat: port roi_cluster_fusion to image_projection_based_fusion + * feat: project detected_objects onto image + * feat: update detected_object.classification + * fix: add reset_cluster_semantic_type of roi_cluster_fusion + * refactor: organize code + * feat: add cylinderToVertices + * feat: get transform_stamped at the fixed stamp + * feat: not miss outside points of object on the image + * chore: change the name of Copyright + * kfeat: use image_projection_based_fusion instead of roi_cluster_fusion + * docs: add roi_cluster_fusion and roi_detected_object_fusion + * ci(pre-commit): autofix + * docs: fix typo + * refactor: rename function + * refactor: delete member variables of input/output msg + * fix: change when to clear a debugger + * ci(pre-commit): autofix + * refactor: use pre-increment + * refactor: use range-based for loop + * chore: add maintainer + * feat: change the output in perception_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) + * initial commit + * ci(pre-commit): autofix + * change param + * update readme + * add launch + * ci(pre-commit): autofix + * update readme + * ci(pre-commit): autofix + * fix typo + * update readme + * ci(pre-commit): autofix + * cosmetic change + * add single frame mode + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: localization and perception launch for tutorial (`#645 `_) + * fix: localization and perception launch for tutorial + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: launch detected object validator (`#585 `_) + * fix bug + * add validator in launch + * bug fix + * modify arg + * Update launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> +* fix(multi_object_tracker): data association parameter (`#541 `_) + * sort matrix + * ANIMAL->TRAILER + * apply change to another file + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(multi_object_tracker): add iou gate (`#483 `_) + * add iou gate + * ci(pre-commit): autofix + * cosmetic change + * fix bug + * ci(pre-commit): autofix + * fix bug + * fix tier4_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: detection launch in perception_launch (`#506 `_) +* fix: integration miss related to camera lidar fusion (`#481 `_) + * fix integration miss + * bug fix + * add detection by tracker + * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +* fix(dummy_perception): fix to use launch at perception launch (`#454 `_) + * fix(dummy_perception): fix to use launch file in perception launch + * fix(tier4_perception_launch): fix angle increment for occupancy grid +* fix: change the default mode of perception.launch (`#409 `_) + * fix: change the default mode of perception.launch + * chore: remove unnecessary comments + * chore: remove default values +* ci: update .yamllint.yaml (`#229 `_) + * ci: update .yamllint.yaml + * chore: fix for yamllint +* feat: change launch package name (`#186 `_) + * rename launch folder + * autoware_launch -> tier4_autoware_launch + * integration_launch -> tier4_integration_launch + * map_launch -> tier4_map_launch + * fix + * planning_launch -> tier4_planning_launch + * simulator_launch -> tier4_simulator_launch + * control_launch -> tier4_control_launch + * localization_launch -> tier4_localization_launch + * perception_launch -> tier4_perception_launch + * sensing_launch -> tier4_sensing_launch + * system_launch -> tier4_system_launch + * ci(pre-commit): autofix + * vehicle_launch -> tier4_vehicle_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: tanaka3 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* Contributors: Alexey Panferov, Alireza Moayyedi, Ismet Atabay, Kaan Çolak, Kenji Miyake, Kosuke Takeuchi, Kotaro Uetake, Mamoru Sobue, Mingyu1991, Ryohsuke Mitsudome, Satoshi Tanaka, Shinnosuke Hirakawa, Shintaro Tomie, Shumpei Wakabayashi, Shunsuke Miura, Taekjin LEE, Takagi, Isamu, Takayuki Murooka, Takeshi Miura, Tao Zhong, Tomohito ANDO, Tomoya Kimura, Vincent Richard, Xinyu Wang, Yamato Ando, Yoshi Ri, Yukihiro Saito, Yuntianyi Chen, Yusuke Muramatsu, badai nguyen, beginningfan, kminoda, pre-commit-ci[bot], taikitanaka3 diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 40071c39f1e75..22c664b998a2c 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -2,7 +2,7 @@ tier4_perception_launch - 0.1.0 + 0.38.0 The tier4_perception_launch package Yukihiro Saito Shunsuke Miura diff --git a/launch/tier4_planning_launch/CHANGELOG.rst b/launch/tier4_planning_launch/CHANGELOG.rst new file mode 100644 index 0000000000000..e9d127f7db11b --- /dev/null +++ b/launch/tier4_planning_launch/CHANGELOG.rst @@ -0,0 +1,1792 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tier4_planning_launch +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) + Register node plugin with autoware scoping +* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) + * refactor free space planner subscribers + * implement scenario switching for edge cases + * fix scenario selector test + * implement confidence for checking if obstacle is on trajectory + * fix isInLane check to work for case when provided position is on lane bound + * update parameter schemas + * fix format + * improve near target logic + * use timer based implementation for obstacle check + --------- +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) + * refactor(compare_map_segmentation): add package name prefix of autoware\_ + * docs: update Readme + --------- +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) + * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware + * style(pre-commit): autofix + * style(pointcloud_preprocessor): suppress line length check for macros + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * refactor(pointcloud_preprocessor): directory structure (soft) + * refactor(pointcloud_preprocessor): directory structure (hard) + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) + * feat: update namespace and directory structure for compare_map_segmentation code + * refactor: update directory structure + * fix: add missing include + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) +* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) + * add pointcloud to obstacle properties + * add tf listener & pointcloud subscriber + * add parameters for pointcloud obstacle + * add type aliases + * convert pointcloud to obstacle + * add type alias + * add polygon conversion for pointcloud obstacle + * initialize twist & pose of pointcloud obstacle + * overload to handle both obstacle & predicted path + * implement ego behavior determination against pointcloud obstacles + * generate obstacle from point + * revert getCollisionIndex() + * generate obstacle from each point in cloud + * set pointcloud obstacle velocity to 0 + * use tf buffer & listener with pointers + * update latest pointcloud data + * add topic remap + * remove unnecessary includes + * set slow down obstacle velocity to 0 + * add flag to consider pointcloud obstacle for stopping & slowing down + * style(pre-commit): autofix + * downsample pointcloud using voxel grid + * change shape type of pointcloud obstacle to polygon + * convert pointcloud to obstacle by clustering + * add parameters for clustering + * add max_num_points parameter to dummy object + * downsample pointcloud when the number of points is larger than max_num_points + * add max_num_points property to dummy bus + * add parameters for pointcloud based obstacles + * store pointcloud in obstacle struct + * change obstacle conversion method + * migrate previous changes to new package + * store necessary points only + * move use_pointcloud to common parameter + * extract necessary points from pointcloud + * add use_pointcloud parameter to planner interface + * fix obstacle conversion + * fix collision point determination + * simplify pointcloud transformation + * style(pre-commit): autofix + * fix collision point determination + * pick nearest stop collision point + * check collision for every point in cluster + * migrate previous changes to new files + * reduce diff + * remove use_pointcloud parameter + * add parameters for pointcloud filtering + * add autoware namespace + * Revert "add max_num_points parameter to dummy object" + This reverts commit 98bcd0856f861d23c9f7989d8128939ec0b3e27c. + * Revert "downsample pointcloud when the number of points is larger than max_num_points" + This reverts commit fb00b59d8f14cec6810e7fab12bc34d8a0c617c7. + * Revert "add max_num_points property to dummy bus" + This reverts commit 5f9e4ab5ae7d8d46521c736b1d259040121f3bc5. + * feat(diagnostic_graph_utils): add logging tool + * fix all OK + * feat(default_ad_api): add log when operation mode change fails + * get only the necessary one of object or pointcloud data + * addfield for obstacle source type + * enable simultaneous use of PredictedObjects and PointCloud + * separate convertToObstacles() by source type + * avoid using pointer + * reduce diff + * make nest shallower + * define vector concatenate function + * shorten variable names + * fix redundant condition + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) + * refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) + * fix + * fix + --------- +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) +* refactor(bpp): add namespace `autoware::` (`#7437 `_) + * refactor: add namespace autoware:: + * refactor(bpp-common): add namespace autoware:: + * refactor(ablc): add namespace autoware:: + * refactor(doa): add namespace autoware:: + * refactor(soa): add namespace autoware:: + * refactor(erlc): add namespace autoware:: + * refactor(lc): add namespace autoware:: + * refactor(ss): add namespace autoware:: + * refactor(sp): add namespace autoware:: + * refactor(gp): add namespace autoware:: + * refactor(tier4_planning_launch): add namespace autoware:: + * refactor(sbp): add namespace autoware:: + --------- +* refactor(behavior_path_planner): prefix autoware\_ to behavior_path_planner package (`#7433 `_) + * move dir + * fix pluginlib + --------- +* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) +* refactor(behavior_path_sampling_planner_module): add autoware prefix (`#7392 `_) +* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) + * refactor(mission_planner)!: add autoware prefix and namespace + * fix svg + --------- +* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) + refactor(freespace_planner)!: add autoawre prefix +* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) + refactor(external_cmd_selector): prefix package and namespace with autoware\_ +* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) +* fix(motion_planning.launch): fix input traj of obstacle_velocity_limiter (`#7386 `_) +* refactor(out_of_lane): remove from behavior_velocity (`#7359 `_) +* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) + * git mv + * fix + * fix launch + * rever a part of prefix + * fix test + * fix + * fix static_centerline_optimizer + * fix + --------- +* fix(tier4_planning_launch): unexpected modules were registered (`#7377 `_) +* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) + refactor(costmap_generator): add autoware prefix +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) + * chore(autoware_velocity_smoother): update namespace + * chore(autoware_path_optimizer): update namespace + --------- +* refactor(planning_validator)!: prefix package and namespace with autoware (`#7320 `_) + * add autoware\_ prefix to planning_validator + * add prefix to package name in .pages + * fix link of the image + --------- +* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) + * refactor(behavior_velocity_planner_common): add autoware prefix + * refactor(behavior_velocity_planner_common): fix run_out module + * refactor(behavior_velocity_planner_common): fix for autoware_behavior_velocity_walkway_module + * refactor(behavior_velocity_planner_common): remove unnecessary using + --------- +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) + * fix(autoware_surround_obstacle_checker): rename + * fix(autoware_surround_obstacle_checker): rename header + * fix(launch): update package name + --------- +* refactor(autoware_velocity_walkway_module): prefix package with autoware\_ and move code to the autoware namespace (`#7153 `_) + * refactor(autoware_velocity_walkway_module): prefix package with autoware\_ and move code to the autoware namespace + * style(pre-commit): autofix + * fix: fix issue loading packages that have been prefixed + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) + chore(autoware_planning_topic_converter): rename +* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) + chore(autoware_external_velocity_limit_selector): rename +* refactor(autoware_velocity_run_out_module): prefix package with autoware\_ and move code to the autoware namespace (`#7154 `_) + * refactor(autoware_velocity_run_out_module): prefix package with autoware\_ and move code to the autoware namespace + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(autoware_velocity_virtual_traffic_light_module): prefix package with autoware\_ and move code to the autoware namespace (`#7155 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) + * feat!: replace autoware_auto_msgs with autoware_msgs for launch files + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan + * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml + --------- + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan + Co-authored-by: Yukihiro Saito +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) + * chore(autoware_path_optimizer): rename package and namespace + * chore(autoware_static_centerline_generator): rename package and namespace + * chore: update module name + * chore(autoware_velocity_smoother): rename package and namespace + * chore(tier4_planning_launch): update module name + * chore: update module name + * fix: test + * fix: test + * fix: test + --------- +* chore(static_obstacle_avoidance, dynamic_obstacle_avoidance): rename avoidance package (`#7168 `_) + * chore(autoware_behavior_path_static_obstacle_avoidance_module): rename package and namespace + * chore(autoware_behavior_path_dynamic_obstacle_avoidance_module): rename package and namespace + * chore(tier4_planning_launch): update module name + * chore(rtc_interface): update module name + * chore(avoidance): update module param file name + * chore(avoidance): update schema file name + * fix(AbLC): fix file name + * docs: update module name + --------- +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* refactor(behavior_velocity_planner)!: prefix package and namespace with autoware\_ (`#6693 `_) +* build(behavior_path_external_request_lane_change_module): prefix package and namespace with autoware\_ (`#6636 `_) +* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) +* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) + This reverts commit 51b5f830780eb69bd1a7dfe60e295773f394fd8e. +* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) + * feat(launch): add logging_demo::LoggerConfig into container + * fix(logger_level_reconfigure_plugin): fix yaml + * feat(logging_level_configure): add composable node + --------- +* Contributors: Ahmed Ebrahim, Amadeusz Szymko, Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Kyoichi Sugahara, Mamoru Sobue, Maxime CLEMENT, Mitsuhiro Sakamoto, Mukunda Bharatheesha, Ryohsuke Mitsudome, Satoshi OTA, Taekjin LEE, Takayuki Murooka, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo, badai nguyen, mkquda + +0.26.0 (2024-04-03) +------------------- +* chore(tier4_planning_launch): set log output both (`#6685 `_) +* feat(traffic_light): depend on is_simulation for scenario simulator (`#6498 `_) + * feat(traffic_light): depend on is_simulation for scenario simulator + * fix comments + * fix + --------- +* feat(mission_planner)!: introduce route_selector node (`#6363 `_) + * feat(mission_planner): introduce route_selector node + * remove unused file + * fix use goal pose only when resuming + * fix: change mrm mode if route set is successful + * add interrupted state + * fix mrm set route uuid + * remove unused reference + * add resume route function + * try to resume planned route + * remove debug code + * use full license text instead of spdx + --------- +* feat: remove use_pointcloud_container (`#6115 `_) + * feat!: remove use_pointcloud_container + * fix pre-commit + * fix: completely remove use_pointcloud_container after merge main + * fix: set use_pointcloud_container = true + * revert: revert change in probabilistic_occupancy_grid_map + * revert change in launcher of ogm + --------- +* feat(behavior_path_sampling_module): add sampling based planner (`#6131 `_) + * first commit: add only necessary bpp code for template + * change name of file + * delete more unrelated code + * refactor + * fix manager + * rebase + * Copy sampling-based planner to behavior path planner + * fix include paths + * rebase + * eliminate unused code + * delete repeated code + * add dependencies for bezier and frenet planners + * [WIP] Made a simple implementation of behavior planning + * [WIP] added comments on making drivable area + * Just adding functions to test + * [WIP] Implement Frenet Planner + * eliminate unused code + * WIP add debug marker generation + * Comment out for debugging + * return prev drivable area (temp) + * fixes to compile after rebase + * WIP update sampling planner param structure to equal behav planner + * Updated param handling + * changed names of internal_variable to match changes + * partially solve markers not clearing + * add param update functionality + * WIP transform frenet to pathwithlaneid + * set frenet path as output + * Added pruning to select the best frenet path + * Initialize vehicle info + * calculate properly right and left bound for drivable area check + * remove debug prints and increase vehicle margin, should be param + * param changes for driving in small lanes + * WIP add drivable area expansion from LC + * add drivable area expansion + * add driveable area + * Make the points on the path have the same z as goal + * remove print, changes + * WIP add prev sampling path to calculation + * WIP constraints handler + * Add modifiable hard constraints checking function + * Add modifiable soft constraints checking function + * Add costs for distance to goal and curvature + * take out todo-> solved + * Added normalized constraints with ref path speed + * (WIP)isExecution requested update to not execute + * refactor: move getInitialState to utils + * refactor: move some functions to utils, get rid of velocity req in generate pathwithlaneid + * made curvature soft constraint depend on distance to goal + * Add prev path extension + * add calculation of initial lateral velocity and acceleration + * add calculation of initial lateral velocity and acceleration to path extension + * WIP Add poses to path to get centerline distance and other stuff + * clear info_marker\_ to prevent performance issues + * solve dependency issues + * Add cost to avg. distance to centerline + * added arc lenght based extension limit + * Add running and success conditions, add dist to soft const + * update success transition + * Solve bug with goal not being in any current lanelet + * Add todo comment + * Adjust to centerline cost + * update soft costs + * tuning + * add reference path change after sampling planner Success (which might cause a LC + * Added soft constraints weights as parameter to easily tune w/ rqt + * improve performance by computing arc coordinates before soft constraints check + * temp + * temp + * deleted unusused + * delete unused + * add plugin export macro + * fix launch file + * WIP still not launching sampling planner plugin + * solve problem of plugin insertion (duplicated files) + * partly fix issue with PathwithLaneID not having laneids at the first points + * Modify PreviousOutput path since it is no longer a shared ptr + * Added new change root lanelet request override + * WIP update collision detection to use rtree + * fix bug with index + * Add rtree for collision checking + * refine soft constraints use remaining length of path max curv and normalize lateral error + * Add sanity check and delete unused code + * change success transit function to be more accurate + * refactor + * solve bug for path.extend with 0 poses + * add hard check for empty paths + * fix private current_state usage + * Add path reuse at different lenghts + * delete old comments use param for path reuse + * light refactoring + * pre-commit changes + * pre-commit add dependency + * delete unused dependencies + * change constraints evaluation to return vectors + * use tier4 autoware utils function to calc quaternion + * refactor, use autoware utils + * update comment + * Add documentation + * pre-commit changes + * delete unused dependencies and repeated args + * update copyright and fix magic numbers + * delete unused header + * refactoring + * remove unused dependency + * update copyright and dependency + * update calcBound to work properly + * solve problem with drivable area + * remove forced false + * solve calc bound problem + * fix compatibility with updates to bpp + * remove cerr print + * solve bugs when merging with lane + * solve issue of sbp not activating + * remove unused commented code + --------- + Co-authored-by: Maxime CLEMENT +* feat(behavior_velocity_planner): add enable_all_modules_auto_mode argument to launch files for behavior velocity planner modules (`#6094 `_) + * set default value for enable_all_modules_auto_mode + * fix enable_rtc configuration in scene_module_manager_interface.hpp + * Refactor scene module managers to use getEnableRTC function + --------- +* feat(behavior_path_planner): add enable_all_modules_auto_mode argument to launch files for behavior path planner modules (`#6093 `_) + * Add enable_all_modules_auto_mode argument to launch files + * set default value for enable_all_modules_auto_mode + * fix enable_rtc configuration in scene_module_manager_interface.hpp + --------- +* refactor(tier4_planning_launch): remove duplicate arguments in launchfile (`#6040 `_) +* feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (`#5835 `_) +* refactor(behavior_path_planner): remove use_experimental_lane_change_function (`#5889 `_) +* fix(behavior, launch): fix launch error (`#5847 `_) + * fix(launch): set null to avoid launch error + * fix(behavior): check null + * chore(behavior): add comment + * fix(launch): set at the end of list + * fix(launch): fill empty string at the end of module list + --------- +* refactor(bpp): use pluginlib to load scene module (`#5771 `_) + * refactor(bpp): use pluginlib + * refactor(tier4_planning_launch): update launcher + * refactor(avoidance): support pluginlib + * refactor(lane_change): support pluginlib + * refactor(dynamic_avoidance): support pluginlib + * refactor(goal_planner): support pluginlib + * refactor(side_shift): support pluginlib + * refactor(start_planner): support pluginlib + * refactor(bpp): move interface + * fix(bpp): add const + --------- +* fix(tier4_planning_launch): obstacle_cruise_planner pipeline is not connected (`#5542 `_) +* refactor(tier4_planning_launch): align argument name (`#5505 `_) + * chore(tier4_planning_launch): align arument name + * refactor(tier4_planning_launch): pass params directly + --------- +* refactor(tier4_planning_launch): use xml style launch (`#5502 `_) + * refactor(tier4_planning_launch): use xml style launch + * refactor(tier4_planning_launch): remove python style launch + * fix(tier4_planning_launch): enable console output + --------- +* chore(planning modules): remove maintainer... (`#5458 `_) + remove shimizu-san from maintainer and add maintainer for stop line and turn signal decider +* refactor(tier4_planning_launch): use xml style launch (`#5470 `_) + * refactor(tier4_planning_launch): use xml style launch + * refactor(tier4_planning_launch): remove python style launch + * fix(tier4_plannning_launch): fix namespace + --------- +* refactor(tier4_planning_launch): use xml style launch (`#5448 `_) + * refactor(tier4_planning_launch): use xml style launch + * refactor(tier4_planning_launch): remove python style launch + --------- +* feat(behavior_path_planner): subscribe traffic light recognition result (`#5436 `_) + feat(avoidance): use traffic light signal info +* feat(rtc_auto_mode_manager): eliminate rtc auto mode manager (`#5235 `_) + * change namespace of auto_mode + * delete RTC auto mode manager package + * delete rtc_replayer.param + * style(pre-commit): autofix + * fix typo + * fix typo + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) + * feat(behavior_velocity): support new traffic signal interface + * style(pre-commit): autofix + * add missing dependency + * style(pre-commit): autofix + * remove the external signal input source in behavior_planning_launch.py + * replace TrafficLightElement with TrafficSignalElement + * style(pre-commit): autofix + * use the regulatory element id instead of traffic light id + * change the input of traffic signal to traffic light arbiter + * style(pre-commit): autofix + * do not return until the all regulatory elements are checked + * change input topic of the traffic signals + * fix the traffic signal type in perception reproducer + * add debug log when the signal data is outdated + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(mission_planning.launch): add glog in mission planner (`#4745 `_) +* feat(motion_velocity_smoother.launch): add glog component (`#4746 `_) + * use node instead of include + * use container & add glog component + --------- +* feat(glog): add glog in planning and control modules (`#4714 `_) + * feat(glog): add glog component + * formatting + * remove namespace + * remove license + * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update common/glog_component/CMakeLists.txt + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update launch/tier4_control_launch/launch/control.launch.py + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * add copyright + --------- + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> +* chore(tier4_planning_launch): enable to abort lane change from a parameter file (`#4469 `_) +* refactor(behavior_path_planner): remove unused config files (`#4241 `_) +* refactor(obstacle_avoidance_planner): move the elastic band smoothing to a new package (`#4114 `_) + * Add path_smoothing package + * Add elastic band smoother node + * Add Debug section to elastic band documentation + * Remove elastic band from the obstacle_avoidance_planner + * Move elastic band debug images to the path_smoothing package + * Update launch files to run the elastic_band_smoother + * Set path topic names based on the path_smoother_type argument + * Publish path with backward paths + * Rename path_smoothing -> path_smoother + --------- +* fix(obstacle_velocity_limiter): remove hardcoded parameter (`#4098 `_) +* refactor(lane_change): add namespace for lane-change-cancel (`#4090 `_) + * refactor(lane_change): add namespace for lane-change-cancel + * fix indent + * lane_change_cancel -> cancel + --------- +* refactor(behavior_velocity_planner): update launch and parameter files for plugin (`#3811 `_) + * feat: move param files + * WIP + * feat: use behavior velocity module param file list + * feat: update comment + * feat: change param load + * feat: update launch run out flag + * feat: add disabled module as comment + * feat: remove unused argument + * fix test + * remove unused params + * move param + * add test depend + --------- +* refactor(start_planner): rename pull out to start planner (`#3908 `_) +* feat: handle invalid areas / lanelets (`#3000 `_) +* feat(behavior_path_planner): output stop reasons (`#3807 `_) + * feat(launch): remap stop reasons + * feat(behavior_path_planner): add interface to output stop reasons + * feat(behavior_path_planner): add interface to output stop reasons + * feat(avoidance): output stop reason + --------- +* feat(path_sampler): add a sampling based path planner (`#3532 `_) +* style: fix typos (`#3617 `_) + * style: fix typos in documents + * style: fix typos in package.xml + * style: fix typos in launch files + * style: fix typos in comments + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat(behavior_path_planner): add dynamic obstacle avoidance module (`#3415 `_) + * implement dynamic avoidance module + * update + * update + * fix spell + * update + * Update planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * Update planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * Update planning/behavior_path_planner/docs/behavior_path_planner_dynamic_avoidance_design.md + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * dealt with review + * update test + * disable dynamic avoidance with old architecture, and pass build CI + * fix + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) +* refactor(behavior_path_planeer): use common.params for lane change (`#3520 `_) + * refactor(behavior_path_planeer): use common.params for lane change + * update + --------- +* feat(behavior_path_planner): move lane_following_params to behavior path params (`#3445 `_) + * feat(behavior_path_planner): move lane_following_params to behavior path params + * fix missing pakage include + * fix test + --------- +* chore(planning_evaluator): add dependency (`#3388 `_) +* feat(behavior_velocity_planner): add out of lane module (`#3191 `_) + * Add OutOfLane module to the behavior_velocity_planner + * Add functions for calculating path footprint and overlaps (WIP) + * Update behavior_planning launch file to add out_of_lane param file + TODO: remove launch-prefix from this commit. only needed for development + * Add param to extend the ego footprint+fixed overlaps+started intervals + * Implemented basic stop points insertion. "working" with simplified logic + * Combine overlap and interval calculation, 1st rough working version + * Add more parameters to replace magic numbers + * [WIP] cleanup bugs and add a few more params + * Proper stop point insertion (such that there are no overlaps) + * Add interval visualization, fix bugs + * Major refactoring and preparing params for 3rd method (TTC) + * Implement TTC + more refactoring (not tested) + * Fix issue with calculating enter/exit time of object after it entered + * Fix bug in calculating ego distance along path + * Add option to skip the new module if ego already overlaps another lane + * Implement decel limit and add some (unimplemented) parameters + * Implement the "strict" parameter (dont stop while overlapping) + * Implement "use_predicted_paths" param (not yet tested) + * Filter lanelets used for checking overlaps + * Fix calculation of enter/exit times using predicted paths of objects + * Improve "skip_if_already_overlapping" logic and add debug markers + * Use dist(left, right) for inside distance when both bounds are overlaped + * Add fallback when a point with no overlap cannot be found + Fallback: use the path index previous to the range's entering path index + * Increase max lateral deviation of predicted paths + add debug prints + * Fix logic for select path_lanelets and other_lanelets + debug markers + * Improve object filtering by their lateral distance from overlap range + * Rename length -> dist in object_time_to_range function + * Cleanup code and improve use of planner_data\_ + * Add overlapping_range.cpp + code cleanup + * Add decisions.hpp + code cleanup + * Add footprint.cpp + * Cleanup and factorize more code + * Add docstring + final factorization + * Remove debug changes in behavior_planning.launch.py + * Add out of lane design document (WIP) + * Extend design doc and lint it + * Finalize 1st draft of design doc (figures are missing) + * Add figures + * Fix some clang-tidy errors + * Factorize the calculate_decisions function + * Fix spelling relevent -> relevant + * Add debug.hpp and debug.cpp to simplify createDebugMarkerArray() + * Factorize calculate_slowdown_points + * Factorize decisions.cpp a little more + * Fix for clang tidy + * Factorize decisions.cpp a little bit more + * Update copyright + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * Update copyright + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * Update copyright + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * Fix copyrights Tier IV -> TIER IV + * Populate StopReason + * Set VelocityFactor + * Fix design doc title + * Populate StopReason only when stopping (not when slowing down) + * Remove default value for declare_parameter of 'launch_run_out' + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* feat(avoidance_by_lc): add new module to avoid obstacle by lane change (`#3125 `_) + * feat(rtc_interface): add new module avoidance by lc + * feat(launch): add new param files + * feat(avoidance_by_lc): add avoidance by lane change module + * feat(behavior_path_planner): integrate avoidance by lc + * fix(avoidance_by_lc): apply refactor + * fix(avoidance_by_lc): use found_safe_path for ready check + * fix request condition + * fix build error + --------- +* feat(behavior_path_planner): update behavior param file (`#3220 `_) + * feat(behavior_path_planner): add new config file for manger + * feat(launch): add config path + * fix(behavior_path_planner): add missing param file + --------- +* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) + * add original diagnostic_convertor + * add test + * fix typo + * delete file + * change include + * temp + * delete comments + * made launch for converter + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * add diagnostic convertor in launch + * ci(pre-commit): autofix + * change debug from info + * change arg name to launch diagnostic convertor + * add planning_evaluator launcher in simulator.launch.xml + * fix arg wrong setting + * style(pre-commit): autofix + * use simulation msg in tier4_autoware_msgs + * style(pre-commit): autofix + * fix README + * style(pre-commit): autofix + * refactoring + * style(pre-commit): autofix + * remove unnecessary dependency + * remove unnecessary dependency + * move folder + * reformat + * style(pre-commit): autofix + * Update evaluator/diagnostic_converter/include/converter_node.hpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Update evaluator/diagnostic_converter/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Update evaluator/diagnostic_converter/src/converter_node.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Update evaluator/diagnostic_converter/test/test_converter_node.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * define diagnostic_topics as parameter + * fix include way + * fix include way + * delete ament_cmake_clang_format from package.xml + * fix test_depend + * Update evaluator/diagnostic_converter/test/test_converter_node.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * style(pre-commit): autofix + * Update launch/tier4_simulator_launch/launch/simulator.launch.xml + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* feat(mission_planner): refine goal pose with parameter and add config file (`#2603 `_) +* feat(behavior_path_planner): pull over freespace parking (`#2879 `_) + * feat(behavior_path_planner): pull over freespace parking + * Update planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp + Co-authored-by: Takamasa Horibe + * fix from review + * add require_increment\_ explanation make the function + * Update planning/behavior_path_planner/README.md + * fix mutex + * fix typo + * fix build + * pre-commit + --------- + Co-authored-by: Takamasa Horibe +* refactor(obstacle_avoidance_planner): clean up the code (`#2796 `_) + * update obstacle avoidance planner, static centerline optimizer, tier4_planning_launch + * update velocity on joint and correct trajectory z + * update + * minor change + * pre-commit + --------- +* refactor(planning_error_monitor): remove pkg (`#2604 `_) + * remove planning_error_monitor + * remove launch + --------- +* fix(tier4_planning_launch): remove unnecessary config (`#2910 `_) +* feat(behavior_velocity): add mandatory detection area for run out module (`#2864 `_) + * feat: add mandatory detection area + * change the topic order to subscribe compare map filtered points + * define function for transform pointcloud + * add missing mutex lock + * fix subscribing topic for points + * remove unnecessary comments + * add debug publisher for pointcloud + * fix warning for empty frame id + * add comments + * add parameter whether to use mandatory detection area + * use the same stop margin for the two kind of detection area + * remove unused parameter + * change max queue size + * change the marker color of mandatory detection area + * fix publishing debug pointcloud + * create function to concatenate clouds + * use current_odometory instead of current_pose + * add param for mandatory area + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(behavior_path_planner): expand the drivable area based on the vehicle footprint (`#2609 `_) +* ci(pre-commit): autoupdate (`#2819 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(tier4_planning_launch): add missing params and sort params of costmap generator (`#2764 `_) +* refactor(behavior_path_planner): set occupancy grid map topic name from launch (`#2725 `_) +* feat(behavior_path_planner): external request lane change (`#2442 `_) + * feature(behavior_path_planner): add external request lane change module + feature(behavior_path_planner): fix for RTC + feature(behavior_path_planner): fix decision logic + feat(behavior_path_planner): fix behavior_path_planner_tree.xml + feat(behavior_path_planner): fix for rebase + feat(behavior_path_planner): output multiple candidate paths + feat(behavior_path_planner): get path candidate in behavior tree manager + feat(behavior_path_planner): fix for multiple candidate path + feat(behavior_path_planner): separate external request lane change module + feature(behavior_path_planner): add create publisher method + feature(behavior_path_planner): move publishers to node + feature(behavior_path_planner): remove unnecessary publisher + feat(behavior_path_planner): move reset path candidate function to behavior tree manager + feat(behavior_path_planner): add external request lane change path candidate publisher + feat(behavior_path_planner): apply abort lane change + * fix(behavior_path_planner): remove unnecessary change + * feat(behavior_path_planner): fix getLaneChangePaths() + * feat(behavior_path_planner): disable external request lane change in default tree + * Update rtc_auto_mode_manager.param.yaml + * fix(route_handler): remove redundant code + * fix(behavior_path_planner): fix for turn signal +* feat(planning_validator): add planning validator package (`#1947 `_) + * feat(planning_validator): add planning validator package + * remove planning_error_monitor + * pre-commit + * change launch for planning_validator + * Revert "remove planning_error_monitor" + This reverts commit 90aed51a415c06d9c6e06fc437993602ff765b73. + * restore error_monitor file + * add readme + * update for debug marker + * add debug marker + * fix invalid index error + * update readme + * update + * add code to calc computation time + * use reference arg + * Revert "use reference arg" + This reverts commit e81c91bafc0e61eaa9b6fa63feabba96205470ff. + * remove return-vector code + * Revert "add code to calc computation time" + This reverts commit f36c7820ba47ccd3fbcd614e0aca0c414750b9cf. + * update debug plot config + * update readme + * fix precommit + * update readme + * add invalid trajectory handling option + * fix typo + * Update README.md + * update comments + * pre-commit + * fix typo + * update + * use util for marker create + * fix tests + * update doc! + * fix readme + * update +* feat(behavior_path_planner): modified goal with uuid (`#2602 `_) + * feat(behavior_path_planner): modified goal with uuid + * fix typo + * fix for top header + * change to PoseWithUuidStamped +* fix(tier4_planning_launch): make use_experimental_lane_change_function available (`#2676 `_) +* refactor(tier4_planning_launch): organize arguments (`#2666 `_) + * refactor(tier4_planning_launch): organize arguments + * update +* feat(behavior_path_planner): param to skip some linestring types when expanding the drivable area (`#2288 `_) +* feat(behavior_velocity_planner): add speed bump module (`#647 `_) + Co-authored-by: Kosuke Takeuchi + Co-authored-by: Takayuki Murooka +* fix(tier4_planning_launch): remove unintended config file (`#2554 `_) +* feat(tier4_planning_launch): remove configs and move to autoware_launch (`#2543 `_) + * feat(tier4_planning_launch): remove configs and move to autoware_launch + * fix + * remove config + * add rtc + * Update launch/tier4_planning_launch/README.md + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* fix(intersection): fixed stuck vehicle detection area (`#2463 `_) +* feat(behavior_path_planner): remove unnecessary parameters (`#2516 `_) + * feat(behavior_path_planner): remove unnecessary parameters + * remove from static_centerline_optimizer +* feat(obstacle_cruies_planner): improve pid_based cruise planner (`#2507 `_) + * feat(obstacle_cruies_planner): improve pid_based cruise planner + * fix + * update param in tier4_planning_launch +* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) + * update + * update + * update + * update obstacle avoidance planner + * update + * clean code + * uddate + * clean code + * remove resample + * update + * add orientation + * change color + * update + * remove drivable area + * add flag + * update + * update color + * fix some codes + * change to makerker array + * change avoidance utils +* refactor(behavior_path_planner): move turn_signal_on_swerving param to bpp.param.yaml (`#2406 `_) + * move turn_signal_on_swerving param to bpp.param.yaml + * change default value to true + * add description + * ci(pre-commit): autofix + Co-authored-by: beyza + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(avoidance): improve avoidance target filter (`#2329 `_) + * feat(route_handler): add getMostLeftLanelet() + * feat(avoidance): calc shiftable ratio in avoidance target filtering process + * feat(avoidance): output object's debug info for rviz + * fix(avoidance): use avoidance debug factor + * feat(tier4_planning_launch): add new params for avoidance + * fix(avoidance): reorder params for readability + * fix(tier4_planning_launch): reorder params for readability +* feat(behavior_path_planner): update path when object is gone (`#2314 `_) + * feat(behavior_path_planner): update state with obstacles. + feat(behavior_path_planner): update path when obstacle is gone + * ci(pre-commit): autofix + * update check mechanism + update check mechanism + update check mechanism + * readme.md is updated + * ci(pre-commit): autofix + * avoidance maneuver checker is added. + ci(pre-commit): autofix + avoidance maneuver checker is added. + * fix check algorithm + fix check algorithm + * documentation is updated. + * ci(pre-commit): autofix + * fix typos + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(behavior_path_planner): add option to turn signal while obstacle swerving (`#2333 `_) + * add turn_signal_on_swerving param + * add option for signals + * get turn_signal_on_swerving param from config file + * ad turn_signal_on_swerving param + * ci(pre-commit): autofix + Co-authored-by: beyza + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb (`#2357 `_) + * fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb + * add flag to enable clipping fixed trajectory + * add maintainer +* fix(slow_down_planner): improper parameter used in slow down (`#2276 `_) + * fix(slow_down_planner): improper parameter used in slow down + * fix(tier4_planning_launch): remove hardcoded param enable_slow_down from launch.py +* feat(obstacle_avoidance_planner): parameterize non_fixed_trajectory_length (`#2349 `_) +* fix(behavior_path_planner): replace object_hold_max_count with object_last_seen_threshold (`#2345 `_) + fix: replace object_hold_max_count with object_last_seen_threshold +* feat(behavior_velocity_planner): parameterize ego_yield_query_stop_duration for crosswalk module (`#2346 `_) + feat: parameterize ego_yield_query_stop_duration for crosswalk module +* feat(avoidance): improve avoidance target filter (`#2282 `_) + * feat(avoidance): use envelope polygon for measure against perception noise + * feat(avoidance): use moving time for measure against perception noise + * feat(tier4_planning_launch): add new params for avoidance + * fix(avoidance): reserve marker array size +* feat(motion_velocity_smoother): tunable deceleration limit for curve … (`#2278 `_) + feat(motion_velocity_smoother): tunable deceleration limit for curve deceleration +* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) +* feat: add 'obstacle_velocity_limiter' package (`#1579 `_) + * Initial commit with barebone SafeVelocityAdjustorNode + * Add debug topics, launch file, and config file + * Fix debug markers + * Fix dynamic parameters + * Add proper collision detection and debug footprint + Implements Proposal 1. + Calculation of the adjusted velocity still needs to be improved + * Add script to compare the original and adjusted velocity profiles + * Fix calculation of distance to obstacle + * Add test for calculation collision distance + * Add launch file to test the safe_velocity_adjustor with a bag + * Cleanup code and add tests for forwardSimulatedVector + * Simplify collision detection by not using a footprint polygon + * Add filtering of the dynamic objects from the pointcloud + * [DEBUG] Print runtimes of expensive functions + * Add trajectory downsampling to boost performance + improve debug markers + * Modify velocity only from ego pose + distance parameter + * Add 1st Eigen version of distanceToClosestCollision + benchmark + * Switch to using contours from occupancy grid for collision checking + Filtering of dynamic objects is not great + * Add buffer around dynamic obstacles to avoid false obstacle detection + * Add parameter to limit the adjusted velocity + * Use vehicle_info_util to get vehicle footprint + * Calculate accurate distance to collision + add tests + * Add parameter for the min velocity where a dynamic obstacle is ignored + * Add README and some pictures to explain the node inner workings + * Update scenario_planning.launch.xml to run the new node + * Fix format of launch files + * Update launcher and rviz config used for debuging with bag + * Cleanup debug publishing + * Complete tests of collision_distance.hpp + * Add docstring + Small code cleanup + * Improve test of occupancy_grid_utils + * Fix bug when setting parameter callback before getting vehicle parameters + * Rename safe_velocity_adjustor to apparent_safe_velocity_limiter + * Move declarations to cpp file (apparent_safe_velocity_limiter_node) + * Move declarations to cpp file (occupancy_grid_utils) + * Move declarations to cpp file (collision_distance) + * Add exec of trajectory_visualizer.py in launch files + * Mask trajectory footprint from the occupancy grid (might be expensive) + * Filter out the occupancy grid that is outside the envelope polygon + * Add improved PolygonIterator using scan line algorithm + * Use autoware_cmake for dependencies + * Improve performances of PolygonIterator + * Minor cleanup of PolygonIterator + * Use improved iterator + add benchmark (max/avg/med) to node + * Minor code cleanup + * Switch from set to vector/list in PolygonIterator + * Remove PolygonIterator and use implementation from grid_map_utils + * Add parameter to limit deceleration when adjusting the velocity + * Code cleanup, move type decl and debug functions to separate files + * Add support for collision detection using pointcloud + * Code cleanup + * Speedup pointcloud filtering (still ~100ms on bags) + * Improve envelope calculation and use separate node for pcd downsampling + * Add ProjectionParameters to prepare for the bicycle model projection + * Add bicycle projection with various steering offsets + * Update docstring + * Major refactoring, calculate envelope from footprints + * Add extraction of static obstacles from lanelet map + * Remove stopwatch + * Add arc distance calculation when using bicycle projection + * Fix multi geometry definitions in tier4_autoware_utils/boost_geometry + * Improve geometry operations to take advantage of Eigen + * Switch to min/max offset and simplify footprint calculations + * Fix unit tests (unset params.heading) + * Add option to filter obstacles using the safety envelope + * Fix bug with distance calculation and improve debug markers + * Update README + * Add parameter to set map obstacles by linestring id (for debug) + * Move param structures to dedicated file and add PreprocessingParameters + * Add parameter to calculate steering angle of trajectory points + * Cleanup footprint generation + * Fix bug with debug marker ids + * Fix bug where the VelocityParameters were not constructed + * Update obstacles extraction + * Minor code cleanup + * Switch to collision detection using rtree + * Add publishing of the runtime (in microseconds) + * Add option to ignore obstacles on the trajectory + * Add max length and max duration parameters + * Restructure Obstacles structure to separate lines and points for speedup + * Convert obstacle linestrings to segments when used in the rtree + * Add parameter for extra distance when filtering the ego path + * Fix issues caused by rebase + * Minor code cleanup + * Update to run with looping bag replay + * Add debug markers for obstacle masks and only publish when subscribed + * Update README + * Fix humble build issue with PCL library + * Update obstacle extraction from lanelet map (no longer based on route) + * Optimize use of rtree + use naive collision checking with few obstacles + * Remove debug code and update default parameters + * Do not wait for self pose + * Rename to obstacle_velocity_limiter + * More minor cleanup + * Update READEME.md + * Update README to have the purpose written before the illustration + * Update copyright notice: Tier IV -> TIER IV + * Remove use_sim_time param from node launch file + * Update launch files to run in the motion_planner + add launch config +* feat(motion_velocity_smoother): change osqp parameter (`#2157 `_) +* ci(pre-commit): format SVG files (`#2172 `_) + * ci(pre-commit): format SVG files + * ci(pre-commit): autofix + * apply pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0 (`#2057 `_) +* feat(behavior_path_planner): params to expand drivable area in each module (`#1973 `_) +* feat(behavior_path_planner): add turn signal parameters (`#2086 `_) + * feat(behavior_path_planner): add and change parameters + * update + * update +* feat(behavior_path_planner): pull_over lateral goal search (`#2036 `_) + * feat(behavior_path_planner): pull_over lateral goal search + * fix werror of humble +* feat(obstacle_cruise_planner): add an explanation (`#2034 `_) + * feat(obstacle_cruise_planner): add an explanation + * update readme +* feat(run_out): avoid chattering of state transition (`#1975 `_) + * feat: keep approach state to avoid chattering of detection + * add parameter + * update parameter + * update documents + * revert changed parameter +* feat(obstacle_cruise_planner): add goal safe distance (`#2031 `_) +* chore(behavior_velocity): add maintainer for run out module (`#1967 `_) +* refactor(run_out): add state machine class for state transition (`#1884 `_) + * refactor(run_out): add state machine class for state transition + * remove debug print + * move parameters + * add missing parameter + * add documents + * fix conflict + * remove unused argument + * fix parameter value +* feat(behavior_path_planner): add pull_over base class (`#1911 `_) + * feat(behavior_path_planner): add pull_over base class + * modify calculation of velocity abs + * modify from review + * add const + * refactor shift pull over + * not use shared_ptr for lane_departure_checker + * fix deceleration + * Update planning/behavior_path_planner/src/scene_module/pull_over/shift_pull_over.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * fix werror + * fix build for main + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> +* chore(tier4_planning_launch): add maintainers (`#1955 `_) +* feat(intersection): use intersection_area if available (`#1733 `_) +* refactor: replace acc calculation in planning control modules (`#1213 `_) + * [obstacle_cruise_planner] replace acceleration calculation + * [obstacle_stop_planner] replace acceleration calculation + * [trajectory_follower] replace acceleration calculation + * remap topic name in lanuch + * fix nullptr check + * fix controller test + * fix +* fix: fix missing dependency (`#1891 `_) + * fix: fix missing dependency + * fix +* feat(obstacle_avoidance_planner): fix can be applied to the first trajectory point (`#1775 `_) + * add bicycle model collision avoidance and single fixed point + * refactor manual warm start + * add calculation cost plotter + * fix + * fix + * update params +* feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior (`#1541 `_) + * feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior + * ci(pre-commit): autofix + * fix(rtc_auto_mode_manager): fix typo + * fix(rtc_interface): revert namespace + * fix(rtc_interface): reset auto mode just only related uuid + * fix(rtc_auto_mode_manager): fix + * fix(tier4_planning_launch): launch rtc_auto_mode_manager + * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * fix(rtc_interface): fix + * fix(behavior_velocity_planner): fix initialization in crosswalk module + * feat(rtc_auto_mode_manager): fix initialization + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* feat(behavior_planning): use acceleration from localization module (`#1859 `_) + * feat(behavior_path_planner): subscribe acceleration from localization module + * feat(behavior_velocity_planner): subscribe acceleration from localization module +* refactor(run_out): remove unused parameter (`#1836 `_) +* feat(obstacle_cruise_planner): add terminal collision checker (`#1807 `_) + * feat(motion_utils): add new search zero velocity + * change arguments + * feat(obstacle_cruise_planner): add terminal collision checker + * add parameters + * change parameters +* feat(behavior_path_planner): change pull over params (`#1815 `_) +* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) + * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) + function added, + not turning + fix the always positive curvature problem + added lower velocity limit + added vehicle parameters + functions created + * Update readme + update svg + readme updated + with test params + change sample rate + calculate accurate dt + test + fix trajectory size + update readme + change map loader params + clear unnecessary comment + change the min and max index + ci(pre-commit): autofix + removed unnecessary params and comments + ci(pre-commit): autofix + all velocities in lookup distance is changed + ci(pre-commit): autofix + works + ci(pre-commit): autofix + changed calculations + with const lookupdistance + ci(pre-commit): autofix + not work peak points + written with constant distances + added param + ci(pre-commit): autofix + update + ci(pre-commit): autofix + update steering angle calculation method + ci(pre-commit): autofix + changed curvature calculation of steeringAngleLimit func + changed default parameter values + update readme + update engage velocity parameter + * ci(pre-commit): autofix + Co-authored-by: Berkay + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over (`#1796 `_) + * feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over + * Update planning/behavior_path_planner/src/utilities.cpp + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + * rename to goal_to_obstacle_margin + * fix rear check + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> +* refactor(obstacle_stop_planner): update params name for readability (`#1720 `_) + * refactor(obstacle_stop_planner): update parameter name for readability + * docs(obstacle_stop_planner): update module documentation + * docs(obstacle_stop_planner): update figure + * refactor(obstacle_stop_planner): separate params by namespace + * fix(tier4_planning_launch): separate params by namespace + * refactor(obstacle_stop_planner): remove default value from declare_parameter + * refactor(obstacle_stop_planner): add params to config +* fix(behavior_path_planner): fix pull_over request_length and maximum_deceleration (`#1789 `_) +* feat(behavior_path_planner): use object recognition for pull_over (`#1777 `_) + * feat(behavior_path_planner): use object recognition for pull_over + * Update planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + * rename checkCollision + * update docs + * remove unnecessary lines + * update warn message + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> +* feat(behavior_path_planner): update pull out (`#1438 `_) + * feat(behavior_path_planner): update pull out + * refactor(behavior_path_planner): rename pull_out params + * update from review + * use debug_data + * enable back + * move PlannerType + * fix debug marker + * add seach priority + * change before_pull_out_straight_distance to 0.0 +* refactor(behavior_path_planner): rename pull_over params (`#1747 `_) +* feat(intersection): continue detection after pass judge (`#1719 `_) +* feat(behavior_path_palnner): update geometric parallel parking for pull_out module (`#1534 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) + * organized planning authors and maintainers + * organized control authors and maintainers + * fix typo + * fix colcon test + * fix + Update control/external_cmd_selector/package.xml + Update control/vehicle_cmd_gate/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/motion_velocity_smoother/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/planning_debug_tools/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/shift_decider/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/pure_pursuit/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/freespace_planner/package.xml + Co-authored-by: Hiroki OTA + Update control/operation_mode_transition_manager/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/planning_debug_tools/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/shift_decider/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/pure_pursuit/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/operation_mode_transition_manager/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * fix + * fix + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat(behavior_path_planner): enable pull_over backward_parking by default (`#1653 `_) +* feat(obstacle_avoidance_planne): enable plan_from_ego by default (`#1673 `_) +* feat: add vector map inside area filter (`#1530 `_) + * feat: add no detection area filter + * ci(pre-commit): autofix + * chore: add documents + * pre-commit fix + * remove comments + * fix comments + * refactor condition to launch points filter + * fix container name + * ci(pre-commit): autofix + * chore: add visualization for no obstacle segmentation area + * feat: allow any tags to be given by launch arguments + * chore: remove unnecessary includes + * feat: move the polygon removing function to util and use it + * chore: move the place and change the name of node + * chore: pre-commit fix + * chore: remove unnecessary using + * chore: modify container name + * chore: fix comments + * chore: fix comments + * chore: use output arguments for a large data + * chore: using namespace of PolygonCgal for readability + * feat: add functions for multiple polygons + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(mission_planner): prepare to support ad api (`#1561 `_) + * refactor(mission_planner): prepare to support ad api + * fix node name +* feat(surround_obstacle_checker): add vehicle footprint with offset (`#1577 `_) + * fix: right and left overhang fix in SelfPolygon func + * feat: init base polygon + * ci(pre-commit): autofix + * fix: change publishers scope + * feat: pub footprint + * feat: pub footprint with offset + * feat: pub footprint with recover offset + * feat: add footprint publish boolean param to config + * docs: update readme + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(behavior_path_planner): resample output path (`#1604 `_) + * feat(behavior_path_planner): resample output path + * update param +* fix(behavior_velocity_planner): disable debug path publisher by default (`#1680 `_) +* fix(behavior_path_planner): pull_over shift parking (`#1652 `_) + * fix(behavior_path_planner): pull_over shift parking + * check lane_depature for each shift path + * change pull_over_velocity to 3.0 +* feat(obstacle_cruise_planner): add velocity_threshold to outside obstacle (`#1646 `_) + * feat(obstacle_cruise_planner): add velocity_threshold to outside obstacle + * add parameter to config + * update readme +* feat(behavior_velocity): publish internal debug path (`#1635 `_) + * feat(behavior_velocity): publish internal path as debug path + * feat(behavior_velocity): add debug internal scene module path + * feat(behavior_velcoity, planning_debug_tools): add params for debug path +* feat(run_out): add lateral nearest points filter (`#1527 `_) + * feat(run_out): add lateral nearest points filter + * chore: update documents + * chore: pre-commit fix + * chore: fix typo +* fix(tier4_planning_launch): change parameter to enable abort lane change (`#1602 `_) +* feat(tier4_planning_launch): add nearest search param (`#1582 `_) + * feat(tier4_planning_launch): add nearest search param + * fix +* feat(obstacle_cruise_planner): delete shape from target obstacle (`#1558 `_) + * delete is on ego traj + * update + * feat(obstacle_cruise_planner): delete shape + * update + * remove unnecessary parameters + * add new calc distance + * add threshold + * fix a bug + * fix terminal point + * update + * update parameters +* fix(behavior_velocity_planner, tier4_planning_launch): modify delay_resopnse_time (`#1557 `_) + * fix(behavior_velocity_planner): modify delay_resopnse_time + * fix(tier4_planning_launch): modify delay_resopnse_time +* fix(costmap_generator): restrict costmap within parking lot (`#996 `_) + * fix(costmap_generator): restrict costmap within parking lot + * add parameters for free space planning area selection + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(obstacle_cruise_planner): add missing param (`#1515 `_) +* fix(behavior_path_planner): fix turn singal output in a avoidance sequence (`#1511 `_) + * remove search distance for turn signal + * set distance to max when a lane_attriute is straight +* refactor(obstacle_avoidance_planner): use max_steer_angle in common (`#1423 `_) + * refactor(obstacle_avoidance_planner): use max_steer_angle in common + * fix runtime error + * fix + * fix yaml file +* feat(behavior_velocitiy_planner): predict front vehicle deceleration in intersection and temporarily stop (`#1194 `_) + * calculating stopping distance for frontcar from estimated velocity + * calc stopping_point_projected and stopping_point along centerline + * create stuck_vehicle_detect_area in modifyVelocity(TODO: use pose of frontcar at stopping_position + * use centerline on ego_lane_with_next_lane + * properly checking if stopping_point is in stuck_vehicle_detect_area + * also check if the point behind stopping_point is in detection_area(aka attention area) + * refactored + * will return collision_deteced if is_in_sturck_area && is_behind_point_in_detection_area + * look working + * refactored, rename parameter + * added flag + * fixed the order of isAheadOf, working in scenario test as well + * added description in stuck vehicle detection section + * reflected comments: (1) use vector of ids (2) changed intersection.param.yaml +* feat(tier4_planning_launch): declare param path argument (`#1337 `_) + * feat(tier4_planning_launch): declare param path argument + * Update launch/tier4_planning_launch/launch/planning.launch.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update launch/tier4_planning_launch/launch/planning.launch.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* fix(behavior_path_planner): remove unnecessary publisher and subscriber (`#1371 `_) + * fix(behavior_path_planner): remove unnecessary publisher and subscriber + * fix(tier4_planning_launch): fix launch file + * fix(tier4_planning_launch): fix xml file +* fix: fix parameter names of motion_velocity_smoother (`#1376 `_) + * fix: fix parameter names of motion_velocity_smoother + * fix indent +* feat(intersection_module): add option to change the stopline position (`#1364 `_) + * use constexpr + * add stopline before intersection + * feat(intersection_module): add update stopline index before intersection + * modify to generate stop line to consider for the vehicle length + * add generate stop line before intersection func + * generate pass judge line when use_stuck_stopline + * update param at launch + * reduce nest + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(tier4_planning_launch): add group tag (`#1239 `_) + * fix(tier4_planning_launch): add group tag + * move arg + * move arg inside group +* fix(behavior_velocity_planner): fix rtc behavior in crosswalk module (`#1296 `_) +* feat(behavior_path_planner): update pull_over module (`#873 `_) + * feat(behavior_path_planner): update pull_over module + * use tf2_geometry_msgs/tf2_geometry_msgs.hpp for humble + * fix werror of humble + * fix test + * fix goal change bug when starting drive +* feat(tier4_planning_launch): update crosswalk param (`#1265 `_) +* feat(behavior_velocity): filter points with detection area (`#1073 `_) + * feat(behavior_velocity): filter points with detection area + * remove unnecessary functions + * update documents + * ci(pre-commit): autofix + * remove unnecessary comments + * use parameter for max deceleration jerk + * update configs + * return empty points when the detection area polygon is empty + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length (`#1223 `_) + * chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length + * fix typo +* feat(obstacle_cruise_planner): implemented common obstacle stop (`#1185 `_) + * feat(obstacle_cruise_planner): implemented common obstacle stop + * fix some implementation + * minor changes + * use min_ego_accel_for_rss + * remove unnecessary code + * fix CI error + * fix typo +* refactor(freespace_planner): parameterize margin. (`#1190 `_) +* fix(intersection_module): remove decel parameter (`#1188 `_) + * fix(intersection_module): remove decel parameter + * remove unuse parameter +* feat(obstacle_cruise_planner): some minor updates (`#1136 `_) + * checkout latest obstacle cruise changes + * fix cruise/stop chattering + * add lpf for cruise wall + * fix debug print + * fix cruise wall + * fix min_behavior_stop_margin bug + * not use predicted path for obstacle pose for now + * update tier4_planning_launch param + * fix typo + * fix CI error +* feat(obstacle_cruise_planner): clean parameters for optimization based cruise planner (`#1059 `_) + * remove unnecessary parameter + * add new parameter and delete unnecessary constructor + * remove unnecessary parameter + * clean parameter + * delete filtering parameter in optimization based algorithm + * update + * delete yaw threshold parameter and update license + * update + * remove unnecessary checker +* feat(intersection): add conflicting area with margin debug (`#1021 `_) + * add detection area margin debug + * extention lanelet in intersection function + * feat: add conflicting area with margin + * fix(intersection_module): remove unnecessary comment + * fix check collision + * fix(intersection_module): remove unnecessary diff + * ci(pre-commit): autofix + * fix(intersection_module): fix expand lane only right bound + * fix(intersection_module): remove calc of detection area to object distance + * ci(pre-commit): autofix + * fix(intersection_module): split lane extentions + * ci(pre-commit): autofix + * refactor: lanelet::utils::resamplePoints -> resamplePoints + * feat: add right and left margin parameter + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(tier4_planning_launch): launch rtc_auto_approver (`#1046 `_) + * feature(tier4_planning_launch): launch rtc_auto_approver + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(obstacle_cruise_planner): add new package (`#570 `_) + * feat(obstacle_velocity_planner): add obstacle_velocity_planner + * udpate yaml + * update dependency + * fix maybe-unused false positive error + * Tier IV -> TIER IV + * fix some reviews + * fix some reviews + * minor change + * minor changes + * use obstacle_stop by default + * fix compile error + * obstacle_velocity -> adaptive_cruise + * fix for autoware meta repository + * fix compile error on CI + * add min_ego_accel_for_rss + * fix CI error + * rename to obstacle_cruise_planner + * fix tier4_planning_launch + * fix humble CI +* feat(behavior_velocity): add run out module (`#752 `_) + * fix(behavior_velocity): calculate detection area from the nearest point from ego (`#730 `_) + * fix(behavior_velocity): calculate lateral distance from the beginning of the path + * add argument of min_velocity + * use veloicty from the nearest point from ego + * pass struct by reference + * fix to interpolate point in util + * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) + * fix(longitudinal_controller_node): parameterize stopped state entry condition + * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE + * fix(vehicle_cmd_gate): check time duration since the vehicle stopped + * docs(autoware_testing): fix link (`#741 `_) + * docs(autoware_testing): fix link + * fix typo + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * fix: trajectory visualizer (`#745 `_) + * fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) + * fix(tier4_autoware_utils): modify build error in rolling + * fix(lanelet2_extension): add target compile definition for geometry2 + * fix(ekf_localizer): add target compile definition for geometry2 + * fix(freespace_planning_algorithms): add target compile definition for geometry2 + * fix(interpolation): add target compile definition for geometry2 + * fix(freespace_planner): add target compile definition for geometry2 + * fix(lane_departure_checker): add target compile definition for geometry2 + * fix(map_based_prediction): add target compile definition for geometry2 + * fix(ground_segmentation): add target compile definition for geometry2 + * fix(motion_velocity_smoother): add target compile definition for geometry2 + * fix(multi_object_tracker): add target compile definition for geometry2 + * fix(trajectory_follower): add target compile definition for geometry2 + * fix(control_performance_analysis): add target compile definition for geometry2 + * fix(detected_object_validation): add target compile definition for geometry2 + * fix(goal_distance_calculator): add target compile definition for geometry2 + * fix(ndt_scan_matcher): add target compile definition for geometry2 + * fix(route_handler): add target compile definition for geometry2 + * fix(behavior_path_planner): add target compile definition for geometry2 + * fix(mission_planner): add target compile definition for geometry2 + * fix(obstacle_avoidance_planner): add target compile definition for geometry2 + * fix(obstacle_stop_planner): add target compile definition for geometry2 + * fix(obstacle_collision_checker): add target compile definition for geometry2 + * fix(shape_estimation): add target compile definition for geometry2 + * fix(behavior_velocity_planner): add target compile definition for geometry2 + * fix(path_distance_calculator): add target compile definition for geometry2 + * fix(detection_by_tracker): add target compile definition for geometry2 + * fix(surround_obstacle_checker): add target compile definition for geometry2 + * fix(probabilistic_occupancy_grid_map): add target compile definition for geometry2 + * fix(tier4_debug_tools): add target compile definition for geometry2 + * fix(tier4_vehicle_rviz_plugin): add target compile definition for geometry2 + * fix(pure_pursuit): add target compile definition for geometry2 + * fix(trajectory_follower_nodes): add target compile definition for geometry2 + * fix(occupancy_grid_map_outlier_filter): add target compile definition for geometry2 + * fix(traffic_light_map_based_detector): add target compile definition for geometry2 + * fix(planning_error_monitor): add target compile definition for geometry2 + * fix(planning_evaluator): add target compile definition for geometry2 + * fix(lidar_centerpoint): add target compile definition for geometry2 + * fix(behavior_velocity): handle the case when finding index failed (`#746 `_) + * feat: add scene module of dynamic obstacle stop + * fix warnings + * add temporary debug value + * add feature to go after stopping + * fix parameter namespace + * use planner util + * fix calculation when multiple obstacles are detected in one step polygon + * remove unnecessary debug + * add option to apply limit jerk + * Modify parameter name + * Add param file + * remove unnecessary comments + * add feature to exclude obstacles outside of partition + * modify search distance for partitions + * apply voxel grid filter to input points + * set smoother param by passing node instance + * add parameter for velocity limit (temporary) + * add dynamic reconfigure + * add debug value + * avoid acceleration when stopping for obstacles + * fix lateral distance to publish distance from vehicle side + * modify the location to publish longitudinal distance + * fix calculation of stop index + * use current velocity for stop dicision + * add dynamic parameter for slow down limit + * add debug value to display passing dist + * modify stopping velocity + * update param + * use smoother in planner data + * use path with lane id instead of trajectory + * remove unnecessary data check + * extend path to consider obstacles after the end of the path + * rename public member variables + * remove unused paramter + * create detection area using util + * fix visualization of stop distance marker + * make option for detection method easier to understand + * remove parameter about whether to enable this feature + * calculate and publish debug data in function + * use compare map filtered points + * add comment + * fix visualization of detection area when calculation of stop distance failed + * add option whether to specify the jerk + * fix format + * change parameter name + * remove dynamic reconfigure + * delete unused file + * remove unnecessary comments + * remove unnecessary includes + * add launcher for compare map + * add launch and config for dynamic obstacle stop planner + * fix finding package name + * handle the change of util + * relay points for simulation + * update parameter + * fix position and color of stop line marker + * pre-commit fixes + * remove unnecessary comments + * fix Copyright + Co-authored-by: Yukihiro Saito + * fix Copyright + * fix typo + * add documents for dynamic obstacle stop module + * ci(pre-commit): autofix + * update documents + * docs: begin a sentence with a capital letter + * docs: replace predicted with smoothed for path velocity + * create interface class to switch method + * run compare map filter only when points method is used + * delete unused functions + * rename functions for inserting velocity + * rename parameter of path_size to max_prediction_time + * fix(behavior_velocity_planner): dynamic obstacle stop planner docs + * fix(behavior_velocity_planner): add ego vehicle description + * fix(behavior_velocity_planner): change space to hyphen + * change smoothed to expected target velocity + * Start a sentence in figure with a capital letter + * fix typo + * use voxel distance based compare map + * select detection method from param file + * do not launch as default for now + * rename dynamic_obstacle_stop to run_out + * remove unnecessary change + * remove unnecessary changes + * remove unnecessary changes + * fix typo + * change default to false + * update cmake to build run_out module + * add launch_run_out parameter + * Add note for compare map filtered points + * handle the change for virtual wall marker + * rename the parameters for smoother + * fix build error in humble + * fix build error in humble + * launch compare map only when run out module is enabled + * update a document + * add calculation time for modify path + * update a document + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Esteve Fernandez + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Tomoya Kimura + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Yukihiro Saito + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Makoto Kurihara +* feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner + * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * feat: add param.yaml in behavior_velocity_planner package + * some fix + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * use car like constraints in mpt + * use not widest bounds for the first bounds + * organized params + * fix format + * prepare rear_drive and uniform_circle constraints + * fix param callback + * update config + * remove unnecessary files + * update tier4_planning_launch params +* feat(behavior_velocity): find occlusion more efficiently (`#829 `_) +* feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * fix(surroud_obstacle_checker): use alias + * feat(surround_obstacle_checker): use velocity limit + * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions + * refactor(surround_obstacle_checker): use parameter struct + * fix(surround_obstacle_checker): use alias + * refactor(surround_obstacle_checker): cleanup member functions + * refactor(surround_obstacle_checker): cleanup polygon handling + * refactor(surround_obstacle_checker): use marker helper + * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* style: fix format of package.xml (`#844 `_) +* feat(obstacle_avoidance_planner): parameterize bounds search widths (`#807 `_) + * feat(obstacle_avoidance_planner): parameterize bounds search widths + * update bounds search widths + * update tier4_planning_launch + * Added parameter description of README.md +* chore(behavior_velocity): add system delay parameter and minor update (`#764 `_) + * chore(behavior_velocity): add system delay parameter and minor update + * doc(behavior_velocity): add system delay discription +* fix(motion_velocity_smoother): add stop decel parameter (`#739 `_) + * add stop decel parameter + * add stop decel parameter +* feat(behavior_velocity): occlusion spot generate not detection area occupancy grid (`#620 `_) + * feat(behavior_velocity): filter dynamic object by default + * feat(behavior_velocity): raycast object shadow + * chore(behavior_velocity): replace target vehicle to filtered vehicle in detection area + * chore(behavior_velocity): update docs and settings + * chore(behavior_velocity): cosmetic change + * chore(behavior_velocity): consider delay for detection + * fix(behavior_velocity): fix launch and stuck vehicle + * chore(behavior_velocity): use experiment value + * chore(behavior_velocity): add comment +* fix(tier4_planning_launch): fix tier4_planning_launch package (`#660 `_) +* feat(behavior_path_planner): stop lane_driving planners in non-lane-driving scenario (`#668 `_) + * stop lanedriving in parking scenario + * use skip_first + * add scenario remap in launch + * replace warn to info +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(behavior_path_planner): parametrize avoidance target type (`#574 `_) + * parametrize avoidance target type + * add target type parameter in yaml + * mototbike -> motorcycle + * apply clang +* feat(obstacle avoidance planner): fix out curve, make calculation cost low, make optimization stable, refactor, etc. (`#233 `_) + * feat (obstacle avoidance planner) fix out curve, make optimization stable, make computation cost low, etc + * fix typos + * remove unnecessary codes + * minor refactoring + * add path shape change detection for replan + * add feature explanation in README + * move some parameters to advanced + * calcualte radius num automatically + * update config in tier4_planning_launch + * truncate path to detect path change, and tune path change detection + * disable yaw slerp + * fix ci error +* fix(behavior_path_planner): parametrize avoidance lateral distance threshold (`#404 `_) + * parametrize lateral threshold + * format readme + * apply clang format +* refactor(scenario_planning.launch.xml): add parameter description (`#464 `_) +* feat(behavior_path_planner): make drivable area coordinate fixed to the map coordinate and make its size dynamic (`#360 `_) + * make drivable area not to oscillate and its size dynamic + * update README for new parameters + * remove getLaneletScope from route_handler + * resolve temporary fix resolution multiplied by 10.0 + * dealt with edge case where length of a lane is too long + * rename function and put it in proper namespace + * update param for tier4_planning_launch + Co-authored-by: Takamasa Horibe +* feat(behavior_path_planner): better avoidance drivable areas extension in behavior path planning (`#287 `_) + * feat: Increases the flexibility of the function in dealing with several scenarios + The implementation updates generateExtendedDrivableArea + this is a part of .iv PR (`tier4/autoware.iv#2383 `_) port + * feat: change shift_length computation method + The new method considers the availability of the lane on the left side or right + side of ego vehicle, depending on the position of the obstacles. + Will not generate avoidance path if the adjacent lane is not a lanelet. + this is a part of .iv PR (`tier4/autoware.iv#2383 `_) port + * feat: Adds documentation and debug marker visualization. + The visualization will show the remaining distance between the overhang_pose and + referenced linestring. + this is a part of .iv PR (`tier4/autoware.iv#2383 `_) port + * fix: change debug naming to show clearer intent + The fix also removes a space character from one of the debug printing function call. + * fix: replace equation from latex to math jax + Also remove the equation's image + * fix: equation spacing + * Fix: slight improvement in debug marker + 1. Increase line ID text size and + 2. Remove unnecessary visualization of connection between last point and the + front point linestring. + * fix: drivable area not extend to third lane during extension + * fix: slightly increase lateral_collision_safety_buffer to 0.7 + The decision to increase is based on discussion with the planning control team + and also from input by FI team. + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* fix: use autoware_auto_msgs (`#197 `_) +* feat: change launch package name (`#186 `_) + * rename launch folder + * autoware_launch -> tier4_autoware_launch + * integration_launch -> tier4_integration_launch + * map_launch -> tier4_map_launch + * fix + * planning_launch -> tier4_planning_launch + * simulator_launch -> tier4_simulator_launch + * control_launch -> tier4_control_launch + * localization_launch -> tier4_localization_launch + * perception_launch -> tier4_perception_launch + * sensing_launch -> tier4_sensing_launch + * system_launch -> tier4_system_launch + * ci(pre-commit): autofix + * vehicle_launch -> tier4_vehicle_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: tanaka3 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* Contributors: Ahmed Ebrahim, Berkay Karaman, Fumiya Watanabe, Hiroki OTA, Ismet Atabay, Karmen Lu, Kenji Miyake, Kosuke Takeuchi, Kyoichi Sugahara, Mamoru Sobue, Maxime CLEMENT, Mehmet Dogru, NorahXiong, Satoshi OTA, Shumpei Wakabayashi, Takagi, Isamu, Takamasa Horibe, Takayuki Murooka, Takeshi Miura, Tomohito ANDO, Tomoya Kimura, Vincent Richard, Xinyu Wang, Yutaka Shimizu, Zulfaqar Azmi, beyzanurkaya, danielsanchezaran, k-obitsu, kminoda, pre-commit-ci[bot], taikitanaka3 diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index 2b80c2c6ea32e..f0fe45a46d92a 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -2,7 +2,7 @@ tier4_planning_launch - 0.1.0 + 0.38.0 The tier4_planning_launch package diff --git a/launch/tier4_sensing_launch/CHANGELOG.rst b/launch/tier4_sensing_launch/CHANGELOG.rst new file mode 100644 index 0000000000000..0f24629434ca1 --- /dev/null +++ b/launch/tier4_sensing_launch/CHANGELOG.rst @@ -0,0 +1,113 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tier4_sensing_launch +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) + * chore(autoware_vehicle_info_utils): rename header + * chore(bpp-common): vehicle info + * chore(path_optimizer): vehicle info + * chore(velocity_smoother): vehicle info + * chore(bvp-common): vehicle info + * chore(static_centerline_generator): vehicle info + * chore(obstacle_cruise_planner): vehicle info + * chore(obstacle_velocity_limiter): vehicle info + * chore(mission_planner): vehicle info + * chore(obstacle_stop_planner): vehicle info + * chore(planning_validator): vehicle info + * chore(surround_obstacle_checker): vehicle info + * chore(goal_planner): vehicle info + * chore(start_planner): vehicle info + * chore(control_performance_analysis): vehicle info + * chore(lane_departure_checker): vehicle info + * chore(predicted_path_checker): vehicle info + * chore(vehicle_cmd_gate): vehicle info + * chore(obstacle_collision_checker): vehicle info + * chore(operation_mode_transition_manager): vehicle info + * chore(mpc): vehicle info + * chore(control): vehicle info + * chore(common): vehicle info + * chore(perception): vehicle info + * chore(evaluator): vehicle info + * chore(freespace): vehicle info + * chore(planning): vehicle info + * chore(vehicle): vehicle info + * chore(simulator): vehicle info + * chore(launch): vehicle info + * chore(system): vehicle info + * chore(sensing): vehicle info + * fix(autoware_joy_controller): remove unused deps + --------- +* Contributors: Satoshi OTA, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* feat: remove use_pointcloud_container (`#6115 `_) + * feat!: remove use_pointcloud_container + * fix pre-commit + * fix: completely remove use_pointcloud_container after merge main + * fix: set use_pointcloud_container = true + * revert: revert change in probabilistic_occupancy_grid_map + * revert change in launcher of ogm + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) + * sync launch file from tier4 autoware launch + * sync tlr launcher + * ci(pre-commit): autofix + * sync launch file from tier4 autoware launch + * sync tlr launcher + * ci(pre-commit): autofix + * fix exec_depend in package.xml + * Sync traffic light node + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* ci(pre-commit): format SVG files (`#2172 `_) + * ci(pre-commit): format SVG files + * ci(pre-commit): autofix + * apply pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* chore: remove bad chars (`#845 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: delete common_sensor_launch from exec_depend (`#626 `_) +* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) + * feat(tier4_autoware_launch)!: move package to autoware_launch + * remove unnecessary depends +* feat: change launch package name (`#186 `_) + * rename launch folder + * autoware_launch -> tier4_autoware_launch + * integration_launch -> tier4_integration_launch + * map_launch -> tier4_map_launch + * fix + * planning_launch -> tier4_planning_launch + * simulator_launch -> tier4_simulator_launch + * control_launch -> tier4_control_launch + * localization_launch -> tier4_localization_launch + * perception_launch -> tier4_perception_launch + * sensing_launch -> tier4_sensing_launch + * system_launch -> tier4_system_launch + * ci(pre-commit): autofix + * vehicle_launch -> tier4_vehicle_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: tanaka3 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* Contributors: Hiroki OTA, Kenji Miyake, Shunsuke Miura, Tomoya Kimura, Vincent Richard, kminoda diff --git a/launch/tier4_sensing_launch/package.xml b/launch/tier4_sensing_launch/package.xml index 410f685285b7d..d4e03219b2299 100644 --- a/launch/tier4_sensing_launch/package.xml +++ b/launch/tier4_sensing_launch/package.xml @@ -2,7 +2,7 @@ tier4_sensing_launch - 0.1.0 + 0.38.0 The tier4_sensing_launch package Yukihiro Saito Apache License 2.0 diff --git a/launch/tier4_simulator_launch/CHANGELOG.rst b/launch/tier4_simulator_launch/CHANGELOG.rst new file mode 100644 index 0000000000000..ddb251df83667 --- /dev/null +++ b/launch/tier4_simulator_launch/CHANGELOG.rst @@ -0,0 +1,318 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tier4_simulator_launch +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(simple_planning_simulator): add stop_filter_param_path (`#9127 `_) +* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) + * add autoware\_ prefix + * fix link + --------- + Co-authored-by: SakodaShintaro +* feat(psim)!: preapre settings to launch localization modules on psim (`#8212 `_) +* feat(psim)!: change a setting parameter type from bool to string (`#8331 `_) + * change a param type, bool to string + * add param description, add null tag group for the null option + --------- +* feat(evalautor): rename evaluator diag topics (`#8152 `_) + * feat(evalautor): rename evaluator diag topics + * perception + --------- +* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) + * refactor: add namespace, remove unused dependencies, file structure + chore: remove unused dependencies + style(pre-commit): autofix + * refactor: rename elevation_map_loader to autoware_elevation_map_loader + Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. + style(pre-commit): autofix +* feat(simple_planning_simulator): add actuation command simulator (`#8065 `_) + * feat(simple_planning_simulator): add actuation command simulator + tmp + add + * remove unused functions + * common map + * pre-commit + * update readme + * add test + install test dir + fix test + * pre-commit + * clean up test for for scalability parameter + * fix typo + --------- + Co-authored-by: Takamasa Horibe +* feat(processing_time_checker): add a new package (`#7957 `_) + * feat(processing_time_checker): add a new package + * fix + * fix + * update README and schema.json + * fix + * fix + * fix + --------- +* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) + * feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger + * feat: add use_multi_channel_tracker_merger argument to simulator launch + This commit adds the `use_multi_channel_tracker_merger` argument to the simulator launch file. The argument is set to `false` by default. This change enables the use of the multi-channel tracker merger in the simulator. + --------- +* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) +* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) +* Contributors: Kosuke Takeuchi, Masaki Baba, Taekjin LEE, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* fix(pose_initializer): added "user_defined_initial_pose" to dummy localization (`#6723 `_) + Added "used_defined_initial_pose" to dummy localization +* feat(default_ad_api): add door api (`#5737 `_) +* feat(tier4_simulator_launch): add option to disable all perception related modules (`#6382 `_) +* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) + * feat(perception_evaluator): add perception_evaluator + tmp + update + add + add + add + update + clean up + change time horizon + * fix build werror + * fix topic name + * clean up + * rename to perception_online_evaluator + * refactor: remove timer + * feat: add test + * fix: ci check + --------- +* fix(tier4_simulator_launch): add lacked param path (`#5326 `_) +* chore(tier4_simulator_launch): launch camera and V2X fusion module in simple planning simulator (`#4522 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) + * feat(tier4_localization_launch): add pose_twist_estimator.launch.py + * update format + * update launcher + * update pose_initailizer config + * Move pose_initializer to pose_twist_estimator.launch.py, move yabloc namespace + * use launch.xml instead of launch.py + * Validated that all the configuration launches correctly (not performance eval yet) + * Remove arg + * style(pre-commit): autofix + * Update eagleye param path + * minor update + * fix minor bugs + * fix minor bugs + * Introduce use_eagleye_twist args in eagleye_rt.launch.xml to control pose/twist relay nodes + * Update pose_initializer input topic when using eagleye + * Add eagleye dependency in tier4_localization_launch + * Update tier4_localization_launch readme + * style(pre-commit): autofix + * Update svg + * Update svg again (transparent background) + * style(pre-commit): autofix + * Update yabloc document + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(occpuancy grid map): move param to yaml (`#4038 `_) +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* fix(dummy_perception_publisher): add parameter to configure z pose of dummy object (`#3457 `_) +* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) + * add occcupancy_grid_map method/param var to launcher + * added CODEOWNER + * Revert "added CODEOWNER" + This reverts commit 2213c2956af19580d0a7788680aab321675aab3b. + * add maintainer + --------- +* fix(tier4_simulator_launch): fix launch package name (`#3340 `_) +* feat(tier4_simulator_launch): convert /diagnostics_err (`#3152 `_) +* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) + * fixed psim occupancy grid map problem + * fix parameter designation + --------- + Co-authored-by: Takayuki Murooka +* chore(tier4_simulator_launch): add code owner (`#3080 `_) + chore(tier4_simulator_launch): add code owners +* fix(tier4_perception_launch): fix config path (`#3078 `_) + * fix(tier4_perception_launch): fix config path + * use pointcloud_based_occupancy_grid_map.launch.py in tier4_simulator_launch + --------- +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) + * feat(pose_initializer): enable pose initialization while running (only for sim) + * both logsim and psim params + * only one pose_initializer_param_path arg + * use two param files for pose_initializer + --------- +* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) + * add original diagnostic_convertor + * add test + * fix typo + * delete file + * change include + * temp + * delete comments + * made launch for converter + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * add diagnostic convertor in launch + * ci(pre-commit): autofix + * change debug from info + * change arg name to launch diagnostic convertor + * add planning_evaluator launcher in simulator.launch.xml + * fix arg wrong setting + * style(pre-commit): autofix + * use simulation msg in tier4_autoware_msgs + * style(pre-commit): autofix + * fix README + * style(pre-commit): autofix + * refactoring + * style(pre-commit): autofix + * remove unnecessary dependency + * remove unnecessary dependency + * move folder + * reformat + * style(pre-commit): autofix + * Update evaluator/diagnostic_converter/include/converter_node.hpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Update evaluator/diagnostic_converter/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Update evaluator/diagnostic_converter/src/converter_node.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Update evaluator/diagnostic_converter/test/test_converter_node.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * define diagnostic_topics as parameter + * fix include way + * fix include way + * delete ament_cmake_clang_format from package.xml + * fix test_depend + * Update evaluator/diagnostic_converter/test/test_converter_node.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * style(pre-commit): autofix + * Update launch/tier4_simulator_launch/launch/simulator.launch.xml + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) + * Support GNSS/IMU pose estimator + * style(pre-commit): autofix + * Revert gnss/imu support + * Support GNSS/IMU pose estimator + * style(pre-commit): autofix + * Separate EKF and NDT trigger modules + * Integrate activate and deactivate into sendRequest + * style(pre-commit): autofix + * Change sendRequest function arguments + * style(pre-commit): autofix + * Remove unused conditional branches + * Fix command name + * Change to snake_case + * Fix typos + * Update localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.cpp + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * Update localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.cpp + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * Update copyright year + * Set the copyright year of ekf_localization_module to 2022 + * Delete unnecessary conditional branches + * Add ekf_enabled parameter + * Add #include + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Ryohei Sasaki + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* feat(tier4_simulator_launch): remove configs and move to autoware_launch (`#2541 `_) + * feat(tier4_perception_launch): remove configs and move to autoware_launch + * update readme + * first commit + * remove config +* fix(tier4_simulator_launch): fix path (`#2281 `_) +* ci(pre-commit): format SVG files (`#2172 `_) + * ci(pre-commit): format SVG files + * ci(pre-commit): autofix + * apply pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(pose_initializer)!: support ad api (`#1500 `_) + * feat(pose_initializer): support ad api + * docs: update readme + * fix: build error + * fix: test + * fix: auto format + * fix: auto format + * feat(autoware_ad_api_msgs): define localization interface + * feat: update readme + * fix: copyright + * fix: main function + * Add readme of localization message + * feat: modify stop check time + * fix: fix build error + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(tier4_simulator_launch): manual sync with tier4/autoware_launch.*/simulator_launch (`#1820 `_) + * feat(tier4_simulator_launch): manual sync with tier4/autoware_launch.*/simulator_launch + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat(tier4_simulator_launch): declare param path argument (`#1443 `_) + feat(tier4_simulator_launch): declare param path +* feat!: replace ogm at scenario simulation (`#1062 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* style: fix format of package.xml (`#844 `_) +* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) + * initial commit + * ci(pre-commit): autofix + * change param + * update readme + * add launch + * ci(pre-commit): autofix + * update readme + * ci(pre-commit): autofix + * fix typo + * update readme + * ci(pre-commit): autofix + * cosmetic change + * add single frame mode + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: move empty_objects_publisher (`#613 `_) + * feat: move empty_objects_publisher + * fix group of empty_object_publisher +* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (`#465 `_) + * feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simualtor.launch.xml + * remove perception launching dummy_perception_publisher.launch.xml + * remove unnecessary comment +* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) +* feat: change launch package name (`#186 `_) + * rename launch folder + * autoware_launch -> tier4_autoware_launch + * integration_launch -> tier4_integration_launch + * map_launch -> tier4_map_launch + * fix + * planning_launch -> tier4_planning_launch + * simulator_launch -> tier4_simulator_launch + * control_launch -> tier4_control_launch + * localization_launch -> tier4_localization_launch + * perception_launch -> tier4_perception_launch + * sensing_launch -> tier4_sensing_launch + * system_launch -> tier4_system_launch + * ci(pre-commit): autofix + * vehicle_launch -> tier4_vehicle_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: tanaka3 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* Contributors: Berkay Karaman, Kenji Miyake, Kosuke Takeuchi, Kyoichi Sugahara, Mamoru Sobue, SakodaShintaro, Satoshi OTA, Takagi, Isamu, Takayuki Murooka, Tomohito ANDO, Tomoya Kimura, Vincent Richard, Yoshi Ri, Yukihiro Saito, kminoda, ryohei sasaki, taikitanaka3 diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml index f08d0737b8c40..6452241dc3f72 100644 --- a/launch/tier4_simulator_launch/package.xml +++ b/launch/tier4_simulator_launch/package.xml @@ -2,7 +2,7 @@ tier4_simulator_launch - 0.1.0 + 0.38.0 The tier4_simulator_launch package Keisuke Shima Takayuki Murooka diff --git a/launch/tier4_system_launch/CHANGELOG.rst b/launch/tier4_system_launch/CHANGELOG.rst new file mode 100644 index 0000000000000..6472a862209cf --- /dev/null +++ b/launch/tier4_system_launch/CHANGELOG.rst @@ -0,0 +1,853 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tier4_system_launch +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(system): fixed to use autoware_component_interface_tools (`#9133 `_) + Fixed component_interface_tools +* feat(system_error_monitor): remove system error monitor (`#8929 `_) + * feat: delete-system-error-monitor-from-autoware + * feat: remove unnecessary params + --------- +* feat(emergency_handler): delete package (`#8917 `_) + * feat(emergency_handler): delete package +* feat(processing_time_checker): add a new package (`#7957 `_) + * feat(processing_time_checker): add a new package + * fix + * fix + * update README and schema.json + * fix + * fix + * fix + --------- +* feat(tier4_system_launch): use mrm handler by default (`#7728 `_) +* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) +* feat(default_ad_api): use diagnostic graph (`#7043 `_) +* Contributors: Ryuta Kambe, SakodaShintaro, Takagi, Isamu, Takayuki Murooka, TetsuKawa, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* chore(tier4_system_launch): add option to select graph path depending on running mode (`#6700 `_) + chore(tier4_system_launch): add option of using graph path for simulation +* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) +* chore: update maintainer (`#5730 `_) + update maintainer +* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) + * add implementation for duplicated node checking + * update the default parameters of system_error_monitor to include results from duplication check + * style(pre-commit): autofix + * fix typo in readme + * update license + * change module to the system module + * follow json schema: 1. update code to start without default 2. add schema/config/readme/launch accordingly + * add duplicated node checker to launch + * style(pre-commit): autofix + * fix var name to config for uniform launch + * Update system/duplicated_node_checker/README.md + * Update system/duplicated_node_checker/README.md + --------- + Co-authored-by: Owen-Liuyuxuan + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> +* chore: update maintainer (`#4140 `_) + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) + * feat(pose_initializer): enable pose initialization while running (only for sim) + * both logsim and psim params + * only one pose_initializer_param_path arg + * use two param files for pose_initializer + --------- +* feat(dummy diag publisher): change diag name specification method to YAML (`#2840 `_) + * Signed-off-by: asana17 + modified dummy_diag_publisher to use YAML for param + * Signed-off-by: asana17 + use YAML param for dummy_diag_publisher + * fix empty param + * fixed empty param + * fix spelling + * add pkg maintainer + * launch dummy_diag_publisher by launch_dummy_diag_publisher param + --------- +* feat(tier4_system_launch): remove configs and move to autoware_launch (`#2540 `_) + * feat(tier4_system_launch): remove configs and move to autoware_launch + * update readme + * fix readme + * remove config + * minor fix + * fix readme + * fix mistake + * fix typo +* feat(component_interface_tools): add service log checker (`#2503 `_) + * feat(component_interface_utils): add service log checker + * feat(component_interface_tools): add service log checker + * feat(component_interface_tools): add diagnostics + * feat: update system error monitor config +* feat: replace python launch with xml launch for system monitor (`#2430 `_) + * feat: replace python launch with xml launch for system monitor + * ci(pre-commit): autofix + * update figure + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(system_monitor): add maintainer (`#2420 `_) +* feat!: replace HADMap with Lanelet (`#2356 `_) + * feat!: replace HADMap with Lanelet + * update topic.yaml + * Update perception/traffic_light_map_based_detector/README.md + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update planning/behavior_path_planner/README.md + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update planning/mission_planner/README.md + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update planning/scenario_selector/README.md + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * format readme + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> +* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) + * fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators + * ci(pre-commit): autofix + * fix(mrm_emergency_stop_operator): remove os import + * fix(mrm_emergency_stop_operator): remove unused packages + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(ad_service_state_monitor)!: remove ad_service_state_monitor (`#2311 `_) + * feat(autoware_ad_api_msgs): define operation mode interface + * feat(default_ad_api): add operation mode api + * fix: add message + * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * fix: add message callback + * feat: add topic monitoring + * feat: use topic monitoring + * feat: modify topic monitoring config + * fix: config name + * feat: modify diag name + * feat: move adapi message + * feat: change message type + * fix: merge + * WIP + * fix: fix build error + * feat: move diagnostics + * feat: remove diagnostics + * feat: modify error message + * feat: remove unused code + * feat(default_ad_api): add autoware state + * feat: reproduce old state + * feat: add shutdown service + * feat: change operation mode to stop + * feat: change operation mode to stop + * feat: remove ad_service_state_monitor + * feat: apply removing of ad_service_state_monitor + * ci(pre-commit): autofix + * fix: remove comment for sync-file + * feat: discard sensing topic rate status + * Revert "feat: discard sensing topic rate status" + This reverts commit 120d4f8d1aee93d7cbb29cc9bfbbbc52fe12cbf6. + * feat: add dummy topic rate check for alive monitoring + * Revert "feat: add dummy topic rate check for alive monitoring" + This reverts commit 46d9d4a495b6bc1ee86dcd2e71b5df346e8f1f6b. + * feat: remove sensing alive monitoring + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(system_monitor): add parameter to launch system_monitor and fix hdd_monitor (`#2285 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) + * feat(emergency_handler): add mrm command and status publishers + * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg + * feat(emergency_handler): add mrm clients and subscribers + * feat(mrm_comfortable_stop_operator): ready ros2 node template + * feat(mrm_comfortable_stop_operator): implemented + * feat(mrm_comfortable_stop_operator): implement as component + * chore(mrm_comfortable_stop_operator): add a launch script + * refactor(mrm_comfortable_stop_operator): remove a xml launch file + * feat(autoware_ad_api_msgs): change mrm status msg + * feat(emergency_handler): add mrm operator and mrm behavior updater + * feat(emergency_handler): add mrm behavior state machine + * feat(emergency_handler): remap io names + * fix(emergency_handler): fix request generation + * fix(emergency_handler): add multi thread execution for service + * feat(vehicle_cmd_gate): add mrm operation service and status publisher + * refactor(mrm_comfortable_stop_operator): use MRMBehaviorStatus struct + * fix(mrm_comfortable_stop_operator): add time stamp for status + * feat(vehicle_cmd_gate): change system emergency state by mrm operation + * chore(autoware_ad_api_msgs): remove rti_operating state from mrm status + * feat(mrm_sudden_stop_operator): add mrm_sudden_stop_operator + * refactor(autoware_ad_api_msgs): rename from mrm status to mrm state + * fix(mrm_comfortable_stop_operator): set qos for velocity limit publisher + * feat(emergency_handler): add mrm state publisher + * feat(vehicle_cmd_gate): add subscription for mrm_state + * fix(mrm_sudden_stop_operator): fix control command topic name + * feat(vehicle_cmd_gate): pub emergency control_cmd according to mrm state + * feat(emergency_handler): remove emergency control_cmd publisher + * chore(tier4_control_launch): remap mrm state topic + * feat(tier4_system_launch): launch mrm operators + * fix(emergency_handler): fix autoware_ad_api_msgs to autoware_adapi_v1_msgs + * fix(vehicle_cmd_gate): remove subscribers for emergency_state and mrm operation + * fix(vehicle_cmd_gate): fix system emergency condition + * fix(emergency_handler): add stamp for mrm_state + * fix(mrm_emergency_stop_operator): rename sudden stop to emergency stop + * fix(vehicle_cmd_gate): remove emergency stop status publisher + * fix(emergency_handler): replace emergency state to mrm state + * feat(mrm_emergency_stop_operator): add is_available logic + * feat(emergency_handler): add use_comfortable_stop param + * refactor(emergency_handler): rename getCurrentMRMBehavior + * feat(emergency_handler): add mrm available status for ready conditions + * feat(emergency_handler): add readme + * fix(mrm_comfortable_stop_operator): fix update rate + * refactor(emergency_handler): move MRMBehaviorStatus msg to tier4_system_msgs + * feat(emergency_handler): describe new io for emergency_handler + * fix(emergency_handler): remove extra settings + * fix(mrm_emergency_stop_operator): fix is_available condition + * fix(mrm_emergency_stop_operator): fix typo + * ci(pre-commit): autofix + * fix(mrm_emergency_stop_operator): remove extra descriptions on config files + * fix(mrm_comfortable_stop_operator): fix typo + * chore(mrm_comfortable_stop_operator): change words + * chore(mrm_comfortable_stop_operator): change maintainer infomation + * fix(emergency_handler): fix acronyms case + * chore(emergency_handler): add a maintainer + * fix(emergency_handler): fix to match msg changes + * fix(vehicle_cmd_gate): remove an extra include + * ci(pre-commit): autofix + * fix(emergency_handler): fix topic name spaces + * fix(emergency_handler): fix acronyms case + * chore(tier4_system_launch): add a mrm comfortable stop parameter + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(tier4_system_launch): remove unused system file (`#2263 `_) + * chore(tier4_system_launch): remove unused system file + * remove unnecessary code +* ci(pre-commit): format SVG files (`#2172 `_) + * ci(pre-commit): format SVG files + * ci(pre-commit): autofix + * apply pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(component_state_monitor): add component state monitor (`#2120 `_) + * feat(component_state_monitor): add component state monitor + * feat: change module +* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) + * adding document for voltage monitor + * ci(pre-commit): autofix + * fixed for the issue of multithread + * Fixed the lack for processing of Error case. + * deleted magic number 200 + * ci(pre-commit): autofix + * moved voltage_mnitor to tha last + * minimizing between try-catch. + * ci(pre-commit): autofix + * deleted unused files + * added default vlue of cmos_battery_voltage + * changed the label name to cmos_battery_label. + * adding language specified + * resolved conflict + * resolved conflict + * resolved conflict + * ci(pre-commit): autofix + * added topics_voltage_monitor.md) + * ci(pre-commit): autofix + * chore: sync files (`#629 `_) + * chore: sync files + * ci(pre-commit): autofix + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) + * chore: sync files + * Revert "chore: sync files" + This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. + * sync codecov.yaml + Co-authored-by: kenji-miyake + Co-authored-by: Kenji Miyake + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) + * docs: fix 404 error caused by typo in url + * docs: fix typo in url for yolov4 + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix: set imagebuffersize configured + * ci(pre-commit): autofix + Co-authored-by: suchang + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) + * doc(behavior_velocity): add graph and fix link + * doc(behavior_velocity): update virtual traffic light doc + * doc(behavior_velocity): minor fix + * doc : mediate to coordinate + * doc: minor update + * doc: fix pre-commit + * doc: update docs + * apply suggestion + * doc: to intersection-coordination + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * fix(surroud_obstacle_checker): use alias + * feat(surround_obstacle_checker): use velocity limit + * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions + * refactor(surround_obstacle_checker): use parameter struct + * fix(surround_obstacle_checker): use alias + * refactor(surround_obstacle_checker): cleanup member functions + * refactor(surround_obstacle_checker): cleanup polygon handling + * refactor(surround_obstacle_checker): use marker helper + * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) + * fix(lidar_centerpoint): update nvinfer api + * fix(tensorrt_yolo): update nvinfer api + * fix(lidar_apollo_instance_segmentation): update nvinfer api + * fix(traffic_light_classifier): update nvinfer api + * fix(traffic_light_ssd_fine_detector): update nvinfer api + * pre-commit run + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix: ignore object instead of creating zero shift + instead of creating zero shift point, the object will be ignored. + no behavior changes should be observed. + * refactor: sync continue with upstream + * fix: fix debug message for insufficient lateral margin + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(autoware_testing): fix smoke_test + * restore smoke_test for trajectory_follower_nodes + * add support multiple parameter files + * ci(pre-commit): autofix + * minor fix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel + * chore(rviz_plugin): change ms to kmh + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle + * applied pre-commit + * Added max_steer_angle in test config + Co-authored-by: Tomoya Kimura + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 + * Update CMakeLists.txt + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * add random point sampling function to quickly calculate the 'viewer' coordinate + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * ci(pre-commit): autofix + * fixed conflicts + * ci(pre-commit): autofix + * merged fork-origin + * merged + * resolve conflict + * ci(pre-commit): autofix + * deleted + * added "Voltage Monitor" + * merged with main->feature_battery_monitoring + * merge main ->feature_battery_monitoring + * ci(pre-commit): autofix + * added default vlue of cmos_battery_voltage + * resolved conflict + * resolved conflict + * ci(pre-commit): autofix + * added topics_voltage_monitor.md) + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * chore: sync files (`#629 `_) + * chore: sync files + * ci(pre-commit): autofix + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) + * chore: sync files + * Revert "chore: sync files" + This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. + * sync codecov.yaml + Co-authored-by: kenji-miyake + Co-authored-by: Kenji Miyake + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) + * docs: fix 404 error caused by typo in url + * docs: fix typo in url for yolov4 + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix: set imagebuffersize configured + * ci(pre-commit): autofix + Co-authored-by: suchang + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) + * doc(behavior_velocity): add graph and fix link + * doc(behavior_velocity): update virtual traffic light doc + * doc(behavior_velocity): minor fix + * doc : mediate to coordinate + * doc: minor update + * doc: fix pre-commit + * doc: update docs + * apply suggestion + * doc: to intersection-coordination + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * fix(surroud_obstacle_checker): use alias + * feat(surround_obstacle_checker): use velocity limit + * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions + * refactor(surround_obstacle_checker): use parameter struct + * fix(surround_obstacle_checker): use alias + * refactor(surround_obstacle_checker): cleanup member functions + * refactor(surround_obstacle_checker): cleanup polygon handling + * refactor(surround_obstacle_checker): use marker helper + * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) + * fix(lidar_centerpoint): update nvinfer api + * fix(tensorrt_yolo): update nvinfer api + * fix(lidar_apollo_instance_segmentation): update nvinfer api + * fix(traffic_light_classifier): update nvinfer api + * fix(traffic_light_ssd_fine_detector): update nvinfer api + * pre-commit run + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix: ignore object instead of creating zero shift + instead of creating zero shift point, the object will be ignored. + no behavior changes should be observed. + * refactor: sync continue with upstream + * fix: fix debug message for insufficient lateral margin + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(autoware_testing): fix smoke_test + * restore smoke_test for trajectory_follower_nodes + * add support multiple parameter files + * ci(pre-commit): autofix + * minor fix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel + * chore(rviz_plugin): change ms to kmh + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle + * applied pre-commit + * Added max_steer_angle in test config + Co-authored-by: Tomoya Kimura + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 + * Update CMakeLists.txt + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * add random point sampling function to quickly calculate the 'viewer' coordinate + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * ci(pre-commit): autofix + * fixed conflicts + * ci(pre-commit): autofix + * resolve conflict + * ci(pre-commit): autofix + * merged with main->feature_battery_monitoring + * merge main ->feature_battery_monitoring + * Added voltages are provisional values. + * ci(pre-commit): autofix + * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) + * feat(behavior_path_planner): add and change parameters + * update + * update + * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) + * refactor(perception_util): refactor matching function in perception_util + * fix namespace + * refactor + * refactor + * fix bug + * add const + * refactor function name + * refactor(perception_utils): refactor object_classification (`#2042 `_) + * refactor(perception_utils): refactor object_classification + * fix bug + * fix unittest + * refactor + * fix unit test + * remove redundant else + * refactor variable name + * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) + * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) + * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) + * refactor(osqp_interface, motion_velocity_smoother): unsolved status log + * Update common/osqp_interface/src/osqp_interface.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) + Co-authored-by: Yusuke Muramatsu + * change name hardware_monitor -> voltage_monitor + * copy right 2020 -> 2022 + * delete duplicated lines + * fix: catch exception, remove sensors_exists\_ + * adding error message output + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * adding document for voltage monitor + * fixed for the issue of multithread + * ci(pre-commit): autofix + * Fixed the lack for processing of Error case. + * deleted magic number 200 + * moved voltage_mnitor to tha last + * minimizing between try-catch. + * ci(pre-commit): autofix + * added default vlue of cmos_battery_voltage + * changed the label name to cmos_battery_label. + * adding language specified + * resolved conflict + * resolved conflict + * ci(pre-commit): autofix + * added topics_voltage_monitor.md) + * ci(pre-commit): autofix + * chore: sync files (`#629 `_) + * chore: sync files + * ci(pre-commit): autofix + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) + * chore: sync files + * Revert "chore: sync files" + This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. + * sync codecov.yaml + Co-authored-by: kenji-miyake + Co-authored-by: Kenji Miyake + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) + * docs: fix 404 error caused by typo in url + * docs: fix typo in url for yolov4 + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix: set imagebuffersize configured + * ci(pre-commit): autofix + Co-authored-by: suchang + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) + * doc(behavior_velocity): add graph and fix link + * doc(behavior_velocity): update virtual traffic light doc + * doc(behavior_velocity): minor fix + * doc : mediate to coordinate + * doc: minor update + * doc: fix pre-commit + * doc: update docs + * apply suggestion + * doc: to intersection-coordination + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * fix(surroud_obstacle_checker): use alias + * feat(surround_obstacle_checker): use velocity limit + * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions + * refactor(surround_obstacle_checker): use parameter struct + * fix(surround_obstacle_checker): use alias + * refactor(surround_obstacle_checker): cleanup member functions + * refactor(surround_obstacle_checker): cleanup polygon handling + * refactor(surround_obstacle_checker): use marker helper + * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) + * fix(lidar_centerpoint): update nvinfer api + * fix(tensorrt_yolo): update nvinfer api + * fix(lidar_apollo_instance_segmentation): update nvinfer api + * fix(traffic_light_classifier): update nvinfer api + * fix(traffic_light_ssd_fine_detector): update nvinfer api + * pre-commit run + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix: ignore object instead of creating zero shift + instead of creating zero shift point, the object will be ignored. + no behavior changes should be observed. + * refactor: sync continue with upstream + * fix: fix debug message for insufficient lateral margin + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(autoware_testing): fix smoke_test + * restore smoke_test for trajectory_follower_nodes + * add support multiple parameter files + * ci(pre-commit): autofix + * minor fix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel + * chore(rviz_plugin): change ms to kmh + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle + * applied pre-commit + * Added max_steer_angle in test config + Co-authored-by: Tomoya Kimura + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 + * Update CMakeLists.txt + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * add random point sampling function to quickly calculate the 'viewer' coordinate + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * ci(pre-commit): autofix + * fixed conflicts + * ci(pre-commit): autofix + * resolve conflict + * deleted + * added "Voltage Monitor" + * ci(pre-commit): autofix + * merged with main->feature_battery_monitoring + * merge main ->feature_battery_monitoring + * ci(pre-commit): autofix + * added default vlue of cmos_battery_voltage + * resolved conflict + * resolved conflict + * added topics_voltage_monitor.md) + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * chore: sync files (`#629 `_) + * chore: sync files + * ci(pre-commit): autofix + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) + * chore: sync files + * Revert "chore: sync files" + This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. + * sync codecov.yaml + Co-authored-by: kenji-miyake + Co-authored-by: Kenji Miyake + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) + * docs: fix 404 error caused by typo in url + * docs: fix typo in url for yolov4 + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix: set imagebuffersize configured + * ci(pre-commit): autofix + Co-authored-by: suchang + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) + * doc(behavior_velocity): add graph and fix link + * doc(behavior_velocity): update virtual traffic light doc + * doc(behavior_velocity): minor fix + * doc : mediate to coordinate + * doc: minor update + * doc: fix pre-commit + * doc: update docs + * apply suggestion + * doc: to intersection-coordination + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * fix(surroud_obstacle_checker): use alias + * feat(surround_obstacle_checker): use velocity limit + * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions + * refactor(surround_obstacle_checker): use parameter struct + * fix(surround_obstacle_checker): use alias + * refactor(surround_obstacle_checker): cleanup member functions + * refactor(surround_obstacle_checker): cleanup polygon handling + * refactor(surround_obstacle_checker): use marker helper + * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) + * fix(lidar_centerpoint): update nvinfer api + * fix(tensorrt_yolo): update nvinfer api + * fix(lidar_apollo_instance_segmentation): update nvinfer api + * fix(traffic_light_classifier): update nvinfer api + * fix(traffic_light_ssd_fine_detector): update nvinfer api + * pre-commit run + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix: ignore object instead of creating zero shift + instead of creating zero shift point, the object will be ignored. + no behavior changes should be observed. + * refactor: sync continue with upstream + * fix: fix debug message for insufficient lateral margin + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(autoware_testing): fix smoke_test + * restore smoke_test for trajectory_follower_nodes + * add support multiple parameter files + * ci(pre-commit): autofix + * minor fix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel + * chore(rviz_plugin): change ms to kmh + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle + * applied pre-commit + * Added max_steer_angle in test config + Co-authored-by: Tomoya Kimura + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 + * Update CMakeLists.txt + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * add random point sampling function to quickly calculate the 'viewer' coordinate + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * ci(pre-commit): autofix + * fixed conflicts + * ci(pre-commit): autofix + * resolve conflict + * ci(pre-commit): autofix + * merged with main->feature_battery_monitoring + * merge main ->feature_battery_monitoring + * Added voltages are provisional values. + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * fixed conflict manually + * fixed conflict manually + * ci(pre-commit): autofix + * fixed conflict + * fixed conflict + * ci(pre-commit): autofix + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> + Co-authored-by: kenji-miyake + Co-authored-by: Hiroki OTA + Co-authored-by: Kenji Miyake + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: storrrrrrrrm <103425473+storrrrrrrrm@users.noreply.github.com> + Co-authored-by: suchang + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Takamasa Horibe + Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> + Co-authored-by: Takayuki Murooka + Co-authored-by: Tomoya Kimura + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> + Co-authored-by: Takeshi Ishita + Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: Yusuke Muramatsu +* feat: add HDD monitoring items to hdd_monitor (`#721 `_) + * feat: add HDD monitoring items to hdd_monitor + * fix pre-commit C long type error + * fixed the monitoring method of RecoveredError + * additional support for storage health check + * resolve conflicts + * fix bug when setting mount point of HDD Monitor + * fix(system_monitor): level change when not connected and unmount function added in HDD connection monitoring + * fix(system_monitor): level change when not connected in HDD connection monitoring + * fix(system_monitor): unmount function added in hdd_reader + * fix(system_monitor): separate S.M.A.R.T. request and lazy unmount request for hdd_reader +* chore(system_error_monitor): add maintainer (`#1922 `_) +* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) + * feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor + * fix build errors caused by merge mistakes + * fix(system_monitor): chang word Reasm and fix deep nesting + * fix(system_monitor): fix deep nesting + * fix(system_monitor): lightweight /proc/net/snmp reading + * fix(system_monitor): fix index variable type to unsigned, add log output, and make index evaluation expression easier to understand + * fix(system_monitor): remove unnecessary static_cast + * fix(system_monitor): typo fix + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> +* feat(pose_initializer)!: support ad api (`#1500 `_) + * feat(pose_initializer): support ad api + * docs: update readme + * fix: build error + * fix: test + * fix: auto format + * fix: auto format + * feat(autoware_ad_api_msgs): define localization interface + * feat: update readme + * fix: copyright + * fix: main function + * Add readme of localization message + * feat: modify stop check time + * fix: fix build error + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> +* feat: add CRC error monitoring to net_monitor (`#638 `_) + * feat: add CRC error monitoring to net_monitor + * add CRC error monitoring information to README.md + * ci(pre-commit): autofix + Co-authored-by: noriyuki.h + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(tier4_system_launch): declare tier4_system_launch_param_path (`#1411 `_) +* fix(tier4_system_launch): add group tag (`#1240 `_) + * fix(tier4_system_launch): add group tag + * move arg into group +* fix(system_monitor): add some smart information to diagnostics (`#708 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: change launch package name (`#186 `_) + * rename launch folder + * autoware_launch -> tier4_autoware_launch + * integration_launch -> tier4_integration_launch + * map_launch -> tier4_map_launch + * fix + * planning_launch -> tier4_planning_launch + * simulator_launch -> tier4_simulator_launch + * control_launch -> tier4_control_launch + * localization_launch -> tier4_localization_launch + * perception_launch -> tier4_perception_launch + * sensing_launch -> tier4_sensing_launch + * system_launch -> tier4_system_launch + * ci(pre-commit): autofix + * vehicle_launch -> tier4_vehicle_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: tanaka3 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* Contributors: Akihiro Sakurai, Daisuke Nishimatsu, Kenji Miyake, Kosuke Takeuchi, Makoto Kurihara, Mamoru Sobue, Takagi, Isamu, Takayuki Murooka, Tomohito ANDO, Tomoya Kimura, Vincent Richard, Xinyu Wang, Yuxuan Liu, asana17, ito-san, kk-inoue-esol, kminoda, nobuotakamasa, v-nakayama7440-esol diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml index 881a65effe2c0..6d335269f734d 100644 --- a/launch/tier4_system_launch/package.xml +++ b/launch/tier4_system_launch/package.xml @@ -2,7 +2,7 @@ tier4_system_launch - 0.1.0 + 0.38.0 The tier4_system_launch package Fumihito Ito TetsuKawa diff --git a/launch/tier4_vehicle_launch/CHANGELOG.rst b/launch/tier4_vehicle_launch/CHANGELOG.rst new file mode 100644 index 0000000000000..3b5e4843e1f86 --- /dev/null +++ b/launch/tier4_vehicle_launch/CHANGELOG.rst @@ -0,0 +1,79 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tier4_vehicle_launch +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) + * add prefix + * fix other packages + * fix cppcheck + * pre-commit + * fix + --------- +* Contributors: Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* fix(raw_vehicle_cmd_converter): fix parameter files to parse path to csv files (`#6136 `_) +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* ci(pre-commit): format SVG files (`#2172 `_) + * ci(pre-commit): format SVG files + * ci(pre-commit): autofix + * apply pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: fix xacro command in vehicle.launch (`#2171 `_) +* feat(tier4_vehicle launch): switch config_dir value for default/individual_param (`#1416 `_) + * feat(tier4_vehicle_launch): migrate from autoware_launch::vehicle_launch to tier4_vehicle_launch + * By default config_dir is _description/config/ (like in planning_simulation) in tier4_vehicle_launch, and in product release config_dir will be set to /config//, and its value is set from either planning_simulator.launch orautoware_launch +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* style: fix format of package.xml (`#844 `_) +* chore: sync files (`#629 `_) + * chore: sync files + * ci(pre-commit): autofix + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) +* fix(tier4_vehicle_launch): refer to launch packages to find vehicle_interface.launch.xml (`#439 `_) +* fix(tier4_vehicle_launch): remove unnecessary config_dir (`#436 `_) + * fix(tier4_vehicle_launch): remove unnecessary config_dir + * refactor: rename arg + * remove vehicle_description.launch.xml to simplify the structure + * chore: simplify vehicle.xacro +* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) + * feat(tier4_autoware_launch)!: move package to autoware_launch + * remove unnecessary depends +* docs: fix invalid links (`#309 `_) +* feat: change launch package name (`#186 `_) + * rename launch folder + * autoware_launch -> tier4_autoware_launch + * integration_launch -> tier4_integration_launch + * map_launch -> tier4_map_launch + * fix + * planning_launch -> tier4_planning_launch + * simulator_launch -> tier4_simulator_launch + * control_launch -> tier4_control_launch + * localization_launch -> tier4_localization_launch + * perception_launch -> tier4_perception_launch + * sensing_launch -> tier4_sensing_launch + * system_launch -> tier4_system_launch + * ci(pre-commit): autofix + * vehicle_launch -> tier4_vehicle_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: tanaka3 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* Contributors: Fumiya Watanabe, Kenji Miyake, Mamoru Sobue, Tomoya Kimura, Vincent Richard, awf-autoware-bot[bot] diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml index 779975d3e1ae1..9a8c03c62a7b3 100644 --- a/launch/tier4_vehicle_launch/package.xml +++ b/launch/tier4_vehicle_launch/package.xml @@ -2,7 +2,7 @@ tier4_vehicle_launch - 0.1.0 + 0.38.0 The tier4_vehicle_launch package Yukihiro Saito Apache License 2.0 diff --git a/localization/autoware_ekf_localizer/CHANGELOG.rst b/localization/autoware_ekf_localizer/CHANGELOG.rst new file mode 100644 index 0000000000000..35fce4f96ef08 --- /dev/null +++ b/localization/autoware_ekf_localizer/CHANGELOG.rst @@ -0,0 +1,17 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_ekf_localizer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) + add autoware prefix to localization_util +* refactor(ekf_localizer)!: prefix package and namespace with autoware (`#8888 `_) + * import lanelet2_map_preprocessor + * move headers to include/autoware/efk_localier + --------- +* Contributors: Masaki Baba, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml index e0f4c9319d0d5..c9abefcd5e849 100644 --- a/localization/autoware_ekf_localizer/package.xml +++ b/localization/autoware_ekf_localizer/package.xml @@ -2,7 +2,7 @@ autoware_ekf_localizer - 0.1.0 + 0.38.0 The autoware_ekf_localizer package Takamasa Horibe Yamato Ando diff --git a/localization/autoware_geo_pose_projector/CHANGELOG.rst b/localization/autoware_geo_pose_projector/CHANGELOG.rst new file mode 100644 index 0000000000000..1925737c6a571 --- /dev/null +++ b/localization/autoware_geo_pose_projector/CHANGELOG.rst @@ -0,0 +1,22 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_geo_pose_projector +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) + * refactor(geography_utils): prefix package and namespace with autoware + * move headers to include/autoware/ + --------- +* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) + * add autoware\_ prefix + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: SakodaShintaro +* Contributors: Esteve Fernandez, Masaki Baba, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml index f78589ddb922f..7425b964a0d5d 100644 --- a/localization/autoware_geo_pose_projector/package.xml +++ b/localization/autoware_geo_pose_projector/package.xml @@ -2,7 +2,7 @@ autoware_geo_pose_projector - 0.1.0 + 0.38.0 The autoware_geo_pose_projector package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_gyro_odometer/CHANGELOG.rst b/localization/autoware_gyro_odometer/CHANGELOG.rst new file mode 100644 index 0000000000000..59a7f6c5d5090 --- /dev/null +++ b/localization/autoware_gyro_odometer/CHANGELOG.rst @@ -0,0 +1,19 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_gyro_odometer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) + add autoware prefix to localization_util +* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) + * add autoware\_ prefix + * add missing header + * use target_include_directories instead + * add autoware\_ prefix + --------- +* Contributors: Masaki Baba, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_gyro_odometer/package.xml b/localization/autoware_gyro_odometer/package.xml index 77de1d582fc0f..41626e3f8c70b 100644 --- a/localization/autoware_gyro_odometer/package.xml +++ b/localization/autoware_gyro_odometer/package.xml @@ -2,7 +2,7 @@ autoware_gyro_odometer - 0.1.0 + 0.38.0 The autoware_gyro_odometer package as a ROS 2 node Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst new file mode 100644 index 0000000000000..e24342415d923 --- /dev/null +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst @@ -0,0 +1,38 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_ar_tag_based_localizer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) + add autoware prefix to localization_util +* fix(doc): landmark localizer (`#8301 `_) + fix landmark localizer +* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Yamato Ando +* perf(autoware_ar_tag_based_localizer): remove unnecessary pub/sub depth for transient_local (`#8259 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* chore: update sample rosbags for localization modules (`#7716 `_) + Update sample rosbags for new message types +* fix: replace deprecated header in Jazzy (`#7603 `_) + * Use cv_bridge.hpp if available + * Fix image_geometry deprecated header + * Add comment for __has_include + --------- + Co-authored-by: Kotaro Yoshimoto +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) + * Added prefix "autoware\_" to ar_tag_based_localizer + * style(pre-commit): autofix + * Fixed localization_launch + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, SakodaShintaro, TaikiYamada4, Takayuki Murooka, Yutaka Kondo, Yuxuan Liu, ぐるぐる + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml index 4f6726abb33ef..4ff6c0c9ca9b1 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml @@ -2,7 +2,7 @@ autoware_ar_tag_based_localizer - 0.0.0 + 0.38.0 The autoware_ar_tag_based_localizer package Shintaro Sakoda Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst new file mode 100644 index 0000000000000..241a307ea8e98 --- /dev/null +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst @@ -0,0 +1,27 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_landmark_manager +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) + add autoware prefix to localization_util +* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Yamato Ando +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) + * Added prefix "autoware\_" to ar_tag_based_localizer + * style(pre-commit): autofix + * Fixed localization_launch + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, SakodaShintaro, Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml index 43ef73b8c5226..a5250d6c81afc 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml @@ -2,7 +2,7 @@ autoware_landmark_manager - 0.0.0 + 0.38.0 The autoware_landmark_manager package Shintaro Sakoda Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst new file mode 100644 index 0000000000000..3bbcf463b2a7d --- /dev/null +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst @@ -0,0 +1,136 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_lidar_marker_localizer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) + add autoware prefix to localization_util +* feat(localization): add `lidar_marker_localizer` (`#5573 `_) + * Added lidar_marker_localizer + * style(pre-commit): autofix + * fix launch file + * style(pre-commit): autofix + * Removed subscriber_member_function.cpp + * Renamed the package and the node + * style(pre-commit): autofix + * Removed pose_array_interpolator + * Removed unused files + * Removed include dir + * style(pre-commit): autofix + * Renamed wrong names + * fix magic number + * style(pre-commit): autofix + * fix bug + * parameterized + * style(pre-commit): autofix + * add base_covariance + * style(pre-commit): autofix + * Removed std::cerr + * Removed unused code + * Removed unnecessary publishers + * Changed to use alias + * Fixed result_base_link_on_map + * Changed to use "using std::placeholders" + * Refactored points_callback + * Fixed as pointed out by linter + * Refactored lidar_marker_localizer + * Fixed const reference + * Refactor point variables + * Added detect_landmarks + * rework filering params + * fix marker position + * style(pre-commit): autofix + * fix build error + * fix marker position + * style(pre-commit): autofix + * update readme + * style(pre-commit): autofix + * Added calculate_diff_pose + * Fixed to pass linter + * update package.xml + * Fixed to use SmartPoseBuffer + * Fixed function calculate_diff_pose to calculate_new_self_pose + * Compatible with the latest landmark_manager + * Fixed pub_marker + * Fixed launch + * Removed unused arg + * Removed limit_distance_from_self_pose_to_marker_from_lanelet2 + * Fixed parse_landmarks + * Fixed parameter type + * Fixed typo + * rework diagnostics + * style(pre-commit): autofix + * rotate covariance + * style(pre-commit): autofix + * add json schema + * style(pre-commit): autofix + * parameterize marker name + * python to xml + * update launch files + * style(pre-commit): autofix + * add debug/pose_with_covariance + * style(pre-commit): autofix + * update readme + * update readme + * add depend + * add sample dataset + * add param marker_height_from_ground + * style(pre-commit): autofix + * fix typo + * add includes + * add name to TODO comment + * style(pre-commit): autofix + * rename lidar-marker + * modify sample dataset url + * add flowchat to readme + * fix callbackgroup + * add TODO comment + * fix throttle timer + * delete unused valriable + * delete unused line + * style(pre-commit): autofix + * fix the duplicated code + * style(pre-commit): autofix + * avoid division by zero + * fix TODO comment + * fix uncrustify failed + * style(pre-commit): autofix + * Update localization/landmark_based_localizer/lidar_marker_localizer/src/lidar_marker_localizer.cpp + Co-authored-by: SakodaShintaro + * change lint_common + * update CMakeLists + * save intensity func + * style(pre-commit): autofix + * style(pre-commit): autofix + * fix build error + * style(pre-commit): autofix + * apply PointXYZIRC + * add autoware prefix + * componentize + * move directory + * use localization_util's diagnostics lib + * style(pre-commit): autofix + * applay linter + * style(pre-commit): autofix + * to pass spell-check + * remove _ex + * refactor + * style(pre-commit): autofix + * remove unused depend + * update readme + * fix typo + * fix json + * fix autoware prefix + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: yamato-ando + Co-authored-by: Yamato Ando + Co-authored-by: yamato-ando +* Contributors: Esteve Fernandez, Masaki Baba, SakodaShintaro, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml index 2b19b46b55424..91976ab1a74e1 100755 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml @@ -2,7 +2,7 @@ autoware_lidar_marker_localizer - 0.0.0 + 0.38.0 The autoware_lidar_marker_localizer package Yamato Ando Shintaro Sakoda diff --git a/localization/autoware_localization_error_monitor/CHANGELOG.rst b/localization/autoware_localization_error_monitor/CHANGELOG.rst new file mode 100644 index 0000000000000..6c293809b481f --- /dev/null +++ b/localization/autoware_localization_error_monitor/CHANGELOG.rst @@ -0,0 +1,21 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_localization_error_monitor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) + add autoware prefix to localization_util +* fix(localization_error_monitor, system diag): fix to use diagnostics_module in localization_util (`#8543 `_) + * fix(localization_error_monitor): fix to use diagnostics_module in localization_util + * fix: update media + * fix: update component name + * fix: rename include file + --------- +* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) + add autoware\_ prefix +* Contributors: Masaki Baba, RyuYamamoto, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_localization_error_monitor/package.xml b/localization/autoware_localization_error_monitor/package.xml index 463e7aee347d7..e07445b878d9c 100644 --- a/localization/autoware_localization_error_monitor/package.xml +++ b/localization/autoware_localization_error_monitor/package.xml @@ -2,7 +2,7 @@ autoware_localization_error_monitor - 0.1.0 + 0.38.0 ros node for monitoring localization error Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_localization_util/CHANGELOG.rst b/localization/autoware_localization_util/CHANGELOG.rst new file mode 100644 index 0000000000000..b64aecd4ac4a3 --- /dev/null +++ b/localization/autoware_localization_util/CHANGELOG.rst @@ -0,0 +1,13 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_localization_util +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) + add autoware prefix to localization_util +* Contributors: Masaki Baba, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_localization_util/package.xml b/localization/autoware_localization_util/package.xml index 48abf542ddd07..49330e04c8b2f 100644 --- a/localization/autoware_localization_util/package.xml +++ b/localization/autoware_localization_util/package.xml @@ -2,7 +2,7 @@ autoware_localization_util - 0.1.0 + 0.38.0 The autoware_localization_util package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst new file mode 100644 index 0000000000000..e28c1a801338d --- /dev/null +++ b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst @@ -0,0 +1,15 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_ndt_scan_matcher +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) + add autoware prefix to localization_util +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) + add autoware\_ prefix +* Contributors: Masaki Baba, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_ndt_scan_matcher/package.xml b/localization/autoware_ndt_scan_matcher/package.xml index 1d7cdadbd93c1..9e5b3dabbbc27 100644 --- a/localization/autoware_ndt_scan_matcher/package.xml +++ b/localization/autoware_ndt_scan_matcher/package.xml @@ -2,7 +2,7 @@ autoware_ndt_scan_matcher - 0.1.0 + 0.38.0 The autoware_ndt_scan_matcher package Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_pose2twist/CHANGELOG.rst b/localization/autoware_pose2twist/CHANGELOG.rst new file mode 100644 index 0000000000000..a261e22cdb60c --- /dev/null +++ b/localization/autoware_pose2twist/CHANGELOG.rst @@ -0,0 +1,16 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_pose2twist +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) + * add autoware\_ prefix + * use target_include_directories instead + --------- + Co-authored-by: SakodaShintaro +* Contributors: Masaki Baba, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_pose2twist/package.xml b/localization/autoware_pose2twist/package.xml index dc499f8eda5a4..74ae9b8a10de7 100644 --- a/localization/autoware_pose2twist/package.xml +++ b/localization/autoware_pose2twist/package.xml @@ -2,7 +2,7 @@ autoware_pose2twist - 0.1.0 + 0.38.0 The autoware_pose2twist package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst new file mode 100644 index 0000000000000..6dff24e91bd23 --- /dev/null +++ b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst @@ -0,0 +1,28 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_pose_covariance_modifier +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* docs(autoware_pose_covariance_modifier): fix gt symbol (`#9082 `_) +* docs(autoware_pose_cov_modifier): fix line breaks and dead links (`#8991 `_) + * fix(autoware_pose_cov_modifier): fix line breaks + * fix dead links + --------- +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* fix(autoware_pose_covariance_modifier): fix funcArgNamesDifferent (`#8007 `_) + fix:funcArgNamesDifferent +* fix(pose_covariance_modifier): fix json schema (`#7323 `_) + fix json schema + Co-authored-by: Kotaro Yoshimoto +* fix(autoware_pose_covariance_modifier): change log output from screen to both (`#7198 `_) + change log output from screen to both + Co-authored-by: SakodaShintaro +* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) + Co-authored-by: M. Fatih Cırıt +* Contributors: Esteve Fernandez, Masaki Baba, Yamato Ando, Yutaka Kondo, kobayu858, melike tanrikulu + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_pose_covariance_modifier/package.xml b/localization/autoware_pose_covariance_modifier/package.xml index dc4b741edff79..2c0f9ae142370 100644 --- a/localization/autoware_pose_covariance_modifier/package.xml +++ b/localization/autoware_pose_covariance_modifier/package.xml @@ -2,7 +2,7 @@ autoware_pose_covariance_modifier - 1.0.0 + 0.38.0 Add a description. Melike Tanrikulu diff --git a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst new file mode 100644 index 0000000000000..4981ed9812334 --- /dev/null +++ b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst @@ -0,0 +1,20 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_pose_estimator_arbiter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) + add autoware\_ prefix +* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) + * add autoware\_ prefix + * add autoware\_ prefix + * fix link for landmark_based_localizer + * remove Shadowing + --------- + Co-authored-by: SakodaShintaro +* Contributors: Masaki Baba, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_pose_estimator_arbiter/package.xml b/localization/autoware_pose_estimator_arbiter/package.xml index f3aa30a2c6425..adf90c534ef8f 100644 --- a/localization/autoware_pose_estimator_arbiter/package.xml +++ b/localization/autoware_pose_estimator_arbiter/package.xml @@ -2,7 +2,7 @@ autoware_pose_estimator_arbiter - 0.1.0 + 0.38.0 The arbiter of multiple pose estimators Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_pose_initializer/CHANGELOG.rst b/localization/autoware_pose_initializer/CHANGELOG.rst new file mode 100644 index 0000000000000..24764833d8599 --- /dev/null +++ b/localization/autoware_pose_initializer/CHANGELOG.rst @@ -0,0 +1,29 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_pose_initializer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* feat(pose_initializer): check error initial pose and gnss pose, output diagnostics (`#8947 `_) + * check initial pose error use GNSS pose + * add pose_error_check_enabled parameter + * fixed key value name + * rename diagnostics key value + * update README + * fixed schema json + * fixed type and default in schema json + * rename key value + --------- +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) + add autoware prefix to localization_util +* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) + * add autoware\_ prefix + * fix link + --------- + Co-authored-by: SakodaShintaro +* Contributors: Esteve Fernandez, Masaki Baba, RyuYamamoto, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml index 1580c264f3ae1..99e2c55c312f2 100644 --- a/localization/autoware_pose_initializer/package.xml +++ b/localization/autoware_pose_initializer/package.xml @@ -2,7 +2,7 @@ autoware_pose_initializer - 0.1.0 + 0.38.0 The autoware_pose_initializer package Yamato Ando Takagi, Isamu diff --git a/localization/autoware_pose_instability_detector/CHANGELOG.rst b/localization/autoware_pose_instability_detector/CHANGELOG.rst new file mode 100644 index 0000000000000..61445eda83331 --- /dev/null +++ b/localization/autoware_pose_instability_detector/CHANGELOG.rst @@ -0,0 +1,16 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_pose_instability_detector +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) + * add autoware\_ prefix + * add autoware\_ prefix + --------- + Co-authored-by: SakodaShintaro +* Contributors: Masaki Baba, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_pose_instability_detector/package.xml b/localization/autoware_pose_instability_detector/package.xml index d59baf5817233..d3d7cc81166b6 100644 --- a/localization/autoware_pose_instability_detector/package.xml +++ b/localization/autoware_pose_instability_detector/package.xml @@ -2,7 +2,7 @@ autoware_pose_instability_detector - 0.1.0 + 0.38.0 The autoware_pose_instability_detector package Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_stop_filter/CHANGELOG.rst b/localization/autoware_stop_filter/CHANGELOG.rst new file mode 100644 index 0000000000000..92dd7bfb70be9 --- /dev/null +++ b/localization/autoware_stop_filter/CHANGELOG.rst @@ -0,0 +1,22 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_stop_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(docs): autoware stop filter docs (`#8302 `_) + fix autoware stop filter docs +* fix(autoware_stop_filter): fix funcArgNamesDifferent (`#8008 `_) + fix:funcArgNamesDifferent +* chore(localization, map): remove maintainer (`#7940 `_) +* fix(stop_filter): fix plugin name (`#7820 `_) + Fixed plugin name +* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) + * refactor(stop_filter): prefix package and namespace with autoware + * fix launch files and update CODEOWNERS + --------- +* Contributors: Esteve Fernandez, SakodaShintaro, Yutaka Kondo, Yuxuan Liu, kminoda, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_stop_filter/package.xml b/localization/autoware_stop_filter/package.xml index d020f390e5bbf..499cb49af41a5 100644 --- a/localization/autoware_stop_filter/package.xml +++ b/localization/autoware_stop_filter/package.xml @@ -2,7 +2,7 @@ autoware_stop_filter - 0.0.0 + 0.38.0 The stop filter package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_twist2accel/CHANGELOG.rst b/localization/autoware_twist2accel/CHANGELOG.rst new file mode 100644 index 0000000000000..15e448647054d --- /dev/null +++ b/localization/autoware_twist2accel/CHANGELOG.rst @@ -0,0 +1,20 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_twist2accel +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(autoware_twist2accel): fix funcArgNamesDifferent (`#8391 `_) + fix:funcArgNamesDifferent +* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) + * add autoware\_ prefix + * add autoware\_ prefix + * add autoware\_ prefix + --------- + Co-authored-by: SakodaShintaro +* Contributors: Esteve Fernandez, Masaki Baba, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/localization/autoware_twist2accel/package.xml b/localization/autoware_twist2accel/package.xml index 6a4e021858f7c..ac40f9b43bc90 100644 --- a/localization/autoware_twist2accel/package.xml +++ b/localization/autoware_twist2accel/package.xml @@ -2,7 +2,7 @@ autoware_twist2accel - 0.0.0 + 0.38.0 The acceleration estimation package Yamato Ando Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_common/CHANGELOG.rst b/localization/yabloc/yabloc_common/CHANGELOG.rst new file mode 100644 index 0000000000000..b2776cf51305d --- /dev/null +++ b/localization/yabloc/yabloc_common/CHANGELOG.rst @@ -0,0 +1,530 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package yabloc_common +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(yabloc_common): fix unusedFunction (`#8560 `_) + fix:unusedFunction +* perf(yabloc_common): remove unnecessary pub/sub depth for transient_local (`#8248 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) + * Use cv_bridge.hpp if available + * Fix image_geometry deprecated header + * Add comment for __has_include + --------- + Co-authored-by: Kotaro Yoshimoto +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(yabloc_common): apply static analysis (`#7481 `_) + * refactor based on linter + * restore unwanted change + * remove unnecessary comment + * style(pre-commit): autofix + * change to const double + * add static cast + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(yabloc): suppress no viable conversion error (`#7299 `_) + * use tier4_autoware_utils instead of yabloc::Color + * use static_cast to convert Color to RGBA + * use tier4_autoware_utils instead of yabloc::Color + * use static_cast to convert Color to RGBA + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (`#7243 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* refactor(yabloc): use constexpr properly (`#7207 `_) +* fix(yabloc): fix bug in capturing in lambda function (`#7208 `_) + * fix(yabloc): fix bug in capturing in lambda function + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) + * make executables component + * log output changes to both + * style(pre-commit): autofix + * add default param path + * add glog as depend package + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(glog): add initialization check (`#6792 `_) +* Contributors: Esteve Fernandez, Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, Ryohsuke Mitsudome, Ryuta Kambe, Takamasa Horibe, Takayuki Murooka, Yutaka Kondo, kobayu858, ぐるぐる + +0.26.0 (2024-04-03) +------------------- +* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) + * replace parameters by json_to_markdown + * fix some schma path + * fix again + --------- +* chore(yabloc): rework parameters (`#6170 `_) + * introduce json schema for ground_server + * introduce json schema for ll2_decomposer + * style(pre-commit): autofix + * fix json in yabloc_common + * introduce json schema for graph_segment + * introduce json schema for segment_filter + * fix yabloc_common schema.json + * introduce json schema for undistort + * style(pre-commit): autofix + * Revert "introduce json schema for ground_server" + This reverts commit 33d3e609d4e01919d11a86d3c955f53e529ae121. + * Revert "introduce json schema for graph_segment" + This reverts commit 00ae417f030324f2dcc7dfb4b867a969ae31aea7. + * style(pre-commit): autofix + * introduce json schema for yabloc_monitor + * introduce json schema for yabloc_particle_filter + * introduce json schema for yabloc_pose_initializer + * apply pre-commit + * fix revert conflict + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: add localization & mapping maintainers (`#6085 `_) + * Added lm maintainers + * Add more + * Fixed maintainer + --------- +* build(yabloc_common): add missing libgoogle-glog-dev dependency (`#5225 `_) + * build(yabloc_common): add missing libgoogle-glog-dev dependency + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) + Co-authored-by: yamato-ando +* chore: add maintainer in localization and map packages (`#4501 `_) +* fix(yabloc): fix typo (`#4281 `_) + * fix(yabloc): fix typo + * fix Kinv and mean_pose + * style(pre-commit): autofix + * fix normalized term + * fix resamping + * style(pre-commit): autofix + * fix reweight + * fix typo + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(yabloc): add camera and vector map localization (`#3946 `_) + * adopt scane_case to undistort, segment_filter + * adopt scane_case to ground_server, ll2_decomposer + * adopt scane_case to twist_converter, twist_estimator + * adopt scane_case to validation packages + * adopt scane_case tomodularized_particle_filter + * adopt scane_case to gnss_particle_corrector + * adopt scane_case to camera_particle_corrector + * adopt scane_case to antishadow_corrector + * adopt scane_case to particle_initializer + * organize launch files + * add twist_visualizer to validate odometry performance + * use SE3::exp() to predict particles & modify linear noise model + * stop to use LL2 to rectify initialpose2d + * fix redundant computation in segment_accumulator + * improve gnss_particle_corrector + * fix segment_accumulator's bug + * add doppler_converter + * add xx2.launch.xml + * add hsv_extractor + * pickup other regions which have same color histogram + * use additional region to filt line-segments + * improve graph-segmentation + * remove `truncate_pixel_threshold` + * refactor graph_segmentator & segment_filter + * add mahalanobis_distance_threshold in GNSS particle corrector + * add extract_line_segments.hpp + * use pcl::transformCloudWithNormals instead of transform_cloud + * filt accumulating segments by LL2 + * move herarchical_cost_map to common + * apply positive feedback for accumulation + * move transform_linesegments() to common pkg + * refactor + * use all projected lines for camera corrector + * evaluate iffy linesegments + * complete to unify ll2-assisted lsd clasification + * add abs_cos2() which is more strict direction constraint + * fix orientation initialization bug + * publish doppler direction + * TMP: add disable/enable switch for camera corrector + * implement doppler orientation correction but it's disabled by default + * speed up camera corrector + * update ros params + * implement kalman filter for ground tilt estimation + * continuous height estimation works well? + * estimate height cotiniously + * use only linesegments which are at same height + * add static_gyro_bias parameter + * fix bug about overlay varidation + * increse ll2 height marging in cost map generation + * add static_gyro_bias in twist.launch.xml + * load pcdless_init_area from ll2 + * add specified initialization area + * add corrector_manager node to disable/enable camera_corrector + * call service to disable camer_corrector from manager + * load corrector disable area + * overlay even if pose is not estiamted + * publish camera corrector's status as string + * add set_booL_panel for camera_corrector enable/disable + * load bounding box from lanelet2 + * draw bounding box on cost map + * remove at2,at1 from cost map + * use cost_map::at() instread pf at2() + * move cost map library from common to camera corrector + * use logit for particle weighting but it does not work well + * prob_to_logit() requires non-intuitive parameters + * goodbye stupid parameters (max_raw_score & score_offset) + * publish two scored pointclouds as debug + * can handle unmapped areas + * remove obsolete packages + * update README.md + * Update README.md + * add image of how_to_launch + * add node diagram in readme + * add rviz_description.png in README + * subscribe pose_with_cov & disconnect base_link <-> particle_pose + * remove segment_accumulator & launch ekf_localizer from this project + * add gnss_ekf_corrector + * add camera_ekf_corrector package + * subscribe ekf prediction & synch pose data + * WIP: ready to implement UKF? + * estimate weighted averaging as pose_estimator + * basic algorithm is implemented but it does not work proparly + * apply after_cov_gain\_ + * ekf corrector works a little bit appropriately + * increase twist covariance for ekf + * test probability theory + * updat prob.py + * implement de-bayesing but it loooks ugly + * remove obsolete parameters + * skip measurement publishing if travel distance is so short + * use constant covariance because i dont understand what is correct + * add submodule sample_vehicle_launch + * TMP but it works + * add ekf_trigger in particle_initializer.hpp + * publish gnss markers & camera_est pubishes constant cov + * back to pcd-less only launcher + * add bayes_util package + * apply de-bayesing for camera_ekf + * some launch file update + * organize launch files. we can choice mode from ekf/pekf/pf + * organize particle_initializer + * add swap_mode_adaptor WIP + * use latest ekf in autoware & sample_vehicle + * fix bug of swap_adalptor + * fix FIX & FLOAT converter + * fix septentrio doppler converter + * move ekf packages to ekf directory + * ignore corrector_manager + * add standalone arg in launch files + * update semseg_node + * add camera_pose_initializer pkg + * subscribe camera_info&tf and prepare semantic projection + * project semantic image + * create vector map image from ll2 + * create lane image from vector map + * search the most match angle by non-zero pixels + * camera based pose_initializer + * move ekf packages into unstable + * move ekf theory debugger + * add tier4_autoware_msgs as submodule + * move pose_initializer into initializer dir + * add semse_msgs pkg + * separate marker pub function + * separate projection functions + * add semseg_srv client + * move sem-seg directory + * camera pose initilizer works successfully + * rectify covariance along the orientation + * improve initialization parameters + * take into account covariance of request + * use lanelet direciton to compute init pose scores + * semseg download model automatically + * remove sample_vehicle_launch + * add autoware_msgs + * remove obsolete launch files + * add standalone mode for direct initialization + * fix fix_to_pose + * update launch files + * update rviz config + * remove lidar_particle_corrector + * remove Sophus from sunbmodule + * rename submodule directory + * update README and some sample images + * update README.md + * fix override_camera_frame_id bahaviors + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) + * use initialpose from Rviz to init + * add description about how-to-set-initialpose + --------- + * misc: add license (`#7 `_) + * WIP: add license description + * add license description + * add description about license in README + --------- + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) + * delete obsolete launch files + * update documents + --------- + * docs(readme): update architecture image (`#10 `_) + * replace architecture image in README + * update some images + --------- + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * remove not useful scripts + * rename scripts & add descriptions + * little change + * remove odaiba.rviz + * grammer fix + --------- + * fix(pcdless_launch): fix a build bug + * fix(twist_estimator): use velocity_report by default + * fix bug + * debugged, now works + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * make additional-graph-segment-pickup disablable + * enlarge gnss_mahalanobis_distance_threshold in expressway.launch + --------- + * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support + * update + * update + * fix typo + --------- + * refactor(retroactive_resampler): more readable (`#19 `_) + * make Hisotry class + * use boost:adaptors::indexed() + * add many comment in resampling() + * does not use ConstSharedPtr + * rename interface of resampler + * circular_buffer is unnecessary + --------- + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * resampling interval management should be done out of resample() + * resampler class throw exeption rather than optional + * split files for resampling_history + * split files for experimental/suspention_adaptor + --------- + * refactor(mpf::predictor): just refactoring (`#21 `_) + * remove obsolete functions + * remove test of predictor + * remove remapping in pf.launch.xml for suspension_adapator + * add some comments + --------- + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * feat(pcdless_launch): add multi camera launcher + * minor fix + --------- + * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor imgproc/*/CMakeListx.txt + * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg + * rename some files in twist/ & refactor pf/*/cmakelist + * refactor validation/*/CMakeListx.txt + * fix some obsolete executor name + --------- + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) + * rename pcdless to yabloc + * fix conflict miss + --------- + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) + * update mpf/README.md + * update gnss_corrector/README.md + * update camera_corrector/README.md + --------- + * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines + * update validation + * update imgproc (reverted) + * large change inclding refactoring + * major update + * revert rviz config + * minor fix in name + * add validation option + * update architecture svg + * rename validation.launch to overlay.launch + * no throw runtime_error (unintentionaly applying format) + --------- + Co-authored-by: Kento Yabuuchi + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) + * not use ublox_msg when run as autoware + * remove twist/kalman/twist & use twist_estimator/twist_with_covariance + * update particle_array stamp even if the time stamp seems wrong + --------- + * fix: suppress info/warn_stream (`#37 `_) + * does not stream undistortion time + * improve warn stream when skip particle weighting + * surpress frequency of warnings during synchronized particle searching + * fix camera_pose_initializer + --------- + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) + * add youtube link and change thumbnail + * improve input/output topics + * quick start demo screen image + * add abstruct architecture and detail architecture + --------- + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * fix package.xml to success build + * add 'rosdep install' in how-to-build + --------- + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) + * fix path search error in build stage + * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 + * Feature/remove submodule (`#47 `_) + * remove submodules + * remove doppler converter + --------- + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * change node namespace + * update namespace for autoware-mode + * update namespace in multi_camera.launch + --------- + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) + * make *.param.yaml in imgproc packages + * make *.param.yaml in initializer packages + * make *.param.yaml in map packages + * make *.param.yaml in pf packages + * make *.param.yaml in twist packages + * fix expressway parameter + * fix override_frame_id + * remove default parameters + * fix some remaining invalida parameters + --------- + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter + * remove particle_initializer + * remove debug message + * remove related parts + * update readme + * rename publishing topic + --------- + Co-authored-by: Kento Yabuuchi + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) + * combine some package about initializer + * yabloc_pose_initializer works well + * remove old initializer packages + * semseg node can launch + * fix bug + * revert initializer mode + --------- + * feature(imgproc): reudce imgproc packages (`#57 `_) + * combine some imgproc packages + * combine overlay monitors into imgproc + --------- + * feature(validation): remove validation packages (`#58 `_) + * remove validation packages + * remove path visualization + --------- + * feature(pf): combine some packages related to particle filter (`#59 `_) + * create yabloc_particle_filter + * combine gnss_particle_corrector + * combine ll2_cost_map + * combine camera_particle_corrector + * fix launch files + * split README & remove obsolete scripts + * fix config path of multi_camera mode + --------- + * feature: combine map and twist packages (`#60 `_) + * removed some twist nodes & rename remains to yabloc_twist + * fix launch files for yabloc_twist + * move map packages to yabloc_common + * WIP: I think its impossible + * Revert "WIP: I think its impossible" + This reverts commit 49da507bbf9abe8fcebed4d4df44ea5f4075f6d1. + * remove map packages & fix some launch files + --------- + * removed obsolete packages + * remove obsolete dot files + * use tier4_loc_launch instead of yabloc_loc_launch + * move launch files to each packages + * remove yabloc_localization_launch + * remove yabloc_launch + * modify yabloc/README.md + * update yabloc_common/README.md + * update yabloc_imgproc README + * update yabloc_particle_filter/README + * update yabloc_pose_initializer/README + * update README + * use native from_bin_msg + * use ifndef instead of pragma once in yabloc_common + * use ifndef instead of pragma once in yabloc_imgproc & yabloc_pf + * use ifndef instead of pragma once in yabloc_pose_initializer + * style(pre-commit): autofix + * use autoware_cmake & suppress build warning + * repalce yabloc::Timer with tier4_autoware_utils::StopWatch + * replace 1.414 with std::sqrt(2) + * style(pre-commit): autofix + * removed redundant ament_cmake_auto + * removed yabloc_common/timer.hpp + * replaced low_pass_filter with autoware's lowpass_filter_1d + * style(pre-commit): autofix + * Squashed commit of the following: + commit cb08e290cca5c00315a58a973ec068e559c9e0a9 + Author: Kento Yabuuchi + Date: Tue Jun 13 14:30:09 2023 +0900 + removed ublox_msgs in gnss_particle_corrector + commit c158133f184a43914ec5f929645a7869ef8d03be + Author: Kento Yabuuchi + Date: Tue Jun 13 14:24:19 2023 +0900 + removed obsolete yabloc_multi_camera.launch + commit 10f578945dc257ece936ede097544bf008e5f48d + Author: Kento Yabuuchi + Date: Tue Jun 13 14:22:14 2023 +0900 + removed ublox_msgs in yabloc_pose_initializer + * style(pre-commit): autofix + * removed fix2mgrs & ublox_stamp + * added ~/ at the top of topic name + * removed use_sim_time in yabloc launch files + * add architecture diagram in README + * rename lsd_node to line_segment_detector + * style(pre-commit): autofix + * Update localization/yabloc/README.md + fix typo + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * removed obsolete debug code in similar_area_searcher + * removed suspension_adaptor which manages lifecycle of particle predictor + * style(pre-commit): autofix + * renamed semseg to SemanticSegmentation + * style(pre-commit): autofix + * fixed README.md to solve markdownlint + * WIP: reflected cpplint's suggestion + * reflected cpplint's suggestion + * rename AbstParaticleFilter in config files + * fixed typo + * used autoware_lint_common + * fixed miss git add + * style(pre-commit): autofix + * replaced lanelet_util by lanelet2_extension + * replaced fast_math by tie4_autoware_utils + * sort package.xml + * renamed yabloc_imgproc with yabloc_image_processing + * reflected some review comments + * resolved some TODO + * prioritize NDT if both NDT and YabLoc initializer enabled + * changed localization_mode option names + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + Co-authored-by: kminoda + Co-authored-by: Akihiro Komori + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* Contributors: Esteve Fernandez, Kento Yabuuchi, SakodaShintaro, Yamato Ando, kminoda diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml index 67fe462282981..7bcf4084073c4 100644 --- a/localization/yabloc/yabloc_common/package.xml +++ b/localization/yabloc/yabloc_common/package.xml @@ -1,7 +1,7 @@ yabloc_common - 0.1.0 + 0.38.0 YabLoc common library Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst new file mode 100644 index 0000000000000..00cb4ae799dbb --- /dev/null +++ b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst @@ -0,0 +1,549 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package yabloc_image_processing +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(yabloc_image_processing): fix shadowFunction (`#7865 `_) + * fix(yabloc_image_processing): fix shadowFunction + * fix + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: replace deprecated header in Jazzy (`#7603 `_) + * Use cv_bridge.hpp if available + * Fix image_geometry deprecated header + * Add comment for __has_include + --------- + Co-authored-by: Kotaro Yoshimoto +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(yabloc_image_processing): apply static analysis (`#7489 `_) + * refactor based on linter + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(yabloc_image_processing): componentize yabloc_image_processing nodes (`#7196 `_) + * replace executable with component + * modify launch + * fix line_segments_overlay namespace & node_name + * style(pre-commit): autofix + * uncomment lanelet2_overlay + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, ぐるぐる + +0.26.0 (2024-04-03) +------------------- +* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) + * replace parameters by json_to_markdown + * fix some schma path + * fix again + --------- +* chore(yabloc): rework parameters (`#6170 `_) + * introduce json schema for ground_server + * introduce json schema for ll2_decomposer + * style(pre-commit): autofix + * fix json in yabloc_common + * introduce json schema for graph_segment + * introduce json schema for segment_filter + * fix yabloc_common schema.json + * introduce json schema for undistort + * style(pre-commit): autofix + * Revert "introduce json schema for ground_server" + This reverts commit 33d3e609d4e01919d11a86d3c955f53e529ae121. + * Revert "introduce json schema for graph_segment" + This reverts commit 00ae417f030324f2dcc7dfb4b867a969ae31aea7. + * style(pre-commit): autofix + * introduce json schema for yabloc_monitor + * introduce json schema for yabloc_particle_filter + * introduce json schema for yabloc_pose_initializer + * apply pre-commit + * fix revert conflict + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: add localization & mapping maintainers (`#6085 `_) + * Added lm maintainers + * Add more + * Fixed maintainer + --------- +* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) + * change arg default value + * add yabloc_trigger_service + * fix misc + --------- +* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) + * add raw image subscriber + * update README + * improve format and variable names + --------- +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) + Co-authored-by: yamato-ando +* fix(yabloc_image_processing): handle exception when no lines detected (`#4717 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* feat(yabloc): change namespace (`#4389 `_) + * fix(yabloc): update namespace + * fix + --------- +* fix(yabloc): fix typo (`#4281 `_) + * fix(yabloc): fix typo + * fix Kinv and mean_pose + * style(pre-commit): autofix + * fix normalized term + * fix resamping + * style(pre-commit): autofix + * fix reweight + * fix typo + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) + * feat(tier4_localization_launch): add pose_twist_estimator.launch.py + * update format + * update launcher + * update pose_initailizer config + * Move pose_initializer to pose_twist_estimator.launch.py, move yabloc namespace + * use launch.xml instead of launch.py + * Validated that all the configuration launches correctly (not performance eval yet) + * Remove arg + * style(pre-commit): autofix + * Update eagleye param path + * minor update + * fix minor bugs + * fix minor bugs + * Introduce use_eagleye_twist args in eagleye_rt.launch.xml to control pose/twist relay nodes + * Update pose_initializer input topic when using eagleye + * Add eagleye dependency in tier4_localization_launch + * Update tier4_localization_launch readme + * style(pre-commit): autofix + * Update svg + * Update svg again (transparent background) + * style(pre-commit): autofix + * Update yabloc document + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(yabloc): fix spell-check CI (`#4268 `_) + * fix(yabloc): fix typo + * style(pre-commit): autofix + * fix more typo + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(yabloc): add camera and vector map localization (`#3946 `_) + * adopt scane_case to undistort, segment_filter + * adopt scane_case to ground_server, ll2_decomposer + * adopt scane_case to twist_converter, twist_estimator + * adopt scane_case to validation packages + * adopt scane_case tomodularized_particle_filter + * adopt scane_case to gnss_particle_corrector + * adopt scane_case to camera_particle_corrector + * adopt scane_case to antishadow_corrector + * adopt scane_case to particle_initializer + * organize launch files + * add twist_visualizer to validate odometry performance + * use SE3::exp() to predict particles & modify linear noise model + * stop to use LL2 to rectify initialpose2d + * fix redundant computation in segment_accumulator + * improve gnss_particle_corrector + * fix segment_accumulator's bug + * add doppler_converter + * add xx2.launch.xml + * add hsv_extractor + * pickup other regions which have same color histogram + * use additional region to filt line-segments + * improve graph-segmentation + * remove `truncate_pixel_threshold` + * refactor graph_segmentator & segment_filter + * add mahalanobis_distance_threshold in GNSS particle corrector + * add extract_line_segments.hpp + * use pcl::transformCloudWithNormals instead of transform_cloud + * filt accumulating segments by LL2 + * move herarchical_cost_map to common + * apply positive feedback for accumulation + * move transform_linesegments() to common pkg + * refactor + * use all projected lines for camera corrector + * evaluate iffy linesegments + * complete to unify ll2-assisted lsd clasification + * add abs_cos2() which is more strict direction constraint + * fix orientation initialization bug + * publish doppler direction + * TMP: add disable/enable switch for camera corrector + * implement doppler orientation correction but it's disabled by default + * speed up camera corrector + * update ros params + * implement kalman filter for ground tilt estimation + * continuous height estimation works well? + * estimate height cotiniously + * use only linesegments which are at same height + * add static_gyro_bias parameter + * fix bug about overlay varidation + * increse ll2 height marging in cost map generation + * add static_gyro_bias in twist.launch.xml + * load pcdless_init_area from ll2 + * add specified initialization area + * add corrector_manager node to disable/enable camera_corrector + * call service to disable camer_corrector from manager + * load corrector disable area + * overlay even if pose is not estiamted + * publish camera corrector's status as string + * add set_booL_panel for camera_corrector enable/disable + * load bounding box from lanelet2 + * draw bounding box on cost map + * remove at2,at1 from cost map + * use cost_map::at() instread pf at2() + * move cost map library from common to camera corrector + * use logit for particle weighting but it does not work well + * prob_to_logit() requires non-intuitive parameters + * goodbye stupid parameters (max_raw_score & score_offset) + * publish two scored pointclouds as debug + * can handle unmapped areas + * remove obsolete packages + * update README.md + * Update README.md + * add image of how_to_launch + * add node diagram in readme + * add rviz_description.png in README + * subscribe pose_with_cov & disconnect base_link <-> particle_pose + * remove segment_accumulator & launch ekf_localizer from this project + * add gnss_ekf_corrector + * add camera_ekf_corrector package + * subscribe ekf prediction & synch pose data + * WIP: ready to implement UKF? + * estimate weighted averaging as pose_estimator + * basic algorithm is implemented but it does not work proparly + * apply after_cov_gain\_ + * ekf corrector works a little bit appropriately + * increase twist covariance for ekf + * test probability theory + * updat prob.py + * implement de-bayesing but it loooks ugly + * remove obsolete parameters + * skip measurement publishing if travel distance is so short + * use constant covariance because i dont understand what is correct + * add submodule sample_vehicle_launch + * TMP but it works + * add ekf_trigger in particle_initializer.hpp + * publish gnss markers & camera_est pubishes constant cov + * back to pcd-less only launcher + * add bayes_util package + * apply de-bayesing for camera_ekf + * some launch file update + * organize launch files. we can choice mode from ekf/pekf/pf + * organize particle_initializer + * add swap_mode_adaptor WIP + * use latest ekf in autoware & sample_vehicle + * fix bug of swap_adalptor + * fix FIX & FLOAT converter + * fix septentrio doppler converter + * move ekf packages to ekf directory + * ignore corrector_manager + * add standalone arg in launch files + * update semseg_node + * add camera_pose_initializer pkg + * subscribe camera_info&tf and prepare semantic projection + * project semantic image + * create vector map image from ll2 + * create lane image from vector map + * search the most match angle by non-zero pixels + * camera based pose_initializer + * move ekf packages into unstable + * move ekf theory debugger + * add tier4_autoware_msgs as submodule + * move pose_initializer into initializer dir + * add semse_msgs pkg + * separate marker pub function + * separate projection functions + * add semseg_srv client + * move sem-seg directory + * camera pose initilizer works successfully + * rectify covariance along the orientation + * improve initialization parameters + * take into account covariance of request + * use lanelet direciton to compute init pose scores + * semseg download model automatically + * remove sample_vehicle_launch + * add autoware_msgs + * remove obsolete launch files + * add standalone mode for direct initialization + * fix fix_to_pose + * update launch files + * update rviz config + * remove lidar_particle_corrector + * remove Sophus from sunbmodule + * rename submodule directory + * update README and some sample images + * update README.md + * fix override_camera_frame_id bahaviors + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) + * use initialpose from Rviz to init + * add description about how-to-set-initialpose + --------- + * misc: add license (`#7 `_) + * WIP: add license description + * add license description + * add description about license in README + --------- + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) + * delete obsolete launch files + * update documents + --------- + * docs(readme): update architecture image (`#10 `_) + * replace architecture image in README + * update some images + --------- + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * remove not useful scripts + * rename scripts & add descriptions + * little change + * remove odaiba.rviz + * grammer fix + --------- + * fix(pcdless_launch): fix a build bug + * fix(twist_estimator): use velocity_report by default + * fix bug + * debugged, now works + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * make additional-graph-segment-pickup disablable + * enlarge gnss_mahalanobis_distance_threshold in expressway.launch + --------- + * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support + * update + * update + * fix typo + --------- + * refactor(retroactive_resampler): more readable (`#19 `_) + * make Hisotry class + * use boost:adaptors::indexed() + * add many comment in resampling() + * does not use ConstSharedPtr + * rename interface of resampler + * circular_buffer is unnecessary + --------- + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * resampling interval management should be done out of resample() + * resampler class throw exeption rather than optional + * split files for resampling_history + * split files for experimental/suspention_adaptor + --------- + * refactor(mpf::predictor): just refactoring (`#21 `_) + * remove obsolete functions + * remove test of predictor + * remove remapping in pf.launch.xml for suspension_adapator + * add some comments + --------- + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * feat(pcdless_launch): add multi camera launcher + * minor fix + --------- + * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor imgproc/*/CMakeListx.txt + * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg + * rename some files in twist/ & refactor pf/*/cmakelist + * refactor validation/*/CMakeListx.txt + * fix some obsolete executor name + --------- + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) + * rename pcdless to yabloc + * fix conflict miss + --------- + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) + * update mpf/README.md + * update gnss_corrector/README.md + * update camera_corrector/README.md + --------- + * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines + * update validation + * update imgproc (reverted) + * large change inclding refactoring + * major update + * revert rviz config + * minor fix in name + * add validation option + * update architecture svg + * rename validation.launch to overlay.launch + * no throw runtime_error (unintentionaly applying format) + --------- + Co-authored-by: Kento Yabuuchi + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) + * not use ublox_msg when run as autoware + * remove twist/kalman/twist & use twist_estimator/twist_with_covariance + * update particle_array stamp even if the time stamp seems wrong + --------- + * fix: suppress info/warn_stream (`#37 `_) + * does not stream undistortion time + * improve warn stream when skip particle weighting + * surpress frequency of warnings during synchronized particle searching + * fix camera_pose_initializer + --------- + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) + * add youtube link and change thumbnail + * improve input/output topics + * quick start demo screen image + * add abstruct architecture and detail architecture + --------- + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * fix package.xml to success build + * add 'rosdep install' in how-to-build + --------- + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) + * fix path search error in build stage + * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 + * Feature/remove submodule (`#47 `_) + * remove submodules + * remove doppler converter + --------- + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * change node namespace + * update namespace for autoware-mode + * update namespace in multi_camera.launch + --------- + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) + * make *.param.yaml in imgproc packages + * make *.param.yaml in initializer packages + * make *.param.yaml in map packages + * make *.param.yaml in pf packages + * make *.param.yaml in twist packages + * fix expressway parameter + * fix override_frame_id + * remove default parameters + * fix some remaining invalida parameters + --------- + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter + * remove particle_initializer + * remove debug message + * remove related parts + * update readme + * rename publishing topic + --------- + Co-authored-by: Kento Yabuuchi + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) + * combine some package about initializer + * yabloc_pose_initializer works well + * remove old initializer packages + * semseg node can launch + * fix bug + * revert initializer mode + --------- + * feature(imgproc): reudce imgproc packages (`#57 `_) + * combine some imgproc packages + * combine overlay monitors into imgproc + --------- + * feature(validation): remove validation packages (`#58 `_) + * remove validation packages + * remove path visualization + --------- + * feature(pf): combine some packages related to particle filter (`#59 `_) + * create yabloc_particle_filter + * combine gnss_particle_corrector + * combine ll2_cost_map + * combine camera_particle_corrector + * fix launch files + * split README & remove obsolete scripts + * fix config path of multi_camera mode + --------- + * feature: combine map and twist packages (`#60 `_) + * removed some twist nodes & rename remains to yabloc_twist + * fix launch files for yabloc_twist + * move map packages to yabloc_common + * WIP: I think its impossible + * Revert "WIP: I think its impossible" + This reverts commit 49da507bbf9abe8fcebed4d4df44ea5f4075f6d1. + * remove map packages & fix some launch files + --------- + * removed obsolete packages + * remove obsolete dot files + * use tier4_loc_launch instead of yabloc_loc_launch + * move launch files to each packages + * remove yabloc_localization_launch + * remove yabloc_launch + * modify yabloc/README.md + * update yabloc_common/README.md + * update yabloc_imgproc README + * update yabloc_particle_filter/README + * update yabloc_pose_initializer/README + * update README + * use native from_bin_msg + * use ifndef instead of pragma once in yabloc_common + * use ifndef instead of pragma once in yabloc_imgproc & yabloc_pf + * use ifndef instead of pragma once in yabloc_pose_initializer + * style(pre-commit): autofix + * use autoware_cmake & suppress build warning + * repalce yabloc::Timer with tier4_autoware_utils::StopWatch + * replace 1.414 with std::sqrt(2) + * style(pre-commit): autofix + * removed redundant ament_cmake_auto + * removed yabloc_common/timer.hpp + * replaced low_pass_filter with autoware's lowpass_filter_1d + * style(pre-commit): autofix + * Squashed commit of the following: + commit cb08e290cca5c00315a58a973ec068e559c9e0a9 + Author: Kento Yabuuchi + Date: Tue Jun 13 14:30:09 2023 +0900 + removed ublox_msgs in gnss_particle_corrector + commit c158133f184a43914ec5f929645a7869ef8d03be + Author: Kento Yabuuchi + Date: Tue Jun 13 14:24:19 2023 +0900 + removed obsolete yabloc_multi_camera.launch + commit 10f578945dc257ece936ede097544bf008e5f48d + Author: Kento Yabuuchi + Date: Tue Jun 13 14:22:14 2023 +0900 + removed ublox_msgs in yabloc_pose_initializer + * style(pre-commit): autofix + * removed fix2mgrs & ublox_stamp + * added ~/ at the top of topic name + * removed use_sim_time in yabloc launch files + * add architecture diagram in README + * rename lsd_node to line_segment_detector + * style(pre-commit): autofix + * Update localization/yabloc/README.md + fix typo + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * removed obsolete debug code in similar_area_searcher + * removed suspension_adaptor which manages lifecycle of particle predictor + * style(pre-commit): autofix + * renamed semseg to SemanticSegmentation + * style(pre-commit): autofix + * fixed README.md to solve markdownlint + * WIP: reflected cpplint's suggestion + * reflected cpplint's suggestion + * rename AbstParaticleFilter in config files + * fixed typo + * used autoware_lint_common + * fixed miss git add + * style(pre-commit): autofix + * replaced lanelet_util by lanelet2_extension + * replaced fast_math by tie4_autoware_utils + * sort package.xml + * renamed yabloc_imgproc with yabloc_image_processing + * reflected some review comments + * resolved some TODO + * prioritize NDT if both NDT and YabLoc initializer enabled + * changed localization_mode option names + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + Co-authored-by: kminoda + Co-authored-by: Akihiro Komori + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* Contributors: Kento Yabuuchi, SakodaShintaro, Yamato Ando, kminoda diff --git a/localization/yabloc/yabloc_image_processing/package.xml b/localization/yabloc/yabloc_image_processing/package.xml index 453ae58b9b33b..4dc13b1f923e2 100644 --- a/localization/yabloc/yabloc_image_processing/package.xml +++ b/localization/yabloc/yabloc_image_processing/package.xml @@ -2,7 +2,7 @@ yabloc_image_processing - 0.0.0 + 0.38.0 YabLoc image processing package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_monitor/CHANGELOG.rst b/localization/yabloc/yabloc_monitor/CHANGELOG.rst new file mode 100644 index 0000000000000..a22ba4228ef0d --- /dev/null +++ b/localization/yabloc/yabloc_monitor/CHANGELOG.rst @@ -0,0 +1,80 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package yabloc_monitor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(localization, map): remove maintainer (`#7940 `_) +* feat(yabloc_monitor): componentize yabloc_monitor node (`#7509 `_) + * change node to component + * fix launch file & cmake + --------- +* Contributors: Kento Yabuuchi, Yutaka Kondo, kminoda + +0.26.0 (2024-04-03) +------------------- +* chore(yabloc): rework parameters (`#6170 `_) + * introduce json schema for ground_server + * introduce json schema for ll2_decomposer + * style(pre-commit): autofix + * fix json in yabloc_common + * introduce json schema for graph_segment + * introduce json schema for segment_filter + * fix yabloc_common schema.json + * introduce json schema for undistort + * style(pre-commit): autofix + * Revert "introduce json schema for ground_server" + This reverts commit 33d3e609d4e01919d11a86d3c955f53e529ae121. + * Revert "introduce json schema for graph_segment" + This reverts commit 00ae417f030324f2dcc7dfb4b867a969ae31aea7. + * style(pre-commit): autofix + * introduce json schema for yabloc_monitor + * introduce json schema for yabloc_particle_filter + * introduce json schema for yabloc_pose_initializer + * apply pre-commit + * fix revert conflict + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: add localization & mapping maintainers (`#6085 `_) + * Added lm maintainers + * Add more + * Fixed maintainer + --------- +* chore: add maintainer in localization and map packages (`#4501 `_) +* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) + * feat(yabloc_monitor): add yabloc_monitor + * style(pre-commit): autofix + * add readme + * style(pre-commit): autofix + * update config + * style(pre-commit): autofix + * update + * style(pre-commit): autofix + * update + * style(pre-commit): autofix + * remove unnecessary part + * remove todo + * fix typo + * remove unnecessary part + * update readme + * shorten function + * reflect chatgpt + * style(pre-commit): autofix + * update + * cland-tidy + * style(pre-commit): autofix + * update variable name + * fix if name + * use nullopt (and moved yabloc monitor namespace + * fix readme + * style(pre-commit): autofix + * add dependency + * style(pre-commit): autofix + * reflect comment + * update comment + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Kento Yabuuchi, SakodaShintaro, kminoda diff --git a/localization/yabloc/yabloc_monitor/package.xml b/localization/yabloc/yabloc_monitor/package.xml index f3e6cfcdfbe5a..9fd3e2af75625 100644 --- a/localization/yabloc/yabloc_monitor/package.xml +++ b/localization/yabloc/yabloc_monitor/package.xml @@ -2,7 +2,7 @@ yabloc_monitor - 0.1.0 + 0.38.0 YabLoc monitor package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst new file mode 100644 index 0000000000000..671c65cade5d7 --- /dev/null +++ b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst @@ -0,0 +1,567 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package yabloc_particle_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(yabloc_particle_filter): apply static analysis (`#7519 `_) + * removed unused + * style(pre-commit): autofix + * removed unused + * Update localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp + change to use get_mean_pose directly + Co-authored-by: Kento Yabuuchi + * apply suggestion + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kento Yabuuchi +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(yabloc_common): apply static analysis (`#7481 `_) + * refactor based on linter + * restore unwanted change + * remove unnecessary comment + * style(pre-commit): autofix + * change to const double + * add static cast + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(yabloc_particle_filter): componentize yabloc_particle_filter nodes (`#7305 `_) + * componentize particle predictor + * componentize particle visualizer + * componentize particle correctors + * modify launch.xml + * remove unused node + * style(pre-commit): autofix + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kotaro Yoshimoto +* fix(yabloc): suppress no viable conversion error (`#7299 `_) + * use tier4_autoware_utils instead of yabloc::Color + * use static_cast to convert Color to RGBA + * use tier4_autoware_utils instead of yabloc::Color + * use static_cast to convert Color to RGBA + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) + * make executables component + * log output changes to both + * style(pre-commit): autofix + * add default param path + * add glog as depend package + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(glog): add initialization check (`#6792 `_) +* Contributors: Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, Takamasa Horibe, Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* chore(yabloc): rework parameters (`#6170 `_) + * introduce json schema for ground_server + * introduce json schema for ll2_decomposer + * style(pre-commit): autofix + * fix json in yabloc_common + * introduce json schema for graph_segment + * introduce json schema for segment_filter + * fix yabloc_common schema.json + * introduce json schema for undistort + * style(pre-commit): autofix + * Revert "introduce json schema for ground_server" + This reverts commit 33d3e609d4e01919d11a86d3c955f53e529ae121. + * Revert "introduce json schema for graph_segment" + This reverts commit 00ae417f030324f2dcc7dfb4b867a969ae31aea7. + * style(pre-commit): autofix + * introduce json schema for yabloc_monitor + * introduce json schema for yabloc_particle_filter + * introduce json schema for yabloc_pose_initializer + * apply pre-commit + * fix revert conflict + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: add localization & mapping maintainers (`#6085 `_) + * Added lm maintainers + * Add more + * Fixed maintainer + --------- +* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) + * change arg default value + * add yabloc_trigger_service + * fix misc + --------- +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) + Co-authored-by: yamato-ando +* chore: add maintainer in localization and map packages (`#4501 `_) +* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) + * refactor(yabloc_particle_filter): remove deprecated cmake ros2idl API + * refactor(yabloc_pose_initializer): remove deprecated cmake ros2idl API + --------- +* feat(yabloc): change namespace (`#4389 `_) + * fix(yabloc): update namespace + * fix + --------- +* fix(yabloc_particle_filter): fix typo (`#4332 `_) +* fix(yabloc): fix typo (`#4281 `_) + * fix(yabloc): fix typo + * fix Kinv and mean_pose + * style(pre-commit): autofix + * fix normalized term + * fix resamping + * style(pre-commit): autofix + * fix reweight + * fix typo + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) + * feat(tier4_localization_launch): add pose_twist_estimator.launch.py + * update format + * update launcher + * update pose_initailizer config + * Move pose_initializer to pose_twist_estimator.launch.py, move yabloc namespace + * use launch.xml instead of launch.py + * Validated that all the configuration launches correctly (not performance eval yet) + * Remove arg + * style(pre-commit): autofix + * Update eagleye param path + * minor update + * fix minor bugs + * fix minor bugs + * Introduce use_eagleye_twist args in eagleye_rt.launch.xml to control pose/twist relay nodes + * Update pose_initializer input topic when using eagleye + * Add eagleye dependency in tier4_localization_launch + * Update tier4_localization_launch readme + * style(pre-commit): autofix + * Update svg + * Update svg again (transparent background) + * style(pre-commit): autofix + * Update yabloc document + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(yabloc): fix spell-check CI (`#4268 `_) + * fix(yabloc): fix typo + * style(pre-commit): autofix + * fix more typo + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(yabloc): add camera and vector map localization (`#3946 `_) + * adopt scane_case to undistort, segment_filter + * adopt scane_case to ground_server, ll2_decomposer + * adopt scane_case to twist_converter, twist_estimator + * adopt scane_case to validation packages + * adopt scane_case tomodularized_particle_filter + * adopt scane_case to gnss_particle_corrector + * adopt scane_case to camera_particle_corrector + * adopt scane_case to antishadow_corrector + * adopt scane_case to particle_initializer + * organize launch files + * add twist_visualizer to validate odometry performance + * use SE3::exp() to predict particles & modify linear noise model + * stop to use LL2 to rectify initialpose2d + * fix redundant computation in segment_accumulator + * improve gnss_particle_corrector + * fix segment_accumulator's bug + * add doppler_converter + * add xx2.launch.xml + * add hsv_extractor + * pickup other regions which have same color histogram + * use additional region to filt line-segments + * improve graph-segmentation + * remove `truncate_pixel_threshold` + * refactor graph_segmentator & segment_filter + * add mahalanobis_distance_threshold in GNSS particle corrector + * add extract_line_segments.hpp + * use pcl::transformCloudWithNormals instead of transform_cloud + * filt accumulating segments by LL2 + * move herarchical_cost_map to common + * apply positive feedback for accumulation + * move transform_linesegments() to common pkg + * refactor + * use all projected lines for camera corrector + * evaluate iffy linesegments + * complete to unify ll2-assisted lsd clasification + * add abs_cos2() which is more strict direction constraint + * fix orientation initialization bug + * publish doppler direction + * TMP: add disable/enable switch for camera corrector + * implement doppler orientation correction but it's disabled by default + * speed up camera corrector + * update ros params + * implement kalman filter for ground tilt estimation + * continuous height estimation works well? + * estimate height cotiniously + * use only linesegments which are at same height + * add static_gyro_bias parameter + * fix bug about overlay varidation + * increse ll2 height marging in cost map generation + * add static_gyro_bias in twist.launch.xml + * load pcdless_init_area from ll2 + * add specified initialization area + * add corrector_manager node to disable/enable camera_corrector + * call service to disable camer_corrector from manager + * load corrector disable area + * overlay even if pose is not estiamted + * publish camera corrector's status as string + * add set_booL_panel for camera_corrector enable/disable + * load bounding box from lanelet2 + * draw bounding box on cost map + * remove at2,at1 from cost map + * use cost_map::at() instread pf at2() + * move cost map library from common to camera corrector + * use logit for particle weighting but it does not work well + * prob_to_logit() requires non-intuitive parameters + * goodbye stupid parameters (max_raw_score & score_offset) + * publish two scored pointclouds as debug + * can handle unmapped areas + * remove obsolete packages + * update README.md + * Update README.md + * add image of how_to_launch + * add node diagram in readme + * add rviz_description.png in README + * subscribe pose_with_cov & disconnect base_link <-> particle_pose + * remove segment_accumulator & launch ekf_localizer from this project + * add gnss_ekf_corrector + * add camera_ekf_corrector package + * subscribe ekf prediction & synch pose data + * WIP: ready to implement UKF? + * estimate weighted averaging as pose_estimator + * basic algorithm is implemented but it does not work proparly + * apply after_cov_gain\_ + * ekf corrector works a little bit appropriately + * increase twist covariance for ekf + * test probability theory + * updat prob.py + * implement de-bayesing but it loooks ugly + * remove obsolete parameters + * skip measurement publishing if travel distance is so short + * use constant covariance because i dont understand what is correct + * add submodule sample_vehicle_launch + * TMP but it works + * add ekf_trigger in particle_initializer.hpp + * publish gnss markers & camera_est pubishes constant cov + * back to pcd-less only launcher + * add bayes_util package + * apply de-bayesing for camera_ekf + * some launch file update + * organize launch files. we can choice mode from ekf/pekf/pf + * organize particle_initializer + * add swap_mode_adaptor WIP + * use latest ekf in autoware & sample_vehicle + * fix bug of swap_adalptor + * fix FIX & FLOAT converter + * fix septentrio doppler converter + * move ekf packages to ekf directory + * ignore corrector_manager + * add standalone arg in launch files + * update semseg_node + * add camera_pose_initializer pkg + * subscribe camera_info&tf and prepare semantic projection + * project semantic image + * create vector map image from ll2 + * create lane image from vector map + * search the most match angle by non-zero pixels + * camera based pose_initializer + * move ekf packages into unstable + * move ekf theory debugger + * add tier4_autoware_msgs as submodule + * move pose_initializer into initializer dir + * add semse_msgs pkg + * separate marker pub function + * separate projection functions + * add semseg_srv client + * move sem-seg directory + * camera pose initilizer works successfully + * rectify covariance along the orientation + * improve initialization parameters + * take into account covariance of request + * use lanelet direciton to compute init pose scores + * semseg download model automatically + * remove sample_vehicle_launch + * add autoware_msgs + * remove obsolete launch files + * add standalone mode for direct initialization + * fix fix_to_pose + * update launch files + * update rviz config + * remove lidar_particle_corrector + * remove Sophus from sunbmodule + * rename submodule directory + * update README and some sample images + * update README.md + * fix override_camera_frame_id bahaviors + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) + * use initialpose from Rviz to init + * add description about how-to-set-initialpose + --------- + * misc: add license (`#7 `_) + * WIP: add license description + * add license description + * add description about license in README + --------- + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) + * delete obsolete launch files + * update documents + --------- + * docs(readme): update architecture image (`#10 `_) + * replace architecture image in README + * update some images + --------- + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * remove not useful scripts + * rename scripts & add descriptions + * little change + * remove odaiba.rviz + * grammer fix + --------- + * fix(pcdless_launch): fix a build bug + * fix(twist_estimator): use velocity_report by default + * fix bug + * debugged, now works + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * make additional-graph-segment-pickup disablable + * enlarge gnss_mahalanobis_distance_threshold in expressway.launch + --------- + * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support + * update + * update + * fix typo + --------- + * refactor(retroactive_resampler): more readable (`#19 `_) + * make Hisotry class + * use boost:adaptors::indexed() + * add many comment in resampling() + * does not use ConstSharedPtr + * rename interface of resampler + * circular_buffer is unnecessary + --------- + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * resampling interval management should be done out of resample() + * resampler class throw exeption rather than optional + * split files for resampling_history + * split files for experimental/suspention_adaptor + --------- + * refactor(mpf::predictor): just refactoring (`#21 `_) + * remove obsolete functions + * remove test of predictor + * remove remapping in pf.launch.xml for suspension_adapator + * add some comments + --------- + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * feat(pcdless_launch): add multi camera launcher + * minor fix + --------- + * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor imgproc/*/CMakeListx.txt + * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg + * rename some files in twist/ & refactor pf/*/cmakelist + * refactor validation/*/CMakeListx.txt + * fix some obsolete executor name + --------- + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) + * rename pcdless to yabloc + * fix conflict miss + --------- + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) + * update mpf/README.md + * update gnss_corrector/README.md + * update camera_corrector/README.md + --------- + * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines + * update validation + * update imgproc (reverted) + * large change inclding refactoring + * major update + * revert rviz config + * minor fix in name + * add validation option + * update architecture svg + * rename validation.launch to overlay.launch + * no throw runtime_error (unintentionaly applying format) + --------- + Co-authored-by: Kento Yabuuchi + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) + * not use ublox_msg when run as autoware + * remove twist/kalman/twist & use twist_estimator/twist_with_covariance + * update particle_array stamp even if the time stamp seems wrong + --------- + * fix: suppress info/warn_stream (`#37 `_) + * does not stream undistortion time + * improve warn stream when skip particle weighting + * surpress frequency of warnings during synchronized particle searching + * fix camera_pose_initializer + --------- + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) + * add youtube link and change thumbnail + * improve input/output topics + * quick start demo screen image + * add abstruct architecture and detail architecture + --------- + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * fix package.xml to success build + * add 'rosdep install' in how-to-build + --------- + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) + * fix path search error in build stage + * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 + * Feature/remove submodule (`#47 `_) + * remove submodules + * remove doppler converter + --------- + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * change node namespace + * update namespace for autoware-mode + * update namespace in multi_camera.launch + --------- + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) + * make *.param.yaml in imgproc packages + * make *.param.yaml in initializer packages + * make *.param.yaml in map packages + * make *.param.yaml in pf packages + * make *.param.yaml in twist packages + * fix expressway parameter + * fix override_frame_id + * remove default parameters + * fix some remaining invalida parameters + --------- + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter + * remove particle_initializer + * remove debug message + * remove related parts + * update readme + * rename publishing topic + --------- + Co-authored-by: Kento Yabuuchi + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) + * combine some package about initializer + * yabloc_pose_initializer works well + * remove old initializer packages + * semseg node can launch + * fix bug + * revert initializer mode + --------- + * feature(imgproc): reudce imgproc packages (`#57 `_) + * combine some imgproc packages + * combine overlay monitors into imgproc + --------- + * feature(validation): remove validation packages (`#58 `_) + * remove validation packages + * remove path visualization + --------- + * feature(pf): combine some packages related to particle filter (`#59 `_) + * create yabloc_particle_filter + * combine gnss_particle_corrector + * combine ll2_cost_map + * combine camera_particle_corrector + * fix launch files + * split README & remove obsolete scripts + * fix config path of multi_camera mode + --------- + * feature: combine map and twist packages (`#60 `_) + * removed some twist nodes & rename remains to yabloc_twist + * fix launch files for yabloc_twist + * move map packages to yabloc_common + * WIP: I think its impossible + * Revert "WIP: I think its impossible" + This reverts commit 49da507bbf9abe8fcebed4d4df44ea5f4075f6d1. + * remove map packages & fix some launch files + --------- + * removed obsolete packages + * remove obsolete dot files + * use tier4_loc_launch instead of yabloc_loc_launch + * move launch files to each packages + * remove yabloc_localization_launch + * remove yabloc_launch + * modify yabloc/README.md + * update yabloc_common/README.md + * update yabloc_imgproc README + * update yabloc_particle_filter/README + * update yabloc_pose_initializer/README + * update README + * use native from_bin_msg + * use ifndef instead of pragma once in yabloc_common + * use ifndef instead of pragma once in yabloc_imgproc & yabloc_pf + * use ifndef instead of pragma once in yabloc_pose_initializer + * style(pre-commit): autofix + * use autoware_cmake & suppress build warning + * repalce yabloc::Timer with tier4_autoware_utils::StopWatch + * replace 1.414 with std::sqrt(2) + * style(pre-commit): autofix + * removed redundant ament_cmake_auto + * removed yabloc_common/timer.hpp + * replaced low_pass_filter with autoware's lowpass_filter_1d + * style(pre-commit): autofix + * Squashed commit of the following: + commit cb08e290cca5c00315a58a973ec068e559c9e0a9 + Author: Kento Yabuuchi + Date: Tue Jun 13 14:30:09 2023 +0900 + removed ublox_msgs in gnss_particle_corrector + commit c158133f184a43914ec5f929645a7869ef8d03be + Author: Kento Yabuuchi + Date: Tue Jun 13 14:24:19 2023 +0900 + removed obsolete yabloc_multi_camera.launch + commit 10f578945dc257ece936ede097544bf008e5f48d + Author: Kento Yabuuchi + Date: Tue Jun 13 14:22:14 2023 +0900 + removed ublox_msgs in yabloc_pose_initializer + * style(pre-commit): autofix + * removed fix2mgrs & ublox_stamp + * added ~/ at the top of topic name + * removed use_sim_time in yabloc launch files + * add architecture diagram in README + * rename lsd_node to line_segment_detector + * style(pre-commit): autofix + * Update localization/yabloc/README.md + fix typo + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * removed obsolete debug code in similar_area_searcher + * removed suspension_adaptor which manages lifecycle of particle predictor + * style(pre-commit): autofix + * renamed semseg to SemanticSegmentation + * style(pre-commit): autofix + * fixed README.md to solve markdownlint + * WIP: reflected cpplint's suggestion + * reflected cpplint's suggestion + * rename AbstParaticleFilter in config files + * fixed typo + * used autoware_lint_common + * fixed miss git add + * style(pre-commit): autofix + * replaced lanelet_util by lanelet2_extension + * replaced fast_math by tie4_autoware_utils + * sort package.xml + * renamed yabloc_imgproc with yabloc_image_processing + * reflected some review comments + * resolved some TODO + * prioritize NDT if both NDT and YabLoc initializer enabled + * changed localization_mode option names + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + Co-authored-by: kminoda + Co-authored-by: Akihiro Komori + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* Contributors: Kento Yabuuchi, SakodaShintaro, Yamato Ando, kminoda, ぐるぐる diff --git a/localization/yabloc/yabloc_particle_filter/package.xml b/localization/yabloc/yabloc_particle_filter/package.xml index 8e2b98d10931b..cbf19be65148f 100644 --- a/localization/yabloc/yabloc_particle_filter/package.xml +++ b/localization/yabloc/yabloc_particle_filter/package.xml @@ -2,7 +2,7 @@ yabloc_particle_filter - 0.1.0 + 0.38.0 YabLoc particle filter package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst new file mode 100644 index 0000000000000..9e4ceff33133f --- /dev/null +++ b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst @@ -0,0 +1,572 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package yabloc_pose_initializer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(pose_initializer, ndt_scan_matcher): check initial pose result and publish diag (`#8275 `_) + * feat(localization): check initial pose result and publish diag + * fix: refactor + * feat: update README + * fix: rename reliability to reliable + * feat: always return true in yabloc module + --------- +* refactor(yabloc_pose_initializer): apply static analysis (`#7719 `_) + * refactor based on linter + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) + * Use cv_bridge.hpp if available + * Fix image_geometry deprecated header + * Add comment for __has_include + --------- + Co-authored-by: Kotaro Yoshimoto +* feat(yabloc_pose_initializer): componentize yabloc_pose_initializer node (`#7506 `_) + * change the node to component + * remove useless node.cpp + * add rclcpp_components as dependency + --------- +* fix(yabloc): suppress no viable conversion error (`#7299 `_) + * use tier4_autoware_utils instead of yabloc::Color + * use static_cast to convert Color to RGBA + * use tier4_autoware_utils instead of yabloc::Color + * use static_cast to convert Color to RGBA + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (`#7243 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* perf(yabloc): fix performance warning of iterateByValue (`#6929 `_) +* Contributors: Kento Yabuuchi, Masaki Baba, Ryohsuke Mitsudome, RyuYamamoto, Ryuta Kambe, Yutaka Kondo, ぐるぐる + +0.26.0 (2024-04-03) +------------------- +* build(yabloc_pose_initializer): fix dependencies (`#6190 `_) +* chore(yabloc): rework parameters (`#6170 `_) + * introduce json schema for ground_server + * introduce json schema for ll2_decomposer + * style(pre-commit): autofix + * fix json in yabloc_common + * introduce json schema for graph_segment + * introduce json schema for segment_filter + * fix yabloc_common schema.json + * introduce json schema for undistort + * style(pre-commit): autofix + * Revert "introduce json schema for ground_server" + This reverts commit 33d3e609d4e01919d11a86d3c955f53e529ae121. + * Revert "introduce json schema for graph_segment" + This reverts commit 00ae417f030324f2dcc7dfb4b867a969ae31aea7. + * style(pre-commit): autofix + * introduce json schema for yabloc_monitor + * introduce json schema for yabloc_particle_filter + * introduce json schema for yabloc_pose_initializer + * apply pre-commit + * fix revert conflict + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: add localization & mapping maintainers (`#6085 `_) + * Added lm maintainers + * Add more + * Fixed maintainer + --------- +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) + Co-authored-by: yamato-ando +* build(yabloc_pose_initializer): remove downloading logic from CMake (`#4905 `_) + * remove downloading logic from Cmake + * build(yabloc_pose_initializer): remove downloading logic from CMake + * build(yabloc_pose_initializer): update default model path in launch file + --------- +* refactor(yabloc_pose_initializer): use cpp DNN module instead of python (`#5025 `_) + * cannot include yabloc_pose_initializer.srv + * launch semantic_segmentation_cpp + * implement DNN inference as C++ + * use C++ inference + * remove python files + * add segmentation.cpp + * add license + * remove segmentation service + * style(pre-commit): autofix + * reflect pre-commit's review + * add include guard + * update README + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: add maintainer in localization and map packages (`#4501 `_) +* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) + * refactor(yabloc_particle_filter): remove deprecated cmake ros2idl API + * refactor(yabloc_pose_initializer): remove deprecated cmake ros2idl API + --------- +* feat(yabloc): change namespace (`#4389 `_) + * fix(yabloc): update namespace + * fix + --------- +* feat(yabloc_pose_initializer): make yabloc independent of dnn model by default (`#4296 `_) + * care no dnn model exists + * modify segmentation_srv to inform inference failure + * add documentation + * fix typo + * ignore DDOWNLOAD + * make const variable be capital + * use std::optional rather than reference arg + --------- +* fix(yabloc): fix typo (`#4281 `_) + * fix(yabloc): fix typo + * fix Kinv and mean_pose + * style(pre-commit): autofix + * fix normalized term + * fix resamping + * style(pre-commit): autofix + * fix reweight + * fix typo + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) + * feat(tier4_localization_launch): add pose_twist_estimator.launch.py + * update format + * update launcher + * update pose_initailizer config + * Move pose_initializer to pose_twist_estimator.launch.py, move yabloc namespace + * use launch.xml instead of launch.py + * Validated that all the configuration launches correctly (not performance eval yet) + * Remove arg + * style(pre-commit): autofix + * Update eagleye param path + * minor update + * fix minor bugs + * fix minor bugs + * Introduce use_eagleye_twist args in eagleye_rt.launch.xml to control pose/twist relay nodes + * Update pose_initializer input topic when using eagleye + * Add eagleye dependency in tier4_localization_launch + * Update tier4_localization_launch readme + * style(pre-commit): autofix + * Update svg + * Update svg again (transparent background) + * style(pre-commit): autofix + * Update yabloc document + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(yabloc_pose_initializer): disable downloading artifacts by default (`#4110 `_) + Co-authored-by: Esteve Fernandez +* feat(yabloc): add camera and vector map localization (`#3946 `_) + * adopt scane_case to undistort, segment_filter + * adopt scane_case to ground_server, ll2_decomposer + * adopt scane_case to twist_converter, twist_estimator + * adopt scane_case to validation packages + * adopt scane_case tomodularized_particle_filter + * adopt scane_case to gnss_particle_corrector + * adopt scane_case to camera_particle_corrector + * adopt scane_case to antishadow_corrector + * adopt scane_case to particle_initializer + * organize launch files + * add twist_visualizer to validate odometry performance + * use SE3::exp() to predict particles & modify linear noise model + * stop to use LL2 to rectify initialpose2d + * fix redundant computation in segment_accumulator + * improve gnss_particle_corrector + * fix segment_accumulator's bug + * add doppler_converter + * add xx2.launch.xml + * add hsv_extractor + * pickup other regions which have same color histogram + * use additional region to filt line-segments + * improve graph-segmentation + * remove `truncate_pixel_threshold` + * refactor graph_segmentator & segment_filter + * add mahalanobis_distance_threshold in GNSS particle corrector + * add extract_line_segments.hpp + * use pcl::transformCloudWithNormals instead of transform_cloud + * filt accumulating segments by LL2 + * move herarchical_cost_map to common + * apply positive feedback for accumulation + * move transform_linesegments() to common pkg + * refactor + * use all projected lines for camera corrector + * evaluate iffy linesegments + * complete to unify ll2-assisted lsd clasification + * add abs_cos2() which is more strict direction constraint + * fix orientation initialization bug + * publish doppler direction + * TMP: add disable/enable switch for camera corrector + * implement doppler orientation correction but it's disabled by default + * speed up camera corrector + * update ros params + * implement kalman filter for ground tilt estimation + * continuous height estimation works well? + * estimate height cotiniously + * use only linesegments which are at same height + * add static_gyro_bias parameter + * fix bug about overlay varidation + * increse ll2 height marging in cost map generation + * add static_gyro_bias in twist.launch.xml + * load pcdless_init_area from ll2 + * add specified initialization area + * add corrector_manager node to disable/enable camera_corrector + * call service to disable camer_corrector from manager + * load corrector disable area + * overlay even if pose is not estiamted + * publish camera corrector's status as string + * add set_booL_panel for camera_corrector enable/disable + * load bounding box from lanelet2 + * draw bounding box on cost map + * remove at2,at1 from cost map + * use cost_map::at() instread pf at2() + * move cost map library from common to camera corrector + * use logit for particle weighting but it does not work well + * prob_to_logit() requires non-intuitive parameters + * goodbye stupid parameters (max_raw_score & score_offset) + * publish two scored pointclouds as debug + * can handle unmapped areas + * remove obsolete packages + * update README.md + * Update README.md + * add image of how_to_launch + * add node diagram in readme + * add rviz_description.png in README + * subscribe pose_with_cov & disconnect base_link <-> particle_pose + * remove segment_accumulator & launch ekf_localizer from this project + * add gnss_ekf_corrector + * add camera_ekf_corrector package + * subscribe ekf prediction & synch pose data + * WIP: ready to implement UKF? + * estimate weighted averaging as pose_estimator + * basic algorithm is implemented but it does not work proparly + * apply after_cov_gain\_ + * ekf corrector works a little bit appropriately + * increase twist covariance for ekf + * test probability theory + * updat prob.py + * implement de-bayesing but it loooks ugly + * remove obsolete parameters + * skip measurement publishing if travel distance is so short + * use constant covariance because i dont understand what is correct + * add submodule sample_vehicle_launch + * TMP but it works + * add ekf_trigger in particle_initializer.hpp + * publish gnss markers & camera_est pubishes constant cov + * back to pcd-less only launcher + * add bayes_util package + * apply de-bayesing for camera_ekf + * some launch file update + * organize launch files. we can choice mode from ekf/pekf/pf + * organize particle_initializer + * add swap_mode_adaptor WIP + * use latest ekf in autoware & sample_vehicle + * fix bug of swap_adalptor + * fix FIX & FLOAT converter + * fix septentrio doppler converter + * move ekf packages to ekf directory + * ignore corrector_manager + * add standalone arg in launch files + * update semseg_node + * add camera_pose_initializer pkg + * subscribe camera_info&tf and prepare semantic projection + * project semantic image + * create vector map image from ll2 + * create lane image from vector map + * search the most match angle by non-zero pixels + * camera based pose_initializer + * move ekf packages into unstable + * move ekf theory debugger + * add tier4_autoware_msgs as submodule + * move pose_initializer into initializer dir + * add semse_msgs pkg + * separate marker pub function + * separate projection functions + * add semseg_srv client + * move sem-seg directory + * camera pose initilizer works successfully + * rectify covariance along the orientation + * improve initialization parameters + * take into account covariance of request + * use lanelet direciton to compute init pose scores + * semseg download model automatically + * remove sample_vehicle_launch + * add autoware_msgs + * remove obsolete launch files + * add standalone mode for direct initialization + * fix fix_to_pose + * update launch files + * update rviz config + * remove lidar_particle_corrector + * remove Sophus from sunbmodule + * rename submodule directory + * update README and some sample images + * update README.md + * fix override_camera_frame_id bahaviors + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) + * use initialpose from Rviz to init + * add description about how-to-set-initialpose + --------- + * misc: add license (`#7 `_) + * WIP: add license description + * add license description + * add description about license in README + --------- + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) + * delete obsolete launch files + * update documents + --------- + * docs(readme): update architecture image (`#10 `_) + * replace architecture image in README + * update some images + --------- + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * remove not useful scripts + * rename scripts & add descriptions + * little change + * remove odaiba.rviz + * grammer fix + --------- + * fix(pcdless_launch): fix a build bug + * fix(twist_estimator): use velocity_report by default + * fix bug + * debugged, now works + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * make additional-graph-segment-pickup disablable + * enlarge gnss_mahalanobis_distance_threshold in expressway.launch + --------- + * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support + * update + * update + * fix typo + --------- + * refactor(retroactive_resampler): more readable (`#19 `_) + * make Hisotry class + * use boost:adaptors::indexed() + * add many comment in resampling() + * does not use ConstSharedPtr + * rename interface of resampler + * circular_buffer is unnecessary + --------- + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * resampling interval management should be done out of resample() + * resampler class throw exeption rather than optional + * split files for resampling_history + * split files for experimental/suspention_adaptor + --------- + * refactor(mpf::predictor): just refactoring (`#21 `_) + * remove obsolete functions + * remove test of predictor + * remove remapping in pf.launch.xml for suspension_adapator + * add some comments + --------- + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * feat(pcdless_launch): add multi camera launcher + * minor fix + --------- + * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor imgproc/*/CMakeListx.txt + * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg + * rename some files in twist/ & refactor pf/*/cmakelist + * refactor validation/*/CMakeListx.txt + * fix some obsolete executor name + --------- + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) + * rename pcdless to yabloc + * fix conflict miss + --------- + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) + * update mpf/README.md + * update gnss_corrector/README.md + * update camera_corrector/README.md + --------- + * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines + * update validation + * update imgproc (reverted) + * large change inclding refactoring + * major update + * revert rviz config + * minor fix in name + * add validation option + * update architecture svg + * rename validation.launch to overlay.launch + * no throw runtime_error (unintentionaly applying format) + --------- + Co-authored-by: Kento Yabuuchi + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) + * not use ublox_msg when run as autoware + * remove twist/kalman/twist & use twist_estimator/twist_with_covariance + * update particle_array stamp even if the time stamp seems wrong + --------- + * fix: suppress info/warn_stream (`#37 `_) + * does not stream undistortion time + * improve warn stream when skip particle weighting + * surpress frequency of warnings during synchronized particle searching + * fix camera_pose_initializer + --------- + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) + * add youtube link and change thumbnail + * improve input/output topics + * quick start demo screen image + * add abstruct architecture and detail architecture + --------- + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * fix package.xml to success build + * add 'rosdep install' in how-to-build + --------- + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) + * fix path search error in build stage + * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 + * Feature/remove submodule (`#47 `_) + * remove submodules + * remove doppler converter + --------- + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * change node namespace + * update namespace for autoware-mode + * update namespace in multi_camera.launch + --------- + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) + * make *.param.yaml in imgproc packages + * make *.param.yaml in initializer packages + * make *.param.yaml in map packages + * make *.param.yaml in pf packages + * make *.param.yaml in twist packages + * fix expressway parameter + * fix override_frame_id + * remove default parameters + * fix some remaining invalida parameters + --------- + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter + * remove particle_initializer + * remove debug message + * remove related parts + * update readme + * rename publishing topic + --------- + Co-authored-by: Kento Yabuuchi + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) + * combine some package about initializer + * yabloc_pose_initializer works well + * remove old initializer packages + * semseg node can launch + * fix bug + * revert initializer mode + --------- + * feature(imgproc): reudce imgproc packages (`#57 `_) + * combine some imgproc packages + * combine overlay monitors into imgproc + --------- + * feature(validation): remove validation packages (`#58 `_) + * remove validation packages + * remove path visualization + --------- + * feature(pf): combine some packages related to particle filter (`#59 `_) + * create yabloc_particle_filter + * combine gnss_particle_corrector + * combine ll2_cost_map + * combine camera_particle_corrector + * fix launch files + * split README & remove obsolete scripts + * fix config path of multi_camera mode + --------- + * feature: combine map and twist packages (`#60 `_) + * removed some twist nodes & rename remains to yabloc_twist + * fix launch files for yabloc_twist + * move map packages to yabloc_common + * WIP: I think its impossible + * Revert "WIP: I think its impossible" + This reverts commit 49da507bbf9abe8fcebed4d4df44ea5f4075f6d1. + * remove map packages & fix some launch files + --------- + * removed obsolete packages + * remove obsolete dot files + * use tier4_loc_launch instead of yabloc_loc_launch + * move launch files to each packages + * remove yabloc_localization_launch + * remove yabloc_launch + * modify yabloc/README.md + * update yabloc_common/README.md + * update yabloc_imgproc README + * update yabloc_particle_filter/README + * update yabloc_pose_initializer/README + * update README + * use native from_bin_msg + * use ifndef instead of pragma once in yabloc_common + * use ifndef instead of pragma once in yabloc_imgproc & yabloc_pf + * use ifndef instead of pragma once in yabloc_pose_initializer + * style(pre-commit): autofix + * use autoware_cmake & suppress build warning + * repalce yabloc::Timer with tier4_autoware_utils::StopWatch + * replace 1.414 with std::sqrt(2) + * style(pre-commit): autofix + * removed redundant ament_cmake_auto + * removed yabloc_common/timer.hpp + * replaced low_pass_filter with autoware's lowpass_filter_1d + * style(pre-commit): autofix + * Squashed commit of the following: + commit cb08e290cca5c00315a58a973ec068e559c9e0a9 + Author: Kento Yabuuchi + Date: Tue Jun 13 14:30:09 2023 +0900 + removed ublox_msgs in gnss_particle_corrector + commit c158133f184a43914ec5f929645a7869ef8d03be + Author: Kento Yabuuchi + Date: Tue Jun 13 14:24:19 2023 +0900 + removed obsolete yabloc_multi_camera.launch + commit 10f578945dc257ece936ede097544bf008e5f48d + Author: Kento Yabuuchi + Date: Tue Jun 13 14:22:14 2023 +0900 + removed ublox_msgs in yabloc_pose_initializer + * style(pre-commit): autofix + * removed fix2mgrs & ublox_stamp + * added ~/ at the top of topic name + * removed use_sim_time in yabloc launch files + * add architecture diagram in README + * rename lsd_node to line_segment_detector + * style(pre-commit): autofix + * Update localization/yabloc/README.md + fix typo + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * removed obsolete debug code in similar_area_searcher + * removed suspension_adaptor which manages lifecycle of particle predictor + * style(pre-commit): autofix + * renamed semseg to SemanticSegmentation + * style(pre-commit): autofix + * fixed README.md to solve markdownlint + * WIP: reflected cpplint's suggestion + * reflected cpplint's suggestion + * rename AbstParaticleFilter in config files + * fixed typo + * used autoware_lint_common + * fixed miss git add + * style(pre-commit): autofix + * replaced lanelet_util by lanelet2_extension + * replaced fast_math by tie4_autoware_utils + * sort package.xml + * renamed yabloc_imgproc with yabloc_image_processing + * reflected some review comments + * resolved some TODO + * prioritize NDT if both NDT and YabLoc initializer enabled + * changed localization_mode option names + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + Co-authored-by: kminoda + Co-authored-by: Akihiro Komori + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* Contributors: Alexey Panferov, Esteve Fernandez, Kento Yabuuchi, SakodaShintaro, Yamato Ando, kminoda, ぐるぐる diff --git a/localization/yabloc/yabloc_pose_initializer/package.xml b/localization/yabloc/yabloc_pose_initializer/package.xml index 359557ac94090..4e650340a309f 100644 --- a/localization/yabloc/yabloc_pose_initializer/package.xml +++ b/localization/yabloc/yabloc_pose_initializer/package.xml @@ -1,7 +1,7 @@ yabloc_pose_initializer - 0.0.0 + 0.38.0 The pose initializer Kento Yabuuchi Masahiro Sakamoto diff --git a/map/autoware_map_height_fitter/CHANGELOG.rst b/map/autoware_map_height_fitter/CHANGELOG.rst new file mode 100644 index 0000000000000..857ffd6b70d4e --- /dev/null +++ b/map/autoware_map_height_fitter/CHANGELOG.rst @@ -0,0 +1,18 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_map_height_fitter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(map_height_fitter)!: prefix package and namespace with autoware (`#8421 `_) + * add autoware\_ prefix + * style(pre-commit): autofix + * remove duplicated dependency + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: SakodaShintaro +* Contributors: Masaki Baba, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/map/autoware_map_height_fitter/package.xml b/map/autoware_map_height_fitter/package.xml index 17f2e95edb159..bfb9855320d4b 100644 --- a/map/autoware_map_height_fitter/package.xml +++ b/map/autoware_map_height_fitter/package.xml @@ -2,7 +2,7 @@ autoware_map_height_fitter - 0.1.0 + 0.38.0 The autoware_map_height_fitter package Takagi, Isamu Yamato Ando diff --git a/map/autoware_map_projection_loader/CHANGELOG.rst b/map/autoware_map_projection_loader/CHANGELOG.rst new file mode 100644 index 0000000000000..dbd1efbcae57f --- /dev/null +++ b/map/autoware_map_projection_loader/CHANGELOG.rst @@ -0,0 +1,17 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_map_projection_loader +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) + * add autoware\_ prefix + * add autoware\_ prefix + --------- + Co-authored-by: SakodaShintaro +* Contributors: Esteve Fernandez, Masaki Baba, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml index 593259fc6495a..55785a81ea1a2 100644 --- a/map/autoware_map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -2,7 +2,7 @@ autoware_map_projection_loader - 0.1.0 + 0.38.0 autoware_map_projection_loader package as a ROS 2 node Yamato Ando Masahiro Sakamoto diff --git a/map/autoware_map_tf_generator/CHANGELOG.rst b/map/autoware_map_tf_generator/CHANGELOG.rst new file mode 100644 index 0000000000000..fd9a0360a0284 --- /dev/null +++ b/map/autoware_map_tf_generator/CHANGELOG.rst @@ -0,0 +1,16 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_map_tf_generator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) + * add autoware\_ prefix + * add autoware\_ prefix + --------- + Co-authored-by: SakodaShintaro +* Contributors: Masaki Baba, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/map/autoware_map_tf_generator/package.xml b/map/autoware_map_tf_generator/package.xml index eff7ec88adfa0..3c6de9333de79 100644 --- a/map/autoware_map_tf_generator/package.xml +++ b/map/autoware_map_tf_generator/package.xml @@ -2,7 +2,7 @@ autoware_map_tf_generator - 0.1.0 + 0.38.0 map_tf_generator package as a ROS 2 node Yamato Ando Kento Yabuuchi diff --git a/map/map_loader/CHANGELOG.rst b/map/map_loader/CHANGELOG.rst new file mode 100644 index 0000000000000..c0c9c1fc89feb --- /dev/null +++ b/map/map_loader/CHANGELOG.rst @@ -0,0 +1,1222 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package map_loader +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) + add autoware\_ prefix +* docs(map_loader): update the link of pointcloud_divider (`#8823 `_) + update link +* docs(map_loader): update the link of map_projection_loader (`#8825 `_) + update the link of map_projection_loader +* chore(map_loader): update maintainer (`#8821 `_) + update maintainer +* feat(map loader): visualize bus stop area and bicycle_lane (`#8777 `_) +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) + * refactor(geography_utils): prefix package and namespace with autoware + * move headers to include/autoware/ + --------- +* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) +* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) + * refactor(compare_map_segmentation): add package name prefix of autoware\_ + * docs: update Readme + --------- +* chore(localization, map): remove maintainer (`#7940 `_) +* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) + Co-authored-by: Yamato Ando +* refactor(map_loader): apply static analysis (`#7845 `_) + * refactor based on linter + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* style: updating the colors for the parking spaces and lot (`#7726 `_) +* feat(map_loader): add waypoints flag (`#7480 `_) + * feat(map_loader): handle centelrine and waypoints + * update README + * fix doc + * update schema + * fix + * fix + --------- +* feat(map_loader): warn if some pcds from the metadata file are missing (`#7406 `_) + * Examine if there are PCD segments found in the metadata file but are missing from the input pcd paths + * style(pre-commit): autofix + * Fixing CI + * Fixing CI + * Fixing CI + * Fix CI related to map_loader + * Removed try{} block from getPCDMetadata and redundant std::endl at the end of error messages + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(map): udpate maintainer (`#7405 `_) + udpate maintainer +* fix(map_loader): add log output (`#7203 `_) + add log output + Co-authored-by: SakodaShintaro +* feat!: replace autoware_auto_msgs with autoware_msgs for map modules (`#7244 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* Contributors: Anh Nguyen, Esteve Fernandez, Khalil Selyan, Mamoru Sobue, Masaki Baba, Ryohsuke Mitsudome, Takayuki Murooka, Yamato Ando, Yutaka Kondo, badai nguyen, kminoda + +0.26.0 (2024-04-03) +------------------- +* fix(map_loader): fix warnings with single point cloud map metadata (`#6384 `_) +* fix(log-messages): reduce excessive log messages (`#5971 `_) +* chore(map_loader): rework parameters of map_loader (`#6199 `_) + * Rework parameters of map_loader + * style(pre-commit): autofix + * Fixed typo in name of map_based_pediction.schema.json, which cause json-schema-check failed + * Move path variables back to launch files + * Update README.md + * Undo the change in perception + * Remove default values of declare_parameter from map_loader + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* revert(map_loader): revert the change error handling when pcd_metadata file (`#6294 `_) + Revert "fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_)" + This reverts commit 25bc636fe0f796c63daac60123aa6138146e515d. +* chore(lanelet2_map_loader): enrich error message (`#6245 `_) +* chore(map_loader): add maintainer (`#6232 `_) +* fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_) + Changed error handling when pcd_metadata file not found +* chore: add localization & mapping maintainers (`#6085 `_) + * Added lm maintainers + * Add more + * Fixed maintainer + --------- +* fix(map_loader): show traffic light regulatory element id per lanelet (`#6028 `_) + * fix(map_loader): show traffic light regulatory element id per lanelet + * feat(map_loader): show traffic light id + --------- + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* refactor(ndt_scan_matcher, map_loader): remove map_module (`#5873 `_) + * Removed use_dynamic_map_loading + * Removed enable_differential_load option + * style(pre-commit): autofix + * Fixed title + * Emphasized lock scope + * Removed pointcloud_map and input_ekf_odom + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(map_loader): use dummy projector when using local coordinates (`#5866 `_) + * feat(map_loader): use dummy projector when using local coordinates + * fix build warning + * fix runtime error + * fix reverse function + --------- +* chore(map_loader): visualize crosswalk id (`#5880 `_) +* chore: add maintainer in map packages (`#5865 `_) + * add maintainer + * modify map_tf_generator's maintainer + --------- +* fix: add_ros_test to add_launch_test (`#5486 `_) + * fix: add_ros_test to add_launch_test + * fix ndt_scan_matcher + --------- +* chore(map_loader): update readme (`#5468 `_) + * chore(map_loader): update readme + * make the annotation bold + * fix + --------- +* feat(map_loader): show intersection areas (`#5401 `_) +* feat(map_loader): display curbstone as marker array (`#4958 `_) + display curbstone as marker array + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* refactor(map_packages): remove unused depend in pakcages.xml files (`#5172 `_) + Co-authored-by: yamato-ando +* feat: support transverse mercator projection (`#4883 `_) + * feat: support transverse mercator projection + * fix some + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(geography_utils): add lanelet2_projector (`#4852 `_) + * feat(geography_utils): add lanelet2_projector + * style(pre-commit): autofix + * update package.xml + * style(pre-commit): autofix + * edit static_centerline_optimizer + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: use constant string for map_projector_info (`#4789 `_) + * feat: use constant string for map_projector_info + * style(pre-commit): autofix + * update + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat!: add vertical datum in map_projector_info (`#4708 `_) + * resolve conflict + * update + * UTM -> LocalCartesianUTM + * style(pre-commit): autofix + * update + * update readme + * add altitude + * style(pre-commit): autofix + * update minor parts + * add vertical datum for lanelet2 + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat!: rename utm to local_cartesian_utm (`#4704 `_) + * feat(map_projection_loader, map_loader): rename utm to local_cartesian_utm + * fix readme + * fix default ad api + --------- +* feat!: rename map_projector_type to map_projector_info (`#4664 `_) +* fix(lanelet2_map_loader): fixed parameter declaration timing (`#4639 `_) + Change parameter declaration timing +* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) + * feat(map): use component_interface_specs in map_projection_loader + * update map_loader + * style(pre-commit): autofix + * feat: add dummy typo + * update name + * fix test + * fix test + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(map_projection_loader): add map_projection_loader (`#3986 `_) + * feat(map_projection_loader): add map_projection_loader + * style(pre-commit): autofix + * Update default algorithm + * fix test + * style(pre-commit): autofix + * add readme + * style(pre-commit): autofix + * fix launch file and fix map_loader + * style(pre-commit): autofix + * update lanelet2 + * fill yaml file path + * style(pre-commit): autofix + * update readme + * style(pre-commit): autofix + * minor fix + * style(pre-commit): autofix + * fix test + * style(pre-commit): autofix + * add include guard + * style(pre-commit): autofix + * update test + * update map_loader + * style(pre-commit): autofix + * update docs + * style(pre-commit): autofix + * update + * add dependency + * style(pre-commit): autofix + * remove unnecessary parameter + * update + * update test + * style(pre-commit): autofix + * add url + * enable python tests + * style(pre-commit): autofix + * small fix + * fix grammar + * remove transverse mercator + * style(pre-commit): autofix + * add rule in map + * fix readme of map loader + * remove transverse mercator for now + * add utm + * remove altitude from current projection loader + * style(pre-commit): autofix + * fix pre-commit + * fix build error + * fix: remove package.xml + * fix clang-tidy + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* chore: add maintainer in localization and map packages (`#4501 `_) +* feat(goal_planner): add no_parking_area for goal search (`#3467 `_) + * feat(behavior_path_planner): use no_parking_area for pull_over + * support no_stopping_area + --------- +* fix(map_loader): fix spell-check (`#4280 `_) +* feat(crosswalk): support crosswalk regulatory element (`#3939 `_) + * feat(crosswalk): use regulatory element + * feat(map_loader): show crosswalk areas + --------- +* fix(map_loader): update readme for metadata (`#3919 `_) + * fix(map_loader): update readme for metadata + * style(pre-commit): autofix + * update + * style(pre-commit): autofix + * add not applicable rules + * style(pre-commit): autofix + * fix + * update + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(map_loader): handle enable_selected_load correctly (`#3920 `_) + * fix(map_loader): update readme for metadata + * fix(map_loader): handle enable_selected_load flag correctly + * style(pre-commit): autofix + * revert readme + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(map_loader): use cylindrical area for map loader (`#3863 `_) + * feat(map_loader): use cylindrical area for query instead of spherical area + * update + * style(pre-commit): autofix + * update AreaInfo + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(map_loader): add publish map projector info (`#3200 `_) + * add publish mgrs grid + * fix publish wrong grid code when there is no mgrs code in lanelet + * Revert "fix publish wrong grid code when there is no mgrs code in lanelet" + This reverts commit 10023662abba56bcf395d899f787b7bbed4e8fd4. + * temp fix for emtpy coordinate + * add UTM support + * add local projector support + * remove check coordinate 0,0 + * Revert "add local projector support" + This reverts commit 91e6921718695031a2a08e2109bca0b61ab54e89. + * add local publish + --------- + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* fix(map_loader): re-align lanelet borders after overwriting coordinates (`#3825 `_) +* fix(map_loader): fix readme (`#3667 `_) +* feat(map_loader): visualize hatched road markings (`#3639 `_) + * feat(map_loader): visualize hatched road markings + * update + --------- +* style: fix typos (`#3617 `_) + * style: fix typos in documents + * style: fix typos in package.xml + * style: fix typos in launch files + * style: fix typos in comments + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat(map_loader): add local map projector (`#3492 `_) + * feat(map_loader): add local map projector + * update README + * update readme + * use the same naming standard + --------- +* feat(map_loader): add selected map loader (`#3286 `_) + * add id based map loader + * add metadata publisher + * feat(map_loader): add support for sequential_map_loading + * feat(map_loader): add support for selected_map_loader and structure of metadata + * feat(map_loader): turn off selected_map_loading as default setting + * feat(map_loader): update map_loader corresponding to autoware_map_msgs update + * docs(map_loader): add description of selected pcd load server and pcd metadata publisher + * style(pre-commit): autofix + * feat(map_loader): change onServiceGetSelectedPointCloudMap into const function + --------- + Co-authored-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(map_loader): fix a bug that occurs when loading multiple pcds (`#3274 `_) + * fix(map_loader): fix a bug that occurs when loading multiple pcds + * fix + --------- +* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) + * feat(map_loader): add grid coordinates for partial/differential map load + * style(pre-commit): autofix + * update readme + * remove unnecessary line + * update arguments in readme + * slightly updated directory structure in readme + * update readme + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(map_loader): address deprecated warning for some environment (`#3188 `_) + fix(map_loader): address deprecated warning for some version +* test(map_loader): add a ROS 2 test (`#3170 `_) + * chore(map_loader): add a ROS 2 test + * style(pre-commit): autofix + * debug + * style(pre-commit): autofix + * added other tests too + * style(pre-commit): autofix + * fix pre-commit + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) + * chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch + Update launch/tier4_map_launch/launch/map.launch.xml + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + delete lanelet2_map_projector type in launch + remove config path + * chore(tier4_map_launch): fix lanelet launch name + --------- +* ci(pre-commit): autoupdate (`#2819 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(ndt_scan_matcher): dynamic map loading (`#2339 `_) + * first commit + * ci(pre-commit): autofix + * import map update module in core + * ci(pre-commit): autofix + * minor fixes. Now map update module launches!!! + * ci(pre-commit): autofix + * debugged + * revert unnecessary fix + * minor fixes + * update launch file + * update comment + * ci(pre-commit): autofix + * update comment + * update comment + * ci(pre-commit): autofix + * update comment + * ci(pre-commit): autofix + * update for ndt_omp + * changed parameter names + * ci(pre-commit): autofix + * apply pre-commit- + * ci(pre-commit): autofix + * update readme + * ci(pre-commit): autofix + * update readme + * ci(pre-commit): autofix + * simplify client implementation + * remove unnecessary comments + * ci(pre-commit): autofix + * removed unused member variables + * set default use_dynamic_map_loading to true + * changed readme + * ci(pre-commit): autofix + * reflected comments + * use std::optional instead of shared_ptr + * ci(pre-commit): autofix + * fix parameter description + * revert launch output config + * change default subscriber name + * remove unnecessary setInputSource + * add gif + * ci(pre-commit): autofix + * minor fix + * Update localization/ndt_scan_matcher/src/map_update_module.cpp + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * update literals + * update map_loader default parameters + * update readme + * ci(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> +* fix(lanelet2_map_loader): delete unused parameters (`#2761 `_) + * fix(lanelet2_map_loader): delete unused parameters + * Update lanelet2_map_loader.launch.xml +* fix(map_loader): apply clang-tidy (`#2668 `_) + * fix(map_loader): apply clang-tidy + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(behavior_velocity_planner): add speed bump module (`#647 `_) + Co-authored-by: Kosuke Takeuchi + Co-authored-by: Takayuki Murooka +* feat(map_loader): add differential map loading interface (`#2417 `_) + * first commit + * ci(pre-commit): autofix + * added module load in _node.cpp + * ci(pre-commit): autofix + * create pcd metadata dict when either of the flag is true + * ci(pre-commit): autofix + * fix readme + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) + * first commit + * debugged + * update readme + * update param in tier4_map_launch + * debug + * debugged + * Now build works + * ci(pre-commit): autofix + * set default param to false + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) + * first commit + * reverted unnecessary modification + * ci(pre-commit): autofix + * renamed some classes + * ci(pre-commit): autofix + * move autoware_map_msgs to autoware_msgs repos + * catch up with the modification in autoware_map_msgs + * ci(pre-commit): autofix + * aligned with autoware_map_msgs change (differential/partial modules seperation) + * ci(pre-commit): autofix + * debugged + * debugged + * added min-max info and others + * ci(pre-commit): autofix + * minor fix + * already_loaded -> cached + * ci(pre-commit): autofix + * load\_ -> get\_ + * ci(pre-commit): autofix + * resolve pre-commit + * ci(pre-commit): autofix + * minor fix + * ci(pre-commit): autofix + * update readme + * ci(pre-commit): autofix + * update readme + * minor fix in readme + * grammarly + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * fix copyright + * fix launch file + * remove leaf_size param + * removed unnecessary things + * removed downsample for now + * removed differential_map_loader for this PR (would make another PR for this) + * ci(pre-commit): autofix + * removed differential_map_loader, debugged + * ci(pre-commit): autofix + * removed leaf_size description + * ci(pre-commit): autofix + * refactor sphereAndBoxOverlapExists + * ci(pre-commit): autofix + * added test for sphereAndBoxOverlapExists + * ci(pre-commit): autofix + * remove downsample function for now + * remove fmt from target_link_libraries in test + * minor fix in cmakelists.txt + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(map_loader): modularization (`#2243 `_) + * refactor(map_loader): modularization + * ci(pre-commit): autofix + * simplified + * removed autoware_msgs dependency (not yet necessary at this moment) + * ci(pre-commit): autofix + * remove unnecessary changes + * pre-commit + * ci(pre-commit): autofix + * edit copyright + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(map_loader): add maintainer (`#2245 `_) + * chore(map_loader): add maintainer + * remove miyake-san +* feat(map_loader): make some functions static (`#2014 `_) + * feat(map_loader): make some functions static + * make publisher alive after constructor +* refactor(map_loader): split to member functions (`#1941 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) + * organized planning authors and maintainers + * organized control authors and maintainers + * fix typo + * fix colcon test + * fix + Update control/external_cmd_selector/package.xml + Update control/vehicle_cmd_gate/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/motion_velocity_smoother/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/planning_debug_tools/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/shift_decider/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/pure_pursuit/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/freespace_planner/package.xml + Co-authored-by: Hiroki OTA + Update control/operation_mode_transition_manager/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/planning_debug_tools/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/shift_decider/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/pure_pursuit/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/operation_mode_transition_manager/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * fix + * fix + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat: add vector map inside area filter (`#1530 `_) + * feat: add no detection area filter + * ci(pre-commit): autofix + * chore: add documents + * pre-commit fix + * remove comments + * fix comments + * refactor condition to launch points filter + * fix container name + * ci(pre-commit): autofix + * chore: add visualization for no obstacle segmentation area + * feat: allow any tags to be given by launch arguments + * chore: remove unnecessary includes + * feat: move the polygon removing function to util and use it + * chore: move the place and change the name of node + * chore: pre-commit fix + * chore: remove unnecessary using + * chore: modify container name + * chore: fix comments + * chore: fix comments + * chore: use output arguments for a large data + * chore: using namespace of PolygonCgal for readability + * feat: add functions for multiple polygons + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* test(map_loader): add launch test for the 'lanelet2_map_loader' node (`#1056 `_) + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat: add parameter argument for lanelet2_map_loader (`#954 `_) + * feat: add parameter argument for lanelet2_map_loader + * feat: add comment +* fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader + * fix(map_loader): remove c_str + * fix(map_loader): replace c_str to string +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* style: fix format of package.xml (`#844 `_) +* fix(map_loader): modify build error in rolling (`#777 `_) +* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * fix(map_loader): add UTM projector to map_loader package + * fix(map_loader): update config + * fix(map_loader): update lanelet2_map_loader_node.cpp inlude structure + * fix(map_loader): update include structure + * fix(map_loader): add map_projector_type parameter to map.launch.py + * fix(map_loader): update map.launch.py + * fix(map_loader): update map.launch.py + * fix(map_loader): update map.launch.py + * fix(map_loader): update map.launch.py + * Update lanelet2_map_loader_node.cpp + Co-authored-by: M. Fatih Cırıt + * fix launch file + * ci(pre-commit): autofix + * Update launch/tier4_map_launch/launch/map.launch.py + Co-authored-by: Berkay + * ci(pre-commit): autofix + * update for merge error + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: M. Fatih Cırıt + Co-authored-by: Berkay +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(lanelet2_extension,map_loader): add guard_rail wall fence as lanelet tag (`#478 `_) + * feat(lanelet2_extension): add guard_rails fence wall as lanelet tag + * feat(map_loader): add visualization for partion lanelet +* feat: rename existing packages name starting with autoware to different names (`#180 `_) + * autoware_api_utils -> tier4_api_utils + * autoware_debug_tools -> tier4_debug_tools + * autoware_error_monitor -> system_error_monitor + * autoware_utils -> tier4_autoware_utils + * autoware_global_parameter_loader -> global_parameter_loader + * autoware_iv_auto_msgs_converter -> tier4_auto_msgs_converter + * autoware_joy_controller -> joy_controller + * autoware_error_monitor -> system_error_monitor(launch) + * autoware_state_monitor -> ad_service_state_monitor + * autoware_web_controller -> web_controller + * remove autoware_version + * remove autoware_rosbag_recorder + * autoware\_*_rviz_plugin -> tier4\_*_rviz_plugin + * fix ad_service_state_monitor + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) + * change pkg name: autoware\_*_msgs -> tier\_*_msgs + * ci(pre-commit): autofix + * autoware_external_api_msgs -> tier4_external_api_msgs + * ci(pre-commit): autofix + * fix description + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> +* refactor: remove unnecessary messages (`#133 `_) + * remove ControlCommand.msg and ControlCommandStamped.msg + * remove BatteryStatus.msg RawControlCommand.msg RawVehicleCommand.msg VehicleCommand.msg + * remove traffic_light_recognition msgs + * remove unnecessary autoware_planning_msgs + * remove unnecessary build_depends + * remove unnecessary autoware_system_msgs + * remove autoware_lanelet2_msgs + * fix map loader README + * fix external_cmd_converter README + * refactor: remove autoware_perception_msgs + * refactor: remove unnecessary include files + * fix: detection_by_tracker README + * ci(pre-commit): autofix + * refactor: remove autoware_vehicle_msgs + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * fix: each messages + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: move elevation map loader (`#740 `_) (`#136 `_) + * feat: Move elevation map loader (`#740 `_) + * Update perception/elevation_map_loader/README.md + Co-authored-by: Tomoya Kimura + * Update perception/elevation_map_loader/README.md + Co-authored-by: Tomoya Kimura + * Update perception/elevation_map_loader/README.md + Co-authored-by: Tomoya Kimura + Co-authored-by: Taichi Higashide + Co-authored-by: Tomoya Kimura +* feat: add pcd map hash generator (`#745 `_) (`#130 `_) + Co-authored-by: Taichi Higashide + Co-authored-by: Tomoya Kimura +* feat: add map packages (`#8 `_) + * release v0.4.0 + * add resolution param in lanelet2_extension (`#760 `_) + * Fix/extend drivable area beyond goal (`#781 `_) + * update llt2 extention query func + * extend drivable area over goal point + * apply clang + * update get preeceeding func + * update preceeding func in lanechange + * update comment + * Fix intersection preceeding lane query (`#807 `_) + * modified interseciton module to add lanelets in intersection to objective lanelets due to change in getPreceedingLaneletSequences() + * update comment + * Install executables in lanelet2_map_preprocessor (`#834 `_) + * remove ROS1 packages temporarily + * Revert "remove ROS1 packages temporarily" + This reverts commit 3290a8b9e92c9eae05d9159c8b9fd56ca8935c01. + * add COLCON_IGNORE to ros1 packages + * Rename launch files to launch.xml (`#28 `_) + * port map_tf_generator (`#32 `_) + * port map_tf_generator + * add missing dependency + * fix pointor, tf_broadcaster, add compile option + * use ament_auto + * Port lanelet2 extension (`#36 `_) + * remove COLCON_IGNORE + * port to ROS2 + * minor fix + * fix CI + * remove unnecessary semi-colon + * fix library to executable for lanelet2_extension_sample and autoware_lanelet2_validation + * fix usage for ROS2 + * fix usage message and parameter declaration + * fix getting map_file parameter + * Port map loader (`#44 `_) + * port map_loader to ROS2 + * fix unintended change + * Update map/map_loader/CMakeLists.txt + Co-authored-by: Takamasa Horibe + Co-authored-by: Takamasa Horibe + * Add geometry2 to repos (`#76 `_) + * add geometry2 package temporarily until new release + * trigger-ci + * add tf2 dependency to the packages that use tf2_geometry_msgs + * Revert "Add geometry2 to repos (`#76 `_)" (`#96 `_) + * Revert "Add geometry2 to repos (`#76 `_)" + This reverts commit 7dbe25ed5ff7d5f413fda567dcc77a70c79a7826. + * Re-add tf2 dependencies + * Revert "Re-add tf2 dependencies" + This reverts commit e23b0c8b0826cf9518924d33349f9de34b4975df. + * Debug CI pipeline + * Revert "Debug CI pipeline" + This reverts commit 58f1eba550360d82c08230552abfb64b33b23e0f. + * Explicitly install known versions of the geometry packages + * No need to skip tf2 packages anymore + Co-authored-by: Esteve Fernandez + * Rename h files to hpp (`#142 `_) + * Change includes + * Rename files + * Adjustments to make things compile + * Other packages + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) + * Use quotes for includes where appropriate + * Fix lint tests + * Make tests pass hopefully + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase + * Exclude open PRs + * fixing trasient_local in ROS2 packages (`#160 `_) + * added linters to lanelet1_extension (`#170 `_) + * adding linters to map_loader (`#171 `_) + * adding linters to map_tf_generator (`#172 `_) + * apply env_var to use_sim_time (`#222 `_) + * Ros2 v0.8.0 map loader and lanelet2 extension (`#279 `_) + * Ros2 v0.8 fix typo of "preceding" (`#323 `_) + * Fix typo of getPrecedingLaneletSequences + * Fix comment + * Fix rviz2 low FPS (`#390 `_) + * add nullptr check when publish concatenate data (`#369 `_) + * Add warning msg when concat pointcloud is not published (`#388 `_) + * Change lineString2Marker + * Change trafficLight2TriangleMarker + * Change laneletDirectionAsMarker + * Remove debug code + * Fix linter problems + Co-authored-by: Taichi Higashide + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * [map_loader] modify colors for lane markers for better visualization (`#398 `_) + * fix empty marker (`#423 `_) + * Fix typo in map module (`#437 `_) + * add license (`#443 `_) + * avoid pushing empty marker (`#441 `_) + * avoid pushing empty marker + * size0 -> empty + * add use_sim-time option (`#454 `_) + * Sync public repo (`#1228 `_) + * [simple_planning_simulator] add readme (`#424 `_) + * add readme of simple_planning_simulator + * Update simulator/simple_planning_simulator/README.md + * set transit_margin_time to intersect. planner (`#460 `_) + * Fix pose2twist (`#462 `_) + * Ros2 vehicle info param server (`#447 `_) + * add vehicle_info_param_server + * update vehicle info + * apply format + * fix bug + * skip unnecessary search + * delete vehicle param file + * fix bug + * Ros2 fix topic name part2 (`#425 `_) + * Fix topic name of traffic_light_classifier + * Fix topic name of traffic_light_visualization + * Fix topic name of traffic_light_ssd_fine_detector + * Fix topic name of traffic_light_map_based_detector + * Fix lint traffic_light_recognition + * Fix lint traffic_light_ssd_fine_detector + * Fix lint traffic_light_classifier + * Fix lint traffic_light_classifier + * Fix lint traffic_light_ssd_fine_detector + * Fix issues in hdd_reader (`#466 `_) + * Fix some issues detected by Coverity Scan and Clang-Tidy + * Update launch command + * Add more `close(new_sock)` + * Simplify the definitions of struct + * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) + * Rviz overlay render fix (`#461 `_) + * Moved painiting in SteeringAngle plugin to update() + * super class now back to MFD + * uncrustified + * acquire data in mutex + * back to RTD as superclass + * Rviz overlay render in update (`#465 `_) + * Moved painiting in SteeringAngle plugin to update() + * super class now back to MFD + * uncrustified + * acquire data in mutex + * removed unnecessary includes and some dead code + * Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass + * restored RTD superclass + Co-authored-by: Takamasa Horibe + Co-authored-by: tkimura4 + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Kazuki Miyahara + Co-authored-by: Makoto Tokunaga + Co-authored-by: Adam Dąbrowski + * Revert "fix: re-construct laneletMapLayer for reindex RTree (`#463 `_)" (`#1229 `_) + This reverts commit d2ecdfe4c58cb4544c9a3ee84947b36b7ee54421. + * add pcd file check (`#1232 `_) + * add pcd file check + * add space + * add & + * use namespace + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Map components (`#1311 `_) + * Make pointcloud map loader component + * Make lanelet2 map loader component + * Make map tf generator component + * Apply lint + * Rename parameter for lanelet2 map path + * Fix license + * Add comment for filesystem + * Fix variable name for glob + * Fix dependency for query (`#1519 `_) + * Fix a small bug (`#1644 `_) + * Fix minor flaws detected by Clang-Tidy (`#1647 `_) + - misc-throw-by-value-catch-by-reference + - cppcoreguidelines-init-variables + - readability-isolate-declaration + * Add pre-commit (`#1560 `_) + * add pre-commit + * add pre-commit-config + * add additional settings for private repository + * use default pre-commit-config + * update pre-commit setting + * Ignore whitespace for line breaks in markdown + * Update .github/workflows/pre-commit.yml + Co-authored-by: Kazuki Miyahara + * exclude svg + * remove pretty-format-json + * add double-quote-string-fixer + * consider COLCON_IGNORE file when seaching modified package + * format file + * pre-commit fixes + * Update pre-commit.yml + * Update .pre-commit-config.yaml + Co-authored-by: Kazuki Miyahara + Co-authored-by: pre-commit + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Porting traffic light viz (`#1284 `_) + * Feature/traffic light viz (`#1001 `_) + * add tl map viz + * bug fix + * update map visualizer + * add launch + * add install in cmake + * remove unused file + * fix build error + * Fix lint + * Fix typo + * Fix topic name and qos + * Replace deprecated duration api + Co-authored-by: Yukihiro Saito + Co-authored-by: wep21 + * Add markdownlint and prettier (`#1661 `_) + * Add markdownlint and prettier + * Ignore .param.yaml + * Apply format + * Feature/compare elevation map (`#1488 `_) + * suppress warnings for declare parameters (`#1724 `_) + * fix for lanelet2_extension + * fix for traffic light ssd fine detector + * fix for topic_state_monitor + * fix for dummy diag publisher + * fix for remote cmd converter + * fix for vehicle_info_util + * fix for multi object tracker + * fix for freespace planner + * fix for autoware_error_monitor + * add Werror for multi object tracker + * fix for multi object tracker + * add Werror for liraffic light ssd fine detector + * add Werror for topic state monitor + * add Werror + * add Werror + * add Werror + * add Werror + * fix style + * suppress warnings for map (`#1773 `_) + * add compile option + * fix error + * add compile option + * add maybe unused + * fix sign-compare + * delete unused + * add parentheses + * fix for uncrusify + * Fix typo + * use U + * use U + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Fix clang warnings (`#1859 `_) + * Fix -Wreturn-std-move + * Fix -Wunused-private-field + * Ignore -Wnonportable-include-path for mussp + * Fix -Wunused-const-variable + * Fix "can not be used when making a shared object" + * Sync v1.3.0 (`#1909 `_) + * Add elevation_map to autoware_state_monitor (`#1907 `_) + * Disable saving elevation map temporarily (`#1906 `_) + * Fix typos in README of map_loader (`#1923 `_) + * Fix typos in README of map_loader + * Apply Prettier + * fix some typos (`#1941 `_) + * fix some typos + * fix typo + * Fix typo + Co-authored-by: Kenji Miyake + * Add autoware api (`#1979 `_) + * Invoke code formatter at pre-commit (`#1935 `_) + * Run ament_uncrustify at pre-commit + * Reformat existing files + * Fix copyright and cpplint errors + Co-authored-by: Kenji Miyake + * Save elevation_map with pcd md5sum (`#1988 `_) + * Save elevation_map with pcd md5sum + * Update sample launch + * Fix cpplint + * Use hash-library instead of openssl + * Use call by reference + * Apply format + * Set CMAKE_CXX_STANDARD 17 + * Save input_pcd.json and shorten directory name when loading multiple pcd + * Remove erasing last \_ + * Modify concatenating file path + * Apply Format + * Add hash_library_vendor to build_depends.repos + * Modify include way + * Change function and variable names + * Use return + * Remove unnecessary input variable + * Use unique_ptr + * Rename digestMd5 to digest_md5 + * Modify variable name + * Remove file.close() + * Use hash of json + * Read hash of json directory + * Add newline to package.xml + * Add isPcdFile + * Fix pre-commit + * Use icPcdFile when giving file of pcd + * Feature/add virtual traffic light planner (`#1588 `_) + * Fix deprecated constant of transient local (`#1994 `_) + * Fix lint errors in lanelet2_extension (`#2028 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) + * add sort xml hook in pre-commit + * change retval to exit_status + * rename + * add prettier plugin-xml + * use early return + * add license note + * add tier4 license + * restore prettier + * change license order + * move local hooks to public repo + * move prettier-xml to pre-commit-hooks-ros + * update version for bug-fix + * apply pre-commit + * Revert "[map_loader] modify colors for lane markers for better visualization (`#398 `_)" (`#2063 `_) + This reverts commit 046dc9a770bf03fb8813ddf6aa1b2f05e9357b67. + * Fix elevation_map_loader downsample (`#2055 `_) + * Add elevation_map data dir (`#2093 `_) + * Minor fixes of map_loader's README (`#2116 `_) + * Minor fixes of map_loader's README + * Fix map_loader run command + Co-authored-by: kosuke55 + * Fix elevation_map hash due to mutiple slashes of pcd path (`#2192 `_) + * Fix elevation_map hash due to mutiple slashes of pcd path + * Use filesystem lexically_normal + * Fix broken links of images on lanelet2_extension docs (`#2206 `_) + * Add lanelet XML API (`#2262 `_) + * show traffic light id marker (`#1554 `_) (`#1678 `_) + * show traffic light id + * fix typo + Co-authored-by: satoshi-ota + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: satoshi-ota + * Feature/porting behavior path planner (`#1645 `_) + * Add behavior path planner pkg with Lane Change (`#1525 `_) + * add lanelet extension funcs + * add planning msgs for FOA + * add behavior_path_planner pkg + * apply clang format + * add error handling for config load failure + * replace word: foa with remote control + * add readme + * use pointer for return value of path + * fix hz + * remove debug print + * remove shide-shift & avoidance related files + * Clip path by goal + * add build depend for behavior tree cpp + * temporally disable lint test in lanelet2_extension + Co-authored-by: rej55 + * Add avoidance module in behavior_path_planner (`#1528 `_) + * Revert "remove shide-shift & avoidance related files" + This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2. + * refactor findNewShiftPoint func + * remove duplicated decleration + * fix barkward length issue + - add clipPathLenght func in avoidance + * refactor: + - translate english + - minor modification for traffic distance + * support debug marker in behavior_path_planner + * clean up side shift module + * change topic name + * remove japanese + * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp + Co-authored-by: Yukihiro Saito + * fix typo + * remove unused var + * adress reviewer comments: + - add const for variables + - add comment + - fix typo + * fix typo + Co-authored-by: Yukihiro Saito + * Replace behavior_path utilities with autoware_utils (`#1532 `_) + * replace calcDistance + * replace arange + * replave convertToEigenPt with autoware_utils::fromMsg + * replace normalizeRadian + * cosmetic change + * import `#1526 `_ into behavior path planner (`#1531 `_) + * Fix/behavior path empty path output guard (`#1536 `_) + * add guard + * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp + * fix lateral jerk calculation (`#1549 `_) + * fix: error handling on exception in behavior_path_planner (`#1551 `_) + * Fix ignore too steep avoidance path (`#1550 `_) + * ignore too steep path + * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp + * parametrize lateral jerk limit + * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp + Co-authored-by: tkimura4 + Co-authored-by: tkimura4 + * use offsetNoThrow and add error log (`#1615 `_) + * Ignore object ahead goal for avoidance (`#1618 `_) + * Ignore object ahead goal for avoidance + * Add flag + * Fix position of definition of goal_pose + * Fix arclength calculation + * Fix position of definition of goal_pose + * fix intersection stop line (`#1636 `_) + * fix intersection stop line + * fix typo + * add document (`#1635 `_) + * Port behavior path planner to ros2 + * Apply lint + * Fix typo + * Fix map qos + * debug slope calculation in behavior (`#1566 `_) + * update + * update + * revert change of autoware_utils + * define getPose in behavior_path_planner + * update + * update + * update + * update + * interpolate z in obstacle_avoidance_planner + * update velocity controller + * fix detection area and scene + * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp + Co-authored-by: tkimura4 + * update comment in velocity controller + * remove debug print + * update + Co-authored-by: tkimura4 + * Address review: Fix config file name + * pre-commit fixes + * Fix redeclaring parameters + * Add missing tf2 geometry function + * Apply lint + * Fix rclcpp Time initialization + * Use now() instead of msg stamp + * Use throttle output in getExpandedLanelet + * Add missing const + * Fix lint + Co-authored-by: Takamasa Horibe + Co-authored-by: rej55 + Co-authored-by: Yukihiro Saito + Co-authored-by: tkimura4 + Co-authored-by: Takayuki Murooka + * change type of traffic light marker (SPHERE_LIST->SPHERE) (`#1789 `_) + * fix alpha (`#1797 `_) + * Feature/improve intersection detection area (`#1958 `_) + * exclude ego_lanes from detection_area + * add empty handling + * remove unused function + * Fix for uncrustify + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Apply format (`#1999 `_) + Fix cpplint + * Feature/expand drivable area (`#1812 `_) + * check if ego lane has adjacent lane or not + * expand drivable area by using lanelet + * remove unnecessary operator + * use extra drivable area + * fix variable names + * fix indent + * get polygon by id + * fix variable name + * remove redundant logic + * update area name + * disable expand by default + Co-authored-by: satoshi-ota + * add shoulder road lanelets (`#2121 `_) + * add shoulder lanelets + * Update map/lanelet2_extension/lib/query.cpp + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update map/lanelet2_extension/lib/visualization.cpp + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update map/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update map/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update map/lanelet2_extension/lib/visualization.cpp + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Feature/no stopping area reg element (`#2144 `_) + * add no stopping area to ll2 + * add no stopping area visualization + * add no stopping area marker to RVIZ + * make no stopping area stop line as optional + * Update map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: tkimura4 + * Add document for new map format (`#1778 `_) + * add roadside lane doc + * fix typo + * fix typo + * fix typo + * fix typo + * Add markdown lint + * add reason for new subtype definition + * fix typo + Co-authored-by: kyoichi + * Change formatter to clang-format and black (`#2332 `_) + * Revert "Temporarily comment out pre-commit hooks" + This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. + * Replace ament_lint_common with autoware_lint_common + * Remove ament_cmake_uncrustify and ament_clang_format + * Apply Black + * Apply clang-format + * Fix build errors + * Fix for cpplint + * Fix include double quotes to angle brackets + * Apply clang-format + * Fix build errors + * Add COLCON_IGNORE (`#500 `_) + * port lanelet2_extension (`#483 `_) + * port with auto_msgs + * remove COLCON_IGNORE + Co-authored-by: Takayuki Murooka + * port map loader (`#508 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * add readme (`#561 `_) + * fix old description + Co-authored-by: mitsudome-r + Co-authored-by: Taichi Higashide + Co-authored-by: Kosuke Murakami + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: Nikolai Morin + Co-authored-by: Takamasa Horibe + Co-authored-by: Esteve Fernandez + Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> + Co-authored-by: isamu-takagi <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kazuki Miyahara + Co-authored-by: tkimura4 + Co-authored-by: Makoto Tokunaga + Co-authored-by: Adam Dąbrowski + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> + Co-authored-by: pre-commit + Co-authored-by: Yukihiro Saito + Co-authored-by: wep21 + Co-authored-by: Kosuke Takeuchi + Co-authored-by: Hiroki OTA + Co-authored-by: Kenji Miyake + Co-authored-by: Takeshi Ishita + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: satoshi-ota + Co-authored-by: rej55 + Co-authored-by: Takayuki Murooka + Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com> + Co-authored-by: kyoichi + Co-authored-by: Takayuki Murooka + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> +* Contributors: Ahmed Ebrahim, Anh Nguyen, Daisuke Nishimatsu, Hiroki OTA, Kah Hooi Tan, Kenji Miyake, Kento Yabuuchi, Kosuke Takeuchi, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, RyuYamamoto, SakodaShintaro, Satoshi OTA, Shohei Sakai, Takagi, Isamu, Takamasa Horibe, Takayuki Murooka, Takeshi Miura, Tomohito ANDO, Tomoya Kimura, Vincent Richard, Yamato Ando, Yukihiro Saito, beyzanurkaya, kminoda, melike, melike tanrikulu, pre-commit-ci[bot], taikitanaka3 diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml index c22c909cad797..54cfdcb2b07d3 100644 --- a/map/map_loader/package.xml +++ b/map/map_loader/package.xml @@ -2,7 +2,7 @@ map_loader - 0.1.0 + 0.38.0 The map_loader package Yamato Ando Ryu Yamamoto diff --git a/perception/autoware_bytetrack/CHANGELOG.rst b/perception/autoware_bytetrack/CHANGELOG.rst new file mode 100644 index 0000000000000..6051765a9b450 --- /dev/null +++ b/perception/autoware_bytetrack/CHANGELOG.rst @@ -0,0 +1,32 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_bytetrack +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) + * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace + * refactor(tensorrt_common): directory structure + * style(pre-commit): autofix + * fix(tensorrt_common): correct package name for logging + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) + * refactor(kalman_filter): prefix package and namespace with autoware + * move headers to include/autoware/ + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(bytetrack): fix namespace and directory structure (`#8125 `_) + * chore: fix namespace + * chore: change include name + * refactor: rename perception/bytetrack to perception/autoware_bytetrack + * refactor: fix node exe + --------- + Co-authored-by: Taekjin LEE +* Contributors: Amadeusz Szymko, Esteve Fernandez, Yoshi Ri, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_bytetrack/package.xml b/perception/autoware_bytetrack/package.xml index e22e897007cc0..d087f22c53374 100644 --- a/perception/autoware_bytetrack/package.xml +++ b/perception/autoware_bytetrack/package.xml @@ -2,7 +2,7 @@ autoware_bytetrack - 0.0.1 + 0.38.0 ByteTrack implementation ported toward Autoware Manato HIRABAYASHI Yoshi RI diff --git a/perception/autoware_cluster_merger/CHANGELOG.rst b/perception/autoware_cluster_merger/CHANGELOG.rst new file mode 100644 index 0000000000000..d429149c17931 --- /dev/null +++ b/perception/autoware_cluster_merger/CHANGELOG.rst @@ -0,0 +1,18 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_cluster_merger +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* chore(cluster_merger): add node test (`#8810 `_) + * chore(cluster_merger): add node test + * fix: rename output topic + --------- +* refactor(cluster_merger): remove unused variable and rename topic (`#8809 `_) +* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo, badai nguyen + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_cluster_merger/package.xml b/perception/autoware_cluster_merger/package.xml index ff3eb60ec9c45..e93243de2c8b9 100644 --- a/perception/autoware_cluster_merger/package.xml +++ b/perception/autoware_cluster_merger/package.xml @@ -2,7 +2,7 @@ autoware_cluster_merger - 0.1.0 + 0.38.0 The ROS 2 cluster merger package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_compare_map_segmentation/CHANGELOG.rst b/perception/autoware_compare_map_segmentation/CHANGELOG.rst new file mode 100644 index 0000000000000..2645c18599fda --- /dev/null +++ b/perception/autoware_compare_map_segmentation/CHANGELOG.rst @@ -0,0 +1,70 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_compare_map_segmentation +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (`#9162 `_) + * refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation + * style(pre-commit): autofix + * include message_filters as SYSTEM + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(compare_map_segmentation): add missing mutex lock (`#9097 `_) + * fix(compare_map_segmentation): missing mutux + * chore: rename mutex\_ + * fix: remove unnecessary mutex + * fix: typos + * chore: minimize mutex scope + * chore: change to lock_guard + * fix: check tree initialization + * fix: memory ordering + * fix: replace all static_map_loader_mutex\_ + --------- +* fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader (`#9024 `_) + * fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader + * chore: typo + * fix: launch + * Update perception/autoware_compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json + Co-authored-by: Yoshi Ri + * fix: change to RCLCPP_ERROR + --------- + Co-authored-by: Yoshi Ri +* chore(compare_map_segmentation): add node tests (`#8907 `_) + * chore(compare_map_segmentation): add test for voxel_based_compare_map_filter + * feat: add test for other compare map filter + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_compare_map_segmentation): typo bug fix (`#8939 `_) + fix(compare_map_filter): typo bug fix +* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8725 `_) + fix:unusedFunction +* fix(compare_map_segmentation): use squared distance to compare threshold (`#8744 `_) + fix: use square distance to compare threshold +* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8565 `_) + fix:unusedFunction +* fix(autoware_compare_map_segmentation): fix cppcheck warnings of functionStatic (`#8263 `_) + * fix: deal with functionStatic warnings + * fix: deal with functionStatic warnings + * fix: remove unnecessary const + * fix: build error + --------- +* fix(autoware_compare_map_segmentation): fix uninitMemberVar (`#8338 `_) + fix:uninitMemberVar +* fix(autoware_compare_map_segmentation): fix passedByValue (`#8233 `_) + fix:passedByValue +* fix(autoware_compare_map_segmentation): fix redundantInitialization warning (`#8226 `_) +* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) +* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) + * refactor(compare_map_segmentation): add package name prefix of autoware\_ + * docs: update Readme + --------- +* Contributors: Esteve Fernandez, Ryohsuke Mitsudome, Ryuta Kambe, Yamato Ando, Yoshi Ri, Yukinari Hisaki, Yutaka Kondo, badai nguyen, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_compare_map_segmentation/package.xml b/perception/autoware_compare_map_segmentation/package.xml index 0fc34b697e366..b7d497b704bb7 100644 --- a/perception/autoware_compare_map_segmentation/package.xml +++ b/perception/autoware_compare_map_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_compare_map_segmentation - 0.1.0 + 0.38.0 The ROS 2 autoware_compare_map_segmentation package amc-nu Yukihiro Saito diff --git a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst new file mode 100644 index 0000000000000..fd0a9dc22903e --- /dev/null +++ b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst @@ -0,0 +1,32 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_crosswalk_traffic_light_estimator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_crosswalk_traffic_light_estimator): fix constVariableReference (`#8055 `_) + fix:constVariableReference +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) + Fixed a mistake when adding prefixes +* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) + * add prefix to the codes + change dir name + update + update + * delete debug + * fix format + * fix format + * restore + * poi + --------- +* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) + * add prefix +* Contributors: Kosuke Takeuchi, SakodaShintaro, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml index 3eec0e121082a..86c50500cbfbc 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml +++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml @@ -1,7 +1,7 @@ autoware_crosswalk_traffic_light_estimator - 0.1.0 + 0.38.0 The autoware_crosswalk_traffic_light_estimator package Satoshi Ota diff --git a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst new file mode 100644 index 0000000000000..efb2e19d328af --- /dev/null +++ b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst @@ -0,0 +1,19 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_detected_object_feature_remover +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* test(autoware_detected_object_feature_remover): add unit testing for the node (`#8735 `_) + * test: add unit testing for the node + * test: update to run node testings with `ROS_DOMAIN_ID` isolation + --------- +* chore(autoware_deteted_object_feature_remover): add code owners (`#8962 `_) + Add yoshiri and kotaro as code owners of feature remover +* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) + refactor(detected_object_feature_remover): add package name prefix of autoware\_ +* Contributors: Kotaro Uetake, Yoshi Ri, Yutaka Kondo, badai nguyen + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_detected_object_feature_remover/package.xml b/perception/autoware_detected_object_feature_remover/package.xml index 8726e2bf26071..aa9eaa9c9df79 100644 --- a/perception/autoware_detected_object_feature_remover/package.xml +++ b/perception/autoware_detected_object_feature_remover/package.xml @@ -2,7 +2,7 @@ autoware_detected_object_feature_remover - 0.1.0 + 0.38.0 The autoware_detected_object_feature_remover package Tomoya Kimura Yoshi Ri diff --git a/perception/autoware_detected_object_validation/CHANGELOG.rst b/perception/autoware_detected_object_validation/CHANGELOG.rst new file mode 100644 index 0000000000000..6321d6f6ef8cf --- /dev/null +++ b/perception/autoware_detected_object_validation/CHANGELOG.rst @@ -0,0 +1,64 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_detected_object_validation +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(detected_object_validation): rework parameters (`#7750 `_) + * refactor(detected_object_validation): rework parameters + * style(pre-commit): autofix + * Update perception/detected_object_validation/schema/object_lanelet_filter.schema.json + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> + * Update perception/detected_object_validation/schema/object_position_filter.schema.json + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> + * refactor(detected_object_validation): rework parameters + * refactor(detected_object_validation): rework parameters + * refactor(detected_object_validation): rework parameters + * style(pre-commit): autofix + * refactor(detected_object_validation): rework parameters + * refactor(detected_object_validation): rework parameters + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_detected_object_validation): fix functionStatic (`#8482 `_) + fix:functionStatic +* fix(autoware_detected_object_validation): fix cppcheck warnings of functionStatic (`#8256 `_) + fix: deal with functionStatic warnings +* fix(autoware_detected_object_validation): fix functionConst (`#8285 `_) + fix: functionConst +* perf(autoware_detected_object_validation): reduce lanelet_filter processing time (`#8240 `_) + * add local r-tree for fast searching + change to _func\_\_ + add more debug + use local rtree + fix + tmp update + fix bug + clean unused + clean up + * clean up + * style(pre-commit): autofix + * chore: Optimize object filtering and improve performance + The code changes in `lanelet_filter.cpp` optimize the object filtering process by using the `empty()` function instead of checking the size of the `transformed_objects.objects` vector. This change improves performance and simplifies the code logic. + Refactor the code to use `empty()` instead of `size()` for checking if the `transformed_objects.objects` vector is empty. This change improves readability and performance. + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Taekjin LEE +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) + * chore: fix package name probabilistic occupancy grid map + * fix: solve launch error + * chore: update occupancy_grid_map_outlier_filter + * style(pre-commit): autofix + * refactor: update package name to autoware_probabilistic_occupancy_grid_map on a test + * refactor: rename folder of occupancy_grid_map_outlier_filter + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Taekjin LEE +* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) + refactor: rename detected_object_validation to autoware_detected_object_validation +* Contributors: Batuhan Beytekin, Esteve Fernandez, Hayate TOBA, Masaki Baba, Taekjin LEE, Yoshi Ri, Yutaka Kondo, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_detected_object_validation/package.xml b/perception/autoware_detected_object_validation/package.xml index 4f136ad6270c8..7c6f34e95a015 100644 --- a/perception/autoware_detected_object_validation/package.xml +++ b/perception/autoware_detected_object_validation/package.xml @@ -2,7 +2,7 @@ autoware_detected_object_validation - 1.0.0 + 0.38.0 The ROS 2 detected_object_validation package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_detection_by_tracker/CHANGELOG.rst b/perception/autoware_detection_by_tracker/CHANGELOG.rst new file mode 100644 index 0000000000000..01bddc0164627 --- /dev/null +++ b/perception/autoware_detection_by_tracker/CHANGELOG.rst @@ -0,0 +1,38 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_detection_by_tracker +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) + * add object based corrector + * apply cppcheck suggestion + * fix typo + --------- + Co-authored-by: Taekjin LEE +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_detection_by_tracker): fix cppcheck warning of functionStatic (`#8257 `_) + fix: deal with functionStatic warnings + Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) + * refactor(shape_estimation): add package name prefix of autoware\_ + * style(pre-commit): autofix + * fix: mising prefix + * fix: cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_detection_by_tracker): fix funcArgNamesDifferent (`#8076 `_) + * fix:funcArgNamesDifferent + * fix:funcArgNamesDifferent + --------- +* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) + * refactor(euclidean_cluster): add package name prefix of autoware\_ + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) +* Contributors: Esteve Fernandez, Masaki Baba, Yutaka Kondo, badai nguyen, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml index e84e13c484e16..05f0ad9b4e109 100644 --- a/perception/autoware_detection_by_tracker/package.xml +++ b/perception/autoware_detection_by_tracker/package.xml @@ -2,7 +2,7 @@ autoware_detection_by_tracker - 1.0.0 + 0.38.0 The ROS 2 autoware_detection_by_tracker package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_elevation_map_loader/CHANGELOG.rst b/perception/autoware_elevation_map_loader/CHANGELOG.rst new file mode 100644 index 0000000000000..4165862eccbeb --- /dev/null +++ b/perception/autoware_elevation_map_loader/CHANGELOG.rst @@ -0,0 +1,21 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_elevation_map_loader +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* fix(autoware_elevation_map_loader): fix functionConst (`#8293 `_) + fix: functionConst +* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) + * refactor: add namespace, remove unused dependencies, file structure + chore: remove unused dependencies + style(pre-commit): autofix + * refactor: rename elevation_map_loader to autoware_elevation_map_loader + Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. + style(pre-commit): autofix +* Contributors: Esteve Fernandez, Hayate TOBA, Taekjin LEE, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_elevation_map_loader/package.xml b/perception/autoware_elevation_map_loader/package.xml index ca8e25d5f333e..d80c8f3d67893 100644 --- a/perception/autoware_elevation_map_loader/package.xml +++ b/perception/autoware_elevation_map_loader/package.xml @@ -2,7 +2,7 @@ autoware_elevation_map_loader - 0.1.0 + 0.38.0 The autoware_elevation_map_loader package Kosuke Takeuchi Taichi Higashide diff --git a/perception/autoware_euclidean_cluster/CHANGELOG.rst b/perception/autoware_euclidean_cluster/CHANGELOG.rst new file mode 100644 index 0000000000000..88ee59b8f189f --- /dev/null +++ b/perception/autoware_euclidean_cluster/CHANGELOG.rst @@ -0,0 +1,39 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_euclidean_cluster +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(autoware_pointcloud_preprocessor): rework crop box parameters (`#8466 `_) + * feat: add parameter schema for crop box + * chore: fix readme + * chore: remove filter.param.yaml file + * chore: add negative parameter for voxel grid based euclidean cluster + * chore: fix schema description + * chore: fix description of negative param + --------- +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) + * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware + * style(pre-commit): autofix + * style(pointcloud_preprocessor): suppress line length check for macros + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * refactor(pointcloud_preprocessor): directory structure (soft) + * refactor(pointcloud_preprocessor): directory structure (hard) + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) + * refactor(euclidean_cluster): add package name prefix of autoware\_ + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Amadeusz Szymko, Esteve Fernandez, Yi-Hsiang Fang (Vivid), Yutaka Kondo, badai nguyen + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_euclidean_cluster/package.xml b/perception/autoware_euclidean_cluster/package.xml index 076406bd3980a..18de86fba7bcb 100644 --- a/perception/autoware_euclidean_cluster/package.xml +++ b/perception/autoware_euclidean_cluster/package.xml @@ -2,7 +2,7 @@ autoware_euclidean_cluster - 0.1.0 + 0.38.0 The autoware_euclidean_cluster package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_ground_segmentation/CHANGELOG.rst b/perception/autoware_ground_segmentation/CHANGELOG.rst new file mode 100644 index 0000000000000..a9cf3a2817456 --- /dev/null +++ b/perception/autoware_ground_segmentation/CHANGELOG.rst @@ -0,0 +1,97 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_ground_segmentation +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(autoware_ground_segmentation): implementing linear least square fitting for local gradient calculation (`#9116 `_) + * refactor: calculate local ground gradient in classifyPointCloudGridScan + Calculate the local ground gradient by fitting a line to the ground grids in the classifyPointCloudGridScan function. This improves the accuracy of the gradient calculation and ensures more precise extrapolation of the ground height. + * refactor: calculate local ground gradient in classifyPointCloudGridScan + * refactor: update ground gradient calculation in classifyPointCloudGridScan function + * style(pre-commit): autofix + * chore: rename gradient variables + * refactor: initialize all the member of the struct GridCenter + * refactor: fix ground gradient calculation in checkContinuousGndGrid function + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_ground_segmentation): fix scan ground filter logic (`#9084 `_) + * refactor: initialize gnd_grids in ScanGroundFilterComponent::initializeFirstGndGrids + Initialize gnd_grids vector in the ScanGroundFilterComponent::initializeFirstGndGrids function to ensure it is empty and has the correct capacity. This improves the efficiency of the function and ensures accurate grid initialization. + * refactor: initialize gnd_grids vector in initializeFirstGndGrids function + Initialize the gnd_grids vector in the initializeFirstGndGrids function to ensure it is empty and has the correct capacity. This improves the efficiency of the function and ensures accurate grid initialization. + * refactor: improve efficiency and accuracy of grid initialization + Initialize the gnd_grids vector in the initializeFirstGndGrids function to ensure it is empty and has the correct capacity. This refactor improves the efficiency of the function and ensures accurate grid initialization. + * refactor: improve efficiency of checkDiscontinuousGndGrid function + Refactor the checkDiscontinuousGndGrid function in node.cpp to improve its efficiency. The changes include optimizing the conditional statements and reducing unnecessary calculations. + * refactor: improve efficiency of checkDiscontinuousGndGrid function + * fix: add missing condition + * style(pre-commit): autofix + * refactor: fix height_max initialization in node.hpp + * fix: bring back inequality sign + * fix: parameters from float to double + following the guideline https://docs.ros.org/en/foxy/Concepts/About-ROS-2-Parameters.html#overview + * refactor: fix logic description comment + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(autoware_ground_segmentation): scan ground filter refactoring (`#9061 `_) + * chore: Add comment classification logic for point cloud grid scan + * chore: renamed horizontal angle to azimuth angle + * chore: rename offset to data_index + * chore: rename ground_cluster to centroid_bin + chore: Refactor recheckGroundCluster function in scan_ground_filter + * chore: rename too short variables + * refactor: set input to be const + * refactor: update functions to be const + * chore: reorder params + * refactor: Add ScanGroundGrid class for managing grid data + * refactor: Update grid parameters and calculations in ScanGroundGrid class + * refactor: remove unused methods + * refactor: classification description + * refactor: initialize members in ScanGroundGrid class + * refactor: remove unused value + * chore: reduce scope + * refactor: align structure between convertPointcloud and convertPointcloudGridScan + --------- +* feat(ground_segmentation): add time_keeper (`#8585 `_) + * add time_keeper + * add timekeeper option + * add autoware_universe_utils + * fix topic name + * add scope and timekeeper + * remove debug code + * remove some timekeeper and mod block comment + --------- +* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) +* fix(ground-segmentation): missing ament_index_cpp dependency (`#8587 `_) +* fix(autoware_ground_segmentation): fix unusedFunction (`#8566 `_) + fix:unusedFunction +* fix(ground_segmentation): missing default parameters ERROR (`#8538 `_) + fix(ground_segmentation): remove unused params +* fix(autoware_ground_segmentation): fix unreadVariable (`#8353 `_) + * fix:unreadVariable + * fix:unreadVariable + --------- +* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) + * perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners + * fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic + * fix(autoware_ground_segmentation): add missing TF listener + * feat(autoware_ground_segmentation): change to static TF buffer + * refactor(autoware_pointcloud_preprocessor): move StaticTransformListener to universe utils + * perf(autoware_universe_utils): skip redundant transform + * fix(autoware_universe_utils): change checks order + * doc(autoware_universe_utils): add docstring + --------- +* fix(autoware_ground_segmentation): fix uninitMemberVar (`#8336 `_) + fix:uninitMemberVar +* fix(autoware_ground_segmentation): fix functionConst (`#8291 `_) + fix:functionConst +* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) + * refactor(ground_segmentation): add package name prefix of autoware\_ + * fix: update prefix cmake + --------- +* Contributors: Amadeusz Szymko, Masaki Baba, Rein Appeldoorn, Taekjin LEE, Yutaka Kondo, badai nguyen, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_ground_segmentation/package.xml b/perception/autoware_ground_segmentation/package.xml index 6b0ae57aa805a..1cd7df3be4aa1 100644 --- a/perception/autoware_ground_segmentation/package.xml +++ b/perception/autoware_ground_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_ground_segmentation - 0.1.0 + 0.38.0 The ROS 2 autoware_ground_segmentation package amc-nu Yukihiro Saito diff --git a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst new file mode 100644 index 0000000000000..0fdbb970d2504 --- /dev/null +++ b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst @@ -0,0 +1,48 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_image_projection_based_fusion +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* fix(autoware_image_projection_based_fusion): pointpainting bug fix for point projection (`#9150 `_) + fix: projected 2d point has 1.0 of depth +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_image_projection_based_fusion): roi cluster fusion has no existence probability update (`#8864 `_) + fix: add existence probability update, refactoring +* fix(autoware_image_projection_based_fusion): resolve issue with segmentation pointcloud fusion node failing with multiple mask inputs (`#8769 `_) +* fix(image_projection_based_fusion): remove unused variable (`#8634 `_) + fix: remove unused variable +* fix(autoware_image_projection_based_fusion): fix unusedFunction (`#8567 `_) + fix:unusedFunction +* fix(image_projection_based_fusion): add run length decoding for segmentation_pointcloud_fusion (`#7909 `_) + * fix: add rle decompress + * style(pre-commit): autofix + * fix: use rld in tensorrt utils + * fix: rebase error + * fix: dependency + * fix: skip publish debug mask + * Update perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + * style(pre-commit): autofix + * Revert "fix: skip publish debug mask" + This reverts commit 30fa9aed866a019705abde71e8f5c3f98960c19e. + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* fix(image_projection_based_fusion): handle projection errors in image fusion nodes (`#7747 `_) + * fix: add check for camera distortion model + * feat(utils): add const qualifier to local variables in checkCameraInfo function + * style(pre-commit): autofix + * chore(utils): update checkCameraInfo function to use RCLCPP_ERROR_STREAM for unsupported distortion model and coefficients size + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_image_projection_based_fusion): fix passedByValue (`#8234 `_) + fix:passedByValue +* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) + refactor: rename image_projection_based_fusion to autoware_image_projection_based_fusion +* Contributors: Esteve Fernandez, Taekjin LEE, Yi-Hsiang Fang (Vivid), Yoshi Ri, Yutaka Kondo, badai nguyen, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_image_projection_based_fusion/package.xml b/perception/autoware_image_projection_based_fusion/package.xml index b494f2d13887d..335c4712071e0 100644 --- a/perception/autoware_image_projection_based_fusion/package.xml +++ b/perception/autoware_image_projection_based_fusion/package.xml @@ -2,7 +2,7 @@ autoware_image_projection_based_fusion - 0.1.0 + 0.38.0 The autoware_image_projection_based_fusion package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst new file mode 100644 index 0000000000000..4ea5334aa7a2e --- /dev/null +++ b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst @@ -0,0 +1,31 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_lidar_apollo_instance_segmentation +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) + * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace + * refactor(tensorrt_common): directory structure + * style(pre-commit): autofix + * fix(tensorrt_common): correct package name for logging + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* fix(autoware_lidar_apollo_instance_segmentation): added existence probability (`#8862 `_) + * added existence probability + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(lidar_apollo_instance_segmentation): fix critical bug (`#8444 `_) + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> +* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) + * refactor: add autoware namespace prefix + * chore: update CODEOWNERS + * refactor: add `autoware` prefix + --------- +* Contributors: Amadeusz Szymko, Kotaro Uetake, Samrat Thapa, Yutaka Kondo, kminoda + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_lidar_apollo_instance_segmentation/package.xml b/perception/autoware_lidar_apollo_instance_segmentation/package.xml index 0ad1ca50b75f7..b0f653dbeb3d0 100755 --- a/perception/autoware_lidar_apollo_instance_segmentation/package.xml +++ b/perception/autoware_lidar_apollo_instance_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_lidar_apollo_instance_segmentation - 0.1.0 + 0.38.0 autoware_lidar_apollo_instance_segmentation Yoshi Ri Yukihiro Saito diff --git a/perception/autoware_lidar_centerpoint/CHANGELOG.rst b/perception/autoware_lidar_centerpoint/CHANGELOG.rst new file mode 100644 index 0000000000000..126064419329c --- /dev/null +++ b/perception/autoware_lidar_centerpoint/CHANGELOG.rst @@ -0,0 +1,76 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_lidar_centerpoint +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) + * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace + * refactor(tensorrt_common): directory structure + * style(pre-commit): autofix + * fix(tensorrt_common): correct package name for logging + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_lidar_centerpoint): fix twist covariance orientation (`#8996 `_) + * fix(autoware_lidar_centerpoint): fix covariance converter considering the twist covariance matrix is based on the object coordinate + fix style + * fix: update test of box3DToDetectedObject function + --------- +* fix(autoware_lidar_centerpoint): convert object's velocity to follow its definition (`#8980 `_) + * fix: convert object's velocity to follow its definition in box3DToDetectedObject function + * Update perception/autoware_lidar_centerpoint/lib/ros_utils.cpp + Co-authored-by: Kenzo Lobos Tsunekawa + --------- + Co-authored-by: Kenzo Lobos Tsunekawa +* feat(autoware_lidar_centerpoint): shuffled points before feeding them to the model (`#8814 `_) + * feat: shuffling points before feeding them into the model to achieve uniform sampling into the voxels + * Update perception/autoware_lidar_centerpoint/src/node.cpp + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + * Update perception/autoware_lidar_centerpoint/src/node.cpp + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + * Update perception/autoware_lidar_centerpoint/lib/centerpoint_trt.cpp + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + * Update perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/centerpoint_config.hpp + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* refactor(autoware_lidar_centerpoint): use std::size_t instead of size_t (`#8820 `_) + * refactor(autoware_lidar_centerpoint): use std::size_t instead of size_t + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(autoware_lidar_centerpoint): add centerpoint sigma parameter (`#8731 `_) + add centerpoint sigma parameter +* fix(autoware_lidar_centerpoint): fix unusedFunction (`#8572 `_) + fix:unusedFunction +* fix(autoware_lidar_centerpoint): place device vector in CUDA device system (`#8272 `_) +* docs(centerpoint): add description for ml package params (`#8187 `_) +* chore(autoware_lidar_centerpoint): updated tests (`#8158 `_) + chore: updated centerpoin tests. they are currently commented out but they were not compiling (forgot to update them when I added the new cloud capacity parameter) +* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) + * add prefix in lidar_centerpoint + * add .gitignore + * change include package name in image_projection_based fusion + * fix + * change in codeowner + * delete package + * style(pre-commit): autofix + * style(pre-commit): autofix + * solve conflict too + * fix include file + * fix typo in launch file + * add prefix in README + * fix bugs by conflict + * style(pre-commit): autofix + * change namespace from to + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* Contributors: Amadeusz Szymko, Esteve Fernandez, Kenzo Lobos Tsunekawa, Masato Saeki, Taekjin LEE, Yoshi Ri, Yutaka Kondo, kminoda, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml index b16133f3c6079..4f33fd14dbb8f 100644 --- a/perception/autoware_lidar_centerpoint/package.xml +++ b/perception/autoware_lidar_centerpoint/package.xml @@ -2,7 +2,7 @@ autoware_lidar_centerpoint - 1.0.0 + 0.38.0 The autoware_lidar_centerpoint package Kenzo Lobos-Tsunekawa Koji Minoda diff --git a/perception/autoware_lidar_transfusion/CHANGELOG.rst b/perception/autoware_lidar_transfusion/CHANGELOG.rst new file mode 100644 index 0000000000000..e6b2694e9acae --- /dev/null +++ b/perception/autoware_lidar_transfusion/CHANGELOG.rst @@ -0,0 +1,58 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_lidar_transfusion +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) + * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace + * refactor(tensorrt_common): directory structure + * style(pre-commit): autofix + * fix(tensorrt_common): correct package name for logging + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_lidar_transfusion): set tensor names by matching with predefined values. (`#9057 `_) + * set tensor order using api + * style(pre-commit): autofix + * fix tensor order + * style(pre-commit): autofix + * style fix + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_lidar _ransfusion): fix 3d bounding box orientation (`#9052 `_) + * fix bbox orientation + * revert newline changes + * change kernel + --------- + Co-authored-by: Amadeusz Szymko +* feat(autoware_lidar_transfusion): shuffled points before feeding them to the model (`#8815 `_) + feat: shuffling points before feeding them into the model to achieve random sampling into the voxels + Co-authored-by: Amadeusz Szymko +* refactor(autoware_lidar_transfusion): split config (`#8205 `_) + * refactor(autoware_lidar_transfusion): split config + * style(pre-commit): autofix + * chore(autoware_lidar_transfusion): bypass schema CI workflow + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* fix(autoware_lidar_transfusion): place device vector in CUDA device system (`#8273 `_) +* fix(lidar_transfusion): commented tests were out of date (`#8116 `_) + chore: commented tests were out of date +* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) + * add prefix + * add prefix in code owner + * style(pre-commit): autofix + * fix launcher + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Amadeusz Szymko + Co-authored-by: Kenzo Lobos Tsunekawa +* Contributors: Amadeusz Szymko, Esteve Fernandez, Kenzo Lobos Tsunekawa, Masato Saeki, Samrat Thapa, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml index 211011918b04e..0714447a6c5c7 100644 --- a/perception/autoware_lidar_transfusion/package.xml +++ b/perception/autoware_lidar_transfusion/package.xml @@ -2,7 +2,7 @@ autoware_lidar_transfusion - 1.0.0 + 0.38.0 The lidar_transfusion package Amadeusz Szymko Kenzo Lobos-Tsunekawa diff --git a/perception/autoware_map_based_prediction/CHANGELOG.rst b/perception/autoware_map_based_prediction/CHANGELOG.rst new file mode 100644 index 0000000000000..ebff67a4ade62 --- /dev/null +++ b/perception/autoware_map_based_prediction/CHANGELOG.rst @@ -0,0 +1,203 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_map_based_prediction +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_map_based_prediction): refactoring lanelet path prediction and pose path conversion (`#9104 `_) + * refactor: update predictObjectManeuver function parameters + * refactor: update hash function for LaneletPath in map_based_prediction_node.hpp + * refactor: path list rename + * refactor: take the path conversion out of the lanelet prediction + * refactor: lanelet possible paths + * refactor: separate converter of lanelet path to pose path + * refactor: block each path lanelet process + * refactor: fix time keeper + * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp + --------- + Co-authored-by: Mamoru Sobue +* chore(autoware_map_based_prediction): add maintainers to package.xml (`#9125 `_) + chore: add maintainers to package.xml + The package.xml file was updated to include additional maintainers' email addresses. +* fix(autoware_map_based_prediction): adjust lateral duration when object is behind reference path (`#8973 `_) + fix: adjust lateral duration when object is behind reference path +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* feat(autoware_map_based_prediction): improve frenet path generation (`#8811 `_) + * feat: calculate terminal d position based on playable width in path_generator.cpp + * feat: Add width parameter path generations + refactor(path_generator): improve backlash width calculation + refactor(path_generator): improve backlash width calculation + * fix: set initial point of Frenet Path to Cartesian Path conversion + refactor: limit the d value to the radius for curved reference paths + refactor: limit d value to curve limit for curved reference paths + refactor: extend base_path_s with extrapolated base_path_x, base_path_y, base_path_z if min_s is negative + refactor: linear path when object is moving backward + feat: Update getFrenetPoint function to include target_path parameter + The getFrenetPoint function in path_generator.hpp and path_generator.cpp has been updated to include a new parameter called target_path. This parameter is used to trim the reference path based on the starting segment index, allowing for more accurate calculations. + * feat: Add interpolationLerp function for linear interpolation + * Update starting_segment_idx type in getFrenetPoint function + refactor: Update starting_segment_idx type in getFrenetPoint function + refactor: Update getFrenetPoint function to include target_path parameter + refactor: exclude target path determination logic from getFrenetPoint + refactor: Add interpolationLerp function for quaternion linear interpolation + refactor: remove redundant yaw height update + refactor: Update path_generator.cpp to include object height in predicted_pose + fix: comment out optimum target searcher + * feat: implement a new optimization of target ref path search + refactor: Update path_generator.cpp to include object height in predicted_pose + refactor: measure performance + refactor: remove comment-outs, measure times + style(pre-commit): autofix + refactor: move starting point search function to getPredictedReferencePath + refactor: target segment index search parameter adjust + * fix: replace nearest search to custom one for efficiency + feat: Update CLOSE_LANELET_THRESHOLD and CLOSE_PATH_THRESHOLD values + * refactor: getFrenetPoint blocks + * chore: add comments + * feat: Trim reference paths if optimum position is not found + style(pre-commit): autofix + chore: remove comment + * fix: shadowVariable of time keeper pointers + * refactor: improve backlash width calculation, parameter adjustment + * fix: cylinder type object do not have y dimension, use x dimension + * chore: add comment to explain an internal parameter 'margin' + * chore: add comment of backlash calculation shortcut + * chore: Improve readability of backlash to target shift model + * feat: set the return width by the path width + * refactor: separate a logic to searchProperStartingRefPathIndex function + * refactor: search starting ref path using optional for return type + * fix: object orientation calculation is added to the predicted path generation + * chore: fix spell-check + --------- +* revert(autoware_map_based_prediction): revert improve frenet path gen (`#8808 `_) + Revert "feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_)" + This reverts commit 67265bbd60c85282c1c3cf65e603098e0c30c477. +* feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_) + * feat: calculate terminal d position based on playable width in path_generator.cpp + * feat: Add width parameter path generations + refactor(path_generator): improve backlash width calculation + refactor(path_generator): improve backlash width calculation + * fix: set initial point of Frenet Path to Cartesian Path conversion + refactor: limit the d value to the radius for curved reference paths + refactor: limit d value to curve limit for curved reference paths + refactor: extend base_path_s with extrapolated base_path_x, base_path_y, base_path_z if min_s is negative + refactor: linear path when object is moving backward + feat: Update getFrenetPoint function to include target_path parameter + The getFrenetPoint function in path_generator.hpp and path_generator.cpp has been updated to include a new parameter called target_path. This parameter is used to trim the reference path based on the starting segment index, allowing for more accurate calculations. + * feat: Add interpolationLerp function for linear interpolation + * Update starting_segment_idx type in getFrenetPoint function + refactor: Update starting_segment_idx type in getFrenetPoint function + refactor: Update getFrenetPoint function to include target_path parameter + refactor: exclude target path determination logic from getFrenetPoint + refactor: Add interpolationLerp function for quaternion linear interpolation + refactor: remove redundant yaw height update + refactor: Update path_generator.cpp to include object height in predicted_pose + fix: comment out optimum target searcher + * feat: implement a new optimization of target ref path search + refactor: Update path_generator.cpp to include object height in predicted_pose + refactor: measure performance + refactor: remove comment-outs, measure times + style(pre-commit): autofix + refactor: move starting point search function to getPredictedReferencePath + refactor: target segment index search parameter adjust + * fix: replace nearest search to custom one for efficiency + feat: Update CLOSE_LANELET_THRESHOLD and CLOSE_PATH_THRESHOLD values + * refactor: getFrenetPoint blocks + * chore: add comments + * feat: Trim reference paths if optimum position is not found + style(pre-commit): autofix + chore: remove comment + * fix: shadowVariable of time keeper pointers + * refactor: improve backlash width calculation, parameter adjustment + * fix: cylinder type object do not have y dimension, use x dimension + * chore: add comment to explain an internal parameter 'margin' + * chore: add comment of backlash calculation shortcut + * chore: Improve readability of backlash to target shift model + * feat: set the return width by the path width + * refactor: separate a logic to searchProperStartingRefPathIndex function + * refactor: search starting ref path using optional for return type + --------- +* perf(autoware_map_based_prediction): replace pow (`#8751 `_) +* fix(autoware_map_based_prediction): output from screen to both (`#8408 `_) +* perf(autoware_map_based_prediction): removed duplicate findNearest calculations (`#8490 `_) +* perf(autoware_map_based_prediction): enhance speed by removing unnecessary calculation (`#8471 `_) + * fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks + * perf(autoware_map_based_prediction): enhance speed by removing unnecessary calculation + --------- +* refactor(autoware_map_based_prediction): map based pred time keeper ptr (`#8462 `_) + * refactor(map_based_prediction): implement time keeper by pointer + * feat(map_based_prediction): set time keeper in path generator + * feat: use scoped time track only when the timekeeper ptr is not null + * refactor: define publish function to measure time + * chore: add debug parameters for map-based prediction + * chore: remove unnecessary ScopedTimeTrack instances + * feat: replace member to pointer + --------- +* fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks (`#8467 `_) +* perf(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType (`#8461 `_) + feat(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType +* perf(map_based_prediction): improve world to map transform calculation (`#8413 `_) + * perf(map_based_prediction): improve world to map transform calculation + 1. remove unused transforms + 2. make transform loading late as possible + * perf(map_based_prediction): get transform only when it is necessary + --------- +* perf(autoware_map_based_prediction): improve orientation calculation and resample converted path (`#8427 `_) + * refactor: improve orientation calculation and resample converted path with linear interpolation + Simplify the calculation of the orientation for each pose in the convertPathType function by directly calculating the sine and cosine of half the yaw angle. This improves efficiency and readability. Also, improve the resampling of the converted path by using linear interpolation for better performance. + * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> + --------- + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> +* perf(map_based_prediction): apply lerp instead of spline (`#8416 `_) + perf: apply lerp interpolation instead of spline +* revert (map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" (`#8417 `_) + Revert "perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" + This reverts commit 147403f1765346be9c5a3273552d86133298a899. +* perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_) + * refactor: improve orientation calculation in MapBasedPredictionNode + Simplify the calculation of the orientation for each pose in the convertPathType function. Instead of using the atan2 function, calculate the sine and cosine of half the yaw angle directly. This improves the efficiency and readability of the code. + * refactor: resample converted path with linear interpolation + Improve the resampling of the converted path in the convertPathType function. Using linear interpolation for performance improvement. + the mark indicates true, but the function resamplePoseVector implementation is opposite. + chore: write comment about use_akima_slpine_for_xy + --------- +* perf(map_based_prediction): create a fence LineString layer and use rtree query (`#8406 `_) + use fence layer +* perf(map_based_prediction): remove unncessary withinRoadLanelet() (`#8403 `_) +* feat(map_based_prediction): filter surrounding crosswalks for pedestrians beforehand (`#8388 `_) + fix withinAnyCroswalk +* fix(autoware_map_based_prediction): fix argument order (`#8031 `_) + fix(autoware_map_based_prediction): fix argument order in call `getFrenetPoint()` + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> +* feat(map_based_prediction): add time_keeper (`#8176 `_) +* fix(autoware_map_based_prediction): fix shadowVariable (`#7934 `_) + fix:shadowVariable +* perf(map_based_prediction): remove query on all fences linestrings (`#7237 `_) +* fix(autoware_map_based_prediction): fix syntaxError (`#7813 `_) + * fix(autoware_map_based_prediction): fix syntaxError + * style(pre-commit): autofix + * fix spellcheck + * fix new cppcheck warnings + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(map based prediction): use polling subscriber (`#7397 `_) + feat(map_based_prediction): use polling subscriber +* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Kotaro Uetake, Mamoru Sobue, Maxime CLEMENT, Onur Can Yücedağ, Ryuta Kambe, Taekjin LEE, Takamasa Horibe, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kminoda, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml index fbb760b45bc63..161429d24ad2a 100644 --- a/perception/autoware_map_based_prediction/package.xml +++ b/perception/autoware_map_based_prediction/package.xml @@ -2,7 +2,7 @@ autoware_map_based_prediction - 0.1.0 + 0.38.0 This package implements a map_based_prediction Tomoya Kimura Yoshi Ri diff --git a/perception/autoware_multi_object_tracker/CHANGELOG.rst b/perception/autoware_multi_object_tracker/CHANGELOG.rst new file mode 100644 index 0000000000000..36f852fba97bd --- /dev/null +++ b/perception/autoware_multi_object_tracker/CHANGELOG.rst @@ -0,0 +1,118 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_multi_object_tracker +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* feat(autoware_multi_object_tracker): Set maximum reverse velocity to bicycle and crtv motion models (`#9019 `_) + * feat: Add maximum reverse velocity to bicycle and CTRV motion models + revert the tracker orientation when the velocity exceed the maximum reverse velocity + refactor: Update motion model parameters for bicycle and CTRV motion models + * refactor: check the max_reverse_vel configuration is correct + max_reverse_vel is expected to be negative + * refactor: remove config checker in the initializer + --------- +* refactor(autoware_multi_object_tracker): separate detected object covariance modeling (`#9001 `_) + * refactor: update object model includes in tracker models + * feat: add uncertainty processor for object tracking + feat: refactor uncertainty processing for object tracking + feat: impl obj class model + feat: Update object model measurement covariances + Refactor the object model measurement covariances in the `object_model.hpp` file. Update the velocity long and velocity lat measurement covariances for different object model types. + refactor: Model object uncertainty in multi_object_tracker_node.cpp + feat: Update object model measurement covariances in object_model.hpp + feat: Update uncertainty processing for object tracking + fix: remove uncertainty modelling in trackers + refactor: Remove unused function isLargeVehicleLabel + The function isLargeVehicleLabel in utils.hpp is no longer used and can be safely removed. + Revert "refactor: Remove unused function isLargeVehicleLabel" + This reverts commit 23e3eff511b21ef8ceeacb7db47c74f747009a32. + feat: Normalize uncertainty in object tracking + This commit adds a new function `normalizeUncertainty` to the `uncertainty_processor.hpp` and `uncertainty_processor.cpp` files. The function normalizes the position and twist covariance matrices of detected objects to ensure minimum values for distance, radius, and velocity. This helps improve the accuracy and reliability of object tracking. + * refactor: update motion model parameters for object tracking + * refactor: update yaw rate limit in object model + * Revert "refactor: update yaw rate limit in object model" + This reverts commit 6e8b201582cb65673678029dc3a781f2b7126f81. + * refactor: update object model measurement covariances + Refactor the object model measurement covariances in the `object_model.hpp` file. Update the velocity long and velocity lat measurement covariances for different object model types. + * refactor: update motion model parameters comments + * refactor: remove comment + * style(pre-commit): autofix + * feat: Update copyright notice in uncertainty_processor.hpp + Update the copyright notice in the uncertainty_processor.hpp file to reflect the correct company name. + * refactor: update runProcess function parameters in multi_object_tracker_node.hpp + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_multi_object_tracker): update yaw with range-limited innovation (`#8976 `_) + fix: update yaw with range-limited innovation +* feat(autoware_multi_object_tracker): reduce trigger latency (`#8657 `_) + * feat: timer-based trigger with phase compensation + * chore: update comments, name of variable + * chore: declare min and max publish interval ratios + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_multi_object_tracker): output from screen to both (`#8407 `_) +* fix(autoware_multi_object_tracker): fix unusedFunction (`#8573 `_) + fix:unusedFunction +* chore(autoware_multi_object_tracker): fix typo in input_channels.schema.json (`#8515 `_) + * fix(schema): fix typo in input_channels.schema.json + Fixed a typo in the "lidar_pointpainting" key in the input_channels.schema.json file. + * fix: fix typo in lidar_pointpainting key + * chore: fix typo of lidar_pointpainitng channel + --------- + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) + * refactor(kalman_filter): prefix package and namespace with autoware + * move headers to include/autoware/ + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* docs(autoware_multi_object_tracker): update input_channels schema with default values (`#8473 `_) + chore(perception): update input_channels schema with default values +* fix(autoware_multi_object_tracker): enable trigger publish when delay_compensation is false (`#8484 `_) + fix: enable trigger publish when delay_compensation is false +* fix(autoware_multi_object_tracker): fix functionConst (`#8424 `_) + fix:functionConst +* docs(autoware_multi_object_tracker): add default values on the schema json (`#8179 `_) + * Refractored the parameters, build the schema file, updated the readme file. + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_multi_object_tracker): fix functionConst (`#8290 `_) + * fix:functionConst + * fix:functionConst + * fix:clang format + --------- +* fix(autoware_multi_object_tracker): revert latency reduction logic and bring back to timer trigger (`#8277 `_) + * fix: revert latency reduction logic and bring back to timer trigger + * style(pre-commit): autofix + * chore: remove unused variables + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_multi_object_tracker): fix uninitMemberVar (`#8335 `_) + fix:uninitMemberVar +* fix(autoware_multi_object_tracker): fix passedByValue (`#8231 `_) + fix:passedByValue +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) + * fix: cppcheck knownConditionTrueFalse + * fix + * fix + --------- +* fix(autoware_multi_object_tracker): missing parameter schema path fix (`#8120 `_) + fix: missing parameter schema path fix +* fix(multi_object_tracker): fix funcArgNamesDifferent (`#8079 `_) + fix:funcArgNamesDifferent +* refactor(multi_object_tracker): bring parameter schema to new package folder (`#8105 `_) + refactor: bring parameter schema to new package folder +* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) + * refactor: rename multi_object_tracker package to autoware_multi_object_tracker + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Boyang, Esteve Fernandez, Ryuta Kambe, Taekjin LEE, Yutaka Kondo, kminoda, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml index d7250293df28e..e16e4c0d2a836 100644 --- a/perception/autoware_multi_object_tracker/package.xml +++ b/perception/autoware_multi_object_tracker/package.xml @@ -2,7 +2,7 @@ autoware_multi_object_tracker - 1.0.0 + 0.38.0 The ROS 2 autoware_multi_object_tracker package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_merger/CHANGELOG.rst b/perception/autoware_object_merger/CHANGELOG.rst new file mode 100644 index 0000000000000..30a2a4d8eb8eb --- /dev/null +++ b/perception/autoware_object_merger/CHANGELOG.rst @@ -0,0 +1,26 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_object_merger +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_object_merger): default merger priority within enum range (`#8858 `_) + fix: default merger priority within enum range +* fix(object_association_merger_node): fix the frame id of output object msg (`#8674 `_) + fix: fix the object msg header +* fix(doc, object_merger): fix object merger document path (`#8292 `_) + fix object merger document path +* fix(autoware_object_merger): fix passedByValue (`#8232 `_) + fix:passedByValue +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) + * fix: cppcheck knownConditionTrueFalse + * fix + * fix + --------- +* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Taekjin LEE, Yi-Hsiang Fang (Vivid), Yutaka Kondo, Yuxuan Liu, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_object_merger/package.xml b/perception/autoware_object_merger/package.xml index 77c30aa6d4556..75af6239450c7 100644 --- a/perception/autoware_object_merger/package.xml +++ b/perception/autoware_object_merger/package.xml @@ -2,7 +2,7 @@ autoware_object_merger - 0.1.0 + 0.38.0 The autoware_object_merger package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_range_splitter/CHANGELOG.rst b/perception/autoware_object_range_splitter/CHANGELOG.rst new file mode 100644 index 0000000000000..8b80372325662 --- /dev/null +++ b/perception/autoware_object_range_splitter/CHANGELOG.rst @@ -0,0 +1,25 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_object_range_splitter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(docs): fox docs for autoware object range splitter (`#8306 `_) + * fix docs for autoware object range splitter + * fix spelling + --------- +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) + * refactor: rename radar_object_tracker + * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker + * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering + * refactor: rename package from radar_fusion_to_detected_object to autoware_radar_fusion_to_detected_object + * refactor: rename radar_crossing_objects_noise_filter to autoware_radar_crossing_objects_noise_filter + * refactor: rename object_velocity_splitter to autoware_object_velocity_splitter + * refactor: rename object_range_splitter to autoware_object_range_splitter + * refactor: update readme + --------- +* Contributors: Taekjin LEE, Yutaka Kondo, Yuxuan Liu + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_object_range_splitter/package.xml b/perception/autoware_object_range_splitter/package.xml index 1f678f72b7942..d220d221bf8f4 100644 --- a/perception/autoware_object_range_splitter/package.xml +++ b/perception/autoware_object_range_splitter/package.xml @@ -2,7 +2,7 @@ autoware_object_range_splitter - 0.1.0 + 0.38.0 The autoware_object_range_splitter package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_velocity_splitter/CHANGELOG.rst b/perception/autoware_object_velocity_splitter/CHANGELOG.rst new file mode 100644 index 0000000000000..f3e129eded74f --- /dev/null +++ b/perception/autoware_object_velocity_splitter/CHANGELOG.rst @@ -0,0 +1,25 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_object_velocity_splitter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_object_velocity_splitter): fix funcArgNamesDifferent (`#8013 `_) + * fix:funcArgNamesDifferent + * fix:funcArgNamesDifferent + --------- +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) + * refactor: rename radar_object_tracker + * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker + * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering + * refactor: rename package from radar_fusion_to_detected_object to autoware_radar_fusion_to_detected_object + * refactor: rename radar_crossing_objects_noise_filter to autoware_radar_crossing_objects_noise_filter + * refactor: rename object_velocity_splitter to autoware_object_velocity_splitter + * refactor: rename object_range_splitter to autoware_object_range_splitter + * refactor: update readme + --------- +* Contributors: Taekjin LEE, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_object_velocity_splitter/package.xml b/perception/autoware_object_velocity_splitter/package.xml index eb233150a44d9..936bb40804882 100644 --- a/perception/autoware_object_velocity_splitter/package.xml +++ b/perception/autoware_object_velocity_splitter/package.xml @@ -2,7 +2,7 @@ autoware_object_velocity_splitter - 0.1.0 + 0.38.0 autoware_object_velocity_splitter Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst new file mode 100644 index 0000000000000..7f0f398490ef5 --- /dev/null +++ b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst @@ -0,0 +1,35 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_occupancy_grid_map_outlier_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(occupancy_grid_map_outlier_filter): add time_keeper (`#8597 `_) + * add time_keeper + * add option for time keeper + * add scope and timekeeper + * remove and add scope and timekeeper + * remove duplicated + * add timekeeper option + * fix comment + --------- +* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) + * add param and schema file, edit readme + * . + * correct linter errors + --------- +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) + * chore: fix package name probabilistic occupancy grid map + * fix: solve launch error + * chore: update occupancy_grid_map_outlier_filter + * style(pre-commit): autofix + * refactor: update package name to autoware_probabilistic_occupancy_grid_map on a test + * refactor: rename folder of occupancy_grid_map_outlier_filter + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Taekjin LEE +* Contributors: Masaki Baba, Yoshi Ri, Yutaka Kondo, oguzkaganozt + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml index c39ebdad4b283..1a5dc84c97e50 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml +++ b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml @@ -2,7 +2,7 @@ autoware_occupancy_grid_map_outlier_filter - 0.1.0 + 0.38.0 The ROS 2 occupancy_grid_map_outlier_filter package amc-nu Yukihiro Saito diff --git a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst new file mode 100644 index 0000000000000..d866dc5c742c8 --- /dev/null +++ b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst @@ -0,0 +1,42 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_probabilistic_occupancy_grid_map +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(probabilistic_occupancy_grid_map): add time_keeper (`#8601 `_) + * add time_keeper + * add option for time keeper + * correct namespace + * set default to false + * add scope and timekeeper + * remove scope and add comment for scopes + * mod comment + * change comment + Co-authored-by: Taekjin LEE + * fix variable shadowing + --------- + Co-authored-by: Taekjin LEE +* fix(autoware_probabilistic_occupancy_grid_map): fix unusedFunction (`#8574 `_) + fix:unusedFunction +* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8426 `_) + fix:functionConst +* fix(autoware_probabilistic_occupancy_grid_map): fix uninitMemberVar (`#8333 `_) + fix:uninitMemberVar +* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8289 `_) + fix:functionConst +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) + * chore: fix package name probabilistic occupancy grid map + * fix: solve launch error + * chore: update occupancy_grid_map_outlier_filter + * style(pre-commit): autofix + * refactor: update package name to autoware_probabilistic_occupancy_grid_map on a test + * refactor: rename folder of occupancy_grid_map_outlier_filter + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Taekjin LEE +* Contributors: Masaki Baba, Yoshi Ri, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_probabilistic_occupancy_grid_map/package.xml b/perception/autoware_probabilistic_occupancy_grid_map/package.xml index e06eaf476c44d..60f6cefcc6219 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/package.xml +++ b/perception/autoware_probabilistic_occupancy_grid_map/package.xml @@ -2,7 +2,7 @@ autoware_probabilistic_occupancy_grid_map - 0.1.0 + 0.38.0 generate probabilistic occupancy grid map Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst new file mode 100644 index 0000000000000..dce4e0aae3f62 --- /dev/null +++ b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst @@ -0,0 +1,26 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_radar_crossing_objects_noise_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) + * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter + * refactor: rename simple_object_merger package to autoware_simple_object_merger + * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter + --------- +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) + * refactor: rename radar_object_tracker + * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker + * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering + * refactor: rename package from radar_fusion_to_detected_object to autoware_radar_fusion_to_detected_object + * refactor: rename radar_crossing_objects_noise_filter to autoware_radar_crossing_objects_noise_filter + * refactor: rename object_velocity_splitter to autoware_object_velocity_splitter + * refactor: rename object_range_splitter to autoware_object_range_splitter + * refactor: update readme + --------- +* Contributors: Taekjin LEE, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_radar_crossing_objects_noise_filter/package.xml b/perception/autoware_radar_crossing_objects_noise_filter/package.xml index 6476d66eef4f8..f0bcfc6d30eee 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/package.xml +++ b/perception/autoware_radar_crossing_objects_noise_filter/package.xml @@ -2,7 +2,7 @@ autoware_radar_crossing_objects_noise_filter - 0.1.0 + 0.38.0 autoware_radar_crossing_objects_noise_filter Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst new file mode 100644 index 0000000000000..7d6ee4ac64750 --- /dev/null +++ b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst @@ -0,0 +1,30 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_radar_fusion_to_detected_object +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_radar_fusion_to_detected_object): fix variableScope (`#8429 `_) + fix:variableScope + Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> +* fix(autoware_radar_fusion_to_detected_object): fix functionConst (`#8287 `_) + fix:functionConst +* fix(autoware_radar_fusion_to_detected_object): fix warnings of functionStatic (`#8052 `_) + fix: deal with functionStatic warning +* fix(autoware_radar_fusion_to_detected_object): fix constParameterReference (`#8040 `_) + fix:constParameterReference +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) + * refactor: rename radar_object_tracker + * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker + * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering + * refactor: rename package from radar_fusion_to_detected_object to autoware_radar_fusion_to_detected_object + * refactor: rename radar_crossing_objects_noise_filter to autoware_radar_crossing_objects_noise_filter + * refactor: rename object_velocity_splitter to autoware_object_velocity_splitter + * refactor: rename object_range_splitter to autoware_object_range_splitter + * refactor: update readme + --------- +* Contributors: Nagi70, Taekjin LEE, Yutaka Kondo, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_radar_fusion_to_detected_object/package.xml b/perception/autoware_radar_fusion_to_detected_object/package.xml index 94a0c55574f60..07de2ac9532e9 100644 --- a/perception/autoware_radar_fusion_to_detected_object/package.xml +++ b/perception/autoware_radar_fusion_to_detected_object/package.xml @@ -2,7 +2,7 @@ autoware_radar_fusion_to_detected_object - 0.0.0 + 0.38.0 autoware_radar_fusion_to_detected_object Satoshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_object_clustering/CHANGELOG.rst b/perception/autoware_radar_object_clustering/CHANGELOG.rst new file mode 100644 index 0000000000000..0b1ed7b63a2ee --- /dev/null +++ b/perception/autoware_radar_object_clustering/CHANGELOG.rst @@ -0,0 +1,36 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_radar_object_clustering +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) + * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter + * refactor: rename simple_object_merger package to autoware_simple_object_merger + * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter + --------- +* fix(autoware_radar_object_clustering): fix funcArgNamesDifferent (`#8014 `_) + * fix:funcArgNamesDifferent + * fix:funcArgNamesDifferent + --------- +* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) + * refactor: rename multi_object_tracker package to autoware_multi_object_tracker + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) + * refactor: rename radar_object_tracker + * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker + * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering + * refactor: rename package from radar_fusion_to_detected_object to autoware_radar_fusion_to_detected_object + * refactor: rename radar_crossing_objects_noise_filter to autoware_radar_crossing_objects_noise_filter + * refactor: rename object_velocity_splitter to autoware_object_velocity_splitter + * refactor: rename object_range_splitter to autoware_object_range_splitter + * refactor: update readme + --------- +* Contributors: Esteve Fernandez, Taekjin LEE, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_radar_object_clustering/package.xml b/perception/autoware_radar_object_clustering/package.xml index 00106ee38e82f..fc103a531ee1d 100644 --- a/perception/autoware_radar_object_clustering/package.xml +++ b/perception/autoware_radar_object_clustering/package.xml @@ -2,7 +2,7 @@ autoware_radar_object_clustering - 0.1.0 + 0.38.0 autoware_radar_object_clustering Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_object_tracker/CHANGELOG.rst b/perception/autoware_radar_object_tracker/CHANGELOG.rst new file mode 100644 index 0000000000000..d172f19376f0c --- /dev/null +++ b/perception/autoware_radar_object_tracker/CHANGELOG.rst @@ -0,0 +1,43 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_radar_object_tracker +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) + * refactor(kalman_filter): prefix package and namespace with autoware + * move headers to include/autoware/ + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_radar_object_tracker): fix redundantInitialization (`#8227 `_) + * fix(autoware_radar_object_tracker): fix redundantInitialization + * Update perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp + Co-authored-by: Yukihiro Saito + --------- + Co-authored-by: Yukihiro Saito +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) + * fix: cppcheck knownConditionTrueFalse + * fix + * fix + --------- +* fix(autoware_radar_object_tracker): fix funcArgNamesDifferent (`#8015 `_) + fix:funcArgNamesDifferent +* fix(autoware_radar_object_tracker): fix shadowVariable (`#7945 `_) + fix:shadowVariable +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) + * refactor: rename radar_object_tracker + * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker + * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering + * refactor: rename package from radar_fusion_to_detected_object to autoware_radar_fusion_to_detected_object + * refactor: rename radar_crossing_objects_noise_filter to autoware_radar_crossing_objects_noise_filter + * refactor: rename object_velocity_splitter to autoware_object_velocity_splitter + * refactor: rename object_range_splitter to autoware_object_range_splitter + * refactor: update readme + --------- +* Contributors: Esteve Fernandez, Ryuta Kambe, Taekjin LEE, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_radar_object_tracker/package.xml b/perception/autoware_radar_object_tracker/package.xml index 3a18b93451d39..3badf1ea766f1 100644 --- a/perception/autoware_radar_object_tracker/package.xml +++ b/perception/autoware_radar_object_tracker/package.xml @@ -2,7 +2,7 @@ autoware_radar_object_tracker - 0.0.0 + 0.38.0 Do tracking radar object Yoshi Ri Yukihiro Saito diff --git a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst new file mode 100644 index 0000000000000..190161a1061ad --- /dev/null +++ b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst @@ -0,0 +1,20 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_radar_tracks_msgs_converter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(docs): fix docs for radar tracks msgs converter (`#8305 `_) + * fix docs for radar tracks msgs converter + * fix a not correctly formatted link in readme found by CI + --------- +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) + * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter + * refactor: rename simple_object_merger package to autoware_simple_object_merger + * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter + --------- +* Contributors: Taekjin LEE, Yutaka Kondo, Yuxuan Liu + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_radar_tracks_msgs_converter/package.xml b/perception/autoware_radar_tracks_msgs_converter/package.xml index cb50b950a9240..9efcd7a5e1c02 100644 --- a/perception/autoware_radar_tracks_msgs_converter/package.xml +++ b/perception/autoware_radar_tracks_msgs_converter/package.xml @@ -2,7 +2,7 @@ autoware_radar_tracks_msgs_converter - 0.0.1 + 0.38.0 autoware_radar_tracks_msgs_converter Satoshi Tanaka Shunsuke Miura diff --git a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst new file mode 100644 index 0000000000000..fb8794b10745f --- /dev/null +++ b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst @@ -0,0 +1,19 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_raindrop_cluster_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* chore(raindrop_cluster_filter): add node test (`#8859 `_) +* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) + refactor: rename detected_object_validation to autoware_detected_object_validation +* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) + * refactor(raindrop_cluster_filter): add package name prefix of autoware\_ + * fix: typo + --------- +* Contributors: Esteve Fernandez, Taekjin LEE, Yutaka Kondo, badai nguyen + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_raindrop_cluster_filter/package.xml b/perception/autoware_raindrop_cluster_filter/package.xml index 7e331a572e331..859cad6e72886 100644 --- a/perception/autoware_raindrop_cluster_filter/package.xml +++ b/perception/autoware_raindrop_cluster_filter/package.xml @@ -2,7 +2,7 @@ autoware_raindrop_cluster_filter - 0.1.0 + 0.38.0 The ROS 2 filter cluster package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_shape_estimation/CHANGELOG.rst b/perception/autoware_shape_estimation/CHANGELOG.rst new file mode 100644 index 0000000000000..17cb90ce0dd09 --- /dev/null +++ b/perception/autoware_shape_estimation/CHANGELOG.rst @@ -0,0 +1,50 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_shape_estimation +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) + * add object based corrector + * apply cppcheck suggestion + * fix typo + --------- + Co-authored-by: Taekjin LEE +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) + * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace + * refactor(tensorrt_common): directory structure + * style(pre-commit): autofix + * fix(tensorrt_common): correct package name for logging + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* test(autoware_shape_estimation): add unit testing for `ShapeEstimationNode` (`#8740 `_) + test: add unit testing for `ShapeEstimationNode` +* fix(autoware_shape_estimation): fix unusedFunction (`#8575 `_) + * fix:unusedFunction + * fix:unusedFunction + * fix:end of file issues + * fix:copyright + --------- +* fix(autoware_shape_estimation): resolve undefined reference to `~TrtShapeEstimator()` (`#8738 `_) + fix: resolve undefined reference to `~TrtShapeEstimator()` +* feat(shape_estimation): add ml shape estimation (`#7860 `_) + * feat(shape_estimation): add ml shape estimation + * style(pre-commit): autofix + * feat(shape_estimation): fix exceed objects + * style(pre-commit): autofix + * feat(shape_estimation): fix indent + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) + * refactor(shape_estimation): add package name prefix of autoware\_ + * style(pre-commit): autofix + * fix: mising prefix + * fix: cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Amadeusz Szymko, Kaan Çolak, Kotaro Uetake, Masaki Baba, Yutaka Kondo, badai nguyen, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml index 1476f1219624b..f2a1e0e48b5a7 100644 --- a/perception/autoware_shape_estimation/package.xml +++ b/perception/autoware_shape_estimation/package.xml @@ -2,7 +2,7 @@ autoware_shape_estimation - 0.1.0 + 0.38.0 This package implements a shape estimation algorithm as a ROS 2 node Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_simple_object_merger/CHANGELOG.rst b/perception/autoware_simple_object_merger/CHANGELOG.rst new file mode 100644 index 0000000000000..a8e9836625958 --- /dev/null +++ b/perception/autoware_simple_object_merger/CHANGELOG.rst @@ -0,0 +1,16 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_simple_object_merger +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) + * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter + * refactor: rename simple_object_merger package to autoware_simple_object_merger + * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter + --------- +* Contributors: Taekjin LEE, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_simple_object_merger/package.xml b/perception/autoware_simple_object_merger/package.xml index cc9491d423a6f..594ba9959de29 100644 --- a/perception/autoware_simple_object_merger/package.xml +++ b/perception/autoware_simple_object_merger/package.xml @@ -1,7 +1,7 @@ autoware_simple_object_merger - 0.1.0 + 0.38.0 autoware_simple_object_merger Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_tensorrt_classifier/CHANGELOG.rst b/perception/autoware_tensorrt_classifier/CHANGELOG.rst new file mode 100644 index 0000000000000..d8615e2e64353 --- /dev/null +++ b/perception/autoware_tensorrt_classifier/CHANGELOG.rst @@ -0,0 +1,36 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_tensorrt_classifier +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) + * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace + * refactor(tensorrt_common): directory structure + * style(pre-commit): autofix + * fix(tensorrt_common): correct package name for logging + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* fix(tensorrt classifier wrapper): fix unreadVariable (`#8355 `_) + * fix:unreadVariable + * fix:unreadVariable + --------- +* fix(autoware_tensorrt_classifier): fix passedByValue (`#8236 `_) + fix:passedByValue +* refactor(tensorrt_classifier)!: fix namespace and directory structure (`#8009 `_) + * add prefix into + * add prefix in CODEOWNERS + * remove invalid author + * style(pre-commit): autofix + * add prefix + * style(pre-commit): autofix + * ci + * for ci + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Amadeusz Szymko, Masato Saeki, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_tensorrt_classifier/package.xml b/perception/autoware_tensorrt_classifier/package.xml index c91ab392bbe4b..c628ba754eeaa 100644 --- a/perception/autoware_tensorrt_classifier/package.xml +++ b/perception/autoware_tensorrt_classifier/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_classifier - 0.0.1 + 0.38.0 tensorrt classifier wrapper Dan Umeda diff --git a/perception/autoware_tensorrt_common/CHANGELOG.rst b/perception/autoware_tensorrt_common/CHANGELOG.rst new file mode 100644 index 0000000000000..81ec4c111519a --- /dev/null +++ b/perception/autoware_tensorrt_common/CHANGELOG.rst @@ -0,0 +1,19 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_tensorrt_common +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) + * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace + * refactor(tensorrt_common): directory structure + * style(pre-commit): autofix + * fix(tensorrt_common): correct package name for logging + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* Contributors: Amadeusz Szymko, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_tensorrt_common/package.xml b/perception/autoware_tensorrt_common/package.xml index b6bf89dd652a3..f2a03a4787cc8 100644 --- a/perception/autoware_tensorrt_common/package.xml +++ b/perception/autoware_tensorrt_common/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_common - 0.0.1 + 0.38.0 tensorrt utility wrapper Taichi Higashide diff --git a/perception/autoware_tensorrt_yolox/CHANGELOG.rst b/perception/autoware_tensorrt_yolox/CHANGELOG.rst new file mode 100644 index 0000000000000..349162cd54d18 --- /dev/null +++ b/perception/autoware_tensorrt_yolox/CHANGELOG.rst @@ -0,0 +1,82 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_tensorrt_yolox +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) + * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace + * refactor(tensorrt_common): directory structure + * style(pre-commit): autofix + * fix(tensorrt_common): correct package name for logging + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) + * init CUDA device option + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(autoware_tensorrt_yolox): add Kotaro Uetake as maintainer (`#8595 `_) + chore: add Kotaro Uetake as maintainer +* fix: cpp17 namespaces (`#8526 `_) + Use traditional-style nameplace nesting for nvcc + Co-authored-by: Yuri Guimaraes +* fix(docs): fix docs for tensorrt yolox (`#8304 `_) + fix docs for tensorrt yolox +* refactor(tensorrt_yolox): move utils into perception_utils (`#8435 `_) + * chore(tensorrt_yolo): refactor utils + * style(pre-commit): autofix + * fix: tensorrt_yolox + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_tensorrt_yolox): fix variableScope (`#8430 `_) + fix: variableScope + Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> +* fix(tensorrt_yolox): add run length encoding for sematic segmentation mask (`#7905 `_) + * fix: add rle compress + * fix: rle compress + * fix: move rle into utils + * chore: pre-commit + * Update perception/autoware_tensorrt_yolox/src/utils.cpp + Co-authored-by: Yukihiro Saito + * fix: remove unused variable + * Update perception/autoware_tensorrt_yolox/src/utils.cpp + Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> + * style(pre-commit): autofix + * feat: add unit test for utils + * style(pre-commit): autofix + * fix: unit test + * chore: change to explicit index + * style(pre-commit): autofix + * fix: cuda cmake + * fix: separate unit test into different PR + --------- + Co-authored-by: Yukihiro Saito + Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_tensorrt_yolox): fix unreadVariable (`#8356 `_) + * fix:unreadVariable + * fix:unreadVariable + --------- +* refactor: image transport decompressor/autoware prefix (`#8197 `_) + * refactor: add `autoware` namespace prefix to image_transport_decompressor + * refactor(image_transport_decompressor): add `autoware` prefix to the package code + * refactor: update package name in CODEOWNER + * fix: merge main into the branch + * refactor: update packages which depend on image_transport_decompressor + * refactor(image_transport_decompressor): update README + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Taekjin LEE +* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) + * refactor: add autoware namespace prefix to `tensorrt_yolox` + * refactor: apply `autoware` namespace to tensorrt_yolox + * chore: update CODEOWNERS + * fix: resolve `yolox_tiny` to work + --------- +* Contributors: Abraham Monrroy Cano, Amadeusz Szymko, Esteve Fernandez, Ismet Atabay, Kotaro Uetake, Manato Hirabayashi, Nagi70, Yutaka Kondo, Yuxuan Liu, badai nguyen, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml index 68cf0a7f2e67e..294e13eb46d88 100644 --- a/perception/autoware_tensorrt_yolox/package.xml +++ b/perception/autoware_tensorrt_yolox/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_yolox - 0.0.1 + 0.38.0 tensorrt library implementation for yolox Daisuke Nishimatsu diff --git a/perception/autoware_tracking_object_merger/CHANGELOG.rst b/perception/autoware_tracking_object_merger/CHANGELOG.rst new file mode 100644 index 0000000000000..d2d107ee36af0 --- /dev/null +++ b/perception/autoware_tracking_object_merger/CHANGELOG.rst @@ -0,0 +1,25 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_tracking_object_merger +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_tracking_object_merger): fix unusedFunction (`#8578 `_) + fix:unusedFunction +* fix(autoware_tracking_object_merger): add merge frame (`#8418 `_) + * fix(autoware_tracking_object_merger): add merge frame + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) + * fix: cppcheck knownConditionTrueFalse + * fix + * fix + --------- +* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) +* Contributors: Esteve Fernandez, Kaan Çolak, Ryuta Kambe, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_tracking_object_merger/package.xml b/perception/autoware_tracking_object_merger/package.xml index ce4cf5276ab80..89475edd247e6 100644 --- a/perception/autoware_tracking_object_merger/package.xml +++ b/perception/autoware_tracking_object_merger/package.xml @@ -2,7 +2,7 @@ autoware_tracking_object_merger - 0.0.0 + 0.38.0 merge tracking object Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst new file mode 100644 index 0000000000000..8f1355a111cba --- /dev/null +++ b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst @@ -0,0 +1,31 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_traffic_light_arbiter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_traffic_light_arbiter): fix build error (`#9186 `_) + fix build error +* test(autoware_traffic_light_arbiter): add node test (`#8747 `_) + * add test dir + * update test node + * style(pre-commit): autofix + * refactor + * style(pre-commit): autofix + * add std namespace to size_t + * fix typo + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(traffic_light_arbiter): missing name changes (`#8278 `_) + chore: missing name changes +* refactor: traffic light arbiter/autoware prefix (`#8181 `_) + * refactor(traffic_light_arbiter): apply `autoware` namespace to traffic_light_arbiter + * refactor(traffic_light_arbiter): update the package name in CODEWONER + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Go Sakayori, Kenzo Lobos Tsunekawa, Manato Hirabayashi, Masato Saeki, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_traffic_light_arbiter/package.xml b/perception/autoware_traffic_light_arbiter/package.xml index 3636726bc6972..d9dc020ce9790 100644 --- a/perception/autoware_traffic_light_arbiter/package.xml +++ b/perception/autoware_traffic_light_arbiter/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_arbiter - 0.1.0 + 0.38.0 The autoware_traffic_light_arbiter package Kenzo Lobos-Tsunekawa Shunsuke Miura diff --git a/perception/autoware_traffic_light_classifier/CHANGELOG.rst b/perception/autoware_traffic_light_classifier/CHANGELOG.rst new file mode 100644 index 0000000000000..441964c17d79d --- /dev/null +++ b/perception/autoware_traffic_light_classifier/CHANGELOG.rst @@ -0,0 +1,45 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_traffic_light_classifier +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) + * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace + * refactor(tensorrt_common): directory structure + * style(pre-commit): autofix + * fix(tensorrt_common): correct package name for logging + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* fix(traffic_light_classifier): fix traffic light monitor warning (`#8412 `_) + fix traffic light monitor warning +* fix(autoware_traffic_light_classifier): fix passedByValue (`#8392 `_) + fix:passedByValue +* fix(traffic_light_classifier): fix zero size roi bug (`#7608 `_) + * fix: continue to process when input roi size is zero + * fix: consider when roi size is zero, rois is empty + fix + * fix: use emplace_back instead of push_back for adding images and backlight indices + The code changes in `traffic_light_classifier_node.cpp` modify the way images and backlight indices are added to the respective vectors. Instead of using `push_back`, the code now uses `emplace_back`. This change improves performance and ensures proper object construction. + * refactor: bring back for loop skim and output_msg filling + * chore: refactor code to handle empty input ROIs in traffic_light_classifier_node.cpp + * refactor: using index instead of vector length + --------- +* fix(traffic_light_classifier): fix funcArgNamesDifferent (`#8153 `_) + * fix:funcArgNamesDifferent + * fix:clang format + --------- +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) + * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector + * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion + * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor + * chore: rename traffic_light_classifier to autoware_traffic_light_classifier + * chore: rename traffic_light_map_based_detector to autoware_traffic_light_map_based_detector + * chore: rename traffic_light_visualization to autoware_traffic_light_visualization + --------- +* Contributors: Amadeusz Szymko, Sho Iwasawa, Taekjin LEE, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml index d85ea7aae6d79..f21ff65ebe2ed 100644 --- a/perception/autoware_traffic_light_classifier/package.xml +++ b/perception/autoware_traffic_light_classifier/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_classifier - 0.1.0 + 0.38.0 The autoware_traffic_light_classifier package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst new file mode 100644 index 0000000000000..0b82b55275d84 --- /dev/null +++ b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst @@ -0,0 +1,47 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_traffic_light_fine_detector +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) + * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace + * refactor(tensorrt_common): directory structure + * style(pre-commit): autofix + * fix(tensorrt_common): correct package name for logging + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) + * init CUDA device option + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_traffic_light_fine_detector): fix unusedFunction (`#8583 `_) + fix:unusedFunction +* fix(autoware_traffic_light_fine_detector): fix passedByValue (`#8237 `_) + fix:passedByValue +* fix(traffic_light_fine_detector): fix funcArgNamesDifferent (`#8154 `_) + fix:funcArgNamesDifferent +* fix(autoware_traffic_light_fine_detector): fix constParameterReference (`#8146 `_) + * fix:constParameterReference + * fix:constParameterReference + * fix:constParameterReference + --------- +* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) + * refactor: add autoware namespace prefix to `tensorrt_yolox` + * refactor: apply `autoware` namespace to tensorrt_yolox + * chore: update CODEOWNERS + * fix: resolve `yolox_tiny` to work + --------- +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) + * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector + * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion + * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor + * chore: rename traffic_light_classifier to autoware_traffic_light_classifier + * chore: rename traffic_light_map_based_detector to autoware_traffic_light_map_based_detector + * chore: rename traffic_light_visualization to autoware_traffic_light_visualization + --------- +* Contributors: Amadeusz Szymko, Ismet Atabay, Kotaro Uetake, Taekjin LEE, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml index 38ebd7defb7d0..74ca484ae775f 100644 --- a/perception/autoware_traffic_light_fine_detector/package.xml +++ b/perception/autoware_traffic_light_fine_detector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_fine_detector - 0.1.0 + 0.38.0 The autoware_traffic_light_fine_detector package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst new file mode 100644 index 0000000000000..211ea4d84b79b --- /dev/null +++ b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst @@ -0,0 +1,22 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_traffic_light_map_based_detector +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_traffic_light_map_based_detector): output from screen to both (`#8411 `_) +* fix(traffic_light_map_based_detector): fix funcArgNamesDifferent (`#8155 `_) + fix:funcArgNamesDifferent +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) + * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector + * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion + * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor + * chore: rename traffic_light_classifier to autoware_traffic_light_classifier + * chore: rename traffic_light_map_based_detector to autoware_traffic_light_map_based_detector + * chore: rename traffic_light_visualization to autoware_traffic_light_visualization + --------- +* Contributors: Taekjin LEE, Yutaka Kondo, kminoda, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_traffic_light_map_based_detector/package.xml b/perception/autoware_traffic_light_map_based_detector/package.xml index 8222c48f989c7..9f32c8f8f491c 100644 --- a/perception/autoware_traffic_light_map_based_detector/package.xml +++ b/perception/autoware_traffic_light_map_based_detector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_map_based_detector - 0.1.0 + 0.38.0 The autoware_traffic_light_map_based_detector package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst new file mode 100644 index 0000000000000..3faaea27dd068 --- /dev/null +++ b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst @@ -0,0 +1,19 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_traffic_light_multi_camera_fusion +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) + * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector + * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion + * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor + * chore: rename traffic_light_classifier to autoware_traffic_light_classifier + * chore: rename traffic_light_map_based_detector to autoware_traffic_light_map_based_detector + * chore: rename traffic_light_visualization to autoware_traffic_light_visualization + --------- +* Contributors: Taekjin LEE, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_traffic_light_multi_camera_fusion/package.xml b/perception/autoware_traffic_light_multi_camera_fusion/package.xml index 4e510d6478f3e..9415673ca30a0 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/package.xml +++ b/perception/autoware_traffic_light_multi_camera_fusion/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_multi_camera_fusion - 0.1.0 + 0.38.0 The autoware_traffic_light_multi_camera_fusion package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst new file mode 100644 index 0000000000000..ee10774ab9140 --- /dev/null +++ b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst @@ -0,0 +1,23 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_traffic_light_occlusion_predictor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(traffic_light_occlusion_predictor): fix cppcheck warnings of functionStatic (`#8258 `_) + fix: deal with functionStatic warnings +* fix(autoware_traffic_light_occlusion_predictor): fix functionConst (`#8286 `_) + fix:functionConst +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) + * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector + * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion + * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor + * chore: rename traffic_light_classifier to autoware_traffic_light_classifier + * chore: rename traffic_light_map_based_detector to autoware_traffic_light_map_based_detector + * chore: rename traffic_light_visualization to autoware_traffic_light_visualization + --------- +* Contributors: Taekjin LEE, Yutaka Kondo, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_traffic_light_occlusion_predictor/package.xml b/perception/autoware_traffic_light_occlusion_predictor/package.xml index 78345b26fdfac..a98c29d5e7af5 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/package.xml +++ b/perception/autoware_traffic_light_occlusion_predictor/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_occlusion_predictor - 0.1.0 + 0.38.0 The autoware_traffic_light_occlusion_predictor package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_visualization/CHANGELOG.rst b/perception/autoware_traffic_light_visualization/CHANGELOG.rst new file mode 100644 index 0000000000000..562b1774f7597 --- /dev/null +++ b/perception/autoware_traffic_light_visualization/CHANGELOG.rst @@ -0,0 +1,38 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_traffic_light_visualization +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(docs): fix documentation for traffic light visualization (`#8303 `_) + fix docs traffic light visualization +* fix(autoware_traffic_light_visualization): fix to visualize correct color and shapes (`#8428 `_) + fix(autoware_traffic_light_visualization): fix vialization to draw correct shapes + Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> +* fix(traffic_light_visualization): fix funcArgNamesDifferent (`#8156 `_) + fix:funcArgNamesDifferent +* fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs (`#8294 `_) + * fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs + * fix precommit + * fix + --------- +* fix(autoware_traffic_light_visualization): fix passedByValue (`#8241 `_) + fix:passedByValue +* feat(traffic_light_roi_visualizer): add an option to use normal publisher instead of image tranport in traffic light roi visualizer (`#8157 `_) + * apply new parameter schemes, set default parameters + add an option to use normal publisher instead of image tranport in traffic light roi visualizer + * small fix on default value + --------- +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) + * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector + * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion + * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor + * chore: rename traffic_light_classifier to autoware_traffic_light_classifier + * chore: rename traffic_light_map_based_detector to autoware_traffic_light_map_based_detector + * chore: rename traffic_light_visualization to autoware_traffic_light_visualization + --------- +* Contributors: Kotaro Uetake, Taekjin LEE, Yutaka Kondo, Yuxuan Liu, kminoda, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/autoware_traffic_light_visualization/package.xml b/perception/autoware_traffic_light_visualization/package.xml index 880d8354b2529..d96dc2995eb0d 100644 --- a/perception/autoware_traffic_light_visualization/package.xml +++ b/perception/autoware_traffic_light_visualization/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_visualization - 0.1.0 + 0.38.0 The autoware_traffic_light_visualization package Yukihiro Saito Tao Zhong diff --git a/perception/perception_utils/CHANGELOG.rst b/perception/perception_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..f3a85f462cc4d --- /dev/null +++ b/perception/perception_utils/CHANGELOG.rst @@ -0,0 +1,15 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package perception_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(perception_utils): add unit test (`#8414 `_) +* feat(perception_utils)!: move perception_utils from common to perception folder (`#8748 `_) + feat: move perception utils which is only used in perception + Co-authored-by: yoshiri +* Contributors: Shintaro Tomie, Yutaka Kondo, badai nguyen + +0.26.0 (2024-04-03) +------------------- diff --git a/perception/perception_utils/package.xml b/perception/perception_utils/package.xml index 94401cc68a13e..d3d90a4d5ac26 100644 --- a/perception/perception_utils/package.xml +++ b/perception/perception_utils/package.xml @@ -2,7 +2,7 @@ perception_utils - 0.1.0 + 0.38.0 The perception_utils package Shunsuke Miura Yoshi Ri diff --git a/planning/autoware_costmap_generator/CHANGELOG.rst b/planning/autoware_costmap_generator/CHANGELOG.rst new file mode 100644 index 0000000000000..42b9570bde861 --- /dev/null +++ b/planning/autoware_costmap_generator/CHANGELOG.rst @@ -0,0 +1,38 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_costmap_generator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(costmap_generator): fix include for grid_map_utils (`#9179 `_) +* perf(costmap_generator): manual blurring and fill polygons without OpenCV (`#9160 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) + * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub + * fix: pre-commit + * feat(costmap_generator): fix: No output when not Active. + * fix: clang-format + * Re: fix: clang-format + --------- +* perf(costmap_generator): prevent long transform lookup and add timekeeper (`#8886 `_) +* feat(costmap_generator): integrate generate_parameter_library (`#8827 `_) + * add parameter description + * use parameter listener + * append global identifier + * suppress deprecated error + * fix parameter type + --------- +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) + * parameters in planning/others aligned + * update json + --------- +* fix(autoware_costmap_generator): fix unusedFunction (`#8641 `_) + fix:unusedFunction +* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) + refactor(costmap_generator): add autoware prefix +* Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Maxime CLEMENT, Mitsuhiro Sakamoto, Yutaka Kondo, Zhe Shen, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml index 8ad90e12d4cd3..db2ad24c0c773 100644 --- a/planning/autoware_costmap_generator/package.xml +++ b/planning/autoware_costmap_generator/package.xml @@ -2,7 +2,7 @@ autoware_costmap_generator - 0.1.0 + 0.38.0 The autoware_costmap_generator package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst new file mode 100644 index 0000000000000..226a03012ddcf --- /dev/null +++ b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst @@ -0,0 +1,18 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_external_velocity_limit_selector +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(external_velocity_limit_selector): integrate generate_parameter_library (`#8770 `_) + * add parameter description + * use parameter listener + --------- +* feat(external_velocity_limit_selector): rename to include/autoware/{package_name} (`#7516 `_) +* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) + chore(autoware_external_velocity_limit_selector): rename +* Contributors: Mitsuhiro Sakamoto, Satoshi OTA, Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_external_velocity_limit_selector/package.xml b/planning/autoware_external_velocity_limit_selector/package.xml index c04ccef871626..252b195945deb 100644 --- a/planning/autoware_external_velocity_limit_selector/package.xml +++ b/planning/autoware_external_velocity_limit_selector/package.xml @@ -2,7 +2,7 @@ autoware_external_velocity_limit_selector - 0.1.0 + 0.38.0 The autoware_external_velocity_limit_selector ROS 2 package Satoshi Ota Shinnosuke Hirakawa diff --git a/planning/autoware_freespace_planner/CHANGELOG.rst b/planning/autoware_freespace_planner/CHANGELOG.rst new file mode 100644 index 0000000000000..b485d82f7cf27 --- /dev/null +++ b/planning/autoware_freespace_planner/CHANGELOG.rst @@ -0,0 +1,331 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_freespace_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* test(freespace_planner): make unit tests for member functions (`#9060 `_) + * refactor freespace planner + * implement unit tests for freespace planner util functions + * add freespace planner utils namespace + * add function is_near_target to freespace planner utils + * unit test for is_near_target function + * implement unit tests for FreespacePlanner member functions + * add docstring for functions + --------- +* test(freespace_planner): add unit tests for util functions (`#9059 `_) + * refactor freespace planner + * add function is_near_target to freespace planner utils + * add freespace planner utils namespace + * fix function call + * implement unit tests for freespace planner util functions + * add freespace planner utils namespace + --------- +* refactor(freespace_planner): move functions to utils (`#9058 `_) + * refactor freespace planner + * add function is_near_target to freespace planner utils + * add freespace planner utils namespace + * fix function call + --------- +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) + * parameters in planning/others aligned + * update json + --------- +* fix(freespace_planner): fix free space planner spamming message (`#8614 `_) + check data availability only when scenario is active +* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) + * refactor freespace planning algorithms + * fix error + * use vector instead of map for a-star node graph + * remove unnecessary parameters + * precompute average turning radius + * add threshold for minimum distance between direction changes + * apply curvature weight and change in curvature weight + * store total cost instead of heuristic cost + * fix reverse weight application + * fix parameter description in README + * implement edt map to store distance to nearest obstacle for each grid cell + * use obstacle edt in collision check + * add cost for distance to obstacle + * fix formats + * add missing include + * refactor functions + * add missing include + * implement backward search option + * precompute number of margin cells to reduce out of range vertices check necessity + * add reset data function + * remove unnecessary code + * make A-star search work with multiple goal candidates as input + * fix is_back flag logic + * add member function set() to AstarNode struct + * implement adaptive expansion distance + * remove unnecessary code + * interpolate nodes with large expansion distance + * minor refactor + * fix interpolation for backward search + * ensure expansion distance is larger than grid cell diagonal + * compute collision free distance to goal map + * use obstacle edt when computing collision free distance map + * minor refactor + * fix expansion cost function + * set distance map before setting start node + * refactor detect collision function + * use flag instead of enum + * add missing variable initialization + * remove declared but undefined function + * refactor makePlan() function + * remove bool return statement for void function + * remove unnecessary checks + * minor fix + * refactor computeEDTMap function + * enable both forward and backward search options for multiple goal candidates + * remove unnecessary code + * set min and max expansion distance after setting costmap + * refactor detectCollision function + * remove unused function + * change default parameter values + * add missing last waypoint + * fix computeEDTMap function + * rename parameter + * use linear function for obstacle distance cost + * fix rrtstar obstacle check + * add public access function to get distance to nearest obstacle + * compare node index with goal index in isGoal check + * append shifted goal pose to waypoints for more accurate arrival + * remove redundant return statements + * check goal pose validity before setting collision free distance map + * declare variables as const where necessary + * initialize vectors using assign function + * compare front and back lengths when setting min and max dimension + * add docstring and citation for computeEDTMap function + * fix shifted goal pose for backward search + * transform pose to local frame in getDistanceToObstacle funcion + * add cost for lateral distance near goal + * compute distance to obstacle from ego frame instead of base + * update freespace planner parameter schema + * update freespace planner parameter schema + * refactor setPath function + * fix function setPath + * declare bool var as constant + * remove unnecessary includes + * minor refactor + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) + * refactor freespace planning algorithms + * fix error + * use vector instead of map for a-star node graph + * remove unnecessary parameters + * precompute average turning radius + * add threshold for minimum distance between direction changes + * apply curvature weight and change in curvature weight + * store total cost instead of heuristic cost + * fix reverse weight application + * fix parameter description in README + * implement edt map to store distance to nearest obstacle for each grid cell + * use obstacle edt in collision check + * add cost for distance to obstacle + * fix formats + * add missing include + * refactor functions + * add missing include + * implement backward search option + * precompute number of margin cells to reduce out of range vertices check necessity + * add reset data function + * remove unnecessary code + * add member function set() to AstarNode struct + * implement adaptive expansion distance + * remove unnecessary code + * interpolate nodes with large expansion distance + * minor refactor + * fix interpolation for backward search + * ensure expansion distance is larger than grid cell diagonal + * compute collision free distance to goal map + * use obstacle edt when computing collision free distance map + * minor refactor + * fix expansion cost function + * set distance map before setting start node + * refactor detect collision function + * use flag instead of enum + * add missing variable initialization + * remove declared but undefined function + * refactor makePlan() function + * remove bool return statement for void function + * remove unnecessary checks + * minor fix + * refactor computeEDTMap function + * remove unnecessary code + * set min and max expansion distance after setting costmap + * refactor detectCollision function + * remove unused function + * change default parameter values + * add missing last waypoint + * fix computeEDTMap function + * rename parameter + * use linear function for obstacle distance cost + * fix rrtstar obstacle check + * add public access function to get distance to nearest obstacle + * remove redundant return statements + * check goal pose validity before setting collision free distance map + * declare variables as const where necessary + * compare front and back lengths when setting min and max dimension + * add docstring and citation for computeEDTMap function + * transform pose to local frame in getDistanceToObstacle funcion + * update freespace planner parameter schema + * refactor setPath function + * fix function setPath + * minor refactor + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) + * refactor free space planner subscribers + * implement scenario switching for edge cases + * fix scenario selector test + * implement confidence for checking if obstacle is on trajectory + * fix isInLane check to work for case when provided position is on lane bound + * update parameter schemas + * fix format + * improve near target logic + * use timer based implementation for obstacle check + --------- +* refactor(autoware_freespace_planner): rework parameters (`#8296 `_) +* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) + * refactor freespace planning algorithms + * fix error + * use vector instead of map for a-star node graph + * remove unnecessary parameters + * precompute average turning radius + * add threshold for minimum distance between direction changes + * apply curvature weight and change in curvature weight + * store total cost instead of heuristic cost + * fix reverse weight application + * fix parameter description in README + * implement edt map to store distance to nearest obstacle for each grid cell + * use obstacle edt in collision check + * add cost for distance to obstacle + * fix formats + * add missing include + * refactor functions + * add missing include + * precompute number of margin cells to reduce out of range vertices check necessity + * add reset data function + * add member function set() to AstarNode struct + * implement adaptive expansion distance + * remove unnecessary code + * interpolate nodes with large expansion distance + * minor refactor + * ensure expansion distance is larger than grid cell diagonal + * compute collision free distance to goal map + * use obstacle edt when computing collision free distance map + * minor refactor + * fix expansion cost function + * set distance map before setting start node + * refactor detect collision function + * add missing variable initialization + * remove declared but undefined function + * remove unnecessary checks + * minor fix + * refactor computeEDTMap function + * remove unnecessary code + * set min and max expansion distance after setting costmap + * refactor detectCollision function + * remove unused function + * change default parameter values + * fix computeEDTMap function + * rename parameter + * use linear function for obstacle distance cost + * fix rrtstar obstacle check + * remove redundant return statements + * check goal pose validity before setting collision free distance map + * declare variables as const where necessary + * compare front and back lengths when setting min and max dimension + * add docstring and citation for computeEDTMap function + * suppress spell check + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* fix(freespace_planner): disable randomly failing tests (`#8337 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) + * refactor freespace planning algorithms + * fix error + * use vector instead of map for a-star node graph + * remove unnecessary parameters + * precompute average turning radius + * add threshold for minimum distance between direction changes + * apply curvature weight and change in curvature weight + * store total cost instead of heuristic cost + * fix reverse weight application + * fix parameter description in README + * fix formats + * add missing include + * refactor functions + * precompute number of margin cells to reduce out of range vertices check necessity + * add reset data function + * add member function set() to AstarNode struct + * remove unnecessary code + * minor refactor + * ensure expansion distance is larger than grid cell diagonal + * compute collision free distance to goal map + * minor refactor + * fix expansion cost function + * set distance map before setting start node + * minor fix + * remove unnecessary code + * change default parameter values + * rename parameter + * fix rrtstar obstacle check + * remove redundant return statements + * check goal pose validity before setting collision free distance map + * declare variables as const where necessary + --------- +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) + refactor(freespace_planner)!: rename to include/autoware/{package_name} + refactor(start_planner): make autoware include dir + refactor(goal_planner): make autoware include dir + sampling planner module + fix sampling planner build + dynamic_avoidance + lc + side shift + autoware_behavior_path_static_obstacle_avoidance_module + autoware_behavior_path_planner_common + make behavior_path dir + pre-commit + fix pre-commit + fix build + autoware_freespace_planner + freespace_planning_algorithms +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) + * rename route handler package + * update packages dependencies + * update include guards + * update includes + * put in autoware namespace + * fix formats + * keep header and source file name as before + --------- +* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) + refactor(freespace_planner)!: add autoawre prefix +* Contributors: Batuhan Beytekin, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml index ebc8d9df654f7..7e8c2c5beca6c 100644 --- a/planning/autoware_freespace_planner/package.xml +++ b/planning/autoware_freespace_planner/package.xml @@ -2,7 +2,7 @@ autoware_freespace_planner - 0.1.0 + 0.38.0 The autoware_freespace_planner package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst new file mode 100644 index 0000000000000..46844268c82a4 --- /dev/null +++ b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst @@ -0,0 +1,326 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_freespace_planning_algorithms +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) + * refactor freespace planning algorithms + * fix error + * use vector instead of map for a-star node graph + * remove unnecessary parameters + * precompute average turning radius + * add threshold for minimum distance between direction changes + * apply curvature weight and change in curvature weight + * store total cost instead of heuristic cost + * fix reverse weight application + * fix parameter description in README + * implement edt map to store distance to nearest obstacle for each grid cell + * use obstacle edt in collision check + * add cost for distance to obstacle + * fix formats + * add missing include + * refactor functions + * add missing include + * implement backward search option + * precompute number of margin cells to reduce out of range vertices check necessity + * add reset data function + * remove unnecessary code + * make A-star search work with multiple goal candidates as input + * fix is_back flag logic + * add member function set() to AstarNode struct + * implement adaptive expansion distance + * remove unnecessary code + * interpolate nodes with large expansion distance + * minor refactor + * fix interpolation for backward search + * ensure expansion distance is larger than grid cell diagonal + * compute collision free distance to goal map + * use obstacle edt when computing collision free distance map + * minor refactor + * fix expansion cost function + * set distance map before setting start node + * refactor detect collision function + * use flag instead of enum + * add missing variable initialization + * remove declared but undefined function + * refactor makePlan() function + * remove bool return statement for void function + * remove unnecessary checks + * minor fix + * refactor computeEDTMap function + * enable both forward and backward search options for multiple goal candidates + * remove unnecessary code + * set min and max expansion distance after setting costmap + * refactor detectCollision function + * remove unused function + * change default parameter values + * add missing last waypoint + * fix computeEDTMap function + * rename parameter + * use linear function for obstacle distance cost + * fix rrtstar obstacle check + * add public access function to get distance to nearest obstacle + * compare node index with goal index in isGoal check + * append shifted goal pose to waypoints for more accurate arrival + * remove redundant return statements + * check goal pose validity before setting collision free distance map + * declare variables as const where necessary + * initialize vectors using assign function + * compare front and back lengths when setting min and max dimension + * add docstring and citation for computeEDTMap function + * fix shifted goal pose for backward search + * transform pose to local frame in getDistanceToObstacle funcion + * add cost for lateral distance near goal + * compute distance to obstacle from ego frame instead of base + * update freespace planner parameter schema + * update freespace planner parameter schema + * refactor setPath function + * fix function setPath + * declare bool var as constant + * remove unnecessary includes + * minor refactor + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) + * refactor freespace planning algorithms + * fix error + * use vector instead of map for a-star node graph + * remove unnecessary parameters + * precompute average turning radius + * add threshold for minimum distance between direction changes + * apply curvature weight and change in curvature weight + * store total cost instead of heuristic cost + * fix reverse weight application + * fix parameter description in README + * implement edt map to store distance to nearest obstacle for each grid cell + * use obstacle edt in collision check + * add cost for distance to obstacle + * fix formats + * add missing include + * refactor functions + * add missing include + * implement backward search option + * precompute number of margin cells to reduce out of range vertices check necessity + * add reset data function + * remove unnecessary code + * add member function set() to AstarNode struct + * implement adaptive expansion distance + * remove unnecessary code + * interpolate nodes with large expansion distance + * minor refactor + * fix interpolation for backward search + * ensure expansion distance is larger than grid cell diagonal + * compute collision free distance to goal map + * use obstacle edt when computing collision free distance map + * minor refactor + * fix expansion cost function + * set distance map before setting start node + * refactor detect collision function + * use flag instead of enum + * add missing variable initialization + * remove declared but undefined function + * refactor makePlan() function + * remove bool return statement for void function + * remove unnecessary checks + * minor fix + * refactor computeEDTMap function + * remove unnecessary code + * set min and max expansion distance after setting costmap + * refactor detectCollision function + * remove unused function + * change default parameter values + * add missing last waypoint + * fix computeEDTMap function + * rename parameter + * use linear function for obstacle distance cost + * fix rrtstar obstacle check + * add public access function to get distance to nearest obstacle + * remove redundant return statements + * check goal pose validity before setting collision free distance map + * declare variables as const where necessary + * compare front and back lengths when setting min and max dimension + * add docstring and citation for computeEDTMap function + * transform pose to local frame in getDistanceToObstacle funcion + * update freespace planner parameter schema + * refactor setPath function + * fix function setPath + * minor refactor + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* fix(autoware_freespace_planning_algorithms): fix variableScope (`#8431 `_) + fix: variableScope + Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> +* chore(autoware_freespace_planning_algorithms): add missing dependency (`#8494 `_) +* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) + * refactor freespace planning algorithms + * fix error + * use vector instead of map for a-star node graph + * remove unnecessary parameters + * precompute average turning radius + * add threshold for minimum distance between direction changes + * apply curvature weight and change in curvature weight + * store total cost instead of heuristic cost + * fix reverse weight application + * fix parameter description in README + * implement edt map to store distance to nearest obstacle for each grid cell + * use obstacle edt in collision check + * add cost for distance to obstacle + * fix formats + * add missing include + * refactor functions + * add missing include + * precompute number of margin cells to reduce out of range vertices check necessity + * add reset data function + * add member function set() to AstarNode struct + * implement adaptive expansion distance + * remove unnecessary code + * interpolate nodes with large expansion distance + * minor refactor + * ensure expansion distance is larger than grid cell diagonal + * compute collision free distance to goal map + * use obstacle edt when computing collision free distance map + * minor refactor + * fix expansion cost function + * set distance map before setting start node + * refactor detect collision function + * add missing variable initialization + * remove declared but undefined function + * remove unnecessary checks + * minor fix + * refactor computeEDTMap function + * remove unnecessary code + * set min and max expansion distance after setting costmap + * refactor detectCollision function + * remove unused function + * change default parameter values + * fix computeEDTMap function + * rename parameter + * use linear function for obstacle distance cost + * fix rrtstar obstacle check + * remove redundant return statements + * check goal pose validity before setting collision free distance map + * declare variables as const where necessary + * compare front and back lengths when setting min and max dimension + * add docstring and citation for computeEDTMap function + * suppress spell check + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* fix(autoware_freespace_planning_algorithms): fix unreadVariable (`#8360 `_) + * fix:unreadVariable + * fix:clang format + --------- +* fix(autoware_freespace_planning_algorithms): fix functionConst (`#8281 `_) + fix:functionConst +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) + * refactor freespace planning algorithms + * fix error + * use vector instead of map for a-star node graph + * remove unnecessary parameters + * precompute average turning radius + * add threshold for minimum distance between direction changes + * apply curvature weight and change in curvature weight + * store total cost instead of heuristic cost + * fix reverse weight application + * fix parameter description in README + * fix formats + * add missing include + * refactor functions + * precompute number of margin cells to reduce out of range vertices check necessity + * add reset data function + * add member function set() to AstarNode struct + * remove unnecessary code + * minor refactor + * ensure expansion distance is larger than grid cell diagonal + * compute collision free distance to goal map + * minor refactor + * fix expansion cost function + * set distance map before setting start node + * minor fix + * remove unnecessary code + * change default parameter values + * rename parameter + * fix rrtstar obstacle check + * remove redundant return statements + * check goal pose validity before setting collision free distance map + * declare variables as const where necessary + --------- +* fix(autoware_freespace_planning_algorithms): fix shadowVariable (`#7949 `_) + * fix:shadowVariable + * fix:shadowVariable + * fix:shadowVariable + --------- +* chore(freespace_planning_algorithm): modify A* script for standalone running (`#7070 `_) + * modify astar for standalone running + move clearNoe() from setMap to makePlan(). + * small modification + * run pre-commit + --------- + Co-authored-by: Takumi Ito +* feat(freespace_planning_algorithms): add is_back flag into the return of A* python wrapper (`#7831 `_) + add is_back flag to the return of getWaypoints + Co-authored-by: Takumi Ito +* fix(autoware_freespace_planning_algorithms): fix syntaxError (`#7812 `_) +* fix(autoware_freespace_planning_algorithms): fix constStatement warning (`#7580 `_) +* fix(autoware_freespace_planning_algorithms): fix unusedScopedObject bug (`#7562 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) + refactor(freespace_planner)!: rename to include/autoware/{package_name} + refactor(start_planner): make autoware include dir + refactor(goal_planner): make autoware include dir + sampling planner module + fix sampling planner build + dynamic_avoidance + lc + side shift + autoware_behavior_path_static_obstacle_avoidance_module + autoware_behavior_path_planner_common + make behavior_path dir + pre-commit + fix pre-commit + fix build + autoware_freespace_planner + freespace_planning_algorithms +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) + * chore(autoware_vehicle_info_utils): rename header + * chore(bpp-common): vehicle info + * chore(path_optimizer): vehicle info + * chore(velocity_smoother): vehicle info + * chore(bvp-common): vehicle info + * chore(static_centerline_generator): vehicle info + * chore(obstacle_cruise_planner): vehicle info + * chore(obstacle_velocity_limiter): vehicle info + * chore(mission_planner): vehicle info + * chore(obstacle_stop_planner): vehicle info + * chore(planning_validator): vehicle info + * chore(surround_obstacle_checker): vehicle info + * chore(goal_planner): vehicle info + * chore(start_planner): vehicle info + * chore(control_performance_analysis): vehicle info + * chore(lane_departure_checker): vehicle info + * chore(predicted_path_checker): vehicle info + * chore(vehicle_cmd_gate): vehicle info + * chore(obstacle_collision_checker): vehicle info + * chore(operation_mode_transition_manager): vehicle info + * chore(mpc): vehicle info + * chore(control): vehicle info + * chore(common): vehicle info + * chore(perception): vehicle info + * chore(evaluator): vehicle info + * chore(freespace): vehicle info + * chore(planning): vehicle info + * chore(vehicle): vehicle info + * chore(simulator): vehicle info + * chore(launch): vehicle info + * chore(system): vehicle info + * chore(sensing): vehicle info + * fix(autoware_joy_controller): remove unused deps + --------- +* refactor(freespace_planning_algorithms)!: add autoware prefix (`#7375 `_) +* Contributors: Kosuke Takeuchi, M. Fatih Cırıt, Nagi70, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, TakumIto, Yutaka Kondo, kobayu858, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_freespace_planning_algorithms/package.xml b/planning/autoware_freespace_planning_algorithms/package.xml index ecd8cfb7adb02..219a738d50423 100644 --- a/planning/autoware_freespace_planning_algorithms/package.xml +++ b/planning/autoware_freespace_planning_algorithms/package.xml @@ -2,7 +2,7 @@ autoware_freespace_planning_algorithms - 0.1.0 + 0.38.0 The autoware_freespace_planning_algorithms package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_mission_planner/CHANGELOG.rst b/planning/autoware_mission_planner/CHANGELOG.rst new file mode 100644 index 0000000000000..419200406e5f7 --- /dev/null +++ b/planning/autoware_mission_planner/CHANGELOG.rst @@ -0,0 +1,81 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_mission_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) + * feat(mission_planner): reroute with current route start pose when triggered by modifed goal + * check new ego goal is in original preffered lane as much as possible + * check goal is in goal_lane + --------- +* fix(mission_planner): return without change_route if new route is empty (`#9101 `_) + fix(mission_planner): return if new route is empty without change_route +* chore(mission_planner): fix typo (`#9053 `_) +* test(mission_planner): add test of default_planner (`#9050 `_) +* test(mission_planner): add unit tests of utility functions (`#9011 `_) +* refactor(mission_planner): move anonymous functions to utils and add namespace (`#9012 `_) + feat(mission_planner): move functions to utils and add namespace +* feat(mission_planner): add option to prevent rerouting in autonomous driving mode (`#8757 `_) +* feat(mission_planner): make the "goal inside lanes" function more robuts and add tests (`#8760 `_) +* fix(mission_planner): improve condition to check if the goal is within the lane (`#8710 `_) +* fix(autoware_mission_planner): fix unusedFunction (`#8642 `_) + fix:unusedFunction +* fix(autoware_mission_planner): fix noConstructor (`#8505 `_) + fix:noConstructor +* fix(autoware_mission_planner): fix funcArgNamesDifferent (`#8017 `_) + fix:funcArgNamesDifferent +* feat(mission_planner): reroute in manual driving (`#7842 `_) + * feat(mission_planner): reroute in manual driving + * docs(mission_planner): update document + * feat(mission_planner): fix operation mode state receiving check + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* feat(mission_planner): rename to include/autoware/{package_name} (`#7513 `_) + * feat(mission_planner): rename to include/autoware/{package_name} + * feat(mission_planner): rename to include/autoware/{package_name} + * feat(mission_planner): rename to include/autoware/{package_name} + --------- +* feat(mission_planner): use polling subscriber (`#7447 `_) +* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) + * add flag to enable/disable loop check in getLaneletSequence functions + * implement function to get closest route lanelet based on previous closest lanelet + * refactor DefaultPlanner::plan function + * modify loop check logic in getLaneletSequenceUpTo function + * improve logic in isEgoOutOfRoute function + * fix format + * check if prev lanelet is a goal lanelet in getLaneletSequenceUpTo function + * separate function to update current route lanelet in planner manager + * rename function and add docstring + * modify functions extendNextLane and extendPrevLane to account for overlap + * refactor function getClosestRouteLaneletFromLanelet + * add route handler unit tests for overlapping route case + * fix function getClosestRouteLaneletFromLanelet + * format fix + * move test map to autoware_test_utils + --------- +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) + * rename route handler package + * update packages dependencies + * update include guards + * update includes + * put in autoware namespace + * fix formats + * keep header and source file name as before + --------- +* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) + * refactor(mission_planner)!: add autoware prefix and namespace + * fix svg + --------- +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, kobayu858, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_mission_planner/package.xml b/planning/autoware_mission_planner/package.xml index b36a759d035ea..8d188e53fdef5 100644 --- a/planning/autoware_mission_planner/package.xml +++ b/planning/autoware_mission_planner/package.xml @@ -2,7 +2,7 @@ autoware_mission_planner - 0.1.0 + 0.38.0 The autoware_mission_planner package Takagi, Isamu Kosuke Takeuchi diff --git a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst new file mode 100644 index 0000000000000..f7c56afd677d7 --- /dev/null +++ b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst @@ -0,0 +1,16 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_objects_of_interest_marker_interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) +* refactor(objects_of_interest_marker_interface)!: prefix package and namespace with autoware (`#7413 `_) +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_objects_of_interest_marker_interface/package.xml b/planning/autoware_objects_of_interest_marker_interface/package.xml index 8b62865ddace5..c9e0a672c0bfc 100644 --- a/planning/autoware_objects_of_interest_marker_interface/package.xml +++ b/planning/autoware_objects_of_interest_marker_interface/package.xml @@ -1,7 +1,7 @@ autoware_objects_of_interest_marker_interface - 0.1.0 + 0.38.0 The autoware_objects_of_interest_marker_interface package Fumiya Watanabe diff --git a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst new file mode 100644 index 0000000000000..7023953ecc75f --- /dev/null +++ b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst @@ -0,0 +1,160 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_obstacle_cruise_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* chore(obstacle_cruise_planner): add maintainer (`#9077 `_) +* feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out (`#8072 `_) + * feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out + * cleanup, add stop safety margin for transient objects + style(pre-commit): autofix + * fix: debug + * fix: precommit error + * fix: unused-variable + * feat: improve cruise behavior for outside obstacles + * fix projected velocity, improve transient obstacle behavior + * feat: add predefined deceleration rate for VRUs + * feat: update + --------- +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) + parameters in motion_planning aligned +* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) + fix(velocity_smoother): float type of processing time was wrong +* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) + * add cruise and slow down diags to cruise planner + * add cruise types + * adjust planning eval + --------- +* feat(obstacle_cruise_planner): prevent chattering when using point cloud (`#7861 `_) + * prevent chattering of stop planning + * Update planning/autoware_obstacle_cruise_planner/src/node.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * fix stop position oscillation + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* feat(obstacle_cruise_planner): add diagnostics publishing to cruise planner (`#7836 `_) + add diagnostics publishing to cruise planner +* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) + * add pointcloud to obstacle properties + * add tf listener & pointcloud subscriber + * add parameters for pointcloud obstacle + * add type aliases + * convert pointcloud to obstacle + * add type alias + * add polygon conversion for pointcloud obstacle + * initialize twist & pose of pointcloud obstacle + * overload to handle both obstacle & predicted path + * implement ego behavior determination against pointcloud obstacles + * generate obstacle from point + * revert getCollisionIndex() + * generate obstacle from each point in cloud + * set pointcloud obstacle velocity to 0 + * use tf buffer & listener with pointers + * update latest pointcloud data + * add topic remap + * remove unnecessary includes + * set slow down obstacle velocity to 0 + * add flag to consider pointcloud obstacle for stopping & slowing down + * style(pre-commit): autofix + * downsample pointcloud using voxel grid + * change shape type of pointcloud obstacle to polygon + * convert pointcloud to obstacle by clustering + * add parameters for clustering + * add max_num_points parameter to dummy object + * downsample pointcloud when the number of points is larger than max_num_points + * add max_num_points property to dummy bus + * add parameters for pointcloud based obstacles + * store pointcloud in obstacle struct + * change obstacle conversion method + * migrate previous changes to new package + * store necessary points only + * move use_pointcloud to common parameter + * extract necessary points from pointcloud + * add use_pointcloud parameter to planner interface + * fix obstacle conversion + * fix collision point determination + * simplify pointcloud transformation + * style(pre-commit): autofix + * fix collision point determination + * pick nearest stop collision point + * check collision for every point in cluster + * migrate previous changes to new files + * reduce diff + * remove use_pointcloud parameter + * add parameters for pointcloud filtering + * add autoware namespace + * Revert "add max_num_points parameter to dummy object" + This reverts commit 98bcd0856f861d23c9f7989d8128939ec0b3e27c. + * Revert "downsample pointcloud when the number of points is larger than max_num_points" + This reverts commit fb00b59d8f14cec6810e7fab12bc34d8a0c617c7. + * Revert "add max_num_points property to dummy bus" + This reverts commit 5f9e4ab5ae7d8d46521c736b1d259040121f3bc5. + * feat(diagnostic_graph_utils): add logging tool + * fix all OK + * feat(default_ad_api): add log when operation mode change fails + * get only the necessary one of object or pointcloud data + * addfield for obstacle source type + * enable simultaneous use of PredictedObjects and PointCloud + * separate convertToObstacles() by source type + * avoid using pointer + * reduce diff + * make nest shallower + * define vector concatenate function + * shorten variable names + * fix redundant condition + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning in generateSlowDownTrajectory (`#7659 `_) +* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning (`#7656 `_) + * fix(autoware_obstacle_cruise_planner): fix shadowVariable warning + * fix + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings (`#7620 `_) + * fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings + * fix + --------- +* fix(autoware_obstacle_cruise_planner): fix unreadVariable warning (`#7627 `_) +* refactor(obstacle_cruise_planner): apply clang-tidy check (`#7553 `_) + obstacle_cruise +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning (`#7541 `_) + * fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning + * delete unnecessary file + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_obstacle_cruise_planner): fix unusedScopedObject bug (`#7569 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(obstacle_cruise_planner): rename to include/autoware/{package_name} (`#7510 `_) +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) +* Contributors: Berkay Karaman, Esteve Fernandez, Koichi98, Kosuke Takeuchi, Mamoru Sobue, Mitsuhiro Sakamoto, Ryuta Kambe, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, danielsanchezaran + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index d1c3b8b00e069..d73f86d27a781 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -1,7 +1,7 @@ autoware_obstacle_cruise_planner - 0.1.0 + 0.38.0 The autoware_obstacle_cruise_planner package Takayuki Murooka diff --git a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst new file mode 100644 index 0000000000000..d655436687f3d --- /dev/null +++ b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst @@ -0,0 +1,44 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_obstacle_stop_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) + * chore(planning): consistent parameters with autoware_launch + * update + * fix json schema + --------- +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) + * parameters in planning/others aligned + * update json + --------- +* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) + Register node plugin with autoware scoping +* fix(autoware_obstacle_stop_planner): fix unusedFunction (`#8643 `_) + fix:unusedFunction +* refactor(autoware_obstacle_stop_planner): rework parameters (`#7795 `_) +* fix(autoware_obstacle_stop_planner): fix cppcheck warning of functionStatic (`#8264 `_) + * fix: deal with functionStatic warnings + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_obstacle_stop_planner): fix functionConst (`#8282 `_) + fix:functionConst +* fix(autoware_obstacle_stop_planner): fix passedByValue (`#8189 `_) + fix:passedByValue +* fix(autoware_obstacle_stop_planner): fix funcArgNamesDifferent (`#8018 `_) + * fix:funcArgNamesDifferent + * fix:funcArgNamesDifferent + --------- +* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) + * refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Mukunda Bharatheesha, Takayuki Murooka, Yutaka Kondo, Yuxin Wang, Zhe Shen, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml index 9e6a8a2dc5f43..90c4b3230d5fc 100644 --- a/planning/autoware_obstacle_stop_planner/package.xml +++ b/planning/autoware_obstacle_stop_planner/package.xml @@ -2,7 +2,7 @@ autoware_obstacle_stop_planner - 0.1.0 + 0.38.0 The autoware_obstacle_stop_planner package Satoshi Ota diff --git a/planning/autoware_path_optimizer/CHANGELOG.rst b/planning/autoware_path_optimizer/CHANGELOG.rst new file mode 100644 index 0000000000000..6cdcbc40561b3 --- /dev/null +++ b/planning/autoware_path_optimizer/CHANGELOG.rst @@ -0,0 +1,100 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_path_optimizer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* chore(path_optimizer): add warn msg for exceptional behavior (`#9033 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* fix(motion_planning): align the parameters with launcher (`#8792 `_) + parameters in motion_planning aligned +* fix(autoware_path_optimizer): fix unusedFunction (`#8644 `_) + fix:unusedFunction +* fix(autoware_path_optimizer): fix unreadVariable (`#8361 `_) + * fix:unreadVariable + * fix:unreadVariable + --------- +* fix(autoware_path_optimizer): fix passedByValue (`#8190 `_) + fix:passedByValue +* fix(path_optimizer): revert the feature of publishing processing time (`#8160 `_) +* feat(autoware_universe_utils): add TimeKeeper to track function's processing time (`#7754 `_) +* fix(autoware_path_optimizer): fix redundantContinue warnings (`#7577 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(path_optimizer): rename to include/autoware/{package_name} (`#7529 `_) +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) + * chore(autoware_vehicle_info_utils): rename header + * chore(bpp-common): vehicle info + * chore(path_optimizer): vehicle info + * chore(velocity_smoother): vehicle info + * chore(bvp-common): vehicle info + * chore(static_centerline_generator): vehicle info + * chore(obstacle_cruise_planner): vehicle info + * chore(obstacle_velocity_limiter): vehicle info + * chore(mission_planner): vehicle info + * chore(obstacle_stop_planner): vehicle info + * chore(planning_validator): vehicle info + * chore(surround_obstacle_checker): vehicle info + * chore(goal_planner): vehicle info + * chore(start_planner): vehicle info + * chore(control_performance_analysis): vehicle info + * chore(lane_departure_checker): vehicle info + * chore(predicted_path_checker): vehicle info + * chore(vehicle_cmd_gate): vehicle info + * chore(obstacle_collision_checker): vehicle info + * chore(operation_mode_transition_manager): vehicle info + * chore(mpc): vehicle info + * chore(control): vehicle info + * chore(common): vehicle info + * chore(perception): vehicle info + * chore(evaluator): vehicle info + * chore(freespace): vehicle info + * chore(planning): vehicle info + * chore(vehicle): vehicle info + * chore(simulator): vehicle info + * chore(launch): vehicle info + * chore(system): vehicle info + * chore(sensing): vehicle info + * fix(autoware_joy_controller): remove unused deps + --------- +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) + * chore(autoware_velocity_smoother): update namespace + * chore(autoware_path_optimizer): update namespace + --------- +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) + * chore(autoware_path_optimizer): rename package and namespace + * chore(autoware_static_centerline_generator): rename package and namespace + * chore: update module name + * chore(autoware_velocity_smoother): rename package and namespace + * chore(tier4_planning_launch): update module name + * chore: update module name + * fix: test + * fix: test + * fix: test + --------- +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml index cdd7123d21ab8..5dd763494ada0 100644 --- a/planning/autoware_path_optimizer/package.xml +++ b/planning/autoware_path_optimizer/package.xml @@ -2,7 +2,7 @@ autoware_path_optimizer - 0.1.0 + 0.38.0 The autoware_path_optimizer package Takayuki Murooka Kosuke Takeuchi diff --git a/planning/autoware_path_smoother/CHANGELOG.rst b/planning/autoware_path_smoother/CHANGELOG.rst new file mode 100644 index 0000000000000..7509615545191 --- /dev/null +++ b/planning/autoware_path_smoother/CHANGELOG.rst @@ -0,0 +1,49 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_path_smoother +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* fix(motion_planning): align the parameters with launcher (`#8792 `_) + parameters in motion_planning aligned +* fix(autoware_path_smoother): fix passedByValue (`#8203 `_) + fix:passedByValue +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(path_smoother): rename to include/autoware/{package_name} (`#7527 `_) + * feat(path_smoother): rename to include/autoware/{package_name} + * fix + --------- +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) + * git mv + * fix + * fix launch + * rever a part of prefix + * fix test + * fix + * fix static_centerline_optimizer + * fix + --------- +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml index 582553c2a94b2..a9ead8e54d104 100644 --- a/planning/autoware_path_smoother/package.xml +++ b/planning/autoware_path_smoother/package.xml @@ -2,7 +2,7 @@ autoware_path_smoother - 0.1.0 + 0.38.0 The autoware_path_smoother package Takayuki Murooka Maxime CLEMENT diff --git a/planning/autoware_planning_test_manager/CHANGELOG.rst b/planning/autoware_planning_test_manager/CHANGELOG.rst new file mode 100644 index 0000000000000..72c97cfbe186a --- /dev/null +++ b/planning/autoware_planning_test_manager/CHANGELOG.rst @@ -0,0 +1,80 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_planning_test_manager +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_test_utils): sanitizer header (`#9174 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) + * rename route handler package + * update packages dependencies + * update include guards + * update includes + * put in autoware namespace + * fix formats + * keep header and source file name as before + --------- +* refactor(planning_validator)!: prefix package and namespace with autoware (`#7320 `_) + * add autoware\_ prefix to planning_validator + * add prefix to package name in .pages + * fix link of the image + --------- +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) + * chore(autoware_path_optimizer): rename package and namespace + * chore(autoware_static_centerline_generator): rename package and namespace + * chore: update module name + * chore(autoware_velocity_smoother): rename package and namespace + * chore(tier4_planning_launch): update module name + * chore: update module name + * fix: test + * fix: test + * fix: test + --------- +* docs(planning_test_utils): update purpose of the package and add lanelet map images (`#7077 `_) + * docs(planning_test_utils): Add explanation + * remove autoware prefix from autoware planning test manager + * fix document + * remove implemented test part + --------- +* refactor(planning_test_utils): remove route_handler dependencies (`#7005 `_) + * refactor(planning_test_utils): remove route_handler dependencies + * style(pre-commit): autofix + * Fix precommit + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(autoware_planning_test_manager): rename package (`#6995 `_) + * refactor(autoware_planning_test_manager): rename package + * rename file + * Add maintainer for planning test utils + * Add route handler back into package.xml + --------- +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Kyoichi Sugahara, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml index 85118fe690161..0ce898cb3fbf9 100644 --- a/planning/autoware_planning_test_manager/package.xml +++ b/planning/autoware_planning_test_manager/package.xml @@ -2,7 +2,7 @@ autoware_planning_test_manager - 0.1.0 + 0.38.0 ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe diff --git a/planning/autoware_planning_topic_converter/CHANGELOG.rst b/planning/autoware_planning_topic_converter/CHANGELOG.rst new file mode 100644 index 0000000000000..6e1d71e8ebd17 --- /dev/null +++ b/planning/autoware_planning_topic_converter/CHANGELOG.rst @@ -0,0 +1,22 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_planning_topic_converter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(planning_topic_converter): rename to include/autoware/{package_name} (`#7515 `_) + * feat(planning_topic_converter): rename to include/autoware/{package_name} + * fix + --------- +* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) + chore(autoware_planning_topic_converter): rename +* Contributors: Kosuke Takeuchi, Satoshi OTA, Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_planning_topic_converter/package.xml b/planning/autoware_planning_topic_converter/package.xml index 43009b2921e16..42ce0fdc16588 100644 --- a/planning/autoware_planning_topic_converter/package.xml +++ b/planning/autoware_planning_topic_converter/package.xml @@ -1,7 +1,7 @@ autoware_planning_topic_converter - 0.1.0 + 0.38.0 The autoware_planning_topic_converter package Satoshi OTA diff --git a/planning/autoware_planning_validator/CHANGELOG.rst b/planning/autoware_planning_validator/CHANGELOG.rst new file mode 100644 index 0000000000000..a220d59ecd982 --- /dev/null +++ b/planning/autoware_planning_validator/CHANGELOG.rst @@ -0,0 +1,37 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_planning_validator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_planning_validator): fix unusedFunction (`#8646 `_) + fix:unusedFunction +* fix(autoware_planning_validator): fix knownConditionTrueFalse (`#7817 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(planning_validator): rename to include/autoware/{package_name} (`#7514 `_) + * feat(planning_validator): rename to include/autoware/{package_name} + * fix + --------- +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* refactor(planning_validator)!: rename directory name (`#7411 `_) + change directory name +* Contributors: Kosuke Takeuchi, Kyoichi Sugahara, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_planning_validator/package.xml b/planning/autoware_planning_validator/package.xml index f19caabaeb3ff..358d721b2f6e5 100644 --- a/planning/autoware_planning_validator/package.xml +++ b/planning/autoware_planning_validator/package.xml @@ -2,7 +2,7 @@ autoware_planning_validator - 0.1.0 + 0.38.0 ros node for autoware_planning_validator Takamasa Horibe Kosuke Takeuchi diff --git a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst new file mode 100644 index 0000000000000..6130fa109d1a9 --- /dev/null +++ b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst @@ -0,0 +1,46 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_remaining_distance_time_calculator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix: change remaning distance when the size of route is 1 (`#8852 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) + * rename route handler package + * update packages dependencies + * update include guards + * update includes + * put in autoware namespace + * fix formats + * keep header and source file name as before + --------- +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) +* Contributors: Ahmed Ebrahim, Kosuke Takeuchi, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, mkquda, shulanbushangshu + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml index aec6695cae5fd..852139fb7f7b3 100644 --- a/planning/autoware_remaining_distance_time_calculator/package.xml +++ b/planning/autoware_remaining_distance_time_calculator/package.xml @@ -1,7 +1,7 @@ autoware_remaining_distance_time_calculator - 0.1.0 + 0.38.0 Calculates and publishes remaining distance and time of the mission. Ahmed Ebrahim diff --git a/planning/autoware_route_handler/CHANGELOG.rst b/planning/autoware_route_handler/CHANGELOG.rst new file mode 100644 index 0000000000000..7d9b680884b41 --- /dev/null +++ b/planning/autoware_route_handler/CHANGELOG.rst @@ -0,0 +1,111 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_route_handler +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_route_handler): fix cppcheck unusedVariable (`#9191 `_) +* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) + * feat(mission_planner): reroute with current route start pose when triggered by modifed goal + * check new ego goal is in original preffered lane as much as possible + * check goal is in goal_lane + --------- +* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) + * add path with lane id parser + * refactor parse to use template + --------- +* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) + * refactor lane change utility funcions + * LC utility function to get distance to next regulatory element + * don't activate LC module when close to regulatory element + * modify threshold distance calculation + * move regulatory element check to canTransitFailureState() function + * always run LC module if approaching terminal point + * use max possible LC length as threshold + * update LC readme + * refactor implementation + * update readme + * refactor checking data validity + * refactor sampling of prepare phase metrics and lane changing phase metrics + * add route handler function to get pose from 2d arc length + * refactor candidate path generation + * refactor candidate path safety check + * fix variable name + * Update planning/autoware_route_handler/src/route_handler.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * correct parameter name + * set prepare segment velocity after taking max path velocity value + * update LC README + * minor changes + * check phase length difference with previos valid candidate path + * change logger name + * change functions names to snake case + * use snake case for function names + * add colors to flow chart in README + --------- + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> +* test(autoware_route_handler): add unit test for autoware route handler function (`#8271 `_) + * remove unused functions in route handler + * add docstring for function getShoulderLaneletsAtPose + * update test map to include shoulder lanelet + * add unit test for function getShoulderLaneletsAtPose + * add test case for getCenterLinePath to improve branch coverage + --------- +* fix(route_handler): make new route continuous with previous route (`#8238 `_) +* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) + Co-authored-by: Yamato Ando +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(route_handler): add unit test for lane change related functions (`#7504 `_) + * RT1-6230 feat(route_handler): add unit test for lane change related functions + * fix spell check + * fix spellcheck + --------- +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* chore(route_handler, lane_change): add codeowner (`#7475 `_) +* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) + * add flag to enable/disable loop check in getLaneletSequence functions + * implement function to get closest route lanelet based on previous closest lanelet + * refactor DefaultPlanner::plan function + * modify loop check logic in getLaneletSequenceUpTo function + * improve logic in isEgoOutOfRoute function + * fix format + * check if prev lanelet is a goal lanelet in getLaneletSequenceUpTo function + * separate function to update current route lanelet in planner manager + * rename function and add docstring + * modify functions extendNextLane and extendPrevLane to account for overlap + * refactor function getClosestRouteLaneletFromLanelet + * add route handler unit tests for overlapping route case + * fix function getClosestRouteLaneletFromLanelet + * format fix + * move test map to autoware_test_utils + --------- +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) + * rename route handler package + * update packages dependencies + * update include guards + * update includes + * put in autoware namespace + * fix formats + * keep header and source file name as before + --------- +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_route_handler/package.xml b/planning/autoware_route_handler/package.xml index 3c0c14da72817..1ad0529f971c5 100644 --- a/planning/autoware_route_handler/package.xml +++ b/planning/autoware_route_handler/package.xml @@ -2,7 +2,7 @@ autoware_route_handler - 0.1.0 + 0.38.0 The route_handling package Fumiya Watanabe Zulfaqar Azmi diff --git a/planning/autoware_rtc_interface/CHANGELOG.rst b/planning/autoware_rtc_interface/CHANGELOG.rst new file mode 100644 index 0000000000000..e634d81a26072 --- /dev/null +++ b/planning/autoware_rtc_interface/CHANGELOG.rst @@ -0,0 +1,60 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_rtc_interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(rtc_interface): update cooperateStatus state transition (`#8883 `_) + fix state transition for failure/success +* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) + * update rtc state transition + * remove transition from failuer and succeeded + * fix + * check initial state for cooperate status + * change rtc cooperate status according to module status + --------- +* feat(rtc_inteface): add function to check force deactivate (`#8221 `_) + add function to check for deactivation +* fix(autoware_rtc_interface): fix constParameterReference (`#8042 `_) + * fix:constParameterReference + * fix: clang format + * fix:constParameterReference + --------- +* fix(rtc_interface): fix build error (`#8111 `_) + * fix + * fix format + --------- +* fix(bpp, rtc_interface): fix state transition (`#7743 `_) + * fix(rtc_interface): check rtc state + * fix(bpp_interface): check rtc state + * feat(rtc_interface): print + --------- +* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) + * add force execution for static obstacle avoidance + * fix + * erase unused function in RTC interface + * refactor with lamda function + * fix rtc_interface + * add warn throtthle and move code block + * fix + --------- +* docs(planning): fix wrong link (`#7751 `_) + * fix page link + * fix out of lane link + * fix + * fix cost map generator link + --------- +* docs(rtc_replayer): fix wrong link (`#7714 `_) + * fix link for rtc_replayer + * delete RTC replayer header + * fix + --------- +* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) + Co-authored-by: Fumiya Watanabe +* refactor(rtc_interface)!: prefix package and namespace with autoware (`#7321 `_) + refactor(rtc_interface): add autoware prefix +* Contributors: Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, Satoshi OTA, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_rtc_interface/package.xml b/planning/autoware_rtc_interface/package.xml index 7abcc5f234001..3479ae18825e9 100644 --- a/planning/autoware_rtc_interface/package.xml +++ b/planning/autoware_rtc_interface/package.xml @@ -1,7 +1,7 @@ autoware_rtc_interface - 0.1.0 + 0.38.0 The autoware_rtc_interface package Fumiya Watanabe diff --git a/planning/autoware_scenario_selector/CHANGELOG.rst b/planning/autoware_scenario_selector/CHANGELOG.rst new file mode 100644 index 0000000000000..fb980963e0b26 --- /dev/null +++ b/planning/autoware_scenario_selector/CHANGELOG.rst @@ -0,0 +1,69 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_scenario_selector +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) + * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub + * fix: pre-commit + * feat(costmap_generator): fix: No output when not Active. + * fix: clang-format + * Re: fix: clang-format + --------- +* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) + * refactor free space planner subscribers + * implement scenario switching for edge cases + * fix scenario selector test + * implement confidence for checking if obstacle is on trajectory + * fix isInLane check to work for case when provided position is on lane bound + * update parameter schemas + * fix format + * improve near target logic + * use timer based implementation for obstacle check + --------- +* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) + * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. + * use raw shared ptr in PollingPolicy::NEWEST + * update + * fix + * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp + Co-authored-by: danielsanchezaran + --------- + Co-authored-by: danielsanchezaran +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* feat(scenario_selector): rename to include/autoware/{package_name} (`#7512 `_) +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* feat(scenario_selector): use polling subscribers (`#7412 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) + * rename route handler package + * update packages dependencies + * update include guards + * update includes + * put in autoware namespace + * fix formats + * keep header and source file name as before + --------- +* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) +* Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, Zulfaqar Azmi, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml index c076ea2a5401d..6579427273df5 100644 --- a/planning/autoware_scenario_selector/package.xml +++ b/planning/autoware_scenario_selector/package.xml @@ -2,7 +2,7 @@ autoware_scenario_selector - 0.1.0 + 0.38.0 The autoware_scenario_selector ROS 2 package Taiki Tanaka Tomoya Kimura diff --git a/planning/autoware_static_centerline_generator/CHANGELOG.rst b/planning/autoware_static_centerline_generator/CHANGELOG.rst new file mode 100644 index 0000000000000..8476b5dd17c99 --- /dev/null +++ b/planning/autoware_static_centerline_generator/CHANGELOG.rst @@ -0,0 +1,220 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_static_centerline_generator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) + * parameters in planning/others aligned + * update json + --------- +* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) + * add autoware\_ prefix + * add autoware\_ prefix + --------- + Co-authored-by: SakodaShintaro +* fix(autoware_static_centerline_generator): fix unusedFunction (`#8647 `_) + * fix:unusedFunction + * fix:unusedFunction + * fix:compile error + --------- +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) + * refactor(geography_utils): prefix package and namespace with autoware + * move headers to include/autoware/ + --------- +* fix(autoware_static_centerline_generator): fix funcArgNamesDifferent (`#8019 `_) + fix:funcArgNamesDifferent +* fix(static_centerline_generator): save_map only once (`#7770 `_) +* refactor(static_centerline_optimizer): clean up the code (`#7756 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(static_centerline_generator): organize AUTO/GUI/VMB modes (`#7432 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* feat(map_loader): add waypoints flag (`#7480 `_) + * feat(map_loader): handle centelrine and waypoints + * update README + * fix doc + * update schema + * fix + * fix + --------- +* feat(path_optimizer): rename to include/autoware/{package_name} (`#7529 `_) +* feat(path_smoother): rename to include/autoware/{package_name} (`#7527 `_) + * feat(path_smoother): rename to include/autoware/{package_name} + * fix + --------- +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) + * refactor(behavior_path_planner)!: make autoware dir in include + * refactor(start_planner): make autoware include dir + * refactor(goal_planner): make autoware include dir + * sampling planner module + * fix sampling planner build + * dynamic_avoidance + * lc + * side shift + * autoware_behavior_path_static_obstacle_avoidance_module + * autoware_behavior_path_planner_common + * make behavior_path dir + * pre-commit + * fix pre-commit + * fix build + --------- +* feat(mission_planner): rename to include/autoware/{package_name} (`#7513 `_) + * feat(mission_planner): rename to include/autoware/{package_name} + * feat(mission_planner): rename to include/autoware/{package_name} + * feat(mission_planner): rename to include/autoware/{package_name} + --------- +* fix(static_centerline_generator): fix dependency (`#7442 `_) + * fix: deps + * fix: package name + * fix: package name + --------- +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) + * rename route handler package + * update packages dependencies + * update include guards + * update includes + * put in autoware namespace + * fix formats + * keep header and source file name as before + --------- +* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) + * refactor(mission_planner)!: add autoware prefix and namespace + * fix svg + --------- +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) + * chore(autoware_vehicle_info_utils): rename header + * chore(bpp-common): vehicle info + * chore(path_optimizer): vehicle info + * chore(velocity_smoother): vehicle info + * chore(bvp-common): vehicle info + * chore(static_centerline_generator): vehicle info + * chore(obstacle_cruise_planner): vehicle info + * chore(obstacle_velocity_limiter): vehicle info + * chore(mission_planner): vehicle info + * chore(obstacle_stop_planner): vehicle info + * chore(planning_validator): vehicle info + * chore(surround_obstacle_checker): vehicle info + * chore(goal_planner): vehicle info + * chore(start_planner): vehicle info + * chore(control_performance_analysis): vehicle info + * chore(lane_departure_checker): vehicle info + * chore(predicted_path_checker): vehicle info + * chore(vehicle_cmd_gate): vehicle info + * chore(obstacle_collision_checker): vehicle info + * chore(operation_mode_transition_manager): vehicle info + * chore(mpc): vehicle info + * chore(control): vehicle info + * chore(common): vehicle info + * chore(perception): vehicle info + * chore(evaluator): vehicle info + * chore(freespace): vehicle info + * chore(planning): vehicle info + * chore(vehicle): vehicle info + * chore(simulator): vehicle info + * chore(launch): vehicle info + * chore(system): vehicle info + * chore(sensing): vehicle info + * fix(autoware_joy_controller): remove unused deps + --------- +* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) + * git mv + * fix + * fix launch + * rever a part of prefix + * fix test + * fix + * fix static_centerline_optimizer + * fix + --------- +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) + * chore(autoware_velocity_smoother): update namespace + * chore(autoware_path_optimizer): update namespace + --------- +* chore(bpp): add prefix `autoware\_` (`#7288 `_) + * chore(common): rename package + * fix(static_obstacle_avoidance): fix header + * fix(dynamic_obstacle_avoidance): fix header + * fix(side_shift): fix header + * fix(sampling_planner): fix header + * fix(start_planner): fix header + * fix(goal_planner): fix header + * fix(lane_change): fix header + * fix(external_lane_change): fix header + * fix(AbLC): fix header + * fix(bpp-node): fix header + * fix(static_centerline_generator): fix header + * fix(.pages): update link + --------- +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) + * chore(autoware_path_optimizer): rename package and namespace + * chore(autoware_static_centerline_generator): rename package and namespace + * chore: update module name + * chore(autoware_velocity_smoother): rename package and namespace + * chore(tier4_planning_launch): update module name + * chore: update module name + * fix: test + * fix: test + * fix: test + --------- +* refactor(behavior_velocity_planner)!: prefix package and namespace with autoware\_ (`#6693 `_) +* fix(autoware_static_centerline_generator): update the centerline correctly with map projector (`#6825 `_) + * fix(static_centerline_generator): fixed the bug of offset lat/lon values + * fix typo + --------- +* fix(autoware_static_centerline_generator): remove prefix from topics and node names (`#7028 `_) +* build(static_centerline_generator): prefix package and namespace with autoware\_ (`#6817 `_) + * build(static_centerline_generator): prefix package and namespace with autoware\_ + * style(pre-commit): autofix + * build: fix CMake target + * build(autoware_static_centerline_generator): more renames + * style(pre-commit): autofix + * build(autoware_static_centerline_generator): fix namespace + * fix(autoware_static_centerline_generator): fix clang-tidy issues + * style(pre-commit): autofix + * style(pre-commit): autofix + * fix(autoware_static_centerline_generator): fix clang-tidy issues + * fix(autoware_static_centerline_generator): fix build issues + * fix(autoware_static_centerline_generator): fix build issues + * style(pre-commit): autofix + * fix(autoware_static_centerline_optimizer): fix clang-tidy issues + * style(pre-commit): autofix + * build: fix build errors + * fix: remove else statements after return + * fix(autoware_static_centerline_generator): fix clang-tidy issues + * style(pre-commit): autofix + * revert changes for static_centerline_generator + * fix(autoware_static_centerline_generator): add autoware\_ prefix + * style(pre-commit): autofix + * fix(autoware_static_centerline_generator): fix filenames + * fix(autoware_static_centerline_generator): fix namespaces + * style(pre-commit): autofix + * fix: added prefix to missing strings + * refactor(autoware_static_centerline_generator): move header files to src + * refactor(autoware_static_centerline_generator): fix include paths + * style(pre-commit): autofix + * refactor(autoware_static_centerline_generator): rename base folder + * Update planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml + Co-authored-by: M. Fatih Cırıt + * build(autoware_static_centerline_generator): fix include in CMake + * build(autoware_static_centerline_generator): fix missing includes + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: M. Fatih Cırıt +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Masaki Baba, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index 4f1399533ed46..000ed4df77f47 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -2,7 +2,7 @@ autoware_static_centerline_generator - 0.1.0 + 0.38.0 The autoware_static_centerline_generator package Takayuki Murooka Kosuke Takeuchi diff --git a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst new file mode 100644 index 0000000000000..21a6bcd8e6da4 --- /dev/null +++ b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst @@ -0,0 +1,99 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_surround_obstacle_checker +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) + * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub + * fix: pre-commit + * feat(costmap_generator): fix: No output when not Active. + * fix: clang-format + * Re: fix: clang-format + --------- +* test(surround_obstacle_checker): add unit tests (`#9039 `_) + * refactor: isStopRequired + * test: write test for isStopRequired + * refactor: use universe utils + * fix: shutdown + --------- +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) + * parameters in planning/others aligned + * update json + --------- +* fix(autoware_surround_obstacle_checker): fix unusedFunction (`#8774 `_) + fix:unusedFunction +* feat(surround_obstacle_checker): integrate generate_parameter_library (`#8719 `_) + * add generate_parameter_library to package + * add parameter file generator script + * use mapped parameters + * integrate generate_parameter_library + * style(pre-commit): autofix + * check to use dynamic object + * remove default values + * fix variable shadowing + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_surround_obstacle_checker): fix passedByValue (`#8206 `_) + fix:passedByValue +* fix(autoware_surround_obstacle_checker): fix constVariableReference (`#8059 `_) + fix:constVariableReference +* fix(autoware_surround_obstacle_checker): fix funcArgNamesDifferent (`#8020 `_) + fix:funcArgNamesDifferent +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(surround_obstacle_checker): remove include directory (`#7507 `_) + * feat(surround_obstacle_checker): remove include directory + * fix + * fix + --------- +* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) + set single depth sensor data qos for pointlcoud polling subscribers +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) + * chore(autoware_vehicle_info_utils): rename header + * chore(bpp-common): vehicle info + * chore(path_optimizer): vehicle info + * chore(velocity_smoother): vehicle info + * chore(bvp-common): vehicle info + * chore(static_centerline_generator): vehicle info + * chore(obstacle_cruise_planner): vehicle info + * chore(obstacle_velocity_limiter): vehicle info + * chore(mission_planner): vehicle info + * chore(obstacle_stop_planner): vehicle info + * chore(planning_validator): vehicle info + * chore(surround_obstacle_checker): vehicle info + * chore(goal_planner): vehicle info + * chore(start_planner): vehicle info + * chore(control_performance_analysis): vehicle info + * chore(lane_departure_checker): vehicle info + * chore(predicted_path_checker): vehicle info + * chore(vehicle_cmd_gate): vehicle info + * chore(obstacle_collision_checker): vehicle info + * chore(operation_mode_transition_manager): vehicle info + * chore(mpc): vehicle info + * chore(control): vehicle info + * chore(common): vehicle info + * chore(perception): vehicle info + * chore(evaluator): vehicle info + * chore(freespace): vehicle info + * chore(planning): vehicle info + * chore(vehicle): vehicle info + * chore(simulator): vehicle info + * chore(launch): vehicle info + * chore(system): vehicle info + * chore(sensing): vehicle info + * fix(autoware_joy_controller): remove unused deps + --------- +* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) + * fix(autoware_surround_obstacle_checker): rename + * fix(autoware_surround_obstacle_checker): rename header + * fix(launch): update package name + --------- +* Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Mitsuhiro Sakamoto, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_surround_obstacle_checker/package.xml b/planning/autoware_surround_obstacle_checker/package.xml index f1d0d3e9fb76d..e8c1ca6e9eb34 100644 --- a/planning/autoware_surround_obstacle_checker/package.xml +++ b/planning/autoware_surround_obstacle_checker/package.xml @@ -2,7 +2,7 @@ autoware_surround_obstacle_checker - 0.1.0 + 0.38.0 The autoware_surround_obstacle_checker package Satoshi Ota Go Sakayori diff --git a/planning/autoware_velocity_smoother/CHANGELOG.rst b/planning/autoware_velocity_smoother/CHANGELOG.rst new file mode 100644 index 0000000000000..a2df0ef2e4cb9 --- /dev/null +++ b/planning/autoware_velocity_smoother/CHANGELOG.rst @@ -0,0 +1,135 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_velocity_smoother +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* perf(motion_velocity_smoother): remove some heavy debug logging (`#8798 `_) + remove some heavy logging in the velocity smoother +* fix(autoware_velocity_smoother): fix unusedFunction (`#8649 `_) + fix:unusedFunction +* fix(autoware_velocity_smoother): fix variableScope (`#8442 `_) + fix:variableScope +* fix(autoware_velocity_smoother): fix unreadVariable (`#8364 `_) + fix:unreadVariable +* fix(autoware_velocity_smoother): fix passedByValue (`#8207 `_) + * fix:passedByValue + * fix:clang format + --------- +* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) + * not resample debug_trajectories if not published + * update dependant packages + --------- +* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 `_) + * perf(velocity_smoother): use ProxQP for faster optimization + * consider max_iteration + * disable warm start + * fix test + --------- +* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) + fix(velocity_smoother): float type of processing time was wrong +* fix(autoware_velocity_smoother): fix constVariableReference (`#8060 `_) + fix:constVariableReference +* fix(autoware_velocity_smoother): fix constParameterReference (`#8043 `_) + fix:constParameterReference +* chore(velocity_smoother): add maintainer (`#8121 `_) + add maintainer +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) + * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. + * use raw shared ptr in PollingPolicy::NEWEST + * update + * fix + * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp + Co-authored-by: danielsanchezaran + --------- + Co-authored-by: danielsanchezaran +* fix(autoware_velocity_smoother): fix shadowVariablefix:shadowVariable (`#7950 `_) + fix:shadowVariable +* feat(velocity_smoother): add time_keeper (`#8026 `_) +* refactor(velocity_smoother): change method to take data for external velocity (`#7810 `_) + refactor external velocity +* fix(autoware_velocity_smoother): fix duplicateBreak warning (`#7699 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_velocity_smoother): fix unusedVariable warning (`#7585 `_) + fix unusedVariable warning +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) + * chore(autoware_vehicle_info_utils): rename header + * chore(bpp-common): vehicle info + * chore(path_optimizer): vehicle info + * chore(velocity_smoother): vehicle info + * chore(bvp-common): vehicle info + * chore(static_centerline_generator): vehicle info + * chore(obstacle_cruise_planner): vehicle info + * chore(obstacle_velocity_limiter): vehicle info + * chore(mission_planner): vehicle info + * chore(obstacle_stop_planner): vehicle info + * chore(planning_validator): vehicle info + * chore(surround_obstacle_checker): vehicle info + * chore(goal_planner): vehicle info + * chore(start_planner): vehicle info + * chore(control_performance_analysis): vehicle info + * chore(lane_departure_checker): vehicle info + * chore(predicted_path_checker): vehicle info + * chore(vehicle_cmd_gate): vehicle info + * chore(obstacle_collision_checker): vehicle info + * chore(operation_mode_transition_manager): vehicle info + * chore(mpc): vehicle info + * chore(control): vehicle info + * chore(common): vehicle info + * chore(perception): vehicle info + * chore(evaluator): vehicle info + * chore(freespace): vehicle info + * chore(planning): vehicle info + * chore(vehicle): vehicle info + * chore(simulator): vehicle info + * chore(launch): vehicle info + * chore(system): vehicle info + * chore(sensing): vehicle info + * fix(autoware_joy_controller): remove unused deps + --------- +* feat(autoware_velocity_smoother): use polling subscriber (`#7216 `_) + feat(motion_velocity_smoother): use polling subscriber +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) + * chore(autoware_velocity_smoother): update namespace + * chore(autoware_path_optimizer): update namespace + --------- +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) + * chore(autoware_path_optimizer): rename package and namespace + * chore(autoware_static_centerline_generator): rename package and namespace + * chore: update module name + * chore(autoware_velocity_smoother): rename package and namespace + * chore(tier4_planning_launch): update module name + * chore: update module name + * fix: test + * fix: test + * fix: test + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, Zulfaqar Azmi, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml index 91e5024ace1d2..e0e028656e8be 100644 --- a/planning/autoware_velocity_smoother/package.xml +++ b/planning/autoware_velocity_smoother/package.xml @@ -2,7 +2,7 @@ autoware_velocity_smoother - 0.1.0 + 0.38.0 The autoware_velocity_smoother package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst new file mode 100644 index 0000000000000..3b9961bcea071 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst @@ -0,0 +1,88 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_path_avoidance_by_lane_change_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) + * add maintainers to avoidance by lane change + * add maintainers to external request lane change + --------- +* fix(autoware_behavior_path_avoidance_by_lane_change_module): fix unmatchedSuppression (`#8987 `_) + fix:unmatchedSuppression +* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) + * add transient data + * reverted max lc dist in calcCurrentMinMax + * rename + * minor refactoring + * update doxygen comments + --------- +* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) + * check if candidate path footprint exceeds target lane boundary when lc velocity is above minimum + * move functions to relevant module + * suppress unused function cppcheck + * minor change + --------- +* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) + remove unused variables +* feat(lane_change): improve execution condition of lane change module (`#8648 `_) + * refactor lane change utility funcions + * LC utility function to get distance to next regulatory element + * don't activate LC module when close to regulatory element + * modify threshold distance calculation + * move regulatory element check to canTransitFailureState() function + * always run LC module if approaching terminal point + * use max possible LC length as threshold + * update LC readme + * refactor implementation + * update readme + * check distance to reg element for candidate path only if not near terminal start + --------- +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) + * refactor(lane_change): compute lanes and polygon only when updated + * Revert accidental changesd + This reverts commit cbfd9ae8a88b2d6c3b27b35c9a08bb824ecd5011. + * fix spell check + * Make a common getter for current lanes + * add target lanes getter + * some minor function refactoring + --------- +* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) + * fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle + * chore(schema): update schema + --------- +* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) + fix(static_obstacle_avoidance): fix stop position +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) + * fix(safety_check): filter by yaw deviation to check object belongs to lane + * fix(static_obstacle_avoidance): check yaw only when the object is moving + --------- +* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) + * refactor(behavior_path_planner)!: make autoware dir in include + * refactor(start_planner): make autoware include dir + * refactor(goal_planner): make autoware include dir + * sampling planner module + * fix sampling planner build + * dynamic_avoidance + * lc + * side shift + * autoware_behavior_path_static_obstacle_avoidance_module + * autoware_behavior_path_planner_common + * make behavior_path dir + * pre-commit + * fix pre-commit + * fix build + --------- +* Contributors: Go Sakayori, Kosuke Takeuchi, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, kobayu858, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml index f5703d896d58f..77ebb1e160644 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_avoidance_by_lane_change_module - 0.1.0 + 0.38.0 The behavior_path_avoidance_by_lane_change_module package Satoshi Ota diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst new file mode 100644 index 0000000000000..0e345cd6ceea8 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst @@ -0,0 +1,55 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) + parameters in behavior_path_planner aligned +* feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area (`#8295 `_) + * add expansion drivable area feature + * make expansion optional + * style(pre-commit): autofix + * clean the code + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix unusedFunction (`#8652 `_) + fix:unusedFunction +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* perf(dynamic_obstacle_avoidance): decrease the computation time with time_keeper (`#7986 `_) + * decrease computation cost + * remove TODO + * fix + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix bitwiseOnBoolean warning (`#7636 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) + * refactor(behavior_path_planner)!: make autoware dir in include + * refactor(start_planner): make autoware include dir + * refactor(goal_planner): make autoware include dir + * sampling planner module + * fix sampling planner build + * dynamic_avoidance + * lc + * side shift + * autoware_behavior_path_static_obstacle_avoidance_module + * autoware_behavior_path_planner_common + * make behavior_path dir + * pre-commit + * fix pre-commit + * fix build + --------- +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zhe Shen, beyzanurkaya, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml index 858bc78de09eb..7849278a16f1a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_dynamic_obstacle_avoidance_module - 0.1.0 + 0.38.0 The autoware_behavior_path_dynamic_obstacle_avoidance_module package Takayuki Murooka diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst new file mode 100644 index 0000000000000..6e5315c65dadd --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst @@ -0,0 +1,39 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_path_external_request_lane_change_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) + * add maintainers to avoidance by lane change + * add maintainers to external request lane change + --------- +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) + * refactor(behavior_path_planner)!: make autoware dir in include + * refactor(start_planner): make autoware include dir + * refactor(goal_planner): make autoware include dir + * sampling planner module + * fix sampling planner build + * dynamic_avoidance + * lc + * side shift + * autoware_behavior_path_static_obstacle_avoidance_module + * autoware_behavior_path_planner_common + * make behavior_path dir + * pre-commit + * fix pre-commit + * fix build + --------- +* Contributors: Kosuke Takeuchi, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml index 464951bc81008..c09f34bf53574 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_external_request_lane_change_module - 0.1.0 + 0.38.0 The autoware_behavior_path_external_request_lane_change_module package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst new file mode 100644 index 0000000000000..d4eccd06b836e --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst @@ -0,0 +1,292 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_path_goal_planner_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(goal_planner): align vehicle footprint heading parallel to parking side lane boundary (`#9159 `_) +* chore(goal_planner): compare sampled/filtered candidate paths on plot (`#9140 `_) + Co-authored-by: Kosuke Takeuchi +* feat(goal_planner): use vehicle side edge to check isCrossingPossible for pull over execution (`#9102 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* refactor(goal_planner): move last_previous_module_output_path out of ThreadSafeData (`#9075 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) + * remove unused function + * mover path shifter utils function to autoware motion utils + * minor change in license header + * fix warning message + * remove header file + --------- +* refactor(goal_planner): remove prev_data / last_path_idx_time from ThreadSafeData (`#9064 `_) + refactor(goal_planner): remove prev_data and last_path_idx_update_time +* refactor(goal_planner): remove lane parking pull over path (`#9063 `_) +* refactor(goal_planner): remove modified_goal in ThreadDafeData (`#9010 `_) +* refactor(goal planner): hold modified_goal in PullOverPath ,copy modified goal once from background thread (`#9006 `_) + refactor(goal_planner): save modified_goal_pose in PullOverPlannerBase +* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) + fix filter object by velocity +* fix(goal_planner): fix parking_path curvature and DecidingState transition (`#9022 `_) +* refactor(goal_planner): use the PullOverPath, PullOverPathCandidates copied from ThreadData to reduce access (`#8994 `_) +* refactor(goal_planner): remove unused header and divide ThreadSafeData to another file (`#8990 `_) +* refactor(goal_planner): refactor PullOverPlannseBase to instantiate only valid path (`#8983 `_) +* fix(goal_planner): fix freespace planning chattering (`#8981 `_) +* feat(goal_planner): use neighboring lane of pull over lane to check goal footprint (`#8716 `_) + move to utils and add tests +* refactor(goal_planner): remove unnecessary GoalPlannerData member (`#8920 `_) +* feat(goal_planner): move PathDecidingStatus to other controller class (`#8872 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) + * chore(planning): consistent parameters with autoware_launch + * update + * fix json schema + --------- +* fix(goal_planner): fix typo (`#8910 `_) +* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8786 `_) + fix:unusedFunction +* refactor(goal_planner): reduce call to isSafePath (`#8812 `_) +* feat(goal_planner): execute goal planner if previous module path terminal is pull over neighboring lane (`#8715 `_) +* feat(goal_planner): dense goal candidate sampling in BusStopArea (`#8795 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) + parameters in behavior_path_planner aligned +* feat(goal_planner): add getBusStopAreaPolygons (`#8794 `_) +* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8775 `_) + fix:unusedFunction +* feat(behavior_path_goal planner): add example plot for development (`#8772 `_) +* fix(goal_planner): fix time_keeper race (`#8780 `_) +* fix(goal_planner): fix object extraction area (`#8764 `_) +* fix(goal_planner): fix typo (`#8763 `_) +* feat(goal_planner): extend pull over lanes inward to extract objects (`#8714 `_) + * feat(goal_planner): extend pull over lanes inward to extract objects + * update from review + * use optionale + * rename lamda + * return nullopt + * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp + Co-authored-by: Mamoru Sobue + * pre-commit + --------- + Co-authored-by: Mamoru Sobue +* refactor(goal_planner): initialize parameter with free function (`#8712 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* refactor(goal_planner): remove unnecessary member from PreviousPullOverData (`#8698 `_) +* refactor(goal_planner): remove unnecessary member from pull_over_planner (`#8697 `_) +* refactor(goal_planner): move pull_over_planner directory (`#8696 `_) +* fix(goal_planner): fix zero velocity in middle of path (`#8563 `_) + * fix(goal_planner): fix zero velocity in middle of path + * add comment + --------- +* fix(goal_planner): remove time keeper in non main thread (`#8610 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) + * refactor freespace planning algorithms + * fix error + * use vector instead of map for a-star node graph + * remove unnecessary parameters + * precompute average turning radius + * add threshold for minimum distance between direction changes + * apply curvature weight and change in curvature weight + * store total cost instead of heuristic cost + * fix reverse weight application + * fix parameter description in README + * implement edt map to store distance to nearest obstacle for each grid cell + * use obstacle edt in collision check + * add cost for distance to obstacle + * fix formats + * add missing include + * refactor functions + * add missing include + * implement backward search option + * precompute number of margin cells to reduce out of range vertices check necessity + * add reset data function + * remove unnecessary code + * add member function set() to AstarNode struct + * implement adaptive expansion distance + * remove unnecessary code + * interpolate nodes with large expansion distance + * minor refactor + * fix interpolation for backward search + * ensure expansion distance is larger than grid cell diagonal + * compute collision free distance to goal map + * use obstacle edt when computing collision free distance map + * minor refactor + * fix expansion cost function + * set distance map before setting start node + * refactor detect collision function + * use flag instead of enum + * add missing variable initialization + * remove declared but undefined function + * refactor makePlan() function + * remove bool return statement for void function + * remove unnecessary checks + * minor fix + * refactor computeEDTMap function + * remove unnecessary code + * set min and max expansion distance after setting costmap + * refactor detectCollision function + * remove unused function + * change default parameter values + * add missing last waypoint + * fix computeEDTMap function + * rename parameter + * use linear function for obstacle distance cost + * fix rrtstar obstacle check + * add public access function to get distance to nearest obstacle + * remove redundant return statements + * check goal pose validity before setting collision free distance map + * declare variables as const where necessary + * compare front and back lengths when setting min and max dimension + * add docstring and citation for computeEDTMap function + * transform pose to local frame in getDistanceToObstacle funcion + * update freespace planner parameter schema + * refactor setPath function + * fix function setPath + * minor refactor + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* perf(goal_planner): faster path sorting and selection (`#8457 `_) + * perf(goal_planner): faster path sorting and selection + * path_id_to_rough_margin_map + --------- +* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) + * goal_planner + * lane_change + --------- + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> +* perf(goal_planner): reduce unnecessary recursive lock guard (`#8465 `_) + * perf(goal_planner): reduce unnecessary recursive lock guard + * make set_no_lock private + --------- +* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) + * add optional to tackle LC turn signal and pull over turn signal + * CPP file should not re-define default value; typo in copying from internal repos + --------- +* fix(goal_planner): fix lane departure check not working correctly due to uninitialized variable (`#8449 `_) +* fix(autoware_behavior_path_goal_planner_module): fix unreadVariable (`#8365 `_) + fix:unreadVariable +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* perf(goal_planner): reduce processing time (`#8195 `_) + * perf(goal_palnner): reduce processing time + * add const& return + * use copy getter + * pre commit + --------- +* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) +* feat(goal_planner): add time keeper (`#8194 `_) + time keeper +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) + * refactor freespace planning algorithms + * fix error + * use vector instead of map for a-star node graph + * remove unnecessary parameters + * precompute average turning radius + * add threshold for minimum distance between direction changes + * apply curvature weight and change in curvature weight + * store total cost instead of heuristic cost + * fix reverse weight application + * fix parameter description in README + * fix formats + * add missing include + * refactor functions + * precompute number of margin cells to reduce out of range vertices check necessity + * add reset data function + * add member function set() to AstarNode struct + * remove unnecessary code + * minor refactor + * ensure expansion distance is larger than grid cell diagonal + * compute collision free distance to goal map + * minor refactor + * fix expansion cost function + * set distance map before setting start node + * minor fix + * remove unnecessary code + * change default parameter values + * rename parameter + * fix rrtstar obstacle check + * remove redundant return statements + * check goal pose validity before setting collision free distance map + * declare variables as const where necessary + --------- +* fix(autoware_behavior_path_goal_planner_module): fix shadowVariable (`#7962 `_) + fix:shadowVariable +* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) + * fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength + * Update trajectory.hpp + Co-authored-by: Kyoichi Sugahara + * Update trajectory.hpp + Co-authored-by: Kyoichi Sugahara + --------- + Co-authored-by: Kyoichi Sugahara +* docs(goal_planner): update parameter description (`#7889 `_) + * docs(goal_planner): update parameter description + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(goal_planner): prioritize pull over path by curvature (`#7791 `_) + * feat(goal_planner): prioritize pull over path by curvature + fix + * add comment + * pre commit + --------- + Co-authored-by: Mamoru Sobue +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) + * fix(safety_check): filter by yaw deviation to check object belongs to lane + * fix(static_obstacle_avoidance): check yaw only when the object is moving + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) + * add param to customize yaw th + * add param to other modules + * docs + * update READMEs with params + * fix LC README + * use normalized yaw diff + --------- +* fix(autoware_behavior_path_goal_planner_module): fix lateral_offset related warnings (`#7624 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) + refactor(freespace_planner)!: rename to include/autoware/{package_name} + refactor(start_planner): make autoware include dir + refactor(goal_planner): make autoware include dir + sampling planner module + fix sampling planner build + dynamic_avoidance + lc + side shift + autoware_behavior_path_static_obstacle_avoidance_module + autoware_behavior_path_planner_common + make behavior_path dir + pre-commit + fix pre-commit + fix build + autoware_freespace_planner + freespace_planning_algorithms +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) + * aeb + * control_validator + * lane_departure_checker + * shift_decider + * fix + --------- +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) + * refactor(behavior_path_planner)!: make autoware dir in include + * refactor(start_planner): make autoware include dir + * refactor(goal_planner): make autoware include dir + * sampling planner module + * fix sampling planner build + * dynamic_avoidance + * lc + * side shift + * autoware_behavior_path_static_obstacle_avoidance_module + * autoware_behavior_path_planner_common + * make behavior_path dir + * pre-commit + * fix pre-commit + * fix build + --------- +* Contributors: Fumiya Watanabe, Go Sakayori, Keisuke Shima, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Yuxuan Liu, Zhe Shen, danielsanchezaran, kobayu858, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml index 00d7eb8c9debe..30d3c96aa6c87 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_goal_planner_module - 0.1.0 + 0.38.0 The autoware_behavior_path_goal_planner_module package Kosuke Takeuchi diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst new file mode 100644 index 0000000000000..8737bd9c17d57 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst @@ -0,0 +1,370 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_path_lane_change_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) + * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID + * style(pre-commit): autofix + * fix typo + * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(lane_change): refactor longitudinal acceleration sampling (`#9091 `_) + * fix calc_all_max_lc_lengths function + * remove unused functions + * remove limit on velocity in calc_all_max_lc_lengths function + * sample longitudinal acceleration separately for each prepater duration + * refactor prepare phase metrics calculation + * check for zero value prepare duration + * refactor calc_lon_acceleration_samples function + --------- +* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) + * add path with lane id parser + * refactor parse to use template + --------- +* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) + * RT1-7970 testing base class + * additional test + * Added update lanes + * check path generation + * check is lane change required + * fix PRs comment + --------- +* refactor(lane_change): reducing clang-tidy warnings (`#9085 `_) + * refactor(lane_change): reducing clang-tidy warnings + * change function name to snake case + --------- +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) + * remove unused function + * mover path shifter utils function to autoware motion utils + * minor change in license header + * fix warning message + * remove header file + --------- +* fix(lane_change): insert stop for current lanes object (RT0-33761) (`#9070 `_) + * RT0-33761 fix lc insert stop for current lanes object + * fix wrong value used for comparison + * ignore current lane object that is not on ego's path + * remove print + * update readme + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * revert is_within_vel_th removal + * fix flowchart too wide + * rename variable in has_blocking_target_object_for_stopping + * Add docstring and rename function + * change color + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) + * refactor(lane_change): refactor get_lane_change_lanes function + * Add doxygen comment for to_geom_msg_pose + --------- +* refactor(lane_change): replace any code that can use transient data (`#8999 `_) + * RT1-8004 replace hasEnoughLength + * RT1-8004 Removed isNearEndOfCurrentLanes + * RT1-8004 refactor sample longitudinal acc values + * remove calc maximum lane change length + * Revert "remove calc maximum lane change length" + This reverts commit e9cc386e1c21321c59f518d2acbe78a3c668471f. + * Revert "RT1-8004 refactor sample longitudinal acc values" + This reverts commit 775bcdb8fa1817511741776861f9edb7e22fd744. + * replace generateCenterLinePath + * RT1-8004 simplify stuck detection + * swap call to update filtered_objects and update transient data + * RT1-8004 fix conflict + * RT1-8004 Rename isVehicleStuck to is_ego_stuck() + * RT1-8004 change calcPrepareDuration to snake case + --------- +* refactor(lane_change): refactor code using transient data (`#8997 `_) + * add target lane length and ego arc length along current and target lanes to transient data + * refactor code using transient data + * refactor get_lane_change_paths function + * minor refactoring + * refactor util functions + * refactor getPrepareSegment function + --------- +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) + * simplify ExtendedPredictedObject and add new member variables + * replace self polygon to initial polygon + * comment + * add comments to dist of ego + --------- +* fix(lane_change): fix abort distance enough check (`#8979 `_) + * RT1-7991 fix abort distance enough check + * RT-7991 remove unused function + --------- +* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) + * add transient data + * reverted max lc dist in calcCurrentMinMax + * rename + * minor refactoring + * update doxygen comments + --------- +* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) + * check if candidate path footprint exceeds target lane boundary when lc velocity is above minimum + * move functions to relevant module + * suppress unused function cppcheck + * minor change + --------- +* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8960 `_) + * fix:unusedFunction + * fix:unusedFunction + * fix:unusedFunction + * fix:pre_commit + --------- +* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) + * refactor lane change utility funcions + * LC utility function to get distance to next regulatory element + * don't activate LC module when close to regulatory element + * modify threshold distance calculation + * move regulatory element check to canTransitFailureState() function + * always run LC module if approaching terminal point + * use max possible LC length as threshold + * update LC readme + * refactor implementation + * update readme + * refactor checking data validity + * refactor sampling of prepare phase metrics and lane changing phase metrics + * add route handler function to get pose from 2d arc length + * refactor candidate path generation + * refactor candidate path safety check + * fix variable name + * Update planning/autoware_route_handler/src/route_handler.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * correct parameter name + * set prepare segment velocity after taking max path velocity value + * update LC README + * minor changes + * check phase length difference with previos valid candidate path + * change logger name + * change functions names to snake case + * use snake case for function names + * add colors to flow chart in README + --------- + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* feat(lane_change): add checks to ensure the edge of vehicle do not exceed target lane boundary when changing lanes (`#8750 `_) + * check if LC candidate path footprint exceeds target lane far bound + * add parameter to enable/disable check + * check only lane changing section of cadidate path + * fix spelling + * small refactoring + --------- +* fix(lane_change): set initail rtc state properly (`#8902 `_) + set initail rtc state properly +* feat(lane_change): improve execution condition of lane change module (`#8648 `_) + * refactor lane change utility funcions + * LC utility function to get distance to next regulatory element + * don't activate LC module when close to regulatory element + * modify threshold distance calculation + * move regulatory element check to canTransitFailureState() function + * always run LC module if approaching terminal point + * use max possible LC length as threshold + * update LC readme + * refactor implementation + * update readme + * check distance to reg element for candidate path only if not near terminal start + --------- +* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) + * update rtc state transition + * remove transition from failuer and succeeded + * fix + * check initial state for cooperate status + * change rtc cooperate status according to module status + --------- +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) + parameters in behavior_path_planner aligned +* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8653 `_) + fix:unusedFunction +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(lane_change): update rtc status for some failure condition (`#8604 `_) + update rtc status for some failure condition +* fix(lane_change): activate turn signal as soon as we have the intention to change lanes (`#8571 `_) + * modify lane change requested condition + * modify lane change requested condition + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * style(pre-commit): autofix + * fix docstring + * modify LC turn signal logic + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * minor change + --------- + Co-authored-by: Muhammad Zulfaqar Azmi + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(lane_change): fix delay logic that caused timing to be late (`#8549 `_) + * RT1-5067 fix delay logic that caused timing to be late + * remove autoware namespace + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* fix(lane_change): modify lane change requested condition (`#8510 `_) + * modify lane change requested condition + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * style(pre-commit): autofix + * fix docstring + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(lane_change): consider deceleration in safety check for cancel (`#7943 `_) + * feat(lane_change): consider deceleration in safety check for cancel + * docs(lane_change): fix document + * fix conflicts and refactor + * fix conflict + * style(pre-commit): autofix + --------- + Co-authored-by: Muhammad Zulfaqar Azmi + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(lane_change): rename prepare_segment_ignore_object_velocity_thresh (`#8532 `_) + change parameter name for more expressive name +* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) + * goal_planner + * lane_change + --------- + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> +* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) + * function to check for merging lane + * function to compute distance from last fit width center line point to lane end + * ensure lane width at LC stop point is larger than ego width + * refactor function isMergingLane + * improve implementation + * apply logic only when current ego foot print is within lane + * change implementation to use intersection points of buffered centerline and lane polygon + * minor refactoring + * overload function isEgoWithinOriginalLane to pass lane polygon directly + --------- +* refactor(lane_change): update filtered objects only once (`#8489 `_) +* fix(lane_change): moving object is filtered in the extended target lanes (`#8218 `_) + * object 3rd + * named param + --------- +* fix(lane_change): do not cancel when approaching terminal start (`#8381 `_) + * do not cancel if ego vehicle approaching terminal start + * Insert stop point if object is coming from rear + * minor edit to fix conflict + * rename function + --------- +* fix(lane_change): fix invalid doesn't have stop point (`#8470 `_) + fix invalid doesn't have stop point +* fix(lane_change): unify stuck detection to avoid unnecessary computation (`#8383 `_) + unify stuck detection in getLaneChangePaths +* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) + * add optional to tackle LC turn signal and pull over turn signal + * CPP file should not re-define default value; typo in copying from internal repos + --------- +* refactor(lane_change): separate leading and trailing objects (`#8214 `_) + * refactor(lane_change): separate leading and trailing objects + * Refactor to use common function + --------- +* fix(lane_change): skip generating path if longitudinal distance difference is less than threshold (`#8363 `_) + * fix when prepare length is insufficient + * add reason for comparing prev_prep_diff with eps for lc_length_diff + --------- +* fix(lane_change): skip generating path if lane changing path is too long (`#8362 `_) + rework. skip lane changing for insufficeient distance in target lane +* fix(lane_change): skip path computation if len exceed dist to terminal start (`#8359 `_) + Skip computation if prepare length exceed distance to terminal start +* refactor(lane_change): refactor debug print when computing paths (`#8358 `_) + Refactor debug print +* chore(lane_change): add codeowner (`#8387 `_) +* refactor(lane_change): check start point directly after getting start point (`#8357 `_) + * check start point directly after getting start point + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* feat(lane_change): use different rss param to deal with parked vehicle (`#8316 `_) + * different rss value for parked vehicle + * Documentation and config file update + --------- +* fix(lane_change): relax finish judge (`#8133 `_) + * fix(lane_change): relax finish judge + * documentation update + * update readme explanations + * update config + --------- +* feat(lane_change): force deactivation in prepare phase (`#8235 `_) + transfer to cancel state when force deactivated +* fix(autoware_behavior_path_lane_change_module): fix passedByValue (`#8208 `_) + fix:passedByValue +* fix(lane_change): filtering object ahead of terminal (`#8093 `_) + * employ lanelet based filtering before distance based filtering + * use distance based to terminal check instead + * remove RCLCPP INFO + * update flow chart + --------- +* fix(lane_change): delay lane change cancel (`#8048 `_) + RT1-6955: delay lane change cancel +* feat(lane_change): enable force execution under unsafe conditions (`#8131 `_) + add force execution conditions +* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) + * refactor(lane_change): compute lanes and polygon only when updated + * Revert accidental changesd + This reverts commit cbfd9ae8a88b2d6c3b27b35c9a08bb824ecd5011. + * fix spell check + * Make a common getter for current lanes + * add target lanes getter + * some minor function refactoring + --------- +* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) + * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp + * update + --------- +* fix(autoware_behavior_path_lane_change_module): fix shadowVariable (`#7964 `_) + fix:shadowVariable +* refactor(lane_change): move struct to lane change namespace (`#7841 `_) + * move struct to lane change namespace + * Revert "move struct to lane change namespace" + This reverts commit 306984a76103c427732f170a6f7eb5f94e895b0b. + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(lane_change): prevent empty path when rerouting (`#7717 `_) + fix(lane_change): prevent empty path when routing +* feat(start_planner): yaw threshold for rss check (`#7657 `_) + * add param to customize yaw th + * add param to other modules + * docs + * update READMEs with params + * fix LC README + * use normalized yaw diff + --------- +* refactor(lane_change): use lane change namespace for structs (`#7508 `_) + * refactor(lane_change): use lane change namespace for structs + * Move lane change namespace to bottom level + --------- +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) + * refactor(behavior_path_planner)!: make autoware dir in include + * refactor(start_planner): make autoware include dir + * refactor(goal_planner): make autoware include dir + * sampling planner module + * fix sampling planner build + * dynamic_avoidance + * lc + * side shift + * autoware_behavior_path_static_obstacle_avoidance_module + * autoware_behavior_path_planner_common + * make behavior_path dir + * pre-commit + * fix pre-commit + * fix build + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, Mamoru Sobue, Satoshi OTA, T-Kimura-MM, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, Yuxuan Liu, Zhe Shen, Zulfaqar Azmi, danielsanchezaran, kobayu858, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml index 20fc894f7fc58..a755b8dc0d42b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_lane_change_module - 0.1.0 + 0.38.0 The autoware_behavior_path_lane_change_module package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst new file mode 100644 index 0000000000000..79b47dbe4b481 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst @@ -0,0 +1,89 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_path_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_behavior_path_planner): fix cppcheck unusedVariable (`#9193 `_) +* fix(behavior_path_planner): suppress reseting root lanelet (`#9129 `_) + fix(behavior_path_planner): suppress resseting root lanelet +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* test(bpp_common): add test for object related functions (`#9062 `_) + * add test for object related functions + * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR + * fix build error + --------- +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) + * chore(planning): consistent parameters with autoware_launch + * update + * fix json schema + --------- +* fix(autoware_behavior_path_planner): fix syntaxError (`#8834 `_) + fix:syntaxError +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) + parameters in behavior_path_planner aligned +* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) +* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) +* fix(docs): fix dead links in behavior path planner manager (`#8309 `_) + * fix dead links + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(behavior_path_planner, spellchecks): spell checks in behavior path planner (`#8307 `_) + * fix spell checks in behavior path planner + * try re-routable + --------- +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) + * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. + * use raw shared ptr in PollingPolicy::NEWEST + * update + * fix + * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp + Co-authored-by: danielsanchezaran + --------- + Co-authored-by: danielsanchezaran +* feat(autoware_behavior_path_planner): prevent infinite loop in approving scene module process (`#7881 `_) + * prevent infinite loop + * calculate max_iteration_num from number of scene modules + * add doxygen explanation for calculateMaxIterationNum + --------- +* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) + * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp + * update + --------- +* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) + * feat(behavior_path_planner): remove max_module_size param + The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration. + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) + * refactor(behavior_path_planner)!: make autoware dir in include + * refactor(start_planner): make autoware include dir + * refactor(goal_planner): make autoware include dir + * sampling planner module + * fix sampling planner build + * dynamic_avoidance + * lc + * side shift + * autoware_behavior_path_static_obstacle_avoidance_module + * autoware_behavior_path_planner_common + * make behavior_path dir + * pre-commit + * fix pre-commit + * fix build + --------- +* Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Kyoichi Sugahara, Mamoru Sobue, Maxime CLEMENT, Ryuta Kambe, Takagi, Isamu, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, Yuxuan Liu, Zhe Shen, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml index 1c3509bc22482..4cbb6b7ffb1cb 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_planner - 0.1.0 + 0.38.0 The behavior_path_planner package diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst new file mode 100644 index 0000000000000..b3168613e053f --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst @@ -0,0 +1,248 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_path_planner_common +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(traffic_light_utils): prevent accessing nullopt (`#9163 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) + * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID + * style(pre-commit): autofix + * fix typo + * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* test(bpp_common): add test for path utils (`#9122 `_) + * add test file for path utils + * fix + * add tests for map irrelevant function + * add test for getUnshiftedEgoPose + * add docstring and remove unneccesary function + --------- +* feat(test_utils): add simple path with lane id generator (`#9113 `_) + * add simple path with lane id generator + * chnage to explicit template + * fix + * add static cast + * remove header file + --------- +* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) + * RT1-7970 testing base class + * additional test + * Added update lanes + * check path generation + * check is lane change required + * fix PRs comment + --------- +* test(bpp_common): add test for objects filtering except for lanelet using functions (`#9049 `_) + * add test for objects filtering except for lanelet using functions + * remove unnecessary include file + * add doxygen + --------- +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) + * remove unused function + * mover path shifter utils function to autoware motion utils + * minor change in license header + * fix warning message + * remove header file + --------- +* test(bpp_common): add test for occupancy grid based collision detector (`#9066 `_) + * add test for occupancy grid based collision detector + * remove unnnecessary header + * fix + * change map resolution and corresponding index + --------- +* test(bpp_common): add test for parking departure utils (`#9055 `_) + * add test for parking departure utils + * fix + * fix typo + * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR + --------- +* test(bpp_common): add test for object related functions (`#9062 `_) + * add test for object related functions + * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR + * fix build error + --------- +* test(bpp_common): add test for footprint (`#9056 `_) + add test for footprint +* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) + * refactor(lane_change): refactor get_lane_change_lanes function + * Add doxygen comment for to_geom_msg_pose + --------- +* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) + fix filter object by velocity +* feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (`#9005 `_) + * feat(turn_signal_decider): disable feature of turning off blinker at low velocity + --------- +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) + * simplify ExtendedPredictedObject and add new member variables + * replace self polygon to initial polygon + * comment + * add comments to dist of ego + --------- +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* fix(behavior_path_planner): fix rtc state update logic (`#8899 `_) + * fix function updateRTCStatus + * fix pre-commit + --------- +* test(autoware_behavior_path_planner_common): add tests for calcInterpolatedPoseWithVelocity (`#8270 `_) + * test: add interpolated pose calculation function's test + * disabled SpecialCases test + --------- +* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) +* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) +* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8736 `_) + fix:unusedFunction +* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8707 `_) + * fix:createDrivableLanesMarkerArray and setDecelerationVelocity + * fix:convertToSnakeCase + * fix:clang format + --------- +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8654 `_) + * fix:unusedFunction 0-2 + * fix:unusedFunction 3-5 + * fix:unusedFunction + --------- +* chore(behavior_path_planner_common): update road_shoulder test_map (`#8550 `_) +* perf(goal_planner): faster path sorting and selection (`#8457 `_) + * perf(goal_planner): faster path sorting and selection + * path_id_to_rough_margin_map + --------- +* feat(behavior_path_planner_common): add calculateRoughDistanceToObjects (`#8464 `_) +* fix(autoware_behavior_path_planner_common): fix variableScope (`#8443 `_) + fix:variableScope +* refactor(safety_checker): remove redundant polygon creation (`#8502 `_) +* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) + * function to check for merging lane + * function to compute distance from last fit width center line point to lane end + * ensure lane width at LC stop point is larger than ego width + * refactor function isMergingLane + * improve implementation + * apply logic only when current ego foot print is within lane + * change implementation to use intersection points of buffered centerline and lane polygon + * minor refactoring + * overload function isEgoWithinOriginalLane to pass lane polygon directly + --------- +* feat(behavior_path_planner_common): add road_shoulder test map (`#8454 `_) +* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) + * add optional to tackle LC turn signal and pull over turn signal + * CPP file should not re-define default value; typo in copying from internal repos + --------- +* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) + * perf(safety_check): check within first + * perf(static_obstacle_avoidance): remove duplicated process + * perf(static_obstacle_avoidance): remove heavy process + --------- +* fix(start/goal_planner): align geometric parall parking start pose with center line (`#8326 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* feat(path_safety_checker): add rough collision check (`#8193 `_) + * feat(path_safety_checker): add rough collision check + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp + --------- +* fix(autoware_behavior_path_planner_common): fix passedByValue (`#8209 `_) + * fix:clang format + * fix:passedByValue + * fix:passedByValue + --------- +* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) +* fix(bpp): fix approved request search (`#8119 `_) + fix existApprovedRequest condition +* fix(bpp, rtc_interface): fix state transition (`#7743 `_) + * fix(rtc_interface): check rtc state + * fix(bpp_interface): check rtc state + * feat(rtc_interface): print + --------- +* fix(autoware_behavior_path_planner_common): fix constParameterReference (`#8045 `_) + fix:constParameterReference +* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) + * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp + * update + --------- +* fix(autoware_behavior_path_planner_common): fix shadowVariable (`#7965 `_) + fix:shadowVariable +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) + * fix(safety_check): filter by yaw deviation to check object belongs to lane + * fix(static_obstacle_avoidance): check yaw only when the object is moving + --------- +* fix(autoware_behavior_path_planner_common): fix knownConditionTrueFalse (`#7816 `_) +* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) + * feat(behavior_path_planner): remove max_module_size param + The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration. + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) + * add param to customize yaw th + * add param to other modules + * docs + * update READMEs with params + * fix LC README + * use normalized yaw diff + --------- +* fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning (`#7675 `_) + * fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning + * fix type + --------- +* fix(autoware_behavior_path_planner_common): fix shadowArgument warning in getDistanceToCrosswalk (`#7665 `_) +* fix(autoware_behavior_path_planner_common): fix shadowArgument warning (`#7623 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_path_planner_common): fix redundantContinue warning (`#7578 `_) +* fix(behavior_path_planner): fix redundantAssignment warning (`#7560 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* fix(behavior_path_planner): fix redundantIfRemove warning (`#7544 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) + Co-authored-by: Fumiya Watanabe +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) + refactor(freespace_planner)!: rename to include/autoware/{package_name} + refactor(start_planner): make autoware include dir + refactor(goal_planner): make autoware include dir + sampling planner module + fix sampling planner build + dynamic_avoidance + lc + side shift + autoware_behavior_path_static_obstacle_avoidance_module + autoware_behavior_path_planner_common + make behavior_path dir + pre-commit + fix pre-commit + fix build + autoware_freespace_planner + freespace_planning_algorithms +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) + * aeb + * control_validator + * lane_departure_checker + * shift_decider + * fix + --------- +* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) + * refactor(behavior_path_planner)!: make autoware dir in include + * refactor(start_planner): make autoware include dir + * refactor(goal_planner): make autoware include dir + * sampling planner module + * fix sampling planner build + * dynamic_avoidance + * lc + * side shift + * autoware_behavior_path_static_obstacle_avoidance_module + * autoware_behavior_path_planner_common + * make behavior_path dir + * pre-commit + * fix pre-commit + * fix build + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Koichi98, Kosuke Takeuchi, Kyoichi Sugahara, Mamoru Sobue, Maxime CLEMENT, Ryuta Kambe, Satoshi OTA, T-Kimura-MM, Takayuki Murooka, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo, Yuxuan Liu, Zulfaqar Azmi, danielsanchezaran, kobayu858, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml index d98e832e23e00..dea42c692b880 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_planner_common - 0.1.0 + 0.38.0 The autoware_behavior_path_planner_common package diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst new file mode 100644 index 0000000000000..d80acb353f330 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst @@ -0,0 +1,45 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_path_sampling_planner_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) + parameters in behavior_path_planner aligned +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_sampling_planner_module): fix shadowVariable (`#7966 `_) + * fix:shadowVariable + * refactor:clang format + * fix:shadowVariable + * refactor:CodeSence + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) + * refactor(behavior_path_planner)!: make autoware dir in include + * refactor(start_planner): make autoware include dir + * refactor(goal_planner): make autoware include dir + * sampling planner module + * fix sampling planner build + * dynamic_avoidance + * lc + * side shift + * autoware_behavior_path_static_obstacle_avoidance_module + * autoware_behavior_path_planner_common + * make behavior_path dir + * pre-commit + * fix pre-commit + * fix build + --------- +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml index 5f9f4bcd12b75..8d33d41ee96a0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_sampling_planner_module - 0.1.0 + 0.38.0 The autoware_behavior_path_sampling_planner_module package Daniel Sanchez diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst new file mode 100644 index 0000000000000..583dd75d45a2f --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst @@ -0,0 +1,43 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_path_side_shift_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) + * remove unused function + * mover path shifter utils function to autoware motion utils + * minor change in license header + * fix warning message + * remove header file + --------- +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_side_shift_module): fix unusedFunction (`#8655 `_) + fix:unusedFunction +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) + * refactor(behavior_path_planner)!: make autoware dir in include + * refactor(start_planner): make autoware include dir + * refactor(goal_planner): make autoware include dir + * sampling planner module + * fix sampling planner build + * dynamic_avoidance + * lc + * side shift + * autoware_behavior_path_static_obstacle_avoidance_module + * autoware_behavior_path_planner_common + * make behavior_path dir + * pre-commit + * fix pre-commit + * fix build + --------- +* Contributors: Go Sakayori, Kosuke Takeuchi, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml index 96b305a63a454..05cb8be401554 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_side_shift_module - 0.1.0 + 0.38.0 The autoware_behavior_path_side_shift_module package Satoshi Ota diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst new file mode 100644 index 0000000000000..be012c8065442 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst @@ -0,0 +1,256 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_path_start_planner_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(start_planner): update param to match launch (`#9158 `_) + update param to match launch +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) + * remove unused function + * mover path shifter utils function to autoware motion utils + * minor change in license header + * fix warning message + * remove header file + --------- +* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) + fix filter object by velocity +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) + * simplify ExtendedPredictedObject and add new member variables + * replace self polygon to initial polygon + * comment + * add comments to dist of ego + --------- +* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) + * align autoware_raw_vehicle_cmd_converter's parameter + * align start_planner's parameter + --------- +* feat(start_planner): add skip_rear_vehicle_check parameter (`#8863 `_) + Add the skip_rear_vehicle_check parameter to the start planner module configuration. This parameter allows disabling the rear vehicle check during collision detection. By default, the rear vehicle check is enabled. +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) + parameters in behavior_path_planner aligned +* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8709 `_) + * fix:checkCollisionBetweenPathFootprintsAndObjects + * fix:add const + * fix:unusedFunction + --------- +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (`#8682 `_) + * remove redundant fused lanelet calculation + * remove unnecessary change + * add new function + * fix spelling mistake + * fix spelling mistake + * use std::move and lambda funcion for better code + * add comment for better understanding + * fix cppcheck + --------- +* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8659 `_) + fix:unusedFunction +* refactor(start_planner): remove redundant calculation in shift pull out (`#8623 `_) + * fix redundant calculation + * fix unneccesary modification for comment + --------- +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) + * refactor freespace planning algorithms + * fix error + * use vector instead of map for a-star node graph + * remove unnecessary parameters + * precompute average turning radius + * add threshold for minimum distance between direction changes + * apply curvature weight and change in curvature weight + * store total cost instead of heuristic cost + * fix reverse weight application + * fix parameter description in README + * implement edt map to store distance to nearest obstacle for each grid cell + * use obstacle edt in collision check + * add cost for distance to obstacle + * fix formats + * add missing include + * refactor functions + * add missing include + * implement backward search option + * precompute number of margin cells to reduce out of range vertices check necessity + * add reset data function + * remove unnecessary code + * add member function set() to AstarNode struct + * implement adaptive expansion distance + * remove unnecessary code + * interpolate nodes with large expansion distance + * minor refactor + * fix interpolation for backward search + * ensure expansion distance is larger than grid cell diagonal + * compute collision free distance to goal map + * use obstacle edt when computing collision free distance map + * minor refactor + * fix expansion cost function + * set distance map before setting start node + * refactor detect collision function + * use flag instead of enum + * add missing variable initialization + * remove declared but undefined function + * refactor makePlan() function + * remove bool return statement for void function + * remove unnecessary checks + * minor fix + * refactor computeEDTMap function + * remove unnecessary code + * set min and max expansion distance after setting costmap + * refactor detectCollision function + * remove unused function + * change default parameter values + * add missing last waypoint + * fix computeEDTMap function + * rename parameter + * use linear function for obstacle distance cost + * fix rrtstar obstacle check + * add public access function to get distance to nearest obstacle + * remove redundant return statements + * check goal pose validity before setting collision free distance map + * declare variables as const where necessary + * compare front and back lengths when setting min and max dimension + * add docstring and citation for computeEDTMap function + * transform pose to local frame in getDistanceToObstacle funcion + * update freespace planner parameter schema + * refactor setPath function + * fix function setPath + * minor refactor + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* feat(start_planner): add time_keeper (`#8254 `_) + * feat(start_planner): add time_keeper + * fix + * fix + * fix shadow variables + --------- +* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) + * refactor freespace planning algorithms + * fix error + * use vector instead of map for a-star node graph + * remove unnecessary parameters + * precompute average turning radius + * add threshold for minimum distance between direction changes + * apply curvature weight and change in curvature weight + * store total cost instead of heuristic cost + * fix reverse weight application + * fix parameter description in README + * fix formats + * add missing include + * refactor functions + * precompute number of margin cells to reduce out of range vertices check necessity + * add reset data function + * add member function set() to AstarNode struct + * remove unnecessary code + * minor refactor + * ensure expansion distance is larger than grid cell diagonal + * compute collision free distance to goal map + * minor refactor + * fix expansion cost function + * set distance map before setting start node + * minor fix + * remove unnecessary code + * change default parameter values + * rename parameter + * fix rrtstar obstacle check + * remove redundant return statements + * check goal pose validity before setting collision free distance map + * declare variables as const where necessary + --------- +* fix(autoware_behavior_path_start_planner_module): fix shadowVariable (`#7982 `_) + * fix:shadowVariable + * fix:shadowVariable + * refactor:clang format + * refactor:clang format + * refactor:clang format + * refactor: change of declaration location + * fix:shadowVariable + * fix:shadowVariable + * fix:shadowVariable + * refactor:clang format + * refactor: namespace + * refactor:clang format + --------- +* feat(start_planner): add end_pose_curvature_threshold (`#7901 `_) + * feat(start_planner): add end_pose_curvature_threshold + * Update planning/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md + Co-authored-by: Kyoichi Sugahara + * update max curvature discription + * update readme + --------- + Co-authored-by: Kyoichi Sugahara +* feat(start_planner): check current_pose and estimated_stop_pose for isPreventingRearVehicleFromPassingThrough (`#8112 `_) +* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) + * fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength + * Update trajectory.hpp + Co-authored-by: Kyoichi Sugahara + * Update trajectory.hpp + Co-authored-by: Kyoichi Sugahara + --------- + Co-authored-by: Kyoichi Sugahara +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) + * fix(safety_check): filter by yaw deviation to check object belongs to lane + * fix(static_obstacle_avoidance): check yaw only when the object is moving + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) + * add param to customize yaw th + * add param to other modules + * docs + * update READMEs with params + * fix LC README + * use normalized yaw diff + --------- +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_path_start_planner_module): fix duplicateBreak warning (`#7583 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) + refactor(freespace_planner)!: rename to include/autoware/{package_name} + refactor(start_planner): make autoware include dir + refactor(goal_planner): make autoware include dir + sampling planner module + fix sampling planner build + dynamic_avoidance + lc + side shift + autoware_behavior_path_static_obstacle_avoidance_module + autoware_behavior_path_planner_common + make behavior_path dir + pre-commit + fix pre-commit + fix build + autoware_freespace_planner + freespace_planning_algorithms +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) + * aeb + * control_validator + * lane_departure_checker + * shift_decider + * fix + --------- +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) + * refactor(behavior_path_planner)!: make autoware dir in include + * refactor(start_planner): make autoware include dir + * refactor(goal_planner): make autoware include dir + * sampling planner module + * fix sampling planner build + * dynamic_avoidance + * lc + * side shift + * autoware_behavior_path_static_obstacle_avoidance_module + * autoware_behavior_path_planner_common + * make behavior_path dir + * pre-commit + * fix pre-commit + * fix build + --------- +* Contributors: Go Sakayori, Kosuke Takeuchi, Kyoichi Sugahara, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, danielsanchezaran, kobayu858, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml index 77f83993f2ccc..1d883477524b5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_start_planner_module - 0.1.0 + 0.38.0 The autoware_behavior_path_start_planner_module package Kosuke Takeuchi diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst new file mode 100644 index 0000000000000..4da55caad730e --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst @@ -0,0 +1,228 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_path_static_obstacle_avoidance_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) + * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID + * style(pre-commit): autofix + * fix typo + * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(static_obstacle_avoidance): suppress unnecessary warning (`#9142 `_) +* test(static_obstacle_avoidance): add unit test for utils functions (`#9134 `_) + * docs(static_obstacle_avoidance): add doxygen + * test: add test + * fix: assert and expect + * fix: wrong comment + * refactor: use autoware test utils + --------- +* fix(utils): fix envelope polygon update logic (`#9123 `_) +* test(bpp_common): add test for path utils (`#9122 `_) + * add test file for path utils + * fix + * add tests for map irrelevant function + * add test for getUnshiftedEgoPose + * add docstring and remove unneccesary function + --------- +* fix(avoidance): don't insert stop line if the ego can't avoid or return (`#9089 `_) + * fix(avoidance): don't insert stop line if the ego can't avoid or return + * fix: build error + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp + Co-authored-by: Go Sakayori + --------- + Co-authored-by: Go Sakayori +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) + * remove unused function + * mover path shifter utils function to autoware motion utils + * minor change in license header + * fix warning message + * remove header file + --------- +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) + * simplify ExtendedPredictedObject and add new member variables + * replace self polygon to initial polygon + * comment + * add comments to dist of ego + --------- +* refactor(static_obstacle_avoidance): move route handler based calculation outside loop (`#8968 `_) + * refactor filterTargetObjects + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* fix(static_obstacle_avoidance): remove redundant calculation (`#8955 `_) + remove redundant calculation +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) + remove unused variables +* fix(static_obstacle_avoidance): update UUID when candidate shift is empty (`#8901 `_) + fix candidate shift line's rtc cooperate status +* docs(static_obstacle_avoidance): update envelope polygon creation (`#8822 `_) + * update envelope polygon creation + * fix whitespace + --------- +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) + parameters in behavior_path_planner aligned +* fix(static_obstacle_avoidance): improve turn signal output timing when the ego returns original lane (`#8726 `_) + fix(static_obstacle_avoidance): fix unexpected turn signal output +* docs(static_obstacle_avoidance): light edits. Typos, grammar fixes (`#8759 `_) + * Light edit: Typos, grammar fixes. Additional changes to follow + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md + Paragraph revised to correct typos + Co-authored-by: Go Sakayori + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md + Paragraph revised to correct typos + Co-authored-by: Go Sakayori + * fix typo in avoidance.png + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md + * fix pre-commit + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md + --------- + Co-authored-by: Go Sakayori + Co-authored-by: Go Sakayori + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8776 `_) + fix:unusedFunction +* fix(static_obstacle_avoidance): ignore objects which has already been decided to avoid (`#8754 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8732 `_) + fix:unusedFunction +* fix(static_obstacle_avoidance): change implementation the logic to remove invalid small shift lines (`#8721 `_) + * Revert "fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_)" + This reverts commit 2705a63817f02ecfa705960459438763225ea6cf. + * fix(static_obstacle_avoidance): remove invalid small shift lines + --------- +* fix(static_obstacle_avoidance): use wrong parameter (`#8720 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8664 `_) + fix:unusedFunction +* feat(static_obstacle_avoidance): update envelope polygon creation method (`#8551 `_) + * update envelope polygon by considering pose covariance + * change parameter + * modify schema json + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* fix(static_obstacle_avoidance): target object sorting (`#8545 `_) + * fix compensateLostTargetObjects function + * remove empty case + --------- +* docs(static_obstacle_avoidance): add FAQ section in document (`#8514 `_) + * add FAQ section in readme + * refer to FAQ before detail + * fix + --------- +* fix(static_obstacle_avoidance): change avoidance condition (`#8433 `_) +* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) + * perf(safety_check): check within first + * perf(static_obstacle_avoidance): remove duplicated process + * perf(static_obstacle_avoidance): remove heavy process + --------- +* fix(static_obstacle_avoidance): check opposite lane (`#8345 `_) +* fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_) +* feat(static_obstacle_avoidance): force deactivation (`#8288 `_) + * add force cancel function + * fix format + * fix json schema + * fix spelling + * fix + --------- +* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) + * add force execution for static obstacle avoidance + * fix + * erase unused function in RTC interface + * refactor with lamda function + * fix rtc_interface + * add warn throtthle and move code block + * fix + --------- +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix constParameterReference (`#8046 `_) + fix:constParameterReference +* fix(static_obstacle_avoidance): avoid object behind unavoidance object if unavoidable is not on the path (`#8066 `_) +* feat(static_obstacle_avoidance): integrate time keeper to major functions (`#8044 `_) +* fix(static_obstacle_avoidance): fix issues in target filtiering logic (`#7954 `_) + * fix: unknown filtering flow + * fix: relax target filtering logic for object which is in freespace + * docs: update flowchart + * fix: check stopped time in freespace + --------- +* feat(static_obstacle_avoidance): show markers when system requests operator support (`#7994 `_) +* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) + * fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle + * chore(schema): update schema + --------- +* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) + fix(static_obstacle_avoidance): fix stop position +* fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge (`#7850 `_) + * fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge + * docs(static_obstacle_avoidance): update flowchart + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md + Co-authored-by: Go Sakayori + --------- + Co-authored-by: Go Sakayori +* refactor(static_avoidance): modify getAdjacentLane function (`#7843 `_) + add getLeftOppositeLanelers in getAdjacentLane function +* fix(static_obstacle_avoidance): fix issues in target object filtering logic (`#7830 `_) + * fix(static_obstacle_avoidance): check if object is inside/outside by its position point instead of its polygon + * refactor(static_obstacle_avoidance): add getter functions + * fix(static_obstacle_avoidance): check next lane without route if the current lane is not preferred + * fix(static_obstacle_avoidance): fix parked vehicle check + --------- +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) + * fix(safety_check): filter by yaw deviation to check object belongs to lane + * fix(static_obstacle_avoidance): check yaw only when the object is moving + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(static_obstacle_avoidance): organize params for drivable lane (`#7715 `_) + * refactor(static_obstacle_avoidance): organize params for drivable lane + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json + --------- +* feat(start_planner): yaw threshold for rss check (`#7657 `_) + * add param to customize yaw th + * add param to other modules + * docs + * update READMEs with params + * fix LC README + * use normalized yaw diff + --------- +* docs(static_obstacle_avoidance): fix wrong flowchart (`#7693 `_) +* fix(static_obstacle_avoidance): fix json schema (`#7692 `_) +* refactor(static_obstacle_avoidance): change logger name for utils (`#7617 `_) + change logger name for static avoidance utils +* feat(static_obstacle_avoidance): keep object clipping even after the object becomes non-target (`#7591 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix duplicateCondition warnings (`#7582 `_) +* docs(bpp_static_obstacle_avoidance): add documentation (`#7554 `_) + * fix: package path + * docs: add explanation of lateral margin + * fix: typo + * fix: wrong description + --------- +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) + * refactor(behavior_path_planner)!: make autoware dir in include + * refactor(start_planner): make autoware include dir + * refactor(goal_planner): make autoware include dir + * sampling planner module + * fix sampling planner build + * dynamic_avoidance + * lc + * side shift + * autoware_behavior_path_static_obstacle_avoidance_module + * autoware_behavior_path_planner_common + * make behavior_path dir + * pre-commit + * fix pre-commit + * fix build + --------- +* Contributors: Atto, Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Ryuta Kambe, Satoshi OTA, T-Kimura-MM, Takayuki Murooka, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, danielsanchezaran, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index dd15cd70b4d85..0a990ddf4cb52 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_static_obstacle_avoidance_module - 0.1.0 + 0.38.0 The autoware_behavior_path_static_obstacle_avoidance_module package Takamasa Horibe diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst new file mode 100644 index 0000000000000..5d2f39bbbdde5 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst @@ -0,0 +1,27 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_blind_spot_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(blind_spot): hide debug information (`#8885 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* fix(autoware_behavior_velocity_blind_spot_module): fix funcArgNamesDifferent (`#8021 `_) + * fix:funcArgNamesDifferent + * fix:funcArgNamesDifferent + * refactor:clang format + --------- +* feat(blind_spot): consider road_shoulder if exist (`#7925 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml index 0b3959b7f77cd..de5d791c06161 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_blind_spot_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_blind_spot_module package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst new file mode 100644 index 0000000000000..cee14701b03c5 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst @@ -0,0 +1,54 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_crosswalk_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* fix(crosswalk): fix occlusion detection range calculation and add debug markers (`#9121 `_) +* fix(crosswalk): fix passing direction calclation for the objects (`#9071 `_) +* fix(crosswalk): change exceptional handling (`#8956 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* feat(crosswalk)!: update stop position caluculation (`#8853 `_) +* feat(crosswalk): suppress restart when the ego is close to the next stop point (`#8817 `_) + * feat(crosswalk): suppress restart when the ego is close to the next stop point + * update + * add comment + --------- +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) + parameters in behavior_velocity_planner aligned +* fix(autoware_behavior_velocity_crosswalk_module): fix unusedFunction (`#8665 `_) + fix:unusedFunction +* fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic (`#8459 `_) + * fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic + * define ego_crosswalk_passage_direction later + --------- +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* fix(autoware_behavior_velocity_crosswalk_module): fix passedByValue (`#8210 `_) + * fix:passedByValue + * fix:passedByValue + --------- +* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) + * refactor(crosswalk): clean up the structure and create a brief flowchart + * update + * fix + * static stop pose -> default stop pose + --------- +* fix(autoware_behavior_velocity_crosswalk_module): fix shadowVariable (`#7974 `_) + * fix:shadowVariable + * fix:shadowVariable + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Mehmet Dogru, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml index 0d8a5e6edaa0f..e6a0d93575f80 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_crosswalk_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_crosswalk_module package Satoshi Ota diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst new file mode 100644 index 0000000000000..ac7190a4bc0c9 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst @@ -0,0 +1,27 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_detection_area_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* test(detection_area): refactor and add unit tests (`#9087 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* fix(autoware_behavior_velocity_detection_area_module): fix uninitMemberVar (`#8332 `_) + fix:uninitMemberVar +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) + * fix(arc_lane_util): remove lane_id check from arc_lane_util + * modify test_arc_lane_util.cpp + --------- +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml index 8669aa16b7252..14a1723f3be2a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_detection_area_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_detection_area_module package Kyoichi Sugahara diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst new file mode 100644 index 0000000000000..1d8d193f03031 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst @@ -0,0 +1,95 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_intersection_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(intersection): print RTC status in diagnostic debug message (`#9007 `_) + debug(intersection): print RTC status in diagnostic message +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) + * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID + * style(pre-commit): autofix + * fix typo + * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(intersection): handle pass judge after red/arrow-signal to ignore NPCs after the signal changed to green again (`#9119 `_) +* fix(intersection): set RTC enable (`#9040 `_) + set rtc enable +* fix(interpolation): fix bug of interpolation (`#8969 `_) + fix bug of interpolation +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* fix(intersection): fix typo (`#8911 `_) + * fix(intersection): fix typo + * fix(intersection): fix typo + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(bvp): fix rtc state update logic (`#8884 `_) + * fix(bvp): fix rtc state update logic + * fix(intersection): fix unexpected rtc state initialization + --------- +* fix(autoware_behavior_velocity_intersection_module): fix unusedFunction (`#8666 `_) + * fix:unusedFunction + * fix:unusedFunction + --------- +* fix(autoware_behavior_velocity_intersection_module): fix unreadVariable (`#8836 `_) + fix:unreadVariable +* fix(autoware_behavior_velocity_intersection_module): fix virtualCallInConstructor (`#8835 `_) + fix:virtualCallInConstructor +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) + parameters in behavior_velocity_planner aligned +* fix(intersection): additional fix for 8520 (`#8561 `_) +* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) + * for enclave occlusion detection lanelet + * some refactorings and modify doxygen + * fix ci + --------- + Co-authored-by: Y.Hisaki +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* feat(intersection): add test map for intersection (`#8455 `_) +* fix(autoware_smart_mpc_trajectory_follower): fix unusedStructMember (`#8393 `_) + * fix:unusedStructMember + * fix:unusedStructMember + * fix:clang format + --------- +* fix(autoware_behavior_velocity_intersection_module): fix functionConst (`#8283 `_) + fix:functionConst +* fix(autoware_behavior_velocity_intersection_module): fix funcArgNamesDifferent (`#8023 `_) + * fix:funcArgNamesDifferent + * fix:funcArgNamesDifferent + * refactor:clang format + * fix:funcArgNamesDifferent + --------- +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) + * chore: fix package name probabilistic occupancy grid map + * fix: solve launch error + * chore: update occupancy_grid_map_outlier_filter + * style(pre-commit): autofix + * refactor: update package name to autoware_probabilistic_occupancy_grid_map on a test + * refactor: rename folder of occupancy_grid_map_outlier_filter + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Taekjin LEE +* fix(autoware_behavior_velocity_intersection_module): fix shadowVariable (`#7976 `_) +* fix(autoware_behavior_velocity_intersection_module): fix shadowFunction (`#7835 `_) + * fix(autoware_behavior_velocity_intersection_module): fix shadowFunction + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) + intersection +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Satoshi OTA, T-Kimura-MM, Takayuki Murooka, Yoshi Ri, Yukinari Hisaki, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml index 1c5d23e31b2e1..f80aed04512cc 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_intersection_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_intersection_module package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst new file mode 100644 index 0000000000000..c158782bed571 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst @@ -0,0 +1,26 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_no_drivable_lane_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* fix(autoware_behavior_velocity_no_drivable_lane_module): fix uninitMemberVar (`#8322 `_) + * fix:uninitMemberVar + * fix:uninitMemberVar + --------- +* fix(autoware_behavior_velocity_no_drivable_lane_module): fix bug of uninitialization (`#7928 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning (`#7631 `_) + * fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml index b674478ffb228..f4e71d5bff78e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_no_drivable_lane_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_no_drivable_lane_module package Ahmed Ebrahim diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst new file mode 100644 index 0000000000000..3db92130f35f6 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst @@ -0,0 +1,30 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_no_stopping_area_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* test(no_stopping_area): refactor and add tests (`#9009 `_) + Co-authored-by: Kosuke Takeuchi +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* fix(autoware_behavior_velocity_no_stopping_area_module): fix uninitMemberVar (`#8321 `_) + fix:uninitMemberVar +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) + * fix(arc_lane_util): remove lane_id check from arc_lane_util + * modify test_arc_lane_util.cpp + --------- +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml index 18a35ea12d5f6..bc119becdfece 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_no_stopping_area_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_no_stopping_area_module package Kosuke Takeuchi diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst new file mode 100644 index 0000000000000..805fc77cf7181 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst @@ -0,0 +1,35 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_occlusion_spot_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) + parameters in behavior_velocity_planner aligned +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8320 `_) + * fix:uninitMemberVar + * fix:clang format + * fix:uninitMemberVar + * fix:clang format + * fix:clang format + --------- +* fix(autoware_behavior_velocity_occlusion_module): fix passedByValue (`#8211 `_) + fix:passedByValue +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_velocity_occlusion_spot_module): fix redundantAssignment bug (`#7559 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml index b414769e84ec2..34597b1c41a5f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_occlusion_spot_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_occlusion_spot_module package Taiki Tanaka diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst new file mode 100644 index 0000000000000..738fe8cf0bf6f --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst @@ -0,0 +1,28 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_behavior_velocity_planner): fix passedByValue (`#8213 `_) + fix:passedByValue +* chore(autoware_behavior_velocity_planner): remove no_prefix function from tests (`#7589 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) + * chore(behavior_velocity_planner): fix CODEOWNERS and page links + * fix: fix page link + --------- +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml index 49946766ef55c..4dc4876010555 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_planner - 0.1.0 + 0.38.0 The autoware_behavior_velocity_planner package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst new file mode 100644 index 0000000000000..7ca9c6913dd4a --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst @@ -0,0 +1,57 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_planner_common +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(behavior_velocity_planner_common): fix findOffsetSegment (`#9130 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* test(no_stopping_area): refactor and add tests (`#9009 `_) + Co-authored-by: Kosuke Takeuchi +* fix(autoware_behavior_velocity_planner_common): add node clock, fix use sim time (`#8876 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* fix(bvp): fix rtc state update logic (`#8884 `_) + * fix(bvp): fix rtc state update logic + * fix(intersection): fix unexpected rtc state initialization + --------- +* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) +* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) + * for enclave occlusion detection lanelet + * some refactorings and modify doxygen + * fix ci + --------- + Co-authored-by: Y.Hisaki +* fix(autoware_behavior_velocity_planner_common): fix variableScope (`#8446 `_) + fix:variableScope +* feat(intersection): add test map for intersection (`#8455 `_) +* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) + * not resample debug_trajectories if not published + * update dependant packages + --------- +* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) + * fix(arc_lane_util): remove lane_id check from arc_lane_util + * modify test_arc_lane_util.cpp + --------- +* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) + intersection +* fix(autoware_behavior_velocity_planner_common): fix unusedScopedObject bug (`#7570 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) + Co-authored-by: Fumiya Watanabe +* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Dawid Moszyński, Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Maxime CLEMENT, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml index 9e5e8b0edda7b..6692358f1b21f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_planner_common - 0.1.0 + 0.38.0 The autoware_behavior_velocity_planner_common package Tomoya Kimura diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst new file mode 100644 index 0000000000000..67c9028c5e011 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst @@ -0,0 +1,42 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_run_out_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) + parameters in behavior_velocity_planner aligned +* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8779 `_) + fix:unusedFunction +* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8669 `_) + fix:unusedFunction +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* fix(behavior_velocity_planner): fix cppcheck warnings of functionStatic (`#8262 `_) + fix: deal with functionStatic warnings +* fix(autoware_behavior_velocity_run_out_module): fix functionConst (`#8284 `_) + fix:functionConst +* fix(autoware_behavior_velocity_run_out_module): fix passedByValue (`#8215 `_) + * fix:passedByValue + * fix:passedByValue + * fix:passedByValue + --------- +* fix(autoware_behavior_velocity_run_out_module): fix constParameterReference (`#8050 `_) + fix:constParameterReference +* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) + * chore(behavior_velocity_planner): fix CODEOWNERS and page links + * fix: fix page link + --------- +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml index b8fc098826e7a..369b5fba81122 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_run_out_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_run_out_module package Tomohito Ando diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst new file mode 100644 index 0000000000000..7beadcdc6cf67 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst @@ -0,0 +1,19 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_speed_bump_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8319 `_) + fix:uninitMemberVar +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds warning (`#7671 `_) + fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds +* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml index ffc4b09a9a37c..3018be3e328b8 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_speed_bump_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_speed_bump_module package Tomoya Kimura diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst new file mode 100644 index 0000000000000..487ac65735b33 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst @@ -0,0 +1,27 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_stop_line_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* fix(autoware_behavior_velocity_stop_line_module): fix uninitMemberVar (`#8318 `_) + fix:uninitMemberVar +* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) + * fix(arc_lane_util): remove lane_id check from arc_lane_util + * modify test_arc_lane_util.cpp + --------- +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml index 286465b158f18..464a5d0f09bf7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_stop_line_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_stop_line_module package Fumiya Watanabe diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst new file mode 100644 index 0000000000000..9281fdade1dac --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst @@ -0,0 +1,21 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_template_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml index 92a815255d9e1..d0c43166cd670 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_template_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_template_module package Daniel Sanchez diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst new file mode 100644 index 0000000000000..4b028feb98393 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst @@ -0,0 +1,34 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_traffic_light_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* test(traffic_light): write test for utils (`#9046 `_) + * refactor: separate utils file + * refactor: utils function output + * test: write test for utils + * chore: add doxygen + --------- +* fix(behavior_velocity_traffic_light): make dilemma_zone_plotter.py executable (`#8684 `_) +* feat(traffic_light): add dilemma_zone_plotter.py (`#8638 `_) + * feat(traffic_light): add dilemma_zone_plotter.py + * fix typo + * fix typo + --------- +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* fix(autoware_behavior_velocity_traffic_light_module): fix uninitMemberVar (`#8317 `_) + fix:funinitMemberVar +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml index 51992a6fa40d3..9cff5fb92b54b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_traffic_light_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_traffic_light_module package Satoshi Ota diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst new file mode 100644 index 0000000000000..ce31a8bb963e7 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst @@ -0,0 +1,32 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_virtual_traffic_light_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* test(virtual_traffic_light): add unit tests for utils (`#9107 `_) +* chore(virtual_traffic_light): add soblin to maintainer (`#9147 `_) +* refactor(virtual_traffic_light): move to utils for unit test (`#9106 `_) +* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedFunction (`#8670 `_) + fix:unusedFunction +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedStructMember (`#8394 `_) + fix:unusedStructMember +* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) + * fix(arc_lane_util): remove lane_id check from arc_lane_util + * modify test_arc_lane_util.cpp + --------- +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml index f2400839313b4..b1ecfdb26bcde 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_virtual_traffic_light_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_virtual_traffic_light_module package Kosuke Takeuchi diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst new file mode 100644 index 0000000000000..d15003404903f --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst @@ -0,0 +1,26 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_behavior_velocity_walkway_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) + Co-authored-by: Ryuta Kambe +* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) + * refactor(crosswalk): clean up the structure and create a brief flowchart + * update + * fix + * static stop pose -> default stop pose + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* chore(behavior_velocity_planner): move packages (`#7526 `_) +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml index be1e583f01be1..03724767271fe 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_walkway_module - 0.1.0 + 0.38.0 The autoware_behavior_velocity_walkway_module package Satoshi Ota diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst new file mode 100644 index 0000000000000..c15304d214a0c --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst @@ -0,0 +1,25 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* test(dynamic_obstacle_stop): add tests and do some refactoring (`#8250 `_) +* fix(autoware_motion_velocity_dynamic_obstacle_stop_module): fix funcArgNamesDifferent (`#8024 `_) + fix:funcArgNamesDifferent +* perf(dynamic_obstacle_stop): construct rtree nodes in place (`#7753 `_) +* perf(dynamic_obstacle_stop): create rtree with packing algorithm (`#7730 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* Contributors: Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml index 7c03655fd5f57..5916d20f5c42e 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_dynamic_obstacle_stop_module - 0.1.0 + 0.38.0 dynamic_obstacle_stop module to stop ego when in the immediate path of a dynamic object Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst new file mode 100644 index 0000000000000..33609b35c09c9 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst @@ -0,0 +1,48 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* chore(obstacle_velocity_limiter): add Alqudah Mohammad as codeowner (`#8516 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix functionStatic (`#8483 `_) + fix:functionStatic +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable (`#8366 `_) + * fix:unreadVariable + * fix:unreadVariable + --------- +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix uninitMemberVar (`#8314 `_) + fix:funinitMemberVar +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix funcArgNamesDifferent (`#8025 `_) + fix:funcArgNamesDifferent +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix shadowVariable (`#7977 `_) + * fix:shadowVariable + * fix:shadowVariable + --------- +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) + * perf(dynamic_obstacle_stop): create rtree with packing algorithm + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. + * perf(motion_velocity_planner): resample trajectory after vel smoothing + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable warning (`#7625 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml index 41a1ad7621526..cd9dd1b756b64 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml @@ -1,7 +1,7 @@ autoware_motion_velocity_obstacle_velocity_limiter_module - 0.1.0 + 0.38.0 Package to adjust velocities of a trajectory in order for the ride to feel safe Maxime CLEMENT diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst new file mode 100644 index 0000000000000..6b006d110dbe5 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst @@ -0,0 +1,103 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_motion_velocity_out_of_lane_module +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* perf(out_of_lane): use intersection with other lanes instead of difference with ego lane (`#8870 `_) +* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) + * chore(planning): consistent parameters with autoware_launch + * update + * fix json schema + --------- +* fix(motion_planning): align the parameters with launcher (`#8792 `_) + parameters in motion_planning aligned +* docs(out_of_lane): update documentation for the new design (`#8692 `_) +* fix(out_of_lane): fix a bug with the rtree reference deleted nodes (`#8679 `_) +* fix(out_of_lane): fix noConstructor cppcheck warning (`#8636 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* perf(out_of_lane): use rtree to get stop lines and trajectory lanelets (`#8439 `_) +* chore(out_of_lane): add Mamoru SOBUE as maintainer (`#8440 `_) +* feat(out_of_lane): also apply lat buffer between the lane and stop pose (`#7918 `_) +* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) +* fix(autoware_motion_velocity_out_of_lane_module): fix constParameterReference (`#8051 `_) + fix:constParameterReference +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) + * perf(dynamic_obstacle_stop): create rtree with packing algorithm + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. + * perf(motion_velocity_planner): resample trajectory after vel smoothing + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) + * rename route handler package + * update packages dependencies + * update include guards + * update includes + * put in autoware namespace + * fix formats + * keep header and source file name as before + --------- +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) + * chore(autoware_vehicle_info_utils): rename header + * chore(bpp-common): vehicle info + * chore(path_optimizer): vehicle info + * chore(velocity_smoother): vehicle info + * chore(bvp-common): vehicle info + * chore(static_centerline_generator): vehicle info + * chore(obstacle_cruise_planner): vehicle info + * chore(obstacle_velocity_limiter): vehicle info + * chore(mission_planner): vehicle info + * chore(obstacle_stop_planner): vehicle info + * chore(planning_validator): vehicle info + * chore(surround_obstacle_checker): vehicle info + * chore(goal_planner): vehicle info + * chore(start_planner): vehicle info + * chore(control_performance_analysis): vehicle info + * chore(lane_departure_checker): vehicle info + * chore(predicted_path_checker): vehicle info + * chore(vehicle_cmd_gate): vehicle info + * chore(obstacle_collision_checker): vehicle info + * chore(operation_mode_transition_manager): vehicle info + * chore(mpc): vehicle info + * chore(control): vehicle info + * chore(common): vehicle info + * chore(perception): vehicle info + * chore(evaluator): vehicle info + * chore(freespace): vehicle info + * chore(planning): vehicle info + * chore(vehicle): vehicle info + * chore(simulator): vehicle info + * chore(launch): vehicle info + * chore(system): vehicle info + * chore(sensing): vehicle info + * fix(autoware_joy_controller): remove unused deps + --------- +* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) + * feat(motion_velocity_planner): use polling subscriber for odometry topic + * use polling subscribers for more topics + * remove blocking mutex lock when processing traffic lights + * fix assign after return + --------- +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* Contributors: Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml index e0fb81e2d7a5a..6c8122e816555 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_out_of_lane_module - 0.1.0 + 0.38.0 The motion_velocity_out_of_lane_module package Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst new file mode 100644 index 0000000000000..df513cf0a7330 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst @@ -0,0 +1,111 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_motion_velocity_planner_common +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(motion_velocity_planner): disable randomly failing test (`#8923 `_) +* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) +* fix(motion_velocity_planner): relax test precision to prevent random failures (`#8799 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) + * perf(dynamic_obstacle_stop): create rtree with packing algorithm + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. + * perf(motion_velocity_planner): resample trajectory after vel smoothing + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) + refactor(route_handler)!: rename to include/autoware/{package_name} +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) + * rename route handler package + * update packages dependencies + * update include guards + * update includes + * put in autoware namespace + * fix formats + * keep header and source file name as before + --------- +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) + * chore(autoware_vehicle_info_utils): rename header + * chore(bpp-common): vehicle info + * chore(path_optimizer): vehicle info + * chore(velocity_smoother): vehicle info + * chore(bvp-common): vehicle info + * chore(static_centerline_generator): vehicle info + * chore(obstacle_cruise_planner): vehicle info + * chore(obstacle_velocity_limiter): vehicle info + * chore(mission_planner): vehicle info + * chore(obstacle_stop_planner): vehicle info + * chore(planning_validator): vehicle info + * chore(surround_obstacle_checker): vehicle info + * chore(goal_planner): vehicle info + * chore(start_planner): vehicle info + * chore(control_performance_analysis): vehicle info + * chore(lane_departure_checker): vehicle info + * chore(predicted_path_checker): vehicle info + * chore(vehicle_cmd_gate): vehicle info + * chore(obstacle_collision_checker): vehicle info + * chore(operation_mode_transition_manager): vehicle info + * chore(mpc): vehicle info + * chore(control): vehicle info + * chore(common): vehicle info + * chore(perception): vehicle info + * chore(evaluator): vehicle info + * chore(freespace): vehicle info + * chore(planning): vehicle info + * chore(vehicle): vehicle info + * chore(simulator): vehicle info + * chore(launch): vehicle info + * chore(system): vehicle info + * chore(sensing): vehicle info + * fix(autoware_joy_controller): remove unused deps + --------- +* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) + * feat(motion_velocity_planner): use polling subscriber for odometry topic + * use polling subscribers for more topics + * remove blocking mutex lock when processing traffic lights + * fix assign after return + --------- +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) + * chore(autoware_velocity_smoother): update namespace + * chore(autoware_path_optimizer): update namespace + --------- +* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) + * refactor(behavior_velocity_planner_common): add autoware prefix + * refactor(behavior_velocity_planner_common): fix run_out module + * refactor(behavior_velocity_planner_common): fix for autoware_behavior_velocity_walkway_module + * refactor(behavior_velocity_planner_common): remove unnecessary using + --------- +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) + * chore(autoware_path_optimizer): rename package and namespace + * chore(autoware_static_centerline_generator): rename package and namespace + * chore: update module name + * chore(autoware_velocity_smoother): rename package and namespace + * chore(tier4_planning_launch): update module name + * chore: update module name + * fix: test + * fix: test + * fix: test + --------- +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml index dfe15579eed2a..9f518044b9d05 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_planner_common - 0.1.0 + 0.38.0 Common functions and interfaces for motion_velocity_planner modules Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst new file mode 100644 index 0000000000000..8a141b67d8ef3 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst @@ -0,0 +1,97 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_motion_velocity_planner_node +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) +* perf(motion_velocity_planner): fix heavy resampling and transform lookup (`#8839 `_) +* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) + * tmp save. + * publish diagnostics. + * move clearDiagnostics func to head + * change to snake_names. + * remove a change of launch.xml + * pre-commit run -a + * publish diagnostics on node side. + * move empty checking out of 'get_diagnostics'. + * remove get_diagnostics; change reason str. + * remove unused condition. + * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) + * not resample debug_trajectories if not published + * update dependant packages + --------- +* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) +* fix(motion_planning): fix processing time topic names (`#7885 `_) +* fix(motion_velocity_planner): use the slowdown velocity (instead of 0) (`#7840 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) + * perf(dynamic_obstacle_stop): create rtree with packing algorithm + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. + * perf(motion_velocity_planner): resample trajectory after vel smoothing + --------- +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) + set single depth sensor data qos for pointlcoud polling subscribers +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* refactor(test_utils): move to common folder (`#7158 `_) + * Move autoware planning test manager to autoware namespace + * fix package share directory for behavior path planner + * renaming files and directory + * rename variables that has planning_test_utils in its name. + * use autoware namespace for test utils + * move folder to common + * update .pages file + * fix test error + * removed obstacle velocity limiter test artifact + * remove namespace from planning validator, it has using keyword + --------- +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) +* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) + * feat(motion_velocity_planner): use polling subscriber for odometry topic + * use polling subscribers for more topics + * remove blocking mutex lock when processing traffic lights + * fix assign after return + --------- +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) + * chore(autoware_velocity_smoother): update namespace + * chore(autoware_path_optimizer): update namespace + --------- +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) + * chore(autoware_path_optimizer): rename package and namespace + * chore(autoware_static_centerline_generator): rename package and namespace + * chore: update module name + * chore(autoware_velocity_smoother): rename package and namespace + * chore(tier4_planning_launch): update module name + * chore: update module name + * fix: test + * fix: test + * fix: test + --------- +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Tiankui Xian, Yutaka Kondo, Zulfaqar Azmi, mkquda + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml index 7919917c2256a..bf4e8a242d576 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_planner_node - 0.1.0 + 0.38.0 Node of the motion_velocity_planner Maxime Clement diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst new file mode 100644 index 0000000000000..2084bc1c56aef --- /dev/null +++ b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst @@ -0,0 +1,12 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_bezier_sampler +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* Contributors: Maxime CLEMENT, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml index 62dce46816119..5293a01de4577 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml @@ -1,7 +1,7 @@ autoware_bezier_sampler - 0.0.1 + 0.38.0 Package to sample trajectories using Bézier curves Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst new file mode 100644 index 0000000000000..227dc896c34ab --- /dev/null +++ b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst @@ -0,0 +1,20 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_frenet_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_frenet_planner): fix build error (`#8807 `_) + fix:build error +* fix(autoware_frenet_planner): fix unusedFunction (`#8788 `_) + fix: unusedFunction +* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* Contributors: Hayate TOBA, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/sampling_based_planner/autoware_frenet_planner/package.xml b/planning/sampling_based_planner/autoware_frenet_planner/package.xml index 1ba7c8a148007..8a6d4d487580d 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/package.xml +++ b/planning/sampling_based_planner/autoware_frenet_planner/package.xml @@ -1,7 +1,7 @@ autoware_frenet_planner - 0.0.1 + 0.38.0 The autoware_frenet_planner package for trajectory generation in Frenet frame Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst new file mode 100644 index 0000000000000..c809f9008566e --- /dev/null +++ b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst @@ -0,0 +1,63 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_path_sampler +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* fix(autoware_path_sampler): fix unusedFunction (`#8730 `_) + fix:unusedFunction +* fix(autoware_path_sampler): fix passedByValue (`#8216 `_) + fix:passedByValue +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_path_sampler): fix unusedVariable warning (`#7584 `_) + fix unusedVariable warning +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* ci(pre-commit): autoupdate (`#7499 `_) + Co-authored-by: M. Fatih Cırıt +* feat(sampling_based_planner): use polling subscribers (`#7394 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) + * chore(autoware_vehicle_info_utils): rename header + * chore(bpp-common): vehicle info + * chore(path_optimizer): vehicle info + * chore(velocity_smoother): vehicle info + * chore(bvp-common): vehicle info + * chore(static_centerline_generator): vehicle info + * chore(obstacle_cruise_planner): vehicle info + * chore(obstacle_velocity_limiter): vehicle info + * chore(mission_planner): vehicle info + * chore(obstacle_stop_planner): vehicle info + * chore(planning_validator): vehicle info + * chore(surround_obstacle_checker): vehicle info + * chore(goal_planner): vehicle info + * chore(start_planner): vehicle info + * chore(control_performance_analysis): vehicle info + * chore(lane_departure_checker): vehicle info + * chore(predicted_path_checker): vehicle info + * chore(vehicle_cmd_gate): vehicle info + * chore(obstacle_collision_checker): vehicle info + * chore(operation_mode_transition_manager): vehicle info + * chore(mpc): vehicle info + * chore(control): vehicle info + * chore(common): vehicle info + * chore(perception): vehicle info + * chore(evaluator): vehicle info + * chore(freespace): vehicle info + * chore(planning): vehicle info + * chore(vehicle): vehicle info + * chore(simulator): vehicle info + * chore(launch): vehicle info + * chore(system): vehicle info + * chore(sensing): vehicle info + * fix(autoware_joy_controller): remove unused deps + --------- +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml index ca137a0d06a53..188839c805179 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml @@ -2,7 +2,7 @@ autoware_path_sampler - 0.1.0 + 0.38.0 Package for the sampling-based path planner Maxime CLEMENT Apache License 2.0 diff --git a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst new file mode 100644 index 0000000000000..6b16ba6e8ce43 --- /dev/null +++ b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst @@ -0,0 +1,17 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_sampler_common +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/planning/sampling_based_planner/autoware_sampler_common/package.xml b/planning/sampling_based_planner/autoware_sampler_common/package.xml index d1f1e3946a0dd..d110807877761 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/package.xml +++ b/planning/sampling_based_planner/autoware_sampler_common/package.xml @@ -1,7 +1,7 @@ autoware_sampler_common - 0.0.1 + 0.38.0 Common classes and functions for sampling based planners Maxime CLEMENT Maxime CLEMENT diff --git a/sensing/autoware_cuda_utils/CHANGELOG.rst b/sensing/autoware_cuda_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..b7bdc26004971 --- /dev/null +++ b/sensing/autoware_cuda_utils/CHANGELOG.rst @@ -0,0 +1,14 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package cuda_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore: added maintainers to the cuda_utils package (`#9042 `_) +* refactor(cuda_utils): move cuda_utils to sensing (`#8729 `_) + fix: move cuda_utils to sensing +* Contributors: Kenzo Lobos Tsunekawa, Yoshi Ri, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/sensing/autoware_cuda_utils/package.xml b/sensing/autoware_cuda_utils/package.xml index 2c4916cbbd0a8..ea65eda9a11f5 100644 --- a/sensing/autoware_cuda_utils/package.xml +++ b/sensing/autoware_cuda_utils/package.xml @@ -1,7 +1,7 @@ autoware_cuda_utils - 0.0.1 + 0.38.0 cuda utility library Daisuke Nishimatsu diff --git a/sensing/autoware_gnss_poser/CHANGELOG.rst b/sensing/autoware_gnss_poser/CHANGELOG.rst new file mode 100644 index 0000000000000..7ece0bad8834f --- /dev/null +++ b/sensing/autoware_gnss_poser/CHANGELOG.rst @@ -0,0 +1,26 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_gnss_poser +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* chore(autoware_gnss_poser): make source codes follow the coding rules (`#8703 `_) + * Follow the coding rules in autoware_gnss_poser + * Edit _core to _node inside files + * Fixed AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP\_ part + --------- +* chore(gnss_poser): add autoware prefix to gnss_poser (`#8323 `_) + * add "autoware" prefix to gnss_poser + * Fixed typos and left overs + * Fixed directory mistake + * style(pre-commit): autofix + * Removed gnss_poser line from CODEOWNERS + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> +* Contributors: Esteve Fernandez, TaikiYamada4, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml index d8493ac8bdd1e..defcff66a1518 100644 --- a/sensing/autoware_gnss_poser/package.xml +++ b/sensing/autoware_gnss_poser/package.xml @@ -2,7 +2,7 @@ autoware_gnss_poser - 1.0.0 + 0.38.0 The ROS 2 autoware_gnss_poser package Yamato Ando Masahiro Sakamoto diff --git a/sensing/autoware_image_diagnostics/CHANGELOG.rst b/sensing/autoware_image_diagnostics/CHANGELOG.rst new file mode 100644 index 0000000000000..a8b0b2ba885d6 --- /dev/null +++ b/sensing/autoware_image_diagnostics/CHANGELOG.rst @@ -0,0 +1,19 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_image_diagnostics +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_image_diagnostics): fix cppcheck warnings (`#8228 `_) + * fix(autoware_image_diagnostics): fix cppcheck warnings + * fix + --------- +* refactor(image_diagnostics): add package name prefix of autoware\_ (`#8130 `_) + * refactor: rename image_diagnostics to autoware_image_diagnostics + * refactor: rename sensing/image_diagnostics to sensing/autoware_image_diagnostics + --------- +* Contributors: Ryuta Kambe, Taekjin LEE, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/sensing/autoware_image_diagnostics/package.xml b/sensing/autoware_image_diagnostics/package.xml index 37253e1431d3d..cbf2579081b99 100644 --- a/sensing/autoware_image_diagnostics/package.xml +++ b/sensing/autoware_image_diagnostics/package.xml @@ -2,7 +2,7 @@ autoware_image_diagnostics - 0.1.0 + 0.38.0 The autoware_image_diagnostics package Dai Nguyen Yoshi Ri diff --git a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst new file mode 100644 index 0000000000000..7d34fbbbb3583 --- /dev/null +++ b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst @@ -0,0 +1,22 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_image_transport_decompressor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor: image transport decompressor/autoware prefix (`#8197 `_) + * refactor: add `autoware` namespace prefix to image_transport_decompressor + * refactor(image_transport_decompressor): add `autoware` prefix to the package code + * refactor: update package name in CODEOWNER + * fix: merge main into the branch + * refactor: update packages which depend on image_transport_decompressor + * refactor(image_transport_decompressor): update README + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Taekjin LEE +* Contributors: Manato Hirabayashi, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/sensing/autoware_image_transport_decompressor/package.xml b/sensing/autoware_image_transport_decompressor/package.xml index e4e8d69acb4d0..00de3283895c8 100644 --- a/sensing/autoware_image_transport_decompressor/package.xml +++ b/sensing/autoware_image_transport_decompressor/package.xml @@ -2,7 +2,7 @@ autoware_image_transport_decompressor - 0.0.0 + 0.38.0 The image_transport_decompressor package Yukihiro Saito Kenzo Lobos-Tsunekawa diff --git a/sensing/autoware_imu_corrector/CHANGELOG.rst b/sensing/autoware_imu_corrector/CHANGELOG.rst new file mode 100644 index 0000000000000..62559852c75d7 --- /dev/null +++ b/sensing/autoware_imu_corrector/CHANGELOG.rst @@ -0,0 +1,16 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_imu_corrector +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(autoware_imu_corrector): refactored the imu corrector into the autoware namespace (`#8222 `_) + * chore: refactored the imu corrector into the autoware namespace + * chore: reverted to non-exported includes + --------- + Co-authored-by: Yamato Ando +* Contributors: Kenzo Lobos Tsunekawa, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/sensing/autoware_imu_corrector/package.xml b/sensing/autoware_imu_corrector/package.xml index 4869b5566ea05..2b33890d4dbd8 100644 --- a/sensing/autoware_imu_corrector/package.xml +++ b/sensing/autoware_imu_corrector/package.xml @@ -2,7 +2,7 @@ autoware_imu_corrector - 1.0.0 + 0.38.0 The ROS 2 autoware_imu_corrector package Yamato Ando Taiki Yamada diff --git a/sensing/autoware_pcl_extensions/CHANGELOG.rst b/sensing/autoware_pcl_extensions/CHANGELOG.rst new file mode 100644 index 0000000000000..2d31b5ba074f6 --- /dev/null +++ b/sensing/autoware_pcl_extensions/CHANGELOG.rst @@ -0,0 +1,13 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_pcl_extensions +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(autoware_pcl_extensions): refactored the pcl_extensions (`#8220 `_) + chore: refactored the pcl_extensions according to the new rules +* Contributors: Kenzo Lobos Tsunekawa, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/sensing/autoware_pcl_extensions/package.xml b/sensing/autoware_pcl_extensions/package.xml index 7cb4a50cefd03..4601a043980b1 100644 --- a/sensing/autoware_pcl_extensions/package.xml +++ b/sensing/autoware_pcl_extensions/package.xml @@ -2,7 +2,7 @@ autoware_pcl_extensions - 0.1.0 + 0.38.0 The autoware_pcl_extensions package Ryu Yamamoto Kenzo Lobos Tsunekawa diff --git a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst new file mode 100644 index 0000000000000..9c9a7c3f41fba --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst @@ -0,0 +1,309 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_pointcloud_preprocessor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (`#9162 `_) + * refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation + * style(pre-commit): autofix + * include message_filters as SYSTEM + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance (`#8380 `_) + * feat: add option for updating distance and azimuth value + * chore: clean code + * chore: remove space + * chore: add documentation + * chore: fix docs + * feat: conversion formula implementation for degree, still need to change to rad + * chore: fix tests for AzimuthConversionExists function + * feat: add fastatan to utils + * feat: remove seperate sin, cos and use sin_and_cos function + * chore: fix readme + * chore: fix some grammar errors + * chore: fix spell error + * chore: set debug mode to false + * chore: set update_azimuth_and_distance default value to false + * chore: update readme + * chore: remove cout + * chore: add opencv license + * chore: fix grammar error + * style(pre-commit): autofix + * chore: add runtime error when azimuth conversion failed + * chore: change default pointcloud + * chore: change function name + * chore: move variables to structure + * chore: add random seed + * chore: rewrite get conversion function + * chore: fix opencv fast atan2 function + * chore: fix schema description + * Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * chore: move code to function for readability + * chore: simplify code + * chore: fix sentence, angle conversion + * chore: add more invalid condition + * chore: fix the string name to enum + * chore: remove runtime error + * chore: use optional for AngleConversion structure + * chore: fix bug and clean code + * chore: refactor the logic of calculating conversion + * chore: refactor function in unit test + * chore: RCLCPP_WARN_STREAM logging when failed to get angle conversion + * chore: improve normalize angle algorithm + * chore: improve multiple_of_90_degrees logic + * chore: add opencv license + * style(pre-commit): autofix + * chore: clean code + * chore: fix sentence + * style(pre-commit): autofix + * chore: add 0 0 0 points in test case + * chore: fix spell error + * Update common/autoware_universe_utils/NOTICE + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * chore: use constexpr for threshold + * chore: fix the path of license + * chore: explanation for failures + * chore: use throttle + * chore: fix empty pointcloud function + * refactor: change camel to snake case + * Update sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * Update sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * style(pre-commit): autofix + * Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * refactor: refactor virtual function in base class + * chore: fix test naming error + * chore: fix clang error + * chore: fix error + * chore: fix clangd + * chore: add runtime error if the setting is wrong + * chore: clean code + * Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + * style(pre-commit): autofix + * chore: fix unit test for runtime error + * Update sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md + Co-authored-by: Kenzo Lobos Tsunekawa + * chore: fix offset_rad_threshold + * chore: change pointer to reference + * chore: snake_case for unit test + * chore: fix refactor process twist and imu + * chore: fix abs and return type of matrix to tf2 + * chore: fix grammar error + * chore: fix readme description + * chore: remove runtime error + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(autoware_pointcloud_preprocessor): rework crop box parameters (`#8466 `_) + * feat: add parameter schema for crop box + * chore: fix readme + * chore: remove filter.param.yaml file + * chore: add negative parameter for voxel grid based euclidean cluster + * chore: fix schema description + * chore: fix description of negative param + --------- +* refactor(autoware_pointcloud_preprocessor): rework approximate downsample filter parameters (`#8480 `_) + * feat: rework approximate downsample parameters + * chore: add boundary + * chore: change double to float + * feat: rework approximate downsample parameters + * chore: add boundary + * chore: change double to float + * chore: fix grammatical error + * chore: fix variables from double to float in header + * chore: change minimum to float + * chore: fix CMakeLists + --------- +* refactor(autoware_pointcloud_preprocessor): rework dual return outlier filter parameters (`#8475 `_) + * feat: rework dual return outlier filter parameters + * chore: fix readme + * chore: change launch file name + * chore: fix type + * chore: add boundary + * chore: change boundary + * chore: fix boundary + * chore: fix json schema + * Update sensing/autoware_pointcloud_preprocessor/schema/dual_return_outlier_filter_node.schema.json + Co-authored-by: Kenzo Lobos Tsunekawa + * chore: fix grammar error + * chore: fix description for weak_first_local_noise_threshold + * chore: change minimum and maximum to float + --------- + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(autoware_pointcloud_preprocessor): rework ring outlier filter parameters (`#8468 `_) + * feat: rework ring outlier parameters + * chore: add explicit cast + * chore: add boundary + * chore: remove filter.param + * chore: set default frame + * chore: add maximum boundary + * chore: boundary to float type + --------- +* refactor(autoware_pointcloud_preprocessor): rework pickup based voxel grid downsample filter parameters (`#8481 `_) + * feat: rework pickup based voxel grid downsample filter parameter + * chore: update date + * chore: fix spell error + * chore: add boundary + * chore: fix grammatical error + --------- + Co-authored-by: Kenzo Lobos Tsunekawa +* ci(pre-commit): autoupdate (`#7630 `_) + * ci(pre-commit): autoupdate + * style(pre-commit): autofix + * fix: remove the outer call to dict() + --------- + Co-authored-by: github-actions + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: mitsudome-r +* refactor(autoware_pointcloud_preprocessor): rework random downsample filter parameters (`#8485 `_) + * feat: rework random downsample filter parameter + * chore: change name + * chore: add explicit cast + --------- + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(autoware_pointcloud_preprocessor): rework pointcloud accumulator parameters (`#8487 `_) + * feat: rework pointcloud accumulator parameters + * chore: add explicit cast + * chore: add boundary + --------- +* refactor(autoware_pointcloud_preprocessor): rework radius search 2d outlier filter parameters (`#8474 `_) + * feat: rework radius search 2d outlier filter parameters + * chore: fix schema + * chore: explicit cast + * chore: add boundary in schema + --------- +* refactor(autoware_pointcloud_preprocessor): rework ring passthrough filter parameters (`#8472 `_) + * feat: rework ring passthrough parameters + * chore: fix cmake + * feat: add schema + * chore: fix readme + * chore: fix parameter file name + * chore: add boundary + * chore: fix default parameter + * chore: fix default parameter in schema + --------- +* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) +* fix(pointcloud_preprocessor): fix typo (`#8762 `_) +* fix(autoware_pointcloud_preprocessor): instantiate templates so that the symbols exist when linking (`#8743 `_) +* fix(autoware_pointcloud_preprocessor): fix unusedFunction (`#8673 `_) + fix:unusedFunction +* fix(autoware_pointcloud_preprocessor): resolve issue with FLT_MAX not declared on Jazzy (`#8586 `_) + fix(pointcloud-preprocessor): FLT_MAX not declared + Fixes compilation error on Jazzy: + error: ‘FLT_MAX’ was not declared in this scope +* fix(autoware_pointcloud_preprocessor): blockage diag node add runtime error when the parameter is wrong (`#8564 `_) + * fix: add runtime error + * Update blockage_diag_node.cpp + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> + * fix: add RCLCPP error logging + * chore: remove unused variable + --------- + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> +* chore(autoware_pointcloud_preprocessor): change unnecessary warning message to debug (`#8525 `_) +* refactor(autoware_pointcloud_preprocessor): rework voxel grid outlier filter parameters (`#8476 `_) + * feat: rework voxel grid outlier filter parameters + * chore: add boundary + --------- +* refactor(autoware_pointcloud_preprocessor): rework lanelet2 map filter parameters (`#8491 `_) + * feat: rework lanelet2 map filter parameters + * chore: remove unrelated files + * fix: fix node name in launch + * chore: fix launcher + * chore: fix spell error + * chore: add boundary + --------- +* refactor(autoware_pointcloud_preprocessor): rework vector map inside area filter parameters (`#8493 `_) + * feat: rework vector map inside area filter parameter + * chore: fix launcher + * chore: fix launcher input and output + --------- +* refactor(autoware_pointcloud_preprocessor): rework concatenate_pointcloud and time_synchronizer_node parameters (`#8509 `_) + * feat: rewort concatenate pointclouds and time synchronizer parameter + * chore: fix launch files + * chore: fix schema + * chore: fix schema + * chore: fix integer and number default value in schema + * chore: add boundary + --------- +* refactor(autoware_pointcloud_preprocessor): rework voxel grid downsample filter parameters (`#8486 `_) + * feat:rework voxel grid downsample parameters + * chore: add boundary + --------- + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(autoware_pointcloud_preprocessor): rework blockage diag parameters (`#8488 `_) + * feat: rework blockage diag parameters + * chore: fix readme + * chore: fix schema description + * chore: add boundary for schema + --------- +* chore(autoware_pcl_extensions): refactored the pcl_extensions (`#8220 `_) + chore: refactored the pcl_extensions according to the new rules +* feat(pointcloud_preprocessor)!: revert "fix: added temporary retrocompatibility to old perception data (`#7929 `_)" (`#8397 `_) + * feat!(pointcloud_preprocessor): Revert "fix: added temporary retrocompatibility to old perception data (`#7929 `_)" + This reverts commit 6b9f164b123e2f6a6fedf7330e507d4b68e45a09. + * feat(pointcloud_preprocessor): minor grammar fix + Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> + --------- + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> +* fix(autoware_pointcloud_preprocessor): fix variableScope (`#8447 `_) + * fix:variableScope + * refactor:use const + --------- +* fix(autoware_pointcloud_preprocessor): fix unreadVariable (`#8370 `_) + fix:unreadVariable +* fix(ring_outlier_filter): remove unnecessary resize to prevent zero points (`#8402 `_) + fix: remove unnecessary resize +* fix(autoware_pointcloud_preprocessor): fix cppcheck warnings of functionStatic (`#8163 `_) + fix: deal with functionStatic warnings + Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> +* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) + * perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners + * fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic + * fix(autoware_ground_segmentation): add missing TF listener + * feat(autoware_ground_segmentation): change to static TF buffer + * refactor(autoware_pointcloud_preprocessor): move StaticTransformListener to universe utils + * perf(autoware_universe_utils): skip redundant transform + * fix(autoware_universe_utils): change checks order + * doc(autoware_universe_utils): add docstring + --------- +* fix(autoware_pointcloud_preprocessor): fix functionConst (`#8280 `_) + fix:functionConst +* fix(autoware_pointcloud_preprocessor): fix passedByValue (`#8242 `_) + fix:passedByValue +* fix(autoware_pointcloud_preprocessor): fix redundantInitialization (`#8229 `_) +* fix(autoware_pointcloud_preprocessor): revert increase_size() in robin_hood (`#8151 `_) +* fix(autoware_pointcloud_preprocessor): fix knownConditionTrueFalse warning (`#8139 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) + * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware + * style(pre-commit): autofix + * style(pointcloud_preprocessor): suppress line length check for macros + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * fix(pointcloud_preprocessor): missing prefix + * refactor(pointcloud_preprocessor): directory structure (soft) + * refactor(pointcloud_preprocessor): directory structure (hard) + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa +* Contributors: Amadeusz Szymko, Esteve Fernandez, Fumiya Watanabe, Kenzo Lobos Tsunekawa, Rein Appeldoorn, Ryuta Kambe, Shintaro Tomie, Yi-Hsiang Fang (Vivid), Yoshi Ri, Yukinari Hisaki, Yutaka Kondo, awf-autoware-bot[bot], kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- diff --git a/sensing/autoware_pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml index dc9adb6e7a028..2fed0b54824be 100644 --- a/sensing/autoware_pointcloud_preprocessor/package.xml +++ b/sensing/autoware_pointcloud_preprocessor/package.xml @@ -2,7 +2,7 @@ autoware_pointcloud_preprocessor - 0.1.0 + 0.38.0 The ROS 2 autoware_pointcloud_preprocessor package amc-nu Yukihiro Saito diff --git a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst new file mode 100644 index 0000000000000..f42dc3d490300 --- /dev/null +++ b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst @@ -0,0 +1,18 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_radar_scan_to_pointcloud2 +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) + * refactor(radar_scan_to_pointcloud2): rename package and update references + fix: rename package folder + * refactor(radar_static_pointcloud_filter): rename package and update references + refactor: update launch file name for autoware_radar_static_pointcloud_filter + * refactor(radar_threshold_filter): rename package and update references + --------- +* Contributors: Taekjin LEE, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/sensing/autoware_radar_scan_to_pointcloud2/package.xml b/sensing/autoware_radar_scan_to_pointcloud2/package.xml index 7a2a8bd9694b3..bd0ed8ee717db 100644 --- a/sensing/autoware_radar_scan_to_pointcloud2/package.xml +++ b/sensing/autoware_radar_scan_to_pointcloud2/package.xml @@ -1,7 +1,7 @@ autoware_radar_scan_to_pointcloud2 - 0.1.0 + 0.38.0 autoware_radar_scan_to_pointcloud2 Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst new file mode 100644 index 0000000000000..6de255fa9848c --- /dev/null +++ b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst @@ -0,0 +1,18 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_radar_static_pointcloud_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) + * refactor(radar_scan_to_pointcloud2): rename package and update references + fix: rename package folder + * refactor(radar_static_pointcloud_filter): rename package and update references + refactor: update launch file name for autoware_radar_static_pointcloud_filter + * refactor(radar_threshold_filter): rename package and update references + --------- +* Contributors: Taekjin LEE, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/sensing/autoware_radar_static_pointcloud_filter/package.xml b/sensing/autoware_radar_static_pointcloud_filter/package.xml index a8424be8f78eb..744148517aafe 100644 --- a/sensing/autoware_radar_static_pointcloud_filter/package.xml +++ b/sensing/autoware_radar_static_pointcloud_filter/package.xml @@ -1,7 +1,7 @@ autoware_radar_static_pointcloud_filter - 0.1.0 + 0.38.0 autoware_radar_static_pointcloud_filter Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst new file mode 100644 index 0000000000000..e76f480a6fce1 --- /dev/null +++ b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst @@ -0,0 +1,18 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_radar_threshold_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) + * refactor(radar_scan_to_pointcloud2): rename package and update references + fix: rename package folder + * refactor(radar_static_pointcloud_filter): rename package and update references + refactor: update launch file name for autoware_radar_static_pointcloud_filter + * refactor(radar_threshold_filter): rename package and update references + --------- +* Contributors: Taekjin LEE, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/sensing/autoware_radar_threshold_filter/package.xml b/sensing/autoware_radar_threshold_filter/package.xml index a141a81e51c52..7629ffec9b96a 100644 --- a/sensing/autoware_radar_threshold_filter/package.xml +++ b/sensing/autoware_radar_threshold_filter/package.xml @@ -1,7 +1,7 @@ autoware_radar_threshold_filter - 0.1.0 + 0.38.0 autoware_radar_threshold_filter Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst new file mode 100644 index 0000000000000..090d6fab8f9ea --- /dev/null +++ b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst @@ -0,0 +1,16 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_radar_tracks_noise_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) + * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter + * refactor: rename simple_object_merger package to autoware_simple_object_merger + * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter + --------- +* Contributors: Taekjin LEE, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/sensing/autoware_radar_tracks_noise_filter/package.xml b/sensing/autoware_radar_tracks_noise_filter/package.xml index 8c69eeed6757b..8b08507326c98 100644 --- a/sensing/autoware_radar_tracks_noise_filter/package.xml +++ b/sensing/autoware_radar_tracks_noise_filter/package.xml @@ -2,7 +2,7 @@ autoware_radar_tracks_noise_filter - 0.1.0 + 0.38.0 autoware_radar_tracks_noise_filter Sathshi Tanaka Shunsuke Miura diff --git a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst new file mode 100644 index 0000000000000..dfaa615951d82 --- /dev/null +++ b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst @@ -0,0 +1,23 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_livox_tag_filter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_livox_tag_filter): fix unusedStructMember (`#8395 `_) + * fix:unusedStructMember + * fix:unusedStructMember + * fix:clang format + * fix:unusedStructMember + --------- +* feat(pointcloud_preprocessor): runtime configurable output topic qos (`#6658 `_) + * feat(pointcloud_preprocessor): runtime configurable output topic qos + * configurable qos in livox_tag_filter_node + * configurable qos in radar_scan_to_pointcloud2 + --------- +* refactor(livox_tag_filter): prefix package and namespace with autoware (`#7788 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858, ralwing + +0.26.0 (2024-04-03) +------------------- diff --git a/sensing/livox/autoware_livox_tag_filter/package.xml b/sensing/livox/autoware_livox_tag_filter/package.xml index e9f588db6479c..43a4de255d9da 100644 --- a/sensing/livox/autoware_livox_tag_filter/package.xml +++ b/sensing/livox/autoware_livox_tag_filter/package.xml @@ -2,7 +2,7 @@ autoware_livox_tag_filter - 0.1.0 + 0.38.0 The autoware_livox_tag_filter package Ryohsuke Mitsudome Kenzo Lobos-Tsunekawa diff --git a/sensing/vehicle_velocity_converter/CHANGELOG.rst b/sensing/vehicle_velocity_converter/CHANGELOG.rst new file mode 100644 index 0000000000000..d24a2bf62911c --- /dev/null +++ b/sensing/vehicle_velocity_converter/CHANGELOG.rst @@ -0,0 +1,55 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package vehicle_velocity_converter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(vehicle_velocity_converter): apply static analysis (`#7975 `_) + refactor based on linter +* feat(vehicle_velocity_converter): componentize VehicleVelocityConverter (`#7116 `_) + * remove unusing main func file + * mod to componentize and use glog + * change log output from screen to both + --------- + Co-authored-by: Yamato Ando +* feat!: replace autoware_auto_msgs with autoware_msgs for sensing modules (`#7247 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* Contributors: Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* refactor(sensing-vehicle-velocity-converter): rework parameters (`#5609 `_) + * sensing-vehicle-velocity-converter-module + * sensing-vehicle-velocity-converter + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat(vehicle_velocity_converter): add `speed_scale_factor` (`#2641 `_) + * feat(vehicle_velocity_converter): add speed_scale_factor + * add parameter description in readme + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(vehicle_velocity_converter): simpify parameter inputs (`#1727 `_) + * fix(vehicle_velocity_converter): simpify parameter inputs + * fix readme and default value + * fix default value +* feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#1120 `_) + * first commit + * ci(pre-commit): autofix + * check if angular_velocity_queue\_ is empty or not + * move vehicle velocity converter to sensing + * ci(pre-commit): autofix + * fix + * ci(pre-commit): autofix + * reflected reviews + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Vincent Richard, karishma1911, kminoda diff --git a/sensing/vehicle_velocity_converter/package.xml b/sensing/vehicle_velocity_converter/package.xml index b32b51bc52e10..57400454b9d8e 100644 --- a/sensing/vehicle_velocity_converter/package.xml +++ b/sensing/vehicle_velocity_converter/package.xml @@ -2,7 +2,7 @@ vehicle_velocity_converter - 0.0.0 + 0.38.0 The vehicle_velocity_converter package Ryu Yamamoto Apache License 2.0 diff --git a/simulator/autoware_carla_interface/CHANGELOG.rst b/simulator/autoware_carla_interface/CHANGELOG.rst new file mode 100644 index 0000000000000..d72802f44273d --- /dev/null +++ b/simulator/autoware_carla_interface/CHANGELOG.rst @@ -0,0 +1,23 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_carla_interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(autoware_carla_interface): resolve init file error and colcon marker warning (`#9115 `_) +* fix: removed access to unused ROS_VERSION environment variable. (`#8896 `_) +* ci(pre-commit): autoupdate (`#7630 `_) + * ci(pre-commit): autoupdate + * style(pre-commit): autofix + * fix: remove the outer call to dict() + --------- + Co-authored-by: github-actions + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: mitsudome-r +* feat(carla_autoware): add interface to easily use CARLA with Autoware (`#6859 `_) + Co-authored-by: Minsu Kim +* Contributors: Esteve Fernandez, Giovanni Muhammad Raditya, Jesus Armando Anaya, Yutaka Kondo, awf-autoware-bot[bot] + +0.26.0 (2024-04-03) +------------------- diff --git a/simulator/autoware_carla_interface/package.xml b/simulator/autoware_carla_interface/package.xml index 136138a0101b0..d71f4d0d85924 100644 --- a/simulator/autoware_carla_interface/package.xml +++ b/simulator/autoware_carla_interface/package.xml @@ -1,7 +1,7 @@ autoware_carla_interface - 0.0.0 + 0.38.0 The carla autoware bridge package Muhammad Raditya GIOVANNI Maxime CLEMENT diff --git a/simulator/autoware_carla_interface/setup.py b/simulator/autoware_carla_interface/setup.py index 9b3ce02a4989c..346f1838670ab 100644 --- a/simulator/autoware_carla_interface/setup.py +++ b/simulator/autoware_carla_interface/setup.py @@ -7,7 +7,7 @@ setup( name=package_name, - version="0.0.0", + version="0.38.0", packages=[package_name], data_files=[ ("share/" + package_name, glob("config/*")), diff --git a/simulator/dummy_perception_publisher/CHANGELOG.rst b/simulator/dummy_perception_publisher/CHANGELOG.rst new file mode 100644 index 0000000000000..c4cd015e71901 --- /dev/null +++ b/simulator/dummy_perception_publisher/CHANGELOG.rst @@ -0,0 +1,1056 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package dummy_perception_publisher +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(dummy_perception_publisher, tier4_dummy_object_rviz_plugin): separate dummy object msg (`#8828 `_) + * fix: dummy object rviz plugin dependency + * fix: remove message from dummy perception publisher + * fix: node name + --------- +* feat(dummy_perception_publisher): modify orientation availability of dummy objects (`#8534 `_) + feat: add orientation availability for tracked objects in perception publisher +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) + * refactor(shape_estimation): add package name prefix of autoware\_ + * style(pre-commit): autofix + * fix: mising prefix + * fix: cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) + refactor(detected_object_feature_remover): add package name prefix of autoware\_ +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat!: replace autoware_auto_msgs with autoware_msgs for simulator modules (`#7248 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* Contributors: Kosuke Takeuchi, Ryohsuke Mitsudome, Taekjin LEE, Takayuki Murooka, Yutaka Kondo, badai nguyen + +0.26.0 (2024-04-03) +------------------- +* fix(log-messages): reduce excessive log messages (`#5971 `_) +* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) +* fix: take dummy objects' height into calculation when locating their Z position (`#4195 `_) + * Update node.cpp + fix: consider dummy objects' height when locating its Z position + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(dummy_perception_publisher): fix runtime error (`#3869 `_) + fix(dummy_perception_publisher): fix namespace +* feat(dummy_perception_publisher): publish ground truth object in option (`#3731 `_) + * add ground truth publisher + * refactor ground truth publisher + * enable to fix random seed + * update readme + * change GT output name to debug info + * debug info must be under the node ns + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* fix(dummy_perception_publisher): add parameter to configure z pose of dummy object (`#3457 `_) +* chore(typo): eliminate typos (`#2216 `_) + * Replace 'asssert' with 'assert' + * fix(typo): computationall => computational + * fix(typo): collinearity => collinearity + * fix(typo): hypothenus => hypotenuse + * fix(typo): numbef => number + * fix(typo): missmatched => mismatched + * fix(typo): minimun => minimum + * fix(typo): neighbore => neighbor + * fix(typo): neighbour => neighbor + * fix(typo): propery => properly + * ci(pre-commit): autofix + * fix(typo): reagion => region + * fix(typo): shirinking => shrinking + * fix(typo): turining => turning + * fix(typo): lexas => lexus + * fix(typo): fastetst => fastest + * fix(typo): analyse => analyze + * fix(typo): ordinaray => ordinary + * fix(typo): existance => existence + * fix(typo): insert missing space + * fix(typo): modify url including typo in original url + * fix(typo): precompined => precomputed + * fix(typo): magitude => magnitude + * fix(typo): exernal => external + * fix(typo): undderlying => underlying + * fix(typo): expicitly => explicitly + * fix(typo): paremterized => parameterized + * fix(typo): thier => their + * fix(typo): simualtor => simulator + * fix(typo): modifiy => modify + * fix(typo): neccessary => necessary + * fix(typo): travelled => traveled + * fix(typo): heursitic => heuristic + * fix(typo): chagne => change + * fix(typo): waypints => waypoints + * fix(typo): unknwon => unknown + * fix(typo): true => true + * fix(typo): approximiate => approximate + * fix(typo): analitically => analytically + * fix(typo): modify url including typo in original url + * fix(typo): computationall => computational + * fix(typo): hypothenus => hypotenuse + * fix(typo): neighbour => neighbor + * ci(pre-commit): autofix + * fix(typo): modify url including typo in original url + * fix(typo): kiro => kilo + * fix(typo): flowchar => flowchart + * fix(typo): projecton => projection + * fix(cspell): divide variable name with space to fix cspell error + * fix(typo): yawrate => yaw rate + * fix(typo): timelag => time_lag + * fix(cspell): divide variable name with space to fix cspell error + * fix(typo): retrive => retrieve + * fix(typo): posemsg => pose msg + * fix(cspell): replace northup with east_north_up + * ci(pre-commit): autofix + * fix(cspell): ignore person names + * fix(cspell): ignore cspell error due to the source from OpenCV + * fix(cspell): ignore cspell error due to the source from OpenCV + * ci(pre-commit): autofix + * chore(spell-check): ignore minx, maxx, miny, maxy, minz, maxz from autoware parameter names + * chore(spell-check): Ignore cspell errors caused by external factor(plotjuggler) + * fix(typo): dereferencable => dereferenceable + * fix(typo): maxs => maxes + * fix(typo): interpolatable => interpolable (more common) + * fix(typo): fillter => filter + * fix(typo): retrurn => return + * fix(typo): diagnotics => diagnostics + * fix(typo): Frist => First + * chore(cspell): ignore ptfilter (external reference code) + * fix(typo): overwite => overwrite + * fix(cspell): use semi-major instead of semimajor + * fix(typo): transien => transient + * chore(cspell): ignore multipolygon, multilinestring + * fix(typo): symetric => symmetric + * chore(cspell): ignore Gammell (person name) + * chore(cspell): ignore Karaman (person name) + * chore(cspell): ignore feps with adding explanation + * chore(cspell): replace iradius with i_radius + * chore(cspell): replace inorm with inv_norm + * chore(cspell): replace idist with i_dist + * chore(cspell): ignore lfit, LFIT + * chore(cspell): ignore Bboxes + * fix(typo): unsuppoerted => unsupported + * chore(cspell): ignore person names + * chore(cspell): replace eigvec with eig_vec + * chore(cspell): replace eigv with eig_v + * chore(cspell): ignore eigenbox + * chore(cspell): replace fltmax with flt_max + * chore(cspell): ignore asan + * ci(pre-commit): autofix + * chore(cspell): ignore rsspace with adding explanation + * chore(cspell): replace bfqueue with bf_queue + * chore(cspell): expanded abbreviations in variable names　in debug_plot.py + * chore(cspell): ignore nparr with adding explanation + * chore(cspell): replace vmodel with vehicle_model + * chore(cspell): ignore fpalgos + * ci(pre-commit): autofix + * chore(cspell): replace inpro with inner_product + * chore(cspell): replace iradius with i_radius + * chore(cspell): replace sstm with ss + * chore(cspell): ignore dend + * chore(cspell): ignore ndim, ndata, linewidth + * ci(pre-commit): autofix + * chore(cspell): ignore errors from parameter name + * fix(typo): socre => score + * chore(cspell): newstamp => new_stamp + * chore(cspell): fuseon => fuseOn + * chore(cspell): stdpair => std_pair + * chore(cspell): boxid => box_id + * fix(typo): intensity => intensity + * fix(typo): inorder to => in order to + * chore(cspell): ignore divup + * chore(cspell): faceobjects => face_objects + * chore(cspell): ignore rsspace + * chore(cspell): ignore errors from citation + * chore(cspell): ignore moraisim + * chore(cspell): ignore ADMM + * chore(cspell): ignore pointinpoly from reference + * fix(typo): replaned => replanned + * fix(typo): interaface => interface + * fix(typo): supress => suppress + * ci(pre-commit): autofix + * fix(typo): distane => distance + * fix(typo): relevent => relevant + * fix(typo): pedestrain => pedestrian + * fix(typo): obejct => object + * fix(typo): paramters => parameters + * ci(pre-commit): autofix + * chore(cspell): ignore asdasd + * chore(cspell): unnormalized => un-normalized + * chore(cspell): precompilation => pre-compilation + * fix(typo): compensents => components + * fix(typo): cummulative => cumulative + * chore(cspell): ignore degrounded + * chore(cspell): ignore person names + * ci(pre-commit): autofix + * chore(cspell): publically => publicly + * chore(cspell): interpolable => interpolatable + * chore(cspell): ignore longl + * chore(cspell): pngs => png images + * chore(cspell): concate => concat + * chore(cspell): ignore cand + * chore(cspell): image magick => imagemagick + * fix(typo): faceo_ject=> face_object + * chore(cspell): velocityinsertion => velocity insertion + * fix(typo): euclidian => euclidean + * chore(cspell): ignore steerings + * chore(cspell): ignore OCCUPANCYGRID + * fix(typo): occuring => occurring + * fix(typo): refere => refer + * chore(cspell): ignore fourcell + * chore(cspell): eigvalue => eigenvalue + * chore(cspell): ignore badpt + * chore(cspell): ignore divb + * ci(pre-commit): autofix + * style(pre-commit): autofix + * doc: add comment to describe LFIT + Co-authored-by: Yukihiro Saito + * fix(typo): computationall => computational + * fix(typo): hypothenus => hypotenuse + * ci(pre-commit): autofix + * fix(typo): computationall => computational + * fix(typo): hypothenus => hypotenuse + * ci(pre-commit): autofix + * update + * fix(typo): interpolatable => interpolable (more common) + * Squashed commit of the following: + commit c7d3b7d2132323af3437af01e9d774b13005bace + Author: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> + Date: Fri Dec 16 13:51:35 2022 +0900 + test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) + commit 6731e0ced39e3187c2afffe839eaa697a19e5e84 + Author: kminoda <44218668+kminoda@users.noreply.github.com> + Date: Fri Dec 16 09:29:35 2022 +0900 + feat(pose_initializer): partial map loading (`#2500 `_) + * first commit + * move function + * now works + * ci(pre-commit): autofix + * update readme + * ci(pre-commit): autofix + * clarify how to enable partial mao loading interface + * ci(pre-commit): autofix + * update readme + * ci(pre-commit): autofix + * Update localization/pose_initializer/config/pose_initializer.param.yaml + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * fix pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + commit efb4ff1cea6e07aa9e894a6042e8685e30b420ba + Author: Kosuke Takeuchi + Date: Thu Dec 15 17:29:44 2022 +0900 + feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) + * feat(trajectory_follower): extend mpc trajectory for terminal yaw + * make mpc min vel param + * add mpc extended point after smoothing + * Revert "make mpc min vel param" + This reverts commit 02157b6ae0c2ff1564840f6d15e3c55025327baf. + * add comment and hypot + * remove min vel + * add flag for extending traj + * add extend param to default param + * fix typo + * fix from TakaHoribe review + * fix typo + * refactor + commit ad2ae7827bdc3af7da8607fdd53ea74940426421 + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Thu Dec 15 15:52:34 2022 +0900 + feat(component_interface_tools): add service log checker (`#2503 `_) + * feat(component_interface_utils): add service log checker + * feat(component_interface_tools): add service log checker + * feat(component_interface_tools): add diagnostics + * feat: update system error monitor config + commit 4a13cc5a32898f5b17791d9381744bf71ff8ed20 + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Thu Dec 15 12:54:11 2022 +0900 + fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) + commit 77b1c36b5ca89b25250dcbb117c9f03a9c36c1c4 + Author: Kyoichi Sugahara <81.s.kyo.19@gmail.com> + Date: Thu Dec 15 10:45:45 2022 +0900 + feat(behavior_path_planner): change side shift module logic (`#2195 `_) + * change side shift module design + * cherry picked side shift controller + * add debug marker to side shift + * fix pointer error due to direct assignment + added make_shared + * add flow chart + * add status of AFTER_SHIFT + * remove function for debug + * ci(pre-commit): autofix + * fix flow chart + * ci(pre-commit): autofix + Co-authored-by: tanaka3 + Co-authored-by: Muhammad Zulfaqar Azmi + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit 9183c4f20eb4592ed0b48c2eac67add070711677 + Author: Takamasa Horibe + Date: Wed Dec 14 19:59:00 2022 +0900 + refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) + commit ed992b10ed326f03354dce3b563b8622f9ae9a6c + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Wed Dec 14 17:48:24 2022 +0900 + fix(behavior_path_planner): fix planner data copy (`#2501 `_) + commit 0c6c46b33b3c828cb95eaa31fcbf85655fc6a55f + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Wed Dec 14 14:42:16 2022 +0900 + fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) + * feat(behavior_path_planner): fix find nearest function from lateral distance + * empty commit + commit a26b69d1df55e9369ea3adcdd011ae2d7c86dfb7 + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Wed Dec 14 11:28:07 2022 +0900 + feat(behavior_path_planner): fix overlap checker (`#2498 `_) + * feat(behavior_path_planner): fix overlap checker + * remove reserve + commit 3a24859ca6851caaeb25fc4fac2334fcbdb887d1 + Author: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> + Date: Tue Dec 13 16:51:59 2022 +0300 + feat(mission_planner): check goal footprint (`#2088 `_) + commit b6a18855431b5f3a67fcbf383fac8df2b45d462e + Author: Takamasa Horibe + Date: Tue Dec 13 22:46:24 2022 +0900 + feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) + commit f1a9a9608559a5b89f631df3dc2fadd037e36ab4 + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Tue Dec 13 19:47:16 2022 +0900 + feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) + * feat(behavior_path_planner): clean drivable area code + * make a function for turn signal decider + commit fafe1d8235b99302bc9ba8f3770ae34878f1e7e7 + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Tue Dec 13 18:19:41 2022 +0900 + feat(behavior_path_planner): change turn signal output timing (`#2493 `_) + commit c48b9cfa7074ecd46d96f6dc43679e17bde3a63d + Author: kminoda <44218668+kminoda@users.noreply.github.com> + Date: Tue Dec 13 09:16:14 2022 +0900 + feat(map_loader): add differential map loading interface (`#2417 `_) + * first commit + * ci(pre-commit): autofix + * added module load in _node.cpp + * ci(pre-commit): autofix + * create pcd metadata dict when either of the flag is true + * ci(pre-commit): autofix + * fix readme + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit 9a3613bfcd3e36e522d0ea9130f6200ca7689e2b + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Tue Dec 13 08:49:23 2022 +0900 + docs(default_ad_api): add readme (`#2491 `_) + * docs(default_ad_api): add readme + * feat: update table + commit 49aa10b04de61c36706f6151d11bf17257ca54d1 + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Tue Dec 13 06:46:20 2022 +0900 + feat(default_ad_api): split parameters into file (`#2488 `_) + * feat(default_ad_api): split parameters into file + * feat: remove old parameter + * fix: test + * feat: add default config + commit 7f0138c356c742b6e15e571e7a4683caa55969ac + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Mon Dec 12 22:16:54 2022 +0900 + feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) + * update + * update + * update + * update obstacle avoidance planner + * update + * clean code + * uddate + * clean code + * remove resample + * update + * add orientation + * change color + * update + * remove drivable area + * add flag + * update + * update color + * fix some codes + * change to makerker array + * change avoidance utils + commit c855e23cc17d1518ebce5dd15629d03acfe17da3 + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Mon Dec 12 17:15:10 2022 +0900 + refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) + commit fa04d540c9afdded016730c9978920a194d2d2b4 + Author: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Date: Mon Dec 12 16:04:00 2022 +0900 + feat: replace python launch with xml launch for system monitor (`#2430 `_) + * feat: replace python launch with xml launch for system monitor + * ci(pre-commit): autofix + * update figure + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit 4a6990c49d1f8c3bedfb345e7c94c3c6893b4099 + Author: Kosuke Takeuchi + Date: Mon Dec 12 15:01:39 2022 +0900 + feat(trajectory_follower): pub steer converged marker (`#2441 `_) + * feat(trajectory_follower): pub steer converged marker + * Revert "feat(trajectory_follower): pub steer converged marker" + This reverts commit a6f6917bc542d5b533150f6abba086121e800974. + * add steer converged debug marker in contoller_node + commit 3c01f15125dfbc45e1050ee96ccc42618d6ee6fd + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Mon Dec 12 12:48:41 2022 +0900 + docs(tier4_state_rviz_plugin): update readme (`#2475 `_) + commit d8ece0040354be5381a27403bcc757354735a77b + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Mon Dec 12 11:57:03 2022 +0900 + chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) + commit 727586bfe86dc9cb21ce34d9cbe19c241e162b04 + Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Date: Mon Dec 12 10:00:35 2022 +0900 + fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) + * fix(behavior_path_planner): lane change candidate resolution + * rework sampling based on current speed + * refactor code + * use util's resampler + * consider min_resampling_points and resampling dt + * simplify code + commit 284548ca7f38b1d83af11f2b9caaac116eb9b09c + Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Date: Mon Dec 12 09:57:19 2022 +0900 + fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) + commit 469d8927bd7a0c98b9d491d347e111065973e13f + Author: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Date: Fri Dec 9 21:27:18 2022 +0900 + revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) + This reverts commit 8e13ced6dfb6edfea77a589ef4cb93d82683bf51. + commit d924f85b079dfe64feab017166685be40e977e62 + Author: NorahXiong <103234047+NorahXiong@users.noreply.github.com> + Date: Fri Dec 9 19:53:51 2022 +0800 + fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + commit b2ded82324bce78d9db3ff01b0227b00709b1efe + Author: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> + Date: Fri Dec 9 17:12:13 2022 +0900 + fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) + * fix: reclassify ground cluster pcl + * fix: add lowest-based recheck + * chore: refactoring + * chore: refactoring + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> + commit 8906a1e78bc5b7d6417683ecedc1efe3f48be31e + Author: Takamasa Horibe + Date: Fri Dec 9 16:29:45 2022 +0900 + fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) + commit d4939058f05f9a1609f0ed22afbd0d4febfb212d + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Fri Dec 9 12:40:30 2022 +0900 + feat(behavior_velocity_planner): clean walkway module (`#2480 `_) + commit d3b86a37ae7c3a0d59832caf56afa13b148d562c + Author: Makoto Kurihara + Date: Thu Dec 8 22:59:32 2022 +0900 + fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) + commit 2dde073a101e96757ef0cd189bb9ff06836934e9 + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Thu Dec 8 17:16:13 2022 +0900 + feat(behavior_velocity_planner): add velocity factors (`#1985 `_) + * (editting) add intersection_coordination to stop reason + * (editting) add intersection coordination to stop reasons + * (Editting) add v2x to stop reason + * (editting) add stop reason2 publisher + * (editting) add stop reason2 to scene modules + * add stop reason2 to obstacle stop planner and surround obstacle checker + * Modify files including unintended change by rebase + * ci(pre-commit): autofix + * Modification 1: not to publsh vacant stop reason, 2: change default status in obstacle stop and surround obstacle checker + * fix error + * ci(pre-commit): autofix + * modification for renaming stop_reason2 to motion_factor + * (Editting) rename variables + * bug fix + * (WIP) Add motion factor message. Modify scene modules due to new motion factor. Moving motion factor aggregator. + * (WIP) Save current work. Modify aggregator, CMakeList. Add launcher + * (WIP) Solved build error, but not launched + * (WIP) fixing error in launch + * (WIP) fixing error in launch + * (WIP) fixing launch error + * Fix error in launching motion factor aggregator + * Delete unnecessary comment-out in CMakelists. Change remapping in launcher. + * ci(pre-commit): autofix + * pull the latest foundation/main + * (fix for pre-commit.ci) Add to motion_factor_aggregator.hpp + * ci(pre-commit): autofix + * feat: add velocity factor interface + * fix: fix build error + * feat: stop sign + * WIP + * feat: update visualizer + * feat: modify traffic light manager + * feat: update velocity factors + * feat: update api + * feat: move adapi msgs + * feat: remove old aggregator + * feat: move api + * feat: rename message + * feat: add using + * feat: add distance + * feat: fix build error + * feat: use nan as default distance + * fix: set virtual traffic light detail + * fix: remove debug code + * fix: copyright + Co-authored-by: TakumiKozaka-T4 + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit 9a5057e4948ff5ac9165c14eb7112d79f2de76d5 + Author: Kosuke Takeuchi + Date: Thu Dec 8 13:42:50 2022 +0900 + fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) + commit cddb8c74d0fbf49390b4d462c20c12bc257f4825 + Author: kminoda <44218668+kminoda@users.noreply.github.com> + Date: Thu Dec 8 11:57:04 2022 +0900 + feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) + * feat(gyro_odometer): publish when both data arrive + * remove unnecessary commentouts + * ci(pre-commit): autofix + * use latest timestamp + * small fix + * debugged + * update gyro_odometer + * ci(pre-commit): autofix + * add comments + * add comments + * ci(pre-commit): autofix + * fix timestamp validation flow + * ci(pre-commit): autofix + * remove unnecessary commentouts + * pre-commit + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit f0f513cf44532dfe8d51d27c4caef23fb694af16 + Author: kminoda <44218668+kminoda@users.noreply.github.com> + Date: Thu Dec 8 11:08:29 2022 +0900 + fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) + commit 01daebf42937a05a2d83f3dee2c0778389492e50 + Author: Takayuki Murooka + Date: Thu Dec 8 00:28:35 2022 +0900 + fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) + commit 26ef8174b1c12b84070b36df2a7cd14bfa9c0363 + Author: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + Date: Wed Dec 7 19:32:09 2022 +0900 + fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) + * fix: rename use_external_emergency_stop to check_external_emergency_heartbeat + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + commit 024b993a0db8c0d28db0f05f64990bed7069cbd8 + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Wed Dec 7 18:00:32 2022 +0900 + fix(motion_utils): rename sampling function (`#2469 `_) + commit c240ce2b6f4e79c435ed651b347a7d665a947862 + Author: Yukihiro Saito + Date: Wed Dec 7 16:33:44 2022 +0900 + feat: remove web controller (`#2405 `_) + commit 2992b1cadae7e7ac86fd249998ce3c7ddbe476c9 + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Wed Dec 7 15:39:28 2022 +0900 + feat(motion_utils): add points resample function (`#2465 `_) + commit 4a75d7c0ddbd88f54afaf2bb05eb65138a53ea60 + Author: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> + Date: Wed Dec 7 14:42:33 2022 +0900 + docs: update training data for traffic light (`#2464 `_) + * update traffic light cnn classifier README.md + * correct to upper case + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + commit a4287165be87fa7727f79c01dfb0bea6af54c333 + Author: Ryuta Kambe + Date: Wed Dec 7 12:21:49 2022 +0900 + perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) + commit 0a5b2857d3b2c1c9370598013b25aeaebf2d654d + Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Date: Wed Dec 7 12:03:46 2022 +0900 + feat(behavior_path_planner): cut overlapped path (`#2451 `_) + * feat(behavior_path_planner): cut overlapped path + * clean code + commit 65003dc99f2abe937afcc010514530fa666fbbfd + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Wed Dec 7 11:06:41 2022 +0900 + revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) + Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" + This reverts commit c4224854a7e57a9526dde998f742741fe383471c. + commit fab18677ca4de378faff84a41db5147577e7448d + Author: Makoto Kurihara + Date: Wed Dec 7 10:32:41 2022 +0900 + fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) + commit a1d3c80a4f5e3a388887a5afb32d9bf7961301f1 + Author: Ambroise Vincent + Date: Tue Dec 6 10:39:02 2022 +0100 + fix(tvm_utility): copy test result to CPU (`#2414 `_) + Also remove dependency to autoware_auto_common. + Issue-Id: SCM-5401 + Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d + Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com> + commit eb9946832c7e42d5380fd71956165409d0b592c3 + Author: Mamoru Sobue + Date: Tue Dec 6 18:11:41 2022 +0900 + chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) + changed logging level + commit c4224854a7e57a9526dde998f742741fe383471c + Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Date: Tue Dec 6 17:01:37 2022 +0900 + fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) + * fix(default_ad_api): fix autoware state to add wait time + * Update system/default_ad_api/src/compatibility/autoware_state.cpp + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + commit f984fbb708cb02947ec2824ce041c739c35940f7 + Author: Takamasa Horibe + Date: Tue Dec 6 13:55:17 2022 +0900 + feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) + * feat(transition_manager): add param to ignore autonomous transition condition + * same for modeChangeCompleted + * remove debug print + commit d3e640df270a0942c4639e11451faf26e099bbe1 + Author: Tomoya Kimura + Date: Tue Dec 6 13:01:06 2022 +0900 + feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) + * chore(cspell): interpolable => interpolatable + * Revert "Merge branch 'destroy-typos-check-all' into destroy-typos" + This reverts commit 6116ca02d9df59f815d772a271fed7b0b21ebaf7, reversing + changes made to 1f7157a6b6d957dc0ddd2ac5ef7f8a36c94b96e4. + * chore: fix duplication of parameter + * chore: fix duplication of function + * revert: system/system_monitor/launch/system_monitor.launch.xml + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Yukihiro Saito +* feat(dummy_perception_publisher): publish object with acc (`#1853 `_) + * feat(dummy_perception_publisher): publish object with acc + * fix + * fix +* fix(dummy_perception_publisher): independent of pointcloud from detection_successful_rate (`#1166 `_) + * fix(dummy_perception_publisher): independent of pointcloud from detection_success_rate + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* perf(dummy_perception_publisher): tune ego-centric pointcloud generation of dummy perception publisher (`#926 `_) + * Take advantage of visible range + * Tune + * Fix: typo + * Use hypot +* fix(dummy_perception_publisher): publish multiple layers of pointcloud (`#882 `_) + * fix: single -> multiple layers pointcloud + * refactor: share common among different pcloud creators +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* chore: remove bad chars (`#845 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* feat(dummy_perception_publisher): publish realistic dummy pointcloud using raymarchig (`#527 `_) + * Create pointcloud by raycasting from vehicle + * [after-review] Use vector of ObjectInfo + * [after-review] Implemented by strategy pattern + * [after-review] split files + * Use pcl raytracing + Tmp + Tmp + Tmp + * Add signed distance function lib + * Use sdf library + * Remove no longer used functions + * Refactor + * Simplify getPoint + * Raytracing considering inter object relation + * Add random noise + * Default is object centric + * Return if no objects are detected + * Change definition of tf_global_to_local (same as other autoware codes) + * Remove create method + * Reaname: VehicleCentric -> EgoCentric + * Refactor a bit + * Tune parameter + * Fix: Even if selected_idices is zero, pointclouds must be published + * Fix launch file + * Fix typo + * Fix: create merged pointcloud when no idx is selected + * Use ray-maching by default +* fix(dummy_perception_publisher): modify build error in rolling (`#761 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: move empty_objects_publisher (`#613 `_) + * feat: move empty_objects_publisher + * fix group of empty_object_publisher +* fix(dummy_perception_publisher): modified objects also use baselink z-position (`#588 `_) +* revert(dummy_perception): change leaf size and disable ray trace (`#468 `_) + * Revert "chore(dummy_perception_publisher): change raytrace param (`#414 `_)" + This reverts commit d29e0e1d6630ef53edea1dd66bebf1a657aa6e8b. + * chore(dummy_perception): revert change leaf size and disable raytrace +* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (`#465 `_) + * feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simualtor.launch.xml + * remove perception launching dummy_perception_publisher.launch.xml + * remove unnecessary comment +* fix(dummy_perception): fix to use launch at perception launch (`#454 `_) + * fix(dummy_perception): fix to use launch file in perception launch + * fix(tier4_perception_launch): fix angle increment for occupancy grid +* chore(dummy_perception_publisher): change raytrace param (`#414 `_) +* chore: replace legacy timer (`#329 `_) + * chore(goal_distance_calculator): replace legacy timer + * chore(path_distance_calculator): replace legacy timer + * chore(control_performance_analysis): replace legacy timer + * chore(external_cmd_selector): replace legacy timer + * chore(joy_controller): replace legacy timer + * chore(lane_departure_checker): replace legacy timer + * chore(obstacle_collision_checker): replace legacy timer + * chore(pure_pursuit): replace legacy timer + * chore(shift_decider): replace legacy timer + * chore(trajectory_follower_nodes): replace legacy timer + * chore(vehicle_cmd_gate): replace legacy timer + * chore(ekf_localizer): replace legacy timer + * chore(localization_error_monitor): replace legacy timer + * chore(multi_object_tracker): replace legacy timer + * chore(tensorrt_yolo): replace legacy timer + * chore(traffic_light_classifier): replace legacy timer + * chore(traffic_light_ssd_fine_detector): replace legacy timer + * chore(traffic_light_visualization): replace legacy timer + * chore(behavior_path_planner): replace legacy timer + * chore(costmap_generator): replace legacy timer + * chore(freespace_planner): replace legacy timer + * chore(planning_error_monitor): replace legacy timer + * chore(scenario_selector): replace legacy timer + * chore(pointcloud_preprocessor): replace legacy timer + * chore(dummy_perception_publisher): replace legacy timer + * chore(ad_service_state_monitor): replace legacy timer + * chore(dummy_diag_publisher): replace legacy timer + * chore(emergency_handler): replace legacy timer + * chore(system_error_monitor): replace legacy timer + * chore(topic_state_monitor): replace legacy timer + * chore(accel_brake_map_calibrator): replace legacy timer + * chore(external_cmd_converter): replace legacy timer + * chore(pacmod_interface): replace legacy timer + * chore(lint): apply pre-commit +* fix(dummy_perception): fix ns and topic (`#242 `_) +* feat: change launch package name (`#186 `_) + * rename launch folder + * autoware_launch -> tier4_autoware_launch + * integration_launch -> tier4_integration_launch + * map_launch -> tier4_map_launch + * fix + * planning_launch -> tier4_planning_launch + * simulator_launch -> tier4_simulator_launch + * control_launch -> tier4_control_launch + * localization_launch -> tier4_localization_launch + * perception_launch -> tier4_perception_launch + * sensing_launch -> tier4_sensing_launch + * system_launch -> tier4_system_launch + * ci(pre-commit): autofix + * vehicle_launch -> tier4_vehicle_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: tanaka3 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) + * change pkg name: autoware\_*_msgs -> tier\_*_msgs + * ci(pre-commit): autofix + * autoware_external_api_msgs -> tier4_external_api_msgs + * ci(pre-commit): autofix + * fix description + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> +* feat: add dummy perception publisher (`#90 `_) + * release v0.4.0 + * add use_object_recognition flag in dummy_perception_publisher (`#696 `_) + * remove ROS1 packages temporarily + * add sample ros2 packages + * remove ROS1 packages + * Revert "remove ROS1 packages temporarily" + This reverts commit 2e9822586a3539a32653e6bcd378715674b519ca. + * add COLCON_IGNORE to ros1 packages + * Rename launch files to launch.xml (`#28 `_) + * Port dummy_perception_publisher to ROS2 (`#90 `_) + * Port dummy_perception_publisher to ROS2 + * Uncrustify + * Lint + * Copyright + * Period + * Further ament_cpplint fixes + * Convert calls of Duration to Duration::from_seconds where appropriate (`#131 `_) + * Use quotes for includes where appropriate (`#144 `_) + * Use quotes for includes where appropriate + * Fix lint tests + * Make tests pass hopefully + * adding linters to dummy_perception_publisher (`#220 `_) + * [dummy_perception_publisher] fix launch file and installation (`#215 `_) + * [dummy_perception_publisher] fix launch file and installation + * Apply suggestions from code review + Co-authored-by: Takamasa Horibe + Co-authored-by: Takamasa Horibe + * reduce terminal ouput for better error message visibility (`#200 `_) + * reduce terminal ouput for better error message visibility + * [costmap_generator] fix waiting for first transform + * fix tests + * fix test + * modify launch file for making psim work (`#238 `_) + * modify launch file for making psim work + * remove unnecesary ns + * Ros2 v0.8.0 dummy perception publisher (`#286 `_) + * Remove "/" in frame_id (`#406 `_) + * Fix transform (`#420 `_) + * Replace rclcpp::Time(0) by tf2::TimePointZero() in lookupTransform + * Fix canTransform + * Fix test + * add use_sim-time option (`#454 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Diable dummy_perception_publisher if argument 'scenario_simulation' i… (`#1275 `_) + * Diable dummy_perception_publisher if argument 'scenario_simulation' is true + * Rename argument to 'disable_dummy_perception_publisher_node' from 'scenario_simulation' + * change theta step for obj point cloud (`#1280 `_) + * Revert changes of PR `#1275 `_ (`#1377 `_) + * Add pre-commit (`#1560 `_) + * add pre-commit + * add pre-commit-config + * add additional settings for private repository + * use default pre-commit-config + * update pre-commit setting + * Ignore whitespace for line breaks in markdown + * Update .github/workflows/pre-commit.yml + Co-authored-by: Kazuki Miyahara + * exclude svg + * remove pretty-format-json + * add double-quote-string-fixer + * consider COLCON_IGNORE file when seaching modified package + * format file + * pre-commit fixes + * Update pre-commit.yml + * Update .pre-commit-config.yaml + Co-authored-by: Kazuki Miyahara + Co-authored-by: pre-commit + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Fix dependency type of rosidl_default_generators (`#1801 `_) + * Fix dependency type of rosidl_default_generators + * Remove unnecessary depends + * Use ament_cmake_auto + * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter + * Fix mistake + * fix spell + * Fix lint issues + * Ignore flake8 warnings + Co-authored-by: Hiroki OTA + * fix topic namespace (`#2054 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) + * add sort xml hook in pre-commit + * change retval to exit_status + * rename + * add prettier plugin-xml + * use early return + * add license note + * add tier4 license + * restore prettier + * change license order + * move local hooks to public repo + * move prettier-xml to pre-commit-hooks-ros + * update version for bug-fix + * apply pre-commit + * Feature/porting occlusion spot (`#1740 `_) + * Feature/occlusion_spot safety planner public road (`#1594 `_) + * add blind spot safety planner public road + * remove duplicated procesing + * remove unused private param + * renaming fix typo add comments + * fix spell check + * velocity -> relative velocity + * calc2d, To param, simplify search, To original + * add the num possible collision gurd + * computational cost reduction + * Cosmetic change for PossibleCollisionInfo + * add interpolation to possible collision value + * refactor codes + * fix details + * invalid point gurd + * To Param + * refacotor to occlusion spot util + * cosmetic change + * clean up blindspot + * To Occlusion Spot + * revise readme + * refactor drawing + * for better explanation + * fix velocity profile + * clean up details + * cosmetic change for debug marker + * use max velocity in obstacle info instead + * add gtest for Too Many Possible Collision case + * change case + * refactor readme + * minor fix + * add more occlusion spot explanation + * replace svg + * add gtest build path lanelet + * hotfix lateral distance and searching method + * update g test for lateral distance + * use faster search + * set more realistic param + * add lanelet subtype highway + * cosmetic change of reviews + * add occlusion spot module in private area (`#1640 `_) + * add occlusion spot in private + * For debugging change + * add spline interpolation to path + * add review changes + * adding minor change + * cosmetic change + * Vector to retval + * Blindspot To OcclusionSpot1 + * To Occlusion Spot 2 + * To Occlusions spot3 + * update gtest with unified anchor + * remove anchor + * add test slice + * simplify interpolation + * Too Occlusion spot4 + * add test buffer + * To Occlusion spot + * namespace gurd + * correct slice and add interpolation first + * handle self crossing with check for invation + * to ros debug stream + * removed unused interpolation + * add readme to plant uml + * cosmetic change + * minor change + * update readme + * review change + * change occlusion spot text color + * To Offset no Throw + * better debug marker + * catch only inversion error + * skip return in case of inversion + * for better grid + * simplify path lanelet at first + * remove std::cout + * for better path + * limit ego path inside target lanelet location + * remove last points + * cosmetic change for markers + * apply module for limited scene + * fix interpolation gurd + * for better params + * do not includes path behind + * remove dummy perception publisher + * Revert "remove dummy perception publisher" + This reverts commit 4acad985fe31dd9befaa21a16631495de6c3a117. + * replace hard coded occupancy grid option in psim + * remove respawn + * add arg to params and remove redundunt launch + * fix spell check + * fix default value + Co-authored-by: tkimura4 + * Feature/occlusion spot private slice size param (`#1703 `_) + * add min slice size + * for a bit narrow lateral distance + * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/config/occlusion_spot_param.yaml + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Rename files + * Porting to ros2 + * pre-commit fixes + * Fix typo + * Fix launch namespace + Co-authored-by: tkimura4 + * Fix parameter type + Co-authored-by: tkimura4 + * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot_in_private_road.cpp + Co-authored-by: tkimura4 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: tkimura4 + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * Change formatter to clang-format and black (`#2332 `_) + * Revert "Temporarily comment out pre-commit hooks" + This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. + * Replace ament_lint_common with autoware_lint_common + * Remove ament_cmake_uncrustify and ament_clang_format + * Apply Black + * Apply clang-format + * Fix build errors + * Fix for cpplint + * Fix include double quotes to angle brackets + * Apply clang-format + * Fix build errors + * Add COLCON_IGNORE (`#500 `_) + * port dummy perception publisher to auto (`#562 `_) + * port dummy perception publisher to auto + * autoware_perception_msgs/DynamicObjectWithFeatureArray convert to autoware_perception_msgs/DetectedObjectsWithFeature + * change tracked objects to PREDICTED objects + * separate pub type with real + * Add README.md to dummy perception publisher (`#641 `_) + * Added readme for dummy_perception_pub + * README update + * README update + * Fix pre-commit + * fix typo + * Update README.md + * Update README.md + * Update README.md + * Modified node.cpp + * Modified README.md + * change parameter name + * Update README.md + * [shape_estimation]change type (`#663 `_) + * change output type of shape_estimation + * remove unused function + * add dynamic_object_converter + * rename + * fix typo + * fix dummy_perception_publisher + * update readme + * fix copyright + * rename package + * add readme + * fix launch name + * remove unused variable + * fix readme + * fix convert function + * change topic name of DynamicObjectsWithFeature + * Fix no ground pointcloud topic name (`#733 `_) + Co-authored-by: j4tfwm6z + * auto/fix occupancy grid name space in dummy perception publisher (`#739 `_) + * fix name space + * change namespace: object_segmentation -> obstacle_segmentation + * feat: add use_traffic_light status + Co-authored-by: mitsudome-r + Co-authored-by: Taichi Higashide + Co-authored-by: Nikolai Morin + Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: Takamasa Horibe + Co-authored-by: Kosuke Murakami + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: tkimura4 + Co-authored-by: Tatsuya Yamasaki + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> + Co-authored-by: Kazuki Miyahara + Co-authored-by: pre-commit + Co-authored-by: Hiroki OTA + Co-authored-by: Azumi Suzuki <38061530+s-azumi@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Yohei Mishina <66298900+YoheiMishina@users.noreply.github.com> + Co-authored-by: j4tfwm6z + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* Contributors: Ahmed Ebrahim, Berkay Karaman, Daisuke Nishimatsu, Guan Muhua (Tier4), Hirokazu Ishida, Kenji Miyake, Kotaro Yoshimoto, Mamoru Sobue, Maxime CLEMENT, Satoshi OTA, Shumpei Wakabayashi, Takayuki Murooka, Takeshi Miura, Tomoya Kimura, Vincent Richard, Yoshi Ri, taikitanaka3 diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml index dda52fd5e8fbb..09c4cc63de67b 100644 --- a/simulator/dummy_perception_publisher/package.xml +++ b/simulator/dummy_perception_publisher/package.xml @@ -2,7 +2,7 @@ dummy_perception_publisher - 0.1.0 + 0.38.0 The dummy_perception_publisher package Yukihiro Saito Apache License 2.0 diff --git a/simulator/fault_injection/CHANGELOG.rst b/simulator/fault_injection/CHANGELOG.rst new file mode 100644 index 0000000000000..0fe14cbeefa11 --- /dev/null +++ b/simulator/fault_injection/CHANGELOG.rst @@ -0,0 +1,249 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package fault_injection +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(system diags): rename diag of ndt scan matcher (`#6889 `_) + rename ndt diag +* feat(fault injection): change for diagnostic graph aggregator (`#6750 `_) + * feat: change to adapt diagnostic graph aggregator + * Change the configuration to adapt to both system_error_monitor and diagnostic_graph_aggregator + * style(pre-commit): autofix + * pre-commit fix + * style(pre-commit): autofix + * spell check fix + * clang-tidy fix + * style(pre-commit): autofix + * pre-commit fix + * style(pre-commit): autofix + * fix datatype + * cleanup code + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Tomohito ANDO +* Contributors: Keisuke Shima, Takayuki Murooka, Yamato Ando, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* refactor(localization_error_monitor): rename localization_accuracy (`#5178 `_) + refactor: Rename localization_accuracy + to localization_error_ellipse +* fix(fault_injection_node): fix history_depth in subscriber qos (`#4042 `_) + * fix(fault_injection_node): fix history_depth in sub qos + * fix(fault_injection_node): add test cases + * fix(fault_injection): fix test + * fix(test_fault_injection): ensure that publication takes place + * ref(test_fault_injection): remove unused import + --------- + Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* fix(fault injection): add find package to cmake (`#2973 `_) + * fix(fault injection) add find package to cmake + * feat: add pluginlib to dependency + --------- +* ci(pre-commit): format SVG files (`#2172 `_) + * ci(pre-commit): format SVG files + * ci(pre-commit): autofix + * apply pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(fault_injection): fix diag name (`#958 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* fix: apply fixes for rolling (`#821 `_) + * fix(component_interface_utils): add USE_DEPRECATED_TO_YAML + * fix(lidar_apollo_instance_segmentation): add USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER + * add rclcpp_components to package.xml + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(fault_injection): fix empty hardware_id (`#814 `_) +* fix(fault_injection): modify build error in rolling (`#762 `_) + * fix(fault_injection): modify build error in rolling + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(fault_injection): fix launch_testing (`#489 `_) + * fix(fault_injection): fix launch_testing + * add label + * add todo comment +* ci: check include guard (`#438 `_) + * ci: check include guard + * apply pre-commit + * Update .pre-commit-config.yaml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * fix: pre-commit + Co-authored-by: Kenji Miyake + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat: rename existing packages name starting with autoware to different names (`#180 `_) + * autoware_api_utils -> tier4_api_utils + * autoware_debug_tools -> tier4_debug_tools + * autoware_error_monitor -> system_error_monitor + * autoware_utils -> tier4_autoware_utils + * autoware_global_parameter_loader -> global_parameter_loader + * autoware_iv_auto_msgs_converter -> tier4_auto_msgs_converter + * autoware_joy_controller -> joy_controller + * autoware_error_monitor -> system_error_monitor(launch) + * autoware_state_monitor -> ad_service_state_monitor + * autoware_web_controller -> web_controller + * remove autoware_version + * remove autoware_rosbag_recorder + * autoware\_*_rviz_plugin -> tier4\_*_rviz_plugin + * fix ad_service_state_monitor + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) + * change pkg name: autoware\_*_msgs -> tier\_*_msgs + * ci(pre-commit): autofix + * autoware_external_api_msgs -> tier4_external_api_msgs + * ci(pre-commit): autofix + * fix description + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> +* feat: add fault_injection packages (`#101 `_) + * Add fault injection package (`#1760 `_) + * add fault injection package + * fix copyright url + * fix for lint + * pre-commit fixed + * change license note + * separate functions for responsivity + * add tests + * add compile option + * Remove unnecessary descriptions + * Update the readme + * Replace png with svg + * Remove the constructor to follow the recommendations + * Remove amant_clang_format to match the standard + * Change the using statement to clarify the type + * Add using to shorten the type + * lint + * change variable name + * Rename input and delete output + * sort lines + * use range-based for + * added const + * Remove temporary variables + * Set an empty value to get all parameters + * change filename + * Move test files to test directory + * Remove unused lines + * fix to add reference symbol + * add read_parameter.launch.py + * remove unused option + * add comment + * Change input type to autoware_simulation_msgs + * refactoring: move parameter function to parameter_handler + * refactoring + * remove key_storage + * replace data with simulation_events + * remove temporary variable + * reflects the opinions of review + * change order + * delete template + * change event name + * reflect review request + * remove & + * change constructor argument + * delete unused function + * change to event_diag_map class + * changes for review + * fix build error + * fix test error + * refactor launch_test + * replace logging with launch.logging + reason: launch.logging supports verbose output option. + i.e. launch_test -v FILE + * merge update function + * rename callback function + * move using line + * add node name as hardware id + * fix comment + * change return value + * add menber to DiagConfig + * sort menber order + * use to_yaml + * remove const + * change function order + * rename getValue() to getDiag() + * add isEventRegistered function + * move test + * modify script + * delete else + * change cond + * use docstring style + * move msg_buffer + * rename + * rename + * fix + * fix + * fix + * use emplace_back + * add isEventRegistered + * fix build error + * remove destroy_sub,pub + * change check statement + * add comment + * fix build error + * use leveltype + * fair test + * change spin time + * restore config + * add node name + * shorten name + * change function name + * remove read_parameter + * expand timeout + * comment out launch_test + * Fix a broken link of the component diagram on Fault Injection document (`#2202 `_) + * [Fault injection] Update component diagram (`#2203 `_) + * Update component diagram + * Rename pSim to scenario_simulator_v2 + * fix upload error + * Transparent background + * Fix line widths of the component diagram on Fault Injection document (`#2205 `_) + * Feature/add fault injection settings (`#2199 `_) + * add parameter file + * add message + * Change formatter to clang-format and black (`#2332 `_) + * Revert "Temporarily comment out pre-commit hooks" + This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. + * Replace ament_lint_common with autoware_lint_common + * Remove ament_cmake_uncrustify and ament_clang_format + * Apply Black + * Apply clang-format + * Fix build errors + * Fix for cpplint + * Fix include double quotes to angle brackets + * Apply clang-format + * Fix build errors + * Add COLCON_IGNORE (`#500 `_) + * remove colcon_ignore in fault injection (`#585 `_) + * update readme in fault injection (`#644 `_) + * Update readme in fault_injection + * fix precommit + Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> + Co-authored-by: Kazuki Miyahara + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Yohei Mishina <66298900+YoheiMishina@users.noreply.github.com> + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* Contributors: DMoszynski, Daisuke Nishimatsu, Hiroki OTA, Keisuke Shima, Kenji Miyake, Maxime CLEMENT, Motz, Takagi, Isamu, Tomoya Kimura, Vincent Richard diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml index 57d1fa3401f41..7e432357139d4 100644 --- a/simulator/fault_injection/package.xml +++ b/simulator/fault_injection/package.xml @@ -2,7 +2,7 @@ fault_injection - 0.0.1 + 0.38.0 fault_injection Keisuke Shima Apache License 2.0 diff --git a/simulator/learning_based_vehicle_model/CHANGELOG.rst b/simulator/learning_based_vehicle_model/CHANGELOG.rst new file mode 100644 index 0000000000000..dc7ef365d2642 --- /dev/null +++ b/simulator/learning_based_vehicle_model/CHANGELOG.rst @@ -0,0 +1,23 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package learning_based_vehicle_model +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(learning_based_vehicle_model): fix passedByValue (`#8244 `_) + * fix:passedByValue + * fix:clang format + --------- +* fix(learning_based_vehicle_model): fix constVariableReference (`#8061 `_) + fix:constVariableReference +* fix(learning_based_vehicle_model): fix constVariablePointer warning (`#7575 `_) + * fix constVariablePointer warning + * add reference + --------- +* feat(learned_model): create package (`#6395 `_) + Co-authored-by: Tomas Nagy +* Contributors: Ryuta Kambe, Tomas Nagy, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/simulator/learning_based_vehicle_model/package.xml b/simulator/learning_based_vehicle_model/package.xml index 18db5236c272e..c09d152c432cb 100644 --- a/simulator/learning_based_vehicle_model/package.xml +++ b/simulator/learning_based_vehicle_model/package.xml @@ -2,7 +2,7 @@ learning_based_vehicle_model - 1.0.0 + 0.38.0 learning_based_vehicle_model for simple_planning_simulator Maxime Clement Tomas Nagy diff --git a/simulator/simple_planning_simulator/CHANGELOG.rst b/simulator/simple_planning_simulator/CHANGELOG.rst new file mode 100644 index 0000000000000..5f9e3570b86f1 --- /dev/null +++ b/simulator/simple_planning_simulator/CHANGELOG.rst @@ -0,0 +1,1080 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package simple_planning_simulator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(simple_planning_simulator): change orger of IDX in SimModelDelayS… (`#9128 `_) +* fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (`#8963 `_) + swap row and column +* chore(simple_planning_simulator): remove unnecessary lines (`#8932 `_) + remove unnecessary semicolons +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* fix(simple_planning_simulator): delete velocity dead band for brake (`#8685 `_) + * delete dead band +* fix(simple_planning_simulator): increase test_steer_map values (`#8631 `_) +* feat(simple_planning_simulator): print actual and expected value in test (`#8630 `_) +* fix(simple_planning_simulator): fix dimension (`#8629 `_) +* fix(simple_planning_simulator): fix acc output for the model sim_model_delay_steer_acc_geared_wo_fall_guard (`#8607 `_) + fix acceleration output +* feat(simple_planning_simulator): add VGR sim model (`#8415 `_) + * feat(simple_planning_simulator): add VGR sim model + * Update simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp + * move to interface + * add const + --------- +* feat(psim)!: preapre settings to launch localization modules on psim (`#8212 `_) +* fix(simple_planning_simulator): fix publised acc of actuation simulator (`#8169 `_) +* feat(simple_planning_simulator): add actuation command simulator (`#8065 `_) + * feat(simple_planning_simulator): add actuation command simulator + tmp + add + * remove unused functions + * common map + * pre-commit + * update readme + * add test + install test dir + fix test + * pre-commit + * clean up test for for scalability parameter + * fix typo + --------- + Co-authored-by: Takamasa Horibe +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(simple_planning_simulator): add new vehicle model with falling down (`#7651 `_) + * add new vehicle model +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(simple_planning_simulator): fix duplicateBranch warnings (`#7574 `_) + * fix(simple_planning_simulator): fix duplicateBranch warnings + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) + * chore(autoware_vehicle_info_utils): rename header + * chore(bpp-common): vehicle info + * chore(path_optimizer): vehicle info + * chore(velocity_smoother): vehicle info + * chore(bvp-common): vehicle info + * chore(static_centerline_generator): vehicle info + * chore(obstacle_cruise_planner): vehicle info + * chore(obstacle_velocity_limiter): vehicle info + * chore(mission_planner): vehicle info + * chore(obstacle_stop_planner): vehicle info + * chore(planning_validator): vehicle info + * chore(surround_obstacle_checker): vehicle info + * chore(goal_planner): vehicle info + * chore(start_planner): vehicle info + * chore(control_performance_analysis): vehicle info + * chore(lane_departure_checker): vehicle info + * chore(predicted_path_checker): vehicle info + * chore(vehicle_cmd_gate): vehicle info + * chore(obstacle_collision_checker): vehicle info + * chore(operation_mode_transition_manager): vehicle info + * chore(mpc): vehicle info + * chore(control): vehicle info + * chore(common): vehicle info + * chore(perception): vehicle info + * chore(evaluator): vehicle info + * chore(freespace): vehicle info + * chore(planning): vehicle info + * chore(vehicle): vehicle info + * chore(simulator): vehicle info + * chore(launch): vehicle info + * chore(system): vehicle info + * chore(sensing): vehicle info + * fix(autoware_joy_controller): remove unused deps + --------- +* refactor(simple_planning_simulator): remove static odom tf publisher (`#7265 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for simulator modules (`#7248 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* feat!: remove autoware_auto_tf2 package (`#7218 `_) + * feat!: remove autoware_auto_geometry package + * docs: remove autoware_auto_geometry package from docs + * feat!: remove autoware_auto_tf2 package + * fix: remove from autoware_auto_tf2 packages from docs page + --------- +* chore(simple_planning_simulator): add maintainer (`#7026 `_) +* chore(simple_planning_simulator): publish control mode before the self-position is given (`#7008 `_) +* feat(learned_model): create package (`#6395 `_) + Co-authored-by: Tomas Nagy +* Contributors: Autumn60, Dawid Moszyński, Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Tomas Nagy, Tomoya Kimura, Yuki TAKAGI, Yutaka Kondo, Zulfaqar Azmi + +0.26.0 (2024-04-03) +------------------- +* feat(simple_planning_simulator): add enable_road_slope_simulation param (`#5933 `_) +* fix(log-messages): reduce excessive log messages (`#5971 `_) +* fix(simple_planning_simulator): fix steering bias model (`#6240 `_) + * fix(simple_planning_simulator): fix steering bias model + * remove old implementation + * fix initialize order + * fix yawrate measurement + * remove unused code + * add bias to steer rate + * add comments + * fix getWz() + * Update simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp + * Update simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp + * Update simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp + --------- + Co-authored-by: kosuke55 +* feat(simple_planning_simulator): add option to use initialpose for z position (`#4256 `_) + * feat(simple_planning_simulator): add option to use initialpose for z position + * Revert "feat(simple_planning_simulator): add option to use initialpose for z position" + This reverts commit a3e2779cd38841ba49e063c42fc3a2366c176ad6. + * update initial z logic + --------- + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) + * fix(autoware_auto_common): move headers to a separate directory + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(simple_planning_simulator): add mesurent_steer_bias (`#5868 `_) + * feat(simple_planning_simulator): add mesurent_steer_bias + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(simple_plannign_simulator): add map acc model (`#5688 `_) + * (simple_planning_simulator):add delay converter model + * refactoring + rename and format + read acc map path from config + * update docs + * remove noisy print + * update map + * fix pre-commit + * update acc map + * fix pre-commit and typo + typo + typo + * Update simulator/simple_planning_simulator/README.md + Co-authored-by: Takamasa Horibe + * Update simulator/simple_planning_simulator/README.md + Co-authored-by: Takamasa Horibe + * Update simulator/simple_planning_simulator/README.md + Co-authored-by: Takamasa Horibe + * Update simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp + Co-authored-by: Takamasa Horibe + * update error message + * simplify map exmaple + * use double + * style(pre-commit): autofix + * Update simulator/simple_planning_simulator/README.md + Co-authored-by: Takamasa Horibe + * add csv loader im sim pacakges + * revert raw vehicle cmd converter + * Update simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp + Co-authored-by: Takamasa Horibe + * Update simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp + Co-authored-by: Takamasa Horibe + * Update simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp + Co-authored-by: Takamasa Horibe + --------- + Co-authored-by: Takumi Ito + Co-authored-by: Takamasa Horibe + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(simple_planning_simulator): fix ego sign pitch problem (`#5616 `_) + * fix ego sign pitch problem + * change variable name for clarity + * update documentation to clarify that driving against the lane is not supported + --------- +* fix(simple_planning_simulator): change default value of manual gear, DRIVE -> PARK (`#5563 `_) +* feat(simple_planning_simulator): add acceleration and steer command scaling factor for debug (`#5534 `_) + * feat(simple_planning_simulator): add acceleration and steer command scaling factor + * update params as debug + --------- +* fix(simple_planning_simulator): set ego pitch to 0 if road slope is not simulated (`#5501 `_) + set ego pitch to 0 if road slope is not simulated +* feat(simple_planning_simulator): add steer dead band (`#5477 `_) + * feat(simple_planning_simulator): add steer dead band + * Update simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp + Co-authored-by: Takamasa Horibe + * Update simulator/simple_planning_simulator/README.md + Co-authored-by: Takamasa Horibe + * update params + --------- + Co-authored-by: Takamasa Horibe +* fix(simple_planning_simulator): initialize variables (`#5460 `_) +* feat(simple_planning_sim): publish lateral acceleration (`#5307 `_) +* fix(simulator, controller): fix inverse pitch calculation (`#5199 `_) + Co-authored-by: Takamasa Horibe +* fix(simple_planning_simulator): fix build error (`#5062 `_) +* feat(simple_planning_simulator): consider ego pitch angle for simulation (`#4941 `_) + * feat(simple_planning_simulator): consider ego pitch angle for simulation + * update + * fix spell + * update + --------- +* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) +* docs(simple_planning_simulator): rename docs to readme (`#4221 `_) +* fix(simple_planning_simulator): old style arg for static_tf_publisher (`#3736 `_) + * fix(simple_planning_simulator): old style arg for static_tf_publisher + * Update simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* build: proper eigen deps and include (`#3615 `_) + * build: proper eigen deps and include + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* chore: sync files (`#3227 `_) + * chore: sync files + * style(pre-commit): autofix + --------- + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(simple_planning_sim): publish sensing interface imu data (`#2843 `_) + * feat(simple_planning_sim): publish sensing interface imu data + * fix covariance index + --------- +* chore(planning-sim): change debug topic name (`#2610 `_) +* fix(simple_planning_simulator): fix ideal steer acc calc (`#2595 `_) +* refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) +* feat(simple_planning_simulator): add initial twist for debug purpose (`#2268 `_) +* chore(simple_planning_simulator): add maintainer (`#2444 `_) + chore(simple_planning_simulator): add maintainer + Co-authored-by: Takamasa Horibe +* fix(simple_planning_simulator): sim model with gear acc (`#2437 `_) +* chore: remove autoware_auto_common dependency from simple_planning_simulator and osqp_interface (`#2233 `_) + remove autoware_auto_common dependency from simple_planning_simulator, osqp_interface +* chore: remove motion_common dependency (`#2231 `_) + * remove motion_common from smoother + * remove motion_common from control_performance_analysis and simple_planning_simualtor + * fix include + * add include +* refactor!: remove tier4 control mode msg (`#1533 `_) + * [simple_planning_simulator] replace T4 ControlMode msg too auto_msg + * [operation_mode_transition_manager] replace T4 ControlMode msg too auto_msg +* refactor(simple_planning_simulator): refactor covariance index (`#1972 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) + * feat(pose_initializer): support ad api + * docs: update readme + * fix: build error + * fix: test + * fix: auto format + * fix: auto format + * feat(autoware_ad_api_msgs): define localization interface + * feat: update readme + * fix: copyright + * fix: main function + * Add readme of localization message + * feat: modify stop check time + * fix: fix build error + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(simple_planning_simulator): fix param file levels (`#1612 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) + * organized planning authors and maintainers + * organized control authors and maintainers + * fix typo + * fix colcon test + * fix + Update control/external_cmd_selector/package.xml + Update control/vehicle_cmd_gate/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/motion_velocity_smoother/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/planning_debug_tools/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/shift_decider/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/pure_pursuit/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/freespace_planner/package.xml + Co-authored-by: Hiroki OTA + Update control/operation_mode_transition_manager/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update planning/planning_debug_tools/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/shift_decider/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/pure_pursuit/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Update control/operation_mode_transition_manager/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * fix + * fix + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* fix(simple_planning_simulator): fix timer type (`#1538 `_) +* feat(operation_mode_transition_manager): add package to manage vehicle autonomous mode change (`#1246 `_) + * add engage_transition_manager + * rename to operation mode transition manager + * fix precommit + * fix cpplint + * fix topic name & vehicle_info + * update launch + * update default param + * add allow_autonomous_in_stopped + * fix typo + * fix precommit +* feat(simple_planning_simulator): add acceleration publisher (`#1214 `_) + * feat(simple_planning_simulator): add acceleration publisher + * add cov +* feat(simple_planning_simulator): add control_mode server (`#1061 `_) + * add control-mode in simulator + * precommit + * update + * update readme + * update simulator + * fix typo +* fix(simple_planning_simlator): keep alive tf (`#1175 `_) + * fix(simple_planning_simlator): keep alive tf + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* docs(simulator): fixed simple_planning_simulator table (`#1025 `_) +* docs: update link style and fix typos (`#950 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * docs: update link style + * chore: fix link + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * add random point sampling function to quickly calculate the 'viewer' coordinate + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) + * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) + * fixed panel type + * modified instruction for rosbag replay case + * modified update_map_dir service name + * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) + * skipping emplace back stop reason if it is empty + * add braces + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) + * feat(behavior_path_planner): Weakened noise filtering of drivable area + * fix lanelet's longitudinal disconnection + * add comments of erode/dilate process + * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) + * refactor(vehicle-cmd-gate): using namespace for msgs + * for clang + * feat(pose_initializer): introduce an array copy function (`#900 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat: add lidar point filter when debug (`#865 `_) + * feat: add lidar point filter when debug + * ci(pre-commit): autofix + Co-authored-by: suchang + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes + * feat(default_ad_api): apply the changes of interface utils + * fix(component_interface_utils): remove old comment + * fix(component_interface_utils): add client log + * fix(component_interface_utils): remove unimplemented message + * docs(component_interface_utils): add design policy + * docs(component_interface_utils): add comment + * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) + Co-authored-by: Berkay + * feat: visualize lane boundaries (`#923 `_) + * feat: visualize lane boundaries + * fix: start_bound + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy + * Use std::string constructor to copy char array + * Fixed typo + * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) + * fix: extend following and previous search range to avoid no collision + * chore: add debug marker + * fix: simplify logic + * chore: update debug code + * fix: delete space + * fix: some fix + * ci(pre-commit): autofix + * fix: delete debug code + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * docs(surround obstacle checker): update documentation (`#878 `_) + * docs(surround_obstacle_checker): update pub/sub topics & params + * docs(surround_obstacle_checker): remove unused files + * docs(surround_obstacke_checker): update purpose + * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) + * feat(tier4_autoware_utils): add vehicle state checker + * fix(tier4_autoware_utils): use absolute value + * feat(tier4_autoware_utils): divide into two classies + * test(tier4_autoware_utils): add unit test for vehicle_state checker + * fix(tier4_autoware_utils): impl class inheritance + * docs(tier4_autoware_utils): add vehicle_state_checker document + * fix(tier4_autoware_utils): into same loop + * fix(tier4_autoware_utils): fix variables name + * fix(tier4_autoware_utils): remove redundant codes + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point + * Modify overwriteStopPoint input and output + * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) + * feat(obstacle_avoidance_planner) fix bug of stop line unalignment + * fix bug of unsorted output points + * move calcVelocity in node.cpp + * fix build error + * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) + * fix(system_monitor): add some smart information to diagnostics (`#708 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change + * fix bug of right lane change + * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * use car like constraints in mpt + * use not widest bounds for the first bounds + * organized params + * fix format + * prepare rear_drive and uniform_circle constraints + * fix param callback + * update config + * remove unnecessary files + * update tier4_planning_launch params + * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check + * feat: use marker helper + * feat(map_loader): visualize center line by points (`#931 `_) + * feat: visualize center line points + * fix: delete space + * feat: visualize center line by arrow + * revert insertMarkerArray + * fix: delete space + * feat: add RTC interface (`#765 `_) + * feature(rtc_interface): add files + * feature(rtc_interface): implement functions + * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md + * feature(rtc_interface): fix README + * feature(rtc_interface): add getModuleType() + * feature(rtc_interface): fix definition of constructor + * feature(rtc_interface): fix time stamp + * feature(rtc_interface): fix README + * feature(rtc_interface): add isRegistered and clearCooperateStatus + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore: sync files (`#911 `_) + Co-authored-by: kenji-miyake + * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) + * fix: replace boost::mutex::scoped_lock to std::scoped_lock + * fix: replace boost::mutex to std::mutex + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node + * feat(tensorrt_yolo): update arg + Co-authored-by: Kaan Colak + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner + * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * feat: add param.yaml in behavior_velocity_planner package + * some fix + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader + * fix(map_loader): remove c_str + * fix(map_loader): replace c_str to string + * fix: relative link + * fix: relative links + * fix: relative links + * fix: relative links + * fix: typo + * fix relative links + * docs: ignore rare unknown words + * ci(pre-commit): autofix + * docs: ignore unknown words one by one + * ci(pre-commit): autofix + Co-authored-by: Hiroki OTA + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takeshi Ishita + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Mamoru Sobue + Co-authored-by: TakumiKozaka-T4 <70260442+TakumiKozaka-T4@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Takayuki Murooka + Co-authored-by: Takamasa Horibe + Co-authored-by: storrrrrrrrm <103425473+storrrrrrrrm@users.noreply.github.com> + Co-authored-by: suchang + Co-authored-by: Berkay + Co-authored-by: Berkay + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> + Co-authored-by: Kosuke Takeuchi + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: kk-inoue-esol <76925382+kk-inoue-esol@users.noreply.github.com> + Co-authored-by: Fumiya Watanabe + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> + Co-authored-by: kenji-miyake + Co-authored-by: RyuYamamoto + Co-authored-by: Kaan Çolak + Co-authored-by: Kaan Colak + Co-authored-by: Kenji Miyake +* feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle + * applied pre-commit + * Added max_steer_angle in test config + Co-authored-by: Tomoya Kimura +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* chore: remove bad chars (`#845 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(autoware_auto_tf2): modify build error in rolling (`#718 `_) + * fix(autoware_auto_common): modify build error in rolling + * fix(autoware_auto_tf2): modify build error in rolling + * fix(autoware_auto_geometry): modify build error in rolling + * fix(simple_planning_simulator): add compile definition for geometry2 + * fix(motion_common): add compile definition for geometry2 + * fix(motion_testing): add compile definition for geometry2 + * fix(simple_planning_simulator): modify build error in rolling + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* ci(pre-commit): clear the exclude option (`#426 `_) + * ci(pre-commit): remove unnecessary excludes + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * address pre-commit for Markdown files + * fix Python imports + * address cpplint errors + * fix broken package.xml + * rename ROS parameter files + * fix build + * use autoware_lint_common + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(simple_planning_simulator): fix bug in function to apply noise (`#665 `_) +* test(simple_planning_simulator): add node test (`#422 `_) + * test(simple_planning_simulator): add node test + * use TEST_P +* fix(simple psim): gear bug to update state in simple psim (`#370 `_) + * fix(simple psim): gear bug to update state in simple psim + * upadte ideal acc geared model as well +* fix: simple psim with vehicle engage (`#301 `_) + * feat: add initial_engage_state for /vehicle/engage sub result + * feat: simulating only when vehicle engage is true +* feat(simple_planning_simulator): add delay model of velocity and steering (`#235 `_) + * add delay steer vel in psim + * change wz to steer + * fix param description + * modify readme + * modify cmake + * ci: change file URL + * fix: order to create callback (`#220 `_) + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> + * chore: remove unnecessary depends (`#227 `_) + * ci: add check-build-depends.yaml + * chore: simplify build_depends.repos + * chore: remove exec_depend + * chore: use register-autonomoustuff-repository + * chore: add setup tasks to other workflows + * ci: update .yamllint.yaml (`#229 `_) + * ci: update .yamllint.yaml + * chore: fix for yamllint + * fix: remove warning for compile error (`#198 `_) + * fix: fix compile error of pointcloud preprocessor + * fix: fix compiler warning for had map utils + * fix: fix compiler warning for behavior velocity planner + * fix: fix compiler warning for compare map segmentation + * fix: fix compiler warning for occupancy grid map outlier filter + * fix: fix compiler warning for detection by tracker + * fix: restore comment + * fix: set control_mode false before autoware engage (`#232 `_) + * fix: set control_mode false before autoware engage + * add input/engage remap in launch + * fix: library path (`#225 `_) + Co-authored-by: taikitanaka3 + * fix: interpolation (`#791 `_) (`#218 `_) + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * add missing function definition in .cpp + * set input and state for DELAY_STEER_VEL model + * fix: fix typo + Co-authored-by: Kenji Miyake + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Takayuki Murooka + Co-authored-by: taikitanaka3 + Co-authored-by: Tomoya Kimura +* fix: set control_mode false before autoware engage (`#232 `_) + * fix: set control_mode false before autoware engage + * add input/engage remap in launch +* feat: replace VehicleStateCommand with GearCommand (`#217 `_) + Co-authored-by: Tomoya Kimura +* fix: fix typo and url (`#201 `_) + * fix typo + * fix url (jp -> en) + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> +* feat: rename existing packages name starting with autoware to different names (`#180 `_) + * autoware_api_utils -> tier4_api_utils + * autoware_debug_tools -> tier4_debug_tools + * autoware_error_monitor -> system_error_monitor + * autoware_utils -> tier4_autoware_utils + * autoware_global_parameter_loader -> global_parameter_loader + * autoware_iv_auto_msgs_converter -> tier4_auto_msgs_converter + * autoware_joy_controller -> joy_controller + * autoware_error_monitor -> system_error_monitor(launch) + * autoware_state_monitor -> ad_service_state_monitor + * autoware_web_controller -> web_controller + * remove autoware_version + * remove autoware_rosbag_recorder + * autoware\_*_rviz_plugin -> tier4\_*_rviz_plugin + * fix ad_service_state_monitor + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: update simple planning simulator param file (`#179 `_) + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* feat: add simulator_launch package (`#166 `_) + * Add simulator_launch package (`#459 `_) + * Add simulator_launch package + * add argument + * fix depend order + * add argument + * move dummy_perception_publisher + * add arg for dummy_perception_publisher + * Update simulator_launch/launch/simulator.launch.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Move simple_planning_simulator to simulator_launch (`#462 `_) + * move simple_planning_simulator + * add simulation arg to logging_simulator.launch + * delete unused argument + * add arguments for logging simulation + * change default value + * update README + * add default value to simulator arg + * restore vehicle_simulation arg + * Fix/revert initial engage state (`#484 `_) + * Fix args + * Add initial_engage_state to vehicle.launch.xml + * Update vehicle.launch.xml + * Change formatter to black (`#488 `_) + * Update pre-commit settings + * Apply Black + * Replace ament_lint_common with autoware_lint_common + * Update build_depends.repos + * Fix build_depends + * Auto/fix launch (`#110 `_) + * fix namespace + * remove dynamic_object_visualization + * fix rviz + * add default vehicle param file + * ci(pre-commit): autofix + * fix typo + Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kenji Miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* feat: load vehicle info default param (`#148 `_) + * update global_parameter loader readme + * remove unused dependency + * add default vehicle_info_param to launch files + * fix: import os + * Update simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> + * Update perception/ground_segmentation/launch/scan_ground_filter.launch.py + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> + * fix dependency + * fix scan_ground_filter.launch + * ci(pre-commit): autofix + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) + * change pkg name: autoware\_*_msgs -> tier\_*_msgs + * ci(pre-commit): autofix + * autoware_external_api_msgs -> tier4_external_api_msgs + * ci(pre-commit): autofix + * fix description + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> +* feat: add simple planning simulator package (`#5 `_) + * release v0.4.0 + * remove ROS1 packages temporarily + * add sample ros2 packages + * add COLCON_IGNORE to ros1 packages + * Fix simple planning simulator (`#26 `_) + * simple planning simulator: fix params & launch file + * remove unused file + * fix timercallback + * [simple_planning_simulator] add rostopic relay in launch file (`#117 `_) + * [simple_planning_simulator] add rostopic relay in launch file + * add topic_tools as exec_depend + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) + * Use quotes for includes where appropriate + * Fix lint tests + * Make tests pass hopefully + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase + * Exclude open PRs + * reduce terminal ouput for better error message visibility (`#200 `_) + * reduce terminal ouput for better error message visibility + * [costmap_generator] fix waiting for first transform + * fix tests + * fix test + * Use trajectory for z position source (`#243 `_) + * Ros2 v0.8.0 engage (`#342 `_) + * [autoware_vehicle_msgs]: Add engage message + * [as]: Update message + * [awapi_awiv_adapter]: Update message + * [web_controller]: Update message + * [vehicle_cmd_gate]: Update message + * [autoware_state_monitor]: Update message + * [autoware_control_msgs]: Remove EngageMode message + * [simple_planning_simulator]: Update message + * Ros2 v0.8.0 fix packages (`#351 `_) + * add subscription to QoS + * add vihicle_param _file to simple_planning_sim + * update cmake/packages.xml + * comment out unused parameter + * apply lint + * add vehicle_info_util to lane_change_planner + * add vehicle_info_util to vehicle_cmd_gate + * fix cmake of simple planning simulator + * update cmake/packages.xml of vehicle cmd gate + * apply lint + * apply lint + * add latch option to autoware_state_monitor + * delete unused comment + * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Rename ROS-related .yaml to .param.yaml + * Remove prefix 'default\_' of yaml files + * Rename vehicle_info.yaml to vehicle_info.param.yaml + * Rename diagnostic_aggregator's param files + * Fix overlooked parameters + * Fix typo in simulator module (`#439 `_) + * add use_sim-time option (`#454 `_) + * Format launch files (`#1219 `_) + * Fix rolling build errors (`#1225 `_) + * Add missing include files + * Replace rclcpp::Duration + * Use reference for exceptions + * Use from_seconds + * Sync public repo (`#1228 `_) + * [simple_planning_simulator] add readme (`#424 `_) + * add readme of simple_planning_simulator + * Update simulator/simple_planning_simulator/README.md + * set transit_margin_time to intersect. planner (`#460 `_) + * Fix pose2twist (`#462 `_) + * Ros2 vehicle info param server (`#447 `_) + * add vehicle_info_param_server + * update vehicle info + * apply format + * fix bug + * skip unnecessary search + * delete vehicle param file + * fix bug + * Ros2 fix topic name part2 (`#425 `_) + * Fix topic name of traffic_light_classifier + * Fix topic name of traffic_light_visualization + * Fix topic name of traffic_light_ssd_fine_detector + * Fix topic name of traffic_light_map_based_detector + * Fix lint traffic_light_recognition + * Fix lint traffic_light_ssd_fine_detector + * Fix lint traffic_light_classifier + * Fix lint traffic_light_classifier + * Fix lint traffic_light_ssd_fine_detector + * Fix issues in hdd_reader (`#466 `_) + * Fix some issues detected by Coverity Scan and Clang-Tidy + * Update launch command + * Add more `close(new_sock)` + * Simplify the definitions of struct + * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) + * Rviz overlay render fix (`#461 `_) + * Moved painiting in SteeringAngle plugin to update() + * super class now back to MFD + * uncrustified + * acquire data in mutex + * back to RTD as superclass + * Rviz overlay render in update (`#465 `_) + * Moved painiting in SteeringAngle plugin to update() + * super class now back to MFD + * uncrustified + * acquire data in mutex + * removed unnecessary includes and some dead code + * Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass + * restored RTD superclass + Co-authored-by: Takamasa Horibe + Co-authored-by: tkimura4 + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Kazuki Miyahara + Co-authored-by: Makoto Tokunaga + Co-authored-by: Adam Dąbrowski + * Remove use_sim_time for set_parameter (`#1260 `_) + * Refactor vehicle info util (`#1305 `_) + * Update license + * Refactor vehicle_info_util + * Rename and split files + * Fix interfaces + * Fix bug and add error handling + * Add "// namespace" + * Add missing include + * Fix lint errors (`#1378 `_) + * Fix lint errors + * Fix variable names + * Add pre-commit (`#1560 `_) + * add pre-commit + * add pre-commit-config + * add additional settings for private repository + * use default pre-commit-config + * update pre-commit setting + * Ignore whitespace for line breaks in markdown + * Update .github/workflows/pre-commit.yml + Co-authored-by: Kazuki Miyahara + * exclude svg + * remove pretty-format-json + * add double-quote-string-fixer + * consider COLCON_IGNORE file when seaching modified package + * format file + * pre-commit fixes + * Update pre-commit.yml + * Update .pre-commit-config.yaml + Co-authored-by: Kazuki Miyahara + Co-authored-by: pre-commit + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Add markdownlint and prettier (`#1661 `_) + * Add markdownlint and prettier + * Ignore .param.yaml + * Apply format + * add cov pub in psim (`#1732 `_) + * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter + * Fix mistake + * fix spell + * Fix lint issues + * Ignore flake8 warnings + Co-authored-by: Hiroki OTA + * fix some typos (`#1941 `_) + * fix some typos + * fix typo + * Fix typo + Co-authored-by: Kenji Miyake + * Add autoware api (`#1979 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) + * add sort xml hook in pre-commit + * change retval to exit_status + * rename + * add prettier plugin-xml + * use early return + * add license note + * add tier4 license + * restore prettier + * change license order + * move local hooks to public repo + * move prettier-xml to pre-commit-hooks-ros + * update version for bug-fix + * apply pre-commit + * Feature/add ideal accel model interface (`#1894 `_) + * Add IDEAL_ACCEL model interface for simple planning simulator + * Add IDEAL_ACCEL model descriptions + * Fix format + * Change vehicle model type description at config file + * Change formatter to clang-format and black (`#2332 `_) + * Revert "Temporarily comment out pre-commit hooks" + This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. + * Replace ament_lint_common with autoware_lint_common + * Remove ament_cmake_uncrustify and ament_clang_format + * Apply Black + * Apply clang-format + * Fix build errors + * Fix for cpplint + * Fix include double quotes to angle brackets + * Apply clang-format + * Fix build errors + * Add COLCON_IGNORE (`#500 `_) + * Back port .auto control packages (`#571 `_) + * Implement Lateral and Longitudinal Control Muxer + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller + * Fix build error for trajectory follower + * Fix build error for trajectory follower nodes + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * modify trajectory_follower for galactic build + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes + * apply trajectory msg modification in control + * move directory + * remote control/trajectory_follower level dorectpry + * remove .iv trajectory follower + * use .auto trajectory_follower + * remove .iv simple_planning_simulator & osqp_interface + * use .iv simple_planning_simulator & osqp_interface + * add tmp_autoware_auto_dependencies + * tmporally add autoware_auto_msgs + * apply .auto message split + * fix build depend + * fix packages using osqp + * fix autoware_auto_geometry + * ignore lint of some packages + * ignore ament_lint of some packages + * ignore lint/pre-commit of trajectory_follower_nodes + * disable unit tests of some packages + Co-authored-by: Maxime CLEMENT + Co-authored-by: Joshua Whitley + Co-authored-by: Igor Bogoslavskyi + Co-authored-by: MIURA Yasuyuki + Co-authored-by: wep21 + Co-authored-by: tomoya.kimura + * [simple planning simulator]change type of msg (`#590 `_) + * remove kinematic_state + * remove vehicle_state_command/report + * get z-position from trajectory + * set topic name of trajectory + * twist -> velocity report + * change default param + * Update simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * Update simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * fix typo + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * [autoware_vehicle_rviz_plugin/route_handler/simple_planning_simulator]fix some packages (`#606 `_) + * fix console meter + * fix velocity_history + * fix route handler + * change topic name + * update to support velocity report header (`#655 `_) + * update to support velocity report header + * Update simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp + Co-authored-by: tkimura4 + * use maybe_unused + * fix precommit + Co-authored-by: tkimura4 + * adapt to actuation cmd/status as control msg (`#646 `_) + * adapt to actuation cmd/status as control msg + * fix readme + * fix topics + * fix remaing topics + * as to pacmod interface + * fix vehicle status + * add header to twist + * revert gyro_odometer_change + * revert twist topic change + * revert unchanged package + * FIx vehicle status topic name/type (`#658 `_) + * shift -> gear_status + * twist -> velocity_status + * fix topic name (`#674 `_) + * fix topic name + * fix gear message name + * Fix psim param path (`#696 `_) + * Fix/psim topics emergency handler awapi (`#702 `_) + * fix emergency handler + * fix awapi + * remove unused topic + * remove duplecated vehicle cmd + * Auto/add turn indicators and hazards (`#717 `_) + * add turn indicators + * add hazard light + * omit name space + * remap topic name + * delete unnecessary blank line + * [simple_planning_simulator]fix bug (`#727 `_) + * input z-axis of trajectory to pose(tf/odometry) + * output 0 velocity when invalid gear is input + * fix gear process in sim (`#728 `_) + * Fix for integration test (`#732 `_) + * Add backward compatibility of autoware state + * Add simulator initial pose service + * Fix pre-commit + * Fix pre-commit + * Simple planning simulator update for latest develop (`#735 `_) + * Refactor vehicle info util (`#1305 `_) + * add cov pub in psim (`#1732 `_) + * remove pose_with_covariance publisher and add covariance information in Odometry + * Fix acceleration for reverse (`#737 `_) + * Fix acceleration for reverse + * Fix acceleration in set_input + * remove unused using + * Fix code + * ci(pre-commit): autofix + * remove tests + Co-authored-by: mitsudome-r + Co-authored-by: Takamasa Horibe + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: Nikolai Morin + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kazuki Miyahara + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Makoto Tokunaga + Co-authored-by: Adam Dąbrowski + Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> + Co-authored-by: pre-commit + Co-authored-by: Kosuke Murakami + Co-authored-by: Hiroki OTA + Co-authored-by: Kenji Miyake + Co-authored-by: Makoto Kurihara + Co-authored-by: Maxime CLEMENT + Co-authored-by: Joshua Whitley + Co-authored-by: Igor Bogoslavskyi + Co-authored-by: MIURA Yasuyuki + Co-authored-by: wep21 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com> + Co-authored-by: Fumiya Watanabe + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Ahmed Ebrahim, Daisuke Nishimatsu, Esteve Fernandez, Haoru Xue, Hiroki OTA, Kenji Miyake, Kosuke Takeuchi, Mamoru Sobue, Maxime CLEMENT, Satoshi OTA, Satoshi Tanaka, Shumpei Wakabayashi, Takagi, Isamu, Takamasa Horibe, Takayuki Murooka, Tomoya Kimura, Vincent Richard, Yukihiro Saito, awf-autoware-bot[bot], danielsanchezaran, kyoichi-sugahara, taikitanaka3 diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml index fbd08ff39a64f..a81f9e2147bab 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/simple_planning_simulator/package.xml @@ -2,7 +2,7 @@ simple_planning_simulator - 1.0.0 + 0.38.0 simple_planning_simulator as a ROS 2 node Takamasa Horibe Tomoya Kimura diff --git a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst new file mode 100644 index 0000000000000..1a8c55e318454 --- /dev/null +++ b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst @@ -0,0 +1,27 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tier4_dummy_object_rviz_plugin +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* style: update rviz plugin icons to match the theme (`#8868 `_) +* fix(dummy_perception_publisher, tier4_dummy_object_rviz_plugin): separate dummy object msg (`#8828 `_) + * fix: dummy object rviz plugin dependency + * fix: remove message from dummy perception publisher + * fix: node name + --------- +* fix(tier4_dummy_object_rviz_plugin): fix unusedFunction (`#8844 `_) + fix:unusedFunction +* fix(tier4_dummy_object_rviz_plugin): fix functionConst (`#8830 `_) + fix:functionConst +* fix(tier4_perception_rviz_plugin): relocate tier4_perception_rviz_plugin and rename it to tier4_dummy_object_rviz_plugin (`#8818 `_) + * chore: move tier4_perception_rviz_plugin package to simulation folder + * chore: reorder codeowners + * rename package to tier4_dummy_perception_rviz_plugin + * chore: rename to tier4_dummy_object_rviz_plugin + --------- +* Contributors: Khalil Selyan, Taekjin LEE, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/simulator/tier4_dummy_object_rviz_plugin/package.xml b/simulator/tier4_dummy_object_rviz_plugin/package.xml index ce0ce0dbb84f7..688f72026804e 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/package.xml +++ b/simulator/tier4_dummy_object_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_dummy_object_rviz_plugin - 0.1.0 + 0.38.0 The tier4_dummy_object_rviz_plugin package Yukihiro Saito Apache License 2.0 diff --git a/simulator/vehicle_door_simulator/CHANGELOG.rst b/simulator/vehicle_door_simulator/CHANGELOG.rst new file mode 100644 index 0000000000000..7b17ff1b51fc1 --- /dev/null +++ b/simulator/vehicle_door_simulator/CHANGELOG.rst @@ -0,0 +1,14 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package vehicle_door_simulator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix: fix internal door interface qos (`#9144 `_) +* Contributors: Takagi, Isamu, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* feat(default_ad_api): add door api (`#5737 `_) +* Contributors: Takagi, Isamu diff --git a/simulator/vehicle_door_simulator/package.xml b/simulator/vehicle_door_simulator/package.xml index f65a1e07040d7..b500940602ce2 100644 --- a/simulator/vehicle_door_simulator/package.xml +++ b/simulator/vehicle_door_simulator/package.xml @@ -2,7 +2,7 @@ vehicle_door_simulator - 0.1.0 + 0.38.0 The vehicle_door_simulator package Takagi, Isamu Apache License 2.0 diff --git a/system/autoware_component_monitor/CHANGELOG.rst b/system/autoware_component_monitor/CHANGELOG.rst new file mode 100644 index 0000000000000..f950048d41550 --- /dev/null +++ b/system/autoware_component_monitor/CHANGELOG.rst @@ -0,0 +1,14 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_component_monitor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(autoware_component_monitor): add maintainers (`#8867 `_) +* fix(autoware_component_monitor): fix unusedFunction (`#8582 `_) +* feat(system): create a package to monitor component containers (`#7094 `_) +* Contributors: Hayate TOBA, Mehmet Emin BAŞOĞLU, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/system/autoware_component_monitor/package.xml b/system/autoware_component_monitor/package.xml index 8c2afc741435b..92f2fa51f704e 100644 --- a/system/autoware_component_monitor/package.xml +++ b/system/autoware_component_monitor/package.xml @@ -2,7 +2,7 @@ autoware_component_monitor - 0.0.0 + 0.38.0 A ROS 2 package to monitor system usage of component containers. Mehmet Emin Başoğlu Barış Zeren diff --git a/system/autoware_default_adapi/CHANGELOG.rst b/system/autoware_default_adapi/CHANGELOG.rst new file mode 100644 index 0000000000000..4f463ff2ecea3 --- /dev/null +++ b/system/autoware_default_adapi/CHANGELOG.rst @@ -0,0 +1,20 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_default_adapi +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* fix(default_ad_api): fix unusedFunction (`#8581 `_) + * fix: unusedFunction + * Revert "fix: unusedFunction" + This reverts commit c70a36d4d29668f02dae9416f202ccd05abee552. + * fix: unusedFunction + --------- + Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> +* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) +* Contributors: Esteve Fernandez, Hayate TOBA, Takagi, Isamu, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml index 738e53b089c2a..b4324ce05c511 100644 --- a/system/autoware_default_adapi/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -2,7 +2,7 @@ autoware_default_adapi - 0.1.0 + 0.38.0 The autoware_default_adapi package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/autoware_processing_time_checker/CHANGELOG.rst b/system/autoware_processing_time_checker/CHANGELOG.rst new file mode 100644 index 0000000000000..fb41b530fd4ca --- /dev/null +++ b/system/autoware_processing_time_checker/CHANGELOG.rst @@ -0,0 +1,27 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_processing_time_checker +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) + * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub + * fix: pre-commit + * feat(costmap_generator): fix: No output when not Active. + * fix: clang-format + * Re: fix: clang-format + --------- +* feat(processing_time_checker): add a new package (`#7957 `_) + * feat(processing_time_checker): add a new package + * fix + * fix + * update README and schema.json + * fix + * fix + * fix + --------- +* Contributors: Kazunori-Nakajima, Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml index 52f6fe6c2c27d..579f7de0bdb4e 100644 --- a/system/autoware_processing_time_checker/package.xml +++ b/system/autoware_processing_time_checker/package.xml @@ -2,7 +2,7 @@ autoware_processing_time_checker - 1.0.0 + 0.38.0 A package to find out nodes with common names Takayuki Murooka Kosuke Takeuchi diff --git a/system/bluetooth_monitor/CHANGELOG.rst b/system/bluetooth_monitor/CHANGELOG.rst new file mode 100644 index 0000000000000..7c87ae598d638 --- /dev/null +++ b/system/bluetooth_monitor/CHANGELOG.rst @@ -0,0 +1,72 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package bluetooth_monitor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(docs): fix file name for bluetooth monitor schema (`#8308 `_) + * fix file name for schema + * the variable name should be addresses instead + --------- +* fix(bluetooth_monitor): fix unreadVariable (`#8371 `_) + fix:unreadVariable +* fix(bluetooth_monitor): apply cppcheck-suppress for cstyleCast (`#7869 `_) +* Contributors: Koichi98, Yutaka Kondo, Yuxuan Liu, kobayu858 + +0.26.0 (2024-04-03) +------------------- +* refactor(bluetooth_monitor): rework parameters (`#5239 `_) + * refactor(bluetooth_monitor): rework parameters + * style(pre-commit): autofix + * doc(bluetooth_monitor): fix default for integer parameters + * doc(bluetooth_monitor): add default for parameter addresses + * style(pre-commit): autofix + * doc(bluetooth_monitor): fix parameter description + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* chore: sync files (`#3227 `_) + * chore: sync files + * style(pre-commit): autofix + --------- + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* build(bluetooth_monitor): add build dependency (`#2738 `_) +* ci(pre-commit): format SVG files (`#2172 `_) + * ci(pre-commit): format SVG files + * ci(pre-commit): autofix + * apply pre-commit + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(bluetooth_monitor): run bluetooth monitor with new parameter (`#1111 `_) + * feat(bluetooth_monitor): run bluetooth monitor with new parameter + * ci(pre-commit): autofix + * Fixed a build error in humble + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(bluetooth_monitor): add functionality to monitor Bluetooth connection (`#862 `_) + * feat(bluetooth_monitor): add functionality to monitor Bluetooth connection + * ci(pre-commit): autofix + * Fixed a typo + * Add a dependency + * Fixed pre-commit errors + * ci(pre-commit): autofix + * Fixed pre-commit errors + * Fixed uncrustify errors + * ci(pre-commit): autofix + * use autoware_cmake + * Fixed license, Fixed CMakeLists.txt, and Use register_node_macro + * Fixed license + * Fixed link title + * changed the way to run l2ping + * ci(pre-commit): autofix + * fixed clang tidy error and removed unnecessary dependencies in CMakeLists.txt + * corrected dependency in package.xml + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Kenji Miyake, Vincent Richard, Yuqi Huai, awf-autoware-bot[bot], ito-san diff --git a/system/bluetooth_monitor/package.xml b/system/bluetooth_monitor/package.xml index 3f489d9ba29a2..4f6b9f38f7cb3 100644 --- a/system/bluetooth_monitor/package.xml +++ b/system/bluetooth_monitor/package.xml @@ -2,7 +2,7 @@ bluetooth_monitor - 0.1.0 + 0.38.0 Bluetooth alive monitoring Fumihito Ito Apache License 2.0 diff --git a/system/component_state_monitor/CHANGELOG.rst b/system/component_state_monitor/CHANGELOG.rst new file mode 100644 index 0000000000000..5b35d6e4e0ea0 --- /dev/null +++ b/system/component_state_monitor/CHANGELOG.rst @@ -0,0 +1,63 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package component_state_monitor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* fix(componet_state_monitor): remove ndt node alive monitoring (`#6957 `_) + remove ndt node alive monitoring +* chore(component_state_monitor): relax pose_estimator_pose timeout (`#6916 `_) +* Contributors: Ryohsuke Mitsudome, Shumpei Wakabayashi, Yamato Ando, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* fix(component_state_monitor): change pose_estimator_pose rate (`#6563 `_) +* chore: update api package maintainers (`#6086 `_) + * update api maintainers + * fix + --------- +* feat(component_state_monitor): monitor traffic light recognition output (`#5778 `_) +* feat(component_state_monitor): monitor pose_estimator output (`#5617 `_) +* docs: add readme for interface packages (`#4235 `_) + add readme for interface packages +* chore: update maintainer (`#4140 `_) + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) + * feat(pose_initializer): enable pose initialization while running (only for sim) + * both logsim and psim params + * only one pose_initializer_param_path arg + * use two param files for pose_initializer + --------- +* fix(component_state_monitor): add dependency on topic_state_monitor (`#3030 `_) +* fix(component_state_monitor): fix lanelet route package (`#2552 `_) +* feat!: replace HADMap with Lanelet (`#2356 `_) + * feat!: replace HADMap with Lanelet + * update topic.yaml + * Update perception/traffic_light_map_based_detector/README.md + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update planning/behavior_path_planner/README.md + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update planning/mission_planner/README.md + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update planning/scenario_selector/README.md + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * format readme + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> +* chore: add api maintainers (`#2361 `_) +* feat(component_state_monitor): add component state monitor (`#2120 `_) + * feat(component_state_monitor): add component state monitor + * feat: change module +* Contributors: Kenji Miyake, Kosuke Takeuchi, Takagi, Isamu, Tomohito ANDO, Vincent Richard, Yamato Ando, kminoda diff --git a/system/component_state_monitor/package.xml b/system/component_state_monitor/package.xml index 16903fa216174..9e4d77878941a 100644 --- a/system/component_state_monitor/package.xml +++ b/system/component_state_monitor/package.xml @@ -2,7 +2,7 @@ component_state_monitor - 0.1.0 + 0.38.0 The component_state_monitor package Takagi, Isamu Apache License 2.0 diff --git a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst new file mode 100644 index 0000000000000..013ce592350b1 --- /dev/null +++ b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst @@ -0,0 +1,142 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ad_api_adaptors +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(ad_api_adaptors): rework parameter (`#8796 `_) + * refactor(ad_api_adaptors): rework parameter + * + * ad_api_adaptors.schema.json + * style(pre-commit): autofix + * refactor(ad_api_adaptors): rework parameter + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(map_height_fitter)!: prefix package and namespace with autoware (`#8421 `_) + * add autoware\_ prefix + * style(pre-commit): autofix + * remove duplicated dependency + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: SakodaShintaro +* feat(ad_api_adaptors): componentize nodes (`#7022 `_) +* Contributors: Masaki Baba, Prakash Kannaiah, Takagi, Isamu, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* feat(map_height_fitter): fitting by vector_map (`#6340 `_) + * Added fit_target + * Fixed group + * Fixed to run + * style(pre-commit): autofix + * Fixed to work by pointcloud_map + * Fixed comments + * Added a comment + * Fixed a comment + * Fixed to use arg + * Added info log + * FIxed default value + * FIxed default values + * Updated schema.json + * Fixed description of fit_target + * Fixed arg name + * Restore const + * Fixed map_height_fitter.param.yaml + * Fixed map_height_fitter.schema.json + * style(pre-commit): autofix + * Removed an unused variable + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* chore: update api package maintainers (`#6086 `_) + * update api maintainers + * fix + --------- +* chore(default_ad_api_helpers): update readme topic (`#5258 `_) + * chore(default_ad_api_helpers): update readme topic + * style(pre-commit): autofix + * update readme + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(map_height_fitter): add service node (`#4128 `_) + * add map height fitter node + * fix response success + --------- +* docs(ad_api_adaptors): fix readme to remove unused service (`#4117 `_) +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* feat(default_ad_api): add route change api (`#3197 `_) + * feat: add route change api + * fix: reroute + --------- +* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) + * chore(default_ad_api): add yukkysaito to maintainer + * add mitsudome-r instead of kenji-miyake + --------- +* feat(default_ad_api_helpers): support goal modification for rviz (`#3370 `_) +* feat(map_height_fitter): change map height fitter to library (`#2724 `_) + * feat: move map height fitter + * feat: remove map height fitter dependency + * apply to initial pose adaptor + * feat: get param from map loader + * feat: modify pose initializer + * feat: parameterize map loader name + * docs: update readme + * feat: add debug code + * Revert "feat: add debug code" + This reverts commit 71250342305aad6ac3710625ab2ea1dfd3eca11a. + * feat: add map fit log + --------- +* chore: add api maintainers (`#2361 `_) +* fix(ad_api_adaptors): fix to merge waypoint (`#2215 `_) + * fix(ad_api_adaptors): fix to merge waypoint + * fix(ad_api_adaptors): update comments and variable name +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* feat(default_ad_api): add localization api (`#1431 `_) + * feat(default_ad_api): add localization api + * docs: add readme + * feat: add auto initial pose + * feat(autoware_ad_api_msgs): define localization interface + * fix(default_ad_api): fix interface definition + * feat(default_ad_api): modify interface version api to use spec package + * feat(default_ad_api): modify interface version api to use spec package + * fix: pre-commit + * fix: pre-commit + * fix: pre-commit + * fix: copyright + * feat: split helper package + * fix: change topic name to local + * fix: style + * fix: style + * fix: style + * fix: remove needless keyword + * feat: change api helper node namespace + * fix: fix launch file path +* feat(default_ad_api): add routing api (`#1494 `_) + * feat(default_ad_api): add routing api + * fix: build error + * docs: add readme + * feat: change topic namespace + * fix: function name + * fix: remove debug code + * fix: copyright + * fix: adaptor name + * fix: remove macro + * feat: add launch option for default ad api + * fix: component interface namespace + * fix: build error + * feat: remove start pose + * feat(autoware_ad_api_msgs): define routing interface + * feat: rename route body message + * feat: remove create node macro + * feat: adaptor package + * fix: helper node + * fix: error handling +* Contributors: Kosuke Takeuchi, SakodaShintaro, Takagi, Isamu, Vincent Richard, kminoda diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml index 72238b0beae2d..5a6a3199c088a 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml @@ -2,7 +2,7 @@ ad_api_adaptors - 0.1.0 + 0.38.0 The ad_api_adaptors package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst new file mode 100644 index 0000000000000..b12567c03499a --- /dev/null +++ b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst @@ -0,0 +1,29 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ad_api_visualizers +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* Contributors: Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* chore: update api package maintainers (`#6086 `_) + * update api maintainers + * fix + --------- +* refactor(start_planner): rename pull out to start planner (`#3908 `_) +* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) +* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) + * chore(default_ad_api): add yukkysaito to maintainer + * add mitsudome-r instead of kenji-miyake + --------- +* feat(default_ad_api): add planning api (`#2481 `_) + * feat(default_ad_api): add planning api + * feat: complement velocity factor + * feat: add stop check + * feat: make the same process into a function + * feat: update visualizer + * fix: remove flake8 test +* Contributors: Kosuke Takeuchi, Takagi, Isamu diff --git a/system/default_ad_api_helpers/ad_api_visualizers/package.xml b/system/default_ad_api_helpers/ad_api_visualizers/package.xml index 75fd09a1335b1..ab7d2ec4a5799 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/package.xml +++ b/system/default_ad_api_helpers/ad_api_visualizers/package.xml @@ -2,7 +2,7 @@ ad_api_visualizers - 0.1.0 + 0.38.0 The ad_api_visualizers package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/default_ad_api_helpers/ad_api_visualizers/setup.py b/system/default_ad_api_helpers/ad_api_visualizers/setup.py index 5712980f8e3fb..fe2fdd46463e3 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/setup.py +++ b/system/default_ad_api_helpers/ad_api_visualizers/setup.py @@ -11,7 +11,7 @@ setup( name=package_name, - version="0.0.0", + version="0.38.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]), diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst new file mode 100644 index 0000000000000..9215b1d4be07e --- /dev/null +++ b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst @@ -0,0 +1,54 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package automatic_pose_initializer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(automatic_pose_initializer): fix plugin name (`#7035 `_) + Fixed automatic_pose_initializer plugin name +* feat(automatic_pose_initializer): componentize node (`#7021 `_) +* Contributors: SakodaShintaro, Takagi, Isamu, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* chore: update api package maintainers (`#6086 `_) + * update api maintainers + * fix + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) + * chore(default_ad_api): add yukkysaito to maintainer + * add mitsudome-r instead of kenji-miyake + --------- +* chore: add api maintainers (`#2361 `_) +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* fix(automatic_pose_initializer): fix starvation (`#1756 `_) +* feat(default_ad_api): add localization api (`#1431 `_) + * feat(default_ad_api): add localization api + * docs: add readme + * feat: add auto initial pose + * feat(autoware_ad_api_msgs): define localization interface + * fix(default_ad_api): fix interface definition + * feat(default_ad_api): modify interface version api to use spec package + * feat(default_ad_api): modify interface version api to use spec package + * fix: pre-commit + * fix: pre-commit + * fix: pre-commit + * fix: copyright + * feat: split helper package + * fix: change topic name to local + * fix: style + * fix: style + * fix: style + * fix: remove needless keyword + * feat: change api helper node namespace + * fix: fix launch file path +* Contributors: Kosuke Takeuchi, Takagi, Isamu, Vincent Richard diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml index c0c1d4899422f..649192144d032 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml +++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml @@ -2,7 +2,7 @@ automatic_pose_initializer - 0.1.0 + 0.38.0 The automatic_pose_initializer package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/diagnostic_graph_aggregator/CHANGELOG.rst b/system/diagnostic_graph_aggregator/CHANGELOG.rst new file mode 100644 index 0000000000000..ff6880b9a07b6 --- /dev/null +++ b/system/diagnostic_graph_aggregator/CHANGELOG.rst @@ -0,0 +1,61 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package diagnostic_graph_aggregator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(diagnostic_graph_aggregator): fix unusedFunction (`#8580 `_) + fix: unusedFunction + Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> +* fix(diagnostic_graph_aggregator): fix noConstructor (`#8508 `_) + fix:noConstructor +* fix(diagnostic_graph_aggregator): fix cppcheck warning of functionStatic (`#8266 `_) + * fix: deal with functionStatic warning + * suppress warning by comment + --------- +* fix(diagnostic_graph_aggregator): fix uninitMemberVar (`#8313 `_) + * fix:funinitMemberVar + * fix:funinitMemberVar + * fix:uninitMemberVar + * fix:clang format + --------- +* fix(diagnostic_graph_aggregator): fix functionConst (`#8279 `_) + * fix:functionConst + * fix:functionConst + * fix:clang format + --------- +* fix(diagnostic_graph_aggregator): fix constParameterReference (`#8054 `_) + fix:constParameterReference +* fix(diagnostic_graph_aggregator): fix constVariableReference (`#8062 `_) + * fix:constVariableReference + * fix:constVariableReference + * fix:constVariableReference + * fix:constVariableReference + --------- +* fix(diagnostic_graph_aggregator): fix shadowFunction (`#7838 `_) + * fix(diagnostic_graph_aggregator): fix shadowFunction + * feat: modify variable name + --------- + Co-authored-by: Takagi, Isamu +* fix(diagnostic_graph_aggregator): fix uselessOverride warning (`#7768 `_) + * fix(diagnostic_graph_aggregator): fix uselessOverride warning + * restore and suppress inline + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(diagnostic_graph_aggregator): fix shadowArgument warning in create_unit_config (`#7664 `_) +* feat(diagnostic_graph_aggregator): componentize node (`#7025 `_) +* fix(diagnostic_graph_aggregator): fix a bug where unit links were incorrectly updated (`#6932 `_) + fix(diagnostic_graph_aggregator): fix unit link filter +* feat: remake diagnostic graph packages (`#6715 `_) +* Contributors: Hayate TOBA, Koichi98, Ryuta Kambe, Takagi, Isamu, Yutaka Kondo, kobayu858, taisa1 + +0.26.0 (2024-04-03) +------------------- +* feat(diagnostic_graph_aggregator): update tools (`#6614 `_) +* docs(diagnostic_graph_aggregator): update documents (`#6613 `_) +* feat(diagnostic_graph_aggregator): add dump tool (`#6427 `_) +* feat(diagnostic_graph_aggregator): change default publish rate (`#5872 `_) +* feat(diagnostic_graph_aggregator): rename system_diagnostic_graph package (`#5827 `_) +* Contributors: Takagi, Isamu diff --git a/system/diagnostic_graph_aggregator/package.xml b/system/diagnostic_graph_aggregator/package.xml index a89196f25a78d..bee03ba087e83 100644 --- a/system/diagnostic_graph_aggregator/package.xml +++ b/system/diagnostic_graph_aggregator/package.xml @@ -2,7 +2,7 @@ diagnostic_graph_aggregator - 0.1.0 + 0.38.0 The diagnostic_graph_aggregator package Takagi, Isamu Apache License 2.0 diff --git a/system/diagnostic_graph_utils/CHANGELOG.rst b/system/diagnostic_graph_utils/CHANGELOG.rst new file mode 100644 index 0000000000000..51673855a00f3 --- /dev/null +++ b/system/diagnostic_graph_utils/CHANGELOG.rst @@ -0,0 +1,15 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package diagnostic_graph_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(static_centerline_generator): organize AUTO/GUI/VMB modes (`#7432 `_) +* feat(diagnostic_graph_utils): componentize node (`#7189 `_) +* feat(default_ad_api): add diagnostics api (`#7052 `_) +* feat: remake diagnostic graph packages (`#6715 `_) +* Contributors: Takagi, Isamu, Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/system/diagnostic_graph_utils/package.xml b/system/diagnostic_graph_utils/package.xml index c5a70363bfecb..2b393b4191581 100644 --- a/system/diagnostic_graph_utils/package.xml +++ b/system/diagnostic_graph_utils/package.xml @@ -2,7 +2,7 @@ diagnostic_graph_utils - 0.1.0 + 0.38.0 The diagnostic_graph_utils package Takagi, Isamu Apache License 2.0 diff --git a/system/dummy_diag_publisher/CHANGELOG.rst b/system/dummy_diag_publisher/CHANGELOG.rst new file mode 100644 index 0000000000000..0aff998ade0f0 --- /dev/null +++ b/system/dummy_diag_publisher/CHANGELOG.rst @@ -0,0 +1,267 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package dummy_diag_publisher +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(dummy_diag_publisher): componentize node (`#7190 `_) +* Contributors: Kosuke Takeuchi, Takagi, Isamu, Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* chore: update maintainer (`#5730 `_) + update maintainer +* chore: update maintainer (`#4140 `_) + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* style: fix typos (`#3617 `_) + * style: fix typos in documents + * style: fix typos in package.xml + * style: fix typos in launch files + * style: fix typos in comments + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* chore: sync files (`#3227 `_) + * chore: sync files + * style(pre-commit): autofix + --------- + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(dummy diag publisher): change diag name specification method to YAML (`#2840 `_) + * Signed-off-by: asana17 + modified dummy_diag_publisher to use YAML for param + * Signed-off-by: asana17 + use YAML param for dummy_diag_publisher + * fix empty param + * fixed empty param + * fix spelling + * add pkg maintainer + * launch dummy_diag_publisher by launch_dummy_diag_publisher param + --------- +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* fix(dummy_diag_publisher): modify build error in rolling (`#760 `_) +* feat(dummy_diag_publisher): use as a component (`#652 `_) + * feat(dummy_diag_publisher): use as components + * fix: add explicit + * fix: fix node name +* fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(dummy_diag_publisher): update README and launch file (`#536 `_) + * chore: update README + * feat: add param in launch + * chore: Update system/dummy_diag_publisher/README.md + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * chore: update readme + * ci(pre-commit): autofix + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(dummy_diag_publisher): add exec_depend (`#523 `_) + * chore(dummy_diag_publisher): add exec_depend + * Update system/dummy_diag_publisher/package.xml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* chore: replace legacy timer (`#329 `_) + * chore(goal_distance_calculator): replace legacy timer + * chore(path_distance_calculator): replace legacy timer + * chore(control_performance_analysis): replace legacy timer + * chore(external_cmd_selector): replace legacy timer + * chore(joy_controller): replace legacy timer + * chore(lane_departure_checker): replace legacy timer + * chore(obstacle_collision_checker): replace legacy timer + * chore(pure_pursuit): replace legacy timer + * chore(shift_decider): replace legacy timer + * chore(trajectory_follower_nodes): replace legacy timer + * chore(vehicle_cmd_gate): replace legacy timer + * chore(ekf_localizer): replace legacy timer + * chore(localization_error_monitor): replace legacy timer + * chore(multi_object_tracker): replace legacy timer + * chore(tensorrt_yolo): replace legacy timer + * chore(traffic_light_classifier): replace legacy timer + * chore(traffic_light_ssd_fine_detector): replace legacy timer + * chore(traffic_light_visualization): replace legacy timer + * chore(behavior_path_planner): replace legacy timer + * chore(costmap_generator): replace legacy timer + * chore(freespace_planner): replace legacy timer + * chore(planning_error_monitor): replace legacy timer + * chore(scenario_selector): replace legacy timer + * chore(pointcloud_preprocessor): replace legacy timer + * chore(dummy_perception_publisher): replace legacy timer + * chore(ad_service_state_monitor): replace legacy timer + * chore(dummy_diag_publisher): replace legacy timer + * chore(emergency_handler): replace legacy timer + * chore(system_error_monitor): replace legacy timer + * chore(topic_state_monitor): replace legacy timer + * chore(accel_brake_map_calibrator): replace legacy timer + * chore(external_cmd_converter): replace legacy timer + * chore(pacmod_interface): replace legacy timer + * chore(lint): apply pre-commit +* feat: rename existing packages name starting with autoware to different names (`#180 `_) + * autoware_api_utils -> tier4_api_utils + * autoware_debug_tools -> tier4_debug_tools + * autoware_error_monitor -> system_error_monitor + * autoware_utils -> tier4_autoware_utils + * autoware_global_parameter_loader -> global_parameter_loader + * autoware_iv_auto_msgs_converter -> tier4_auto_msgs_converter + * autoware_joy_controller -> joy_controller + * autoware_error_monitor -> system_error_monitor(launch) + * autoware_state_monitor -> ad_service_state_monitor + * autoware_web_controller -> web_controller + * remove autoware_version + * remove autoware_rosbag_recorder + * autoware\_*_rviz_plugin -> tier4\_*_rviz_plugin + * fix ad_service_state_monitor + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: add dummy_diag_publisher package (`#18 `_) + * release v0.4.0 + * remove ROS1 packages temporarily + * Revert "remove ROS1 packages temporarily" + This reverts commit 6ab6bcca1dea5065fcb06aeec107538dad1f62af. + * add COLCON_IGNORE to ros1 packages + * Rename launch files to launch.xml (`#28 `_) + * ROS2 Porting: dummy_diag_publisher (`#69 `_) + * Fix CMake, package.xml and remove COLCON_IGNORE + * First pass + - Remove ROS references: dynamic_configuration + - Can compile + * Fix references to dynamic_reconfigure + - Clean up comments in cmake and package.xml + - Add timer callback + * Modify config yamls and remove dynamic reconfigure file + - Fix launch files + * Fix declaration of parameters using get parameters + - Add rqt_reconfigure to package deps + * Add comment in launch file + * Remove fmt dependency + * Address PR comment: + - Ensure that status value is initialised properly + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + * Address PR comment: + - Ensure config are declared to ensure it can be set in the parameter callback + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + * Address PR comment: + - Remove headers from executable generation in cmake + * Address PR comment: + - Remove headers specification + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + * Rename h files to hpp (`#142 `_) + * Change includes + * Rename files + * Adjustments to make things compile + * Other packages + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) + * Use quotes for includes where appropriate + * Fix lint tests + * Make tests pass hopefully + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase + * Exclude open PRs + * Add linters (`#208 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Rename ROS-related .yaml to .param.yaml + * Remove prefix 'default\_' of yaml files + * Rename vehicle_info.yaml to vehicle_info.param.yaml + * Rename diagnostic_aggregator's param files + * Fix overlooked parameters + * add use_sim-time option (`#454 `_) + * Fix for rolling (`#1226 `_) + * Replace doc by description + * Replace ns by push-ros-namespace + * Remove use_sim_time for set_parameter (`#1260 `_) + * Cleanup dummy_diag_publisher (`#1392 `_) + * Cleanup dummy_diag_publisher + * Fix typo + * Make double and write comment + * Set hardware_id from diag_name + * Add const to daig_name and hardware_id + Co-authored-by: kosuke55 + * suppress warnings for declare parameters (`#1724 `_) + * fix for lanelet2_extension + * fix for traffic light ssd fine detector + * fix for topic_state_monitor + * fix for dummy diag publisher + * fix for remote cmd converter + * fix for vehicle_info_util + * fix for multi object tracker + * fix for freespace planner + * fix for autoware_error_monitor + * add Werror for multi object tracker + * fix for multi object tracker + * add Werror for liraffic light ssd fine detector + * add Werror for topic state monitor + * add Werror + * add Werror + * add Werror + * add Werror + * fix style + * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter + * Fix mistake + * fix spell + * Fix lint issues + * Ignore flake8 warnings + Co-authored-by: Hiroki OTA + * Fix typo `obstacle_crush` to `obstacle_crash` (`#2031 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) + * add sort xml hook in pre-commit + * change retval to exit_status + * rename + * add prettier plugin-xml + * use early return + * add license note + * add tier4 license + * restore prettier + * change license order + * move local hooks to public repo + * move prettier-xml to pre-commit-hooks-ros + * update version for bug-fix + * apply pre-commit + * Refactor dummy_diag_publisher (`#2151 `_) + * Refactor dummy_diag_publisher + * fix depend order + * Change formatter to clang-format and black (`#2332 `_) + * Revert "Temporarily comment out pre-commit hooks" + This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. + * Replace ament_lint_common with autoware_lint_common + * Remove ament_cmake_uncrustify and ament_clang_format + * Apply Black + * Apply clang-format + * Fix build errors + * Fix for cpplint + * Fix include double quotes to angle brackets + * Apply clang-format + * Fix build errors + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in dummy_diag_publisher (`#528 `_) + * add README in dummy diag publisher (`#627 `_) + Co-authored-by: mitsudome-r + Co-authored-by: Nikolai Morin + Co-authored-by: Jilada Eccleston + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: kosuke55 + Co-authored-by: Hiroki OTA + Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> +* Contributors: Akihiro Sakurai, Daisuke Nishimatsu, Hiroki OTA, Keisuke Shima, Kenji Miyake, Tomoya Kimura, Vincent Richard, asana17, awf-autoware-bot[bot] diff --git a/system/dummy_diag_publisher/package.xml b/system/dummy_diag_publisher/package.xml index befe02ecb330e..6029314232100 100644 --- a/system/dummy_diag_publisher/package.xml +++ b/system/dummy_diag_publisher/package.xml @@ -2,7 +2,7 @@ dummy_diag_publisher - 0.1.0 + 0.38.0 The dummy_diag_publisher ROS 2 package Fumihito Ito TetsuKawa diff --git a/system/dummy_infrastructure/CHANGELOG.rst b/system/dummy_infrastructure/CHANGELOG.rst new file mode 100644 index 0000000000000..b6ec51ae7d5c9 --- /dev/null +++ b/system/dummy_infrastructure/CHANGELOG.rst @@ -0,0 +1,80 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package dummy_infrastructure +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(dummy_infrastructure): rework parameters (`#5275 `_) +* Contributors: Yuntianyi Chen, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* chore: update maintainer (`#4140 `_) + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* build(dummy_infrastructure): add build dependency (`#2739 `_) +* feat(dummy_infrastructure): change to multiple virtual signal state outputs (`#1717 `_) + * Added parameter to dummy_infrastructure.param.yaml + * Modified dummy infrastructure + * Modified dummy infrastructure for multiple commands + * update dummy_infrastructure +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* ci: check include guard (`#438 `_) + * ci: check include guard + * apply pre-commit + * Update .pre-commit-config.yaml + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * fix: pre-commit + Co-authored-by: Kenji Miyake + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) + * change pkg name: autoware\_*_msgs -> tier\_*_msgs + * ci(pre-commit): autofix + * autoware_external_api_msgs -> tier4_external_api_msgs + * ci(pre-commit): autofix + * fix description + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> +* feat: add dummy_infrastructure package (`#19 `_) + * Feature/add virtual traffic light planner (`#1588 `_) + * Change formatter to clang-format and black (`#2332 `_) + * Revert "Temporarily comment out pre-commit hooks" + This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. + * Replace ament_lint_common with autoware_lint_common + * Remove ament_cmake_uncrustify and ament_clang_format + * Apply Black + * Apply clang-format + * Fix build errors + * Fix for cpplint + * Fix include double quotes to angle brackets + * Apply clang-format + * Fix build errors + * Add COLCON_IGNORE (`#500 `_) + * delete COLCON_IGNORE (`#540 `_) + * add readme [dummy infrastructure] (`#693 `_) + * add readme dummy infra + * fix lint + * update readme + Co-authored-by: taikitanaka3 + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: taikitanaka3 +* Contributors: Esteve Fernandez, Kenji Miyake, Takagi, Isamu, Tomoya Kimura, Vincent Richard, Yohei Mishina diff --git a/system/dummy_infrastructure/package.xml b/system/dummy_infrastructure/package.xml index b1cf997b58eeb..431845825f3d5 100644 --- a/system/dummy_infrastructure/package.xml +++ b/system/dummy_infrastructure/package.xml @@ -2,7 +2,7 @@ dummy_infrastructure - 0.0.0 + 0.38.0 dummy_infrastructure Ryohsuke Mitsudome Apache License 2.0 diff --git a/system/duplicated_node_checker/CHANGELOG.rst b/system/duplicated_node_checker/CHANGELOG.rst new file mode 100644 index 0000000000000..410026b29f94d --- /dev/null +++ b/system/duplicated_node_checker/CHANGELOG.rst @@ -0,0 +1,46 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package duplicated_node_checker +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(duplicated_node_checker): fix unusedFunction (`#8579 `_) + fix: unusedFunction + Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> +* feat(duplicated_node_checker): add duplicate nodes to ignore (`#7959 `_) + * feat: add duplicate nodes to ignore + * remove talker + * newline + * commments + * pre-commit and sign + * rviz->rviz2 + --------- + Co-authored-by: Dmitrii Koldaev +* Contributors: Dmitrii Koldaev, Hayate TOBA, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* chore(duplicate_node_checker): print duplication name (`#6488 `_) +* feat(duplicated_node_checker): add duplicated node names to msg (`#5382 `_) + * add duplicated node names to msg + * align with launcher repository + --------- +* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) + * add implementation for duplicated node checking + * update the default parameters of system_error_monitor to include results from duplication check + * style(pre-commit): autofix + * fix typo in readme + * update license + * change module to the system module + * follow json schema: 1. update code to start without default 2. add schema/config/readme/launch accordingly + * add duplicated node checker to launch + * style(pre-commit): autofix + * fix var name to config for uniform launch + * Update system/duplicated_node_checker/README.md + * Update system/duplicated_node_checker/README.md + --------- + Co-authored-by: Owen-Liuyuxuan + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> +* Contributors: Kyoichi Sugahara, Mamoru Sobue, Yuxuan Liu diff --git a/system/duplicated_node_checker/package.xml b/system/duplicated_node_checker/package.xml index e25758ba51557..5b699d014b5f0 100644 --- a/system/duplicated_node_checker/package.xml +++ b/system/duplicated_node_checker/package.xml @@ -2,7 +2,7 @@ duplicated_node_checker - 1.0.0 + 0.38.0 A package to find out nodes with common names Shumpei Wakabayashi yliuhb diff --git a/system/hazard_status_converter/CHANGELOG.rst b/system/hazard_status_converter/CHANGELOG.rst new file mode 100644 index 0000000000000..151dba1f7d688 --- /dev/null +++ b/system/hazard_status_converter/CHANGELOG.rst @@ -0,0 +1,27 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package hazard_status_converter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* feat: remake diagnostic graph packages (`#6715 `_) +* fix(hazard_status_converter): check current operation mode (`#6733 `_) + * fix: hazard status converter + * fix: topic name and modes + * fix check target mode + * fix message type + * Revert "fix check target mode" + This reverts commit 8b190b7b99490503a52b155cad9f593c1c97e553. + --------- +* Contributors: Ryohsuke Mitsudome, Takagi, Isamu, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) +* feat(hazard_status_converter): add package (`#6428 `_) +* Contributors: Takagi, Isamu diff --git a/system/hazard_status_converter/package.xml b/system/hazard_status_converter/package.xml index addf51edbb8e9..ec54b4c003080 100644 --- a/system/hazard_status_converter/package.xml +++ b/system/hazard_status_converter/package.xml @@ -2,7 +2,7 @@ hazard_status_converter - 0.1.0 + 0.38.0 The hazard_status_converter package Takagi, Isamu Apache License 2.0 diff --git a/system/mrm_comfortable_stop_operator/CHANGELOG.rst b/system/mrm_comfortable_stop_operator/CHANGELOG.rst new file mode 100644 index 0000000000000..bfb6602f7a622 --- /dev/null +++ b/system/mrm_comfortable_stop_operator/CHANGELOG.rst @@ -0,0 +1,103 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mrm_comfortable_stop_operator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(mrm_comfortable_stop_operator): remove unused main file (`#7191 `_) +* Contributors: Takagi, Isamu, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) + chore(mrm_emergency_stop_operator): add a maintainer for mrm operator packages +* style: fix typos (`#3617 `_) + * style: fix typos in documents + * style: fix typos in package.xml + * style: fix typos in launch files + * style: fix typos in comments + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* chore: sync files (`#3227 `_) + * chore: sync files + * style(pre-commit): autofix + --------- + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) + * fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators + * ci(pre-commit): autofix + * fix(mrm_emergency_stop_operator): remove os import + * fix(mrm_emergency_stop_operator): remove unused packages + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) + * feat(emergency_handler): add mrm command and status publishers + * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg + * feat(emergency_handler): add mrm clients and subscribers + * feat(mrm_comfortable_stop_operator): ready ros2 node template + * feat(mrm_comfortable_stop_operator): implemented + * feat(mrm_comfortable_stop_operator): implement as component + * chore(mrm_comfortable_stop_operator): add a launch script + * refactor(mrm_comfortable_stop_operator): remove a xml launch file + * feat(autoware_ad_api_msgs): change mrm status msg + * feat(emergency_handler): add mrm operator and mrm behavior updater + * feat(emergency_handler): add mrm behavior state machine + * feat(emergency_handler): remap io names + * fix(emergency_handler): fix request generation + * fix(emergency_handler): add multi thread execution for service + * feat(vehicle_cmd_gate): add mrm operation service and status publisher + * refactor(mrm_comfortable_stop_operator): use MRMBehaviorStatus struct + * fix(mrm_comfortable_stop_operator): add time stamp for status + * feat(vehicle_cmd_gate): change system emergency state by mrm operation + * chore(autoware_ad_api_msgs): remove rti_operating state from mrm status + * feat(mrm_sudden_stop_operator): add mrm_sudden_stop_operator + * refactor(autoware_ad_api_msgs): rename from mrm status to mrm state + * fix(mrm_comfortable_stop_operator): set qos for velocity limit publisher + * feat(emergency_handler): add mrm state publisher + * feat(vehicle_cmd_gate): add subscription for mrm_state + * fix(mrm_sudden_stop_operator): fix control command topic name + * feat(vehicle_cmd_gate): pub emergency control_cmd according to mrm state + * feat(emergency_handler): remove emergency control_cmd publisher + * chore(tier4_control_launch): remap mrm state topic + * feat(tier4_system_launch): launch mrm operators + * fix(emergency_handler): fix autoware_ad_api_msgs to autoware_adapi_v1_msgs + * fix(vehicle_cmd_gate): remove subscribers for emergency_state and mrm operation + * fix(vehicle_cmd_gate): fix system emergency condition + * fix(emergency_handler): add stamp for mrm_state + * fix(mrm_emergency_stop_operator): rename sudden stop to emergency stop + * fix(vehicle_cmd_gate): remove emergency stop status publisher + * fix(emergency_handler): replace emergency state to mrm state + * feat(mrm_emergency_stop_operator): add is_available logic + * feat(emergency_handler): add use_comfortable_stop param + * refactor(emergency_handler): rename getCurrentMRMBehavior + * feat(emergency_handler): add mrm available status for ready conditions + * feat(emergency_handler): add readme + * fix(mrm_comfortable_stop_operator): fix update rate + * refactor(emergency_handler): move MRMBehaviorStatus msg to tier4_system_msgs + * feat(emergency_handler): describe new io for emergency_handler + * fix(emergency_handler): remove extra settings + * fix(mrm_emergency_stop_operator): fix is_available condition + * fix(mrm_emergency_stop_operator): fix typo + * ci(pre-commit): autofix + * fix(mrm_emergency_stop_operator): remove extra descriptions on config files + * fix(mrm_comfortable_stop_operator): fix typo + * chore(mrm_comfortable_stop_operator): change words + * chore(mrm_comfortable_stop_operator): change maintainer infomation + * fix(emergency_handler): fix acronyms case + * chore(emergency_handler): add a maintainer + * fix(emergency_handler): fix to match msg changes + * fix(vehicle_cmd_gate): remove an extra include + * ci(pre-commit): autofix + * fix(emergency_handler): fix topic name spaces + * fix(emergency_handler): fix acronyms case + * chore(tier4_system_launch): add a mrm comfortable stop parameter + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Kenji Miyake, Makoto Kurihara, Vincent Richard, awf-autoware-bot[bot] diff --git a/system/mrm_comfortable_stop_operator/package.xml b/system/mrm_comfortable_stop_operator/package.xml index ca65de87d762a..67211c95d4bdf 100644 --- a/system/mrm_comfortable_stop_operator/package.xml +++ b/system/mrm_comfortable_stop_operator/package.xml @@ -2,7 +2,7 @@ mrm_comfortable_stop_operator - 0.1.0 + 0.38.0 The MRM comfortable stop operator package Makoto Kurihara Tomohito Ando diff --git a/system/mrm_emergency_stop_operator/CHANGELOG.rst b/system/mrm_emergency_stop_operator/CHANGELOG.rst new file mode 100644 index 0000000000000..83df65ec5d921 --- /dev/null +++ b/system/mrm_emergency_stop_operator/CHANGELOG.rst @@ -0,0 +1,106 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mrm_emergency_stop_operator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* feat(mrm_emergency_stop_operator): add support for real time param reconfigure for mrm_emergency_stop (`#6994 `_) + add support for real time param reconfigure for mrm_emergency_stop +* Contributors: Kosuke Takeuchi, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, danielsanchezaran + +0.26.0 (2024-04-03) +------------------- +* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) + chore(mrm_emergency_stop_operator): add a maintainer for mrm operator packages +* docs(mrm_emergency_stop_operator): fix file name (`#4226 `_) +* style: fix typos (`#3617 `_) + * style: fix typos in documents + * style: fix typos in package.xml + * style: fix typos in launch files + * style: fix typos in comments + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) + * fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators + * ci(pre-commit): autofix + * fix(mrm_emergency_stop_operator): remove os import + * fix(mrm_emergency_stop_operator): remove unused packages + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) + * feat(emergency_handler): add mrm command and status publishers + * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg + * feat(emergency_handler): add mrm clients and subscribers + * feat(mrm_comfortable_stop_operator): ready ros2 node template + * feat(mrm_comfortable_stop_operator): implemented + * feat(mrm_comfortable_stop_operator): implement as component + * chore(mrm_comfortable_stop_operator): add a launch script + * refactor(mrm_comfortable_stop_operator): remove a xml launch file + * feat(autoware_ad_api_msgs): change mrm status msg + * feat(emergency_handler): add mrm operator and mrm behavior updater + * feat(emergency_handler): add mrm behavior state machine + * feat(emergency_handler): remap io names + * fix(emergency_handler): fix request generation + * fix(emergency_handler): add multi thread execution for service + * feat(vehicle_cmd_gate): add mrm operation service and status publisher + * refactor(mrm_comfortable_stop_operator): use MRMBehaviorStatus struct + * fix(mrm_comfortable_stop_operator): add time stamp for status + * feat(vehicle_cmd_gate): change system emergency state by mrm operation + * chore(autoware_ad_api_msgs): remove rti_operating state from mrm status + * feat(mrm_sudden_stop_operator): add mrm_sudden_stop_operator + * refactor(autoware_ad_api_msgs): rename from mrm status to mrm state + * fix(mrm_comfortable_stop_operator): set qos for velocity limit publisher + * feat(emergency_handler): add mrm state publisher + * feat(vehicle_cmd_gate): add subscription for mrm_state + * fix(mrm_sudden_stop_operator): fix control command topic name + * feat(vehicle_cmd_gate): pub emergency control_cmd according to mrm state + * feat(emergency_handler): remove emergency control_cmd publisher + * chore(tier4_control_launch): remap mrm state topic + * feat(tier4_system_launch): launch mrm operators + * fix(emergency_handler): fix autoware_ad_api_msgs to autoware_adapi_v1_msgs + * fix(vehicle_cmd_gate): remove subscribers for emergency_state and mrm operation + * fix(vehicle_cmd_gate): fix system emergency condition + * fix(emergency_handler): add stamp for mrm_state + * fix(mrm_emergency_stop_operator): rename sudden stop to emergency stop + * fix(vehicle_cmd_gate): remove emergency stop status publisher + * fix(emergency_handler): replace emergency state to mrm state + * feat(mrm_emergency_stop_operator): add is_available logic + * feat(emergency_handler): add use_comfortable_stop param + * refactor(emergency_handler): rename getCurrentMRMBehavior + * feat(emergency_handler): add mrm available status for ready conditions + * feat(emergency_handler): add readme + * fix(mrm_comfortable_stop_operator): fix update rate + * refactor(emergency_handler): move MRMBehaviorStatus msg to tier4_system_msgs + * feat(emergency_handler): describe new io for emergency_handler + * fix(emergency_handler): remove extra settings + * fix(mrm_emergency_stop_operator): fix is_available condition + * fix(mrm_emergency_stop_operator): fix typo + * ci(pre-commit): autofix + * fix(mrm_emergency_stop_operator): remove extra descriptions on config files + * fix(mrm_comfortable_stop_operator): fix typo + * chore(mrm_comfortable_stop_operator): change words + * chore(mrm_comfortable_stop_operator): change maintainer infomation + * fix(emergency_handler): fix acronyms case + * chore(emergency_handler): add a maintainer + * fix(emergency_handler): fix to match msg changes + * fix(vehicle_cmd_gate): remove an extra include + * ci(pre-commit): autofix + * fix(emergency_handler): fix topic name spaces + * fix(emergency_handler): fix acronyms case + * chore(tier4_system_launch): add a mrm comfortable stop parameter + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Kenji Miyake, Makoto Kurihara, Takamasa Horibe, Vincent Richard diff --git a/system/mrm_emergency_stop_operator/package.xml b/system/mrm_emergency_stop_operator/package.xml index 44c80485d5b1b..402a94f305cfe 100644 --- a/system/mrm_emergency_stop_operator/package.xml +++ b/system/mrm_emergency_stop_operator/package.xml @@ -2,7 +2,7 @@ mrm_emergency_stop_operator - 0.1.0 + 0.38.0 The MRM emergency stop operator package Makoto Kurihara Tomohito Ando diff --git a/system/mrm_handler/CHANGELOG.rst b/system/mrm_handler/CHANGELOG.rst new file mode 100644 index 0000000000000..9b3aa1e525df7 --- /dev/null +++ b/system/mrm_handler/CHANGELOG.rst @@ -0,0 +1,96 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mrm_handler +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(mrm_handler, emergency_handler): remove unnecessary depend (`#8099 `_) + * fix(mrm_handler): remove unnecessary depends + * fix(emergency_handler): remove unnecessary depends + --------- +* feat(mrm_handler): input gear command (`#8080 `_) + * feat(mrm_handler): input gear command + * style(pre-commit): autofix + * fix minor + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(mrm_handler): add check for autonomous mode and do some refactoring (`#8067 `_) + * add check for autonomous mode and do some refactoring + * add comments + * fix comment + --------- +* feat(mrm_handler): operate mrm only when autonomous operation mode (`#7784 `_) + * feat: add isOperationModeAutonomous() function to MRM handler core + The code changes add a new function `isOperationModeAutonomous()` to the MRM handler core. This function is used to check if the operation mode is set to autonomous. + --------- +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(mrm_handler): fix multiCondition warning (`#7543 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* fix(mrm_handler): fix stop judgement (`#7362 `_) + fix stop judgement + Co-authored-by: Autumn60 +* feat(emergency_handler, mrm_handler): change to read topic by polling (`#7297 `_) + * replace Subscription to InterProcessPollingSubscriber + * sort depend packages list in package.xml + * fix end of file + * clang format + * chore: fix comments + * replace Subscription to InterProcessPollingSubscriber (mrm_handler) + --------- + Co-authored-by: Autumn60 +* refactor(mrm_handler): use switch for state machine (`#7277 `_) + * refactor nested if elses + * delete other commits + * return for consistency + --------- +* fix(emergency_handler,mrm_handler): check for ego speed when determining the gear command (`#7264 `_) + * check for ego speed when determining the gear command + * add gear history + * update msg types + --------- + Co-authored-by: veqcc +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* feat: componentize-mrm-handler (`#7018 `_) +* Contributors: Autumn60, Kosuke Takeuchi, Kyoichi Sugahara, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, TetsuKawa, Yutaka Kondo, danielsanchezaran + +0.26.0 (2024-04-03) +------------------- +* fix(mrm_handler): fix bug in operation mode availability timeout (`#6513 `_) + * fix operation mode availability timeout +* feat: add timeouts of request services (`#6532 `_) + * feat: add timeouts of request services + * style(pre-commit): autofix + * feat: replace define with enum + * style(pre-commit): autofix + * modify: renam a function + * modify: rename a function + * modify: fix functions name at the caller side + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Ryuta Kambe +* refactor(mrm_handler): delete control_cmd publish function (`#6514 `_) + * refactor(mrm_handler): delete control_cmd publish function +* feat(mrm_handler, emergency_handler): remove takeover (`#6522 `_) + update(mrm_handler, emergency_handler): remove takeover +* feat(mrm_handler): add mrm_handler (`#6400 `_) + * feat: add mrm_handler + * style(pre-commit): autofix + * modify: update README + * feat: refactor isArrivedAtGoal() + * modify: fix error massages gramatically. + * feat: update the person in charge of the unimplemented parts + * modify: fix typo in schema.json + * modify: fix copyright + * modify: fix mistakes in README + * modify: correct a type mistake in README + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Makoto Kurihara +* Contributors: Ryuta Kambe, TetsuKawa diff --git a/system/mrm_handler/package.xml b/system/mrm_handler/package.xml index 6e08b261f09c0..93959a6931794 100644 --- a/system/mrm_handler/package.xml +++ b/system/mrm_handler/package.xml @@ -2,7 +2,7 @@ mrm_handler - 0.1.0 + 0.38.0 The mrm_handler ROS 2 package Makoto Kurihara Ryuta Kambe diff --git a/system/system_diagnostic_monitor/CHANGELOG.rst b/system/system_diagnostic_monitor/CHANGELOG.rst new file mode 100644 index 0000000000000..dc237f55ab53c --- /dev/null +++ b/system/system_diagnostic_monitor/CHANGELOG.rst @@ -0,0 +1,28 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package system_diagnostic_monitor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(localization_error_monitor, system diag): fix to use diagnostics_module in localization_util (`#8543 `_) + * fix(localization_error_monitor): fix to use diagnostics_module in localization_util + * fix: update media + * fix: update component name + * fix: rename include file + --------- +* feat(autonomous_emergency_braking): enable AEB emergency stop (`#8255 `_) + enable AEB emergency stop +* fix(system_diagnostic_monitor): fix local mode config (`#7532 `_) +* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) +* feat(default_ad_api): use diagnostic graph (`#7043 `_) +* feat(system diags): rename diag of ndt scan matcher (`#6889 `_) + rename ndt diag +* feat: remake diagnostic graph packages (`#6715 `_) +* Contributors: RyuYamamoto, Takagi, Isamu, Yamato Ando, Yutaka Kondo, danielsanchezaran + +0.26.0 (2024-04-03) +------------------- +* feat(system_diagnostic_graph): change config file format (`#5340 `_) +* feat: system diagnostic monitor (`#4722 `_) +* Contributors: Takagi, Isamu diff --git a/system/system_diagnostic_monitor/package.xml b/system/system_diagnostic_monitor/package.xml index a54a3dd0d109a..54031a2e82daa 100644 --- a/system/system_diagnostic_monitor/package.xml +++ b/system/system_diagnostic_monitor/package.xml @@ -2,7 +2,7 @@ system_diagnostic_monitor - 0.1.0 + 0.38.0 The system_diagnostic_monitor package Takagi, Isamu Apache License 2.0 diff --git a/system/system_monitor/CHANGELOG.rst b/system/system_monitor/CHANGELOG.rst index ce6769d12e186..874e58908e8be 100644 --- a/system/system_monitor/CHANGELOG.rst +++ b/system/system_monitor/CHANGELOG.rst @@ -1,8 +1,1082 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package system_monitor -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -1.1x.0 (2020-xx-xx) +0.38.0 (2024-11-08) ------------------- -* Initial commit -* Contributors: Fumihito Ito +* remove system_monitor/CHANGELOG.rst +* unify package.xml version to 0.37.0 +* fix(system_monitor): fix variableScope (`#8448 `_) + fix:variableScope +* fix(system_monitor): fix unusedStructMember (`#8401 `_) + * fix:unusedStructMember + * fix:clang format + * fix:clang format + --------- +* fix(system_monitor): fix unreadVariable (`#8372 `_) + fix:unreadVariable +* fix(system_monitor): fix shadowVariable (`#7981 `_) + fix:shadowVariable +* fix(system_monitor): apply cppcheck-suppress for cstyleCast (`#7867 `_) + * fix(system_monitor): apply cppcheck-suppress for cstyleCast + * fix(system_monitor): apply cppcheck-suppress for cstyleCast + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(net_monitor): fix cppcheck warnings (`#7573 `_) + * fix unusedVariable warning + * fix unusedVariable warning + * fix variableScope warning + * fix unreadVariable warning + * fix + --------- +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* fix(system_monitor): fix unsignedLessThanZero warning (`#7545 `_) +* ci(pre-commit): autoupdate (`#7499 `_) + Co-authored-by: M. Fatih Cırıt +* fix(system_monitor): fix warning of containerOutOfBounds (`#6927 `_) +* Contributors: Koichi98, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 + +0.26.0 (2024-04-03) +------------------- +* fix(system_monitor): move headers to a separate directory (`#5942 `_) + * fix(system_monitor): move headers to a separate directory + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(system_monitor): fix uninitialized diag level of process monitor (`#5753 `_) +* chore: update maintainer (`#5730 `_) + update maintainer +* fix(system_monitor): output command line (`#5430 `_) + * fix(system_monitor): output command line + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* perf(system_monitor): fix program command line reading (`#5191 `_) + * Fix program command line reading + * style(pre-commit): autofix + * fix spelling commandline->command_line + --------- + Co-authored-by: Owen-Liuyuxuan + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(ntp_monitor): move chronyc command execution to a timer (`#4634 `_) + * fix(ntp_monitor): move chronyc command execution to a timer + * add newly added parameter timeout to config + --------- + Co-authored-by: Hiroki OTA +* fix(system_monitor): high-memory process are not provided in MEM order (`#4654 `_) + * fix(process_monitor): high-memory process are not being provided in %MEM order + * changed option from 'g' to 'n' + --------- +* fix(system_monitor): extend command line to display (`#4553 `_) +* feat(system_monitor): add detection of ECC memory errors (`#3795 `_) + * feat(system_monitor): add detection of ECC memory errors + * style(pre-commit): autofix + * fix process crash when edac-utils is not installed + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(perception): remove UB reinterpret_cast (`#3383 `_) + * fix(perception): remove UB reinterpret_cast + see https://github.com/autowarefoundation/autoware.universe/issues/3215 + * fix(pointcloud_preprocessor): remove UB reinterpret_cast + * refactor + --------- +* style: fix typos (`#3617 `_) + * style: fix typos in documents + * style: fix typos in package.xml + * style: fix typos in launch files + * style: fix typos in comments + --------- +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* chore: sync files (`#3227 `_) + * chore: sync files + * style(pre-commit): autofix + --------- + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* build(system_monitor): added missing Boost dependencies (`#2881 `_) + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> +* build(system_monitor): add build dependency (`#2740 `_) +* fix(system_monitor): change default param path (`#2560 `_) +* fix(system_monitor): prevent nethogs from monitoring all networks due to high CPU load (`#2474 `_) + * fix(system_monitor): prevent nethogs from monitoring all networks due to high CPU load + * ci(pre-commit): autofix + * fix(system_monitor): fix include guards + * fix(system_monitor): fix build error + * fix(net_monitor): change lower camel case to snake case + * fix(net_monitor): fix clang-tidy errors and warnings + * ci(pre-commit): autofix + * fix(net_monitor): fix clang-tidy warnings + * ci(pre-commit): autofix + * fix(net_monitor: fix clang-tidy warnings) + * fix(net_monitor): fix clang-tidy warnings + * fix(net_monitor): change C-style socket to boost::asio + * fix(net_monitor): fix clang-tidy warnings + * fix(net_monitor): fix clang-tidy warnings + * fix(net_monitor): first refactoring + * fix(net_monitor): refactoring + * fix(net_monitor): fix clang-tidy errors + * fix(net_monitor): update README + * fix(net_monitor): add lock guard to protect variable + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: replace python launch with xml launch for system monitor (`#2430 `_) + * feat: replace python launch with xml launch for system monitor + * ci(pre-commit): autofix + * update figure + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(system_monitor): add maintainer (`#2420 `_) +* refactor(system_monitor/hdd_monitor): rename structs and functions (`#2144 `_) + * refactor(system_monitor/hdd_monitor): rename structs and functions + * fix a mistake +* chore(system_monitor): fix typos (`#2142 `_) +* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) + * adding document for voltage monitor + * ci(pre-commit): autofix + * fixed for the issue of multithread + * Fixed the lack for processing of Error case. + * deleted magic number 200 + * ci(pre-commit): autofix + * moved voltage_mnitor to tha last + * minimizing between try-catch. + * ci(pre-commit): autofix + * deleted unused files + * added default vlue of cmos_battery_voltage + * changed the label name to cmos_battery_label. + * adding language specified + * resolved conflict + * resolved conflict + * resolved conflict + * ci(pre-commit): autofix + * added topics_voltage_monitor.md) + * ci(pre-commit): autofix + * chore: sync files (`#629 `_) + * chore: sync files + * ci(pre-commit): autofix + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) + * chore: sync files + * Revert "chore: sync files" + This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. + * sync codecov.yaml + Co-authored-by: kenji-miyake + Co-authored-by: Kenji Miyake + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) + * docs: fix 404 error caused by typo in url + * docs: fix typo in url for yolov4 + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix: set imagebuffersize configured + * ci(pre-commit): autofix + Co-authored-by: suchang + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) + * doc(behavior_velocity): add graph and fix link + * doc(behavior_velocity): update virtual traffic light doc + * doc(behavior_velocity): minor fix + * doc : mediate to coordinate + * doc: minor update + * doc: fix pre-commit + * doc: update docs + * apply suggestion + * doc: to intersection-coordination + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * fix(surroud_obstacle_checker): use alias + * feat(surround_obstacle_checker): use velocity limit + * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions + * refactor(surround_obstacle_checker): use parameter struct + * fix(surround_obstacle_checker): use alias + * refactor(surround_obstacle_checker): cleanup member functions + * refactor(surround_obstacle_checker): cleanup polygon handling + * refactor(surround_obstacle_checker): use marker helper + * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) + * fix(lidar_centerpoint): update nvinfer api + * fix(tensorrt_yolo): update nvinfer api + * fix(lidar_apollo_instance_segmentation): update nvinfer api + * fix(traffic_light_classifier): update nvinfer api + * fix(traffic_light_ssd_fine_detector): update nvinfer api + * pre-commit run + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix: ignore object instead of creating zero shift + instead of creating zero shift point, the object will be ignored. + no behavior changes should be observed. + * refactor: sync continue with upstream + * fix: fix debug message for insufficient lateral margin + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(autoware_testing): fix smoke_test + * restore smoke_test for trajectory_follower_nodes + * add support multiple parameter files + * ci(pre-commit): autofix + * minor fix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel + * chore(rviz_plugin): change ms to kmh + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle + * applied pre-commit + * Added max_steer_angle in test config + Co-authored-by: Tomoya Kimura + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 + * Update CMakeLists.txt + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * add random point sampling function to quickly calculate the 'viewer' coordinate + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * ci(pre-commit): autofix + * fixed conflicts + * ci(pre-commit): autofix + * merged fork-origin + * merged + * resolve conflict + * ci(pre-commit): autofix + * deleted + * added "Voltage Monitor" + * merged with main->feature_battery_monitoring + * merge main ->feature_battery_monitoring + * ci(pre-commit): autofix + * added default vlue of cmos_battery_voltage + * resolved conflict + * resolved conflict + * ci(pre-commit): autofix + * added topics_voltage_monitor.md) + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * chore: sync files (`#629 `_) + * chore: sync files + * ci(pre-commit): autofix + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) + * chore: sync files + * Revert "chore: sync files" + This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. + * sync codecov.yaml + Co-authored-by: kenji-miyake + Co-authored-by: Kenji Miyake + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) + * docs: fix 404 error caused by typo in url + * docs: fix typo in url for yolov4 + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix: set imagebuffersize configured + * ci(pre-commit): autofix + Co-authored-by: suchang + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) + * doc(behavior_velocity): add graph and fix link + * doc(behavior_velocity): update virtual traffic light doc + * doc(behavior_velocity): minor fix + * doc : mediate to coordinate + * doc: minor update + * doc: fix pre-commit + * doc: update docs + * apply suggestion + * doc: to intersection-coordination + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * fix(surroud_obstacle_checker): use alias + * feat(surround_obstacle_checker): use velocity limit + * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions + * refactor(surround_obstacle_checker): use parameter struct + * fix(surround_obstacle_checker): use alias + * refactor(surround_obstacle_checker): cleanup member functions + * refactor(surround_obstacle_checker): cleanup polygon handling + * refactor(surround_obstacle_checker): use marker helper + * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) + * fix(lidar_centerpoint): update nvinfer api + * fix(tensorrt_yolo): update nvinfer api + * fix(lidar_apollo_instance_segmentation): update nvinfer api + * fix(traffic_light_classifier): update nvinfer api + * fix(traffic_light_ssd_fine_detector): update nvinfer api + * pre-commit run + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix: ignore object instead of creating zero shift + instead of creating zero shift point, the object will be ignored. + no behavior changes should be observed. + * refactor: sync continue with upstream + * fix: fix debug message for insufficient lateral margin + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(autoware_testing): fix smoke_test + * restore smoke_test for trajectory_follower_nodes + * add support multiple parameter files + * ci(pre-commit): autofix + * minor fix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel + * chore(rviz_plugin): change ms to kmh + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle + * applied pre-commit + * Added max_steer_angle in test config + Co-authored-by: Tomoya Kimura + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 + * Update CMakeLists.txt + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * add random point sampling function to quickly calculate the 'viewer' coordinate + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * ci(pre-commit): autofix + * fixed conflicts + * ci(pre-commit): autofix + * resolve conflict + * ci(pre-commit): autofix + * merged with main->feature_battery_monitoring + * merge main ->feature_battery_monitoring + * Added voltages are provisional values. + * ci(pre-commit): autofix + * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) + * feat(behavior_path_planner): add and change parameters + * update + * update + * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) + * refactor(perception_util): refactor matching function in perception_util + * fix namespace + * refactor + * refactor + * fix bug + * add const + * refactor function name + * refactor(perception_utils): refactor object_classification (`#2042 `_) + * refactor(perception_utils): refactor object_classification + * fix bug + * fix unittest + * refactor + * fix unit test + * remove redundant else + * refactor variable name + * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) + * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) + * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) + * refactor(osqp_interface, motion_velocity_smoother): unsolved status log + * Update common/osqp_interface/src/osqp_interface.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) + Co-authored-by: Yusuke Muramatsu + * change name hardware_monitor -> voltage_monitor + * copy right 2020 -> 2022 + * delete duplicated lines + * fix: catch exception, remove sensors_exists\_ + * adding error message output + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * adding document for voltage monitor + * fixed for the issue of multithread + * ci(pre-commit): autofix + * Fixed the lack for processing of Error case. + * deleted magic number 200 + * moved voltage_mnitor to tha last + * minimizing between try-catch. + * ci(pre-commit): autofix + * added default vlue of cmos_battery_voltage + * changed the label name to cmos_battery_label. + * adding language specified + * resolved conflict + * resolved conflict + * ci(pre-commit): autofix + * added topics_voltage_monitor.md) + * ci(pre-commit): autofix + * chore: sync files (`#629 `_) + * chore: sync files + * ci(pre-commit): autofix + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) + * chore: sync files + * Revert "chore: sync files" + This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. + * sync codecov.yaml + Co-authored-by: kenji-miyake + Co-authored-by: Kenji Miyake + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) + * docs: fix 404 error caused by typo in url + * docs: fix typo in url for yolov4 + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix: set imagebuffersize configured + * ci(pre-commit): autofix + Co-authored-by: suchang + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) + * doc(behavior_velocity): add graph and fix link + * doc(behavior_velocity): update virtual traffic light doc + * doc(behavior_velocity): minor fix + * doc : mediate to coordinate + * doc: minor update + * doc: fix pre-commit + * doc: update docs + * apply suggestion + * doc: to intersection-coordination + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * fix(surroud_obstacle_checker): use alias + * feat(surround_obstacle_checker): use velocity limit + * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions + * refactor(surround_obstacle_checker): use parameter struct + * fix(surround_obstacle_checker): use alias + * refactor(surround_obstacle_checker): cleanup member functions + * refactor(surround_obstacle_checker): cleanup polygon handling + * refactor(surround_obstacle_checker): use marker helper + * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) + * fix(lidar_centerpoint): update nvinfer api + * fix(tensorrt_yolo): update nvinfer api + * fix(lidar_apollo_instance_segmentation): update nvinfer api + * fix(traffic_light_classifier): update nvinfer api + * fix(traffic_light_ssd_fine_detector): update nvinfer api + * pre-commit run + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix: ignore object instead of creating zero shift + instead of creating zero shift point, the object will be ignored. + no behavior changes should be observed. + * refactor: sync continue with upstream + * fix: fix debug message for insufficient lateral margin + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(autoware_testing): fix smoke_test + * restore smoke_test for trajectory_follower_nodes + * add support multiple parameter files + * ci(pre-commit): autofix + * minor fix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel + * chore(rviz_plugin): change ms to kmh + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle + * applied pre-commit + * Added max_steer_angle in test config + Co-authored-by: Tomoya Kimura + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 + * Update CMakeLists.txt + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * add random point sampling function to quickly calculate the 'viewer' coordinate + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * ci(pre-commit): autofix + * fixed conflicts + * ci(pre-commit): autofix + * resolve conflict + * deleted + * added "Voltage Monitor" + * ci(pre-commit): autofix + * merged with main->feature_battery_monitoring + * merge main ->feature_battery_monitoring + * ci(pre-commit): autofix + * added default vlue of cmos_battery_voltage + * resolved conflict + * resolved conflict + * added topics_voltage_monitor.md) + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * chore: sync files (`#629 `_) + * chore: sync files + * ci(pre-commit): autofix + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) + * chore: sync files + * Revert "chore: sync files" + This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. + * sync codecov.yaml + Co-authored-by: kenji-miyake + Co-authored-by: Kenji Miyake + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) + * docs: fix 404 error caused by typo in url + * docs: fix typo in url for yolov4 + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix: set imagebuffersize configured + * ci(pre-commit): autofix + Co-authored-by: suchang + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) + * doc(behavior_velocity): add graph and fix link + * doc(behavior_velocity): update virtual traffic light doc + * doc(behavior_velocity): minor fix + * doc : mediate to coordinate + * doc: minor update + * doc: fix pre-commit + * doc: update docs + * apply suggestion + * doc: to intersection-coordination + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * fix(surroud_obstacle_checker): use alias + * feat(surround_obstacle_checker): use velocity limit + * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions + * refactor(surround_obstacle_checker): use parameter struct + * fix(surround_obstacle_checker): use alias + * refactor(surround_obstacle_checker): cleanup member functions + * refactor(surround_obstacle_checker): cleanup polygon handling + * refactor(surround_obstacle_checker): use marker helper + * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) + * fix(lidar_centerpoint): update nvinfer api + * fix(tensorrt_yolo): update nvinfer api + * fix(lidar_apollo_instance_segmentation): update nvinfer api + * fix(traffic_light_classifier): update nvinfer api + * fix(traffic_light_ssd_fine_detector): update nvinfer api + * pre-commit run + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix: ignore object instead of creating zero shift + instead of creating zero shift point, the object will be ignored. + no behavior changes should be observed. + * refactor: sync continue with upstream + * fix: fix debug message for insufficient lateral margin + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(autoware_testing): fix smoke_test + * restore smoke_test for trajectory_follower_nodes + * add support multiple parameter files + * ci(pre-commit): autofix + * minor fix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel + * chore(rviz_plugin): change ms to kmh + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle + * applied pre-commit + * Added max_steer_angle in test config + Co-authored-by: Tomoya Kimura + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 + * Update CMakeLists.txt + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * add random point sampling function to quickly calculate the 'viewer' coordinate + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * ci(pre-commit): autofix + * fixed conflicts + * ci(pre-commit): autofix + * resolve conflict + * ci(pre-commit): autofix + * merged with main->feature_battery_monitoring + * merge main ->feature_battery_monitoring + * Added voltages are provisional values. + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * fixed conflict manually + * fixed conflict manually + * ci(pre-commit): autofix + * fixed conflict + * fixed conflict + * ci(pre-commit): autofix + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> + Co-authored-by: kenji-miyake + Co-authored-by: Hiroki OTA + Co-authored-by: Kenji Miyake + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + Co-authored-by: storrrrrrrrm <103425473+storrrrrrrrm@users.noreply.github.com> + Co-authored-by: suchang + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Takamasa Horibe + Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> + Co-authored-by: Takayuki Murooka + Co-authored-by: Tomoya Kimura + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> + Co-authored-by: Takeshi Ishita + Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> + Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> + Co-authored-by: Kenzo Lobos Tsunekawa + Co-authored-by: Yusuke Muramatsu +* feat: add HDD monitoring items to hdd_monitor (`#721 `_) + * feat: add HDD monitoring items to hdd_monitor + * fix pre-commit C long type error + * fixed the monitoring method of RecoveredError + * additional support for storage health check + * resolve conflicts + * fix bug when setting mount point of HDD Monitor + * fix(system_monitor): level change when not connected and unmount function added in HDD connection monitoring + * fix(system_monitor): level change when not connected in HDD connection monitoring + * fix(system_monitor): unmount function added in hdd_reader + * fix(system_monitor): separate S.M.A.R.T. request and lazy unmount request for hdd_reader +* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) + * feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor + * fix build errors caused by merge mistakes + * fix(system_monitor): chang word Reasm and fix deep nesting + * fix(system_monitor): fix deep nesting + * fix(system_monitor): lightweight /proc/net/snmp reading + * fix(system_monitor): fix index variable type to unsigned, add log output, and make index evaluation expression easier to understand + * fix(system_monitor): remove unnecessary static_cast + * fix(system_monitor): typo fix + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> +* feat: add GPU clock monitoring to gpu_monitor (`#687 `_) +* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> +* fix(system_monitor): incorrect counter increment in CPU Usage monitor (`#1783 `_) + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> +* feat: add CRC error monitoring to net_monitor (`#638 `_) + * feat: add CRC error monitoring to net_monitor + * add CRC error monitoring information to README.md + * ci(pre-commit): autofix + Co-authored-by: noriyuki.h + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(system_monitor): multithreading support for boost::process (`#1714 `_) +* fix(system_monitor): move top command execution to a timer (`#948 `_) + * fix(system_monitor): move top command execution to a timer + * removed unnecessary update method + * use tier4_autoware_utils::StopWatch + * Ensure thread-safe +* fix(system_monitor): add some smart information to diagnostics (`#708 `_) +* fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy + * Use std::string constructor to copy char array + * Fixed typo +* feat: isolate gtests in all packages (`#693 `_) +* fix(system_monitor): fix build error on tegra platform (`#869 `_) + * fix(system_monitor): fix build error on tegra platform + * ci(pre-commit): autofix + * Update system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp + Co-authored-by: Shark Liu + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* chore: remove bad chars (`#845 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(system_monitor): modify build error in rolling (`#788 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(system_monitor): add some smart information to diagnostics (`#560 `_) + * feat(system_monitor): add some smart information to diagnostics + * ci(pre-commit): autofix + * modify regex for nvme device name + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(system_monitor): change method of CPU usage monitoring (`#557 `_) + * feat(lidar_detection): changing default input topic name of lidar detection nodes (`#433 `_) + * feat(system_monitor): change method of CPU usage monitoring + Co-authored-by: Taichi Higashide +* feat(hdd_monitor): add unit to value side as well as other metrics (`#325 `_) +* feat: add cpu usage topic (`#353 `_) + * modified for publishing cpu_usage_api + * modified for calib error output and cpu usage output + * modified push_back condition + * modified topic name + * Delete unnecessary comments + * Delete unnecessary comments + * modified for publishing cpu_usage_api + * Delete unnecessary comments + * ci(pre-commit): autofix + * ci(pre-commit): autofix + * run pre-commit + * remove unnecessary comments + * modify unnecessary change for pull request + * run pre-commit + * modify unnecessary change + * modified along the comments on PR `#353 `_ + * modified along the comments on PR `#353 `_ + * remove unnecessary process + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(system_monitor): handle parameter as mount point (`#259 `_) +* fix(system_monitor): fix build error on aarch64 (`#263 `_) +* feat: change launch package name (`#186 `_) + * rename launch folder + * autoware_launch -> tier4_autoware_launch + * integration_launch -> tier4_integration_launch + * map_launch -> tier4_map_launch + * fix + * planning_launch -> tier4_planning_launch + * simulator_launch -> tier4_simulator_launch + * control_launch -> tier4_control_launch + * localization_launch -> tier4_localization_launch + * perception_launch -> tier4_perception_launch + * sensing_launch -> tier4_sensing_launch + * system_launch -> tier4_system_launch + * ci(pre-commit): autofix + * vehicle_launch -> tier4_vehicle_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: tanaka3 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* chore(sync): merged autoware.iv/pull/2362 (`#761 `_) (`#134 `_) + Co-authored-by: h-mitsui-esol <57085544+h-mitsui-esol@users.noreply.github.com> +* feat: add autoware_system_monitor package (`#14 `_) + * release v0.4.0 + * Fixed uninitialized variable. (`#763 `_) + * Fixed various bugs. (`#768 `_) + * Fixed various bugs. + * Fixed wrong status report of NIC. + * Added the mode of CPU Usage to check statistics calculated as averages among all processors by default. (`#788 `_) + * fix uninitialized variables (`#816 `_) + * remove ROS1 packages temporarily + * Revert "remove ROS1 packages temporarily" + This reverts commit a9436882d50dc09fa5b8d6c0a151a10def76b242. + * add COLCON_IGNORE to ros1 packages + * Rename launch files to launch.xml (`#28 `_) + * Port system monitor to ros2 (`#71 `_) + * Implement a utility function that spins and updates a monitor node. + * Port cpu monitor + * Port hdd monitor. + * Port mem_monitor to ROS2 + * Port net_monitor to ROS2 + * Port ntp_monitor to ROS2 + * Port process_monitor to ROS2 + * Port GPU_monitor to ROS2 + * Port msr_reader and hdd_reader to ROS2 + * Clean up the build and launch files: + * Clean up and comment on CMake and package files. + * Port the launch file to ROS2 + * Rename h files to hpp (`#142 `_) + * Change includes + * Rename files + * Adjustments to make things compile + * Other packages + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) + * Use quotes for includes where appropriate + * Fix lint tests + * Make tests pass hopefully + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase + * Exclude open PRs + * ROS2 Linting: system_monitor (`#207 `_) + * Add linters + * Fix clang-tidy error in util.hpp + * Ros2 v0.8.0 system monitor (`#276 `_) + * fix dependency of system_monitor + * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Rename ROS-related .yaml to .param.yaml + * Remove prefix 'default\_' of yaml files + * Rename vehicle_info.yaml to vehicle_info.param.yaml + * Rename diagnostic_aggregator's param files + * Fix overlooked parameters + * Exclude SwPowerCap as an error. (`#1146 `_) (`#364 `_) + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> + * [Update v0.9.0] system monitor (`#365 `_) + * Disable CPU Load Average warning. (`#1147 `_) + * Fix cpu_monitor respawning forever. (`#1150 `_) + * Disable cpu_temperature in planning simulation (`#1151 `_) + * Net Monitor: Handle as an error if specified device not exist. (`#1152 `_) + * Handled as an error if specified device not exist. + * Disable network diags in simulation + Co-authored-by: Kenji Miyake + * apply ament_uncrustify + * Disable resource monitoring in planning_simulator (`#1172 `_) + * Treat logging errors as safe faults (`#1164 `_) + * Fix test code of system_monitor (`#1178 `_) + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> + Co-authored-by: Kenji Miyake + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + * Use thread for ntpdate. (`#1160 `_) (`#375 `_) + * Use thread for ntpdate. (`#1160 `_) + * removed unused variable + * Import v0.9.1 (`#431 `_) + * add local optimal solution ocillation check to ndt_scan_matcher (`#1182 `_) + * Add obstacle_crush diagnostic (`#1186 `_) + * Fix diagnostics api (`#1185 `_) + * Fix diagnostics api + * Don't overwrite level + * Overwrite level of No Fault diagnostics + * Add missing diag in autoware_error_monitor.yaml (`#1187 `_) + * Filter hazard_status (`#1191 `_) + * Filter hazard_status + * Filter leaf diagnostics + * Fix wrong calculation of available memory. (`#1168 `_) + * Fixed wrong calculation of available memory. + * Added comments about output example of free -tb command. + * Change monitoring method to get HDD temperature and usage per specified device. (`#1195 `_) + * Changed monitoring method to get temperature and usage per specified device. + * Fixed test codes. + * Removed unnecessary (void) parameter. + * return input pointcloud when ground plane not found (`#1190 `_) + * fix yaw-smoothing bug (`#1198 `_) + * Fix lint + Co-authored-by: Taichi Higashide + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> + Co-authored-by: tkimura4 + * Fix typo in system module (`#434 `_) + * Fix typo in system module + * Change variable name + * Move comments + * Apply uncrustify + * Split system_monitor config (`#452 `_) + * Remove unnecessary diagnostic update. (`#455 `_) + * add use_sim-time option (`#454 `_) + * Sync public repo (`#1228 `_) + * [simple_planning_simulator] add readme (`#424 `_) + * add readme of simple_planning_simulator + * Update simulator/simple_planning_simulator/README.md + * set transit_margin_time to intersect. planner (`#460 `_) + * Fix pose2twist (`#462 `_) + * Ros2 vehicle info param server (`#447 `_) + * add vehicle_info_param_server + * update vehicle info + * apply format + * fix bug + * skip unnecessary search + * delete vehicle param file + * fix bug + * Ros2 fix topic name part2 (`#425 `_) + * Fix topic name of traffic_light_classifier + * Fix topic name of traffic_light_visualization + * Fix topic name of traffic_light_ssd_fine_detector + * Fix topic name of traffic_light_map_based_detector + * Fix lint traffic_light_recognition + * Fix lint traffic_light_ssd_fine_detector + * Fix lint traffic_light_classifier + * Fix lint traffic_light_classifier + * Fix lint traffic_light_ssd_fine_detector + * Fix issues in hdd_reader (`#466 `_) + * Fix some issues detected by Coverity Scan and Clang-Tidy + * Update launch command + * Add more `close(new_sock)` + * Simplify the definitions of struct + * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) + * Rviz overlay render fix (`#461 `_) + * Moved painiting in SteeringAngle plugin to update() + * super class now back to MFD + * uncrustified + * acquire data in mutex + * back to RTD as superclass + * Rviz overlay render in update (`#465 `_) + * Moved painiting in SteeringAngle plugin to update() + * super class now back to MFD + * uncrustified + * acquire data in mutex + * removed unnecessary includes and some dead code + * Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass + * restored RTD superclass + Co-authored-by: Takamasa Horibe + Co-authored-by: tkimura4 + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Kazuki Miyahara + Co-authored-by: Makoto Tokunaga + Co-authored-by: Adam Dąbrowski + * Fix issues in gpu_monitor (`#1248 `_) + * Fix issues in gpu_monitor + * Fix uninitialized variables + * Use range-based for loop + * Fix compile errors of tegra_gpu_monitor + * Replace C-style to C++-style + * Make iterators const + * Fix fmt::format() usage error + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * [system_monitor] change some nodes into components (`#1234 `_) + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> + Co-authored-by: Takeshi Miura + Co-authored-by: wep21 + * add system_monitor.launch.py (`#1238 `_) + * add system_monitor.launch.py + * refactor system_monitor.launch.py + * fix launch bug + * fix typo + * fix launch py + * fix param loading + * format code + * fix system monitor executor to publish diagnostics asynclonously (`#1283 `_) + * Fix lint errors (`#1378 `_) + * Fix lint errors + * Fix variable names + * Add kernel CPU usage. (`#1465 `_) + * Add kernel CPU usage. + * Change CPU x: usage to CPU x: total. + * Changed variable name. + * Add markdownlint and prettier (`#1661 `_) + * Add markdownlint and prettier + * Ignore .param.yaml + * Apply format + * suppress warnings for system monitor (`#1723 `_) + * fix for hdd_monitor + * fix no initialization and warning + * change command for ntp_monitor (`#1705 `_) + * [EVT4-403] change command for ntp_monitor + * [EVT4-403] fixed CI build error + * [EVT4-403] fixed cpplint error + * delete executeChronyc thread, fix error topic and log output code + * fix cpplint error and code style divergence + * fix cpplint error(missing correction) + * Fix MD029 (`#1813 `_) + * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter + * Fix mistake + * fix spell + * Fix lint issues + * Ignore flake8 warnings + Co-authored-by: Hiroki OTA + * add gpu usage per process (`#1798 `_) + * add gpu usage per process + * change illegal usage(4294967295%) to 0%, and fix CI running errors + * Replace gettimeofday with rclcpp::Node::now(). + * Fix uncrustify error. + * Replace rclcpp::Node::now() with rclcpp::Clock(RCL_SYSTEM_TIME). + Co-authored-by: ito-san + * fix some typos (`#1941 `_) + * fix some typos + * fix typo + * Fix typo + Co-authored-by: Kenji Miyake + * suppress warnings for system directory `#2046 `_ + * add sort-package-xml hook in pre-commit (`#1881 `_) + * add sort xml hook in pre-commit + * change retval to exit_status + * rename + * add prettier plugin-xml + * use early return + * add license note + * add tier4 license + * restore prettier + * change license order + * move local hooks to public repo + * move prettier-xml to pre-commit-hooks-ros + * update version for bug-fix + * apply pre-commit + * Add execution time logging. (`#2066 `_) + * Add markdown-link-check pre-commit (`#2215 `_) + * add markdown-lint-check pre-commit + * delete files argument + * add optional hook + * modify comment + * add comment + * delete hook + * add retry option + * add option + * add files arg + * Fix links in hdd_reader.md + * Ignore 403 + * Ignore tier4 github url + * Update link + Co-authored-by: Kenji Miyake + * Change formatter to clang-format and black (`#2332 `_) + * Revert "Temporarily comment out pre-commit hooks" + This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. + * Replace ament_lint_common with autoware_lint_common + * Remove ament_cmake_uncrustify and ament_clang_format + * Apply Black + * Apply clang-format + * Fix build errors + * Fix for cpplint + * Fix include double quotes to angle brackets + * Apply clang-format + * Fix build errors + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + Co-authored-by: mitsudome-r + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> + Co-authored-by: Kazuki Miyahara + Co-authored-by: Nikolai Morin + Co-authored-by: Yunus Emre Çalışkan + Co-authored-by: Jilada Eccleston + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Takagi, Isamu + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: Kenji Miyake + Co-authored-by: Taichi Higashide + Co-authored-by: Takamasa Horibe + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Makoto Tokunaga + Co-authored-by: Adam Dąbrowski + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> + Co-authored-by: Takeshi Miura + Co-authored-by: wep21 + Co-authored-by: Hiroki OTA + Co-authored-by: v-kitahara8153 <86092199+v-kitahara8153@users.noreply.github.com> + Co-authored-by: ito-san + Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* Contributors: Akihiro Sakurai, Daisuke Nishimatsu, Esteve Fernandez, Keisuke Shima, Kenji Miyake, Maxime CLEMENT, Shark, Takagi, Isamu, Takayuki AKAMINE, TakumiKozaka-T4, Tomoya Kimura, Vincent Richard, Yuxuan Liu, awf-autoware-bot[bot], ito-san, kk-inoue-esol, kminoda, nobuotakamasa, takeshi-iwanari, v-nakayama7440-esol diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml index 880c885721fbc..e1a872812660d 100644 --- a/system/system_monitor/package.xml +++ b/system/system_monitor/package.xml @@ -2,7 +2,7 @@ system_monitor - 1.13.0 + 0.38.0 The system_monitor package Fumihito Ito TetsuKawa diff --git a/system/topic_state_monitor/CHANGELOG.rst b/system/topic_state_monitor/CHANGELOG.rst new file mode 100644 index 0000000000000..f47e2edb1079c --- /dev/null +++ b/system/topic_state_monitor/CHANGELOG.rst @@ -0,0 +1,166 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package topic_state_monitor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* chore(topic_state_monitor): enrich error log message (`#7236 `_) +* Contributors: Takamasa Horibe, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* refactor(topic_state_monitor): add state log message (`#5378 `_) + * refactor(topic_state_monitor): add state log message + * add debug print + --------- +* docs(topic_state_monitor): rename readme to README (`#4225 `_) +* chore: update maintainer (`#4140 `_) + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* chore: sync files (`#3227 `_) + * chore: sync files + * style(pre-commit): autofix + --------- + Co-authored-by: kenji-miyake + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(topic_state_monitor): support transform topic check (`#1586 `_) +* refactor(topic_state_monitor): move the parameter group to match implementation (`#1909 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: replace legacy timer (`#329 `_) + * chore(goal_distance_calculator): replace legacy timer + * chore(path_distance_calculator): replace legacy timer + * chore(control_performance_analysis): replace legacy timer + * chore(external_cmd_selector): replace legacy timer + * chore(joy_controller): replace legacy timer + * chore(lane_departure_checker): replace legacy timer + * chore(obstacle_collision_checker): replace legacy timer + * chore(pure_pursuit): replace legacy timer + * chore(shift_decider): replace legacy timer + * chore(trajectory_follower_nodes): replace legacy timer + * chore(vehicle_cmd_gate): replace legacy timer + * chore(ekf_localizer): replace legacy timer + * chore(localization_error_monitor): replace legacy timer + * chore(multi_object_tracker): replace legacy timer + * chore(tensorrt_yolo): replace legacy timer + * chore(traffic_light_classifier): replace legacy timer + * chore(traffic_light_ssd_fine_detector): replace legacy timer + * chore(traffic_light_visualization): replace legacy timer + * chore(behavior_path_planner): replace legacy timer + * chore(costmap_generator): replace legacy timer + * chore(freespace_planner): replace legacy timer + * chore(planning_error_monitor): replace legacy timer + * chore(scenario_selector): replace legacy timer + * chore(pointcloud_preprocessor): replace legacy timer + * chore(dummy_perception_publisher): replace legacy timer + * chore(ad_service_state_monitor): replace legacy timer + * chore(dummy_diag_publisher): replace legacy timer + * chore(emergency_handler): replace legacy timer + * chore(system_error_monitor): replace legacy timer + * chore(topic_state_monitor): replace legacy timer + * chore(accel_brake_map_calibrator): replace legacy timer + * chore(external_cmd_converter): replace legacy timer + * chore(pacmod_interface): replace legacy timer + * chore(lint): apply pre-commit +* feat: add topic_state_monitor package (`#15 `_) + * Ros2 v0.8.0 topic state monitor (`#283 `_) + * Add node_name_suffix to topic_state_monitor.launch (`#1157 `_) (`#370 `_) + * fix launch file (`#411 `_) + * add transient local option to topic state monitor (`#410 `_) + * add transient local option to topic state monitor + * sort parameters + * sort parameter + * [topic_state_monitor]: Add best effort option (`#430 `_) + Co-authored-by: autoware + * add use_sim-time option (`#454 `_) + * Fix for rolling (`#1226 `_) + * Replace doc by description + * Replace ns by push-ros-namespace + * change to composable node (`#1233 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Fix lint errors (`#1378 `_) + * Fix lint errors + * Fix variable names + * Use integrated generic subscription (`#1342 `_) + * suppress warnings for declare parameters (`#1724 `_) + * fix for lanelet2_extension + * fix for traffic light ssd fine detector + * fix for topic_state_monitor + * fix for dummy diag publisher + * fix for remote cmd converter + * fix for vehicle_info_util + * fix for multi object tracker + * fix for freespace planner + * fix for autoware_error_monitor + * add Werror for multi object tracker + * fix for multi object tracker + * add Werror for liraffic light ssd fine detector + * add Werror for topic state monitor + * add Werror + * add Werror + * add Werror + * add Werror + * fix style + * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter + * Fix mistake + * fix spell + * Fix lint issues + * Ignore flake8 warnings + Co-authored-by: Hiroki OTA + * Change formatter to clang-format and black (`#2332 `_) + * Revert "Temporarily comment out pre-commit hooks" + This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. + * Replace ament_lint_common with autoware_lint_common + * Remove ament_cmake_uncrustify and ament_clang_format + * Apply Black + * Apply clang-format + * Fix build errors + * Fix for cpplint + * Fix include double quotes to angle brackets + * Apply clang-format + * Fix build errors + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * [topic_state_monitor]add readme (`#565 `_) + * add readme + * Update system/topic_state_monitor/Readme.md + Co-authored-by: Kazuki Miyahara + * Update system/topic_state_monitor/Readme.md + Co-authored-by: Kazuki Miyahara + * Update system/topic_state_monitor/Readme.md + Co-authored-by: Kazuki Miyahara + * Update system/topic_state_monitor/Readme.md + Co-authored-by: Kazuki Miyahara + * Update system/topic_state_monitor/Readme.md + Co-authored-by: Kazuki Miyahara + Co-authored-by: Kazuki Miyahara + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> + Co-authored-by: autoware + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Taichi Higashide + Co-authored-by: Kazuki Miyahara + Co-authored-by: Hiroki OTA + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* Contributors: Daisuke Nishimatsu, Kenji Miyake, Takagi, Isamu, Takamasa Horibe, Tomoya Kimura, Vincent Richard, awf-autoware-bot[bot] diff --git a/system/topic_state_monitor/package.xml b/system/topic_state_monitor/package.xml index 057d58d00d5a1..d0521145b9fec 100644 --- a/system/topic_state_monitor/package.xml +++ b/system/topic_state_monitor/package.xml @@ -2,7 +2,7 @@ topic_state_monitor - 0.1.0 + 0.38.0 The topic_state_monitor package Ryohsuke Mitsudome Apache License 2.0 diff --git a/system/velodyne_monitor/CHANGELOG.rst b/system/velodyne_monitor/CHANGELOG.rst new file mode 100644 index 0000000000000..c5ad4d6604ec5 --- /dev/null +++ b/system/velodyne_monitor/CHANGELOG.rst @@ -0,0 +1,134 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package velodyne_monitor +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(velodyne_monitor): componentize node (`#7201 `_) +* Contributors: Takagi, Isamu, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- +* refactor(system-velodyne-monitor): rework parameters (`#5667 `_) + system-velodyne-monitor +* docs(velodyne_monitor): rename readme to README (`#4224 `_) +* build: mark autoware_cmake as (`#3616 `_) + * build: mark autoware_cmake as + with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) + * style(pre-commit): autofix + * chore: fix pre-commit errors + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kenji Miyake +* fix(velodyne_monitor): add fmt package to dependencies (`#3069 `_) + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> +* docs(velodyne_monitor): add known limits (`#1802 `_) + * docs(velodyne_monitor): add known limits + * Update Readme.md +* fix(velodyne_monitor): add temp_hot\_*** to 20 (`#1744 `_) + fix(velodyne_monitor): add 20 to temp_hot\_*** +* fix(velodyne monitor): fix warning and error threshold of hot temperature (`#1623 `_) + * fix(velodyne_monitor): fix warning and error threshold of hot temperature + * doc: update README + * doc: fix typo + * doc: update README + * feat: add config file for each model + * Update Readme.md + * Update Readme.md + * fix: typo +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) + * remove autoware_auto_cmake + * add build_depend of autoware_cmake + * use autoware_cmake in CMakeLists.txt + * fix bugs + * fix cmake lint errors +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: add velodyne_monitor package (`#17 `_) + * Ros2 v0.8.0 velodyne monitor (`#285 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Rename ROS-related .yaml to .param.yaml + * Remove prefix 'default\_' of yaml files + * Rename vehicle_info.yaml to vehicle_info.param.yaml + * Rename diagnostic_aggregator's param files + * Fix overlooked parameters + * add use_sim-time option (`#454 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Add exception handling for extract_json() (`#1779 `_) + * Add exception handling for extract_json() + * Add diagnostics error when catching exception + Co-authored-by: Takayuki AKAMINE + * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter + * Fix mistake + * fix spell + * Fix lint issues + * Ignore flake8 warnings + Co-authored-by: Hiroki OTA + * Fix compiler warnings (`#1837 `_) + * Fix -Wunused-private-field + * Fix -Wunused-variable + * Fix -Wformat-security + * Fix -Winvalid-constexpr + * Fix -Wdelete-non-abstract-non-virtual-dtor + * Fix -Wdelete-abstract-non-virtual-dtor + * Fix -Winconsistent-missing-override + * Fix -Wrange-loop-construct + * Fix "invalid application of 'sizeof' to an incomplete type" + * Ignore -Wgnu-anonymous-struct and -Wnested-anon-types + * Fix lint + * Ignore -Wno-deprecated-declarations in CUDA-related packages + * Fix mistake + * Fix -Wunused-parameter + * Remove duplicated update (`#2072 `_) (`#2084 `_) + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Fix velodyne monitor config file variable name (`#2090 `_) (`#2092 `_) + Co-authored-by: j4tfwm6z + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: j4tfwm6z + * Change formatter to clang-format and black (`#2332 `_) + * Revert "Temporarily comment out pre-commit hooks" + This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. + * Replace ament_lint_common with autoware_lint_common + * Remove ament_cmake_uncrustify and ament_clang_format + * Apply Black + * Apply clang-format + * Fix build errors + * Fix for cpplint + * Fix include double quotes to angle brackets + * Apply clang-format + * Fix build errors + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * [Velodyne monitor]add readme (`#570 `_) + * add readme + * change the description + * Update system/velodyne_monitor/Readme.md + Co-authored-by: Kazuki Miyahara + * Update system/velodyne_monitor/Readme.md + Co-authored-by: Kazuki Miyahara + * Update system/velodyne_monitor/Readme.md + Co-authored-by: Kazuki Miyahara + * velodyne -> velodyne lidar + * Update system/velodyne_monitor/Readme.md + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + * Update system/velodyne_monitor/Readme.md + Co-authored-by: Kazuki Miyahara + Co-authored-by: Kazuki Miyahara + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: Kazuki Miyahara + Co-authored-by: Takayuki AKAMINE + Co-authored-by: Hiroki OTA + Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> + Co-authored-by: j4tfwm6z + Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> +* Contributors: David Wong, Hiroki OTA, Kenji Miyake, Takamasa Horibe, Tomoya Kimura, Vincent Richard, karishma1911 diff --git a/system/velodyne_monitor/package.xml b/system/velodyne_monitor/package.xml index a6432345c9ef6..c37dac15a48aa 100644 --- a/system/velodyne_monitor/package.xml +++ b/system/velodyne_monitor/package.xml @@ -2,7 +2,7 @@ velodyne_monitor - 0.1.0 + 0.38.0 The velodyne_monitor package Fumihito Ito Apache License 2.0 diff --git a/tools/reaction_analyzer/CHANGELOG.rst b/tools/reaction_analyzer/CHANGELOG.rst new file mode 100644 index 0000000000000..720b662630fa3 --- /dev/null +++ b/tools/reaction_analyzer/CHANGELOG.rst @@ -0,0 +1,50 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package reaction_analyzer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* docs(reaction_analyzer): update bag files and the README (`#8633 `_) + * docs(reaction_analyzer): update bag files and the README +* fix(reaction_analyzer): fix include hierarchy of tf2_eigen (`#8663 `_) + Fixed include hierarchy of tf2_eigen +* fix(reaction_analyzer): fix variableScope (`#8450 `_) + * fix:variableScope + * fix:clang format + --------- +* fix(reaction_analyzer): fix constVariableReference (`#8063 `_) + * fix:constVariableReference + * fix:constVariableReference + * fix:constVariableReference + * fix:suppression constVariableReference + --------- +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat!: replace autoware_auto_msgs with autoware_msgs for tools (`#7250 `_) + Co-authored-by: Cynthia Liu + Co-authored-by: NorahXiong + Co-authored-by: beginningfan +* feat(reaction_analyzer): add reaction anaylzer tool to measure end-to-end delay in sudden obstacle braking response (`#5954 `_) + * feat(reaction_analyzer): add reaction anaylzer tool to measure end-to-end delay in sudden obstacle braking response + * feat: implement message_filters package, clean up + * feat: update style and readme + * feat: add predicted path for the PredictedObject and add publish_only_pointcloud_with_object + * feat: add wrong initialize localization protection, improve code readability + * feat: launch occupancy_grid_map from reaction analyzer's own launch file + * feat: update + * feat: change function names + * feat: update + * feat: improve style, change csv output stringstream + * fix: ci/cd + * feat: update for new sensor setup, fix bug, optimize code, show pipeline latency, update readme + * fix: container die problem + * feat: update stats, check path param, add marker, warn user for wrong reaction_chain + --------- +* Contributors: Batuhan Beytekin, Berkay Karaman, Kosuke Takeuchi, Ryohsuke Mitsudome, SakodaShintaro, Takayuki Murooka, Yutaka Kondo, kobayu858 + +0.26.0 (2024-04-03) +------------------- diff --git a/tools/reaction_analyzer/package.xml b/tools/reaction_analyzer/package.xml index 04de3986e3a71..8ec8f924edc1f 100644 --- a/tools/reaction_analyzer/package.xml +++ b/tools/reaction_analyzer/package.xml @@ -2,7 +2,7 @@ reaction_analyzer - 1.0.0 + 0.38.0 Analyzer that measures reaction times of the nodes Berkay Karaman diff --git a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst new file mode 100644 index 0000000000000..6cc3ccca1d49a --- /dev/null +++ b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst @@ -0,0 +1,43 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_accel_brake_map_calibrator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(autoware_accel_brake_map_calibrator): conditional actuation data processing based on source (`#8593 `_) + * fix: Conditional Actuation Data Processing Based on Source + * style(pre-commit): autofix + * delete extra comentout, indent + * add take validation + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(autowre_accel_brake_map_calibrator): fix for flake-ros v0.9.0 (`#8529 `_) +* fix(autoware_accel_brake_map_calibrator): fix redundantInitialization (`#8230 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) + refactor(motion_utils): add autoware prefix and include dir +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(accel_brake_map_calibrator): replace polling takeData function with the callback function (`#7429 `_) + * fix : repush to solve conflict + * style(pre-commit): autofix + * delete duplicated int cast + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) + * add prefix to the codes + change dir name + update + update + * delete debug + * fix format + * fix format + * restore + * poi + --------- +* Contributors: Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, eiki + +0.26.0 (2024-04-03) +------------------- diff --git a/vehicle/autoware_accel_brake_map_calibrator/package.xml b/vehicle/autoware_accel_brake_map_calibrator/package.xml index 4b246a2234a66..ef8ebb9df5625 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/package.xml +++ b/vehicle/autoware_accel_brake_map_calibrator/package.xml @@ -2,7 +2,7 @@ autoware_accel_brake_map_calibrator - 0.1.0 + 0.38.0 The accel_brake_map_calibrator Tomoya Kimura Taiki Tanaka diff --git a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst new file mode 100644 index 0000000000000..9621a46534b05 --- /dev/null +++ b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst @@ -0,0 +1,44 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_external_cmd_converter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* feat(autoware_external_cmd_converter): add ext cmd converter tests (`#9118 `_) + * add ext cmd converter tests + * add briefs to describe the tests + * update tests and add nan and inf check + --------- +* refactor(autoware_external_cmd_converter): add explanation about external control commands (`#8224 `_) + * refactor(autoware_external_cmd_converter): add explanation about external control commands + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Tomoya Kimura +* fix(autoware_external_cmd_converter): fix check_topic_state (`#7921 `_) + * fix(autoware_external_cmd_converter): fix check_topic_state + * style(pre-commit): autofix + * Update vehicle/autoware_external_cmd_converter/src/node.cpp + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + * style(pre-commit): autofix + --------- + Co-authored-by: shtokuda + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) + * add prefix to the code + * rename + * fix + * fix + * fix + * Update .github/CODEOWNERS + --------- + Co-authored-by: Takayuki Murooka +* Contributors: Kosuke Takeuchi, SHtokuda, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, danielsanchezaran + +0.26.0 (2024-04-03) +------------------- diff --git a/vehicle/autoware_external_cmd_converter/package.xml b/vehicle/autoware_external_cmd_converter/package.xml index 59e2077d45cc5..35003f624c704 100644 --- a/vehicle/autoware_external_cmd_converter/package.xml +++ b/vehicle/autoware_external_cmd_converter/package.xml @@ -2,7 +2,7 @@ autoware_external_cmd_converter - 0.1.0 + 0.38.0 The autoware_external_cmd_converter package Takamasa Horibe Eiki Nagata diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst new file mode 100644 index 0000000000000..d13df1dd55306 --- /dev/null +++ b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst @@ -0,0 +1,73 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_raw_vehicle_cmd_converter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (`#8963 `_) + swap row and column +* test(raw_vehicle_cmd_converter): add tests (`#8951 `_) + * remove header file according to clangd warning + * add test + * fix + * add test for get function + * apply clang tidy + * fix test content + --------- +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) + Co-authored-by: kosuke55 +* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) + * align autoware_raw_vehicle_cmd_converter's parameter + * align start_planner's parameter + --------- +* fix(raw_vehicle_cmd_converter): fix convert_steer_cmd_method condition (`#8813 `_) +* fix(raw_vehicle_cmd_converter): fix null check (`#8677 `_) +* chore(raw_vehicle_cmd_converter): add maintainer (`#8671 `_) +* feat(raw_vehicle_cmd_converter): set convert_actuation_to_steering_status false by default (`#8668 `_) +* feat(raw_vehicle_cmd_converter): disable actuation to steering (`#8588 `_) +* feat(raw_vehicle_cmd_converter): add steer command conversion with VGR (`#8504 `_) + * feat(raw_vehicle_cmd_converter): add steer command conversion with VGR + * make class and add test + * remove member vgr_coef from node + * update readme + * add svg + * add plot scripts + * Update vehicle/autoware_raw_vehicle_cmd_converter/README.md + Co-authored-by: Takamasa Horibe + * not always subscribe actuation_status + * add comment for using normal sub for steering status + --------- + Co-authored-by: Takamasa Horibe +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* feat(raw_vehicle_cmd_converter): use polling subscriber (`#7319 `_) + * replace subscription + * fix document + * sum up functions + * add maintainer + --------- + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> +* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) + * add prefix to the codes + change dir name + update + update + * delete debug + * fix format + * fix format + * restore + * poi + --------- +* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) + * add prefix + * fix other packages + * fix cppcheck + * pre-commit + * fix + --------- +* Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Kyoichi Sugahara, Sho Iwasawa, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml index 86a76c397c728..41bbff445ba7e 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml @@ -2,7 +2,7 @@ autoware_raw_vehicle_cmd_converter - 0.1.0 + 0.38.0 The autoware_raw_vehicle_cmd_converter package Takamasa Horibe Tanaka Taiki diff --git a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst new file mode 100644 index 0000000000000..d8120eb5ad00d --- /dev/null +++ b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst @@ -0,0 +1,59 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_steer_offset_estimator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.38.0 (2024-11-08) +------------------- +* unify package.xml version to 0.37.0 +* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) + * add autoware\_ prefix + * use target_include_directories instead + --------- + Co-authored-by: SakodaShintaro +* fix(steer_offset_estimator): fix link to json schema in README (`#7655 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) + Co-authored-by: kosuke55 +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) + * chore(autoware_vehicle_info_utils): rename header + * chore(bpp-common): vehicle info + * chore(path_optimizer): vehicle info + * chore(velocity_smoother): vehicle info + * chore(bvp-common): vehicle info + * chore(static_centerline_generator): vehicle info + * chore(obstacle_cruise_planner): vehicle info + * chore(obstacle_velocity_limiter): vehicle info + * chore(mission_planner): vehicle info + * chore(obstacle_stop_planner): vehicle info + * chore(planning_validator): vehicle info + * chore(surround_obstacle_checker): vehicle info + * chore(goal_planner): vehicle info + * chore(start_planner): vehicle info + * chore(control_performance_analysis): vehicle info + * chore(lane_departure_checker): vehicle info + * chore(predicted_path_checker): vehicle info + * chore(vehicle_cmd_gate): vehicle info + * chore(obstacle_collision_checker): vehicle info + * chore(operation_mode_transition_manager): vehicle info + * chore(mpc): vehicle info + * chore(control): vehicle info + * chore(common): vehicle info + * chore(perception): vehicle info + * chore(evaluator): vehicle info + * chore(freespace): vehicle info + * chore(planning): vehicle info + * chore(vehicle): vehicle info + * chore(simulator): vehicle info + * chore(launch): vehicle info + * chore(system): vehicle info + * chore(sensing): vehicle info + * fix(autoware_joy_controller): remove unused deps + --------- +* chore(steer_offset_estimator): add prefix autoware\_ to steer_offset_estimator (`#7342 `_) + * add perfix + * fix directory structrue + * fix include guard + --------- +* Contributors: Go Sakayori, Masaki Baba, Maxime CLEMENT, Satoshi OTA, Takayuki Murooka, Yutaka Kondo + +0.26.0 (2024-04-03) +------------------- diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml index ea35883334e35..561cb85e0d806 100644 --- a/vehicle/autoware_steer_offset_estimator/package.xml +++ b/vehicle/autoware_steer_offset_estimator/package.xml @@ -1,7 +1,7 @@ autoware_steer_offset_estimator - 0.1.0 + 0.38.0 The steer_offset_estimator Taiki Tanaka Apache License 2.0 From 1826fe0750cbc02ed055a8bb0694276fc150fd87 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 11 Nov 2024 17:23:53 +0900 Subject: [PATCH 398/701] fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (#9268) * RT1-8427 extending lc path for multiple lc Signed-off-by: Zulfaqar Azmi * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --------- Signed-off-by: Zulfaqar Azmi Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --- .../src/scene.cpp | 20 +++++-------------- 1 file changed, 5 insertions(+), 15 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index f56e9189852a8..96f842e7dada1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -595,13 +595,6 @@ std::optional NormalLaneChange::extendPath() { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto path = status_.lane_change_path.path; - const auto lc_start_point = status_.lane_change_path.info.lane_changing_start.position; - - const auto dist = calcSignedArcLength(path.points, lc_start_point, getEgoPosition()); - - if (dist < 0.0) { - return std::nullopt; - } auto & target_lanes = common_data_ptr_->lanes_ptr->target; const auto & transient_data = common_data_ptr_->transient_data; @@ -613,22 +606,21 @@ std::optional NormalLaneChange::extendPath() forward_path_length) { return std::nullopt; } + const auto dist_to_end_of_path = + lanelet::utils::getArcCoordinates(target_lanes, path.points.back().point.pose).length; - const auto is_goal_in_target = getRouteHandler()->isInGoalRouteSection(target_lanes.back()); - - if (is_goal_in_target) { + if (common_data_ptr_->lanes_ptr->target_lane_in_goal_section) { const auto goal_pose = getRouteHandler()->getGoalPose(); const auto dist_to_goal = lanelet::utils::getArcCoordinates(target_lanes, goal_pose).length; - const auto dist_to_end_of_path = - lanelet::utils::getArcCoordinates(target_lanes, path.points.back().point.pose).length; return getRouteHandler()->getCenterLinePath(target_lanes, dist_to_end_of_path, dist_to_goal); } lanelet::ConstLanelet next_lane; if (!getRouteHandler()->getNextLaneletWithinRoute(target_lanes.back(), &next_lane)) { - return std::nullopt; + return getRouteHandler()->getCenterLinePath( + target_lanes, dist_to_end_of_path, transient_data.target_lane_length); } target_lanes.push_back(next_lane); @@ -644,8 +636,6 @@ std::optional NormalLaneChange::extendPath() const auto dist_to_target_pose = lanelet::utils::getArcCoordinates(target_lanes, target_pose).length; - const auto dist_to_end_of_path = - lanelet::utils::getArcCoordinates(target_lanes, path.points.back().point.pose).length; return getRouteHandler()->getCenterLinePath( target_lanes, dist_to_end_of_path, dist_to_target_pose); From f5463c0402669cb8701947fdd19f415cb5ab49d6 Mon Sep 17 00:00:00 2001 From: Giovanni Muhammad Raditya Date: Mon, 11 Nov 2024 20:43:50 +0900 Subject: [PATCH 399/701] fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (#8995) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --- .../geometry/random_concave_polygon.hpp | 4 +- .../src/geometry/alt_geometry.cpp | 3 + .../src/geometry/ear_clipping.cpp | 7 +- .../src/geometry/random_concave_polygon.cpp | 33 +++--- .../test/src/geometry/test_geometry.cpp | 104 +++++++++++++++++- 5 files changed, 125 insertions(+), 26 deletions(-) diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/geometry/random_concave_polygon.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/random_concave_polygon.hpp index 297201e925399..63c55377bd956 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/geometry/random_concave_polygon.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/random_concave_polygon.hpp @@ -17,7 +17,9 @@ #include +#include #include + namespace autoware::universe_utils { /// @brief generate a random non-convex polygon @@ -25,7 +27,7 @@ namespace autoware::universe_utils /// @param max points will be generated in the range [-max, max] /// @details algorithm from /// https://digitalscholarship.unlv.edu/cgi/viewcontent.cgi?article=3183&context=thesesdissertations -Polygon2d random_concave_polygon(const size_t vertices, const double max); +std::optional random_concave_polygon(const size_t vertices, const double max); /// @brief checks for collisions between two vectors of convex polygons using a specified collision /// detection algorithm diff --git a/common/autoware_universe_utils/src/geometry/alt_geometry.cpp b/common/autoware_universe_utils/src/geometry/alt_geometry.cpp index 6c060b03b4543..0d6e608d8cd6d 100644 --- a/common/autoware_universe_utils/src/geometry/alt_geometry.cpp +++ b/common/autoware_universe_utils/src/geometry/alt_geometry.cpp @@ -68,6 +68,9 @@ std::optional Polygon2d::create( std::vector inners; for (const auto & inner : polygon.inners()) { PointList2d _inner; + if (inner.empty()) { + continue; + } for (const auto & point : inner) { _inner.push_back(Point2d(point)); } diff --git a/common/autoware_universe_utils/src/geometry/ear_clipping.cpp b/common/autoware_universe_utils/src/geometry/ear_clipping.cpp index 595c93d073ee3..edc17b2dab120 100644 --- a/common/autoware_universe_utils/src/geometry/ear_clipping.cpp +++ b/common/autoware_universe_utils/src/geometry/ear_clipping.cpp @@ -420,6 +420,9 @@ std::size_t eliminate_holes( std::vector queue; for (const auto & ring : inners) { + if (ring.empty()) { + continue; + } auto inner_index = linked_list(ring, false, vertices, points); if (points[inner_index].next_index.value() == inner_index) { @@ -617,10 +620,6 @@ std::vector triangulate(const alt::Polygon2d & poly) std::vector triangulate(const Polygon2d & poly) { const auto alt_poly = alt::Polygon2d::create(poly); - if (!alt_poly.has_value()) { - return {}; - } - const auto alt_triangles = triangulate(alt_poly.value()); std::vector triangles; for (const auto & alt_triangle : alt_triangles) { diff --git a/common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp b/common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp index 5cf5dbb3bfdfd..aa3c2afab321a 100644 --- a/common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp +++ b/common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include #include @@ -138,30 +139,23 @@ bool intersecting(const Edge & e, const Polygon2d & polygon) } /// @brief checks if an edge is valid for a given polygon and set of points -bool is_valid(const Edge & e, const Polygon2d & P, const std::vector & Q) +bool is_valid(const Edge & e, const Polygon2d & P, const std::list & Q) { - bool valid = false; - size_t i = 0; - - while (!valid && i < Q.size()) { - const Point2d & q = Q[i]; + for (const Point2d & q : Q) { Edge e1 = {e.first, q}; Edge e2 = {q, e.second}; bool intersects_e1 = intersecting(e1, P); bool intersects_e2 = intersecting(e2, P); - - if (!intersects_e1 && !intersects_e2) { - valid = true; + if (intersects_e1 || intersects_e2) { + return false; } - - ++i; } - return valid; + return true; } /// @brief finds the nearest node from a set of points to an edge -Point2d get_nearest_node(const std::vector & Q, const Edge & e) +Point2d get_nearest_node(const std::list & Q, const Edge & e) { double min_distance = std::numeric_limits::max(); Point2d nearest_node(0, 0); @@ -178,7 +172,7 @@ Point2d get_nearest_node(const std::vector & Q, const Edge & e) } /// @brief finds the edge that is closest to the given set of points -Edge get_breaking_edge(const PolygonWithEdges & polygon_with_edges, const std::vector & Q) +Edge get_breaking_edge(const PolygonWithEdges & polygon_with_edges, const std::list & Q) { double min_distance = std::numeric_limits::max(); Edge e_breaking; @@ -229,7 +223,7 @@ void insert_node(PolygonWithEdges & polygon_with_edges, const Point2d & w, const } /// @brief removes a node from a set of points -void remove_node(std::vector & Q, const Point2d & w) +void remove_node(std::list & Q, const Point2d & w) { const double epsilon = 1e-9; @@ -243,7 +237,7 @@ void remove_node(std::vector & Q, const Point2d & w) } /// @brief marks edges as valid if they are valid according to the polygon and points -void mark_valid_edges(PolygonWithEdges & polygon_with_edges, const std::vector & Q) +void mark_valid_edges(PolygonWithEdges & polygon_with_edges, const std::list & Q) { for (auto & edge : polygon_with_edges.edges) { if (is_valid(edge, polygon_with_edges.polygon, Q)) { @@ -256,8 +250,7 @@ void mark_valid_edges(PolygonWithEdges & polygon_with_edges, const std::vector

q; - q.reserve(ring.size()); + std::list q; boost::geometry::strategy::convex_hull::graham_andrew strategy; boost::geometry::convex_hull(ring, convex_ring, strategy); PolygonWithEdges polygon_with_edges; @@ -342,7 +335,7 @@ bool test_intersection( return false; } -Polygon2d random_concave_polygon(const size_t vertices, const double max) +std::optional random_concave_polygon(const size_t vertices, const double max) { if (vertices < 4) { return Polygon2d(); @@ -376,7 +369,7 @@ Polygon2d random_concave_polygon(const size_t vertices, const double max) // apply inward denting algorithm poly = inward_denting(points); // check for convexity - if (!is_convex(poly)) { + if (!is_convex(poly) && boost::geometry::is_valid(poly) && poly.outer().size() != vertices) { is_non_convex = true; } LinearRing2d poly_outer = poly.outer(); diff --git a/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp index af90ab1f32c57..3202347cc8ac4 100644 --- a/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp +++ b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp @@ -2021,6 +2021,105 @@ TEST(geometry, intersectPolygonRand) } } +double calculate_total_polygon_area( + const std::vector & polygons) +{ + double totalArea = 0.0; + for (const auto & polygon : polygons) { + totalArea += boost::geometry::area(polygon); + } + return totalArea; +} + +TEST(geometry, PolygonTriangulation) +{ + using autoware::universe_utils::Polygon2d; + using autoware::universe_utils::triangulate; + + { // concave polygon + Polygon2d poly; + + poly.outer().emplace_back(0.0, 0.0); + poly.outer().emplace_back(4.0, 0.0); + poly.outer().emplace_back(4.0, 4.0); + poly.outer().emplace_back(2.0, 2.0); + poly.outer().emplace_back(0.0, 4.0); + boost::geometry::correct(poly); + + const auto triangles = triangulate(poly); + + const auto triangle_area = calculate_total_polygon_area(triangles); + const auto poly_area = boost::geometry::area(poly); + EXPECT_NEAR(triangle_area, poly_area, epsilon); + } + + { // concave polygon with empty inners + Polygon2d poly; + + poly.outer().emplace_back(0.0, 0.0); + poly.outer().emplace_back(4.0, 0.0); + poly.outer().emplace_back(4.0, 4.0); + poly.outer().emplace_back(2.0, 2.0); + poly.outer().emplace_back(0.0, 4.0); + boost::geometry::correct(poly); + + poly.inners().emplace_back(); + + const auto triangles = triangulate(poly); + + const auto triangle_area = calculate_total_polygon_area(triangles); + const auto poly_area = boost::geometry::area(poly); + EXPECT_NEAR(triangle_area, poly_area, epsilon); + } + + { // concave polygon with hole + Polygon2d poly; + + poly.outer().emplace_back(0.0, 0.0); + poly.outer().emplace_back(4.0, 0.0); + poly.outer().emplace_back(4.0, 4.0); + poly.outer().emplace_back(2.0, 2.0); + poly.outer().emplace_back(0.0, 4.0); + + poly.inners().emplace_back(); + poly.inners().back().emplace_back(1.0, 1.0); + poly.inners().back().emplace_back(1.5, 1.0); + poly.inners().back().emplace_back(1.5, 1.5); + poly.inners().back().emplace_back(1.0, 1.5); + boost::geometry::correct(poly); + + const auto triangles = triangulate(poly); + + const auto triangle_area = calculate_total_polygon_area(triangles); + const auto poly_area = boost::geometry::area(poly); + EXPECT_NEAR(triangle_area, poly_area, epsilon); + } + + { // concave polygon with one empty inner followed by one hole + Polygon2d poly; + + poly.outer().emplace_back(0.0, 0.0); + poly.outer().emplace_back(4.0, 0.0); + poly.outer().emplace_back(4.0, 4.0); + poly.outer().emplace_back(2.0, 2.0); + poly.outer().emplace_back(0.0, 4.0); + + poly.inners().emplace_back(); + poly.inners().emplace_back(); + poly.inners().back().emplace_back(1.0, 1.0); + poly.inners().back().emplace_back(1.5, 1.0); + poly.inners().back().emplace_back(1.5, 1.5); + poly.inners().back().emplace_back(1.0, 1.5); + boost::geometry::correct(poly); + + const auto triangles = triangulate(poly); + + const auto triangle_area = calculate_total_polygon_area(triangles); + const auto poly_area = boost::geometry::area(poly); + EXPECT_NEAR(triangle_area, poly_area, epsilon); + } +} + TEST(geometry, intersectPolygonWithHoles) { using autoware::universe_utils::Polygon2d; @@ -2246,7 +2345,10 @@ TEST(geometry, intersectConcavePolygonRand) triangulations.clear(); for (auto i = 0; i < polygons_nb; ++i) { - polygons.push_back(autoware::universe_utils::random_concave_polygon(vertices, max_values)); + auto polygon_opt = autoware::universe_utils::random_concave_polygon(vertices, max_values); + if (polygon_opt.has_value()) { + polygons.push_back(polygon_opt.value()); + } } for (const auto & polygon : polygons) { From 70b6f19ecb7aca9359709e65807d00ce490ba915 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 11 Nov 2024 20:58:08 +0900 Subject: [PATCH 400/701] fix(behavior_path_planner_common): use boost intersects instead of overlaps (#9289) * fix(behavior_path_planner_common): use boost intersects instead of overlaps Signed-off-by: kosuke55 * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp Co-authored-by: Go Sakayori --------- Signed-off-by: kosuke55 Co-authored-by: Go Sakayori --- .../src/utils/path_safety_checker/safety_check.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp index d7e4e613be9e0..a7ed94c0768c3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp @@ -531,7 +531,7 @@ bool checkSafetyWithIntegralPredictedPolygon( CollisionCheckDebugPair debug_pair = createObjectDebug(object); for (const auto & path : object.predicted_paths) { for (const auto & pose_with_poly : path.path) { - if (boost::geometry::overlaps(ego_integral_polygon, pose_with_poly.poly)) { + if (boost::geometry::intersects(ego_integral_polygon, pose_with_poly.poly)) { debug_pair.second.ego_predicted_path = ego_predicted_path; // raw path debug_pair.second.obj_predicted_path = path.path; // raw path debug_pair.second.extended_obj_polygon = pose_with_poly.poly; @@ -604,8 +604,8 @@ std::vector get_collided_polygons( const double yaw_difference = autoware::universe_utils::normalizeRadian(ego_yaw - object_yaw); if (std::abs(yaw_difference) > yaw_difference_th) continue; - // check overlap - if (boost::geometry::overlaps(ego_polygon, obj_polygon)) { + // check intersects + if (boost::geometry::intersects(ego_polygon, obj_polygon)) { debug.unsafe_reason = "overlap_polygon"; collided_polygons.push_back(obj_polygon); @@ -658,8 +658,8 @@ std::vector get_collided_polygons( : createExtendedPolygon( obj_pose_with_poly, lon_offset, lat_margin, is_stopped_object, debug); - // check overlap with extended polygon - if (boost::geometry::overlaps(extended_ego_polygon, extended_obj_polygon)) { + // check intersects with extended polygon + if (boost::geometry::intersects(extended_ego_polygon, extended_obj_polygon)) { debug.unsafe_reason = "overlap_extended_polygon"; collided_polygons.push_back(obj_polygon); From e8a4d87549e26a863ae64d27df7ae20fe43fa288 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Tue, 12 Nov 2024 09:40:31 +0900 Subject: [PATCH 401/701] ci(.github): update image tags (#9286) --- .github/sync-files.yaml | 2 +- .github/workflows/build-and-test-daily-arm64.yaml | 2 +- .github/workflows/build-and-test-daily.yaml | 2 +- .github/workflows/build-and-test-differential-arm64.yaml | 2 +- .github/workflows/build-and-test-differential.yaml | 4 ++-- .github/workflows/build-and-test.yaml | 2 +- 6 files changed, 7 insertions(+), 7 deletions(-) diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index e0748f1113db6..e70d3daf88509 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -38,7 +38,7 @@ files: - source: .github/workflows/clang-tidy-differential.yaml pre-commands: | - sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda' {source} + sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda' {source} - source: .github/workflows/check-build-depends.yaml - source: .github/workflows/clang-tidy-pr-comments.yaml - source: .github/workflows/clang-tidy-pr-comments-manually.yaml diff --git a/.github/workflows/build-and-test-daily-arm64.yaml b/.github/workflows/build-and-test-daily-arm64.yaml index 8b4c2e135e761..5e15675bece04 100644 --- a/.github/workflows/build-and-test-daily-arm64.yaml +++ b/.github/workflows/build-and-test-daily-arm64.yaml @@ -23,7 +23,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Check out repository diff --git a/.github/workflows/build-and-test-daily.yaml b/.github/workflows/build-and-test-daily.yaml index 66275444482b5..63822f8b1e093 100644 --- a/.github/workflows/build-and-test-daily.yaml +++ b/.github/workflows/build-and-test-daily.yaml @@ -19,7 +19,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Check out repository diff --git a/.github/workflows/build-and-test-differential-arm64.yaml b/.github/workflows/build-and-test-differential-arm64.yaml index 40d7a8846d13b..bc6fe11c85bfa 100644 --- a/.github/workflows/build-and-test-differential-arm64.yaml +++ b/.github/workflows/build-and-test-differential-arm64.yaml @@ -33,7 +33,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Set PR fetch depth diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 30619f7ef5aff..c824bb94b2a6c 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -42,7 +42,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos - container-suffix: -cuda runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large @@ -76,7 +76,7 @@ jobs: clang-tidy-differential: needs: build-and-test-differential runs-on: ubuntu-22.04 - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda + container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda steps: - name: Set PR fetch depth run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index a79bb60fa2929..3ffa5ebdbd29d 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -27,7 +27,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos steps: - name: Check out repository From 6af7d0b9f60260706809d43dc735951835aa52cf Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 12 Nov 2024 02:01:09 +0100 Subject: [PATCH 402/701] refactor(autoware_ad_api_specs): prefix package and namespace with autoware (#9250) * refactor(autoware_ad_api_specs): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez * style(pre-commit): autofix * chore(autoware_adapi_specs): rename ad_api to adapi Signed-off-by: Esteve Fernandez * style(pre-commit): autofix * chore(autoware_adapi_specs): rename ad_api to adapi Signed-off-by: Esteve Fernandez * chore(autoware_adapi_specs): rename ad_api to adapi Signed-off-by: Esteve Fernandez * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs Signed-off-by: Esteve Fernandez --------- Signed-off-by: Esteve Fernandez Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .github/CODEOWNERS | 2 +- common/.pages | 2 +- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 2 +- .../README.md | 0 .../autoware/adapi_specs}/fail_safe.hpp | 10 +++--- .../autoware/adapi_specs}/interface.hpp | 10 +++--- .../autoware/adapi_specs}/localization.hpp | 10 +++--- .../include/autoware/adapi_specs}/motion.hpp | 10 +++--- .../autoware/adapi_specs}/operation_mode.hpp | 10 +++--- .../autoware/adapi_specs}/perception.hpp | 10 +++--- .../autoware/adapi_specs}/planning.hpp | 10 +++--- .../include/autoware/adapi_specs}/routing.hpp | 10 +++--- .../include/autoware/adapi_specs}/system.hpp | 10 +++--- .../include/autoware/adapi_specs}/vehicle.hpp | 10 +++--- .../package.xml | 4 +-- common/tier4_adapi_rviz_plugin/package.xml | 2 +- .../src/door_panel.hpp | 8 ++--- .../src/route_panel.hpp | 8 ++--- .../tier4_camera_view_rviz_plugin/package.xml | 2 +- system/autoware_default_adapi/package.xml | 2 +- .../src/compatibility/autoware_state.hpp | 18 +++++----- .../autoware_default_adapi/src/fail_safe.hpp | 6 ++-- .../autoware_default_adapi/src/heartbeat.cpp | 2 +- .../autoware_default_adapi/src/heartbeat.hpp | 4 +-- .../autoware_default_adapi/src/interface.hpp | 4 +-- .../src/localization.cpp | 4 +-- .../src/localization.hpp | 10 +++--- system/autoware_default_adapi/src/motion.cpp | 8 ++--- system/autoware_default_adapi/src/motion.hpp | 10 +++--- .../src/operation_mode.hpp | 30 ++++++++-------- .../autoware_default_adapi/src/perception.cpp | 2 +- .../autoware_default_adapi/src/perception.hpp | 4 +-- .../autoware_default_adapi/src/planning.hpp | 6 ++-- system/autoware_default_adapi/src/routing.cpp | 28 +++++++-------- system/autoware_default_adapi/src/routing.hpp | 36 +++++++++---------- system/autoware_default_adapi/src/vehicle.cpp | 4 +-- system/autoware_default_adapi/src/vehicle.hpp | 6 ++-- .../src/vehicle_door.hpp | 8 ++--- .../src/vehicle_info.hpp | 4 +-- .../ad_api_adaptors/package.xml | 2 +- .../src/initial_pose_adaptor.hpp | 4 +-- .../ad_api_adaptors/src/routing_adaptor.hpp | 10 +++--- .../automatic_pose_initializer/package.xml | 2 +- .../src/automatic_pose_initializer.hpp | 6 ++-- 45 files changed, 175 insertions(+), 175 deletions(-) rename common/{autoware_ad_api_specs => autoware_adapi_specs}/CHANGELOG.rst (100%) rename common/{autoware_ad_api_specs => autoware_adapi_specs}/CMakeLists.txt (79%) rename common/{autoware_ad_api_specs => autoware_adapi_specs}/README.md (100%) rename common/{autoware_ad_api_specs/include/autoware_ad_api_specs => autoware_adapi_specs/include/autoware/adapi_specs}/fail_safe.hpp (81%) rename common/{autoware_ad_api_specs/include/autoware_ad_api_specs => autoware_adapi_specs/include/autoware/adapi_specs}/interface.hpp (77%) rename common/{autoware_ad_api_specs/include/autoware_ad_api_specs => autoware_adapi_specs/include/autoware/adapi_specs}/localization.hpp (84%) rename common/{autoware_ad_api_specs/include/autoware_ad_api_specs => autoware_adapi_specs/include/autoware/adapi_specs}/motion.hpp (84%) rename common/{autoware_ad_api_specs/include/autoware_ad_api_specs => autoware_adapi_specs/include/autoware/adapi_specs}/operation_mode.hpp (89%) rename common/{autoware_ad_api_specs/include/autoware_ad_api_specs => autoware_adapi_specs/include/autoware/adapi_specs}/perception.hpp (81%) rename common/{autoware_ad_api_specs/include/autoware_ad_api_specs => autoware_adapi_specs/include/autoware/adapi_specs}/planning.hpp (86%) rename common/{autoware_ad_api_specs/include/autoware_ad_api_specs => autoware_adapi_specs/include/autoware/adapi_specs}/routing.hpp (91%) rename common/{autoware_ad_api_specs/include/autoware_ad_api_specs => autoware_adapi_specs/include/autoware/adapi_specs}/system.hpp (82%) rename common/{autoware_ad_api_specs/include/autoware_ad_api_specs => autoware_adapi_specs/include/autoware/adapi_specs}/vehicle.hpp (91%) rename common/{autoware_ad_api_specs => autoware_adapi_specs}/package.xml (86%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index c9182ecde365d..e8c080d3b16d5 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,5 +1,5 @@ ### Automatically generated from package.xml ### -common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp +common/autoware_adapi_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_component_interface_tools/** isamu.takagi@tier4.jp diff --git a/common/.pages b/common/.pages index 60453f2294f27..e0425488ad59b 100644 --- a/common/.pages +++ b/common/.pages @@ -49,7 +49,7 @@ nav: - 'Goal Distance Calculator': common/goal_distance_calculator/Readme - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme - 'Others': - - 'autoware_ad_api_specs': common/autoware_ad_api_specs + - 'autoware_adapi_specs': common/autoware_adapi_specs - 'component_interface_specs': common/component_interface_specs - 'component_interface_tools': common/component_interface_tools - 'component_interface_utils': common/component_interface_utils diff --git a/common/autoware_ad_api_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst similarity index 100% rename from common/autoware_ad_api_specs/CHANGELOG.rst rename to common/autoware_adapi_specs/CHANGELOG.rst diff --git a/common/autoware_ad_api_specs/CMakeLists.txt b/common/autoware_adapi_specs/CMakeLists.txt similarity index 79% rename from common/autoware_ad_api_specs/CMakeLists.txt rename to common/autoware_adapi_specs/CMakeLists.txt index 5f02e45a9c6b2..62eced4c76c93 100644 --- a/common/autoware_ad_api_specs/CMakeLists.txt +++ b/common/autoware_adapi_specs/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(autoware_ad_api_specs) +project(autoware_adapi_specs) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/autoware_ad_api_specs/README.md b/common/autoware_adapi_specs/README.md similarity index 100% rename from common/autoware_ad_api_specs/README.md rename to common/autoware_adapi_specs/README.md diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp similarity index 81% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp index 9b46feba47f11..d9366e567ed90 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_ -#define AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_ +#define AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_ #include #include -namespace autoware_ad_api::fail_safe +namespace autoware::adapi_specs::fail_safe { struct MrmState @@ -31,6 +31,6 @@ struct MrmState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::fail_safe +} // namespace autoware::adapi_specs::fail_safe -#endif // AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp similarity index 77% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp index 95dca9671e768..8c94569ab8063 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ -#define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_ +#define AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_ #include -namespace autoware_ad_api::interface +namespace autoware::adapi_specs::interface { struct Version @@ -26,6 +26,6 @@ struct Version static constexpr char name[] = "/api/interface/version"; }; -} // namespace autoware_ad_api::interface +} // namespace autoware::adapi_specs::interface -#endif // AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp similarity index 84% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp index 634713845868b..92198128c5d96 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_ -#define AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_ +#define AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_ #include #include #include -namespace autoware_ad_api::localization +namespace autoware::adapi_specs::localization { struct Initialize @@ -38,6 +38,6 @@ struct InitializationState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::localization +} // namespace autoware::adapi_specs::localization -#endif // AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp similarity index 84% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp index 041baa9a67051..5e40b7c5bda3a 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__MOTION_HPP_ -#define AUTOWARE_AD_API_SPECS__MOTION_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__MOTION_HPP_ +#define AUTOWARE__ADAPI_SPECS__MOTION_HPP_ #include #include #include -namespace autoware_ad_api::motion +namespace autoware::adapi_specs::motion { struct AcceptStart @@ -38,6 +38,6 @@ struct State static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::motion +} // namespace autoware::adapi_specs::motion -#endif // AUTOWARE_AD_API_SPECS__MOTION_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__MOTION_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp similarity index 89% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp index f52b66cc88d2a..81f63ef63b5e0 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ -#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_ +#define AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_ #include #include #include -namespace autoware_ad_api::operation_mode +namespace autoware::adapi_specs::operation_mode { struct ChangeToStop @@ -68,6 +68,6 @@ struct OperationModeState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::operation_mode +} // namespace autoware::adapi_specs::operation_mode -#endif // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp similarity index 81% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp index 5711c9a86d12a..80f876cdd588f 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_ -#define AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_ +#define AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_ #include #include -namespace autoware_ad_api::perception +namespace autoware::adapi_specs::perception { struct DynamicObjectArray @@ -31,6 +31,6 @@ struct DynamicObjectArray static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace autoware_ad_api::perception +} // namespace autoware::adapi_specs::perception -#endif // AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp similarity index 86% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp index 4d4530dc38b75..246cd92d94385 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__PLANNING_HPP_ -#define AUTOWARE_AD_API_SPECS__PLANNING_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__PLANNING_HPP_ +#define AUTOWARE__ADAPI_SPECS__PLANNING_HPP_ #include #include #include -namespace autoware_ad_api::planning +namespace autoware::adapi_specs::planning { struct VelocityFactors @@ -41,6 +41,6 @@ struct SteeringFactors static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace autoware_ad_api::planning +} // namespace autoware::adapi_specs::planning -#endif // AUTOWARE_AD_API_SPECS__PLANNING_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__PLANNING_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp similarity index 91% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp index 1e119bc36e9b7..4988a82bb9ad2 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__ROUTING_HPP_ -#define AUTOWARE_AD_API_SPECS__ROUTING_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__ROUTING_HPP_ +#define AUTOWARE__ADAPI_SPECS__ROUTING_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace autoware_ad_api::routing +namespace autoware::adapi_specs::routing { struct SetRoutePoints @@ -74,6 +74,6 @@ struct Route static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::routing +} // namespace autoware::adapi_specs::routing -#endif // AUTOWARE_AD_API_SPECS__ROUTING_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__ROUTING_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp similarity index 82% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp index 09144c1d8ff50..06e039174a3c5 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ -#define AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_ +#define AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_ #include #include -namespace autoware_ad_api::system +namespace autoware::adapi_specs::system { struct Heartbeat @@ -31,6 +31,6 @@ struct Heartbeat static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace autoware_ad_api::system +} // namespace autoware::adapi_specs::system -#endif // AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_ diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp similarity index 91% rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp rename to common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp index e1220bf2c5879..a7568d54b5e1a 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp +++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ -#define AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ +#ifndef AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_ +#define AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_ #include @@ -24,7 +24,7 @@ #include #include -namespace autoware_ad_api::vehicle +namespace autoware::adapi_specs::vehicle { struct VehicleKinematics @@ -72,6 +72,6 @@ struct DoorStatus static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace autoware_ad_api::vehicle +} // namespace autoware::adapi_specs::vehicle -#endif // AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ +#endif // AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_ diff --git a/common/autoware_ad_api_specs/package.xml b/common/autoware_adapi_specs/package.xml similarity index 86% rename from common/autoware_ad_api_specs/package.xml rename to common/autoware_adapi_specs/package.xml index 9e9972d94df24..a949084dd8789 100644 --- a/common/autoware_ad_api_specs/package.xml +++ b/common/autoware_adapi_specs/package.xml @@ -1,9 +1,9 @@ - autoware_ad_api_specs + autoware_adapi_specs 0.38.0 - The autoware_ad_api_specs package + The autoware_adapi_specs package Takagi, Isamu Ryohsuke Mitsudome Apache License 2.0 diff --git a/common/tier4_adapi_rviz_plugin/package.xml b/common/tier4_adapi_rviz_plugin/package.xml index d7269377829dc..c31e19919ff22 100644 --- a/common/tier4_adapi_rviz_plugin/package.xml +++ b/common/tier4_adapi_rviz_plugin/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto autoware_cmake - autoware_ad_api_specs + autoware_adapi_specs autoware_component_interface_utils autoware_vehicle_msgs geometry_msgs diff --git a/common/tier4_adapi_rviz_plugin/src/door_panel.hpp b/common/tier4_adapi_rviz_plugin/src/door_panel.hpp index fb7aa0e1b9545..3ace533eada50 100644 --- a/common/tier4_adapi_rviz_plugin/src/door_panel.hpp +++ b/common/tier4_adapi_rviz_plugin/src/door_panel.hpp @@ -18,8 +18,8 @@ #include #include #include +#include #include -#include #include #include @@ -31,9 +31,9 @@ namespace tier4_adapi_rviz_plugins class DoorPanel : public rviz_common::Panel { Q_OBJECT - using DoorCommand = autoware_ad_api::vehicle::DoorCommand; - using DoorLayout = autoware_ad_api::vehicle::DoorLayout; - using DoorStatus = autoware_ad_api::vehicle::DoorStatus; + using DoorCommand = autoware::adapi_specs::vehicle::DoorCommand; + using DoorLayout = autoware::adapi_specs::vehicle::DoorLayout; + using DoorStatus = autoware::adapi_specs::vehicle::DoorStatus; public: explicit DoorPanel(QWidget * parent = nullptr); diff --git a/common/tier4_adapi_rviz_plugin/src/route_panel.hpp b/common/tier4_adapi_rviz_plugin/src/route_panel.hpp index d4e7bdf62ea3c..78fda2852d2c2 100644 --- a/common/tier4_adapi_rviz_plugin/src/route_panel.hpp +++ b/common/tier4_adapi_rviz_plugin/src/route_panel.hpp @@ -20,8 +20,8 @@ #include #include #include +#include #include -#include #include #include @@ -35,9 +35,9 @@ namespace tier4_adapi_rviz_plugins class RoutePanel : public rviz_common::Panel { Q_OBJECT - using ClearRoute = autoware_ad_api::routing::ClearRoute; - using SetRoutePoints = autoware_ad_api::routing::SetRoutePoints; - using ChangeRoutePoints = autoware_ad_api::routing::ChangeRoutePoints; + using ClearRoute = autoware::adapi_specs::routing::ClearRoute; + using SetRoutePoints = autoware::adapi_specs::routing::SetRoutePoints; + using ChangeRoutePoints = autoware::adapi_specs::routing::ChangeRoutePoints; using PoseStamped = geometry_msgs::msg::PoseStamped; public: diff --git a/common/tier4_camera_view_rviz_plugin/package.xml b/common/tier4_camera_view_rviz_plugin/package.xml index d36c9eae781c6..7c85d9f84871a 100644 --- a/common/tier4_camera_view_rviz_plugin/package.xml +++ b/common/tier4_camera_view_rviz_plugin/package.xml @@ -11,7 +11,7 @@ ament_cmake_auto autoware_cmake - autoware_ad_api_specs + autoware_adapi_specs autoware_component_interface_utils geometry_msgs libqt5-core diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml index b4324ce05c511..f664f72234f9f 100644 --- a/system/autoware_default_adapi/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto autoware_cmake - autoware_ad_api_specs + autoware_adapi_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_component_interface_specs diff --git a/system/autoware_default_adapi/src/compatibility/autoware_state.hpp b/system/autoware_default_adapi/src/compatibility/autoware_state.hpp index d4707ea55fd87..c292f2f62364c 100644 --- a/system/autoware_default_adapi/src/compatibility/autoware_state.hpp +++ b/system/autoware_default_adapi/src/compatibility/autoware_state.hpp @@ -15,9 +15,9 @@ #ifndef COMPATIBILITY__AUTOWARE_STATE_HPP_ #define COMPATIBILITY__AUTOWARE_STATE_HPP_ -#include -#include -#include +#include +#include +#include #include #include @@ -40,14 +40,14 @@ class AutowareStateNode : public rclcpp::Node using ModeChangeAvailable = tier4_system_msgs::msg::ModeChangeAvailable; rclcpp::TimerBase::SharedPtr timer_; // emergency - Sub sub_localization_; - Sub sub_routing_; - Sub sub_operation_mode_; + Sub sub_localization_; + Sub sub_routing_; + Sub sub_operation_mode_; using AutowareState = autoware_system_msgs::msg::AutowareState; - using LocalizationState = autoware_ad_api::localization::InitializationState::Message; - using RoutingState = autoware_ad_api::routing::RouteState::Message; - using OperationModeState = autoware_ad_api::operation_mode::OperationModeState::Message; + using LocalizationState = autoware::adapi_specs::localization::InitializationState::Message; + using RoutingState = autoware::adapi_specs::routing::RouteState::Message; + using OperationModeState = autoware::adapi_specs::operation_mode::OperationModeState::Message; using Trigger = std_srvs::srv::Trigger; std::vector component_states_; std::vector::SharedPtr> sub_component_states_; diff --git a/system/autoware_default_adapi/src/fail_safe.hpp b/system/autoware_default_adapi/src/fail_safe.hpp index 16cf340ec7a20..c5ee08643e802 100644 --- a/system/autoware_default_adapi/src/fail_safe.hpp +++ b/system/autoware_default_adapi/src/fail_safe.hpp @@ -15,9 +15,9 @@ #ifndef FAIL_SAFE_HPP_ #define FAIL_SAFE_HPP_ +#include #include #include -#include #include // This file should be included after messages. @@ -32,8 +32,8 @@ class FailSafeNode : public rclcpp::Node explicit FailSafeNode(const rclcpp::NodeOptions & options); private: - using MrmState = autoware_ad_api::fail_safe::MrmState::Message; - Pub pub_mrm_state_; + using MrmState = autoware::adapi_specs::fail_safe::MrmState::Message; + Pub pub_mrm_state_; Sub sub_mrm_state_; MrmState prev_state_; void on_state(const MrmState::ConstSharedPtr msg); diff --git a/system/autoware_default_adapi/src/heartbeat.cpp b/system/autoware_default_adapi/src/heartbeat.cpp index 2d6171b88151d..ab3df84904f28 100644 --- a/system/autoware_default_adapi/src/heartbeat.cpp +++ b/system/autoware_default_adapi/src/heartbeat.cpp @@ -23,7 +23,7 @@ HeartbeatNode::HeartbeatNode(const rclcpp::NodeOptions & options) : Node("heartb { // Move this function so that the timer no longer holds it as a reference. const auto on_timer = [this]() { - autoware_ad_api::system::Heartbeat::Message heartbeat; + autoware::adapi_specs::system::Heartbeat::Message heartbeat; heartbeat.stamp = now(); heartbeat.seq = ++sequence_; // Wraps at 65535. pub_->publish(heartbeat); diff --git a/system/autoware_default_adapi/src/heartbeat.hpp b/system/autoware_default_adapi/src/heartbeat.hpp index 8b1108d7b1bd3..4647686fe13d5 100644 --- a/system/autoware_default_adapi/src/heartbeat.hpp +++ b/system/autoware_default_adapi/src/heartbeat.hpp @@ -15,7 +15,7 @@ #ifndef HEARTBEAT_HPP_ #define HEARTBEAT_HPP_ -#include +#include #include // This file should be included after messages. @@ -31,7 +31,7 @@ class HeartbeatNode : public rclcpp::Node private: rclcpp::TimerBase::SharedPtr timer_; - Pub pub_; + Pub pub_; uint16_t sequence_ = 0; }; diff --git a/system/autoware_default_adapi/src/interface.hpp b/system/autoware_default_adapi/src/interface.hpp index ce0bdb04e2d2e..81ae7aaefc25d 100644 --- a/system/autoware_default_adapi/src/interface.hpp +++ b/system/autoware_default_adapi/src/interface.hpp @@ -15,7 +15,7 @@ #ifndef INTERFACE_HPP_ #define INTERFACE_HPP_ -#include +#include #include // This file should be included after messages. @@ -30,7 +30,7 @@ class InterfaceNode : public rclcpp::Node explicit InterfaceNode(const rclcpp::NodeOptions & options); private: - Srv srv_; + Srv srv_; }; } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/localization.cpp b/system/autoware_default_adapi/src/localization.cpp index 93977b36cd0a1..779c63224744d 100644 --- a/system/autoware_default_adapi/src/localization.cpp +++ b/system/autoware_default_adapi/src/localization.cpp @@ -30,8 +30,8 @@ LocalizationNode::LocalizationNode(const rclcpp::NodeOptions & options) } void LocalizationNode::on_initialize( - const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req, - const autoware_ad_api::localization::Initialize::Service::Response::SharedPtr res) + const autoware::adapi_specs::localization::Initialize::Service::Request::SharedPtr req, + const autoware::adapi_specs::localization::Initialize::Service::Response::SharedPtr res) { res->status = localization_conversion::convert_call(cli_initialize_, req); } diff --git a/system/autoware_default_adapi/src/localization.hpp b/system/autoware_default_adapi/src/localization.hpp index dbbc106621156..ef4ffd52a6718 100644 --- a/system/autoware_default_adapi/src/localization.hpp +++ b/system/autoware_default_adapi/src/localization.hpp @@ -15,8 +15,8 @@ #ifndef LOCALIZATION_HPP_ #define LOCALIZATION_HPP_ +#include #include -#include #include // This file should be included after messages. @@ -32,14 +32,14 @@ class LocalizationNode : public rclcpp::Node private: rclcpp::CallbackGroup::SharedPtr group_cli_; - Srv srv_initialize_; - Pub pub_state_; + Srv srv_initialize_; + Pub pub_state_; Cli cli_initialize_; Sub sub_state_; void on_initialize( - const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req, - const autoware_ad_api::localization::Initialize::Service::Response::SharedPtr res); + const autoware::adapi_specs::localization::Initialize::Service::Request::SharedPtr req, + const autoware::adapi_specs::localization::Initialize::Service::Response::SharedPtr res); }; } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp index b59ba8e52e403..dd7d842c3f26f 100644 --- a/system/autoware_default_adapi/src/motion.cpp +++ b/system/autoware_default_adapi/src/motion.cpp @@ -88,7 +88,7 @@ void MotionNode::update_state() void MotionNode::change_state(const State state) { - using MotionState = autoware_ad_api::motion::State::Message; + using MotionState = autoware::adapi_specs::motion::State::Message; static const auto mapping = std::unordered_map( {{State::Unknown, MotionState::UNKNOWN}, {State::Pausing, MotionState::STOPPED}, @@ -149,11 +149,11 @@ void MotionNode::on_is_start_requested( } void MotionNode::on_accept( - const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr, - const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res) + const autoware::adapi_specs::motion::AcceptStart::Service::Request::SharedPtr, + const autoware::adapi_specs::motion::AcceptStart::Service::Response::SharedPtr res) { if (state_ != State::Starting) { - using AcceptStartResponse = autoware_ad_api::motion::AcceptStart::Service::Response; + using AcceptStartResponse = autoware::adapi_specs::motion::AcceptStart::Service::Response; throw autoware::component_interface_utils::ServiceException( AcceptStartResponse::ERROR_NOT_STARTING, "The motion state is not starting"); } diff --git a/system/autoware_default_adapi/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp index cae7b310edc73..ce9cab6eb4bc7 100644 --- a/system/autoware_default_adapi/src/motion.hpp +++ b/system/autoware_default_adapi/src/motion.hpp @@ -15,11 +15,11 @@ #ifndef MOTION_HPP_ #define MOTION_HPP_ +#include #include #include #include #include -#include #include // This file should be included after messages. @@ -37,8 +37,8 @@ class MotionNode : public rclcpp::Node autoware::motion_utils::VehicleStopChecker vehicle_stop_checker_; rclcpp::TimerBase::SharedPtr timer_; rclcpp::CallbackGroup::SharedPtr group_cli_; - Srv srv_accept_; - Pub pub_state_; + Srv srv_accept_; + Pub pub_state_; Cli cli_set_pause_; Sub sub_is_paused_; Sub sub_is_start_requested_; @@ -63,8 +63,8 @@ class MotionNode : public rclcpp::Node const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr msg); void on_accept( - const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr req, - const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res); + const autoware::adapi_specs::motion::AcceptStart::Service::Request::SharedPtr req, + const autoware::adapi_specs::motion::AcceptStart::Service::Response::SharedPtr res); }; } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/operation_mode.hpp b/system/autoware_default_adapi/src/operation_mode.hpp index ca5bb2ba72592..fdfe9ce237626 100644 --- a/system/autoware_default_adapi/src/operation_mode.hpp +++ b/system/autoware_default_adapi/src/operation_mode.hpp @@ -15,9 +15,9 @@ #ifndef OPERATION_MODE_HPP_ #define OPERATION_MODE_HPP_ +#include #include #include -#include #include #include @@ -38,13 +38,13 @@ class OperationModeNode : public rclcpp::Node explicit OperationModeNode(const rclcpp::NodeOptions & options); private: - using OperationModeState = autoware_ad_api::operation_mode::OperationModeState; - using EnableAutowareControl = autoware_ad_api::operation_mode::EnableAutowareControl; - using DisableAutowareControl = autoware_ad_api::operation_mode::DisableAutowareControl; - using ChangeToStop = autoware_ad_api::operation_mode::ChangeToStop; - using ChangeToAutonomous = autoware_ad_api::operation_mode::ChangeToAutonomous; - using ChangeToLocal = autoware_ad_api::operation_mode::ChangeToLocal; - using ChangeToRemote = autoware_ad_api::operation_mode::ChangeToRemote; + using OperationModeState = autoware::adapi_specs::operation_mode::OperationModeState; + using EnableAutowareControl = autoware::adapi_specs::operation_mode::EnableAutowareControl; + using DisableAutowareControl = autoware::adapi_specs::operation_mode::DisableAutowareControl; + using ChangeToStop = autoware::adapi_specs::operation_mode::ChangeToStop; + using ChangeToAutonomous = autoware::adapi_specs::operation_mode::ChangeToAutonomous; + using ChangeToLocal = autoware::adapi_specs::operation_mode::ChangeToLocal; + using ChangeToRemote = autoware::adapi_specs::operation_mode::ChangeToRemote; using OperationModeRequest = autoware::component_interface_specs::system::ChangeOperationMode::Service::Request; using AutowareControlRequest = @@ -57,13 +57,13 @@ class OperationModeNode : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr group_cli_; rclcpp::TimerBase::SharedPtr timer_; - Pub pub_state_; - Srv srv_stop_mode_; - Srv srv_autonomous_mode_; - Srv srv_local_mode_; - Srv srv_remote_mode_; - Srv srv_enable_control_; - Srv srv_disable_control_; + Pub pub_state_; + Srv srv_stop_mode_; + Srv srv_autonomous_mode_; + Srv srv_local_mode_; + Srv srv_remote_mode_; + Srv srv_enable_control_; + Srv srv_disable_control_; Sub sub_state_; Cli cli_mode_; Cli cli_control_; diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp index ba324fd1cb85b..e764af4ca816a 100644 --- a/system/autoware_default_adapi/src/perception.cpp +++ b/system/autoware_default_adapi/src/perception.cpp @@ -19,7 +19,7 @@ namespace autoware::default_adapi { -using DynamicObjectArray = autoware_ad_api::perception::DynamicObjectArray; +using DynamicObjectArray = autoware::adapi_specs::perception::DynamicObjectArray; using ObjectClassification = autoware_adapi_v1_msgs::msg::ObjectClassification; using DynamicObject = autoware_adapi_v1_msgs::msg::DynamicObject; using DynamicObjectPath = autoware_adapi_v1_msgs::msg::DynamicObjectPath; diff --git a/system/autoware_default_adapi/src/perception.hpp b/system/autoware_default_adapi/src/perception.hpp index af551d874663b..61fb2c4667f1d 100644 --- a/system/autoware_default_adapi/src/perception.hpp +++ b/system/autoware_default_adapi/src/perception.hpp @@ -15,8 +15,8 @@ #ifndef PERCEPTION_HPP_ #define PERCEPTION_HPP_ +#include #include -#include #include #include @@ -40,7 +40,7 @@ class PerceptionNode : public rclcpp::Node explicit PerceptionNode(const rclcpp::NodeOptions & options); private: - Pub pub_object_recognized_; + Pub pub_object_recognized_; Sub sub_object_recognized_; void object_recognize(const autoware::component_interface_specs::perception::ObjectRecognition:: Message::ConstSharedPtr msg); diff --git a/system/autoware_default_adapi/src/planning.hpp b/system/autoware_default_adapi/src/planning.hpp index 50e044bec018c..3a9b99e33a997 100644 --- a/system/autoware_default_adapi/src/planning.hpp +++ b/system/autoware_default_adapi/src/planning.hpp @@ -15,10 +15,10 @@ #ifndef PLANNING_HPP_ #define PLANNING_HPP_ +#include #include #include #include -#include #include #include @@ -38,8 +38,8 @@ class PlanningNode : public rclcpp::Node private: using VelocityFactorArray = autoware_adapi_v1_msgs::msg::VelocityFactorArray; using SteeringFactorArray = autoware_adapi_v1_msgs::msg::SteeringFactorArray; - Pub pub_velocity_factors_; - Pub pub_steering_factors_; + Pub pub_velocity_factors_; + Pub pub_steering_factors_; Sub sub_trajectory_; Sub sub_kinematic_state_; std::vector::SharedPtr> sub_velocity_factors_; diff --git a/system/autoware_default_adapi/src/routing.cpp b/system/autoware_default_adapi/src/routing.cpp index a7b8146bdd45e..4eaa98376b147 100644 --- a/system/autoware_default_adapi/src/routing.cpp +++ b/system/autoware_default_adapi/src/routing.cpp @@ -116,52 +116,52 @@ void RoutingNode::on_route(const Route::Message::ConstSharedPtr msg) } void RoutingNode::on_clear_route( - const autoware_ad_api::routing::ClearRoute::Service::Request::SharedPtr req, - const autoware_ad_api::routing::ClearRoute::Service::Response::SharedPtr res) + const autoware::adapi_specs::routing::ClearRoute::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::ClearRoute::Service::Response::SharedPtr res) { change_stop_mode(); res->status = conversion::convert_call(cli_clear_route_, req); } void RoutingNode::on_set_route_points( - const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res) + const autoware::adapi_specs::routing::SetRoutePoints::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoutePoints::Service::Response::SharedPtr res) { if (state_.state != State::Message::UNSET) { - res->status = route_already_set(); + res->status = route_already_set(); return; } res->status = conversion::convert_call(cli_set_waypoint_route_, req); } void RoutingNode::on_set_route( - const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res) + const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res) { if (state_.state != State::Message::UNSET) { - res->status = route_already_set(); + res->status = route_already_set(); return; } res->status = conversion::convert_call(cli_set_lanelet_route_, req); } void RoutingNode::on_change_route_points( - const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res) + const autoware::adapi_specs::routing::SetRoutePoints::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoutePoints::Service::Response::SharedPtr res) { if (state_.state != State::Message::SET) { - res->status = route_is_not_set(); + res->status = route_is_not_set(); return; } res->status = conversion::convert_call(cli_set_waypoint_route_, req); } void RoutingNode::on_change_route( - const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res) + const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res) { if (state_.state != State::Message::SET) { - res->status = route_is_not_set(); + res->status = route_is_not_set(); return; } res->status = conversion::convert_call(cli_set_lanelet_route_, req); diff --git a/system/autoware_default_adapi/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp index 0f57f0358fc54..10eed606a5f6b 100644 --- a/system/autoware_default_adapi/src/routing.hpp +++ b/system/autoware_default_adapi/src/routing.hpp @@ -15,10 +15,10 @@ #ifndef ROUTING_HPP_ #define ROUTING_HPP_ +#include #include #include #include -#include #include // This file should be included after messages. @@ -38,13 +38,13 @@ class RoutingNode : public rclcpp::Node using Route = autoware::component_interface_specs::planning::LaneletRoute; rclcpp::CallbackGroup::SharedPtr group_cli_; - Pub pub_state_; - Pub pub_route_; - Srv srv_set_route_points_; - Srv srv_set_route_; - Srv srv_change_route_points_; - Srv srv_change_route_; - Srv srv_clear_route_; + Pub pub_state_; + Pub pub_route_; + Srv srv_set_route_points_; + Srv srv_set_route_; + Srv srv_change_route_points_; + Srv srv_change_route_; + Srv srv_clear_route_; Sub sub_state_; Sub sub_route_; Cli cli_set_waypoint_route_; @@ -60,20 +60,20 @@ class RoutingNode : public rclcpp::Node void on_state(const State::Message::ConstSharedPtr msg); void on_route(const Route::Message::ConstSharedPtr msg); void on_clear_route( - const autoware_ad_api::routing::ClearRoute::Service::Request::SharedPtr req, - const autoware_ad_api::routing::ClearRoute::Service::Response::SharedPtr res); + const autoware::adapi_specs::routing::ClearRoute::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::ClearRoute::Service::Response::SharedPtr res); void on_set_route_points( - const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res); + const autoware::adapi_specs::routing::SetRoutePoints::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoutePoints::Service::Response::SharedPtr res); void on_set_route( - const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res); + const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res); void on_change_route_points( - const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res); + const autoware::adapi_specs::routing::SetRoutePoints::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoutePoints::Service::Response::SharedPtr res); void on_change_route( - const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req, - const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res); + const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req, + const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res); }; } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp index 36789a8417b3f..5620062ede278 100644 --- a/system/autoware_default_adapi/src/vehicle.cpp +++ b/system/autoware_default_adapi/src/vehicle.cpp @@ -140,7 +140,7 @@ void VehicleNode::publish_kinematics() { if (!kinematic_state_msgs_ || !acceleration_msgs_ || !map_projector_info_) return; - autoware_ad_api::vehicle::VehicleKinematics::Message vehicle_kinematics; + autoware::adapi_specs::vehicle::VehicleKinematics::Message vehicle_kinematics; vehicle_kinematics.pose.header = kinematic_state_msgs_->header; vehicle_kinematics.pose.pose = kinematic_state_msgs_->pose; vehicle_kinematics.twist.header = kinematic_state_msgs_->header; @@ -176,7 +176,7 @@ void VehicleNode::publish_status() !hazard_light_status_msgs_) return; - autoware_ad_api::vehicle::VehicleStatus::Message vehicle_status; + autoware::adapi_specs::vehicle::VehicleStatus::Message vehicle_status; vehicle_status.stamp = now(); vehicle_status.steering_tire_angle = steering_status_msgs_->steering_tire_angle; vehicle_status.gear.status = mapping(gear_type_, gear_status_msgs_->report, ApiGear::UNKNOWN); diff --git a/system/autoware_default_adapi/src/vehicle.hpp b/system/autoware_default_adapi/src/vehicle.hpp index ad03aac9116ea..9bb83cb1613e9 100644 --- a/system/autoware_default_adapi/src/vehicle.hpp +++ b/system/autoware_default_adapi/src/vehicle.hpp @@ -15,10 +15,10 @@ #ifndef VEHICLE_HPP_ #define VEHICLE_HPP_ +#include #include #include #include -#include #include #include @@ -40,8 +40,8 @@ class VehicleNode : public rclcpp::Node private: rclcpp::CallbackGroup::SharedPtr group_cli_; - Pub pub_kinematics_; - Pub pub_status_; + Pub pub_kinematics_; + Pub pub_status_; Sub sub_kinematic_state_; Sub sub_acceleration_; Sub sub_steering_; diff --git a/system/autoware_default_adapi/src/vehicle_door.hpp b/system/autoware_default_adapi/src/vehicle_door.hpp index 9b04b08adb438..50312a38a4cb7 100644 --- a/system/autoware_default_adapi/src/vehicle_door.hpp +++ b/system/autoware_default_adapi/src/vehicle_door.hpp @@ -15,8 +15,8 @@ #ifndef VEHICLE_DOOR_HPP_ #define VEHICLE_DOOR_HPP_ +#include #include -#include #include #include @@ -36,9 +36,9 @@ class VehicleDoorNode : public rclcpp::Node void on_status( autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg); rclcpp::CallbackGroup::SharedPtr group_cli_; - Srv srv_command_; - Srv srv_layout_; - Pub pub_status_; + Srv srv_command_; + Srv srv_layout_; + Pub pub_status_; Cli cli_command_; Cli cli_layout_; Sub sub_status_; diff --git a/system/autoware_default_adapi/src/vehicle_info.hpp b/system/autoware_default_adapi/src/vehicle_info.hpp index f13f222fc269e..d7c9ff501eb43 100644 --- a/system/autoware_default_adapi/src/vehicle_info.hpp +++ b/system/autoware_default_adapi/src/vehicle_info.hpp @@ -15,7 +15,7 @@ #ifndef VEHICLE_INFO_HPP_ #define VEHICLE_INFO_HPP_ -#include +#include #include // This file should be included after messages. @@ -30,7 +30,7 @@ class VehicleInfoNode : public rclcpp::Node explicit VehicleInfoNode(const rclcpp::NodeOptions & options); private: - Srv srv_dimensions_; + Srv srv_dimensions_; autoware_adapi_v1_msgs::msg::VehicleDimensions dimensions_; }; diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml index 5a6a3199c088a..f6210809122de 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto autoware_cmake - autoware_ad_api_specs + autoware_adapi_specs autoware_adapi_v1_msgs autoware_component_interface_utils autoware_map_height_fitter diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp index ffa6b951ffeca..922c4c30b6254 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp @@ -15,9 +15,9 @@ #ifndef INITIAL_POSE_ADAPTOR_HPP_ #define INITIAL_POSE_ADAPTOR_HPP_ +#include #include #include -#include #include #include @@ -32,7 +32,7 @@ class InitialPoseAdaptor : public rclcpp::Node private: using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; - using Initialize = autoware_ad_api::localization::Initialize; + using Initialize = autoware::adapi_specs::localization::Initialize; rclcpp::Subscription::SharedPtr sub_initial_pose_; autoware::component_interface_utils::Client::SharedPtr cli_initialize_; std::array rviz_particle_covariance_; diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp index 13a047da26c7c..b4577573b665b 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp @@ -15,8 +15,8 @@ #ifndef ROUTING_ADAPTOR_HPP_ #define ROUTING_ADAPTOR_HPP_ +#include #include -#include #include #include @@ -33,10 +33,10 @@ class RoutingAdaptor : public rclcpp::Node private: using PoseStamped = geometry_msgs::msg::PoseStamped; - using SetRoutePoints = autoware_ad_api::routing::SetRoutePoints; - using ChangeRoutePoints = autoware_ad_api::routing::ChangeRoutePoints; - using ClearRoute = autoware_ad_api::routing::ClearRoute; - using RouteState = autoware_ad_api::routing::RouteState; + using SetRoutePoints = autoware::adapi_specs::routing::SetRoutePoints; + using ChangeRoutePoints = autoware::adapi_specs::routing::ChangeRoutePoints; + using ClearRoute = autoware::adapi_specs::routing::ClearRoute; + using RouteState = autoware::adapi_specs::routing::RouteState; autoware::component_interface_utils::Client::SharedPtr cli_reroute_; autoware::component_interface_utils::Client::SharedPtr cli_route_; autoware::component_interface_utils::Client::SharedPtr cli_clear_; diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml index 649192144d032..0f665cfc4f948 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml +++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto autoware_cmake - autoware_ad_api_specs + autoware_adapi_specs autoware_adapi_v1_msgs autoware_component_interface_utils rclcpp diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp index 7cdf0e3544501..a22a19cc592d2 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp +++ b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp @@ -15,8 +15,8 @@ #ifndef AUTOMATIC_POSE_INITIALIZER_HPP_ #define AUTOMATIC_POSE_INITIALIZER_HPP_ +#include #include -#include #include namespace automatic_pose_initializer @@ -29,8 +29,8 @@ class AutomaticPoseInitializer : public rclcpp::Node private: void on_timer(); - using Initialize = autoware_ad_api::localization::Initialize; - using State = autoware_ad_api::localization::InitializationState; + using Initialize = autoware::adapi_specs::localization::Initialize; + using State = autoware::adapi_specs::localization::InitializationState; rclcpp::CallbackGroup::SharedPtr group_cli_; rclcpp::TimerBase::SharedPtr timer_; autoware::component_interface_utils::Client::SharedPtr cli_initialize_; From ad2a06705a689d09e3b817c540f4794df963671d Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Tue, 12 Nov 2024 11:09:19 +0900 Subject: [PATCH 403/701] chore(autoware_traffic_light*): add maintainer (#9280) * add fundamental commit Signed-off-by: MasatoSaeki * add forgot package Signed-off-by: MasatoSaeki --------- Signed-off-by: MasatoSaeki --- .github/CODEOWNERS | 16 ++++++++-------- .../package.xml | 1 + .../autoware_traffic_light_arbiter/package.xml | 1 + .../package.xml | 1 + .../package.xml | 1 + .../package.xml | 1 + .../package.xml | 1 + .../package.xml | 1 + .../package.xml | 1 + 9 files changed, 16 insertions(+), 8 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index e8c080d3b16d5..8adb801617337 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -106,7 +106,7 @@ map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakam perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp perception/autoware_compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp perception/autoware_detected_object_feature_remover/** kotaro.uetake@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp perception/autoware_detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @@ -136,13 +136,13 @@ perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura perception/autoware_tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp kotaro.uetake@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp -perception/autoware_traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/autoware_traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/autoware_traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/autoware_traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp masato.saeki@tier4.jp perception/perception_utils/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp planning/autoware_costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml index 86c50500cbfbc..abe5c65d3aa1d 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml +++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml @@ -7,6 +7,7 @@ Satoshi Ota Shunsuke Miura Tao Zhong + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/autoware_traffic_light_arbiter/package.xml b/perception/autoware_traffic_light_arbiter/package.xml index d9dc020ce9790..638bcbe941416 100644 --- a/perception/autoware_traffic_light_arbiter/package.xml +++ b/perception/autoware_traffic_light_arbiter/package.xml @@ -6,6 +6,7 @@ The autoware_traffic_light_arbiter package Kenzo Lobos-Tsunekawa Shunsuke Miura + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml index f21ff65ebe2ed..99bdeb0643d91 100644 --- a/perception/autoware_traffic_light_classifier/package.xml +++ b/perception/autoware_traffic_light_classifier/package.xml @@ -7,6 +7,7 @@ Yukihiro Saito Shunsuke Miura Tao Zhong + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml index 74ca484ae775f..fd540d80e5d7e 100644 --- a/perception/autoware_traffic_light_fine_detector/package.xml +++ b/perception/autoware_traffic_light_fine_detector/package.xml @@ -7,6 +7,7 @@ Tao Zhong Shunsuke Miura Shintaro Tomie + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/autoware_traffic_light_map_based_detector/package.xml b/perception/autoware_traffic_light_map_based_detector/package.xml index 9f32c8f8f491c..0d0b1efe91d4c 100644 --- a/perception/autoware_traffic_light_map_based_detector/package.xml +++ b/perception/autoware_traffic_light_map_based_detector/package.xml @@ -7,6 +7,7 @@ Yukihiro Saito Shunsuke Miura Tao Zhong + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/autoware_traffic_light_multi_camera_fusion/package.xml b/perception/autoware_traffic_light_multi_camera_fusion/package.xml index 9415673ca30a0..e029c79def9f9 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/package.xml +++ b/perception/autoware_traffic_light_multi_camera_fusion/package.xml @@ -6,6 +6,7 @@ The autoware_traffic_light_multi_camera_fusion package Tao Zhong Shunsuke Miura + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/autoware_traffic_light_occlusion_predictor/package.xml b/perception/autoware_traffic_light_occlusion_predictor/package.xml index a98c29d5e7af5..8817ec2c97647 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/package.xml +++ b/perception/autoware_traffic_light_occlusion_predictor/package.xml @@ -6,6 +6,7 @@ The autoware_traffic_light_occlusion_predictor package Tao Zhong Shunsuke Miura + Masato Saeki Apache License 2.0 ament_cmake_auto diff --git a/perception/autoware_traffic_light_visualization/package.xml b/perception/autoware_traffic_light_visualization/package.xml index d96dc2995eb0d..afe09b9461b18 100644 --- a/perception/autoware_traffic_light_visualization/package.xml +++ b/perception/autoware_traffic_light_visualization/package.xml @@ -6,6 +6,7 @@ The autoware_traffic_light_visualization package Yukihiro Saito Tao Zhong + Masato Saeki Apache License 2.0 ament_cmake_auto From a2280eccb1f85b8635c6aff9979979494308ad42 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 12 Nov 2024 11:40:41 +0900 Subject: [PATCH 404/701] fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (#9224) * fix: bugprone-misplaced-widening-cast Signed-off-by: kobayu858 * fix: consider negative values Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../autoware_mpc_lateral_controller/src/lowpass_filter.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp b/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp index 9ed65536da2c6..4a056c351208b 100644 --- a/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp +++ b/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp @@ -125,8 +125,11 @@ bool filt_vector(const int num, std::vector & u) } for (int j = -num_tmp; j <= num_tmp; ++j) { - tmp += u[static_cast(i + j)]; - ++count; + int index = i + j; + if (index >= 0 && index < static_cast(u.size())) { + tmp += u[static_cast(index)]; + ++count; + } } filtered_u[static_cast(i)] = tmp / count; } From 12cd2357141972eba48dc02636cef4734568d481 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 12 Nov 2024 11:41:07 +0900 Subject: [PATCH 405/701] fix(autoware_detected_object_validation): fix clang-diagnostic-error (#9215) fix: clang-c-error Signed-off-by: kobayu858 --- .../src/lanelet_filter/lanelet_filter.hpp | 1 - 1 file changed, 1 deletion(-) diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp index 67713e86de71e..05020336bc759 100644 --- a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp +++ b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp @@ -44,7 +44,6 @@ namespace lanelet_filter { using autoware::universe_utils::LinearRing2d; using autoware::universe_utils::MultiPoint2d; -using autoware::universe_utils::Point2d; using autoware::universe_utils::Polygon2d; namespace bg = boost::geometry; From de4a659f33ea27a067eb73063f948c97b429c8f2 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 12 Nov 2024 11:41:26 +0900 Subject: [PATCH 406/701] fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (#9220) fix: bugprone-incorrect-roundings Signed-off-by: kobayu858 --- .../obstacle_pointcloud/obstacle_pointcloud_validator.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp index e3889ae8f6513..090ca795289fa 100644 --- a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp +++ b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp @@ -30,6 +30,8 @@ #include #include +#include + namespace autoware::detected_object_validation { namespace obstacle_pointcloud @@ -54,10 +56,9 @@ size_t Validator::getThresholdPointCloud( object.kinematics.pose_with_covariance.pose.position.x, object.kinematics.pose_with_covariance.pose.position.y); size_t threshold_pc = std::clamp( - static_cast( + static_cast(std::lround( points_num_threshold_param_.min_points_and_distance_ratio.at(object_label_id) / - object_distance + - 0.5f), + object_distance)), static_cast(points_num_threshold_param_.min_points_num.at(object_label_id)), static_cast(points_num_threshold_param_.max_points_num.at(object_label_id))); return threshold_pc; From c4a02a537f8eacc2054ce1a402c6189765dddf46 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 12 Nov 2024 12:38:38 +0900 Subject: [PATCH 407/701] feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (#9290) Signed-off-by: Mamoru Sobue --- common/autoware_test_utils/README.md | 6 ++++-- .../config/test_vehicle_info.param.yaml | 15 ++++++++------- 2 files changed, 12 insertions(+), 9 deletions(-) diff --git a/common/autoware_test_utils/README.md b/common/autoware_test_utils/README.md index 7b53310e34a61..54b67d279eaac 100644 --- a/common/autoware_test_utils/README.md +++ b/common/autoware_test_utils/README.md @@ -78,10 +78,12 @@ The goal of the [Autoware Planning Test Manager](https://autowarefoundation.gith As presented in this [PR description](https://github.com/autowarefoundation/autoware.universe/pull/9207), the user can save a snapshot of the scene to a yaml file while running Planning Simulation on the test map. ```bash -ros2 launch autoware_test_utils psim_road_shoulder.launch.xml vehicle_model:= sensor_model:= -ros2 launch autoware_test_utils psim_intersection.launch.xml vehicle_model:= sensor_model:= +ros2 launch autoware_test_utils psim_road_shoulder.launch.xml +ros2 launch autoware_test_utils psim_intersection.launch.xml ``` +It uses the autoware `sample_vehicle_description` and `sample_sensor_kit` by default, and `autoware_test_utils/config/test_vehicle_info.param.yaml` is exactly the same as that of `sample_vehicle_description`. If specified, `vehicle_model`/`sensor_model` argument is available. + ```bash ros2 service call /autoware_test_utils/topic_snapshot_saver std_srvs/srv/Empty \{\} ``` diff --git a/common/autoware_test_utils/config/test_vehicle_info.param.yaml b/common/autoware_test_utils/config/test_vehicle_info.param.yaml index 8941b92b4e78e..185ecb9e50a7e 100644 --- a/common/autoware_test_utils/config/test_vehicle_info.param.yaml +++ b/common/autoware_test_utils/config/test_vehicle_info.param.yaml @@ -1,12 +1,13 @@ +# NOTE: this configuration is exactly the same as that of sample_vehicle_description /**: ros__parameters: - wheel_radius: 0.39 - wheel_width: 0.42 - wheel_base: 2.74 # between front wheel center and rear wheel center - wheel_tread: 1.63 # between left wheel center and right wheel center + wheel_radius: 0.383 # The radius of the wheel, primarily used for dead reckoning. + wheel_width: 0.235 # The lateral width of a wheel tire, primarily used for dead reckoning. + wheel_base: 2.79 # between front wheel center and rear wheel center + wheel_tread: 1.64 # between left wheel center and right wheel center front_overhang: 1.0 # between front wheel center and vehicle front - rear_overhang: 1.03 # between rear wheel center and vehicle rear - left_overhang: 0.1 # between left wheel center and vehicle left - right_overhang: 0.1 # between right wheel center and vehicle right + rear_overhang: 1.1 # between rear wheel center and vehicle rear + left_overhang: 0.128 # between left wheel center and vehicle left + right_overhang: 0.128 # between right wheel center and vehicle right vehicle_height: 2.5 max_steer_angle: 0.70 # [rad] From 865296357907c426a441ca73aab22362af34e5ae Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 12 Nov 2024 13:17:04 +0900 Subject: [PATCH 408/701] refactor(lane_change): remove std::optional from lanes polygon (#9288) Signed-off-by: Zulfaqar Azmi --- .../utils/data_structs.hpp | 6 ++-- .../utils/utils.hpp | 7 ++--- .../src/scene.cpp | 20 ++++++------- .../src/utils/utils.cpp | 30 +++++++++---------- 4 files changed, 31 insertions(+), 32 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp index d970976d80a8d..16b2b69a81af8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp @@ -311,9 +311,9 @@ struct PathSafetyStatus struct LanesPolygon { - std::optional current; - std::optional target; - std::optional expanded_target; + lanelet::BasicPolygon2d current; + lanelet::BasicPolygon2d target; + lanelet::BasicPolygon2d expanded_target; lanelet::BasicPolygon2d target_neighbor; std::vector preceding_target; }; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index 4bd5d1e53ed6c..747a991b038e9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -140,16 +140,15 @@ std::optional getLeadingStaticObjectIdx( const std::vector & objects, const double object_check_min_road_shoulder_width, const double object_shiftable_ratio_threshold); -std::optional createPolygon( +lanelet::BasicPolygon2d create_polygon( const lanelet::ConstLanelets & lanes, const double start_dist, const double end_dist); ExtendedPredictedObject transform( const PredictedObject & object, const BehaviorPathPlannerParameters & common_parameters, const LaneChangeParameters & lane_change_parameters, const bool check_at_prepare_phase); -bool isCollidedPolygonsInLanelet( - const std::vector & collided_polygons, - const std::optional & lanes_polygon); +bool is_collided_polygons_in_lanelet( + const std::vector & collided_polygons, const lanelet::BasicPolygon2d & lanes_polygon); /** * @brief Generates expanded lanelets based on the given direction and offsets. diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 96f842e7dada1..1e102a8b7542d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -512,7 +512,7 @@ void NormalLaneChange::insert_stop_point_on_current_lanes(PathWithLaneId & path) dist_to_terminal - min_dist_buffer - calculation::calc_stopping_distance(lc_param_ptr); const auto distance_to_last_fit_width = std::invoke([&]() -> double { - const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current.value(); + const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current; if (utils::isEgoWithinOriginalLane(curr_lanes_poly, getEgoPose(), *bpp_param_ptr)) { return utils::lane_change::calculation::calc_dist_to_last_fit_width( lanes_ptr->current, path.points.front().point.pose, *bpp_param_ptr); @@ -730,7 +730,7 @@ bool NormalLaneChange::hasFinishedLaneChange() const if (has_passed_end_pose) { const auto & lanes_polygon = common_data_ptr_->lanes_polygon_ptr->target; return !boost::geometry::disjoint( - lanes_polygon.value(), + lanes_polygon, lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(current_pose.position))); } @@ -757,7 +757,7 @@ bool NormalLaneChange::isAbleToReturnCurrentLane() const return false; } - const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current.value(); + const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current; if (!utils::isEgoWithinOriginalLane( curr_lanes_poly, getEgoPose(), planner_data_->parameters, lane_change_parameters_->cancel.overhang_tolerance)) { @@ -833,7 +833,7 @@ bool NormalLaneChange::isAbleToStopSafely() const const auto stop_dist = -(current_velocity * current_velocity / (2.0 * planner_data_->parameters.min_acc)); - const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current.value(); + const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current; double dist = 0.0; for (size_t idx = nearest_idx; idx < status_.lane_change_path.path.points.size() - 1; ++idx) { dist += calcSignedArcLength(status_.lane_change_path.path.points, idx, idx + 1); @@ -1066,7 +1066,7 @@ FilteredByLanesObjects NormalLaneChange::filterObjectsByLanelets( const auto & route_handler = getRouteHandler(); const auto & common_parameters = planner_data_->parameters; const auto check_optional_polygon = [](const auto & object, const auto & polygon) { - return polygon && isPolygonOverlapLanelet(object, *polygon); + return !polygon.empty() && isPolygonOverlapLanelet(object, polygon); }; // get backward lanes @@ -1948,7 +1948,7 @@ bool NormalLaneChange::is_collided( const auto & current_polygon = lanes_polygon_ptr->current; const auto & expanded_target_polygon = lanes_polygon_ptr->target; - if (!current_polygon.has_value() || !expanded_target_polygon.has_value()) { + if (current_polygon.empty() || expanded_target_polygon.empty()) { return !is_collided; } @@ -1974,9 +1974,9 @@ bool NormalLaneChange::is_collided( } const auto collision_in_current_lanes = - utils::lane_change::isCollidedPolygonsInLanelet(collided_polygons, current_polygon); - const auto collision_in_target_lanes = - utils::lane_change::isCollidedPolygonsInLanelet(collided_polygons, expanded_target_polygon); + utils::lane_change::is_collided_polygons_in_lanelet(collided_polygons, current_polygon); + const auto collision_in_target_lanes = utils::lane_change::is_collided_polygons_in_lanelet( + collided_polygons, expanded_target_polygon); if (!collision_in_current_lanes && !collision_in_target_lanes) { utils::path_safety_checker::updateCollisionCheckDebugMap( @@ -2062,7 +2062,7 @@ bool NormalLaneChange::is_valid_start_point( const lanelet::BasicPoint2d lc_start_point(pose.position.x, pose.position.y); const auto & target_neighbor_poly = common_data_ptr->lanes_polygon_ptr->target_neighbor; - const auto & target_lane_poly = common_data_ptr_->lanes_polygon_ptr->target.value(); + const auto & target_lane_poly = common_data_ptr_->lanes_polygon_ptr->target; return boost::geometry::covered_by(lc_start_point, target_neighbor_poly) || boost::geometry::covered_by(lc_start_point, target_lane_poly); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index fb7b201c7cd55..4d92b7440d1ec 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -900,12 +900,13 @@ std::optional getLeadingStaticObjectIdx( return leading_obj_idx; } -std::optional createPolygon( +lanelet::BasicPolygon2d create_polygon( const lanelet::ConstLanelets & lanes, const double start_dist, const double end_dist) { if (lanes.empty()) { return {}; } + const auto polygon_3d = lanelet::utils::getPolygonFromArcLength(lanes, start_dist, end_dist); return lanelet::utils::to2D(polygon_3d).basicPolygon(); } @@ -949,12 +950,11 @@ ExtendedPredictedObject transform( return extended_object; } -bool isCollidedPolygonsInLanelet( - const std::vector & collided_polygons, - const std::optional & lanes_polygon) +bool is_collided_polygons_in_lanelet( + const std::vector & collided_polygons, const lanelet::BasicPolygon2d & lanes_polygon) { const auto is_in_lanes = [&](const auto & collided_polygon) { - return lanes_polygon && boost::geometry::intersects(lanes_polygon.value(), collided_polygon); + return !lanes_polygon.empty() && !boost::geometry::disjoint(collided_polygon, lanes_polygon); }; return std::any_of(collided_polygons.begin(), collided_polygons.end(), is_in_lanes); @@ -1033,28 +1033,28 @@ LanesPolygon create_lanes_polygon(const CommonDataPtr & common_data_ptr) LanesPolygon lanes_polygon; lanes_polygon.current = - utils::lane_change::createPolygon(lanes->current, 0.0, std::numeric_limits::max()); + utils::lane_change::create_polygon(lanes->current, 0.0, std::numeric_limits::max()); lanes_polygon.target = - utils::lane_change::createPolygon(lanes->target, 0.0, std::numeric_limits::max()); + utils::lane_change::create_polygon(lanes->target, 0.0, std::numeric_limits::max()); const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; const auto expanded_target_lanes = utils::lane_change::generateExpandedLanelets( lanes->target, common_data_ptr->direction, lc_param_ptr->lane_expansion_left_offset, lc_param_ptr->lane_expansion_right_offset); - lanes_polygon.expanded_target = utils::lane_change::createPolygon( + lanes_polygon.expanded_target = utils::lane_change::create_polygon( expanded_target_lanes, 0.0, std::numeric_limits::max()); - lanes_polygon.target_neighbor = *utils::lane_change::createPolygon( + lanes_polygon.target_neighbor = utils::lane_change::create_polygon( lanes->target_neighbor, 0.0, std::numeric_limits::max()); lanes_polygon.preceding_target.reserve(lanes->preceding_target.size()); for (const auto & preceding_lane : lanes->preceding_target) { auto lane_polygon = - utils::lane_change::createPolygon(preceding_lane, 0.0, std::numeric_limits::max()); + utils::lane_change::create_polygon(preceding_lane, 0.0, std::numeric_limits::max()); - if (lane_polygon) { - lanes_polygon.preceding_target.push_back(*lane_polygon); + if (!lane_polygon.empty()) { + lanes_polygon.preceding_target.push_back(lane_polygon); } } return lanes_polygon; @@ -1260,7 +1260,7 @@ bool has_blocking_target_object( // filtered_objects includes objects out of target lanes, so filter them out if (boost::geometry::disjoint( - object.initial_polygon, common_data_ptr->lanes_polygon_ptr->target.value())) { + object.initial_polygon, common_data_ptr->lanes_polygon_ptr->target)) { return false; } @@ -1312,14 +1312,14 @@ bool has_overtaking_turn_lane_object( } const auto is_path_overlap_with_target = [&](const LineString2d & path) { - return !boost::geometry::disjoint(path, common_data_ptr->lanes_polygon_ptr->target.value()); + return !boost::geometry::disjoint(path, common_data_ptr->lanes_polygon_ptr->target); }; const auto is_object_overlap_with_target = [&](const auto & object) { // to compensate for perception issue, or if object is from behind ego, and tries to overtake, // but stop all of sudden if (!boost::geometry::disjoint( - object.initial_polygon, common_data_ptr->lanes_polygon_ptr->current.value())) { + object.initial_polygon, common_data_ptr->lanes_polygon_ptr->current)) { return true; } From 5cd47a78bcd7879811952724a49ff101b55e8eed Mon Sep 17 00:00:00 2001 From: "Kem (TiankuiXian)" <1041084556@qq.com> Date: Tue, 12 Nov 2024 17:24:37 +0900 Subject: [PATCH 409/701] feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (#9180) * first commit Signed-off-by: xtk8532704 <1041084556@qq.com> * fix building errs. Signed-off-by: xtk8532704 <1041084556@qq.com> * change diagnostic messages to metric messages for publishing decision. Signed-off-by: xtk8532704 <1041084556@qq.com> * fix bug about motion_velocity_planner Signed-off-by: xtk8532704 <1041084556@qq.com> * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. Signed-off-by: xtk8532704 <1041084556@qq.com> * tmp save for planning_evaluator Signed-off-by: xtk8532704 <1041084556@qq.com> * change the topic to which metrics published to. Signed-off-by: xtk8532704 <1041084556@qq.com> * fix typo. Signed-off-by: xtk8532704 <1041084556@qq.com> * remove unnesessary publishing of metrics. Signed-off-by: xtk8532704 <1041084556@qq.com> * mke planning_evaluator publish msg of MetricArray instead of Diags. Signed-off-by: xtk8532704 <1041084556@qq.com> * update aeb with metric type for decision. Signed-off-by: xtk8532704 <1041084556@qq.com> * fix some bug Signed-off-by: xtk8532704 <1041084556@qq.com> * remove autoware_evaluator_utils package. Signed-off-by: xtk8532704 <1041084556@qq.com> * remove diagnostic_msgs dependency of planning_evaluator Signed-off-by: xtk8532704 <1041084556@qq.com> * use metric_msgs for autoware_processing_time_checker. Signed-off-by: xtk8532704 <1041084556@qq.com> * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. Signed-off-by: xtk8532704 <1041084556@qq.com> * pre-commit and fix typo Signed-off-by: xtk8532704 <1041084556@qq.com> * publish metrics even if there is no metric in the MetricArray. Signed-off-by: xtk8532704 <1041084556@qq.com> * modify the metric name of processing_time. Signed-off-by: xtk8532704 <1041084556@qq.com> * update unit test for test_planning/control_evaluator Signed-off-by: xtk8532704 <1041084556@qq.com> * manual pre-commit Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com> --- .github/CODEOWNERS | 2 +- .../autonomous_emergency_braking/node.hpp | 5 + .../package.xml | 1 + .../src/node.cpp | 13 ++ .../control_evaluator_node.hpp | 41 ++-- .../launch/control_evaluator.launch.xml | 1 - .../autoware_control_evaluator/package.xml | 3 +- .../src/control_evaluator_node.cpp | 218 +++++++----------- .../test/test_control_evaluator_node.cpp | 21 +- .../autoware_evaluator_utils/CHANGELOG.rst | 17 -- .../autoware_evaluator_utils/CMakeLists.txt | 13 -- evaluator/autoware_evaluator_utils/README.md | 5 - .../evaluator_utils/evaluator_utils.hpp | 45 ---- .../autoware_evaluator_utils/package.xml | 24 -- .../src/evaluator_utils.cpp | 66 ------ .../CMakeLists.txt | 2 +- .../autoware_planning_evaluator/README.md | 6 +- .../planning_evaluator_node.hpp | 54 +---- .../launch/planning_evaluator.launch.xml | 3 - .../autoware_planning_evaluator/package.xml | 4 +- .../src/planning_evaluator_node.cpp | 189 ++++++--------- .../test/test_planning_evaluator_node.cpp | 25 +- evaluator/diagnostic_converter/README.md | 53 ----- .../src/converter_node.cpp | 101 -------- .../test/test_converter_node.cpp | 128 ---------- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 4 +- .../scenario_simulator_v2_adapter/README.md | 44 ++++ .../scenario_simulator_v2_adapter.param.yaml | 7 + .../converter_node.hpp | 38 +-- .../package.xml | 10 +- .../scenario_simulator_v2_adapter.schema.json | 38 +++ .../src/converter_node.cpp | 85 +++++++ .../test/test_converter_node.cpp | 112 +++++++++ .../launch/simulator.launch.xml | 10 +- .../common_structs.hpp | 12 +- .../planner_interface.hpp | 22 +- .../package.xml | 1 + .../src/node.cpp | 2 +- .../optimization_based_planner.cpp | 5 +- .../pid_based_planner/pid_based_planner.cpp | 2 +- .../src/planner_interface.cpp | 119 +++++----- .../package.xml | 2 +- .../src/node.cpp | 12 +- .../src/node.hpp | 4 +- .../src/planner_manager.cpp | 56 ++--- .../src/planner_manager.hpp | 20 +- .../README.md | 6 +- .../package.xml | 2 +- .../src/processing_time_checker.cpp | 28 +-- .../src/processing_time_checker.hpp | 11 +- 51 files changed, 687 insertions(+), 1005 deletions(-) delete mode 100644 evaluator/autoware_evaluator_utils/CHANGELOG.rst delete mode 100644 evaluator/autoware_evaluator_utils/CMakeLists.txt delete mode 100644 evaluator/autoware_evaluator_utils/README.md delete mode 100644 evaluator/autoware_evaluator_utils/include/autoware/evaluator_utils/evaluator_utils.hpp delete mode 100644 evaluator/autoware_evaluator_utils/package.xml delete mode 100644 evaluator/autoware_evaluator_utils/src/evaluator_utils.cpp delete mode 100644 evaluator/diagnostic_converter/README.md delete mode 100644 evaluator/diagnostic_converter/src/converter_node.cpp delete mode 100644 evaluator/diagnostic_converter/test/test_converter_node.cpp rename evaluator/{diagnostic_converter => scenario_simulator_v2_adapter}/CHANGELOG.rst (100%) rename evaluator/{diagnostic_converter => scenario_simulator_v2_adapter}/CMakeLists.txt (89%) create mode 100644 evaluator/scenario_simulator_v2_adapter/README.md create mode 100644 evaluator/scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml rename evaluator/{diagnostic_converter/include/diagnostic_converter => scenario_simulator_v2_adapter/include/scenario_simulator_v2_adapter}/converter_node.hpp (53%) rename evaluator/{diagnostic_converter => scenario_simulator_v2_adapter}/package.xml (76%) create mode 100644 evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json create mode 100644 evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp create mode 100644 evaluator/scenario_simulator_v2_adapter/test/test_converter_node.cpp diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 8adb801617337..565aeb3cbecd8 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -64,7 +64,7 @@ control/predicted_path_checker/** berkay@leodrive.ai evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp evaluator/autoware_evaluator_utils/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp -evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp +evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp evaluator/localization_evaluator/** dominik.jargot@robotec.ai koji.minoda@tier4.jp evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp diff --git a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp index 32bedd15c5c53..d18185c77335c 100644 --- a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp +++ b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp @@ -34,6 +34,8 @@ #include #include #include +#include +#include #include #include @@ -77,6 +79,8 @@ using Vector3 = geometry_msgs::msg::Vector3; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjects; using colorTuple = std::tuple; +using Metric = tier4_metric_msgs::msg::Metric; +using MetricArray = tier4_metric_msgs::msg::MetricArray; /** * @brief Struct to store object data @@ -345,6 +349,7 @@ class AEB : public rclcpp::Node rclcpp::Publisher::SharedPtr debug_processing_time_detail_pub_; rclcpp::Publisher::SharedPtr debug_rss_distance_publisher_; + rclcpp::Publisher::SharedPtr metrics_pub_; // timer rclcpp::TimerBase::SharedPtr timer_; mutable std::shared_ptr time_keeper_{nullptr}; diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml index 2fc87ee0a8acd..135986f592663 100644 --- a/control/autoware_autonomous_emergency_braking/package.xml +++ b/control/autoware_autonomous_emergency_braking/package.xml @@ -42,6 +42,7 @@ tf2_geometry_msgs tf2_ros tier4_debug_msgs + tier4_metric_msgs visualization_msgs diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index c785ab661060d..846a7654d7313 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -142,6 +142,7 @@ AEB::AEB(const rclcpp::NodeOptions & node_options) virtual_wall_publisher_ = this->create_publisher("~/virtual_wall", 1); debug_rss_distance_publisher_ = this->create_publisher("~/debug/rss_distance", 1); + metrics_pub_ = this->create_publisher("~/metrics", 1); } // Diagnostics { @@ -400,6 +401,7 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) { MarkerArray debug_markers; MarkerArray virtual_wall_marker; + auto metrics = MetricArray(); checkCollision(debug_markers); if (!collision_data_keeper_.checkCollisionExpired()) { @@ -416,6 +418,14 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) } } addVirtualStopWallMarker(virtual_wall_marker); + + { + auto metric = Metric(); + metric.name = "decision"; + metric.value = "brake"; + metrics.metric_array.push_back(metric); + } + } else { const std::string error_msg = "[AEB]: No Collision"; const auto diag_level = DiagnosticStatus::OK; @@ -425,6 +435,9 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) // publish debug markers debug_marker_publisher_->publish(debug_markers); virtual_wall_publisher_->publish(virtual_wall_marker); + // publish metrics + metrics.stamp = get_clock()->now(); + metrics_pub_->publish(metrics); } bool AEB::checkCollision(MarkerArray & debug_markers) diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index d1c459d1462e9..eed263db49bbc 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -23,27 +23,26 @@ #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" #include -#include #include +#include +#include #include #include #include -#include -#include namespace control_diagnostics { using autoware_planning_msgs::msg::Trajectory; -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using nav_msgs::msg::Odometry; using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin; using autoware_planning_msgs::msg::LaneletRoute; using geometry_msgs::msg::AccelWithCovarianceStamped; +using MetricMsg = tier4_metric_msgs::msg::Metric; +using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; /** * @brief Node for control evaluation @@ -52,28 +51,19 @@ class ControlEvaluatorNode : public rclcpp::Node { public: explicit ControlEvaluatorNode(const rclcpp::NodeOptions & node_options); - DiagnosticStatus generateLateralDeviationDiagnosticStatus( - const Trajectory & traj, const Point & ego_point); - DiagnosticStatus generateYawDeviationDiagnosticStatus( - const Trajectory & traj, const Pose & ego_pose); - DiagnosticStatus generateGoalLongitudinalDeviationDiagnosticStatus(const Pose & ego_pose); - DiagnosticStatus generateGoalLateralDeviationDiagnosticStatus(const Pose & ego_pose); - DiagnosticStatus generateGoalYawDeviationDiagnosticStatus(const Pose & ego_pose); - - DiagnosticStatus generateAEBDiagnosticStatus(const DiagnosticStatus & diag); - DiagnosticStatus generateLaneletDiagnosticStatus(const Pose & ego_pose) const; - DiagnosticStatus generateKinematicStateDiagnosticStatus( + void AddLateralDeviationMetricMsg(const Trajectory & traj, const Point & ego_point); + void AddYawDeviationMetricMsg(const Trajectory & traj, const Pose & ego_pose); + void AddGoalLongitudinalDeviationMetricMsg(const Pose & ego_pose); + void AddGoalLateralDeviationMetricMsg(const Pose & ego_pose); + void AddGoalYawDeviationMetricMsg(const Pose & ego_pose); + + void AddLaneletMetricMsg(const Pose & ego_pose); + void AddKinematicStateMetricMsg( const Odometry & odom, const AccelWithCovarianceStamped & accel_stamped); - void onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg); void onTimer(); private: - // The diagnostics cycle is faster than timer, and each node publishes diagnostic separately. - // takeData() in onTimer() with a polling subscriber will miss a topic, so save all topics with - // onDiagnostics(). - rclcpp::Subscription::SharedPtr control_diag_sub_; - autoware::universe_utils::InterProcessPollingSubscriber odometry_sub_{ this, "~/input/odometry"}; autoware::universe_utils::InterProcessPollingSubscriber accel_sub_{ @@ -87,7 +77,7 @@ class ControlEvaluatorNode : public rclcpp::Node LaneletMapBin, autoware::universe_utils::polling_policy::Newest> vector_map_subscriber_{this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()}; - rclcpp::Publisher::SharedPtr metrics_pub_; + rclcpp::Publisher::SharedPtr metrics_pub_; // update Route Handler void getRouteData(); @@ -96,10 +86,7 @@ class ControlEvaluatorNode : public rclcpp::Node // Metrics std::deque stamps_; - // queue for diagnostics and time stamp - std::deque> diag_queue_; - const std::vector target_functions_ = {"autonomous_emergency_braking"}; - + MetricArrayMsg metrics_msg_; autoware::route_handler::RouteHandler route_handler_; rclcpp::TimerBase::SharedPtr timer_; std::optional prev_acc_stamped_{std::nullopt}; diff --git a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml index 0070c07fe4aa7..e9fee7ffadbf2 100644 --- a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml +++ b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml @@ -13,7 +13,6 @@ - diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml index 0e2b1727a465b..8ab2c73cb619a 100644 --- a/evaluator/autoware_control_evaluator/package.xml +++ b/evaluator/autoware_control_evaluator/package.xml @@ -16,19 +16,18 @@ ament_cmake_auto autoware_cmake - autoware_evaluator_utils autoware_motion_utils autoware_planning_msgs autoware_route_handler autoware_test_utils autoware_universe_utils - diagnostic_msgs nav_msgs pluginlib rclcpp rclcpp_components tf2 tf2_ros + tier4_metric_msgs ament_cmake_ros ament_lint_auto diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index 9fb9d4bd080f7..28034eed5f89c 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -14,15 +14,11 @@ #include "autoware/control_evaluator/control_evaluator_node.hpp" -#include "autoware/evaluator_utils/evaluator_utils.hpp" - #include #include -#include #include #include -#include #include namespace control_diagnostics @@ -31,11 +27,9 @@ ControlEvaluatorNode::ControlEvaluatorNode(const rclcpp::NodeOptions & node_opti : Node("control_evaluator", node_options) { using std::placeholders::_1; - control_diag_sub_ = create_subscription( - "~/input/diagnostics", 1, std::bind(&ControlEvaluatorNode::onDiagnostics, this, _1)); // Publisher - metrics_pub_ = create_publisher("~/metrics", 1); + metrics_pub_ = create_publisher("~/metrics", 1); // Timer callback to publish evaluator diagnostics using namespace std::literals::chrono_literals; @@ -66,28 +60,7 @@ void ControlEvaluatorNode::getRouteData() } } -void ControlEvaluatorNode::onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg) -{ - // add target diagnostics to the queue and remove old ones - for (const auto & function : target_functions_) { - autoware::evaluator_utils::updateDiagnosticQueue(*diag_msg, function, now(), diag_queue_); - } -} - -DiagnosticStatus ControlEvaluatorNode::generateAEBDiagnosticStatus(const DiagnosticStatus & diag) -{ - DiagnosticStatus status; - status.level = status.OK; - status.name = diag.name; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "decision"; - const bool is_emergency_brake = (diag.level == DiagnosticStatus::ERROR); - key_value.value = (is_emergency_brake) ? "deceleration" : "none"; - status.values.push_back(key_value); - return status; -} - -DiagnosticStatus ControlEvaluatorNode::generateLaneletDiagnosticStatus(const Pose & ego_pose) const +void ControlEvaluatorNode::AddLaneletMetricMsg(const Pose & ego_pose) { const auto current_lanelets = [&]() { lanelet::ConstLanelet closest_route_lanelet; @@ -102,37 +75,44 @@ DiagnosticStatus ControlEvaluatorNode::generateLaneletDiagnosticStatus(const Pos lanelet::ConstLanelet current_lane; lanelet::utils::query::getClosestLanelet(current_lanelets, ego_pose, ¤t_lane); - DiagnosticStatus status; - status.name = "ego_lane_info"; - status.level = status.OK; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "lane_id"; - key_value.value = std::to_string(current_lane.id()); - status.values.push_back(key_value); - key_value.key = "s"; - key_value.value = std::to_string(arc_coordinates.length); - status.values.push_back(key_value); - key_value.key = "t"; - key_value.value = std::to_string(arc_coordinates.distance); - status.values.push_back(key_value); - return status; + const std::string base_name = "ego_lane_info/"; + MetricMsg metric_msg; + + { + metric_msg.name = base_name + "lane_id"; + metric_msg.value = std::to_string(current_lane.id()); + metrics_msg_.metric_array.push_back(metric_msg); + } + + { + metric_msg.name = base_name + "s"; + metric_msg.value = std::to_string(arc_coordinates.length); + metrics_msg_.metric_array.push_back(metric_msg); + } + + { + metric_msg.name = base_name + "t"; + metric_msg.value = std::to_string(arc_coordinates.distance); + metrics_msg_.metric_array.push_back(metric_msg); + } + return; } -DiagnosticStatus ControlEvaluatorNode::generateKinematicStateDiagnosticStatus( +void ControlEvaluatorNode::AddKinematicStateMetricMsg( const Odometry & odom, const AccelWithCovarianceStamped & accel_stamped) { - DiagnosticStatus status; - status.name = "kinematic_state"; - status.level = status.OK; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "vel"; - key_value.value = std::to_string(odom.twist.twist.linear.x); - status.values.push_back(key_value); - key_value.key = "acc"; + const std::string base_name = "kinematic_state/"; + MetricMsg metric_msg; + + metric_msg.name = base_name + "vel"; + metric_msg.value = std::to_string(odom.twist.twist.linear.x); + metrics_msg_.metric_array.push_back(metric_msg); + + metric_msg.name = base_name + "acc"; const auto & acc = accel_stamped.accel.accel.linear.x; - key_value.value = std::to_string(acc); - status.values.push_back(key_value); - key_value.key = "jerk"; + metric_msg.value = std::to_string(acc); + metrics_msg_.metric_array.push_back(metric_msg); + const auto jerk = [&]() { if (!prev_acc_stamped_.has_value()) { prev_acc_stamped_ = accel_stamped; @@ -149,138 +129,102 @@ DiagnosticStatus ControlEvaluatorNode::generateKinematicStateDiagnosticStatus( prev_acc_stamped_ = accel_stamped; return (acc - prev_acc) / dt; }(); - key_value.value = std::to_string(jerk); - status.values.push_back(key_value); - return status; + + metric_msg.name = base_name + "jerk"; + metric_msg.value = std::to_string(jerk); + metrics_msg_.metric_array.push_back(metric_msg); + return; } -DiagnosticStatus ControlEvaluatorNode::generateLateralDeviationDiagnosticStatus( +void ControlEvaluatorNode::AddLateralDeviationMetricMsg( const Trajectory & traj, const Point & ego_point) { const double lateral_deviation = metrics::calcLateralDeviation(traj, ego_point); - DiagnosticStatus status; - status.level = status.OK; - status.name = "lateral_deviation"; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "metric_value"; - key_value.value = std::to_string(lateral_deviation); - status.values.push_back(key_value); - - return status; + MetricMsg metric_msg; + metric_msg.name = "lateral_deviation"; + metric_msg.value = std::to_string(lateral_deviation); + metrics_msg_.metric_array.push_back(metric_msg); + return; } -DiagnosticStatus ControlEvaluatorNode::generateYawDeviationDiagnosticStatus( - const Trajectory & traj, const Pose & ego_pose) +void ControlEvaluatorNode::AddYawDeviationMetricMsg(const Trajectory & traj, const Pose & ego_pose) { const double yaw_deviation = metrics::calcYawDeviation(traj, ego_pose); - DiagnosticStatus status; - status.level = status.OK; - status.name = "yaw_deviation"; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "metric_value"; - key_value.value = std::to_string(yaw_deviation); - status.values.push_back(key_value); - - return status; + MetricMsg metric_msg; + metric_msg.name = "yaw_deviation"; + metric_msg.value = std::to_string(yaw_deviation); + metrics_msg_.metric_array.push_back(metric_msg); + return; } -DiagnosticStatus ControlEvaluatorNode::generateGoalLongitudinalDeviationDiagnosticStatus( - const Pose & ego_pose) +void ControlEvaluatorNode::AddGoalLongitudinalDeviationMetricMsg(const Pose & ego_pose) { - DiagnosticStatus status; const double longitudinal_deviation = metrics::calcLongitudinalDeviation(route_handler_.getGoalPose(), ego_pose.position); - status.level = status.OK; - status.name = "goal_longitudinal_deviation"; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "metrics_value"; - key_value.value = std::to_string(longitudinal_deviation); - status.values.push_back(key_value); - return status; + MetricMsg metric_msg; + metric_msg.name = "goal_longitudinal_deviation"; + metric_msg.value = std::to_string(longitudinal_deviation); + metrics_msg_.metric_array.push_back(metric_msg); + return; } -DiagnosticStatus ControlEvaluatorNode::generateGoalLateralDeviationDiagnosticStatus( - const Pose & ego_pose) +void ControlEvaluatorNode::AddGoalLateralDeviationMetricMsg(const Pose & ego_pose) { - DiagnosticStatus status; const double lateral_deviation = metrics::calcLateralDeviation(route_handler_.getGoalPose(), ego_pose.position); - status.level = status.OK; - status.name = "goal_lateral_deviation"; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "metrics_value"; - key_value.value = std::to_string(lateral_deviation); - status.values.push_back(key_value); - return status; + MetricMsg metric_msg; + metric_msg.name = "goal_lateral_deviation"; + metric_msg.value = std::to_string(lateral_deviation); + metrics_msg_.metric_array.push_back(metric_msg); + return; } -DiagnosticStatus ControlEvaluatorNode::generateGoalYawDeviationDiagnosticStatus( - const Pose & ego_pose) +void ControlEvaluatorNode::AddGoalYawDeviationMetricMsg(const Pose & ego_pose) { - DiagnosticStatus status; const double yaw_deviation = metrics::calcYawDeviation(route_handler_.getGoalPose(), ego_pose); - status.level = status.OK; - status.name = "goal_yaw_deviation"; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "metrics_value"; - key_value.value = std::to_string(yaw_deviation); - status.values.push_back(key_value); - return status; + MetricMsg metric_msg; + metric_msg.name = "goal_yaw_deviation"; + metric_msg.value = std::to_string(yaw_deviation); + metrics_msg_.metric_array.push_back(metric_msg); + return; } void ControlEvaluatorNode::onTimer() { - DiagnosticArray metrics_msg; const auto traj = traj_sub_.takeData(); const auto odom = odometry_sub_.takeData(); const auto acc = accel_sub_.takeData(); - // generate decision diagnostics from input diagnostics - for (const auto & function : target_functions_) { - const auto it = std::find_if( - diag_queue_.begin(), diag_queue_.end(), - [&function](const std::pair & p) { - return p.first.name.find(function) != std::string::npos; - }); - if (it == diag_queue_.end()) { - continue; - } - // generate each decision diagnostics - // - AEB decision - if (it->first.name.find("autonomous_emergency_braking") != std::string::npos) { - metrics_msg.status.push_back(generateAEBDiagnosticStatus(it->first)); - } - } - // calculate deviation metrics if (odom && traj && !traj->points.empty()) { const Pose ego_pose = odom->pose.pose; - metrics_msg.status.push_back( - generateLateralDeviationDiagnosticStatus(*traj, ego_pose.position)); - metrics_msg.status.push_back(generateYawDeviationDiagnosticStatus(*traj, ego_pose)); + AddLateralDeviationMetricMsg(*traj, ego_pose.position); + AddYawDeviationMetricMsg(*traj, ego_pose); } getRouteData(); if (odom && route_handler_.isHandlerReady()) { const Pose ego_pose = odom->pose.pose; - metrics_msg.status.push_back(generateLaneletDiagnosticStatus(ego_pose)); + AddLaneletMetricMsg(ego_pose); - metrics_msg.status.push_back(generateGoalLongitudinalDeviationDiagnosticStatus(ego_pose)); - metrics_msg.status.push_back(generateGoalLateralDeviationDiagnosticStatus(ego_pose)); - metrics_msg.status.push_back(generateGoalYawDeviationDiagnosticStatus(ego_pose)); + AddGoalLongitudinalDeviationMetricMsg(ego_pose); + AddGoalLateralDeviationMetricMsg(ego_pose); + AddGoalYawDeviationMetricMsg(ego_pose); } if (odom && acc) { - metrics_msg.status.push_back(generateKinematicStateDiagnosticStatus(*odom, *acc)); + AddKinematicStateMetricMsg(*odom, *acc); } - metrics_msg.header.stamp = now(); - metrics_pub_->publish(metrics_msg); + // Publish metrics + metrics_msg_.stamp = now(); + metrics_pub_->publish(metrics_msg_); + metrics_msg_ = MetricArrayMsg{}; } } // namespace control_diagnostics diff --git a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp index ca51721fa1932..030080213bfe5 100644 --- a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp @@ -21,8 +21,8 @@ #include #include "autoware_planning_msgs/msg/trajectory.hpp" -#include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "geometry_msgs/msg/transform_stamped.hpp" +#include #include "boost/lexical_cast.hpp" @@ -36,7 +36,7 @@ using EvalNode = control_diagnostics::ControlEvaluatorNode; using Trajectory = autoware_planning_msgs::msg::Trajectory; using TrajectoryPoint = autoware_planning_msgs::msg::TrajectoryPoint; -using diagnostic_msgs::msg::DiagnosticArray; +using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; using nav_msgs::msg::Odometry; constexpr double epsilon = 1e-6; @@ -77,14 +77,15 @@ class EvalTest : public ::testing::Test void setTargetMetric(const std::string & metric_str) { - const auto is_target_metric = [metric_str](const auto & status) { - return status.name == metric_str; + const auto is_target_metric = [metric_str](const auto & metric) { + return metric.name == metric_str; }; - metric_sub_ = rclcpp::create_subscription( - dummy_node, "/control_evaluator/metrics", 1, [=](const DiagnosticArray::ConstSharedPtr msg) { - const auto it = std::find_if(msg->status.begin(), msg->status.end(), is_target_metric); - if (it != msg->status.end()) { - metric_value_ = boost::lexical_cast(it->values[0].value); + metric_sub_ = rclcpp::create_subscription( + dummy_node, "/control_evaluator/metrics", 1, [=](const MetricArrayMsg::ConstSharedPtr msg) { + const auto it = + std::find_if(msg->metric_array.begin(), msg->metric_array.end(), is_target_metric); + if (it != msg->metric_array.end()) { + metric_value_ = boost::lexical_cast(it->value); metric_updated_ = true; } }); @@ -153,7 +154,7 @@ class EvalTest : public ::testing::Test // Trajectory publishers rclcpp::Publisher::SharedPtr traj_pub_; rclcpp::Publisher::SharedPtr odom_pub_; - rclcpp::Subscription::SharedPtr metric_sub_; + rclcpp::Subscription::SharedPtr metric_sub_; // TF broadcaster std::unique_ptr tf_broadcaster_; }; diff --git a/evaluator/autoware_evaluator_utils/CHANGELOG.rst b/evaluator/autoware_evaluator_utils/CHANGELOG.rst deleted file mode 100644 index 473f358114507..0000000000000 --- a/evaluator/autoware_evaluator_utils/CHANGELOG.rst +++ /dev/null @@ -1,17 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package autoware_evaluator_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.38.0 (2024-11-08) -------------------- -* unify package.xml version to 0.37.0 -* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) - * add utils and diagnostics subscription to planning_evaluator - * add diagnostics eval - * fix input diag in launch - --------- - Co-authored-by: kosuke55 -* Contributors: Yutaka Kondo, danielsanchezaran - -0.26.0 (2024-04-03) -------------------- diff --git a/evaluator/autoware_evaluator_utils/CMakeLists.txt b/evaluator/autoware_evaluator_utils/CMakeLists.txt deleted file mode 100644 index d75ed43a4e3cb..0000000000000 --- a/evaluator/autoware_evaluator_utils/CMakeLists.txt +++ /dev/null @@ -1,13 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(autoware_evaluator_utils) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(evaluator_utils SHARED - src/evaluator_utils.cpp -) - -ament_auto_package( - INSTALL_TO_SHARE -) diff --git a/evaluator/autoware_evaluator_utils/README.md b/evaluator/autoware_evaluator_utils/README.md deleted file mode 100644 index b0db86f86b5c0..0000000000000 --- a/evaluator/autoware_evaluator_utils/README.md +++ /dev/null @@ -1,5 +0,0 @@ -# Evaluator Utils - -## Purpose - -This package provides utils functions for other evaluator packages diff --git a/evaluator/autoware_evaluator_utils/include/autoware/evaluator_utils/evaluator_utils.hpp b/evaluator/autoware_evaluator_utils/include/autoware/evaluator_utils/evaluator_utils.hpp deleted file mode 100644 index 3b91c9d7605e0..0000000000000 --- a/evaluator/autoware_evaluator_utils/include/autoware/evaluator_utils/evaluator_utils.hpp +++ /dev/null @@ -1,45 +0,0 @@ -// Copyright 2024 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EVALUATOR_UTILS__EVALUATOR_UTILS_HPP_ -#define AUTOWARE__EVALUATOR_UTILS__EVALUATOR_UTILS_HPP_ - -#include - -#include - -#include -#include -#include -#include -#include - -namespace autoware::evaluator_utils -{ - -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; -using DiagnosticQueue = std::deque>; - -void removeOldDiagnostics(const rclcpp::Time & stamp, DiagnosticQueue & diag_queue); -void removeDiagnosticsByName(const std::string & name, DiagnosticQueue & diag_queue); -void addDiagnostic( - const DiagnosticStatus & diag, const rclcpp::Time & stamp, DiagnosticQueue & diag_queue); -void updateDiagnosticQueue( - const DiagnosticArray & input_diagnostics, const std::string & function, - const rclcpp::Time & stamp, DiagnosticQueue & diag_queue); - -} // namespace autoware::evaluator_utils - -#endif // AUTOWARE__EVALUATOR_UTILS__EVALUATOR_UTILS_HPP_ diff --git a/evaluator/autoware_evaluator_utils/package.xml b/evaluator/autoware_evaluator_utils/package.xml deleted file mode 100644 index 7176abdc7be0a..0000000000000 --- a/evaluator/autoware_evaluator_utils/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - autoware_evaluator_utils - 0.38.0 - ROS 2 node for evaluating control - Daniel SANCHEZ - Takayuki MUROOKA - Apache License 2.0 - - Daniel SANCHEZ - Takayuki MUROOKA - - ament_cmake_auto - autoware_cmake - - diagnostic_msgs - rclcpp - rclcpp_components - - - ament_cmake - - diff --git a/evaluator/autoware_evaluator_utils/src/evaluator_utils.cpp b/evaluator/autoware_evaluator_utils/src/evaluator_utils.cpp deleted file mode 100644 index 293db21f50e7f..0000000000000 --- a/evaluator/autoware_evaluator_utils/src/evaluator_utils.cpp +++ /dev/null @@ -1,66 +0,0 @@ -// Copyright 2024 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/evaluator_utils/evaluator_utils.hpp" - -#include - -namespace autoware::evaluator_utils -{ -void removeOldDiagnostics(const rclcpp::Time & stamp, DiagnosticQueue & diag_queue) -{ - constexpr double KEEP_TIME = 1.0; - diag_queue.erase( - std::remove_if( - diag_queue.begin(), diag_queue.end(), - [stamp](const std::pair & p) { - return (stamp - p.second).seconds() > KEEP_TIME; - }), - diag_queue.end()); -} - -void removeDiagnosticsByName(const std::string & name, DiagnosticQueue & diag_queue) -{ - diag_queue.erase( - std::remove_if( - diag_queue.begin(), diag_queue.end(), - [&name](const std::pair & p) { - return p.first.name.find(name) != std::string::npos; - }), - diag_queue.end()); -} - -void addDiagnostic( - const DiagnosticStatus & diag, const rclcpp::Time & stamp, DiagnosticQueue & diag_queue) -{ - diag_queue.push_back(std::make_pair(diag, stamp)); -} - -void updateDiagnosticQueue( - const DiagnosticArray & input_diagnostics, const std::string & function, - const rclcpp::Time & stamp, DiagnosticQueue & diag_queue) -{ - const auto it = std::find_if( - input_diagnostics.status.begin(), input_diagnostics.status.end(), - [&function](const DiagnosticStatus & diag) { - return diag.name.find(function) != std::string::npos; - }); - if (it != input_diagnostics.status.end()) { - removeDiagnosticsByName(it->name, diag_queue); - addDiagnostic(*it, input_diagnostics.header.stamp, diag_queue); - } - - removeOldDiagnostics(stamp, diag_queue); -} -} // namespace autoware::evaluator_utils diff --git a/evaluator/autoware_planning_evaluator/CMakeLists.txt b/evaluator/autoware_planning_evaluator/CMakeLists.txt index 371182bd2e388..23959cefdcca4 100644 --- a/evaluator/autoware_planning_evaluator/CMakeLists.txt +++ b/evaluator/autoware_planning_evaluator/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.14) +cmake_minimum_required(VERSION 3.22) project(autoware_planning_evaluator) find_package(autoware_cmake REQUIRED) diff --git a/evaluator/autoware_planning_evaluator/README.md b/evaluator/autoware_planning_evaluator/README.md index d03603e51351a..d09949bd69b0e 100644 --- a/evaluator/autoware_planning_evaluator/README.md +++ b/evaluator/autoware_planning_evaluator/README.md @@ -58,9 +58,9 @@ Adding a new metric `M` requires the following steps: Each metric is published on a topic named after the metric name. -| Name | Type | Description | -| ----------- | --------------------------------------- | ------------------------------------------------------- | -| `~/metrics` | `diagnostic_msgs::msg::DiagnosticArray` | DiagnosticArray with a DiagnosticStatus for each metric | +| Name | Type | Description | +| ----------- | ------------------------------------- | ----------------------------------------------------------------- | +| `~/metrics` | `tier4_metric_msgs::msg::MetricArray` | MetricArray with many metrics of `tier4_metric_msgs::msg::Metric` | When shut down, the evaluation node writes the values of the metrics measured during its lifetime to a file as specified by the `output_file` parameter. diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp index 4a84bdd2ffcd5..81787741a7583 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp @@ -28,17 +28,16 @@ #include "autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" -#include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" #include -#include +#include +#include #include #include #include #include -#include #include namespace planning_diagnostics { @@ -46,8 +45,8 @@ using autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::PoseWithUuidStamped; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; +using MetricMsg = tier4_metric_msgs::msg::Metric; +using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; using nav_msgs::msg::Odometry; using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin; using autoware_planning_msgs::msg::LaneletRoute; @@ -94,31 +93,20 @@ class PlanningEvaluatorNode : public rclcpp::Node const PoseWithUuidStamped::ConstSharedPtr modified_goal_msg, const Odometry::ConstSharedPtr ego_state_ptr); - /** - * @brief obtain diagnostics information - */ - void onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg); - /** * @brief publish the given metric statistic */ - DiagnosticStatus generateDiagnosticStatus( - const Metric & metric, const Stat & metric_stat) const; + void AddMetricMsg(const Metric & metric, const Stat & metric_stat); /** * @brief publish current ego lane info */ - DiagnosticStatus generateDiagnosticEvaluationStatus(const DiagnosticStatus & diag); - - /** - * @brief publish current ego lane info - */ - DiagnosticStatus generateLaneletDiagnosticStatus(const Odometry::ConstSharedPtr ego_state_ptr); + void AddLaneletMetricMsg(const Odometry::ConstSharedPtr ego_state_ptr); /** * @brief publish current ego kinematic state */ - DiagnosticStatus generateKinematicStateDiagnosticStatus( + void AddKinematicStateMetricMsg( const AccelWithCovarianceStamped & accel_stamped, const Odometry::ConstSharedPtr ego_state_ptr); private: @@ -134,15 +122,6 @@ class PlanningEvaluatorNode : public rclcpp::Node */ void onTimer(); - /** - * @brief fetch topic data - */ - void fetchData(); - // The diagnostics cycle is faster than timer, and each node publishes diagnostic separately. - // takeData() in onTimer() with a polling subscriber will miss a topic, so save all topics with - // onDiagnostics(). - rclcpp::Subscription::SharedPtr planning_diag_sub_; - // ROS autoware::universe_utils::InterProcessPollingSubscriber traj_sub_{ this, "~/input/trajectory"}; @@ -163,12 +142,14 @@ class PlanningEvaluatorNode : public rclcpp::Node autoware::universe_utils::InterProcessPollingSubscriber accel_sub_{ this, "~/input/acceleration"}; - rclcpp::Publisher::SharedPtr metrics_pub_; + rclcpp::Publisher::SharedPtr metrics_pub_; std::shared_ptr transform_listener_{nullptr}; std::unique_ptr tf_buffer_; autoware::route_handler::RouteHandler route_handler_; - DiagnosticArray metrics_msg_; + // Message to publish + MetricArrayMsg metrics_msg_; + // Parameters std::string output_file_str_; std::string ego_frame_str_; @@ -181,19 +162,6 @@ class PlanningEvaluatorNode : public rclcpp::Node std::array>, static_cast(Metric::SIZE)> metric_stats_; rclcpp::TimerBase::SharedPtr timer_; - // queue for diagnostics and time stamp - std::deque> diag_queue_; - const std::vector target_functions_ = { - "obstacle_cruise_planner_stop", - "obstacle_cruise_planner_slow_down", - "obstacle_cruise_planner_cruise", - "autoware::motion_velocity_planner::OutOfLaneModule.stop", - "autoware::motion_velocity_planner::OutOfLaneModule.slow_down", - "autoware::motion_velocity_planner::ObstacleVelocityLimiterModule.stop", - "autoware::motion_velocity_planner::ObstacleVelocityLimiterModule.slow_down", - "autoware::motion_velocity_planner::DynamicObstacleStopModule.stop", - "autoware::motion_velocity_planner::DynamicObstacleStopModule.slow_down", - }; std::optional prev_acc_stamped_{std::nullopt}; }; } // namespace planning_diagnostics diff --git a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml index e20cda378f188..90c205dd55f1f 100644 --- a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml +++ b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml @@ -7,7 +7,6 @@ - @@ -16,13 +15,11 @@ - - diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml index 38d83d46e915d..572c99d8ac3a5 100644 --- a/evaluator/autoware_planning_evaluator/package.xml +++ b/evaluator/autoware_planning_evaluator/package.xml @@ -6,6 +6,7 @@ ROS 2 node for evaluating planners Maxime CLEMENT Kyoichi Sugahara + Temkei Kem Apache License 2.0 Maxime CLEMENT @@ -13,13 +14,11 @@ ament_cmake_auto autoware_cmake - autoware_evaluator_utils autoware_motion_utils autoware_perception_msgs autoware_planning_msgs autoware_route_handler autoware_universe_utils - diagnostic_msgs eigen geometry_msgs nav_msgs @@ -28,6 +27,7 @@ rclcpp_components tf2 tf2_ros + tier4_metric_msgs ament_cmake_ros ament_lint_auto diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp index d378d55dd2a46..a1d7c75891f4a 100644 --- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp @@ -14,8 +14,6 @@ #include "autoware/planning_evaluator/planning_evaluator_node.hpp" -#include "autoware/evaluator_utils/evaluator_utils.hpp" - #include #include @@ -23,13 +21,10 @@ #include "boost/lexical_cast.hpp" -#include #include #include -#include #include #include -#include #include namespace planning_diagnostics @@ -58,11 +53,8 @@ PlanningEvaluatorNode::PlanningEvaluatorNode(const rclcpp::NodeOptions & node_op output_file_str_ = declare_parameter("output_file"); ego_frame_str_ = declare_parameter("ego_frame"); - planning_diag_sub_ = create_subscription( - "~/input/diagnostics", 1, std::bind(&PlanningEvaluatorNode::onDiagnostics, this, _1)); - // List of metrics to calculate and publish - metrics_pub_ = create_publisher("~/metrics", 1); + metrics_pub_ = create_publisher("~/metrics", 1); for (const std::string & selected_metric : declare_parameter>("selected_metrics")) { Metric metric = str_to_metric.at(selected_metric); @@ -103,43 +95,6 @@ PlanningEvaluatorNode::~PlanningEvaluatorNode() } } -void PlanningEvaluatorNode::onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg) -{ - // add target diagnostics to the queue and remove old ones - for (const auto & function : target_functions_) { - autoware::evaluator_utils::updateDiagnosticQueue(*diag_msg, function, now(), diag_queue_); - } -} - -DiagnosticStatus PlanningEvaluatorNode::generateDiagnosticEvaluationStatus( - const DiagnosticStatus & diag) -{ - DiagnosticStatus status; - status.name = diag.name; - - const auto it = std::find_if(diag.values.begin(), diag.values.end(), [](const auto & key_value) { - return key_value.key.find("decision") != std::string::npos; - }); - const bool found = it != diag.values.end(); - status.level = (found) ? status.OK : status.ERROR; - - auto get_key_value = [&]() { - if (!found) { - return diagnostic_msgs::msg::KeyValue{}; - } - if (it->value.find("none") != std::string::npos) { - return *it; - } - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "decision"; - key_value.value = "deceleration"; - return key_value; - }; - - status.values.push_back(get_key_value()); - return status; -} - void PlanningEvaluatorNode::getRouteData() { // route @@ -163,8 +118,7 @@ void PlanningEvaluatorNode::getRouteData() } } -DiagnosticStatus PlanningEvaluatorNode::generateLaneletDiagnosticStatus( - const Odometry::ConstSharedPtr ego_state_ptr) +void PlanningEvaluatorNode::AddLaneletMetricMsg(const Odometry::ConstSharedPtr ego_state_ptr) { const auto & ego_pose = ego_state_ptr->pose.pose; const auto current_lanelets = [&]() { @@ -180,37 +134,45 @@ DiagnosticStatus PlanningEvaluatorNode::generateLaneletDiagnosticStatus( lanelet::ConstLanelet current_lane; lanelet::utils::query::getClosestLanelet(current_lanelets, ego_pose, ¤t_lane); - DiagnosticStatus status; - status.name = "ego_lane_info"; - status.level = status.OK; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "lane_id"; - key_value.value = std::to_string(current_lane.id()); - status.values.push_back(key_value); - key_value.key = "s"; - key_value.value = std::to_string(arc_coordinates.length); - status.values.push_back(key_value); - key_value.key = "t"; - key_value.value = std::to_string(arc_coordinates.distance); - status.values.push_back(key_value); - return status; + // push_back lanelet info to MetricArrayMsg + const std::string base_name = "ego_lane_info/"; + MetricMsg metric_msg; + + { + metric_msg.name = base_name + "lane_id"; + metric_msg.value = std::to_string(current_lane.id()); + metrics_msg_.metric_array.push_back(metric_msg); + } + + { + metric_msg.name = base_name + "s"; + metric_msg.value = std::to_string(arc_coordinates.length); + metrics_msg_.metric_array.push_back(metric_msg); + } + + { + metric_msg.name = base_name + "t"; + metric_msg.value = std::to_string(arc_coordinates.distance); + metrics_msg_.metric_array.push_back(metric_msg); + } + return; } -DiagnosticStatus PlanningEvaluatorNode::generateKinematicStateDiagnosticStatus( +void PlanningEvaluatorNode::AddKinematicStateMetricMsg( const AccelWithCovarianceStamped & accel_stamped, const Odometry::ConstSharedPtr ego_state_ptr) { - DiagnosticStatus status; - status.name = "kinematic_state"; - status.level = status.OK; - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "vel"; - key_value.value = std::to_string(ego_state_ptr->twist.twist.linear.x); - status.values.push_back(key_value); - key_value.key = "acc"; + const std::string base_name = "kinematic_state/"; + MetricMsg metric_msg; + + metric_msg.name = base_name + "vel"; + metric_msg.value = std::to_string(ego_state_ptr->twist.twist.linear.x); + metrics_msg_.metric_array.push_back(metric_msg); + + metric_msg.name = base_name + "acc"; const auto & acc = accel_stamped.accel.accel.linear.x; - key_value.value = std::to_string(acc); - status.values.push_back(key_value); - key_value.key = "jerk"; + metric_msg.value = std::to_string(acc); + metrics_msg_.metric_array.push_back(metric_msg); + const auto jerk = [&]() { if (!prev_acc_stamped_.has_value()) { prev_acc_stamped_ = accel_stamped; @@ -227,34 +189,39 @@ DiagnosticStatus PlanningEvaluatorNode::generateKinematicStateDiagnosticStatus( prev_acc_stamped_ = accel_stamped; return (acc - prev_acc) / dt; }(); - key_value.value = std::to_string(jerk); - status.values.push_back(key_value); - return status; + metric_msg.name = base_name + "jerk"; + metric_msg.value = std::to_string(jerk); + metrics_msg_.metric_array.push_back(metric_msg); + return; } -DiagnosticStatus PlanningEvaluatorNode::generateDiagnosticStatus( - const Metric & metric, const Stat & metric_stat) const +void PlanningEvaluatorNode::AddMetricMsg(const Metric & metric, const Stat & metric_stat) { - DiagnosticStatus status; - status.level = status.OK; - status.name = metric_to_str.at(metric); - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "min"; - key_value.value = boost::lexical_cast(metric_stat.min()); - status.values.push_back(key_value); - key_value.key = "max"; - key_value.value = boost::lexical_cast(metric_stat.max()); - status.values.push_back(key_value); - key_value.key = "mean"; - key_value.value = boost::lexical_cast(metric_stat.mean()); - status.values.push_back(key_value); - return status; + const std::string base_name = metric_to_str.at(metric) + "/"; + MetricMsg metric_msg; + { + metric_msg.name = base_name + "min"; + metric_msg.value = boost::lexical_cast(metric_stat.min()); + metrics_msg_.metric_array.push_back(metric_msg); + } + + { + metric_msg.name = base_name + "max"; + metric_msg.value = boost::lexical_cast(metric_stat.max()); + metrics_msg_.metric_array.push_back(metric_msg); + } + + { + metric_msg.name = base_name + "mean"; + metric_msg.value = boost::lexical_cast(metric_stat.mean()); + metrics_msg_.metric_array.push_back(metric_msg); + } + + return; } void PlanningEvaluatorNode::onTimer() { - metrics_msg_.header.stamp = now(); - const auto ego_state_ptr = odometry_sub_.takeData(); onOdometry(ego_state_ptr); { @@ -276,26 +243,10 @@ void PlanningEvaluatorNode::onTimer() onModifiedGoal(modified_goal_msg, ego_state_ptr); } - { - // generate decision diagnostics from input diagnostics - for (const auto & function : target_functions_) { - const auto it = std::find_if( - diag_queue_.begin(), diag_queue_.end(), - [&function](const std::pair & p) { - return p.first.name.find(function) != std::string::npos; - }); - if (it == diag_queue_.end()) { - continue; - } - // generate each decision diagnostics - metrics_msg_.status.push_back(generateDiagnosticEvaluationStatus(it->first)); - } - } - - if (!metrics_msg_.status.empty()) { - metrics_pub_->publish(metrics_msg_); - } - metrics_msg_ = DiagnosticArray{}; + // Publish metrics + metrics_msg_.stamp = now(); + metrics_pub_->publish(metrics_msg_); + metrics_msg_ = MetricArrayMsg{}; } void PlanningEvaluatorNode::onTrajectory( @@ -321,7 +272,7 @@ void PlanningEvaluatorNode::onTrajectory( } if (metric_stat->count() > 0) { - metrics_msg_.status.push_back(generateDiagnosticStatus(metric, *metric_stat)); + AddMetricMsg(metric, *metric_stat); } } @@ -347,7 +298,7 @@ void PlanningEvaluatorNode::onModifiedGoal( } metric_stats_[static_cast(metric)].push_back(*metric_stat); if (metric_stat->count() > 0) { - metrics_msg_.status.push_back(generateDiagnosticStatus(metric, *metric_stat)); + AddMetricMsg(metric, *metric_stat); } } auto runtime = (now() - start).seconds(); @@ -363,12 +314,12 @@ void PlanningEvaluatorNode::onOdometry(const Odometry::ConstSharedPtr odometry_m { getRouteData(); if (route_handler_.isHandlerReady() && odometry_msg) { - metrics_msg_.status.push_back(generateLaneletDiagnosticStatus(odometry_msg)); + AddLaneletMetricMsg(odometry_msg); } const auto acc_msg = accel_sub_.takeData(); if (acc_msg && odometry_msg) { - metrics_msg_.status.push_back(generateKinematicStateDiagnosticStatus(*acc_msg, odometry_msg)); + AddKinematicStateMetricMsg(*acc_msg, odometry_msg); } } } diff --git a/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp index 9f797500bc5f0..ac99d164708ba 100644 --- a/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 Tier IV, Inc. +// Copyright 2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -22,8 +22,8 @@ #include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" -#include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "geometry_msgs/msg/transform_stamped.hpp" +#include #include "boost/lexical_cast.hpp" @@ -37,7 +37,7 @@ using Trajectory = autoware_planning_msgs::msg::Trajectory; using TrajectoryPoint = autoware_planning_msgs::msg::TrajectoryPoint; using Objects = autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::PoseWithUuidStamped; -using diagnostic_msgs::msg::DiagnosticArray; +using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; using nav_msgs::msg::Odometry; constexpr double epsilon = 1e-6; @@ -86,17 +86,18 @@ class EvalTest : public ::testing::Test ~EvalTest() override { rclcpp::shutdown(); } - void setTargetMetric(planning_diagnostics::Metric metric) + void setTargetMetric(planning_diagnostics::Metric metric, const std::string & postfix = "/mean") { const auto metric_str = planning_diagnostics::metric_to_str.at(metric); - const auto is_target_metric = [metric_str](const auto & status) { - return status.name == metric_str; + const auto is_target_metric = [metric_str, postfix](const auto & metric) { + return metric.name == metric_str + postfix; }; - metric_sub_ = rclcpp::create_subscription( - dummy_node, "/planning_evaluator/metrics", 1, [=](const DiagnosticArray::ConstSharedPtr msg) { - const auto it = std::find_if(msg->status.begin(), msg->status.end(), is_target_metric); - if (it != msg->status.end()) { - metric_value_ = boost::lexical_cast(it->values[2].value); + metric_sub_ = rclcpp::create_subscription( + dummy_node, "/planning_evaluator/metrics", 1, [=](const MetricArrayMsg::ConstSharedPtr msg) { + const auto it = + std::find_if(msg->metric_array.begin(), msg->metric_array.end(), is_target_metric); + if (it != msg->metric_array.end()) { + metric_value_ = boost::lexical_cast(it->value); metric_updated_ = true; } }); @@ -207,7 +208,7 @@ class EvalTest : public ::testing::Test rclcpp::Publisher::SharedPtr objects_pub_; rclcpp::Publisher::SharedPtr modified_goal_pub_; rclcpp::Publisher::SharedPtr odom_pub_; - rclcpp::Subscription::SharedPtr metric_sub_; + rclcpp::Subscription::SharedPtr metric_sub_; // TF broadcaster std::unique_ptr tf_broadcaster_; }; diff --git a/evaluator/diagnostic_converter/README.md b/evaluator/diagnostic_converter/README.md deleted file mode 100644 index adc84c3967d25..0000000000000 --- a/evaluator/diagnostic_converter/README.md +++ /dev/null @@ -1,53 +0,0 @@ -# Planning Evaluator - -## Purpose - -This package provides a node to convert `diagnostic_msgs::msg::DiagnosticArray` messages -into `tier4_simulation_msgs::msg::UserDefinedValue` messages. - -## Inner-workings / Algorithms - -The node subscribes to all topics listed in the parameters and assumes they publish -`DiagnosticArray` messages. -Each time such message is received, -it is converted into as many `UserDefinedValue` messages as the number of `KeyValue` objects. -The format of the output topic is detailed in the _output_ section. - -## Inputs / Outputs - -### Inputs - -The node listens to `DiagnosticArray` messages on the topics specified in the parameters. - -### Outputs - -The node outputs `UserDefinedValue` messages that are converted from the received `DiagnosticArray`. - -The name of the output topics are generated from the corresponding input topic, the name of the diagnostic status, and the key of the diagnostic. -For example, we might listen to topic `/diagnostic_topic` and receive a `DiagnosticArray` with 2 status: - -- Status with `name: "x"`. - - Key: `a`. - - Key: `b`. -- Status with `name: "y"`. - - Key: `a`. - - Key: `c`. - -The resulting topics to publish the `UserDefinedValue` are as follows: - -- `/metrics_x_a`. -- `/metrics_x_b`. -- `/metrics_y_a`. -- `/metrics_y_c`. - -## Parameters - -| Name | Type | Description | -| :------------------ | :--------------- | :------------------------------------------------------------ | -| `diagnostic_topics` | list of `string` | list of DiagnosticArray topics to convert to UserDefinedValue | - -## Assumptions / Known limits - -Values in the `KeyValue` objects of a `DiagnosticStatus` are assumed to be of type `double`. - -## Future extensions / Unimplemented parts diff --git a/evaluator/diagnostic_converter/src/converter_node.cpp b/evaluator/diagnostic_converter/src/converter_node.cpp deleted file mode 100644 index 2a2574732694c..0000000000000 --- a/evaluator/diagnostic_converter/src/converter_node.cpp +++ /dev/null @@ -1,101 +0,0 @@ -// Copyright 2023 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "diagnostic_converter/converter_node.hpp" - -#include - -namespace -{ -std::string removeInvalidTopicString(const std::string & input_string) -{ - std::regex pattern{R"([a-zA-Z0-9/_]+)"}; - - std::string result; - for (std::sregex_iterator itr(std::begin(input_string), std::end(input_string), pattern), end; - itr != end; ++itr) { - result += itr->str(); - } - return result; -} - -std::string removeUnitString(const std::string & input_string) -{ - for (size_t i = 0; i < input_string.size(); ++i) { - if (input_string.at(i) == '[') { - if (i != 0 && input_string.at(i - 1) == ' ') { - // Blank is also removed - return std::string{input_string.begin(), input_string.begin() + i - 1}; - } - return std::string{input_string.begin(), input_string.begin() + i}; - } - } - return input_string; -} -} // namespace - -namespace diagnostic_converter -{ -DiagnosticConverter::DiagnosticConverter(const rclcpp::NodeOptions & node_options) -: Node("diagnostic_converter", node_options) -{ - using std::placeholders::_1; - - size_t sub_counter = 0; - std::vector diagnostic_topics; - declare_parameter>("diagnostic_topics", std::vector()); - get_parameter>("diagnostic_topics", diagnostic_topics); - for (const std::string & diagnostic_topic : diagnostic_topics) { - // std::function required with multiple arguments https://answers.ros.org/question/289207 - const std::function fn = - std::bind(&DiagnosticConverter::onDiagnostic, this, _1, sub_counter++, diagnostic_topic); - diagnostics_sub_.push_back(create_subscription(diagnostic_topic, 1, fn)); - } - params_pub_.resize(diagnostics_sub_.size()); -} - -void DiagnosticConverter::onDiagnostic( - const DiagnosticArray::ConstSharedPtr diag_msg, const size_t diag_idx, - const std::string & base_topic) -{ - for (const auto & status : diag_msg->status) { - std::string status_topic = base_topic + (status.name.empty() ? "" : "_" + status.name); - for (const auto & key_value : status.values) { - const auto valid_topic_name = removeInvalidTopicString(status_topic + "_" + key_value.key); - getPublisher(valid_topic_name, diag_idx)->publish(createUserDefinedValue(key_value)); - } - } -} - -UserDefinedValue DiagnosticConverter::createUserDefinedValue(const KeyValue & key_value) const -{ - UserDefinedValue param_msg; - param_msg.type.data = UserDefinedValueType::DOUBLE; - param_msg.value = removeUnitString(key_value.value); - return param_msg; -} - -rclcpp::Publisher::SharedPtr DiagnosticConverter::getPublisher( - const std::string & topic, const size_t pub_idx) -{ - auto & pubs = params_pub_[pub_idx]; - if (pubs.count(topic) == 0) { - pubs[topic] = create_publisher(topic, 1); - } - return pubs.at(topic); -} -} // namespace diagnostic_converter - -#include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(diagnostic_converter::DiagnosticConverter) diff --git a/evaluator/diagnostic_converter/test/test_converter_node.cpp b/evaluator/diagnostic_converter/test/test_converter_node.cpp deleted file mode 100644 index 167421f0777df..0000000000000 --- a/evaluator/diagnostic_converter/test/test_converter_node.cpp +++ /dev/null @@ -1,128 +0,0 @@ -// Copyright 2023 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "diagnostic_converter/converter_node.hpp" - -#include - -#include "diagnostic_msgs/msg/diagnostic_array.hpp" -#include "tier4_simulation_msgs/msg/user_defined_value.hpp" -#include "tier4_simulation_msgs/msg/user_defined_value_type.hpp" - -#include - -#include -#include -#include -#include - -using ConverterNode = diagnostic_converter::DiagnosticConverter; -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; -using diagnostic_msgs::msg::KeyValue; -using tier4_simulation_msgs::msg::UserDefinedValue; - -void waitForMsg( - bool & flag, const rclcpp::Node::SharedPtr node1, const rclcpp::Node::SharedPtr node2) -{ - while (!flag) { - rclcpp::spin_some(node1); - rclcpp::spin_some(node2); - rclcpp::sleep_for(std::chrono::milliseconds(100)); - } - flag = false; -} - -std::function generateCallback( - bool & flag, UserDefinedValue & msg) -{ - return [&](UserDefinedValue::ConstSharedPtr received_msg) { - flag = true; - msg = *received_msg; - }; -} - -TEST(ConverterNode, ConvertDiagnostics) -{ - const std::vector input_topics = {"/test1/diag", "/test2/diag"}; - - rclcpp::init(0, nullptr); - rclcpp::Node::SharedPtr dummy_node = std::make_shared("converter_test_node"); - - rclcpp::NodeOptions options; - options.append_parameter_override("diagnostic_topics", rclcpp::ParameterValue(input_topics)); - auto node = std::make_shared(options); - - { // Simple case with 1 resulting UserDefinedValue - bool msg_received = false; - UserDefinedValue param; - // DiagnosticArray publishers - const auto diag_pub = dummy_node->create_publisher(input_topics[0], 1); - // UserDefinedValue subscribers - const auto param_sub_a = dummy_node->create_subscription( - input_topics[0] + "_a", 1, generateCallback(msg_received, param)); - DiagnosticArray diag; - DiagnosticStatus status; - status.name = ""; - KeyValue key_value = KeyValue().set__key("a").set__value("1"); - status.values.push_back(key_value); - diag.status.push_back(status); - diag_pub->publish(diag); - waitForMsg(msg_received, node, dummy_node); - EXPECT_EQ(param.value, "1"); - } - { // Case with multiple UserDefinedValue converted from one DiagnosticArray - bool msg_received_xa = false; - bool msg_received_xb = false; - bool msg_received_ya = false; - bool msg_received_yb = false; - UserDefinedValue param_xa; - UserDefinedValue param_xb; - UserDefinedValue param_ya; - UserDefinedValue param_yb; - // DiagnosticArray publishers - const auto diag_pub = dummy_node->create_publisher(input_topics[1], 1); - // UserDefinedValue subscribers - const auto param_sub_xa = dummy_node->create_subscription( - input_topics[1] + "_x_a", 1, generateCallback(msg_received_xa, param_xa)); - const auto param_sub_xb = dummy_node->create_subscription( - input_topics[1] + "_x_b", 1, generateCallback(msg_received_xb, param_xb)); - const auto param_sub_ya = dummy_node->create_subscription( - input_topics[1] + "_y_a", 1, generateCallback(msg_received_ya, param_ya)); - const auto param_sub_yb = dummy_node->create_subscription( - input_topics[1] + "_y_b", 1, generateCallback(msg_received_yb, param_yb)); - DiagnosticArray diag; - DiagnosticStatus status_x; - status_x.name = "x"; - status_x.values.push_back(KeyValue().set__key("a").set__value("1")); - status_x.values.push_back(KeyValue().set__key("b").set__value("10")); - diag.status.push_back(status_x); - DiagnosticStatus status_y; - status_y.name = "y"; - status_y.values.push_back(KeyValue().set__key("a").set__value("9")); - status_y.values.push_back(KeyValue().set__key("b").set__value("6")); - diag.status.push_back(status_y); - diag_pub->publish(diag); - waitForMsg(msg_received_xa, node, dummy_node); - EXPECT_EQ(param_xa.value, "1"); - waitForMsg(msg_received_xb, node, dummy_node); - EXPECT_EQ(param_xb.value, "10"); - waitForMsg(msg_received_ya, node, dummy_node); - EXPECT_EQ(param_ya.value, "9"); - waitForMsg(msg_received_yb, node, dummy_node); - EXPECT_EQ(param_yb.value, "6"); - } - - rclcpp::shutdown(); -} diff --git a/evaluator/diagnostic_converter/CHANGELOG.rst b/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst similarity index 100% rename from evaluator/diagnostic_converter/CHANGELOG.rst rename to evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst diff --git a/evaluator/diagnostic_converter/CMakeLists.txt b/evaluator/scenario_simulator_v2_adapter/CMakeLists.txt similarity index 89% rename from evaluator/diagnostic_converter/CMakeLists.txt rename to evaluator/scenario_simulator_v2_adapter/CMakeLists.txt index 3f47eb0386a1c..576bd9682725a 100644 --- a/evaluator/diagnostic_converter/CMakeLists.txt +++ b/evaluator/scenario_simulator_v2_adapter/CMakeLists.txt @@ -1,6 +1,6 @@ cmake_minimum_required(VERSION 3.16.3) # Ubuntu 20.04 default CMake version -project(diagnostic_converter) +project(scenario_simulator_v2_adapter) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) @@ -21,7 +21,7 @@ ament_auto_add_library(${PROJECT_NAME}_node SHARED ) rclcpp_components_register_node(${PROJECT_NAME}_node - PLUGIN "diagnostic_converter::DiagnosticConverter" + PLUGIN "scenario_simulator_v2_adapter::MetricConverter" EXECUTABLE ${PROJECT_NAME} ) diff --git a/evaluator/scenario_simulator_v2_adapter/README.md b/evaluator/scenario_simulator_v2_adapter/README.md new file mode 100644 index 0000000000000..03786f3033521 --- /dev/null +++ b/evaluator/scenario_simulator_v2_adapter/README.md @@ -0,0 +1,44 @@ +# scenario_simulator_v2 Adapter + +## Purpose + +This package provides a node to convert various messages from the Autoware into `tier4_simulation_msgs::msg::UserDefinedValue` messages for the scenario_simulator_v2. +Currently, this node supports conversion of: + +- `tier4_metric_msgs::msg::MetricArray` for metric topics + +## Inner-workings / Algorithms + +- For `tier4_metric_msgs::msg::MetricArray`, + The node subscribes to all topics listed in the parameter `metric_topic_list`. + Each time such message is received, it is converted into as many `UserDefinedValue` messages as the number of `Metric` objects. + The format of the output topic is detailed in the _output_ section. + +## Inputs / Outputs + +### Inputs + +The node listens to `MetricArray` messages on the topics specified in `metric_topic_list`. + +### Outputs + +The node outputs `UserDefinedValue` messages that are converted from the received messages. + +- For `MetricArray` messages, + The name of the output topics are generated from the corresponding input topic, the name of the metric. + - For example, we might listen to topic `/planning/planning_evaluator/metrics` and receive a `MetricArray` with 2 metrics: + - metric with `name: "metricA/x"` + - metric with `name: "metricA/y"` + - The resulting topics to publish the `UserDefinedValue` are as follows: + - `/planning/planning_evaluator/metrics/metricA/x` + - `/planning/planning_evaluator/metrics/metricA/y` + +## Parameters + +{{ json_to_markdown("src/autoware/universe/evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json") }} + +## Assumptions / Known limits + +Values in the `Metric` objects of a `MetricArray` are assumed to be of type `double`. + +## Future extensions / Unimplemented parts diff --git a/evaluator/scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml b/evaluator/scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml new file mode 100644 index 0000000000000..6c27d440c3942 --- /dev/null +++ b/evaluator/scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + update_rate: 10.0 + metric_topic_list: + - /planning/planning_evaluator/metrics + - /control/control_evaluator/metrics + - /system/processing_time_checker/metrics diff --git a/evaluator/diagnostic_converter/include/diagnostic_converter/converter_node.hpp b/evaluator/scenario_simulator_v2_adapter/include/scenario_simulator_v2_adapter/converter_node.hpp similarity index 53% rename from evaluator/diagnostic_converter/include/diagnostic_converter/converter_node.hpp rename to evaluator/scenario_simulator_v2_adapter/include/scenario_simulator_v2_adapter/converter_node.hpp index 59bb02ebf301f..1ac4585035277 100644 --- a/evaluator/diagnostic_converter/include/diagnostic_converter/converter_node.hpp +++ b/evaluator/scenario_simulator_v2_adapter/include/scenario_simulator_v2_adapter/converter_node.hpp @@ -12,55 +12,55 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DIAGNOSTIC_CONVERTER__CONVERTER_NODE_HPP_ -#define DIAGNOSTIC_CONVERTER__CONVERTER_NODE_HPP_ +#ifndef SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_ +#define SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_ #include -#include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "tier4_simulation_msgs/msg/user_defined_value.hpp" #include "tier4_simulation_msgs/msg/user_defined_value_type.hpp" +#include +#include #include #include #include #include -namespace diagnostic_converter +namespace scenario_simulator_v2_adapter { -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; -using diagnostic_msgs::msg::KeyValue; +using tier4_metric_msgs::msg::Metric; +using tier4_metric_msgs::msg::MetricArray; using tier4_simulation_msgs::msg::UserDefinedValue; using tier4_simulation_msgs::msg::UserDefinedValueType; /** - * @brief Node for converting from DiagnosticArray to UserDefinedValue + * @brief Node for converting Autoware's messages to UserDefinedValue */ -class DiagnosticConverter : public rclcpp::Node +class MetricConverter : public rclcpp::Node { public: - explicit DiagnosticConverter(const rclcpp::NodeOptions & node_options); + explicit MetricConverter(const rclcpp::NodeOptions & node_options); /** - * @brief callback for DiagnosticArray msgs that publishes equivalent UserDefinedValue msgs - * @param [in] diag_msg received diagnostic message + * @brief callback for MetricArray msgs that publishes equivalent UserDefinedValue msgs + * @param [in] metrics_msg received metrics message */ - void onDiagnostic( - const DiagnosticArray::ConstSharedPtr diag_msg, const size_t diag_idx, + void onMetrics( + const MetricArray::ConstSharedPtr metrics_msg, const size_t topic_idx, const std::string & topic); - UserDefinedValue createUserDefinedValue(const KeyValue & key_value) const; + UserDefinedValue createUserDefinedValue(const Metric & metric) const; rclcpp::Publisher::SharedPtr getPublisher( - const std::string & topic, const size_t pub_idx); + const std::string & topic, const size_t topic_idx); private: // ROS - std::vector::SharedPtr> diagnostics_sub_; + std::vector::SharedPtr> metrics_sub_; std::vector::SharedPtr>> params_pub_; }; -} // namespace diagnostic_converter +} // namespace scenario_simulator_v2_adapter -#endif // DIAGNOSTIC_CONVERTER__CONVERTER_NODE_HPP_ +#endif // SCENARIO_SIMULATOR_V2_ADAPTER__CONVERTER_NODE_HPP_ diff --git a/evaluator/diagnostic_converter/package.xml b/evaluator/scenario_simulator_v2_adapter/package.xml similarity index 76% rename from evaluator/diagnostic_converter/package.xml rename to evaluator/scenario_simulator_v2_adapter/package.xml index 91b9a2e2ede56..ae6b49671a774 100644 --- a/evaluator/diagnostic_converter/package.xml +++ b/evaluator/scenario_simulator_v2_adapter/package.xml @@ -1,21 +1,21 @@ - diagnostic_converter - 0.38.0 - Node for converting diagnostic messages into ParameterDeclaration messages + scenario_simulator_v2_adapter + 0.5.6 + Node for converting autoware's messages into UserDefinedValue messages Kyoichi Sugahara Maxime CLEMENT Takamasa Horibe + Takamasa Horibe Apache License 2.0 ament_cmake_auto autoware_cmake - - diagnostic_msgs pluginlib rclcpp rclcpp_components + tier4_metric_msgs tier4_simulation_msgs ament_cmake_gtest diff --git a/evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json b/evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json new file mode 100644 index 0000000000000..e353aadccc111 --- /dev/null +++ b/evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json @@ -0,0 +1,38 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for scenario_simulator_v2 Adapter", + "type": "object", + "definitions": { + "scenario_simulator_v2_adapter": { + "type": "object", + "properties": { + "update_rate": { + "type": "number", + "default": 10, + "exclusiveMinimum": 2, + "description": "The scanning and update frequency of the checker." + }, + "metric_topic_list": { + "type": "array", + "items": { + "type": "string" + }, + "description": "The topic name list of the processing time." + } + }, + "required": ["update_rate", "metric_topic_list"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/scenario_simulator_v2_adapter" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp b/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp new file mode 100644 index 0000000000000..98d36327793fe --- /dev/null +++ b/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp @@ -0,0 +1,85 @@ +// Copyright 2023 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "scenario_simulator_v2_adapter/converter_node.hpp" + +#include + +namespace +{ +std::string removeInvalidTopicString(const std::string & input_string) +{ + std::regex pattern{R"([a-zA-Z0-9/_]+)"}; + + std::string result; + for (std::sregex_iterator itr(std::begin(input_string), std::end(input_string), pattern), end; + itr != end; ++itr) { + result += itr->str(); + } + return result; +} +} // namespace + +namespace scenario_simulator_v2_adapter +{ +MetricConverter::MetricConverter(const rclcpp::NodeOptions & node_options) +: Node("scenario_simulator_v2_adapter", node_options) +{ + using std::placeholders::_1; + + size_t sub_counter = 0; + std::vector metric_topic_list; + declare_parameter>("metric_topic_list", std::vector()); + get_parameter>("metric_topic_list", metric_topic_list); + for (const std::string & metric_topic : metric_topic_list) { + // std::function required with multiple arguments https://answers.ros.org/question/289207 + const std::function fn = + std::bind(&MetricConverter::onMetrics, this, _1, sub_counter++, metric_topic); + metrics_sub_.push_back(create_subscription(metric_topic, 1, fn)); + } + params_pub_.resize(metrics_sub_.size()); +} + +void MetricConverter::onMetrics( + const MetricArray::ConstSharedPtr metrics_msg, const size_t topic_idx, + const std::string & base_topic_name) +{ + for (const auto & metric : metrics_msg->metric_array) { + std::string metric_name = base_topic_name + (metric.name.empty() ? "" : "/" + metric.name); + const auto valid_topic_name = removeInvalidTopicString(metric_name); + getPublisher(valid_topic_name, topic_idx)->publish(createUserDefinedValue(metric)); + } +} + +UserDefinedValue MetricConverter::createUserDefinedValue(const Metric & metric) const +{ + UserDefinedValue param_msg; + param_msg.type.data = UserDefinedValueType::DOUBLE; + param_msg.value = metric.value; + return param_msg; +} + +rclcpp::Publisher::SharedPtr MetricConverter::getPublisher( + const std::string & topic_name, const size_t topic_idx) +{ + auto & pubs = params_pub_[topic_idx]; + if (pubs.count(topic_name) == 0) { + pubs[topic_name] = create_publisher(topic_name, 1); + } + return pubs.at(topic_name); +} +} // namespace scenario_simulator_v2_adapter + +#include "rclcpp_components/register_node_macro.hpp" +RCLCPP_COMPONENTS_REGISTER_NODE(scenario_simulator_v2_adapter::MetricConverter) diff --git a/evaluator/scenario_simulator_v2_adapter/test/test_converter_node.cpp b/evaluator/scenario_simulator_v2_adapter/test/test_converter_node.cpp new file mode 100644 index 0000000000000..de2a12ac2caaa --- /dev/null +++ b/evaluator/scenario_simulator_v2_adapter/test/test_converter_node.cpp @@ -0,0 +1,112 @@ +// Copyright 2023 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "scenario_simulator_v2_adapter/converter_node.hpp" + +#include + +#include "tier4_simulation_msgs/msg/user_defined_value.hpp" +#include "tier4_simulation_msgs/msg/user_defined_value_type.hpp" +#include +#include + +#include + +#include +#include +#include +#include + +using ConverterNode = scenario_simulator_v2_adapter::MetricConverter; +using tier4_metric_msgs::msg::Metric; +using tier4_metric_msgs::msg::MetricArray; +using tier4_simulation_msgs::msg::UserDefinedValue; + +void waitForMsg( + bool & flag, const rclcpp::Node::SharedPtr node1, const rclcpp::Node::SharedPtr node2) +{ + while (!flag) { + rclcpp::spin_some(node1); + rclcpp::spin_some(node2); + rclcpp::sleep_for(std::chrono::milliseconds(100)); + } + flag = false; +} + +std::function generateCallback( + bool & flag, UserDefinedValue & msg) +{ + return [&](UserDefinedValue::ConstSharedPtr received_msg) { + flag = true; + msg = *received_msg; + }; +} + +TEST(ConverterNode, ConvertMetrics) +{ + const std::vector input_topics = {"/test1/metrics", "/test2/metrics"}; + + rclcpp::init(0, nullptr); + rclcpp::Node::SharedPtr dummy_node = std::make_shared("converter_test_node"); + + rclcpp::NodeOptions options; + options.append_parameter_override("metric_topic_list", rclcpp::ParameterValue(input_topics)); + auto node = std::make_shared(options); + + { // Simple case with 1 resulting UserDefinedValue + bool msg_received = false; + UserDefinedValue param; + // MetricArray publishers + const auto metric_pub = dummy_node->create_publisher(input_topics[0], 1); + // UserDefinedValue subscribers + const auto param_sub_a = dummy_node->create_subscription( + input_topics[0] + "/a", 1, generateCallback(msg_received, param)); + MetricArray metrics; + Metric metric; + metric.name = "a"; + metric.value = "1"; + metrics.metric_array.push_back(metric); + metric_pub->publish(metrics); + waitForMsg(msg_received, node, dummy_node); + EXPECT_EQ(param.value, "1"); + } + { // Case with multiple UserDefinedValue converted from one MetricArray + bool msg_received_x = false; + bool msg_received_y = false; + UserDefinedValue param_x; + UserDefinedValue param_y; + // MetricArray publishers + const auto metric_pub = dummy_node->create_publisher(input_topics[1], 1); + // UserDefinedValue subscribers + const auto param_sub_x = dummy_node->create_subscription( + input_topics[1] + "/x", 1, generateCallback(msg_received_x, param_x)); + const auto param_sub_y = dummy_node->create_subscription( + input_topics[1] + "/y", 1, generateCallback(msg_received_y, param_y)); + MetricArray metrics; + Metric metric; + metric.name = "x"; + metric.value = "2"; + metrics.metric_array.push_back(metric); + metric.name = "y"; + metric.value = "3.33333"; + metrics.metric_array.push_back(metric); + metric_pub->publish(metrics); + waitForMsg(msg_received_x, node, dummy_node); + EXPECT_EQ(param_x.value, "2"); + waitForMsg(msg_received_y, node, dummy_node); + EXPECT_EQ(param_y.value, "3.33333"); + } + + rclcpp::shutdown(); +} diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 7be992e2e4764..e1226ee63f5e2 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -20,7 +20,7 @@ description="Select localization mode. Options are 'none', 'api' or 'pose_twist_estimator'. 'pose_twist_estimator' starts most of the localization modules except for the ndt_scan_matcher. 'api' starts an external API for initial position estimation. 'none' does not start any localization-related process." /> - + @@ -203,10 +203,10 @@ - - - - + + + + diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp index 0f35960c350a8..7bd4d37ba5797 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp @@ -25,12 +25,16 @@ #include -#include +#include +#include #include #include #include +using Metric = tier4_metric_msgs::msg::Metric; +using MetricArray = tier4_metric_msgs::msg::MetricArray; + struct PlannerData { rclcpp::Time current_time; @@ -293,9 +297,9 @@ struct DebugData MarkerArray cruise_wall_marker; MarkerArray slow_down_wall_marker; std::vector detection_polygons; - std::optional stop_reason_diag{std::nullopt}; - std::optional slow_down_reason_diag{std::nullopt}; - std::optional cruise_reason_diag{std::nullopt}; + std::optional> stop_metrics{std::nullopt}; + std::optional> slow_down_metrics{std::nullopt}; + std::optional> cruise_metrics{std::nullopt}; }; struct EgoNearestParam diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp index 099d80306bb4e..a2265ea6affa0 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp @@ -23,7 +23,8 @@ #include "autoware/universe_utils/ros/update_param.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" -#include +#include +#include #include #include @@ -35,8 +36,9 @@ #include #include -using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; -using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; +using Metric = tier4_metric_msgs::msg::Metric; +using MetricArray = tier4_metric_msgs::msg::MetricArray; + class PlannerInterface { public: @@ -56,7 +58,7 @@ class PlannerInterface node.create_publisher("/planning/velocity_factors/obstacle_cruise", 1); stop_speed_exceeded_pub_ = node.create_publisher("~/output/stop_speed_exceeded", 1); - diagnostics_pub_ = node.create_publisher("/diagnostics", 10); + metrics_pub_ = node.create_publisher("~/metrics", 10); moving_object_speed_threshold = node.declare_parameter("slow_down.moving_object_speed_threshold"); @@ -95,13 +97,13 @@ class PlannerInterface const std::vector & slow_down_obstacles, std::optional & vel_limit); - DiagnosticStatus makeEmptyDiagnostic(const std::string & reason); - DiagnosticStatus makeDiagnostic( - const std::string & reason, const std::optional & planner_data = std::nullopt, + std::vector makeMetrics( + const std::string & module_name, const std::string & reason, + const std::optional & planner_data = std::nullopt, const std::optional & stop_pose = std::nullopt, const std::optional & stop_obstacle = std::nullopt); - void publishDiagnostics(const rclcpp::Time & current_time); - void clearDiagnostics(); + void publishMetrics(const rclcpp::Time & current_time); + void clearMetrics(); void onParam(const std::vector & parameters) { @@ -148,7 +150,7 @@ class PlannerInterface rclcpp::Publisher::SharedPtr stop_reasons_pub_; rclcpp::Publisher::SharedPtr velocity_factors_pub_; rclcpp::Publisher::SharedPtr stop_speed_exceeded_pub_; - rclcpp::Publisher::SharedPtr diagnostics_pub_; + rclcpp::Publisher::SharedPtr metrics_pub_; // Vehicle Parameters autoware::vehicle_info_utils::VehicleInfo vehicle_info_; diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index d73f86d27a781..d8bf161ef866f 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -38,6 +38,7 @@ tf2 tf2_ros tier4_debug_msgs + tier4_metric_msgs tier4_planning_msgs visualization_msgs diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp index 37b82ecb66e74..a6a029530b1a5 100644 --- a/planning/autoware_obstacle_cruise_planner/src/node.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp @@ -719,7 +719,7 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms // 8. Publish debug data published_time_publisher_->publish_if_subscribed(trajectory_pub_, output_traj.header.stamp); - planner_ptr_->publishDiagnostics(now()); + planner_ptr_->publishMetrics(now()); publishDebugMarker(); publishDebugInfo(); diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp index 3a24cfa7dcfe0..7bf0f67129a20 100644 --- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp @@ -199,7 +199,8 @@ std::vector OptimizationBasedPlanner::generateCruiseTrajectory( output.at(i).longitudinal_velocity_mps = 0.0; } prev_output_ = output; - debug_data_ptr_->cruise_reason_diag = makeDiagnostic("cruise", planner_data); + debug_data_ptr_->cruise_metrics = + makeMetrics("OptimizationBasedPlanner", "cruise", planner_data); return output; } else if (opt_position.size() == 1) { RCLCPP_DEBUG( @@ -256,7 +257,7 @@ std::vector OptimizationBasedPlanner::generateCruiseTrajectory( // Insert Closest Stop Point autoware::motion_utils::insertStopPoint(0, closest_stop_dist, output); - debug_data_ptr_->cruise_reason_diag = makeDiagnostic("cruise", planner_data); + debug_data_ptr_->cruise_metrics = makeMetrics("OptimizationBasedPlanner", "cruise", planner_data); prev_output_ = output; return output; } diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp index fefe7fd06007e..80fb85d4e30c9 100644 --- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp @@ -325,7 +325,7 @@ std::vector PIDBasedPlanner::planCruise( // cruise obstacle debug_data_ptr_->obstacles_to_cruise.push_back(cruise_obstacle_info->obstacle); - debug_data_ptr_->cruise_reason_diag = makeDiagnostic("cruise", planner_data); + debug_data_ptr_->cruise_metrics = makeMetrics("PIDBasedPlanner", "cruise", planner_data); } // do cruise planning diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp index ba93efc1f10c4..140396a09e042 100644 --- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp @@ -405,8 +405,8 @@ std::vector PlannerInterface::generateStopTrajectory( stop_reasons_pub_->publish(stop_reasons_msg); velocity_factors_pub_->publish(makeVelocityFactorArray(planner_data.current_time, stop_pose)); // Store stop reason debug data - debug_data_ptr_->stop_reason_diag = - makeDiagnostic("stop", planner_data, stop_pose, *determined_stop_obstacle); + debug_data_ptr_->stop_metrics = + makeMetrics("PlannerInterface", "stop", planner_data, stop_pose, *determined_stop_obstacle); // Publish if ego vehicle will over run against the stop point with a limit acceleration const bool will_over_run = determined_zero_vel_dist.value() > @@ -677,8 +677,9 @@ std::vector PlannerInterface::generateSlowDownTrajectory( // Add debug data debug_data_ptr_->obstacles_to_slow_down.push_back(obstacle); - if (!debug_data_ptr_->slow_down_reason_diag.has_value()) { - debug_data_ptr_->slow_down_reason_diag = makeDiagnostic("slow_down", planner_data); + if (!debug_data_ptr_->stop_metrics.has_value()) { + debug_data_ptr_->slow_down_metrics = + makeMetrics("PlannerInterface", "slow_down", planner_data); } // update prev_slow_down_output_ @@ -837,89 +838,87 @@ PlannerInterface::calculateDistanceToSlowDownWithConstraints( filtered_dist_to_slow_down_start, filtered_dist_to_slow_down_end, feasible_slow_down_vel); } -DiagnosticStatus PlannerInterface::makeEmptyDiagnostic(const std::string & reason) -{ - // Create status - DiagnosticStatus status; - status.level = status.OK; - status.name = "obstacle_cruise_planner_" + reason; - diagnostic_msgs::msg::KeyValue key_value; - { - // Decision - key_value.key = "decision"; - key_value.value = "none"; - status.values.push_back(key_value); - } - - return status; -} - -DiagnosticStatus PlannerInterface::makeDiagnostic( - const std::string & reason, const std::optional & planner_data, +std::vector PlannerInterface::makeMetrics( + const std::string & module_name, const std::string & reason, + const std::optional & planner_data, const std::optional & stop_pose, const std::optional & stop_obstacle) { + auto metrics = std::vector(); + // Create status - DiagnosticStatus status; - status.level = status.OK; - status.name = "obstacle_cruise_planner_" + reason; - diagnostic_msgs::msg::KeyValue key_value; { // Decision - key_value.key = "decision"; - key_value.value = reason; - status.values.push_back(key_value); + Metric decision_metric; + decision_metric.name = module_name + "/decision"; + decision_metric.unit = "string"; + decision_metric.value = reason; + metrics.push_back(decision_metric); } if (stop_pose.has_value() && planner_data.has_value()) { // Stop info - key_value.key = "stop_position"; + Metric stop_position_metric; + stop_position_metric.name = module_name + "/stop_position"; + stop_position_metric.unit = "string"; const auto & p = stop_pose.value().position; - key_value.value = + stop_position_metric.value = "{" + std::to_string(p.x) + ", " + std::to_string(p.y) + ", " + std::to_string(p.z) + "}"; - status.values.push_back(key_value); - key_value.key = "stop_orientation"; + metrics.push_back(stop_position_metric); + + Metric stop_orientation_metric; + stop_orientation_metric.name = module_name + "/stop_orientation"; + stop_orientation_metric.unit = "string"; const auto & o = stop_pose.value().orientation; - key_value.value = "{" + std::to_string(o.w) + ", " + std::to_string(o.x) + ", " + - std::to_string(o.y) + ", " + std::to_string(o.z) + "}"; - status.values.push_back(key_value); + stop_orientation_metric.value = "{" + std::to_string(o.w) + ", " + std::to_string(o.x) + ", " + + std::to_string(o.y) + ", " + std::to_string(o.z) + "}"; + metrics.push_back(stop_orientation_metric); + const auto dist_to_stop_pose = autoware::motion_utils::calcSignedArcLength( planner_data.value().traj_points, planner_data.value().ego_pose.position, stop_pose.value().position); - key_value.key = "distance_to_stop_pose"; - key_value.value = std::to_string(dist_to_stop_pose); - status.values.push_back(key_value); + + Metric dist_to_stop_pose_metric; + dist_to_stop_pose_metric.name = module_name + "/distance_to_stop_pose"; + dist_to_stop_pose_metric.unit = "double"; + dist_to_stop_pose_metric.value = std::to_string(dist_to_stop_pose); + metrics.push_back(dist_to_stop_pose_metric); } if (stop_obstacle.has_value()) { // Obstacle info + Metric collision_point_metric; const auto & p = stop_obstacle.value().collision_point; - key_value.key = "collision_point"; - key_value.value = + collision_point_metric.name = module_name + "/collision_point"; + collision_point_metric.unit = "string"; + collision_point_metric.value = "{" + std::to_string(p.x) + ", " + std::to_string(p.y) + ", " + std::to_string(p.z) + "}"; - status.values.push_back(key_value); + metrics.push_back(collision_point_metric); } - - return status; + return metrics; } -void PlannerInterface::publishDiagnostics(const rclcpp::Time & current_time) +void PlannerInterface::publishMetrics(const rclcpp::Time & current_time) { // create array - DiagnosticArray diagnostics; - diagnostics.header.stamp = current_time; - diagnostics.header.frame_id = "map"; - const auto & d = debug_data_ptr_; - diagnostics.status = { - (d->stop_reason_diag) ? d->stop_reason_diag.value() : makeEmptyDiagnostic("stop"), - (d->slow_down_reason_diag) ? *(d->slow_down_reason_diag) : makeEmptyDiagnostic("slow_down"), - (d->cruise_reason_diag) ? d->cruise_reason_diag.value() : makeEmptyDiagnostic("cruise")}; - diagnostics_pub_->publish(diagnostics); - clearDiagnostics(); + MetricArray metrics_msg; + metrics_msg.stamp = current_time; + + auto addMetrics = [&metrics_msg](std::optional> & opt_metrics) { + if (opt_metrics) { + metrics_msg.metric_array.insert( + metrics_msg.metric_array.end(), opt_metrics->begin(), opt_metrics->end()); + } + }; + addMetrics(debug_data_ptr_->stop_metrics); + addMetrics(debug_data_ptr_->slow_down_metrics); + addMetrics(debug_data_ptr_->cruise_metrics); + metrics_pub_->publish(metrics_msg); + clearMetrics(); } -void PlannerInterface::clearDiagnostics() +void PlannerInterface::clearMetrics() { - debug_data_ptr_->stop_reason_diag = std::nullopt; - debug_data_ptr_->slow_down_reason_diag = std::nullopt; - debug_data_ptr_->cruise_reason_diag = std::nullopt; + debug_data_ptr_->stop_metrics = std::nullopt; + debug_data_ptr_->slow_down_metrics = std::nullopt; + debug_data_ptr_->cruise_metrics = std::nullopt; } diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml index bf4e8a242d576..3e68d8262aae9 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml @@ -25,7 +25,6 @@ autoware_planning_msgs autoware_universe_utils autoware_velocity_smoother - diagnostic_msgs eigen geometry_msgs libboost-dev @@ -39,6 +38,7 @@ tf2_geometry_msgs tf2_ros tier4_debug_msgs + tier4_metric_msgs tier4_planning_msgs visualization_msgs diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp index eaa3b8c17402e..0e8a36977fec8 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp @@ -26,7 +26,6 @@ #include #include -#include #include #include @@ -89,7 +88,7 @@ MotionVelocityPlannerNode::MotionVelocityPlannerNode(const rclcpp::NodeOptions & this->create_publisher("~/debug/processing_time_ms", 1); debug_viz_pub_ = this->create_publisher("~/debug/markers", 1); - diagnostics_pub_ = this->create_publisher("/diagnostics", 10); + metrics_pub_ = this->create_publisher("~/metrics", 1); // Parameters smooth_velocity_before_planning_ = declare_parameter("smooth_velocity_before_planning"); @@ -307,12 +306,9 @@ void MotionVelocityPlannerNode::on_trajectory( processing_time_msg.data = processing_times["Total"]; processing_time_publisher_->publish(processing_time_msg); - std::shared_ptr diagnostics = - planner_manager_.get_diagnostics(get_clock()->now()); - if (!diagnostics->status.empty()) { - diagnostics_pub_->publish(*diagnostics); - } - planner_manager_.clear_diagnostics(); + std::shared_ptr metrics = planner_manager_.get_metrics(get_clock()->now()); + metrics_pub_->publish(*metrics); + planner_manager_.clear_metrics(); } void MotionVelocityPlannerNode::insert_stop( diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp index 8283396d17414..757be518e018a 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp @@ -44,8 +44,6 @@ #include #include -using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; - namespace autoware::motion_velocity_planner { using autoware_map_msgs::msg::LaneletMapBin; @@ -104,7 +102,7 @@ class MotionVelocityPlannerNode : public rclcpp::Node this, "~/debug/processing_time_ms_diag"}; rclcpp::Publisher::SharedPtr processing_time_publisher_; autoware::universe_utils::PublishedTimePublisher published_time_publisher_{this}; - rclcpp::Publisher::SharedPtr diagnostics_pub_; + rclcpp::Publisher::SharedPtr metrics_pub_; // parameters rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr set_param_callback_; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp index 04641e0cea6bb..416ad215d5e25 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp @@ -71,41 +71,25 @@ void MotionVelocityPlannerManager::update_module_parameters( for (auto & plugin : loaded_plugins_) plugin->update_parameters(parameters); } -std::shared_ptr MotionVelocityPlannerManager::make_diagnostic( - const std::string & module_name, const std::string & reason, const bool is_decided) +std::shared_ptr MotionVelocityPlannerManager::make_decision_metric( + const std::string & module_name, const std::string & reason) { - auto status = std::make_shared(); - status->level = status->OK; - status->name = module_name + '.' + reason; - diagnostic_msgs::msg::KeyValue key_value; - { - // Decision - key_value.key = "decision"; - if (is_decided) - key_value.value = reason; - else - key_value.value = "none"; - status->values.push_back(key_value); - } - // Add other information to the status if necessary in the future. - return status; + auto metric = std::make_shared(); + metric->name = module_name + "/decision"; + metric->value = reason; + return metric; } -std::shared_ptr MotionVelocityPlannerManager::get_diagnostics( +std::shared_ptr MotionVelocityPlannerManager::get_metrics( const rclcpp::Time & current_time) const { - auto diagnostics = std::make_shared(); + auto metrics = std::make_shared(); + metrics->stamp = current_time; - for (const auto & ds_ptr : diagnostics_) { - if ( - !ds_ptr->values.empty() && ds_ptr->values[0].key == "decision" && - ds_ptr->values[0].value != "none") { - diagnostics->status.push_back(*ds_ptr); - } + for (const auto & mtr_ptr : metrics_) { + metrics->metric_array.push_back(*mtr_ptr); } - diagnostics->header.stamp = current_time; - diagnostics->header.frame_id = "map"; - return diagnostics; + return metrics; } std::vector MotionVelocityPlannerManager::plan_velocities( @@ -117,13 +101,15 @@ std::vector MotionVelocityPlannerManager::plan_velocitie VelocityPlanningResult res = plugin->plan(ego_trajectory_points, planner_data); results.push_back(res); - const auto stop_reason_diag = - make_diagnostic(plugin->get_module_name(), "stop", res.stop_points.size() > 0); - diagnostics_.push_back(stop_reason_diag); - - const auto slow_down_reason_diag = - make_diagnostic(plugin->get_module_name(), "slow_down", res.slowdown_intervals.size() > 0); - diagnostics_.push_back(slow_down_reason_diag); + if (res.stop_points.size() > 0) { + const auto stop_decision_metric = make_decision_metric(plugin->get_module_name(), "stop"); + metrics_.push_back(stop_decision_metric); + } + if (res.slowdown_intervals.size() > 0) { + const auto slow_down_decision_metric = + make_decision_metric(plugin->get_module_name(), "slow_down"); + metrics_.push_back(slow_down_decision_metric); + } } return results; } diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.hpp index ac2e421d30cb6..0e3bd77180f6e 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.hpp @@ -23,9 +23,9 @@ #include #include #include -#include -#include #include +#include +#include #include #include @@ -36,8 +36,8 @@ #include #include -using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; -using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; +using Metric = tier4_metric_msgs::msg::Metric; +using MetricArray = tier4_metric_msgs::msg::MetricArray; namespace autoware::motion_velocity_planner { @@ -52,14 +52,14 @@ class MotionVelocityPlannerManager const std::vector & ego_trajectory_points, const std::shared_ptr planner_data); - // Diagnostic - std::shared_ptr make_diagnostic( - const std::string & module_name, const std::string & reason, const bool is_decided = true); - std::shared_ptr get_diagnostics(const rclcpp::Time & current_time) const; - void clear_diagnostics() { diagnostics_.clear(); } + // Metrics + std::shared_ptr make_decision_metric( + const std::string & module_name, const std::string & reason); + std::shared_ptr get_metrics(const rclcpp::Time & current_time) const; + void clear_metrics() { metrics_.clear(); } private: - std::vector> diagnostics_; + std::vector> metrics_; pluginlib::ClassLoader plugin_loader_; std::vector> loaded_plugins_; }; diff --git a/system/autoware_processing_time_checker/README.md b/system/autoware_processing_time_checker/README.md index db2dd8d041e61..5745ec52086cc 100644 --- a/system/autoware_processing_time_checker/README.md +++ b/system/autoware_processing_time_checker/README.md @@ -23,9 +23,9 @@ ros2 launch autoware_processing_time_checker processing_time_checker.launch.xml ### Output -| Name | Type | Description | -| ----------------------------------------- | --------------------------------- | ---------------------------------- | -| `/system/processing_time_checker/metrics` | `diagnostic_msgs/DiagnosticArray` | processing time of all the modules | +| Name | Type | Description | +| ----------------------------------------- | ------------------------------------- | ---------------------------------- | +| `/system/processing_time_checker/metrics` | `tier4_metric_msgs::msg::MetricArray` | processing time of all the modules | ## Parameters diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml index 579f7de0bdb4e..73a0b43e44c50 100644 --- a/system/autoware_processing_time_checker/package.xml +++ b/system/autoware_processing_time_checker/package.xml @@ -12,10 +12,10 @@ ament_cmake autoware_cmake - diagnostic_updater rclcpp rclcpp_components tier4_debug_msgs + tier4_metric_msgs ament_lint_auto ament_lint_common diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.cpp b/system/autoware_processing_time_checker/src/processing_time_checker.cpp index fec7a16134915..3ab96ab0f9711 100644 --- a/system/autoware_processing_time_checker/src/processing_time_checker.cpp +++ b/system/autoware_processing_time_checker/src/processing_time_checker.cpp @@ -16,7 +16,6 @@ #include -#include #include #include @@ -84,7 +83,7 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op // clang-format on } - diag_pub_ = create_publisher("~/metrics", 1); + metrics_pub_ = create_publisher("~/metrics", 1); const auto period_ns = rclcpp::Rate(update_rate).period(); timer_ = rclcpp::create_timer( @@ -93,28 +92,23 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op void ProcessingTimeChecker::on_timer() { - // create diagnostic status - DiagnosticStatus status; - status.level = status.OK; - status.name = "processing_time"; + // create MetricArrayMsg + MetricArrayMsg metrics_msg; for (const auto & processing_time_iterator : processing_time_map_) { const auto processing_time_topic_name = processing_time_iterator.first; const double processing_time = processing_time_iterator.second; - // generate diagnostic status - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = processing_time_topic_name; - key_value.value = std::to_string(processing_time); - status.values.push_back(key_value); + // generate MetricMsg + MetricMsg metric; + metric.name = "processing_time/" + processing_time_topic_name; + metric.value = std::to_string(processing_time); + metric.unit = "millisecond"; + metrics_msg.metric_array.push_back(metric); } - // create diagnostic array - DiagnosticArray diag_msg; - diag_msg.header.stamp = now(); - diag_msg.status.push_back(status); - // publish - diag_pub_->publish(diag_msg); + metrics_msg.stamp = now(); + metrics_pub_->publish(metrics_msg); } } // namespace autoware::processing_time_checker diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.hpp b/system/autoware_processing_time_checker/src/processing_time_checker.hpp index eba6f2c0642e6..199410623f8b1 100644 --- a/system/autoware_processing_time_checker/src/processing_time_checker.hpp +++ b/system/autoware_processing_time_checker/src/processing_time_checker.hpp @@ -17,8 +17,9 @@ #include -#include "diagnostic_msgs/msg/diagnostic_array.hpp" -#include "tier4_debug_msgs/msg/float64_stamped.hpp" +#include +#include +#include #include #include @@ -26,8 +27,8 @@ namespace autoware::processing_time_checker { -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; +using MetricMsg = tier4_metric_msgs::msg::Metric; +using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; using tier4_debug_msgs::msg::Float64Stamped; class ProcessingTimeChecker : public rclcpp::Node @@ -40,7 +41,7 @@ class ProcessingTimeChecker : public rclcpp::Node rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Publisher::SharedPtr diag_pub_; + rclcpp::Publisher::SharedPtr metrics_pub_; std::vector::SharedPtr> processing_time_subscribers_; // topic name - module name From 809ccf958b08105d1f0c486fbeeba68ee0c27f2e Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Tue, 12 Nov 2024 17:46:04 +0900 Subject: [PATCH 410/701] feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (#9261) Signed-off-by: Takagi, Isamu --- .../script/dump.py | 94 +++++++++++++++++++ 1 file changed, 94 insertions(+) create mode 100755 system/diagnostic_graph_aggregator/script/dump.py diff --git a/system/diagnostic_graph_aggregator/script/dump.py b/system/diagnostic_graph_aggregator/script/dump.py new file mode 100755 index 0000000000000..a647b2677b160 --- /dev/null +++ b/system/diagnostic_graph_aggregator/script/dump.py @@ -0,0 +1,94 @@ +#!/usr/bin/env python3 + +# Copyright 2024 The Autoware Contributors +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse + +from diagnostic_msgs.msg import DiagnosticStatus +import rclpy +import rclpy.node +from tier4_system_msgs.msg import DiagnosticGraph + + +def print_table(lines: list, header: list): + widths = [0 for _ in range(len(header))] + lines.insert(0, header) + for line in lines: + widths = map(max, widths, map(len, line)) + widths = list(widths) + lines.insert(0, ["-" * w for w in widths]) + lines.insert(2, ["-" * w for w in widths]) + for line in lines: + line = map(lambda v, w: f"{v: {w}}", line, widths) + line = " | ".join(line) + print(f"| {line} |") + + +def get_level_text(level: int): + if level == DiagnosticStatus.OK: + return "OK" + if level == DiagnosticStatus.WARN: + return "WARN" + if level == DiagnosticStatus.ERROR: + return "ERROR" + if level == DiagnosticStatus.STALE: + return "STALE" + return "-----" + + +class NodeData: + def __init__(self, index, node): + self.index = index + self._node = node + + @property + def level(self): + return get_level_text(self._node.status.level) + + @property + def name(self): + return self._node.status.name + + @property + def links(self): + return " ".join(str(link.index) for link in self._node.links) + + @property + def line(self): + return [str(self.index), self.level, self.name, self.links] + + +class DumpNode(rclpy.node.Node): + def __init__(self, args): + super().__init__("dump_diagnostic_graph") + self.sub = self.create_subscription(DiagnosticGraph, args.topic, self.callback, 1) + + def callback(self, msg): + nodes = [NodeData(index, node) for index, node in enumerate(msg.nodes)] + table = [node.line for node in nodes] + print_table(table, ["index", "level", "name", "links"]) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--topic", default="/diagnostics_graph") + args, unparsed = parser.parse_known_args() + + try: + rclpy.init(args=unparsed) + rclpy.spin(DumpNode(args)) + rclpy.shutdown() + except KeyboardInterrupt: + pass From 1ab29fd51001c4c1a47e121dcbb94f0794e05713 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 12 Nov 2024 10:11:11 +0100 Subject: [PATCH 411/701] chore(tvm_utility): remove tvm_utility package as it is no longer used (#9291) Signed-off-by: Esteve Fernandez --- .github/CODEOWNERS | 1 - common/.pages | 3 - common/tvm_utility/.gitignore | 0 common/tvm_utility/CHANGELOG.rst | 146 ------ common/tvm_utility/CMakeLists.txt | 151 ------- common/tvm_utility/README.md | 137 ------ common/tvm_utility/artifacts/README.md | 6 - .../artifacts/yolo_v2_tiny/anchors.csv | 5 - .../artifacts/yolo_v2_tiny/labels.txt | 80 ---- .../config/yolo_v2_tiny_example.param.yaml | 6 - .../abs_model_aarch64/deploy_graph.json | 36 -- .../models/abs_model_aarch64/deploy_lib.so | Bin 14824 -> 0 bytes .../abs_model_aarch64/deploy_param.params | Bin 32 -> 0 bytes .../inference_engine_tvm_config.hpp | 54 --- .../models/abs_model_x86_64/deploy_graph.json | 36 -- .../models/abs_model_x86_64/deploy_lib.so | Bin 18168 -> 0 bytes .../abs_model_x86_64/deploy_param.params | Bin 32 -> 0 bytes .../inference_engine_tvm_config.hpp | 53 --- .../inference_engine_tvm_config.hpp | 56 --- .../tvm_utility/example/yolo_v2_tiny/main.cpp | 307 ------------- .../include/tvm_utility/pipeline.hpp | 414 ------------------ .../launch/yolo_v2_tiny_example.launch.xml | 23 - common/tvm_utility/package.xml | 43 -- .../schema/yolo_v2_tiny_example.schema.json | 47 -- common/tvm_utility/test/abs_model/main.cpp | 146 ------ .../tvm-utility-yolo-v2-tiny-tests.md | 53 --- common/tvm_utility/tvm_utility-extras.cmake | 61 --- 27 files changed, 1864 deletions(-) delete mode 100644 common/tvm_utility/.gitignore delete mode 100644 common/tvm_utility/CHANGELOG.rst delete mode 100644 common/tvm_utility/CMakeLists.txt delete mode 100644 common/tvm_utility/README.md delete mode 100644 common/tvm_utility/artifacts/README.md delete mode 100644 common/tvm_utility/artifacts/yolo_v2_tiny/anchors.csv delete mode 100644 common/tvm_utility/artifacts/yolo_v2_tiny/labels.txt delete mode 100644 common/tvm_utility/config/yolo_v2_tiny_example.param.yaml delete mode 100644 common/tvm_utility/data/models/abs_model_aarch64/deploy_graph.json delete mode 100755 common/tvm_utility/data/models/abs_model_aarch64/deploy_lib.so delete mode 100644 common/tvm_utility/data/models/abs_model_aarch64/deploy_param.params delete mode 100644 common/tvm_utility/data/models/abs_model_aarch64/inference_engine_tvm_config.hpp delete mode 100644 common/tvm_utility/data/models/abs_model_x86_64/deploy_graph.json delete mode 100644 common/tvm_utility/data/models/abs_model_x86_64/deploy_lib.so delete mode 100644 common/tvm_utility/data/models/abs_model_x86_64/deploy_param.params delete mode 100644 common/tvm_utility/data/models/abs_model_x86_64/inference_engine_tvm_config.hpp delete mode 100644 common/tvm_utility/data/models/yolo_v2_tiny/inference_engine_tvm_config.hpp delete mode 100644 common/tvm_utility/example/yolo_v2_tiny/main.cpp delete mode 100644 common/tvm_utility/include/tvm_utility/pipeline.hpp delete mode 100644 common/tvm_utility/launch/yolo_v2_tiny_example.launch.xml delete mode 100644 common/tvm_utility/package.xml delete mode 100644 common/tvm_utility/schema/yolo_v2_tiny_example.schema.json delete mode 100644 common/tvm_utility/test/abs_model/main.cpp delete mode 100644 common/tvm_utility/tvm-utility-yolo-v2-tiny-tests.md delete mode 100644 common/tvm_utility/tvm_utility-extras.cmake diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 565aeb3cbecd8..6e83e2b52fdbe 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -42,7 +42,6 @@ common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp -common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp tomohito.ando@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp diff --git a/common/.pages b/common/.pages index e0425488ad59b..bba56f6dab486 100644 --- a/common/.pages +++ b/common/.pages @@ -25,9 +25,6 @@ nav: - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter - 'autoware_universe_utils': common/autoware_universe_utils - 'traffic_light_utils': common/traffic_light_utils - - 'TVM Utility': - - 'Introduction': common/tvm_utility - - 'YOLOv2 Tiny Example': common/tvm_utility/tvm-utility-yolo-v2-tiny-tests - 'RVIZ2 Plugins': - 'autoware_perception_rviz_plugin': common/autoware_perception_rviz_plugin - 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin diff --git a/common/tvm_utility/.gitignore b/common/tvm_utility/.gitignore deleted file mode 100644 index e69de29bb2d1d..0000000000000 diff --git a/common/tvm_utility/CHANGELOG.rst b/common/tvm_utility/CHANGELOG.rst deleted file mode 100644 index f0838352ec660..0000000000000 --- a/common/tvm_utility/CHANGELOG.rst +++ /dev/null @@ -1,146 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package tvm_utility -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.38.0 (2024-11-08) -------------------- -* unify package.xml version to 0.37.0 -* fix(tvm_utility): add virtual destructor to tvm_utility (`#7759 `_) - * fix(tvm_utility): add virtual destructor to tvm_utility - * add override - --------- -* fix(tvm_utility): fix selfAssignment warnings (`#7561 `_) -* fix(tvm_utility): fix warning of negativeContainerIndex (`#6924 `_) -* Contributors: Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo - -0.26.0 (2024-04-03) -------------------- -* build(tvm_utility): remove download logic from CMake and update documentation (`#4923 `_) - * add include tier4_autoware_utils and dependency - * remove downloading logic from Cmake, update documentation - * build(tvm_utility): remove downloading logic from Cmake, update documentation - * style(pre-commit): autofix - * build(tvm_utility): fix lint_cmake error - * build(tvm_utility): format warning message - * build(tvm_utility): add logic to work with autoware_data folder, add nn config header and test image - * style(pre-commit): autofix - * style(pre-commit): autofix - * build(tvm_utility): refactor, update InferenceEngineTVM constructor - * style(pre-commit): autofix - * build(tvm_utility): add lightweight model and test with it - * build(tvm_utility): make building yolo_v2_tiny disable by default - * build(tvm_utility): remove test artifact for yolo_v2_tiny - * build(tvm_utility): update docs - * build(tvm_utility): update docs - * style(pre-commit): autofix - * build(tvm_utility): update namespace in abs_model test - * build(tvm_utility): rewrite yolo_v2_tiny as example - * build(tvm_utility): clean comments in yolo_v2_tiny example main.cpp - * build(tvm_utility): add launch file for yolo_v2_tiny example - * build(tvm_utility): update yolo_v2_tiny example readme - * style(pre-commit): autofix - * build(tvm_utility): add model for arm based systems, need to be tested on device - * style(pre-commit): autofix - * style(pre-commit): autofix - * build(tvm_utility): update config header for arm - * style(pre-commit): autofix - * build(tvm_utility): remove debug output - * build(tvm_utility): add find_package conditional section - * build(tvm_utility): fix lint_cmake errors - * build(tvm_utility): remove coping model files during build - * build(tvm_utility): update readme with new data folder structure - * build(tvm_utility): fix spell check warnings - * style(pre-commit): autofix - * build(tvm_utility): add no model files guard to get_neural_network - * style(pre-commit): autofix - * build(tvm_utility): set back default paths in config headers - * build(tvm_utility): add param file, update launch file - * build(tvm_utility): add schema file, update node name - * style(pre-commit): autofix - * build(tvm_utility): fix json-schema-check - * build(tvm_utility): fix json-schema-check - * style(pre-commit): autofix - * build(tvm_utility): add parameter table to example readme - * build(tvm_utility): fix typo-error in description of schema.json - * style(pre-commit): autofix - * buiild(tvm_utility): fix spell-check warning and typo - --------- - Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor: fix spell-check (`#4289 `_) - * refactor: fix spell-check - * fix spell-check - * fix typo - * Fix obvious typo, shortened words - * Fix obvious typo, shortened words, in common directory - * add cspell ignore - * Update perception/tensorrt_classifier/CMakeLists.txt - Co-authored-by: Yusuke Muramatsu - --------- - Co-authored-by: Yusuke Muramatsu -* build: mark autoware_cmake as (`#3616 `_) - * build: mark autoware_cmake as - with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) - * style(pre-commit): autofix - * chore: fix pre-commit errors - --------- - Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - Co-authored-by: Kenji Miyake -* refactor(lidar_apollo_segmentation_tvm/_nodes): remove autoware_auto_common dependency (`#3136 `_) -* docs: comply with mkdocs style (`#3378 `_) - refactor(doc): comply with mkdocs style - Change from the Autoware.Auto style of package documentation to one that - gets parsed better by the current way of generating the documentation. - Issue-Id: SCM-5887 - Change-Id: I898d00eda921ac73373067036c582a7bbc192cce - Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com> -* feat(tvm_utility, lidar_centerpoint_tvm): tvm pipeline extension (`#2468 `_) - * add scatter - * two stage pipeline - * ci(pre-commit): autofix - * fix build - * ci(pre-commit): autofix - * remove unecessary code - * apply changes from network_node refactor - * ci(pre-commit): autofix - * unpack tar file first and add maintainer - * fix pre commit error - * remove comment - * fix cmake download, remove scatter cpp and rename tvm function - * ci(pre-commit): autofix - Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tvm_utility): redefine network node and inference config (`#2467 `_) - * redefine network node and inference config - * accomondate network node changes - * ci(pre-commit): autofix - * revert device type and id - * cmake setting - * data type and modelzoo version - Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tvm_utility): copy test result to CPU (`#2414 `_) - Also remove dependency to autoware_auto_common. - Issue-Id: SCM-5401 - Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d - Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com> -* fix(lidar_apollo_segmentation_tvm, tvm_utility): fixed output dim and pipeline (`#2185 `_) -* feat(ModelZoo): model descriptors versioning (`#2158 `_) - Introduce a version field to the interface. - Make use of it in the lidar_apollo_segmentation_tvm packages and the - yolo_v2 example of tvm_utility. - Issue-Id: SCM-4000 - Change-Id: I6d666f886b0a9f01128bfa4cf30e189d23f3481e - Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com> -* feat(ModelZoo): rework prebuilt assets management (`#1880 `_) - ModelZoo artifacts changed from a single archive to one archive per - model/backend combination. It allows users to only download needed - archives, but prevents keeping the current design. - Change from all models being handled by the "neural_networks_provider" - package to models being downloaded by packages that need them. - Leverage the newly added versioning of the prebuilt models. - Fix the NN check of the "nodes" package. - Issue-Id: SCM-3999 - Change-Id: I1df9007f5bf446a8b50e38c4fd98e9e3a8d2550f - Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com> -* docs(tvm_utility): fix broken link (`#1670 `_) -* feat(tvm_utility): port tvm_utility (`#893 `_) - Co-authored-by: Luca Foschiani -* Contributors: Alexey Panferov, Ambroise Vincent, Kenji Miyake, Luca Foschiani, M. Fatih Cırıt, Shunsuke Miura, Vincent Richard, Xinyu Wang diff --git a/common/tvm_utility/CMakeLists.txt b/common/tvm_utility/CMakeLists.txt deleted file mode 100644 index c0a0d7385f615..0000000000000 --- a/common/tvm_utility/CMakeLists.txt +++ /dev/null @@ -1,151 +0,0 @@ -# Copyright 2021-2022 Arm Limited and Contributors. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -#    http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -cmake_minimum_required(VERSION 3.14) -project(tvm_utility) - -include("${PROJECT_NAME}-extras.cmake") - -find_package(autoware_cmake REQUIRED) -autoware_package() - -# Library - -set(TVM_UTILITY_NODE_LIB_HEADERS - "include/${PROJECT_NAME}/pipeline.hpp" -) - -ament_auto_add_library(${PROJECT_NAME} SHARED ${TVM_UTILITY_NODE_LIB_HEADERS}) -set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX) - -set(BUILD_EXAMPLE OFF CACHE BOOL "enable build yolo_v2_tiny") - -if(BUILD_TESTING OR BUILD_EXAMPLE) - find_package(OpenCV REQUIRED) - set(tvm_runtime_DIR ${tvm_vendor_DIR}) - find_package(tvm_runtime CONFIG REQUIRED) - # Get target backend - set(${PROJECT_NAME}_BACKEND llvm CACHE STRING "${PROJECT_NAME} neural network backend") -endif() - -if(BUILD_TESTING) - # compile each folder inside test/ as a test case - find_package(ament_cmake_gtest REQUIRED) - - set(TEST_ARTIFACTS "${CMAKE_CURRENT_LIST_DIR}/artifacts") - file(GLOB TEST_CASES test/*) - foreach(TEST_FOLDER ${TEST_CASES}) - if(NOT IS_DIRECTORY ${TEST_FOLDER}) - continue() - endif() - # the folder name becomes the test case name - file(RELATIVE_PATH TEST_CASE_NAME ${CMAKE_CURRENT_LIST_DIR}/test ${TEST_FOLDER}) - # Get neural network. - set(NN_DEPENDENCY "") - get_neural_network(${TEST_CASE_NAME}_${CMAKE_SYSTEM_PROCESSOR} ${${PROJECT_NAME}_BACKEND} NN_DEPENDENCY) - - if(NOT NN_DEPENDENCY STREQUAL "") - # add all cpp files in the folder to the target - file(GLOB TEST_CASE_SOURCES ${TEST_FOLDER}/*.cpp) - ament_add_gtest(${TEST_CASE_NAME} ${TEST_CASE_SOURCES}) - ament_target_dependencies(${TEST_CASE_NAME} - "ament_index_cpp" - "tvm_vendor" - ) - add_dependencies(${TEST_CASE_NAME} ${NN_DEPENDENCY}) - - target_link_libraries("${TEST_CASE_NAME}" - "${OpenCV_LIBRARIES}" - "${tvm_runtime_LIBRARIES}" - ) - - target_include_directories("${TEST_CASE_NAME}" SYSTEM PUBLIC - "${OpenCV_INCLUDE_DIRS}" - "${tvm_utility_FOUND_INCLUDE_DIRS}" - "data/models/${TEST_CASE_NAME}_${CMAKE_SYSTEM_PROCESSOR}" - "include" - ) - - # Install test-specific files - if(IS_DIRECTORY ${TEST_ARTIFACTS}/${TEST_CASE_NAME}) - install(DIRECTORY ${TEST_ARTIFACTS}/${TEST_CASE_NAME}/ - DESTINATION ${CMAKE_BINARY_DIR}/${TEST_CASE_NAME}_artifacts - ) - endif() - - else() - message(WARNING "No model is generated for ${TEST_FOLDER}, skipping test") - endif() - - endforeach() -endif() - -if(BUILD_EXAMPLE) - # compile each folder inside example/ as an example - find_package(rclcpp REQUIRED) - - set(EXAMPLE_ARTIFACTS "${CMAKE_CURRENT_LIST_DIR}/artifacts") - file(GLOB EXAMPLE_CASES example/*) - foreach(EXAMPLE_FOLDER ${EXAMPLE_CASES}) - if(NOT IS_DIRECTORY ${EXAMPLE_FOLDER}) - continue() - endif() - # the folder name becomes the example name - file(RELATIVE_PATH EXAMPLE_NAME ${CMAKE_CURRENT_LIST_DIR}/example ${EXAMPLE_FOLDER}) - # Get neural network. - set(NN_DEPENDENCY "") - get_neural_network(${EXAMPLE_NAME} ${${PROJECT_NAME}_BACKEND} NN_DEPENDENCY) - - if(NOT NN_DEPENDENCY STREQUAL "") - if(EXAMPLE_NAME STREQUAL "yolo_v2_tiny" AND - NOT EXISTS ${EXAMPLE_ARTIFACTS}/yolo_v2_tiny/test_image_0.jpg) - message(WARNING "Missing image artifact for yolo_v2_tiny, skipping example") - continue() - endif() - # add all cpp files in the folder to the target - file(GLOB EXAMPLE_SOURCES ${EXAMPLE_FOLDER}/*.cpp) - ament_auto_add_executable(${EXAMPLE_NAME} ${EXAMPLE_SOURCES}) - ament_target_dependencies(${EXAMPLE_NAME} - "ament_index_cpp" - "tvm_vendor" - "rclcpp" - ) - add_dependencies(${EXAMPLE_NAME} ${NN_DEPENDENCY}) - - target_link_libraries("${EXAMPLE_NAME}" - "${OpenCV_LIBRARIES}" - "${tvm_runtime_LIBRARIES}" - ) - - target_include_directories("${EXAMPLE_NAME}" SYSTEM PUBLIC - "${OpenCV_INCLUDE_DIRS}" - "${tvm_utility_FOUND_INCLUDE_DIRS}" - "data/models" - "include" - ) - - else() - message(WARNING "No model is generated for ${EXAMPLE_FOLDER} example") - endif() - - endforeach() -endif() - -list(APPEND ${PROJECT_NAME}_CONFIG_EXTRAS "${PROJECT_NAME}-extras.cmake") -# ament_auto_package() -ament_auto_package( - INSTALL_TO_SHARE - launch - config - artifacts) diff --git a/common/tvm_utility/README.md b/common/tvm_utility/README.md deleted file mode 100644 index 4751428353886..0000000000000 --- a/common/tvm_utility/README.md +++ /dev/null @@ -1,137 +0,0 @@ -# TVM Utility - -This is the design document for the `tvm_utility` package. For instructions on how to build the tests for YOLOv2 Tiny, -see the [YOLOv2 Tiny Example Pipeline](tvm-utility-yolo-v2-tiny-tests.md). -For information about where to store test artifacts see the [TVM Utility Artifacts](artifacts/README.md). - -## Purpose / Use cases - -A set of c++ utilities to help build a TVM based machine learning inference pipeline. The library contains a pipeline -class which helps building the pipeline and a number of utility functions that are common in machine learning. - -## Design - -The Pipeline Class is a standardized way to write an inference pipeline. The pipeline class contains 3 different stages: -the pre-processor, the inference engine and the post-processor. The TVM implementation of an inference engine stage is -provided. - -### API - -The pre-processor and post-processor need to be implemented by the user before instantiating the pipeline. You can see example -usage in the example pipeline at `test/yolo_v2_tiny`. - -Each stage in the pipeline has a `schedule` function which takes input data as a parameter and return the output data. -Once the pipeline object is created, `pipeline.schedule` is called to run the pipeline. - -```{cpp} -int main() { - create_subscription("points_raw", - rclcpp::QoS{1}, [this](const sensor_msgs::msg::PointCloud2::SharedPtr msg) - {pipeline.schedule(msg);}); -} -``` - -#### Version checking - -The `InferenceEngineTVM::version_check` function can be used to check the version of the neural network in use against the range of earliest to latest supported versions. - -The `InferenceEngineTVM` class holds the latest supported version, which needs to be updated when the targeted version changes; after having tested the effect of the version change on the packages dependent on this one. - -The earliest supported version depends on each package making use of the inference, and so should be defined (and maintained) in those packages. - -#### Models - -Dependent packages are expected to use the `get_neural_network` cmake function from this package in order to build proper external dependency. - -### Error detection and handling - -`std::runtime_error` should be thrown whenever an error is encountered. It should be populated with an appropriate text -error description. - -### Neural Networks Provider - -The neural networks are compiled as part of the -[Model Zoo](https://github.com/autowarefoundation/modelzoo/) CI pipeline and saved to an S3 bucket. - -The `get_neural_network` function creates an abstraction for the artifact management. -Users should check if model configuration header file is under "data/user/${MODEL_NAME}/". Otherwise, nothing happens and compilation of the package will be skipped. - -The structure inside of the source directory of the package making use of the function is as follow: - -```{text} -. -├── data -│ └── models -│ ├── ${MODEL 1} -│ │ └── inference_engine_tvm_config.hpp -│ ├── ... -│ └── ${MODEL ...} -│ └── ... -``` - -The `inference_engine_tvm_config.hpp` file needed for compilation by dependent packages should be available under "data/models/${MODEL_NAME}/inference_engine_tvm_config.hpp". -Dependent packages can use the cmake `add_dependencies` function with the name provided in the `DEPENDENCY` output parameter of `get_neural_network` to ensure this file is created before it gets used. - -The other `deploy_*` files are installed to "models/${MODEL_NAME}/" under the `share` directory of the package. - -The other model files should be stored in autoware_data folder under package folder with the structure: - -```{text} -$HOME/autoware_data -| └──${package} -| └──models -| ├── ${MODEL 1} -| | ├── deploy_graph.json -| | ├── deploy_lib.so -| | └── deploy_param.params -| ├── ... -| └── ${MODEL ...} -| └── ... -``` - -#### Inputs / Outputs - -Outputs: - -- `get_neural_network` cmake function; create proper external dependency for a package with use of the model provided by the user. - -In/Out: - -- The `DEPENDENCY` argument of `get_neural_network` can be checked for the outcome of the function. - It is an empty string when the neural network wasn't provided by the user. - -## Security considerations - -### Pipeline - -Both the input and output are controlled by the same actor, so the following security concerns are out-of-scope: - -- Spoofing -- Tampering - -Leaking data to another actor would require a flaw in TVM or the host operating system that allows arbitrary memory to -be read, a significant security flaw in itself. This is also true for an external actor operating the pipeline early: -only the object that initiated the pipeline can run the methods to receive its output. - -A Denial-of-Service attack could make the target hardware unusable for other pipelines but would require being able to -run code on the CPU, which would already allow a more severe Denial-of-Service attack. - -No elevation of privilege is required for this package. - -### Network provider - -The pre-compiled networks are downloaded from an S3 bucket and are under threat of spoofing, -tampering and denial of service. -Spoofing is mitigated by using an https connection. -Mitigations for tampering and denial of service are left to AWS. - -The user-provided networks are installed as they are on the host system. -The user is in charge of securing the files they provide with regard to information disclosure. - -## Future extensions / Unimplemented parts - -Future packages will use tvm_utility as part of the perception stack to run machine learning workloads. - -## Related issues - - diff --git a/common/tvm_utility/artifacts/README.md b/common/tvm_utility/artifacts/README.md deleted file mode 100644 index a2c6affd9a0e7..0000000000000 --- a/common/tvm_utility/artifacts/README.md +++ /dev/null @@ -1,6 +0,0 @@ -# TVM Utility Artifacts - -Place any test artifacts in subdirectories within this directory. - -e.g.: -./artifacts/yolo_v2_tiny diff --git a/common/tvm_utility/artifacts/yolo_v2_tiny/anchors.csv b/common/tvm_utility/artifacts/yolo_v2_tiny/anchors.csv deleted file mode 100644 index 1a3666f7e3483..0000000000000 --- a/common/tvm_utility/artifacts/yolo_v2_tiny/anchors.csv +++ /dev/null @@ -1,5 +0,0 @@ -0.57273, 0.677385f -1.87446, 2.06253f -3.33843, 5.47434f -7.88282, 3.52778f -9.77052, 9.16828f diff --git a/common/tvm_utility/artifacts/yolo_v2_tiny/labels.txt b/common/tvm_utility/artifacts/yolo_v2_tiny/labels.txt deleted file mode 100644 index 941cb4e139226..0000000000000 --- a/common/tvm_utility/artifacts/yolo_v2_tiny/labels.txt +++ /dev/null @@ -1,80 +0,0 @@ -person -bicycle -car -motorcycle -airplane -bus -train -truck -boat -traffic light -fire hydrant -stop sign -parking meter -bench -bird -cat -dog -horse -sheep -cow -elephant -bear -zebra -giraffe -backpack -umbrella -handbag -tie -suitcase -frisbee -skis -snowboard -sports ball -kite -baseball bat -baseball glove -skateboard -surfboard -tennis racket -bottle -wine glass -cup -fork -knife -spoon -bowl -banana -apple -sandwich -orange -broccoli -carrot -hot dog -pizza -donut -cake -chair -couch -potted plant -bed -dining table -toilet -tv -laptop -mouse -remote -keyboard -cell phone -microwave -oven -toaster -sink -refrigerator -book -clock -vase -scissors -teddy bear -hair drier -toothbrush diff --git a/common/tvm_utility/config/yolo_v2_tiny_example.param.yaml b/common/tvm_utility/config/yolo_v2_tiny_example.param.yaml deleted file mode 100644 index b63e4a99f97f2..0000000000000 --- a/common/tvm_utility/config/yolo_v2_tiny_example.param.yaml +++ /dev/null @@ -1,6 +0,0 @@ -/**: - ros__parameters: - image_filename: $(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/test_image_0.jpg - label_filename: $(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/labels.txt - anchor_filename: $(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/anchors.csv - data_path: $(env HOME)/autoware_data diff --git a/common/tvm_utility/data/models/abs_model_aarch64/deploy_graph.json b/common/tvm_utility/data/models/abs_model_aarch64/deploy_graph.json deleted file mode 100644 index b226c01747dca..0000000000000 --- a/common/tvm_utility/data/models/abs_model_aarch64/deploy_graph.json +++ /dev/null @@ -1,36 +0,0 @@ -{ - "nodes": [ - { - "op": "null", - "name": "a", - "inputs": [] - }, - { - "op": "tvm_op", - "name": "tvmgen_default_fused_abs", - "attrs": { - "num_outputs": "1", - "num_inputs": "1", - "flatten_data": "0", - "func_name": "tvmgen_default_fused_abs", - "hash": 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a/common/tvm_utility/data/models/abs_model_aarch64/inference_engine_tvm_config.hpp +++ /dev/null @@ -1,54 +0,0 @@ -// Copyright 2021 Arm Limited and Contributors. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "tvm_utility/pipeline.hpp" - -#ifndef COMMON__TVM_UTILITY__DATA__MODELS__ABS_MODEL_AARCH64__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT -#define COMMON__TVM_UTILITY__DATA__MODELS__ABS_MODEL_AARCH64__INFERENCE_ENGINE_TVM_CONFIG_HPP_ - -namespace model_zoo -{ -namespace inf_test -{ -namespace engine_load -{ -namespace abs_model -{ - -static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ - {0, 0, 0}, // modelzoo_version - - // cspell: ignore mtriple - "abs_model_aarch64", // network_name - "llvm -mtriple=aarch64-linux-gnu", // network_backend - - "deploy_lib.so", // network_module_path - "deploy_graph.json", // network_graph_path - "deploy_param.params", // network_params_path - - // cspell: ignore DLCPU - kDLCPU, // tvm_device_type - 0, // tvm_device_id - - {{"a", kDLFloat, 32, 1, {2, 2}}}, // network_inputs - - {{"output", kDLFloat, 32, 1, {2, 2}}} // network_outputs -}; - -} // namespace abs_model -} // namespace engine_load -} // namespace inf_test -} // namespace model_zoo -#endif // COMMON__TVM_UTILITY__DATA__MODELS__ABS_MODEL_AARCH64__INFERENCE_ENGINE_TVM_CONFIG_HPP_ - // NOLINT diff --git a/common/tvm_utility/data/models/abs_model_x86_64/deploy_graph.json b/common/tvm_utility/data/models/abs_model_x86_64/deploy_graph.json deleted file mode 100644 index b226c01747dca..0000000000000 --- a/common/tvm_utility/data/models/abs_model_x86_64/deploy_graph.json +++ /dev/null @@ -1,36 +0,0 @@ -{ - "nodes": [ - { - "op": "null", - "name": "a", - "inputs": [] - }, - { - "op": "tvm_op", - "name": "tvmgen_default_fused_abs", - "attrs": { - "num_outputs": "1", - "num_inputs": "1", - "flatten_data": "0", - "func_name": "tvmgen_default_fused_abs", - "hash": "1be44995aa501758" - }, - "inputs": [[0, 0, 0]] - } - ], - "arg_nodes": [0], - "heads": [[1, 0, 0]], - "attrs": { - "dltype": ["list_str", ["float32", "float32"]], - "device_index": ["list_int", [1, 1]], - "storage_id": ["list_int", [0, 1]], - "shape": [ - "list_shape", - [ - [2, 2], - [2, 2] - ] - ] - }, - "node_row_ptr": [0, 1, 2] -} diff --git a/common/tvm_utility/data/models/abs_model_x86_64/deploy_lib.so b/common/tvm_utility/data/models/abs_model_x86_64/deploy_lib.so deleted file mode 100644 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b/common/tvm_utility/data/models/abs_model_x86_64/inference_engine_tvm_config.hpp deleted file mode 100644 index 7a7e3ef97c1b3..0000000000000 --- a/common/tvm_utility/data/models/abs_model_x86_64/inference_engine_tvm_config.hpp +++ /dev/null @@ -1,53 +0,0 @@ -// Copyright 2021 Arm Limited and Contributors. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "tvm_utility/pipeline.hpp" - -#ifndef COMMON__TVM_UTILITY__DATA__MODELS__ABS_MODEL_X86_64__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT -#define COMMON__TVM_UTILITY__DATA__MODELS__ABS_MODEL_X86_64__INFERENCE_ENGINE_TVM_CONFIG_HPP_ - -namespace model_zoo -{ -namespace inf_test -{ -namespace engine_load -{ -namespace abs_model -{ - -static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ - {0, 0, 0}, // modelzoo_version - - "abs_model_x86_64", // network_name - "llvm", // network_backend - - "deploy_lib.so", // network_module_path - "deploy_graph.json", // network_graph_path - "deploy_param.params", // network_params_path - - // cspell: ignore DLCPU - kDLCPU, // tvm_device_type - 0, // tvm_device_id - - {{"a", kDLFloat, 32, 1, {2, 2}}}, // network_inputs - - {{"output", kDLFloat, 32, 1, {2, 2}}} // network_outputs -}; - -} // namespace abs_model -} // namespace engine_load -} // namespace inf_test -} // namespace model_zoo -#endif // COMMON__TVM_UTILITY__DATA__MODELS__ABS_MODEL_X86_64__INFERENCE_ENGINE_TVM_CONFIG_HPP_ - // NOLINT diff --git a/common/tvm_utility/data/models/yolo_v2_tiny/inference_engine_tvm_config.hpp b/common/tvm_utility/data/models/yolo_v2_tiny/inference_engine_tvm_config.hpp deleted file mode 100644 index 45ff0d8ce33e3..0000000000000 --- a/common/tvm_utility/data/models/yolo_v2_tiny/inference_engine_tvm_config.hpp +++ /dev/null @@ -1,56 +0,0 @@ -// Copyright 2021 Arm Limited and Contributors. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "tvm_utility/pipeline.hpp" - -#ifndef COMMON__TVM_UTILITY__DATA__MODELS__YOLO_V2_TINY__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT -#define COMMON__TVM_UTILITY__DATA__MODELS__YOLO_V2_TINY__INFERENCE_ENGINE_TVM_CONFIG_HPP_ - -namespace model_zoo -{ -namespace perception -{ -namespace camera_obstacle_detection -{ -namespace yolo_v2_tiny -{ -namespace tensorflow_fp32_coco -{ - -static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ - {3, 0, 0}, // modelzoo_version - - "yolo_v2_tiny", // network_name - "llvm", // network_backend - - // cspell: ignore DLCPU - "./deploy_lib.so", // network_module_path - "./deploy_graph.json", // network_graph_path - "./deploy_param.params", // network_params_path - - kDLCPU, // tvm_device_type - 0, // tvm_device_id - - {{"input", kDLFloat, 32, 1, {-1, 416, 416, 3}}}, // network_inputs - - {{"output", kDLFloat, 32, 1, {1, 13, 13, 425}}} // network_outputs -}; - -} // namespace tensorflow_fp32_coco -} // namespace yolo_v2_tiny -} // namespace camera_obstacle_detection -} // namespace perception -} // namespace model_zoo -#endif // COMMON__TVM_UTILITY__DATA__MODELS__YOLO_V2_TINY__INFERENCE_ENGINE_TVM_CONFIG_HPP_ - // NOLINT diff --git a/common/tvm_utility/example/yolo_v2_tiny/main.cpp b/common/tvm_utility/example/yolo_v2_tiny/main.cpp deleted file mode 100644 index 38b3355ca38ba..0000000000000 --- a/common/tvm_utility/example/yolo_v2_tiny/main.cpp +++ /dev/null @@ -1,307 +0,0 @@ -// Copyright 2021-2022 Arm Limited and Contributors. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "tvm_utility/pipeline.hpp" -#include "yolo_v2_tiny/inference_engine_tvm_config.hpp" - -#include -#include - -#include -#include -#include -#include -#include -#include - -using model_zoo::perception::camera_obstacle_detection::yolo_v2_tiny::tensorflow_fp32_coco::config; - -namespace tvm_utility -{ -namespace yolo_v2_tiny -{ - -class PreProcessorYoloV2Tiny : public tvm_utility::pipeline::PreProcessor -{ -public: - explicit PreProcessorYoloV2Tiny(tvm_utility::pipeline::InferenceEngineTVMConfig config) - : network_input_width(config.network_inputs[0].node_shape[1]), - network_input_height(config.network_inputs[0].node_shape[2]), - network_input_depth(config.network_inputs[0].node_shape[3]), - network_input_datatype_bytes(config.network_inputs[0].tvm_dtype_bits / 8) - { - // Allocate input variable - std::vector shape_x{1, network_input_width, network_input_height, network_input_depth}; - tvm_utility::pipeline::TVMArrayContainer x{ - shape_x, - config.network_inputs[0].tvm_dtype_code, - config.network_inputs[0].tvm_dtype_bits, - config.network_inputs[0].tvm_dtype_lanes, - config.tvm_device_type, - config.tvm_device_id}; - - output = x; - } - - // The cv::Mat can't be used as an input because it throws an exception when - // passed as a constant reference - tvm_utility::pipeline::TVMArrayContainerVector schedule(const std::string & input) - { - // Read input image - auto image = cv::imread(input, cv::IMREAD_COLOR); - if (!image.data) { - throw std::runtime_error("File " + input + " not found"); - } - - // Compute the ratio for resizing and size for padding - double scale_x = static_cast(image.size().width) / network_input_width; - double scale_y = static_cast(image.size().height) / network_input_height; - double scale = std::max(scale_x, scale_y); - - // Perform padding - if (scale != 1) { - cv::resize(image, image, cv::Size(), 1.0f / scale, 1.0f / scale); - } - - size_t w_pad = network_input_width - image.size().width; - size_t h_pad = network_input_height - image.size().height; - - if (w_pad || h_pad) { - cv::copyMakeBorder( - image, image, h_pad / 2, (h_pad - h_pad / 2), w_pad / 2, (w_pad - w_pad / 2), - cv::BORDER_CONSTANT, cv::Scalar(0, 0, 0)); - } - - // Convert pixel values from int8 to float32. convert pixel value range from 0 - 255 to 0 - 1. - cv::Mat3f image_3f{}; - image.convertTo(image_3f, CV_32FC3, 1 / 255.0f); - - // cv library uses BGR as a default color format, the network expects the data in RGB format - cv::cvtColor(image_3f, image_3f, cv::COLOR_BGR2RGB); - - TVMArrayCopyFromBytes( - output.getArray(), image_3f.data, - network_input_width * network_input_height * network_input_depth * - network_input_datatype_bytes); - - return {output}; - } - -private: - int64_t network_input_width; - int64_t network_input_height; - int64_t network_input_depth; - int64_t network_input_datatype_bytes; - tvm_utility::pipeline::TVMArrayContainer output; -}; - -class PostProcessorYoloV2Tiny : public tvm_utility::pipeline::PostProcessor> -{ -public: - explicit PostProcessorYoloV2Tiny( - tvm_utility::pipeline::InferenceEngineTVMConfig config, std::string label_filename, - std::string anchor_filename) - : network_output_width(config.network_outputs[0].node_shape[1]), - network_output_height(config.network_outputs[0].node_shape[2]), - network_output_depth(config.network_outputs[0].node_shape[3]), - network_output_datatype_bytes(config.network_outputs[0].tvm_dtype_bits / 8) - { - // Parse human readable names for the classes - std::ifstream label_file{label_filename}; - if (!label_file.good()) { - throw std::runtime_error("unable to open label file:" + label_filename); - } - std::string line{}; - while (std::getline(label_file, line)) { - labels.push_back(line); - } - - // Get anchor values for this network from the anchor file - std::ifstream anchor_file{anchor_filename}; - if (!anchor_file.good()) { - throw std::runtime_error("unable to open anchor file:" + anchor_filename); - } - std::string first{}; - std::string second{}; - while (std::getline(anchor_file, line)) { - std::stringstream line_stream(line); - std::getline(line_stream, first, ','); - std::getline(line_stream, second, ','); - anchors.push_back(std::make_pair(std::atof(first.c_str()), std::atof(second.c_str()))); - } - } - - // Sigmoid function - float sigmoid(float x) { return static_cast(1.0 / (1.0 + std::exp(-x))); } - - std::vector schedule(const tvm_utility::pipeline::TVMArrayContainerVector & input) - { - auto l_h = network_output_width; // Layer height - auto l_w = network_output_height; // Layer width - auto n_classes = labels.size(); // Total number of classes - auto n_anchors = anchors.size(); // Total number of anchors - const uint32_t n_coords = 4; // Number of coordinates in a single anchor box - - // Assert data is stored row-majored in input and the dtype is float - assert(input[0].getArray()->strides == nullptr); - assert(input[0].getArray()->dtype.bits == sizeof(float) * 8); - - // Copy the inference data to CPU memory - std::vector infer( - network_output_width * network_output_height * network_output_depth, 0); - TVMArrayCopyToBytes( - input[0].getArray(), infer.data(), - network_output_width * network_output_height * network_output_depth * - network_output_datatype_bytes); - - // Utility function to return data from y given index - auto get_output_data = [this, infer, n_classes, n_anchors, n_coords]( - auto row_i, auto col_j, auto anchor_k, auto offset) { - auto box_index = (row_i * network_output_height + col_j) * network_output_depth; - auto index = box_index + anchor_k * (n_classes + n_coords + 1); - return infer[index + offset]; - }; - - // Vector used to check if the result is accurate, - // this is also the output of this (schedule) function - std::vector scores_above_threshold{}; - - // Parse results into detections. Loop over each detection cell in the model output - for (decltype(l_w) i = 0; i < l_w; i++) { - for (decltype(l_h) j = 0; j < l_h; j++) { - for (size_t anchor_k = 0; anchor_k < n_anchors; anchor_k++) { - // Compute property index - auto box_p = get_output_data(i, j, anchor_k, 4); - - // Decode the confidence of detection in this anchor box - auto p_0 = sigmoid(box_p); - - // Find maximum probability of all classes - float max_p = 0.0f; - int max_ind = -1; - for (size_t i_class = 0; i_class < n_classes; i_class++) { - auto class_p = get_output_data(i, j, anchor_k, 5 + i_class); - if (max_p < class_p) { - max_p = class_p; - max_ind = i_class; - } - } - - if (max_ind == -1) continue; - - // Decode and copy class probabilities - std::vector class_probabilities{}; - float p_total = 0; - for (size_t i_class = 0; i_class < n_classes; i_class++) { - auto class_p = get_output_data(i, j, anchor_k, 5 + i_class); - class_probabilities.push_back(std::exp(class_p - max_p)); - p_total += class_probabilities[i_class]; - } - - // Find the most likely score - auto max_score = class_probabilities[max_ind] * p_0 / p_total; - - // Draw all detections with high scores - if (max_score > 0.3) { - scores_above_threshold.push_back(max_score); - } - } - } - } - - return scores_above_threshold; - } - -private: - int64_t network_output_width; - int64_t network_output_height; - int64_t network_output_depth; - int64_t network_output_datatype_bytes; - std::vector labels{}; - std::vector> anchors{}; -}; - -} // namespace yolo_v2_tiny -} // namespace tvm_utility - -bool check_near(double expected, double actual, double tolerance) -{ - return fabs(expected - actual) <= tolerance; -} - -int main(int argc, char * argv[]) -{ - // init node to use parameters - rclcpp::init(argc, argv); - auto node = rclcpp::Node::make_shared("yolo_v2_tiny_example"); - // Filename of the image on which to run the inference - node->declare_parameter("image_filename"); - // Name of file containing the human readable names of the classes. One class - // on each line. - node->declare_parameter("label_filename"); - // Name of file containing the anchor values for the network. Each line is one - // anchor. each anchor has 2 comma separated floating point values. - node->declare_parameter("anchor_filename"); - // Packages data and artifacts directory path. - node->declare_parameter("data_path"); - - RCLCPP_INFO(node->get_logger(), "Node started"); - - // Instantiate the pipeline - using PrePT = tvm_utility::yolo_v2_tiny::PreProcessorYoloV2Tiny; - using IET = tvm_utility::pipeline::InferenceEngineTVM; - using PostPT = tvm_utility::yolo_v2_tiny::PostProcessorYoloV2Tiny; - - PrePT PreP{config}; - IET IE{config, "tvm_utility", node->get_parameter("data_path").as_string()}; - PostPT PostP{ - config, node->get_parameter("label_filename").as_string(), - node->get_parameter("anchor_filename").as_string()}; - - tvm_utility::pipeline::Pipeline pipeline(PreP, IE, PostP); - - // Push data input the pipeline and get the output - auto output = pipeline.schedule(node->get_parameter("image_filename").as_string()); - - // Define reference vector containing expected values, expressed as hexadecimal integers - std::vector int_output{0x3eb64594, 0x3f435656, 0x3ece1600, 0x3e99d381, - 0x3f1cd6bc, 0x3f14f4dd, 0x3ed8065f, 0x3ee9f4fa, - 0x3ec1b5e8, 0x3f4e7c6c, 0x3f136af1}; - - std::vector expected_output(int_output.size()); - - // A memcpy means that the floats in expected_output have a well-defined binary value - for (size_t i = 0; i < int_output.size(); i++) { - memcpy(&expected_output[i], &int_output[i], sizeof(expected_output[i])); - } - - // Test: check if the generated output is equal to the reference - if (expected_output.size() == output.size()) { - RCLCPP_INFO(node->get_logger(), "Model has proper output size"); - } else { - RCLCPP_INFO(node->get_logger(), "Model has unexpected output size"); - } - - for (size_t i = 0; i < output.size(); ++i) { - if (check_near(expected_output[i], output[i], 0.0001)) { - std::cout << "Model has proper output at index: " << i << std::endl; - RCLCPP_INFO(node->get_logger(), "Model has proper output at index: %zu", i); - - } else { - RCLCPP_INFO(node->get_logger(), "Model has unexpected output at index: %zu", i); - } - } - rclcpp::shutdown(); - return 0; -} diff --git a/common/tvm_utility/include/tvm_utility/pipeline.hpp b/common/tvm_utility/include/tvm_utility/pipeline.hpp deleted file mode 100644 index 8c1f22bfcba30..0000000000000 --- a/common/tvm_utility/include/tvm_utility/pipeline.hpp +++ /dev/null @@ -1,414 +0,0 @@ -// Copyright 2021-2022 Arm Limited and Contributors. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef TVM_UTILITY__PIPELINE_HPP_ -#define TVM_UTILITY__PIPELINE_HPP_ - -#include - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -namespace tvm_utility -{ - -/** - * @brief Possible version status for a neural network. - */ -enum class Version { - OK, - Unknown, - Untested, - Unsupported, -}; - -namespace pipeline -{ - -class TVMArrayContainer -{ -public: - TVMArrayContainer() = default; - - TVMArrayContainer( - std::vector shape, DLDataTypeCode dtype_code, int32_t dtype_bits, int32_t dtype_lanes, - DLDeviceType device_type, int32_t device_id) - { - TVMArrayHandle x{}; - TVMArrayAlloc( - &shape[0], static_cast(shape.size()), dtype_code, dtype_bits, dtype_lanes, device_type, - device_id, &x); - handle_ = std::make_shared(x); - } - - TVMArrayHandle getArray() const { return *handle_.get(); } - -private: - std::shared_ptr handle_{nullptr, [](TVMArrayHandle ptr) { - if (ptr) { - TVMArrayFree(ptr); - } - }}; -}; - -using TVMArrayContainerVector = std::vector; - -/** - * @class PipelineStage - * @brief Base class for all types of pipeline stages. - * - * @tparam InputType The datatype of the input of the pipeline stage. - * @tparam OutputType The datatype of the output from the pipeline stage. - */ -template -class PipelineStage -{ -public: - /** - * @brief Execute the pipeline stage - * - * @param input The data to push into the pipeline stage. The pipeline stage - * should not modify the input data. - * @return The output of the pipeline - */ - virtual OutputType schedule(const InputType & input) = 0; - virtual ~PipelineStage() {} - InputType input_type_indicator_; - OutputType output_type_indicator_; -}; - -/** - * @class PreProcessor - * @brief Pre processor of the inference pipeline. In charge of converting data - * from InputType into TVMArrayContainer format. Any necessary pre processing - * of the data, such as image resizing or padding, should also be done in this - * stage . - * - * @tparam InputType The data type of the input to the pre-processing pipeline - * stage. Usually a ROS message type. - */ -template -class PreProcessor : public PipelineStage -{ -}; - -/** - * @class InferenceEngine - * @brief Pipeline stage in charge of machine learning inference. - */ -class InferenceEngine : public PipelineStage -{ -}; - -/** - * @class PostProcessor - * @brief The post processing stage of the inference pipeline. In charge of - * converting the tensor data from the inference stage into detections in - * OutputType, usually a ROS message format. Thing such as decoding bounding - * boxes, non-maximum-suppression and minimum score filtering should be done in - * this stage. - * - * @tparam OutputType The data type of the output of the inference pipeline. - * Usually a ROS message type. - */ -template -class PostProcessor : public PipelineStage -{ -}; - -/** - * @class Pipeline - * @brief Inference Pipeline. Consists of 3 stages: preprocessor, inference - * stage and postprocessor. - */ -template -class Pipeline -{ - using InputType = decltype(std::declval().input_type_indicator_); - using OutputType = decltype(std::declval().output_type_indicator_); - -public: - /** - * @brief Construct a new Pipeline object - * - * @param pre_processor a PreProcessor object - * @param post_processor a PostProcessor object - * @param inference_engine a InferenceEngine object - */ - Pipeline( - PreProcessorType pre_processor, InferenceEngineType inference_engine, - PostProcessorType post_processor) - : pre_processor_(pre_processor), - inference_engine_(inference_engine), - post_processor_(post_processor) - { - } - - /** - * @brief run the pipeline. Return asynchronously in a callback. - * - * @param input The data to push into the pipeline - * @return The pipeline output - */ - OutputType schedule(const InputType & input) - { - auto input_tensor = pre_processor_.schedule(input); - auto output_tensor = inference_engine_.schedule(input_tensor); - return post_processor_.schedule(output_tensor); - } - -private: - PreProcessorType pre_processor_{}; - InferenceEngineType inference_engine_{}; - PostProcessorType post_processor_{}; -}; - -// NetworkNode -typedef struct -{ - // Node name - std::string node_name; - - // Network data type configurations - DLDataTypeCode tvm_dtype_code; - int32_t tvm_dtype_bits; - int32_t tvm_dtype_lanes; - - // Shape info - std::vector node_shape; -} NetworkNode; - -typedef struct -{ - // Network info - std::array modelzoo_version; - std::string network_name; - std::string network_backend; - - // Network files - std::string network_module_path; - std::string network_graph_path; - std::string network_params_path; - - // Inference hardware configuration - DLDeviceType tvm_device_type; - int32_t tvm_device_id; - - // Network inputs - std::vector network_inputs; - - // Network outputs - std::vector network_outputs; -} InferenceEngineTVMConfig; - -class InferenceEngineTVM : public InferenceEngine -{ -public: - explicit InferenceEngineTVM( - const InferenceEngineTVMConfig & config, const std::string & pkg_name, - const std::string & autoware_data_path = "") - : config_(config) - { - // Get full network path - std::string network_prefix; - if (autoware_data_path == "") { - network_prefix = ament_index_cpp::get_package_share_directory(pkg_name) + "/models/" + - config.network_name + "/"; - } else { - network_prefix = autoware_data_path + "/" + pkg_name + "/models/" + config.network_name + "/"; - } - std::string network_module_path = network_prefix + config.network_module_path; - std::string network_graph_path = network_prefix + config.network_graph_path; - std::string network_params_path = network_prefix + config.network_params_path; - - // Load compiled functions - std::ifstream module(network_module_path); - if (!module.good()) { - throw std::runtime_error( - "File " + network_module_path + " specified in inference_engine_tvm_config.hpp not found"); - } - module.close(); - tvm::runtime::Module mod = tvm::runtime::Module::LoadFromFile(network_module_path); - - // Load json graph - std::ifstream json_in(network_graph_path, std::ios::in); - if (!json_in.good()) { - throw std::runtime_error( - "File " + network_graph_path + " specified in inference_engine_tvm_config.hpp not found"); - } - std::string json_data( - (std::istreambuf_iterator(json_in)), std::istreambuf_iterator()); - json_in.close(); - - // Load parameters from binary file - std::ifstream params_in(network_params_path, std::ios::binary); - if (!params_in.good()) { - throw std::runtime_error( - "File " + network_params_path + " specified in inference_engine_tvm_config.hpp not found"); - } - std::string params_data( - (std::istreambuf_iterator(params_in)), std::istreambuf_iterator()); - params_in.close(); - - // Parameters need to be in TVMByteArray format - TVMByteArray params_arr; - params_arr.data = params_data.c_str(); - params_arr.size = params_data.length(); - - // Create tvm runtime module - tvm::runtime::Module runtime_mod = (*tvm::runtime::Registry::Get("tvm.graph_executor.create"))( - json_data, mod, static_cast(config.tvm_device_type), config.tvm_device_id); - - // Load parameters - auto load_params = runtime_mod.GetFunction("load_params"); - load_params(params_arr); - - // Get set_input function - set_input = runtime_mod.GetFunction("set_input"); - - // Get the function which executes the network - execute = runtime_mod.GetFunction("run"); - - // Get the function to get output data - get_output = runtime_mod.GetFunction("get_output"); - - for (auto & output_config : config.network_outputs) { - output_.push_back(TVMArrayContainer( - output_config.node_shape, output_config.tvm_dtype_code, output_config.tvm_dtype_bits, - output_config.tvm_dtype_lanes, config.tvm_device_type, config.tvm_device_id)); - } - } - - TVMArrayContainerVector schedule(const TVMArrayContainerVector & input) override - { - // Set input(s) - for (uint32_t index = 0; index < input.size(); ++index) { - if (input[index].getArray() == nullptr) { - throw std::runtime_error("input variable is null"); - } - set_input(config_.network_inputs[index].node_name.c_str(), input[index].getArray()); - } - - // Execute the inference - execute(); - - // Get output(s) - for (uint32_t index = 0; index < output_.size(); ++index) { - if (output_[index].getArray() == nullptr) { - throw std::runtime_error("output variable is null"); - } - get_output(index, output_[index].getArray()); - } - return output_; - } - - /** - * @brief Get version information from the config structure and check if there is a mismatch - * between the supported version(s) and the actual version. - * @param[in] version_from Earliest supported model version. - * @return The version status. - */ - Version version_check(const std::array & version_from) const - { - auto x{config_.modelzoo_version[0]}; - auto y{config_.modelzoo_version[1]}; - Version ret{Version::OK}; - - if (x == 0) { - ret = Version::Unknown; - } else if (x > version_up_to[0] || (x == version_up_to[0] && y > version_up_to[1])) { - ret = Version::Untested; - } else if (x < version_from[0] || (x == version_from[0] && y < version_from[1])) { - ret = Version::Unsupported; - } - - return ret; - } - -private: - InferenceEngineTVMConfig config_; - TVMArrayContainerVector output_; - tvm::runtime::PackedFunc set_input; - tvm::runtime::PackedFunc execute; - tvm::runtime::PackedFunc get_output; - // Latest supported model version. - const std::array version_up_to{2, 1, 0}; -}; - -template < - class PreProcessorType, class InferenceEngineType, class TVMScriptEngineType, - class PostProcessorType> -class TowStagePipeline -{ - using InputType = decltype(std::declval().input_type_indicator_); - using OutputType = decltype(std::declval().output_type_indicator_); - -public: - /** - * @brief Construct a new Pipeline object - * - * @param pre_processor a PreProcessor object - * @param post_processor a PostProcessor object - * @param inference_engine a InferenceEngine object - */ - TowStagePipeline( - std::shared_ptr pre_processor, - std::shared_ptr inference_engine_1, - std::shared_ptr tvm_script_engine, - std::shared_ptr inference_engine_2, - std::shared_ptr post_processor) - : pre_processor_(pre_processor), - inference_engine_1_(inference_engine_1), - tvm_script_engine_(tvm_script_engine), - inference_engine_2_(inference_engine_2), - post_processor_(post_processor) - { - } - - /** - * @brief run the pipeline. Return asynchronously in a callback. - * - * @param input The data to push into the pipeline - * @return The pipeline output - */ - OutputType schedule(const InputType & input) - { - auto input_tensor = pre_processor_->schedule(input); - auto output_infer_1 = inference_engine_1_->schedule(input_tensor); - auto output_tvm_script = tvm_script_engine_->schedule(output_infer_1); - auto output_infer_2 = inference_engine_2_->schedule(output_tvm_script); - return post_processor_->schedule(output_infer_2); - } - -private: - std::shared_ptr pre_processor_; - std::shared_ptr inference_engine_1_; - std::shared_ptr tvm_script_engine_; - std::shared_ptr inference_engine_2_; - std::shared_ptr post_processor_; -}; - -} // namespace pipeline -} // namespace tvm_utility -#endif // TVM_UTILITY__PIPELINE_HPP_ diff --git a/common/tvm_utility/launch/yolo_v2_tiny_example.launch.xml b/common/tvm_utility/launch/yolo_v2_tiny_example.launch.xml deleted file mode 100644 index 045a6fc9dfa27..0000000000000 --- a/common/tvm_utility/launch/yolo_v2_tiny_example.launch.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - diff --git a/common/tvm_utility/package.xml b/common/tvm_utility/package.xml deleted file mode 100644 index a1984a84c0bdc..0000000000000 --- a/common/tvm_utility/package.xml +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - tvm_utility - 0.38.0 - - A set of utility functions to help build a machine learning pipeline using - TVM as the inference engine. - - Ambroise Vincent - Xinyu Wang - Apache License 2.0 - - autoware_cmake - - ament_index_cpp - libopenblas-dev - libopencv-dev - tvm_vendor - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - diff --git a/common/tvm_utility/schema/yolo_v2_tiny_example.schema.json b/common/tvm_utility/schema/yolo_v2_tiny_example.schema.json deleted file mode 100644 index 8ee1987f73a62..0000000000000 --- a/common/tvm_utility/schema/yolo_v2_tiny_example.schema.json +++ /dev/null @@ -1,47 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "Parameters for yolo_v2_tiny_example of tvm_utility", - "type": "object", - "definitions": { - "yolo_v2_tiny_example": { - "type": "object", - "properties": { - "image_filename": { - "type": "string", - "default": "$(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/test_image_0.jpg", - "description": "Filename of the image on which to run the inference." - }, - "label_filename": { - "type": "string", - "default": "$(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/labels.txt", - "description": "Name of file containing the human readable names of the classes. One class on each line." - }, - "anchor_filename": { - "type": "string", - "default": "$(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/anchors.csv", - "description": "Name of file containing the anchor values for the network. Each line is one anchor. each anchor has 2 comma separated floating point values." - }, - "data_path": { - "type": "string", - "default": "$(env HOME)/autoware_data", - "description": "Packages data and artifacts directory path." - } - }, - "required": ["image_filename", "label_filename", "anchor_filename", "data_path"] - } - }, - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "$ref": "#/definitions/yolo_v2_tiny_example" - } - }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false -} diff --git a/common/tvm_utility/test/abs_model/main.cpp b/common/tvm_utility/test/abs_model/main.cpp deleted file mode 100644 index 4bf1a69c0556b..0000000000000 --- a/common/tvm_utility/test/abs_model/main.cpp +++ /dev/null @@ -1,146 +0,0 @@ -// Copyright 2021-2022 Arm Limited and Contributors. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "gtest/gtest.h" -#include "tvm_utility/pipeline.hpp" -// file for current arch x86 or arm is chosen in cmake file -#include -#include - -#include -#include -#include -#include -#include - -using model_zoo::inf_test::engine_load::abs_model::config; - -namespace tvm_utility -{ -namespace abs_model -{ - -class PreProcessorLinearModel : public tvm_utility::pipeline::PreProcessor> -{ -public: - explicit PreProcessorLinearModel(tvm_utility::pipeline::InferenceEngineTVMConfig config) - : network_input_a_width(config.network_inputs[0].node_shape[0]), - network_input_a_height(config.network_inputs[0].node_shape[1]), - network_input_datatype_bytes(config.network_inputs[0].tvm_dtype_bits / 8) - { - // Allocate input variable - std::vector shape_a{network_input_a_width, network_input_a_height}; - tvm_utility::pipeline::TVMArrayContainer a{ - shape_a, - config.network_inputs[0].tvm_dtype_code, - config.network_inputs[0].tvm_dtype_bits, - config.network_inputs[0].tvm_dtype_lanes, - config.tvm_device_type, - config.tvm_device_id}; - - output = a; - } - - // The cv::Mat can't be used as an input because it throws an exception when - // passed as a constant reference - tvm_utility::pipeline::TVMArrayContainerVector schedule(const std::vector & input) - { - float input_mat[2][2]; - input_mat[0][0] = input[0]; - input_mat[0][1] = input[1]; - input_mat[1][0] = input[2]; - input_mat[1][1] = input[3]; - - // Create cv::Mat from input array - cv::Mat a_input = cv::Mat(2, 2, CV_32F, &input_mat); - - TVMArrayCopyFromBytes( - output.getArray(), a_input.data, - network_input_a_width * network_input_a_height * network_input_datatype_bytes); - - return {output}; - } - -private: - int64_t network_input_a_width; - int64_t network_input_a_height; - int64_t network_input_datatype_bytes; - tvm_utility::pipeline::TVMArrayContainer output; -}; - -class PostProcessorLinearModel : public tvm_utility::pipeline::PostProcessor> -{ -public: - explicit PostProcessorLinearModel(tvm_utility::pipeline::InferenceEngineTVMConfig config) - : network_output_width(config.network_outputs[0].node_shape[0]), - network_output_height(config.network_outputs[0].node_shape[1]), - network_output_datatype_bytes(config.network_outputs[0].tvm_dtype_bits / 8) - { - } - - std::vector schedule(const tvm_utility::pipeline::TVMArrayContainerVector & input) - { - // Assert data is stored row-majored in input and the dtype is float - assert(input[0].getArray()->strides == nullptr); - assert(input[0].getArray()->dtype.bits == sizeof(float) * 8); - - // Copy the inference data to CPU memory - std::vector infer(network_output_width * network_output_height, 0.0f); - - TVMArrayCopyToBytes( - input[0].getArray(), infer.data(), - network_output_width * network_output_height * network_output_datatype_bytes); - - return infer; - } - -private: - int64_t network_output_width; - int64_t network_output_height; - int64_t network_output_datatype_bytes; -}; - -TEST(PipelineExamples, SimplePipeline) -{ - // // Instantiate the pipeline - using PrePT = PreProcessorLinearModel; - using IET = tvm_utility::pipeline::InferenceEngineTVM; - using PostPT = PostProcessorLinearModel; - - PrePT PreP{config}; - IET IE{config, "tvm_utility"}; - PostPT PostP{config}; - - tvm_utility::pipeline::Pipeline pipeline(PreP, IE, PostP); - - auto version_status = IE.version_check({2, 0, 0}); - EXPECT_NE(version_status, tvm_utility::Version::Unsupported); - - // create input array - std::vector input_arr{-1., -2., -3., 4.}; - // send it to the model - auto output = pipeline.schedule(input_arr); - - // define vector with expected values - std::vector expected_output{1., 2., 3., 4.}; - - // // Test: check if the generated output is equal to the reference - EXPECT_EQ(expected_output.size(), output.size()) << "Unexpected output size"; - for (size_t i = 0; i < output.size(); ++i) { - EXPECT_NEAR(expected_output[i], output[i], 0.0001) << "at index: " << i; - } -} - -} // namespace abs_model -} // namespace tvm_utility diff --git a/common/tvm_utility/tvm-utility-yolo-v2-tiny-tests.md b/common/tvm_utility/tvm-utility-yolo-v2-tiny-tests.md deleted file mode 100644 index 39bcc640c2147..0000000000000 --- a/common/tvm_utility/tvm-utility-yolo-v2-tiny-tests.md +++ /dev/null @@ -1,53 +0,0 @@ -# YOLOv2 Tiny Example Pipeline - -This is an example implementation of an inference pipeline using the pipeline -framework. This example pipeline executes the -[YOLO V2 Tiny](https://pjreddie.com/darknet/yolov2/) model and decodes its -output. - -## Compiling the Example - - - -1. Check if model was downloaded during the env preparation step by ansible and - models files exist in the folder $HOME/autoware_data/tvm_utility/models/yolo_v2_tiny. - - If not you can download them manually, see [Manual Artifacts Downloading](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts). - -2. Download an example image to be used as test input. This image needs to be - saved in the `artifacts/yolo_v2_tiny/` folder. - - ```sh - curl https://raw.githubusercontent.com/pjreddie/darknet/master/data/dog.jpg \ - > artifacts/yolo_v2_tiny/test_image_0.jpg - ``` - -3. Build. - - ```sh - colcon build --packages-up-to tvm_utility --cmake-args -DBUILD_EXAMPLE=ON - ``` - -4. Run. - - ```sh - ros2 launch tvm_utility yolo_v2_tiny_example.launch.xml - ``` - -## Parameters - -| Name | Type | Default Value | Description | -| ----------------- | ------ | ----------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------- | -| `image_filename` | string | `$(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/test_image_0.jpg` | Filename of the image on which to run the inference. | -| `label_filename` | string | `$(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/labels.txt` | Name of file containing the human readable names of the classes. One class on each line. | -| `anchor_filename` | string | `$(find-pkg-share tvm_utility)/artifacts/yolo_v2_tiny/anchors.csv` | Name of file containing the anchor values for the network. Each line is one anchor. each anchor has 2 comma separated floating point values. | -| `data_path` | string | `$(env HOME)/autoware_data` | Packages data and artifacts directory path. | - -## GPU backend - -Vulkan is supported by default by the tvm_vendor package. -It can be selected by setting the `tvm_utility_BACKEND` variable: - -```sh -colcon build --packages-up-to tvm_utility -Dtvm_utility_BACKEND=vulkan -``` diff --git a/common/tvm_utility/tvm_utility-extras.cmake b/common/tvm_utility/tvm_utility-extras.cmake deleted file mode 100644 index 414644c1fe041..0000000000000 --- a/common/tvm_utility/tvm_utility-extras.cmake +++ /dev/null @@ -1,61 +0,0 @@ -# Copyright 2021-2022 Arm Ltd. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# -# Make inference_engine_tvm_config.hpp available under "data/models/${MODEL_NAME}/". -# Install the TVM artifacts to "share/${PROJECT_NAME}/models/". -# Return the name of the custom target in the DEPENDENCY parameter. -# -# :param MODEL_NAME: the name of the targeted neural network -# :type MODEL_NAME: string -# :param MODEL_BACKEND: the name of the targeted backend -# :type MODEL_BACKEND: string -# :param DEPENDENCY: output parameter; name of the ExternalProject top level target -# :type DEPENDENCY: string -# -function(get_neural_network MODEL_NAME MODEL_BACKEND DEPENDENCY) - set(DATA_PATH ${CMAKE_CURRENT_SOURCE_DIR}/data) - set(EXTERNALPROJECT_NAME ${MODEL_NAME}_${MODEL_BACKEND}) - set(PREPROCESSING "") - - if(IS_DIRECTORY "${DATA_PATH}/models/${MODEL_NAME}") - set(SOURCE_DIR "${DATA_PATH}/models/${MODEL_NAME}") - set(INSTALL_DIRECTORY "${DATA_PATH}/models/${MODEL_NAME}") - if(EXISTS "${DATA_PATH}/models/${MODEL_NAME}/preprocessing_inference_engine_tvm_config.hpp") - set(PREPROCESSING "${DATA_PATH}/models/${MODEL_NAME}/preprocessing_inference_engine_tvm_config.hpp") - endif() - else() - message(WARNING "No model configuration files were provided") - set(${DEPENDENCY} "" PARENT_SCOPE) - return() - endif() - - include(ExternalProject) - externalproject_add(${EXTERNALPROJECT_NAME} - SOURCE_DIR ${SOURCE_DIR} - CONFIGURE_COMMAND "" - BUILD_COMMAND "" - BUILD_BYPRODUCTS "${DATA_PATH}/models/${MODEL_NAME}/inference_engine_tvm_config.hpp" - BUILD_BYPRODUCTS ${PREPROCESSING} - INSTALL_COMMAND "" - ) - install( - DIRECTORY ${INSTALL_DIRECTORY} - DESTINATION "share/${PROJECT_NAME}/models/" - USE_SOURCE_PERMISSIONS - ) - - set(${DEPENDENCY} ${EXTERNALPROJECT_NAME} PARENT_SCOPE) - -endfunction() From 3a92654309cc68cddd3b5c686352af522b1d4fc7 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 12 Nov 2024 15:42:18 +0100 Subject: [PATCH 412/701] fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (#9304) Signed-off-by: Esteve Fernandez --- common/autoware_adapi_specs/CHANGELOG.rst | 44 +- common/autoware_auto_common/CHANGELOG.rst | 310 +++++------ .../CHANGELOG.rst | 4 +- .../CHANGELOG.rst | 2 +- .../CHANGELOG.rst | 46 +- common/autoware_geography_utils/CHANGELOG.rst | 2 +- .../CHANGELOG.rst | 2 +- common/autoware_grid_map_utils/CHANGELOG.rst | 8 +- common/autoware_interpolation/CHANGELOG.rst | 2 +- common/autoware_kalman_filter/CHANGELOG.rst | 2 +- common/autoware_motion_utils/CHANGELOG.rst | 28 +- .../CHANGELOG.rst | 2 +- common/autoware_osqp_interface/CHANGELOG.rst | 2 +- .../CHANGELOG.rst | 4 +- .../CHANGELOG.rst | 22 +- .../CHANGELOG.rst | 4 +- .../CHANGELOG.rst | 320 ++++++------ 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.../CHANGELOG.rst | 132 ++--- .../CHANGELOG.rst | 132 ++--- .../CHANGELOG.rst | 48 +- .../CHANGELOG.rst | 130 ++--- .../CHANGELOG.rst | 20 +- .../CHANGELOG.rst | 16 +- .../CHANGELOG.rst | 62 +-- .../CHANGELOG.rst | 116 ++--- .../CHANGELOG.rst | 18 +- .../CHANGELOG.rst | 38 +- .../CHANGELOG.rst | 18 +- .../CHANGELOG.rst | 56 +- .../CHANGELOG.rst | 14 +- .../CHANGELOG.rst | 20 +- .../CHANGELOG.rst | 24 +- .../CHANGELOG.rst | 22 +- .../CHANGELOG.rst | 48 +- .../CHANGELOG.rst | 30 +- .../CHANGELOG.rst | 10 +- .../CHANGELOG.rst | 18 +- .../CHANGELOG.rst | 14 +- .../CHANGELOG.rst | 20 +- .../CHANGELOG.rst | 26 +- .../CHANGELOG.rst | 14 +- .../CHANGELOG.rst | 22 +- .../CHANGELOG.rst | 44 +- .../CHANGELOG.rst | 58 +-- .../CHANGELOG.rst | 50 +- .../CHANGELOG.rst | 56 +- .../autoware_bezier_sampler/CHANGELOG.rst | 2 +- .../autoware_frenet_planner/CHANGELOG.rst | 12 +- .../autoware_path_sampler/CHANGELOG.rst | 22 +- .../autoware_sampler_common/CHANGELOG.rst | 8 +- sensing/autoware_cuda_utils/CHANGELOG.rst | 4 +- sensing/autoware_gnss_poser/CHANGELOG.rst | 6 +- .../autoware_image_diagnostics/CHANGELOG.rst | 4 +- .../CHANGELOG.rst | 2 +- sensing/autoware_imu_corrector/CHANGELOG.rst | 2 +- sensing/autoware_pcl_extensions/CHANGELOG.rst | 2 +- .../CHANGELOG.rst | 80 +-- .../CHANGELOG.rst | 2 +- .../CHANGELOG.rst | 2 +- .../CHANGELOG.rst | 2 +- .../CHANGELOG.rst | 2 +- .../autoware_livox_tag_filter/CHANGELOG.rst | 6 +- .../vehicle_velocity_converter/CHANGELOG.rst | 16 +- .../autoware_carla_interface/CHANGELOG.rst | 8 +- .../dummy_perception_publisher/CHANGELOG.rst | 250 ++++----- simulator/fault_injection/CHANGELOG.rst | 62 +-- .../CHANGELOG.rst | 8 +- .../simple_planning_simulator/CHANGELOG.rst | 480 +++++++++--------- .../CHANGELOG.rst | 10 +- .../vehicle_door_simulator/CHANGELOG.rst | 4 +- .../autoware_component_monitor/CHANGELOG.rst | 6 +- system/autoware_default_adapi/CHANGELOG.rst | 6 +- .../CHANGELOG.rst | 4 +- system/bluetooth_monitor/CHANGELOG.rst | 20 +- system/component_state_monitor/CHANGELOG.rst | 32 +- .../ad_api_adaptors/CHANGELOG.rst | 36 +- .../ad_api_visualizers/CHANGELOG.rst | 10 +- .../automatic_pose_initializer/CHANGELOG.rst | 18 +- .../diagnostic_graph_aggregator/CHANGELOG.rst | 36 +- system/diagnostic_graph_utils/CHANGELOG.rst | 8 +- system/dummy_diag_publisher/CHANGELOG.rst | 82 +-- system/dummy_infrastructure/CHANGELOG.rst | 32 +- system/duplicated_node_checker/CHANGELOG.rst | 10 +- system/hazard_status_converter/CHANGELOG.rst | 10 +- .../CHANGELOG.rst | 14 +- .../mrm_emergency_stop_operator/CHANGELOG.rst | 20 +- system/mrm_handler/CHANGELOG.rst | 36 +- .../system_diagnostic_monitor/CHANGELOG.rst | 18 +- system/system_monitor/CHANGELOG.rst | 474 ++++++++--------- system/topic_state_monitor/CHANGELOG.rst | 64 +-- system/velodyne_monitor/CHANGELOG.rst | 54 +- tools/reaction_analyzer/CHANGELOG.rst | 18 +- .../CHANGELOG.rst | 16 +- .../CHANGELOG.rst | 12 +- .../CHANGELOG.rst | 30 +- .../CHANGELOG.rst | 10 +- 244 files changed, 5185 insertions(+), 5185 deletions(-) diff --git a/common/autoware_adapi_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst index 9f6d14bb2c041..f94b51d97f949 100644 --- a/common/autoware_adapi_specs/CHANGELOG.rst +++ b/common/autoware_adapi_specs/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_ad_api_specs 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: adapi vehicle topic qos (`#7847 `_) -* feat(default_ad_api): add heratbeat api (`#6969 `_) +* fix: adapi vehicle topic qos (`#7847 `_) +* feat(default_ad_api): add heratbeat api (`#6969 `_) * feat(default_ad_api): add heratbeat api * fix node dying --------- @@ -14,12 +14,12 @@ Changelog for package autoware_ad_api_specs 0.26.0 (2024-04-03) ------------------- -* feat(default_ad_api): add door api (`#5737 `_) -* chore: update api package maintainers (`#6086 `_) +* feat(default_ad_api): add door api (`#5737 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* feat(default_ad_api): add object recognition api (`#2887 `_) +* feat(default_ad_api): add object recognition api (`#2887 `_) * add object recognition api * add unorder map * pre-commit @@ -30,9 +30,9 @@ Changelog for package autoware_ad_api_specs * change topic naming --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* docs: add readme for interface packages (`#4235 `_) +* docs: add readme for interface packages (`#4235 `_) add readme for interface packages -* feat: add vehicle status api (`#2930 `_) +* feat: add vehicle status api (`#2930 `_) * add vehicle status api * update msgs * change naming @@ -57,14 +57,14 @@ Changelog for package autoware_ad_api_specs * added checking message valid * fix msgs --------- -* feat(default_ad_api): add vehicle info api (`#2984 `_) +* feat(default_ad_api): add vehicle info api (`#2984 `_) * feat(default_ad_api): add vehicle dimensions api * feat: add footprint * update api name --------- -* feat(autoware_api_specs): change topic depth of route state api and localization state api (`#3757 `_) +* feat(autoware_api_specs): change topic depth of route state api and localization state api (`#3757 `_) fix depth -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -72,21 +72,21 @@ Changelog for package autoware_ad_api_specs --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: update codeowners (`#3513 `_) -* feat(default_ad_api): add route change api (`#3197 `_) +* chore: update codeowners (`#3513 `_) +* feat(default_ad_api): add route change api (`#3197 `_) * feat: add route change api * fix: reroute --------- -* feat(default_ad_api): add planning api (`#2481 `_) +* feat(default_ad_api): add planning api (`#2481 `_) * feat(default_ad_api): add planning api * feat: complement velocity factor * feat: add stop check * feat: make the same process into a function * feat: update visualizer * fix: remove flake8 test -* chore: add api maintainers (`#2361 `_) -* feat(default_ad_api): add fail-safe api (`#2295 `_) -* feat(default_ad_api): add motion api (`#1809 `_) +* chore: add api maintainers (`#2361 `_) +* feat(default_ad_api): add fail-safe api (`#2295 `_) +* feat(default_ad_api): add motion api (`#1809 `_) * feat(autoware_ad_api_specs): define motion interface * feat(default_ad_api): add motion api * feat: modify motion api @@ -102,7 +102,7 @@ Changelog for package autoware_ad_api_specs * feat: add option * feat: modify state name Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat(autoware_ad_api_specs): define operation mode interface (`#1570 `_) +* feat(autoware_ad_api_specs): define operation mode interface (`#1570 `_) * feat(autoware_ad_api_msgs): define operation mode interface * fix: add message * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg @@ -112,18 +112,18 @@ Changelog for package autoware_ad_api_specs * feat: move adapi message * feat: change message type Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat(autoware_ad_api_specs): define motion interface (`#1808 `_) +* feat(autoware_ad_api_specs): define motion interface (`#1808 `_) * feat(autoware_ad_api_specs): define motion interface * feat: add error code * feat: move adapi messages * feat(component_interface_utils): apply message change * feat: change message type -* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) -* feat(autoware_ad_api_specs): define localization interface (`#1560 `_) +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* feat(autoware_ad_api_specs): define localization interface (`#1560 `_) feat(autoware_ad_api_msgs): define localization interface -* feat(autoware_ad_api_specs): define routing interface (`#1559 `_) +* feat(autoware_ad_api_specs): define routing interface (`#1559 `_) * feat(autoware_ad_api_msgs): define routing interface * feat: rename route body message * feat: rename route state -* feat(autoware_ad_api_specs): modify interface version api to use spec package (`#1677 `_) +* feat(autoware_ad_api_specs): modify interface version api to use spec package (`#1677 `_) * Contributors: Kah Hooi Tan, Takagi, Isamu, Vincent Richard, yabuta diff --git a/common/autoware_auto_common/CHANGELOG.rst b/common/autoware_auto_common/CHANGELOG.rst index be1965e87c2e9..271ecb7badb38 100644 --- a/common/autoware_auto_common/CHANGELOG.rst +++ b/common/autoware_auto_common/CHANGELOG.rst @@ -5,27 +5,27 @@ Changelog for package autoware_auto_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_auto_common): fix cppcheck warnings of functionStatic (`#8265 `_) +* fix(autoware_auto_common): fix cppcheck warnings of functionStatic (`#8265 `_) fix: deal with functionStatic warnings -* fix(autoware_auto_common): nullptr_t (`#7212 `_) -* fix: do not use c++20 char8_t keyword (`#3629 `_) +* fix(autoware_auto_common): nullptr_t (`#7212 `_) +* fix: do not use c++20 char8_t keyword (`#3629 `_) fix: do not use c++20 keyword as a type alias * Contributors: Shumpei Wakabayashi, Yutaka Kondo, ralwing, taisa1 0.26.0 (2024-04-03) ------------------- -* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) +* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) * fix(autoware_auto_common): move headers to a separate directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add maintainer (`#4234 `_) +* chore: add maintainer (`#4234 `_) * chore: add maintainer * Update evaluator/localization_evaluator/package.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -33,7 +33,7 @@ Changelog for package autoware_auto_common --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore(typo): eliminate typos (`#2216 `_) +* chore(typo): eliminate typos (`#2216 `_) * Replace 'asssert' with 'assert' * fix(typo): computationall => computational * fix(typo): collinearity => collinearity @@ -205,11 +205,11 @@ Changelog for package autoware_auto_common commit c7d3b7d2132323af3437af01e9d774b13005bace Author: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Date: Fri Dec 16 13:51:35 2022 +0900 - test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) + test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) commit 6731e0ced39e3187c2afffe839eaa697a19e5e84 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri Dec 16 09:29:35 2022 +0900 - feat(pose_initializer): partial map loading (`#2500 `_) + feat(pose_initializer): partial map loading (`#2500 `_) * first commit * move function * now works @@ -228,7 +228,7 @@ Changelog for package autoware_auto_common commit efb4ff1cea6e07aa9e894a6042e8685e30b420ba Author: Kosuke Takeuchi Date: Thu Dec 15 17:29:44 2022 +0900 - feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) + feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) * feat(trajectory_follower): extend mpc trajectory for terminal yaw * make mpc min vel param * add mpc extended point after smoothing @@ -245,7 +245,7 @@ Changelog for package autoware_auto_common commit ad2ae7827bdc3af7da8607fdd53ea74940426421 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 15 15:52:34 2022 +0900 - feat(component_interface_tools): add service log checker (`#2503 `_) + feat(component_interface_tools): add service log checker (`#2503 `_) * feat(component_interface_utils): add service log checker * feat(component_interface_tools): add service log checker * feat(component_interface_tools): add diagnostics @@ -253,11 +253,11 @@ Changelog for package autoware_auto_common commit 4a13cc5a32898f5b17791d9381744bf71ff8ed20 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu Dec 15 12:54:11 2022 +0900 - fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) + fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) commit 77b1c36b5ca89b25250dcbb117c9f03a9c36c1c4 Author: Kyoichi Sugahara <81.s.kyo.19@gmail.com> Date: Thu Dec 15 10:45:45 2022 +0900 - feat(behavior_path_planner): change side shift module logic (`#2195 `_) + feat(behavior_path_planner): change side shift module logic (`#2195 `_) * change side shift module design * cherry picked side shift controller * add debug marker to side shift @@ -275,45 +275,45 @@ Changelog for package autoware_auto_common commit 9183c4f20eb4592ed0b48c2eac67add070711677 Author: Takamasa Horibe Date: Wed Dec 14 19:59:00 2022 +0900 - refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) + refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) commit ed992b10ed326f03354dce3b563b8622f9ae9a6c Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 17:48:24 2022 +0900 - fix(behavior_path_planner): fix planner data copy (`#2501 `_) + fix(behavior_path_planner): fix planner data copy (`#2501 `_) commit 0c6c46b33b3c828cb95eaa31fcbf85655fc6a55f Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 14:42:16 2022 +0900 - fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) + fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) * feat(behavior_path_planner): fix find nearest function from lateral distance * empty commit commit a26b69d1df55e9369ea3adcdd011ae2d7c86dfb7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 11:28:07 2022 +0900 - feat(behavior_path_planner): fix overlap checker (`#2498 `_) + feat(behavior_path_planner): fix overlap checker (`#2498 `_) * feat(behavior_path_planner): fix overlap checker * remove reserve commit 3a24859ca6851caaeb25fc4fac2334fcbdb887d1 Author: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Tue Dec 13 16:51:59 2022 +0300 - feat(mission_planner): check goal footprint (`#2088 `_) + feat(mission_planner): check goal footprint (`#2088 `_) commit b6a18855431b5f3a67fcbf383fac8df2b45d462e Author: Takamasa Horibe Date: Tue Dec 13 22:46:24 2022 +0900 - feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) + feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) commit f1a9a9608559a5b89f631df3dc2fadd037e36ab4 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 19:47:16 2022 +0900 - feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) + feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) * feat(behavior_path_planner): clean drivable area code * make a function for turn signal decider commit fafe1d8235b99302bc9ba8f3770ae34878f1e7e7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 18:19:41 2022 +0900 - feat(behavior_path_planner): change turn signal output timing (`#2493 `_) + feat(behavior_path_planner): change turn signal output timing (`#2493 `_) commit c48b9cfa7074ecd46d96f6dc43679e17bde3a63d Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue Dec 13 09:16:14 2022 +0900 - feat(map_loader): add differential map loading interface (`#2417 `_) + feat(map_loader): add differential map loading interface (`#2417 `_) * first commit * ci(pre-commit): autofix * added module load in _node.cpp @@ -326,13 +326,13 @@ Changelog for package autoware_auto_common commit 9a3613bfcd3e36e522d0ea9130f6200ca7689e2b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 08:49:23 2022 +0900 - docs(default_ad_api): add readme (`#2491 `_) + docs(default_ad_api): add readme (`#2491 `_) * docs(default_ad_api): add readme * feat: update table commit 49aa10b04de61c36706f6151d11bf17257ca54d1 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 06:46:20 2022 +0900 - feat(default_ad_api): split parameters into file (`#2488 `_) + feat(default_ad_api): split parameters into file (`#2488 `_) * feat(default_ad_api): split parameters into file * feat: remove old parameter * fix: test @@ -340,7 +340,7 @@ Changelog for package autoware_auto_common commit 7f0138c356c742b6e15e571e7a4683caa55969ac Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon Dec 12 22:16:54 2022 +0900 - feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) + feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) * update * update * update @@ -364,11 +364,11 @@ Changelog for package autoware_auto_common commit c855e23cc17d1518ebce5dd15629d03acfe17da3 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 17:15:10 2022 +0900 - refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) + refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) commit fa04d540c9afdded016730c9978920a194d2d2b4 Author: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon Dec 12 16:04:00 2022 +0900 - feat: replace python launch with xml launch for system monitor (`#2430 `_) + feat: replace python launch with xml launch for system monitor (`#2430 `_) * feat: replace python launch with xml launch for system monitor * ci(pre-commit): autofix * update figure @@ -376,7 +376,7 @@ Changelog for package autoware_auto_common commit 4a6990c49d1f8c3bedfb345e7c94c3c6893b4099 Author: Kosuke Takeuchi Date: Mon Dec 12 15:01:39 2022 +0900 - feat(trajectory_follower): pub steer converged marker (`#2441 `_) + feat(trajectory_follower): pub steer converged marker (`#2441 `_) * feat(trajectory_follower): pub steer converged marker * Revert "feat(trajectory_follower): pub steer converged marker" This reverts commit a6f6917bc542d5b533150f6abba086121e800974. @@ -384,15 +384,15 @@ Changelog for package autoware_auto_common commit 3c01f15125dfbc45e1050ee96ccc42618d6ee6fd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 12:48:41 2022 +0900 - docs(tier4_state_rviz_plugin): update readme (`#2475 `_) + docs(tier4_state_rviz_plugin): update readme (`#2475 `_) commit d8ece0040354be5381a27403bcc757354735a77b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 11:57:03 2022 +0900 - chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) + chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) commit 727586bfe86dc9cb21ce34d9cbe19c241e162b04 Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 10:00:35 2022 +0900 - fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) + fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) * fix(behavior_path_planner): lane change candidate resolution * rework sampling based on current speed * refactor code @@ -402,21 +402,21 @@ Changelog for package autoware_auto_common commit 284548ca7f38b1d83af11f2b9caaac116eb9b09c Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 09:57:19 2022 +0900 - fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) + fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) commit 469d8927bd7a0c98b9d491d347e111065973e13f Author: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri Dec 9 21:27:18 2022 +0900 - revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) + revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) This reverts commit 8e13ced6dfb6edfea77a589ef4cb93d82683bf51. commit d924f85b079dfe64feab017166685be40e977e62 Author: NorahXiong <103234047+NorahXiong@users.noreply.github.com> Date: Fri Dec 9 19:53:51 2022 +0800 - fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) + fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> commit b2ded82324bce78d9db3ff01b0227b00709b1efe Author: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri Dec 9 17:12:13 2022 +0900 - fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) + fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) * fix: reclassify ground cluster pcl * fix: add lowest-based recheck * chore: refactoring @@ -425,19 +425,19 @@ Changelog for package autoware_auto_common commit 8906a1e78bc5b7d6417683ecedc1efe3f48be31e Author: Takamasa Horibe Date: Fri Dec 9 16:29:45 2022 +0900 - fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) + fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) commit d4939058f05f9a1609f0ed22afbd0d4febfb212d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri Dec 9 12:40:30 2022 +0900 - feat(behavior_velocity_planner): clean walkway module (`#2480 `_) + feat(behavior_velocity_planner): clean walkway module (`#2480 `_) commit d3b86a37ae7c3a0d59832caf56afa13b148d562c Author: Makoto Kurihara Date: Thu Dec 8 22:59:32 2022 +0900 - fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) + fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) commit 2dde073a101e96757ef0cd189bb9ff06836934e9 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 8 17:16:13 2022 +0900 - feat(behavior_velocity_planner): add velocity factors (`#1985 `_) + feat(behavior_velocity_planner): add velocity factors (`#1985 `_) * (editting) add intersection_coordination to stop reason * (editting) add intersection coordination to stop reasons * (Editting) add v2x to stop reason @@ -488,11 +488,11 @@ Changelog for package autoware_auto_common commit 9a5057e4948ff5ac9165c14eb7112d79f2de76d5 Author: Kosuke Takeuchi Date: Thu Dec 8 13:42:50 2022 +0900 - fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) + fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) commit cddb8c74d0fbf49390b4d462c20c12bc257f4825 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:57:04 2022 +0900 - feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) + feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) * feat(gyro_odometer): publish when both data arrive * remove unnecessary commentouts * ci(pre-commit): autofix @@ -513,61 +513,61 @@ Changelog for package autoware_auto_common commit f0f513cf44532dfe8d51d27c4caef23fb694af16 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:08:29 2022 +0900 - fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) + fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) commit 01daebf42937a05a2d83f3dee2c0778389492e50 Author: Takayuki Murooka Date: Thu Dec 8 00:28:35 2022 +0900 - fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) + fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) commit 26ef8174b1c12b84070b36df2a7cd14bfa9c0363 Author: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed Dec 7 19:32:09 2022 +0900 - fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) + fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) * fix: rename use_external_emergency_stop to check_external_emergency_heartbeat * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 024b993a0db8c0d28db0f05f64990bed7069cbd8 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 18:00:32 2022 +0900 - fix(motion_utils): rename sampling function (`#2469 `_) + fix(motion_utils): rename sampling function (`#2469 `_) commit c240ce2b6f4e79c435ed651b347a7d665a947862 Author: Yukihiro Saito Date: Wed Dec 7 16:33:44 2022 +0900 - feat: remove web controller (`#2405 `_) + feat: remove web controller (`#2405 `_) commit 2992b1cadae7e7ac86fd249998ce3c7ddbe476c9 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 15:39:28 2022 +0900 - feat(motion_utils): add points resample function (`#2465 `_) + feat(motion_utils): add points resample function (`#2465 `_) commit 4a75d7c0ddbd88f54afaf2bb05eb65138a53ea60 Author: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> Date: Wed Dec 7 14:42:33 2022 +0900 - docs: update training data for traffic light (`#2464 `_) + docs: update training data for traffic light (`#2464 `_) * update traffic light cnn classifier README.md * correct to upper case Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> commit a4287165be87fa7727f79c01dfb0bea6af54c333 Author: Ryuta Kambe Date: Wed Dec 7 12:21:49 2022 +0900 - perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) + perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) commit 0a5b2857d3b2c1c9370598013b25aeaebf2d654d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 12:03:46 2022 +0900 - feat(behavior_path_planner): cut overlapped path (`#2451 `_) + feat(behavior_path_planner): cut overlapped path (`#2451 `_) * feat(behavior_path_planner): cut overlapped path * clean code commit 65003dc99f2abe937afcc010514530fa666fbbfd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Wed Dec 7 11:06:41 2022 +0900 - revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) - Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" + revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) + Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" This reverts commit c4224854a7e57a9526dde998f742741fe383471c. commit fab18677ca4de378faff84a41db5147577e7448d Author: Makoto Kurihara Date: Wed Dec 7 10:32:41 2022 +0900 - fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) + fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) commit a1d3c80a4f5e3a388887a5afb32d9bf7961301f1 Author: Ambroise Vincent Date: Tue Dec 6 10:39:02 2022 +0100 - fix(tvm_utility): copy test result to CPU (`#2414 `_) + fix(tvm_utility): copy test result to CPU (`#2414 `_) Also remove dependency to autoware_auto_common. Issue-Id: SCM-5401 Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d @@ -575,12 +575,12 @@ Changelog for package autoware_auto_common commit eb9946832c7e42d5380fd71956165409d0b592c3 Author: Mamoru Sobue Date: Tue Dec 6 18:11:41 2022 +0900 - chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) + chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) changed logging level commit c4224854a7e57a9526dde998f742741fe383471c Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 6 17:01:37 2022 +0900 - fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) + fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) * fix(default_ad_api): fix autoware state to add wait time * Update system/default_ad_api/src/compatibility/autoware_state.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> @@ -588,14 +588,14 @@ Changelog for package autoware_auto_common commit f984fbb708cb02947ec2824ce041c739c35940f7 Author: Takamasa Horibe Date: Tue Dec 6 13:55:17 2022 +0900 - feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) + feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) * feat(transition_manager): add param to ignore autonomous transition condition * same for modeChangeCompleted * remove debug print commit d3e640df270a0942c4639e11451faf26e099bbe1 Author: Tomoya Kimura Date: Tue Dec 6 13:01:06 2022 +0900 - feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) + feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) * chore(cspell): interpolable => interpolatable * Revert "Merge branch 'destroy-typos-check-all' into destroy-typos" This reverts commit 6116ca02d9df59f815d772a271fed7b0b21ebaf7, reversing @@ -606,48 +606,48 @@ Changelog for package autoware_auto_common --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yukihiro Saito -* revert: "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper" (`#2317 `_) - Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (`#1276 `_)" +* revert: "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper" (`#2317 `_) + Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (`#1276 `_)" This reverts commit ef7dcda087beffaa0acf35e9647be1cb439007ba. -* feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (`#1276 `_) -* docs: update link style and fix typos (`#950 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) +* feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (`#1276 `_) +* docs: update link style and fix typos (`#950 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * docs: update link style * chore: fix link - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) - * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) - * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) + * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) * fixed panel type * modified instruction for rosbag replay case * modified update_map_dir service name - * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) + * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) * skipping emplace back stop reason if it is empty * add braces * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> - * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) + * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) * feat(behavior_path_planner): Weakened noise filtering of drivable area * fix lanelet's longitudinal disconnection * add comments of erode/dilate process - * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) + * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) * refactor(vehicle-cmd-gate): using namespace for msgs * for clang - * feat(pose_initializer): introduce an array copy function (`#900 `_) + * feat(pose_initializer): introduce an array copy function (`#900 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat: add lidar point filter when debug (`#865 `_) + * feat: add lidar point filter when debug (`#865 `_) * feat: add lidar point filter when debug * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes (`#899 `_) * feat(component_interface_utils): add interface classes * feat(default_ad_api): apply the changes of interface utils * fix(component_interface_utils): remove old comment @@ -655,18 +655,18 @@ Changelog for package autoware_auto_common * fix(component_interface_utils): remove unimplemented message * docs(component_interface_utils): add design policy * docs(component_interface_utils): add comment - * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) + * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) Co-authored-by: Berkay - * feat: visualize lane boundaries (`#923 `_) + * feat: visualize lane boundaries (`#923 `_) * feat: visualize lane boundaries * fix: start_bound * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) * fix(system_monitor): fix truncation warning in strncpy * Use std::string constructor to copy char array * Fixed typo - * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) + * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) * fix: extend following and previous search range to avoid no collision * chore: add debug marker * fix: simplify logic @@ -676,11 +676,11 @@ Changelog for package autoware_auto_common * ci(pre-commit): autofix * fix: delete debug code Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * docs(surround obstacle checker): update documentation (`#878 `_) + * docs(surround obstacle checker): update documentation (`#878 `_) * docs(surround_obstacle_checker): update pub/sub topics & params * docs(surround_obstacle_checker): remove unused files * docs(surround_obstacke_checker): update purpose - * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) + * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) * feat(tier4_autoware_utils): add vehicle state checker * fix(tier4_autoware_utils): use absolute value * feat(tier4_autoware_utils): divide into two classies @@ -690,20 +690,20 @@ Changelog for package autoware_auto_common * fix(tier4_autoware_utils): into same loop * fix(tier4_autoware_utils): fix variables name * fix(tier4_autoware_utils): remove redundant codes - * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point * Modify overwriteStopPoint input and output - * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) + * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) * feat(obstacle_avoidance_planner) fix bug of stop line unalignment * fix bug of unsorted output points * move calcVelocity in node.cpp * fix build error - * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) - * fix(system_monitor): add some smart information to diagnostics (`#708 `_) - * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) + * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) + * fix(system_monitor): add some smart information to diagnostics (`#708 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) * feat(obstacle_avoidance_planner): dealt with close lane change * fix bug of right lane change - * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) * use car like constraints in mpt * use not widest bounds for the first bounds * organized params @@ -713,17 +713,17 @@ Changelog for package autoware_auto_common * update config * remove unnecessary files * update tier4_planning_launch params - * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) - * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) + * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check * feat: use marker helper - * feat(map_loader): visualize center line by points (`#931 `_) + * feat(map_loader): visualize center line by points (`#931 `_) * feat: visualize center line points * fix: delete space * feat: visualize center line by arrow * revert insertMarkerArray * fix: delete space - * feat: add RTC interface (`#765 `_) + * feat: add RTC interface (`#765 `_) * feature(rtc_interface): add files * feature(rtc_interface): implement functions * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md @@ -735,23 +735,23 @@ Changelog for package autoware_auto_common * feature(rtc_interface): add isRegistered and clearCooperateStatus * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore: sync files (`#911 `_) + * chore: sync files (`#911 `_) Co-authored-by: kenji-miyake - * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) + * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) * fix: replace boost::mutex::scoped_lock to std::scoped_lock * fix: replace boost::mutex to std::mutex - * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node * feat(tensorrt_yolo): update arg Co-authored-by: Kaan Colak - * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat: add param.yaml in behavior_velocity_planner package * some fix Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> - * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader * fix(map_loader): remove c_str * fix(map_loader): replace c_str to string @@ -790,18 +790,18 @@ Changelog for package autoware_auto_common Co-authored-by: Kaan Çolak Co-authored-by: Kaan Colak Co-authored-by: Kenji Miyake -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove license notations from CMakeLists.txt (`#846 `_) -* chore: remove bad chars (`#845 `_) -* style: fix format of package.xml (`#844 `_) -* fix(autoware_auto_tf2): modify build error in rolling (`#718 `_) +* chore: remove license notations from CMakeLists.txt (`#846 `_) +* chore: remove bad chars (`#845 `_) +* style: fix format of package.xml (`#844 `_) +* fix(autoware_auto_tf2): modify build error in rolling (`#718 `_) * fix(autoware_auto_common): modify build error in rolling * fix(autoware_auto_tf2): modify build error in rolling * fix(autoware_auto_geometry): modify build error in rolling @@ -811,8 +811,8 @@ Changelog for package autoware_auto_common * fix(simple_planning_simulator): modify build error in rolling * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: fix typos (`#751 `_) -* ci(pre-commit): clear the exclude option (`#426 `_) +* chore: fix typos (`#751 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) * ci(pre-commit): remove unnecessary excludes * ci(pre-commit): autofix * ci(pre-commit): autofix @@ -824,61 +824,61 @@ Changelog for package autoware_auto_common * fix build * use autoware_lint_common Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: remove filesystem.hpp (`#440 `_) -* feat: add autoware auto dependencies (`#185 `_) - * Back port .auto control packages (`#571 `_) +* chore: remove filesystem.hpp (`#440 `_) +* feat: add autoware auto dependencies (`#185 `_) + * Back port .auto control packages (`#571 `_) * Implement Lateral and Longitudinal Control Muxer - * [`#570 `_] Porting wf_simulator - * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' - * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' - * [`#1057 `_] Add osqp_interface package - * [`#1057 `_] Add library code for MPC-based lateral control - * [`#1271 `_] Use std::abs instead of abs - * [`#1057 `_] Implement Lateral Controller for Cargo ODD - * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" - * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' - * [`#1058 `_] Add library code of longitudinal controller + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller * Fix build error for trajectory follower * Fix build error for trajectory follower nodes - * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator - * [`#1058 `_] Add Longitudinal Controller node - * [`#1058 `_] Rename velocity_controller -> longitudinal_controller - * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node - * [`#1058 `_] Add smoke test python launch file - * [`#1058 `_] Use LowPassFilter1d from trajectory_follower - * [`#1058 `_] Use autoware_auto_msgs - * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) - * [`#1058 `_] Remove unused parameters - * [`#1058 `_] Fix ros test - * [`#1058 `_] Rm default params from declare_parameters + use autoware types - * [`#1058 `_] Use default param file to setup NodeOptions in the ros test - * [`#1058 `_] Fix docstring - * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState - * [`#1058 `_] Change class variables format to m\_ prefix - * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt - * [`#1058 `_] Fix copyright dates - * [`#1058 `_] Reorder includes - * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) - * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) - * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope - * [`#1058 `_] Calculate wheel_base value from vehicle parameters - * [`#1058 `_] Cleanup redundant logger setting in tests - * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures - * [`#1058 `_] Remove TF listener and use published vehicle state instead - * [`#1058 `_] Change smoke tests to use autoware_testing - * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control - * [`#1058 `_] Improve design documents - * [`#1058 `_] Disable flaky test - * [`#1058 `_] Properly transform vehicle state in longitudinal node - * [`#1058 `_] Fix TF buffer of lateral controller - * [`#1058 `_] Tuning of lateral controller for LGSVL - * [`#1058 `_] Fix formating - * [`#1058 `_] Fix /tf_static sub to be transient_local - * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build - * [`#1379 `_] Update trajectory_follower - * [`#1379 `_] Update simple_planning_simulator - * [`#1379 `_] Update trajectory_follower_nodes + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes * apply trajectory msg modification in control * move directory * remote control/trajectory_follower level dorectpry @@ -902,7 +902,7 @@ Changelog for package autoware_auto_common Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: tomoya.kimura - * Port parking planner packages from .Auto (`#600 `_) + * Port parking planner packages from .Auto (`#600 `_) * Copy code of 'vehicle_constants_manager' * Fix vehicle_constants_manager for ROS galactic * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms diff --git a/common/autoware_component_interface_specs/CHANGELOG.rst b/common/autoware_component_interface_specs/CHANGELOG.rst index 4f77c16d209e1..68a4eaaa2f36b 100644 --- a/common/autoware_component_interface_specs/CHANGELOG.rst +++ b/common/autoware_component_interface_specs/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_component_interface_specs 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: fix internal door interface qos (`#9144 `_) -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* fix: fix internal door interface qos (`#9144 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) * Contributors: Esteve Fernandez, Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_component_interface_tools/CHANGELOG.rst b/common/autoware_component_interface_tools/CHANGELOG.rst index bbce1c4978685..d04567161c80d 100644 --- a/common/autoware_component_interface_tools/CHANGELOG.rst +++ b/common/autoware_component_interface_tools/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_component_interface_tools 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_tools): prefix package and namespace with autoware (`#9093 `_) +* refactor(component_interface_tools): prefix package and namespace with autoware (`#9093 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_component_interface_utils/CHANGELOG.rst b/common/autoware_component_interface_utils/CHANGELOG.rst index 3d8001d9db584..d27f4b4558bbc 100644 --- a/common/autoware_component_interface_utils/CHANGELOG.rst +++ b/common/autoware_component_interface_utils/CHANGELOG.rst @@ -5,25 +5,25 @@ Changelog for package component_interface_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt * Contributors: Yutaka Kondo, awf-autoware-bot[bot] 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* chore(component_interface_utils): set log level of debug printing to DEBUG (`#5995 `_) -* feat: add common interface utils test (`#5173 `_) +* chore(component_interface_utils): set log level of debug printing to DEBUG (`#5995 `_) +* feat: add common interface utils test (`#5173 `_) * add interface utils test * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_api_specs): change topic depth of route state api and localization state api (`#3757 `_) +* feat(autoware_api_specs): change topic depth of route state api and localization state api (`#3757 `_) fix depth -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -31,15 +31,15 @@ Changelog for package component_interface_utils --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: update codeowners (`#3513 `_) -* feat(component_interface_tools): add service log checker (`#2503 `_) +* chore: update codeowners (`#3513 `_) +* feat(component_interface_tools): add service log checker (`#2503 `_) * feat(component_interface_utils): add service log checker * feat(component_interface_tools): add service log checker * feat(component_interface_tools): add diagnostics * feat: update system error monitor config -* chore: add api maintainers (`#2361 `_) -* fix(component_interface_utils): fix error level (`#2322 `_) -* feat(operation_mode_transition_manager): support ad api (`#1535 `_) +* chore: add api maintainers (`#2361 `_) +* fix(component_interface_utils): fix error level (`#2322 `_) +* feat(operation_mode_transition_manager): support ad api (`#1535 `_) * feat(operation_mode_transition_manager): support ad api * fix: merge operation mode state message * feat(autoware_ad_api_msgs): define operation mode interface @@ -58,7 +58,7 @@ Changelog for package component_interface_utils * fix: fix operation mode change when disable autoware control * fix: fix operation mode change when autoware control is disabled Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat(default_ad_api): add motion api (`#1809 `_) +* feat(default_ad_api): add motion api (`#1809 `_) * feat(autoware_ad_api_specs): define motion interface * feat(default_ad_api): add motion api * feat: modify motion api @@ -74,20 +74,20 @@ Changelog for package component_interface_utils * feat: add option * feat: modify state name Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat(component_interface_utils): change service log output (`#2022 `_) +* feat(component_interface_utils): change service log output (`#2022 `_) * feat(component_interface_utils): change client log * feat(component_interface_utils): change server log * feat(component_interface_utils): add interface * feat: add console log -* feat(component_interface_utils): apply message change (`#1921 `_) +* feat(component_interface_utils): apply message change (`#1921 `_) * feat(component_interface_utils): apply message change * feat: add error category -* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) -* feat(autoware_ad_api_specs): define routing interface (`#1559 `_) +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* feat(autoware_ad_api_specs): define routing interface (`#1559 `_) * feat(autoware_ad_api_msgs): define routing interface * feat: rename route body message * feat: rename route state -* feat(component_interface_utils): update service utility (`#1429 `_) +* feat(component_interface_utils): update service utility (`#1429 `_) * feat(component_interface_utils): add exceptions, relay, and synchronous service call * feat(autoware_ad_api_msgs): add status code * feat(component_interface_utils): fix for hubmle @@ -99,7 +99,7 @@ Changelog for package component_interface_utils * feat(component_interface_utils): use optional for no timeout * docs(component_interface_utils): update readme * feat(component_interface_utils): add bind function -* feat(component_interface_utils): add interface classes (`#899 `_) +* feat(component_interface_utils): add interface classes (`#899 `_) * feat(component_interface_utils): add interface classes * feat(default_ad_api): apply the changes of interface utils * fix(component_interface_utils): remove old comment @@ -107,21 +107,21 @@ Changelog for package component_interface_utils * fix(component_interface_utils): remove unimplemented message * docs(component_interface_utils): add design policy * docs(component_interface_utils): add comment -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* fix: apply fixes for rolling (`#821 `_) +* fix: apply fixes for rolling (`#821 `_) * fix(component_interface_utils): add USE_DEPRECATED_TO_YAML * fix(lidar_apollo_instance_segmentation): add USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER * add rclcpp_components to package.xml * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(default_ad_api): add interface version (`#704 `_) +* feat(default_ad_api): add interface version (`#704 `_) * feat(default_ad_api): add interface version * feat(default_ad_api): add http server * feat(default_ad_api): add message readme diff --git a/common/autoware_geography_utils/CHANGELOG.rst b/common/autoware_geography_utils/CHANGELOG.rst index 388f4669a7fa2..623861bbd01c3 100644 --- a/common/autoware_geography_utils/CHANGELOG.rst +++ b/common/autoware_geography_utils/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_geography_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) * refactor(geography_utils): prefix package and namespace with autoware * move headers to include/autoware/ --------- diff --git a/common/autoware_goal_distance_calculator/CHANGELOG.rst b/common/autoware_goal_distance_calculator/CHANGELOG.rst index 7764103e0a7fe..4b38ad848193b 100644 --- a/common/autoware_goal_distance_calculator/CHANGELOG.rst +++ b/common/autoware_goal_distance_calculator/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_goal_distance_calculator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(goal_distance_calculator): prefix package and namespace with autoware (`#9172 `_) +* refactor(goal_distance_calculator): prefix package and namespace with autoware (`#9172 `_) * refactor(goal_distance_calculator): prefix package and namespace with autoware * style(pre-commit): autofix --------- diff --git a/common/autoware_grid_map_utils/CHANGELOG.rst b/common/autoware_grid_map_utils/CHANGELOG.rst index bd67bd4f9ea8b..ee66753285b0e 100644 --- a/common/autoware_grid_map_utils/CHANGELOG.rst +++ b/common/autoware_grid_map_utils/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_grid_map_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) +* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_interpolation/CHANGELOG.rst b/common/autoware_interpolation/CHANGELOG.rst index b26a3224874e6..fbba411fcdeca 100644 --- a/common/autoware_interpolation/CHANGELOG.rst +++ b/common/autoware_interpolation/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_interpolation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 * Contributors: Esteve Fernandez, Yutaka Kondo diff --git a/common/autoware_kalman_filter/CHANGELOG.rst b/common/autoware_kalman_filter/CHANGELOG.rst index e21cf3ead34ec..becf8dc95abec 100644 --- a/common/autoware_kalman_filter/CHANGELOG.rst +++ b/common/autoware_kalman_filter/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_kalman_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) * refactor(kalman_filter): prefix package and namespace with autoware * move headers to include/autoware/ * style(pre-commit): autofix diff --git a/common/autoware_motion_utils/CHANGELOG.rst b/common/autoware_motion_utils/CHANGELOG.rst index 58221545156fe..84374fb8a3f26 100644 --- a/common/autoware_motion_utils/CHANGELOG.rst +++ b/common/autoware_motion_utils/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_motion_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_motion_utils): add spherical linear interpolator (`#9175 `_) -* test(motion_utils): add test for path shift (`#9083 `_) +* feat(autoware_motion_utils): add spherical linear interpolator (`#9175 `_) +* test(motion_utils): add test for path shift (`#9083 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header @@ -16,31 +16,31 @@ Changelog for package autoware_motion_utils * add unit test to all function * fix spelling --------- -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* refactor(autoware_motion_utils): refactor interpolator (`#8931 `_) +* refactor(autoware_motion_utils): refactor interpolator (`#8931 `_) * refactor interpolator * update cmake * update * rename * Update CMakeLists.txt --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* feat(autoware_motion_utils): set zero velocity after stop in resample trajectory (`#8768 `_) +* feat(autoware_motion_utils): set zero velocity after stop in resample trajectory (`#8768 `_) * feat(autoware_motion_utils): set zero velocity after stop in resample trajectory * fix unit test * simplify implementation * update comment and add test --------- -* fix(autoware_motion_utils): fix unusedFunction (`#8733 `_) +* fix(autoware_motion_utils): fix unusedFunction (`#8733 `_) refactor:remove Path/Trajectory length calculation between designated points -* feat(autoware_motion_utils): add clone function and make the constructor public (`#8688 `_) +* feat(autoware_motion_utils): add clone function and make the constructor public (`#8688 `_) * feat(autoware_motion_utils): add interpolator * use int32_t instead of int * use int32_t instead of int @@ -55,8 +55,8 @@ Changelog for package autoware_motion_utils * fix stairstep * make constructor to public --------- -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* feat(autoware_motion_utils): add interpolator (`#8517 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* feat(autoware_motion_utils): add interpolator (`#8517 `_) * feat(autoware_motion_utils): add interpolator * use int32_t instead of int * use int32_t instead of int @@ -68,9 +68,9 @@ Changelog for package autoware_motion_utils * remove unused include * refactor code --------- -* fix(autoware_motion_utils): fix unusedFunction (`#8519 `_) +* fix(autoware_motion_utils): fix unusedFunction (`#8519 `_) fix: unusedFunction -* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) +* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) * fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength * Update trajectory.hpp Co-authored-by: Kyoichi Sugahara @@ -78,8 +78,8 @@ Changelog for package autoware_motion_utils Co-authored-by: Kyoichi Sugahara --------- Co-authored-by: Kyoichi Sugahara -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir * Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Maxime CLEMENT, Nagi70, Yukinari Hisaki, Yutaka Kondo, kobayu858 diff --git a/common/autoware_object_recognition_utils/CHANGELOG.rst b/common/autoware_object_recognition_utils/CHANGELOG.rst index 98d08c67169e6..1ff6a870e3791 100644 --- a/common/autoware_object_recognition_utils/CHANGELOG.rst +++ b/common/autoware_object_recognition_utils/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_object_recognition_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_osqp_interface/CHANGELOG.rst b/common/autoware_osqp_interface/CHANGELOG.rst index c78a17f62712d..5af614d9301ad 100644 --- a/common/autoware_osqp_interface/CHANGELOG.rst +++ b/common/autoware_osqp_interface/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_osqp_interface 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst index 132502aff6c54..86a9f62f236fa 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_mission_details_overlay_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat: add color customization to gear speed mission speed limit and traffic displays (`#8142 `_) +* feat: add color customization to gear speed mission speed limit and traffic displays (`#8142 `_) feat: Add color customization to gear, speed, mission,speedlimit and traffic displays -* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) +* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) * Contributors: Ahmed Ebrahim, Khalil Selyan, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst index 84168438ac709..012be9e7cce85 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_overlay_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(speed_display): always show speed positive and depend on gear for negatives (`#8957 `_) -* style: update state panel plugin (`#8846 `_) -* feat: add color customization to gear speed mission speed limit and traffic displays (`#8142 `_) +* fix(speed_display): always show speed positive and depend on gear for negatives (`#8957 `_) +* style: update state panel plugin (`#8846 `_) +* feat: add color customization to gear speed mission speed limit and traffic displays (`#8142 `_) feat: Add color customization to gear, speed, mission,speedlimit and traffic displays -* fix(autoware_overlay_rviz_plugin): topic type of traffic light (`#8098 `_) +* fix(autoware_overlay_rviz_plugin): topic type of traffic light (`#8098 `_) * fix(autoware_overlay_rviz_plugin): topic type of traffic light * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add handle angle scale property to signal display (`#7774 `_) +* feat: add handle angle scale property to signal display (`#7774 `_) * feat: add handle angle scale property to signal display * fix: set default steering angle to 0.0° when not received * fix: set default steering angle to N/A when not received and check for msg_ptr instead of float value @@ -22,17 +22,17 @@ Changelog for package autoware_overlay_rviz_plugin * chore: update steering wheel display to center the steering angle text * chore: align steering angle text in both negative and positive cases --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* fix(autoware_overlay_rviz_plugin): fix subs and cleanup (`#6978 `_) -* feat: update rviz2 overlay (`#6883 `_) -* feat(autoware_overlay_rviz_plugin): get the current traffic light (`#6899 `_) +* fix(autoware_overlay_rviz_plugin): fix subs and cleanup (`#6978 `_) +* feat: update rviz2 overlay (`#6883 `_) +* feat(autoware_overlay_rviz_plugin): get the current traffic light (`#6899 `_) * Contributors: Khalil Selyan, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Tomohito ANDO, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* build(autoware_overlay_rviz_plugin): add missing ament_cmake_auto dependency (`#6519 `_) -* feat: update vehicle overlay plugin (`#6323 `_) +* build(autoware_overlay_rviz_plugin): add missing ament_cmake_auto dependency (`#6519 `_) +* feat: update vehicle overlay plugin (`#6323 `_) * Contributors: Esteve Fernandez, Khalil Selyan diff --git a/common/autoware_path_distance_calculator/CHANGELOG.rst b/common/autoware_path_distance_calculator/CHANGELOG.rst index d77ddff29ba86..436099b87795e 100644 --- a/common/autoware_path_distance_calculator/CHANGELOG.rst +++ b/common/autoware_path_distance_calculator/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_path_distance_calculator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: add autoware prefix (`#8385 `_) -* refactor(autoware_path_distance_calculator): prefix package and namespace with autoware (`#8085 `_) +* fix: add autoware prefix (`#8385 `_) +* refactor(autoware_path_distance_calculator): prefix package and namespace with autoware (`#8085 `_) * Contributors: Esteve Fernandez, Kotaro Uetake, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_perception_rviz_plugin/CHANGELOG.rst b/common/autoware_perception_rviz_plugin/CHANGELOG.rst index 638652d32b09c..0f8e5ff1f7fd8 100644 --- a/common/autoware_perception_rviz_plugin/CHANGELOG.rst +++ b/common/autoware_perception_rviz_plugin/CHANGELOG.rst @@ -5,35 +5,35 @@ Changelog for package autoware_perception_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_perception_rviz_plugin): fix unusedFunction (`#8784 `_) +* fix(autoware_perception_rviz_plugin): fix unusedFunction (`#8784 `_) fix: unusedFunction -* feat(autoware_perception_rviz_plugin): rviz predicted path mark as triangle (`#8536 `_) +* feat(autoware_perception_rviz_plugin): rviz predicted path mark as triangle (`#8536 `_) * refactor: predicted path mark replace to triangle * chore: clean up --------- -* fix(autoware_perception_rviz_plugin): fix passedByValue (`#8192 `_) +* fix(autoware_perception_rviz_plugin): fix passedByValue (`#8192 `_) * fix: passedByValue * fix:passedByValue --------- Co-authored-by: kobayu858 -* chore(autoware_perception_rviz_plugin): delete maintainer (`#7900 `_) -* fix(autoware_perception_rviz_plugin): fix duplicateBranch warnings (`#7695 `_) +* chore(autoware_perception_rviz_plugin): delete maintainer (`#7900 `_) +* fix(autoware_perception_rviz_plugin): fix duplicateBranch warnings (`#7695 `_) * fix(autoware_perception_rviz_plugin): fix duplicateBranch warnings * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat(autoware_auto_perception_rviz_plugin)!: rename package to autoware_perception_rviz_plugin (`#7221 `_) +* feat(autoware_auto_perception_rviz_plugin)!: rename package to autoware_perception_rviz_plugin (`#7221 `_) feat(autoware_auto_perception_rviz_plugin): rename package to autoware_perception_rviz_plugin Co-authored-by: Yukihiro Saito * Contributors: Hayate TOBA, Nagi70, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi Tanaka, Taekjin LEE, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* feat: add rviz plugin packages (`#3 `_) +* feat: add rviz plugin packages (`#3 `_) * release v0.4.0 * remove ROS1 packages temporarily * add sample ros2 packages @@ -41,55 +41,55 @@ Changelog for package autoware_perception_rviz_plugin * Revert "remove ROS1 packages temporarily" This reverts commit 7eacbcea261a65d6c305c7b0d069591ca3a2ee3a. * add COLCON_IGNORE to ros1 packages - * Port autoware-perception-rviz-plugin (`#100 `_) + * Port autoware-perception-rviz-plugin (`#100 `_) * Port to ROS2 * Update namespaces - * Port autoware-planning-rviz-plugin (`#103 `_) + * Port autoware-planning-rviz-plugin (`#103 `_) * Port to ROS2 * Update deprecated * Update namespaces - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * Fix rviz plugins (`#175 `_) + * Fix rviz plugins (`#175 `_) * [autoware_perception_rviz_plugin] make library to shared and fix library name in plugin_description.xml * [autoware_planning_rviz_plugin] make library to shared and fix library name in plugin_description.xml - * Port autoware vehicle rviz plugin (`#111 `_) + * Port autoware vehicle rviz plugin (`#111 `_) * Port to ROS2 * Amend buildtool * Fix license * Fix * Fixes - * adding linters to autoware_planning_rviz_plugin (`#224 `_) - * adding linters to autoware_perception_rviz_plugin (`#225 `_) - * [autoware_perception_rviz_plugin] make plugin library SHARED (`#236 `_) - * Fix bugs in autoware vehicle rviz plugin (`#246 `_) - * Ros2 v0.8.0 autoware vehicle rviz plugin (`#333 `_) + * adding linters to autoware_planning_rviz_plugin (`#224 `_) + * adding linters to autoware_perception_rviz_plugin (`#225 `_) + * [autoware_perception_rviz_plugin] make plugin library SHARED (`#236 `_) + * Fix bugs in autoware vehicle rviz plugin (`#246 `_) + * Ros2 v0.8.0 autoware vehicle rviz plugin (`#333 `_) * add test depend - * fix console meter size (`#909 `_) - * update to change font scale (`#910 `_) - * Fix typos in common modules (`#914 `_) + * fix console meter size (`#909 `_) + * update to change font scale (`#910 `_) + * Fix typos in common modules (`#914 `_) * fix typos in common modules * minor fix (lowercasing) * revert changes in PathPoint.msg - * Fix memory leaks in turn signal plugin (`#932 `_) + * Fix memory leaks in turn signal plugin (`#932 `_) * fix memory leak (QPointF) * convert raw pointers to smart pointers - * update handle image (`#948 `_) - * reduce calc cost rviz plugin (`#947 `_) + * update handle image (`#948 `_) + * reduce calc cost rviz plugin (`#947 `_) * reduce calc cost * cosmetic change * cosmetic change * Use CMAKE_CXX_STANDARD to enable C++14 for Qt Co-authored-by: Kenji Miyake - * change font size independency desplay (`#946 `_) - * bug fix (wrong unit conversion) (`#956 `_) - * Refactor autoware_vehicle_rviz_plugin (`#967 `_) + * change font size independency desplay (`#946 `_) + * bug fix (wrong unit conversion) (`#956 `_) + * Refactor autoware_vehicle_rviz_plugin (`#967 `_) * Refactor autoware_vehicle_rviz_plugin - change smart pointers to raw pointers according to Qt convention - remove unused headers @@ -97,7 +97,7 @@ Changelog for package autoware_perception_rviz_plugin - cosmetic changes according to Google C++ Style Guide - use the range-based for statement - replace push_back with emplace_back - See also: `#932 `_, `#964 `_ + See also: `#932 `_, `#964 `_ * Apply clang-format * Change a variable name to clarify: history -> histories * add build testing @@ -107,28 +107,28 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Yukihiro Saito Co-authored-by: Kazuki Miyahara Co-authored-by: Kenji Miyake - * Ros2 v0.8.0 autoware perception rviz plugin (`#334 `_) - * Fix typos in common modules (`#914 `_) + * Ros2 v0.8.0 autoware perception rviz plugin (`#334 `_) + * Fix typos in common modules (`#914 `_) * fix typos in common modules * minor fix (lowercasing) * revert changes in PathPoint.msg * ament_cmake_cppcheck -> ament_lint_common * apply lint Co-authored-by: Kazuki Miyahara - * Ros2 v0.8.0 autoware planning rviz plugin (`#336 `_) - * add speed limit visualizer (`#908 `_) + * Ros2 v0.8.0 autoware planning rviz plugin (`#336 `_) + * add speed limit visualizer (`#908 `_) * add speed limit visualizer * :put_litter_in_its_place: * add max velocity output * fix bug * update visualizer Co-authored-by: tomoya.kimura - * change font size independency desplay (`#946 `_) + * change font size independency desplay (`#946 `_) * ament_cmake_cppcheck -> ament_lint_common * apply lint * change topic type Co-authored-by: Yukihiro Saito - * Ros2 v0.8.0 remove std msgs awapi (`#348 `_) + * Ros2 v0.8.0 remove std msgs awapi (`#348 `_) * [autoware_vehicle_msgs] add BatteryStatus msg * [autoware_planning_msgs] add ExpandStopRange and StopSpeedExceeded messages * [autoware_api_msgs] add DoorControlCommand, StopCommand, and VelocityLimit messages @@ -137,24 +137,24 @@ Changelog for package autoware_perception_rviz_plugin * fix build failure * fix test failures * address review commends - * Ros2 v0.9.0 pose history (`#387 `_) + * Ros2 v0.9.0 pose history (`#387 `_) * Port pose history to ROS2 - * pose_history (`#1169 `_) + * pose_history (`#1169 `_) * change pkg name * add alpha Co-authored-by: Yukihiro Saito - * fix max velocity visualization (`#397 `_) + * fix max velocity visualization (`#397 `_) * fix max velocity vis * apply lint-format - * Ros2 rtd plugin (`#444 `_) + * Ros2 rtd plugin (`#444 `_) * Use RTD instead of MFD - * Sync public repo (`#1228 `_) - * [simple_planning_simulator] add readme (`#424 `_) + * Sync public repo (`#1228 `_) + * [simple_planning_simulator] add readme (`#424 `_) * add readme of simple_planning_simulator * Update simulator/simple_planning_simulator/README.md - * set transit_margin_time to intersect. planner (`#460 `_) - * Fix pose2twist (`#462 `_) - * Ros2 vehicle info param server (`#447 `_) + * set transit_margin_time to intersect. planner (`#460 `_) + * Fix pose2twist (`#462 `_) + * Ros2 vehicle info param server (`#447 `_) * add vehicle_info_param_server * update vehicle info * apply format @@ -162,7 +162,7 @@ Changelog for package autoware_perception_rviz_plugin * skip unnecessary search * delete vehicle param file * fix bug - * Ros2 fix topic name part2 (`#425 `_) + * Ros2 fix topic name part2 (`#425 `_) * Fix topic name of traffic_light_classifier * Fix topic name of traffic_light_visualization * Fix topic name of traffic_light_ssd_fine_detector @@ -172,19 +172,19 @@ Changelog for package autoware_perception_rviz_plugin * Fix lint traffic_light_classifier * Fix lint traffic_light_classifier * Fix lint traffic_light_ssd_fine_detector - * Fix issues in hdd_reader (`#466 `_) + * Fix issues in hdd_reader (`#466 `_) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct - * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) - * Rviz overlay render fix (`#461 `_) + * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) + * Rviz overlay render fix (`#461 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified * acquire data in mutex * back to RTD as superclass - * Rviz overlay render in update (`#465 `_) + * Rviz overlay render in update (`#465 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified @@ -198,29 +198,29 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Kazuki Miyahara Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski - * Unify Apache-2.0 license name (`#1242 `_) - * Porting trajectory rviz plugin (`#1295 `_) - * update trajectory rviz plugin to show velocity (`#1257 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Porting trajectory rviz plugin (`#1295 `_) + * update trajectory rviz plugin to show velocity (`#1257 `_) * update trajectory rviz plugin to show velocity * use size_t instead of int to remove warning during compiling * not show velocity on rviz unless check button is enabled - * modify visibility of velocity (`#1258 `_) + * modify visibility of velocity (`#1258 `_) * fix plugin * add dependency Co-authored-by: Takayuki Murooka Co-authored-by: tomoya.kimura - * Fix msgs (`#1379 `_) + * Fix msgs (`#1379 `_) * Fix msgs * [autoware_planning_rviz_plugin]: Fix lint Co-authored-by: wep21 - * Fix topic name of autoware_perception_rviz_plugin (`#1277 `_) (`#1479 `_) + * Fix topic name of autoware_perception_rviz_plugin (`#1277 `_) (`#1479 `_) Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Porting polar grid to ros2 (`#1507 `_) - * Add dummy unknown publisher (`#1470 `_) + * Porting polar grid to ros2 (`#1507 `_) + * Add dummy unknown publisher (`#1470 `_) * Add dummy unknown publisher * Fix lint Co-authored-by: Kenji Miyake - * Add pre-commit (`#1560 `_) + * Add pre-commit (`#1560 `_) * add pre-commit * add pre-commit-config * add additional settings for private repository @@ -240,18 +240,18 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Kazuki Miyahara Co-authored-by: pre-commit Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * suppress warnings for common packages (`#1891 `_) + * suppress warnings for common packages (`#1891 `_) * add maybe unused * add Werror * fix for uncrustify - * add sort-package-xml hook in pre-commit (`#1881 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -265,7 +265,7 @@ Changelog for package autoware_perception_rviz_plugin * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * add autoware_state_rviz_plugin (`#2160 `_) + * add autoware_state_rviz_plugin (`#2160 `_) * initial commit * fix * use raw pointer @@ -274,11 +274,11 @@ Changelog for package autoware_perception_rviz_plugin * fix style * fix style * fix header arrangement - * add gear check and prefix label (`#2173 `_) + * add gear check and prefix label (`#2173 `_) * add gear and prefix label * add subscription * fix for cpplint - * add engage button and status (`#2257 `_) + * add engage button and status (`#2257 `_) * fix style * add engage button and engage status * use api @@ -288,14 +288,14 @@ Changelog for package autoware_perception_rviz_plugin * fix for cpplint * fix for cpplint * fix coding style - * Add datetime panel (`#2275 `_) + * Add datetime panel (`#2275 `_) * Add datetime panel - * Fix/ros time (`#2276 `_) + * Fix/ros time (`#2276 `_) * Fix ros time * Add icon Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * add footprint in trajectory msg of rviz plugin (`#1553 `_) (`#1684 `_) - * add footprint in trajectory msg of rviz plugin (`#1553 `_) + * add footprint in trajectory msg of rviz plugin (`#1553 `_) (`#1684 `_) + * add footprint in trajectory msg of rviz plugin (`#1553 `_) * add footprint in trajectory msg of rviz plugin * update * trajectory -> footprint @@ -306,11 +306,11 @@ Changelog for package autoware_perception_rviz_plugin * update * Add min value Co-authored-by: Takayuki Murooka - * Feature/trajectory point rviz plugin (`#2123 `_) + * Feature/trajectory point rviz plugin (`#2123 `_) * add trajectory point * set trajectory point view false by default - * add pull over/out module (`#2147 `_) - * Change formatter to clang-format and black (`#2332 `_) + * add pull over/out module (`#2147 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -322,27 +322,27 @@ Changelog for package autoware_perception_rviz_plugin * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * remove unused depends (`#496 `_) - * Add COLCON_IGNORE (`#500 `_) - * port planning rviz plugins (`#492 `_) + * remove unused depends (`#496 `_) + * Add COLCON_IGNORE (`#500 `_) + * port planning rviz plugins (`#492 `_) * port planning rviz plugins * remove COLCON_IGNORE Co-authored-by: Takayuki Murooka - * port autoware vehicle rviz plugin (`#542 `_) - * [ polar grid ] add readme polar grid remove colcon ignore (`#559 `_) + * port autoware vehicle rviz plugin (`#542 `_) + * [ polar grid ] add readme polar grid remove colcon ignore (`#559 `_) * remove ignore * add readme * fix invalid link - * port autoware_state_rviz_plugin (`#563 `_) - * remove COLCON_IGNORE form rviz plugins (`#544 `_) - * port autoware_perception_rviz_plugin (`#581 `_) - * add readme in rviz plugin (`#591 `_) - * [autoware_vehicle_rviz_plugin/route_handler/simple_planning_simulator]fix some packages (`#606 `_) + * port autoware_state_rviz_plugin (`#563 `_) + * remove COLCON_IGNORE form rviz plugins (`#544 `_) + * port autoware_perception_rviz_plugin (`#581 `_) + * add readme in rviz plugin (`#591 `_) + * [autoware_vehicle_rviz_plugin/route_handler/simple_planning_simulator]fix some packages (`#606 `_) * fix console meter * fix velocity_history * fix route handler * change topic name - * adding autoware_auto_perception_rviz_plugin (`#574 `_) + * adding autoware_auto_perception_rviz_plugin (`#574 `_) * [152] Implement BoundingBoxArray rviz display plugin. * [285] Clear bounding box markers before adding new markers on new message * [274] Trajectory visualization plugin @@ -354,7 +354,7 @@ Changelog for package autoware_perception_rviz_plugin 8d15f49d Add weights to acceleration and steer controls; loosen simulation test case: git-subtree-dir: src/external/mpc git-subtree-split: eaa5908bdd987051a9dcd9c505f99bfd7f028547 - * [`#404 `_] apply ament_auto macro to autoware_rviz_plugins + * [`#404 `_] apply ament_auto macro to autoware_rviz_plugins * Adding missing dependency on rviz2. * Squashed 'src/external/autoware_auto_msgs/' changes from 56550efd..f40970ea f40970ea Adding velocity_mps to VehicleControlCommand. @@ -363,9 +363,9 @@ Changelog for package autoware_perception_rviz_plugin * Update copyright headers to transfer ownership to Autoware Foundation * Add CHANGELOG and update package versions for release Add CHANGELOG and update package versions for release - * [`#286 `_] Parameterize boundingbox colors from rviz + * [`#286 `_] Parameterize boundingbox colors from rviz - Add visualization colours via Qt - * [`#813 `_] use autoware_set_compile_options() for nearly all compiled tests + * [`#813 `_] use autoware_set_compile_options() for nearly all compiled tests - fix a few causes of warnings and disable warning flags as needed for other tests - set CXX_STANDARD strictly and only in a single place @@ -373,13 +373,13 @@ Changelog for package autoware_perception_rviz_plugin - update building instructions and MR template - fix nasty initialization error of static constexpr member in `GenericState` of Kalman filter - * [`#910 `_] remove private compilation warning ignore flags - * [`#900 `_] Implement rviz plugin to visualize TrackedObjects - * [`#1110 `_] Implement rviz plugin for DetectedObjects msg + * [`#910 `_] remove private compilation warning ignore flags + * [`#900 `_] Implement rviz plugin to visualize TrackedObjects + * [`#1110 `_] Implement rviz plugin for DetectedObjects msg * Resolve "Clarify meaning of pose in *ObjectKinematics messages" - * [`#1221 `_] Add co-developed entry to copyright - * [`#1282 `_] Fix double free in ObjectPolygonDisplayBase rviz plugin - * [`#1355 `_] Make DetectedObject shape corners be in object-local coordinates + * [`#1221 `_] Add co-developed entry to copyright + * [`#1282 `_] Fix double free in ObjectPolygonDisplayBase rviz plugin + * [`#1355 `_] Make DetectedObject shape corners be in object-local coordinates * porting AAP perception visualization from https://github.com/tier4/AutowareArchitectureProposal.iv/blob/main/perception/util/visualizer/dynamic_object_visualization/include/dynamic_object_visualization/dynamic_object_visualizer.hpp * rename to autoware_auto_perception_rviz_plugin * fix copyright @@ -415,19 +415,19 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Nikolai Morin Co-authored-by: Igor Bogoslavskyi Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * add autoware_auto_perception_rviz_plugin README (`#631 `_) - * fix readme sentence grammar (`#634 `_) - * Auto/fix perception viz (`#639 `_) + * add autoware_auto_perception_rviz_plugin README (`#631 `_) + * fix readme sentence grammar (`#634 `_) + * Auto/fix perception viz (`#639 `_) * add ns of uuid * remove dynamic_object_visualization - * update to support velocity report header (`#655 `_) + * update to support velocity report header (`#655 `_) * update to support velocity report header * Update simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp Co-authored-by: tkimura4 * use maybe_unused * fix precommit Co-authored-by: tkimura4 - * adapt to actuation cmd/status as control msg (`#646 `_) + * adapt to actuation cmd/status as control msg (`#646 `_) * adapt to actuation cmd/status as control msg * fix readme * fix topics @@ -438,35 +438,35 @@ Changelog for package autoware_perception_rviz_plugin * revert gyro_odometer_change * revert twist topic change * revert unchanged package - * FIx vehicle status topic name/type (`#658 `_) + * FIx vehicle status topic name/type (`#658 `_) * shift -> gear_status * twist -> velocity_status - * Sync .auto branch with the latest branch in internal repository (`#691 `_) - * add trajectory point offset in rviz plugin (`#2270 `_) - * sync rc rc/v0.23.0 (`#2258 `_) - * fix interpolation for insert point (`#2228 `_) + * Sync .auto branch with the latest branch in internal repository (`#691 `_) + * add trajectory point offset in rviz plugin (`#2270 `_) + * sync rc rc/v0.23.0 (`#2258 `_) + * fix interpolation for insert point (`#2228 `_) * fix interpolation for insert point * to prev interpolation pkg * Revert "to prev interpolation pkg" This reverts commit 9eb145b5d36e297186015fb17c267ccd5b3c21ef. Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: taikitanaka - * fix topic name (`#2266 `_) - * Add namespace to diag for dual_return_filter (`#2269 `_) - * Add a function to make 'geometry_msgs::msg::TransformStamped' (`#2250 `_) + * fix topic name (`#2266 `_) + * Add namespace to diag for dual_return_filter (`#2269 `_) + * Add a function to make 'geometry_msgs::msg::TransformStamped' (`#2250 `_) * Add a function to make 'geometry_msgs::msg::TransformStamped' * Add 'child_frame_id' as an argument of 'pose2transform' - * Simplify marker scale initialization (`#2286 `_) - * Fix/crosswalk polygon (`#2279 `_) + * Simplify marker scale initialization (`#2286 `_) + * Fix/crosswalk polygon (`#2279 `_) * extend crosswalk polygon * improve readability * fix polygon shape - * Add warning when decel distance calculation fails (`#2289 `_) - * [motion_velocity_smoother] ignore debug print (`#2292 `_) + * Add warning when decel distance calculation fails (`#2289 `_) + * [motion_velocity_smoother] ignore debug print (`#2292 `_) * cosmetic change * cahnge severity from WARN to DEBUG for debug info * use util for stop_watch - * fix map based prediction (`#2200 `_) + * fix map based prediction (`#2200 `_) * fix map based prediction * fix format * change map based prediction @@ -497,18 +497,18 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Kazuki Miyahara Co-authored-by: tkimura4 Co-authored-by: Kazuki Miyahara - * remove failure condition for 0 velocity trajectory (`#2295 `_) - * [mpc_follower] remove stop distance condition from stopState decision (`#1916 `_) + * remove failure condition for 0 velocity trajectory (`#2295 `_) + * [mpc_follower] remove stop distance condition from stopState decision (`#1916 `_) * [mpc_follower] remove stop distance condition from stopState decision * add invalid index handling - * Move the debug marker initialization part to another file (`#2288 `_) + * Move the debug marker initialization part to another file (`#2288 `_) * Move the debug marker initialization part to 'debug.cpp' - * Make 'isLocalOptimalSolutionOscillation' independent from 'NDTScanMatcher' (`#2300 `_) - * Remove an unused function 'getTransform' (`#2301 `_) - * Simplify iteration of initial poses (`#2310 `_) - * Make a transform object const (`#2311 `_) - * Represent poses in 'std::vector' instead of 'geometry_msgs::msg::PoseArray' (`#2312 `_) - * Feature/no stopping area (`#2163 `_) + * Make 'isLocalOptimalSolutionOscillation' independent from 'NDTScanMatcher' (`#2300 `_) + * Remove an unused function 'getTransform' (`#2301 `_) + * Simplify iteration of initial poses (`#2310 `_) + * Make a transform object const (`#2311 `_) + * Represent poses in 'std::vector' instead of 'geometry_msgs::msg::PoseArray' (`#2312 `_) + * Feature/no stopping area (`#2163 `_) * add no stopping area module to behavior velocity planner * apply utils * add polygon interpolation module order stopline around area is considered @@ -543,8 +543,8 @@ Changelog for package autoware_perception_rviz_plugin * precommit fix * cpplint Co-authored-by: Yukihiro Saito - * sync rc rc/v0.23.0 (`#2281 `_) - * Fix side shift planner (`#2171 `_) (`#2172 `_) + * sync rc rc/v0.23.0 (`#2281 `_) + * Fix side shift planner (`#2171 `_) (`#2172 `_) * add print debug * remove forward shift points when adding new point * remove debug print @@ -552,11 +552,11 @@ Changelog for package autoware_perception_rviz_plugin * Fix remove threshold Co-authored-by: Fumiya Watanabe Co-authored-by: Takamasa Horibe - * Fix/pull out and pull over (`#2175 `_) + * Fix/pull out and pull over (`#2175 `_) * delete unnecessary check * fix condition of starting pull out - * Add emergency status API (`#2174 `_) (`#2182 `_) - * Fix/mpc reset prev result (`#2185 `_) (`#2195 `_) + * Add emergency status API (`#2174 `_) (`#2182 `_) + * Fix/mpc reset prev result (`#2185 `_) (`#2195 `_) * reset prev result * clean code * reset only raw_steer_cmd @@ -564,37 +564,37 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Takamasa Horibe Co-authored-by: Takamasa Horibe Co-authored-by: Takamasa Horibe - * [hotfix] 1 path point exception after resampling (`#2204 `_) + * [hotfix] 1 path point exception after resampling (`#2204 `_) * fix 1 path point exception after resampling * Apply suggestions from code review * Apply suggestions from code review Co-authored-by: Takamasa Horibe Co-authored-by: tkimura4 - * [hotfix] Fix lane ids (`#2211 `_) + * [hotfix] Fix lane ids (`#2211 `_) * Fix lane ids - * Prevent acceleration on avoidance (`#2214 `_) + * Prevent acceleration on avoidance (`#2214 `_) * prevent acceleration on avoidance * fix param name * parametrize avoidance acc * change param name * fix typo - * Fix qos in roi cluster fusion (`#2218 `_) - * fix confidence (`#2220 `_) - * too high confidence (`#2229 `_) - * Fix/obstacle stop 0.23.0 (`#2232 `_) - * fix unexpected slow down in sharp curves (`#2181 `_) - * Fix/insert implementation (`#2186 `_) + * Fix qos in roi cluster fusion (`#2218 `_) + * fix confidence (`#2220 `_) + * too high confidence (`#2229 `_) + * Fix/obstacle stop 0.23.0 (`#2232 `_) + * fix unexpected slow down in sharp curves (`#2181 `_) + * Fix/insert implementation (`#2186 `_) Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> - * [hotfix] Remove exception in avoidance module (`#2233 `_) + * [hotfix] Remove exception in avoidance module (`#2233 `_) * Remove exception * Fix clock * Remove blank line - * Update traffic light state if ref stop point is ahead of previous one (`#2197 `_) - * fix interpolation for insert point (`#2228 `_) + * Update traffic light state if ref stop point is ahead of previous one (`#2197 `_) + * fix interpolation for insert point (`#2228 `_) * fix interpolation for insert point * to prev interpolation pkg - * fix index (`#2265 `_) - * turn signal calculation (`#2280 `_) + * fix index (`#2265 `_) + * turn signal calculation (`#2280 `_) * add turn signal funtion in path shifter * add ros parameters Co-authored-by: Fumiya Watanabe @@ -606,7 +606,7 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com> - * [behavior_path_planner] fix sudden path change around ego (`#2305 `_) (`#2318 `_) + * [behavior_path_planner] fix sudden path change around ego (`#2305 `_) (`#2318 `_) * fix return-from-ego shift point generation logic * change param for trimSimilarGradShiftPoint * add comment for issue @@ -622,13 +622,13 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Kazuki Miyahara Co-authored-by: Takamasa Horibe Co-authored-by: Kazuki Miyahara - * Add functions to make stamped scalar messages (`#2317 `_) - * Fix/object yaw in intersection module (`#2294 `_) + * Add functions to make stamped scalar messages (`#2317 `_) + * Fix/object yaw in intersection module (`#2294 `_) * fix object orientation * fix function name - * add guard (`#2321 `_) - * reduce cost (double to float) (`#2298 `_) - * Add detail collision check (`#2274 `_) + * add guard (`#2321 `_) + * reduce cost (double to float) (`#2298 `_) + * Add detail collision check (`#2274 `_) * Add detail collision check * Remove unused function * Fix arc length @@ -639,7 +639,7 @@ Changelog for package autoware_perception_rviz_plugin * Run pre-commit * Fix cpplint * Add return for empty polygon - * update CenterPoint (`#2222 `_) + * update CenterPoint (`#2222 `_) * update to model trained by mmdet3d * add vizualizer (debug) * for multi-frame inputs @@ -656,7 +656,7 @@ Changelog for package autoware_perception_rviz_plugin * chage lint package * fix test error * commit suggestion - * Feature/lane change detection (`#2331 `_) + * Feature/lane change detection (`#2331 `_) * add old information deleter * fix access bug * change to deque @@ -678,7 +678,7 @@ Changelog for package autoware_perception_rviz_plugin * change funciton name * add lane change description Co-authored-by: Kazuki Miyahara - * Add Planning Evaluator (`#2293 `_) + * Add Planning Evaluator (`#2293 `_) * Add prototype planning evaluator Produced data for dist between points, curvature, and relative angle * Cleanup the code to make adding metrics easier @@ -714,12 +714,12 @@ Changelog for package autoware_perception_rviz_plugin * Update planning/planning_diagnostics/planning_evaluator/test/test_planning_evaluator_node.cpp * change lint format to autoware_lint_common Co-authored-by: Takamasa Horibe - * Add keep braking function at driving state (`#2346 `_) + * Add keep braking function at driving state (`#2346 `_) * Add keep braking function at driving state * Remove debug messages * Fix format - * Change diag_updater's pediod from default to 0.1sec (`#2348 `_) - * add cross judgement and common signal function (`#2319 `_) + * Change diag_updater's pediod from default to 0.1sec (`#2348 `_) + * add cross judgement and common signal function (`#2319 `_) * merge branch turn_signal_common * add turn signal function in signal decider * add cross judge in path_utilities and delete from turn_signal_decider @@ -739,27 +739,27 @@ Changelog for package autoware_perception_rviz_plugin * fix typo * decrease nest * run pre commit - * Add 0 limit at forward jerk velocity filter (`#2340 `_) - * add time offset param to point cloud concatenation (`#2303 `_) + * Add 0 limit at forward jerk velocity filter (`#2340 `_) + * add time offset param to point cloud concatenation (`#2303 `_) * add offset param * clang-format Co-authored-by: Akihito OHSATO - * Feature/add doc for keep braking function at driving state (`#2366 `_) + * Feature/add doc for keep braking function at driving state (`#2366 `_) * Add the description of brake keeping * Add the english document * Improve description * Add english description - * Fix include files (`#2339 `_) + * Fix include files (`#2339 `_) * fix behavior intersection module * fix behavior no stopping area module * fix planning_evaluator * fix motion_velocity_smoother * rename variable - * Revert "[mpc_follower] remove stop distance condition from stopState decision (`#1916 `_)" + * Revert "[mpc_follower] remove stop distance condition from stopState decision (`#1916 `_)" This reverts commit ff4f0b5a844d1f835f1b93bd3b36a76747b0cd02. - * Revert "Add keep braking function at driving state (`#2346 `_)" + * Revert "Add keep braking function at driving state (`#2346 `_)" This reverts commit f0478187db4c28bf6092c198723dcc5ec11a9c70. - * Revert "Feature/add doc for keep braking function at driving state (`#2366 `_)" + * Revert "Feature/add doc for keep braking function at driving state (`#2366 `_)" This reverts commit 66de2f3924a479049fce2d5c5c6b579cacbd3e49. * Fix orientation availability in centerpoint * fix test_trajectory.cpp @@ -789,17 +789,17 @@ Changelog for package autoware_perception_rviz_plugin Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> Co-authored-by: Akihito OHSATO Co-authored-by: Kenji Miyake - * [autoware_auto_perception_rviz_plugin]fix bug (`#721 `_) + * [autoware_auto_perception_rviz_plugin]fix bug (`#721 `_) * fix perception_marker * fix missing commit * apply format - * patch for PR721 (`#722 `_) + * patch for PR721 (`#722 `_) * fix id_map erase operation * fix code to use c++11 function * update tracked_objects_display * fix bug Co-authored-by: Taichi Higashide - * fix rviz plugin (`#743 `_) + * fix rviz plugin (`#743 `_) * move plugin packages * add ignore file to apply pre-commit Co-authored-by: mitsudome-r diff --git a/common/autoware_point_types/CHANGELOG.rst b/common/autoware_point_types/CHANGELOG.rst index d0fa56778928f..3aa6d4183543e 100644 --- a/common/autoware_point_types/CHANGELOG.rst +++ b/common/autoware_point_types/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_point_types 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* feat: migrating pointcloud types (`#6996 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* feat: migrating pointcloud types (`#6996 `_) * feat: changed most of sensing to the new type * chore: started applying changes to the perception stack * feat: confirmed operation until centerpoint @@ -26,8 +26,8 @@ Changelog for package autoware_point_types --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> -* chore: updated maintainers for the autoware_point_types package (`#7797 `_) -* docs(common): adding .pages file (`#7148 `_) +* chore: updated maintainers for the autoware_point_types package (`#7797 `_) +* docs(common): adding .pages file (`#7148 `_) * docs(common): adding .pages file * fix naming * fix naming @@ -40,7 +40,7 @@ Changelog for package autoware_point_types 0.26.0 (2024-04-03) ------------------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -48,15 +48,15 @@ Changelog for package autoware_point_types --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* feat: add blockage diagnostics (`#461 `_) +* feat: add blockage diagnostics (`#461 `_) * feat!: add blockage diagnostic * fix: typo * docs: add documentation @@ -83,7 +83,7 @@ Changelog for package autoware_point_types * docs: add limits * chore: check overflow Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci: check include guard (`#438 `_) +* ci: check include guard (`#438 `_) * ci: check include guard * apply pre-commit * Update .pre-commit-config.yaml @@ -91,7 +91,7 @@ Changelog for package autoware_point_types * fix: pre-commit Co-authored-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: add point_types for wrapper (`#784 `_) (`#215 `_) +* feat: add point_types for wrapper (`#784 `_) (`#215 `_) * add point_types * Revert "add point_types" This reverts commit 5810000cd1cbd876bc22372e2bb74ccaca06187b. diff --git a/common/autoware_polar_grid/CHANGELOG.rst b/common/autoware_polar_grid/CHANGELOG.rst index 06b5165dbe348..359de11cb3104 100644 --- a/common/autoware_polar_grid/CHANGELOG.rst +++ b/common/autoware_polar_grid/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_polar_grid 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(polar_grid): add autoware prefix to polar_grid (`#8945 `_) +* refactor(polar_grid): add autoware prefix to polar_grid (`#8945 `_) * Contributors: Esteve Fernandez, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/autoware_qp_interface/CHANGELOG.rst b/common/autoware_qp_interface/CHANGELOG.rst index b63fa3f20490e..b2e26a8e0085e 100644 --- a/common/autoware_qp_interface/CHANGELOG.rst +++ b/common/autoware_qp_interface/CHANGELOG.rst @@ -5,24 +5,24 @@ Changelog for package qp_interface 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(qp_interface): fix unreadVariable (`#8349 `_) +* fix(qp_interface): fix unreadVariable (`#8349 `_) * fix:unreadVariable * fix:unreadVariable * fix:unreadVariable --------- -* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 `_) +* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 `_) * perf(velocity_smoother): use ProxQP for faster optimization * consider max_iteration * disable warm start * fix test --------- -* refactor(qp_interface): clean up the code (`#8029 `_) +* refactor(qp_interface): clean up the code (`#8029 `_) * refactor qp_interface * variable names: m_XXX -> XXX\_ * update * update --------- -* fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions (`#7855 `_) +* fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions (`#7855 `_) * fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions * style(pre-commit): autofix --------- @@ -31,9 +31,9 @@ Changelog for package qp_interface 0.26.0 (2024-04-03) ------------------- -* feat(qp_interface): support proxqp (`#3699 `_) +* feat(qp_interface): support proxqp (`#3699 `_) * feat(qp_interface): add proxqp interface * update --------- -* feat(qp_interface): add new package which will contain various qp solvers (`#3697 `_) +* feat(qp_interface): add new package which will contain various qp solvers (`#3697 `_) * Contributors: Takayuki Murooka diff --git a/common/autoware_signal_processing/CHANGELOG.rst b/common/autoware_signal_processing/CHANGELOG.rst index fd5a18ae12620..f0293aefdc69d 100644 --- a/common/autoware_signal_processing/CHANGELOG.rst +++ b/common/autoware_signal_processing/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package autoware_signal_processing 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: fix Boost.Optional build error on Jazzy (`#7602 `_) +* fix: fix Boost.Optional build error on Jazzy (`#7602 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) * Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる 0.26.0 (2024-04-03) diff --git a/common/autoware_test_utils/CHANGELOG.rst b/common/autoware_test_utils/CHANGELOG.rst index 18d8154550800..b9600e7cb7f22 100644 --- a/common/autoware_test_utils/CHANGELOG.rst +++ b/common/autoware_test_utils/CHANGELOG.rst @@ -5,53 +5,53 @@ Changelog for package autoware_test_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_test_utils): add parser for PredictedObjects (`#9176 `_) +* feat(autoware_test_utils): add parser for PredictedObjects (`#9176 `_) feat(autoware_test_utils): add parser for predicted objects -* refactor(autoware_test_utils): sanitizer header (`#9174 `_) -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* fix(autoware_test_utils): remove unnecessary cppcheck suppression (`#9165 `_) -* feat(autoware_test_utils): add parser for geometry_msgs and others (`#9167 `_) -* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) +* refactor(autoware_test_utils): sanitizer header (`#9174 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* fix(autoware_test_utils): remove unnecessary cppcheck suppression (`#9165 `_) +* feat(autoware_test_utils): add parser for geometry_msgs and others (`#9167 `_) +* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) * add path with lane id parser * refactor parse to use template --------- -* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) -* feat(test_utils): add simple path with lane id generator (`#9113 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* feat(test_utils): add simple path with lane id generator (`#9113 `_) * add simple path with lane id generator * chnage to explicit template * fix * add static cast * remove header file --------- -* fix(autoware_test_utils): missing ament_index_cpp dependency (`#8618 `_) -* fix(autoware_test_utils): fix unusedFunction (`#8857 `_) +* fix(autoware_test_utils): missing ament_index_cpp dependency (`#8618 `_) +* fix(autoware_test_utils): fix unusedFunction (`#8857 `_) fix:unusedFunction -* fix(autoware_test_utils): fix unusedFunction (`#8816 `_) +* fix(autoware_test_utils): fix unusedFunction (`#8816 `_) fix: unusedFunction -* test(autoware_route_handler): add unit test for autoware route handler function (`#8271 `_) +* test(autoware_route_handler): add unit test for autoware route handler function (`#8271 `_) * remove unused functions in route handler * add docstring for function getShoulderLaneletsAtPose * update test map to include shoulder lanelet * add unit test for function getShoulderLaneletsAtPose * add test case for getCenterLinePath to improve branch coverage --------- -* feat(autoware_test_utils): add qos handler in pub/sub (`#7856 `_) +* feat(autoware_test_utils): add qos handler in pub/sub (`#7856 `_) * feat: add qos handler in pub/sub * style(pre-commit): autofix * feat: update test_pub_msg function to not use setpublisher function --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(auoware_test_utils): add jump_clock interface (`#7638 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(auoware_test_utils): add jump_clock interface (`#7638 `_) * feat(auoware_test_utils): add jump_clock interface * add comment --------- -* feat(route_handler): add unit test for lane change related functions (`#7504 `_) +* feat(route_handler): add unit test for lane change related functions (`#7504 `_) * RT1-6230 feat(route_handler): add unit test for lane change related functions * fix spell check * fix spellcheck --------- -* feat(autoware_test_utils): add autoware test manager (`#7597 `_) +* feat(autoware_test_utils): add autoware test manager (`#7597 `_) * feat(detected_object_validation): add test * move to autoware_test_utils * remove perception @@ -63,11 +63,11 @@ Changelog for package autoware_test_utils * avoid using void and static_pointer_cast --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(autoware_test_utils): function to load paths from folder (`#7474 `_) -* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) +* refactor(autoware_test_utils): function to load paths from folder (`#7474 `_) +* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) * add flag to enable/disable loop check in getLaneletSequence functions * implement function to get closest route lanelet based on previous closest lanelet * refactor DefaultPlanner::plan function @@ -84,7 +84,7 @@ Changelog for package autoware_test_utils * format fix * move test map to autoware_test_utils --------- -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory diff --git a/common/autoware_testing/CHANGELOG.rst b/common/autoware_testing/CHANGELOG.rst index 3a33c7f99322b..36ad1ec42c3c5 100644 --- a/common/autoware_testing/CHANGELOG.rst +++ b/common/autoware_testing/CHANGELOG.rst @@ -9,13 +9,13 @@ Changelog for package autoware_testing 0.26.0 (2024-04-03) ------------------- -* chore: add maintainer (`#4234 `_) +* chore: add maintainer (`#4234 `_) * chore: add maintainer * Update evaluator/localization_evaluator/package.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* fix(smoke_test): fix smoke test failing with big nodes (`#3287 `_) +* fix(smoke_test): fix smoke test failing with big nodes (`#3287 `_) * fix(smoke_test): fix smoke test failing with big nodes * style(pre-commit): autofix * minor style changes and comment removal @@ -28,7 +28,7 @@ Changelog for package autoware_testing --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -36,47 +36,47 @@ Changelog for package autoware_testing --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* build(autoware_testing): add missing dependencies (`#3093 `_) -* ci(pre-commit): autoupdate (`#2819 `_) +* build(autoware_testing): add missing dependencies (`#3093 `_) +* ci(pre-commit): autoupdate (`#2819 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs: update link style and fix typos (`#950 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) +* docs: update link style and fix typos (`#950 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * docs: update link style * chore: fix link - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) - * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) - * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) + * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) * fixed panel type * modified instruction for rosbag replay case * modified update_map_dir service name - * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) + * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) * skipping emplace back stop reason if it is empty * add braces * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> - * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) + * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) * feat(behavior_path_planner): Weakened noise filtering of drivable area * fix lanelet's longitudinal disconnection * add comments of erode/dilate process - * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) + * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) * refactor(vehicle-cmd-gate): using namespace for msgs * for clang - * feat(pose_initializer): introduce an array copy function (`#900 `_) + * feat(pose_initializer): introduce an array copy function (`#900 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat: add lidar point filter when debug (`#865 `_) + * feat: add lidar point filter when debug (`#865 `_) * feat: add lidar point filter when debug * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes (`#899 `_) * feat(component_interface_utils): add interface classes * feat(default_ad_api): apply the changes of interface utils * fix(component_interface_utils): remove old comment @@ -84,18 +84,18 @@ Changelog for package autoware_testing * fix(component_interface_utils): remove unimplemented message * docs(component_interface_utils): add design policy * docs(component_interface_utils): add comment - * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) + * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) Co-authored-by: Berkay - * feat: visualize lane boundaries (`#923 `_) + * feat: visualize lane boundaries (`#923 `_) * feat: visualize lane boundaries * fix: start_bound * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) * fix(system_monitor): fix truncation warning in strncpy * Use std::string constructor to copy char array * Fixed typo - * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) + * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) * fix: extend following and previous search range to avoid no collision * chore: add debug marker * fix: simplify logic @@ -105,11 +105,11 @@ Changelog for package autoware_testing * ci(pre-commit): autofix * fix: delete debug code Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * docs(surround obstacle checker): update documentation (`#878 `_) + * docs(surround obstacle checker): update documentation (`#878 `_) * docs(surround_obstacle_checker): update pub/sub topics & params * docs(surround_obstacle_checker): remove unused files * docs(surround_obstacke_checker): update purpose - * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) + * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) * feat(tier4_autoware_utils): add vehicle state checker * fix(tier4_autoware_utils): use absolute value * feat(tier4_autoware_utils): divide into two classies @@ -119,20 +119,20 @@ Changelog for package autoware_testing * fix(tier4_autoware_utils): into same loop * fix(tier4_autoware_utils): fix variables name * fix(tier4_autoware_utils): remove redundant codes - * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point * Modify overwriteStopPoint input and output - * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) + * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) * feat(obstacle_avoidance_planner) fix bug of stop line unalignment * fix bug of unsorted output points * move calcVelocity in node.cpp * fix build error - * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) - * fix(system_monitor): add some smart information to diagnostics (`#708 `_) - * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) + * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) + * fix(system_monitor): add some smart information to diagnostics (`#708 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) * feat(obstacle_avoidance_planner): dealt with close lane change * fix bug of right lane change - * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) * use car like constraints in mpt * use not widest bounds for the first bounds * organized params @@ -142,17 +142,17 @@ Changelog for package autoware_testing * update config * remove unnecessary files * update tier4_planning_launch params - * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) - * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) + * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check * feat: use marker helper - * feat(map_loader): visualize center line by points (`#931 `_) + * feat(map_loader): visualize center line by points (`#931 `_) * feat: visualize center line points * fix: delete space * feat: visualize center line by arrow * revert insertMarkerArray * fix: delete space - * feat: add RTC interface (`#765 `_) + * feat: add RTC interface (`#765 `_) * feature(rtc_interface): add files * feature(rtc_interface): implement functions * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md @@ -164,23 +164,23 @@ Changelog for package autoware_testing * feature(rtc_interface): add isRegistered and clearCooperateStatus * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore: sync files (`#911 `_) + * chore: sync files (`#911 `_) Co-authored-by: kenji-miyake - * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) + * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) * fix: replace boost::mutex::scoped_lock to std::scoped_lock * fix: replace boost::mutex to std::mutex - * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node * feat(tensorrt_yolo): update arg Co-authored-by: Kaan Colak - * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat: add param.yaml in behavior_velocity_planner package * some fix Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> - * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader * fix(map_loader): remove c_str * fix(map_loader): replace c_str to string @@ -219,27 +219,27 @@ Changelog for package autoware_testing Co-authored-by: Kaan Çolak Co-authored-by: Kaan Colak Co-authored-by: Kenji Miyake -* test(autoware_testing): fix smoke_test (`#479 `_) +* test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove license notations from CMakeLists.txt (`#846 `_) -* chore: remove bad chars (`#845 `_) -* docs(autoware_testing): fix link (`#741 `_) +* chore: remove license notations from CMakeLists.txt (`#846 `_) +* chore: remove bad chars (`#845 `_) +* docs(autoware_testing): fix link (`#741 `_) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* ci(pre-commit): clear the exclude option (`#426 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) * ci(pre-commit): remove unnecessary excludes * ci(pre-commit): autofix * ci(pre-commit): autofix @@ -251,60 +251,60 @@ Changelog for package autoware_testing * fix build * use autoware_lint_common Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add autoware auto dependencies (`#185 `_) - * Back port .auto control packages (`#571 `_) +* feat: add autoware auto dependencies (`#185 `_) + * Back port .auto control packages (`#571 `_) * Implement Lateral and Longitudinal Control Muxer - * [`#570 `_] Porting wf_simulator - * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' - * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' - * [`#1057 `_] Add osqp_interface package - * [`#1057 `_] Add library code for MPC-based lateral control - * [`#1271 `_] Use std::abs instead of abs - * [`#1057 `_] Implement Lateral Controller for Cargo ODD - * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" - * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' - * [`#1058 `_] Add library code of longitudinal controller + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller * Fix build error for trajectory follower * Fix build error for trajectory follower nodes - * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator - * [`#1058 `_] Add Longitudinal Controller node - * [`#1058 `_] Rename velocity_controller -> longitudinal_controller - * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node - * [`#1058 `_] Add smoke test python launch file - * [`#1058 `_] Use LowPassFilter1d from trajectory_follower - * [`#1058 `_] Use autoware_auto_msgs - * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) - * [`#1058 `_] Remove unused parameters - * [`#1058 `_] Fix ros test - * [`#1058 `_] Rm default params from declare_parameters + use autoware types - * [`#1058 `_] Use default param file to setup NodeOptions in the ros test - * [`#1058 `_] Fix docstring - * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState - * [`#1058 `_] Change class variables format to m\_ prefix - * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt - * [`#1058 `_] Fix copyright dates - * [`#1058 `_] Reorder includes - * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) - * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) - * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope - * [`#1058 `_] Calculate wheel_base value from vehicle parameters - * [`#1058 `_] Cleanup redundant logger setting in tests - * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures - * [`#1058 `_] Remove TF listener and use published vehicle state instead - * [`#1058 `_] Change smoke tests to use autoware_testing - * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control - * [`#1058 `_] Improve design documents - * [`#1058 `_] Disable flaky test - * [`#1058 `_] Properly transform vehicle state in longitudinal node - * [`#1058 `_] Fix TF buffer of lateral controller - * [`#1058 `_] Tuning of lateral controller for LGSVL - * [`#1058 `_] Fix formating - * [`#1058 `_] Fix /tf_static sub to be transient_local - * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build - * [`#1379 `_] Update trajectory_follower - * [`#1379 `_] Update simple_planning_simulator - * [`#1379 `_] Update trajectory_follower_nodes + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes * apply trajectory msg modification in control * move directory * remote control/trajectory_follower level dorectpry @@ -328,7 +328,7 @@ Changelog for package autoware_testing Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: tomoya.kimura - * Port parking planner packages from .Auto (`#600 `_) + * Port parking planner packages from .Auto (`#600 `_) * Copy code of 'vehicle_constants_manager' * Fix vehicle_constants_manager for ROS galactic * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms diff --git a/common/autoware_time_utils/CHANGELOG.rst b/common/autoware_time_utils/CHANGELOG.rst index 8f2ebcc625ec3..73c72991895b0 100644 --- a/common/autoware_time_utils/CHANGELOG.rst +++ b/common/autoware_time_utils/CHANGELOG.rst @@ -5,19 +5,19 @@ Changelog for package time_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(time_utils): fix unusedFunction (`#8606 `_) +* fix(time_utils): fix unusedFunction (`#8606 `_) fix:unusedFunction * Contributors: Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* chore: add maintainer (`#4234 `_) +* chore: add maintainer (`#4234 `_) * chore: add maintainer * Update evaluator/localization_evaluator/package.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -25,16 +25,16 @@ Changelog for package time_utils --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): clear the exclude option (`#426 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) * ci(pre-commit): remove unnecessary excludes * ci(pre-commit): autofix * ci(pre-commit): autofix @@ -46,60 +46,60 @@ Changelog for package time_utils * fix build * use autoware_lint_common Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add autoware auto dependencies (`#185 `_) - * Back port .auto control packages (`#571 `_) +* feat: add autoware auto dependencies (`#185 `_) + * Back port .auto control packages (`#571 `_) * Implement Lateral and Longitudinal Control Muxer - * [`#570 `_] Porting wf_simulator - * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' - * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' - * [`#1057 `_] Add osqp_interface package - * [`#1057 `_] Add library code for MPC-based lateral control - * [`#1271 `_] Use std::abs instead of abs - * [`#1057 `_] Implement Lateral Controller for Cargo ODD - * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" - * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' - * [`#1058 `_] Add library code of longitudinal controller + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller * Fix build error for trajectory follower * Fix build error for trajectory follower nodes - * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator - * [`#1058 `_] Add Longitudinal Controller node - * [`#1058 `_] Rename velocity_controller -> longitudinal_controller - * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node - * [`#1058 `_] Add smoke test python launch file - * [`#1058 `_] Use LowPassFilter1d from trajectory_follower - * [`#1058 `_] Use autoware_auto_msgs - * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) - * [`#1058 `_] Remove unused parameters - * [`#1058 `_] Fix ros test - * [`#1058 `_] Rm default params from declare_parameters + use autoware types - * [`#1058 `_] Use default param file to setup NodeOptions in the ros test - * [`#1058 `_] Fix docstring - * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState - * [`#1058 `_] Change class variables format to m\_ prefix - * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt - * [`#1058 `_] Fix copyright dates - * [`#1058 `_] Reorder includes - * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) - * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) - * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope - * [`#1058 `_] Calculate wheel_base value from vehicle parameters - * [`#1058 `_] Cleanup redundant logger setting in tests - * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures - * [`#1058 `_] Remove TF listener and use published vehicle state instead - * [`#1058 `_] Change smoke tests to use autoware_testing - * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control - * [`#1058 `_] Improve design documents - * [`#1058 `_] Disable flaky test - * [`#1058 `_] Properly transform vehicle state in longitudinal node - * [`#1058 `_] Fix TF buffer of lateral controller - * [`#1058 `_] Tuning of lateral controller for LGSVL - * [`#1058 `_] Fix formating - * [`#1058 `_] Fix /tf_static sub to be transient_local - * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build - * [`#1379 `_] Update trajectory_follower - * [`#1379 `_] Update simple_planning_simulator - * [`#1379 `_] Update trajectory_follower_nodes + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes * apply trajectory msg modification in control * move directory * remote control/trajectory_follower level dorectpry @@ -123,7 +123,7 @@ Changelog for package time_utils Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: tomoya.kimura - * Port parking planner packages from .Auto (`#600 `_) + * Port parking planner packages from .Auto (`#600 `_) * Copy code of 'vehicle_constants_manager' * Fix vehicle_constants_manager for ROS galactic * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms diff --git a/common/autoware_universe_utils/CHANGELOG.rst b/common/autoware_universe_utils/CHANGELOG.rst index 51755b0d8350d..8d79fbb4f4f2a 100644 --- a/common/autoware_universe_utils/CHANGELOG.rst +++ b/common/autoware_universe_utils/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_universe_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance (`#8380 `_) +* feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance (`#8380 `_) * feat: add option for updating distance and azimuth value * chore: clean code * chore: remove space @@ -101,18 +101,18 @@ Changelog for package autoware_universe_utils Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(universe_utils): avoid test timeout (`#8993 `_) +* fix(universe_utils): avoid test timeout (`#8993 `_) reduce number of polygons to be generated -* fix(autoware_universe_utils): fix unmatchedSuppression (`#8986 `_) +* fix(autoware_universe_utils): fix unmatchedSuppression (`#8986 `_) fix:unmatchedSuppression -* refactor(universe_utils): eliminate dependence on Boost.Geometry (`#8965 `_) +* refactor(universe_utils): eliminate dependence on Boost.Geometry (`#8965 `_) * add alt::Polygon2d -> Polygon2d conversion function * migrate to alt geometry * invert orientation of linked list * suppress cppcheck unusedFunction error * fix parameter to avoid confusion --------- -* feat(autoware_universe_utils): reduce dependence on Boost.Geometry (`#8592 `_) +* feat(autoware_universe_utils): reduce dependence on Boost.Geometry (`#8592 `_) * add find_farthest() * add simplify() * add envelope() @@ -126,9 +126,9 @@ Changelog for package autoware_universe_utils * Revert "(WIP) add buffer()" This reverts commit 123b0ba85ede5e558431a4336038c14023d1bef1. --------- -* refactor(universe_utils): remove raw pointers from the triangulation function (`#8893 `_) -* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) -* feat(universe_utils): add Triangulation (ear clipping) implementation for 2D concave polygon with/without holes (`#8609 `_) +* refactor(universe_utils): remove raw pointers from the triangulation function (`#8893 `_) +* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) +* feat(universe_utils): add Triangulation (ear clipping) implementation for 2D concave polygon with/without holes (`#8609 `_) * added random_concave_polygon and triangulation * disable some test with GJK * pre-commit fix @@ -143,23 +143,23 @@ Changelog for package autoware_universe_utils * more spellcheck fixes --------- Co-authored-by: Maxime CLEMENT -* refactor(autoware_universe_utils): refactor Boost.Geometry alternatives (`#8594 `_) +* refactor(autoware_universe_utils): refactor Boost.Geometry alternatives (`#8594 `_) * move alternatives to separate files * style(pre-commit): autofix * include missing headers --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_universe_utils): fix unusedFunction (`#8723 `_) +* fix(autoware_universe_utils): fix unusedFunction (`#8723 `_) fix:unusedFunction -* feat(universe_utils): add SAT implementation for 2D convex polygon collision check (`#8239 `_) -* feat(autoware_universe_utils): add thread_id check to time_keeper (`#8628 `_) +* feat(universe_utils): add SAT implementation for 2D convex polygon collision check (`#8239 `_) +* feat(autoware_universe_utils): add thread_id check to time_keeper (`#8628 `_) add thread_id check -* fix(autoware_universe_utils): fix unusedFunction (`#8521 `_) +* fix(autoware_universe_utils): fix unusedFunction (`#8521 `_) fix: unusedFunction -* feat(autoware_universe_utils): add LRU Cache (`#8456 `_) -* fix(autoware_universe_utils): fix memory leak of time_keeper (`#8425 `_) +* feat(autoware_universe_utils): add LRU Cache (`#8456 `_) +* fix(autoware_universe_utils): fix memory leak of time_keeper (`#8425 `_) fix bug of time_keeper -* feat(autoware_universe_utils): reduce dependence on Boost.Geometry (`#7778 `_) +* feat(autoware_universe_utils): reduce dependence on Boost.Geometry (`#7778 `_) * add within function * return nullopt as is * add disjoint function @@ -222,13 +222,13 @@ Changelog for package autoware_universe_utils --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* fix(autoware_universe_utils): fix constParameterReference (`#8145 `_) +* fix(autoware_universe_utils): fix constParameterReference (`#8145 `_) * fix:constParameterReference * fix:clang format * fix:constParameterReference * fix:clang format --------- -* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) +* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) * perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners * fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic * fix(autoware_ground_segmentation): add missing TF listener @@ -238,7 +238,7 @@ Changelog for package autoware_universe_utils * fix(autoware_universe_utils): change checks order * doc(autoware_universe_utils): add docstring --------- -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -247,8 +247,8 @@ Changelog for package autoware_universe_utils Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat(universe_utils): add GJK implementation for 2D convex polygon collision check (`#7853 `_) -* feat(autoware_universe_utils): add comment function to time_keeper (`#7991 `_) +* feat(universe_utils): add GJK implementation for 2D convex polygon collision check (`#7853 `_) +* feat(autoware_universe_utils): add comment function to time_keeper (`#7991 `_) * update readme * refactoring * remove string reporter @@ -257,7 +257,7 @@ Changelog for package autoware_universe_utils * remove comment from scoped time track * modify readme --------- -* chore(autoware_universe_utils): update document (`#7907 `_) +* chore(autoware_universe_utils): update document (`#7907 `_) * update readme * refactoring * remove string reporter @@ -265,13 +265,13 @@ Changelog for package autoware_universe_utils * change node name of example * update readme --------- -* fix(autoware_universe_utils): fix constParameterReference (`#7882 `_) +* fix(autoware_universe_utils): fix constParameterReference (`#7882 `_) * fix: constParameterReference * fix: constParameterReference --------- -* feat(autoware_universe_utils): add TimeKeeper to track function's processing time (`#7754 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils): add TimeKeeper to track function's processing time (`#7754 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 * Contributors: Amadeusz Szymko, Giovanni Muhammad Raditya, Kosuke Takeuchi, Maxime CLEMENT, Mitsuhiro Sakamoto, Nagi70, Takayuki Murooka, Yi-Hsiang Fang (Vivid), Yukinari Hisaki, Yutaka Kondo, kobayu858 diff --git a/common/autoware_vehicle_info_utils/CHANGELOG.rst b/common/autoware_vehicle_info_utils/CHANGELOG.rst index 7f015a1555983..5ad86eddf9f52 100644 --- a/common/autoware_vehicle_info_utils/CHANGELOG.rst +++ b/common/autoware_vehicle_info_utils/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_vehicle_info_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(vehicle_info): add API description, add owner (`#9151 `_) -* chore(autoware_vehicle_info_utils): move package to common directory (`#8708 `_) +* refactor(vehicle_info): add API description, add owner (`#9151 `_) +* chore(autoware_vehicle_info_utils): move package to common directory (`#8708 `_) * Contributors: Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/common/bag_time_manager_rviz_plugin/CHANGELOG.rst b/common/bag_time_manager_rviz_plugin/CHANGELOG.rst index 689d0799a80e5..a47ad569440b4 100644 --- a/common/bag_time_manager_rviz_plugin/CHANGELOG.rst +++ b/common/bag_time_manager_rviz_plugin/CHANGELOG.rst @@ -9,8 +9,8 @@ Changelog for package bag_time_manager_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* build(iron): remove rmw_qos_profile_t (`#3809 `_) -* build: mark autoware_cmake as (`#3616 `_) +* build(iron): remove rmw_qos_profile_t (`#3809 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -18,9 +18,9 @@ Changelog for package bag_time_manager_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(bag_time_manager_rviz_plugin): update create_client API to use rc… (`#2783 `_) +* fix(bag_time_manager_rviz_plugin): update create_client API to use rc… (`#2783 `_) * fix(bag_time_manager_rviz_plugin): update create_client API to use rclcpp::QoS -* feat(bag_time_manager_rviz_plugin): add bag time manager rviz plugin (`#1776 `_) +* feat(bag_time_manager_rviz_plugin): add bag time manager rviz plugin (`#1776 `_) * feat(bag_timemanager): add bag time manager rviz plugin * fix: fix change * Contributors: Daisuke Nishimatsu, Esteve Fernandez, Vincent Richard, taikitanaka3 diff --git a/common/fake_test_node/CHANGELOG.rst b/common/fake_test_node/CHANGELOG.rst index 2d1f7178976ae..096c44f41ed77 100644 --- a/common/fake_test_node/CHANGELOG.rst +++ b/common/fake_test_node/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package fake_test_node 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions (`#7855 `_) +* fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions (`#7855 `_) * fix(fake_test_node, osqp_interface, qp_interface): remove unnecessary cppcheck inline suppressions * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -18,18 +18,18 @@ Changelog for package fake_test_node 0.26.0 (2024-04-03) ------------------- -* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) +* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) * fix(autoware_auto_common): move headers to a separate directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add maintainer (`#4234 `_) +* chore: add maintainer (`#4234 `_) * chore: add maintainer * Update evaluator/localization_evaluator/package.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -37,50 +37,50 @@ Changelog for package fake_test_node --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs: update link style and fix typos (`#950 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) +* docs: update link style and fix typos (`#950 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * docs: update link style * chore: fix link - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) - * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) - * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) + * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) * fixed panel type * modified instruction for rosbag replay case * modified update_map_dir service name - * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) + * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) * skipping emplace back stop reason if it is empty * add braces * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> - * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) + * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) * feat(behavior_path_planner): Weakened noise filtering of drivable area * fix lanelet's longitudinal disconnection * add comments of erode/dilate process - * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) + * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) * refactor(vehicle-cmd-gate): using namespace for msgs * for clang - * feat(pose_initializer): introduce an array copy function (`#900 `_) + * feat(pose_initializer): introduce an array copy function (`#900 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat: add lidar point filter when debug (`#865 `_) + * feat: add lidar point filter when debug (`#865 `_) * feat: add lidar point filter when debug * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes (`#899 `_) * feat(component_interface_utils): add interface classes * feat(default_ad_api): apply the changes of interface utils * fix(component_interface_utils): remove old comment @@ -88,18 +88,18 @@ Changelog for package fake_test_node * fix(component_interface_utils): remove unimplemented message * docs(component_interface_utils): add design policy * docs(component_interface_utils): add comment - * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) + * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) Co-authored-by: Berkay - * feat: visualize lane boundaries (`#923 `_) + * feat: visualize lane boundaries (`#923 `_) * feat: visualize lane boundaries * fix: start_bound * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) * fix(system_monitor): fix truncation warning in strncpy * Use std::string constructor to copy char array * Fixed typo - * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) + * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) * fix: extend following and previous search range to avoid no collision * chore: add debug marker * fix: simplify logic @@ -109,11 +109,11 @@ Changelog for package fake_test_node * ci(pre-commit): autofix * fix: delete debug code Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * docs(surround obstacle checker): update documentation (`#878 `_) + * docs(surround obstacle checker): update documentation (`#878 `_) * docs(surround_obstacle_checker): update pub/sub topics & params * docs(surround_obstacle_checker): remove unused files * docs(surround_obstacke_checker): update purpose - * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) + * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) * feat(tier4_autoware_utils): add vehicle state checker * fix(tier4_autoware_utils): use absolute value * feat(tier4_autoware_utils): divide into two classies @@ -123,20 +123,20 @@ Changelog for package fake_test_node * fix(tier4_autoware_utils): into same loop * fix(tier4_autoware_utils): fix variables name * fix(tier4_autoware_utils): remove redundant codes - * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point * Modify overwriteStopPoint input and output - * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) + * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) * feat(obstacle_avoidance_planner) fix bug of stop line unalignment * fix bug of unsorted output points * move calcVelocity in node.cpp * fix build error - * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) - * fix(system_monitor): add some smart information to diagnostics (`#708 `_) - * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) + * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) + * fix(system_monitor): add some smart information to diagnostics (`#708 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) * feat(obstacle_avoidance_planner): dealt with close lane change * fix bug of right lane change - * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) * use car like constraints in mpt * use not widest bounds for the first bounds * organized params @@ -146,17 +146,17 @@ Changelog for package fake_test_node * update config * remove unnecessary files * update tier4_planning_launch params - * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) - * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) + * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check * feat: use marker helper - * feat(map_loader): visualize center line by points (`#931 `_) + * feat(map_loader): visualize center line by points (`#931 `_) * feat: visualize center line points * fix: delete space * feat: visualize center line by arrow * revert insertMarkerArray * fix: delete space - * feat: add RTC interface (`#765 `_) + * feat: add RTC interface (`#765 `_) * feature(rtc_interface): add files * feature(rtc_interface): implement functions * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md @@ -168,23 +168,23 @@ Changelog for package fake_test_node * feature(rtc_interface): add isRegistered and clearCooperateStatus * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore: sync files (`#911 `_) + * chore: sync files (`#911 `_) Co-authored-by: kenji-miyake - * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) + * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) * fix: replace boost::mutex::scoped_lock to std::scoped_lock * fix: replace boost::mutex to std::mutex - * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node * feat(tensorrt_yolo): update arg Co-authored-by: Kaan Colak - * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat: add param.yaml in behavior_velocity_planner package * some fix Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> - * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader * fix(map_loader): remove c_str * fix(map_loader): replace c_str to string @@ -223,18 +223,18 @@ Changelog for package fake_test_node Co-authored-by: Kaan Çolak Co-authored-by: Kaan Colak Co-authored-by: Kenji Miyake -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove license notations from CMakeLists.txt (`#846 `_) -* chore: remove bad chars (`#845 `_) -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): clear the exclude option (`#426 `_) +* chore: remove license notations from CMakeLists.txt (`#846 `_) +* chore: remove bad chars (`#845 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) * ci(pre-commit): remove unnecessary excludes * ci(pre-commit): autofix * ci(pre-commit): autofix @@ -246,60 +246,60 @@ Changelog for package fake_test_node * fix build * use autoware_lint_common Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add autoware auto dependencies (`#185 `_) - * Back port .auto control packages (`#571 `_) +* feat: add autoware auto dependencies (`#185 `_) + * Back port .auto control packages (`#571 `_) * Implement Lateral and Longitudinal Control Muxer - * [`#570 `_] Porting wf_simulator - * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' - * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' - * [`#1057 `_] Add osqp_interface package - * [`#1057 `_] Add library code for MPC-based lateral control - * [`#1271 `_] Use std::abs instead of abs - * [`#1057 `_] Implement Lateral Controller for Cargo ODD - * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" - * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' - * [`#1058 `_] Add library code of longitudinal controller + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller * Fix build error for trajectory follower * Fix build error for trajectory follower nodes - * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator - * [`#1058 `_] Add Longitudinal Controller node - * [`#1058 `_] Rename velocity_controller -> longitudinal_controller - * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node - * [`#1058 `_] Add smoke test python launch file - * [`#1058 `_] Use LowPassFilter1d from trajectory_follower - * [`#1058 `_] Use autoware_auto_msgs - * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) - * [`#1058 `_] Remove unused parameters - * [`#1058 `_] Fix ros test - * [`#1058 `_] Rm default params from declare_parameters + use autoware types - * [`#1058 `_] Use default param file to setup NodeOptions in the ros test - * [`#1058 `_] Fix docstring - * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState - * [`#1058 `_] Change class variables format to m\_ prefix - * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt - * [`#1058 `_] Fix copyright dates - * [`#1058 `_] Reorder includes - * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) - * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) - * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope - * [`#1058 `_] Calculate wheel_base value from vehicle parameters - * [`#1058 `_] Cleanup redundant logger setting in tests - * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures - * [`#1058 `_] Remove TF listener and use published vehicle state instead - * [`#1058 `_] Change smoke tests to use autoware_testing - * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control - * [`#1058 `_] Improve design documents - * [`#1058 `_] Disable flaky test - * [`#1058 `_] Properly transform vehicle state in longitudinal node - * [`#1058 `_] Fix TF buffer of lateral controller - * [`#1058 `_] Tuning of lateral controller for LGSVL - * [`#1058 `_] Fix formating - * [`#1058 `_] Fix /tf_static sub to be transient_local - * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build - * [`#1379 `_] Update trajectory_follower - * [`#1379 `_] Update simple_planning_simulator - * [`#1379 `_] Update trajectory_follower_nodes + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes * apply trajectory msg modification in control * move directory * remote control/trajectory_follower level dorectpry @@ -323,7 +323,7 @@ Changelog for package fake_test_node Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: tomoya.kimura - * Port parking planner packages from .Auto (`#600 `_) + * Port parking planner packages from .Auto (`#600 `_) * Copy code of 'vehicle_constants_manager' * Fix vehicle_constants_manager for ROS galactic * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms diff --git a/common/global_parameter_loader/CHANGELOG.rst b/common/global_parameter_loader/CHANGELOG.rst index 64c6e6129795b..ae5dfd0509592 100644 --- a/common/global_parameter_loader/CHANGELOG.rst +++ b/common/global_parameter_loader/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package global_parameter_loader 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -40,10 +40,10 @@ Changelog for package global_parameter_loader * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* revert: feat(global_parameter_loader): add gtest to global parameter loader (`#6872 `_) +* revert: feat(global_parameter_loader): add gtest to global parameter loader (`#6872 `_) Revert "feat(global_parameter_loader): add gtest to global parameter loader (…" This reverts commit dfec62ac277f893fd6276e3c6ffd9c7d4f475225. -* feat(global_parameter_loader): add gtest to global parameter loader (`#5021 `_) +* feat(global_parameter_loader): add gtest to global parameter loader (`#5021 `_) * add remote * feat(global_parameter_loader): add gtest of global-parameter-loader * style(pre-commit): autofix @@ -54,9 +54,9 @@ Changelog for package global_parameter_loader 0.26.0 (2024-04-03) ------------------- -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -64,15 +64,15 @@ Changelog for package global_parameter_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* style: fix format of package.xml (`#844 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/glog_component/CHANGELOG.rst b/common/glog_component/CHANGELOG.rst index 3eff594a40955..b305cfb616e27 100644 --- a/common/glog_component/CHANGELOG.rst +++ b/common/glog_component/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package glog_component 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(glog): add initialization check (`#6792 `_) +* chore(glog): add initialization check (`#6792 `_) * Contributors: Takamasa Horibe, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* feat(glog): add glog in planning and control modules (`#4714 `_) +* feat(glog): add glog in planning and control modules (`#4714 `_) * feat(glog): add glog component * formatting * remove namespace diff --git a/common/tier4_adapi_rviz_plugin/CHANGELOG.rst b/common/tier4_adapi_rviz_plugin/CHANGELOG.rst index 5cd7c5682df4b..b151eb7f7e06d 100644 --- a/common/tier4_adapi_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_adapi_rviz_plugin/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package tier4_adapi_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* style: update rviz plugin icons to match the theme (`#8868 `_) -* fix(tier4_adapi_rviz_plugin): fix unusedFunction (`#8840 `_) +* style: update rviz plugin icons to match the theme (`#8868 `_) +* fix(tier4_adapi_rviz_plugin): fix unusedFunction (`#8840 `_) fix:unusedFunction -* feat(tier4_adapi_rviz_plugin, tier4_state_rviz_plugin): set timestamp to velocity_limit msg from rviz panels (`#8548 `_) +* feat(tier4_adapi_rviz_plugin, tier4_state_rviz_plugin): set timestamp to velocity_limit msg from rviz panels (`#8548 `_) set timestamp to velocity_limit msg -* feat(tier4_adapi_rviz_plugin): add legacy state panel (`#7494 `_) +* feat(tier4_adapi_rviz_plugin): add legacy state panel (`#7494 `_) * Contributors: Autumn60, Khalil Selyan, Takagi, Isamu, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* feat(default_ad_api): add door api (`#5737 `_) -* feat(tier4_adapi_rviz_plugin): add change button to the route panel (`#6326 `_) +* feat(default_ad_api): add door api (`#5737 `_) +* feat(tier4_adapi_rviz_plugin): add change button to the route panel (`#6326 `_) feat(tier4_adapi_rviz_plugin): add route change button to the route panel -* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) -* style(update): autoware tools icons (`#6351 `_) -* feat(tier4_adapi_rviz_plugin): add route panel (`#3840 `_) +* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) +* style(update): autoware tools icons (`#6351 `_) +* feat(tier4_adapi_rviz_plugin): add route panel (`#3840 `_) * feat: add panel * feat: set route * feat: set waypoints * feat: add readme * fix: copyright --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -35,7 +35,7 @@ Changelog for package tier4_adapi_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(tier4_adapi_rviz_plugin): add adapi rviz plugin (`#3380 `_) +* feat(tier4_adapi_rviz_plugin): add adapi rviz plugin (`#3380 `_) * feat(tier4_adapi_rviz_plugin): add adapi rviz plugin * feat: fix copyright and name --------- diff --git a/common/tier4_api_utils/CHANGELOG.rst b/common/tier4_api_utils/CHANGELOG.rst index 22856d3f82900..3129d35f02c38 100644 --- a/common/tier4_api_utils/CHANGELOG.rst +++ b/common/tier4_api_utils/CHANGELOG.rst @@ -9,16 +9,16 @@ Changelog for package tier4_api_utils 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* chore: set log level of debug printing in rviz plugin to DEBUG (`#5996 `_) -* docs: add readme for interface packages (`#4235 `_) +* chore: set log level of debug printing in rviz plugin to DEBUG (`#5996 `_) +* docs: add readme for interface packages (`#4235 `_) add readme for interface packages -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -26,22 +26,22 @@ Changelog for package tier4_api_utils --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: add api maintainers (`#2361 `_) -* refactor(tier4_api_utils): apply clang-tidy (`#1663 `_) -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: add api maintainers (`#2361 `_) +* refactor(tier4_api_utils): apply clang-tidy (`#1663 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: sync files (`#629 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst b/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst index e10612bd0db6a..e71a8d02bd47e 100644 --- a/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst @@ -5,31 +5,31 @@ Changelog for package tier4_camera_view_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_camera_view_rviz_plugin): fix unmatchedSuppression (`#8918 `_) +* fix(tier4_camera_view_rviz_plugin): fix unmatchedSuppression (`#8918 `_) fix:unmatchedSuppression -* style: update rviz plugin icons to match the theme (`#8868 `_) -* fix(tier4_camera_view_rviz_plugin): fix unusedFunction (`#8843 `_) +* style: update rviz plugin icons to match the theme (`#8868 `_) +* fix(tier4_camera_view_rviz_plugin): fix unusedFunction (`#8843 `_) fix:unusedFunction -* fix(tier4_camera_view_rviz_plugin): fix uninitMemberVar (`#8819 `_) +* fix(tier4_camera_view_rviz_plugin): fix uninitMemberVar (`#8819 `_) * fix:uninitMemberVar * fix:clang format --------- -* fix(tier4_camera_view_rviz_plugin): fix unusedFunction (`#8639 `_) +* fix(tier4_camera_view_rviz_plugin): fix unusedFunction (`#8639 `_) * fix:unusedFunction * fix:clang format * fix:unusedFunction --------- -* fix: replace Ogre deprecated header (`#7606 `_) +* fix: replace Ogre deprecated header (`#7606 `_) Fix Ogre deprecated header Co-authored-by: Kotaro Yoshimoto -* fix(tier4_camera_view_rviz_plugin): fix funcArgNamesDifferent warnings (`#7621 `_) +* fix(tier4_camera_view_rviz_plugin): fix funcArgNamesDifferent warnings (`#7621 `_) * Contributors: Khalil Selyan, Ryuta Kambe, Yutaka Kondo, kobayu858, ぐるぐる 0.26.0 (2024-04-03) ------------------- -* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) -* style(update): autoware tools icons (`#6351 `_) -* feat(camera_view_plugin): add camera view plugin package (`#5472 `_) +* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) +* style(update): autoware tools icons (`#6351 `_) +* feat(camera_view_plugin): add camera view plugin package (`#5472 `_) * add camera view plugin package * add readme for short cut * style(pre-commit): autofix diff --git a/common/tier4_datetime_rviz_plugin/CHANGELOG.rst b/common/tier4_datetime_rviz_plugin/CHANGELOG.rst index 0f5aa02a6d918..b8341184faaf7 100644 --- a/common/tier4_datetime_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_datetime_rviz_plugin/CHANGELOG.rst @@ -9,11 +9,11 @@ Changelog for package tier4_datetime_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -21,25 +21,25 @@ Changelog for package tier4_datetime_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: add api maintainers (`#2361 `_) -* refactor(tier4_datetime_rviz_plugin): apply clang-tidy (`#1605 `_) +* chore: add api maintainers (`#2361 `_) +* refactor(tier4_datetime_rviz_plugin): apply clang-tidy (`#1605 `_) * refactor(tier4_datetime_rviz_plugin): apply clang-tidy * refactor: apply readability-identifier-naming -* fix: remove unused check of rviz plugin version (`#1474 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* chore: sync files (`#629 `_) +* style: fix format of package.xml (`#844 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/tier4_localization_rviz_plugin/CHANGELOG.rst b/common/tier4_localization_rviz_plugin/CHANGELOG.rst index d5c279b2b6d10..2a1f10be1ffed 100644 --- a/common/tier4_localization_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_localization_rviz_plugin/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package tier4_localization_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_localization_rviz_plugin): fix unmatchedSuppression (`#8919 `_) +* fix(tier4_localization_rviz_plugin): fix unmatchedSuppression (`#8919 `_) fix:unmatchedSuppression -* fix(tier4_localization_rviz_plugin): fix unusedFunction (`#8848 `_) +* fix(tier4_localization_rviz_plugin): fix unusedFunction (`#8848 `_) fix:unusedFunction -* fix(tier4_localization_rviz_plugin): fix constVariableReference (`#8838 `_) +* fix(tier4_localization_rviz_plugin): fix constVariableReference (`#8838 `_) fix:constVariableReference -* fix(tier4_localization_rviz_plugin): fix knownConditionTrueFalse (`#8824 `_) +* fix(tier4_localization_rviz_plugin): fix knownConditionTrueFalse (`#8824 `_) * fix:knownConditionTrueFalse * fix:merge --------- -* refactor(tier4_localization_rviz_plugin): apply static analysis (`#8683 `_) +* refactor(tier4_localization_rviz_plugin): apply static analysis (`#8683 `_) * refactor based on linter * add comment on no lint * mod comment for clarification --------- -* feat(tier4_localization_rviz_plugin): add visualization of pose with covariance history (`#8191 `_) +* feat(tier4_localization_rviz_plugin): add visualization of pose with covariance history (`#8191 `_) * display PoseWithCovariance History * Correct spelling errors and year * Add arrows clear() @@ -30,11 +30,11 @@ Changelog for package tier4_localization_rviz_plugin --------- Co-authored-by: Yamato Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_localization_rviz_plugin): fix unusedFunction (`#8637 `_) +* fix(tier4_localization_rviz_plugin): fix unusedFunction (`#8637 `_) fix:unusedFunction -* chore(tier4_localization_rviz_plugin): add maintainer and author (`#8184 `_) +* chore(tier4_localization_rviz_plugin): add maintainer and author (`#8184 `_) add maintainer and author -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -73,16 +73,16 @@ Changelog for package tier4_localization_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* build: proper eigen deps and include (`#3615 `_) +* build: proper eigen deps and include (`#3615 `_) * build: proper eigen deps and include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -90,23 +90,23 @@ Changelog for package tier4_localization_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_rviz_plugin): add pose history footprint (`#2387 `_) +* feat(tier4_localization_rviz_plugin): add pose history footprint (`#2387 `_) * feat(tier4_localization_rviz_plugin): add pose history footprint * remove unused variables * add maintainer -* chore: add api maintainers (`#2361 `_) -* revert: readability-identifier-naming for pose history (`#1641 `_) +* chore: add api maintainers (`#2361 `_) +* revert: readability-identifier-naming for pose history (`#1641 `_) * revert: readability-identifier-naming for pose history This reverts commit 9278e714bdbd29ca344976e9a2b26fdb93b41370. * Revert "fix: build error" This reverts commit 5e855993250a94494d9a8d05e03097162d4e6e0e. -* refactor(tier4_localization_rviz_plugin): apply clang-tidy (`#1608 `_) +* refactor(tier4_localization_rviz_plugin): apply clang-tidy (`#1608 `_) * refactor(tier4_localization_rviz_plugin): apply clang-tidy * ci(pre-commit): autofix * refactor: add NOLINT @@ -114,25 +114,25 @@ Changelog for package tier4_localization_rviz_plugin * ci(pre-commit): autofix * fix: build error Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_perception_rviz_plugin): apply clang-tidy (`#1624 `_) +* refactor(tier4_perception_rviz_plugin): apply clang-tidy (`#1624 `_) * refactor(tier4_perception_rviz_plugin): apply clang-tidy * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: remove unused check of rviz plugin version (`#1474 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* chore: sync files (`#629 `_) +* style: fix format of package.xml (`#844 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/tier4_planning_rviz_plugin/CHANGELOG.rst b/common/tier4_planning_rviz_plugin/CHANGELOG.rst index 51dea889a86c0..c31dc946b12d1 100644 --- a/common/tier4_planning_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_planning_rviz_plugin/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package tier4_planning_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(tier4_planning_rviz_plugin): set path colors from rviz and add fade_out feature (`#8972 `_) +* feat(tier4_planning_rviz_plugin): set path colors from rviz and add fade_out feature (`#8972 `_) Co-authored-by: M. Fatih Cırıt -* style: update rviz plugin icons to match the theme (`#8868 `_) -* fix(tier4_planning_rviz_plugin): fix unusedFunction (`#8616 `_) +* style: update rviz plugin icons to match the theme (`#8868 `_) +* fix(tier4_planning_rviz_plugin): fix unusedFunction (`#8616 `_) fix:unusedFunction -* fix(tier4_planning_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8377 `_) +* fix(tier4_planning_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8377 `_) fix: deal with virtualCallInConstructor warning Co-authored-by: Ryuta Kambe -* fix(tier4_planning_rviz_plugin): fix calculation of drivable area bounds (`#7815 `_) +* fix(tier4_planning_rviz_plugin): fix calculation of drivable area bounds (`#7815 `_) change angle condition -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -55,45 +55,45 @@ Changelog for package tier4_planning_rviz_plugin * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* fix(tier4_planning_rviz_plugin): memory leak (`#7164 `_) +* fix(tier4_planning_rviz_plugin): memory leak (`#7164 `_) fix memory leak * Contributors: Khalil Selyan, Kosuke Takeuchi, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yukihiro Saito, Yutaka Kondo, beyzanurkaya, kobayu858, taisa1 0.26.0 (2024-04-03) ------------------- -* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) -* style(update): autoware tools icons (`#6351 `_) -* fix(tier4_planning_rviz_plugin): move headers to tier4_planning_rviz_plugin directory (`#5927 `_) +* fix(readme): add acknowledgement for material icons in tool plugins (`#6354 `_) +* style(update): autoware tools icons (`#6351 `_) +* fix(tier4_planning_rviz_plugin): move headers to tier4_planning_rviz_plugin directory (`#5927 `_) * fix(tier4_planning_rviz_plugin): move headers to tier4_planning_rviz_plugin directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(planning modules): remove maintainer... (`#5458 `_) +* chore(planning modules): remove maintainer... (`#5458 `_) remove shimizu-san from maintainer and add maintainer for stop line and turn signal decider -* feat(tier4_planning_rviz_plugin): visualize text of slope angle (`#5091 `_) -* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) -* fix(tier4_planning_rviz_plugin): update vehicle info parameters in panel received from global parameter (`#4907 `_) -* fix: max velocity display (`#4203 `_) +* feat(tier4_planning_rviz_plugin): visualize text of slope angle (`#5091 `_) +* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) +* fix(tier4_planning_rviz_plugin): update vehicle info parameters in panel received from global parameter (`#4907 `_) +* fix: max velocity display (`#4203 `_) fix max velocity display Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* fix(tier4_planning_rviz_plugin): fix plugin crash (`#3830 `_) +* fix(tier4_planning_rviz_plugin): fix plugin crash (`#3830 `_) * preVisualizePathFootPrint is the cause * update ogre_node and text_ptr in each iteration --------- -* fix(tier4_planning_rviz_plugin): fix drivable area width (`#3689 `_) +* fix(tier4_planning_rviz_plugin): fix drivable area width (`#3689 `_) * fix(tier4_planning_rviz_plugin): fix drivable area width * fix --------- -* build: proper eigen deps and include (`#3615 `_) +* build: proper eigen deps and include (`#3615 `_) * build: proper eigen deps and include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -101,53 +101,53 @@ Changelog for package tier4_planning_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(tier4_planning_rviz_plugin): suppress warning (`#3578 `_) -* feat(tier4_planning_rviz_plugin): remove z offset from the bound (`#3551 `_) -* feat(tier4_planning_rviz_plugin): update path width by global parameters (`#3504 `_) +* fix(tier4_planning_rviz_plugin): suppress warning (`#3578 `_) +* feat(tier4_planning_rviz_plugin): remove z offset from the bound (`#3551 `_) +* feat(tier4_planning_rviz_plugin): update path width by global parameters (`#3504 `_) * fix(tier4_planning_rviz_plugin): update vehicle info by global parameters * feat(tier4_planning_rviz_plugin): update path width by global parameters --------- -* fix(tier4_planning_rviz_plugin): update vehicle info by global parameters (`#3503 `_) +* fix(tier4_planning_rviz_plugin): update vehicle info by global parameters (`#3503 `_) * fix(tier4_planning_rviz_plugin): update vehicle info by global parameters * fix --------- -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_planning_rviz_plugin): supress initial warning message (`#2960 `_) +* fix(tier4_planning_rviz_plugin): supress initial warning message (`#2960 `_) fix(tier4_planning_rviz_plugin): remove initial warning message -* fix(tier4_rviz_planning_plugin): clear objects before return (`#2995 `_) +* fix(tier4_rviz_planning_plugin): clear objects before return (`#2995 `_) * fix(tier4_rviz_planning_plugin): clear objects before return * update --------- -* feat(tier4_planning_rviz_plugin): add maintainer (`#2996 `_) -* feat(tier4_planning_rviz_plugin): move footprint plugin to path (`#2971 `_) +* feat(tier4_planning_rviz_plugin): add maintainer (`#2996 `_) +* feat(tier4_planning_rviz_plugin): move footprint plugin to path (`#2971 `_) * feat(tier4_rviz_plugin): simplify tier4_planning_rviz_plugin * update --------- -* feat(tier4_planning_rviz_plugin): add drivable area plugin (`#2868 `_) +* feat(tier4_planning_rviz_plugin): add drivable area plugin (`#2868 `_) * feat(tier4_planning_rviz_plugin): add drivable area plugin * change default size and color * update * add drivable area to path * update --------- -* feat(tier4_autoware_utils): remove drivable area plugin (`#2876 `_) -* refactor(tier4_planning_rviz_plugin): clean up the code of path (`#2871 `_) +* feat(tier4_autoware_utils): remove drivable area plugin (`#2876 `_) +* refactor(tier4_planning_rviz_plugin): clean up the code of path (`#2871 `_) * refactor(tier4_planning_rviz_plugin): clean up the code of path * fix --------- -* refactor(tier4_planning_rviz_plugin): create abstract class for footprint (`#2870 `_) +* refactor(tier4_planning_rviz_plugin): create abstract class for footprint (`#2870 `_) * refactor(tier4_planning_rviz_plugin): create abstract class for footprint * fix * fix * fix * fix --------- -* feat(tier4_planning_rviz_plugin): visualize pose_with_uuid_stamped (`#2662 `_) +* feat(tier4_planning_rviz_plugin): visualize pose_with_uuid_stamped (`#2662 `_) * feat(tier4_planning_rviz_plugin): visualize pose_stamped_with_uuid * Update common/tier4_planning_rviz_plugin/include/pose_stamped_with_uuid/display.hpp Co-authored-by: Yukihiro Saito @@ -157,7 +157,7 @@ Changelog for package tier4_planning_rviz_plugin * add icon * change default size Co-authored-by: Yukihiro Saito -* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) +* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) * update * update * update @@ -178,68 +178,68 @@ Changelog for package tier4_planning_rviz_plugin * fix some codes * change to makerker array * change avoidance utils -* feat(tier4_planning_rviz_plugin): add offset from baselink param (`#2384 `_) -* fix(tier4_planning_rviz_plugin): correct velocity text (`#2179 `_) -* fix(tier4_planning/vehicle_rviz_plugin): fixed license (`#2059 `_) +* feat(tier4_planning_rviz_plugin): add offset from baselink param (`#2384 `_) +* fix(tier4_planning_rviz_plugin): correct velocity text (`#2179 `_) +* fix(tier4_planning/vehicle_rviz_plugin): fixed license (`#2059 `_) * fix(tier4_planning/vehicle_rviz_plugin): fixed license * fix build error -* feat(tier4_planning_rviz_plugin): add owner (`#1953 `_) -* refactor(tier4_planning_rviz_plugin): apply clang-tidy for path (`#1637 `_) -* feat(tier4_planning_rviz_plugin): add velocity_text to path_with_lane_id (`#1735 `_) +* feat(tier4_planning_rviz_plugin): add owner (`#1953 `_) +* refactor(tier4_planning_rviz_plugin): apply clang-tidy for path (`#1637 `_) +* feat(tier4_planning_rviz_plugin): add velocity_text to path_with_lane_id (`#1735 `_) * feat(tier4_planning_rviz_plugin): add velocity_text to path_with_lane_id * fix pre-commit -* refactor(tier4_planning_rviz_plugin): apply clang-tidy for mission_checkpoint (`#1634 `_) +* refactor(tier4_planning_rviz_plugin): apply clang-tidy for mission_checkpoint (`#1634 `_) refactor(tier4_planning_rviz_plugin): apply clang-tidy for mission_checkpoint -* refactor(tier4_planning_rviz_plugin): apply clang-tidy for drivable_area (`#1625 `_) -* fix: remove unused check of rviz plugin version (`#1474 `_) -* fix(tier4_planning_rviz_plugin): fix initialize planning_rviz_plugin (`#1387 `_) +* refactor(tier4_planning_rviz_plugin): apply clang-tidy for drivable_area (`#1625 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* fix(tier4_planning_rviz_plugin): fix initialize planning_rviz_plugin (`#1387 `_) * fix(tier4_planning_rviz_plugin): fix initialize planning_rviz_plugin * ci(pre-commit): autofix * remove comment out Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_planning_rviz_plugin): support backward driving in path/traj plugin (`#1335 `_) +* fix(tier4_planning_rviz_plugin): support backward driving in path/traj plugin (`#1335 `_) * fix(tier4_planning_rviz_plugin): support backward driving in path_with_lane_id/path/trajectory plugin * add utils.hpp -* feat: view LaneId on PathWithLaneIdFootprint plugin (`#984 `_) +* feat: view LaneId on PathWithLaneIdFootprint plugin (`#984 `_) * feat: view LaneId on PathWithLaneIdFootprint plugin * ci(pre-commit): autofix * fix: add utility * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: set Eigen include directory as SYSTEM for Humble arm64 (`#978 `_) -* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (`#587 `_) +* fix: set Eigen include directory as SYSTEM for Humble arm64 (`#978 `_) +* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (`#587 `_) * feat(tier4_planning/vehicle_plugin): make plugins size scalable * remove space * scaling -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* fix: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* fix(tier4_planning_rviz_plugins): modify build error in rolling (`#808 `_) -* feat(tier4_planning_rviz_plugins): add vehicle_info to *FootprintDisplay (`#712 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(tier4_planning_rviz_plugins): modify build error in rolling (`#808 `_) +* feat(tier4_planning_rviz_plugins): add vehicle_info to *FootprintDisplay (`#712 `_) * feat(tier4_planning_rviz_plugins): add vehicle_info to PathFootprintDisplay * add vehicle_info to other footprint displays * fix the scope of local variables Co-authored-by: Takayuki Murooka -* chore: sync files (`#629 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_planning_rviz_plugin): add PathWithLaneIdFootprint rviz plugin (`#594 `_) +* feat(tier4_planning_rviz_plugin): add PathWithLaneIdFootprint rviz plugin (`#594 `_) * feat(tier4_planning_rviz_plugin): add PathWithLaneIdFootprint rviz plugin * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_planning_rviz_plugin): add PathWithLaneId icon (`#593 `_) -* feat(tier4_planning_rviz_plugin): add PathWithLaneId rviz plugin (`#591 `_) - * sync rc rc/v1.7.1 (`#2345 `_) - * add behavior_path_rviz_plugin (`#2343 `_) +* chore(tier4_planning_rviz_plugin): add PathWithLaneId icon (`#593 `_) +* feat(tier4_planning_rviz_plugin): add PathWithLaneId rviz plugin (`#591 `_) + * sync rc rc/v1.7.1 (`#2345 `_) + * add behavior_path_rviz_plugin (`#2343 `_) * add behavior_path_rviz_plugin * edit README * fix for uncrustify @@ -258,14 +258,14 @@ Changelog for package tier4_planning_rviz_plugin Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Co-authored-by: Hiroki OTA Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: add drivable area visualizer (`#779 `_) (`#193 `_) +* feat: add drivable area visualizer (`#779 `_) (`#193 `_) * add drivable area visualizer * add license * modify pointed out in pre-commit * modify pointed out in pre-commit Co-authored-by: Yukihiro Saito -* fix: fix typo plannnig -> planning (`#195 `_) -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* fix: fix typo plannnig -> planning (`#195 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/tier4_state_rviz_plugin/CHANGELOG.rst b/common/tier4_state_rviz_plugin/CHANGELOG.rst index 4ea0f5cc6557e..962433de64c70 100644 --- a/common/tier4_state_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_state_rviz_plugin/CHANGELOG.rst @@ -5,26 +5,26 @@ Changelog for package tier4_state_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_state_rviz_plugin): fix unmatchedSuppression (`#8921 `_) +* fix(tier4_state_rviz_plugin): fix unmatchedSuppression (`#8921 `_) fix:unmatchedSuppression -* style: update state panel plugin (`#8846 `_) -* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8841 `_) +* style: update state panel plugin (`#8846 `_) +* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8841 `_) fix:unusedFunction -* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8845 `_) +* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8845 `_) * fix:unusedFunction * fix:unusedFunction * fix:revert --------- -* fix(tier4_state_rviz_plugin): fix constVariablePointer (`#8832 `_) +* fix(tier4_state_rviz_plugin): fix constVariablePointer (`#8832 `_) fix:constVariablePointer -* fix(tier4_state_rviz_plugin): fix shadowVariable (`#8831 `_) +* fix(tier4_state_rviz_plugin): fix shadowVariable (`#8831 `_) * fix:shadowVariable * fix:clang-format --------- -* refactor(custom_button): improve drop shadow effect (`#8781 `_) -* fix(tier4_state_rviz_plugin): fix unmatchedSuppression (`#8658 `_) +* refactor(custom_button): improve drop shadow effect (`#8781 `_) +* fix(tier4_state_rviz_plugin): fix unmatchedSuppression (`#8658 `_) fix:unmatchedSuppression -* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8608 `_) +* fix(tier4_state_rviz_plugin): fix unusedFunction (`#8608 `_) * fix:unusedFunction * fix:clang format * fix:revert custom button @@ -39,35 +39,35 @@ Changelog for package tier4_state_rviz_plugin * fix:revert custom botton item * fix:remove declaration --------- -* feat(tier4_adapi_rviz_plugin, tier4_state_rviz_plugin): set timestamp to velocity_limit msg from rviz panels (`#8548 `_) +* feat(tier4_adapi_rviz_plugin, tier4_state_rviz_plugin): set timestamp to velocity_limit msg from rviz panels (`#8548 `_) set timestamp to velocity_limit msg -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat: update autoware state panel (`#7036 `_) +* feat: update autoware state panel (`#7036 `_) * Contributors: Autumn60, Khalil Selyan, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* feat: add pull over to autoware_state_panel of rviz (`#6540 `_) -* chore: set log level of debug printing in rviz plugin to DEBUG (`#5996 `_) -* feat!: remove planning factor type (`#5793 `_) +* feat: add pull over to autoware_state_panel of rviz (`#6540 `_) +* chore: set log level of debug printing in rviz plugin to DEBUG (`#5996 `_) +* feat!: remove planning factor type (`#5793 `_) remove planning factor type Co-authored-by: Hiroki OTA -* feat: change planning factor behavior constants (`#5590 `_) +* feat: change planning factor behavior constants (`#5590 `_) * replace module type * support compatibility --------- Co-authored-by: Hiroki OTA -* feat(tier4_state_rviz_plugin): add init by gnss button (`#4392 `_) -* fix(tier4_state_rviz_plugin): add NEUTRAL on GEAR (`#3132 `_) +* feat(tier4_state_rviz_plugin): add init by gnss button (`#4392 `_) +* fix(tier4_state_rviz_plugin): add NEUTRAL on GEAR (`#3132 `_) fix(tier4_state_rviz_plugin): fix bug https://github.com/autowarefoundation/autoware.universe/issues/3121 -* refactor(start_planner): rename pull out to start planner (`#3908 `_) -* build(iron): remove rmw_qos_profile_t (`#3809 `_) -* fix(rviz_plugin): fx traffic light and velocity factor rviz plugin (`#3598 `_) +* refactor(start_planner): rename pull out to start planner (`#3908 `_) +* build(iron): remove rmw_qos_profile_t (`#3809 `_) +* fix(rviz_plugin): fx traffic light and velocity factor rviz plugin (`#3598 `_) fix(rviz_plugin); fx traffic light and velocity factor rviz plugin -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -75,17 +75,17 @@ Changelog for package tier4_state_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) -* chore: sync files (`#3227 `_) +* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_state_panel): change variable for fail safe behavior (`#2952 `_) +* fix(autoware_state_panel): change variable for fail safe behavior (`#2952 `_) fix fail safe behavior value -* fix(tier4_state_rviz_plugin): fix typo (`#2988 `_) -* fix(tier4_state_rviz_plugin): split into two panels (`#2914 `_) +* fix(tier4_state_rviz_plugin): fix typo (`#2988 `_) +* fix(tier4_state_rviz_plugin): split into two panels (`#2914 `_) * fix(tier4_state_rviz_plugin): split into two panels * feat: add image * style(pre-commit): autofix @@ -100,16 +100,16 @@ Changelog for package tier4_state_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat(tier4_state_rviz_plugin): add planning API visualization (`#2632 `_) +* feat(tier4_state_rviz_plugin): add planning API visualization (`#2632 `_) feat(tier4_state_rviz_plugin): add Planning Visualization Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat(tier4_state_rviz_plugin): add Fail Safe Visualization (`#2626 `_) +* feat(tier4_state_rviz_plugin): add Fail Safe Visualization (`#2626 `_) * feat(tier4_state_rviz_plugin): add information for Fail Safe * fix color * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs(tier4_state_rviz_plugin): update readme (`#2475 `_) -* feat(tier4_state_rviz_plugin): add API monitoring for Routing, Localization and Motion (`#2436 `_) +* docs(tier4_state_rviz_plugin): update readme (`#2475 `_) +* feat(tier4_state_rviz_plugin): add API monitoring for Routing, Localization and Motion (`#2436 `_) * feat: add viz for routing API * feat: add motion and localiation * some refactoring @@ -122,7 +122,7 @@ Changelog for package tier4_state_rviz_plugin * ci(pre-commit): autofix Co-authored-by: Takagi, Isamu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_state_rviz_plugin): use ADAPI v1 instead of old API (`#2433 `_) +* feat(tier4_state_rviz_plugin): use ADAPI v1 instead of old API (`#2433 `_) * fix: delete path change approval * make operation and control mode layout * add nullptr @@ -132,15 +132,15 @@ Changelog for package tier4_state_rviz_plugin * feat: add TRANSITION * fix comment * delete unused -* chore(tier4_state_rviz_plugin): add maintainer (`#2435 `_) -* revert(tier4_state_rviz_plugin): readability-identifier-naming (`#1595 `_) (`#1617 `_) - revert(tier4_state_rviz_plugin): readability-identifier-naming (`#1595 `_)" +* chore(tier4_state_rviz_plugin): add maintainer (`#2435 `_) +* revert(tier4_state_rviz_plugin): readability-identifier-naming (`#1595 `_) (`#1617 `_) + revert(tier4_state_rviz_plugin): readability-identifier-naming (`#1595 `_)" This reverts commit 57720204fd401a59b5dffd12d5b8958e5ae2a5af. -* refactor(tier4_state_rviz_plugin): apply clang-tidy for readability-identifier-naming (`#1595 `_) +* refactor(tier4_state_rviz_plugin): apply clang-tidy for readability-identifier-naming (`#1595 `_) * refactor(tier4_state_rviz_plugin): apply clang-tidy for readability-identifier-naming * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_state_rviz_plugin): apply clang-tidy (`#1589 `_) +* refactor(tier4_state_rviz_plugin): apply clang-tidy (`#1589 `_) * fix: clang-tidy for tier4_state_rviz_plugin * ci(pre-commit): autofix * Update common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -154,47 +154,47 @@ Changelog for package tier4_state_rviz_plugin * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* fix: remove unused check of rviz plugin version (`#1474 `_) -* fix(tier4_state_rviz_plugin): qos (`#1085 `_) -* feat(tier4_state_rviz_plugin): add emergency button (`#1048 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* fix(tier4_state_rviz_plugin): qos (`#1085 `_) +* feat(tier4_state_rviz_plugin): add emergency button (`#1048 `_) * feat(tier4_state_rviz_plugin):add emergency button * ci(pre-commit): autofix * chore: add default button name Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* revert: engage button action in autoware_state_panel (`#1079 `_) - * Revert "fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_)" +* revert: engage button action in autoware_state_panel (`#1079 `_) + * Revert "fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_)" This reverts commit 49cc906418b15994b7facb881f3c133a9d8eb3a1. - * Revert "fix(tier4_state_rviz_plugin): change service and topic name for engage (`#633 `_)" + * Revert "fix(tier4_state_rviz_plugin): change service and topic name for engage (`#633 `_)" This reverts commit 15f43bc7063809d38c369e405a82d9666826c052. -* feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) +* feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) +* feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) +* style: fix format of package.xml (`#844 `_) +* fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: sync files (`#629 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_state_rviz_plugin): change service and topic name for engage (`#633 `_) -* feat: add selector mode and disengage function (`#781 `_) (`#194 `_) +* fix(tier4_state_rviz_plugin): change service and topic name for engage (`#633 `_) +* feat: add selector mode and disengage function (`#781 `_) (`#194 `_) Co-authored-by: Hiroki OTA Co-authored-by: Tomoya Kimura -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/tier4_system_rviz_plugin/CHANGELOG.rst b/common/tier4_system_rviz_plugin/CHANGELOG.rst index 846fa5cd3fa14..92178542034c4 100644 --- a/common/tier4_system_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_system_rviz_plugin/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package tier4_system_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(system_error_monitor): remove system error monitor (`#8929 `_) +* feat(system_error_monitor): remove system error monitor (`#8929 `_) * feat: delete-system-error-monitor-from-autoware * feat: remove unnecessary params --------- -* fix(tier4_system_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8378 `_) +* fix(tier4_system_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8378 `_) fix: deal with virtualCallInConstructor warning Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -22,7 +22,7 @@ Changelog for package tier4_system_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* feat(tier4_system_rviz_plugin): improve visualization results and logics (`#5222 `_) +* feat(tier4_system_rviz_plugin): improve visualization results and logics (`#5222 `_) * Add Init Localization and Init Planning Check; Add error list check * style(pre-commit): autofix * int casting problem updated @@ -39,8 +39,8 @@ Changelog for package tier4_system_rviz_plugin --------- Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) -* feat(tier4_system_rviz_plugin): add package (`#4945 `_) +* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) +* feat(tier4_system_rviz_plugin): add package (`#4945 `_) * feat(tier4_system_rviz_plugin): add package * update maintainer * style(pre-commit): autofix diff --git a/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst b/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst index 5a746ad778af4..b367a66d0357d 100644 --- a/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package tier4_traffic_light_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -14,7 +14,7 @@ Changelog for package tier4_traffic_light_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) +* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) * feat(behavior_velocity): support new traffic signal interface * style(pre-commit): autofix * add missing dependency @@ -31,9 +31,9 @@ Changelog for package tier4_traffic_light_rviz_plugin * add debug log when the signal data is outdated --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(rviz_plugin): fx traffic light and velocity factor rviz plugin (`#3598 `_) +* fix(rviz_plugin): fx traffic light and velocity factor rviz plugin (`#3598 `_) fix(rviz_plugin); fx traffic light and velocity factor rviz plugin -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -41,21 +41,21 @@ Changelog for package tier4_traffic_light_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* refactor(tier4_traffic_light_rviz_plugin): apply clang-tidy (`#1650 `_) -* fix: remove unused check of rviz plugin version (`#1474 `_) -* feat(traffic-light-rviz-panel): select traffic light ID from Combobox (`#1010 `_) +* refactor(tier4_traffic_light_rviz_plugin): apply clang-tidy (`#1650 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* feat(traffic-light-rviz-panel): select traffic light ID from Combobox (`#1010 `_) * feat(traffic-light-rviz-panel): (1) select traffic light ID instead of inputting its value (2) added a workaround for tinyxml2::tinyxml2 for humble build (3) updated README and fixed mkdocs.yaml to upload .gif file to unvierse documentation (4)sort traffic light IDs, use scrollable box -* docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* feat(tier4_traffic_light_rviz_plugin): selectable light shape, status and confidence (`#663 `_) -* feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel (`#640 `_) +* style: fix format of package.xml (`#844 `_) +* feat(tier4_traffic_light_rviz_plugin): selectable light shape, status and confidence (`#663 `_) +* feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel (`#640 `_) * feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel * fix(tier4_traffic_light_rviz_plugin): fix behavior * fix: lisense description diff --git a/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst b/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst index 85e3e9b8f184a..b02695f6f8e17 100644 --- a/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package tier4_vehicle_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_vehicle_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8379 `_) +* fix(tier4_vehicle_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (`#8379 `_) fix: deal with virtualCallInConstructor warning Co-authored-by: Ryuta Kambe -* fix: replace Ogre deprecated header (`#7606 `_) +* fix: replace Ogre deprecated header (`#7606 `_) Fix Ogre deprecated header Co-authored-by: Kotaro Yoshimoto -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -22,14 +22,14 @@ Changelog for package tier4_vehicle_rviz_plugin 0.26.0 (2024-04-03) ------------------- -* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) -* chore(build): remove tier4_autoware_utils.hpp in common/ (`#4828 `_) +* refactor(common): extern template for motion_utils / remove tier4_autoware_utils.hpp / remove motion_utis.hpp (`#5027 `_) +* chore(build): remove tier4_autoware_utils.hpp in common/ (`#4828 `_) removed tier4_autoware_utils.hpp in common/ -* chore: do not display steer and velocity value when message is not subscribed yet (`#4739 `_) +* chore: do not display steer and velocity value when message is not subscribed yet (`#4739 `_) * chore: do not display steer and velocity value when message is not subscribed yet * chore: change msgs --------- -* feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RViz (`#4506 `_) +* feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RViz (`#4506 `_) * feat: add acceleration visualization plugin to RVIZ * feat: add RVIZ plugin for acceleration; remove limit text; debugging: property_label_scale\_ not responding * style(pre-commit): autofix @@ -40,7 +40,7 @@ Changelog for package tier4_vehicle_rviz_plugin --------- Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -48,34 +48,34 @@ Changelog for package tier4_vehicle_rviz_plugin --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_planning/vehicle_rviz_plugin): fixed license (`#2059 `_) +* fix(tier4_planning/vehicle_rviz_plugin): fixed license (`#2059 `_) * fix(tier4_planning/vehicle_rviz_plugin): fixed license * fix build error -* fix: remove unused check of rviz plugin version (`#1474 `_) -* fix(tier4_vehicle_rviz_plugin): initialization vehicle rivz plugin (`#1379 `_) +* fix: remove unused check of rviz plugin version (`#1474 `_) +* fix(tier4_vehicle_rviz_plugin): initialization vehicle rivz plugin (`#1379 `_) * fix(tier4_vehicle_rviz_plugin): initialization vehicle rviz plugin * initialize signal_type -* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (`#587 `_) +* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (`#587 `_) * feat(tier4_planning/vehicle_plugin): make plugins size scalable * remove space * scaling -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* fix: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) * fix(tier4_autoware_utils): modify build error in rolling * fix(lanelet2_extension): add target compile definition for geometry2 * fix(ekf_localizer): add target compile definition for geometry2 @@ -113,7 +113,7 @@ Changelog for package tier4_vehicle_rviz_plugin * fix(planning_error_monitor): add target compile definition for geometry2 * fix(planning_evaluator): add target compile definition for geometry2 * fix(lidar_centerpoint): add target compile definition for geometry2 -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor diff --git a/common/traffic_light_recognition_marker_publisher/CHANGELOG.rst b/common/traffic_light_recognition_marker_publisher/CHANGELOG.rst index da1e3e772d1ad..d4f17b0feea0e 100644 --- a/common/traffic_light_recognition_marker_publisher/CHANGELOG.rst +++ b/common/traffic_light_recognition_marker_publisher/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package traffic_light_recognition_marker_publisher 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* docs(common): adding .pages file (`#7148 `_) +* docs(common): adding .pages file (`#7148 `_) * docs(common): adding .pages file * fix naming * fix naming @@ -25,7 +25,7 @@ Changelog for package traffic_light_recognition_marker_publisher 0.26.0 (2024-04-03) ------------------- -* feat: add visualization node of traffic light recognition result (`#4099 `_) +* feat: add visualization node of traffic light recognition result (`#4099 `_) * feat: add visualization node of traffic light recognition result * docs: update readme * chore: change image diff --git a/common/traffic_light_utils/CHANGELOG.rst b/common/traffic_light_utils/CHANGELOG.rst index 070be2c0b0f4a..7a62fa661e9bb 100644 --- a/common/traffic_light_utils/CHANGELOG.rst +++ b/common/traffic_light_utils/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package traffic_light_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(traffic_light_utils): fix unusedFunction (`#8605 `_) +* fix(traffic_light_utils): fix unusedFunction (`#8605 `_) * fix:unusedFunction * fix:unusedFunction --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for common modules (`#7239 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -18,24 +18,24 @@ Changelog for package traffic_light_utils 0.26.0 (2024-04-03) ------------------- -* chore(perception modules): remove maintainer... (`#6499 `_) +* chore(perception modules): remove maintainer... (`#6499 `_) * change maintainer * add uetake san as maintainer --------- -* refactor(tier4_perception_msgs): rename traffic_signal to traffic_light (`#6375 `_) +* refactor(tier4_perception_msgs): rename traffic_signal to traffic_light (`#6375 `_) * rename traffic_signal to traffic_light * style(pre-commit): autofix * fix(crosswalk_traffic_light_estimator): remove unused include, readme * rename traffic_signal_array to traffic_light_array --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(avoidance, lane_change): modules handle unknown traffic signal in the same way as red signal (`#6013 `_) +* fix(avoidance, lane_change): modules handle unknown traffic signal in the same way as red signal (`#6013 `_) * fix(avoidance, lane_change): modules handle unknown traffic signal in the same way as red signal * feat(traffic_light_utils): add util functions * refactor(bpp): use traffic light utils * refactor(bvp): use traffic light utils --------- -* feat(crosswalk_traffic_light): add detector and classifier for pedestrian traffic light (`#5871 `_) +* feat(crosswalk_traffic_light): add detector and classifier for pedestrian traffic light (`#5871 `_) * add: crosswalk traffic light recognition * fix: set conf=0 when occluded * fix: clean code @@ -99,7 +99,7 @@ Changelog for package traffic_light_utils --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu -* test(traffic_light_utils): add test_traffic_light_utils (`#4643 `_) +* test(traffic_light_utils): add test_traffic_light_utils (`#4643 `_) * test(traffic_light_utils): add test_traffic_light_utils * style(pre-commit): autofix * fix(traffic_light_utils): fix magic number @@ -108,8 +108,8 @@ Changelog for package traffic_light_utils * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs: add readme to perception related utils (`#4265 `_) -* chore: separate traffic_light_utils from perception_utils (`#4207 `_) +* docs: add readme to perception related utils (`#4265 `_) +* chore: separate traffic_light_utils from perception_utils (`#4207 `_) * separate traffic_light_utils from perception_utils * style(pre-commit): autofix * fix namespace bug diff --git a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst index 57dd5781899c5..6e8285c25481d 100644 --- a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst +++ b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package autoware_autonomous_emergency_braking 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autonomous_emergency_braking): fix no backward imu path and wrong back distance usage (`#9141 `_) +* fix(autonomous_emergency_braking): fix no backward imu path and wrong back distance usage (`#9141 `_) * fix no backward imu path and wrong back distance usage * use the motion utils isDrivingForward function --------- -* refactor(autoware_autonomous_emergency_braking): rename info_marker_publisher to virtual_wall_publisher (`#9078 `_) -* feat(autonomous_emergency_braking): set max imu path length (`#9004 `_) +* refactor(autoware_autonomous_emergency_braking): rename info_marker_publisher to virtual_wall_publisher (`#9078 `_) +* feat(autonomous_emergency_braking): set max imu path length (`#9004 `_) * set a limit to the imu path length * fix test and add a new one * update readme @@ -19,9 +19,9 @@ Changelog for package autoware_autonomous_emergency_braking * refactor to reduce repeated code * cleaning code --------- -* feat(autonomous_emergency_braking): add sanity chackes (`#8998 `_) +* feat(autonomous_emergency_braking): add sanity chackes (`#8998 `_) add sanity chackes -* feat(autonomous_emergency_braking): calculate the object's velocity in the search area (`#8591 `_) +* feat(autonomous_emergency_braking): calculate the object's velocity in the search area (`#8591 `_) * refactor PR * WIP * change using polygon to lateral offset @@ -31,45 +31,45 @@ Changelog for package autoware_autonomous_emergency_braking * fix empty path points in short parking scenario * fix readme conflicts --------- -* docs(autonomous_emergency_braking): add missing params to README (`#8950 `_) +* docs(autonomous_emergency_braking): add missing params to README (`#8950 `_) add missing params -* feat(autonomous_emergency_braking): make hull markers 3d (`#8930 `_) +* feat(autonomous_emergency_braking): make hull markers 3d (`#8930 `_) make hull markers 3d -* docs(autonomous_emergency_braking): make a clearer image for aeb when localization is faulty (`#8873 `_) +* docs(autonomous_emergency_braking): make a clearer image for aeb when localization is faulty (`#8873 `_) make a clearer image for aeb when localization is faulty -* feat(autonomous_emergency_braking): add markers showing aeb convex hull polygons for debugging purposes (`#8865 `_) +* feat(autonomous_emergency_braking): add markers showing aeb convex hull polygons for debugging purposes (`#8865 `_) * add markers showing aeb convex hull polygons for debugging purposes * fix briefs * fix typo --------- -* fix(control): align the parameters with launcher (`#8789 `_) +* fix(control): align the parameters with launcher (`#8789 `_) align the control parameters -* feat(autonomous_emergency_braking): speed up aeb (`#8778 `_) +* feat(autonomous_emergency_braking): speed up aeb (`#8778 `_) * add missing rclcpp::Time(0) * refactor to reduce cropping to once per iteration * add LookUpTransform to utils * separate object creation and clustering * error handling of empty pointcloud --------- -* feat(autonomous_emergency_braking): increase aeb speed by getting last transform (`#8734 `_) +* feat(autonomous_emergency_braking): increase aeb speed by getting last transform (`#8734 `_) set stamp to 0 to get the latest stamp instead of waiting for the stamp -* feat(autonomous_emergency_braking): add timekeeper to AEB (`#8706 `_) +* feat(autonomous_emergency_braking): add timekeeper to AEB (`#8706 `_) * add timekeeper to AEB * add more info to output --------- -* docs(autoware_autonomous_emergency_braking): improve AEB module's README (`#8612 `_) +* docs(autoware_autonomous_emergency_braking): improve AEB module's README (`#8612 `_) * docs: improve AEB module's README * update rss distance length --------- -* fix(autonomous_emergency_braking): fix debug marker visual bug (`#8611 `_) +* fix(autonomous_emergency_braking): fix debug marker visual bug (`#8611 `_) fix bug by using the collision data keeper -* feat(autonomous_emergency_braking): enable aeb with only one req path (`#8569 `_) +* feat(autonomous_emergency_braking): enable aeb with only one req path (`#8569 `_) * make it so AEB works with only one req path type (imu or MPC) * fix missing mpc path return * add check * modify no path msg --------- -* feat(autonomous_emergency_braking): add some tests to aeb (`#8126 `_) +* feat(autonomous_emergency_braking): add some tests to aeb (`#8126 `_) * add initial tests * add more tests * more tests @@ -84,11 +84,11 @@ Changelog for package autoware_autonomous_emergency_braking * add briefs * delete repeated test --------- -* docs(autonomous_emergency_braking): update readme for new param (`#8330 `_) +* docs(autonomous_emergency_braking): update readme for new param (`#8330 `_) update readme for new param -* feat(autonomous_emergency_braking): add info marker and override for state (`#8312 `_) +* feat(autonomous_emergency_braking): add info marker and override for state (`#8312 `_) add info marker and override for state -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -102,23 +102,23 @@ Changelog for package autoware_autonomous_emergency_braking --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* feat(autonomous_emergency_braking): add virtual stop wall to aeb (`#7894 `_) +* feat(autonomous_emergency_braking): add virtual stop wall to aeb (`#7894 `_) * add virtual stop wall to aeb * add maintainer * add uppercase * use motion utils function instead of shiftPose --------- -* chore(autonomous_emergency_braking): apply clangd suggestions to aeb (`#7703 `_) +* chore(autonomous_emergency_braking): apply clangd suggestions to aeb (`#7703 `_) * apply clangd suggestions * add maintainer --------- -* feat(autonomous_emergency_braking): aeb add support negative speeds (`#7707 `_) +* feat(autonomous_emergency_braking): aeb add support negative speeds (`#7707 `_) * add support for negative speeds * remove negative speed check for predicted obj --------- -* fix(autonomous_emergency_braking): aeb strange mpc polygon (`#7740 `_) +* fix(autonomous_emergency_braking): aeb strange mpc polygon (`#7740 `_) change resize to reserve -* feat(autonomous_emergency_braking): add cluster min height for aeb (`#7605 `_) +* feat(autonomous_emergency_braking): add cluster min height for aeb (`#7605 `_) * add minimum cluster height threshold * add update param option * use param @@ -126,8 +126,8 @@ Changelog for package autoware_autonomous_emergency_braking * update README * add cluster height description --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autonomous_emergency_braking): add predicted object support for aeb (`#7548 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autonomous_emergency_braking): add predicted object support for aeb (`#7548 `_) * add polling sub to predicted objects * WIP requires changing path frame to map * add parameters and reuse predicted obj speed @@ -142,34 +142,34 @@ Changelog for package autoware_autonomous_emergency_braking * add utils.cpp * remove _ for non member variable --------- -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* feat(autonomous_emergency_braking): aeb disable obj velocity calc w param (`#7493 `_) - * feat(autonomous_emergenct_braking): update README and imgs of aeb (`#7482 `_) +* feat(autonomous_emergency_braking): aeb disable obj velocity calc w param (`#7493 `_) + * feat(autonomous_emergenct_braking): update README and imgs of aeb (`#7482 `_) update README * add param to toggle on or off object speed calc for aeb * pre-commit readme --------- -* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) +* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) set single depth sensor data qos for pointlcoud polling subscribers -* feat(autonomous_emergenct_braking): update README and imgs of aeb (`#7482 `_) +* feat(autonomous_emergenct_braking): update README and imgs of aeb (`#7482 `_) update README -* feat(autonomous_emergency_braking): aeb for backwards driving (`#7279 `_) +* feat(autonomous_emergency_braking): aeb for backwards driving (`#7279 `_) * add support for backward path AEB * fix sign) * add abs and protect against nan * solve sign problem with relative speed --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -204,7 +204,7 @@ Changelog for package autoware_autonomous_emergency_braking * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat(autonomous_emergency_braking): prefix package and namespace with autoware\_ (`#7294 `_) +* feat(autonomous_emergency_braking): prefix package and namespace with autoware\_ (`#7294 `_) * change package name * add the prefix * change option diff --git a/control/autoware_collision_detector/CHANGELOG.rst b/control/autoware_collision_detector/CHANGELOG.rst index 8e30f7119a4dd..3e6f87d08dd6d 100644 --- a/control/autoware_collision_detector/CHANGELOG.rst +++ b/control/autoware_collision_detector/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_collision_detector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(collision_detector): add maintainer (`#9184 `_) +* chore(collision_detector): add maintainer (`#9184 `_) add maintainer -* feat(collision_detector): add autoware_collision_detector (`#9157 `_) +* feat(collision_detector): add autoware_collision_detector (`#9157 `_) * add new package autoware_collision_detector * update to latest * fix diff --git a/control/autoware_control_validator/CHANGELOG.rst b/control/autoware_control_validator/CHANGELOG.rst index ed60e0b6e14c6..9b57a109b7780 100644 --- a/control/autoware_control_validator/CHANGELOG.rst +++ b/control/autoware_control_validator/CHANGELOG.rst @@ -5,17 +5,17 @@ Changelog for package autoware_control_validator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(control_validator): add hold and lpf (`#9120 `_) -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* feat(control_validator): add hold and lpf (`#9120 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* fix(control): align the parameters with launcher (`#8789 `_) +* fix(control): align the parameters with launcher (`#8789 `_) align the control parameters -* feat(autoware_control_validator): refactoring & testing (`#8096 `_) +* feat(autoware_control_validator): refactoring & testing (`#8096 `_) * refactoring * updating... * update @@ -24,29 +24,29 @@ Changelog for package autoware_control_validator * Update CMakeLists.txt * use yaml to load vehicle info --------- -* fix(control_validator): fix param names and doc (`#8104 `_) +* fix(control_validator): fix param names and doc (`#8104 `_) * fix -* feat(control_validator)!: add velocity check (`#7806 `_) +* feat(control_validator)!: add velocity check (`#7806 `_) * add velocity check --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* feat(autoware_control_validator): add polling subcribers (`#7426 `_) +* feat(autoware_control_validator): add polling subcribers (`#7426 `_) * add polling subs * delete extra line --------- -* fix(autoware_control_validator): fix vehicle info utils (`#7417 `_) -* refactor(control_validator)!: prefix package and namespace with autoware (`#7304 `_) +* fix(autoware_control_validator): fix vehicle info utils (`#7417 `_) +* refactor(control_validator)!: prefix package and namespace with autoware (`#7304 `_) * rename folders * rename add prefix * change param path diff --git a/control/autoware_external_cmd_selector/CHANGELOG.rst b/control/autoware_external_cmd_selector/CHANGELOG.rst index 9d374ddb8a77d..fee762039a445 100644 --- a/control/autoware_external_cmd_selector/CHANGELOG.rst +++ b/control/autoware_external_cmd_selector/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_external_cmd_selector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(external_cmd_selector): rework parameters (`#8198 `_) +* refactor(external_cmd_selector): rework parameters (`#8198 `_) * refactor(external_cmd_selector): rework parameters * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(control)!: refactor directory structures of the control interface nodes (`#7528 `_) +* refactor(control)!: refactor directory structures of the control interface nodes (`#7528 `_) * external_cmd_selector * joy_controller --------- -* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) +* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) refactor(external_cmd_selector): prefix package and namespace with autoware\_ * Contributors: Batuhan Beytekin, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo diff --git a/control/autoware_joy_controller/CHANGELOG.rst b/control/autoware_joy_controller/CHANGELOG.rst index 5ba17c9395876..5e73b2921e356 100644 --- a/control/autoware_joy_controller/CHANGELOG.rst +++ b/control/autoware_joy_controller/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_joy_controller 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_joy_controller): add virtual destructor to autoware_joy_controller (`#7760 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* fix(autoware_joy_controller): add virtual destructor to autoware_joy_controller (`#7760 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(joy_controller): check for nullptr messages (`#7540 `_) -* refactor(control)!: refactor directory structures of the control interface nodes (`#7528 `_) +* fix(joy_controller): check for nullptr messages (`#7540 `_) +* refactor(control)!: refactor directory structures of the control interface nodes (`#7528 `_) * external_cmd_selector * joy_controller --------- -* refactor(joy_controller)!: prefix package and namespace with autoware (`#7382 `_) +* refactor(joy_controller)!: prefix package and namespace with autoware (`#7382 `_) * add prefix * fix codeowner * fix @@ -24,7 +24,7 @@ Changelog for package autoware_joy_controller 0.26.0 (2024-04-03) ------------------- -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -32,9 +32,9 @@ Changelog for package autoware_joy_controller * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: add autoware joy controller (`#72 `_) +* feat: add autoware joy controller (`#72 `_) * release v0.4.0 - * Support G29 controller in autoware_joy_controller (`#699 `_) + * Support G29 controller in autoware_joy_controller (`#699 `_) * Add map for G29 controller * Add new line at end of file * Change structure of JoyConverterBase class @@ -46,38 +46,38 @@ Changelog for package autoware_joy_controller * Remap AccelPedal -> accel, BrakePedal -> brake * Remove [autoware_joy_controller] from ROS_INFO Co-authored-by: Fumiya Watanabe - * Change key map for G29 controller and set deadzone parameter (`#740 `_) - * Add missing dependencies of autoware_joy_controller (`#755 `_) + * Change key map for G29 controller and set deadzone parameter (`#740 `_) + * Add missing dependencies of autoware_joy_controller (`#755 `_) * remove ROS1 packages temporarily * add sample ros2 packages * remove ROS1 packages * Revert "remove ROS1 packages temporarily" This reverts commit c98294b0b159fb98cd3091d34a626d06f29fdece. * add COLCON_IGNORE to ros1 packages - * Rename launch files to launch.xml (`#28 `_) - * Rename h files to hpp (`#142 `_) + * Rename launch files to launch.xml (`#28 `_) + * Rename h files to hpp (`#142 `_) * Change includes * Rename files * Adjustments to make things compile * Other packages - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * Port autoware joy controller (`#124 `_) + * Port autoware joy controller (`#124 `_) * Port * Fixed package.xml * now() to use node clock * Fix include * Clear compilation warnings - * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * [update to v0.8.0] autoware joy controller (`#251 `_) + * [update to v0.8.0] autoware joy controller (`#251 `_) * restore filename to original for version update - * Enable to change sensitivity (`#868 `_) - * Improve remote emergency stop (`#900 `_) + * Enable to change sensitivity (`#868 `_) + * Improve remote emergency stop (`#900 `_) * Apply format * Rename emergency to system_emergency in vehicle_cmd_gate * Add emergency stop feature to vehicle_cmd_gate @@ -112,14 +112,14 @@ Changelog for package autoware_joy_controller Co-authored-by: Fumiya Watanabe Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: jpntaxi4943-autoware - * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) * Rename ROS-related .yaml to .param.yaml * Remove prefix 'default\_' of yaml files * Rename vehicle_info.yaml to vehicle_info.param.yaml * Rename diagnostic_aggregator's param files * Fix overlooked parameters - * remove using in global namespace (`#379 `_) - * remove using in global namespace (`#1166 `_) + * remove using in global namespace (`#379 `_) + * remove using in global namespace (`#1166 `_) * remove using in global namespace * Revert "remove using in global namespace" This reverts commit 7f120509c9e3a036a38e84883868f6036bca23ad. @@ -127,23 +127,23 @@ Changelog for package autoware_joy_controller Co-authored-by: Kenji Miyake * [autoware_joy_controller] add lint tests Co-authored-by: Kenji Miyake - * fix namespace (`#414 `_) - * add use_sim-time option (`#454 `_) - * Fix for rolling (`#1226 `_) + * fix namespace (`#414 `_) + * add use_sim-time option (`#454 `_) + * Fix for rolling (`#1226 `_) * Replace doc by description * Replace ns by push-ros-namespace - * Make control modules components (`#1262 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Remove autoware_debug_msgs from autoware_joy_controller (`#1303 `_) - * Porting remote cmd selector (`#1286 `_) - * Feature/add remote cmd selector (`#1179 `_) + * Make control modules components (`#1262 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Remove autoware_debug_msgs from autoware_joy_controller (`#1303 `_) + * Porting remote cmd selector (`#1286 `_) + * Feature/add remote cmd selector (`#1179 `_) * Add in/out args of remote_cmd_converter.launch * Change remote input topic of vehicle_cmd_gate * Add msgs for remote_cmd_selector * Add remote_cmd_selector * Rename remote_cmd_selector to external_cmd_selector * Remove VehicleCommand support in autoware_joy_controller - * Support external_cmd_source in autoware_joy_controller.launch (`#1194 `_) + * Support external_cmd_source in autoware_joy_controller.launch (`#1194 `_) * Fix porting miss * fix missing function * modify xml format @@ -158,7 +158,7 @@ Changelog for package autoware_joy_controller * Change default mode of autoware_joy_controller Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake - * Ros2/create/external commands (`#1299 `_) + * Ros2/create/external commands (`#1299 `_) * add remote message * add remote commands * fix topic @@ -167,18 +167,18 @@ Changelog for package autoware_joy_controller * add external cmd instead * ToExternalComd * fix topic in joy con - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * Add autoware api (`#1979 `_) - * Use EmergencyState instead of deprecated EmergencyMode (`#2030 `_) + * Add autoware api (`#1979 `_) + * Use EmergencyState instead of deprecated EmergencyMode (`#2030 `_) * Use EmergencyState instead of deprecated EmergencyMode * Use stamped type - * add sort-package-xml hook in pre-commit (`#1881 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -192,8 +192,8 @@ Changelog for package autoware_joy_controller * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Add selected external command API (`#2053 `_) - * submit engage with api service from joy controller (`#2320 `_) + * Add selected external command API (`#2053 `_) + * submit engage with api service from joy controller (`#2320 `_) * fix engagew with api * delete unused * fix for uncrustify @@ -201,7 +201,7 @@ Changelog for package autoware_joy_controller * some fix * revive autoware name * fix service name - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -213,14 +213,14 @@ Changelog for package autoware_joy_controller * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * port autoware joy controller (`#588 `_) + * Add COLCON_IGNORE (`#500 `_) + * port autoware joy controller (`#588 `_) * port autoware joy controller * fix compile error * use odometry instead of twist * update launch Co-authored-by: Takayuki Murooka - * update README.md in autoware_joy_controller (`#593 `_) + * update README.md in autoware_joy_controller (`#593 `_) * update README.md * update README.md * fix typo diff --git a/control/autoware_lane_departure_checker/CHANGELOG.rst b/control/autoware_lane_departure_checker/CHANGELOG.rst index 3c9f07f840c59..9c8eccb587208 100644 --- a/control/autoware_lane_departure_checker/CHANGELOG.rst +++ b/control/autoware_lane_departure_checker/CHANGELOG.rst @@ -5,21 +5,21 @@ Changelog for package autoware_lane_departure_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(lane_departure_checker): add tests for createVehicleFootprints (`#8928 `_) +* test(lane_departure_checker): add tests for createVehicleFootprints (`#8928 `_) * move createVehicleFootprints() to seperate files * add tests for createVehicleFootprints() --------- -* test(lane_departure_checker): add tests for resampleTrajectory (`#8895 `_) +* test(lane_departure_checker): add tests for resampleTrajectory (`#8895 `_) * move resampleTrajectory() to separate file * add tests for resampleTrajectory() --------- -* test(lane_departure_checker): add tests for cutTrajectory (`#8887 `_) +* test(lane_departure_checker): add tests for cutTrajectory (`#8887 `_) * move cutTrajectory() to separate file * add test for cutTrajectory() --------- -* fix(control): align the parameters with launcher (`#8789 `_) +* fix(control): align the parameters with launcher (`#8789 `_) align the control parameters -* refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (`#8682 `_) +* refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (`#8682 `_) * remove redundant fused lanelet calculation * remove unnecessary change * add new function @@ -29,22 +29,22 @@ Changelog for package autoware_lane_departure_checker * add comment for better understanding * fix cppcheck --------- -* fix(autoware_lane_departure_checker): not to show error message "trajectory deviation is too large" during manual driving (`#8404 `_) +* fix(autoware_lane_departure_checker): not to show error message "trajectory deviation is too large" during manual driving (`#8404 `_) * update: update not to show error message "trajectory deviation is too large" during manual driving * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(lane_departure_checker): fix uninitialized variables (`#8451 `_) +* fix(lane_departure_checker): fix uninitialized variables (`#8451 `_) fix(lane_departure_checker): fix uninitialized_variables -* feat(start_planner): add time_keeper (`#8254 `_) +* feat(start_planner): add time_keeper (`#8254 `_) * feat(start_planner): add time_keeper * fix * fix * fix shadow variables --------- -* fix(autoware_lane_departure_checker): fix shadowVariable (`#7931 `_) +* fix(autoware_lane_departure_checker): fix shadowVariable (`#7931 `_) fix:shadowVariable -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -53,21 +53,21 @@ Changelog for package autoware_lane_departure_checker Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* refactor(autoware_lane_departure_checker)!: rename directory name (`#7410 `_) +* refactor(autoware_lane_departure_checker)!: rename directory name (`#7410 `_) * Contributors: Go Sakayori, Kosuke Takeuchi, Kyoichi Sugahara, Maxime CLEMENT, Mitsuhiro Sakamoto, T-Kimura-MM, Takayuki Murooka, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo, Zhe Shen, kobayu858 0.26.0 (2024-04-03) diff --git a/control/autoware_mpc_lateral_controller/CHANGELOG.rst b/control/autoware_mpc_lateral_controller/CHANGELOG.rst index 91e9426ac76e5..7d32d50b1befd 100644 --- a/control/autoware_mpc_lateral_controller/CHANGELOG.rst +++ b/control/autoware_mpc_lateral_controller/CHANGELOG.rst @@ -5,51 +5,51 @@ Changelog for package autoware_mpc_lateral_controller 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* fix(autoware_mpc_lateral_controller): fix calculation method of predicted trajectory (`#9048 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* fix(autoware_mpc_lateral_controller): fix calculation method of predicted trajectory (`#9048 `_) * fix(vehicle_model): fix calculation method of predicted trajectory --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* chore(mpc_lateral_controller): consistent parameters with autoware_launch (`#8914 `_) -* chore: remove duplicate line in mpc_lateral_controller.cpp (`#8916 `_) +* chore(mpc_lateral_controller): consistent parameters with autoware_launch (`#8914 `_) +* chore: remove duplicate line in mpc_lateral_controller.cpp (`#8916 `_) remove duplicate line in mpc_lateral_controller.cpp -* feat(autoware_mpc_lateral_controller): add predicted trajectory acconts for input delay (`#8436 `_) +* feat(autoware_mpc_lateral_controller): add predicted trajectory acconts for input delay (`#8436 `_) * feat: enable delayed initial state for predicted trajectory * feat: enable debug publishing of predicted and resampled reference trajectories --------- -* fix(autoware_mpc_lateral_controller): fix cppcheck warnings (`#8149 `_) +* fix(autoware_mpc_lateral_controller): fix cppcheck warnings (`#8149 `_) * fix(autoware_mpc_lateral_controller): fix cppcheck warnings * Update control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp Co-authored-by: Takayuki Murooka --------- Co-authored-by: Takayuki Murooka -* fix(autoware_mpc_lateral_controller): add timestamp and frame ID to published trajectory (`#8164 `_) +* fix(autoware_mpc_lateral_controller): add timestamp and frame ID to published trajectory (`#8164 `_) add timestamp and frame ID to published trajectory -* fix(controller): revival of dry steering (`#7903 `_) - * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" +* fix(controller): revival of dry steering (`#7903 `_) + * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" This reverts commit 69258bd92cb8a0ff8320df9b2302db72975e027f. * dry steering * add comments * add minor fix and modify unit test for dry steering --------- -* fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_) +* fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_) * delete steer rate limit when vel = 0 * delete unnecessary variable * pre-commit --------- -* fix(autoware_mpc_lateral_controller): relax the steering rate constraint at zero speed (`#7581 `_) +* fix(autoware_mpc_lateral_controller): relax the steering rate constraint at zero speed (`#7581 `_) * constraint for zero velocity updated * correct the comment --------- -* fix(autoware_mpc_lateral_controller): fix duplicateExpression warning (`#7542 `_) +* fix(autoware_mpc_lateral_controller): fix duplicateExpression warning (`#7542 `_) * fix(autoware_mpc_lateral_controller): fix duplicateExpression warning * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_mpc_lateral_controller): fix duplicateAssignExpression warning (`#7572 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually. (`#7109 `_) +* fix(autoware_mpc_lateral_controller): fix duplicateAssignExpression warning (`#7572 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(mpc_lateral_controller): align the MPC steering angle when the car is controlled manually. (`#7109 `_) * align the MPC steering angle when the car is controlled manually. * update the condition for is_driving_manually * STOP mode included @@ -62,7 +62,7 @@ Changelog for package autoware_mpc_lateral_controller * unchange the unrelevant line * pre-commit --------- -* feat(mpc_lateral_controller): signal a MRM when MPC fails. (`#7016 `_) +* feat(mpc_lateral_controller): signal a MRM when MPC fails. (`#7016 `_) * mpc fail checker diagnostic added * fix some scope issues * member attribute added. @@ -79,27 +79,27 @@ Changelog for package autoware_mpc_lateral_controller * pre-commit --------- Co-authored-by: Takamasa Horibe -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) +* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) * control_traj * add follower_node * fix --------- -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats * remove autoware\_ prefix from launch arg option --------- -* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) +* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) * rename trajectory follower base package * update dependencies and includes * fix formats --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -134,7 +134,7 @@ Changelog for package autoware_mpc_lateral_controller * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(mpc_lateral_controller, trajectory_follower_node)!: prefix package and namespace with autoware (`#7306 `_) +* refactor(mpc_lateral_controller, trajectory_follower_node)!: prefix package and namespace with autoware (`#7306 `_) * add the prefix to the folder * named to autoware_mpc_lateral_controller * rename the folder in the include diff --git a/control/autoware_obstacle_collision_checker/CHANGELOG.rst b/control/autoware_obstacle_collision_checker/CHANGELOG.rst index 0e3619bec74b2..5cca4c07048b1 100644 --- a/control/autoware_obstacle_collision_checker/CHANGELOG.rst +++ b/control/autoware_obstacle_collision_checker/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_obstacle_collision_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(obstacle_collision_checker): move to autoware namespace (`#9047 `_) +* refactor(obstacle_collision_checker): move to autoware namespace (`#9047 `_) * Contributors: Maxime CLEMENT, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst index df8fce61cd07c..3412c651fc4a7 100644 --- a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst +++ b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_operation_mode_transition_manager 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* fix(autoware_operation_mode_transition_manager): fix funcArgNamesDifferent (`#7997 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* fix(autoware_operation_mode_transition_manager): fix funcArgNamesDifferent (`#7997 `_) fix: funcArgNamesDifferent_con-1 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(operation mode manager): add nullptr check in onTimer (`#7446 `_) -* refactor(operation_mode_transition_manager): prefix package and namespace with autoware\_ (`#7291 `_) +* fix(operation mode manager): add nullptr check in onTimer (`#7446 `_) +* refactor(operation_mode_transition_manager): prefix package and namespace with autoware\_ (`#7291 `_) * RT1-6682 add prefix package and namespace with autoware\_ * RT1-6682 fix package's description --------- diff --git a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst index 3c6b82ce1e270..b246fe3593ad5 100644 --- a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst +++ b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst @@ -5,58 +5,58 @@ Changelog for package autoware_pid_longitudinal_controller 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(pid_longitudinal_controller): fix the same point error (`#8758 `_) +* fix(pid_longitudinal_controller): fix the same point error (`#8758 `_) * fix same point -* feat(pid_longitudinal_controller)!: add acceleration feedback block (`#8325 `_) -* refactor(control/pid_longitudinal_controller): rework parameters (`#6707 `_) +* feat(pid_longitudinal_controller)!: add acceleration feedback block (`#8325 `_) +* refactor(control/pid_longitudinal_controller): rework parameters (`#6707 `_) * reset and re-apply refactoring * style(pre-commit): autofix * . * . --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition (`#7718 `_) +* feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition (`#7718 `_) change diff limit structure change stopped condition define a new param -* fix(controller): revival of dry steering (`#7903 `_) - * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" +* fix(controller): revival of dry steering (`#7903 `_) + * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" This reverts commit 69258bd92cb8a0ff8320df9b2302db72975e027f. * dry steering * add comments * add minor fix and modify unit test for dry steering --------- -* fix(autoware_pid_longitudinal_controller, autoware_trajectory_follower_node): unite diagnostic_updater\_ in PID and MPC. (`#7674 `_) +* fix(autoware_pid_longitudinal_controller, autoware_trajectory_follower_node): unite diagnostic_updater\_ in PID and MPC. (`#7674 `_) * diag_updater\_ added in PID * correct the pointer form * pre-commit --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) +* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) * control_traj * add follower_node * fix --------- -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats * remove autoware\_ prefix from launch arg option --------- -* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) +* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) * rename trajectory follower base package * update dependencies and includes * fix formats --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -91,7 +91,7 @@ Changelog for package autoware_pid_longitudinal_controller * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(pid_longitudinal_controller)!: prefix package and namespace with autoware (`#7383 `_) +* refactor(pid_longitudinal_controller)!: prefix package and namespace with autoware (`#7383 `_) * add prefix * fix * fix trajectory follower node param diff --git a/control/autoware_pure_pursuit/CHANGELOG.rst b/control/autoware_pure_pursuit/CHANGELOG.rst index 353c5c25857ad..2c60203858a32 100644 --- a/control/autoware_pure_pursuit/CHANGELOG.rst +++ b/control/autoware_pure_pursuit/CHANGELOG.rst @@ -5,31 +5,31 @@ Changelog for package autoware_pure_pursuit 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(pure_pursuit): add autoware\_ prefix in launch file (`#8687 `_) -* fix(autoware_pure_pursuit): fix unusedFunction (`#8552 `_) +* fix(pure_pursuit): add autoware\_ prefix in launch file (`#8687 `_) +* fix(autoware_pure_pursuit): fix unusedFunction (`#8552 `_) fix:unusedFunction -* fix(autoware_pure_pursuit): fix redundantInitialization redundantInitialization (`#8225 `_) +* fix(autoware_pure_pursuit): fix redundantInitialization redundantInitialization (`#8225 `_) * fix(autoware_pure_pursuit): fix redundantInitialization redundantInitialization * style(pre-commit): autofix * Update control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takayuki Murooka -* fix(autoware_pure_pursuit): fix shadowVariable (`#7932 `_) +* fix(autoware_pure_pursuit): fix shadowVariable (`#7932 `_) * fix:shadowVariable * refactor: using range-based for loop --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) +* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) * control_traj * add follower_node * fix --------- -* refactor(pure_pursuit): prefix package and namespace with autoware\_ (`#7301 `_) +* refactor(pure_pursuit): prefix package and namespace with autoware\_ (`#7301 `_) * RT1-6683 add autoware prefix to package and namepace * fix precommit --------- diff --git a/control/autoware_shift_decider/CHANGELOG.rst b/control/autoware_shift_decider/CHANGELOG.rst index c21e262c468c7..032398006ac94 100644 --- a/control/autoware_shift_decider/CHANGELOG.rst +++ b/control/autoware_shift_decider/CHANGELOG.rst @@ -5,19 +5,19 @@ Changelog for package autoware_shift_decider 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* feat(shift_decider): use polling subscriber (`#7345 `_) +* feat(shift_decider): use polling subscriber (`#7345 `_) RT1-6697 use polling subscriber -* refactor(shift_decider): prefix package and namespace with autoware\_ (`#7310 `_) +* refactor(shift_decider): prefix package and namespace with autoware\_ (`#7310 `_) * RT1-6684 add autoware prefix and namespace * RT1-6684 Revert svg This reverts commit 4e0569e4796ab432c734905fb7f2106779575e29. diff --git a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst index 4e5eb6bd8c80e..ab53787cae6e0 100644 --- a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst +++ b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package autoware_smart_mpc_trajectory_follower 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_smart_mpc_trajectory_follower): fix unusedFunction (`#8553 `_) +* fix(autoware_smart_mpc_trajectory_follower): fix unusedFunction (`#8553 `_) fix:unusedFunction -* fix(autoware_smart_mpc_trajectory_follower): fix uninitMemberVar (`#8346 `_) +* fix(autoware_smart_mpc_trajectory_follower): fix uninitMemberVar (`#8346 `_) fix: uninitMemberVar Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* refactor(smart_mpc_trajectory_folower): modify pacakge structure and install without setup.py (`#8268 `_) +* refactor(smart_mpc_trajectory_folower): modify pacakge structure and install without setup.py (`#8268 `_) * refactor(smart_mpc_trajectory_follower): modify pacakge structure and install without setup.py * import proxima calc * use ament_get_python_install_dir @@ -19,7 +19,7 @@ Changelog for package autoware_smart_mpc_trajectory_follower * remove str conversion from open * sort in cmake --------- -* feat(smart_mpc_trajectory_follower): enhance performance with LSTM and compensation, add compensator outside of MPC (`#7696 `_) +* feat(smart_mpc_trajectory_follower): enhance performance with LSTM and compensation, add compensator outside of MPC (`#7696 `_) * update smart mpc package * Update control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/data_collection_utils.py Co-authored-by: Kosuke Takeuchi @@ -59,14 +59,14 @@ Changelog for package autoware_smart_mpc_trajectory_follower Co-authored-by: Kosuke Takeuchi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: asei-proxima -* fix(smart_mpc_trajectory_folower): fix running by adding control_state and changing msg/package_name (`#7666 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(smart_mpc_trajectory_folower): fix running by adding control_state and changing msg/package_name (`#7666 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* chore(smart_mpc_trajectory_follower): add prefix autoware\_ to smart_mpc_trajectory_follower (`#7367 `_) +* chore(smart_mpc_trajectory_follower): add prefix autoware\_ to smart_mpc_trajectory_follower (`#7367 `_) * add prefix * fix pre-commit --------- diff --git a/control/autoware_trajectory_follower_base/CHANGELOG.rst b/control/autoware_trajectory_follower_base/CHANGELOG.rst index 875f143b7e310..9b52928f063bd 100644 --- a/control/autoware_trajectory_follower_base/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_base/CHANGELOG.rst @@ -5,25 +5,25 @@ Changelog for package autoware_trajectory_follower_base 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) +* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) * control_traj * add follower_node * fix --------- -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats * remove autoware\_ prefix from launch arg option --------- -* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) +* refactor(trajectory_follower_base): trajectory follower base add autoware prefix (`#7343 `_) * rename trajectory follower base package * update dependencies and includes * fix formats diff --git a/control/autoware_trajectory_follower_node/CHANGELOG.rst b/control/autoware_trajectory_follower_node/CHANGELOG.rst index 5e3926e1bafdb..cda983ab27d89 100644 --- a/control/autoware_trajectory_follower_node/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_node/CHANGELOG.rst @@ -5,39 +5,39 @@ Changelog for package autoware_trajectory_follower_node 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(control): align the parameters with launcher (`#8789 `_) +* fix(control): align the parameters with launcher (`#8789 `_) align the control parameters -* feat(autoware_mpc_lateral_controller): add predicted trajectory acconts for input delay (`#8436 `_) +* feat(autoware_mpc_lateral_controller): add predicted trajectory acconts for input delay (`#8436 `_) * feat: enable delayed initial state for predicted trajectory * feat: enable debug publishing of predicted and resampled reference trajectories --------- -* feat(pid_longitudinal_controller)!: add acceleration feedback block (`#8325 `_) -* refactor(control/pid_longitudinal_controller): rework parameters (`#6707 `_) +* feat(pid_longitudinal_controller)!: add acceleration feedback block (`#8325 `_) +* refactor(control/pid_longitudinal_controller): rework parameters (`#6707 `_) * reset and re-apply refactoring * style(pre-commit): autofix * . * . --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition (`#7718 `_) +* feat(pid_longitudinal_controller): re-organize diff limit structure and fix state change condition (`#7718 `_) change diff limit structure change stopped condition define a new param -* fix(controller): revival of dry steering (`#7903 `_) - * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" +* fix(controller): revival of dry steering (`#7903 `_) + * Revert "fix(autoware_mpc_lateral_controller): delete the zero speed constraint (`#7673 `_)" This reverts commit 69258bd92cb8a0ff8320df9b2302db72975e027f. * dry steering * add comments * add minor fix and modify unit test for dry steering --------- -* ci: disable failing tests undetected due to broken regex filter (`#7731 `_) -* fix(autoware_pid_longitudinal_controller, autoware_trajectory_follower_node): unite diagnostic_updater\_ in PID and MPC. (`#7674 `_) +* ci: disable failing tests undetected due to broken regex filter (`#7731 `_) +* fix(autoware_pid_longitudinal_controller, autoware_trajectory_follower_node): unite diagnostic_updater\_ in PID and MPC. (`#7674 `_) * diag_updater\_ added in PID * correct the pointer form * pre-commit --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(mpc_lateral_controller): signal a MRM when MPC fails. (`#7016 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(mpc_lateral_controller): signal a MRM when MPC fails. (`#7016 `_) * mpc fail checker diagnostic added * fix some scope issues * member attribute added. @@ -54,20 +54,20 @@ Changelog for package autoware_trajectory_follower_node * pre-commit --------- Co-authored-by: Takamasa Horibe -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) +* refactor(control)!: refactor directory structures of the trajectory followers (`#7521 `_) * control_traj * add follower_node * fix --------- -* refactor(pure_pursuit): prefix package and namespace with autoware\_ (`#7301 `_) +* refactor(pure_pursuit): prefix package and namespace with autoware\_ (`#7301 `_) * RT1-6683 add autoware prefix to package and namepace * fix precommit --------- -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats diff --git a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst index 7c453394c8702..20fc77c4cda55 100644 --- a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst +++ b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst @@ -5,23 +5,23 @@ Changelog for package autoware_vehicle_cmd_gate 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* fix(control): align the parameters with launcher (`#8789 `_) +* fix(control): align the parameters with launcher (`#8789 `_) align the control parameters -* chore(vehicle_cmd_gate): delete deprecated parameters (`#8537 `_) +* chore(vehicle_cmd_gate): delete deprecated parameters (`#8537 `_) delete deprecated params in vehicle_cmd_gate.param.yaml -* fix(autoware_vehicle_cmd_gate): fix unusedFunction (`#8556 `_) +* fix(autoware_vehicle_cmd_gate): fix unusedFunction (`#8556 `_) fix:unusedFunction -* refactor(vehicle_cmd_gate): use smaller class for filter command (`#8518 `_) -* fix(autoware_vehicle_cmd_gate): fix unreadVariable (`#8351 `_) -* feat(autoware_vehicle_cmd_gate): accept same topic unless mode change occurs (`#8479 `_) +* refactor(vehicle_cmd_gate): use smaller class for filter command (`#8518 `_) +* fix(autoware_vehicle_cmd_gate): fix unreadVariable (`#8351 `_) +* feat(autoware_vehicle_cmd_gate): accept same topic unless mode change occurs (`#8479 `_) * add prev_commands\_ and check cmd's time stamp * add timestamp when is_engaged is false * style(pre-commit): autofix @@ -45,7 +45,7 @@ Changelog for package autoware_vehicle_cmd_gate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* feat(autoware_vehicle_cmd_gate): check the timestamp of input topics to avoid using old topics (`#8084 `_) +* feat(autoware_vehicle_cmd_gate): check the timestamp of input topics to avoid using old topics (`#8084 `_) * add prev_commands\_ and check cmd's time stamp * add timestamp when is_engaged is false * style(pre-commit): autofix @@ -67,38 +67,38 @@ Changelog for package autoware_vehicle_cmd_gate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* fix(autoware_vehicle_cmd_gate): fix functionConst (`#8253 `_) +* fix(autoware_vehicle_cmd_gate): fix functionConst (`#8253 `_) fix: functionConst -* fix(autoware_vehicle_cmd_gate): fix cppcheck warning of functionStatic (`#8260 `_) +* fix(autoware_vehicle_cmd_gate): fix cppcheck warning of functionStatic (`#8260 `_) * fix: deal with functionStatic warnings * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_vehicle_cmd_gate): fix uninitMemberVar (`#8339 `_) +* fix(autoware_vehicle_cmd_gate): fix uninitMemberVar (`#8339 `_) fix:uninitMemberVar -* fix(autoware_vehicle_cmd_gate): fix passedByValue (`#8243 `_) +* fix(autoware_vehicle_cmd_gate): fix passedByValue (`#8243 `_) fix: passedByValue -* fix(autoware_vehicle_cmd_gate): fix funcArgNamesDifferent (`#8006 `_) +* fix(autoware_vehicle_cmd_gate): fix funcArgNamesDifferent (`#8006 `_) fix:funcArgNamesDifferent -* refactor(vehicle_cmd_gate)!: delete rate limit skipping function for vehicle departure (`#7720 `_) +* refactor(vehicle_cmd_gate)!: delete rate limit skipping function for vehicle departure (`#7720 `_) * delete a fucntion block. More appropriate function can be achieved by the parameter settings. * add notation to readme --------- -* fix(vehicle_cmd_gate): colcon test failure due to heavy process (`#7678 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(vehicle_cmd_gate): colcon test failure due to heavy process (`#7678 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(vehicle_cmd_gate): put back subscriber rather than using polling subsriber (`#7500 `_) +* fix(vehicle_cmd_gate): put back subscriber rather than using polling subsriber (`#7500 `_) put back polling subscribers to subscribers in neccesary cases -* fix(vehicle_cmd_gate): fix unnecessary modification (`#7488 `_) +* fix(vehicle_cmd_gate): fix unnecessary modification (`#7488 `_) fix onGateMode function -* feat(vehicle_cmd_gate): use polling subscriber (`#7418 `_) +* feat(vehicle_cmd_gate): use polling subscriber (`#7418 `_) * change to polling subscriber * fix --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -133,7 +133,7 @@ Changelog for package autoware_vehicle_cmd_gate * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* chore(vehicle_cmd_gate): add prefix autoware\_ to vehicle_cmd_gate (`#7327 `_) +* chore(vehicle_cmd_gate): add prefix autoware\_ to vehicle_cmd_gate (`#7327 `_) * add prefix autoware\_ to vehicle_cmd_gate package * fix * fix include guard diff --git a/control/control_performance_analysis/CHANGELOG.rst b/control/control_performance_analysis/CHANGELOG.rst index ca44e287e4341..cfe98a0e66275 100644 --- a/control/control_performance_analysis/CHANGELOG.rst +++ b/control/control_performance_analysis/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package control_performance_analysis 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(control_performance_analysis): fix unusedFunction (`#8557 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(control_performance_analysis): fix unusedFunction (`#8557 `_) fix:unusedFunction -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -48,23 +48,23 @@ Changelog for package control_performance_analysis * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for control modules (`#7240 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for control modules (`#7240 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* fix(control_performance_analysis): fix bug of ignoredReturnValue (`#6921 `_) +* fix(control_performance_analysis): fix bug of ignoredReturnValue (`#6921 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* refactor(common, control, planning): replace boost::optional with std::optional (`#5717 `_) +* refactor(common, control, planning): replace boost::optional with std::optional (`#5717 `_) * refactor(behavior_path_planner): replace boost optional with std * do it on motion utils as well. * up until now * finally * fix all issue --------- -* refactor(control_performance_analysis): rework parameters (`#4730 `_) +* refactor(control_performance_analysis): rework parameters (`#4730 `_) * refactor the configuration files of the node control_performance_analysis according to the new ROS node config guideline. Rename controller_performance_analysis.launch.xml->control_performance_analysis.launch.xml update the parameter information in the README.md @@ -73,8 +73,8 @@ Changelog for package control_performance_analysis * revert copyright info --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* style: fix typos in PlotJuggler config files (`#3618 `_) -* refactor(control_performance_analysis): refactor structure (`#3786 `_) +* style: fix typos in PlotJuggler config files (`#3618 `_) +* refactor(control_performance_analysis): refactor structure (`#3786 `_) * fix(control_performance_analysis): data is not updated on failure * update * update all (tmp @@ -82,18 +82,18 @@ Changelog for package control_performance_analysis * update * fix pre-commit --------- -* fix(control_performance_analysis): fix interpolate method (`#3704 `_) +* fix(control_performance_analysis): fix interpolate method (`#3704 `_) * fix(control_performance_analysis): fix interpolate method * pre-commit * fix process die due to failure on the closest index search * minor refactor to use autoware_util --------- -* build: proper eigen deps and include (`#3615 `_) +* build: proper eigen deps and include (`#3615 `_) * build: proper eigen deps and include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -101,7 +101,7 @@ Changelog for package control_performance_analysis --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore(typo): eliminate typos (`#2216 `_) +* chore(typo): eliminate typos (`#2216 `_) * Replace 'asssert' with 'assert' * fix(typo): computationall => computational * fix(typo): collinearity => collinearity @@ -273,11 +273,11 @@ Changelog for package control_performance_analysis commit c7d3b7d2132323af3437af01e9d774b13005bace Author: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Date: Fri Dec 16 13:51:35 2022 +0900 - test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) + test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) commit 6731e0ced39e3187c2afffe839eaa697a19e5e84 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri Dec 16 09:29:35 2022 +0900 - feat(pose_initializer): partial map loading (`#2500 `_) + feat(pose_initializer): partial map loading (`#2500 `_) * first commit * move function * now works @@ -296,7 +296,7 @@ Changelog for package control_performance_analysis commit efb4ff1cea6e07aa9e894a6042e8685e30b420ba Author: Kosuke Takeuchi Date: Thu Dec 15 17:29:44 2022 +0900 - feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) + feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) * feat(trajectory_follower): extend mpc trajectory for terminal yaw * make mpc min vel param * add mpc extended point after smoothing @@ -313,7 +313,7 @@ Changelog for package control_performance_analysis commit ad2ae7827bdc3af7da8607fdd53ea74940426421 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 15 15:52:34 2022 +0900 - feat(component_interface_tools): add service log checker (`#2503 `_) + feat(component_interface_tools): add service log checker (`#2503 `_) * feat(component_interface_utils): add service log checker * feat(component_interface_tools): add service log checker * feat(component_interface_tools): add diagnostics @@ -321,11 +321,11 @@ Changelog for package control_performance_analysis commit 4a13cc5a32898f5b17791d9381744bf71ff8ed20 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu Dec 15 12:54:11 2022 +0900 - fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) + fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) commit 77b1c36b5ca89b25250dcbb117c9f03a9c36c1c4 Author: Kyoichi Sugahara <81.s.kyo.19@gmail.com> Date: Thu Dec 15 10:45:45 2022 +0900 - feat(behavior_path_planner): change side shift module logic (`#2195 `_) + feat(behavior_path_planner): change side shift module logic (`#2195 `_) * change side shift module design * cherry picked side shift controller * add debug marker to side shift @@ -343,45 +343,45 @@ Changelog for package control_performance_analysis commit 9183c4f20eb4592ed0b48c2eac67add070711677 Author: Takamasa Horibe Date: Wed Dec 14 19:59:00 2022 +0900 - refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) + refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) commit ed992b10ed326f03354dce3b563b8622f9ae9a6c Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 17:48:24 2022 +0900 - fix(behavior_path_planner): fix planner data copy (`#2501 `_) + fix(behavior_path_planner): fix planner data copy (`#2501 `_) commit 0c6c46b33b3c828cb95eaa31fcbf85655fc6a55f Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 14:42:16 2022 +0900 - fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) + fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) * feat(behavior_path_planner): fix find nearest function from lateral distance * empty commit commit a26b69d1df55e9369ea3adcdd011ae2d7c86dfb7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 11:28:07 2022 +0900 - feat(behavior_path_planner): fix overlap checker (`#2498 `_) + feat(behavior_path_planner): fix overlap checker (`#2498 `_) * feat(behavior_path_planner): fix overlap checker * remove reserve commit 3a24859ca6851caaeb25fc4fac2334fcbdb887d1 Author: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Tue Dec 13 16:51:59 2022 +0300 - feat(mission_planner): check goal footprint (`#2088 `_) + feat(mission_planner): check goal footprint (`#2088 `_) commit b6a18855431b5f3a67fcbf383fac8df2b45d462e Author: Takamasa Horibe Date: Tue Dec 13 22:46:24 2022 +0900 - feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) + feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) commit f1a9a9608559a5b89f631df3dc2fadd037e36ab4 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 19:47:16 2022 +0900 - feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) + feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) * feat(behavior_path_planner): clean drivable area code * make a function for turn signal decider commit fafe1d8235b99302bc9ba8f3770ae34878f1e7e7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 18:19:41 2022 +0900 - feat(behavior_path_planner): change turn signal output timing (`#2493 `_) + feat(behavior_path_planner): change turn signal output timing (`#2493 `_) commit c48b9cfa7074ecd46d96f6dc43679e17bde3a63d Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue Dec 13 09:16:14 2022 +0900 - feat(map_loader): add differential map loading interface (`#2417 `_) + feat(map_loader): add differential map loading interface (`#2417 `_) * first commit * ci(pre-commit): autofix * added module load in _node.cpp @@ -394,13 +394,13 @@ Changelog for package control_performance_analysis commit 9a3613bfcd3e36e522d0ea9130f6200ca7689e2b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 08:49:23 2022 +0900 - docs(default_ad_api): add readme (`#2491 `_) + docs(default_ad_api): add readme (`#2491 `_) * docs(default_ad_api): add readme * feat: update table commit 49aa10b04de61c36706f6151d11bf17257ca54d1 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 06:46:20 2022 +0900 - feat(default_ad_api): split parameters into file (`#2488 `_) + feat(default_ad_api): split parameters into file (`#2488 `_) * feat(default_ad_api): split parameters into file * feat: remove old parameter * fix: test @@ -408,7 +408,7 @@ Changelog for package control_performance_analysis commit 7f0138c356c742b6e15e571e7a4683caa55969ac Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon Dec 12 22:16:54 2022 +0900 - feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) + feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) * update * update * update @@ -432,11 +432,11 @@ Changelog for package control_performance_analysis commit c855e23cc17d1518ebce5dd15629d03acfe17da3 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 17:15:10 2022 +0900 - refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) + refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) commit fa04d540c9afdded016730c9978920a194d2d2b4 Author: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon Dec 12 16:04:00 2022 +0900 - feat: replace python launch with xml launch for system monitor (`#2430 `_) + feat: replace python launch with xml launch for system monitor (`#2430 `_) * feat: replace python launch with xml launch for system monitor * ci(pre-commit): autofix * update figure @@ -444,7 +444,7 @@ Changelog for package control_performance_analysis commit 4a6990c49d1f8c3bedfb345e7c94c3c6893b4099 Author: Kosuke Takeuchi Date: Mon Dec 12 15:01:39 2022 +0900 - feat(trajectory_follower): pub steer converged marker (`#2441 `_) + feat(trajectory_follower): pub steer converged marker (`#2441 `_) * feat(trajectory_follower): pub steer converged marker * Revert "feat(trajectory_follower): pub steer converged marker" This reverts commit a6f6917bc542d5b533150f6abba086121e800974. @@ -452,15 +452,15 @@ Changelog for package control_performance_analysis commit 3c01f15125dfbc45e1050ee96ccc42618d6ee6fd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 12:48:41 2022 +0900 - docs(tier4_state_rviz_plugin): update readme (`#2475 `_) + docs(tier4_state_rviz_plugin): update readme (`#2475 `_) commit d8ece0040354be5381a27403bcc757354735a77b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 11:57:03 2022 +0900 - chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) + chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) commit 727586bfe86dc9cb21ce34d9cbe19c241e162b04 Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 10:00:35 2022 +0900 - fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) + fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) * fix(behavior_path_planner): lane change candidate resolution * rework sampling based on current speed * refactor code @@ -470,21 +470,21 @@ Changelog for package control_performance_analysis commit 284548ca7f38b1d83af11f2b9caaac116eb9b09c Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 09:57:19 2022 +0900 - fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) + fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) commit 469d8927bd7a0c98b9d491d347e111065973e13f Author: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri Dec 9 21:27:18 2022 +0900 - revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) + revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) This reverts commit 8e13ced6dfb6edfea77a589ef4cb93d82683bf51. commit d924f85b079dfe64feab017166685be40e977e62 Author: NorahXiong <103234047+NorahXiong@users.noreply.github.com> Date: Fri Dec 9 19:53:51 2022 +0800 - fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) + fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> commit b2ded82324bce78d9db3ff01b0227b00709b1efe Author: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri Dec 9 17:12:13 2022 +0900 - fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) + fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) * fix: reclassify ground cluster pcl * fix: add lowest-based recheck * chore: refactoring @@ -493,19 +493,19 @@ Changelog for package control_performance_analysis commit 8906a1e78bc5b7d6417683ecedc1efe3f48be31e Author: Takamasa Horibe Date: Fri Dec 9 16:29:45 2022 +0900 - fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) + fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) commit d4939058f05f9a1609f0ed22afbd0d4febfb212d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri Dec 9 12:40:30 2022 +0900 - feat(behavior_velocity_planner): clean walkway module (`#2480 `_) + feat(behavior_velocity_planner): clean walkway module (`#2480 `_) commit d3b86a37ae7c3a0d59832caf56afa13b148d562c Author: Makoto Kurihara Date: Thu Dec 8 22:59:32 2022 +0900 - fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) + fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) commit 2dde073a101e96757ef0cd189bb9ff06836934e9 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 8 17:16:13 2022 +0900 - feat(behavior_velocity_planner): add velocity factors (`#1985 `_) + feat(behavior_velocity_planner): add velocity factors (`#1985 `_) * (editting) add intersection_coordination to stop reason * (editting) add intersection coordination to stop reasons * (Editting) add v2x to stop reason @@ -556,11 +556,11 @@ Changelog for package control_performance_analysis commit 9a5057e4948ff5ac9165c14eb7112d79f2de76d5 Author: Kosuke Takeuchi Date: Thu Dec 8 13:42:50 2022 +0900 - fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) + fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) commit cddb8c74d0fbf49390b4d462c20c12bc257f4825 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:57:04 2022 +0900 - feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) + feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) * feat(gyro_odometer): publish when both data arrive * remove unnecessary commentouts * ci(pre-commit): autofix @@ -581,61 +581,61 @@ Changelog for package control_performance_analysis commit f0f513cf44532dfe8d51d27c4caef23fb694af16 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:08:29 2022 +0900 - fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) + fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) commit 01daebf42937a05a2d83f3dee2c0778389492e50 Author: Takayuki Murooka Date: Thu Dec 8 00:28:35 2022 +0900 - fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) + fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) commit 26ef8174b1c12b84070b36df2a7cd14bfa9c0363 Author: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed Dec 7 19:32:09 2022 +0900 - fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) + fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) * fix: rename use_external_emergency_stop to check_external_emergency_heartbeat * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 024b993a0db8c0d28db0f05f64990bed7069cbd8 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 18:00:32 2022 +0900 - fix(motion_utils): rename sampling function (`#2469 `_) + fix(motion_utils): rename sampling function (`#2469 `_) commit c240ce2b6f4e79c435ed651b347a7d665a947862 Author: Yukihiro Saito Date: Wed Dec 7 16:33:44 2022 +0900 - feat: remove web controller (`#2405 `_) + feat: remove web controller (`#2405 `_) commit 2992b1cadae7e7ac86fd249998ce3c7ddbe476c9 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 15:39:28 2022 +0900 - feat(motion_utils): add points resample function (`#2465 `_) + feat(motion_utils): add points resample function (`#2465 `_) commit 4a75d7c0ddbd88f54afaf2bb05eb65138a53ea60 Author: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> Date: Wed Dec 7 14:42:33 2022 +0900 - docs: update training data for traffic light (`#2464 `_) + docs: update training data for traffic light (`#2464 `_) * update traffic light cnn classifier README.md * correct to upper case Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> commit a4287165be87fa7727f79c01dfb0bea6af54c333 Author: Ryuta Kambe Date: Wed Dec 7 12:21:49 2022 +0900 - perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) + perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) commit 0a5b2857d3b2c1c9370598013b25aeaebf2d654d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 12:03:46 2022 +0900 - feat(behavior_path_planner): cut overlapped path (`#2451 `_) + feat(behavior_path_planner): cut overlapped path (`#2451 `_) * feat(behavior_path_planner): cut overlapped path * clean code commit 65003dc99f2abe937afcc010514530fa666fbbfd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Wed Dec 7 11:06:41 2022 +0900 - revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) - Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" + revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) + Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" This reverts commit c4224854a7e57a9526dde998f742741fe383471c. commit fab18677ca4de378faff84a41db5147577e7448d Author: Makoto Kurihara Date: Wed Dec 7 10:32:41 2022 +0900 - fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) + fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) commit a1d3c80a4f5e3a388887a5afb32d9bf7961301f1 Author: Ambroise Vincent Date: Tue Dec 6 10:39:02 2022 +0100 - fix(tvm_utility): copy test result to CPU (`#2414 `_) + fix(tvm_utility): copy test result to CPU (`#2414 `_) Also remove dependency to autoware_auto_common. Issue-Id: SCM-5401 Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d @@ -643,12 +643,12 @@ Changelog for package control_performance_analysis commit eb9946832c7e42d5380fd71956165409d0b592c3 Author: Mamoru Sobue Date: Tue Dec 6 18:11:41 2022 +0900 - chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) + chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) changed logging level commit c4224854a7e57a9526dde998f742741fe383471c Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 6 17:01:37 2022 +0900 - fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) + fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) * fix(default_ad_api): fix autoware state to add wait time * Update system/default_ad_api/src/compatibility/autoware_state.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> @@ -656,14 +656,14 @@ Changelog for package control_performance_analysis commit f984fbb708cb02947ec2824ce041c739c35940f7 Author: Takamasa Horibe Date: Tue Dec 6 13:55:17 2022 +0900 - feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) + feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) * feat(transition_manager): add param to ignore autonomous transition condition * same for modeChangeCompleted * remove debug print commit d3e640df270a0942c4639e11451faf26e099bbe1 Author: Tomoya Kimura Date: Tue Dec 6 13:01:06 2022 +0900 - feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) + feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) * chore(cspell): interpolable => interpolatable * Revert "Merge branch 'destroy-typos-check-all' into destroy-typos" This reverts commit 6116ca02d9df59f815d772a271fed7b0b21ebaf7, reversing @@ -674,10 +674,10 @@ Changelog for package control_performance_analysis --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yukihiro Saito -* refactor(control_performance_analysis): delete default values (`#2944 `_) +* refactor(control_performance_analysis): delete default values (`#2944 `_) delete param Co-authored-by: yamazakiTasuku -* chore(control, planning): add maintainers (`#2951 `_) +* chore(control, planning): add maintainers (`#2951 `_) * chore(control_performance_analysis): add maintainers * chore(external_cmd_selector): add maintainers * chore(joy_controller): add maintainers @@ -687,13 +687,13 @@ Changelog for package control_performance_analysis Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --------- Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* chore: remove motion_common dependency (`#2231 `_) +* chore: remove motion_common dependency (`#2231 `_) * remove motion_common from smoother * remove motion_common from control_performance_analysis and simple_planning_simualtor * fix include * add include -* chore: missing topic info duration 1000 -> 5000 (`#2056 `_) -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* chore: missing topic info duration 1000 -> 5000 (`#2056 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -726,7 +726,7 @@ Changelog for package control_performance_analysis * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(control_performance_analysis): fix choosing wrong closest trajectory point (`#1522 `_) +* fix(control_performance_analysis): fix choosing wrong closest trajectory point (`#1522 `_) * fix(control_performance_analysis): fix choosing wrong closest trajectory point * removed comments * ci(pre-commit): autofix @@ -741,7 +741,7 @@ Changelog for package control_performance_analysis * ci(pre-commit): autofix Co-authored-by: Berkay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(control_performance_analysis): monitor desired and current steering tire angle in driving monitor (`#1133 `_) +* feat(control_performance_analysis): monitor desired and current steering tire angle in driving monitor (`#1133 `_) * feat(control_performance_analysis): monitor desired and current steering tire angle in driving monitor * ci(pre-commit): autofix * update readme @@ -750,25 +750,25 @@ Changelog for package control_performance_analysis * ci(pre-commit): autofix Co-authored-by: Berkay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(control_performance_analysis): add low pass filter to control_performance_analysis tool (`#1099 `_) +* feat(control_performance_analysis): add low pass filter to control_performance_analysis tool (`#1099 `_) * feat(control_performance_analysis): add low pass filter to control_performance_analysis tool * ci(pre-commit): autofix * Member variables are suffixed by an underscore Co-authored-by: Berkay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(control_performance_analysis): add new functionalities to evaluate the control modules (`#659 `_) +* feat(control_performance_analysis): add new functionalities to evaluate the control modules (`#659 `_) Co-authored-by: M. Fatih Cırıt -* fix: set Eigen include directory as SYSTEM for Humble arm64 (`#978 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* fix: set Eigen include directory as SYSTEM for Humble arm64 (`#978 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* fix(control_performance_analysis): modify build error in rolling (`#757 `_) -* fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) +* fix(control_performance_analysis): modify build error in rolling (`#757 `_) +* fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) * fix(tier4_autoware_utils): modify build error in rolling * fix(lanelet2_extension): add target compile definition for geometry2 * fix(ekf_localizer): add target compile definition for geometry2 @@ -806,11 +806,11 @@ Changelog for package control_performance_analysis * fix(planning_error_monitor): add target compile definition for geometry2 * fix(planning_evaluator): add target compile definition for geometry2 * fix(lidar_centerpoint): add target compile definition for geometry2 -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: replace legacy timer (`#329 `_) +* chore: replace legacy timer (`#329 `_) * chore(goal_distance_calculator): replace legacy timer * chore(path_distance_calculator): replace legacy timer * chore(control_performance_analysis): replace legacy timer @@ -845,11 +845,11 @@ Changelog for package control_performance_analysis * chore(external_cmd_converter): replace legacy timer * chore(pacmod_interface): replace legacy timer * chore(lint): apply pre-commit -* fix(control performance analysis): suppress warnings (`#293 `_) +* fix(control performance analysis): suppress warnings (`#293 `_) * fix: delete unused variable * feat: add Werror * fix: fix clang-diagnostic-unused-private-field -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor @@ -866,7 +866,7 @@ Changelog for package control_performance_analysis * fix ad_service_state_monitor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: load vehicle info default param (`#148 `_) +* feat: load vehicle info default param (`#148 `_) * update global_parameter loader readme * remove unused dependency * add default vehicle_info_param to launch files @@ -880,7 +880,7 @@ Changelog for package control_performance_analysis * ci(pre-commit): autofix Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -888,9 +888,9 @@ Changelog for package control_performance_analysis * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: add control_performance_analysis (`#95 `_) - * Feature/porting control performance analysis (`#1671 `_) - * Feature/control performance analysis (`#1212 `_) +* feat: add control_performance_analysis (`#95 `_) + * Feature/porting control performance analysis (`#1671 `_) + * Feature/control performance analysis (`#1212 `_) * First commit of kinematic_controller * First commit. * second commit @@ -950,13 +950,13 @@ Changelog for package control_performance_analysis * Add comment for eigen macro * pre-commit fixes Co-authored-by: Ali BOYALI - * Fix package.xml (`#2056 `_) - * Fix typo for control_performance_analysis (`#2328 `_) + * Fix package.xml (`#2056 `_) + * Fix typo for control_performance_analysis (`#2328 `_) * fix typo * fix Contro -> Control * fix for spellcheck * fix - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -968,8 +968,8 @@ Changelog for package control_performance_analysis * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * adapt to actuation cmd/status as control msg (`#646 `_) + * Add COLCON_IGNORE (`#500 `_) + * adapt to actuation cmd/status as control msg (`#646 `_) * adapt to actuation cmd/status as control msg * fix readme * fix topics @@ -980,18 +980,18 @@ Changelog for package control_performance_analysis * revert gyro_odometer_change * revert twist topic change * revert unchanged package - * port control_performance_analysis (`#698 `_) + * port control_performance_analysis (`#698 `_) * port control_performance_analysis * rename * fix topic name * remove unnecessary depedency * change name of odom topic - * add readme in control_performance_analysis (`#716 `_) + * add readme in control_performance_analysis (`#716 `_) * add readme * update readme * update readme * Update control/control_performance_analysis/README.md - * Update twist topic name (`#736 `_) + * Update twist topic name (`#736 `_) * Apply suggestions from code review Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Ali BOYALI diff --git a/control/predicted_path_checker/CHANGELOG.rst b/control/predicted_path_checker/CHANGELOG.rst index 7d1a44924341f..b2dbfa706eedc 100644 --- a/control/predicted_path_checker/CHANGELOG.rst +++ b/control/predicted_path_checker/CHANGELOG.rst @@ -5,17 +5,17 @@ Changelog for package predicted_path_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(predicted_path_checker): fix constParameterReference (`#8038 `_) +* fix(predicted_path_checker): fix constParameterReference (`#8038 `_) fix:constParameterReference -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -50,7 +50,7 @@ Changelog for package predicted_path_checker * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for control modules (`#7240 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for control modules (`#7240 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -58,10 +58,10 @@ Changelog for package predicted_path_checker 0.26.0 (2024-04-03) ------------------- -* fix(predicted_path_checker): check if trajectory size (`#6730 `_) +* fix(predicted_path_checker): check if trajectory size (`#6730 `_) check trajectory size Co-authored-by: beyza -* refactor(motion_utils): change directory name of tmp_conversion (`#5908 `_) +* refactor(motion_utils): change directory name of tmp_conversion (`#5908 `_) * change .hpp name * change .cpp name * correct the #inlcude and #ifndef @@ -72,8 +72,8 @@ Changelog for package predicted_path_checker * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) - * feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) +* feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) + * feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) * Added pkg to control.launch.py --------- * Contributors: Berkay Karaman, Zhe Shen, beyzanurkaya diff --git a/evaluator/autoware_control_evaluator/CHANGELOG.rst b/evaluator/autoware_control_evaluator/CHANGELOG.rst index 66f1454d991fb..2469aea0deca1 100644 --- a/evaluator/autoware_control_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_control_evaluator/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_control_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(control_evaluator): add goal accuracy longitudinal, lateral, yaw (`#9155 `_) +* feat(control_evaluator): add goal accuracy longitudinal, lateral, yaw (`#9155 `_) * feat(control_evaluator): add goal accuracy longitudinal, lateral, yaw * style(pre-commit): autofix * fix: content of kosuke55-san comments @@ -13,7 +13,7 @@ Changelog for package autoware_control_evaluator * fix: variable name --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* test(autoware_control_evaluator): add test for autoware_control_evaluator. (`#9114 `_) +* test(autoware_control_evaluator): add test for autoware_control_evaluator. (`#9114 `_) * init * tmp save. * save, there is a bug @@ -21,7 +21,7 @@ Changelog for package autoware_control_evaluator * coverage rate 64.5 * remove comments. --------- -* docs(control_evaluator): update readme (`#8829 `_) +* docs(control_evaluator): update readme (`#8829 `_) * update readme * add maintainer * Update evaluator/autoware_control_evaluator/package.xml @@ -29,11 +29,11 @@ Changelog for package autoware_control_evaluator Co-authored-by: Tiankui Xian <1041084556@qq.com> --------- Co-authored-by: Tiankui Xian <1041084556@qq.com> -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -42,15 +42,15 @@ Changelog for package autoware_control_evaluator Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) +* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) * add utils and diagnostics subscription to planning_evaluator * add diagnostics eval * fix input diag in launch --------- Co-authored-by: kosuke55 -* refactor(control_evaluator): use class naming standard and use remapped param name (`#7782 `_) +* refactor(control_evaluator): use class naming standard and use remapped param name (`#7782 `_) use class naming standard and use remapped param name -* feat(control_evaluator): add lanelet info to the metrics (`#7765 `_) +* feat(control_evaluator): add lanelet info to the metrics (`#7765 `_) * add route handler * add lanelet info to diagnostic * add const @@ -61,12 +61,12 @@ Changelog for package autoware_control_evaluator * add shoulder lanelets * fix includes --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(control_evaluator): rename to include/autoware/{package_name} (`#7520 `_) +* feat(control_evaluator): rename to include/autoware/{package_name} (`#7520 `_) * feat(control_evaluator): rename to include/autoware/{package_name} * fix --------- diff --git a/evaluator/autoware_planning_evaluator/CHANGELOG.rst b/evaluator/autoware_planning_evaluator/CHANGELOG.rst index 85a79a079d404..cf4aaf2e7fc94 100644 --- a/evaluator/autoware_planning_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_planning_evaluator/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_planning_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_planning_evaluator): devops node dojo (`#8746 `_) -* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) +* refactor(autoware_planning_evaluator): devops node dojo (`#8746 `_) +* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) * tmp save. * publish diagnostics. * move clearDiagnostics func to head @@ -23,15 +23,15 @@ Changelog for package autoware_planning_evaluator Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* fix(autoware_planning_evaluator): fix unreadVariable (`#8352 `_) +* fix(autoware_planning_evaluator): fix unreadVariable (`#8352 `_) * fix:unreadVariable * fix:unreadVariable --------- -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -40,32 +40,32 @@ Changelog for package autoware_planning_evaluator Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) +* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) * add cruise and slow down diags to cruise planner * add cruise types * adjust planning eval --------- -* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) +* feat(planning_evaluator,control_evaluator, evaluator utils): add diagnostics subscriber to planning eval (`#7849 `_) * add utils and diagnostics subscription to planning_evaluator * add diagnostics eval * fix input diag in launch --------- Co-authored-by: kosuke55 -* feat(planning_evaluator): add planning evaluator polling sub (`#7827 `_) +* feat(planning_evaluator): add planning evaluator polling sub (`#7827 `_) * WIP add polling subs * WIP * update functions * remove semicolon * use last data for modified goal --------- -* feat(planning_evaluator): add lanelet info to the planning evaluator (`#7781 `_) +* feat(planning_evaluator): add lanelet info to the planning evaluator (`#7781 `_) add lanelet info to the planning evaluator -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) +* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) * fix * fix --------- diff --git a/evaluator/kinematic_evaluator/CHANGELOG.rst b/evaluator/kinematic_evaluator/CHANGELOG.rst index af256b8fed7d4..ceacbcf0b129d 100644 --- a/evaluator/kinematic_evaluator/CHANGELOG.rst +++ b/evaluator/kinematic_evaluator/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package kinematic_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(kinematic_evaluator): rework parameters (`#8199 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(kinematic_evaluator): rework parameters (`#8199 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -18,20 +18,20 @@ Changelog for package kinematic_evaluator 0.26.0 (2024-04-03) ------------------- -* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) -* chore: add maintainer (`#4234 `_) +* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) +* chore: add maintainer (`#4234 `_) * chore: add maintainer * Update evaluator/localization_evaluator/package.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -39,7 +39,7 @@ Changelog for package kinematic_evaluator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(metrics_calculation): add kinematic and localization evaluators with metrics (`#928 `_) +* feat(metrics_calculation): add kinematic and localization evaluators with metrics (`#928 `_) * initial skeleton of localization evaluator * Add simple localization evaliuation framework * Clean and add tests diff --git a/evaluator/localization_evaluator/CHANGELOG.rst b/evaluator/localization_evaluator/CHANGELOG.rst index 264b551fe48fb..62f63139999e2 100644 --- a/evaluator/localization_evaluator/CHANGELOG.rst +++ b/evaluator/localization_evaluator/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package localization_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(evaluator/localization_evaluator): rework parameters (`#6744 `_) +* refactor(evaluator/localization_evaluator): rework parameters (`#6744 `_) * add param file and schema * style(pre-commit): autofix * . @@ -13,11 +13,11 @@ Changelog for package localization_evaluator * . --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -25,20 +25,20 @@ Changelog for package localization_evaluator 0.26.0 (2024-04-03) ------------------- -* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) -* chore: add maintainer (`#4234 `_) +* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) +* chore: add maintainer (`#4234 `_) * chore: add maintainer * Update evaluator/localization_evaluator/package.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -46,7 +46,7 @@ Changelog for package localization_evaluator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(metrics_calculation): add kinematic and localization evaluators with metrics (`#928 `_) +* feat(metrics_calculation): add kinematic and localization evaluators with metrics (`#928 `_) * initial skeleton of localization evaluator * Add simple localization evaliuation framework * Clean and add tests diff --git a/evaluator/perception_online_evaluator/CHANGELOG.rst b/evaluator/perception_online_evaluator/CHANGELOG.rst index ffdca0511a6cb..643dec851d0fa 100644 --- a/evaluator/perception_online_evaluator/CHANGELOG.rst +++ b/evaluator/perception_online_evaluator/CHANGELOG.rst @@ -5,27 +5,27 @@ Changelog for package perception_online_evaluator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(perception_online_evaluator): fix unusedFunction (`#8559 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(perception_online_evaluator): fix unusedFunction (`#8559 `_) fix:unusedFunction -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* fix(perception_online_evaluator): passedByValue (`#8201 `_) +* fix(perception_online_evaluator): passedByValue (`#8201 `_) fix: passedByValue -* fix(perception_online_evaluator): fix shadowVariable (`#7933 `_) +* fix(perception_online_evaluator): fix shadowVariable (`#7933 `_) * fix:shadowVariable * fix:clang-format * fix:shadowVariable --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -60,7 +60,7 @@ Changelog for package perception_online_evaluator * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* fix(perception_online_evaluator): add metric_value not only stat (`#7100 `_)(`#7118 `_) (revert of revert) (`#7167 `_) +* fix(perception_online_evaluator): add metric_value not only stat (`#7100 `_)(`#7118 `_) (revert of revert) (`#7167 `_) * Revert "fix(perception_online_evaluator): revert "add metric_value not only s…" This reverts commit d827b1bd1f4bbacf0333eb14a62ef42e56caef25. * Update evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp @@ -68,20 +68,20 @@ Changelog for package perception_online_evaluator * use emplace back --------- Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for evaluator modules (`#7241 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* fix(perception_online_evaluator): revert "add metric_value not only stat (`#7100 `_)" (`#7118 `_) -* feat(perception_online_evaluator): add metric_value not only stat (`#7100 `_) -* fix(perception_online_evaluator): fix range resolution (`#7115 `_) -* chore(glog): add initialization check (`#6792 `_) -* fix(perception_online_evaluator): fix bug of constStatement (`#6922 `_) -* feat(perception_online_evaluator): imporve yaw rate metrics considering flip (`#6881 `_) +* fix(perception_online_evaluator): revert "add metric_value not only stat (`#7100 `_)" (`#7118 `_) +* feat(perception_online_evaluator): add metric_value not only stat (`#7100 `_) +* fix(perception_online_evaluator): fix range resolution (`#7115 `_) +* chore(glog): add initialization check (`#6792 `_) +* fix(perception_online_evaluator): fix bug of constStatement (`#6922 `_) +* feat(perception_online_evaluator): imporve yaw rate metrics considering flip (`#6881 `_) * feat(perception_online_evaluator): imporve yaw rate metrics considering flip * fix test --------- -* feat(perception_evaluator): counts objects within detection range (`#6848 `_) +* feat(perception_evaluator): counts objects within detection range (`#6848 `_) * feat(perception_evaluator): counts objects within detection range detection counter add enable option and refactoring @@ -94,36 +94,36 @@ Changelog for package perception_online_evaluator fix * fix include --------- -* docs(perception_online_evaluator): update metrics explanation (`#6819 `_) -* feat(perception_online_evaluator): better waitForDummyNode (`#6827 `_) -* feat(perception_online_evaluator): add predicted path variance (`#6793 `_) +* docs(perception_online_evaluator): update metrics explanation (`#6819 `_) +* feat(perception_online_evaluator): better waitForDummyNode (`#6827 `_) +* feat(perception_online_evaluator): add predicted path variance (`#6793 `_) * feat(perception_online_evaluator): add predicted path variance * add unit test * update readme * pre commit --------- -* feat(perception_online_evaluator): ignore reversal of orientation from yaw_rate calculation (`#6748 `_) -* docs(perception_online_evaluator): add description about yaw rate evaluation (`#6737 `_) +* feat(perception_online_evaluator): ignore reversal of orientation from yaw_rate calculation (`#6748 `_) +* docs(perception_online_evaluator): add description about yaw rate evaluation (`#6737 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Kyoichi Sugahara, Nagi70, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takamasa Horibe, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) ------------------- -* feat(perception_online_evaluator): extract moving object for deviation check (`#6682 `_) +* feat(perception_online_evaluator): extract moving object for deviation check (`#6682 `_) fix test -* feat(perception_online_evaluator): unify debug markers instead of separating for each object (`#6681 `_) +* feat(perception_online_evaluator): unify debug markers instead of separating for each object (`#6681 `_) * feat(perception_online_evaluator): unify debug markers instead of separating for each object * fix for --------- -* feat(perception_online_evaluator): add yaw rate metrics for stopped object (`#6667 `_) +* feat(perception_online_evaluator): add yaw rate metrics for stopped object (`#6667 `_) * feat(perception_online_evaluator): add yaw rate metrics for stopped object add add test * feat: add stopped vel parameter --------- -* fix(perception_online_evaluator): fix build error (`#6595 `_) -* build(perception_online_evaluator): add lanelet_extension dependency (`#6592 `_) -* feat(perception_online_evaluator): publish metrics of each object class (`#6556 `_) -* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) +* fix(perception_online_evaluator): fix build error (`#6595 `_) +* build(perception_online_evaluator): add lanelet_extension dependency (`#6592 `_) +* feat(perception_online_evaluator): publish metrics of each object class (`#6556 `_) +* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) * feat(perception_evaluator): add perception_evaluator tmp update diff --git a/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst b/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst index a382f3656533b..0c41ad6263d8b 100644 --- a/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst +++ b/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst @@ -9,12 +9,12 @@ Changelog for package diagnostic_converter 0.26.0 (2024-04-03) ------------------- -* fix(diagnostic_converter): move headers to a separate directory (`#5943 `_) +* fix(diagnostic_converter): move headers to a separate directory (`#5943 `_) * fix(diagnostic_converter): move headers to a separate directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -22,12 +22,12 @@ Changelog for package diagnostic_converter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(diagnostic_converter): remove unit and blank in the value (`#3151 `_) +* feat(diagnostic_converter): remove unit and blank in the value (`#3151 `_) * feat(diagnostic_converter): remove unit and blank in the value * fix --------- -* feat(diagnostic_converter): apply regex for topic name (`#3149 `_) -* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) +* feat(diagnostic_converter): apply regex for topic name (`#3149 `_) +* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) * add original diagnostic_convertor * add test * fix typo diff --git a/launch/tier4_autoware_api_launch/CHANGELOG.rst b/launch/tier4_autoware_api_launch/CHANGELOG.rst index 63c0c5211c382..c4dc5fba123fb 100644 --- a/launch/tier4_autoware_api_launch/CHANGELOG.rst +++ b/launch/tier4_autoware_api_launch/CHANGELOG.rst @@ -5,25 +5,25 @@ Changelog for package tier4_autoware_api_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) -* refactor(autoware_path_distance_calculator): prefix package and namespace with autoware (`#8085 `_) +* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) +* refactor(autoware_path_distance_calculator): prefix package and namespace with autoware (`#8085 `_) * Contributors: Esteve Fernandez, Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -31,13 +31,13 @@ Changelog for package tier4_autoware_api_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(tier4_autoware_api_launch): suppress rtc_controller's info (`#3020 `_) +* feat(tier4_autoware_api_launch): suppress rtc_controller's info (`#3020 `_) * feat(tier4_autoware_api_launch): suppress rtc_controller's info * Update launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat: replace tier4_ad_api_adaptor with default_ad_api (`#2438 `_) +* feat: replace tier4_ad_api_adaptor with default_ad_api (`#2438 `_) * feat: add options * fix: rosbridge max message size * feat: remove old apis @@ -45,16 +45,16 @@ Changelog for package tier4_autoware_api_launch * feat: remove external engage * feat: add deprecated api option * fix: path -* fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) -* chore: add api maintainers (`#2361 `_) -* feat: remove launch for old routing api (`#2136 `_) -* feat(autoware_api_launch): delete image base64 converter launch (`#2131 `_) +* fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) +* chore: add api maintainers (`#2361 `_) +* feat: remove launch for old routing api (`#2136 `_) +* feat(autoware_api_launch): delete image base64 converter launch (`#2131 `_) delete image base64 converter launch -* feat(tier4_autoware_api_launch): add rtc_controller to api launch (`#1919 `_) -* fix: add adapi dependency (`#1892 `_) -* feat: move adapi rviz adaptor (`#1900 `_) +* feat(tier4_autoware_api_launch): add rtc_controller to api launch (`#1919 `_) +* fix: add adapi dependency (`#1892 `_) +* feat: move adapi rviz adaptor (`#1900 `_) feat: move adapi rviz adaptor -* feat(default_ad_api): add localization api (`#1431 `_) +* feat(default_ad_api): add localization api (`#1431 `_) * feat(default_ad_api): add localization api * docs: add readme * feat: add auto initial pose @@ -74,7 +74,7 @@ Changelog for package tier4_autoware_api_launch * fix: remove needless keyword * feat: change api helper node namespace * fix: fix launch file path -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -107,7 +107,7 @@ Changelog for package tier4_autoware_api_launch * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(default_ad_api): add routing api (`#1494 `_) +* feat(default_ad_api): add routing api (`#1494 `_) * feat(default_ad_api): add routing api * fix: build error * docs: add readme @@ -127,17 +127,17 @@ Changelog for package tier4_autoware_api_launch * feat: adaptor package * fix: helper node * fix: error handling -* feat(tier4_autoware_api_launch): add some arguments (`#1324 `_) +* feat(tier4_autoware_api_launch): add some arguments (`#1324 `_) * feat(tier4_autoware_api_launch): add some arguments * fix launch py * deal with review * deal with review * deal with review -* fix(tier4_autoware_api_launch): add group tag (`#1235 `_) -* fix(tier4_autoware_api_launch): typo (`#1047 `_) +* fix(tier4_autoware_api_launch): add group tag (`#1235 `_) +* fix(tier4_autoware_api_launch): typo (`#1047 `_) I will write release note, thank you. -* feat(tier4_autoware_api_launch): add rosbridge (`#779 `_) - * fix(image_projection_based_fusion): modify build error in rolling (`#775 `_) +* feat(tier4_autoware_api_launch): add rosbridge (`#779 `_) + * fix(image_projection_based_fusion): modify build error in rolling (`#775 `_) * feat(tier4_autoware_api_launch): add rosbridge docs(web_controller): rosbridge is automatically launched in tier4_autoware_api_launch * docs(web_controller): rosbridge is automatically launched in tier4_autoware_api_launch @@ -145,18 +145,18 @@ Changelog for package tier4_autoware_api_launch Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* chore: replace topic tools (`#986 `_) +* chore: replace topic tools (`#986 `_) * chore: replace topic tools * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* feat(tier4_autoware_api_launch): add tier4_autoware_api_launch package (`#658 `_) +* feat(tier4_autoware_api_launch): add tier4_autoware_api_launch package (`#658 `_) * feat(tier4_autoware_api_launch): add tier4_autoware_api_launch package * ci(pre-commit): autofix * fix(tier4_autoware_api_launch): fix the command in the README instructions diff --git a/launch/tier4_control_launch/CHANGELOG.rst b/launch/tier4_control_launch/CHANGELOG.rst index beb15e3fb412a..11f7420e9e513 100644 --- a/launch/tier4_control_launch/CHANGELOG.rst +++ b/launch/tier4_control_launch/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package tier4_control_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(obstacle_collision_checker): move to autoware namespace (`#9047 `_) -* fix(tier4_control_launch): fix aeb input predicted object topic name (`#8874 `_) +* refactor(obstacle_collision_checker): move to autoware namespace (`#9047 `_) +* fix(tier4_control_launch): fix aeb input predicted object topic name (`#8874 `_) fix aeb input predicted object topic -* feat(autonomous_emergency_braking): add some tests to aeb (`#8126 `_) +* feat(autonomous_emergency_braking): add some tests to aeb (`#8126 `_) * add initial tests * add more tests * more tests @@ -23,13 +23,13 @@ Changelog for package tier4_control_launch * add briefs * delete repeated test --------- -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* fix(control_launch): fix control launch control_evaluator plugin name (`#7846 `_) +* fix(control_launch): fix control launch control_evaluator plugin name (`#7846 `_) fix control evaluator plugin name -* refactor(tier4_control_launch): replace python launch with xml (`#7682 `_) +* refactor(tier4_control_launch): replace python launch with xml (`#7682 `_) * refactor: add xml version of control launch * refactor: remove python version of control launch * set default value of trajectory_follower_mode @@ -43,9 +43,9 @@ Changelog for package tier4_control_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi Co-authored-by: Kotaro Yoshimoto -* refactor(control_evaluator): use class naming standard and use remapped param name (`#7782 `_) +* refactor(control_evaluator): use class naming standard and use remapped param name (`#7782 `_) use class naming standard and use remapped param name -* feat(control_evaluator): add lanelet info to the metrics (`#7765 `_) +* feat(control_evaluator): add lanelet info to the metrics (`#7765 `_) * add route handler * add lanelet info to diagnostic * add const @@ -56,8 +56,8 @@ Changelog for package tier4_control_launch * add shoulder lanelets * fix includes --------- -* fix(smart_mpc_trajectory_folower): fix running by adding control_state and changing msg/package_name (`#7666 `_) -* feat(autonomous_emergency_braking): add predicted object support for aeb (`#7548 `_) +* fix(smart_mpc_trajectory_folower): fix running by adding control_state and changing msg/package_name (`#7666 `_) +* feat(autonomous_emergency_braking): add predicted object support for aeb (`#7548 `_) * add polling sub to predicted objects * WIP requires changing path frame to map * add parameters and reuse predicted obj speed @@ -72,31 +72,31 @@ Changelog for package tier4_control_launch * add utils.cpp * remove _ for non member variable --------- -* feat(control_evaluator): rename to include/autoware/{package_name} (`#7520 `_) +* feat(control_evaluator): rename to include/autoware/{package_name} (`#7520 `_) * feat(control_evaluator): rename to include/autoware/{package_name} * fix --------- -* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) -* feat(control_evaluator): add deviation metrics and queue for diagnostics (`#7484 `_) -* refactor(operation_mode_transition_manager): prefix package and namespace with autoware\_ (`#7291 `_) +* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) +* feat(control_evaluator): add deviation metrics and queue for diagnostics (`#7484 `_) +* refactor(operation_mode_transition_manager): prefix package and namespace with autoware\_ (`#7291 `_) * RT1-6682 add prefix package and namespace with autoware\_ * RT1-6682 fix package's description --------- -* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) +* refactor(trajectory_follower_node): trajectory follower node add autoware prefix (`#7344 `_) * rename trajectory follower node package * update dependencies, launch files, and README files * fix formats * remove autoware\_ prefix from launch arg option --------- -* refactor(shift_decider): prefix package and namespace with autoware\_ (`#7310 `_) +* refactor(shift_decider): prefix package and namespace with autoware\_ (`#7310 `_) * RT1-6684 add autoware prefix and namespace * RT1-6684 Revert svg This reverts commit 4e0569e4796ab432c734905fb7f2106779575e29. --------- Co-authored-by: Takayuki Murooka -* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) +* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) Fixed a mistake when adding prefixes -* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) +* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) * add prefix to the code * rename * fix @@ -105,7 +105,7 @@ Changelog for package tier4_control_launch * Update .github/CODEOWNERS --------- Co-authored-by: Takayuki Murooka -* refactor(control_validator)!: prefix package and namespace with autoware (`#7304 `_) +* refactor(control_validator)!: prefix package and namespace with autoware (`#7304 `_) * rename folders * rename add prefix * change param path @@ -115,15 +115,15 @@ Changelog for package tier4_control_launch * add namespace to address conflict * delete stubborn file --------- -* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) +* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) refactor(external_cmd_selector): prefix package and namespace with autoware\_ -* chore(vehicle_cmd_gate): add prefix autoware\_ to vehicle_cmd_gate (`#7327 `_) +* chore(vehicle_cmd_gate): add prefix autoware\_ to vehicle_cmd_gate (`#7327 `_) * add prefix autoware\_ to vehicle_cmd_gate package * fix * fix include guard * fix pre-commit --------- -* feat(autonomous_emergency_braking): prefix package and namespace with autoware\_ (`#7294 `_) +* feat(autonomous_emergency_braking): prefix package and namespace with autoware\_ (`#7294 `_) * change package name * add the prefix * change option @@ -131,14 +131,14 @@ Changelog for package tier4_control_launch * eliminate some prefixes that are not required * fix node name --------- -* chore(smart_mpc_trajectory_follower): add prefix autoware\_ to smart_mpc_trajectory_follower (`#7367 `_) +* chore(smart_mpc_trajectory_follower): add prefix autoware\_ to smart_mpc_trajectory_follower (`#7367 `_) * add prefix * fix pre-commit --------- -* refactor(lane_departure_checker)!: prefix package and namespace with autoware (`#7325 `_) +* refactor(lane_departure_checker)!: prefix package and namespace with autoware (`#7325 `_) * add prefix autoware\_ to lane_departure_checker package --------- -* feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower (`#6805 `_) +* feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower (`#6805 `_) * feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower * style(pre-commit): autofix * modified control.launch.py @@ -160,7 +160,7 @@ Changelog for package tier4_control_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Kosuke Takeuchi -* feat(control_evaluator): implement a control evaluator (`#6959 `_) +* feat(control_evaluator): implement a control evaluator (`#6959 `_) * add control evaluator module * make the evaluator depend on messages from AEB * update output msg @@ -169,9 +169,9 @@ Changelog for package tier4_control_launch * add a package mantainer * Add a timer to maintain a constant rate of msg publishing --------- -* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) +* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) This reverts commit 51b5f830780eb69bd1a7dfe60e295773f394fd8e. -* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) +* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) * feat(launch): add logging_demo::LoggerConfig into container * fix(logger_level_reconfigure_plugin): fix yaml * feat(logging_level_configure): add composable node @@ -180,20 +180,20 @@ Changelog for package tier4_control_launch 0.26.0 (2024-04-03) ------------------- -* feat: enable multithreading for the control container (`#6666 `_) -* feat(pid_longitudinal_controller): add maker for stop reason (`#6579 `_) +* feat: enable multithreading for the control container (`#6666 `_) +* feat(pid_longitudinal_controller): add maker for stop reason (`#6579 `_) * feat(pid_longitudinal_controller): add maker for stop reason * minor fix --------- -* chore(tier4_control_launch): fix control validator name duplication (`#6446 `_) -* feat(tier4_control_launch): run control_validator out of main control container (`#6435 `_) -* feat(tier4_control_launch): add launch argument for predicted path checker (`#5186 `_) -* feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) - * feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) +* chore(tier4_control_launch): fix control validator name duplication (`#6446 `_) +* feat(tier4_control_launch): run control_validator out of main control container (`#6435 `_) +* feat(tier4_control_launch): add launch argument for predicted path checker (`#5186 `_) +* feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) + * feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (`#2528 `_) * Added pkg to control.launch.py --------- -* fix(operation_mode_transition_manager): check trajectory_follower_cmd for engage condition (`#5038 `_) -* feat(glog): add glog in planning and control modules (`#4714 `_) +* fix(operation_mode_transition_manager): check trajectory_follower_cmd for engage condition (`#5038 `_) +* feat(glog): add glog in planning and control modules (`#4714 `_) * feat(glog): add glog component * formatting * remove namespace @@ -209,7 +209,7 @@ Changelog for package tier4_control_launch * add copyright --------- Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* feat(control_validator): measure predicted path deviation from trajectory (`#4549 `_) +* feat(control_validator): measure predicted path deviation from trajectory (`#4549 `_) * add feature for getting predicted path deviation from trajectory * fix for build success * fix topic name @@ -230,7 +230,7 @@ Changelog for package tier4_control_launch * change maintainer * refactor * style(pre-commit): autofix - * feat(dynamic_avoidance): object polygon based drivable area generation (`#4598 `_) + * feat(dynamic_avoidance): object polygon based drivable area generation (`#4598 `_) * update * update README * fix typo @@ -243,16 +243,16 @@ Changelog for package tier4_control_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takayuki Murooka Co-authored-by: Takamasa Horibe -* feat(shift_decider): send current gear if the autoware state is not driving (`#3684 `_) -* feat(vehicle_cmd_gate): do not send current gear if autoware is not engaged (`#3683 `_) +* feat(shift_decider): send current gear if the autoware state is not driving (`#3684 `_) +* feat(vehicle_cmd_gate): do not send current gear if autoware is not engaged (`#3683 `_) This reverts commit be3138545d6814a684a314a7dbf1ffb450f90970. -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -260,31 +260,31 @@ Changelog for package tier4_control_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(control_launch): add necessary parameter (`#3235 `_) -* feat(tier4_control_launch): add check_external_emergency_heartbeat option (`#3079 `_) -* feat(control): add autonomous emergency braking module (`#2793 `_) -* feat(vehicle_cmd_gate): enable filter with actual steer in manual mode (`#2717 `_) +* fix(control_launch): add necessary parameter (`#3235 `_) +* feat(tier4_control_launch): add check_external_emergency_heartbeat option (`#3079 `_) +* feat(control): add autonomous emergency braking module (`#2793 `_) +* feat(vehicle_cmd_gate): enable filter with actual steer in manual mode (`#2717 `_) * feature(vehicle_cmd_gate): enable filter with actual steer in manual mode * update parameters based on experiment * update launch * update param --------- -* feat(longitudinal_controller): skip integral in manual mode (`#2619 `_) +* feat(longitudinal_controller): skip integral in manual mode (`#2619 `_) * feat(longitudinal_controller): skip integral in manual mode * change control_mode to operation_mode * fix test -* chore(control_launch): add maintainer (`#2758 `_) -* feat(vehicle_cmd_gate): send current gear if autoware is not engaged (`#2555 `_) +* chore(control_launch): add maintainer (`#2758 `_) +* feat(vehicle_cmd_gate): send current gear if autoware is not engaged (`#2555 `_) * feat(vehicle_cmd_gate): send current gear if autoware is not engaged * ci(pre-commit): autofix * add topic map to launch file Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_control_launch): remove parameter definition in control.launch.py (`#2585 `_) +* refactor(tier4_control_launch): remove parameter definition in control.launch.py (`#2585 `_) * refactor trajectory_follower_node's param * organize parameter definition in control_launch * fix typo * fix failed test -* feat(trajectory_follower): seperate lat lon controller packages (`#2580 `_) +* feat(trajectory_follower): seperate lat lon controller packages (`#2580 `_) * feat(trajectory_follower): seperate controller implementation packages * update doc * fix doc @@ -293,14 +293,14 @@ Changelog for package tier4_control_launch * rename to trajectory_follower_base, trajectory_follower_node * fix doc * remove unnecessary change -* feat(tier4_control_launch): remove configs and move to autoware_launch (`#2544 `_) +* feat(tier4_control_launch): remove configs and move to autoware_launch (`#2544 `_) * feat(tier4_control_launch): remove configs and move to autoware_launch * remove config * Update launch/tier4_control_launch/README.md Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: kminoda -* fix(tier4_control_launch): add parameter about nearest search (`#2542 `_) -* feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) +* fix(tier4_control_launch): add parameter about nearest search (`#2542 `_) +* feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) * feat(trajectory_follower): extend mpc trajectory for terminal yaw * make mpc min vel param * add mpc extended point after smoothing @@ -314,18 +314,18 @@ Changelog for package tier4_control_launch * fix from TakaHoribe review * fix typo * refactor -* refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) -* fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) +* refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) +* fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) * fix: rename use_external_emergency_stop to check_external_emergency_heartbeat * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) +* feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) * feat(transition_manager): add param to ignore autonomous transition condition * same for modeChangeCompleted * remove debug print -* feat(operation_mode_transition_manager): modify transition timeout (`#2318 `_) +* feat(operation_mode_transition_manager): modify transition timeout (`#2318 `_) feat(operation_mode_transition_manager): modify mode change in transition -* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) * feat(emergency_handler): add mrm command and status publishers * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg * feat(emergency_handler): add mrm clients and subscribers @@ -387,7 +387,7 @@ Changelog for package tier4_control_launch * fix(emergency_handler): fix acronyms case * chore(tier4_system_launch): add a mrm comfortable stop parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(operation_mode_transition_manager): support ad api (`#1535 `_) +* feat(operation_mode_transition_manager): support ad api (`#1535 `_) * feat(operation_mode_transition_manager): support ad api * fix: merge operation mode state message * feat(autoware_ad_api_msgs): define operation mode interface @@ -406,18 +406,18 @@ Changelog for package tier4_control_launch * fix: fix operation mode change when disable autoware control * fix: fix operation mode change when autoware control is disabled Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat(tier4_control_launch): add obstacle_collision_checker in control.launch.py (`#2193 `_) +* feat(tier4_control_launch): add obstacle_collision_checker in control.launch.py (`#2193 `_) Co-authored-by: Berkay Karaman -* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(control_launch): add longitudinal controller mode (`#2062 `_) +* feat(control_launch): add longitudinal controller mode (`#2062 `_) feature(control_launch): add longitudinal controller mode -* fix: modified to reflect the argument "initial_selector_mode" in control_launch (`#1961 `_) -* refactor: replace acc calculation in planning control modules (`#1213 `_) +* fix: modified to reflect the argument "initial_selector_mode" in control_launch (`#1961 `_) +* refactor: replace acc calculation in planning control modules (`#1213 `_) * [obstacle_cruise_planner] replace acceleration calculation * [obstacle_stop_planner] replace acceleration calculation * [trajectory_follower] replace acceleration calculation @@ -425,12 +425,12 @@ Changelog for package tier4_control_launch * fix nullptr check * fix controller test * fix -* feat(shift_decider): add config file (`#1857 `_) +* feat(shift_decider): add config file (`#1857 `_) * feat(shift_decider): add config file * feat(tier4_control_launch): add shift_decider.param.yaml * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(shift_decider): put the gear in park when vehicle reaches the goal (`#1818 `_) +* feat(shift_decider): put the gear in park when vehicle reaches the goal (`#1818 `_) * feat(shift_decider): put the gear in park when vehicle reaches the goal * ci(pre-commit): autofix * feat(shift_decider): check /autoware/state subscriber in timer function @@ -440,8 +440,8 @@ Changelog for package tier4_control_launch * feat(shift_decider): add park_on_goal flag * feat(tier4_control_launch): add park_on_goal param for shift_decider Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) - * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) +* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) + * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) function added, not turning fix the always positive curvature problem @@ -485,7 +485,7 @@ Changelog for package tier4_control_launch * ci(pre-commit): autofix Co-authored-by: Berkay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -518,9 +518,9 @@ Changelog for package tier4_control_launch * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore(trajectory_follower_nodes): remove the remaining latlon_muxer (`#1592 `_) -* feat(trajectory_follower): keep stop until the steering control is done (`#1672 `_) -* fix(velocity_controller, mpc_follower): use common ego nearest search (`#1590 `_) +* chore(trajectory_follower_nodes): remove the remaining latlon_muxer (`#1592 `_) +* feat(trajectory_follower): keep stop until the steering control is done (`#1672 `_) +* fix(velocity_controller, mpc_follower): use common ego nearest search (`#1590 `_) * fix(trajectory_follower): use common ego nearest search * removed calcNearestIndex * add nearest search param @@ -528,14 +528,14 @@ Changelog for package tier4_control_launch * fix * Update launch/tier4_control_launch/launch/control.launch.py * update test fil -* fix(tier4_control_launch): pass vehicle_info_param to trajectory_follower (`#1450 `_) -* refactor(trajectory_follower_nodes): use max_steer_angle in common (`#1422 `_) +* fix(tier4_control_launch): pass vehicle_info_param to trajectory_follower (`#1450 `_) +* refactor(trajectory_follower_nodes): use max_steer_angle in common (`#1422 `_) * refactor(trajectory_follower_nodes): use max_steer_angle in common * remove parameters from tier4_control_launch * fix -* feat(tier4_control_launch): declare param path argument (`#1432 `_) -* fix(operation_mode_transition_manager): add required param (`#1342 `_) -* feat(operation_mode_transition_manager): add package to manage vehicle autonomous mode change (`#1246 `_) +* feat(tier4_control_launch): declare param path argument (`#1432 `_) +* fix(operation_mode_transition_manager): add required param (`#1342 `_) +* feat(operation_mode_transition_manager): add package to manage vehicle autonomous mode change (`#1246 `_) * add engage_transition_manager * rename to operation mode transition manager * fix precommit @@ -546,55 +546,55 @@ Changelog for package tier4_control_launch * add allow_autonomous_in_stopped * fix typo * fix precommit -* feat(trajectory_follower): add min_prediction_length to mpc (`#1171 `_) +* feat(trajectory_follower): add min_prediction_length to mpc (`#1171 `_) * feat(trajectory_follower): Add min_prediction_length to mpc * refactor -* feat(vehicle cmd gate): add transition filter (`#1244 `_) +* feat(vehicle cmd gate): add transition filter (`#1244 `_) * feat(vehicle_cmd_gate): add transition filter * fix precommit * remove debug code * update param yaml * update readme * fix default topic name -* feat(trajectory_follower): integrate latlon controller (`#901 `_) +* feat(trajectory_follower): integrate latlon controller (`#901 `_) * feat(trajectory_follower): integrate latlon controller * Remove unnecessary throw error * update from review comment * Set steer converged params false * Update params of design.md Co-authored-by: Takamasa Horibe -* feat(longitudinal_controller): add disable emergency option (`#1201 `_) +* feat(longitudinal_controller): add disable emergency option (`#1201 `_) * feat(longitudinal_controller): add disable emergency option * update readme * add param -* refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) +* refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) Co-authored-by: Berkay -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* perf(trajectory_follower_nodes): change longitudinal control to use period parameter (`#763 `_) +* style: fix format of package.xml (`#844 `_) +* perf(trajectory_follower_nodes): change longitudinal control to use period parameter (`#763 `_) * perf(trajectory_follower_nodes): change longitudinal control to use period parameter * perf(trajectory_follower_nodes): remove duplicate ros parameters in 'control.launch.py' * doc(trajectory_follower_nodes): update design doc according to code update * ci(pre-commit): autofix Co-authored-by: Shark Liu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: add pure_pursuit as lateral controller into launch files (`#750 `_) -* fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) +* fix: add pure_pursuit as lateral controller into launch files (`#750 `_) +* fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) * fix(longitudinal_controller_node): parameterize stopped state entry condition * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE * fix(vehicle_cmd_gate): check time duration since the vehicle stopped -* fix(control_launch): change default mpc param to improve performance (`#667 `_) -* fix(trajectory_follower): change stop check speed threshold to almost 0 (`#473 `_) +* fix(control_launch): change default mpc param to improve performance (`#667 `_) +* fix(trajectory_follower): change stop check speed threshold to almost 0 (`#473 `_) * fix(trajectory_follower): change stop check speed threshold to 0 * change default parameter -* fix(trajectory_follower): change default param for curvature smoothing (`#498 `_) -* feat: change launch package name (`#186 `_) +* fix(trajectory_follower): change default param for curvature smoothing (`#498 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_localization_launch/CHANGELOG.rst b/launch/tier4_localization_launch/CHANGELOG.rst index 5aadfbd331d76..b7d0b8cf8169d 100644 --- a/launch/tier4_localization_launch/CHANGELOG.rst +++ b/launch/tier4_localization_launch/CHANGELOG.rst @@ -5,20 +5,20 @@ Changelog for package tier4_localization_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) add autoware\_ prefix -* refactor(ekf_localizer)!: prefix package and namespace with autoware (`#8888 `_) +* refactor(ekf_localizer)!: prefix package and namespace with autoware (`#8888 `_) * import lanelet2_map_preprocessor * move headers to include/autoware/efk_localier --------- -* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) +* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) * add autoware\_ prefix * fix link --------- Co-authored-by: SakodaShintaro -* chore(stop_filter): extract stop_filter.param.yaml to autoware_launch (`#8681 `_) +* chore(stop_filter): extract stop_filter.param.yaml to autoware_launch (`#8681 `_) Extract stop_filter.param.yaml to autoware_launch -* feat(localization): add `lidar_marker_localizer` (`#5573 `_) +* feat(localization): add `lidar_marker_localizer` (`#5573 `_) * Added lidar_marker_localizer * style(pre-commit): autofix * fix launch file @@ -140,39 +140,39 @@ Changelog for package tier4_localization_launch Co-authored-by: yamato-ando Co-authored-by: Yamato Ando Co-authored-by: yamato-ando -* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) +* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) +* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) * add autoware\_ prefix * add autoware\_ prefix * fix link for landmark_based_localizer * remove Shadowing --------- Co-authored-by: SakodaShintaro -* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) +* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) * add autoware\_ prefix * add missing header * use target_include_directories instead * add autoware\_ prefix --------- -* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) +* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) add autoware\_ prefix -* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) +* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) * add autoware\_ prefix * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: SakodaShintaro -* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) +* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) * add autoware\_ prefix * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -186,25 +186,25 @@ Changelog for package tier4_localization_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* chore(localization, map): remove maintainer (`#7940 `_) -* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) * refactor(stop_filter): prefix package and namespace with autoware * fix launch files and update CODEOWNERS --------- -* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) +* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) * Added prefix "autoware\_" to ar_tag_based_localizer * style(pre-commit): autofix * Fixed localization_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) +* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) Co-authored-by: M. Fatih Cırıt * Contributors: Amadeusz Szymko, Esteve Fernandez, Masaki Baba, SakodaShintaro, TaikiYamada4, Yutaka Kondo, kminoda, melike tanrikulu 0.26.0 (2024-04-03) ------------------- -* feat(pose_initilizer): set intial pose directly (`#6692 `_) +* feat(pose_initilizer): set intial pose directly (`#6692 `_) * feat(pose_initilizer): set intial pose directly * style(pre-commit): autofix * fix arg order @@ -223,25 +223,25 @@ Changelog for package tier4_localization_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_launch): change the default input pointcloud of localization into the concatenated pointcloud (`#6528 `_) +* feat(tier4_localization_launch): change the default input pointcloud of localization into the concatenated pointcloud (`#6528 `_) refactor lacun argument lidar_container_name to localization_pointcloud_container_name -* fix(ar_tag_based_localizer): add ar tag based localizer param (`#6390 `_) +* fix(ar_tag_based_localizer): add ar tag based localizer param (`#6390 `_) Added ar_tag_based_localizer_param_path -* chore(tier4_localization_launch): add maintainer (`#6350 `_) +* chore(tier4_localization_launch): add maintainer (`#6350 `_) add maintainer -* chore(ndt scan matcher): rename config path (`#6333 `_) +* chore(ndt scan matcher): rename config path (`#6333 `_) * refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py * style(pre-commit): autofix * chore(ndt_scan_matcher): rename config path * rename path --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py (`#6287 `_) +* refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py (`#6287 `_) * refactor(tier4_localization_launch): use util.launch.xml instead of util.launch.py * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pose_estimator_arbiter): add pose_estimator_arbiter with simple switching rule (`#6144 `_) +* feat(pose_estimator_arbiter): add pose_estimator_arbiter with simple switching rule (`#6144 `_) * implement pose_estimator_manager pkg * tmp * swap ndt & yabloc @@ -364,7 +364,7 @@ Changelog for package tier4_localization_launch * remove obsolete args --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(twist2accel): rework parameters (`#6266 `_) +* chore(twist2accel): rework parameters (`#6266 `_) * Added twist2accel.param.yaml * Added twist2accel.schema.json * Fixed README.md and description @@ -372,7 +372,7 @@ Changelog for package tier4_localization_launch * Removed default parameters --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) +* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) * feat!: replace use_pointcloud_container * feat: remove from planning * fix: fix to remove all use_pointcloud_container @@ -390,21 +390,21 @@ Changelog for package tier4_localization_launch * fix: fix pre-commit --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* refactor(ndt_scan_matcher): fixed ndt_scan_matcher.launch.xml (`#6041 `_) +* refactor(ndt_scan_matcher): fixed ndt_scan_matcher.launch.xml (`#6041 `_) Fixed ndt_scan_matcher.launch.xml -* refactor(ar_tag_based_localizer): refactor pub/sub and so on (`#5854 `_) +* refactor(ar_tag_based_localizer): refactor pub/sub and so on (`#5854 `_) * Fixed ar_tag_based_localizer pub/sub * Remove dependency on image_transport --------- -* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) +* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) rename lidar topic Co-authored-by: yamato-ando -* feat(localization): add `pose_instability_detector` (`#5439 `_) +* feat(localization): add `pose_instability_detector` (`#5439 `_) * Added pose_instability_detector * Renamed files * Fixed parameter name @@ -447,7 +447,7 @@ Changelog for package tier4_localization_launch * Updated rqt_runtime_monitor.png --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(geo_pose_projector): use geo_pose_projector in eagleye (`#5513 `_) +* feat(geo_pose_projector): use geo_pose_projector in eagleye (`#5513 `_) * feat(tier4_geo_pose_projector): use tier4_geo_pose_projector in eagleye * style(pre-commit): autofix * fix(eagleye): split fix2pose @@ -469,7 +469,7 @@ Changelog for package tier4_localization_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(eagleye): split fix2pose (`#5506 `_) +* feat(eagleye): split fix2pose (`#5506 `_) * fix(eagleye): split fix2pose * style(pre-commit): autofix * fix name: fuser -> fusion @@ -478,7 +478,7 @@ Changelog for package tier4_localization_launch * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(landmark_based_localizer): refactored landmark_tf_caster (`#5414 `_) +* refactor(landmark_based_localizer): refactored landmark_tf_caster (`#5414 `_) * Removed landmark_tf_caster node * Added maintainer * style(pre-commit): autofix @@ -492,18 +492,18 @@ Changelog for package tier4_localization_launch * Fixed Marker to MarkerArray --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) +* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) * add raw image subscriber * update README * improve format and variable names --------- -* feat(pose_twist_estimator): automatically initialize pose only with gnss (`#5115 `_) -* fix(tier4_localization_launch): fixed exec_depend (`#5075 `_) +* feat(pose_twist_estimator): automatically initialize pose only with gnss (`#5115 `_) +* fix(tier4_localization_launch): fixed exec_depend (`#5075 `_) * Fixed exec_depend * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ar_tag_based_localizer): split the package `ar_tag_based_localizer` (`#5043 `_) +* feat(ar_tag_based_localizer): split the package `ar_tag_based_localizer` (`#5043 `_) * Fix package name * Removed utils * Renamed tag_tf_caster to landmark_tf_caster @@ -519,7 +519,7 @@ Changelog for package tier4_localization_launch * Fixed ArTagDetector to ArTagBasedLocalizer --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ar_tag_based_localizer): add ekf_pose subscriber (`#4946 `_) +* feat(ar_tag_based_localizer): add ekf_pose subscriber (`#4946 `_) * Fixed qos * Fixed camera_frame\_ * Fixed for awsim @@ -540,7 +540,7 @@ Changelog for package tier4_localization_launch * Added comments to param.yaml --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ar_tag_based_localizer): added small changes (`#4885 `_) +* fix(ar_tag_based_localizer): added small changes (`#4885 `_) * Fixed qos * Fixed camera_frame\_ * Fixed for awsim @@ -551,7 +551,7 @@ Changelog for package tier4_localization_launch * Updated README.md * Fixed distance_threshold to 13m --------- -* feat(localization): add a new localization package `ar_tag_based_localizer` (`#4347 `_) +* feat(localization): add a new localization package `ar_tag_based_localizer` (`#4347 `_) * Added ar_tag_based_localizer * style(pre-commit): autofix * Added include @@ -604,7 +604,7 @@ Changelog for package tier4_localization_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) +* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) * feat(yabloc_monitor): add yabloc_monitor * style(pre-commit): autofix * add readme @@ -638,14 +638,14 @@ Changelog for package tier4_localization_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_localization_launch): change input/pointcloud param (`#4411 `_) +* refactor(tier4_localization_launch): change input/pointcloud param (`#4411 `_) * refactor(tier4_localization_launch): change input/pointcloud param * parameter renaming moved util.launch.py -* feat(yabloc): change namespace (`#4389 `_) +* feat(yabloc): change namespace (`#4389 `_) * fix(yabloc): update namespace * fix --------- -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -670,7 +670,7 @@ Changelog for package tier4_localization_launch * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -816,26 +816,26 @@ Changelog for package tier4_localization_launch * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -846,18 +846,18 @@ Changelog for package tier4_localization_launch * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -865,42 +865,42 @@ Changelog for package tier4_localization_launch * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -914,47 +914,47 @@ Changelog for package tier4_localization_launch * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -965,8 +965,8 @@ Changelog for package tier4_localization_launch * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -975,8 +975,8 @@ Changelog for package tier4_localization_launch * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -984,15 +984,15 @@ Changelog for package tier4_localization_launch * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -1001,7 +1001,7 @@ Changelog for package tier4_localization_launch * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common @@ -1085,13 +1085,13 @@ Changelog for package tier4_localization_launch Co-authored-by: Akihiro Komori Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -1099,7 +1099,7 @@ Changelog for package tier4_localization_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat: add gnss/imu localizer (`#3063 `_) +* feat: add gnss/imu localizer (`#3063 `_) * Add gnss_imu_localizar * Fix twist switching bug * Fix spell and reformat @@ -1134,19 +1134,19 @@ Changelog for package tier4_localization_launch * List the packages that depend on map4_localization_launch correctly * Ran precommit locally --------- -* chore(tier4_localization_launch): add maintainer (`#3133 `_) -* chore(ekf_localizer): move parameters to its dedicated yaml file (`#3039 `_) +* chore(tier4_localization_launch): add maintainer (`#3133 `_) +* chore(ekf_localizer): move parameters to its dedicated yaml file (`#3039 `_) * chores(ekf_localizer): move parameters to its dedicated yaml file * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) * feat(pose_initializer): enable pose initialization while running (only for sim) * both logsim and psim params * only one pose_initializer_param_path arg * use two param files for pose_initializer --------- -* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) +* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) * Support GNSS/IMU pose estimator * style(pre-commit): autofix * Revert gnss/imu support @@ -1174,7 +1174,7 @@ Changelog for package tier4_localization_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohei Sasaki Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat(tier4_localization_launch): remove configs and move to autoware_launch (`#2537 `_) +* feat(tier4_localization_launch): remove configs and move to autoware_launch (`#2537 `_) * feat(tier4_localization_launch): remove configs and move to autoware_launch * update readme * Update launch/tier4_localization_launch/README.md @@ -1184,18 +1184,18 @@ Changelog for package tier4_localization_launch * update readme * pre-commit Co-authored-by: Yamato Ando -* feat(tier4_localization_launch): pass pc container to localization (`#2114 `_) +* feat(tier4_localization_launch): pass pc container to localization (`#2114 `_) * feature(tier4_localization_launch): pass pc container to localization * ci(pre-commit): autofix * feature(tier4_localization_launch): update util.launch.xml * feature(tier4_localization_launch): update use container param value Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt): remove ndt package (`#2053 `_) +* feat(ndt): remove ndt package (`#2053 `_) * first commit * CMakeLists.txt does not work........ * build works @@ -1210,8 +1210,8 @@ Changelog for package tier4_localization_launch * removed default parameter from search_method * small fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: add adapi dependency (`#1892 `_) -* feat(pose_initializer)!: support ad api (`#1500 `_) +* fix: add adapi dependency (`#1892 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) * feat(pose_initializer): support ad api * docs: update readme * fix: build error @@ -1227,18 +1227,18 @@ Changelog for package tier4_localization_launch * fix: fix build error * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_launch): manual sync with tier4/localization_launch (`#1442 `_) +* feat(tier4_localization_launch): manual sync with tier4/localization_launch (`#1442 `_) * feat(tier4_localization_launch): manual sync with tier4/localization_launch * ci(pre-commit): autofix * fix * revert modification Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ekf_localizer): rename biased pose topics (`#1787 `_) +* fix(ekf_localizer): rename biased pose topics (`#1787 `_) * fix(ekf_localizer): rename biased pose topics * Update topic descriptions in README Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* feat(default_ad_api): add localization api (`#1431 `_) +* feat(default_ad_api): add localization api (`#1431 `_) * feat(default_ad_api): add localization api * docs: add readme * feat: add auto initial pose @@ -1258,7 +1258,7 @@ Changelog for package tier4_localization_launch * fix: remove needless keyword * feat: change api helper node namespace * fix: fix launch file path -* chore(localization packages, etc): modify maintainer and e-mail address (`#1661 `_) +* chore(localization packages, etc): modify maintainer and e-mail address (`#1661 `_) * chore(localization packages, etc): modify maintainer and e-mail address * remove indent * add authors @@ -1271,7 +1271,7 @@ Changelog for package tier4_localization_launch * add author Co-authored-by: Yukihiro Saito Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* fix(ekf_localizer): enable enable_yaw_bias (`#1601 `_) +* fix(ekf_localizer): enable enable_yaw_bias (`#1601 `_) * fix(ekf_localizer): enable enable_yaw_bias * remove proc_stddev_yaw_bias from ekf * ci(pre-commit): autofix @@ -1280,33 +1280,33 @@ Changelog for package tier4_localization_launch * fixed minor bugs * change default parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ndt_scan_matcher): fix default parameter to 0.0225 (`#1583 `_) +* fix(ndt_scan_matcher): fix default parameter to 0.0225 (`#1583 `_) * fix(ndt_scan_matcher): fix default parameter to 0.0225 * added a sidenote * added a sidenote -* feat(localization_error_monitor): change subscribing topic type (`#1532 `_) +* feat(localization_error_monitor): change subscribing topic type (`#1532 `_) * feat(localization_error_monitor): change subscribing topic type * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_launch): declare param path argument (`#1404 `_) +* feat(tier4_localization_launch): declare param path argument (`#1404 `_) * first commit * added arguments in each launch files * finished implementation * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_localization_launch): change rectified pointcloud to outlier_filtered pointcloud (`#1365 `_) -* fix(tier4_localization_launch): add group tag (`#1237 `_) +* feat(tier4_localization_launch): change rectified pointcloud to outlier_filtered pointcloud (`#1365 `_) +* fix(tier4_localization_launch): add group tag (`#1237 `_) * fix(tier4_localization_launch): add group tag * add more args into group -* feat(localization_error_monitor): add a config file (`#1282 `_) +* feat(localization_error_monitor): add a config file (`#1282 `_) * feat(localization_error_monitor): add a config file * ci(pre-commit): autofix * feat(localization_error_monitor): add a config file in tier4_localization_launch too * ci(pre-commit): autofix * debugged Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_localization_launch): remove unnecessary param from pose_twist_fusion_filter.launch (`#1224 `_) -* feat(ekf_localizer): allow multi sensor inputs in ekf_localizer (`#1027 `_) +* fix(tier4_localization_launch): remove unnecessary param from pose_twist_fusion_filter.launch (`#1224 `_) +* feat(ekf_localizer): allow multi sensor inputs in ekf_localizer (`#1027 `_) * first commit * ci(pre-commit): autofix * updated @@ -1346,7 +1346,7 @@ Changelog for package tier4_localization_launch * change the default gnss covariance to the previous one * pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#1120 `_) +* feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#1120 `_) * first commit * ci(pre-commit): autofix * check if angular_velocity_queue\_ is empty or not @@ -1356,7 +1356,7 @@ Changelog for package tier4_localization_launch * ci(pre-commit): autofix * reflected reviews Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: regularized NDT matching (`#1006 `_) +* feat: regularized NDT matching (`#1006 `_) * add interface of gnss regularization in ndt class * gnss pose is applied to regularize NDT * add descriptions in ndt_scan_matcher/README @@ -1368,7 +1368,7 @@ Changelog for package tier4_localization_launch * modify README to visualize well * fixed descriptions about principle of regularization Co-authored-by: Kento Yabuuchi -* feat(twist2accel)!: add new package for estimating acceleration in localization module (`#1089 `_) +* feat(twist2accel)!: add new package for estimating acceleration in localization module (`#1089 `_) * first commit * update launch arg names * use lowpassfilter in signalprocessing @@ -1386,26 +1386,26 @@ Changelog for package tier4_localization_launch * added future work * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* feat: added raw twist in gyro_odometer (`#676 `_) +* style: fix format of package.xml (`#844 `_) +* feat: added raw twist in gyro_odometer (`#676 `_) * feat: added raw twist output from gyro_odometer * fix: prettier -* fix: localization and perception launch for tutorial (`#645 `_) +* fix: localization and perception launch for tutorial (`#645 `_) * fix: localization and perception launch for tutorial * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt_scan_matcher): add nearest voxel transfromation probability (`#364 `_) +* feat(ndt_scan_matcher): add nearest voxel transfromation probability (`#364 `_) * feat(ndt_scan_matcher): add nearest voxel transfromation probability * add calculateTransformationProbability funcs * add calculateTransformationProbability funcs @@ -1422,7 +1422,7 @@ Changelog for package tier4_localization_launch * ci(pre-commit): autofix * avoid a warning unused parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt_scan_matcher): add tolerance of initial pose (`#408 `_) +* feat(ndt_scan_matcher): add tolerance of initial pose (`#408 `_) * feat(ndt_scan_matcher): add tolerance of initial pose * move codes * modify the default value @@ -1432,15 +1432,15 @@ Changelog for package tier4_localization_launch * add depend fmt * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt_scan_matcher): add particles param (`#330 `_) +* feat(ndt_scan_matcher): add particles param (`#330 `_) * feat(ndt_scan_matcher): add particles param * fix data type * ci(pre-commit): autofix * fix data type Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: remove unused param (`#291 `_) -* fix: typo in localization util.launch.py (`#277 `_) -* feat: add covariance param (`#281 `_) +* fix: remove unused param (`#291 `_) +* fix: typo in localization util.launch.py (`#277 `_) +* feat: add covariance param (`#281 `_) * add covariance param * add description * add description @@ -1448,7 +1448,7 @@ Changelog for package tier4_localization_launch * refactor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_map_launch/CHANGELOG.rst b/launch/tier4_map_launch/CHANGELOG.rst index d70ee5384a0f4..e1ee86c71fc15 100644 --- a/launch/tier4_map_launch/CHANGELOG.rst +++ b/launch/tier4_map_launch/CHANGELOG.rst @@ -5,36 +5,36 @@ Changelog for package tier4_map_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(tier4_map_launch): remove parameter use_intra_process (`#9138 `_) -* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) +* fix(tier4_map_launch): remove parameter use_intra_process (`#9138 `_) +* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* fix(map_tf_genrator): fix map launch prefix (`#8598 `_) +* fix(map_tf_genrator): fix map launch prefix (`#8598 `_) fix(map_tf_geenrator): fix map launch prefix -* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) +* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* chore(localization, map): remove maintainer (`#7940 `_) -* chore(map): udpate maintainer (`#7405 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* chore(map): udpate maintainer (`#7405 `_) udpate maintainer -* fix(tier4_map_launch): change log output (`#7289 `_) +* fix(tier4_map_launch): change log output (`#7289 `_) change log output from screen to both Co-authored-by: SakodaShintaro * Contributors: Kosuke Takeuchi, Masaki Baba, Yamato Ando, Yutaka Kondo, cyn-liu, kminoda 0.26.0 (2024-04-03) ------------------- -* refactor(map_tf_generator): rework parameters (`#6233 `_) +* refactor(map_tf_generator): rework parameters (`#6233 `_) * refactor(map_tf_generator): rework parameters * add config * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(map_projection_loader): rework parameters (`#6253 `_) +* refactor(map_projection_loader): rework parameters (`#6253 `_) * Extract all params in map_projection_loader to map_projection_loader.param.yaml Added launch argument map_projection_loader_param_path to map.launch.xml * Added map_projection_loader.schema.json. @@ -44,17 +44,17 @@ Changelog for package tier4_map_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto -* chore(tier4_map_launch): add maintainer (`#6284 `_) -* refactor(map_launch): use map.launch.xml instead of map.launch.py (`#6185 `_) +* chore(tier4_map_launch): add maintainer (`#6284 `_) +* refactor(map_launch): use map.launch.xml instead of map.launch.py (`#6185 `_) * refactor(map_launch): use map.launch.xml instead of map.launch.py * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add maintainer in map packages (`#5865 `_) +* chore: add maintainer in map packages (`#5865 `_) * add maintainer * modify map_tf_generator's maintainer --------- -* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) +* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) * feat(map): use component_interface_specs in map_projection_loader * update map_loader * style(pre-commit): autofix @@ -64,7 +64,7 @@ Changelog for package tier4_map_launch * fix test --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_projection_loader): add map_projection_loader (`#3986 `_) +* feat(map_projection_loader): add map_projection_loader (`#3986 `_) * feat(map_projection_loader): add map_projection_loader * style(pre-commit): autofix * Update default algorithm @@ -118,13 +118,13 @@ Changelog for package tier4_map_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -132,7 +132,7 @@ Changelog for package tier4_map_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(map_loader): add selected map loader (`#3286 `_) +* feat(map_loader): add selected map loader (`#3286 `_) * add id based map loader * add metadata publisher * feat(map_loader): add support for sequential_map_loading @@ -145,7 +145,7 @@ Changelog for package tier4_map_launch --------- Co-authored-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) +* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) * feat(map_loader): add grid coordinates for partial/differential map load * style(pre-commit): autofix * update readme @@ -155,7 +155,7 @@ Changelog for package tier4_map_launch * update readme --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) +* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) * chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch Update launch/tier4_map_launch/launch/map.launch.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> @@ -163,20 +163,20 @@ Changelog for package tier4_map_launch remove config path * chore(tier4_map_launch): fix lanelet launch name --------- -* refactor(tier4_map_launch): remove unused config (`#2722 `_) +* refactor(tier4_map_launch): remove unused config (`#2722 `_) * refactor(tier4_map_launch): remove unused config * load lanelet2 parameter from upper level * revert the addition of lanelet2 param -* revert(tier4_map_launch): move config back to autoware.universe (`#2561 `_) +* revert(tier4_map_launch): move config back to autoware.universe (`#2561 `_) * revert(tier4_map_launch): move config back to autoware.universe * fix map.launch.xml -* feat(tier4_map_launch): remove configs and move to autoware_launch (`#2538 `_) +* feat(tier4_map_launch): remove configs and move to autoware_launch (`#2538 `_) * feat(tier4_map_launch): remove configs and move to autoware_launch * update readme * fix readme * remove config * update readme -* feat(map_loader): add differential map loading interface (`#2417 `_) +* feat(map_loader): add differential map loading interface (`#2417 `_) * first commit * ci(pre-commit): autofix * added module load in _node.cpp @@ -186,7 +186,7 @@ Changelog for package tier4_map_launch * fix readme * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) +* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) * first commit * debugged * update readme @@ -198,7 +198,7 @@ Changelog for package tier4_map_launch * set default param to false * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) +* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) * first commit * reverted unnecessary modification * ci(pre-commit): autofix @@ -248,13 +248,13 @@ Changelog for package tier4_map_launch * remove fmt from target_link_libraries in test * minor fix in cmakelists.txt Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_map_launch): add maintainers (`#2416 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* chore(tier4_map_launch): add maintainers (`#2416 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -287,7 +287,7 @@ Changelog for package tier4_map_launch * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(map_tf_generator)!: launching planning_simulator without pointcloud map (`#1216 `_) +* feat(map_tf_generator)!: launching planning_simulator without pointcloud map (`#1216 `_) * feat(map_tf_generator): add vector map tf generator * fix(ad_service_state_monitor): rm unused cofig param * chore: change launching vector_map_tf_generator @@ -303,22 +303,22 @@ Changelog for package tier4_map_launch * Update map/map_tf_generator/Readme.md Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: add parameter argument for lanelet2_map_loader (`#954 `_) +* feat: add parameter argument for lanelet2_map_loader (`#954 `_) * feat: add parameter argument for lanelet2_map_loader * feat: add comment -* refactor: tier4_map_launch (`#953 `_) +* refactor: tier4_map_launch (`#953 `_) * refactor: tier4_map_launch * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) +* style: fix format of package.xml (`#844 `_) +* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) * ci(pre-commit): autofix * ci(pre-commit): autofix * fix(map_loader): add UTM projector to map_loader package @@ -341,11 +341,11 @@ Changelog for package tier4_map_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt Co-authored-by: Berkay -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_perception_launch/CHANGELOG.rst b/launch/tier4_perception_launch/CHANGELOG.rst index 22f5b181e4688..b0cb6c69d6892 100644 --- a/launch/tier4_perception_launch/CHANGELOG.rst +++ b/launch/tier4_perception_launch/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package tier4_perception_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(tier4_perception_launch): enable to receive argument `centerpoint_model_name` from autoware_launch (`#9003 `_) +* chore(tier4_perception_launch): enable to receive argument `centerpoint_model_name` from autoware_launch (`#9003 `_) * enable to receive arguments * adopt transfusion * add lidar_detection_model_type @@ -19,30 +19,30 @@ Changelog for package tier4_perception_launch * fix condition when default model name --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(tier4_perception_launch): remove duplicated parameter declaration (`#9031 `_) -* feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (`#8676 `_) +* refactor(tier4_perception_launch): remove duplicated parameter declaration (`#9031 `_) +* feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (`#8676 `_) * main process * style(pre-commit): autofix * add exception if input is invalid --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_lidar_transfusion): split config (`#8205 `_) +* refactor(autoware_lidar_transfusion): split config (`#8205 `_) * refactor(autoware_lidar_transfusion): split config * style(pre-commit): autofix * chore(autoware_lidar_transfusion): bypass schema CI workflow --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(tier4_perception_launch): launch namespace of `detection_by_tracker` (`#8702 `_) +* fix(tier4_perception_launch): launch namespace of `detection_by_tracker` (`#8702 `_) fix: namespace of detection_by_tracker do not need to have the prefix `autoware\_` -* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) +* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) * add param and schema file, edit readme * . * correct linter errors --------- -* fix(tier4_perception_launch): set `use_image_transport` in launch (`#8315 `_) +* fix(tier4_perception_launch): set `use_image_transport` in launch (`#8315 `_) set use_image_transport in launch -* refactor: image transport decompressor/autoware prefix (`#8197 `_) +* refactor: image transport decompressor/autoware prefix (`#8197 `_) * refactor: add `autoware` namespace prefix to image_transport_decompressor * refactor(image_transport_decompressor): add `autoware` prefix to the package code * refactor: update package name in CODEOWNER @@ -53,13 +53,13 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor: traffic light arbiter/autoware prefix (`#8181 `_) +* refactor: traffic light arbiter/autoware prefix (`#8181 `_) * refactor(traffic_light_arbiter): apply `autoware` namespace to traffic_light_arbiter * refactor(traffic_light_arbiter): update the package name in CODEWONER * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter @@ -69,20 +69,20 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) +* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) * refactor: add namespace, remove unused dependencies, file structure chore: remove unused dependencies style(pre-commit): autofix * refactor: rename elevation_map_loader to autoware_elevation_map_loader Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. style(pre-commit): autofix -* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) +* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) * refactor: add autoware namespace prefix to `tensorrt_yolox` * refactor: apply `autoware` namespace to tensorrt_yolox * chore: update CODEOWNERS * fix: resolve `yolox_tiny` to work --------- -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor @@ -90,29 +90,29 @@ Changelog for package tier4_perception_launch * chore: rename traffic_light_map_based_detector to autoware_traffic_light_map_based_detector * chore: rename traffic_light_visualization to autoware_traffic_light_visualization --------- -* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) +* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) * refactor: add autoware namespace prefix * chore: update CODEOWNERS * refactor: add `autoware` prefix --------- -* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) +* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) refactor: rename image_projection_based_fusion to autoware_image_projection_based_fusion -* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) * refactor(compare_map_segmentation): add package name prefix of autoware\_ * docs: update Readme --------- -* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) * refactor(shape_estimation): add package name prefix of autoware\_ * style(pre-commit): autofix * fix: mising prefix * fix: cmake --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) +* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) * refactor(ground_segmentation): add package name prefix of autoware\_ * fix: update prefix cmake --------- -* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) +* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) * add prefix in lidar_centerpoint * add .gitignore * change include package name in image_projection_based fusion @@ -132,11 +132,11 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) +* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) refactor: rename detected_object_validation to autoware_detected_object_validation -* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) +* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) refactor(detected_object_feature_remover): add package name prefix of autoware\_ -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -150,15 +150,15 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(traffic_light_visualization): fix namespace and directory structure (`#7968 `_) +* refactor(traffic_light_visualization): fix namespace and directory structure (`#7968 `_) * feat: namespace fix and directory structure * chore: Remove main.cpp and implement node by template --------- -* refactor(traffic_light_fine_detector): fix namespace and directory structure (`#7973 `_) +* refactor(traffic_light_fine_detector): fix namespace and directory structure (`#7973 `_) * refactor: add autoware on the namespace * refactor: rename nodelet to node --------- -* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) +* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) * add prefix * add prefix in code owner * style(pre-commit): autofix @@ -167,31 +167,31 @@ Changelog for package tier4_perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Amadeusz Szymko Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) +* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) * refactor(euclidean_cluster): add package name prefix of autoware\_ * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(traffic_light_classifier): fix namespace and directory structure (`#7970 `_) +* refactor(traffic_light_classifier): fix namespace and directory structure (`#7970 `_) * refactor: update namespace for traffic light classifier code * refactor: directory structure --------- -* fix(tier4_perception_launch): delete unnecessary dependency (`#8101 `_) +* fix(tier4_perception_launch): delete unnecessary dependency (`#8101 `_) delete cluster merger -* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) +* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) * refactor: rename multi_object_tracker package to autoware_multi_object_tracker * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) -* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) -* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) -* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) +* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) +* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) +* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) +* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) * refactor(raindrop_cluster_filter): add package name prefix of autoware\_ * fix: typo --------- -* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering @@ -201,16 +201,16 @@ Changelog for package tier4_perception_launch * refactor: rename object_range_splitter to autoware_object_range_splitter * refactor: update readme --------- -* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) +* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) * feat: update namespace and directory structure for compare_map_segmentation code * refactor: update directory structure * fix: add missing include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add missing dependency (`#7919 `_) +* chore: add missing dependency (`#7919 `_) add raindrop_cluster_filter dependency -* feat: migrating pointcloud types (`#6996 `_) +* feat: migrating pointcloud types (`#6996 `_) * feat: changed most of sensing to the new type * chore: started applying changes to the perception stack * feat: confirmed operation until centerpoint @@ -230,9 +230,9 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> -* refactor(tier4_perception_launch): add maintainer to tier4_perception_launch (`#7893 `_) +* refactor(tier4_perception_launch): add maintainer to tier4_perception_launch (`#7893 `_) refactor: add maintainer to tier4_perception_launch -* feat(tier4_perception_launch): add image segmentation based pointcloud filter (`#7225 `_) +* feat(tier4_perception_launch): add image segmentation based pointcloud filter (`#7225 `_) * feat(tier4_perception_launch): add image segmentation based pointcloud filter * chore: typo * fix: detection launch @@ -240,9 +240,9 @@ Changelog for package tier4_perception_launch * Revert "chore: add maintainer" This reverts commit 5adfef6e9ca8196d3ba88ad574b2ba35489a5e49. --------- -* refactor(occupancy_grid_map_outlier_filter)!: fix namespace and directory structure (`#7748 `_) +* refactor(occupancy_grid_map_outlier_filter)!: fix namespace and directory structure (`#7748 `_) chore: update namespace and file structure -* refactor(ground_segmentation)!: fix namespace and directory structure (`#7744 `_) +* refactor(ground_segmentation)!: fix namespace and directory structure (`#7744 `_) * refactor: update namespace in ground_segmentation files * refactor: update namespace in ground_segmentation files * refactor: update ground_segmentation namespace and file structure @@ -251,13 +251,13 @@ Changelog for package tier4_perception_launch * refactor: update ransac tester --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ground_segmentation): fix bug (`#7771 `_) -* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) +* fix(ground_segmentation): fix bug (`#7771 `_) +* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) * feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger * feat: add use_multi_channel_tracker_merger argument to simulator launch This commit adds the `use_multi_channel_tracker_merger` argument to the simulator launch file. The argument is set to `false` by default. This change enables the use of the multi-channel tracker merger in the simulator. --------- -* feat(tier4_perception_launch): enable multi channel tracker merger (`#7459 `_) +* feat(tier4_perception_launch): enable multi channel tracker merger (`#7459 `_) * feat: introduce multi channel tracker merger feat: separate filters feat: filtering camera lidar fusion @@ -282,7 +282,7 @@ Changelog for package tier4_perception_launch * fix: group to avoid argument mixture --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_perception_launch): perception launcher refactoring second round (`#7440 `_) +* chore(tier4_perception_launch): perception launcher refactoring second round (`#7440 `_) * feat: separate filters * fix: object validator to modular * chore: remove default values from subsequent launch files @@ -305,9 +305,9 @@ Changelog for package tier4_perception_launch * fix: radar object filter parameter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* chore(tier4_perception_launch): perception launcher refactoring (`#7194 `_) +* chore(tier4_perception_launch): perception launcher refactoring (`#7194 `_) * fix: reorder object merger launchers * fix: separate detection by tracker launch * fix: refactor tracking launch @@ -322,12 +322,12 @@ Changelog for package tier4_perception_launch * fix: rename radar detector to filter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): enable low_intensity_filter as default (`#7390 `_) -* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) +* fix(tier4_perception_launch): enable low_intensity_filter as default (`#7390 `_) +* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) * add prefix -* chore(tier4_perception_launch): rename autoware_map_based_prediction_depend (`#7395 `_) -* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) -* feat(lidar_transfusion): add lidar_transfusion 3D detection package (`#6890 `_) +* chore(tier4_perception_launch): rename autoware_map_based_prediction_depend (`#7395 `_) +* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) +* feat(lidar_transfusion): add lidar_transfusion 3D detection package (`#6890 `_) * feat(lidar_transfusion): add lidar_transfusion 3D detection package * style(pre-commit): autofix * style(lidar_transfusion): cpplint @@ -371,7 +371,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) * feat!: replace autoware_auto_msgs with autoware_msgs for launch files Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong @@ -382,7 +382,7 @@ Changelog for package tier4_perception_launch Co-authored-by: NorahXiong Co-authored-by: beginningfan Co-authored-by: Yukihiro Saito -* feat(multi_object_tracker): multi object input (`#6820 `_) +* feat(multi_object_tracker): multi object input (`#6820 `_) * refactor: frequently used types, namespace * test: multiple inputs * feat: check latest measurement time @@ -455,7 +455,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* feat(tier4_perception_launch): fix typo error (`#6999 `_) +* feat(tier4_perception_launch): fix typo error (`#6999 `_) * feat: downsample perception input pointcloud * fix: add group if to switch downsample node * fix: add test and exec depend @@ -465,7 +465,7 @@ Changelog for package tier4_perception_launch * fix: fix name --------- Co-authored-by: Yukihiro Saito -* feat(tier4_perception_launch): downsample perception input pointcloud (`#6886 `_) +* feat(tier4_perception_launch): downsample perception input pointcloud (`#6886 `_) * feat: downsample perception input pointcloud * fix: add group if to switch downsample node * fix: add test and exec depend @@ -474,15 +474,15 @@ Changelog for package tier4_perception_launch * chore: refactor perception.launch.xml --------- Co-authored-by: Yukihiro Saito -* feat: add low_intensity_cluster_filter (`#6850 `_) +* feat: add low_intensity_cluster_filter (`#6850 `_) * feat: add low_intensity_cluster_filter * chore: typo * fix: build test error --------- -* fix(voxel_grid_downsample_filter): add intensity field (`#6849 `_) +* fix(voxel_grid_downsample_filter): add intensity field (`#6849 `_) fix(downsample_filter): add intensity field -* fix(lidar_centerpoint): add param file for centerpoint_tiny (`#6901 `_) -* refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages (`#6591 `_) +* fix(lidar_centerpoint): add param file for centerpoint_tiny (`#6901 `_) +* refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages (`#6591 `_) * refactor: lidar_centerpoint * refactor: pointpainting * chore: fix launch @@ -506,11 +506,11 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): change traffic light recognition pipeline (`#6879 `_) +* fix(tier4_perception_launch): change traffic light recognition pipeline (`#6879 `_) style(pre-commit): autofix refactor: topic name -* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) -* feat(lidar_centerpoint): output the covariance of pose and twist (`#6573 `_) +* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) +* feat(lidar_centerpoint): output the covariance of pose and twist (`#6573 `_) * feat: postprocess variance * feat: output variance * feat: add has_variance to config @@ -531,13 +531,13 @@ Changelog for package tier4_perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yoshi Ri Co-authored-by: Taekjin LEE -* fix(ground_segmentation launch): fix topic name conflict in additional_lidars option (`#6801 `_) +* fix(ground_segmentation launch): fix topic name conflict in additional_lidars option (`#6801 `_) fix(ground_segmentation launch): fix topic name conflict when using additional lidars * Contributors: Amadeusz Szymko, Esteve Fernandez, Kenzo Lobos Tsunekawa, Kosuke Takeuchi, Kotaro Uetake, Mamoru Sobue, Manato Hirabayashi, Masato Saeki, Mehmet Emin BAŞOĞLU, Ryohsuke Mitsudome, Shunsuke Miura, Taekjin LEE, Tao Zhong, Yoshi Ri, Yuki TAKAGI, Yutaka Kondo, awf-autoware-bot[bot], badai nguyen, oguzkaganozt 0.26.0 (2024-04-03) ------------------- -* feat(probabilistic_occupancy_grid_map): add synchronized ogm fusion node (`#5485 `_) +* feat(probabilistic_occupancy_grid_map): add synchronized ogm fusion node (`#5485 `_) * add synchronized ogm fusion node * add launch test for grid map fusion node * fix test cases input msg error @@ -552,15 +552,15 @@ Changelog for package tier4_perception_launch * chore: fix ogm pointcloud subscription * feat: enable to publish pipeline latency --------- -* chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height (`#6549 `_) +* chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height (`#6549 `_) * chore(ground_segmentation_launch): change max_z of cropbox filter to vehicle_height * fix: typo --------- -* chore(ground_segmentation): rename topic and node (`#6536 `_) +* chore(ground_segmentation): rename topic and node (`#6536 `_) * chore(ground_segmentation): rename topic and node * docs: update synchronized_grid_map_fusion --------- -* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) +* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) * feat(perception_evaluator): add perception_evaluator tmp update @@ -578,14 +578,14 @@ Changelog for package tier4_perception_launch * feat: add test * fix: ci check --------- -* chore(image_projection_based_fusion): rename debug topics (`#6418 `_) +* chore(image_projection_based_fusion): rename debug topics (`#6418 `_) * chore(image_projection_based_fusion): rename debug topics * style(pre-commit): autofix * fix: roi_pointcloud_fusion namespace --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: remove `tensorrt_yolo` from package dependencies in launcher (`#6377 `_) -* chore(traffic_light_map_based_detector): rework parameters (`#6200 `_) +* fix: remove `tensorrt_yolo` from package dependencies in launcher (`#6377 `_) +* chore(traffic_light_map_based_detector): rework parameters (`#6200 `_) * chore: use config * chore: use config * fix: revert min_timestamp_offset @@ -600,31 +600,31 @@ Changelog for package tier4_perception_launch Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda -* feat(tensorrt_yolo): remove package (`#6361 `_) +* feat(tensorrt_yolo): remove package (`#6361 `_) * feat(tensorrt_yolo): remove package * remove tensorrt_yolo inclusion * feat: add multiple yolox launcher --------- Co-authored-by: Shunsuke Miura -* chore(traffic_light_fine_detector_and_classifier): rework parameters (`#6216 `_) +* chore(traffic_light_fine_detector_and_classifier): rework parameters (`#6216 `_) * chore: use config * style(pre-commit): autofix * chore: move build only back --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(object_merger): rework parameters (`#6160 `_) +* chore(object_merger): rework parameters (`#6160 `_) * chore(object_merger): parametrize some parameters * style(pre-commit): autofix * revert priority_mode --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(radar_object_tracker): move tracker config directory to parameter yaml (`#6250 `_) +* chore(radar_object_tracker): move tracker config directory to parameter yaml (`#6250 `_) * chore: move tracker config directory to parameter yaml * fix: add allow_substs to fix error * fix: use radar tracking parameter from autoware_launch --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* feat: remove use_pointcloud_container (`#6115 `_) +* feat: remove use_pointcloud_container (`#6115 `_) * feat!: remove use_pointcloud_container * fix pre-commit * fix: completely remove use_pointcloud_container after merge main @@ -632,7 +632,7 @@ Changelog for package tier4_perception_launch * revert: revert change in probabilistic_occupancy_grid_map * revert change in launcher of ogm --------- -* chore(lidar_centerpoint): rework parameters (`#6167 `_) +* chore(lidar_centerpoint): rework parameters (`#6167 `_) * chore(lidar_centerpoint): use config * revert unnecessary fix * fix: revert build_only option @@ -642,7 +642,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* feat(detection): add container option (`#6228 `_) +* feat(detection): add container option (`#6228 `_) * feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud_container option * revert lidar_perception_model * style(pre-commit): autofix @@ -661,26 +661,26 @@ Changelog for package tier4_perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* chore(tier4_perception_launch): fix arg name radar lanelet filter (`#6215 `_) -* chore(radar_crossing_objects_noise_filter): add config file (`#6210 `_) +* chore(tier4_perception_launch): fix arg name radar lanelet filter (`#6215 `_) +* chore(radar_crossing_objects_noise_filter): add config file (`#6210 `_) * chore(radar_crossing_objects_noise_filter): add config file * bug fix * merge main branch --------- -* chore(radar_object_clustering): fix config arg name (`#6214 `_) -* chore(object_velocity_splitter): rework parameters (`#6158 `_) +* chore(radar_object_clustering): fix config arg name (`#6214 `_) +* chore(object_velocity_splitter): rework parameters (`#6158 `_) * chore(object_velocity_splitter): add param file * fix * fix arg name * fix: update launch param handling --------- -* fix(tier4_perception_launch): fix a bug in `#6159 `_ (`#6203 `_) -* chore(object_range_splitter): rework parameters (`#6159 `_) +* fix(tier4_perception_launch): fix a bug in `#6159 `_ (`#6203 `_) +* chore(object_range_splitter): rework parameters (`#6159 `_) * chore(object_range_splitter): add param file * fix arg name * feat: use param file from autoware.launch --------- -* refactor(tier4_perception_launch): refactor object_recognition/detection launcher (`#6152 `_) +* refactor(tier4_perception_launch): refactor object_recognition/detection launcher (`#6152 `_) * refactor: align mode parameters * refactor: cluster detector and merger * refactor: separate object merger launches @@ -688,8 +688,8 @@ Changelog for package tier4_perception_launch * refactor: lidar detector modules * chore: fix mis spell, align typo, clean-up --------- -* chore(pointcloud_container): move glog_component to autoware_launch (`#6114 `_) -* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) +* chore(pointcloud_container): move glog_component to autoware_launch (`#6114 `_) +* feat: always separate lidar preprocessing from pointcloud_container (`#6091 `_) * feat!: replace use_pointcloud_container * feat: remove from planning * fix: fix to remove all use_pointcloud_container @@ -707,14 +707,14 @@ Changelog for package tier4_perception_launch * fix: fix pre-commit --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(pointpainting): fix param path declaration (`#6106 `_) +* fix(pointpainting): fix param path declaration (`#6106 `_) * fix(pointpainting): fix param path declaration * remove pointpainting_model_name * revert: revert unnecessary change --------- -* fix(image_projection_based_fusion): re-organize the parameters for image projection fusion (`#6075 `_) +* fix(image_projection_based_fusion): re-organize the parameters for image projection fusion (`#6075 `_) re-organize the parameters for image projection fusion -* feat(probabilistic_occupancy_grid_map): add grid map fusion node (`#5993 `_) +* feat(probabilistic_occupancy_grid_map): add grid map fusion node (`#5993 `_) * add synchronized ogm fusion node * add launch test for grid map fusion node * fix test cases input msg error @@ -725,7 +725,7 @@ Changelog for package tier4_perception_launch * fix: change ogm fusion node pub policy to reliable * chore: remove files outof scope with divied PR --------- -* feat(crosswalk_traffic_light): add detector and classifier for pedestrian traffic light (`#5871 `_) +* feat(crosswalk_traffic_light): add detector and classifier for pedestrian traffic light (`#5871 `_) * add: crosswalk traffic light recognition * fix: set conf=0 when occluded * fix: clean code @@ -789,40 +789,40 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu -* feat: add support of overwriting signals if harsh backlight is detected (`#5852 `_) +* feat: add support of overwriting signals if harsh backlight is detected (`#5852 `_) * feat: add support of overwriting signals if backlit is detected * feat: remove default parameter in nodelet and update lauch for composable node * docs: update README * docs: update README * feat: update confidence to 0.0 corresponding signals overwritten by unkonwn --------- -* chore: add glog_component for pointcloud_container (`#5716 `_) -* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) +* chore: add glog_component for pointcloud_container (`#5716 `_) +* refactor(localization_launch, ground_segmentation_launch): rename lidar topic (`#5781 `_) rename lidar topic Co-authored-by: yamato-ando -* fix: add missing param on perception launch: (`#5812 `_) +* fix: add missing param on perception launch: (`#5812 `_) detection_by_tracker_param_path was missing -* refactor(multi_object_tracker): put node parameters to yaml file (`#5769 `_) +* refactor(multi_object_tracker): put node parameters to yaml file (`#5769 `_) * rework multi object tracker parameters * update README * rework radar tracker parameter too --------- -* refactor(tier4_perception_launch): refactor perception launcher (`#5630 `_) -* chore(tier4_perception_launcher): remove launch parameter default of detection_by_tracker (`#5664 `_) +* refactor(tier4_perception_launch): refactor perception launcher (`#5630 `_) +* chore(tier4_perception_launcher): remove launch parameter default of detection_by_tracker (`#5664 `_) * chore(tier4_perception_launcher): remove launch parameter default * chore: typo --------- -* feat(radar_object_tracker): Change to use `use_radar_tracking_fusion` as true (`#5605 `_) -* refactor(radar_object_clustering): move radar object clustering parameter to param file (`#5451 `_) +* feat(radar_object_tracker): Change to use `use_radar_tracking_fusion` as true (`#5605 `_) +* refactor(radar_object_clustering): move radar object clustering parameter to param file (`#5451 `_) * move radar object clustering parameter to param file * remove default parameter settings and fix cmakelists --------- -* build(tier4_perception_launch): add tracking_object_merger (`#5602 `_) -* fix(detection_by_tracker): add ignore option for each label (`#5473 `_) +* build(tier4_perception_launch): add tracking_object_merger (`#5602 `_) +* fix(detection_by_tracker): add ignore option for each label (`#5473 `_) * fix(detection_by_tracker): add ignore for each class * fix: launch --------- -* feat(tier4_perception_launch): add parameter to control detection_by_tracker on/off (`#5313 `_) +* feat(tier4_perception_launch): add parameter to control detection_by_tracker on/off (`#5313 `_) * add parameter to control detection_by_tracker on/off * style(pre-commit): autofix * Update launch/tier4_perception_launch/launch/perception.launch.xml @@ -830,11 +830,11 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* fix(tracking_object_merger): fix unintended error in radar tracking merger (`#5328 `_) +* fix(tracking_object_merger): fix unintended error in radar tracking merger (`#5328 `_) * fix: fix tracking merger node * fix: unintended condition setting --------- -* feat(tier4_perception_launch): add radar far object integration in tracking stage (`#5269 `_) +* feat(tier4_perception_launch): add radar far object integration in tracking stage (`#5269 `_) * update tracking/perception launch * switch tracker launcher mode with argument * update prediction to switch by radar_long_range_integration paramter @@ -847,7 +847,7 @@ Changelog for package tier4_perception_launch * refactor: rename and remove paramters in prediction.launch * refactor: rename merger control variable from string to bool --------- -* fix(image_projection_based_fusion): add iou_x use in long range for roi_cluster_fusion (`#5148 `_) +* fix(image_projection_based_fusion): add iou_x use in long range for roi_cluster_fusion (`#5148 `_) * fix: add iou_x for long range obj * fix: add launch file param * chore: fix unexpect calc iou in long range @@ -856,29 +856,29 @@ Changelog for package tier4_perception_launch * docs: update readme * chore: refactor --------- -* fix(tier4_perception_launch): fix faraway detection to reduce calculation cost (`#5233 `_) +* fix(tier4_perception_launch): fix faraway detection to reduce calculation cost (`#5233 `_) * fix(tier4_perception_launch): fix node order in radar_based_detection.launch * fix comment out unused node --------- -* fix(detected_object_validation): change the points_num of the validator to be set class by class (`#5177 `_) +* fix(detected_object_validation): change the points_num of the validator to be set class by class (`#5177 `_) * fix: add param for each object class * fix: add missing classes param * fix: launch file * fix: typo * chore: refactor --------- -* feat(perception_launch): add data_path arg to perception launch (`#5069 `_) +* feat(perception_launch): add data_path arg to perception launch (`#5069 `_) * feat(perception_launch): add var data_path to perception.launch * feat(perception_launch): update default center_point_model_path --------- -* fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order (`#5166 `_) +* fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order (`#5166 `_) * fix(tier4_perception_launch): add parameters for light weight radar fusion and fix launch order * style(pre-commit): autofix * add far_object_merger_sync_queue_size param for package arg --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(pointcloud_preprocessor): organize input twist topic (`#5125 `_) - * fix(pointcloud_preprocessor): organize input twist topic (`#25 `_) +* fix(pointcloud_preprocessor): organize input twist topic (`#5125 `_) + * fix(pointcloud_preprocessor): organize input twist topic (`#25 `_) * fix(pointcloud_preprocessor): organize input twist topic * style(pre-commit): autofix * fix build bug @@ -893,11 +893,11 @@ Changelog for package tier4_perception_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion (`#5026 `_) +* fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion (`#5026 `_) * fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion * fix conflict --------- -* refactor(perception): rearrange clustering pipeline (`#4999 `_) +* refactor(perception): rearrange clustering pipeline (`#4999 `_) * fix: change downsample filter * fix: remove downsamle after compare map * fix: add low range cropbox @@ -907,9 +907,9 @@ Changelog for package tier4_perception_launch * chore: change node name * fix: launch argument pasrer --------- -* fix(tier4_perception_launch): camera lidar fusion launch (`#4983 `_) +* fix(tier4_perception_launch): camera lidar fusion launch (`#4983 `_) fix: camera lidar fusion launch -* feat(image_projection_based_fusion): add roi based clustering for small unknown object detection (`#4681 `_) +* feat(image_projection_based_fusion): add roi based clustering for small unknown object detection (`#4681 `_) * feat: add roi_pointcloud_fusion node fix: postprocess fix: launch file @@ -941,7 +941,7 @@ Changelog for package tier4_perception_launch * fix: update camera_lidar_radar mode launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(crosswalk_traffic_light_estimator): rework parameters (`#4699 `_) +* refactor(crosswalk_traffic_light_estimator): rework parameters (`#4699 `_) * refactor the configuration files of the node crosswalk_traffic_light_estimator according to the new ROS node config guideline. update the parameter information in the README.md * style(pre-commit): autofix @@ -954,7 +954,7 @@ Changelog for package tier4_perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Shunsuke Miura -* fix(crosswalk_traffic_light_estimator): move crosswalk after fusion (`#4734 `_) +* fix(crosswalk_traffic_light_estimator): move crosswalk after fusion (`#4734 `_) * fix: move crosswalk after fusion * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> @@ -963,8 +963,8 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Shunsuke Miura -* chore: add TLR model args to launch files (`#4805 `_) -* fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar fusion pipeline (`#4779 `_) +* chore: add TLR model args to launch files (`#4805 `_) +* fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar fusion pipeline (`#4779 `_) * fix(tier4_percetion_launch): fix order of Camera-Lidar-Radar fusion pipeline * fix clustering update * fix from Camera-LidAR fusion @@ -977,15 +977,15 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(launch): add missing launch args and defaults to lidar_based_detection.launch.xml (`#4596 `_) +* fix(launch): add missing launch args and defaults to lidar_based_detection.launch.xml (`#4596 `_) * Update lidar_based_detection.launch.xml Some launch arguments were missing. These arguments and their defaults were added. * changed default of objects_filter_method changed default of the "objects_filter_method" to "lanelet_filter" as requested. --------- -* feat(tier4_perception_launch): lower the detection by tracker priority to suppress yaw oscillation (`#4690 `_) +* feat(tier4_perception_launch): lower the detection by tracker priority to suppress yaw oscillation (`#4690 `_) lower the detection by tracker priority to suppress yaw oscillation -* feat(image_projection_based_fusion): add objects filter by rois (`#4546 `_) +* feat(image_projection_based_fusion): add objects filter by rois (`#4546 `_) * tmp style(pre-commit): autofix update @@ -1010,32 +1010,32 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* refactor(detected_object_validation): add an option for filtering and validation (`#4402 `_) +* refactor(detected_object_validation): add an option for filtering and validation (`#4402 `_) * init commit * update occupancy_grid_map path * update argument names * correct radar launch objects_filter_method name * remove radar option --------- -* refactor(traffic_light_arbiter): read parameters from config file (`#4454 `_) -* fix(compare_map_segmentation): change to using kinematic_state topic (`#4448 `_) -* chore(tier4_perception_launch): fix typo (`#4406 `_) +* refactor(traffic_light_arbiter): read parameters from config file (`#4454 `_) +* fix(compare_map_segmentation): change to using kinematic_state topic (`#4448 `_) +* chore(tier4_perception_launch): fix typo (`#4406 `_) * fix(tier4_perception_launch): fix typo * fix typo --------- -* fix(traffic_light): fix traffic_light_arbiter pipeline (`#4393 `_) +* fix(traffic_light): fix traffic_light_arbiter pipeline (`#4393 `_) * fix(traffic_light): fix traffic_light_arbiter pipeline * style(pre-commit): autofix * fix: output topic name --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(euclidean_cluster): add disuse downsample in clustering pipeline (`#4385 `_) +* fix(euclidean_cluster): add disuse downsample in clustering pipeline (`#4385 `_) * fix: add unuse downsample launch option * fix: add default param for downsample option * fix typo --------- Co-authored-by: Shunsuke Miura -* fix(compare_map_segmentation): add option to reduce distance_threshold in z axis (`#4243 `_) +* fix(compare_map_segmentation): add option to reduce distance_threshold in z axis (`#4243 `_) * fix(compare_map_segmentation): keep low level pointcloud * fix: add option to compare lower neighbor points * docs: readme update @@ -1046,21 +1046,21 @@ Changelog for package tier4_perception_launch * fix: reduce voxel leaf size in z axis * fix: change param type --------- -* refactor(image_projection_based_fusion): update rois topic names definitions (`#4356 `_) -* refactor(image_projection_based_fusion): read lidar models parameters from autoware_launch (`#4278 `_) +* refactor(image_projection_based_fusion): update rois topic names definitions (`#4356 `_) +* refactor(image_projection_based_fusion): read lidar models parameters from autoware_launch (`#4278 `_) * init commit * add centerpoints param * add detection_class_remapper.param.yaml * remove unused centerpoint param path --------- Co-authored-by: Yusuke Muramatsu -* feat(tier4_perception_launch): add radar tracking node to launcher (`#4361 `_) +* feat(tier4_perception_launch): add radar tracking node to launcher (`#4361 `_) * update tracking/perception launch * switch tracker launcher mode with argument * add radar tracker dependency --------- Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* feat(tier4_perception_launch): add radar faraway detection (`#4330 `_) +* feat(tier4_perception_launch): add radar faraway detection (`#4330 `_) * feat(tier4_perception_launch): add radar faraway detection * apply pre-commit * fix unused param @@ -1068,11 +1068,11 @@ Changelog for package tier4_perception_launch * add exec depends --------- Co-authored-by: Shunsuke Miura -* refactor(object_merger): read parameters from autoware_launch (`#4339 `_) +* refactor(object_merger): read parameters from autoware_launch (`#4339 `_) init commit -* refactor(map_based_prediction): read parameters from autoware_launch (`#4337 `_) +* refactor(map_based_prediction): read parameters from autoware_launch (`#4337 `_) init commit -* refactor(euclidean clustering): read parameters from autoware_launch (`#4262 `_) +* refactor(euclidean clustering): read parameters from autoware_launch (`#4262 `_) * update clustering param path * update param paths * style(pre-commit): autofix @@ -1080,7 +1080,7 @@ Changelog for package tier4_perception_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: separate traffic_light_utils from perception_utils (`#4207 `_) +* chore: separate traffic_light_utils from perception_utils (`#4207 `_) * separate traffic_light_utils from perception_utils * style(pre-commit): autofix * fix namespace bug @@ -1095,7 +1095,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* feat(tier4_perception_launch): update traffic light launch (`#4176 `_) +* feat(tier4_perception_launch): update traffic light launch (`#4176 `_) * first commit * add image number arg * style(pre-commit): autofix @@ -1109,23 +1109,23 @@ Changelog for package tier4_perception_launch Co-authored-by: Shunsuke Miura Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* feat(traffic_light): improved traffic_light_map_based_detector and new traffic_light_fine_detector package (`#4084 `_) +* feat(traffic_light): improved traffic_light_map_based_detector and new traffic_light_fine_detector package (`#4084 `_) * update traffic_light_map_based_detector traffic_light_classifier traffic_light_fine_detector traffic_light_multi_camera_fusion * replace autoware_auto_perception_msgs with tier4_perception_msgs --------- -* refactor(occpuancy grid map): move param to yaml (`#4038 `_) -* fix(tier4_perception_launch): fix camera_lidar_radar_fusion_based_detection (`#3950 `_) +* refactor(occpuancy grid map): move param to yaml (`#4038 `_) +* fix(tier4_perception_launch): fix camera_lidar_radar_fusion_based_detection (`#3950 `_) * fix: launch arguments * chore: revert arg --------- -* fix(tier4_perception_launch): sync param path (`#3713 `_) +* fix(tier4_perception_launch): sync param path (`#3713 `_) * fix(tier4_perception_launch):modify sync_param_path reading method * fix(tier4_perception_launch): fix image_number used for testing * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): fix image_number description (`#3686 `_) -* feat(traffic_light_ssd_fine_detector): add support of ssd trained by mmdetection (`#3485 `_) +* fix(tier4_perception_launch): fix image_number description (`#3686 `_) +* feat(traffic_light_ssd_fine_detector): add support of ssd trained by mmdetection (`#3485 `_) * feat: update to allow out-of-order for scores and boxes * feat: add GatherTopk plugin * feat: add GridPriors plugin @@ -1141,11 +1141,11 @@ Changelog for package tier4_perception_launch Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> --------- Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* fix(tier4_perception_launch): fix duplicated topic name (`#3645 `_) +* fix(tier4_perception_launch): fix duplicated topic name (`#3645 `_) * fix(tier4_perception_launch): fix dublicated topic name * chore: rename topic --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -1153,7 +1153,7 @@ Changelog for package tier4_perception_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(compare_map_segmentation): update voxel_based for dynamic map loader with map grid coordinate (`#3277 `_) +* fix(compare_map_segmentation): update voxel_based for dynamic map loader with map grid coordinate (`#3277 `_) * fix: change map grid searching * refactoring * fix: reload map after initilization @@ -1171,14 +1171,14 @@ Changelog for package tier4_perception_launch * chore: typo * docs: correct parameter description --------- -* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) +* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) * add occcupancy_grid_map method/param var to launcher * added CODEOWNER * Revert "added CODEOWNER" This reverts commit 2213c2956af19580d0a7788680aab321675aab3b. * add maintainer --------- -* feat(elevation_map_loader): add support for seleceted_map_loader (`#3344 `_) +* feat(elevation_map_loader): add support for seleceted_map_loader (`#3344 `_) * feat(elevation_map_loader): add support for sequential_map_loading * fix(elevation_map_loader): fix bug * feat(elevation_map_loader): make it possible to adjust the number of PCD maps loaded at once when using sequential map loading @@ -1187,7 +1187,7 @@ Changelog for package tier4_perception_launch * refactor(elevation_map_loader): Add a range of param. And refactor receiveMap. * feat(elevation_map_loader): Change info level log into debug level log with throttle. And remove abbreviation --------- -* feat(tier4_perception_launch): refactored occupancy_grid_map launcher (`#3058 `_) +* feat(tier4_perception_launch): refactored occupancy_grid_map launcher (`#3058 `_) * rebase on to master add scan_frame and raytrace center * rebase to main @@ -1202,9 +1202,9 @@ Changelog for package tier4_perception_launch * document: update README * enable to change origins by lanch args --------- -* chore(tier4_perception_launch): add custom parameters for roi_cluster_fusion (`#3281 `_) -* fix(tier4_perception_launch): add missing parameter for voxel based compare map filter (`#3251 `_) -* feat(compare_map_segmentation): add dynamic map loading for voxel_based_compare_map_filter (`#3087 `_) +* chore(tier4_perception_launch): add custom parameters for roi_cluster_fusion (`#3281 `_) +* fix(tier4_perception_launch): add missing parameter for voxel based compare map filter (`#3251 `_) +* feat(compare_map_segmentation): add dynamic map loading for voxel_based_compare_map_filter (`#3087 `_) * feat: add interface to dynamic loader * refactor: refactoring * refactor: refactoring @@ -1217,7 +1217,7 @@ Changelog for package tier4_perception_launch * fix: add neighbor map_cell checking * fix: neighbor map grid check --------- -* feat(elevation_map_loader): use polygon iterator to speed up (`#2885 `_) +* feat(elevation_map_loader): use polygon iterator to speed up (`#2885 `_) * use grid_map::PolygonIterator instead of grid_map::GridMapIterator * formatting * use use_lane_filter option @@ -1229,16 +1229,16 @@ Changelog for package tier4_perception_launch * Change use_lane_filter param default to false * update README --------- -* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) +* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) * fixed psim occupancy grid map problem * fix parameter designation --------- Co-authored-by: Takayuki Murooka -* fix(tier4_perception_launch): fix config path (`#3078 `_) +* fix(tier4_perception_launch): fix config path (`#3078 `_) * fix(tier4_perception_launch): fix config path * use pointcloud_based_occupancy_grid_map.launch.py in tier4_simulator_launch --------- -* feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation (`#3032 `_) +* feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation (`#3032 `_) * add scan_frame and raytrace center * add scan frame to laserscan based method * update readme @@ -1247,31 +1247,31 @@ Changelog for package tier4_perception_launch * fix config and launch file * fixed laserscan based launcher --------- -* fix(tier4_perception_launch): remove unnecessary node (`#2941 `_) -* fix(tier4_perception_launch): fix typo (`#2926 `_) -* feat(tier4_perception_launch): update cam/lidar detection architecture (`#2845 `_) +* fix(tier4_perception_launch): remove unnecessary node (`#2941 `_) +* fix(tier4_perception_launch): fix typo (`#2926 `_) +* feat(tier4_perception_launch): update cam/lidar detection architecture (`#2845 `_) * feat(tier4_perception_launch): update cam/lidar detection architecture * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): autoupdate (`#2819 `_) +* ci(pre-commit): autoupdate (`#2819 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ground_segmentation): fix unuse_time_series_filter bug (`#2824 `_) -* feat(tier4_perception_launch): add option for euclidean lidar detection model (`#842 `_) +* fix(ground_segmentation): fix unuse_time_series_filter bug (`#2824 `_) +* feat(tier4_perception_launch): add option for euclidean lidar detection model (`#842 `_) feat(tier4_perception_launch): add euclidean lidar detection model -* fix(tier4_perception_launch): sync with tier4/autoware_launch (`#2568 `_) +* fix(tier4_perception_launch): sync with tier4/autoware_launch (`#2568 `_) * fix(tier4_perception_launch): sync with tier4/autoware_launch * move centerpoint configs to perception.launch.xml -* feat(tier4_perception_launch): change the merge priority of roi_cluster_fusion to the lowest (`#2522 `_) -* feat(tier4_perception_launch): remove configs and move to autoware_launch (`#2539 `_) +* feat(tier4_perception_launch): change the merge priority of roi_cluster_fusion to the lowest (`#2522 `_) +* feat(tier4_perception_launch): remove configs and move to autoware_launch (`#2539 `_) * feat(tier4_perception_launch): remove configs and move to autoware_launch * update readme * remove config * update readme -* fix(ground segmentation): change crop box range and add processing time (`#2260 `_) +* fix(ground segmentation): change crop box range and add processing time (`#2260 `_) * fix(ground segmentation): change crop box range * chore(ground_segmentation): add processing time -* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) +* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) * sync launch file from tier4 autoware launch * sync tlr launcher * ci(pre-commit): autofix @@ -1281,26 +1281,26 @@ Changelog for package tier4_perception_launch * fix exec_depend in package.xml * Sync traffic light node Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(multiframe-pointpainting): add multi-sweep pointpainting (`#2124 `_) +* feat(multiframe-pointpainting): add multi-sweep pointpainting (`#2124 `_) * feat: multiframe-pointpainting * ci(pre-commit): autofix * fix: retrieve changes of classremap - * fix(image_projection_based_fusion): fix input to quaternion (`#1933 `_) + * fix(image_projection_based_fusion): fix input to quaternion (`#1933 `_) * add: launch files Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yusuke Muramatsu -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): fix missing container argument (`#2087 `_) +* fix(tier4_perception_launch): fix missing container argument (`#2087 `_) * fix(tier4_perception_launch): fix missing container argument * fix(tier4_perception_launch): rm unused param -* chore: fix typos (`#2140 `_) +* chore: fix typos (`#2140 `_) * chore: fix typos * chore: remove names in NOTE -* feat: use tracker shape size in detection by tracker (`#1683 `_) +* feat: use tracker shape size in detection by tracker (`#1683 `_) * support ref size in detection by tracker * add priority mode in object_merger * update launch @@ -1315,8 +1315,8 @@ Changelog for package tier4_perception_launch * :put_litter_in_its_place: Co-authored-by: Yusuke Muramatsu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(multi_object_tracking): enable delay compensation (`#1349 `_) -* fix(ground segmentation): add elevation grid ground filter (`#1899 `_) +* feat(multi_object_tracking): enable delay compensation (`#1349 `_) +* fix(ground segmentation): add elevation grid ground filter (`#1899 `_) * fix: add grid elevation scan ground filter * chore: typo * fix: merge with scan ground filter @@ -1342,20 +1342,20 @@ Changelog for package tier4_perception_launch * chore: typo * docs: update Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): add enable_fine_detection_option (`#1991 `_) +* feat(tier4_perception_launch): add enable_fine_detection_option (`#1991 `_) * feat(tier4_perception_launch): add enable_fine_detection_option * chore: rename * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): add arg to swtich lidar_centerpoint model (`#1865 `_) -* feat(multi_object_tracker): update bus size (`#1887 `_) -* refactor(lidar_centerpoint): change default threshold params (`#1874 `_) -* feat(multi_object_tracker): increase max-area for truck and trailer (`#1710 `_) +* feat(tier4_perception_launch): add arg to swtich lidar_centerpoint model (`#1865 `_) +* feat(multi_object_tracker): update bus size (`#1887 `_) +* refactor(lidar_centerpoint): change default threshold params (`#1874 `_) +* feat(multi_object_tracker): increase max-area for truck and trailer (`#1710 `_) * feat(multi_object_tracker): increase max-area for truck * feat: change truck and trailer max-area gate params * feat: change trailer params -* fix(tier4_perception_launch): add input/pointcloud to ground-segmentation (`#1833 `_) -* feat(radar_object_fusion_to_detected_object): enable confidence compensation in radar fusion (`#1755 `_) +* fix(tier4_perception_launch): add input/pointcloud to ground-segmentation (`#1833 `_) +* feat(radar_object_fusion_to_detected_object): enable confidence compensation in radar fusion (`#1755 `_) * update parameter * feature(radar_fusion_to_detected_object): add debug topic * feat(tier4_perception_launch): enable confidence compensation in radar fusion @@ -1366,13 +1366,13 @@ Changelog for package tier4_perception_launch * fix parameter * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): make lanelet object filter optional (`#1698 `_) +* feat(tier4_perception_launch): make lanelet object filter optional (`#1698 `_) * feat(tier4_perception_launch): make lanelet object filter optional * feat(tier4_perception_launch): fix arg * feat(tier4_perception_launch): fix argument var * feat(tier4_perception_launch): add new parameter Co-authored-by: Kaan Colak -* fix(ground_filter): remove base_frame and fix ray_ground_filter (`#1614 `_) +* fix(ground_filter): remove base_frame and fix ray_ground_filter (`#1614 `_) * fix(ray_ground_filter): cannot remove ground pcl * fix: remove base_frame * docs: update docs @@ -1380,30 +1380,30 @@ Changelog for package tier4_perception_launch * chores: remove unnecessary calculation * docs: update parameters * docs: update parameters -* fix(tier4_perception_launch): remove duplicated namespace of clustering in camera-lidar-fusion mode (`#1655 `_) -* feat(tier4_perception_launch): change unknown max area (`#1484 `_) -* fix(tier4_perception_launch): fix error of tier4_perception_launch_param_path (`#1445 `_) -* feat(tier4_perception_launch): declare param path argument (`#1394 `_) +* fix(tier4_perception_launch): remove duplicated namespace of clustering in camera-lidar-fusion mode (`#1655 `_) +* feat(tier4_perception_launch): change unknown max area (`#1484 `_) +* fix(tier4_perception_launch): fix error of tier4_perception_launch_param_path (`#1445 `_) +* feat(tier4_perception_launch): declare param path argument (`#1394 `_) * feat(tier4_perception_launch): declare param path argument * Update launch/tier4_perception_launch/launch/perception.launch.xml * fix ci error * fix ci error -* feature: update and fix detection launch (`#1340 `_) +* feature: update and fix detection launch (`#1340 `_) * cosmetic change * fix bug * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_perception_launch): add group tag (`#1238 `_) +* fix(tier4_perception_launch): add group tag (`#1238 `_) * fix(tier4_perception_launch): add group tag * fix missing tag -* fix(tier4_perception_launch): pass pointcloud_container params to pointcloud_map_filter in detection module (`#1312 `_) +* fix(tier4_perception_launch): pass pointcloud_container params to pointcloud_map_filter in detection module (`#1312 `_) * fix(tier4_perception_launch): pass pointcloud_container to detection module * fix(tier4_perception_launch): container name in detection -* feat(tier4_perception_launch): add object filter params to tier4_perception_launch (`#1322 `_) +* feat(tier4_perception_launch): add object filter params to tier4_perception_launch (`#1322 `_) * Add params to tier4_perception_launch * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: avoid same name nodes in detection module (`#1301 `_) +* fix: avoid same name nodes in detection module (`#1301 `_) * fix: avoid same name nodes in detection module * add node_name of object_association_merger * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -1414,24 +1414,24 @@ Changelog for package tier4_perception_launch Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> * apply pre-commit Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* Feature/radar fusion launch (`#1294 `_) - * feat(tier4_perception_launch): add radar launcher (`#1263 `_) +* Feature/radar fusion launch (`#1294 `_) + * feat(tier4_perception_launch): add radar launcher (`#1263 `_) * feat(tier4_perception_launch): add radar launcher * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix reviewed by `#1263 `_ + * fix reviewed by `#1263 `_ * fix format * fix default arg * Revert "fix default arg" This reverts commit 72b2690dc8cbd91fa5b14da091f4027c2c5fa661. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_perception_launch): revert `#1263 `_ (`#1285 `_) -* feat(tier4_perception_launch): add radar launcher (`#1263 `_) +* feat(tier4_perception_launch): revert `#1263 `_ (`#1285 `_) +* feat(tier4_perception_launch): add radar launcher (`#1263 `_) * feat(tier4_perception_launch): add radar launcher * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change iou param of multi object tracking (`#1267 `_) -* feat(object_filter): add detected object filter (`#1221 `_) +* feat: change iou param of multi object tracking (`#1267 `_) +* feat(object_filter): add detected object filter (`#1221 `_) * Add detected object filter * Refactor class name * Add readme @@ -1456,13 +1456,13 @@ Changelog for package tier4_perception_launch * Fix typo, remove debug code. * Use shared_ptr Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add option to use validator node in detection module (`#1233 `_) +* feat: add option to use validator node in detection module (`#1233 `_) * feat: add option to use validator node in detection module * fix * remove use_validator option in detection/perception.launch * fix -* feat: change tracking param (`#1161 `_) -* feat: unknown objects from perception (`#870 `_) +* feat: change tracking param (`#1161 `_) +* feat: unknown objects from perception (`#870 `_) * initial commit * change param * modify launch @@ -1481,14 +1481,14 @@ Changelog for package tier4_perception_launch * modify for pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* feat: change data association param (`#1158 `_) -* fix(tier4_perception_launch): add missing dependencies in package.xml (`#1024 `_) -* feat: use multithread for traffic light container as default (`#995 `_) -* fix: delete unused arg (`#988 `_) +* feat: change data association param (`#1158 `_) +* fix(tier4_perception_launch): add missing dependencies in package.xml (`#1024 `_) +* feat: use multithread for traffic light container as default (`#995 `_) +* fix: delete unused arg (`#988 `_) * fix: delete unused arg * rename: detection_preprocessor -> pointcloud_map_filter -* fix(tier4_perception_launch): rename pkg name (`#981 `_) -* feat: add down sample filter before detection module (`#961 `_) +* fix(tier4_perception_launch): rename pkg name (`#981 `_) +* feat: add down sample filter before detection module (`#961 `_) * feat: add down sample filter before detection module * fix format * change comment @@ -1501,21 +1501,21 @@ Changelog for package tier4_perception_launch * fix pre-commit Co-authored-by: Yukihiro Saito Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: remove deprecated package in prediction launch (`#875 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: remove deprecated package in prediction launch (`#875 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* feat: change ogm default launch (`#735 `_) -* feat(scan_ground_filter): change launch option and threshold (`#670 `_) +* style: fix format of package.xml (`#844 `_) +* feat: change ogm default launch (`#735 `_) +* feat(scan_ground_filter): change launch option and threshold (`#670 `_) * Add care for near but high points * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(image_projection_based_fusion, roi_cluster_fusion): roi and obstacle fusion method (`#548 `_) +* feat(image_projection_based_fusion, roi_cluster_fusion): roi and obstacle fusion method (`#548 `_) * feat: init image_projection_based_fusion package * feat: debugger * feat: port roi_cluster_fusion to image_projection_based_fusion @@ -1540,7 +1540,7 @@ Changelog for package tier4_perception_launch * chore: add maintainer * feat: change the output in perception_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) +* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) * initial commit * ci(pre-commit): autofix * change param @@ -1556,15 +1556,15 @@ Changelog for package tier4_perception_launch * add single frame mode * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: localization and perception launch for tutorial (`#645 `_) +* fix: localization and perception launch for tutorial (`#645 `_) * fix: localization and perception launch for tutorial * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: launch detected object validator (`#585 `_) +* feat: launch detected object validator (`#585 `_) * fix bug * add validator in launch * bug fix @@ -1574,13 +1574,13 @@ Changelog for package tier4_perception_launch * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> -* fix(multi_object_tracker): data association parameter (`#541 `_) +* fix(multi_object_tracker): data association parameter (`#541 `_) * sort matrix * ANIMAL->TRAILER * apply change to another file * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(multi_object_tracker): add iou gate (`#483 `_) +* feat(multi_object_tracker): add iou gate (`#483 `_) * add iou gate * ci(pre-commit): autofix * cosmetic change @@ -1589,23 +1589,23 @@ Changelog for package tier4_perception_launch * fix bug * fix tier4_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: detection launch in perception_launch (`#506 `_) -* fix: integration miss related to camera lidar fusion (`#481 `_) +* fix: detection launch in perception_launch (`#506 `_) +* fix: integration miss related to camera lidar fusion (`#481 `_) * fix integration miss * bug fix * add detection by tracker * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml -* fix(dummy_perception): fix to use launch at perception launch (`#454 `_) +* fix(dummy_perception): fix to use launch at perception launch (`#454 `_) * fix(dummy_perception): fix to use launch file in perception launch * fix(tier4_perception_launch): fix angle increment for occupancy grid -* fix: change the default mode of perception.launch (`#409 `_) +* fix: change the default mode of perception.launch (`#409 `_) * fix: change the default mode of perception.launch * chore: remove unnecessary comments * chore: remove default values -* ci: update .yamllint.yaml (`#229 `_) +* ci: update .yamllint.yaml (`#229 `_) * ci: update .yamllint.yaml * chore: fix for yamllint -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_planning_launch/CHANGELOG.rst b/launch/tier4_planning_launch/CHANGELOG.rst index e9d127f7db11b..c66ad480472ca 100644 --- a/launch/tier4_planning_launch/CHANGELOG.rst +++ b/launch/tier4_planning_launch/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package tier4_planning_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) +* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) Register node plugin with autoware scoping -* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) +* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) * refactor free space planner subscribers * implement scenario switching for edge cases * fix scenario selector test @@ -18,11 +18,11 @@ Changelog for package tier4_planning_launch * improve near target logic * use timer based implementation for obstacle check --------- -* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) * refactor(compare_map_segmentation): add package name prefix of autoware\_ * docs: update Readme --------- -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -36,15 +36,15 @@ Changelog for package tier4_planning_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) +* refactor(compare_map_segmentation)!: fix namespace and directory structure (`#7910 `_) * feat: update namespace and directory structure for compare_map_segmentation code * refactor: update directory structure * fix: add missing include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) -* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) +* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) +* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) * add pointcloud to obstacle properties * add tf listener & pointcloud subscriber * add parameters for pointcloud obstacle @@ -116,18 +116,18 @@ Changelog for package tier4_planning_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) +* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) * refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) +* feat(planning_evaluator): rename to include/autoware/{package_name} (`#7518 `_) * fix * fix --------- -* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) -* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) -* refactor(bpp): add namespace `autoware::` (`#7437 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) +* refactor(bpp): add namespace `autoware::` (`#7437 `_) * refactor: add namespace autoware:: * refactor(bpp-common): add namespace autoware:: * refactor(ablc): add namespace autoware:: @@ -141,24 +141,24 @@ Changelog for package tier4_planning_launch * refactor(tier4_planning_launch): add namespace autoware:: * refactor(sbp): add namespace autoware:: --------- -* refactor(behavior_path_planner): prefix autoware\_ to behavior_path_planner package (`#7433 `_) +* refactor(behavior_path_planner): prefix autoware\_ to behavior_path_planner package (`#7433 `_) * move dir * fix pluginlib --------- -* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) -* refactor(behavior_path_sampling_planner_module): add autoware prefix (`#7392 `_) -* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) +* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) +* refactor(behavior_path_sampling_planner_module): add autoware prefix (`#7392 `_) +* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) * refactor(mission_planner)!: add autoware prefix and namespace * fix svg --------- -* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) +* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) refactor(freespace_planner)!: add autoawre prefix -* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) +* refactor(external_cmd_selector): prefix package and namespace with au… (`#7384 `_) refactor(external_cmd_selector): prefix package and namespace with autoware\_ -* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) -* fix(motion_planning.launch): fix input traj of obstacle_velocity_limiter (`#7386 `_) -* refactor(out_of_lane): remove from behavior_velocity (`#7359 `_) -* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) +* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) +* fix(motion_planning.launch): fix input traj of obstacle_velocity_limiter (`#7386 `_) +* refactor(out_of_lane): remove from behavior_velocity (`#7359 `_) +* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) * git mv * fix * fix launch @@ -168,47 +168,47 @@ Changelog for package tier4_planning_launch * fix static_centerline_optimizer * fix --------- -* fix(tier4_planning_launch): unexpected modules were registered (`#7377 `_) -* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) +* fix(tier4_planning_launch): unexpected modules were registered (`#7377 `_) +* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) refactor(costmap_generator): add autoware prefix -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* refactor(planning_validator)!: prefix package and namespace with autoware (`#7320 `_) +* refactor(planning_validator)!: prefix package and namespace with autoware (`#7320 `_) * add autoware\_ prefix to planning_validator * add prefix to package name in .pages * fix link of the image --------- -* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) +* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) * refactor(behavior_velocity_planner_common): add autoware prefix * refactor(behavior_velocity_planner_common): fix run_out module * refactor(behavior_velocity_planner_common): fix for autoware_behavior_velocity_walkway_module * refactor(behavior_velocity_planner_common): remove unnecessary using --------- -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) -* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) * fix(autoware_surround_obstacle_checker): rename * fix(autoware_surround_obstacle_checker): rename header * fix(launch): update package name --------- -* refactor(autoware_velocity_walkway_module): prefix package with autoware\_ and move code to the autoware namespace (`#7153 `_) +* refactor(autoware_velocity_walkway_module): prefix package with autoware\_ and move code to the autoware namespace (`#7153 `_) * refactor(autoware_velocity_walkway_module): prefix package with autoware\_ and move code to the autoware namespace * style(pre-commit): autofix * fix: fix issue loading packages that have been prefixed --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) +* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) chore(autoware_planning_topic_converter): rename -* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) +* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) chore(autoware_external_velocity_limit_selector): rename -* refactor(autoware_velocity_run_out_module): prefix package with autoware\_ and move code to the autoware namespace (`#7154 `_) +* refactor(autoware_velocity_run_out_module): prefix package with autoware\_ and move code to the autoware namespace (`#7154 `_) * refactor(autoware_velocity_run_out_module): prefix package with autoware\_ and move code to the autoware namespace * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_velocity_virtual_traffic_light_module): prefix package with autoware\_ and move code to the autoware namespace (`#7155 `_) -* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) +* refactor(autoware_velocity_virtual_traffic_light_module): prefix package with autoware\_ and move code to the autoware namespace (`#7155 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for launch files (`#7242 `_) * feat!: replace autoware_auto_msgs with autoware_msgs for launch files Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong @@ -219,7 +219,7 @@ Changelog for package tier4_planning_launch Co-authored-by: NorahXiong Co-authored-by: beginningfan Co-authored-by: Yukihiro Saito -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -230,7 +230,7 @@ Changelog for package tier4_planning_launch * fix: test * fix: test --------- -* chore(static_obstacle_avoidance, dynamic_obstacle_avoidance): rename avoidance package (`#7168 `_) +* chore(static_obstacle_avoidance, dynamic_obstacle_avoidance): rename avoidance package (`#7168 `_) * chore(autoware_behavior_path_static_obstacle_avoidance_module): rename package and namespace * chore(autoware_behavior_path_dynamic_obstacle_avoidance_module): rename package and namespace * chore(tier4_planning_launch): update module name @@ -240,13 +240,13 @@ Changelog for package tier4_planning_launch * fix(AbLC): fix file name * docs: update module name --------- -* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) -* refactor(behavior_velocity_planner)!: prefix package and namespace with autoware\_ (`#6693 `_) -* build(behavior_path_external_request_lane_change_module): prefix package and namespace with autoware\_ (`#6636 `_) -* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) -* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* refactor(behavior_velocity_planner)!: prefix package and namespace with autoware\_ (`#6693 `_) +* build(behavior_path_external_request_lane_change_module): prefix package and namespace with autoware\_ (`#6636 `_) +* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) +* revert: "feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_)" (`#6842 `_) This reverts commit 51b5f830780eb69bd1a7dfe60e295773f394fd8e. -* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) +* feat(logger_level_configure): make it possible to change level of container logger (`#6823 `_) * feat(launch): add logging_demo::LoggerConfig into container * fix(logger_level_reconfigure_plugin): fix yaml * feat(logging_level_configure): add composable node @@ -255,13 +255,13 @@ Changelog for package tier4_planning_launch 0.26.0 (2024-04-03) ------------------- -* chore(tier4_planning_launch): set log output both (`#6685 `_) -* feat(traffic_light): depend on is_simulation for scenario simulator (`#6498 `_) +* chore(tier4_planning_launch): set log output both (`#6685 `_) +* feat(traffic_light): depend on is_simulation for scenario simulator (`#6498 `_) * feat(traffic_light): depend on is_simulation for scenario simulator * fix comments * fix --------- -* feat(mission_planner)!: introduce route_selector node (`#6363 `_) +* feat(mission_planner)!: introduce route_selector node (`#6363 `_) * feat(mission_planner): introduce route_selector node * remove unused file * fix use goal pose only when resuming @@ -274,7 +274,7 @@ Changelog for package tier4_planning_launch * remove debug code * use full license text instead of spdx --------- -* feat: remove use_pointcloud_container (`#6115 `_) +* feat: remove use_pointcloud_container (`#6115 `_) * feat!: remove use_pointcloud_container * fix pre-commit * fix: completely remove use_pointcloud_container after merge main @@ -282,7 +282,7 @@ Changelog for package tier4_planning_launch * revert: revert change in probabilistic_occupancy_grid_map * revert change in launcher of ogm --------- -* feat(behavior_path_sampling_module): add sampling based planner (`#6131 `_) +* feat(behavior_path_sampling_module): add sampling based planner (`#6131 `_) * first commit: add only necessary bpp code for template * change name of file * delete more unrelated code @@ -400,27 +400,27 @@ Changelog for package tier4_planning_launch * remove unused commented code --------- Co-authored-by: Maxime CLEMENT -* feat(behavior_velocity_planner): add enable_all_modules_auto_mode argument to launch files for behavior velocity planner modules (`#6094 `_) +* feat(behavior_velocity_planner): add enable_all_modules_auto_mode argument to launch files for behavior velocity planner modules (`#6094 `_) * set default value for enable_all_modules_auto_mode * fix enable_rtc configuration in scene_module_manager_interface.hpp * Refactor scene module managers to use getEnableRTC function --------- -* feat(behavior_path_planner): add enable_all_modules_auto_mode argument to launch files for behavior path planner modules (`#6093 `_) +* feat(behavior_path_planner): add enable_all_modules_auto_mode argument to launch files for behavior path planner modules (`#6093 `_) * Add enable_all_modules_auto_mode argument to launch files * set default value for enable_all_modules_auto_mode * fix enable_rtc configuration in scene_module_manager_interface.hpp --------- -* refactor(tier4_planning_launch): remove duplicate arguments in launchfile (`#6040 `_) -* feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (`#5835 `_) -* refactor(behavior_path_planner): remove use_experimental_lane_change_function (`#5889 `_) -* fix(behavior, launch): fix launch error (`#5847 `_) +* refactor(tier4_planning_launch): remove duplicate arguments in launchfile (`#6040 `_) +* feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (`#5835 `_) +* refactor(behavior_path_planner): remove use_experimental_lane_change_function (`#5889 `_) +* fix(behavior, launch): fix launch error (`#5847 `_) * fix(launch): set null to avoid launch error * fix(behavior): check null * chore(behavior): add comment * fix(launch): set at the end of list * fix(launch): fill empty string at the end of module list --------- -* refactor(bpp): use pluginlib to load scene module (`#5771 `_) +* refactor(bpp): use pluginlib to load scene module (`#5771 `_) * refactor(bpp): use pluginlib * refactor(tier4_planning_launch): update launcher * refactor(avoidance): support pluginlib @@ -432,30 +432,30 @@ Changelog for package tier4_planning_launch * refactor(bpp): move interface * fix(bpp): add const --------- -* fix(tier4_planning_launch): obstacle_cruise_planner pipeline is not connected (`#5542 `_) -* refactor(tier4_planning_launch): align argument name (`#5505 `_) +* fix(tier4_planning_launch): obstacle_cruise_planner pipeline is not connected (`#5542 `_) +* refactor(tier4_planning_launch): align argument name (`#5505 `_) * chore(tier4_planning_launch): align arument name * refactor(tier4_planning_launch): pass params directly --------- -* refactor(tier4_planning_launch): use xml style launch (`#5502 `_) +* refactor(tier4_planning_launch): use xml style launch (`#5502 `_) * refactor(tier4_planning_launch): use xml style launch * refactor(tier4_planning_launch): remove python style launch * fix(tier4_planning_launch): enable console output --------- -* chore(planning modules): remove maintainer... (`#5458 `_) +* chore(planning modules): remove maintainer... (`#5458 `_) remove shimizu-san from maintainer and add maintainer for stop line and turn signal decider -* refactor(tier4_planning_launch): use xml style launch (`#5470 `_) +* refactor(tier4_planning_launch): use xml style launch (`#5470 `_) * refactor(tier4_planning_launch): use xml style launch * refactor(tier4_planning_launch): remove python style launch * fix(tier4_plannning_launch): fix namespace --------- -* refactor(tier4_planning_launch): use xml style launch (`#5448 `_) +* refactor(tier4_planning_launch): use xml style launch (`#5448 `_) * refactor(tier4_planning_launch): use xml style launch * refactor(tier4_planning_launch): remove python style launch --------- -* feat(behavior_path_planner): subscribe traffic light recognition result (`#5436 `_) +* feat(behavior_path_planner): subscribe traffic light recognition result (`#5436 `_) feat(avoidance): use traffic light signal info -* feat(rtc_auto_mode_manager): eliminate rtc auto mode manager (`#5235 `_) +* feat(rtc_auto_mode_manager): eliminate rtc auto mode manager (`#5235 `_) * change namespace of auto_mode * delete RTC auto mode manager package * delete rtc_replayer.param @@ -464,7 +464,7 @@ Changelog for package tier4_planning_launch * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) +* feat(behavior_velocity): support new traffic signal interface (`#4133 `_) * feat(behavior_velocity): support new traffic signal interface * style(pre-commit): autofix * add missing dependency @@ -481,12 +481,12 @@ Changelog for package tier4_planning_launch * add debug log when the signal data is outdated --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(mission_planning.launch): add glog in mission planner (`#4745 `_) -* feat(motion_velocity_smoother.launch): add glog component (`#4746 `_) +* feat(mission_planning.launch): add glog in mission planner (`#4745 `_) +* feat(motion_velocity_smoother.launch): add glog component (`#4746 `_) * use node instead of include * use container & add glog component --------- -* feat(glog): add glog in planning and control modules (`#4714 `_) +* feat(glog): add glog in planning and control modules (`#4714 `_) * feat(glog): add glog component * formatting * remove namespace @@ -502,9 +502,9 @@ Changelog for package tier4_planning_launch * add copyright --------- Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* chore(tier4_planning_launch): enable to abort lane change from a parameter file (`#4469 `_) -* refactor(behavior_path_planner): remove unused config files (`#4241 `_) -* refactor(obstacle_avoidance_planner): move the elastic band smoothing to a new package (`#4114 `_) +* chore(tier4_planning_launch): enable to abort lane change from a parameter file (`#4469 `_) +* refactor(behavior_path_planner): remove unused config files (`#4241 `_) +* refactor(obstacle_avoidance_planner): move the elastic band smoothing to a new package (`#4114 `_) * Add path_smoothing package * Add elastic band smoother node * Add Debug section to elastic band documentation @@ -515,13 +515,13 @@ Changelog for package tier4_planning_launch * Publish path with backward paths * Rename path_smoothing -> path_smoother --------- -* fix(obstacle_velocity_limiter): remove hardcoded parameter (`#4098 `_) -* refactor(lane_change): add namespace for lane-change-cancel (`#4090 `_) +* fix(obstacle_velocity_limiter): remove hardcoded parameter (`#4098 `_) +* refactor(lane_change): add namespace for lane-change-cancel (`#4090 `_) * refactor(lane_change): add namespace for lane-change-cancel * fix indent * lane_change_cancel -> cancel --------- -* refactor(behavior_velocity_planner): update launch and parameter files for plugin (`#3811 `_) +* refactor(behavior_velocity_planner): update launch and parameter files for plugin (`#3811 `_) * feat: move param files * WIP * feat: use behavior velocity module param file list @@ -535,22 +535,22 @@ Changelog for package tier4_planning_launch * move param * add test depend --------- -* refactor(start_planner): rename pull out to start planner (`#3908 `_) -* feat: handle invalid areas / lanelets (`#3000 `_) -* feat(behavior_path_planner): output stop reasons (`#3807 `_) +* refactor(start_planner): rename pull out to start planner (`#3908 `_) +* feat: handle invalid areas / lanelets (`#3000 `_) +* feat(behavior_path_planner): output stop reasons (`#3807 `_) * feat(launch): remap stop reasons * feat(behavior_path_planner): add interface to output stop reasons * feat(behavior_path_planner): add interface to output stop reasons * feat(avoidance): output stop reason --------- -* feat(path_sampler): add a sampling based path planner (`#3532 `_) -* style: fix typos (`#3617 `_) +* feat(path_sampler): add a sampling based path planner (`#3532 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -558,7 +558,7 @@ Changelog for package tier4_planning_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(behavior_path_planner): add dynamic obstacle avoidance module (`#3415 `_) +* feat(behavior_path_planner): add dynamic obstacle avoidance module (`#3415 `_) * implement dynamic avoidance module * update * update @@ -576,18 +576,18 @@ Changelog for package tier4_planning_launch * fix --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) -* refactor(behavior_path_planeer): use common.params for lane change (`#3520 `_) +* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) +* refactor(behavior_path_planeer): use common.params for lane change (`#3520 `_) * refactor(behavior_path_planeer): use common.params for lane change * update --------- -* feat(behavior_path_planner): move lane_following_params to behavior path params (`#3445 `_) +* feat(behavior_path_planner): move lane_following_params to behavior path params (`#3445 `_) * feat(behavior_path_planner): move lane_following_params to behavior path params * fix missing pakage include * fix test --------- -* chore(planning_evaluator): add dependency (`#3388 `_) -* feat(behavior_velocity_planner): add out of lane module (`#3191 `_) +* chore(planning_evaluator): add dependency (`#3388 `_) +* feat(behavior_velocity_planner): add out of lane module (`#3191 `_) * Add OutOfLane module to the behavior_velocity_planner * Add functions for calculating path footprint and overlaps (WIP) * Update behavior_planning launch file to add out_of_lane param file @@ -650,7 +650,7 @@ Changelog for package tier4_planning_launch * Remove default value for declare_parameter of 'launch_run_out' --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* feat(avoidance_by_lc): add new module to avoid obstacle by lane change (`#3125 `_) +* feat(avoidance_by_lc): add new module to avoid obstacle by lane change (`#3125 `_) * feat(rtc_interface): add new module avoidance by lc * feat(launch): add new param files * feat(avoidance_by_lc): add avoidance by lane change module @@ -660,12 +660,12 @@ Changelog for package tier4_planning_launch * fix request condition * fix build error --------- -* feat(behavior_path_planner): update behavior param file (`#3220 `_) +* feat(behavior_path_planner): update behavior param file (`#3220 `_) * feat(behavior_path_planner): add new config file for manger * feat(launch): add config path * fix(behavior_path_planner): add missing param file --------- -* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) +* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) * add original diagnostic_convertor * add test * fix typo @@ -715,8 +715,8 @@ Changelog for package tier4_planning_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(mission_planner): refine goal pose with parameter and add config file (`#2603 `_) -* feat(behavior_path_planner): pull over freespace parking (`#2879 `_) +* feat(mission_planner): refine goal pose with parameter and add config file (`#2603 `_) +* feat(behavior_path_planner): pull over freespace parking (`#2879 `_) * feat(behavior_path_planner): pull over freespace parking * Update planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp Co-authored-by: Takamasa Horibe @@ -729,19 +729,19 @@ Changelog for package tier4_planning_launch * pre-commit --------- Co-authored-by: Takamasa Horibe -* refactor(obstacle_avoidance_planner): clean up the code (`#2796 `_) +* refactor(obstacle_avoidance_planner): clean up the code (`#2796 `_) * update obstacle avoidance planner, static centerline optimizer, tier4_planning_launch * update velocity on joint and correct trajectory z * update * minor change * pre-commit --------- -* refactor(planning_error_monitor): remove pkg (`#2604 `_) +* refactor(planning_error_monitor): remove pkg (`#2604 `_) * remove planning_error_monitor * remove launch --------- -* fix(tier4_planning_launch): remove unnecessary config (`#2910 `_) -* feat(behavior_velocity): add mandatory detection area for run out module (`#2864 `_) +* fix(tier4_planning_launch): remove unnecessary config (`#2910 `_) +* feat(behavior_velocity): add mandatory detection area for run out module (`#2864 `_) * feat: add mandatory detection area * change the topic order to subscribe compare map filtered points * define function for transform pointcloud @@ -763,12 +763,12 @@ Changelog for package tier4_planning_launch * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): expand the drivable area based on the vehicle footprint (`#2609 `_) -* ci(pre-commit): autoupdate (`#2819 `_) +* feat(behavior_path_planner): expand the drivable area based on the vehicle footprint (`#2609 `_) +* ci(pre-commit): autoupdate (`#2819 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_planning_launch): add missing params and sort params of costmap generator (`#2764 `_) -* refactor(behavior_path_planner): set occupancy grid map topic name from launch (`#2725 `_) -* feat(behavior_path_planner): external request lane change (`#2442 `_) +* chore(tier4_planning_launch): add missing params and sort params of costmap generator (`#2764 `_) +* refactor(behavior_path_planner): set occupancy grid map topic name from launch (`#2725 `_) +* feat(behavior_path_planner): external request lane change (`#2442 `_) * feature(behavior_path_planner): add external request lane change module feature(behavior_path_planner): fix for RTC feature(behavior_path_planner): fix decision logic @@ -790,7 +790,7 @@ Changelog for package tier4_planning_launch * Update rtc_auto_mode_manager.param.yaml * fix(route_handler): remove redundant code * fix(behavior_path_planner): fix for turn signal -* feat(planning_validator): add planning validator package (`#1947 `_) +* feat(planning_validator): add planning validator package (`#1947 `_) * feat(planning_validator): add planning validator package * remove planning_error_monitor * pre-commit @@ -827,21 +827,21 @@ Changelog for package tier4_planning_launch * update doc! * fix readme * update -* feat(behavior_path_planner): modified goal with uuid (`#2602 `_) +* feat(behavior_path_planner): modified goal with uuid (`#2602 `_) * feat(behavior_path_planner): modified goal with uuid * fix typo * fix for top header * change to PoseWithUuidStamped -* fix(tier4_planning_launch): make use_experimental_lane_change_function available (`#2676 `_) -* refactor(tier4_planning_launch): organize arguments (`#2666 `_) +* fix(tier4_planning_launch): make use_experimental_lane_change_function available (`#2676 `_) +* refactor(tier4_planning_launch): organize arguments (`#2666 `_) * refactor(tier4_planning_launch): organize arguments * update -* feat(behavior_path_planner): param to skip some linestring types when expanding the drivable area (`#2288 `_) -* feat(behavior_velocity_planner): add speed bump module (`#647 `_) +* feat(behavior_path_planner): param to skip some linestring types when expanding the drivable area (`#2288 `_) +* feat(behavior_velocity_planner): add speed bump module (`#647 `_) Co-authored-by: Kosuke Takeuchi Co-authored-by: Takayuki Murooka -* fix(tier4_planning_launch): remove unintended config file (`#2554 `_) -* feat(tier4_planning_launch): remove configs and move to autoware_launch (`#2543 `_) +* fix(tier4_planning_launch): remove unintended config file (`#2554 `_) +* feat(tier4_planning_launch): remove configs and move to autoware_launch (`#2543 `_) * feat(tier4_planning_launch): remove configs and move to autoware_launch * fix * remove config @@ -849,15 +849,15 @@ Changelog for package tier4_planning_launch * Update launch/tier4_planning_launch/README.md Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* fix(intersection): fixed stuck vehicle detection area (`#2463 `_) -* feat(behavior_path_planner): remove unnecessary parameters (`#2516 `_) +* fix(intersection): fixed stuck vehicle detection area (`#2463 `_) +* feat(behavior_path_planner): remove unnecessary parameters (`#2516 `_) * feat(behavior_path_planner): remove unnecessary parameters * remove from static_centerline_optimizer -* feat(obstacle_cruies_planner): improve pid_based cruise planner (`#2507 `_) +* feat(obstacle_cruies_planner): improve pid_based cruise planner (`#2507 `_) * feat(obstacle_cruies_planner): improve pid_based cruise planner * fix * update param in tier4_planning_launch -* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) +* feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) * update * update * update @@ -878,14 +878,14 @@ Changelog for package tier4_planning_launch * fix some codes * change to makerker array * change avoidance utils -* refactor(behavior_path_planner): move turn_signal_on_swerving param to bpp.param.yaml (`#2406 `_) +* refactor(behavior_path_planner): move turn_signal_on_swerving param to bpp.param.yaml (`#2406 `_) * move turn_signal_on_swerving param to bpp.param.yaml * change default value to true * add description * ci(pre-commit): autofix Co-authored-by: beyza Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(avoidance): improve avoidance target filter (`#2329 `_) +* feat(avoidance): improve avoidance target filter (`#2329 `_) * feat(route_handler): add getMostLeftLanelet() * feat(avoidance): calc shiftable ratio in avoidance target filtering process * feat(avoidance): output object's debug info for rviz @@ -893,7 +893,7 @@ Changelog for package tier4_planning_launch * feat(tier4_planning_launch): add new params for avoidance * fix(avoidance): reorder params for readability * fix(tier4_planning_launch): reorder params for readability -* feat(behavior_path_planner): update path when object is gone (`#2314 `_) +* feat(behavior_path_planner): update path when object is gone (`#2314 `_) * feat(behavior_path_planner): update state with obstacles. feat(behavior_path_planner): update path when obstacle is gone * ci(pre-commit): autofix @@ -911,7 +911,7 @@ Changelog for package tier4_planning_launch * ci(pre-commit): autofix * fix typos Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): add option to turn signal while obstacle swerving (`#2333 `_) +* feat(behavior_path_planner): add option to turn signal while obstacle swerving (`#2333 `_) * add turn_signal_on_swerving param * add option for signals * get turn_signal_on_swerving param from config file @@ -919,27 +919,27 @@ Changelog for package tier4_planning_launch * ci(pre-commit): autofix Co-authored-by: beyza Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb (`#2357 `_) +* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb (`#2357 `_) * fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb * add flag to enable clipping fixed trajectory * add maintainer -* fix(slow_down_planner): improper parameter used in slow down (`#2276 `_) +* fix(slow_down_planner): improper parameter used in slow down (`#2276 `_) * fix(slow_down_planner): improper parameter used in slow down * fix(tier4_planning_launch): remove hardcoded param enable_slow_down from launch.py -* feat(obstacle_avoidance_planner): parameterize non_fixed_trajectory_length (`#2349 `_) -* fix(behavior_path_planner): replace object_hold_max_count with object_last_seen_threshold (`#2345 `_) +* feat(obstacle_avoidance_planner): parameterize non_fixed_trajectory_length (`#2349 `_) +* fix(behavior_path_planner): replace object_hold_max_count with object_last_seen_threshold (`#2345 `_) fix: replace object_hold_max_count with object_last_seen_threshold -* feat(behavior_velocity_planner): parameterize ego_yield_query_stop_duration for crosswalk module (`#2346 `_) +* feat(behavior_velocity_planner): parameterize ego_yield_query_stop_duration for crosswalk module (`#2346 `_) feat: parameterize ego_yield_query_stop_duration for crosswalk module -* feat(avoidance): improve avoidance target filter (`#2282 `_) +* feat(avoidance): improve avoidance target filter (`#2282 `_) * feat(avoidance): use envelope polygon for measure against perception noise * feat(avoidance): use moving time for measure against perception noise * feat(tier4_planning_launch): add new params for avoidance * fix(avoidance): reserve marker array size -* feat(motion_velocity_smoother): tunable deceleration limit for curve … (`#2278 `_) +* feat(motion_velocity_smoother): tunable deceleration limit for curve … (`#2278 `_) feat(motion_velocity_smoother): tunable deceleration limit for curve deceleration -* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) -* feat: add 'obstacle_velocity_limiter' package (`#1579 `_) +* feat(tier4_planning/control_launch): add missing dependency (`#2201 `_) +* feat: add 'obstacle_velocity_limiter' package (`#1579 `_) * Initial commit with barebone SafeVelocityAdjustorNode * Add debug topics, launch file, and config file * Fix debug markers @@ -1041,33 +1041,33 @@ Changelog for package tier4_planning_launch * Update copyright notice: Tier IV -> TIER IV * Remove use_sim_time param from node launch file * Update launch files to run in the motion_planner + add launch config -* feat(motion_velocity_smoother): change osqp parameter (`#2157 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* feat(motion_velocity_smoother): change osqp parameter (`#2157 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0 (`#2057 `_) -* feat(behavior_path_planner): params to expand drivable area in each module (`#1973 `_) -* feat(behavior_path_planner): add turn signal parameters (`#2086 `_) +* feat(motion_velocity_smoother): change max_lateral_accel from 0.8 to 1.0 (`#2057 `_) +* feat(behavior_path_planner): params to expand drivable area in each module (`#1973 `_) +* feat(behavior_path_planner): add turn signal parameters (`#2086 `_) * feat(behavior_path_planner): add and change parameters * update * update -* feat(behavior_path_planner): pull_over lateral goal search (`#2036 `_) +* feat(behavior_path_planner): pull_over lateral goal search (`#2036 `_) * feat(behavior_path_planner): pull_over lateral goal search * fix werror of humble -* feat(obstacle_cruise_planner): add an explanation (`#2034 `_) +* feat(obstacle_cruise_planner): add an explanation (`#2034 `_) * feat(obstacle_cruise_planner): add an explanation * update readme -* feat(run_out): avoid chattering of state transition (`#1975 `_) +* feat(run_out): avoid chattering of state transition (`#1975 `_) * feat: keep approach state to avoid chattering of detection * add parameter * update parameter * update documents * revert changed parameter -* feat(obstacle_cruise_planner): add goal safe distance (`#2031 `_) -* chore(behavior_velocity): add maintainer for run out module (`#1967 `_) -* refactor(run_out): add state machine class for state transition (`#1884 `_) +* feat(obstacle_cruise_planner): add goal safe distance (`#2031 `_) +* chore(behavior_velocity): add maintainer for run out module (`#1967 `_) +* refactor(run_out): add state machine class for state transition (`#1884 `_) * refactor(run_out): add state machine class for state transition * remove debug print * move parameters @@ -1076,7 +1076,7 @@ Changelog for package tier4_planning_launch * fix conflict * remove unused argument * fix parameter value -* feat(behavior_path_planner): add pull_over base class (`#1911 `_) +* feat(behavior_path_planner): add pull_over base class (`#1911 `_) * feat(behavior_path_planner): add pull_over base class * modify calculation of velocity abs * modify from review @@ -1089,9 +1089,9 @@ Changelog for package tier4_planning_launch * fix werror * fix build for main Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* chore(tier4_planning_launch): add maintainers (`#1955 `_) -* feat(intersection): use intersection_area if available (`#1733 `_) -* refactor: replace acc calculation in planning control modules (`#1213 `_) +* chore(tier4_planning_launch): add maintainers (`#1955 `_) +* feat(intersection): use intersection_area if available (`#1733 `_) +* refactor: replace acc calculation in planning control modules (`#1213 `_) * [obstacle_cruise_planner] replace acceleration calculation * [obstacle_stop_planner] replace acceleration calculation * [trajectory_follower] replace acceleration calculation @@ -1099,17 +1099,17 @@ Changelog for package tier4_planning_launch * fix nullptr check * fix controller test * fix -* fix: fix missing dependency (`#1891 `_) +* fix: fix missing dependency (`#1891 `_) * fix: fix missing dependency * fix -* feat(obstacle_avoidance_planner): fix can be applied to the first trajectory point (`#1775 `_) +* feat(obstacle_avoidance_planner): fix can be applied to the first trajectory point (`#1775 `_) * add bicycle model collision avoidance and single fixed point * refactor manual warm start * add calculation cost plotter * fix * fix * update params -* feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior (`#1541 `_) +* feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior (`#1541 `_) * feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior * ci(pre-commit): autofix * fix(rtc_auto_mode_manager): fix typo @@ -1124,19 +1124,19 @@ Changelog for package tier4_planning_launch * feat(rtc_auto_mode_manager): fix initialization Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* feat(behavior_planning): use acceleration from localization module (`#1859 `_) +* feat(behavior_planning): use acceleration from localization module (`#1859 `_) * feat(behavior_path_planner): subscribe acceleration from localization module * feat(behavior_velocity_planner): subscribe acceleration from localization module -* refactor(run_out): remove unused parameter (`#1836 `_) -* feat(obstacle_cruise_planner): add terminal collision checker (`#1807 `_) +* refactor(run_out): remove unused parameter (`#1836 `_) +* feat(obstacle_cruise_planner): add terminal collision checker (`#1807 `_) * feat(motion_utils): add new search zero velocity * change arguments * feat(obstacle_cruise_planner): add terminal collision checker * add parameters * change parameters -* feat(behavior_path_planner): change pull over params (`#1815 `_) -* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) - * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) +* feat(behavior_path_planner): change pull over params (`#1815 `_) +* feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) + * feat(motion_velocity_smoother): add steering rate limit while planning velocity (`#1071 `_) function added, not turning fix the always positive curvature problem @@ -1180,14 +1180,14 @@ Changelog for package tier4_planning_launch * ci(pre-commit): autofix Co-authored-by: Berkay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over (`#1796 `_) +* feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over (`#1796 `_) * feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over * Update planning/behavior_path_planner/src/utilities.cpp Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> * rename to goal_to_obstacle_margin * fix rear check Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* refactor(obstacle_stop_planner): update params name for readability (`#1720 `_) +* refactor(obstacle_stop_planner): update params name for readability (`#1720 `_) * refactor(obstacle_stop_planner): update parameter name for readability * docs(obstacle_stop_planner): update module documentation * docs(obstacle_stop_planner): update figure @@ -1195,8 +1195,8 @@ Changelog for package tier4_planning_launch * fix(tier4_planning_launch): separate params by namespace * refactor(obstacle_stop_planner): remove default value from declare_parameter * refactor(obstacle_stop_planner): add params to config -* fix(behavior_path_planner): fix pull_over request_length and maximum_deceleration (`#1789 `_) -* feat(behavior_path_planner): use object recognition for pull_over (`#1777 `_) +* fix(behavior_path_planner): fix pull_over request_length and maximum_deceleration (`#1789 `_) +* feat(behavior_path_planner): use object recognition for pull_over (`#1777 `_) * feat(behavior_path_planner): use object recognition for pull_over * Update planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> @@ -1205,7 +1205,7 @@ Changelog for package tier4_planning_launch * remove unnecessary lines * update warn message Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* feat(behavior_path_planner): update pull out (`#1438 `_) +* feat(behavior_path_planner): update pull out (`#1438 `_) * feat(behavior_path_planner): update pull out * refactor(behavior_path_planner): rename pull_out params * update from review @@ -1215,10 +1215,10 @@ Changelog for package tier4_planning_launch * fix debug marker * add seach priority * change before_pull_out_straight_distance to 0.0 -* refactor(behavior_path_planner): rename pull_over params (`#1747 `_) -* feat(intersection): continue detection after pass judge (`#1719 `_) -* feat(behavior_path_palnner): update geometric parallel parking for pull_out module (`#1534 `_) -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* refactor(behavior_path_planner): rename pull_over params (`#1747 `_) +* feat(intersection): continue detection after pass judge (`#1719 `_) +* feat(behavior_path_palnner): update geometric parallel parking for pull_out module (`#1534 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -1251,9 +1251,9 @@ Changelog for package tier4_planning_launch * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(behavior_path_planner): enable pull_over backward_parking by default (`#1653 `_) -* feat(obstacle_avoidance_planne): enable plan_from_ego by default (`#1673 `_) -* feat: add vector map inside area filter (`#1530 `_) +* feat(behavior_path_planner): enable pull_over backward_parking by default (`#1653 `_) +* feat(obstacle_avoidance_planne): enable plan_from_ego by default (`#1673 `_) +* feat: add vector map inside area filter (`#1530 `_) * feat: add no detection area filter * ci(pre-commit): autofix * chore: add documents @@ -1277,10 +1277,10 @@ Changelog for package tier4_planning_launch * chore: using namespace of PolygonCgal for readability * feat: add functions for multiple polygons Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(mission_planner): prepare to support ad api (`#1561 `_) +* refactor(mission_planner): prepare to support ad api (`#1561 `_) * refactor(mission_planner): prepare to support ad api * fix node name -* feat(surround_obstacle_checker): add vehicle footprint with offset (`#1577 `_) +* feat(surround_obstacle_checker): add vehicle footprint with offset (`#1577 `_) * fix: right and left overhang fix in SelfPolygon func * feat: init base polygon * ci(pre-commit): autofix @@ -1291,32 +1291,32 @@ Changelog for package tier4_planning_launch * feat: add footprint publish boolean param to config * docs: update readme Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): resample output path (`#1604 `_) +* feat(behavior_path_planner): resample output path (`#1604 `_) * feat(behavior_path_planner): resample output path * update param -* fix(behavior_velocity_planner): disable debug path publisher by default (`#1680 `_) -* fix(behavior_path_planner): pull_over shift parking (`#1652 `_) +* fix(behavior_velocity_planner): disable debug path publisher by default (`#1680 `_) +* fix(behavior_path_planner): pull_over shift parking (`#1652 `_) * fix(behavior_path_planner): pull_over shift parking * check lane_depature for each shift path * change pull_over_velocity to 3.0 -* feat(obstacle_cruise_planner): add velocity_threshold to outside obstacle (`#1646 `_) +* feat(obstacle_cruise_planner): add velocity_threshold to outside obstacle (`#1646 `_) * feat(obstacle_cruise_planner): add velocity_threshold to outside obstacle * add parameter to config * update readme -* feat(behavior_velocity): publish internal debug path (`#1635 `_) +* feat(behavior_velocity): publish internal debug path (`#1635 `_) * feat(behavior_velocity): publish internal path as debug path * feat(behavior_velocity): add debug internal scene module path * feat(behavior_velcoity, planning_debug_tools): add params for debug path -* feat(run_out): add lateral nearest points filter (`#1527 `_) +* feat(run_out): add lateral nearest points filter (`#1527 `_) * feat(run_out): add lateral nearest points filter * chore: update documents * chore: pre-commit fix * chore: fix typo -* fix(tier4_planning_launch): change parameter to enable abort lane change (`#1602 `_) -* feat(tier4_planning_launch): add nearest search param (`#1582 `_) +* fix(tier4_planning_launch): change parameter to enable abort lane change (`#1602 `_) +* feat(tier4_planning_launch): add nearest search param (`#1582 `_) * feat(tier4_planning_launch): add nearest search param * fix -* feat(obstacle_cruise_planner): delete shape from target obstacle (`#1558 `_) +* feat(obstacle_cruise_planner): delete shape from target obstacle (`#1558 `_) * delete is on ego traj * update * feat(obstacle_cruise_planner): delete shape @@ -1328,24 +1328,24 @@ Changelog for package tier4_planning_launch * fix terminal point * update * update parameters -* fix(behavior_velocity_planner, tier4_planning_launch): modify delay_resopnse_time (`#1557 `_) +* fix(behavior_velocity_planner, tier4_planning_launch): modify delay_resopnse_time (`#1557 `_) * fix(behavior_velocity_planner): modify delay_resopnse_time * fix(tier4_planning_launch): modify delay_resopnse_time -* fix(costmap_generator): restrict costmap within parking lot (`#996 `_) +* fix(costmap_generator): restrict costmap within parking lot (`#996 `_) * fix(costmap_generator): restrict costmap within parking lot * add parameters for free space planning area selection * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(obstacle_cruise_planner): add missing param (`#1515 `_) -* fix(behavior_path_planner): fix turn singal output in a avoidance sequence (`#1511 `_) +* fix(obstacle_cruise_planner): add missing param (`#1515 `_) +* fix(behavior_path_planner): fix turn singal output in a avoidance sequence (`#1511 `_) * remove search distance for turn signal * set distance to max when a lane_attriute is straight -* refactor(obstacle_avoidance_planner): use max_steer_angle in common (`#1423 `_) +* refactor(obstacle_avoidance_planner): use max_steer_angle in common (`#1423 `_) * refactor(obstacle_avoidance_planner): use max_steer_angle in common * fix runtime error * fix * fix yaml file -* feat(behavior_velocitiy_planner): predict front vehicle deceleration in intersection and temporarily stop (`#1194 `_) +* feat(behavior_velocitiy_planner): predict front vehicle deceleration in intersection and temporarily stop (`#1194 `_) * calculating stopping distance for frontcar from estimated velocity * calc stopping_point_projected and stopping_point along centerline * create stuck_vehicle_detect_area in modifyVelocity(TODO: use pose of frontcar at stopping_position @@ -1360,21 +1360,21 @@ Changelog for package tier4_planning_launch * fixed the order of isAheadOf, working in scenario test as well * added description in stuck vehicle detection section * reflected comments: (1) use vector of ids (2) changed intersection.param.yaml -* feat(tier4_planning_launch): declare param path argument (`#1337 `_) +* feat(tier4_planning_launch): declare param path argument (`#1337 `_) * feat(tier4_planning_launch): declare param path argument * Update launch/tier4_planning_launch/launch/planning.launch.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update launch/tier4_planning_launch/launch/planning.launch.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* fix(behavior_path_planner): remove unnecessary publisher and subscriber (`#1371 `_) +* fix(behavior_path_planner): remove unnecessary publisher and subscriber (`#1371 `_) * fix(behavior_path_planner): remove unnecessary publisher and subscriber * fix(tier4_planning_launch): fix launch file * fix(tier4_planning_launch): fix xml file -* fix: fix parameter names of motion_velocity_smoother (`#1376 `_) +* fix: fix parameter names of motion_velocity_smoother (`#1376 `_) * fix: fix parameter names of motion_velocity_smoother * fix indent -* feat(intersection_module): add option to change the stopline position (`#1364 `_) +* feat(intersection_module): add option to change the stopline position (`#1364 `_) * use constexpr * add stopline before intersection * feat(intersection_module): add update stopline index before intersection @@ -1385,19 +1385,19 @@ Changelog for package tier4_planning_launch * reduce nest * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_planning_launch): add group tag (`#1239 `_) +* fix(tier4_planning_launch): add group tag (`#1239 `_) * fix(tier4_planning_launch): add group tag * move arg * move arg inside group -* fix(behavior_velocity_planner): fix rtc behavior in crosswalk module (`#1296 `_) -* feat(behavior_path_planner): update pull_over module (`#873 `_) +* fix(behavior_velocity_planner): fix rtc behavior in crosswalk module (`#1296 `_) +* feat(behavior_path_planner): update pull_over module (`#873 `_) * feat(behavior_path_planner): update pull_over module * use tf2_geometry_msgs/tf2_geometry_msgs.hpp for humble * fix werror of humble * fix test * fix goal change bug when starting drive -* feat(tier4_planning_launch): update crosswalk param (`#1265 `_) -* feat(behavior_velocity): filter points with detection area (`#1073 `_) +* feat(tier4_planning_launch): update crosswalk param (`#1265 `_) +* feat(behavior_velocity): filter points with detection area (`#1073 `_) * feat(behavior_velocity): filter points with detection area * remove unnecessary functions * update documents @@ -1407,10 +1407,10 @@ Changelog for package tier4_planning_launch * update configs * return empty points when the detection area polygon is empty Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length (`#1223 `_) +* chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length (`#1223 `_) * chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length * fix typo -* feat(obstacle_cruise_planner): implemented common obstacle stop (`#1185 `_) +* feat(obstacle_cruise_planner): implemented common obstacle stop (`#1185 `_) * feat(obstacle_cruise_planner): implemented common obstacle stop * fix some implementation * minor changes @@ -1418,11 +1418,11 @@ Changelog for package tier4_planning_launch * remove unnecessary code * fix CI error * fix typo -* refactor(freespace_planner): parameterize margin. (`#1190 `_) -* fix(intersection_module): remove decel parameter (`#1188 `_) +* refactor(freespace_planner): parameterize margin. (`#1190 `_) +* fix(intersection_module): remove decel parameter (`#1188 `_) * fix(intersection_module): remove decel parameter * remove unuse parameter -* feat(obstacle_cruise_planner): some minor updates (`#1136 `_) +* feat(obstacle_cruise_planner): some minor updates (`#1136 `_) * checkout latest obstacle cruise changes * fix cruise/stop chattering * add lpf for cruise wall @@ -1433,7 +1433,7 @@ Changelog for package tier4_planning_launch * update tier4_planning_launch param * fix typo * fix CI error -* feat(obstacle_cruise_planner): clean parameters for optimization based cruise planner (`#1059 `_) +* feat(obstacle_cruise_planner): clean parameters for optimization based cruise planner (`#1059 `_) * remove unnecessary parameter * add new parameter and delete unnecessary constructor * remove unnecessary parameter @@ -1443,7 +1443,7 @@ Changelog for package tier4_planning_launch * delete yaw threshold parameter and update license * update * remove unnecessary checker -* feat(intersection): add conflicting area with margin debug (`#1021 `_) +* feat(intersection): add conflicting area with margin debug (`#1021 `_) * add detection area margin debug * extention lanelet in intersection function * feat: add conflicting area with margin @@ -1459,11 +1459,11 @@ Changelog for package tier4_planning_launch * refactor: lanelet::utils::resamplePoints -> resamplePoints * feat: add right and left margin parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_planning_launch): launch rtc_auto_approver (`#1046 `_) +* feat(tier4_planning_launch): launch rtc_auto_approver (`#1046 `_) * feature(tier4_planning_launch): launch rtc_auto_approver * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(obstacle_cruise_planner): add new package (`#570 `_) +* feat(obstacle_cruise_planner): add new package (`#570 `_) * feat(obstacle_velocity_planner): add obstacle_velocity_planner * udpate yaml * update dependency @@ -1483,23 +1483,23 @@ Changelog for package tier4_planning_launch * rename to obstacle_cruise_planner * fix tier4_planning_launch * fix humble CI -* feat(behavior_velocity): add run out module (`#752 `_) - * fix(behavior_velocity): calculate detection area from the nearest point from ego (`#730 `_) +* feat(behavior_velocity): add run out module (`#752 `_) + * fix(behavior_velocity): calculate detection area from the nearest point from ego (`#730 `_) * fix(behavior_velocity): calculate lateral distance from the beginning of the path * add argument of min_velocity * use veloicty from the nearest point from ego * pass struct by reference * fix to interpolate point in util - * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) + * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (`#700 `_) * fix(longitudinal_controller_node): parameterize stopped state entry condition * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE * fix(vehicle_cmd_gate): check time duration since the vehicle stopped - * docs(autoware_testing): fix link (`#741 `_) + * docs(autoware_testing): fix link (`#741 `_) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * fix: trajectory visualizer (`#745 `_) - * fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) + * fix: trajectory visualizer (`#745 `_) + * fix(tier4_autoware_utils): modify build error in rolling (`#720 `_) * fix(tier4_autoware_utils): modify build error in rolling * fix(lanelet2_extension): add target compile definition for geometry2 * fix(ekf_localizer): add target compile definition for geometry2 @@ -1537,7 +1537,7 @@ Changelog for package tier4_planning_launch * fix(planning_error_monitor): add target compile definition for geometry2 * fix(planning_evaluator): add target compile definition for geometry2 * fix(lidar_centerpoint): add target compile definition for geometry2 - * fix(behavior_velocity): handle the case when finding index failed (`#746 `_) + * fix(behavior_velocity): handle the case when finding index failed (`#746 `_) * feat: add scene module of dynamic obstacle stop * fix warnings * add temporary debug value @@ -1644,14 +1644,14 @@ Changelog for package tier4_planning_launch Co-authored-by: Yukihiro Saito Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Makoto Kurihara -* feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) +* feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat: add param.yaml in behavior_velocity_planner package * some fix Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) +* feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) * use car like constraints in mpt * use not widest bounds for the first bounds * organized params @@ -1661,8 +1661,8 @@ Changelog for package tier4_planning_launch * update config * remove unnecessary files * update tier4_planning_launch params -* feat(behavior_velocity): find occlusion more efficiently (`#829 `_) -* feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) +* feat(behavior_velocity): find occlusion more efficiently (`#829 `_) +* feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -1672,26 +1672,26 @@ Changelog for package tier4_planning_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* feat(obstacle_avoidance_planner): parameterize bounds search widths (`#807 `_) +* style: fix format of package.xml (`#844 `_) +* feat(obstacle_avoidance_planner): parameterize bounds search widths (`#807 `_) * feat(obstacle_avoidance_planner): parameterize bounds search widths * update bounds search widths * update tier4_planning_launch * Added parameter description of README.md -* chore(behavior_velocity): add system delay parameter and minor update (`#764 `_) +* chore(behavior_velocity): add system delay parameter and minor update (`#764 `_) * chore(behavior_velocity): add system delay parameter and minor update * doc(behavior_velocity): add system delay discription -* fix(motion_velocity_smoother): add stop decel parameter (`#739 `_) +* fix(motion_velocity_smoother): add stop decel parameter (`#739 `_) * add stop decel parameter * add stop decel parameter -* feat(behavior_velocity): occlusion spot generate not detection area occupancy grid (`#620 `_) +* feat(behavior_velocity): occlusion spot generate not detection area occupancy grid (`#620 `_) * feat(behavior_velocity): filter dynamic object by default * feat(behavior_velocity): raycast object shadow * chore(behavior_velocity): replace target vehicle to filtered vehicle in detection area @@ -1701,22 +1701,22 @@ Changelog for package tier4_planning_launch * fix(behavior_velocity): fix launch and stuck vehicle * chore(behavior_velocity): use experiment value * chore(behavior_velocity): add comment -* fix(tier4_planning_launch): fix tier4_planning_launch package (`#660 `_) -* feat(behavior_path_planner): stop lane_driving planners in non-lane-driving scenario (`#668 `_) +* fix(tier4_planning_launch): fix tier4_planning_launch package (`#660 `_) +* feat(behavior_path_planner): stop lane_driving planners in non-lane-driving scenario (`#668 `_) * stop lanedriving in parking scenario * use skip_first * add scenario remap in launch * replace warn to info -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_path_planner): parametrize avoidance target type (`#574 `_) +* feat(behavior_path_planner): parametrize avoidance target type (`#574 `_) * parametrize avoidance target type * add target type parameter in yaml * mototbike -> motorcycle * apply clang -* feat(obstacle avoidance planner): fix out curve, make calculation cost low, make optimization stable, refactor, etc. (`#233 `_) +* feat(obstacle avoidance planner): fix out curve, make calculation cost low, make optimization stable, refactor, etc. (`#233 `_) * feat (obstacle avoidance planner) fix out curve, make optimization stable, make computation cost low, etc * fix typos * remove unnecessary codes @@ -1729,12 +1729,12 @@ Changelog for package tier4_planning_launch * truncate path to detect path change, and tune path change detection * disable yaw slerp * fix ci error -* fix(behavior_path_planner): parametrize avoidance lateral distance threshold (`#404 `_) +* fix(behavior_path_planner): parametrize avoidance lateral distance threshold (`#404 `_) * parametrize lateral threshold * format readme * apply clang format -* refactor(scenario_planning.launch.xml): add parameter description (`#464 `_) -* feat(behavior_path_planner): make drivable area coordinate fixed to the map coordinate and make its size dynamic (`#360 `_) +* refactor(scenario_planning.launch.xml): add parameter description (`#464 `_) +* feat(behavior_path_planner): make drivable area coordinate fixed to the map coordinate and make its size dynamic (`#360 `_) * make drivable area not to oscillate and its size dynamic * update README for new parameters * remove getLaneletScope from route_handler @@ -1743,7 +1743,7 @@ Changelog for package tier4_planning_launch * rename function and put it in proper namespace * update param for tier4_planning_launch Co-authored-by: Takamasa Horibe -* feat(behavior_path_planner): better avoidance drivable areas extension in behavior path planning (`#287 `_) +* feat(behavior_path_planner): better avoidance drivable areas extension in behavior path planning (`#287 `_) * feat: Increases the flexibility of the function in dealing with several scenarios The implementation updates generateExtendedDrivableArea this is a part of .iv PR (`tier4/autoware.iv#2383 `_) port @@ -1770,8 +1770,8 @@ Changelog for package tier4_planning_launch The decision to increase is based on discussion with the planning control team and also from input by FI team. Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* fix: use autoware_auto_msgs (`#197 `_) -* feat: change launch package name (`#186 `_) +* fix: use autoware_auto_msgs (`#197 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_sensing_launch/CHANGELOG.rst b/launch/tier4_sensing_launch/CHANGELOG.rst index 0f24629434ca1..be5bb4dd8fce6 100644 --- a/launch/tier4_sensing_launch/CHANGELOG.rst +++ b/launch/tier4_sensing_launch/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package tier4_sensing_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -44,7 +44,7 @@ Changelog for package tier4_sensing_launch 0.26.0 (2024-04-03) ------------------- -* feat: remove use_pointcloud_container (`#6115 `_) +* feat: remove use_pointcloud_container (`#6115 `_) * feat!: remove use_pointcloud_container * fix pre-commit * fix: completely remove use_pointcloud_container after merge main @@ -52,7 +52,7 @@ Changelog for package tier4_sensing_launch * revert: revert change in probabilistic_occupancy_grid_map * revert change in launcher of ogm --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -60,7 +60,7 @@ Changelog for package tier4_sensing_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) +* feat(tier4_perception_launch): sync perception launch to autoware_launch (`#2168 `_) * sync launch file from tier4 autoware launch * sync tlr launcher * ci(pre-commit): autofix @@ -70,29 +70,29 @@ Changelog for package tier4_sensing_launch * fix exec_depend in package.xml * Sync traffic light node Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove bad chars (`#845 `_) -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* chore: remove bad chars (`#845 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: delete common_sensor_launch from exec_depend (`#626 `_) -* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) +* fix: delete common_sensor_launch from exec_depend (`#626 `_) +* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) * feat(tier4_autoware_launch)!: move package to autoware_launch * remove unnecessary depends -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_simulator_launch/CHANGELOG.rst b/launch/tier4_simulator_launch/CHANGELOG.rst index ddb251df83667..14927284d98a7 100644 --- a/launch/tier4_simulator_launch/CHANGELOG.rst +++ b/launch/tier4_simulator_launch/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package tier4_simulator_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(simple_planning_simulator): add stop_filter_param_path (`#9127 `_) -* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) +* chore(simple_planning_simulator): add stop_filter_param_path (`#9127 `_) +* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) * add autoware\_ prefix * fix link --------- Co-authored-by: SakodaShintaro -* feat(psim)!: preapre settings to launch localization modules on psim (`#8212 `_) -* feat(psim)!: change a setting parameter type from bool to string (`#8331 `_) +* feat(psim)!: preapre settings to launch localization modules on psim (`#8212 `_) +* feat(psim)!: change a setting parameter type from bool to string (`#8331 `_) * change a param type, bool to string * add param description, add null tag group for the null option --------- -* feat(evalautor): rename evaluator diag topics (`#8152 `_) +* feat(evalautor): rename evaluator diag topics (`#8152 `_) * feat(evalautor): rename evaluator diag topics * perception --------- -* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) +* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) * refactor: add namespace, remove unused dependencies, file structure chore: remove unused dependencies style(pre-commit): autofix * refactor: rename elevation_map_loader to autoware_elevation_map_loader Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. style(pre-commit): autofix -* feat(simple_planning_simulator): add actuation command simulator (`#8065 `_) +* feat(simple_planning_simulator): add actuation command simulator (`#8065 `_) * feat(simple_planning_simulator): add actuation command simulator tmp add @@ -43,7 +43,7 @@ Changelog for package tier4_simulator_launch * fix typo --------- Co-authored-by: Takamasa Horibe -* feat(processing_time_checker): add a new package (`#7957 `_) +* feat(processing_time_checker): add a new package (`#7957 `_) * feat(processing_time_checker): add a new package * fix * fix @@ -52,22 +52,22 @@ Changelog for package tier4_simulator_launch * fix * fix --------- -* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) +* feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger (`#7705 `_) * feat(tier4_perception_launch): add missing arg use_multi_channel_tracker_merger * feat: add use_multi_channel_tracker_merger argument to simulator launch This commit adds the `use_multi_channel_tracker_merger` argument to the simulator launch file. The argument is set to `false` by default. This change enables the use of the multi-channel tracker merger in the simulator. --------- -* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) -* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) +* feat(diagnostic_converter): fix output metrics topic name and add to converter (`#7495 `_) +* feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (`#6861 `_) * Contributors: Kosuke Takeuchi, Masaki Baba, Taekjin LEE, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* fix(pose_initializer): added "user_defined_initial_pose" to dummy localization (`#6723 `_) +* fix(pose_initializer): added "user_defined_initial_pose" to dummy localization (`#6723 `_) Added "used_defined_initial_pose" to dummy localization -* feat(default_ad_api): add door api (`#5737 `_) -* feat(tier4_simulator_launch): add option to disable all perception related modules (`#6382 `_) -* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) +* feat(default_ad_api): add door api (`#5737 `_) +* feat(tier4_simulator_launch): add option to disable all perception related modules (`#6382 `_) +* feat(perception_online_evaluator): add perception_online_evaluator (`#6493 `_) * feat(perception_evaluator): add perception_evaluator tmp update @@ -85,9 +85,9 @@ Changelog for package tier4_simulator_launch * feat: add test * fix: ci check --------- -* fix(tier4_simulator_launch): add lacked param path (`#5326 `_) -* chore(tier4_simulator_launch): launch camera and V2X fusion module in simple planning simulator (`#4522 `_) -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* fix(tier4_simulator_launch): add lacked param path (`#5326 `_) +* chore(tier4_simulator_launch): launch camera and V2X fusion module in simple planning simulator (`#4522 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -112,8 +112,8 @@ Changelog for package tier4_simulator_launch * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(occpuancy grid map): move param to yaml (`#4038 `_) -* build: mark autoware_cmake as (`#3616 `_) +* refactor(occpuancy grid map): move param to yaml (`#4038 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -121,34 +121,34 @@ Changelog for package tier4_simulator_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(dummy_perception_publisher): add parameter to configure z pose of dummy object (`#3457 `_) -* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) +* fix(dummy_perception_publisher): add parameter to configure z pose of dummy object (`#3457 `_) +* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#3393 `_) * add occcupancy_grid_map method/param var to launcher * added CODEOWNER * Revert "added CODEOWNER" This reverts commit 2213c2956af19580d0a7788680aab321675aab3b. * add maintainer --------- -* fix(tier4_simulator_launch): fix launch package name (`#3340 `_) -* feat(tier4_simulator_launch): convert /diagnostics_err (`#3152 `_) -* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) +* fix(tier4_simulator_launch): fix launch package name (`#3340 `_) +* feat(tier4_simulator_launch): convert /diagnostics_err (`#3152 `_) +* bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (`#3081 `_) * fixed psim occupancy grid map problem * fix parameter designation --------- Co-authored-by: Takayuki Murooka -* chore(tier4_simulator_launch): add code owner (`#3080 `_) +* chore(tier4_simulator_launch): add code owner (`#3080 `_) chore(tier4_simulator_launch): add code owners -* fix(tier4_perception_launch): fix config path (`#3078 `_) +* fix(tier4_perception_launch): fix config path (`#3078 `_) * fix(tier4_perception_launch): fix config path * use pointcloud_based_occupancy_grid_map.launch.py in tier4_simulator_launch --------- -* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) * feat(pose_initializer): enable pose initialization while running (only for sim) * both logsim and psim params * only one pose_initializer_param_path arg * use two param files for pose_initializer --------- -* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) +* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) * add original diagnostic_convertor * add test * fix typo @@ -198,7 +198,7 @@ Changelog for package tier4_simulator_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) +* feat(pose_initilizer): support gnss/imu pose estimator (`#2904 `_) * Support GNSS/IMU pose estimator * style(pre-commit): autofix * Revert gnss/imu support @@ -226,18 +226,18 @@ Changelog for package tier4_simulator_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohei Sasaki Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* feat(tier4_simulator_launch): remove configs and move to autoware_launch (`#2541 `_) +* feat(tier4_simulator_launch): remove configs and move to autoware_launch (`#2541 `_) * feat(tier4_perception_launch): remove configs and move to autoware_launch * update readme * first commit * remove config -* fix(tier4_simulator_launch): fix path (`#2281 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* fix(tier4_simulator_launch): fix path (`#2281 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(pose_initializer)!: support ad api (`#1500 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) * feat(pose_initializer): support ad api * docs: update readme * fix: build error @@ -253,23 +253,23 @@ Changelog for package tier4_simulator_launch * fix: fix build error * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_simulator_launch): manual sync with tier4/autoware_launch.*/simulator_launch (`#1820 `_) +* feat(tier4_simulator_launch): manual sync with tier4/autoware_launch.*/simulator_launch (`#1820 `_) * feat(tier4_simulator_launch): manual sync with tier4/autoware_launch.*/simulator_launch * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat(tier4_simulator_launch): declare param path argument (`#1443 `_) +* feat(tier4_simulator_launch): declare param path argument (`#1443 `_) feat(tier4_simulator_launch): declare param path -* feat!: replace ogm at scenario simulation (`#1062 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat!: replace ogm at scenario simulation (`#1062 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) +* style: fix format of package.xml (`#844 `_) +* feat: pointcloud based probabilistic occupancy grid map (`#624 `_) * initial commit * ci(pre-commit): autofix * change param @@ -285,19 +285,19 @@ Changelog for package tier4_simulator_launch * add single frame mode * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: move empty_objects_publisher (`#613 `_) +* feat: move empty_objects_publisher (`#613 `_) * feat: move empty_objects_publisher * fix group of empty_object_publisher -* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (`#465 `_) +* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (`#465 `_) * feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simualtor.launch.xml * remove perception launching dummy_perception_publisher.launch.xml * remove unnecessary comment -* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) -* feat: change launch package name (`#186 `_) +* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_system_launch/CHANGELOG.rst b/launch/tier4_system_launch/CHANGELOG.rst index 6472a862209cf..d42dea8eb7b24 100644 --- a/launch/tier4_system_launch/CHANGELOG.rst +++ b/launch/tier4_system_launch/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package tier4_system_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(system): fixed to use autoware_component_interface_tools (`#9133 `_) +* fix(system): fixed to use autoware_component_interface_tools (`#9133 `_) Fixed component_interface_tools -* feat(system_error_monitor): remove system error monitor (`#8929 `_) +* feat(system_error_monitor): remove system error monitor (`#8929 `_) * feat: delete-system-error-monitor-from-autoware * feat: remove unnecessary params --------- -* feat(emergency_handler): delete package (`#8917 `_) +* feat(emergency_handler): delete package (`#8917 `_) * feat(emergency_handler): delete package -* feat(processing_time_checker): add a new package (`#7957 `_) +* feat(processing_time_checker): add a new package (`#7957 `_) * feat(processing_time_checker): add a new package * fix * fix @@ -22,19 +22,19 @@ Changelog for package tier4_system_launch * fix * fix --------- -* feat(tier4_system_launch): use mrm handler by default (`#7728 `_) -* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) -* feat(default_ad_api): use diagnostic graph (`#7043 `_) +* feat(tier4_system_launch): use mrm handler by default (`#7728 `_) +* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) +* feat(default_ad_api): use diagnostic graph (`#7043 `_) * Contributors: Ryuta Kambe, SakodaShintaro, Takagi, Isamu, Takayuki Murooka, TetsuKawa, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore(tier4_system_launch): add option to select graph path depending on running mode (`#6700 `_) +* chore(tier4_system_launch): add option to select graph path depending on running mode (`#6700 `_) chore(tier4_system_launch): add option of using graph path for simulation -* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) -* chore: update maintainer (`#5730 `_) +* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) +* chore: update maintainer (`#5730 `_) update maintainer -* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) +* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) * add implementation for duplicated node checking * update the default parameters of system_error_monitor to include results from duplication check * style(pre-commit): autofix @@ -51,9 +51,9 @@ Changelog for package tier4_system_launch Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -61,13 +61,13 @@ Changelog for package tier4_system_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) * feat(pose_initializer): enable pose initialization while running (only for sim) * both logsim and psim params * only one pose_initializer_param_path arg * use two param files for pose_initializer --------- -* feat(dummy diag publisher): change diag name specification method to YAML (`#2840 `_) +* feat(dummy diag publisher): change diag name specification method to YAML (`#2840 `_) * Signed-off-by: asana17 modified dummy_diag_publisher to use YAML for param * Signed-off-by: asana17 @@ -78,7 +78,7 @@ Changelog for package tier4_system_launch * add pkg maintainer * launch dummy_diag_publisher by launch_dummy_diag_publisher param --------- -* feat(tier4_system_launch): remove configs and move to autoware_launch (`#2540 `_) +* feat(tier4_system_launch): remove configs and move to autoware_launch (`#2540 `_) * feat(tier4_system_launch): remove configs and move to autoware_launch * update readme * fix readme @@ -87,18 +87,18 @@ Changelog for package tier4_system_launch * fix readme * fix mistake * fix typo -* feat(component_interface_tools): add service log checker (`#2503 `_) +* feat(component_interface_tools): add service log checker (`#2503 `_) * feat(component_interface_utils): add service log checker * feat(component_interface_tools): add service log checker * feat(component_interface_tools): add diagnostics * feat: update system error monitor config -* feat: replace python launch with xml launch for system monitor (`#2430 `_) +* feat: replace python launch with xml launch for system monitor (`#2430 `_) * feat: replace python launch with xml launch for system monitor * ci(pre-commit): autofix * update figure Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(system_monitor): add maintainer (`#2420 `_) -* feat!: replace HADMap with Lanelet (`#2356 `_) +* chore(system_monitor): add maintainer (`#2420 `_) +* feat!: replace HADMap with Lanelet (`#2356 `_) * feat!: replace HADMap with Lanelet * update topic.yaml * Update perception/traffic_light_map_based_detector/README.md @@ -111,13 +111,13 @@ Changelog for package tier4_system_launch Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * format readme Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) +* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) * fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators * ci(pre-commit): autofix * fix(mrm_emergency_stop_operator): remove os import * fix(mrm_emergency_stop_operator): remove unused packages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ad_service_state_monitor)!: remove ad_service_state_monitor (`#2311 `_) +* feat(ad_service_state_monitor)!: remove ad_service_state_monitor (`#2311 `_) * feat(autoware_ad_api_msgs): define operation mode interface * feat(default_ad_api): add operation mode api * fix: add message @@ -158,8 +158,8 @@ Changelog for package tier4_system_launch * feat: remove sensing alive monitoring Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(system_monitor): add parameter to launch system_monitor and fix hdd_monitor (`#2285 `_) -* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) +* fix(system_monitor): add parameter to launch system_monitor and fix hdd_monitor (`#2285 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) * feat(emergency_handler): add mrm command and status publishers * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg * feat(emergency_handler): add mrm clients and subscribers @@ -221,18 +221,18 @@ Changelog for package tier4_system_launch * fix(emergency_handler): fix acronyms case * chore(tier4_system_launch): add a mrm comfortable stop parameter Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_system_launch): remove unused system file (`#2263 `_) +* chore(tier4_system_launch): remove unused system file (`#2263 `_) * chore(tier4_system_launch): remove unused system file * remove unnecessary code -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(component_state_monitor): add component state monitor (`#2120 `_) +* feat(component_state_monitor): add component state monitor (`#2120 `_) * feat(component_state_monitor): add component state monitor * feat: change module -* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) +* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) * adding document for voltage monitor * ci(pre-commit): autofix * fixed for the issue of multithread @@ -252,36 +252,36 @@ Changelog for package tier4_system_launch * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -292,7 +292,7 @@ Changelog for package tier4_system_launch * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -302,50 +302,50 @@ Changelog for package tier4_system_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -366,36 +366,36 @@ Changelog for package tier4_system_launch * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -406,7 +406,7 @@ Changelog for package tier4_system_launch * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -416,50 +416,50 @@ Changelog for package tier4_system_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -469,11 +469,11 @@ Changelog for package tier4_system_launch * merge main ->feature_battery_monitoring * Added voltages are provisional values. * ci(pre-commit): autofix - * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) + * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) * feat(behavior_path_planner): add and change parameters * update * update - * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) + * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) * refactor(perception_util): refactor matching function in perception_util * fix namespace * refactor @@ -481,7 +481,7 @@ Changelog for package tier4_system_launch * fix bug * add const * refactor function name - * refactor(perception_utils): refactor object_classification (`#2042 `_) + * refactor(perception_utils): refactor object_classification (`#2042 `_) * refactor(perception_utils): refactor object_classification * fix bug * fix unittest @@ -489,14 +489,14 @@ Changelog for package tier4_system_launch * fix unit test * remove redundant else * refactor variable name - * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) - * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) - * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) + * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) + * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) + * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) * refactor(osqp_interface, motion_velocity_smoother): unsolved status log * Update common/osqp_interface/src/osqp_interface.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) + * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) Co-authored-by: Yusuke Muramatsu * change name hardware_monitor -> voltage_monitor * copy right 2020 -> 2022 @@ -521,36 +521,36 @@ Changelog for package tier4_system_launch * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -561,7 +561,7 @@ Changelog for package tier4_system_launch * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -571,50 +571,50 @@ Changelog for package tier4_system_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -632,36 +632,36 @@ Changelog for package tier4_system_launch * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -672,7 +672,7 @@ Changelog for package tier4_system_launch * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -682,50 +682,50 @@ Changelog for package tier4_system_launch * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -768,7 +768,7 @@ Changelog for package tier4_system_launch Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Yusuke Muramatsu -* feat: add HDD monitoring items to hdd_monitor (`#721 `_) +* feat: add HDD monitoring items to hdd_monitor (`#721 `_) * feat: add HDD monitoring items to hdd_monitor * fix pre-commit C long type error * fixed the monitoring method of RecoveredError @@ -779,8 +779,8 @@ Changelog for package tier4_system_launch * fix(system_monitor): level change when not connected in HDD connection monitoring * fix(system_monitor): unmount function added in hdd_reader * fix(system_monitor): separate S.M.A.R.T. request and lazy unmount request for hdd_reader -* chore(system_error_monitor): add maintainer (`#1922 `_) -* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) +* chore(system_error_monitor): add maintainer (`#1922 `_) +* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) * feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor * fix build errors caused by merge mistakes * fix(system_monitor): chang word Reasm and fix deep nesting @@ -790,7 +790,7 @@ Changelog for package tier4_system_launch * fix(system_monitor): remove unnecessary static_cast * fix(system_monitor): typo fix Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* feat(pose_initializer)!: support ad api (`#1500 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) * feat(pose_initializer): support ad api * docs: update readme * fix: build error @@ -806,33 +806,33 @@ Changelog for package tier4_system_launch * fix: fix build error * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) +* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* feat: add CRC error monitoring to net_monitor (`#638 `_) +* feat: add CRC error monitoring to net_monitor (`#638 `_) * feat: add CRC error monitoring to net_monitor * add CRC error monitoring information to README.md * ci(pre-commit): autofix Co-authored-by: noriyuki.h Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(tier4_system_launch): declare tier4_system_launch_param_path (`#1411 `_) -* fix(tier4_system_launch): add group tag (`#1240 `_) +* feat(tier4_system_launch): declare tier4_system_launch_param_path (`#1411 `_) +* fix(tier4_system_launch): add group tag (`#1240 `_) * fix(tier4_system_launch): add group tag * move arg into group -* fix(system_monitor): add some smart information to diagnostics (`#708 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* fix(system_monitor): add some smart information to diagnostics (`#708 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change launch package name (`#186 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/launch/tier4_vehicle_launch/CHANGELOG.rst b/launch/tier4_vehicle_launch/CHANGELOG.rst index 3b5e4843e1f86..dfd9f0759abfc 100644 --- a/launch/tier4_vehicle_launch/CHANGELOG.rst +++ b/launch/tier4_vehicle_launch/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package tier4_vehicle_launch 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) +* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) * add prefix * fix other packages * fix cppcheck @@ -16,8 +16,8 @@ Changelog for package tier4_vehicle_launch 0.26.0 (2024-04-03) ------------------- -* fix(raw_vehicle_cmd_converter): fix parameter files to parse path to csv files (`#6136 `_) -* build: mark autoware_cmake as (`#3616 `_) +* fix(raw_vehicle_cmd_converter): fix parameter files to parse path to csv files (`#6136 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -25,40 +25,40 @@ Changelog for package tier4_vehicle_launch --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: fix xacro command in vehicle.launch (`#2171 `_) -* feat(tier4_vehicle launch): switch config_dir value for default/individual_param (`#1416 `_) +* fix: fix xacro command in vehicle.launch (`#2171 `_) +* feat(tier4_vehicle launch): switch config_dir value for default/individual_param (`#1416 `_) * feat(tier4_vehicle_launch): migrate from autoware_launch::vehicle_launch to tier4_vehicle_launch * By default config_dir is _description/config/ (like in planning_simulation) in tier4_vehicle_launch, and in product release config_dir will be set to /config//, and its value is set from either planning_simulator.launch orautoware_launch -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* chore: sync files (`#629 `_) +* style: fix format of package.xml (`#844 `_) +* chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) -* fix(tier4_vehicle_launch): refer to launch packages to find vehicle_interface.launch.xml (`#439 `_) -* fix(tier4_vehicle_launch): remove unnecessary config_dir (`#436 `_) +* fix(tier4_simulator_launch, tier4_vehicle_launch)!: fix launch args (`#443 `_) +* fix(tier4_vehicle_launch): refer to launch packages to find vehicle_interface.launch.xml (`#439 `_) +* fix(tier4_vehicle_launch): remove unnecessary config_dir (`#436 `_) * fix(tier4_vehicle_launch): remove unnecessary config_dir * refactor: rename arg * remove vehicle_description.launch.xml to simplify the structure * chore: simplify vehicle.xacro -* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) +* feat(tier4_autoware_launch)!: move package to autoware_launch (`#420 `_) * feat(tier4_autoware_launch)!: move package to autoware_launch * remove unnecessary depends -* docs: fix invalid links (`#309 `_) -* feat: change launch package name (`#186 `_) +* docs: fix invalid links (`#309 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch diff --git a/localization/autoware_ekf_localizer/CHANGELOG.rst b/localization/autoware_ekf_localizer/CHANGELOG.rst index 35fce4f96ef08..bce88cb58f6c5 100644 --- a/localization/autoware_ekf_localizer/CHANGELOG.rst +++ b/localization/autoware_ekf_localizer/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_ekf_localizer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(ekf_localizer)!: prefix package and namespace with autoware (`#8888 `_) +* refactor(ekf_localizer)!: prefix package and namespace with autoware (`#8888 `_) * import lanelet2_map_preprocessor * move headers to include/autoware/efk_localier --------- diff --git a/localization/autoware_geo_pose_projector/CHANGELOG.rst b/localization/autoware_geo_pose_projector/CHANGELOG.rst index 1925737c6a571..41729bbef184c 100644 --- a/localization/autoware_geo_pose_projector/CHANGELOG.rst +++ b/localization/autoware_geo_pose_projector/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package autoware_geo_pose_projector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) * refactor(geography_utils): prefix package and namespace with autoware * move headers to include/autoware/ --------- -* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) +* refactor(geo_pose_projector)!: prefix package and namespace with autoware (`#8334 `_) * add autoware\_ prefix * style(pre-commit): autofix --------- diff --git a/localization/autoware_gyro_odometer/CHANGELOG.rst b/localization/autoware_gyro_odometer/CHANGELOG.rst index 59a7f6c5d5090..b2a293af33018 100644 --- a/localization/autoware_gyro_odometer/CHANGELOG.rst +++ b/localization/autoware_gyro_odometer/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_gyro_odometer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) +* refactor(gyro_odometer)!: prefix package and namespace with autoware (`#8340 `_) * add autoware\_ prefix * add missing header * use target_include_directories instead diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst index e24342415d923..d74b537c50fdd 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst @@ -5,27 +5,27 @@ Changelog for package autoware_ar_tag_based_localizer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* fix(doc): landmark localizer (`#8301 `_) +* fix(doc): landmark localizer (`#8301 `_) fix landmark localizer -* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) +* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yamato Ando -* perf(autoware_ar_tag_based_localizer): remove unnecessary pub/sub depth for transient_local (`#8259 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* chore: update sample rosbags for localization modules (`#7716 `_) +* perf(autoware_ar_tag_based_localizer): remove unnecessary pub/sub depth for transient_local (`#8259 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* chore: update sample rosbags for localization modules (`#7716 `_) Update sample rosbags for new message types -* fix: replace deprecated header in Jazzy (`#7603 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) * Use cv_bridge.hpp if available * Fix image_geometry deprecated header * Add comment for __has_include --------- Co-authored-by: Kotaro Yoshimoto -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) +* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) * Added prefix "autoware\_" to ar_tag_based_localizer * style(pre-commit): autofix * Fixed localization_launch diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst index 241a307ea8e98..1c08781d5e233 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_landmark_manager 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) +* refactor(localization): remove unnecessary dependency in localization packages (`#8202 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yamato Ando -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) +* refactor(ar_tag_based_localizer): add prefix "autoware\_" to ar_tag_based_localizer (`#7483 `_) * Added prefix "autoware\_" to ar_tag_based_localizer * style(pre-commit): autofix * Fixed localization_launch diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst index 3bbcf463b2a7d..4d154f8e365f9 100644 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package autoware_lidar_marker_localizer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* feat(localization): add `lidar_marker_localizer` (`#5573 `_) +* feat(localization): add `lidar_marker_localizer` (`#5573 `_) * Added lidar_marker_localizer * style(pre-commit): autofix * fix launch file diff --git a/localization/autoware_localization_error_monitor/CHANGELOG.rst b/localization/autoware_localization_error_monitor/CHANGELOG.rst index 6c293809b481f..d24c1d7ac4bce 100644 --- a/localization/autoware_localization_error_monitor/CHANGELOG.rst +++ b/localization/autoware_localization_error_monitor/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_localization_error_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* fix(localization_error_monitor, system diag): fix to use diagnostics_module in localization_util (`#8543 `_) +* fix(localization_error_monitor, system diag): fix to use diagnostics_module in localization_util (`#8543 `_) * fix(localization_error_monitor): fix to use diagnostics_module in localization_util * fix: update media * fix: update component name * fix: rename include file --------- -* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) +* refactor(localization_error_monitor)!: prefix package and namespace with autoware (`#8423 `_) add autoware\_ prefix * Contributors: Masaki Baba, RyuYamamoto, Yutaka Kondo diff --git a/localization/autoware_localization_util/CHANGELOG.rst b/localization/autoware_localization_util/CHANGELOG.rst index b64aecd4ac4a3..7dae713216362 100644 --- a/localization/autoware_localization_util/CHANGELOG.rst +++ b/localization/autoware_localization_util/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_localization_util 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util * Contributors: Masaki Baba, Yutaka Kondo diff --git a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst index e28c1a801338d..36b7becac9be0 100644 --- a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst +++ b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_ndt_scan_matcher 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) add autoware\_ prefix * Contributors: Masaki Baba, Yutaka Kondo diff --git a/localization/autoware_pose2twist/CHANGELOG.rst b/localization/autoware_pose2twist/CHANGELOG.rst index a261e22cdb60c..653daf8d9a34c 100644 --- a/localization/autoware_pose2twist/CHANGELOG.rst +++ b/localization/autoware_pose2twist/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_pose2twist 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) +* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) * add autoware\_ prefix * use target_include_directories instead --------- diff --git a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst index 6dff24e91bd23..e59dee39371e3 100644 --- a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst +++ b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package autoware_pose_covariance_modifier 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* docs(autoware_pose_covariance_modifier): fix gt symbol (`#9082 `_) -* docs(autoware_pose_cov_modifier): fix line breaks and dead links (`#8991 `_) +* docs(autoware_pose_covariance_modifier): fix gt symbol (`#9082 `_) +* docs(autoware_pose_cov_modifier): fix line breaks and dead links (`#8991 `_) * fix(autoware_pose_cov_modifier): fix line breaks * fix dead links --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(autoware_pose_covariance_modifier): fix funcArgNamesDifferent (`#8007 `_) +* fix(autoware_pose_covariance_modifier): fix funcArgNamesDifferent (`#8007 `_) fix:funcArgNamesDifferent -* fix(pose_covariance_modifier): fix json schema (`#7323 `_) +* fix(pose_covariance_modifier): fix json schema (`#7323 `_) fix json schema Co-authored-by: Kotaro Yoshimoto -* fix(autoware_pose_covariance_modifier): change log output from screen to both (`#7198 `_) +* fix(autoware_pose_covariance_modifier): change log output from screen to both (`#7198 `_) change log output from screen to both Co-authored-by: SakodaShintaro -* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) +* feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (`#6570 `_) Co-authored-by: M. Fatih Cırıt * Contributors: Esteve Fernandez, Masaki Baba, Yamato Ando, Yutaka Kondo, kobayu858, melike tanrikulu diff --git a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst index 4981ed9812334..37bf54b3d27ee 100644 --- a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst +++ b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_pose_estimator_arbiter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) add autoware\_ prefix -* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) +* refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (`#8386 `_) * add autoware\_ prefix * add autoware\_ prefix * fix link for landmark_based_localizer diff --git a/localization/autoware_pose_initializer/CHANGELOG.rst b/localization/autoware_pose_initializer/CHANGELOG.rst index 24764833d8599..c6986a26a3d20 100644 --- a/localization/autoware_pose_initializer/CHANGELOG.rst +++ b/localization/autoware_pose_initializer/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_pose_initializer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* feat(pose_initializer): check error initial pose and gnss pose, output diagnostics (`#8947 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* feat(pose_initializer): check error initial pose and gnss pose, output diagnostics (`#8947 `_) * check initial pose error use GNSS pose * add pose_error_check_enabled parameter * fixed key value name @@ -16,9 +16,9 @@ Changelog for package autoware_pose_initializer * fixed type and default in schema json * rename key value --------- -* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) +* refactor(localization_util)!: prefix package and namespace with autoware (`#8922 `_) add autoware prefix to localization_util -* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) +* refactor(pose_initializer)!: prefix package and namespace with autoware (`#8701 `_) * add autoware\_ prefix * fix link --------- diff --git a/localization/autoware_pose_instability_detector/CHANGELOG.rst b/localization/autoware_pose_instability_detector/CHANGELOG.rst index 61445eda83331..f81c3c36e8b90 100644 --- a/localization/autoware_pose_instability_detector/CHANGELOG.rst +++ b/localization/autoware_pose_instability_detector/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_pose_instability_detector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) +* refactor(pose_instability_detector)!: prefix package and namespace with autoware (`#8568 `_) * add autoware\_ prefix * add autoware\_ prefix --------- diff --git a/localization/autoware_stop_filter/CHANGELOG.rst b/localization/autoware_stop_filter/CHANGELOG.rst index 92dd7bfb70be9..94aa8719318f5 100644 --- a/localization/autoware_stop_filter/CHANGELOG.rst +++ b/localization/autoware_stop_filter/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package autoware_stop_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): autoware stop filter docs (`#8302 `_) +* fix(docs): autoware stop filter docs (`#8302 `_) fix autoware stop filter docs -* fix(autoware_stop_filter): fix funcArgNamesDifferent (`#8008 `_) +* fix(autoware_stop_filter): fix funcArgNamesDifferent (`#8008 `_) fix:funcArgNamesDifferent -* chore(localization, map): remove maintainer (`#7940 `_) -* fix(stop_filter): fix plugin name (`#7820 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* fix(stop_filter): fix plugin name (`#7820 `_) Fixed plugin name -* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) +* refactor(stop_filter): prefix package and namespace with autoware (`#7789 `_) * refactor(stop_filter): prefix package and namespace with autoware * fix launch files and update CODEOWNERS --------- diff --git a/localization/autoware_twist2accel/CHANGELOG.rst b/localization/autoware_twist2accel/CHANGELOG.rst index 15e448647054d..1f6228b9b5f62 100644 --- a/localization/autoware_twist2accel/CHANGELOG.rst +++ b/localization/autoware_twist2accel/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package autoware_twist2accel 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(autoware_twist2accel): fix funcArgNamesDifferent (`#8391 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(autoware_twist2accel): fix funcArgNamesDifferent (`#8391 `_) fix:funcArgNamesDifferent -* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) +* refactor(twist2accel)!: prefix package and namespace with autoware (`#8299 `_) * add autoware\_ prefix * add autoware\_ prefix * add autoware\_ prefix diff --git a/localization/yabloc/yabloc_common/CHANGELOG.rst b/localization/yabloc/yabloc_common/CHANGELOG.rst index b2776cf51305d..936f230220d86 100644 --- a/localization/yabloc/yabloc_common/CHANGELOG.rst +++ b/localization/yabloc/yabloc_common/CHANGELOG.rst @@ -5,21 +5,21 @@ Changelog for package yabloc_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(yabloc_common): fix unusedFunction (`#8560 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(yabloc_common): fix unusedFunction (`#8560 `_) fix:unusedFunction -* perf(yabloc_common): remove unnecessary pub/sub depth for transient_local (`#8248 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix: replace deprecated header in Jazzy (`#7603 `_) +* perf(yabloc_common): remove unnecessary pub/sub depth for transient_local (`#8248 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) * Use cv_bridge.hpp if available * Fix image_geometry deprecated header * Add comment for __has_include --------- Co-authored-by: Kotaro Yoshimoto -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(yabloc_common): apply static analysis (`#7481 `_) +* refactor(yabloc_common): apply static analysis (`#7481 `_) * refactor based on linter * restore unwanted change * remove unnecessary comment @@ -28,7 +28,7 @@ Changelog for package yabloc_common * add static cast --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(yabloc): suppress no viable conversion error (`#7299 `_) +* fix(yabloc): suppress no viable conversion error (`#7299 `_) * use tier4_autoware_utils instead of yabloc::Color * use static_cast to convert Color to RGBA * use tier4_autoware_utils instead of yabloc::Color @@ -36,17 +36,17 @@ Changelog for package yabloc_common * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (`#7243 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (`#7243 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* refactor(yabloc): use constexpr properly (`#7207 `_) -* fix(yabloc): fix bug in capturing in lambda function (`#7208 `_) +* refactor(yabloc): use constexpr properly (`#7207 `_) +* fix(yabloc): fix bug in capturing in lambda function (`#7208 `_) * fix(yabloc): fix bug in capturing in lambda function * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) +* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) * make executables component * log output changes to both * style(pre-commit): autofix @@ -55,17 +55,17 @@ Changelog for package yabloc_common * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(glog): add initialization check (`#6792 `_) +* chore(glog): add initialization check (`#6792 `_) * Contributors: Esteve Fernandez, Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, Ryohsuke Mitsudome, Ryuta Kambe, Takamasa Horibe, Takayuki Murooka, Yutaka Kondo, kobayu858, ぐるぐる 0.26.0 (2024-04-03) ------------------- -* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) +* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) * replace parameters by json_to_markdown * fix some schma path * fix again --------- -* chore(yabloc): rework parameters (`#6170 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -88,20 +88,20 @@ Changelog for package yabloc_common * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* build(yabloc_common): add missing libgoogle-glog-dev dependency (`#5225 `_) +* build(yabloc_common): add missing libgoogle-glog-dev dependency (`#5225 `_) * build(yabloc_common): add missing libgoogle-glog-dev dependency * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) Co-authored-by: yamato-ando -* chore: add maintainer in localization and map packages (`#4501 `_) -* fix(yabloc): fix typo (`#4281 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* fix(yabloc): fix typo (`#4281 `_) * fix(yabloc): fix typo * fix Kinv and mean_pose * style(pre-commit): autofix @@ -112,7 +112,7 @@ Changelog for package yabloc_common * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -258,26 +258,26 @@ Changelog for package yabloc_common * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -288,18 +288,18 @@ Changelog for package yabloc_common * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -307,42 +307,42 @@ Changelog for package yabloc_common * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -356,47 +356,47 @@ Changelog for package yabloc_common * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -407,8 +407,8 @@ Changelog for package yabloc_common * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -417,8 +417,8 @@ Changelog for package yabloc_common * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -426,15 +426,15 @@ Changelog for package yabloc_common * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -443,7 +443,7 @@ Changelog for package yabloc_common * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common diff --git a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst index 00cb4ae799dbb..b3b0eab9847b4 100644 --- a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst +++ b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst @@ -5,27 +5,27 @@ Changelog for package yabloc_image_processing 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(yabloc_image_processing): fix shadowFunction (`#7865 `_) +* fix(yabloc_image_processing): fix shadowFunction (`#7865 `_) * fix(yabloc_image_processing): fix shadowFunction * fix * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: replace deprecated header in Jazzy (`#7603 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) * Use cv_bridge.hpp if available * Fix image_geometry deprecated header * Add comment for __has_include --------- Co-authored-by: Kotaro Yoshimoto -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(yabloc_image_processing): apply static analysis (`#7489 `_) +* refactor(yabloc_image_processing): apply static analysis (`#7489 `_) * refactor based on linter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_image_processing): componentize yabloc_image_processing nodes (`#7196 `_) +* feat(yabloc_image_processing): componentize yabloc_image_processing nodes (`#7196 `_) * replace executable with component * modify launch * fix line_segments_overlay namespace & node_name @@ -37,12 +37,12 @@ Changelog for package yabloc_image_processing 0.26.0 (2024-04-03) ------------------- -* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) +* chore(yabloc): replace parameters by json_to_markdown in readme (`#6183 `_) * replace parameters by json_to_markdown * fix some schma path * fix again --------- -* chore(yabloc): rework parameters (`#6170 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -65,30 +65,30 @@ Changelog for package yabloc_image_processing * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) +* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) * change arg default value * add yabloc_trigger_service * fix misc --------- -* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) +* feat(yabloc_image_processing): support both of raw and compressed image input (`#5209 `_) * add raw image subscriber * update README * improve format and variable names --------- -* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) Co-authored-by: yamato-ando -* fix(yabloc_image_processing): handle exception when no lines detected (`#4717 `_) -* chore: add maintainer in localization and map packages (`#4501 `_) -* feat(yabloc): change namespace (`#4389 `_) +* fix(yabloc_image_processing): handle exception when no lines detected (`#4717 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* feat(yabloc): change namespace (`#4389 `_) * fix(yabloc): update namespace * fix --------- -* fix(yabloc): fix typo (`#4281 `_) +* fix(yabloc): fix typo (`#4281 `_) * fix(yabloc): fix typo * fix Kinv and mean_pose * style(pre-commit): autofix @@ -99,7 +99,7 @@ Changelog for package yabloc_image_processing * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -124,14 +124,14 @@ Changelog for package yabloc_image_processing * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(yabloc): fix spell-check CI (`#4268 `_) +* fix(yabloc): fix spell-check CI (`#4268 `_) * fix(yabloc): fix typo * style(pre-commit): autofix * fix more typo * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -277,26 +277,26 @@ Changelog for package yabloc_image_processing * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -307,18 +307,18 @@ Changelog for package yabloc_image_processing * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -326,42 +326,42 @@ Changelog for package yabloc_image_processing * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -375,47 +375,47 @@ Changelog for package yabloc_image_processing * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -426,8 +426,8 @@ Changelog for package yabloc_image_processing * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -436,8 +436,8 @@ Changelog for package yabloc_image_processing * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -445,15 +445,15 @@ Changelog for package yabloc_image_processing * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -462,7 +462,7 @@ Changelog for package yabloc_image_processing * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common diff --git a/localization/yabloc/yabloc_monitor/CHANGELOG.rst b/localization/yabloc/yabloc_monitor/CHANGELOG.rst index a22ba4228ef0d..322ed6fa7ce20 100644 --- a/localization/yabloc/yabloc_monitor/CHANGELOG.rst +++ b/localization/yabloc/yabloc_monitor/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package yabloc_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(localization, map): remove maintainer (`#7940 `_) -* feat(yabloc_monitor): componentize yabloc_monitor node (`#7509 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* feat(yabloc_monitor): componentize yabloc_monitor node (`#7509 `_) * change node to component * fix launch file & cmake --------- @@ -14,7 +14,7 @@ Changelog for package yabloc_monitor 0.26.0 (2024-04-03) ------------------- -* chore(yabloc): rework parameters (`#6170 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -37,13 +37,13 @@ Changelog for package yabloc_monitor * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* chore: add maintainer in localization and map packages (`#4501 `_) -* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* feat(yabloc_monitor): add yabloc_monitor (`#4395 `_) * feat(yabloc_monitor): add yabloc_monitor * style(pre-commit): autofix * add readme diff --git a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst index 671c65cade5d7..967571100c5f4 100644 --- a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst +++ b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package yabloc_particle_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(yabloc_particle_filter): apply static analysis (`#7519 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(yabloc_particle_filter): apply static analysis (`#7519 `_) * removed unused * style(pre-commit): autofix * removed unused @@ -17,9 +17,9 @@ Changelog for package yabloc_particle_filter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(yabloc_common): apply static analysis (`#7481 `_) +* refactor(yabloc_common): apply static analysis (`#7481 `_) * refactor based on linter * restore unwanted change * remove unnecessary comment @@ -28,7 +28,7 @@ Changelog for package yabloc_particle_filter * add static cast --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_particle_filter): componentize yabloc_particle_filter nodes (`#7305 `_) +* feat(yabloc_particle_filter): componentize yabloc_particle_filter nodes (`#7305 `_) * componentize particle predictor * componentize particle visualizer * componentize particle correctors @@ -39,7 +39,7 @@ Changelog for package yabloc_particle_filter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto -* fix(yabloc): suppress no viable conversion error (`#7299 `_) +* fix(yabloc): suppress no viable conversion error (`#7299 `_) * use tier4_autoware_utils instead of yabloc::Color * use static_cast to convert Color to RGBA * use tier4_autoware_utils instead of yabloc::Color @@ -47,7 +47,7 @@ Changelog for package yabloc_particle_filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) +* feat(yabloc_common): componentize yabloc_common nodes (`#7143 `_) * make executables component * log output changes to both * style(pre-commit): autofix @@ -56,12 +56,12 @@ Changelog for package yabloc_particle_filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(glog): add initialization check (`#6792 `_) +* chore(glog): add initialization check (`#6792 `_) * Contributors: Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, Takamasa Horibe, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore(yabloc): rework parameters (`#6170 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -84,29 +84,29 @@ Changelog for package yabloc_particle_filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) +* feat(yabloc): add yabloc trigger service to suspend and restart the estimation (`#6076 `_) * change arg default value * add yabloc_trigger_service * fix misc --------- -* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) Co-authored-by: yamato-ando -* chore: add maintainer in localization and map packages (`#4501 `_) -* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) * refactor(yabloc_particle_filter): remove deprecated cmake ros2idl API * refactor(yabloc_pose_initializer): remove deprecated cmake ros2idl API --------- -* feat(yabloc): change namespace (`#4389 `_) +* feat(yabloc): change namespace (`#4389 `_) * fix(yabloc): update namespace * fix --------- -* fix(yabloc_particle_filter): fix typo (`#4332 `_) -* fix(yabloc): fix typo (`#4281 `_) +* fix(yabloc_particle_filter): fix typo (`#4332 `_) +* fix(yabloc): fix typo (`#4281 `_) * fix(yabloc): fix typo * fix Kinv and mean_pose * style(pre-commit): autofix @@ -117,7 +117,7 @@ Changelog for package yabloc_particle_filter * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -142,14 +142,14 @@ Changelog for package yabloc_particle_filter * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(yabloc): fix spell-check CI (`#4268 `_) +* fix(yabloc): fix spell-check CI (`#4268 `_) * fix(yabloc): fix typo * style(pre-commit): autofix * fix more typo * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -295,26 +295,26 @@ Changelog for package yabloc_particle_filter * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -325,18 +325,18 @@ Changelog for package yabloc_particle_filter * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -344,42 +344,42 @@ Changelog for package yabloc_particle_filter * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -393,47 +393,47 @@ Changelog for package yabloc_particle_filter * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -444,8 +444,8 @@ Changelog for package yabloc_particle_filter * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -454,8 +454,8 @@ Changelog for package yabloc_particle_filter * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -463,15 +463,15 @@ Changelog for package yabloc_particle_filter * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -480,7 +480,7 @@ Changelog for package yabloc_particle_filter * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common diff --git a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst index 9e4ceff33133f..fac49c978ca92 100644 --- a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst +++ b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst @@ -5,31 +5,31 @@ Changelog for package yabloc_pose_initializer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(pose_initializer, ndt_scan_matcher): check initial pose result and publish diag (`#8275 `_) +* feat(pose_initializer, ndt_scan_matcher): check initial pose result and publish diag (`#8275 `_) * feat(localization): check initial pose result and publish diag * fix: refactor * feat: update README * fix: rename reliability to reliable * feat: always return true in yabloc module --------- -* refactor(yabloc_pose_initializer): apply static analysis (`#7719 `_) +* refactor(yabloc_pose_initializer): apply static analysis (`#7719 `_) * refactor based on linter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix: replace deprecated header in Jazzy (`#7603 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix: replace deprecated header in Jazzy (`#7603 `_) * Use cv_bridge.hpp if available * Fix image_geometry deprecated header * Add comment for __has_include --------- Co-authored-by: Kotaro Yoshimoto -* feat(yabloc_pose_initializer): componentize yabloc_pose_initializer node (`#7506 `_) +* feat(yabloc_pose_initializer): componentize yabloc_pose_initializer node (`#7506 `_) * change the node to component * remove useless node.cpp * add rclcpp_components as dependency --------- -* fix(yabloc): suppress no viable conversion error (`#7299 `_) +* fix(yabloc): suppress no viable conversion error (`#7299 `_) * use tier4_autoware_utils instead of yabloc::Color * use static_cast to convert Color to RGBA * use tier4_autoware_utils instead of yabloc::Color @@ -37,17 +37,17 @@ Changelog for package yabloc_pose_initializer * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (`#7243 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (`#7243 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* perf(yabloc): fix performance warning of iterateByValue (`#6929 `_) +* perf(yabloc): fix performance warning of iterateByValue (`#6929 `_) * Contributors: Kento Yabuuchi, Masaki Baba, Ryohsuke Mitsudome, RyuYamamoto, Ryuta Kambe, Yutaka Kondo, ぐるぐる 0.26.0 (2024-04-03) ------------------- -* build(yabloc_pose_initializer): fix dependencies (`#6190 `_) -* chore(yabloc): rework parameters (`#6170 `_) +* build(yabloc_pose_initializer): fix dependencies (`#6190 `_) +* chore(yabloc): rework parameters (`#6170 `_) * introduce json schema for ground_server * introduce json schema for ll2_decomposer * style(pre-commit): autofix @@ -70,19 +70,19 @@ Changelog for package yabloc_pose_initializer * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) +* refactor(localization_packages): remove unused in packages.xml files (`#5171 `_) Co-authored-by: yamato-ando -* build(yabloc_pose_initializer): remove downloading logic from CMake (`#4905 `_) +* build(yabloc_pose_initializer): remove downloading logic from CMake (`#4905 `_) * remove downloading logic from Cmake * build(yabloc_pose_initializer): remove downloading logic from CMake * build(yabloc_pose_initializer): update default model path in launch file --------- -* refactor(yabloc_pose_initializer): use cpp DNN module instead of python (`#5025 `_) +* refactor(yabloc_pose_initializer): use cpp DNN module instead of python (`#5025 `_) * cannot include yabloc_pose_initializer.srv * launch semantic_segmentation_cpp * implement DNN inference as C++ @@ -98,16 +98,16 @@ Changelog for package yabloc_pose_initializer * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: add maintainer in localization and map packages (`#4501 `_) -* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* refactor(yabloc): replace deprecated rosidl API (`#4423 `_) * refactor(yabloc_particle_filter): remove deprecated cmake ros2idl API * refactor(yabloc_pose_initializer): remove deprecated cmake ros2idl API --------- -* feat(yabloc): change namespace (`#4389 `_) +* feat(yabloc): change namespace (`#4389 `_) * fix(yabloc): update namespace * fix --------- -* feat(yabloc_pose_initializer): make yabloc independent of dnn model by default (`#4296 `_) +* feat(yabloc_pose_initializer): make yabloc independent of dnn model by default (`#4296 `_) * care no dnn model exists * modify segmentation_srv to inform inference failure * add documentation @@ -116,7 +116,7 @@ Changelog for package yabloc_pose_initializer * make const variable be capital * use std::optional rather than reference arg --------- -* fix(yabloc): fix typo (`#4281 `_) +* fix(yabloc): fix typo (`#4281 `_) * fix(yabloc): fix typo * fix Kinv and mean_pose * style(pre-commit): autofix @@ -127,7 +127,7 @@ Changelog for package yabloc_pose_initializer * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#4257 `_) * feat(tier4_localization_launch): add pose_twist_estimator.launch.py * update format * update launcher @@ -152,9 +152,9 @@ Changelog for package yabloc_pose_initializer * Update yabloc document --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(yabloc_pose_initializer): disable downloading artifacts by default (`#4110 `_) +* fix(yabloc_pose_initializer): disable downloading artifacts by default (`#4110 `_) Co-authored-by: Esteve Fernandez -* feat(yabloc): add camera and vector map localization (`#3946 `_) +* feat(yabloc): add camera and vector map localization (`#3946 `_) * adopt scane_case to undistort, segment_filter * adopt scane_case to ground_server, ll2_decomposer * adopt scane_case to twist_converter, twist_estimator @@ -300,26 +300,26 @@ Changelog for package yabloc_pose_initializer * update README and some sample images * update README.md * fix override_camera_frame_id bahaviors - * fix some bugs (`#4 `_) - * fix: use initialpose from Rviz (`#6 `_) + * fix some bugs (`#4 `_) + * fix: use initialpose from Rviz (`#6 `_) * use initialpose from Rviz to init * add description about how-to-set-initialpose --------- - * misc: add license (`#7 `_) + * misc: add license (`#7 `_) * WIP: add license description * add license description * add description about license in README --------- - * add quick start demo (`#8 `_) - * refactor(launch) remove & update obsolete launch files (`#9 `_) + * add quick start demo (`#8 `_) + * refactor(launch) remove & update obsolete launch files (`#9 `_) * delete obsolete launch files * update documents --------- - * docs(readme): update architecture image (`#10 `_) + * docs(readme): update architecture image (`#10 `_) * replace architecture image in README * update some images --------- - * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) + * refactor(pcdless_launc/scripts): remove unnecessary scripts (`#11 `_) * remove not useful scripts * rename scripts & add descriptions * little change @@ -330,18 +330,18 @@ Changelog for package yabloc_pose_initializer * fix(twist_estimator): use velocity_report by default * fix bug * debugged, now works - * update sample rosbag link (`#14 `_) - * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) + * update sample rosbag link (`#14 `_) + * feature(graph_segment, gnss_particle_corrector): make some features switchable (`#17 `_) * make additional-graph-segment-pickup disablable * enlarge gnss_mahalanobis_distance_threshold in expressway.launch --------- - * fix: minor fix for multi camera support (`#18 `_) + * fix: minor fix for multi camera support (`#18 `_) * fix: minor fix for multi camera support * update * update * fix typo --------- - * refactor(retroactive_resampler): more readable (`#19 `_) + * refactor(retroactive_resampler): more readable (`#19 `_) * make Hisotry class * use boost:adaptors::indexed() * add many comment in resampling() @@ -349,42 +349,42 @@ Changelog for package yabloc_pose_initializer * rename interface of resampler * circular_buffer is unnecessary --------- - * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) + * refactor(mpf::predictor) resampling interval control in out of resampler (`#20 `_) * resampling interval management should be done out of resample() * resampler class throw exeption rather than optional * split files for resampling_history * split files for experimental/suspention_adaptor --------- - * refactor(mpf::predictor): just refactoring (`#21 `_) + * refactor(mpf::predictor): just refactoring (`#21 `_) * remove obsolete functions * remove test of predictor * remove remapping in pf.launch.xml for suspension_adapator * add some comments --------- - * fix(twist_estimator): remove stop filter for velocity (`#23 `_) - * feat(pcdless_launch): add multi camera launcher (`#22 `_) + * fix(twist_estimator): remove stop filter for velocity (`#23 `_) + * feat(pcdless_launch): add multi camera launcher (`#22 `_) * feat(pcdless_launch): add multi camera launcher * minor fix --------- - * refactor(CMakeListx.txt): just refactoring (`#24 `_) + * refactor(CMakeListx.txt): just refactoring (`#24 `_) * refactor imgproc/*/CMakeListx.txt * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg * rename some files in twist/ & refactor pf/*/cmakelist * refactor validation/*/CMakeListx.txt * fix some obsolete executor name --------- - * fix: rename lsd variables and files (`#26 `_) - * misc: reame pcdless to yabloc (`#25 `_) + * fix: rename lsd variables and files (`#26 `_) + * misc: reame pcdless to yabloc (`#25 `_) * rename pcdless to yabloc * fix conflict miss --------- - * visualize path (`#28 `_) - * docs: update readme about particle filter (`#30 `_) + * visualize path (`#28 `_) + * docs: update readme about particle filter (`#30 `_) * update mpf/README.md * update gnss_corrector/README.md * update camera_corrector/README.md --------- - * feat(segment_filter): publish images with lines and refactor (`#29 `_) + * feat(segment_filter): publish images with lines and refactor (`#29 `_) * feat(segment_filter): publish images with lines * update validation * update imgproc (reverted) @@ -398,47 +398,47 @@ Changelog for package yabloc_pose_initializer * no throw runtime_error (unintentionaly applying format) --------- Co-authored-by: Kento Yabuuchi - * catch runtime_error when particle id is invalid (`#31 `_) - * return if info is nullopt (`#32 `_) - * pose_buffer is sometimes empty (`#33 `_) - * use_yaw_of_initialpose (`#34 `_) - * feat(interface): remove incompatible interface (`#35 `_) + * catch runtime_error when particle id is invalid (`#31 `_) + * return if info is nullopt (`#32 `_) + * pose_buffer is sometimes empty (`#33 `_) + * use_yaw_of_initialpose (`#34 `_) + * feat(interface): remove incompatible interface (`#35 `_) * not use ublox_msg when run as autoware * remove twist/kalman/twist & use twist_estimator/twist_with_covariance * update particle_array stamp even if the time stamp seems wrong --------- - * fix: suppress info/warn_stream (`#37 `_) + * fix: suppress info/warn_stream (`#37 `_) * does not stream undistortion time * improve warn stream when skip particle weighting * surpress frequency of warnings during synchronized particle searching * fix camera_pose_initializer --------- - * /switch must not be nice name (`#39 `_) - * misc(readme): update readme (`#41 `_) + * /switch must not be nice name (`#39 `_) + * misc(readme): update readme (`#41 `_) * add youtube link and change thumbnail * improve input/output topics * quick start demo screen image * add abstruct architecture and detail architecture --------- - * docs(rosdep): fix package.xml to ensure build success (`#44 `_) + * docs(rosdep): fix package.xml to ensure build success (`#44 `_) * fix package.xml to success build * add 'rosdep install' in how-to-build --------- - * add geographiclib in package.xml (`#46 `_) - * fix path search error in build stage (`#45 `_) + * add geographiclib in package.xml (`#46 `_) + * fix path search error in build stage (`#45 `_) * fix path search error in build stage * fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419 - * Feature/remove submodule (`#47 `_) + * Feature/remove submodule (`#47 `_) * remove submodules * remove doppler converter --------- - * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) + * feature: change node namespace to /localization/yabloc/** from /localization/** (`#48 `_) * change node namespace * update namespace for autoware-mode * update namespace in multi_camera.launch --------- - * removed unstable packages (`#49 `_) - * feature: add *.param.yaml to manage parameters (`#50 `_) + * removed unstable packages (`#49 `_) + * feature: add *.param.yaml to manage parameters (`#50 `_) * make *.param.yaml in imgproc packages * make *.param.yaml in initializer packages * make *.param.yaml in map packages @@ -449,8 +449,8 @@ Changelog for package yabloc_pose_initializer * remove default parameters * fix some remaining invalida parameters --------- - * does not estimate twist (`#51 `_) - * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) + * does not estimate twist (`#51 `_) + * feat(particle_initializer): merge particle_initializer into mpf (`#52 `_) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter * remove particle_initializer * remove debug message @@ -459,8 +459,8 @@ Changelog for package yabloc_pose_initializer * rename publishing topic --------- Co-authored-by: Kento Yabuuchi - * fix: remove ll2_transition_area (`#54 `_) - * feature(initializer): combine some initializer packages (`#56 `_) + * fix: remove ll2_transition_area (`#54 `_) + * feature(initializer): combine some initializer packages (`#56 `_) * combine some package about initializer * yabloc_pose_initializer works well * remove old initializer packages @@ -468,15 +468,15 @@ Changelog for package yabloc_pose_initializer * fix bug * revert initializer mode --------- - * feature(imgproc): reudce imgproc packages (`#57 `_) + * feature(imgproc): reudce imgproc packages (`#57 `_) * combine some imgproc packages * combine overlay monitors into imgproc --------- - * feature(validation): remove validation packages (`#58 `_) + * feature(validation): remove validation packages (`#58 `_) * remove validation packages * remove path visualization --------- - * feature(pf): combine some packages related to particle filter (`#59 `_) + * feature(pf): combine some packages related to particle filter (`#59 `_) * create yabloc_particle_filter * combine gnss_particle_corrector * combine ll2_cost_map @@ -485,7 +485,7 @@ Changelog for package yabloc_pose_initializer * split README & remove obsolete scripts * fix config path of multi_camera mode --------- - * feature: combine map and twist packages (`#60 `_) + * feature: combine map and twist packages (`#60 `_) * removed some twist nodes & rename remains to yabloc_twist * fix launch files for yabloc_twist * move map packages to yabloc_common diff --git a/map/autoware_map_height_fitter/CHANGELOG.rst b/map/autoware_map_height_fitter/CHANGELOG.rst index 857ffd6b70d4e..5521960cabbdf 100644 --- a/map/autoware_map_height_fitter/CHANGELOG.rst +++ b/map/autoware_map_height_fitter/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_map_height_fitter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(map_height_fitter)!: prefix package and namespace with autoware (`#8421 `_) +* refactor(map_height_fitter)!: prefix package and namespace with autoware (`#8421 `_) * add autoware\_ prefix * style(pre-commit): autofix * remove duplicated dependency diff --git a/map/autoware_map_projection_loader/CHANGELOG.rst b/map/autoware_map_projection_loader/CHANGELOG.rst index dbd1efbcae57f..40041fa24cda2 100644 --- a/map/autoware_map_projection_loader/CHANGELOG.rst +++ b/map/autoware_map_projection_loader/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_map_projection_loader 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) * add autoware\_ prefix * add autoware\_ prefix --------- diff --git a/map/autoware_map_tf_generator/CHANGELOG.rst b/map/autoware_map_tf_generator/CHANGELOG.rst index fd9a0360a0284..d8c2ebdd75145 100644 --- a/map/autoware_map_tf_generator/CHANGELOG.rst +++ b/map/autoware_map_tf_generator/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_map_tf_generator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) +* refactor(map_tf_generator)!: prefix package and namespace with autoware (`#8422 `_) * add autoware\_ prefix * add autoware\_ prefix --------- diff --git a/map/map_loader/CHANGELOG.rst b/map/map_loader/CHANGELOG.rst index c0c9c1fc89feb..d7acfba736fd1 100644 --- a/map/map_loader/CHANGELOG.rst +++ b/map/map_loader/CHANGELOG.rst @@ -5,37 +5,37 @@ Changelog for package map_loader 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (`#8904 `_) add autoware\_ prefix -* docs(map_loader): update the link of pointcloud_divider (`#8823 `_) +* docs(map_loader): update the link of pointcloud_divider (`#8823 `_) update link -* docs(map_loader): update the link of map_projection_loader (`#8825 `_) +* docs(map_loader): update the link of map_projection_loader (`#8825 `_) update the link of map_projection_loader -* chore(map_loader): update maintainer (`#8821 `_) +* chore(map_loader): update maintainer (`#8821 `_) update maintainer -* feat(map loader): visualize bus stop area and bicycle_lane (`#8777 `_) -* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) +* feat(map loader): visualize bus stop area and bicycle_lane (`#8777 `_) +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) * refactor(geography_utils): prefix package and namespace with autoware * move headers to include/autoware/ --------- -* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) -* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) -* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) +* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) +* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) * refactor(compare_map_segmentation): add package name prefix of autoware\_ * docs: update Readme --------- -* chore(localization, map): remove maintainer (`#7940 `_) -* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) +* chore(localization, map): remove maintainer (`#7940 `_) +* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) Co-authored-by: Yamato Ando -* refactor(map_loader): apply static analysis (`#7845 `_) +* refactor(map_loader): apply static analysis (`#7845 `_) * refactor based on linter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* style: updating the colors for the parking spaces and lot (`#7726 `_) -* feat(map_loader): add waypoints flag (`#7480 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* style: updating the colors for the parking spaces and lot (`#7726 `_) +* feat(map_loader): add waypoints flag (`#7480 `_) * feat(map_loader): handle centelrine and waypoints * update README * fix doc @@ -43,7 +43,7 @@ Changelog for package map_loader * fix * fix --------- -* feat(map_loader): warn if some pcds from the metadata file are missing (`#7406 `_) +* feat(map_loader): warn if some pcds from the metadata file are missing (`#7406 `_) * Examine if there are PCD segments found in the metadata file but are missing from the input pcd paths * style(pre-commit): autofix * Fixing CI @@ -53,12 +53,12 @@ Changelog for package map_loader * Removed try{} block from getPCDMetadata and redundant std::endl at the end of error messages --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(map): udpate maintainer (`#7405 `_) +* chore(map): udpate maintainer (`#7405 `_) udpate maintainer -* fix(map_loader): add log output (`#7203 `_) +* fix(map_loader): add log output (`#7203 `_) add log output Co-authored-by: SakodaShintaro -* feat!: replace autoware_auto_msgs with autoware_msgs for map modules (`#7244 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for map modules (`#7244 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -66,9 +66,9 @@ Changelog for package map_loader 0.26.0 (2024-04-03) ------------------- -* fix(map_loader): fix warnings with single point cloud map metadata (`#6384 `_) -* fix(log-messages): reduce excessive log messages (`#5971 `_) -* chore(map_loader): rework parameters of map_loader (`#6199 `_) +* fix(map_loader): fix warnings with single point cloud map metadata (`#6384 `_) +* fix(log-messages): reduce excessive log messages (`#5971 `_) +* chore(map_loader): rework parameters of map_loader (`#6199 `_) * Rework parameters of map_loader * style(pre-commit): autofix * Fixed typo in name of map_based_pediction.schema.json, which cause json-schema-check failed @@ -78,24 +78,24 @@ Changelog for package map_loader * Remove default values of declare_parameter from map_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* revert(map_loader): revert the change error handling when pcd_metadata file (`#6294 `_) - Revert "fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_)" +* revert(map_loader): revert the change error handling when pcd_metadata file (`#6294 `_) + Revert "fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_)" This reverts commit 25bc636fe0f796c63daac60123aa6138146e515d. -* chore(lanelet2_map_loader): enrich error message (`#6245 `_) -* chore(map_loader): add maintainer (`#6232 `_) -* fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_) +* chore(lanelet2_map_loader): enrich error message (`#6245 `_) +* chore(map_loader): add maintainer (`#6232 `_) +* fix(map_loader): change error handling when pcd_metadata file not found (`#6227 `_) Changed error handling when pcd_metadata file not found -* chore: add localization & mapping maintainers (`#6085 `_) +* chore: add localization & mapping maintainers (`#6085 `_) * Added lm maintainers * Add more * Fixed maintainer --------- -* fix(map_loader): show traffic light regulatory element id per lanelet (`#6028 `_) +* fix(map_loader): show traffic light regulatory element id per lanelet (`#6028 `_) * fix(map_loader): show traffic light regulatory element id per lanelet * feat(map_loader): show traffic light id --------- Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* refactor(ndt_scan_matcher, map_loader): remove map_module (`#5873 `_) +* refactor(ndt_scan_matcher, map_loader): remove map_module (`#5873 `_) * Removed use_dynamic_map_loading * Removed enable_differential_load option * style(pre-commit): autofix @@ -104,39 +104,39 @@ Changelog for package map_loader * Removed pointcloud_map and input_ekf_odom --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): use dummy projector when using local coordinates (`#5866 `_) +* feat(map_loader): use dummy projector when using local coordinates (`#5866 `_) * feat(map_loader): use dummy projector when using local coordinates * fix build warning * fix runtime error * fix reverse function --------- -* chore(map_loader): visualize crosswalk id (`#5880 `_) -* chore: add maintainer in map packages (`#5865 `_) +* chore(map_loader): visualize crosswalk id (`#5880 `_) +* chore: add maintainer in map packages (`#5865 `_) * add maintainer * modify map_tf_generator's maintainer --------- -* fix: add_ros_test to add_launch_test (`#5486 `_) +* fix: add_ros_test to add_launch_test (`#5486 `_) * fix: add_ros_test to add_launch_test * fix ndt_scan_matcher --------- -* chore(map_loader): update readme (`#5468 `_) +* chore(map_loader): update readme (`#5468 `_) * chore(map_loader): update readme * make the annotation bold * fix --------- -* feat(map_loader): show intersection areas (`#5401 `_) -* feat(map_loader): display curbstone as marker array (`#4958 `_) +* feat(map_loader): show intersection areas (`#5401 `_) +* feat(map_loader): display curbstone as marker array (`#4958 `_) display curbstone as marker array Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* refactor(map_packages): remove unused depend in pakcages.xml files (`#5172 `_) +* refactor(map_packages): remove unused depend in pakcages.xml files (`#5172 `_) Co-authored-by: yamato-ando -* feat: support transverse mercator projection (`#4883 `_) +* feat: support transverse mercator projection (`#4883 `_) * feat: support transverse mercator projection * fix some * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(geography_utils): add lanelet2_projector (`#4852 `_) +* feat(geography_utils): add lanelet2_projector (`#4852 `_) * feat(geography_utils): add lanelet2_projector * style(pre-commit): autofix * update package.xml @@ -145,14 +145,14 @@ Changelog for package map_loader * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: use constant string for map_projector_info (`#4789 `_) +* feat: use constant string for map_projector_info (`#4789 `_) * feat: use constant string for map_projector_info * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: add vertical datum in map_projector_info (`#4708 `_) +* feat!: add vertical datum in map_projector_info (`#4708 `_) * resolve conflict * update * UTM -> LocalCartesianUTM @@ -165,15 +165,15 @@ Changelog for package map_loader * add vertical datum for lanelet2 --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat!: rename utm to local_cartesian_utm (`#4704 `_) +* feat!: rename utm to local_cartesian_utm (`#4704 `_) * feat(map_projection_loader, map_loader): rename utm to local_cartesian_utm * fix readme * fix default ad api --------- -* feat!: rename map_projector_type to map_projector_info (`#4664 `_) -* fix(lanelet2_map_loader): fixed parameter declaration timing (`#4639 `_) +* feat!: rename map_projector_type to map_projector_info (`#4664 `_) +* fix(lanelet2_map_loader): fixed parameter declaration timing (`#4639 `_) Change parameter declaration timing -* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) +* fix(map_loader, map_projection_loader): use component interface specs (`#4585 `_) * feat(map): use component_interface_specs in map_projection_loader * update map_loader * style(pre-commit): autofix @@ -183,7 +183,7 @@ Changelog for package map_loader * fix test --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_projection_loader): add map_projection_loader (`#3986 `_) +* feat(map_projection_loader): add map_projection_loader (`#3986 `_) * feat(map_projection_loader): add map_projection_loader * style(pre-commit): autofix * Update default algorithm @@ -237,17 +237,17 @@ Changelog for package map_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* chore: add maintainer in localization and map packages (`#4501 `_) -* feat(goal_planner): add no_parking_area for goal search (`#3467 `_) +* chore: add maintainer in localization and map packages (`#4501 `_) +* feat(goal_planner): add no_parking_area for goal search (`#3467 `_) * feat(behavior_path_planner): use no_parking_area for pull_over * support no_stopping_area --------- -* fix(map_loader): fix spell-check (`#4280 `_) -* feat(crosswalk): support crosswalk regulatory element (`#3939 `_) +* fix(map_loader): fix spell-check (`#4280 `_) +* feat(crosswalk): support crosswalk regulatory element (`#3939 `_) * feat(crosswalk): use regulatory element * feat(map_loader): show crosswalk areas --------- -* fix(map_loader): update readme for metadata (`#3919 `_) +* fix(map_loader): update readme for metadata (`#3919 `_) * fix(map_loader): update readme for metadata * style(pre-commit): autofix * update @@ -258,14 +258,14 @@ Changelog for package map_loader * update --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(map_loader): handle enable_selected_load correctly (`#3920 `_) +* fix(map_loader): handle enable_selected_load correctly (`#3920 `_) * fix(map_loader): update readme for metadata * fix(map_loader): handle enable_selected_load flag correctly * style(pre-commit): autofix * revert readme --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): use cylindrical area for map loader (`#3863 `_) +* feat(map_loader): use cylindrical area for map loader (`#3863 `_) * feat(map_loader): use cylindrical area for query instead of spherical area * update * style(pre-commit): autofix @@ -273,7 +273,7 @@ Changelog for package map_loader * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add publish map projector info (`#3200 `_) +* feat(map_loader): add publish map projector info (`#3200 `_) * add publish mgrs grid * fix publish wrong grid code when there is no mgrs code in lanelet * Revert "fix publish wrong grid code when there is no mgrs code in lanelet" @@ -287,19 +287,19 @@ Changelog for package map_loader * add local publish --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* fix(map_loader): re-align lanelet borders after overwriting coordinates (`#3825 `_) -* fix(map_loader): fix readme (`#3667 `_) -* feat(map_loader): visualize hatched road markings (`#3639 `_) +* fix(map_loader): re-align lanelet borders after overwriting coordinates (`#3825 `_) +* fix(map_loader): fix readme (`#3667 `_) +* feat(map_loader): visualize hatched road markings (`#3639 `_) * feat(map_loader): visualize hatched road markings * update --------- -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -307,13 +307,13 @@ Changelog for package map_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(map_loader): add local map projector (`#3492 `_) +* feat(map_loader): add local map projector (`#3492 `_) * feat(map_loader): add local map projector * update README * update readme * use the same naming standard --------- -* feat(map_loader): add selected map loader (`#3286 `_) +* feat(map_loader): add selected map loader (`#3286 `_) * add id based map loader * add metadata publisher * feat(map_loader): add support for sequential_map_loading @@ -326,11 +326,11 @@ Changelog for package map_loader --------- Co-authored-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(map_loader): fix a bug that occurs when loading multiple pcds (`#3274 `_) +* fix(map_loader): fix a bug that occurs when loading multiple pcds (`#3274 `_) * fix(map_loader): fix a bug that occurs when loading multiple pcds * fix --------- -* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) +* feat(map_loader): add grid coordinates for partial/differential map load (`#3205 `_) * feat(map_loader): add grid coordinates for partial/differential map load * style(pre-commit): autofix * update readme @@ -340,9 +340,9 @@ Changelog for package map_loader * update readme --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(map_loader): address deprecated warning for some environment (`#3188 `_) +* fix(map_loader): address deprecated warning for some environment (`#3188 `_) fix(map_loader): address deprecated warning for some version -* test(map_loader): add a ROS 2 test (`#3170 `_) +* test(map_loader): add a ROS 2 test (`#3170 `_) * chore(map_loader): add a ROS 2 test * style(pre-commit): autofix * debug @@ -352,7 +352,7 @@ Changelog for package map_loader * fix pre-commit --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) +* chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (`#2670 `_) * chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch Update launch/tier4_map_launch/launch/map.launch.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> @@ -360,9 +360,9 @@ Changelog for package map_loader remove config path * chore(tier4_map_launch): fix lanelet launch name --------- -* ci(pre-commit): autoupdate (`#2819 `_) +* ci(pre-commit): autoupdate (`#2819 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(ndt_scan_matcher): dynamic map loading (`#2339 `_) +* feat(ndt_scan_matcher): dynamic map loading (`#2339 `_) * first commit * ci(pre-commit): autofix * import map update module in core @@ -415,17 +415,17 @@ Changelog for package map_loader --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* fix(lanelet2_map_loader): delete unused parameters (`#2761 `_) +* fix(lanelet2_map_loader): delete unused parameters (`#2761 `_) * fix(lanelet2_map_loader): delete unused parameters * Update lanelet2_map_loader.launch.xml -* fix(map_loader): apply clang-tidy (`#2668 `_) +* fix(map_loader): apply clang-tidy (`#2668 `_) * fix(map_loader): apply clang-tidy * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(behavior_velocity_planner): add speed bump module (`#647 `_) +* feat(behavior_velocity_planner): add speed bump module (`#647 `_) Co-authored-by: Kosuke Takeuchi Co-authored-by: Takayuki Murooka -* feat(map_loader): add differential map loading interface (`#2417 `_) +* feat(map_loader): add differential map loading interface (`#2417 `_) * first commit * ci(pre-commit): autofix * added module load in _node.cpp @@ -435,7 +435,7 @@ Changelog for package map_loader * fix readme * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) +* feat(map_loader): add downsampled pointcloud publisher (`#2418 `_) * first commit * debugged * update readme @@ -447,7 +447,7 @@ Changelog for package map_loader * set default param to false * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) +* feat(map_loader): add partial map loading interface in pointcloud_map_loader (`#1938 `_) * first commit * reverted unnecessary modification * ci(pre-commit): autofix @@ -497,7 +497,7 @@ Changelog for package map_loader * remove fmt from target_link_libraries in test * minor fix in cmakelists.txt Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(map_loader): modularization (`#2243 `_) +* refactor(map_loader): modularization (`#2243 `_) * refactor(map_loader): modularization * ci(pre-commit): autofix * simplified @@ -508,14 +508,14 @@ Changelog for package map_loader * ci(pre-commit): autofix * edit copyright Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(map_loader): add maintainer (`#2245 `_) +* chore(map_loader): add maintainer (`#2245 `_) * chore(map_loader): add maintainer * remove miyake-san -* feat(map_loader): make some functions static (`#2014 `_) +* feat(map_loader): make some functions static (`#2014 `_) * feat(map_loader): make some functions static * make publisher alive after constructor -* refactor(map_loader): split to member functions (`#1941 `_) -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* refactor(map_loader): split to member functions (`#1941 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -548,7 +548,7 @@ Changelog for package map_loader * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat: add vector map inside area filter (`#1530 `_) +* feat: add vector map inside area filter (`#1530 `_) * feat: add no detection area filter * ci(pre-commit): autofix * chore: add documents @@ -572,25 +572,25 @@ Changelog for package map_loader * chore: using namespace of PolygonCgal for readability * feat: add functions for multiple polygons Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* test(map_loader): add launch test for the 'lanelet2_map_loader' node (`#1056 `_) +* test(map_loader): add launch test for the 'lanelet2_map_loader' node (`#1056 `_) Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: add parameter argument for lanelet2_map_loader (`#954 `_) +* feat: add parameter argument for lanelet2_map_loader (`#954 `_) * feat: add parameter argument for lanelet2_map_loader * feat: add comment -* fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) +* fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader * fix(map_loader): remove c_str * fix(map_loader): replace c_str to string -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* fix(map_loader): modify build error in rolling (`#777 `_) -* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) +* style: fix format of package.xml (`#844 `_) +* fix(map_loader): modify build error in rolling (`#777 `_) +* fix(map_loader): map_loader package not working in UTM coordinates (`#627 `_) * ci(pre-commit): autofix * ci(pre-commit): autofix * fix(map_loader): add UTM projector to map_loader package @@ -613,14 +613,14 @@ Changelog for package map_loader Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt Co-authored-by: Berkay -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(lanelet2_extension,map_loader): add guard_rail wall fence as lanelet tag (`#478 `_) +* feat(lanelet2_extension,map_loader): add guard_rail wall fence as lanelet tag (`#478 `_) * feat(lanelet2_extension): add guard_rails fence wall as lanelet tag * feat(map_loader): add visualization for partion lanelet -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor @@ -637,7 +637,7 @@ Changelog for package map_loader * fix ad_service_state_monitor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -645,7 +645,7 @@ Changelog for package map_loader * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* refactor: remove unnecessary messages (`#133 `_) +* refactor: remove unnecessary messages (`#133 `_) * remove ControlCommand.msg and ControlCommandStamped.msg * remove BatteryStatus.msg RawControlCommand.msg RawVehicleCommand.msg VehicleCommand.msg * remove traffic_light_recognition msgs @@ -664,8 +664,8 @@ Changelog for package map_loader * ci(pre-commit): autofix * fix: each messages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: move elevation map loader (`#740 `_) (`#136 `_) - * feat: Move elevation map loader (`#740 `_) +* feat: move elevation map loader (`#740 `_) (`#136 `_) + * feat: Move elevation map loader (`#740 `_) * Update perception/elevation_map_loader/README.md Co-authored-by: Tomoya Kimura * Update perception/elevation_map_loader/README.md @@ -674,34 +674,34 @@ Changelog for package map_loader Co-authored-by: Tomoya Kimura Co-authored-by: Taichi Higashide Co-authored-by: Tomoya Kimura -* feat: add pcd map hash generator (`#745 `_) (`#130 `_) +* feat: add pcd map hash generator (`#745 `_) (`#130 `_) Co-authored-by: Taichi Higashide Co-authored-by: Tomoya Kimura -* feat: add map packages (`#8 `_) +* feat: add map packages (`#8 `_) * release v0.4.0 - * add resolution param in lanelet2_extension (`#760 `_) - * Fix/extend drivable area beyond goal (`#781 `_) + * add resolution param in lanelet2_extension (`#760 `_) + * Fix/extend drivable area beyond goal (`#781 `_) * update llt2 extention query func * extend drivable area over goal point * apply clang * update get preeceeding func * update preceeding func in lanechange * update comment - * Fix intersection preceeding lane query (`#807 `_) + * Fix intersection preceeding lane query (`#807 `_) * modified interseciton module to add lanelets in intersection to objective lanelets due to change in getPreceedingLaneletSequences() * update comment - * Install executables in lanelet2_map_preprocessor (`#834 `_) + * Install executables in lanelet2_map_preprocessor (`#834 `_) * remove ROS1 packages temporarily * Revert "remove ROS1 packages temporarily" This reverts commit 3290a8b9e92c9eae05d9159c8b9fd56ca8935c01. * add COLCON_IGNORE to ros1 packages - * Rename launch files to launch.xml (`#28 `_) - * port map_tf_generator (`#32 `_) + * Rename launch files to launch.xml (`#28 `_) + * port map_tf_generator (`#32 `_) * port map_tf_generator * add missing dependency * fix pointor, tf_broadcaster, add compile option * use ament_auto - * Port lanelet2 extension (`#36 `_) + * Port lanelet2 extension (`#36 `_) * remove COLCON_IGNORE * port to ROS2 * minor fix @@ -711,18 +711,18 @@ Changelog for package map_loader * fix usage for ROS2 * fix usage message and parameter declaration * fix getting map_file parameter - * Port map loader (`#44 `_) + * Port map loader (`#44 `_) * port map_loader to ROS2 * fix unintended change * Update map/map_loader/CMakeLists.txt Co-authored-by: Takamasa Horibe Co-authored-by: Takamasa Horibe - * Add geometry2 to repos (`#76 `_) + * Add geometry2 to repos (`#76 `_) * add geometry2 package temporarily until new release * trigger-ci * add tf2 dependency to the packages that use tf2_geometry_msgs - * Revert "Add geometry2 to repos (`#76 `_)" (`#96 `_) - * Revert "Add geometry2 to repos (`#76 `_)" + * Revert "Add geometry2 to repos (`#76 `_)" (`#96 `_) + * Revert "Add geometry2 to repos (`#76 `_)" This reverts commit 7dbe25ed5ff7d5f413fda567dcc77a70c79a7826. * Re-add tf2 dependencies * Revert "Re-add tf2 dependencies" @@ -733,31 +733,31 @@ Changelog for package map_loader * Explicitly install known versions of the geometry packages * No need to skip tf2 packages anymore Co-authored-by: Esteve Fernandez - * Rename h files to hpp (`#142 `_) + * Rename h files to hpp (`#142 `_) * Change includes * Rename files * Adjustments to make things compile * Other packages - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * fixing trasient_local in ROS2 packages (`#160 `_) - * added linters to lanelet1_extension (`#170 `_) - * adding linters to map_loader (`#171 `_) - * adding linters to map_tf_generator (`#172 `_) - * apply env_var to use_sim_time (`#222 `_) - * Ros2 v0.8.0 map loader and lanelet2 extension (`#279 `_) - * Ros2 v0.8 fix typo of "preceding" (`#323 `_) + * fixing trasient_local in ROS2 packages (`#160 `_) + * added linters to lanelet1_extension (`#170 `_) + * adding linters to map_loader (`#171 `_) + * adding linters to map_tf_generator (`#172 `_) + * apply env_var to use_sim_time (`#222 `_) + * Ros2 v0.8.0 map loader and lanelet2 extension (`#279 `_) + * Ros2 v0.8 fix typo of "preceding" (`#323 `_) * Fix typo of getPrecedingLaneletSequences * Fix comment - * Fix rviz2 low FPS (`#390 `_) - * add nullptr check when publish concatenate data (`#369 `_) - * Add warning msg when concat pointcloud is not published (`#388 `_) + * Fix rviz2 low FPS (`#390 `_) + * add nullptr check when publish concatenate data (`#369 `_) + * Add warning msg when concat pointcloud is not published (`#388 `_) * Change lineString2Marker * Change trafficLight2TriangleMarker * Change laneletDirectionAsMarker @@ -765,21 +765,21 @@ Changelog for package map_loader * Fix linter problems Co-authored-by: Taichi Higashide Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * [map_loader] modify colors for lane markers for better visualization (`#398 `_) - * fix empty marker (`#423 `_) - * Fix typo in map module (`#437 `_) - * add license (`#443 `_) - * avoid pushing empty marker (`#441 `_) + * [map_loader] modify colors for lane markers for better visualization (`#398 `_) + * fix empty marker (`#423 `_) + * Fix typo in map module (`#437 `_) + * add license (`#443 `_) + * avoid pushing empty marker (`#441 `_) * avoid pushing empty marker * size0 -> empty - * add use_sim-time option (`#454 `_) - * Sync public repo (`#1228 `_) - * [simple_planning_simulator] add readme (`#424 `_) + * add use_sim-time option (`#454 `_) + * Sync public repo (`#1228 `_) + * [simple_planning_simulator] add readme (`#424 `_) * add readme of simple_planning_simulator * Update simulator/simple_planning_simulator/README.md - * set transit_margin_time to intersect. planner (`#460 `_) - * Fix pose2twist (`#462 `_) - * Ros2 vehicle info param server (`#447 `_) + * set transit_margin_time to intersect. planner (`#460 `_) + * Fix pose2twist (`#462 `_) + * Ros2 vehicle info param server (`#447 `_) * add vehicle_info_param_server * update vehicle info * apply format @@ -787,7 +787,7 @@ Changelog for package map_loader * skip unnecessary search * delete vehicle param file * fix bug - * Ros2 fix topic name part2 (`#425 `_) + * Ros2 fix topic name part2 (`#425 `_) * Fix topic name of traffic_light_classifier * Fix topic name of traffic_light_visualization * Fix topic name of traffic_light_ssd_fine_detector @@ -797,19 +797,19 @@ Changelog for package map_loader * Fix lint traffic_light_classifier * Fix lint traffic_light_classifier * Fix lint traffic_light_ssd_fine_detector - * Fix issues in hdd_reader (`#466 `_) + * Fix issues in hdd_reader (`#466 `_) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct - * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) - * Rviz overlay render fix (`#461 `_) + * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) + * Rviz overlay render fix (`#461 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified * acquire data in mutex * back to RTD as superclass - * Rviz overlay render in update (`#465 `_) + * Rviz overlay render in update (`#465 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified @@ -823,16 +823,16 @@ Changelog for package map_loader Co-authored-by: Kazuki Miyahara Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski - * Revert "fix: re-construct laneletMapLayer for reindex RTree (`#463 `_)" (`#1229 `_) + * Revert "fix: re-construct laneletMapLayer for reindex RTree (`#463 `_)" (`#1229 `_) This reverts commit d2ecdfe4c58cb4544c9a3ee84947b36b7ee54421. - * add pcd file check (`#1232 `_) + * add pcd file check (`#1232 `_) * add pcd file check * add space * add & * use namespace - * Unify Apache-2.0 license name (`#1242 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Map components (`#1311 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Map components (`#1311 `_) * Make pointcloud map loader component * Make lanelet2 map loader component * Make map tf generator component @@ -841,13 +841,13 @@ Changelog for package map_loader * Fix license * Add comment for filesystem * Fix variable name for glob - * Fix dependency for query (`#1519 `_) - * Fix a small bug (`#1644 `_) - * Fix minor flaws detected by Clang-Tidy (`#1647 `_) + * Fix dependency for query (`#1519 `_) + * Fix a small bug (`#1644 `_) + * Fix minor flaws detected by Clang-Tidy (`#1647 `_) - misc-throw-by-value-catch-by-reference - cppcoreguidelines-init-variables - readability-isolate-declaration - * Add pre-commit (`#1560 `_) + * Add pre-commit (`#1560 `_) * add pre-commit * add pre-commit-config * add additional settings for private repository @@ -867,8 +867,8 @@ Changelog for package map_loader Co-authored-by: Kazuki Miyahara Co-authored-by: pre-commit Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Porting traffic light viz (`#1284 `_) - * Feature/traffic light viz (`#1001 `_) + * Porting traffic light viz (`#1284 `_) + * Feature/traffic light viz (`#1001 `_) * add tl map viz * bug fix * update map visualizer @@ -882,12 +882,12 @@ Changelog for package map_loader * Replace deprecated duration api Co-authored-by: Yukihiro Saito Co-authored-by: wep21 - * Add markdownlint and prettier (`#1661 `_) + * Add markdownlint and prettier (`#1661 `_) * Add markdownlint and prettier * Ignore .param.yaml * Apply format - * Feature/compare elevation map (`#1488 `_) - * suppress warnings for declare parameters (`#1724 `_) + * Feature/compare elevation map (`#1488 `_) + * suppress warnings for declare parameters (`#1724 `_) * fix for lanelet2_extension * fix for traffic light ssd fine detector * fix for topic_state_monitor @@ -906,7 +906,7 @@ Changelog for package map_loader * add Werror * add Werror * fix style - * suppress warnings for map (`#1773 `_) + * suppress warnings for map (`#1773 `_) * add compile option * fix error * add compile option @@ -919,30 +919,30 @@ Changelog for package map_loader * use U * use U Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Fix clang warnings (`#1859 `_) + * Fix clang warnings (`#1859 `_) * Fix -Wreturn-std-move * Fix -Wunused-private-field * Ignore -Wnonportable-include-path for mussp * Fix -Wunused-const-variable * Fix "can not be used when making a shared object" - * Sync v1.3.0 (`#1909 `_) - * Add elevation_map to autoware_state_monitor (`#1907 `_) - * Disable saving elevation map temporarily (`#1906 `_) - * Fix typos in README of map_loader (`#1923 `_) + * Sync v1.3.0 (`#1909 `_) + * Add elevation_map to autoware_state_monitor (`#1907 `_) + * Disable saving elevation map temporarily (`#1906 `_) + * Fix typos in README of map_loader (`#1923 `_) * Fix typos in README of map_loader * Apply Prettier - * fix some typos (`#1941 `_) + * fix some typos (`#1941 `_) * fix some typos * fix typo * Fix typo Co-authored-by: Kenji Miyake - * Add autoware api (`#1979 `_) - * Invoke code formatter at pre-commit (`#1935 `_) + * Add autoware api (`#1979 `_) + * Invoke code formatter at pre-commit (`#1935 `_) * Run ament_uncrustify at pre-commit * Reformat existing files * Fix copyright and cpplint errors Co-authored-by: Kenji Miyake - * Save elevation_map with pcd md5sum (`#1988 `_) + * Save elevation_map with pcd md5sum (`#1988 `_) * Save elevation_map with pcd md5sum * Update sample launch * Fix cpplint @@ -969,10 +969,10 @@ Changelog for package map_loader * Add isPcdFile * Fix pre-commit * Use icPcdFile when giving file of pcd - * Feature/add virtual traffic light planner (`#1588 `_) - * Fix deprecated constant of transient local (`#1994 `_) - * Fix lint errors in lanelet2_extension (`#2028 `_) - * add sort-package-xml hook in pre-commit (`#1881 `_) + * Feature/add virtual traffic light planner (`#1588 `_) + * Fix deprecated constant of transient local (`#1994 `_) + * Fix lint errors in lanelet2_extension (`#2028 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -986,27 +986,27 @@ Changelog for package map_loader * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Revert "[map_loader] modify colors for lane markers for better visualization (`#398 `_)" (`#2063 `_) + * Revert "[map_loader] modify colors for lane markers for better visualization (`#398 `_)" (`#2063 `_) This reverts commit 046dc9a770bf03fb8813ddf6aa1b2f05e9357b67. - * Fix elevation_map_loader downsample (`#2055 `_) - * Add elevation_map data dir (`#2093 `_) - * Minor fixes of map_loader's README (`#2116 `_) + * Fix elevation_map_loader downsample (`#2055 `_) + * Add elevation_map data dir (`#2093 `_) + * Minor fixes of map_loader's README (`#2116 `_) * Minor fixes of map_loader's README * Fix map_loader run command Co-authored-by: kosuke55 - * Fix elevation_map hash due to mutiple slashes of pcd path (`#2192 `_) + * Fix elevation_map hash due to mutiple slashes of pcd path (`#2192 `_) * Fix elevation_map hash due to mutiple slashes of pcd path * Use filesystem lexically_normal - * Fix broken links of images on lanelet2_extension docs (`#2206 `_) - * Add lanelet XML API (`#2262 `_) - * show traffic light id marker (`#1554 `_) (`#1678 `_) + * Fix broken links of images on lanelet2_extension docs (`#2206 `_) + * Add lanelet XML API (`#2262 `_) + * show traffic light id marker (`#1554 `_) (`#1678 `_) * show traffic light id * fix typo Co-authored-by: satoshi-ota Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota - * Feature/porting behavior path planner (`#1645 `_) - * Add behavior path planner pkg with Lane Change (`#1525 `_) + * Feature/porting behavior path planner (`#1645 `_) + * Add behavior path planner pkg with Lane Change (`#1525 `_) * add lanelet extension funcs * add planning msgs for FOA * add behavior_path_planner pkg @@ -1022,7 +1022,7 @@ Changelog for package map_loader * add build depend for behavior tree cpp * temporally disable lint test in lanelet2_extension Co-authored-by: rej55 - * Add avoidance module in behavior_path_planner (`#1528 `_) + * Add avoidance module in behavior_path_planner (`#1528 `_) * Revert "remove shide-shift & avoidance related files" This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2. * refactor findNewShiftPoint func @@ -1046,41 +1046,41 @@ Changelog for package map_loader - fix typo * fix typo Co-authored-by: Yukihiro Saito - * Replace behavior_path utilities with autoware_utils (`#1532 `_) + * Replace behavior_path utilities with autoware_utils (`#1532 `_) * replace calcDistance * replace arange * replave convertToEigenPt with autoware_utils::fromMsg * replace normalizeRadian * cosmetic change - * import `#1526 `_ into behavior path planner (`#1531 `_) - * Fix/behavior path empty path output guard (`#1536 `_) + * import `#1526 `_ into behavior path planner (`#1531 `_) + * Fix/behavior path empty path output guard (`#1536 `_) * add guard * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp - * fix lateral jerk calculation (`#1549 `_) - * fix: error handling on exception in behavior_path_planner (`#1551 `_) - * Fix ignore too steep avoidance path (`#1550 `_) + * fix lateral jerk calculation (`#1549 `_) + * fix: error handling on exception in behavior_path_planner (`#1551 `_) + * Fix ignore too steep avoidance path (`#1550 `_) * ignore too steep path * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp * parametrize lateral jerk limit * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp Co-authored-by: tkimura4 Co-authored-by: tkimura4 - * use offsetNoThrow and add error log (`#1615 `_) - * Ignore object ahead goal for avoidance (`#1618 `_) + * use offsetNoThrow and add error log (`#1615 `_) + * Ignore object ahead goal for avoidance (`#1618 `_) * Ignore object ahead goal for avoidance * Add flag * Fix position of definition of goal_pose * Fix arclength calculation * Fix position of definition of goal_pose - * fix intersection stop line (`#1636 `_) + * fix intersection stop line (`#1636 `_) * fix intersection stop line * fix typo - * add document (`#1635 `_) + * add document (`#1635 `_) * Port behavior path planner to ros2 * Apply lint * Fix typo * Fix map qos - * debug slope calculation in behavior (`#1566 `_) + * debug slope calculation in behavior (`#1566 `_) * update * update * revert change of autoware_utils @@ -1113,17 +1113,17 @@ Changelog for package map_loader Co-authored-by: Yukihiro Saito Co-authored-by: tkimura4 Co-authored-by: Takayuki Murooka - * change type of traffic light marker (SPHERE_LIST->SPHERE) (`#1789 `_) - * fix alpha (`#1797 `_) - * Feature/improve intersection detection area (`#1958 `_) + * change type of traffic light marker (SPHERE_LIST->SPHERE) (`#1789 `_) + * fix alpha (`#1797 `_) + * Feature/improve intersection detection area (`#1958 `_) * exclude ego_lanes from detection_area * add empty handling * remove unused function * Fix for uncrustify Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Apply format (`#1999 `_) + * Apply format (`#1999 `_) Fix cpplint - * Feature/expand drivable area (`#1812 `_) + * Feature/expand drivable area (`#1812 `_) * check if ego lane has adjacent lane or not * expand drivable area by using lanelet * remove unnecessary operator @@ -1136,7 +1136,7 @@ Changelog for package map_loader * update area name * disable expand by default Co-authored-by: satoshi-ota - * add shoulder road lanelets (`#2121 `_) + * add shoulder road lanelets (`#2121 `_) * add shoulder lanelets * Update map/lanelet2_extension/lib/query.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> @@ -1149,7 +1149,7 @@ Changelog for package map_loader * Update map/lanelet2_extension/lib/visualization.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * Feature/no stopping area reg element (`#2144 `_) + * Feature/no stopping area reg element (`#2144 `_) * add no stopping area to ll2 * add no stopping area visualization * add no stopping area marker to RVIZ @@ -1157,7 +1157,7 @@ Changelog for package map_loader * Update map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 - * Add document for new map format (`#1778 `_) + * Add document for new map format (`#1778 `_) * add roadside lane doc * fix typo * fix typo @@ -1167,7 +1167,7 @@ Changelog for package map_loader * add reason for new subtype definition * fix typo Co-authored-by: kyoichi - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -1179,14 +1179,14 @@ Changelog for package map_loader * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * port lanelet2_extension (`#483 `_) + * Add COLCON_IGNORE (`#500 `_) + * port lanelet2_extension (`#483 `_) * port with auto_msgs * remove COLCON_IGNORE Co-authored-by: Takayuki Murooka - * port map loader (`#508 `_) - * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) - * add readme (`#561 `_) + * port map loader (`#508 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * add readme (`#561 `_) * fix old description Co-authored-by: mitsudome-r Co-authored-by: Taichi Higashide diff --git a/perception/autoware_bytetrack/CHANGELOG.rst b/perception/autoware_bytetrack/CHANGELOG.rst index 6051765a9b450..2c30ebf81ee43 100644 --- a/perception/autoware_bytetrack/CHANGELOG.rst +++ b/perception/autoware_bytetrack/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_bytetrack 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,13 +13,13 @@ Changelog for package autoware_bytetrack --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) * refactor(kalman_filter): prefix package and namespace with autoware * move headers to include/autoware/ * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(bytetrack): fix namespace and directory structure (`#8125 `_) +* refactor(bytetrack): fix namespace and directory structure (`#8125 `_) * chore: fix namespace * chore: change include name * refactor: rename perception/bytetrack to perception/autoware_bytetrack diff --git a/perception/autoware_cluster_merger/CHANGELOG.rst b/perception/autoware_cluster_merger/CHANGELOG.rst index d429149c17931..a304c9a878d5d 100644 --- a/perception/autoware_cluster_merger/CHANGELOG.rst +++ b/perception/autoware_cluster_merger/CHANGELOG.rst @@ -5,13 +5,13 @@ Changelog for package autoware_cluster_merger 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* chore(cluster_merger): add node test (`#8810 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* chore(cluster_merger): add node test (`#8810 `_) * chore(cluster_merger): add node test * fix: rename output topic --------- -* refactor(cluster_merger): remove unused variable and rename topic (`#8809 `_) -* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) +* refactor(cluster_merger): remove unused variable and rename topic (`#8809 `_) +* refactor(cluster_merger): add package name prefix of autoware\_ (`#8001 `_) * Contributors: Esteve Fernandez, Yutaka Kondo, badai nguyen 0.26.0 (2024-04-03) diff --git a/perception/autoware_compare_map_segmentation/CHANGELOG.rst b/perception/autoware_compare_map_segmentation/CHANGELOG.rst index 2645c18599fda..70674495527e7 100644 --- a/perception/autoware_compare_map_segmentation/CHANGELOG.rst +++ b/perception/autoware_compare_map_segmentation/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_compare_map_segmentation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (`#9162 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (`#9162 `_) * refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation * style(pre-commit): autofix * include message_filters as SYSTEM * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(compare_map_segmentation): add missing mutex lock (`#9097 `_) +* fix(compare_map_segmentation): add missing mutex lock (`#9097 `_) * fix(compare_map_segmentation): missing mutux * chore: rename mutex\_ * fix: remove unnecessary mutex @@ -24,7 +24,7 @@ Changelog for package autoware_compare_map_segmentation * fix: memory ordering * fix: replace all static_map_loader_mutex\_ --------- -* fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader (`#9024 `_) +* fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader (`#9024 `_) * fix(compare_map_segmentation): throw runtime error when using non-split map pointcloud for DynamicMapLoader * chore: typo * fix: launch @@ -33,34 +33,34 @@ Changelog for package autoware_compare_map_segmentation * fix: change to RCLCPP_ERROR --------- Co-authored-by: Yoshi Ri -* chore(compare_map_segmentation): add node tests (`#8907 `_) +* chore(compare_map_segmentation): add node tests (`#8907 `_) * chore(compare_map_segmentation): add test for voxel_based_compare_map_filter * feat: add test for other compare map filter * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_compare_map_segmentation): typo bug fix (`#8939 `_) +* fix(autoware_compare_map_segmentation): typo bug fix (`#8939 `_) fix(compare_map_filter): typo bug fix -* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8725 `_) +* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8725 `_) fix:unusedFunction -* fix(compare_map_segmentation): use squared distance to compare threshold (`#8744 `_) +* fix(compare_map_segmentation): use squared distance to compare threshold (`#8744 `_) fix: use square distance to compare threshold -* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8565 `_) +* fix(autoware_compare_map_segmentation): fix unusedFunction (`#8565 `_) fix:unusedFunction -* fix(autoware_compare_map_segmentation): fix cppcheck warnings of functionStatic (`#8263 `_) +* fix(autoware_compare_map_segmentation): fix cppcheck warnings of functionStatic (`#8263 `_) * fix: deal with functionStatic warnings * fix: deal with functionStatic warnings * fix: remove unnecessary const * fix: build error --------- -* fix(autoware_compare_map_segmentation): fix uninitMemberVar (`#8338 `_) +* fix(autoware_compare_map_segmentation): fix uninitMemberVar (`#8338 `_) fix:uninitMemberVar -* fix(autoware_compare_map_segmentation): fix passedByValue (`#8233 `_) +* fix(autoware_compare_map_segmentation): fix passedByValue (`#8233 `_) fix:passedByValue -* fix(autoware_compare_map_segmentation): fix redundantInitialization warning (`#8226 `_) -* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) -* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) -* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) +* fix(autoware_compare_map_segmentation): fix redundantInitialization warning (`#8226 `_) +* revert: revert "refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_)" (`#8180 `_) +* refactor(autoware_map_msgs): modify pcd metadata msg (`#7852 `_) +* refactor(compare_map_segmentation): add package name prefix of autoware\_ (`#8005 `_) * refactor(compare_map_segmentation): add package name prefix of autoware\_ * docs: update Readme --------- diff --git a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst index fd0a9dc22903e..fcff5c1964a10 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst +++ b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_crosswalk_traffic_light_estimator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_crosswalk_traffic_light_estimator): fix constVariableReference (`#8055 `_) +* fix(autoware_crosswalk_traffic_light_estimator): fix constVariableReference (`#8055 `_) fix:constVariableReference -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) +* fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (`#7423 `_) Fixed a mistake when adding prefixes -* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) +* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) * add prefix to the codes change dir name update @@ -24,7 +24,7 @@ Changelog for package autoware_crosswalk_traffic_light_estimator * restore * poi --------- -* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) +* refactor(crosswalk_traffic_light_estimator)!: add autoware\_ prefix (`#7365 `_) * add prefix * Contributors: Kosuke Takeuchi, SakodaShintaro, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, kobayu858 diff --git a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst index efb2e19d328af..1c956f5ae6469 100644 --- a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst +++ b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst @@ -5,13 +5,13 @@ Changelog for package autoware_detected_object_feature_remover 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(autoware_detected_object_feature_remover): add unit testing for the node (`#8735 `_) +* test(autoware_detected_object_feature_remover): add unit testing for the node (`#8735 `_) * test: add unit testing for the node * test: update to run node testings with `ROS_DOMAIN_ID` isolation --------- -* chore(autoware_deteted_object_feature_remover): add code owners (`#8962 `_) +* chore(autoware_deteted_object_feature_remover): add code owners (`#8962 `_) Add yoshiri and kotaro as code owners of feature remover -* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) +* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) refactor(detected_object_feature_remover): add package name prefix of autoware\_ * Contributors: Kotaro Uetake, Yoshi Ri, Yutaka Kondo, badai nguyen diff --git a/perception/autoware_detected_object_validation/CHANGELOG.rst b/perception/autoware_detected_object_validation/CHANGELOG.rst index 6321d6f6ef8cf..ee2a4c502e33e 100644 --- a/perception/autoware_detected_object_validation/CHANGELOG.rst +++ b/perception/autoware_detected_object_validation/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_detected_object_validation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(detected_object_validation): rework parameters (`#7750 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(detected_object_validation): rework parameters (`#7750 `_) * refactor(detected_object_validation): rework parameters * style(pre-commit): autofix * Update perception/detected_object_validation/schema/object_lanelet_filter.schema.json @@ -22,13 +22,13 @@ Changelog for package autoware_detected_object_validation * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_detected_object_validation): fix functionStatic (`#8482 `_) +* fix(autoware_detected_object_validation): fix functionStatic (`#8482 `_) fix:functionStatic -* fix(autoware_detected_object_validation): fix cppcheck warnings of functionStatic (`#8256 `_) +* fix(autoware_detected_object_validation): fix cppcheck warnings of functionStatic (`#8256 `_) fix: deal with functionStatic warnings -* fix(autoware_detected_object_validation): fix functionConst (`#8285 `_) +* fix(autoware_detected_object_validation): fix functionConst (`#8285 `_) fix: functionConst -* perf(autoware_detected_object_validation): reduce lanelet_filter processing time (`#8240 `_) +* perf(autoware_detected_object_validation): reduce lanelet_filter processing time (`#8240 `_) * add local r-tree for fast searching change to _func\_\_ add more debug @@ -46,7 +46,7 @@ Changelog for package autoware_detected_object_validation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter @@ -56,7 +56,7 @@ Changelog for package autoware_detected_object_validation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) +* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) refactor: rename detected_object_validation to autoware_detected_object_validation * Contributors: Batuhan Beytekin, Esteve Fernandez, Hayate TOBA, Masaki Baba, Taekjin LEE, Yoshi Ri, Yutaka Kondo, kobayu858, taisa1 diff --git a/perception/autoware_detection_by_tracker/CHANGELOG.rst b/perception/autoware_detection_by_tracker/CHANGELOG.rst index 01bddc0164627..0671601742afb 100644 --- a/perception/autoware_detection_by_tracker/CHANGELOG.rst +++ b/perception/autoware_detection_by_tracker/CHANGELOG.rst @@ -5,33 +5,33 @@ Changelog for package autoware_detection_by_tracker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) +* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) * add object based corrector * apply cppcheck suggestion * fix typo --------- Co-authored-by: Taekjin LEE -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_detection_by_tracker): fix cppcheck warning of functionStatic (`#8257 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_detection_by_tracker): fix cppcheck warning of functionStatic (`#8257 `_) fix: deal with functionStatic warnings Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> -* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) * refactor(shape_estimation): add package name prefix of autoware\_ * style(pre-commit): autofix * fix: mising prefix * fix: cmake --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_detection_by_tracker): fix funcArgNamesDifferent (`#8076 `_) +* fix(autoware_detection_by_tracker): fix funcArgNamesDifferent (`#8076 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent --------- -* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) +* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) * refactor(euclidean_cluster): add package name prefix of autoware\_ * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) +* refactor(detection_by_tracker): add package name prefix of autoware\_ (`#7998 `_) * Contributors: Esteve Fernandez, Masaki Baba, Yutaka Kondo, badai nguyen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/perception/autoware_elevation_map_loader/CHANGELOG.rst b/perception/autoware_elevation_map_loader/CHANGELOG.rst index 4165862eccbeb..cbf29b22a46be 100644 --- a/perception/autoware_elevation_map_loader/CHANGELOG.rst +++ b/perception/autoware_elevation_map_loader/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package autoware_elevation_map_loader 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) -* fix(autoware_elevation_map_loader): fix functionConst (`#8293 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* fix(autoware_elevation_map_loader): fix functionConst (`#8293 `_) fix: functionConst -* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) +* refactor(elevation_map_loader): add package name prefix `autoware\_`, fix namespace and directory structure (`#7988 `_) * refactor: add namespace, remove unused dependencies, file structure chore: remove unused dependencies style(pre-commit): autofix diff --git a/perception/autoware_euclidean_cluster/CHANGELOG.rst b/perception/autoware_euclidean_cluster/CHANGELOG.rst index 88ee59b8f189f..b62e10d3c224f 100644 --- a/perception/autoware_euclidean_cluster/CHANGELOG.rst +++ b/perception/autoware_euclidean_cluster/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_euclidean_cluster 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* refactor(autoware_pointcloud_preprocessor): rework crop box parameters (`#8466 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(autoware_pointcloud_preprocessor): rework crop box parameters (`#8466 `_) * feat: add parameter schema for crop box * chore: fix readme * chore: remove filter.param.yaml file @@ -14,7 +14,7 @@ Changelog for package autoware_euclidean_cluster * chore: fix schema description * chore: fix description of negative param --------- -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros @@ -28,7 +28,7 @@ Changelog for package autoware_euclidean_cluster --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) +* refactor(euclidean_cluster): add package name prefix of autoware\_ (`#8003 `_) * refactor(euclidean_cluster): add package name prefix of autoware\_ * style(pre-commit): autofix --------- diff --git a/perception/autoware_ground_segmentation/CHANGELOG.rst b/perception/autoware_ground_segmentation/CHANGELOG.rst index a9cf3a2817456..faa4e568eb906 100644 --- a/perception/autoware_ground_segmentation/CHANGELOG.rst +++ b/perception/autoware_ground_segmentation/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_ground_segmentation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_ground_segmentation): implementing linear least square fitting for local gradient calculation (`#9116 `_) +* feat(autoware_ground_segmentation): implementing linear least square fitting for local gradient calculation (`#9116 `_) * refactor: calculate local ground gradient in classifyPointCloudGridScan Calculate the local ground gradient by fitting a line to the ground grids in the classifyPointCloudGridScan function. This improves the accuracy of the gradient calculation and ensures more precise extrapolation of the ground height. * refactor: calculate local ground gradient in classifyPointCloudGridScan @@ -16,7 +16,7 @@ Changelog for package autoware_ground_segmentation * refactor: fix ground gradient calculation in checkContinuousGndGrid function --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_ground_segmentation): fix scan ground filter logic (`#9084 `_) +* fix(autoware_ground_segmentation): fix scan ground filter logic (`#9084 `_) * refactor: initialize gnd_grids in ScanGroundFilterComponent::initializeFirstGndGrids Initialize gnd_grids vector in the ScanGroundFilterComponent::initializeFirstGndGrids function to ensure it is empty and has the correct capacity. This improves the efficiency of the function and ensures accurate grid initialization. * refactor: initialize gnd_grids vector in initializeFirstGndGrids function @@ -35,7 +35,7 @@ Changelog for package autoware_ground_segmentation * refactor: fix logic description comment --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_ground_segmentation): scan ground filter refactoring (`#9061 `_) +* chore(autoware_ground_segmentation): scan ground filter refactoring (`#9061 `_) * chore: Add comment classification logic for point cloud grid scan * chore: renamed horizontal angle to azimuth angle * chore: rename offset to data_index @@ -54,7 +54,7 @@ Changelog for package autoware_ground_segmentation * chore: reduce scope * refactor: align structure between convertPointcloud and convertPointcloudGridScan --------- -* feat(ground_segmentation): add time_keeper (`#8585 `_) +* feat(ground_segmentation): add time_keeper (`#8585 `_) * add time_keeper * add timekeeper option * add autoware_universe_utils @@ -63,17 +63,17 @@ Changelog for package autoware_ground_segmentation * remove debug code * remove some timekeeper and mod block comment --------- -* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) -* fix(ground-segmentation): missing ament_index_cpp dependency (`#8587 `_) -* fix(autoware_ground_segmentation): fix unusedFunction (`#8566 `_) +* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) +* fix(ground-segmentation): missing ament_index_cpp dependency (`#8587 `_) +* fix(autoware_ground_segmentation): fix unusedFunction (`#8566 `_) fix:unusedFunction -* fix(ground_segmentation): missing default parameters ERROR (`#8538 `_) +* fix(ground_segmentation): missing default parameters ERROR (`#8538 `_) fix(ground_segmentation): remove unused params -* fix(autoware_ground_segmentation): fix unreadVariable (`#8353 `_) +* fix(autoware_ground_segmentation): fix unreadVariable (`#8353 `_) * fix:unreadVariable * fix:unreadVariable --------- -* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) +* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) * perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners * fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic * fix(autoware_ground_segmentation): add missing TF listener @@ -83,11 +83,11 @@ Changelog for package autoware_ground_segmentation * fix(autoware_universe_utils): change checks order * doc(autoware_universe_utils): add docstring --------- -* fix(autoware_ground_segmentation): fix uninitMemberVar (`#8336 `_) +* fix(autoware_ground_segmentation): fix uninitMemberVar (`#8336 `_) fix:uninitMemberVar -* fix(autoware_ground_segmentation): fix functionConst (`#8291 `_) +* fix(autoware_ground_segmentation): fix functionConst (`#8291 `_) fix:functionConst -* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) +* refactor(ground_segmentation)!: add package name prefix of autoware\_ (`#8135 `_) * refactor(ground_segmentation): add package name prefix of autoware\_ * fix: update prefix cmake --------- diff --git a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst index 0fdbb970d2504..4a309a3e4dcff 100644 --- a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst +++ b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst @@ -5,18 +5,18 @@ Changelog for package autoware_image_projection_based_fusion 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* fix(autoware_image_projection_based_fusion): pointpainting bug fix for point projection (`#9150 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* fix(autoware_image_projection_based_fusion): pointpainting bug fix for point projection (`#9150 `_) fix: projected 2d point has 1.0 of depth -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_image_projection_based_fusion): roi cluster fusion has no existence probability update (`#8864 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_image_projection_based_fusion): roi cluster fusion has no existence probability update (`#8864 `_) fix: add existence probability update, refactoring -* fix(autoware_image_projection_based_fusion): resolve issue with segmentation pointcloud fusion node failing with multiple mask inputs (`#8769 `_) -* fix(image_projection_based_fusion): remove unused variable (`#8634 `_) +* fix(autoware_image_projection_based_fusion): resolve issue with segmentation pointcloud fusion node failing with multiple mask inputs (`#8769 `_) +* fix(image_projection_based_fusion): remove unused variable (`#8634 `_) fix: remove unused variable -* fix(autoware_image_projection_based_fusion): fix unusedFunction (`#8567 `_) +* fix(autoware_image_projection_based_fusion): fix unusedFunction (`#8567 `_) fix:unusedFunction -* fix(image_projection_based_fusion): add run length decoding for segmentation_pointcloud_fusion (`#7909 `_) +* fix(image_projection_based_fusion): add run length decoding for segmentation_pointcloud_fusion (`#7909 `_) * fix: add rle decompress * style(pre-commit): autofix * fix: use rld in tensorrt utils @@ -31,16 +31,16 @@ Changelog for package autoware_image_projection_based_fusion --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* fix(image_projection_based_fusion): handle projection errors in image fusion nodes (`#7747 `_) +* fix(image_projection_based_fusion): handle projection errors in image fusion nodes (`#7747 `_) * fix: add check for camera distortion model * feat(utils): add const qualifier to local variables in checkCameraInfo function * style(pre-commit): autofix * chore(utils): update checkCameraInfo function to use RCLCPP_ERROR_STREAM for unsupported distortion model and coefficients size --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_image_projection_based_fusion): fix passedByValue (`#8234 `_) +* fix(autoware_image_projection_based_fusion): fix passedByValue (`#8234 `_) fix:passedByValue -* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) +* refactor(image_projection_based_fusion)!: add package name prefix of autoware\_ (`#8162 `_) refactor: rename image_projection_based_fusion to autoware_image_projection_based_fusion * Contributors: Esteve Fernandez, Taekjin LEE, Yi-Hsiang Fang (Vivid), Yoshi Ri, Yutaka Kondo, badai nguyen, kobayu858 diff --git a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst index 4ea5334aa7a2e..08824ecfbd3aa 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst +++ b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_lidar_apollo_instance_segmentation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,14 +13,14 @@ Changelog for package autoware_lidar_apollo_instance_segmentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(autoware_lidar_apollo_instance_segmentation): added existence probability (`#8862 `_) +* fix(autoware_lidar_apollo_instance_segmentation): added existence probability (`#8862 `_) * added existence probability * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(lidar_apollo_instance_segmentation): fix critical bug (`#8444 `_) +* fix(lidar_apollo_instance_segmentation): fix critical bug (`#8444 `_) Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> -* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) +* refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (`#7995 `_) * refactor: add autoware namespace prefix * chore: update CODEOWNERS * refactor: add `autoware` prefix diff --git a/perception/autoware_lidar_centerpoint/CHANGELOG.rst b/perception/autoware_lidar_centerpoint/CHANGELOG.rst index 126064419329c..6809f690c75d1 100644 --- a/perception/autoware_lidar_centerpoint/CHANGELOG.rst +++ b/perception/autoware_lidar_centerpoint/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_lidar_centerpoint 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,19 +13,19 @@ Changelog for package autoware_lidar_centerpoint --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_lidar_centerpoint): fix twist covariance orientation (`#8996 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_lidar_centerpoint): fix twist covariance orientation (`#8996 `_) * fix(autoware_lidar_centerpoint): fix covariance converter considering the twist covariance matrix is based on the object coordinate fix style * fix: update test of box3DToDetectedObject function --------- -* fix(autoware_lidar_centerpoint): convert object's velocity to follow its definition (`#8980 `_) +* fix(autoware_lidar_centerpoint): convert object's velocity to follow its definition (`#8980 `_) * fix: convert object's velocity to follow its definition in box3DToDetectedObject function * Update perception/autoware_lidar_centerpoint/lib/ros_utils.cpp Co-authored-by: Kenzo Lobos Tsunekawa --------- Co-authored-by: Kenzo Lobos Tsunekawa -* feat(autoware_lidar_centerpoint): shuffled points before feeding them to the model (`#8814 `_) +* feat(autoware_lidar_centerpoint): shuffled points before feeding them to the model (`#8814 `_) * feat: shuffling points before feeding them into the model to achieve uniform sampling into the voxels * Update perception/autoware_lidar_centerpoint/src/node.cpp Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> @@ -37,20 +37,20 @@ Changelog for package autoware_lidar_centerpoint Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> -* refactor(autoware_lidar_centerpoint): use std::size_t instead of size_t (`#8820 `_) +* refactor(autoware_lidar_centerpoint): use std::size_t instead of size_t (`#8820 `_) * refactor(autoware_lidar_centerpoint): use std::size_t instead of size_t * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_lidar_centerpoint): add centerpoint sigma parameter (`#8731 `_) +* chore(autoware_lidar_centerpoint): add centerpoint sigma parameter (`#8731 `_) add centerpoint sigma parameter -* fix(autoware_lidar_centerpoint): fix unusedFunction (`#8572 `_) +* fix(autoware_lidar_centerpoint): fix unusedFunction (`#8572 `_) fix:unusedFunction -* fix(autoware_lidar_centerpoint): place device vector in CUDA device system (`#8272 `_) -* docs(centerpoint): add description for ml package params (`#8187 `_) -* chore(autoware_lidar_centerpoint): updated tests (`#8158 `_) +* fix(autoware_lidar_centerpoint): place device vector in CUDA device system (`#8272 `_) +* docs(centerpoint): add description for ml package params (`#8187 `_) +* chore(autoware_lidar_centerpoint): updated tests (`#8158 `_) chore: updated centerpoin tests. they are currently commented out but they were not compiling (forgot to update them when I added the new cloud capacity parameter) -* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) +* refactor(lidar_centerpoint)!: fix namespace and directory structure (`#8049 `_) * add prefix in lidar_centerpoint * add .gitignore * change include package name in image_projection_based fusion diff --git a/perception/autoware_lidar_transfusion/CHANGELOG.rst b/perception/autoware_lidar_transfusion/CHANGELOG.rst index e6b2694e9acae..bfde461fad192 100644 --- a/perception/autoware_lidar_transfusion/CHANGELOG.rst +++ b/perception/autoware_lidar_transfusion/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_lidar_transfusion 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -14,8 +14,8 @@ Changelog for package autoware_lidar_transfusion --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_lidar_transfusion): set tensor names by matching with predefined values. (`#9057 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_lidar_transfusion): set tensor names by matching with predefined values. (`#9057 `_) * set tensor order using api * style(pre-commit): autofix * fix tensor order @@ -24,26 +24,26 @@ Changelog for package autoware_lidar_transfusion * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_lidar _ransfusion): fix 3d bounding box orientation (`#9052 `_) +* feat(autoware_lidar _ransfusion): fix 3d bounding box orientation (`#9052 `_) * fix bbox orientation * revert newline changes * change kernel --------- Co-authored-by: Amadeusz Szymko -* feat(autoware_lidar_transfusion): shuffled points before feeding them to the model (`#8815 `_) +* feat(autoware_lidar_transfusion): shuffled points before feeding them to the model (`#8815 `_) feat: shuffling points before feeding them into the model to achieve random sampling into the voxels Co-authored-by: Amadeusz Szymko -* refactor(autoware_lidar_transfusion): split config (`#8205 `_) +* refactor(autoware_lidar_transfusion): split config (`#8205 `_) * refactor(autoware_lidar_transfusion): split config * style(pre-commit): autofix * chore(autoware_lidar_transfusion): bypass schema CI workflow --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(autoware_lidar_transfusion): place device vector in CUDA device system (`#8273 `_) -* fix(lidar_transfusion): commented tests were out of date (`#8116 `_) +* fix(autoware_lidar_transfusion): place device vector in CUDA device system (`#8273 `_) +* fix(lidar_transfusion): commented tests were out of date (`#8116 `_) chore: commented tests were out of date -* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) +* refactor(lidar_transfusion)!: fix namespace and directory structure (`#8022 `_) * add prefix * add prefix in code owner * style(pre-commit): autofix diff --git a/perception/autoware_map_based_prediction/CHANGELOG.rst b/perception/autoware_map_based_prediction/CHANGELOG.rst index ebff67a4ade62..27297417c6563 100644 --- a/perception/autoware_map_based_prediction/CHANGELOG.rst +++ b/perception/autoware_map_based_prediction/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_map_based_prediction 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_map_based_prediction): refactoring lanelet path prediction and pose path conversion (`#9104 `_) +* refactor(autoware_map_based_prediction): refactoring lanelet path prediction and pose path conversion (`#9104 `_) * refactor: update predictObjectManeuver function parameters * refactor: update hash function for LaneletPath in map_based_prediction_node.hpp * refactor: path list rename @@ -17,14 +17,14 @@ Changelog for package autoware_map_based_prediction * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp --------- Co-authored-by: Mamoru Sobue -* chore(autoware_map_based_prediction): add maintainers to package.xml (`#9125 `_) +* chore(autoware_map_based_prediction): add maintainers to package.xml (`#9125 `_) chore: add maintainers to package.xml The package.xml file was updated to include additional maintainers' email addresses. -* fix(autoware_map_based_prediction): adjust lateral duration when object is behind reference path (`#8973 `_) +* fix(autoware_map_based_prediction): adjust lateral duration when object is behind reference path (`#8973 `_) fix: adjust lateral duration when object is behind reference path -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* feat(autoware_map_based_prediction): improve frenet path generation (`#8811 `_) +* feat(autoware_map_based_prediction): improve frenet path generation (`#8811 `_) * feat: calculate terminal d position based on playable width in path_generator.cpp * feat: Add width parameter path generations refactor(path_generator): improve backlash width calculation @@ -71,10 +71,10 @@ Changelog for package autoware_map_based_prediction * fix: object orientation calculation is added to the predicted path generation * chore: fix spell-check --------- -* revert(autoware_map_based_prediction): revert improve frenet path gen (`#8808 `_) - Revert "feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_)" +* revert(autoware_map_based_prediction): revert improve frenet path gen (`#8808 `_) + Revert "feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_)" This reverts commit 67265bbd60c85282c1c3cf65e603098e0c30c477. -* feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_) +* feat(autoware_map_based_prediction): improve frenet path generation (`#8602 `_) * feat: calculate terminal d position based on playable width in path_generator.cpp * feat: Add width parameter path generations refactor(path_generator): improve backlash width calculation @@ -119,14 +119,14 @@ Changelog for package autoware_map_based_prediction * refactor: separate a logic to searchProperStartingRefPathIndex function * refactor: search starting ref path using optional for return type --------- -* perf(autoware_map_based_prediction): replace pow (`#8751 `_) -* fix(autoware_map_based_prediction): output from screen to both (`#8408 `_) -* perf(autoware_map_based_prediction): removed duplicate findNearest calculations (`#8490 `_) -* perf(autoware_map_based_prediction): enhance speed by removing unnecessary calculation (`#8471 `_) +* perf(autoware_map_based_prediction): replace pow (`#8751 `_) +* fix(autoware_map_based_prediction): output from screen to both (`#8408 `_) +* perf(autoware_map_based_prediction): removed duplicate findNearest calculations (`#8490 `_) +* perf(autoware_map_based_prediction): enhance speed by removing unnecessary calculation (`#8471 `_) * fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks * perf(autoware_map_based_prediction): enhance speed by removing unnecessary calculation --------- -* refactor(autoware_map_based_prediction): map based pred time keeper ptr (`#8462 `_) +* refactor(autoware_map_based_prediction): map based pred time keeper ptr (`#8462 `_) * refactor(map_based_prediction): implement time keeper by pointer * feat(map_based_prediction): set time keeper in path generator * feat: use scoped time track only when the timekeeper ptr is not null @@ -135,16 +135,16 @@ Changelog for package autoware_map_based_prediction * chore: remove unnecessary ScopedTimeTrack instances * feat: replace member to pointer --------- -* fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks (`#8467 `_) -* perf(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType (`#8461 `_) +* fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks (`#8467 `_) +* perf(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType (`#8461 `_) feat(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType -* perf(map_based_prediction): improve world to map transform calculation (`#8413 `_) +* perf(map_based_prediction): improve world to map transform calculation (`#8413 `_) * perf(map_based_prediction): improve world to map transform calculation 1. remove unused transforms 2. make transform loading late as possible * perf(map_based_prediction): get transform only when it is necessary --------- -* perf(autoware_map_based_prediction): improve orientation calculation and resample converted path (`#8427 `_) +* perf(autoware_map_based_prediction): improve orientation calculation and resample converted path (`#8427 `_) * refactor: improve orientation calculation and resample converted path with linear interpolation Simplify the calculation of the orientation for each pose in the convertPathType function by directly calculating the sine and cosine of half the yaw angle. This improves efficiency and readability. Also, improve the resampling of the converted path by using linear interpolation for better performance. * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -154,12 +154,12 @@ Changelog for package autoware_map_based_prediction --------- Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* perf(map_based_prediction): apply lerp instead of spline (`#8416 `_) +* perf(map_based_prediction): apply lerp instead of spline (`#8416 `_) perf: apply lerp interpolation instead of spline -* revert (map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" (`#8417 `_) - Revert "perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" +* revert (map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" (`#8417 `_) + Revert "perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_)" This reverts commit 147403f1765346be9c5a3273552d86133298a899. -* perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_) +* perf(map_based_prediction): use linear interpolation for path conversion (`#8400 `_) * refactor: improve orientation calculation in MapBasedPredictionNode Simplify the calculation of the orientation for each pose in the convertPathType function. Instead of using the atan2 function, calculate the sine and cosine of half the yaw angle directly. This improves the efficiency and readability of the code. * refactor: resample converted path with linear interpolation @@ -167,20 +167,20 @@ Changelog for package autoware_map_based_prediction the mark indicates true, but the function resamplePoseVector implementation is opposite. chore: write comment about use_akima_slpine_for_xy --------- -* perf(map_based_prediction): create a fence LineString layer and use rtree query (`#8406 `_) +* perf(map_based_prediction): create a fence LineString layer and use rtree query (`#8406 `_) use fence layer -* perf(map_based_prediction): remove unncessary withinRoadLanelet() (`#8403 `_) -* feat(map_based_prediction): filter surrounding crosswalks for pedestrians beforehand (`#8388 `_) +* perf(map_based_prediction): remove unncessary withinRoadLanelet() (`#8403 `_) +* feat(map_based_prediction): filter surrounding crosswalks for pedestrians beforehand (`#8388 `_) fix withinAnyCroswalk -* fix(autoware_map_based_prediction): fix argument order (`#8031 `_) +* fix(autoware_map_based_prediction): fix argument order (`#8031 `_) fix(autoware_map_based_prediction): fix argument order in call `getFrenetPoint()` Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> -* feat(map_based_prediction): add time_keeper (`#8176 `_) -* fix(autoware_map_based_prediction): fix shadowVariable (`#7934 `_) +* feat(map_based_prediction): add time_keeper (`#8176 `_) +* fix(autoware_map_based_prediction): fix shadowVariable (`#7934 `_) fix:shadowVariable -* perf(map_based_prediction): remove query on all fences linestrings (`#7237 `_) -* fix(autoware_map_based_prediction): fix syntaxError (`#7813 `_) +* perf(map_based_prediction): remove query on all fences linestrings (`#7237 `_) +* fix(autoware_map_based_prediction): fix syntaxError (`#7813 `_) * fix(autoware_map_based_prediction): fix syntaxError * style(pre-commit): autofix * fix spellcheck @@ -188,15 +188,15 @@ Changelog for package autoware_map_based_prediction * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(map based prediction): use polling subscriber (`#7397 `_) +* feat(map based prediction): use polling subscriber (`#7397 `_) feat(map_based_prediction): use polling subscriber -* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) +* refactor(map_based_prediction): prefix map based prediction (`#7391 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Kotaro Uetake, Mamoru Sobue, Maxime CLEMENT, Onur Can Yücedağ, Ryuta Kambe, Taekjin LEE, Takamasa Horibe, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kminoda, kobayu858 0.26.0 (2024-04-03) diff --git a/perception/autoware_multi_object_tracker/CHANGELOG.rst b/perception/autoware_multi_object_tracker/CHANGELOG.rst index 36f852fba97bd..593a9d70c4346 100644 --- a/perception/autoware_multi_object_tracker/CHANGELOG.rst +++ b/perception/autoware_multi_object_tracker/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package autoware_multi_object_tracker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* feat(autoware_multi_object_tracker): Set maximum reverse velocity to bicycle and crtv motion models (`#9019 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* feat(autoware_multi_object_tracker): Set maximum reverse velocity to bicycle and crtv motion models (`#9019 `_) * feat: Add maximum reverse velocity to bicycle and CTRV motion models revert the tracker orientation when the velocity exceed the maximum reverse velocity refactor: Update motion model parameters for bicycle and CTRV motion models @@ -14,7 +14,7 @@ Changelog for package autoware_multi_object_tracker max_reverse_vel is expected to be negative * refactor: remove config checker in the initializer --------- -* refactor(autoware_multi_object_tracker): separate detected object covariance modeling (`#9001 `_) +* refactor(autoware_multi_object_tracker): separate detected object covariance modeling (`#9001 `_) * refactor: update object model includes in tracker models * feat: add uncertainty processor for object tracking feat: refactor uncertainty processing for object tracking @@ -45,69 +45,69 @@ Changelog for package autoware_multi_object_tracker * refactor: update runProcess function parameters in multi_object_tracker_node.hpp --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_multi_object_tracker): update yaw with range-limited innovation (`#8976 `_) +* fix(autoware_multi_object_tracker): update yaw with range-limited innovation (`#8976 `_) fix: update yaw with range-limited innovation -* feat(autoware_multi_object_tracker): reduce trigger latency (`#8657 `_) +* feat(autoware_multi_object_tracker): reduce trigger latency (`#8657 `_) * feat: timer-based trigger with phase compensation * chore: update comments, name of variable * chore: declare min and max publish interval ratios * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_multi_object_tracker): output from screen to both (`#8407 `_) -* fix(autoware_multi_object_tracker): fix unusedFunction (`#8573 `_) +* fix(autoware_multi_object_tracker): output from screen to both (`#8407 `_) +* fix(autoware_multi_object_tracker): fix unusedFunction (`#8573 `_) fix:unusedFunction -* chore(autoware_multi_object_tracker): fix typo in input_channels.schema.json (`#8515 `_) +* chore(autoware_multi_object_tracker): fix typo in input_channels.schema.json (`#8515 `_) * fix(schema): fix typo in input_channels.schema.json Fixed a typo in the "lidar_pointpainting" key in the input_channels.schema.json file. * fix: fix typo in lidar_pointpainting key * chore: fix typo of lidar_pointpainitng channel --------- Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> -* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) * refactor(kalman_filter): prefix package and namespace with autoware * move headers to include/autoware/ * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs(autoware_multi_object_tracker): update input_channels schema with default values (`#8473 `_) +* docs(autoware_multi_object_tracker): update input_channels schema with default values (`#8473 `_) chore(perception): update input_channels schema with default values -* fix(autoware_multi_object_tracker): enable trigger publish when delay_compensation is false (`#8484 `_) +* fix(autoware_multi_object_tracker): enable trigger publish when delay_compensation is false (`#8484 `_) fix: enable trigger publish when delay_compensation is false -* fix(autoware_multi_object_tracker): fix functionConst (`#8424 `_) +* fix(autoware_multi_object_tracker): fix functionConst (`#8424 `_) fix:functionConst -* docs(autoware_multi_object_tracker): add default values on the schema json (`#8179 `_) +* docs(autoware_multi_object_tracker): add default values on the schema json (`#8179 `_) * Refractored the parameters, build the schema file, updated the readme file. * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_multi_object_tracker): fix functionConst (`#8290 `_) +* fix(autoware_multi_object_tracker): fix functionConst (`#8290 `_) * fix:functionConst * fix:functionConst * fix:clang format --------- -* fix(autoware_multi_object_tracker): revert latency reduction logic and bring back to timer trigger (`#8277 `_) +* fix(autoware_multi_object_tracker): revert latency reduction logic and bring back to timer trigger (`#8277 `_) * fix: revert latency reduction logic and bring back to timer trigger * style(pre-commit): autofix * chore: remove unused variables --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_multi_object_tracker): fix uninitMemberVar (`#8335 `_) +* fix(autoware_multi_object_tracker): fix uninitMemberVar (`#8335 `_) fix:uninitMemberVar -* fix(autoware_multi_object_tracker): fix passedByValue (`#8231 `_) +* fix(autoware_multi_object_tracker): fix passedByValue (`#8231 `_) fix:passedByValue -* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) * fix: cppcheck knownConditionTrueFalse * fix * fix --------- -* fix(autoware_multi_object_tracker): missing parameter schema path fix (`#8120 `_) +* fix(autoware_multi_object_tracker): missing parameter schema path fix (`#8120 `_) fix: missing parameter schema path fix -* fix(multi_object_tracker): fix funcArgNamesDifferent (`#8079 `_) +* fix(multi_object_tracker): fix funcArgNamesDifferent (`#8079 `_) fix:funcArgNamesDifferent -* refactor(multi_object_tracker): bring parameter schema to new package folder (`#8105 `_) +* refactor(multi_object_tracker): bring parameter schema to new package folder (`#8105 `_) refactor: bring parameter schema to new package folder -* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) +* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) * refactor: rename multi_object_tracker package to autoware_multi_object_tracker * style(pre-commit): autofix --------- diff --git a/perception/autoware_object_merger/CHANGELOG.rst b/perception/autoware_object_merger/CHANGELOG.rst index 30a2a4d8eb8eb..e4af14846d835 100644 --- a/perception/autoware_object_merger/CHANGELOG.rst +++ b/perception/autoware_object_merger/CHANGELOG.rst @@ -5,21 +5,21 @@ Changelog for package autoware_object_merger 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_object_merger): default merger priority within enum range (`#8858 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_object_merger): default merger priority within enum range (`#8858 `_) fix: default merger priority within enum range -* fix(object_association_merger_node): fix the frame id of output object msg (`#8674 `_) +* fix(object_association_merger_node): fix the frame id of output object msg (`#8674 `_) fix: fix the object msg header -* fix(doc, object_merger): fix object merger document path (`#8292 `_) +* fix(doc, object_merger): fix object merger document path (`#8292 `_) fix object merger document path -* fix(autoware_object_merger): fix passedByValue (`#8232 `_) +* fix(autoware_object_merger): fix passedByValue (`#8232 `_) fix:passedByValue -* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) * fix: cppcheck knownConditionTrueFalse * fix * fix --------- -* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) +* refactor(autoware_object_merger): move headers to src and rename package (`#7804 `_) * Contributors: Esteve Fernandez, Ryuta Kambe, Taekjin LEE, Yi-Hsiang Fang (Vivid), Yutaka Kondo, Yuxuan Liu, kobayu858 0.26.0 (2024-04-03) diff --git a/perception/autoware_object_range_splitter/CHANGELOG.rst b/perception/autoware_object_range_splitter/CHANGELOG.rst index 8b80372325662..6552fd133981c 100644 --- a/perception/autoware_object_range_splitter/CHANGELOG.rst +++ b/perception/autoware_object_range_splitter/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_object_range_splitter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): fox docs for autoware object range splitter (`#8306 `_) +* fix(docs): fox docs for autoware object range splitter (`#8306 `_) * fix docs for autoware object range splitter * fix spelling --------- -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_object_velocity_splitter/CHANGELOG.rst b/perception/autoware_object_velocity_splitter/CHANGELOG.rst index f3e129eded74f..66513afe678ca 100644 --- a/perception/autoware_object_velocity_splitter/CHANGELOG.rst +++ b/perception/autoware_object_velocity_splitter/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_object_velocity_splitter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_object_velocity_splitter): fix funcArgNamesDifferent (`#8013 `_) +* fix(autoware_object_velocity_splitter): fix funcArgNamesDifferent (`#8013 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent --------- -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst index 7f0f398490ef5..8994678344025 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst +++ b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(occupancy_grid_map_outlier_filter): add time_keeper (`#8597 `_) +* feat(occupancy_grid_map_outlier_filter): add time_keeper (`#8597 `_) * add time_keeper * add option for time keeper * add scope and timekeeper @@ -14,12 +14,12 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter * add timekeeper option * fix comment --------- -* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) +* refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (`#6745 `_) * add param and schema file, edit readme * . * correct linter errors --------- -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter diff --git a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst index d866dc5c742c8..2906f0f1f76a3 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst +++ b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_probabilistic_occupancy_grid_map 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(probabilistic_occupancy_grid_map): add time_keeper (`#8601 `_) +* feat(probabilistic_occupancy_grid_map): add time_keeper (`#8601 `_) * add time_keeper * add option for time keeper * correct namespace @@ -18,15 +18,15 @@ Changelog for package autoware_probabilistic_occupancy_grid_map * fix variable shadowing --------- Co-authored-by: Taekjin LEE -* fix(autoware_probabilistic_occupancy_grid_map): fix unusedFunction (`#8574 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix unusedFunction (`#8574 `_) fix:unusedFunction -* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8426 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8426 `_) fix:functionConst -* fix(autoware_probabilistic_occupancy_grid_map): fix uninitMemberVar (`#8333 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix uninitMemberVar (`#8333 `_) fix:uninitMemberVar -* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8289 `_) +* fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (`#8289 `_) fix:functionConst -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter diff --git a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst index dce4e0aae3f62..be3d4cb398b51 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst +++ b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package autoware_radar_crossing_objects_noise_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter --------- -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst index 7d6ee4ac64750..e1c5497782ae0 100644 --- a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst +++ b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_radar_fusion_to_detected_object 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_radar_fusion_to_detected_object): fix variableScope (`#8429 `_) +* fix(autoware_radar_fusion_to_detected_object): fix variableScope (`#8429 `_) fix:variableScope Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* fix(autoware_radar_fusion_to_detected_object): fix functionConst (`#8287 `_) +* fix(autoware_radar_fusion_to_detected_object): fix functionConst (`#8287 `_) fix:functionConst -* fix(autoware_radar_fusion_to_detected_object): fix warnings of functionStatic (`#8052 `_) +* fix(autoware_radar_fusion_to_detected_object): fix warnings of functionStatic (`#8052 `_) fix: deal with functionStatic warning -* fix(autoware_radar_fusion_to_detected_object): fix constParameterReference (`#8040 `_) +* fix(autoware_radar_fusion_to_detected_object): fix constParameterReference (`#8040 `_) fix:constParameterReference -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_radar_object_clustering/CHANGELOG.rst b/perception/autoware_radar_object_clustering/CHANGELOG.rst index 0b1ed7b63a2ee..e2a9c19b6f086 100644 --- a/perception/autoware_radar_object_clustering/CHANGELOG.rst +++ b/perception/autoware_radar_object_clustering/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package autoware_radar_object_clustering 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter --------- -* fix(autoware_radar_object_clustering): fix funcArgNamesDifferent (`#8014 `_) +* fix(autoware_radar_object_clustering): fix funcArgNamesDifferent (`#8014 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent --------- -* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) +* refactor(multi_object_tracker)!: add package name prefix of autoware\_ (`#8083 `_) * refactor: rename multi_object_tracker package to autoware_multi_object_tracker * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_radar_object_tracker/CHANGELOG.rst b/perception/autoware_radar_object_tracker/CHANGELOG.rst index d172f19376f0c..f2490cc59c4fc 100644 --- a/perception/autoware_radar_object_tracker/CHANGELOG.rst +++ b/perception/autoware_radar_object_tracker/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package autoware_radar_object_tracker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(kalman_filter): prefix package and namespace with autoware (`#7787 `_) * refactor(kalman_filter): prefix package and namespace with autoware * move headers to include/autoware/ * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_radar_object_tracker): fix redundantInitialization (`#8227 `_) +* fix(autoware_radar_object_tracker): fix redundantInitialization (`#8227 `_) * fix(autoware_radar_object_tracker): fix redundantInitialization * Update perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp Co-authored-by: Yukihiro Saito --------- Co-authored-by: Yukihiro Saito -* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) * fix: cppcheck knownConditionTrueFalse * fix * fix --------- -* fix(autoware_radar_object_tracker): fix funcArgNamesDifferent (`#8015 `_) +* fix(autoware_radar_object_tracker): fix funcArgNamesDifferent (`#8015 `_) fix:funcArgNamesDifferent -* fix(autoware_radar_object_tracker): fix shadowVariable (`#7945 `_) +* fix(autoware_radar_object_tracker): fix shadowVariable (`#7945 `_) fix:shadowVariable -* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) +* refactor(radar)!: add package name prefix of autoware\_ (`#7892 `_) * refactor: rename radar_object_tracker * refactor: rename package from radar_object_tracker to autoware_radar_object_tracker * refactor: rename package from radar_object_clustering to autoware_radar_object_clustering diff --git a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst index 190161a1061ad..38e0a25549f76 100644 --- a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst +++ b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_radar_tracks_msgs_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): fix docs for radar tracks msgs converter (`#8305 `_) +* fix(docs): fix docs for radar tracks msgs converter (`#8305 `_) * fix docs for radar tracks msgs converter * fix a not correctly formatted link in readme found by CI --------- -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter diff --git a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst index fb8794b10745f..1ed0d176125ab 100644 --- a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst +++ b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_raindrop_cluster_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* chore(raindrop_cluster_filter): add node test (`#8859 `_) -* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* chore(raindrop_cluster_filter): add node test (`#8859 `_) +* refactor(detected_object_validation)!: add package name prefix of autoware\_ (`#8122 `_) refactor: rename detected_object_validation to autoware_detected_object_validation -* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) +* refactor(raindrop_cluster_filter): add package name prefix of autoware\_ (`#8000 `_) * refactor(raindrop_cluster_filter): add package name prefix of autoware\_ * fix: typo --------- diff --git a/perception/autoware_shape_estimation/CHANGELOG.rst b/perception/autoware_shape_estimation/CHANGELOG.rst index 17cb90ce0dd09..276854066ef08 100644 --- a/perception/autoware_shape_estimation/CHANGELOG.rst +++ b/perception/autoware_shape_estimation/CHANGELOG.rst @@ -5,13 +5,13 @@ Changelog for package autoware_shape_estimation 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) +* feat(autoware_shape_estimation): add reference object based corrector (`#9148 `_) * add object based corrector * apply cppcheck suggestion * fix typo --------- Co-authored-by: Taekjin LEE -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -19,17 +19,17 @@ Changelog for package autoware_shape_estimation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* test(autoware_shape_estimation): add unit testing for `ShapeEstimationNode` (`#8740 `_) +* test(autoware_shape_estimation): add unit testing for `ShapeEstimationNode` (`#8740 `_) test: add unit testing for `ShapeEstimationNode` -* fix(autoware_shape_estimation): fix unusedFunction (`#8575 `_) +* fix(autoware_shape_estimation): fix unusedFunction (`#8575 `_) * fix:unusedFunction * fix:unusedFunction * fix:end of file issues * fix:copyright --------- -* fix(autoware_shape_estimation): resolve undefined reference to `~TrtShapeEstimator()` (`#8738 `_) +* fix(autoware_shape_estimation): resolve undefined reference to `~TrtShapeEstimator()` (`#8738 `_) fix: resolve undefined reference to `~TrtShapeEstimator()` -* feat(shape_estimation): add ml shape estimation (`#7860 `_) +* feat(shape_estimation): add ml shape estimation (`#7860 `_) * feat(shape_estimation): add ml shape estimation * style(pre-commit): autofix * feat(shape_estimation): fix exceed objects @@ -37,7 +37,7 @@ Changelog for package autoware_shape_estimation * feat(shape_estimation): fix indent --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) * refactor(shape_estimation): add package name prefix of autoware\_ * style(pre-commit): autofix * fix: mising prefix diff --git a/perception/autoware_simple_object_merger/CHANGELOG.rst b/perception/autoware_simple_object_merger/CHANGELOG.rst index a8e9836625958..f9b905a340f12 100644 --- a/perception/autoware_simple_object_merger/CHANGELOG.rst +++ b/perception/autoware_simple_object_merger/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_simple_object_merger 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter diff --git a/perception/autoware_tensorrt_classifier/CHANGELOG.rst b/perception/autoware_tensorrt_classifier/CHANGELOG.rst index d8615e2e64353..ac517eba9c465 100644 --- a/perception/autoware_tensorrt_classifier/CHANGELOG.rst +++ b/perception/autoware_tensorrt_classifier/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_tensorrt_classifier 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,13 +13,13 @@ Changelog for package autoware_tensorrt_classifier --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(tensorrt classifier wrapper): fix unreadVariable (`#8355 `_) +* fix(tensorrt classifier wrapper): fix unreadVariable (`#8355 `_) * fix:unreadVariable * fix:unreadVariable --------- -* fix(autoware_tensorrt_classifier): fix passedByValue (`#8236 `_) +* fix(autoware_tensorrt_classifier): fix passedByValue (`#8236 `_) fix:passedByValue -* refactor(tensorrt_classifier)!: fix namespace and directory structure (`#8009 `_) +* refactor(tensorrt_classifier)!: fix namespace and directory structure (`#8009 `_) * add prefix into * add prefix in CODEOWNERS * remove invalid author diff --git a/perception/autoware_tensorrt_common/CHANGELOG.rst b/perception/autoware_tensorrt_common/CHANGELOG.rst index 81ec4c111519a..9510da691fba7 100644 --- a/perception/autoware_tensorrt_common/CHANGELOG.rst +++ b/perception/autoware_tensorrt_common/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_tensorrt_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix diff --git a/perception/autoware_tensorrt_yolox/CHANGELOG.rst b/perception/autoware_tensorrt_yolox/CHANGELOG.rst index 349162cd54d18..e9cec23494914 100644 --- a/perception/autoware_tensorrt_yolox/CHANGELOG.rst +++ b/perception/autoware_tensorrt_yolox/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_tensorrt_yolox 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,27 +13,27 @@ Changelog for package autoware_tensorrt_yolox --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) * init CUDA device option Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(autoware_tensorrt_yolox): add Kotaro Uetake as maintainer (`#8595 `_) +* chore(autoware_tensorrt_yolox): add Kotaro Uetake as maintainer (`#8595 `_) chore: add Kotaro Uetake as maintainer -* fix: cpp17 namespaces (`#8526 `_) +* fix: cpp17 namespaces (`#8526 `_) Use traditional-style nameplace nesting for nvcc Co-authored-by: Yuri Guimaraes -* fix(docs): fix docs for tensorrt yolox (`#8304 `_) +* fix(docs): fix docs for tensorrt yolox (`#8304 `_) fix docs for tensorrt yolox -* refactor(tensorrt_yolox): move utils into perception_utils (`#8435 `_) +* refactor(tensorrt_yolox): move utils into perception_utils (`#8435 `_) * chore(tensorrt_yolo): refactor utils * style(pre-commit): autofix * fix: tensorrt_yolox --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_tensorrt_yolox): fix variableScope (`#8430 `_) +* fix(autoware_tensorrt_yolox): fix variableScope (`#8430 `_) fix: variableScope Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* fix(tensorrt_yolox): add run length encoding for sematic segmentation mask (`#7905 `_) +* fix(tensorrt_yolox): add run length encoding for sematic segmentation mask (`#7905 `_) * fix: add rle compress * fix: rle compress * fix: move rle into utils @@ -55,11 +55,11 @@ Changelog for package autoware_tensorrt_yolox Co-authored-by: Yukihiro Saito Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_tensorrt_yolox): fix unreadVariable (`#8356 `_) +* fix(autoware_tensorrt_yolox): fix unreadVariable (`#8356 `_) * fix:unreadVariable * fix:unreadVariable --------- -* refactor: image transport decompressor/autoware prefix (`#8197 `_) +* refactor: image transport decompressor/autoware prefix (`#8197 `_) * refactor: add `autoware` namespace prefix to image_transport_decompressor * refactor(image_transport_decompressor): add `autoware` prefix to the package code * refactor: update package name in CODEOWNER @@ -70,7 +70,7 @@ Changelog for package autoware_tensorrt_yolox --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) +* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) * refactor: add autoware namespace prefix to `tensorrt_yolox` * refactor: apply `autoware` namespace to tensorrt_yolox * chore: update CODEOWNERS diff --git a/perception/autoware_tracking_object_merger/CHANGELOG.rst b/perception/autoware_tracking_object_merger/CHANGELOG.rst index d2d107ee36af0..a4a65b6339ad1 100644 --- a/perception/autoware_tracking_object_merger/CHANGELOG.rst +++ b/perception/autoware_tracking_object_merger/CHANGELOG.rst @@ -5,20 +5,20 @@ Changelog for package autoware_tracking_object_merger 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(autoware_tracking_object_merger): fix unusedFunction (`#8578 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(autoware_tracking_object_merger): fix unusedFunction (`#8578 `_) fix:unusedFunction -* fix(autoware_tracking_object_merger): add merge frame (`#8418 `_) +* fix(autoware_tracking_object_merger): add merge frame (`#8418 `_) * fix(autoware_tracking_object_merger): add merge frame * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) +* fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (`#8137 `_) * fix: cppcheck knownConditionTrueFalse * fix * fix --------- -* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) +* refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (`#7809 `_) * Contributors: Esteve Fernandez, Kaan Çolak, Ryuta Kambe, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst index 8f1355a111cba..d1bc11f6e45f9 100644 --- a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst +++ b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_traffic_light_arbiter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_traffic_light_arbiter): fix build error (`#9186 `_) +* fix(autoware_traffic_light_arbiter): fix build error (`#9186 `_) fix build error -* test(autoware_traffic_light_arbiter): add node test (`#8747 `_) +* test(autoware_traffic_light_arbiter): add node test (`#8747 `_) * add test dir * update test node * style(pre-commit): autofix @@ -17,9 +17,9 @@ Changelog for package autoware_traffic_light_arbiter * fix typo --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(traffic_light_arbiter): missing name changes (`#8278 `_) +* chore(traffic_light_arbiter): missing name changes (`#8278 `_) chore: missing name changes -* refactor: traffic light arbiter/autoware prefix (`#8181 `_) +* refactor: traffic light arbiter/autoware prefix (`#8181 `_) * refactor(traffic_light_arbiter): apply `autoware` namespace to traffic_light_arbiter * refactor(traffic_light_arbiter): update the package name in CODEWONER * style(pre-commit): autofix diff --git a/perception/autoware_traffic_light_classifier/CHANGELOG.rst b/perception/autoware_traffic_light_classifier/CHANGELOG.rst index 441964c17d79d..7995044220180 100644 --- a/perception/autoware_traffic_light_classifier/CHANGELOG.rst +++ b/perception/autoware_traffic_light_classifier/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_traffic_light_classifier 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,11 +13,11 @@ Changelog for package autoware_traffic_light_classifier --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* fix(traffic_light_classifier): fix traffic light monitor warning (`#8412 `_) +* fix(traffic_light_classifier): fix traffic light monitor warning (`#8412 `_) fix traffic light monitor warning -* fix(autoware_traffic_light_classifier): fix passedByValue (`#8392 `_) +* fix(autoware_traffic_light_classifier): fix passedByValue (`#8392 `_) fix:passedByValue -* fix(traffic_light_classifier): fix zero size roi bug (`#7608 `_) +* fix(traffic_light_classifier): fix zero size roi bug (`#7608 `_) * fix: continue to process when input roi size is zero * fix: consider when roi size is zero, rois is empty fix @@ -27,11 +27,11 @@ Changelog for package autoware_traffic_light_classifier * chore: refactor code to handle empty input ROIs in traffic_light_classifier_node.cpp * refactor: using index instead of vector length --------- -* fix(traffic_light_classifier): fix funcArgNamesDifferent (`#8153 `_) +* fix(traffic_light_classifier): fix funcArgNamesDifferent (`#8153 `_) * fix:funcArgNamesDifferent * fix:clang format --------- -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst index 0b82b55275d84..87a5dda3c8add 100644 --- a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_traffic_light_fine_detector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) +* refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (`#9099 `_) * refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace * refactor(tensorrt_common): directory structure * style(pre-commit): autofix @@ -13,27 +13,27 @@ Changelog for package autoware_traffic_light_fine_detector --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) +* feat(autoware_tensorrt_yolox): add GPU - CUDA device option (`#8245 `_) * init CUDA device option Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_traffic_light_fine_detector): fix unusedFunction (`#8583 `_) +* fix(autoware_traffic_light_fine_detector): fix unusedFunction (`#8583 `_) fix:unusedFunction -* fix(autoware_traffic_light_fine_detector): fix passedByValue (`#8237 `_) +* fix(autoware_traffic_light_fine_detector): fix passedByValue (`#8237 `_) fix:passedByValue -* fix(traffic_light_fine_detector): fix funcArgNamesDifferent (`#8154 `_) +* fix(traffic_light_fine_detector): fix funcArgNamesDifferent (`#8154 `_) fix:funcArgNamesDifferent -* fix(autoware_traffic_light_fine_detector): fix constParameterReference (`#8146 `_) +* fix(autoware_traffic_light_fine_detector): fix constParameterReference (`#8146 `_) * fix:constParameterReference * fix:constParameterReference * fix:constParameterReference --------- -* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) +* refactor(tensorrt_yolox)!: fix namespace and directory structure (`#7992 `_) * refactor: add autoware namespace prefix to `tensorrt_yolox` * refactor: apply `autoware` namespace to tensorrt_yolox * chore: update CODEOWNERS * fix: resolve `yolox_tiny` to work --------- -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst index 211ea4d84b79b..5d05b6687cab3 100644 --- a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package autoware_traffic_light_map_based_detector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_traffic_light_map_based_detector): output from screen to both (`#8411 `_) -* fix(traffic_light_map_based_detector): fix funcArgNamesDifferent (`#8155 `_) +* fix(autoware_traffic_light_map_based_detector): output from screen to both (`#8411 `_) +* fix(traffic_light_map_based_detector): fix funcArgNamesDifferent (`#8155 `_) fix:funcArgNamesDifferent -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst index 3faaea27dd068..8842867c03485 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst +++ b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_traffic_light_multi_camera_fusion 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst index ee10774ab9140..a378f3c04c1f3 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst +++ b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_traffic_light_occlusion_predictor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(traffic_light_occlusion_predictor): fix cppcheck warnings of functionStatic (`#8258 `_) +* fix(traffic_light_occlusion_predictor): fix cppcheck warnings of functionStatic (`#8258 `_) fix: deal with functionStatic warnings -* fix(autoware_traffic_light_occlusion_predictor): fix functionConst (`#8286 `_) +* fix(autoware_traffic_light_occlusion_predictor): fix functionConst (`#8286 `_) fix:functionConst -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/autoware_traffic_light_visualization/CHANGELOG.rst b/perception/autoware_traffic_light_visualization/CHANGELOG.rst index 562b1774f7597..2da3f57f659e5 100644 --- a/perception/autoware_traffic_light_visualization/CHANGELOG.rst +++ b/perception/autoware_traffic_light_visualization/CHANGELOG.rst @@ -5,26 +5,26 @@ Changelog for package autoware_traffic_light_visualization 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): fix documentation for traffic light visualization (`#8303 `_) +* fix(docs): fix documentation for traffic light visualization (`#8303 `_) fix docs traffic light visualization -* fix(autoware_traffic_light_visualization): fix to visualize correct color and shapes (`#8428 `_) +* fix(autoware_traffic_light_visualization): fix to visualize correct color and shapes (`#8428 `_) fix(autoware_traffic_light_visualization): fix vialization to draw correct shapes Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> -* fix(traffic_light_visualization): fix funcArgNamesDifferent (`#8156 `_) +* fix(traffic_light_visualization): fix funcArgNamesDifferent (`#8156 `_) fix:funcArgNamesDifferent -* fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs (`#8294 `_) +* fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs (`#8294 `_) * fix(traffic_light_visualizer): remove cerr temporarily to avoid flooding logs * fix precommit * fix --------- -* fix(autoware_traffic_light_visualization): fix passedByValue (`#8241 `_) +* fix(autoware_traffic_light_visualization): fix passedByValue (`#8241 `_) fix:passedByValue -* feat(traffic_light_roi_visualizer): add an option to use normal publisher instead of image tranport in traffic light roi visualizer (`#8157 `_) +* feat(traffic_light_roi_visualizer): add an option to use normal publisher instead of image tranport in traffic light roi visualizer (`#8157 `_) * apply new parameter schemes, set default parameters add an option to use normal publisher instead of image tranport in traffic light roi visualizer * small fix on default value --------- -* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) +* refactor(traffic_light\_*)!: add package name prefix of autoware\_ (`#8159 `_) * chore: rename traffic_light_fine_detector to autoware_traffic_light_fine_detector * chore: rename traffic_light_multi_camera_fusion to autoware_traffic_light_multi_camera_fusion * chore: rename traffic_light_occlusion_predictor to autoware_traffic_light_occlusion_predictor diff --git a/perception/perception_utils/CHANGELOG.rst b/perception/perception_utils/CHANGELOG.rst index f3a85f462cc4d..fbe74bbf6d28a 100644 --- a/perception/perception_utils/CHANGELOG.rst +++ b/perception/perception_utils/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package perception_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(perception_utils): add unit test (`#8414 `_) -* feat(perception_utils)!: move perception_utils from common to perception folder (`#8748 `_) +* chore(perception_utils): add unit test (`#8414 `_) +* feat(perception_utils)!: move perception_utils from common to perception folder (`#8748 `_) feat: move perception utils which is only used in perception Co-authored-by: yoshiri * Contributors: Shintaro Tomie, Yutaka Kondo, badai nguyen diff --git a/planning/autoware_costmap_generator/CHANGELOG.rst b/planning/autoware_costmap_generator/CHANGELOG.rst index 42b9570bde861..58250e160fee9 100644 --- a/planning/autoware_costmap_generator/CHANGELOG.rst +++ b/planning/autoware_costmap_generator/CHANGELOG.rst @@ -5,32 +5,32 @@ Changelog for package autoware_costmap_generator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(costmap_generator): fix include for grid_map_utils (`#9179 `_) -* perf(costmap_generator): manual blurring and fill polygons without OpenCV (`#9160 `_) -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* fix(costmap_generator): fix include for grid_map_utils (`#9179 `_) +* perf(costmap_generator): manual blurring and fill polygons without OpenCV (`#9160 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* perf(costmap_generator): prevent long transform lookup and add timekeeper (`#8886 `_) -* feat(costmap_generator): integrate generate_parameter_library (`#8827 `_) +* perf(costmap_generator): prevent long transform lookup and add timekeeper (`#8886 `_) +* feat(costmap_generator): integrate generate_parameter_library (`#8827 `_) * add parameter description * use parameter listener * append global identifier * suppress deprecated error * fix parameter type --------- -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* fix(autoware_costmap_generator): fix unusedFunction (`#8641 `_) +* fix(autoware_costmap_generator): fix unusedFunction (`#8641 `_) fix:unusedFunction -* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) +* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(costmap_generator)!: add autoware prefix (`#7329 `_) refactor(costmap_generator): add autoware prefix * Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Maxime CLEMENT, Mitsuhiro Sakamoto, Yutaka Kondo, Zhe Shen, kobayu858 diff --git a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst index 226a03012ddcf..d4e76a6d54d81 100644 --- a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst +++ b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package autoware_external_velocity_limit_selector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(external_velocity_limit_selector): integrate generate_parameter_library (`#8770 `_) +* feat(external_velocity_limit_selector): integrate generate_parameter_library (`#8770 `_) * add parameter description * use parameter listener --------- -* feat(external_velocity_limit_selector): rename to include/autoware/{package_name} (`#7516 `_) -* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) +* feat(external_velocity_limit_selector): rename to include/autoware/{package_name} (`#7516 `_) +* chore(autoware_external_velocity_limit_selector): add prefix `autoware\_` (`#7295 `_) chore(autoware_external_velocity_limit_selector): rename * Contributors: Mitsuhiro Sakamoto, Satoshi OTA, Takayuki Murooka, Yutaka Kondo diff --git a/planning/autoware_freespace_planner/CHANGELOG.rst b/planning/autoware_freespace_planner/CHANGELOG.rst index b485d82f7cf27..dd7f0ce0416ce 100644 --- a/planning/autoware_freespace_planner/CHANGELOG.rst +++ b/planning/autoware_freespace_planner/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_freespace_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(freespace_planner): make unit tests for member functions (`#9060 `_) +* test(freespace_planner): make unit tests for member functions (`#9060 `_) * refactor freespace planner * implement unit tests for freespace planner util functions * add freespace planner utils namespace @@ -14,7 +14,7 @@ Changelog for package autoware_freespace_planner * implement unit tests for FreespacePlanner member functions * add docstring for functions --------- -* test(freespace_planner): add unit tests for util functions (`#9059 `_) +* test(freespace_planner): add unit tests for util functions (`#9059 `_) * refactor freespace planner * add function is_near_target to freespace planner utils * add freespace planner utils namespace @@ -22,19 +22,19 @@ Changelog for package autoware_freespace_planner * implement unit tests for freespace planner util functions * add freespace planner utils namespace --------- -* refactor(freespace_planner): move functions to utils (`#9058 `_) +* refactor(freespace_planner): move functions to utils (`#9058 `_) * refactor freespace planner * add function is_near_target to freespace planner utils * add freespace planner utils namespace * fix function call --------- -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* fix(freespace_planner): fix free space planner spamming message (`#8614 `_) +* fix(freespace_planner): fix free space planner spamming message (`#8614 `_) check data availability only when scenario is active -* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) +* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -112,7 +112,7 @@ Changelog for package autoware_freespace_planner * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -178,7 +178,7 @@ Changelog for package autoware_freespace_planner * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) +* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) * refactor free space planner subscribers * implement scenario switching for edge cases * fix scenario selector test @@ -189,8 +189,8 @@ Changelog for package autoware_freespace_planner * improve near target logic * use timer based implementation for obstacle check --------- -* refactor(autoware_freespace_planner): rework parameters (`#8296 `_) -* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) +* refactor(autoware_freespace_planner): rework parameters (`#8296 `_) +* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -244,8 +244,8 @@ Changelog for package autoware_freespace_planner * suppress spell check --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(freespace_planner): disable randomly failing tests (`#8337 `_) -* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) +* fix(freespace_planner): disable randomly failing tests (`#8337 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -278,14 +278,14 @@ Changelog for package autoware_freespace_planner * check goal pose validity before setting collision free distance map * declare variables as const where necessary --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -302,7 +302,7 @@ Changelog for package autoware_freespace_planner fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -314,7 +314,7 @@ Changelog for package autoware_freespace_planner * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -323,7 +323,7 @@ Changelog for package autoware_freespace_planner * fix formats * keep header and source file name as before --------- -* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) +* refactor(freespace_planner)!: add autoware prefix (`#7376 `_) refactor(freespace_planner)!: add autoawre prefix * Contributors: Batuhan Beytekin, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, mkquda diff --git a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst index 46844268c82a4..7832350b16067 100644 --- a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst +++ b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_freespace_planning_algorithms 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) +* feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (`#8092 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -83,7 +83,7 @@ Changelog for package autoware_freespace_planning_algorithms * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -149,11 +149,11 @@ Changelog for package autoware_freespace_planning_algorithms * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(autoware_freespace_planning_algorithms): fix variableScope (`#8431 `_) +* fix(autoware_freespace_planning_algorithms): fix variableScope (`#8431 `_) fix: variableScope Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* chore(autoware_freespace_planning_algorithms): add missing dependency (`#8494 `_) -* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) +* chore(autoware_freespace_planning_algorithms): add missing dependency (`#8494 `_) +* feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning (`#8089 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -207,13 +207,13 @@ Changelog for package autoware_freespace_planning_algorithms * suppress spell check --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(autoware_freespace_planning_algorithms): fix unreadVariable (`#8360 `_) +* fix(autoware_freespace_planning_algorithms): fix unreadVariable (`#8360 `_) * fix:unreadVariable * fix:clang format --------- -* fix(autoware_freespace_planning_algorithms): fix functionConst (`#8281 `_) +* fix(autoware_freespace_planning_algorithms): fix functionConst (`#8281 `_) fix:functionConst -* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -246,28 +246,28 @@ Changelog for package autoware_freespace_planning_algorithms * check goal pose validity before setting collision free distance map * declare variables as const where necessary --------- -* fix(autoware_freespace_planning_algorithms): fix shadowVariable (`#7949 `_) +* fix(autoware_freespace_planning_algorithms): fix shadowVariable (`#7949 `_) * fix:shadowVariable * fix:shadowVariable * fix:shadowVariable --------- -* chore(freespace_planning_algorithm): modify A* script for standalone running (`#7070 `_) +* chore(freespace_planning_algorithm): modify A* script for standalone running (`#7070 `_) * modify astar for standalone running move clearNoe() from setMap to makePlan(). * small modification * run pre-commit --------- Co-authored-by: Takumi Ito -* feat(freespace_planning_algorithms): add is_back flag into the return of A* python wrapper (`#7831 `_) +* feat(freespace_planning_algorithms): add is_back flag into the return of A* python wrapper (`#7831 `_) add is_back flag to the return of getWaypoints Co-authored-by: Takumi Ito -* fix(autoware_freespace_planning_algorithms): fix syntaxError (`#7812 `_) -* fix(autoware_freespace_planning_algorithms): fix constStatement warning (`#7580 `_) -* fix(autoware_freespace_planning_algorithms): fix unusedScopedObject bug (`#7562 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* fix(autoware_freespace_planning_algorithms): fix syntaxError (`#7812 `_) +* fix(autoware_freespace_planning_algorithms): fix constStatement warning (`#7580 `_) +* fix(autoware_freespace_planning_algorithms): fix unusedScopedObject bug (`#7562 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -284,7 +284,7 @@ Changelog for package autoware_freespace_planning_algorithms fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -319,7 +319,7 @@ Changelog for package autoware_freespace_planning_algorithms * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(freespace_planning_algorithms)!: add autoware prefix (`#7375 `_) +* refactor(freespace_planning_algorithms)!: add autoware prefix (`#7375 `_) * Contributors: Kosuke Takeuchi, M. Fatih Cırıt, Nagi70, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, TakumIto, Yutaka Kondo, kobayu858, mkquda 0.26.0 (2024-04-03) diff --git a/planning/autoware_mission_planner/CHANGELOG.rst b/planning/autoware_mission_planner/CHANGELOG.rst index 419200406e5f7..5859bddced76b 100644 --- a/planning/autoware_mission_planner/CHANGELOG.rst +++ b/planning/autoware_mission_planner/CHANGELOG.rst @@ -5,47 +5,47 @@ Changelog for package autoware_mission_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) +* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) * feat(mission_planner): reroute with current route start pose when triggered by modifed goal * check new ego goal is in original preffered lane as much as possible * check goal is in goal_lane --------- -* fix(mission_planner): return without change_route if new route is empty (`#9101 `_) +* fix(mission_planner): return without change_route if new route is empty (`#9101 `_) fix(mission_planner): return if new route is empty without change_route -* chore(mission_planner): fix typo (`#9053 `_) -* test(mission_planner): add test of default_planner (`#9050 `_) -* test(mission_planner): add unit tests of utility functions (`#9011 `_) -* refactor(mission_planner): move anonymous functions to utils and add namespace (`#9012 `_) +* chore(mission_planner): fix typo (`#9053 `_) +* test(mission_planner): add test of default_planner (`#9050 `_) +* test(mission_planner): add unit tests of utility functions (`#9011 `_) +* refactor(mission_planner): move anonymous functions to utils and add namespace (`#9012 `_) feat(mission_planner): move functions to utils and add namespace -* feat(mission_planner): add option to prevent rerouting in autonomous driving mode (`#8757 `_) -* feat(mission_planner): make the "goal inside lanes" function more robuts and add tests (`#8760 `_) -* fix(mission_planner): improve condition to check if the goal is within the lane (`#8710 `_) -* fix(autoware_mission_planner): fix unusedFunction (`#8642 `_) +* feat(mission_planner): add option to prevent rerouting in autonomous driving mode (`#8757 `_) +* feat(mission_planner): make the "goal inside lanes" function more robuts and add tests (`#8760 `_) +* fix(mission_planner): improve condition to check if the goal is within the lane (`#8710 `_) +* fix(autoware_mission_planner): fix unusedFunction (`#8642 `_) fix:unusedFunction -* fix(autoware_mission_planner): fix noConstructor (`#8505 `_) +* fix(autoware_mission_planner): fix noConstructor (`#8505 `_) fix:noConstructor -* fix(autoware_mission_planner): fix funcArgNamesDifferent (`#8017 `_) +* fix(autoware_mission_planner): fix funcArgNamesDifferent (`#8017 `_) fix:funcArgNamesDifferent -* feat(mission_planner): reroute in manual driving (`#7842 `_) +* feat(mission_planner): reroute in manual driving (`#7842 `_) * feat(mission_planner): reroute in manual driving * docs(mission_planner): update document * feat(mission_planner): fix operation mode state receiving check --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* feat(mission_planner): rename to include/autoware/{package_name} (`#7513 `_) +* feat(mission_planner): rename to include/autoware/{package_name} (`#7513 `_) * feat(mission_planner): rename to include/autoware/{package_name} * feat(mission_planner): rename to include/autoware/{package_name} * feat(mission_planner): rename to include/autoware/{package_name} --------- -* feat(mission_planner): use polling subscriber (`#7447 `_) -* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) +* feat(mission_planner): use polling subscriber (`#7447 `_) +* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) * add flag to enable/disable loop check in getLaneletSequence functions * implement function to get closest route lanelet based on previous closest lanelet * refactor DefaultPlanner::plan function @@ -62,7 +62,7 @@ Changelog for package autoware_mission_planner * format fix * move test map to autoware_test_utils --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -71,7 +71,7 @@ Changelog for package autoware_mission_planner * fix formats * keep header and source file name as before --------- -* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) +* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) * refactor(mission_planner)!: add autoware prefix and namespace * fix svg --------- diff --git a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst index f7c56afd677d7..b70fabb1500db 100644 --- a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst +++ b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_objects_of_interest_marker_interface 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) -* refactor(objects_of_interest_marker_interface)!: prefix package and namespace with autoware (`#7413 `_) +* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) +* refactor(objects_of_interest_marker_interface)!: prefix package and namespace with autoware (`#7413 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst index 7023953ecc75f..65d4428bbcbb0 100644 --- a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package autoware_obstacle_cruise_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* chore(obstacle_cruise_planner): add maintainer (`#9077 `_) -* feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out (`#8072 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* chore(obstacle_cruise_planner): add maintainer (`#9077 `_) +* feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out (`#8072 `_) * feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out * cleanup, add stop safety margin for transient objects style(pre-commit): autofix @@ -20,28 +20,28 @@ Changelog for package autoware_obstacle_cruise_planner * feat: add predefined deceleration rate for VRUs * feat: update --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(motion_planning): align the parameters with launcher (`#8792 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) parameters in motion_planning aligned -* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) +* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) fix(velocity_smoother): float type of processing time was wrong -* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) +* feat(cruise_planner,planning_evaluator): add cruise and slow down diags (`#7960 `_) * add cruise and slow down diags to cruise planner * add cruise types * adjust planning eval --------- -* feat(obstacle_cruise_planner): prevent chattering when using point cloud (`#7861 `_) +* feat(obstacle_cruise_planner): prevent chattering when using point cloud (`#7861 `_) * prevent chattering of stop planning * Update planning/autoware_obstacle_cruise_planner/src/node.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * fix stop position oscillation --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* feat(obstacle_cruise_planner): add diagnostics publishing to cruise planner (`#7836 `_) +* feat(obstacle_cruise_planner): add diagnostics publishing to cruise planner (`#7836 `_) add diagnostics publishing to cruise planner -* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) +* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#6907 `_) * add pointcloud to obstacle properties * add tf listener & pointcloud subscriber * add parameters for pointcloud obstacle @@ -113,35 +113,35 @@ Changelog for package autoware_obstacle_cruise_planner Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning in generateSlowDownTrajectory (`#7659 `_) -* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning (`#7656 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning in generateSlowDownTrajectory (`#7659 `_) +* fix(autoware_obstacle_cruise_planner): fix shadowVariable warning (`#7656 `_) * fix(autoware_obstacle_cruise_planner): fix shadowVariable warning * fix * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings (`#7620 `_) +* fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings (`#7620 `_) * fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings * fix --------- -* fix(autoware_obstacle_cruise_planner): fix unreadVariable warning (`#7627 `_) -* refactor(obstacle_cruise_planner): apply clang-tidy check (`#7553 `_) +* fix(autoware_obstacle_cruise_planner): fix unreadVariable warning (`#7627 `_) +* refactor(obstacle_cruise_planner): apply clang-tidy check (`#7553 `_) obstacle_cruise -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning (`#7541 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning (`#7541 `_) * fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning * delete unnecessary file * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_obstacle_cruise_planner): fix unusedScopedObject bug (`#7569 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_obstacle_cruise_planner): fix unusedScopedObject bug (`#7569 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(obstacle_cruise_planner): rename to include/autoware/{package_name} (`#7510 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* feat(obstacle_cruise_planner): rename to include/autoware/{package_name} (`#7510 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -153,7 +153,7 @@ Changelog for package autoware_obstacle_cruise_planner * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) +* refactor(obstacle_cruise_planner)!: add autoware\_ prefix (`#7419 `_) * Contributors: Berkay Karaman, Esteve Fernandez, Koichi98, Kosuke Takeuchi, Mamoru Sobue, Mitsuhiro Sakamoto, Ryuta Kambe, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, danielsanchezaran 0.26.0 (2024-04-03) diff --git a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst index d655436687f3d..cffc56e34f282 100644 --- a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst @@ -5,35 +5,35 @@ Changelog for package autoware_obstacle_stop_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* chore(planning): consistent parameters with autoware_launch (`#8915 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) * chore(planning): consistent parameters with autoware_launch * update * fix json schema --------- -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) +* fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (`#8512 `_) Register node plugin with autoware scoping -* fix(autoware_obstacle_stop_planner): fix unusedFunction (`#8643 `_) +* fix(autoware_obstacle_stop_planner): fix unusedFunction (`#8643 `_) fix:unusedFunction -* refactor(autoware_obstacle_stop_planner): rework parameters (`#7795 `_) -* fix(autoware_obstacle_stop_planner): fix cppcheck warning of functionStatic (`#8264 `_) +* refactor(autoware_obstacle_stop_planner): rework parameters (`#7795 `_) +* fix(autoware_obstacle_stop_planner): fix cppcheck warning of functionStatic (`#8264 `_) * fix: deal with functionStatic warnings * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_obstacle_stop_planner): fix functionConst (`#8282 `_) +* fix(autoware_obstacle_stop_planner): fix functionConst (`#8282 `_) fix:functionConst -* fix(autoware_obstacle_stop_planner): fix passedByValue (`#8189 `_) +* fix(autoware_obstacle_stop_planner): fix passedByValue (`#8189 `_) fix:passedByValue -* fix(autoware_obstacle_stop_planner): fix funcArgNamesDifferent (`#8018 `_) +* fix(autoware_obstacle_stop_planner): fix funcArgNamesDifferent (`#8018 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent --------- -* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) +* refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware (`#7565 `_) * refactor(autoware_obstacle_stop_planner): prefix package and namespace with autoware * style(pre-commit): autofix --------- diff --git a/planning/autoware_path_optimizer/CHANGELOG.rst b/planning/autoware_path_optimizer/CHANGELOG.rst index 6cdcbc40561b3..17d9495050dbe 100644 --- a/planning/autoware_path_optimizer/CHANGELOG.rst +++ b/planning/autoware_path_optimizer/CHANGELOG.rst @@ -5,30 +5,30 @@ Changelog for package autoware_path_optimizer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* chore(path_optimizer): add warn msg for exceptional behavior (`#9033 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* chore(path_optimizer): add warn msg for exceptional behavior (`#9033 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(motion_planning): align the parameters with launcher (`#8792 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) parameters in motion_planning aligned -* fix(autoware_path_optimizer): fix unusedFunction (`#8644 `_) +* fix(autoware_path_optimizer): fix unusedFunction (`#8644 `_) fix:unusedFunction -* fix(autoware_path_optimizer): fix unreadVariable (`#8361 `_) +* fix(autoware_path_optimizer): fix unreadVariable (`#8361 `_) * fix:unreadVariable * fix:unreadVariable --------- -* fix(autoware_path_optimizer): fix passedByValue (`#8190 `_) +* fix(autoware_path_optimizer): fix passedByValue (`#8190 `_) fix:passedByValue -* fix(path_optimizer): revert the feature of publishing processing time (`#8160 `_) -* feat(autoware_universe_utils): add TimeKeeper to track function's processing time (`#7754 `_) -* fix(autoware_path_optimizer): fix redundantContinue warnings (`#7577 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(path_optimizer): revert the feature of publishing processing time (`#8160 `_) +* feat(autoware_universe_utils): add TimeKeeper to track function's processing time (`#7754 `_) +* fix(autoware_path_optimizer): fix redundantContinue warnings (`#7577 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(path_optimizer): rename to include/autoware/{package_name} (`#7529 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* feat(path_optimizer): rename to include/autoware/{package_name} (`#7529 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -40,7 +40,7 @@ Changelog for package autoware_path_optimizer * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -75,15 +75,15 @@ Changelog for package autoware_path_optimizer * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name diff --git a/planning/autoware_path_smoother/CHANGELOG.rst b/planning/autoware_path_smoother/CHANGELOG.rst index 7509615545191..ab5e23100f6cd 100644 --- a/planning/autoware_path_smoother/CHANGELOG.rst +++ b/planning/autoware_path_smoother/CHANGELOG.rst @@ -5,23 +5,23 @@ Changelog for package autoware_path_smoother 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(motion_planning): align the parameters with launcher (`#8792 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) parameters in motion_planning aligned -* fix(autoware_path_smoother): fix passedByValue (`#8203 `_) +* fix(autoware_path_smoother): fix passedByValue (`#8203 `_) fix:passedByValue -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(path_smoother): rename to include/autoware/{package_name} (`#7527 `_) +* feat(path_smoother): rename to include/autoware/{package_name} (`#7527 `_) * feat(path_smoother): rename to include/autoware/{package_name} * fix --------- -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -33,7 +33,7 @@ Changelog for package autoware_path_smoother * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) +* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) * git mv * fix * fix launch diff --git a/planning/autoware_planning_test_manager/CHANGELOG.rst b/planning/autoware_planning_test_manager/CHANGELOG.rst index 72c97cfbe186a..67cf805f36426 100644 --- a/planning/autoware_planning_test_manager/CHANGELOG.rst +++ b/planning/autoware_planning_test_manager/CHANGELOG.rst @@ -5,17 +5,17 @@ Changelog for package autoware_planning_test_manager 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_test_utils): sanitizer header (`#9174 `_) -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(autoware_test_utils): sanitizer header (`#9174 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -27,7 +27,7 @@ Changelog for package autoware_planning_test_manager * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -36,16 +36,16 @@ Changelog for package autoware_planning_test_manager * fix formats * keep header and source file name as before --------- -* refactor(planning_validator)!: prefix package and namespace with autoware (`#7320 `_) +* refactor(planning_validator)!: prefix package and namespace with autoware (`#7320 `_) * add autoware\_ prefix to planning_validator * add prefix to package name in .pages * fix link of the image --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -56,19 +56,19 @@ Changelog for package autoware_planning_test_manager * fix: test * fix: test --------- -* docs(planning_test_utils): update purpose of the package and add lanelet map images (`#7077 `_) +* docs(planning_test_utils): update purpose of the package and add lanelet map images (`#7077 `_) * docs(planning_test_utils): Add explanation * remove autoware prefix from autoware planning test manager * fix document * remove implemented test part --------- -* refactor(planning_test_utils): remove route_handler dependencies (`#7005 `_) +* refactor(planning_test_utils): remove route_handler dependencies (`#7005 `_) * refactor(planning_test_utils): remove route_handler dependencies * style(pre-commit): autofix * Fix precommit --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autoware_planning_test_manager): rename package (`#6995 `_) +* refactor(autoware_planning_test_manager): rename package (`#6995 `_) * refactor(autoware_planning_test_manager): rename package * rename file * Add maintainer for planning test utils diff --git a/planning/autoware_planning_topic_converter/CHANGELOG.rst b/planning/autoware_planning_topic_converter/CHANGELOG.rst index 6e1d71e8ebd17..7152b275dd5d9 100644 --- a/planning/autoware_planning_topic_converter/CHANGELOG.rst +++ b/planning/autoware_planning_topic_converter/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_planning_topic_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(planning_topic_converter): rename to include/autoware/{package_name} (`#7515 `_) +* feat(planning_topic_converter): rename to include/autoware/{package_name} (`#7515 `_) * feat(planning_topic_converter): rename to include/autoware/{package_name} * fix --------- -* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) +* chore(autoware_planning_topic_converter): add prefix `autoware\_` (`#7296 `_) chore(autoware_planning_topic_converter): rename * Contributors: Kosuke Takeuchi, Satoshi OTA, Takayuki Murooka, Yutaka Kondo diff --git a/planning/autoware_planning_validator/CHANGELOG.rst b/planning/autoware_planning_validator/CHANGELOG.rst index a220d59ecd982..7a8380f24cb8d 100644 --- a/planning/autoware_planning_validator/CHANGELOG.rst +++ b/planning/autoware_planning_validator/CHANGELOG.rst @@ -5,19 +5,19 @@ Changelog for package autoware_planning_validator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_planning_validator): fix unusedFunction (`#8646 `_) +* fix(autoware_planning_validator): fix unusedFunction (`#8646 `_) fix:unusedFunction -* fix(autoware_planning_validator): fix knownConditionTrueFalse (`#7817 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_planning_validator): fix knownConditionTrueFalse (`#7817 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(planning_validator): rename to include/autoware/{package_name} (`#7514 `_) +* feat(planning_validator): rename to include/autoware/{package_name} (`#7514 `_) * feat(planning_validator): rename to include/autoware/{package_name} * fix --------- -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -29,7 +29,7 @@ Changelog for package autoware_planning_validator * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(planning_validator)!: rename directory name (`#7411 `_) +* refactor(planning_validator)!: rename directory name (`#7411 `_) change directory name * Contributors: Kosuke Takeuchi, Kyoichi Sugahara, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, kobayu858 diff --git a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst index 6130fa109d1a9..245fa0b4ef084 100644 --- a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst +++ b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_remaining_distance_time_calculator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: change remaning distance when the size of route is 1 (`#8852 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix: change remaning distance when the size of route is 1 (`#8852 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -26,7 +26,7 @@ Changelog for package autoware_remaining_distance_time_calculator * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -35,11 +35,11 @@ Changelog for package autoware_remaining_distance_time_calculator * fix formats * keep header and source file name as before --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) +* feat: add autoware_remaining_distance_time_calculator and overlay (`#6855 `_) * Contributors: Ahmed Ebrahim, Kosuke Takeuchi, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, mkquda, shulanbushangshu 0.26.0 (2024-04-03) diff --git a/planning/autoware_route_handler/CHANGELOG.rst b/planning/autoware_route_handler/CHANGELOG.rst index 7d9b680884b41..9b5b4a5efd159 100644 --- a/planning/autoware_route_handler/CHANGELOG.rst +++ b/planning/autoware_route_handler/CHANGELOG.rst @@ -5,17 +5,17 @@ Changelog for package autoware_route_handler 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_route_handler): fix cppcheck unusedVariable (`#9191 `_) -* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) +* fix(autoware_route_handler): fix cppcheck unusedVariable (`#9191 `_) +* feat(mission_planner): reroute with current route start pose when triggered by modifed goal (`#9136 `_) * feat(mission_planner): reroute with current route start pose when triggered by modifed goal * check new ego goal is in original preffered lane as much as possible * check goal is in goal_lane --------- -* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) +* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) * add path with lane id parser * refactor parse to use template --------- -* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) +* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) * refactor lane change utility funcions * LC utility function to get distance to next regulatory element * don't activate LC module when close to regulatory element @@ -45,29 +45,29 @@ Changelog for package autoware_route_handler * add colors to flow chart in README --------- Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* test(autoware_route_handler): add unit test for autoware route handler function (`#8271 `_) +* test(autoware_route_handler): add unit test for autoware route handler function (`#8271 `_) * remove unused functions in route handler * add docstring for function getShoulderLaneletsAtPose * update test map to include shoulder lanelet * add unit test for function getShoulderLaneletsAtPose * add test case for getCenterLinePath to improve branch coverage --------- -* fix(route_handler): make new route continuous with previous route (`#8238 `_) -* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) +* fix(route_handler): make new route continuous with previous route (`#8238 `_) +* feat(map_loader, route_handler)!: add format_version validation (`#7074 `_) Co-authored-by: Yamato Ando -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(route_handler): add unit test for lane change related functions (`#7504 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(route_handler): add unit test for lane change related functions (`#7504 `_) * RT1-6230 feat(route_handler): add unit test for lane change related functions * fix spell check * fix spellcheck --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* chore(route_handler, lane_change): add codeowner (`#7475 `_) -* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) +* chore(route_handler, lane_change): add codeowner (`#7475 `_) +* fix(route_handler): route handler overlap removal is too conservative (`#7156 `_) * add flag to enable/disable loop check in getLaneletSequence functions * implement function to get closest route lanelet based on previous closest lanelet * refactor DefaultPlanner::plan function @@ -84,7 +84,7 @@ Changelog for package autoware_route_handler * format fix * move test map to autoware_test_utils --------- -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -96,7 +96,7 @@ Changelog for package autoware_route_handler * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards diff --git a/planning/autoware_rtc_interface/CHANGELOG.rst b/planning/autoware_rtc_interface/CHANGELOG.rst index e634d81a26072..71224eefc2747 100644 --- a/planning/autoware_rtc_interface/CHANGELOG.rst +++ b/planning/autoware_rtc_interface/CHANGELOG.rst @@ -5,32 +5,32 @@ Changelog for package autoware_rtc_interface 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(rtc_interface): update cooperateStatus state transition (`#8883 `_) +* fix(rtc_interface): update cooperateStatus state transition (`#8883 `_) fix state transition for failure/success -* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) +* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) * update rtc state transition * remove transition from failuer and succeeded * fix * check initial state for cooperate status * change rtc cooperate status according to module status --------- -* feat(rtc_inteface): add function to check force deactivate (`#8221 `_) +* feat(rtc_inteface): add function to check force deactivate (`#8221 `_) add function to check for deactivation -* fix(autoware_rtc_interface): fix constParameterReference (`#8042 `_) +* fix(autoware_rtc_interface): fix constParameterReference (`#8042 `_) * fix:constParameterReference * fix: clang format * fix:constParameterReference --------- -* fix(rtc_interface): fix build error (`#8111 `_) +* fix(rtc_interface): fix build error (`#8111 `_) * fix * fix format --------- -* fix(bpp, rtc_interface): fix state transition (`#7743 `_) +* fix(bpp, rtc_interface): fix state transition (`#7743 `_) * fix(rtc_interface): check rtc state * fix(bpp_interface): check rtc state * feat(rtc_interface): print --------- -* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) +* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) * add force execution for static obstacle avoidance * fix * erase unused function in RTC interface @@ -39,20 +39,20 @@ Changelog for package autoware_rtc_interface * add warn throtthle and move code block * fix --------- -* docs(planning): fix wrong link (`#7751 `_) +* docs(planning): fix wrong link (`#7751 `_) * fix page link * fix out of lane link * fix * fix cost map generator link --------- -* docs(rtc_replayer): fix wrong link (`#7714 `_) +* docs(rtc_replayer): fix wrong link (`#7714 `_) * fix link for rtc_replayer * delete RTC replayer header * fix --------- -* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) +* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) Co-authored-by: Fumiya Watanabe -* refactor(rtc_interface)!: prefix package and namespace with autoware (`#7321 `_) +* refactor(rtc_interface)!: prefix package and namespace with autoware (`#7321 `_) refactor(rtc_interface): add autoware prefix * Contributors: Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, Satoshi OTA, Yutaka Kondo, kobayu858 diff --git a/planning/autoware_scenario_selector/CHANGELOG.rst b/planning/autoware_scenario_selector/CHANGELOG.rst index fb980963e0b26..642e823ea9236 100644 --- a/planning/autoware_scenario_selector/CHANGELOG.rst +++ b/planning/autoware_scenario_selector/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package autoware_scenario_selector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) +* feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (`#8348 `_) * refactor free space planner subscribers * implement scenario switching for edge cases * fix scenario selector test @@ -23,8 +23,8 @@ Changelog for package autoware_scenario_selector * improve near target logic * use timer based implementation for obstacle check --------- -* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (`#7930 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -33,14 +33,14 @@ Changelog for package autoware_scenario_selector Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* feat(scenario_selector): rename to include/autoware/{package_name} (`#7512 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* feat(scenario_selector): rename to include/autoware/{package_name} (`#7512 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -52,8 +52,8 @@ Changelog for package autoware_scenario_selector * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* feat(scenario_selector): use polling subscribers (`#7412 `_) -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* feat(scenario_selector): use polling subscribers (`#7412 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -62,7 +62,7 @@ Changelog for package autoware_scenario_selector * fix formats * keep header and source file name as before --------- -* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) +* refactor(scenario_selector): prefix package and namespace with autoware\_ (`#7379 `_) * Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, Zulfaqar Azmi, mkquda 0.26.0 (2024-04-03) diff --git a/planning/autoware_static_centerline_generator/CHANGELOG.rst b/planning/autoware_static_centerline_generator/CHANGELOG.rst index 8476b5dd17c99..efb482f3f33e1 100644 --- a/planning/autoware_static_centerline_generator/CHANGELOG.rst +++ b/planning/autoware_static_centerline_generator/CHANGELOG.rst @@ -5,41 +5,41 @@ Changelog for package autoware_static_centerline_generator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) +* refactor(map_projection_loader)!: prefix package and namespace with autoware (`#8420 `_) * add autoware\_ prefix * add autoware\_ prefix --------- Co-authored-by: SakodaShintaro -* fix(autoware_static_centerline_generator): fix unusedFunction (`#8647 `_) +* fix(autoware_static_centerline_generator): fix unusedFunction (`#8647 `_) * fix:unusedFunction * fix:unusedFunction * fix:compile error --------- -* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) +* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) * refactor(geography_utils): prefix package and namespace with autoware * move headers to include/autoware/ --------- -* fix(autoware_static_centerline_generator): fix funcArgNamesDifferent (`#8019 `_) +* fix(autoware_static_centerline_generator): fix funcArgNamesDifferent (`#8019 `_) fix:funcArgNamesDifferent -* fix(static_centerline_generator): save_map only once (`#7770 `_) -* refactor(static_centerline_optimizer): clean up the code (`#7756 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(static_centerline_generator): organize AUTO/GUI/VMB modes (`#7432 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(static_centerline_generator): save_map only once (`#7770 `_) +* refactor(static_centerline_optimizer): clean up the code (`#7756 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(static_centerline_generator): organize AUTO/GUI/VMB modes (`#7432 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* feat(map_loader): add waypoints flag (`#7480 `_) +* feat(map_loader): add waypoints flag (`#7480 `_) * feat(map_loader): handle centelrine and waypoints * update README * fix doc @@ -47,12 +47,12 @@ Changelog for package autoware_static_centerline_generator * fix * fix --------- -* feat(path_optimizer): rename to include/autoware/{package_name} (`#7529 `_) -* feat(path_smoother): rename to include/autoware/{package_name} (`#7527 `_) +* feat(path_optimizer): rename to include/autoware/{package_name} (`#7529 `_) +* feat(path_smoother): rename to include/autoware/{package_name} (`#7527 `_) * feat(path_smoother): rename to include/autoware/{package_name} * fix --------- -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir @@ -68,17 +68,17 @@ Changelog for package autoware_static_centerline_generator * fix pre-commit * fix build --------- -* feat(mission_planner): rename to include/autoware/{package_name} (`#7513 `_) +* feat(mission_planner): rename to include/autoware/{package_name} (`#7513 `_) * feat(mission_planner): rename to include/autoware/{package_name} * feat(mission_planner): rename to include/autoware/{package_name} * feat(mission_planner): rename to include/autoware/{package_name} --------- -* fix(static_centerline_generator): fix dependency (`#7442 `_) +* fix(static_centerline_generator): fix dependency (`#7442 `_) * fix: deps * fix: package name * fix: package name --------- -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -87,11 +87,11 @@ Changelog for package autoware_static_centerline_generator * fix formats * keep header and source file name as before --------- -* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) +* refactor(mission_planner)!: add autoware prefix and namespace (`#7414 `_) * refactor(mission_planner)!: add autoware prefix and namespace * fix svg --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -126,7 +126,7 @@ Changelog for package autoware_static_centerline_generator * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) +* refactor(path_smoother)!: prefix package and namespace with autoware (`#7381 `_) * git mv * fix * fix launch @@ -136,11 +136,11 @@ Changelog for package autoware_static_centerline_generator * fix static_centerline_optimizer * fix --------- -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* chore(bpp): add prefix `autoware\_` (`#7288 `_) +* chore(bpp): add prefix `autoware\_` (`#7288 `_) * chore(common): rename package * fix(static_obstacle_avoidance): fix header * fix(dynamic_obstacle_avoidance): fix header @@ -155,11 +155,11 @@ Changelog for package autoware_static_centerline_generator * fix(static_centerline_generator): fix header * fix(.pages): update link --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -170,13 +170,13 @@ Changelog for package autoware_static_centerline_generator * fix: test * fix: test --------- -* refactor(behavior_velocity_planner)!: prefix package and namespace with autoware\_ (`#6693 `_) -* fix(autoware_static_centerline_generator): update the centerline correctly with map projector (`#6825 `_) +* refactor(behavior_velocity_planner)!: prefix package and namespace with autoware\_ (`#6693 `_) +* fix(autoware_static_centerline_generator): update the centerline correctly with map projector (`#6825 `_) * fix(static_centerline_generator): fixed the bug of offset lat/lon values * fix typo --------- -* fix(autoware_static_centerline_generator): remove prefix from topics and node names (`#7028 `_) -* build(static_centerline_generator): prefix package and namespace with autoware\_ (`#6817 `_) +* fix(autoware_static_centerline_generator): remove prefix from topics and node names (`#7028 `_) +* build(static_centerline_generator): prefix package and namespace with autoware\_ (`#6817 `_) * build(static_centerline_generator): prefix package and namespace with autoware\_ * style(pre-commit): autofix * build: fix CMake target diff --git a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst index 21a6bcd8e6da4..5a9105c869042 100644 --- a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst +++ b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst @@ -5,26 +5,26 @@ Changelog for package autoware_surround_obstacle_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* test(surround_obstacle_checker): add unit tests (`#9039 `_) +* test(surround_obstacle_checker): add unit tests (`#9039 `_) * refactor: isStopRequired * test: write test for isStopRequired * refactor: use universe utils * fix: shutdown --------- -* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) +* fix(other_planning_packages): align the parameters with launcher (`#8793 `_) * parameters in planning/others aligned * update json --------- -* fix(autoware_surround_obstacle_checker): fix unusedFunction (`#8774 `_) +* fix(autoware_surround_obstacle_checker): fix unusedFunction (`#8774 `_) fix:unusedFunction -* feat(surround_obstacle_checker): integrate generate_parameter_library (`#8719 `_) +* feat(surround_obstacle_checker): integrate generate_parameter_library (`#8719 `_) * add generate_parameter_library to package * add parameter file generator script * use mapped parameters @@ -35,25 +35,25 @@ Changelog for package autoware_surround_obstacle_checker * fix variable shadowing --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(autoware_surround_obstacle_checker): fix passedByValue (`#8206 `_) +* fix(autoware_surround_obstacle_checker): fix passedByValue (`#8206 `_) fix:passedByValue -* fix(autoware_surround_obstacle_checker): fix constVariableReference (`#8059 `_) +* fix(autoware_surround_obstacle_checker): fix constVariableReference (`#8059 `_) fix:constVariableReference -* fix(autoware_surround_obstacle_checker): fix funcArgNamesDifferent (`#8020 `_) +* fix(autoware_surround_obstacle_checker): fix funcArgNamesDifferent (`#8020 `_) fix:funcArgNamesDifferent -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(surround_obstacle_checker): remove include directory (`#7507 `_) +* feat(surround_obstacle_checker): remove include directory (`#7507 `_) * feat(surround_obstacle_checker): remove include directory * fix * fix --------- -* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) +* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) set single depth sensor data qos for pointlcoud polling subscribers -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -88,7 +88,7 @@ Changelog for package autoware_surround_obstacle_checker * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) +* refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (`#7298 `_) * fix(autoware_surround_obstacle_checker): rename * fix(autoware_surround_obstacle_checker): rename header * fix(launch): update package name diff --git a/planning/autoware_velocity_smoother/CHANGELOG.rst b/planning/autoware_velocity_smoother/CHANGELOG.rst index a2df0ef2e4cb9..33aa32d835398 100644 --- a/planning/autoware_velocity_smoother/CHANGELOG.rst +++ b/planning/autoware_velocity_smoother/CHANGELOG.rst @@ -5,40 +5,40 @@ Changelog for package autoware_velocity_smoother 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(osqp_interface): added autoware prefix to osqp_interface (`#8958 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* perf(motion_velocity_smoother): remove some heavy debug logging (`#8798 `_) +* perf(motion_velocity_smoother): remove some heavy debug logging (`#8798 `_) remove some heavy logging in the velocity smoother -* fix(autoware_velocity_smoother): fix unusedFunction (`#8649 `_) +* fix(autoware_velocity_smoother): fix unusedFunction (`#8649 `_) fix:unusedFunction -* fix(autoware_velocity_smoother): fix variableScope (`#8442 `_) +* fix(autoware_velocity_smoother): fix variableScope (`#8442 `_) fix:variableScope -* fix(autoware_velocity_smoother): fix unreadVariable (`#8364 `_) +* fix(autoware_velocity_smoother): fix unreadVariable (`#8364 `_) fix:unreadVariable -* fix(autoware_velocity_smoother): fix passedByValue (`#8207 `_) +* fix(autoware_velocity_smoother): fix passedByValue (`#8207 `_) * fix:passedByValue * fix:clang format --------- -* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) +* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) * not resample debug_trajectories if not published * update dependant packages --------- -* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 `_) +* perf(velocity_smoother): use ProxQP for faster optimization (`#8028 `_) * perf(velocity_smoother): use ProxQP for faster optimization * consider max_iteration * disable warm start * fix test --------- -* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) +* fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (`#8161 `_) fix(velocity_smoother): float type of processing time was wrong -* fix(autoware_velocity_smoother): fix constVariableReference (`#8060 `_) +* fix(autoware_velocity_smoother): fix constVariableReference (`#8060 `_) fix:constVariableReference -* fix(autoware_velocity_smoother): fix constParameterReference (`#8043 `_) +* fix(autoware_velocity_smoother): fix constParameterReference (`#8043 `_) fix:constParameterReference -* chore(velocity_smoother): add maintainer (`#8121 `_) +* chore(velocity_smoother): add maintainer (`#8121 `_) add maintainer -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -47,21 +47,21 @@ Changelog for package autoware_velocity_smoother Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* fix(autoware_velocity_smoother): fix shadowVariablefix:shadowVariable (`#7950 `_) +* fix(autoware_velocity_smoother): fix shadowVariablefix:shadowVariable (`#7950 `_) fix:shadowVariable -* feat(velocity_smoother): add time_keeper (`#8026 `_) -* refactor(velocity_smoother): change method to take data for external velocity (`#7810 `_) +* feat(velocity_smoother): add time_keeper (`#8026 `_) +* refactor(velocity_smoother): change method to take data for external velocity (`#7810 `_) refactor external velocity -* fix(autoware_velocity_smoother): fix duplicateBreak warning (`#7699 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_velocity_smoother): fix unusedVariable warning (`#7585 `_) +* fix(autoware_velocity_smoother): fix duplicateBreak warning (`#7699 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_velocity_smoother): fix unusedVariable warning (`#7585 `_) fix unusedVariable warning -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -73,7 +73,7 @@ Changelog for package autoware_velocity_smoother * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -108,17 +108,17 @@ Changelog for package autoware_velocity_smoother * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat(autoware_velocity_smoother): use polling subscriber (`#7216 `_) +* feat(autoware_velocity_smoother): use polling subscriber (`#7216 `_) feat(motion_velocity_smoother): use polling subscriber -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst index 3b9961bcea071..aa4bfb81d81db 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst @@ -5,28 +5,28 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) +* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) * add maintainers to avoidance by lane change * add maintainers to external request lane change --------- -* fix(autoware_behavior_path_avoidance_by_lane_change_module): fix unmatchedSuppression (`#8987 `_) +* fix(autoware_behavior_path_avoidance_by_lane_change_module): fix unmatchedSuppression (`#8987 `_) fix:unmatchedSuppression -* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) +* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) * add transient data * reverted max lc dist in calcCurrentMinMax * rename * minor refactoring * update doxygen comments --------- -* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) +* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) * check if candidate path footprint exceeds target lane boundary when lc velocity is above minimum * move functions to relevant module * suppress unused function cppcheck * minor change --------- -* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) +* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) remove unused variables -* feat(lane_change): improve execution condition of lane change module (`#8648 `_) +* feat(lane_change): improve execution condition of lane change module (`#8648 `_) * refactor lane change utility funcions * LC utility function to get distance to next regulatory element * don't activate LC module when close to regulatory element @@ -39,8 +39,8 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module * update readme * check distance to reg element for candidate path only if not near terminal start --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) * refactor(lane_change): compute lanes and polygon only when updated * Revert accidental changesd This reverts commit cbfd9ae8a88b2d6c3b27b35c9a08bb824ecd5011. @@ -49,24 +49,24 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module * add target lanes getter * some minor function refactoring --------- -* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) +* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) * fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle * chore(schema): update schema --------- -* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) +* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) fix(static_obstacle_avoidance): fix stop position -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst index 0e345cd6ceea8..9f25d197cc113 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area (`#8295 `_) +* feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area (`#8295 `_) * add expansion drivable area feature * make expansion optional * style(pre-commit): autofix @@ -17,23 +17,23 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix unusedFunction (`#8652 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix unusedFunction (`#8652 `_) fix:unusedFunction -* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) -* perf(dynamic_obstacle_avoidance): decrease the computation time with time_keeper (`#7986 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* perf(dynamic_obstacle_avoidance): decrease the computation time with time_keeper (`#7986 `_) * decrease computation cost * remove TODO * fix --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix bitwiseOnBoolean warning (`#7636 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix bitwiseOnBoolean warning (`#7636 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst index 6e5315c65dadd..501e950312718 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst @@ -5,19 +5,19 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) +* chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (`#9027 `_) * add maintainers to avoidance by lane change * add maintainers to external request lane change --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst index d4eccd06b836e..3617b609cc31c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst @@ -5,57 +5,57 @@ Changelog for package autoware_behavior_path_goal_planner_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(goal_planner): align vehicle footprint heading parallel to parking side lane boundary (`#9159 `_) -* chore(goal_planner): compare sampled/filtered candidate paths on plot (`#9140 `_) +* feat(goal_planner): align vehicle footprint heading parallel to parking side lane boundary (`#9159 `_) +* chore(goal_planner): compare sampled/filtered candidate paths on plot (`#9140 `_) Co-authored-by: Kosuke Takeuchi -* feat(goal_planner): use vehicle side edge to check isCrossingPossible for pull over execution (`#9102 `_) -* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) -* refactor(goal_planner): move last_previous_module_output_path out of ThreadSafeData (`#9075 `_) -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* feat(goal_planner): use vehicle side edge to check isCrossingPossible for pull over execution (`#9102 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* refactor(goal_planner): move last_previous_module_output_path out of ThreadSafeData (`#9075 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* refactor(goal_planner): remove prev_data / last_path_idx_time from ThreadSafeData (`#9064 `_) +* refactor(goal_planner): remove prev_data / last_path_idx_time from ThreadSafeData (`#9064 `_) refactor(goal_planner): remove prev_data and last_path_idx_update_time -* refactor(goal_planner): remove lane parking pull over path (`#9063 `_) -* refactor(goal_planner): remove modified_goal in ThreadDafeData (`#9010 `_) -* refactor(goal planner): hold modified_goal in PullOverPath ,copy modified goal once from background thread (`#9006 `_) +* refactor(goal_planner): remove lane parking pull over path (`#9063 `_) +* refactor(goal_planner): remove modified_goal in ThreadDafeData (`#9010 `_) +* refactor(goal planner): hold modified_goal in PullOverPath ,copy modified goal once from background thread (`#9006 `_) refactor(goal_planner): save modified_goal_pose in PullOverPlannerBase -* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) +* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) fix filter object by velocity -* fix(goal_planner): fix parking_path curvature and DecidingState transition (`#9022 `_) -* refactor(goal_planner): use the PullOverPath, PullOverPathCandidates copied from ThreadData to reduce access (`#8994 `_) -* refactor(goal_planner): remove unused header and divide ThreadSafeData to another file (`#8990 `_) -* refactor(goal_planner): refactor PullOverPlannseBase to instantiate only valid path (`#8983 `_) -* fix(goal_planner): fix freespace planning chattering (`#8981 `_) -* feat(goal_planner): use neighboring lane of pull over lane to check goal footprint (`#8716 `_) +* fix(goal_planner): fix parking_path curvature and DecidingState transition (`#9022 `_) +* refactor(goal_planner): use the PullOverPath, PullOverPathCandidates copied from ThreadData to reduce access (`#8994 `_) +* refactor(goal_planner): remove unused header and divide ThreadSafeData to another file (`#8990 `_) +* refactor(goal_planner): refactor PullOverPlannseBase to instantiate only valid path (`#8983 `_) +* fix(goal_planner): fix freespace planning chattering (`#8981 `_) +* feat(goal_planner): use neighboring lane of pull over lane to check goal footprint (`#8716 `_) move to utils and add tests -* refactor(goal_planner): remove unnecessary GoalPlannerData member (`#8920 `_) -* feat(goal_planner): move PathDecidingStatus to other controller class (`#8872 `_) -* chore(planning): consistent parameters with autoware_launch (`#8915 `_) +* refactor(goal_planner): remove unnecessary GoalPlannerData member (`#8920 `_) +* feat(goal_planner): move PathDecidingStatus to other controller class (`#8872 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) * chore(planning): consistent parameters with autoware_launch * update * fix json schema --------- -* fix(goal_planner): fix typo (`#8910 `_) -* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8786 `_) +* fix(goal_planner): fix typo (`#8910 `_) +* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8786 `_) fix:unusedFunction -* refactor(goal_planner): reduce call to isSafePath (`#8812 `_) -* feat(goal_planner): execute goal planner if previous module path terminal is pull over neighboring lane (`#8715 `_) -* feat(goal_planner): dense goal candidate sampling in BusStopArea (`#8795 `_) -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* refactor(goal_planner): reduce call to isSafePath (`#8812 `_) +* feat(goal_planner): execute goal planner if previous module path terminal is pull over neighboring lane (`#8715 `_) +* feat(goal_planner): dense goal candidate sampling in BusStopArea (`#8795 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* feat(goal_planner): add getBusStopAreaPolygons (`#8794 `_) -* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8775 `_) +* feat(goal_planner): add getBusStopAreaPolygons (`#8794 `_) +* fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (`#8775 `_) fix:unusedFunction -* feat(behavior_path_goal planner): add example plot for development (`#8772 `_) -* fix(goal_planner): fix time_keeper race (`#8780 `_) -* fix(goal_planner): fix object extraction area (`#8764 `_) -* fix(goal_planner): fix typo (`#8763 `_) -* feat(goal_planner): extend pull over lanes inward to extract objects (`#8714 `_) +* feat(behavior_path_goal planner): add example plot for development (`#8772 `_) +* fix(goal_planner): fix time_keeper race (`#8780 `_) +* fix(goal_planner): fix object extraction area (`#8764 `_) +* fix(goal_planner): fix typo (`#8763 `_) +* feat(goal_planner): extend pull over lanes inward to extract objects (`#8714 `_) * feat(goal_planner): extend pull over lanes inward to extract objects * update from review * use optionale @@ -66,17 +66,17 @@ Changelog for package autoware_behavior_path_goal_planner_module * pre-commit --------- Co-authored-by: Mamoru Sobue -* refactor(goal_planner): initialize parameter with free function (`#8712 `_) -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* refactor(goal_planner): remove unnecessary member from PreviousPullOverData (`#8698 `_) -* refactor(goal_planner): remove unnecessary member from pull_over_planner (`#8697 `_) -* refactor(goal_planner): move pull_over_planner directory (`#8696 `_) -* fix(goal_planner): fix zero velocity in middle of path (`#8563 `_) +* refactor(goal_planner): initialize parameter with free function (`#8712 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* refactor(goal_planner): remove unnecessary member from PreviousPullOverData (`#8698 `_) +* refactor(goal_planner): remove unnecessary member from pull_over_planner (`#8697 `_) +* refactor(goal_planner): move pull_over_planner directory (`#8696 `_) +* fix(goal_planner): fix zero velocity in middle of path (`#8563 `_) * fix(goal_planner): fix zero velocity in middle of path * add comment --------- -* fix(goal_planner): remove time keeper in non main thread (`#8610 `_) -* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) +* fix(goal_planner): remove time keeper in non main thread (`#8610 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -142,37 +142,37 @@ Changelog for package autoware_behavior_path_goal_planner_module * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* perf(goal_planner): faster path sorting and selection (`#8457 `_) +* perf(goal_planner): faster path sorting and selection (`#8457 `_) * perf(goal_planner): faster path sorting and selection * path_id_to_rough_margin_map --------- -* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) +* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) * goal_planner * lane_change --------- Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* perf(goal_planner): reduce unnecessary recursive lock guard (`#8465 `_) +* perf(goal_planner): reduce unnecessary recursive lock guard (`#8465 `_) * perf(goal_planner): reduce unnecessary recursive lock guard * make set_no_lock private --------- -* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) +* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) * add optional to tackle LC turn signal and pull over turn signal * CPP file should not re-define default value; typo in copying from internal repos --------- -* fix(goal_planner): fix lane departure check not working correctly due to uninitialized variable (`#8449 `_) -* fix(autoware_behavior_path_goal_planner_module): fix unreadVariable (`#8365 `_) +* fix(goal_planner): fix lane departure check not working correctly due to uninitialized variable (`#8449 `_) +* fix(autoware_behavior_path_goal_planner_module): fix unreadVariable (`#8365 `_) fix:unreadVariable -* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) -* perf(goal_planner): reduce processing time (`#8195 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* perf(goal_planner): reduce processing time (`#8195 `_) * perf(goal_palnner): reduce processing time * add const& return * use copy getter * pre commit --------- -* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) -* feat(goal_planner): add time keeper (`#8194 `_) +* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) +* feat(goal_planner): add time keeper (`#8194 `_) time keeper -* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -205,9 +205,9 @@ Changelog for package autoware_behavior_path_goal_planner_module * check goal pose validity before setting collision free distance map * declare variables as const where necessary --------- -* fix(autoware_behavior_path_goal_planner_module): fix shadowVariable (`#7962 `_) +* fix(autoware_behavior_path_goal_planner_module): fix shadowVariable (`#7962 `_) fix:shadowVariable -* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) +* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) * fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength * Update trajectory.hpp Co-authored-by: Kyoichi Sugahara @@ -215,24 +215,24 @@ Changelog for package autoware_behavior_path_goal_planner_module Co-authored-by: Kyoichi Sugahara --------- Co-authored-by: Kyoichi Sugahara -* docs(goal_planner): update parameter description (`#7889 `_) +* docs(goal_planner): update parameter description (`#7889 `_) * docs(goal_planner): update parameter description * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(goal_planner): prioritize pull over path by curvature (`#7791 `_) +* feat(goal_planner): prioritize pull over path by curvature (`#7791 `_) * feat(goal_planner): prioritize pull over path by curvature fix * add comment * pre commit --------- Co-authored-by: Mamoru Sobue -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -240,13 +240,13 @@ Changelog for package autoware_behavior_path_goal_planner_module * fix LC README * use normalized yaw diff --------- -* fix(autoware_behavior_path_goal_planner_module): fix lateral_offset related warnings (`#7624 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_behavior_path_goal_planner_module): fix lateral_offset related warnings (`#7624 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -263,14 +263,14 @@ Changelog for package autoware_behavior_path_goal_planner_module fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst index 8737bd9c17d57..cc4ff795e150a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package autoware_behavior_path_lane_change_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID * style(pre-commit): autofix * fix typo * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(lane_change): refactor longitudinal acceleration sampling (`#9091 `_) +* refactor(lane_change): refactor longitudinal acceleration sampling (`#9091 `_) * fix calc_all_max_lc_lengths function * remove unused functions * remove limit on velocity in calc_all_max_lc_lengths function @@ -21,11 +21,11 @@ Changelog for package autoware_behavior_path_lane_change_module * check for zero value prepare duration * refactor calc_lon_acceleration_samples function --------- -* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) +* feat(autoware_test_utils): add path with lane id parser (`#9098 `_) * add path with lane id parser * refactor parse to use template --------- -* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) +* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) * RT1-7970 testing base class * additional test * Added update lanes @@ -33,19 +33,19 @@ Changelog for package autoware_behavior_path_lane_change_module * check is lane change required * fix PRs comment --------- -* refactor(lane_change): reducing clang-tidy warnings (`#9085 `_) +* refactor(lane_change): reducing clang-tidy warnings (`#9085 `_) * refactor(lane_change): reducing clang-tidy warnings * change function name to snake case --------- -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* fix(lane_change): insert stop for current lanes object (RT0-33761) (`#9070 `_) +* fix(lane_change): insert stop for current lanes object (RT0-33761) (`#9070 `_) * RT0-33761 fix lc insert stop for current lanes object * fix wrong value used for comparison * ignore current lane object that is not on ego's path @@ -60,11 +60,11 @@ Changelog for package autoware_behavior_path_lane_change_module * change color --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> -* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) +* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) * refactor(lane_change): refactor get_lane_change_lanes function * Add doxygen comment for to_geom_msg_pose --------- -* refactor(lane_change): replace any code that can use transient data (`#8999 `_) +* refactor(lane_change): replace any code that can use transient data (`#8999 `_) * RT1-8004 replace hasEnoughLength * RT1-8004 Removed isNearEndOfCurrentLanes * RT1-8004 refactor sample longitudinal acc values @@ -80,7 +80,7 @@ Changelog for package autoware_behavior_path_lane_change_module * RT1-8004 Rename isVehicleStuck to is_ego_stuck() * RT1-8004 change calcPrepareDuration to snake case --------- -* refactor(lane_change): refactor code using transient data (`#8997 `_) +* refactor(lane_change): refactor code using transient data (`#8997 `_) * add target lane length and ego arc length along current and target lanes to transient data * refactor code using transient data * refactor get_lane_change_paths function @@ -88,36 +88,36 @@ Changelog for package autoware_behavior_path_lane_change_module * refactor util functions * refactor getPrepareSegment function --------- -* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) * simplify ExtendedPredictedObject and add new member variables * replace self polygon to initial polygon * comment * add comments to dist of ego --------- -* fix(lane_change): fix abort distance enough check (`#8979 `_) +* fix(lane_change): fix abort distance enough check (`#8979 `_) * RT1-7991 fix abort distance enough check * RT-7991 remove unused function --------- -* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) +* refactor(lane_change): add TransientData to store commonly used lane change-related variables. (`#8954 `_) * add transient data * reverted max lc dist in calcCurrentMinMax * rename * minor refactoring * update doxygen comments --------- -* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) +* feat(lane_change): modify lane change target boundary check to consider velocity (`#8961 `_) * check if candidate path footprint exceeds target lane boundary when lc velocity is above minimum * move functions to relevant module * suppress unused function cppcheck * minor change --------- -* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8960 `_) +* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8960 `_) * fix:unusedFunction * fix:unusedFunction * fix:unusedFunction * fix:pre_commit --------- -* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) +* refactor(lane_change): refactor getLaneChangePaths function (`#8909 `_) * refactor lane change utility funcions * LC utility function to get distance to next regulatory element * don't activate LC module when close to regulatory element @@ -147,18 +147,18 @@ Changelog for package autoware_behavior_path_lane_change_module * add colors to flow chart in README --------- Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* feat(lane_change): add checks to ensure the edge of vehicle do not exceed target lane boundary when changing lanes (`#8750 `_) +* feat(lane_change): add checks to ensure the edge of vehicle do not exceed target lane boundary when changing lanes (`#8750 `_) * check if LC candidate path footprint exceeds target lane far bound * add parameter to enable/disable check * check only lane changing section of cadidate path * fix spelling * small refactoring --------- -* fix(lane_change): set initail rtc state properly (`#8902 `_) +* fix(lane_change): set initail rtc state properly (`#8902 `_) set initail rtc state properly -* feat(lane_change): improve execution condition of lane change module (`#8648 `_) +* feat(lane_change): improve execution condition of lane change module (`#8648 `_) * refactor lane change utility funcions * LC utility function to get distance to next regulatory element * don't activate LC module when close to regulatory element @@ -171,21 +171,21 @@ Changelog for package autoware_behavior_path_lane_change_module * update readme * check distance to reg element for candidate path only if not near terminal start --------- -* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) +* feat(rtc_interface, lane_change): check state transition for cooperate status (`#8855 `_) * update rtc state transition * remove transition from failuer and succeeded * fix * check initial state for cooperate status * change rtc cooperate status according to module status --------- -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8653 `_) +* fix(autoware_behavior_path_lane_change_module): fix unusedFunction (`#8653 `_) fix:unusedFunction -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(lane_change): update rtc status for some failure condition (`#8604 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(lane_change): update rtc status for some failure condition (`#8604 `_) update rtc status for some failure condition -* fix(lane_change): activate turn signal as soon as we have the intention to change lanes (`#8571 `_) +* fix(lane_change): activate turn signal as soon as we have the intention to change lanes (`#8571 `_) * modify lane change requested condition * modify lane change requested condition * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -200,13 +200,13 @@ Changelog for package autoware_behavior_path_lane_change_module Co-authored-by: Muhammad Zulfaqar Azmi Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(lane_change): fix delay logic that caused timing to be late (`#8549 `_) +* feat(lane_change): fix delay logic that caused timing to be late (`#8549 `_) * RT1-5067 fix delay logic that caused timing to be late * remove autoware namespace Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* fix(lane_change): modify lane change requested condition (`#8510 `_) +* fix(lane_change): modify lane change requested condition (`#8510 `_) * modify lane change requested condition * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> @@ -215,7 +215,7 @@ Changelog for package autoware_behavior_path_lane_change_module --------- Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(lane_change): consider deceleration in safety check for cancel (`#7943 `_) +* feat(lane_change): consider deceleration in safety check for cancel (`#7943 `_) * feat(lane_change): consider deceleration in safety check for cancel * docs(lane_change): fix document * fix conflicts and refactor @@ -224,14 +224,14 @@ Changelog for package autoware_behavior_path_lane_change_module --------- Co-authored-by: Muhammad Zulfaqar Azmi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(lane_change): rename prepare_segment_ignore_object_velocity_thresh (`#8532 `_) +* refactor(lane_change): rename prepare_segment_ignore_object_velocity_thresh (`#8532 `_) change parameter name for more expressive name -* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) +* refactor(behavior_path_planner): apply clang-tidy check (`#7549 `_) * goal_planner * lane_change --------- Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) +* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) * function to check for merging lane * function to compute distance from last fit width center line point to lane end * ensure lane width at LC stop point is larger than ego width @@ -242,71 +242,71 @@ Changelog for package autoware_behavior_path_lane_change_module * minor refactoring * overload function isEgoWithinOriginalLane to pass lane polygon directly --------- -* refactor(lane_change): update filtered objects only once (`#8489 `_) -* fix(lane_change): moving object is filtered in the extended target lanes (`#8218 `_) +* refactor(lane_change): update filtered objects only once (`#8489 `_) +* fix(lane_change): moving object is filtered in the extended target lanes (`#8218 `_) * object 3rd * named param --------- -* fix(lane_change): do not cancel when approaching terminal start (`#8381 `_) +* fix(lane_change): do not cancel when approaching terminal start (`#8381 `_) * do not cancel if ego vehicle approaching terminal start * Insert stop point if object is coming from rear * minor edit to fix conflict * rename function --------- -* fix(lane_change): fix invalid doesn't have stop point (`#8470 `_) +* fix(lane_change): fix invalid doesn't have stop point (`#8470 `_) fix invalid doesn't have stop point -* fix(lane_change): unify stuck detection to avoid unnecessary computation (`#8383 `_) +* fix(lane_change): unify stuck detection to avoid unnecessary computation (`#8383 `_) unify stuck detection in getLaneChangePaths -* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) +* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) * add optional to tackle LC turn signal and pull over turn signal * CPP file should not re-define default value; typo in copying from internal repos --------- -* refactor(lane_change): separate leading and trailing objects (`#8214 `_) +* refactor(lane_change): separate leading and trailing objects (`#8214 `_) * refactor(lane_change): separate leading and trailing objects * Refactor to use common function --------- -* fix(lane_change): skip generating path if longitudinal distance difference is less than threshold (`#8363 `_) +* fix(lane_change): skip generating path if longitudinal distance difference is less than threshold (`#8363 `_) * fix when prepare length is insufficient * add reason for comparing prev_prep_diff with eps for lc_length_diff --------- -* fix(lane_change): skip generating path if lane changing path is too long (`#8362 `_) +* fix(lane_change): skip generating path if lane changing path is too long (`#8362 `_) rework. skip lane changing for insufficeient distance in target lane -* fix(lane_change): skip path computation if len exceed dist to terminal start (`#8359 `_) +* fix(lane_change): skip path computation if len exceed dist to terminal start (`#8359 `_) Skip computation if prepare length exceed distance to terminal start -* refactor(lane_change): refactor debug print when computing paths (`#8358 `_) +* refactor(lane_change): refactor debug print when computing paths (`#8358 `_) Refactor debug print -* chore(lane_change): add codeowner (`#8387 `_) -* refactor(lane_change): check start point directly after getting start point (`#8357 `_) +* chore(lane_change): add codeowner (`#8387 `_) +* refactor(lane_change): check start point directly after getting start point (`#8357 `_) * check start point directly after getting start point * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(lane_change): use different rss param to deal with parked vehicle (`#8316 `_) +* feat(lane_change): use different rss param to deal with parked vehicle (`#8316 `_) * different rss value for parked vehicle * Documentation and config file update --------- -* fix(lane_change): relax finish judge (`#8133 `_) +* fix(lane_change): relax finish judge (`#8133 `_) * fix(lane_change): relax finish judge * documentation update * update readme explanations * update config --------- -* feat(lane_change): force deactivation in prepare phase (`#8235 `_) +* feat(lane_change): force deactivation in prepare phase (`#8235 `_) transfer to cancel state when force deactivated -* fix(autoware_behavior_path_lane_change_module): fix passedByValue (`#8208 `_) +* fix(autoware_behavior_path_lane_change_module): fix passedByValue (`#8208 `_) fix:passedByValue -* fix(lane_change): filtering object ahead of terminal (`#8093 `_) +* fix(lane_change): filtering object ahead of terminal (`#8093 `_) * employ lanelet based filtering before distance based filtering * use distance based to terminal check instead * remove RCLCPP INFO * update flow chart --------- -* fix(lane_change): delay lane change cancel (`#8048 `_) +* fix(lane_change): delay lane change cancel (`#8048 `_) RT1-6955: delay lane change cancel -* feat(lane_change): enable force execution under unsafe conditions (`#8131 `_) +* feat(lane_change): enable force execution under unsafe conditions (`#8131 `_) add force execution conditions -* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) +* refactor(lane_change): update lanes and its polygons only when it's updated (`#7989 `_) * refactor(lane_change): compute lanes and polygon only when updated * Revert accidental changesd This reverts commit cbfd9ae8a88b2d6c3b27b35c9a08bb824ecd5011. @@ -315,21 +315,21 @@ Changelog for package autoware_behavior_path_lane_change_module * add target lanes getter * some minor function refactoring --------- -* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) +* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp * update --------- -* fix(autoware_behavior_path_lane_change_module): fix shadowVariable (`#7964 `_) +* fix(autoware_behavior_path_lane_change_module): fix shadowVariable (`#7964 `_) fix:shadowVariable -* refactor(lane_change): move struct to lane change namespace (`#7841 `_) +* refactor(lane_change): move struct to lane change namespace (`#7841 `_) * move struct to lane change namespace * Revert "move struct to lane change namespace" This reverts commit 306984a76103c427732f170a6f7eb5f94e895b0b. --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(lane_change): prevent empty path when rerouting (`#7717 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(lane_change): prevent empty path when rerouting (`#7717 `_) fix(lane_change): prevent empty path when routing -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -337,18 +337,18 @@ Changelog for package autoware_behavior_path_lane_change_module * fix LC README * use normalized yaw diff --------- -* refactor(lane_change): use lane change namespace for structs (`#7508 `_) +* refactor(lane_change): use lane change namespace for structs (`#7508 `_) * refactor(lane_change): use lane change namespace for structs * Move lane change namespace to bottom level --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst index 79b47dbe4b481..eb9dc2c942d71 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst @@ -5,41 +5,41 @@ Changelog for package autoware_behavior_path_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_behavior_path_planner): fix cppcheck unusedVariable (`#9193 `_) -* fix(behavior_path_planner): suppress reseting root lanelet (`#9129 `_) +* fix(autoware_behavior_path_planner): fix cppcheck unusedVariable (`#9193 `_) +* fix(behavior_path_planner): suppress reseting root lanelet (`#9129 `_) fix(behavior_path_planner): suppress resseting root lanelet -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* test(bpp_common): add test for object related functions (`#9062 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* test(bpp_common): add test for object related functions (`#9062 `_) * add test for object related functions * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR * fix build error --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* chore(planning): consistent parameters with autoware_launch (`#8915 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) * chore(planning): consistent parameters with autoware_launch * update * fix json schema --------- -* fix(autoware_behavior_path_planner): fix syntaxError (`#8834 `_) +* fix(autoware_behavior_path_planner): fix syntaxError (`#8834 `_) fix:syntaxError -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) -* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) -* fix(docs): fix dead links in behavior path planner manager (`#8309 `_) +* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) +* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) +* fix(docs): fix dead links in behavior path planner manager (`#8309 `_) * fix dead links * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(behavior_path_planner, spellchecks): spell checks in behavior path planner (`#8307 `_) +* fix(behavior_path_planner, spellchecks): spell checks in behavior path planner (`#8307 `_) * fix spell checks in behavior path planner * try re-routable --------- -* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) -* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) -* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) +* refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (`#7443 `_) * refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation. * use raw shared ptr in PollingPolicy::NEWEST * update @@ -48,26 +48,26 @@ Changelog for package autoware_behavior_path_planner Co-authored-by: danielsanchezaran --------- Co-authored-by: danielsanchezaran -* feat(autoware_behavior_path_planner): prevent infinite loop in approving scene module process (`#7881 `_) +* feat(autoware_behavior_path_planner): prevent infinite loop in approving scene module process (`#7881 `_) * prevent infinite loop * calculate max_iteration_num from number of scene modules * add doxygen explanation for calculateMaxIterationNum --------- -* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) +* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp * update --------- -* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) +* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) * feat(behavior_path_planner): remove max_module_size param The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration. --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst index b3168613e053f..cba7021dcc6bc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst @@ -5,30 +5,30 @@ Changelog for package autoware_behavior_path_planner_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(traffic_light_utils): prevent accessing nullopt (`#9163 `_) -* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) +* fix(traffic_light_utils): prevent accessing nullopt (`#9163 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID * style(pre-commit): autofix * fix typo * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) -* test(bpp_common): add test for path utils (`#9122 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* test(bpp_common): add test for path utils (`#9122 `_) * add test file for path utils * fix * add tests for map irrelevant function * add test for getUnshiftedEgoPose * add docstring and remove unneccesary function --------- -* feat(test_utils): add simple path with lane id generator (`#9113 `_) +* feat(test_utils): add simple path with lane id generator (`#9113 `_) * add simple path with lane id generator * chnage to explicit template * fix * add static cast * remove header file --------- -* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) +* feat(lane_change): add unit test for normal lane change class (RT1-7970) (`#9090 `_) * RT1-7970 testing base class * additional test * Added update lanes @@ -36,88 +36,88 @@ Changelog for package autoware_behavior_path_planner_common * check is lane change required * fix PRs comment --------- -* test(bpp_common): add test for objects filtering except for lanelet using functions (`#9049 `_) +* test(bpp_common): add test for objects filtering except for lanelet using functions (`#9049 `_) * add test for objects filtering except for lanelet using functions * remove unnecessary include file * add doxygen --------- -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* test(bpp_common): add test for occupancy grid based collision detector (`#9066 `_) +* test(bpp_common): add test for occupancy grid based collision detector (`#9066 `_) * add test for occupancy grid based collision detector * remove unnnecessary header * fix * change map resolution and corresponding index --------- -* test(bpp_common): add test for parking departure utils (`#9055 `_) +* test(bpp_common): add test for parking departure utils (`#9055 `_) * add test for parking departure utils * fix * fix typo * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR --------- -* test(bpp_common): add test for object related functions (`#9062 `_) +* test(bpp_common): add test for object related functions (`#9062 `_) * add test for object related functions * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR * fix build error --------- -* test(bpp_common): add test for footprint (`#9056 `_) +* test(bpp_common): add test for footprint (`#9056 `_) add test for footprint -* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) +* refactor(lane_change): refactor get_lane_change_lanes function (`#9044 `_) * refactor(lane_change): refactor get_lane_change_lanes function * Add doxygen comment for to_geom_msg_pose --------- -* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) +* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) fix filter object by velocity -* feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (`#9005 `_) +* feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (`#9005 `_) * feat(turn_signal_decider): disable feature of turning off blinker at low velocity --------- -* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) * simplify ExtendedPredictedObject and add new member variables * replace self polygon to initial polygon * comment * add comments to dist of ego --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(behavior_path_planner): fix rtc state update logic (`#8899 `_) +* fix(behavior_path_planner): fix rtc state update logic (`#8899 `_) * fix function updateRTCStatus * fix pre-commit --------- -* test(autoware_behavior_path_planner_common): add tests for calcInterpolatedPoseWithVelocity (`#8270 `_) +* test(autoware_behavior_path_planner_common): add tests for calcInterpolatedPoseWithVelocity (`#8270 `_) * test: add interpolated pose calculation function's test * disabled SpecialCases test --------- -* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) -* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) -* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8736 `_) +* refactor(behavior_path_planner): planner data parameter initializer function (`#8767 `_) +* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) +* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8736 `_) fix:unusedFunction -* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8707 `_) +* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8707 `_) * fix:createDrivableLanesMarkerArray and setDecelerationVelocity * fix:convertToSnakeCase * fix:clang format --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8654 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_planner_common): fix unusedFunction (`#8654 `_) * fix:unusedFunction 0-2 * fix:unusedFunction 3-5 * fix:unusedFunction --------- -* chore(behavior_path_planner_common): update road_shoulder test_map (`#8550 `_) -* perf(goal_planner): faster path sorting and selection (`#8457 `_) +* chore(behavior_path_planner_common): update road_shoulder test_map (`#8550 `_) +* perf(goal_planner): faster path sorting and selection (`#8457 `_) * perf(goal_planner): faster path sorting and selection * path_id_to_rough_margin_map --------- -* feat(behavior_path_planner_common): add calculateRoughDistanceToObjects (`#8464 `_) -* fix(autoware_behavior_path_planner_common): fix variableScope (`#8443 `_) +* feat(behavior_path_planner_common): add calculateRoughDistanceToObjects (`#8464 `_) +* fix(autoware_behavior_path_planner_common): fix variableScope (`#8443 `_) fix:variableScope -* refactor(safety_checker): remove redundant polygon creation (`#8502 `_) -* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) +* refactor(safety_checker): remove redundant polygon creation (`#8502 `_) +* feat(lane_change): ensure LC merging lane stop point is safe (`#8369 `_) * function to check for merging lane * function to compute distance from last fit width center line point to lane end * ensure lane width at LC stop point is larger than ego width @@ -128,54 +128,54 @@ Changelog for package autoware_behavior_path_planner_common * minor refactoring * overload function isEgoWithinOriginalLane to pass lane polygon directly --------- -* feat(behavior_path_planner_common): add road_shoulder test map (`#8454 `_) -* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) +* feat(behavior_path_planner_common): add road_shoulder test map (`#8454 `_) +* fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (`#8463 `_) * add optional to tackle LC turn signal and pull over turn signal * CPP file should not re-define default value; typo in copying from internal repos --------- -* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) +* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) * perf(safety_check): check within first * perf(static_obstacle_avoidance): remove duplicated process * perf(static_obstacle_avoidance): remove heavy process --------- -* fix(start/goal_planner): align geometric parall parking start pose with center line (`#8326 `_) -* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) -* feat(path_safety_checker): add rough collision check (`#8193 `_) +* fix(start/goal_planner): align geometric parall parking start pose with center line (`#8326 `_) +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#8117 `_) +* feat(path_safety_checker): add rough collision check (`#8193 `_) * feat(path_safety_checker): add rough collision check * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp --------- -* fix(autoware_behavior_path_planner_common): fix passedByValue (`#8209 `_) +* fix(autoware_behavior_path_planner_common): fix passedByValue (`#8209 `_) * fix:clang format * fix:passedByValue * fix:passedByValue --------- -* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) -* fix(bpp): fix approved request search (`#8119 `_) +* fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (`#8136 `_) +* fix(bpp): fix approved request search (`#8119 `_) fix existApprovedRequest condition -* fix(bpp, rtc_interface): fix state transition (`#7743 `_) +* fix(bpp, rtc_interface): fix state transition (`#7743 `_) * fix(rtc_interface): check rtc state * fix(bpp_interface): check rtc state * feat(rtc_interface): print --------- -* fix(autoware_behavior_path_planner_common): fix constParameterReference (`#8045 `_) +* fix(autoware_behavior_path_planner_common): fix constParameterReference (`#8045 `_) fix:constParameterReference -* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) +* feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (`#8004 `_) * feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp * update --------- -* fix(autoware_behavior_path_planner_common): fix shadowVariable (`#7965 `_) +* fix(autoware_behavior_path_planner_common): fix shadowVariable (`#7965 `_) fix:shadowVariable -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* fix(autoware_behavior_path_planner_common): fix knownConditionTrueFalse (`#7816 `_) -* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) +* fix(autoware_behavior_path_planner_common): fix knownConditionTrueFalse (`#7816 `_) +* feat(autoware_behavior_path_planner): remove max_module_size param (`#7764 `_) * feat(behavior_path_planner): remove max_module_size param The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration. --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -183,25 +183,25 @@ Changelog for package autoware_behavior_path_planner_common * fix LC README * use normalized yaw diff --------- -* fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning (`#7675 `_) +* fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning (`#7675 `_) * fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning * fix type --------- -* fix(autoware_behavior_path_planner_common): fix shadowArgument warning in getDistanceToCrosswalk (`#7665 `_) -* fix(autoware_behavior_path_planner_common): fix shadowArgument warning (`#7623 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_behavior_path_planner_common): fix redundantContinue warning (`#7578 `_) -* fix(behavior_path_planner): fix redundantAssignment warning (`#7560 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_behavior_path_planner_common): fix shadowArgument warning in getDistanceToCrosswalk (`#7665 `_) +* fix(autoware_behavior_path_planner_common): fix shadowArgument warning (`#7623 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_path_planner_common): fix redundantContinue warning (`#7578 `_) +* fix(behavior_path_planner): fix redundantAssignment warning (`#7560 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(behavior_path_planner): fix redundantIfRemove warning (`#7544 `_) -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* fix(behavior_path_planner): fix redundantIfRemove warning (`#7544 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) +* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) Co-authored-by: Fumiya Watanabe -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -218,15 +218,15 @@ Changelog for package autoware_behavior_path_planner_common fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst index d80acb353f330..7ca3438da02d0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst @@ -5,25 +5,25 @@ Changelog for package autoware_behavior_path_sampling_planner_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_sampling_planner_module): fix shadowVariable (`#7966 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_sampling_planner_module): fix shadowVariable (`#7966 `_) * fix:shadowVariable * refactor:clang format * fix:shadowVariable * refactor:CodeSence --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst index 583dd75d45a2f..b1fd2c45965bc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst @@ -5,23 +5,23 @@ Changelog for package autoware_behavior_path_side_shift_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_side_shift_module): fix unusedFunction (`#8655 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_side_shift_module): fix unusedFunction (`#8655 `_) fix:unusedFunction -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst index be012c8065442..d4e3a843a8319 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst @@ -5,38 +5,38 @@ Changelog for package autoware_behavior_path_start_planner_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(start_planner): update param to match launch (`#9158 `_) +* feat(start_planner): update param to match launch (`#9158 `_) update param to match launch -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) +* fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (`#9036 `_) fix filter object by velocity -* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) * simplify ExtendedPredictedObject and add new member variables * replace self polygon to initial polygon * comment * add comments to dist of ego --------- -* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) +* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) * align autoware_raw_vehicle_cmd_converter's parameter * align start_planner's parameter --------- -* feat(start_planner): add skip_rear_vehicle_check parameter (`#8863 `_) +* feat(start_planner): add skip_rear_vehicle_check parameter (`#8863 `_) Add the skip_rear_vehicle_check parameter to the start planner module configuration. This parameter allows disabling the rear vehicle check during collision detection. By default, the rear vehicle check is enabled. -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8709 `_) +* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8709 `_) * fix:checkCollisionBetweenPathFootprintsAndObjects * fix:add const * fix:unusedFunction --------- -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (`#8682 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (`#8682 `_) * remove redundant fused lanelet calculation * remove unnecessary change * add new function @@ -46,13 +46,13 @@ Changelog for package autoware_behavior_path_start_planner_module * add comment for better understanding * fix cppcheck --------- -* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8659 `_) +* fix(autoware_behavior_path_start_planner_module): fix unusedFunction (`#8659 `_) fix:unusedFunction -* refactor(start_planner): remove redundant calculation in shift pull out (`#8623 `_) +* refactor(start_planner): remove redundant calculation in shift pull out (`#8623 `_) * fix redundant calculation * fix unneccesary modification for comment --------- -* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) +* feat(freespace_planning_algorithms): implement option for backward search from goal to start (`#8091 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -118,14 +118,14 @@ Changelog for package autoware_behavior_path_start_planner_module * minor refactor --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* feat(start_planner): add time_keeper (`#8254 `_) +* feat(start_planner): add time_keeper (`#8254 `_) * feat(start_planner): add time_keeper * fix * fix * fix shadow variables --------- -* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) -* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) +* fix(start/goal_planner): fix freespace planning error handling (`#8246 `_) +* refactor(freespace_planning_algorithm): refactor and improve astar search (`#8068 `_) * refactor freespace planning algorithms * fix error * use vector instead of map for a-star node graph @@ -158,7 +158,7 @@ Changelog for package autoware_behavior_path_start_planner_module * check goal pose validity before setting collision free distance map * declare variables as const where necessary --------- -* fix(autoware_behavior_path_start_planner_module): fix shadowVariable (`#7982 `_) +* fix(autoware_behavior_path_start_planner_module): fix shadowVariable (`#7982 `_) * fix:shadowVariable * fix:shadowVariable * refactor:clang format @@ -172,7 +172,7 @@ Changelog for package autoware_behavior_path_start_planner_module * refactor: namespace * refactor:clang format --------- -* feat(start_planner): add end_pose_curvature_threshold (`#7901 `_) +* feat(start_planner): add end_pose_curvature_threshold (`#7901 `_) * feat(start_planner): add end_pose_curvature_threshold * Update planning/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md Co-authored-by: Kyoichi Sugahara @@ -180,8 +180,8 @@ Changelog for package autoware_behavior_path_start_planner_module * update readme --------- Co-authored-by: Kyoichi Sugahara -* feat(start_planner): check current_pose and estimated_stop_pose for isPreventingRearVehicleFromPassingThrough (`#8112 `_) -* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) +* feat(start_planner): check current_pose and estimated_stop_pose for isPreventingRearVehicleFromPassingThrough (`#8112 `_) +* fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength (`#7902 `_) * fix(start/goal_planner): fix addition of duplicate segments in calcBeforeShiftedArcLength * Update trajectory.hpp Co-authored-by: Kyoichi Sugahara @@ -189,12 +189,12 @@ Changelog for package autoware_behavior_path_start_planner_module Co-authored-by: Kyoichi Sugahara --------- Co-authored-by: Kyoichi Sugahara -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -202,15 +202,15 @@ Changelog for package autoware_behavior_path_start_planner_module * fix LC README * use normalized yaw diff --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_behavior_path_start_planner_module): fix duplicateBreak warning (`#7583 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_path_start_planner_module): fix duplicateBreak warning (`#7583 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) +* refactor(freespace_planner)!: rename to include/autoware/{package_name} (`#7525 `_) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir @@ -227,14 +227,14 @@ Changelog for package autoware_behavior_path_start_planner_module fix build autoware_freespace_planner freespace_planning_algorithms -* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) +* refactor(control)!: refactor directory structures of the control checkers (`#7524 `_) * aeb * control_validator * lane_departure_checker * shift_decider * fix --------- -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst index 4da55caad730e..f6e5ba7526780 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst @@ -5,71 +5,71 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID * style(pre-commit): autofix * fix typo * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(static_obstacle_avoidance): suppress unnecessary warning (`#9142 `_) -* test(static_obstacle_avoidance): add unit test for utils functions (`#9134 `_) +* fix(static_obstacle_avoidance): suppress unnecessary warning (`#9142 `_) +* test(static_obstacle_avoidance): add unit test for utils functions (`#9134 `_) * docs(static_obstacle_avoidance): add doxygen * test: add test * fix: assert and expect * fix: wrong comment * refactor: use autoware test utils --------- -* fix(utils): fix envelope polygon update logic (`#9123 `_) -* test(bpp_common): add test for path utils (`#9122 `_) +* fix(utils): fix envelope polygon update logic (`#9123 `_) +* test(bpp_common): add test for path utils (`#9122 `_) * add test file for path utils * fix * add tests for map irrelevant function * add test for getUnshiftedEgoPose * add docstring and remove unneccesary function --------- -* fix(avoidance): don't insert stop line if the ego can't avoid or return (`#9089 `_) +* fix(avoidance): don't insert stop line if the ego can't avoid or return (`#9089 `_) * fix(avoidance): don't insert stop line if the ego can't avoid or return * fix: build error * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp Co-authored-by: Go Sakayori --------- Co-authored-by: Go Sakayori -* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) +* refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (`#9081 `_) * remove unused function * mover path shifter utils function to autoware motion utils * minor change in license header * fix warning message * remove header file --------- -* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) +* refactor(bpp): simplify ExtendedPredictedObject and add new member variables (`#8889 `_) * simplify ExtendedPredictedObject and add new member variables * replace self polygon to initial polygon * comment * add comments to dist of ego --------- -* refactor(static_obstacle_avoidance): move route handler based calculation outside loop (`#8968 `_) +* refactor(static_obstacle_avoidance): move route handler based calculation outside loop (`#8968 `_) * refactor filterTargetObjects * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* fix(static_obstacle_avoidance): remove redundant calculation (`#8955 `_) +* fix(static_obstacle_avoidance): remove redundant calculation (`#8955 `_) remove redundant calculation -* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) -* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) +* refactor(signal_processing): prefix package and namespace with autoware (`#8541 `_) +* fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (`#8926 `_) remove unused variables -* fix(static_obstacle_avoidance): update UUID when candidate shift is empty (`#8901 `_) +* fix(static_obstacle_avoidance): update UUID when candidate shift is empty (`#8901 `_) fix candidate shift line's rtc cooperate status -* docs(static_obstacle_avoidance): update envelope polygon creation (`#8822 `_) +* docs(static_obstacle_avoidance): update envelope polygon creation (`#8822 `_) * update envelope polygon creation * fix whitespace --------- -* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) +* fix(autoware_behavior_path_planner): align the parameters with launcher (`#8790 `_) parameters in behavior_path_planner aligned -* fix(static_obstacle_avoidance): improve turn signal output timing when the ego returns original lane (`#8726 `_) +* fix(static_obstacle_avoidance): improve turn signal output timing when the ego returns original lane (`#8726 `_) fix(static_obstacle_avoidance): fix unexpected turn signal output -* docs(static_obstacle_avoidance): light edits. Typos, grammar fixes (`#8759 `_) +* docs(static_obstacle_avoidance): light edits. Typos, grammar fixes (`#8759 `_) * Light edit: Typos, grammar fixes. Additional changes to follow * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md Paragraph revised to correct typos @@ -85,21 +85,21 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module Co-authored-by: Go Sakayori Co-authored-by: Go Sakayori Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8776 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8776 `_) fix:unusedFunction -* fix(static_obstacle_avoidance): ignore objects which has already been decided to avoid (`#8754 `_) -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8732 `_) +* fix(static_obstacle_avoidance): ignore objects which has already been decided to avoid (`#8754 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8732 `_) fix:unusedFunction -* fix(static_obstacle_avoidance): change implementation the logic to remove invalid small shift lines (`#8721 `_) - * Revert "fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_)" +* fix(static_obstacle_avoidance): change implementation the logic to remove invalid small shift lines (`#8721 `_) + * Revert "fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_)" This reverts commit 2705a63817f02ecfa705960459438763225ea6cf. * fix(static_obstacle_avoidance): remove invalid small shift lines --------- -* fix(static_obstacle_avoidance): use wrong parameter (`#8720 `_) -* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8664 `_) +* fix(static_obstacle_avoidance): use wrong parameter (`#8720 `_) +* fix(bpp): use common steering factor interface for same scene modules (`#8675 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (`#8664 `_) fix:unusedFunction -* feat(static_obstacle_avoidance): update envelope polygon creation method (`#8551 `_) +* feat(static_obstacle_avoidance): update envelope polygon creation method (`#8551 `_) * update envelope polygon by considering pose covariance * change parameter * modify schema json @@ -107,31 +107,31 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> -* fix(static_obstacle_avoidance): target object sorting (`#8545 `_) +* fix(static_obstacle_avoidance): target object sorting (`#8545 `_) * fix compensateLostTargetObjects function * remove empty case --------- -* docs(static_obstacle_avoidance): add FAQ section in document (`#8514 `_) +* docs(static_obstacle_avoidance): add FAQ section in document (`#8514 `_) * add FAQ section in readme * refer to FAQ before detail * fix --------- -* fix(static_obstacle_avoidance): change avoidance condition (`#8433 `_) -* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) +* fix(static_obstacle_avoidance): change avoidance condition (`#8433 `_) +* perf(static_obstacle_avoidance): improve logic to reduce computational cost (`#8432 `_) * perf(safety_check): check within first * perf(static_obstacle_avoidance): remove duplicated process * perf(static_obstacle_avoidance): remove heavy process --------- -* fix(static_obstacle_avoidance): check opposite lane (`#8345 `_) -* fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_) -* feat(static_obstacle_avoidance): force deactivation (`#8288 `_) +* fix(static_obstacle_avoidance): check opposite lane (`#8345 `_) +* fix(static_obstacle_avoidance): remove invalid small shift lines (`#8344 `_) +* feat(static_obstacle_avoidance): force deactivation (`#8288 `_) * add force cancel function * fix format * fix json schema * fix spelling * fix --------- -* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) +* feat(static_obstacle_avoidance): enable force execution under unsafe conditions (`#8094 `_) * add force execution for static obstacle avoidance * fix * erase unused function in RTC interface @@ -140,48 +140,48 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module * add warn throtthle and move code block * fix --------- -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix constParameterReference (`#8046 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix constParameterReference (`#8046 `_) fix:constParameterReference -* fix(static_obstacle_avoidance): avoid object behind unavoidance object if unavoidable is not on the path (`#8066 `_) -* feat(static_obstacle_avoidance): integrate time keeper to major functions (`#8044 `_) -* fix(static_obstacle_avoidance): fix issues in target filtiering logic (`#7954 `_) +* fix(static_obstacle_avoidance): avoid object behind unavoidance object if unavoidable is not on the path (`#8066 `_) +* feat(static_obstacle_avoidance): integrate time keeper to major functions (`#8044 `_) +* fix(static_obstacle_avoidance): fix issues in target filtiering logic (`#7954 `_) * fix: unknown filtering flow * fix: relax target filtering logic for object which is in freespace * docs: update flowchart * fix: check stopped time in freespace --------- -* feat(static_obstacle_avoidance): show markers when system requests operator support (`#7994 `_) -* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) +* feat(static_obstacle_avoidance): show markers when system requests operator support (`#7994 `_) +* fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (`#7851 `_) * fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle * chore(schema): update schema --------- -* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) +* fix(static_obstacle_avoidance): stop position is unstable (`#7880 `_) fix(static_obstacle_avoidance): fix stop position -* fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge (`#7850 `_) +* fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge (`#7850 `_) * fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not on road edge * docs(static_obstacle_avoidance): update flowchart * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md Co-authored-by: Go Sakayori --------- Co-authored-by: Go Sakayori -* refactor(static_avoidance): modify getAdjacentLane function (`#7843 `_) +* refactor(static_avoidance): modify getAdjacentLane function (`#7843 `_) add getLeftOppositeLanelers in getAdjacentLane function -* fix(static_obstacle_avoidance): fix issues in target object filtering logic (`#7830 `_) +* fix(static_obstacle_avoidance): fix issues in target object filtering logic (`#7830 `_) * fix(static_obstacle_avoidance): check if object is inside/outside by its position point instead of its polygon * refactor(static_obstacle_avoidance): add getter functions * fix(static_obstacle_avoidance): check next lane without route if the current lane is not preferred * fix(static_obstacle_avoidance): fix parked vehicle check --------- -* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) +* feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (`#7828 `_) * fix(safety_check): filter by yaw deviation to check object belongs to lane * fix(static_obstacle_avoidance): check yaw only when the object is moving --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(static_obstacle_avoidance): organize params for drivable lane (`#7715 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(static_obstacle_avoidance): organize params for drivable lane (`#7715 `_) * refactor(static_obstacle_avoidance): organize params for drivable lane * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json --------- -* feat(start_planner): yaw threshold for rss check (`#7657 `_) +* feat(start_planner): yaw threshold for rss check (`#7657 `_) * add param to customize yaw th * add param to other modules * docs @@ -189,24 +189,24 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module * fix LC README * use normalized yaw diff --------- -* docs(static_obstacle_avoidance): fix wrong flowchart (`#7693 `_) -* fix(static_obstacle_avoidance): fix json schema (`#7692 `_) -* refactor(static_obstacle_avoidance): change logger name for utils (`#7617 `_) +* docs(static_obstacle_avoidance): fix wrong flowchart (`#7693 `_) +* fix(static_obstacle_avoidance): fix json schema (`#7692 `_) +* refactor(static_obstacle_avoidance): change logger name for utils (`#7617 `_) change logger name for static avoidance utils -* feat(static_obstacle_avoidance): keep object clipping even after the object becomes non-target (`#7591 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix duplicateCondition warnings (`#7582 `_) -* docs(bpp_static_obstacle_avoidance): add documentation (`#7554 `_) +* feat(static_obstacle_avoidance): keep object clipping even after the object becomes non-target (`#7591 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_path_static_obstacle_avoidance_module): fix duplicateCondition warnings (`#7582 `_) +* docs(bpp_static_obstacle_avoidance): add documentation (`#7554 `_) * fix: package path * docs: add explanation of lateral margin * fix: typo * fix: wrong description --------- -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) +* refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (`#7522 `_) * refactor(behavior_path_planner)!: make autoware dir in include * refactor(start_planner): make autoware include dir * refactor(goal_planner): make autoware include dir diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst index 5d2f39bbbdde5..cca3b919daf18 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package autoware_behavior_velocity_blind_spot_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(blind_spot): hide debug information (`#8885 `_) -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(blind_spot): hide debug information (`#8885 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_blind_spot_module): fix funcArgNamesDifferent (`#8021 `_) +* fix(autoware_behavior_velocity_blind_spot_module): fix funcArgNamesDifferent (`#8021 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent * refactor:clang format --------- -* feat(blind_spot): consider road_shoulder if exist (`#7925 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat(blind_spot): consider road_shoulder if exist (`#7925 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst index cee14701b03c5..f9fe6b4479c0a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst @@ -5,49 +5,49 @@ Changelog for package autoware_behavior_velocity_crosswalk_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) -* fix(crosswalk): fix occlusion detection range calculation and add debug markers (`#9121 `_) -* fix(crosswalk): fix passing direction calclation for the objects (`#9071 `_) -* fix(crosswalk): change exceptional handling (`#8956 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* fix(crosswalk): fix occlusion detection range calculation and add debug markers (`#9121 `_) +* fix(crosswalk): fix passing direction calclation for the objects (`#9071 `_) +* fix(crosswalk): change exceptional handling (`#8956 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* feat(crosswalk)!: update stop position caluculation (`#8853 `_) -* feat(crosswalk): suppress restart when the ego is close to the next stop point (`#8817 `_) +* feat(crosswalk)!: update stop position caluculation (`#8853 `_) +* feat(crosswalk): suppress restart when the ego is close to the next stop point (`#8817 `_) * feat(crosswalk): suppress restart when the ego is close to the next stop point * update * add comment --------- -* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) parameters in behavior_velocity_planner aligned -* fix(autoware_behavior_velocity_crosswalk_module): fix unusedFunction (`#8665 `_) +* fix(autoware_behavior_velocity_crosswalk_module): fix unusedFunction (`#8665 `_) fix:unusedFunction -* fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic (`#8459 `_) +* fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic (`#8459 `_) * fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic * define ego_crosswalk_passage_direction later --------- -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_crosswalk_module): fix passedByValue (`#8210 `_) +* fix(autoware_behavior_velocity_crosswalk_module): fix passedByValue (`#8210 `_) * fix:passedByValue * fix:passedByValue --------- -* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) +* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) * refactor(crosswalk): clean up the structure and create a brief flowchart * update * fix * static stop pose -> default stop pose --------- -* fix(autoware_behavior_velocity_crosswalk_module): fix shadowVariable (`#7974 `_) +* fix(autoware_behavior_velocity_crosswalk_module): fix shadowVariable (`#7974 `_) * fix:shadowVariable * fix:shadowVariable --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Mehmet Dogru, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst index ac7190a4bc0c9..2db48d466139c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package autoware_behavior_velocity_detection_area_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(detection_area): refactor and add unit tests (`#9087 `_) -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* test(detection_area): refactor and add unit tests (`#9087 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_detection_area_module): fix uninitMemberVar (`#8332 `_) +* fix(autoware_behavior_velocity_detection_area_module): fix uninitMemberVar (`#8332 `_) fix:uninitMemberVar -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst index 1d8d193f03031..d7e0b2d2fd5ae 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst @@ -5,66 +5,66 @@ Changelog for package autoware_behavior_velocity_intersection_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(intersection): print RTC status in diagnostic debug message (`#9007 `_) +* chore(intersection): print RTC status in diagnostic debug message (`#9007 `_) debug(intersection): print RTC status in diagnostic message -* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (`#9103 `_) * fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID * style(pre-commit): autofix * fix typo * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(intersection): handle pass judge after red/arrow-signal to ignore NPCs after the signal changed to green again (`#9119 `_) -* fix(intersection): set RTC enable (`#9040 `_) +* fix(intersection): handle pass judge after red/arrow-signal to ignore NPCs after the signal changed to green again (`#9119 `_) +* fix(intersection): set RTC enable (`#9040 `_) set rtc enable -* fix(interpolation): fix bug of interpolation (`#8969 `_) +* fix(interpolation): fix bug of interpolation (`#8969 `_) fix bug of interpolation -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(intersection): fix typo (`#8911 `_) +* fix(intersection): fix typo (`#8911 `_) * fix(intersection): fix typo * fix(intersection): fix typo * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(bvp): fix rtc state update logic (`#8884 `_) +* fix(bvp): fix rtc state update logic (`#8884 `_) * fix(bvp): fix rtc state update logic * fix(intersection): fix unexpected rtc state initialization --------- -* fix(autoware_behavior_velocity_intersection_module): fix unusedFunction (`#8666 `_) +* fix(autoware_behavior_velocity_intersection_module): fix unusedFunction (`#8666 `_) * fix:unusedFunction * fix:unusedFunction --------- -* fix(autoware_behavior_velocity_intersection_module): fix unreadVariable (`#8836 `_) +* fix(autoware_behavior_velocity_intersection_module): fix unreadVariable (`#8836 `_) fix:unreadVariable -* fix(autoware_behavior_velocity_intersection_module): fix virtualCallInConstructor (`#8835 `_) +* fix(autoware_behavior_velocity_intersection_module): fix virtualCallInConstructor (`#8835 `_) fix:virtualCallInConstructor -* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) parameters in behavior_velocity_planner aligned -* fix(intersection): additional fix for 8520 (`#8561 `_) -* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) +* fix(intersection): additional fix for 8520 (`#8561 `_) +* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) * for enclave occlusion detection lanelet * some refactorings and modify doxygen * fix ci --------- Co-authored-by: Y.Hisaki -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* feat(intersection): add test map for intersection (`#8455 `_) -* fix(autoware_smart_mpc_trajectory_follower): fix unusedStructMember (`#8393 `_) +* feat(intersection): add test map for intersection (`#8455 `_) +* fix(autoware_smart_mpc_trajectory_follower): fix unusedStructMember (`#8393 `_) * fix:unusedStructMember * fix:unusedStructMember * fix:clang format --------- -* fix(autoware_behavior_velocity_intersection_module): fix functionConst (`#8283 `_) +* fix(autoware_behavior_velocity_intersection_module): fix functionConst (`#8283 `_) fix:functionConst -* fix(autoware_behavior_velocity_intersection_module): fix funcArgNamesDifferent (`#8023 `_) +* fix(autoware_behavior_velocity_intersection_module): fix funcArgNamesDifferent (`#8023 `_) * fix:funcArgNamesDifferent * fix:funcArgNamesDifferent * refactor:clang format * fix:funcArgNamesDifferent --------- -* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) +* refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware\_ prefix to package name (`#8183 `_) * chore: fix package name probabilistic occupancy grid map * fix: solve launch error * chore: update occupancy_grid_map_outlier_filter @@ -74,21 +74,21 @@ Changelog for package autoware_behavior_velocity_intersection_module --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE -* fix(autoware_behavior_velocity_intersection_module): fix shadowVariable (`#7976 `_) -* fix(autoware_behavior_velocity_intersection_module): fix shadowFunction (`#7835 `_) +* fix(autoware_behavior_velocity_intersection_module): fix shadowVariable (`#7976 `_) +* fix(autoware_behavior_velocity_intersection_module): fix shadowFunction (`#7835 `_) * fix(autoware_behavior_velocity_intersection_module): fix shadowFunction * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) intersection -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Satoshi OTA, T-Kimura-MM, Takayuki Murooka, Yoshi Ri, Yukinari Hisaki, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst index c158782bed571..6befa38af63e1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst @@ -5,21 +5,21 @@ Changelog for package autoware_behavior_velocity_no_drivable_lane_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_no_drivable_lane_module): fix uninitMemberVar (`#8322 `_) +* fix(autoware_behavior_velocity_no_drivable_lane_module): fix uninitMemberVar (`#8322 `_) * fix:uninitMemberVar * fix:uninitMemberVar --------- -* fix(autoware_behavior_velocity_no_drivable_lane_module): fix bug of uninitialization (`#7928 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning (`#7631 `_) +* fix(autoware_behavior_velocity_no_drivable_lane_module): fix bug of uninitialization (`#7928 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning (`#7631 `_) * fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst index 3db92130f35f6..130aa5c56cd48 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst @@ -5,25 +5,25 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(no_stopping_area): refactor and add tests (`#9009 `_) +* test(no_stopping_area): refactor and add tests (`#9009 `_) Co-authored-by: Kosuke Takeuchi -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_no_stopping_area_module): fix uninitMemberVar (`#8321 `_) +* fix(autoware_behavior_velocity_no_stopping_area_module): fix uninitMemberVar (`#8321 `_) fix:uninitMemberVar -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst index 805fc77cf7181..42636a0ca1d89 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst @@ -5,30 +5,30 @@ Changelog for package autoware_behavior_velocity_occlusion_spot_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) parameters in behavior_velocity_planner aligned -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8320 `_) +* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8320 `_) * fix:uninitMemberVar * fix:clang format * fix:uninitMemberVar * fix:clang format * fix:clang format --------- -* fix(autoware_behavior_velocity_occlusion_module): fix passedByValue (`#8211 `_) +* fix(autoware_behavior_velocity_occlusion_module): fix passedByValue (`#8211 `_) fix:passedByValue -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_behavior_velocity_occlusion_spot_module): fix redundantAssignment bug (`#7559 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_behavior_velocity_occlusion_spot_module): fix redundantAssignment bug (`#7559 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst index 738fe8cf0bf6f..c4594d8bc0df4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst @@ -5,23 +5,23 @@ Changelog for package autoware_behavior_velocity_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_behavior_velocity_planner): fix passedByValue (`#8213 `_) +* fix(autoware_behavior_velocity_planner): fix passedByValue (`#8213 `_) fix:passedByValue -* chore(autoware_behavior_velocity_planner): remove no_prefix function from tests (`#7589 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* chore(autoware_behavior_velocity_planner): remove no_prefix function from tests (`#7589 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (`#7469 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) +* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) * chore(behavior_velocity_planner): fix CODEOWNERS and page links * fix: fix page link --------- -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst index 7ca9c6913dd4a..de8e6e910e7a6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst @@ -5,52 +5,52 @@ Changelog for package autoware_behavior_velocity_planner_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner_common): fix findOffsetSegment (`#9130 `_) -* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) -* test(no_stopping_area): refactor and add tests (`#9009 `_) +* fix(behavior_velocity_planner_common): fix findOffsetSegment (`#9130 `_) +* feat(autoware_test_utils): move test_map, add launcher for test_map (`#9045 `_) +* test(no_stopping_area): refactor and add tests (`#9009 `_) Co-authored-by: Kosuke Takeuchi -* fix(autoware_behavior_velocity_planner_common): add node clock, fix use sim time (`#8876 `_) -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* fix(autoware_behavior_velocity_planner_common): add node clock, fix use sim time (`#8876 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(bvp): fix rtc state update logic (`#8884 `_) +* fix(bvp): fix rtc state update logic (`#8884 `_) * fix(bvp): fix rtc state update logic * fix(intersection): fix unexpected rtc state initialization --------- -* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) -* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) +* feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (`#8694 `_) +* feat(intersection): fix topological sort for complicated intersection (`#8520 `_) * for enclave occlusion detection lanelet * some refactorings and modify doxygen * fix ci --------- Co-authored-by: Y.Hisaki -* fix(autoware_behavior_velocity_planner_common): fix variableScope (`#8446 `_) +* fix(autoware_behavior_velocity_planner_common): fix variableScope (`#8446 `_) fix:variableScope -* feat(intersection): add test map for intersection (`#8455 `_) -* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) +* feat(intersection): add test map for intersection (`#8455 `_) +* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) * not resample debug_trajectories if not published * update dependant packages --------- -* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) +* refactor(behavior_velocity_intersection): apply clang-tidy check (`#7552 `_) intersection -* fix(autoware_behavior_velocity_planner_common): fix unusedScopedObject bug (`#7570 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(autoware_behavior_velocity_planner_common): fix unusedScopedObject bug (`#7570 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) +* refactor(rtc_interface)!: rename to include/autoware/{package_name} (`#7531 `_) Co-authored-by: Fumiya Watanabe -* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (`#7535 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Dawid Moszyński, Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Maxime CLEMENT, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst index 67c9028c5e011..6ffbc52ff3077 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst @@ -5,37 +5,37 @@ Changelog for package autoware_behavior_velocity_run_out_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) -* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) +* refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (`#8946 `_) +* fix(behavior_velocity_planner): align the parameters with launcher (`#8791 `_) parameters in behavior_velocity_planner aligned -* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8779 `_) +* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8779 `_) fix:unusedFunction -* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8669 `_) +* fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (`#8669 `_) fix:unusedFunction -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(behavior_velocity_planner): fix cppcheck warnings of functionStatic (`#8262 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of functionStatic (`#8262 `_) fix: deal with functionStatic warnings -* fix(autoware_behavior_velocity_run_out_module): fix functionConst (`#8284 `_) +* fix(autoware_behavior_velocity_run_out_module): fix functionConst (`#8284 `_) fix:functionConst -* fix(autoware_behavior_velocity_run_out_module): fix passedByValue (`#8215 `_) +* fix(autoware_behavior_velocity_run_out_module): fix passedByValue (`#8215 `_) * fix:passedByValue * fix:passedByValue * fix:passedByValue --------- -* fix(autoware_behavior_velocity_run_out_module): fix constParameterReference (`#8050 `_) +* fix(autoware_behavior_velocity_run_out_module): fix constParameterReference (`#8050 `_) fix:constParameterReference -* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) +* chore(behavior_velocity_planner): fix CODEOWNERS and page links (`#7534 `_) * chore(behavior_velocity_planner): fix CODEOWNERS and page links * fix: fix page link --------- -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst index 7beadcdc6cf67..dda59c346fd20 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package autoware_behavior_velocity_speed_bump_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8319 `_) +* fix(autoware_behavior_velocity_speed_bump_module): fix uninitMemberVar (`#8319 `_) fix:uninitMemberVar -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds warning (`#7671 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds warning (`#7671 `_) fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds -* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) +* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) * Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst index 487ac65735b33..4bfe8d3d74a06 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst @@ -5,22 +5,22 @@ Changelog for package autoware_behavior_velocity_stop_line_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_stop_line_module): fix uninitMemberVar (`#8318 `_) +* fix(autoware_behavior_velocity_stop_line_module): fix uninitMemberVar (`#8318 `_) fix:uninitMemberVar -* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* feat(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_stop_line_module): add time_keeper to bvp (`#8070 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst index 9281fdade1dac..361738a56b5b4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst @@ -5,16 +5,16 @@ Changelog for package autoware_behavior_velocity_template_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (`#7467 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst index 4b028feb98393..80f08e3aec044 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package autoware_behavior_velocity_traffic_light_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(traffic_light): write test for utils (`#9046 `_) +* test(traffic_light): write test for utils (`#9046 `_) * refactor: separate utils file * refactor: utils function output * test: write test for utils * chore: add doxygen --------- -* fix(behavior_velocity_traffic_light): make dilemma_zone_plotter.py executable (`#8684 `_) -* feat(traffic_light): add dilemma_zone_plotter.py (`#8638 `_) +* fix(behavior_velocity_traffic_light): make dilemma_zone_plotter.py executable (`#8684 `_) +* feat(traffic_light): add dilemma_zone_plotter.py (`#8638 `_) * feat(traffic_light): add dilemma_zone_plotter.py * fix typo * fix typo --------- -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_traffic_light_module): fix uninitMemberVar (`#8317 `_) +* fix(autoware_behavior_velocity_traffic_light_module): fix uninitMemberVar (`#8317 `_) fix:funinitMemberVar -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst index ce31a8bb963e7..f811d901e6489 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst @@ -5,27 +5,27 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(virtual_traffic_light): add unit tests for utils (`#9107 `_) -* chore(virtual_traffic_light): add soblin to maintainer (`#9147 `_) -* refactor(virtual_traffic_light): move to utils for unit test (`#9106 `_) -* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedFunction (`#8670 `_) +* test(virtual_traffic_light): add unit tests for utils (`#9107 `_) +* chore(virtual_traffic_light): add soblin to maintainer (`#9147 `_) +* refactor(virtual_traffic_light): move to utils for unit test (`#9106 `_) +* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedFunction (`#8670 `_) fix:unusedFunction -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedStructMember (`#8394 `_) +* fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedStructMember (`#8394 `_) fix:unusedStructMember -* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) +* fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (`#7688 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (`#7710 `_) * fix(arc_lane_util): remove lane_id check from arc_lane_util * modify test_arc_lane_util.cpp --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst index d15003404903f..1d9d0a1dbc9da 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst @@ -5,21 +5,21 @@ Changelog for package autoware_behavior_velocity_walkway_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) +* fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (`#8376 `_) Co-authored-by: Ryuta Kambe -* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) +* refactor(crosswalk): clean up the structure and create a brief flowchart (`#7868 `_) * refactor(crosswalk): clean up the structure and create a brief flowchart * update * fix * static stop pose -> default stop pose --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* chore(behavior_velocity_planner): move packages (`#7526 `_) +* chore(behavior_velocity_planner): move packages (`#7526 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, taisa1 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst index c15304d214a0c..18a98316008ce 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst @@ -5,20 +5,20 @@ Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* test(dynamic_obstacle_stop): add tests and do some refactoring (`#8250 `_) -* fix(autoware_motion_velocity_dynamic_obstacle_stop_module): fix funcArgNamesDifferent (`#8024 `_) +* test(dynamic_obstacle_stop): add tests and do some refactoring (`#8250 `_) +* fix(autoware_motion_velocity_dynamic_obstacle_stop_module): fix funcArgNamesDifferent (`#8024 `_) fix:funcArgNamesDifferent -* perf(dynamic_obstacle_stop): construct rtree nodes in place (`#7753 `_) -* perf(dynamic_obstacle_stop): create rtree with packing algorithm (`#7730 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* perf(dynamic_obstacle_stop): construct rtree nodes in place (`#7753 `_) +* perf(dynamic_obstacle_stop): create rtree with packing algorithm (`#7730 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) * Contributors: Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst index 33609b35c09c9..8519142e059eb 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst @@ -5,43 +5,43 @@ Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) -* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* chore(obstacle_velocity_limiter): add Alqudah Mohammad as codeowner (`#8516 `_) -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix functionStatic (`#8483 `_) +* refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (`#9170 `_) +* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* chore(obstacle_velocity_limiter): add Alqudah Mohammad as codeowner (`#8516 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix functionStatic (`#8483 `_) fix:functionStatic -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable (`#8366 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable (`#8366 `_) * fix:unreadVariable * fix:unreadVariable --------- -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix uninitMemberVar (`#8314 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix uninitMemberVar (`#8314 `_) fix:funinitMemberVar -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix funcArgNamesDifferent (`#8025 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix funcArgNamesDifferent (`#8025 `_) fix:funcArgNamesDifferent -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix shadowVariable (`#7977 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix shadowVariable (`#7977 `_) * fix:shadowVariable * fix:shadowVariable --------- -* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) * perf(dynamic_obstacle_stop): create rtree with packing algorithm - * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable warning (`#7625 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* fix(autoware_motion_velocity_obstacle_velocity_limiter_module): fix unreadVariable warning (`#7625 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) -* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(grid_map_utils): add autoware prefix and namespace (`#7487 `_) +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst index 6b006d110dbe5..35ad88f5955db 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst @@ -5,44 +5,44 @@ Changelog for package autoware_motion_velocity_out_of_lane_module 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* perf(out_of_lane): use intersection with other lanes instead of difference with ego lane (`#8870 `_) -* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) -* chore(planning): consistent parameters with autoware_launch (`#8915 `_) +* perf(out_of_lane): use intersection with other lanes instead of difference with ego lane (`#8870 `_) +* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) +* chore(planning): consistent parameters with autoware_launch (`#8915 `_) * chore(planning): consistent parameters with autoware_launch * update * fix json schema --------- -* fix(motion_planning): align the parameters with launcher (`#8792 `_) +* fix(motion_planning): align the parameters with launcher (`#8792 `_) parameters in motion_planning aligned -* docs(out_of_lane): update documentation for the new design (`#8692 `_) -* fix(out_of_lane): fix a bug with the rtree reference deleted nodes (`#8679 `_) -* fix(out_of_lane): fix noConstructor cppcheck warning (`#8636 `_) -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* perf(out_of_lane): use rtree to get stop lines and trajectory lanelets (`#8439 `_) -* chore(out_of_lane): add Mamoru SOBUE as maintainer (`#8440 `_) -* feat(out_of_lane): also apply lat buffer between the lane and stop pose (`#7918 `_) -* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) -* fix(autoware_motion_velocity_out_of_lane_module): fix constParameterReference (`#8051 `_) +* docs(out_of_lane): update documentation for the new design (`#8692 `_) +* fix(out_of_lane): fix a bug with the rtree reference deleted nodes (`#8679 `_) +* fix(out_of_lane): fix noConstructor cppcheck warning (`#8636 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* perf(out_of_lane): use rtree to get stop lines and trajectory lanelets (`#8439 `_) +* chore(out_of_lane): add Mamoru SOBUE as maintainer (`#8440 `_) +* feat(out_of_lane): also apply lat buffer between the lane and stop pose (`#7918 `_) +* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) +* fix(autoware_motion_velocity_out_of_lane_module): fix constParameterReference (`#8051 `_) fix:constParameterReference -* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) * perf(dynamic_obstacle_stop): create rtree with packing algorithm - * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -51,7 +51,7 @@ Changelog for package autoware_motion_velocity_out_of_lane_module * fix formats * keep header and source file name as before --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -86,17 +86,17 @@ Changelog for package autoware_motion_velocity_out_of_lane_module * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) +* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) * feat(motion_velocity_planner): use polling subscriber for odometry topic * use polling subscribers for more topics * remove blocking mutex lock when processing traffic lights * fix assign after return --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) * Contributors: Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, mkquda 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst index df513cf0a7330..2de2517dbf0e5 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst @@ -5,31 +5,31 @@ Changelog for package autoware_motion_velocity_planner_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(motion_velocity_planner): disable randomly failing test (`#8923 `_) -* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) -* fix(motion_velocity_planner): relax test precision to prevent random failures (`#8799 `_) -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) +* fix(motion_velocity_planner): disable randomly failing test (`#8923 `_) +* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) +* fix(motion_velocity_planner): relax test precision to prevent random failures (`#8799 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) * perf(dynamic_obstacle_stop): create rtree with packing algorithm - * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) +* refactor(route_handler)!: rename to include/autoware/{package_name} (`#7530 `_) refactor(route_handler)!: rename to include/autoware/{package_name} -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) -* refactor(route_handler): route handler add autoware prefix (`#7341 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* refactor(route_handler): route handler add autoware prefix (`#7341 `_) * rename route handler package * update packages dependencies * update include guards @@ -38,7 +38,7 @@ Changelog for package autoware_motion_velocity_planner_common * fix formats * keep header and source file name as before --------- -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -73,27 +73,27 @@ Changelog for package autoware_motion_velocity_planner_common * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) +* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) * feat(motion_velocity_planner): use polling subscriber for odometry topic * use polling subscribers for more topics * remove blocking mutex lock when processing traffic lights * fix assign after return --------- -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) +* refactor(behavior_velocity_planner_common)!: prefix package and namespace with autoware (`#7314 `_) * refactor(behavior_velocity_planner_common): add autoware prefix * refactor(behavior_velocity_planner_common): fix run_out module * refactor(behavior_velocity_planner_common): fix for autoware_behavior_velocity_walkway_module * refactor(behavior_velocity_planner_common): remove unnecessary using --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -104,7 +104,7 @@ Changelog for package autoware_motion_velocity_planner_common * fix: test * fix: test --------- -* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, mkquda 0.26.0 (2024-04-03) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst index 8a141b67d8ef3..aabf62dffd79d 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_motion_velocity_planner_node 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) -* perf(motion_velocity_planner): fix heavy resampling and transform lookup (`#8839 `_) -* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) -* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) -* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) +* chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (`#8877 `_) +* perf(motion_velocity_planner): fix heavy resampling and transform lookup (`#8839 `_) +* fix(obstacle_velocity_limiter): more stable virtual wall (`#8499 `_) +* feat(out_of_lane): redesign to improve accuracy and performance (`#8453 `_) +* feat(motion_velocity_planner,planning_evaluator): add stop, slow_down diags (`#8503 `_) * tmp save. * publish diagnostics. * move clearDiagnostics func to head @@ -26,33 +26,33 @@ Changelog for package autoware_motion_velocity_planner_node Co-authored-by: Kosuke Takeuchi --------- Co-authored-by: Kosuke Takeuchi -* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) +* perf(velocity_smoother): not resample debug_trajectories is not used (`#8030 `_) * not resample debug_trajectories if not published * update dependant packages --------- -* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) -* fix(motion_planning): fix processing time topic names (`#7885 `_) -* fix(motion_velocity_planner): use the slowdown velocity (instead of 0) (`#7840 `_) -* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) +* feat(out_of_lane): ignore objects coming from behind ego (`#7891 `_) +* fix(motion_planning): fix processing time topic names (`#7885 `_) +* fix(motion_velocity_planner): use the slowdown velocity (instead of 0) (`#7840 `_) +* perf(motion_velocity_planner): resample trajectory after vel smoothing (`#7732 `_) * perf(dynamic_obstacle_stop): create rtree with packing algorithm - * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" + * Revert "perf(out_of_lane): downsample the trajectory to improve performance (`#7691 `_)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing --------- -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) -* feat(motion_velocity_planner): publish processing times (`#7633 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (`#7683 `_) +* feat(motion_velocity_planner): publish processing times (`#7633 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) -* feat(motion_velocity_planner): rename include directories (`#7523 `_) -* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) +* refactor(velocity_smoother): rename to include/autoware/{package_name} (`#7533 `_) +* feat(motion_velocity_planner): rename include directories (`#7523 `_) +* fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (`#7490 `_) set single depth sensor data qos for pointlcoud polling subscribers -* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) -* refactor(test_utils): move to common folder (`#7158 `_) +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#7460 `_) +* refactor(test_utils): move to common folder (`#7158 `_) * Move autoware planning test manager to autoware namespace * fix package share directory for behavior path planner * renaming files and directory @@ -64,22 +64,22 @@ Changelog for package autoware_motion_velocity_planner_node * removed obstacle velocity limiter test artifact * remove namespace from planning validator, it has using keyword --------- -* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) -* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#7439 `_) +* feat(motion_velocity_planner): use polling subscriber to efficiently get messages (`#7223 `_) * feat(motion_velocity_planner): use polling subscriber for odometry topic * use polling subscribers for more topics * remove blocking mutex lock when processing traffic lights * fix assign after return --------- -* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) +* refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (`#7354 `_) * chore(autoware_velocity_smoother): update namespace * chore(autoware_path_optimizer): update namespace --------- -* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (`#7246 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) +* chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (`#7202 `_) * chore(autoware_path_optimizer): rename package and namespace * chore(autoware_static_centerline_generator): rename package and namespace * chore: update module name @@ -90,7 +90,7 @@ Changelog for package autoware_motion_velocity_planner_node * fix: test * fix: test --------- -* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) +* feat(motion_velocity_planner): add new motion velocity planning (`#7064 `_) * Contributors: Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Tiankui Xian, Yutaka Kondo, Zulfaqar Azmi, mkquda 0.26.0 (2024-04-03) diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst index 2084bc1c56aef..3b3d46ee59b79 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_bezier_sampler 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) * Contributors: Maxime CLEMENT, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst index 227dc896c34ab..9d539fa198df1 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_frenet_planner 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_frenet_planner): fix build error (`#8807 `_) +* fix(autoware_frenet_planner): fix build error (`#8807 `_) fix:build error -* fix(autoware_frenet_planner): fix unusedFunction (`#8788 `_) +* fix(autoware_frenet_planner): fix unusedFunction (`#8788 `_) fix: unusedFunction -* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* fix(frenet_planner): fix mistake in the curvature calculation (`#7920 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) * Contributors: Hayate TOBA, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo, kobayu858 0.26.0 (2024-04-03) diff --git a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst index c809f9008566e..6ad80c1f48ae0 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst @@ -5,23 +5,23 @@ Changelog for package autoware_path_sampler 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(autoware_path_sampler): fix unusedFunction (`#8730 `_) +* fix(autoware_path_sampler): fix unusedFunction (`#8730 `_) fix:unusedFunction -* fix(autoware_path_sampler): fix passedByValue (`#8216 `_) +* fix(autoware_path_sampler): fix passedByValue (`#8216 `_) fix:passedByValue -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(autoware_path_sampler): fix unusedVariable warning (`#7584 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(autoware_path_sampler): fix unusedVariable warning (`#7584 `_) fix unusedVariable warning -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* ci(pre-commit): autoupdate (`#7499 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* feat(sampling_based_planner): use polling subscribers (`#7394 `_) -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* feat(sampling_based_planner): use polling subscribers (`#7394 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -56,7 +56,7 @@ Changelog for package autoware_path_sampler * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 0.26.0 (2024-04-03) diff --git a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst index 6b16ba6e8ce43..c571077d5d029 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package autoware_sampler_common 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) +* refactor(sampling_based_planner): add autoware prefix (`#7348 `_) * Contributors: Esteve Fernandez, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/sensing/autoware_cuda_utils/CHANGELOG.rst b/sensing/autoware_cuda_utils/CHANGELOG.rst index b7bdc26004971..f5437230cc80d 100644 --- a/sensing/autoware_cuda_utils/CHANGELOG.rst +++ b/sensing/autoware_cuda_utils/CHANGELOG.rst @@ -5,8 +5,8 @@ Changelog for package cuda_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore: added maintainers to the cuda_utils package (`#9042 `_) -* refactor(cuda_utils): move cuda_utils to sensing (`#8729 `_) +* chore: added maintainers to the cuda_utils package (`#9042 `_) +* refactor(cuda_utils): move cuda_utils to sensing (`#8729 `_) fix: move cuda_utils to sensing * Contributors: Kenzo Lobos Tsunekawa, Yoshi Ri, Yutaka Kondo diff --git a/sensing/autoware_gnss_poser/CHANGELOG.rst b/sensing/autoware_gnss_poser/CHANGELOG.rst index 7ece0bad8834f..551ed898b5663 100644 --- a/sensing/autoware_gnss_poser/CHANGELOG.rst +++ b/sensing/autoware_gnss_poser/CHANGELOG.rst @@ -5,13 +5,13 @@ Changelog for package autoware_gnss_poser 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* chore(autoware_gnss_poser): make source codes follow the coding rules (`#8703 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* chore(autoware_gnss_poser): make source codes follow the coding rules (`#8703 `_) * Follow the coding rules in autoware_gnss_poser * Edit _core to _node inside files * Fixed AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP\_ part --------- -* chore(gnss_poser): add autoware prefix to gnss_poser (`#8323 `_) +* chore(gnss_poser): add autoware prefix to gnss_poser (`#8323 `_) * add "autoware" prefix to gnss_poser * Fixed typos and left overs * Fixed directory mistake diff --git a/sensing/autoware_image_diagnostics/CHANGELOG.rst b/sensing/autoware_image_diagnostics/CHANGELOG.rst index a8b0b2ba885d6..cc0f34ff1a90b 100644 --- a/sensing/autoware_image_diagnostics/CHANGELOG.rst +++ b/sensing/autoware_image_diagnostics/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package autoware_image_diagnostics 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_image_diagnostics): fix cppcheck warnings (`#8228 `_) +* fix(autoware_image_diagnostics): fix cppcheck warnings (`#8228 `_) * fix(autoware_image_diagnostics): fix cppcheck warnings * fix --------- -* refactor(image_diagnostics): add package name prefix of autoware\_ (`#8130 `_) +* refactor(image_diagnostics): add package name prefix of autoware\_ (`#8130 `_) * refactor: rename image_diagnostics to autoware_image_diagnostics * refactor: rename sensing/image_diagnostics to sensing/autoware_image_diagnostics --------- diff --git a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst index 7d34fbbbb3583..faf96ac052e25 100644 --- a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst +++ b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_image_transport_decompressor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor: image transport decompressor/autoware prefix (`#8197 `_) +* refactor: image transport decompressor/autoware prefix (`#8197 `_) * refactor: add `autoware` namespace prefix to image_transport_decompressor * refactor(image_transport_decompressor): add `autoware` prefix to the package code * refactor: update package name in CODEOWNER diff --git a/sensing/autoware_imu_corrector/CHANGELOG.rst b/sensing/autoware_imu_corrector/CHANGELOG.rst index 62559852c75d7..3ee386a1481f3 100644 --- a/sensing/autoware_imu_corrector/CHANGELOG.rst +++ b/sensing/autoware_imu_corrector/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_imu_corrector 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(autoware_imu_corrector): refactored the imu corrector into the autoware namespace (`#8222 `_) +* chore(autoware_imu_corrector): refactored the imu corrector into the autoware namespace (`#8222 `_) * chore: refactored the imu corrector into the autoware namespace * chore: reverted to non-exported includes --------- diff --git a/sensing/autoware_pcl_extensions/CHANGELOG.rst b/sensing/autoware_pcl_extensions/CHANGELOG.rst index 2d31b5ba074f6..7d0c642b6ff8b 100644 --- a/sensing/autoware_pcl_extensions/CHANGELOG.rst +++ b/sensing/autoware_pcl_extensions/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_pcl_extensions 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(autoware_pcl_extensions): refactored the pcl_extensions (`#8220 `_) +* chore(autoware_pcl_extensions): refactored the pcl_extensions (`#8220 `_) chore: refactored the pcl_extensions according to the new rules * Contributors: Kenzo Lobos Tsunekawa, Yutaka Kondo diff --git a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst index 9c9a7c3f41fba..126b444134bc8 100644 --- a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst +++ b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_pointcloud_preprocessor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) -* refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (`#9162 `_) +* refactor(autoware_point_types): prefix namespace with autoware::point_types (`#9169 `_) +* refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation (`#9162 `_) * refactor(autoware_compare_map_segmentation): resolve clang-tidy error in autoware_compare_map_segmentation * style(pre-commit): autofix * include message_filters as SYSTEM * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance (`#8380 `_) +* feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance (`#8380 `_) * feat: add option for updating distance and azimuth value * chore: clean code * chore: remove space @@ -109,7 +109,7 @@ Changelog for package autoware_pointcloud_preprocessor Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Max Schmeller <6088931+mojomex@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(autoware_pointcloud_preprocessor): rework crop box parameters (`#8466 `_) +* refactor(autoware_pointcloud_preprocessor): rework crop box parameters (`#8466 `_) * feat: add parameter schema for crop box * chore: fix readme * chore: remove filter.param.yaml file @@ -117,7 +117,7 @@ Changelog for package autoware_pointcloud_preprocessor * chore: fix schema description * chore: fix description of negative param --------- -* refactor(autoware_pointcloud_preprocessor): rework approximate downsample filter parameters (`#8480 `_) +* refactor(autoware_pointcloud_preprocessor): rework approximate downsample filter parameters (`#8480 `_) * feat: rework approximate downsample parameters * chore: add boundary * chore: change double to float @@ -129,7 +129,7 @@ Changelog for package autoware_pointcloud_preprocessor * chore: change minimum to float * chore: fix CMakeLists --------- -* refactor(autoware_pointcloud_preprocessor): rework dual return outlier filter parameters (`#8475 `_) +* refactor(autoware_pointcloud_preprocessor): rework dual return outlier filter parameters (`#8475 `_) * feat: rework dual return outlier filter parameters * chore: fix readme * chore: change launch file name @@ -145,7 +145,7 @@ Changelog for package autoware_pointcloud_preprocessor * chore: change minimum and maximum to float --------- Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(autoware_pointcloud_preprocessor): rework ring outlier filter parameters (`#8468 `_) +* refactor(autoware_pointcloud_preprocessor): rework ring outlier filter parameters (`#8468 `_) * feat: rework ring outlier parameters * chore: add explicit cast * chore: add boundary @@ -154,7 +154,7 @@ Changelog for package autoware_pointcloud_preprocessor * chore: add maximum boundary * chore: boundary to float type --------- -* refactor(autoware_pointcloud_preprocessor): rework pickup based voxel grid downsample filter parameters (`#8481 `_) +* refactor(autoware_pointcloud_preprocessor): rework pickup based voxel grid downsample filter parameters (`#8481 `_) * feat: rework pickup based voxel grid downsample filter parameter * chore: update date * chore: fix spell error @@ -162,7 +162,7 @@ Changelog for package autoware_pointcloud_preprocessor * chore: fix grammatical error --------- Co-authored-by: Kenzo Lobos Tsunekawa -* ci(pre-commit): autoupdate (`#7630 `_) +* ci(pre-commit): autoupdate (`#7630 `_) * ci(pre-commit): autoupdate * style(pre-commit): autofix * fix: remove the outer call to dict() @@ -170,24 +170,24 @@ Changelog for package autoware_pointcloud_preprocessor Co-authored-by: github-actions Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: mitsudome-r -* refactor(autoware_pointcloud_preprocessor): rework random downsample filter parameters (`#8485 `_) +* refactor(autoware_pointcloud_preprocessor): rework random downsample filter parameters (`#8485 `_) * feat: rework random downsample filter parameter * chore: change name * chore: add explicit cast --------- Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(autoware_pointcloud_preprocessor): rework pointcloud accumulator parameters (`#8487 `_) +* refactor(autoware_pointcloud_preprocessor): rework pointcloud accumulator parameters (`#8487 `_) * feat: rework pointcloud accumulator parameters * chore: add explicit cast * chore: add boundary --------- -* refactor(autoware_pointcloud_preprocessor): rework radius search 2d outlier filter parameters (`#8474 `_) +* refactor(autoware_pointcloud_preprocessor): rework radius search 2d outlier filter parameters (`#8474 `_) * feat: rework radius search 2d outlier filter parameters * chore: fix schema * chore: explicit cast * chore: add boundary in schema --------- -* refactor(autoware_pointcloud_preprocessor): rework ring passthrough filter parameters (`#8472 `_) +* refactor(autoware_pointcloud_preprocessor): rework ring passthrough filter parameters (`#8472 `_) * feat: rework ring passthrough parameters * chore: fix cmake * feat: add schema @@ -197,16 +197,16 @@ Changelog for package autoware_pointcloud_preprocessor * chore: fix default parameter * chore: fix default parameter in schema --------- -* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) -* fix(pointcloud_preprocessor): fix typo (`#8762 `_) -* fix(autoware_pointcloud_preprocessor): instantiate templates so that the symbols exist when linking (`#8743 `_) -* fix(autoware_pointcloud_preprocessor): fix unusedFunction (`#8673 `_) +* fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (`#8678 `_) +* fix(pointcloud_preprocessor): fix typo (`#8762 `_) +* fix(autoware_pointcloud_preprocessor): instantiate templates so that the symbols exist when linking (`#8743 `_) +* fix(autoware_pointcloud_preprocessor): fix unusedFunction (`#8673 `_) fix:unusedFunction -* fix(autoware_pointcloud_preprocessor): resolve issue with FLT_MAX not declared on Jazzy (`#8586 `_) +* fix(autoware_pointcloud_preprocessor): resolve issue with FLT_MAX not declared on Jazzy (`#8586 `_) fix(pointcloud-preprocessor): FLT_MAX not declared Fixes compilation error on Jazzy: error: ‘FLT_MAX’ was not declared in this scope -* fix(autoware_pointcloud_preprocessor): blockage diag node add runtime error when the parameter is wrong (`#8564 `_) +* fix(autoware_pointcloud_preprocessor): blockage diag node add runtime error when the parameter is wrong (`#8564 `_) * fix: add runtime error * Update blockage_diag_node.cpp Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> @@ -214,12 +214,12 @@ Changelog for package autoware_pointcloud_preprocessor * chore: remove unused variable --------- Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> -* chore(autoware_pointcloud_preprocessor): change unnecessary warning message to debug (`#8525 `_) -* refactor(autoware_pointcloud_preprocessor): rework voxel grid outlier filter parameters (`#8476 `_) +* chore(autoware_pointcloud_preprocessor): change unnecessary warning message to debug (`#8525 `_) +* refactor(autoware_pointcloud_preprocessor): rework voxel grid outlier filter parameters (`#8476 `_) * feat: rework voxel grid outlier filter parameters * chore: add boundary --------- -* refactor(autoware_pointcloud_preprocessor): rework lanelet2 map filter parameters (`#8491 `_) +* refactor(autoware_pointcloud_preprocessor): rework lanelet2 map filter parameters (`#8491 `_) * feat: rework lanelet2 map filter parameters * chore: remove unrelated files * fix: fix node name in launch @@ -227,12 +227,12 @@ Changelog for package autoware_pointcloud_preprocessor * chore: fix spell error * chore: add boundary --------- -* refactor(autoware_pointcloud_preprocessor): rework vector map inside area filter parameters (`#8493 `_) +* refactor(autoware_pointcloud_preprocessor): rework vector map inside area filter parameters (`#8493 `_) * feat: rework vector map inside area filter parameter * chore: fix launcher * chore: fix launcher input and output --------- -* refactor(autoware_pointcloud_preprocessor): rework concatenate_pointcloud and time_synchronizer_node parameters (`#8509 `_) +* refactor(autoware_pointcloud_preprocessor): rework concatenate_pointcloud and time_synchronizer_node parameters (`#8509 `_) * feat: rewort concatenate pointclouds and time synchronizer parameter * chore: fix launch files * chore: fix schema @@ -240,39 +240,39 @@ Changelog for package autoware_pointcloud_preprocessor * chore: fix integer and number default value in schema * chore: add boundary --------- -* refactor(autoware_pointcloud_preprocessor): rework voxel grid downsample filter parameters (`#8486 `_) +* refactor(autoware_pointcloud_preprocessor): rework voxel grid downsample filter parameters (`#8486 `_) * feat:rework voxel grid downsample parameters * chore: add boundary --------- Co-authored-by: Kenzo Lobos Tsunekawa -* refactor(autoware_pointcloud_preprocessor): rework blockage diag parameters (`#8488 `_) +* refactor(autoware_pointcloud_preprocessor): rework blockage diag parameters (`#8488 `_) * feat: rework blockage diag parameters * chore: fix readme * chore: fix schema description * chore: add boundary for schema --------- -* chore(autoware_pcl_extensions): refactored the pcl_extensions (`#8220 `_) +* chore(autoware_pcl_extensions): refactored the pcl_extensions (`#8220 `_) chore: refactored the pcl_extensions according to the new rules -* feat(pointcloud_preprocessor)!: revert "fix: added temporary retrocompatibility to old perception data (`#7929 `_)" (`#8397 `_) - * feat!(pointcloud_preprocessor): Revert "fix: added temporary retrocompatibility to old perception data (`#7929 `_)" +* feat(pointcloud_preprocessor)!: revert "fix: added temporary retrocompatibility to old perception data (`#7929 `_)" (`#8397 `_) + * feat!(pointcloud_preprocessor): Revert "fix: added temporary retrocompatibility to old perception data (`#7929 `_)" This reverts commit 6b9f164b123e2f6a6fedf7330e507d4b68e45a09. * feat(pointcloud_preprocessor): minor grammar fix Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> --------- Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com> -* fix(autoware_pointcloud_preprocessor): fix variableScope (`#8447 `_) +* fix(autoware_pointcloud_preprocessor): fix variableScope (`#8447 `_) * fix:variableScope * refactor:use const --------- -* fix(autoware_pointcloud_preprocessor): fix unreadVariable (`#8370 `_) +* fix(autoware_pointcloud_preprocessor): fix unreadVariable (`#8370 `_) fix:unreadVariable -* fix(ring_outlier_filter): remove unnecessary resize to prevent zero points (`#8402 `_) +* fix(ring_outlier_filter): remove unnecessary resize to prevent zero points (`#8402 `_) fix: remove unnecessary resize -* fix(autoware_pointcloud_preprocessor): fix cppcheck warnings of functionStatic (`#8163 `_) +* fix(autoware_pointcloud_preprocessor): fix cppcheck warnings of functionStatic (`#8163 `_) fix: deal with functionStatic warnings Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> -* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) +* perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (`#8174 `_) * perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners * fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic * fix(autoware_ground_segmentation): add missing TF listener @@ -282,14 +282,14 @@ Changelog for package autoware_pointcloud_preprocessor * fix(autoware_universe_utils): change checks order * doc(autoware_universe_utils): add docstring --------- -* fix(autoware_pointcloud_preprocessor): fix functionConst (`#8280 `_) +* fix(autoware_pointcloud_preprocessor): fix functionConst (`#8280 `_) fix:functionConst -* fix(autoware_pointcloud_preprocessor): fix passedByValue (`#8242 `_) +* fix(autoware_pointcloud_preprocessor): fix passedByValue (`#8242 `_) fix:passedByValue -* fix(autoware_pointcloud_preprocessor): fix redundantInitialization (`#8229 `_) -* fix(autoware_pointcloud_preprocessor): revert increase_size() in robin_hood (`#8151 `_) -* fix(autoware_pointcloud_preprocessor): fix knownConditionTrueFalse warning (`#8139 `_) -* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) +* fix(autoware_pointcloud_preprocessor): fix redundantInitialization (`#8229 `_) +* fix(autoware_pointcloud_preprocessor): revert increase_size() in robin_hood (`#8151 `_) +* fix(autoware_pointcloud_preprocessor): fix knownConditionTrueFalse warning (`#8139 `_) +* refactor(pointcloud_preprocessor): prefix package and namespace with autoware (`#7983 `_) * refactor(pointcloud_preprocessor)!: prefix package and namespace with autoware * style(pre-commit): autofix * style(pointcloud_preprocessor): suppress line length check for macros diff --git a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst index f42dc3d490300..b9fe1abe13093 100644 --- a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst +++ b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_radar_scan_to_pointcloud2 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) +* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) * refactor(radar_scan_to_pointcloud2): rename package and update references fix: rename package folder * refactor(radar_static_pointcloud_filter): rename package and update references diff --git a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst index 6de255fa9848c..c7ee62041f611 100644 --- a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_radar_static_pointcloud_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) +* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) * refactor(radar_scan_to_pointcloud2): rename package and update references fix: rename package folder * refactor(radar_static_pointcloud_filter): rename package and update references diff --git a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst index e76f480a6fce1..366301da6ea56 100644 --- a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_radar_threshold_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) +* refactor(radar_scan_to_pointcloud2, radar_static_pointcloud_filter, radar_threshold_filter)!: add package name prefix of autoware\_ (`#8132 `_) * refactor(radar_scan_to_pointcloud2): rename package and update references fix: rename package folder * refactor(radar_static_pointcloud_filter): rename package and update references diff --git a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst index 090d6fab8f9ea..6bc3742acd7fc 100644 --- a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_radar_tracks_noise_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) +* refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware\_ (`#8173 `_) * refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter * refactor: rename simple_object_merger package to autoware_simple_object_merger * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter diff --git a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst index dfaa615951d82..4b0c42f440fa2 100644 --- a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst +++ b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst @@ -5,18 +5,18 @@ Changelog for package autoware_livox_tag_filter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_livox_tag_filter): fix unusedStructMember (`#8395 `_) +* fix(autoware_livox_tag_filter): fix unusedStructMember (`#8395 `_) * fix:unusedStructMember * fix:unusedStructMember * fix:clang format * fix:unusedStructMember --------- -* feat(pointcloud_preprocessor): runtime configurable output topic qos (`#6658 `_) +* feat(pointcloud_preprocessor): runtime configurable output topic qos (`#6658 `_) * feat(pointcloud_preprocessor): runtime configurable output topic qos * configurable qos in livox_tag_filter_node * configurable qos in radar_scan_to_pointcloud2 --------- -* refactor(livox_tag_filter): prefix package and namespace with autoware (`#7788 `_) +* refactor(livox_tag_filter): prefix package and namespace with autoware (`#7788 `_) * Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858, ralwing 0.26.0 (2024-04-03) diff --git a/sensing/vehicle_velocity_converter/CHANGELOG.rst b/sensing/vehicle_velocity_converter/CHANGELOG.rst index d24a2bf62911c..b2488806af1ba 100644 --- a/sensing/vehicle_velocity_converter/CHANGELOG.rst +++ b/sensing/vehicle_velocity_converter/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package vehicle_velocity_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(vehicle_velocity_converter): apply static analysis (`#7975 `_) +* refactor(vehicle_velocity_converter): apply static analysis (`#7975 `_) refactor based on linter -* feat(vehicle_velocity_converter): componentize VehicleVelocityConverter (`#7116 `_) +* feat(vehicle_velocity_converter): componentize VehicleVelocityConverter (`#7116 `_) * remove unusing main func file * mod to componentize and use glog * change log output from screen to both --------- Co-authored-by: Yamato Ando -* feat!: replace autoware_auto_msgs with autoware_msgs for sensing modules (`#7247 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for sensing modules (`#7247 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -21,11 +21,11 @@ Changelog for package vehicle_velocity_converter 0.26.0 (2024-04-03) ------------------- -* refactor(sensing-vehicle-velocity-converter): rework parameters (`#5609 `_) +* refactor(sensing-vehicle-velocity-converter): rework parameters (`#5609 `_) * sensing-vehicle-velocity-converter-module * sensing-vehicle-velocity-converter --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -33,16 +33,16 @@ Changelog for package vehicle_velocity_converter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(vehicle_velocity_converter): add `speed_scale_factor` (`#2641 `_) +* feat(vehicle_velocity_converter): add `speed_scale_factor` (`#2641 `_) * feat(vehicle_velocity_converter): add speed_scale_factor * add parameter description in readme * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(vehicle_velocity_converter): simpify parameter inputs (`#1727 `_) +* fix(vehicle_velocity_converter): simpify parameter inputs (`#1727 `_) * fix(vehicle_velocity_converter): simpify parameter inputs * fix readme and default value * fix default value -* feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#1120 `_) +* feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#1120 `_) * first commit * ci(pre-commit): autofix * check if angular_velocity_queue\_ is empty or not diff --git a/simulator/autoware_carla_interface/CHANGELOG.rst b/simulator/autoware_carla_interface/CHANGELOG.rst index d72802f44273d..dee9f80052a1d 100644 --- a/simulator/autoware_carla_interface/CHANGELOG.rst +++ b/simulator/autoware_carla_interface/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_carla_interface 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(autoware_carla_interface): resolve init file error and colcon marker warning (`#9115 `_) -* fix: removed access to unused ROS_VERSION environment variable. (`#8896 `_) -* ci(pre-commit): autoupdate (`#7630 `_) +* fix(autoware_carla_interface): resolve init file error and colcon marker warning (`#9115 `_) +* fix: removed access to unused ROS_VERSION environment variable. (`#8896 `_) +* ci(pre-commit): autoupdate (`#7630 `_) * ci(pre-commit): autoupdate * style(pre-commit): autofix * fix: remove the outer call to dict() @@ -15,7 +15,7 @@ Changelog for package autoware_carla_interface Co-authored-by: github-actions Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: mitsudome-r -* feat(carla_autoware): add interface to easily use CARLA with Autoware (`#6859 `_) +* feat(carla_autoware): add interface to easily use CARLA with Autoware (`#6859 `_) Co-authored-by: Minsu Kim * Contributors: Esteve Fernandez, Giovanni Muhammad Raditya, Jesus Armando Anaya, Yutaka Kondo, awf-autoware-bot[bot] diff --git a/simulator/dummy_perception_publisher/CHANGELOG.rst b/simulator/dummy_perception_publisher/CHANGELOG.rst index c4cd015e71901..102616f3409d9 100644 --- a/simulator/dummy_perception_publisher/CHANGELOG.rst +++ b/simulator/dummy_perception_publisher/CHANGELOG.rst @@ -5,26 +5,26 @@ Changelog for package dummy_perception_publisher 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(dummy_perception_publisher, tier4_dummy_object_rviz_plugin): separate dummy object msg (`#8828 `_) +* fix(dummy_perception_publisher, tier4_dummy_object_rviz_plugin): separate dummy object msg (`#8828 `_) * fix: dummy object rviz plugin dependency * fix: remove message from dummy perception publisher * fix: node name --------- -* feat(dummy_perception_publisher): modify orientation availability of dummy objects (`#8534 `_) +* feat(dummy_perception_publisher): modify orientation availability of dummy objects (`#8534 `_) feat: add orientation availability for tracked objects in perception publisher -* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) +* refactor(shape_estimation): add package name prefix of autoware\_ (`#7999 `_) * refactor(shape_estimation): add package name prefix of autoware\_ * style(pre-commit): autofix * fix: mising prefix * fix: cmake --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) +* refactor(detected_object_feature_remover)!: add package name prefix of autoware\_ (`#8127 `_) refactor(detected_object_feature_remover): add package name prefix of autoware\_ -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for simulator modules (`#7248 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for simulator modules (`#7248 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan @@ -32,17 +32,17 @@ Changelog for package dummy_perception_publisher 0.26.0 (2024-04-03) ------------------- -* fix(log-messages): reduce excessive log messages (`#5971 `_) -* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) -* fix: take dummy objects' height into calculation when locating their Z position (`#4195 `_) +* fix(log-messages): reduce excessive log messages (`#5971 `_) +* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) +* fix: take dummy objects' height into calculation when locating their Z position (`#4195 `_) * Update node.cpp fix: consider dummy objects' height when locating its Z position * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(dummy_perception_publisher): fix runtime error (`#3869 `_) +* fix(dummy_perception_publisher): fix runtime error (`#3869 `_) fix(dummy_perception_publisher): fix namespace -* feat(dummy_perception_publisher): publish ground truth object in option (`#3731 `_) +* feat(dummy_perception_publisher): publish ground truth object in option (`#3731 `_) * add ground truth publisher * refactor ground truth publisher * enable to fix random seed @@ -50,7 +50,7 @@ Changelog for package dummy_perception_publisher * change GT output name to debug info * debug info must be under the node ns --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -58,8 +58,8 @@ Changelog for package dummy_perception_publisher --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(dummy_perception_publisher): add parameter to configure z pose of dummy object (`#3457 `_) -* chore(typo): eliminate typos (`#2216 `_) +* fix(dummy_perception_publisher): add parameter to configure z pose of dummy object (`#3457 `_) +* chore(typo): eliminate typos (`#2216 `_) * Replace 'asssert' with 'assert' * fix(typo): computationall => computational * fix(typo): collinearity => collinearity @@ -231,11 +231,11 @@ Changelog for package dummy_perception_publisher commit c7d3b7d2132323af3437af01e9d774b13005bace Author: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Date: Fri Dec 16 13:51:35 2022 +0900 - test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) + test(freespace_planning_algorithms): done't dump rosbag by default (`#2504 `_) commit 6731e0ced39e3187c2afffe839eaa697a19e5e84 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri Dec 16 09:29:35 2022 +0900 - feat(pose_initializer): partial map loading (`#2500 `_) + feat(pose_initializer): partial map loading (`#2500 `_) * first commit * move function * now works @@ -254,7 +254,7 @@ Changelog for package dummy_perception_publisher commit efb4ff1cea6e07aa9e894a6042e8685e30b420ba Author: Kosuke Takeuchi Date: Thu Dec 15 17:29:44 2022 +0900 - feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) + feat(trajectory_follower): extend mpc trajectory for terminal yaw (`#2447 `_) * feat(trajectory_follower): extend mpc trajectory for terminal yaw * make mpc min vel param * add mpc extended point after smoothing @@ -271,7 +271,7 @@ Changelog for package dummy_perception_publisher commit ad2ae7827bdc3af7da8607fdd53ea74940426421 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 15 15:52:34 2022 +0900 - feat(component_interface_tools): add service log checker (`#2503 `_) + feat(component_interface_tools): add service log checker (`#2503 `_) * feat(component_interface_utils): add service log checker * feat(component_interface_tools): add service log checker * feat(component_interface_tools): add diagnostics @@ -279,11 +279,11 @@ Changelog for package dummy_perception_publisher commit 4a13cc5a32898f5b17791d9381744bf71ff8ed20 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu Dec 15 12:54:11 2022 +0900 - fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) + fix(behavior_path_planner): fix goal lanelet extension (`#2508 `_) commit 77b1c36b5ca89b25250dcbb117c9f03a9c36c1c4 Author: Kyoichi Sugahara <81.s.kyo.19@gmail.com> Date: Thu Dec 15 10:45:45 2022 +0900 - feat(behavior_path_planner): change side shift module logic (`#2195 `_) + feat(behavior_path_planner): change side shift module logic (`#2195 `_) * change side shift module design * cherry picked side shift controller * add debug marker to side shift @@ -301,45 +301,45 @@ Changelog for package dummy_perception_publisher commit 9183c4f20eb4592ed0b48c2eac67add070711677 Author: Takamasa Horibe Date: Wed Dec 14 19:59:00 2022 +0900 - refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) + refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) commit ed992b10ed326f03354dce3b563b8622f9ae9a6c Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 17:48:24 2022 +0900 - fix(behavior_path_planner): fix planner data copy (`#2501 `_) + fix(behavior_path_planner): fix planner data copy (`#2501 `_) commit 0c6c46b33b3c828cb95eaa31fcbf85655fc6a55f Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 14:42:16 2022 +0900 - fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) + fix(behavior_path_planner): fix find nearest function from lateral distance (`#2499 `_) * feat(behavior_path_planner): fix find nearest function from lateral distance * empty commit commit a26b69d1df55e9369ea3adcdd011ae2d7c86dfb7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 11:28:07 2022 +0900 - feat(behavior_path_planner): fix overlap checker (`#2498 `_) + feat(behavior_path_planner): fix overlap checker (`#2498 `_) * feat(behavior_path_planner): fix overlap checker * remove reserve commit 3a24859ca6851caaeb25fc4fac2334fcbdb887d1 Author: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Tue Dec 13 16:51:59 2022 +0300 - feat(mission_planner): check goal footprint (`#2088 `_) + feat(mission_planner): check goal footprint (`#2088 `_) commit b6a18855431b5f3a67fcbf383fac8df2b45d462e Author: Takamasa Horibe Date: Tue Dec 13 22:46:24 2022 +0900 - feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) + feat(trajectory_visualizer): update for steer limit, remove tf for pose source (`#2267 `_) commit f1a9a9608559a5b89f631df3dc2fadd037e36ab4 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 19:47:16 2022 +0900 - feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) + feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (`#2494 `_) * feat(behavior_path_planner): clean drivable area code * make a function for turn signal decider commit fafe1d8235b99302bc9ba8f3770ae34878f1e7e7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 18:19:41 2022 +0900 - feat(behavior_path_planner): change turn signal output timing (`#2493 `_) + feat(behavior_path_planner): change turn signal output timing (`#2493 `_) commit c48b9cfa7074ecd46d96f6dc43679e17bde3a63d Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue Dec 13 09:16:14 2022 +0900 - feat(map_loader): add differential map loading interface (`#2417 `_) + feat(map_loader): add differential map loading interface (`#2417 `_) * first commit * ci(pre-commit): autofix * added module load in _node.cpp @@ -352,13 +352,13 @@ Changelog for package dummy_perception_publisher commit 9a3613bfcd3e36e522d0ea9130f6200ca7689e2b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 08:49:23 2022 +0900 - docs(default_ad_api): add readme (`#2491 `_) + docs(default_ad_api): add readme (`#2491 `_) * docs(default_ad_api): add readme * feat: update table commit 49aa10b04de61c36706f6151d11bf17257ca54d1 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 06:46:20 2022 +0900 - feat(default_ad_api): split parameters into file (`#2488 `_) + feat(default_ad_api): split parameters into file (`#2488 `_) * feat(default_ad_api): split parameters into file * feat: remove old parameter * fix: test @@ -366,7 +366,7 @@ Changelog for package dummy_perception_publisher commit 7f0138c356c742b6e15e571e7a4683caa55969ac Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon Dec 12 22:16:54 2022 +0900 - feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) + feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (`#2472 `_) * update * update * update @@ -390,11 +390,11 @@ Changelog for package dummy_perception_publisher commit c855e23cc17d1518ebce5dd15629d03acfe17da3 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 17:15:10 2022 +0900 - refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) + refactor(vehicle_cmd_gate): remove old emergency topics (`#2403 `_) commit fa04d540c9afdded016730c9978920a194d2d2b4 Author: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon Dec 12 16:04:00 2022 +0900 - feat: replace python launch with xml launch for system monitor (`#2430 `_) + feat: replace python launch with xml launch for system monitor (`#2430 `_) * feat: replace python launch with xml launch for system monitor * ci(pre-commit): autofix * update figure @@ -402,7 +402,7 @@ Changelog for package dummy_perception_publisher commit 4a6990c49d1f8c3bedfb345e7c94c3c6893b4099 Author: Kosuke Takeuchi Date: Mon Dec 12 15:01:39 2022 +0900 - feat(trajectory_follower): pub steer converged marker (`#2441 `_) + feat(trajectory_follower): pub steer converged marker (`#2441 `_) * feat(trajectory_follower): pub steer converged marker * Revert "feat(trajectory_follower): pub steer converged marker" This reverts commit a6f6917bc542d5b533150f6abba086121e800974. @@ -410,15 +410,15 @@ Changelog for package dummy_perception_publisher commit 3c01f15125dfbc45e1050ee96ccc42618d6ee6fd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 12:48:41 2022 +0900 - docs(tier4_state_rviz_plugin): update readme (`#2475 `_) + docs(tier4_state_rviz_plugin): update readme (`#2475 `_) commit d8ece0040354be5381a27403bcc757354735a77b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 11:57:03 2022 +0900 - chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) + chore(simulator_compatibility_test): suppress setuptools warnings (`#2483 `_) commit 727586bfe86dc9cb21ce34d9cbe19c241e162b04 Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 10:00:35 2022 +0900 - fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) + fix(behavior_path_planner): lane change candidate resolution (`#2426 `_) * fix(behavior_path_planner): lane change candidate resolution * rework sampling based on current speed * refactor code @@ -428,21 +428,21 @@ Changelog for package dummy_perception_publisher commit 284548ca7f38b1d83af11f2b9caaac116eb9b09c Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 09:57:19 2022 +0900 - fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) + fix(behavior_path_planner): minimum distance for lane change (`#2413 `_) commit 469d8927bd7a0c98b9d491d347e111065973e13f Author: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri Dec 9 21:27:18 2022 +0900 - revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) + revert(behavior_path): revert removal of refineGoalFunction (`#2340 `_)" (`#2485 `_) This reverts commit 8e13ced6dfb6edfea77a589ef4cb93d82683bf51. commit d924f85b079dfe64feab017166685be40e977e62 Author: NorahXiong <103234047+NorahXiong@users.noreply.github.com> Date: Fri Dec 9 19:53:51 2022 +0800 - fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) + fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (`#2350 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> commit b2ded82324bce78d9db3ff01b0227b00709b1efe Author: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri Dec 9 17:12:13 2022 +0900 - fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) + fix(ground-segmentation): recheck gnd cluster pointcloud (`#2448 `_) * fix: reclassify ground cluster pcl * fix: add lowest-based recheck * chore: refactoring @@ -451,19 +451,19 @@ Changelog for package dummy_perception_publisher commit 8906a1e78bc5b7d6417683ecedc1efe3f48be31e Author: Takamasa Horibe Date: Fri Dec 9 16:29:45 2022 +0900 - fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) + fix(trajectory_follower): fix mpc trajectory z pos (`#2482 `_) commit d4939058f05f9a1609f0ed22afbd0d4febfb212d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri Dec 9 12:40:30 2022 +0900 - feat(behavior_velocity_planner): clean walkway module (`#2480 `_) + feat(behavior_velocity_planner): clean walkway module (`#2480 `_) commit d3b86a37ae7c3a0d59832caf56afa13b148d562c Author: Makoto Kurihara Date: Thu Dec 8 22:59:32 2022 +0900 - fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) + fix(emergency_handler): fix mrm handling when mrm behavior is none (`#2476 `_) commit 2dde073a101e96757ef0cd189bb9ff06836934e9 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 8 17:16:13 2022 +0900 - feat(behavior_velocity_planner): add velocity factors (`#1985 `_) + feat(behavior_velocity_planner): add velocity factors (`#1985 `_) * (editting) add intersection_coordination to stop reason * (editting) add intersection coordination to stop reasons * (Editting) add v2x to stop reason @@ -514,11 +514,11 @@ Changelog for package dummy_perception_publisher commit 9a5057e4948ff5ac9165c14eb7112d79f2de76d5 Author: Kosuke Takeuchi Date: Thu Dec 8 13:42:50 2022 +0900 - fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) + fix(freespace_planning_algorithms): comment out failing tests (`#2440 `_) commit cddb8c74d0fbf49390b4d462c20c12bc257f4825 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:57:04 2022 +0900 - feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) + feat(gyro_odometer): publish twist when both data arrives (`#2423 `_) * feat(gyro_odometer): publish when both data arrive * remove unnecessary commentouts * ci(pre-commit): autofix @@ -539,61 +539,61 @@ Changelog for package dummy_perception_publisher commit f0f513cf44532dfe8d51d27c4caef23fb694af16 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:08:29 2022 +0900 - fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) + fix: remove unnecessary DEBUG_INFO declarations (`#2457 `_) commit 01daebf42937a05a2d83f3dee2c0778389492e50 Author: Takayuki Murooka Date: Thu Dec 8 00:28:35 2022 +0900 - fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) + fix(tier4_autoware_api_launch): add rosbridge_server dependency (`#2470 `_) commit 26ef8174b1c12b84070b36df2a7cd14bfa9c0363 Author: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed Dec 7 19:32:09 2022 +0900 - fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) + fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (`#2455 `_) * fix: rename use_external_emergency_stop to check_external_emergency_heartbeat * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 024b993a0db8c0d28db0f05f64990bed7069cbd8 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 18:00:32 2022 +0900 - fix(motion_utils): rename sampling function (`#2469 `_) + fix(motion_utils): rename sampling function (`#2469 `_) commit c240ce2b6f4e79c435ed651b347a7d665a947862 Author: Yukihiro Saito Date: Wed Dec 7 16:33:44 2022 +0900 - feat: remove web controller (`#2405 `_) + feat: remove web controller (`#2405 `_) commit 2992b1cadae7e7ac86fd249998ce3c7ddbe476c9 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 15:39:28 2022 +0900 - feat(motion_utils): add points resample function (`#2465 `_) + feat(motion_utils): add points resample function (`#2465 `_) commit 4a75d7c0ddbd88f54afaf2bb05eb65138a53ea60 Author: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> Date: Wed Dec 7 14:42:33 2022 +0900 - docs: update training data for traffic light (`#2464 `_) + docs: update training data for traffic light (`#2464 `_) * update traffic light cnn classifier README.md * correct to upper case Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> commit a4287165be87fa7727f79c01dfb0bea6af54c333 Author: Ryuta Kambe Date: Wed Dec 7 12:21:49 2022 +0900 - perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) + perf(behavior_velocity_planner): remove unnecessary debug data (`#2462 `_) commit 0a5b2857d3b2c1c9370598013b25aeaebf2d654d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 12:03:46 2022 +0900 - feat(behavior_path_planner): cut overlapped path (`#2451 `_) + feat(behavior_path_planner): cut overlapped path (`#2451 `_) * feat(behavior_path_planner): cut overlapped path * clean code commit 65003dc99f2abe937afcc010514530fa666fbbfd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Wed Dec 7 11:06:41 2022 +0900 - revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) - Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" + revert(default_ad_api): fix autoware state to add wait time (`#2407 `_) (`#2460 `_) + Revert "fix(default_ad_api): fix autoware state to add wait time (`#2407 `_)" This reverts commit c4224854a7e57a9526dde998f742741fe383471c. commit fab18677ca4de378faff84a41db5147577e7448d Author: Makoto Kurihara Date: Wed Dec 7 10:32:41 2022 +0900 - fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) + fix(raw_vehicle_cmd_converter): fix column index for map validation (`#2450 `_) commit a1d3c80a4f5e3a388887a5afb32d9bf7961301f1 Author: Ambroise Vincent Date: Tue Dec 6 10:39:02 2022 +0100 - fix(tvm_utility): copy test result to CPU (`#2414 `_) + fix(tvm_utility): copy test result to CPU (`#2414 `_) Also remove dependency to autoware_auto_common. Issue-Id: SCM-5401 Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d @@ -601,12 +601,12 @@ Changelog for package dummy_perception_publisher commit eb9946832c7e42d5380fd71956165409d0b592c3 Author: Mamoru Sobue Date: Tue Dec 6 18:11:41 2022 +0900 - chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) + chore(behaviror_velocity_planner): changed logging level for intersection (`#2459 `_) changed logging level commit c4224854a7e57a9526dde998f742741fe383471c Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 6 17:01:37 2022 +0900 - fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) + fix(default_ad_api): fix autoware state to add wait time (`#2407 `_) * fix(default_ad_api): fix autoware state to add wait time * Update system/default_ad_api/src/compatibility/autoware_state.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> @@ -614,14 +614,14 @@ Changelog for package dummy_perception_publisher commit f984fbb708cb02947ec2824ce041c739c35940f7 Author: Takamasa Horibe Date: Tue Dec 6 13:55:17 2022 +0900 - feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) + feat(transition_manager): add param to ignore autonomous transition condition (`#2453 `_) * feat(transition_manager): add param to ignore autonomous transition condition * same for modeChangeCompleted * remove debug print commit d3e640df270a0942c4639e11451faf26e099bbe1 Author: Tomoya Kimura Date: Tue Dec 6 13:01:06 2022 +0900 - feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) + feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (`#2427 `_) * chore(cspell): interpolable => interpolatable * Revert "Merge branch 'destroy-typos-check-all' into destroy-typos" This reverts commit 6116ca02d9df59f815d772a271fed7b0b21ebaf7, reversing @@ -632,35 +632,35 @@ Changelog for package dummy_perception_publisher --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yukihiro Saito -* feat(dummy_perception_publisher): publish object with acc (`#1853 `_) +* feat(dummy_perception_publisher): publish object with acc (`#1853 `_) * feat(dummy_perception_publisher): publish object with acc * fix * fix -* fix(dummy_perception_publisher): independent of pointcloud from detection_successful_rate (`#1166 `_) +* fix(dummy_perception_publisher): independent of pointcloud from detection_successful_rate (`#1166 `_) * fix(dummy_perception_publisher): independent of pointcloud from detection_success_rate * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* perf(dummy_perception_publisher): tune ego-centric pointcloud generation of dummy perception publisher (`#926 `_) +* perf(dummy_perception_publisher): tune ego-centric pointcloud generation of dummy perception publisher (`#926 `_) * Take advantage of visible range * Tune * Fix: typo * Use hypot -* fix(dummy_perception_publisher): publish multiple layers of pointcloud (`#882 `_) +* fix(dummy_perception_publisher): publish multiple layers of pointcloud (`#882 `_) * fix: single -> multiple layers pointcloud * refactor: share common among different pcloud creators -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove bad chars (`#845 `_) -* fix: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* feat(dummy_perception_publisher): publish realistic dummy pointcloud using raymarchig (`#527 `_) +* chore: remove bad chars (`#845 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* feat(dummy_perception_publisher): publish realistic dummy pointcloud using raymarchig (`#527 `_) * Create pointcloud by raycasting from vehicle * [after-review] Use vector of ObjectInfo * [after-review] Implemented by strategy pattern @@ -688,28 +688,28 @@ Changelog for package dummy_perception_publisher * Fix typo * Fix: create merged pointcloud when no idx is selected * Use ray-maching by default -* fix(dummy_perception_publisher): modify build error in rolling (`#761 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* fix(dummy_perception_publisher): modify build error in rolling (`#761 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: move empty_objects_publisher (`#613 `_) +* feat: move empty_objects_publisher (`#613 `_) * feat: move empty_objects_publisher * fix group of empty_object_publisher -* fix(dummy_perception_publisher): modified objects also use baselink z-position (`#588 `_) -* revert(dummy_perception): change leaf size and disable ray trace (`#468 `_) - * Revert "chore(dummy_perception_publisher): change raytrace param (`#414 `_)" +* fix(dummy_perception_publisher): modified objects also use baselink z-position (`#588 `_) +* revert(dummy_perception): change leaf size and disable ray trace (`#468 `_) + * Revert "chore(dummy_perception_publisher): change raytrace param (`#414 `_)" This reverts commit d29e0e1d6630ef53edea1dd66bebf1a657aa6e8b. * chore(dummy_perception): revert change leaf size and disable raytrace -* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (`#465 `_) +* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (`#465 `_) * feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simualtor.launch.xml * remove perception launching dummy_perception_publisher.launch.xml * remove unnecessary comment -* fix(dummy_perception): fix to use launch at perception launch (`#454 `_) +* fix(dummy_perception): fix to use launch at perception launch (`#454 `_) * fix(dummy_perception): fix to use launch file in perception launch * fix(tier4_perception_launch): fix angle increment for occupancy grid -* chore(dummy_perception_publisher): change raytrace param (`#414 `_) -* chore: replace legacy timer (`#329 `_) +* chore(dummy_perception_publisher): change raytrace param (`#414 `_) +* chore: replace legacy timer (`#329 `_) * chore(goal_distance_calculator): replace legacy timer * chore(path_distance_calculator): replace legacy timer * chore(control_performance_analysis): replace legacy timer @@ -744,8 +744,8 @@ Changelog for package dummy_perception_publisher * chore(external_cmd_converter): replace legacy timer * chore(pacmod_interface): replace legacy timer * chore(lint): apply pre-commit -* fix(dummy_perception): fix ns and topic (`#242 `_) -* feat: change launch package name (`#186 `_) +* fix(dummy_perception): fix ns and topic (`#242 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch @@ -763,7 +763,7 @@ Changelog for package dummy_perception_publisher Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tanaka3 Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -771,56 +771,56 @@ Changelog for package dummy_perception_publisher * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: add dummy perception publisher (`#90 `_) +* feat: add dummy perception publisher (`#90 `_) * release v0.4.0 - * add use_object_recognition flag in dummy_perception_publisher (`#696 `_) + * add use_object_recognition flag in dummy_perception_publisher (`#696 `_) * remove ROS1 packages temporarily * add sample ros2 packages * remove ROS1 packages * Revert "remove ROS1 packages temporarily" This reverts commit 2e9822586a3539a32653e6bcd378715674b519ca. * add COLCON_IGNORE to ros1 packages - * Rename launch files to launch.xml (`#28 `_) - * Port dummy_perception_publisher to ROS2 (`#90 `_) + * Rename launch files to launch.xml (`#28 `_) + * Port dummy_perception_publisher to ROS2 (`#90 `_) * Port dummy_perception_publisher to ROS2 * Uncrustify * Lint * Copyright * Period * Further ament_cpplint fixes - * Convert calls of Duration to Duration::from_seconds where appropriate (`#131 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Convert calls of Duration to Duration::from_seconds where appropriate (`#131 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * adding linters to dummy_perception_publisher (`#220 `_) - * [dummy_perception_publisher] fix launch file and installation (`#215 `_) + * adding linters to dummy_perception_publisher (`#220 `_) + * [dummy_perception_publisher] fix launch file and installation (`#215 `_) * [dummy_perception_publisher] fix launch file and installation * Apply suggestions from code review Co-authored-by: Takamasa Horibe Co-authored-by: Takamasa Horibe - * reduce terminal ouput for better error message visibility (`#200 `_) + * reduce terminal ouput for better error message visibility (`#200 `_) * reduce terminal ouput for better error message visibility * [costmap_generator] fix waiting for first transform * fix tests * fix test - * modify launch file for making psim work (`#238 `_) + * modify launch file for making psim work (`#238 `_) * modify launch file for making psim work * remove unnecesary ns - * Ros2 v0.8.0 dummy perception publisher (`#286 `_) - * Remove "/" in frame_id (`#406 `_) - * Fix transform (`#420 `_) + * Ros2 v0.8.0 dummy perception publisher (`#286 `_) + * Remove "/" in frame_id (`#406 `_) + * Fix transform (`#420 `_) * Replace rclcpp::Time(0) by tf2::TimePointZero() in lookupTransform * Fix canTransform * Fix test - * add use_sim-time option (`#454 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Diable dummy_perception_publisher if argument 'scenario_simulation' i… (`#1275 `_) + * add use_sim-time option (`#454 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Diable dummy_perception_publisher if argument 'scenario_simulation' i… (`#1275 `_) * Diable dummy_perception_publisher if argument 'scenario_simulation' is true * Rename argument to 'disable_dummy_perception_publisher_node' from 'scenario_simulation' - * change theta step for obj point cloud (`#1280 `_) - * Revert changes of PR `#1275 `_ (`#1377 `_) - * Add pre-commit (`#1560 `_) + * change theta step for obj point cloud (`#1280 `_) + * Revert changes of PR `#1275 `_ (`#1377 `_) + * Add pre-commit (`#1560 `_) * add pre-commit * add pre-commit-config * add additional settings for private repository @@ -840,19 +840,19 @@ Changelog for package dummy_perception_publisher Co-authored-by: Kazuki Miyahara Co-authored-by: pre-commit Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Fix dependency type of rosidl_default_generators (`#1801 `_) + * Fix dependency type of rosidl_default_generators (`#1801 `_) * Fix dependency type of rosidl_default_generators * Remove unnecessary depends * Use ament_cmake_auto - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * fix topic namespace (`#2054 `_) - * add sort-package-xml hook in pre-commit (`#1881 `_) + * fix topic namespace (`#2054 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -866,8 +866,8 @@ Changelog for package dummy_perception_publisher * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Feature/porting occlusion spot (`#1740 `_) - * Feature/occlusion_spot safety planner public road (`#1594 `_) + * Feature/porting occlusion spot (`#1740 `_) + * Feature/occlusion_spot safety planner public road (`#1594 `_) * add blind spot safety planner public road * remove duplicated procesing * remove unused private param @@ -907,7 +907,7 @@ Changelog for package dummy_perception_publisher * set more realistic param * add lanelet subtype highway * cosmetic change of reviews - * add occlusion spot module in private area (`#1640 `_) + * add occlusion spot module in private area (`#1640 `_) * add occlusion spot in private * For debugging change * add spline interpolation to path @@ -960,7 +960,7 @@ Changelog for package dummy_perception_publisher * fix spell check * fix default value Co-authored-by: tkimura4 - * Feature/occlusion spot private slice size param (`#1703 `_) + * Feature/occlusion spot private slice size param (`#1703 `_) * add min slice size * for a bit narrow lateral distance * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/config/occlusion_spot_param.yaml @@ -979,7 +979,7 @@ Changelog for package dummy_perception_publisher Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -991,13 +991,13 @@ Changelog for package dummy_perception_publisher * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * port dummy perception publisher to auto (`#562 `_) + * Add COLCON_IGNORE (`#500 `_) + * port dummy perception publisher to auto (`#562 `_) * port dummy perception publisher to auto * autoware_perception_msgs/DynamicObjectWithFeatureArray convert to autoware_perception_msgs/DetectedObjectsWithFeature * change tracked objects to PREDICTED objects * separate pub type with real - * Add README.md to dummy perception publisher (`#641 `_) + * Add README.md to dummy perception publisher (`#641 `_) * Added readme for dummy_perception_pub * README update * README update @@ -1010,7 +1010,7 @@ Changelog for package dummy_perception_publisher * Modified README.md * change parameter name * Update README.md - * [shape_estimation]change type (`#663 `_) + * [shape_estimation]change type (`#663 `_) * change output type of shape_estimation * remove unused function * add dynamic_object_converter @@ -1026,9 +1026,9 @@ Changelog for package dummy_perception_publisher * fix readme * fix convert function * change topic name of DynamicObjectsWithFeature - * Fix no ground pointcloud topic name (`#733 `_) + * Fix no ground pointcloud topic name (`#733 `_) Co-authored-by: j4tfwm6z - * auto/fix occupancy grid name space in dummy perception publisher (`#739 `_) + * auto/fix occupancy grid name space in dummy perception publisher (`#739 `_) * fix name space * change namespace: object_segmentation -> obstacle_segmentation * feat: add use_traffic_light status diff --git a/simulator/fault_injection/CHANGELOG.rst b/simulator/fault_injection/CHANGELOG.rst index 0fe14cbeefa11..f62dd6c5cbc69 100644 --- a/simulator/fault_injection/CHANGELOG.rst +++ b/simulator/fault_injection/CHANGELOG.rst @@ -5,11 +5,11 @@ Changelog for package fault_injection 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(system diags): rename diag of ndt scan matcher (`#6889 `_) +* feat(system diags): rename diag of ndt scan matcher (`#6889 `_) rename ndt diag -* feat(fault injection): change for diagnostic graph aggregator (`#6750 `_) +* feat(fault injection): change for diagnostic graph aggregator (`#6750 `_) * feat: change to adapt diagnostic graph aggregator * Change the configuration to adapt to both system_error_monitor and diagnostic_graph_aggregator * style(pre-commit): autofix @@ -29,10 +29,10 @@ Changelog for package fault_injection 0.26.0 (2024-04-03) ------------------- -* refactor(localization_error_monitor): rename localization_accuracy (`#5178 `_) +* refactor(localization_error_monitor): rename localization_accuracy (`#5178 `_) refactor: Rename localization_accuracy to localization_error_ellipse -* fix(fault_injection_node): fix history_depth in subscriber qos (`#4042 `_) +* fix(fault_injection_node): fix history_depth in subscriber qos (`#4042 `_) * fix(fault_injection_node): fix history_depth in sub qos * fix(fault_injection_node): add test cases * fix(fault_injection): fix test @@ -40,7 +40,7 @@ Changelog for package fault_injection * ref(test_fault_injection): remove unused import --------- Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -48,45 +48,45 @@ Changelog for package fault_injection --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(fault injection): add find package to cmake (`#2973 `_) +* fix(fault injection): add find package to cmake (`#2973 `_) * fix(fault injection) add find package to cmake * feat: add pluginlib to dependency --------- -* ci(pre-commit): format SVG files (`#2172 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(fault_injection): fix diag name (`#958 `_) -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* fix(fault_injection): fix diag name (`#958 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* fix: apply fixes for rolling (`#821 `_) +* fix: apply fixes for rolling (`#821 `_) * fix(component_interface_utils): add USE_DEPRECATED_TO_YAML * fix(lidar_apollo_instance_segmentation): add USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER * add rclcpp_components to package.xml * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(fault_injection): fix empty hardware_id (`#814 `_) -* fix(fault_injection): modify build error in rolling (`#762 `_) +* fix(fault_injection): fix empty hardware_id (`#814 `_) +* fix(fault_injection): modify build error in rolling (`#762 `_) * fix(fault_injection): modify build error in rolling * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(fault_injection): fix launch_testing (`#489 `_) +* fix(fault_injection): fix launch_testing (`#489 `_) * fix(fault_injection): fix launch_testing * add label * add todo comment -* ci: check include guard (`#438 `_) +* ci: check include guard (`#438 `_) * ci: check include guard * apply pre-commit * Update .pre-commit-config.yaml @@ -94,7 +94,7 @@ Changelog for package fault_injection * fix: pre-commit Co-authored-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor @@ -111,7 +111,7 @@ Changelog for package fault_injection * fix ad_service_state_monitor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -119,8 +119,8 @@ Changelog for package fault_injection * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: add fault_injection packages (`#101 `_) - * Add fault injection package (`#1760 `_) +* feat: add fault_injection packages (`#101 `_) + * Add fault injection package (`#1760 `_) * add fault injection package * fix copyright url * fix for lint @@ -214,17 +214,17 @@ Changelog for package fault_injection * remove read_parameter * expand timeout * comment out launch_test - * Fix a broken link of the component diagram on Fault Injection document (`#2202 `_) - * [Fault injection] Update component diagram (`#2203 `_) + * Fix a broken link of the component diagram on Fault Injection document (`#2202 `_) + * [Fault injection] Update component diagram (`#2203 `_) * Update component diagram * Rename pSim to scenario_simulator_v2 * fix upload error * Transparent background - * Fix line widths of the component diagram on Fault Injection document (`#2205 `_) - * Feature/add fault injection settings (`#2199 `_) + * Fix line widths of the component diagram on Fault Injection document (`#2205 `_) + * Feature/add fault injection settings (`#2199 `_) * add parameter file * add message - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -236,9 +236,9 @@ Changelog for package fault_injection * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove colcon_ignore in fault injection (`#585 `_) - * update readme in fault injection (`#644 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove colcon_ignore in fault injection (`#585 `_) + * update readme in fault injection (`#644 `_) * Update readme in fault_injection * fix precommit Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> diff --git a/simulator/learning_based_vehicle_model/CHANGELOG.rst b/simulator/learning_based_vehicle_model/CHANGELOG.rst index dc7ef365d2642..183535778ffec 100644 --- a/simulator/learning_based_vehicle_model/CHANGELOG.rst +++ b/simulator/learning_based_vehicle_model/CHANGELOG.rst @@ -5,17 +5,17 @@ Changelog for package learning_based_vehicle_model 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(learning_based_vehicle_model): fix passedByValue (`#8244 `_) +* fix(learning_based_vehicle_model): fix passedByValue (`#8244 `_) * fix:passedByValue * fix:clang format --------- -* fix(learning_based_vehicle_model): fix constVariableReference (`#8061 `_) +* fix(learning_based_vehicle_model): fix constVariableReference (`#8061 `_) fix:constVariableReference -* fix(learning_based_vehicle_model): fix constVariablePointer warning (`#7575 `_) +* fix(learning_based_vehicle_model): fix constVariablePointer warning (`#7575 `_) * fix constVariablePointer warning * add reference --------- -* feat(learned_model): create package (`#6395 `_) +* feat(learned_model): create package (`#6395 `_) Co-authored-by: Tomas Nagy * Contributors: Ryuta Kambe, Tomas Nagy, Yutaka Kondo, kobayu858 diff --git a/simulator/simple_planning_simulator/CHANGELOG.rst b/simulator/simple_planning_simulator/CHANGELOG.rst index 5f9e3570b86f1..76c12ecf37f41 100644 --- a/simulator/simple_planning_simulator/CHANGELOG.rst +++ b/simulator/simple_planning_simulator/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package simple_planning_simulator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(simple_planning_simulator): change orger of IDX in SimModelDelayS… (`#9128 `_) -* fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (`#8963 `_) +* fix(simple_planning_simulator): change orger of IDX in SimModelDelayS… (`#9128 `_) +* fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (`#8963 `_) swap row and column -* chore(simple_planning_simulator): remove unnecessary lines (`#8932 `_) +* chore(simple_planning_simulator): remove unnecessary lines (`#8932 `_) remove unnecessary semicolons -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* fix(simple_planning_simulator): delete velocity dead band for brake (`#8685 `_) +* fix(simple_planning_simulator): delete velocity dead band for brake (`#8685 `_) * delete dead band -* fix(simple_planning_simulator): increase test_steer_map values (`#8631 `_) -* feat(simple_planning_simulator): print actual and expected value in test (`#8630 `_) -* fix(simple_planning_simulator): fix dimension (`#8629 `_) -* fix(simple_planning_simulator): fix acc output for the model sim_model_delay_steer_acc_geared_wo_fall_guard (`#8607 `_) +* fix(simple_planning_simulator): increase test_steer_map values (`#8631 `_) +* feat(simple_planning_simulator): print actual and expected value in test (`#8630 `_) +* fix(simple_planning_simulator): fix dimension (`#8629 `_) +* fix(simple_planning_simulator): fix acc output for the model sim_model_delay_steer_acc_geared_wo_fall_guard (`#8607 `_) fix acceleration output -* feat(simple_planning_simulator): add VGR sim model (`#8415 `_) +* feat(simple_planning_simulator): add VGR sim model (`#8415 `_) * feat(simple_planning_simulator): add VGR sim model * Update simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp * move to interface * add const --------- -* feat(psim)!: preapre settings to launch localization modules on psim (`#8212 `_) -* fix(simple_planning_simulator): fix publised acc of actuation simulator (`#8169 `_) -* feat(simple_planning_simulator): add actuation command simulator (`#8065 `_) +* feat(psim)!: preapre settings to launch localization modules on psim (`#8212 `_) +* fix(simple_planning_simulator): fix publised acc of actuation simulator (`#8169 `_) +* feat(simple_planning_simulator): add actuation command simulator (`#8065 `_) * feat(simple_planning_simulator): add actuation command simulator tmp add @@ -43,20 +43,20 @@ Changelog for package simple_planning_simulator * fix typo --------- Co-authored-by: Takamasa Horibe -* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) -* feat(simple_planning_simulator): add new vehicle model with falling down (`#7651 `_) +* feat: add `autoware\_` prefix to `lanelet2_extension` (`#7640 `_) +* feat(simple_planning_simulator): add new vehicle model with falling down (`#7651 `_) * add new vehicle model -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(simple_planning_simulator): fix duplicateBranch warnings (`#7574 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(simple_planning_simulator): fix duplicateBranch warnings (`#7574 `_) * fix(simple_planning_simulator): fix duplicateBranch warnings * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -91,28 +91,28 @@ Changelog for package simple_planning_simulator * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* refactor(simple_planning_simulator): remove static odom tf publisher (`#7265 `_) -* feat!: replace autoware_auto_msgs with autoware_msgs for simulator modules (`#7248 `_) +* refactor(simple_planning_simulator): remove static odom tf publisher (`#7265 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for simulator modules (`#7248 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat!: remove autoware_auto_tf2 package (`#7218 `_) +* feat!: remove autoware_auto_tf2 package (`#7218 `_) * feat!: remove autoware_auto_geometry package * docs: remove autoware_auto_geometry package from docs * feat!: remove autoware_auto_tf2 package * fix: remove from autoware_auto_tf2 packages from docs page --------- -* chore(simple_planning_simulator): add maintainer (`#7026 `_) -* chore(simple_planning_simulator): publish control mode before the self-position is given (`#7008 `_) -* feat(learned_model): create package (`#6395 `_) +* chore(simple_planning_simulator): add maintainer (`#7026 `_) +* chore(simple_planning_simulator): publish control mode before the self-position is given (`#7008 `_) +* feat(learned_model): create package (`#6395 `_) Co-authored-by: Tomas Nagy * Contributors: Autumn60, Dawid Moszyński, Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Tomas Nagy, Tomoya Kimura, Yuki TAKAGI, Yutaka Kondo, Zulfaqar Azmi 0.26.0 (2024-04-03) ------------------- -* feat(simple_planning_simulator): add enable_road_slope_simulation param (`#5933 `_) -* fix(log-messages): reduce excessive log messages (`#5971 `_) -* fix(simple_planning_simulator): fix steering bias model (`#6240 `_) +* feat(simple_planning_simulator): add enable_road_slope_simulation param (`#5933 `_) +* fix(log-messages): reduce excessive log messages (`#5971 `_) +* fix(simple_planning_simulator): fix steering bias model (`#6240 `_) * fix(simple_planning_simulator): fix steering bias model * remove old implementation * fix initialize order @@ -126,24 +126,24 @@ Changelog for package simple_planning_simulator * Update simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp --------- Co-authored-by: kosuke55 -* feat(simple_planning_simulator): add option to use initialpose for z position (`#4256 `_) +* feat(simple_planning_simulator): add option to use initialpose for z position (`#4256 `_) * feat(simple_planning_simulator): add option to use initialpose for z position * Revert "feat(simple_planning_simulator): add option to use initialpose for z position" This reverts commit a3e2779cd38841ba49e063c42fc3a2366c176ad6. * update initial z logic --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) +* fix(autoware_auto_common): move headers to a separate directory (`#5919 `_) * fix(autoware_auto_common): move headers to a separate directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(simple_planning_simulator): add mesurent_steer_bias (`#5868 `_) +* feat(simple_planning_simulator): add mesurent_steer_bias (`#5868 `_) * feat(simple_planning_simulator): add mesurent_steer_bias * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(simple_plannign_simulator): add map acc model (`#5688 `_) +* feat(simple_plannign_simulator): add map acc model (`#5688 `_) * (simple_planning_simulator):add delay converter model * refactoring rename and format @@ -182,19 +182,19 @@ Changelog for package simple_planning_simulator Co-authored-by: Takumi Ito Co-authored-by: Takamasa Horibe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(simple_planning_simulator): fix ego sign pitch problem (`#5616 `_) +* fix(simple_planning_simulator): fix ego sign pitch problem (`#5616 `_) * fix ego sign pitch problem * change variable name for clarity * update documentation to clarify that driving against the lane is not supported --------- -* fix(simple_planning_simulator): change default value of manual gear, DRIVE -> PARK (`#5563 `_) -* feat(simple_planning_simulator): add acceleration and steer command scaling factor for debug (`#5534 `_) +* fix(simple_planning_simulator): change default value of manual gear, DRIVE -> PARK (`#5563 `_) +* feat(simple_planning_simulator): add acceleration and steer command scaling factor for debug (`#5534 `_) * feat(simple_planning_simulator): add acceleration and steer command scaling factor * update params as debug --------- -* fix(simple_planning_simulator): set ego pitch to 0 if road slope is not simulated (`#5501 `_) +* fix(simple_planning_simulator): set ego pitch to 0 if road slope is not simulated (`#5501 `_) set ego pitch to 0 if road slope is not simulated -* feat(simple_planning_simulator): add steer dead band (`#5477 `_) +* feat(simple_planning_simulator): add steer dead band (`#5477 `_) * feat(simple_planning_simulator): add steer dead band * Update simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp Co-authored-by: Takamasa Horibe @@ -203,31 +203,31 @@ Changelog for package simple_planning_simulator * update params --------- Co-authored-by: Takamasa Horibe -* fix(simple_planning_simulator): initialize variables (`#5460 `_) -* feat(simple_planning_sim): publish lateral acceleration (`#5307 `_) -* fix(simulator, controller): fix inverse pitch calculation (`#5199 `_) +* fix(simple_planning_simulator): initialize variables (`#5460 `_) +* feat(simple_planning_sim): publish lateral acceleration (`#5307 `_) +* fix(simulator, controller): fix inverse pitch calculation (`#5199 `_) Co-authored-by: Takamasa Horibe -* fix(simple_planning_simulator): fix build error (`#5062 `_) -* feat(simple_planning_simulator): consider ego pitch angle for simulation (`#4941 `_) +* fix(simple_planning_simulator): fix build error (`#5062 `_) +* feat(simple_planning_simulator): consider ego pitch angle for simulation (`#4941 `_) * feat(simple_planning_simulator): consider ego pitch angle for simulation * update * fix spell * update --------- -* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) -* docs(simple_planning_simulator): rename docs to readme (`#4221 `_) -* fix(simple_planning_simulator): old style arg for static_tf_publisher (`#3736 `_) +* chore(build): remove tier4_autoware_utils.hpp evaluator/ simulator/ (`#4839 `_) +* docs(simple_planning_simulator): rename docs to readme (`#4221 `_) +* fix(simple_planning_simulator): old style arg for static_tf_publisher (`#3736 `_) * fix(simple_planning_simulator): old style arg for static_tf_publisher * Update simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --------- Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* build: proper eigen deps and include (`#3615 `_) +* build: proper eigen deps and include (`#3615 `_) * build: proper eigen deps and include * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -235,36 +235,36 @@ Changelog for package simple_planning_simulator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(simple_planning_sim): publish sensing interface imu data (`#2843 `_) +* feat(simple_planning_sim): publish sensing interface imu data (`#2843 `_) * feat(simple_planning_sim): publish sensing interface imu data * fix covariance index --------- -* chore(planning-sim): change debug topic name (`#2610 `_) -* fix(simple_planning_simulator): fix ideal steer acc calc (`#2595 `_) -* refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) -* feat(simple_planning_simulator): add initial twist for debug purpose (`#2268 `_) -* chore(simple_planning_simulator): add maintainer (`#2444 `_) +* chore(planning-sim): change debug topic name (`#2610 `_) +* fix(simple_planning_simulator): fix ideal steer acc calc (`#2595 `_) +* refactor(simple_planning_simulator): make function for duplicated code (`#2502 `_) +* feat(simple_planning_simulator): add initial twist for debug purpose (`#2268 `_) +* chore(simple_planning_simulator): add maintainer (`#2444 `_) chore(simple_planning_simulator): add maintainer Co-authored-by: Takamasa Horibe -* fix(simple_planning_simulator): sim model with gear acc (`#2437 `_) -* chore: remove autoware_auto_common dependency from simple_planning_simulator and osqp_interface (`#2233 `_) +* fix(simple_planning_simulator): sim model with gear acc (`#2437 `_) +* chore: remove autoware_auto_common dependency from simple_planning_simulator and osqp_interface (`#2233 `_) remove autoware_auto_common dependency from simple_planning_simulator, osqp_interface -* chore: remove motion_common dependency (`#2231 `_) +* chore: remove motion_common dependency (`#2231 `_) * remove motion_common from smoother * remove motion_common from control_performance_analysis and simple_planning_simualtor * fix include * add include -* refactor!: remove tier4 control mode msg (`#1533 `_) +* refactor!: remove tier4 control mode msg (`#1533 `_) * [simple_planning_simulator] replace T4 ControlMode msg too auto_msg * [operation_mode_transition_manager] replace T4 ControlMode msg too auto_msg -* refactor(simple_planning_simulator): refactor covariance index (`#1972 `_) -* feat(pose_initializer)!: support ad api (`#1500 `_) +* refactor(simple_planning_simulator): refactor covariance index (`#1972 `_) +* feat(pose_initializer)!: support ad api (`#1500 `_) * feat(pose_initializer): support ad api * docs: update readme * fix: build error @@ -280,8 +280,8 @@ Changelog for package simple_planning_simulator * fix: fix build error * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(simple_planning_simulator): fix param file levels (`#1612 `_) -* chore(planning/control packages): organized authors and maintainers (`#1610 `_) +* fix(simple_planning_simulator): fix param file levels (`#1612 `_) +* chore(planning/control packages): organized authors and maintainers (`#1610 `_) * organized planning authors and maintainers * organized control authors and maintainers * fix typo @@ -314,8 +314,8 @@ Changelog for package simple_planning_simulator * fix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(simple_planning_simulator): fix timer type (`#1538 `_) -* feat(operation_mode_transition_manager): add package to manage vehicle autonomous mode change (`#1246 `_) +* fix(simple_planning_simulator): fix timer type (`#1538 `_) +* feat(operation_mode_transition_manager): add package to manage vehicle autonomous mode change (`#1246 `_) * add engage_transition_manager * rename to operation mode transition manager * fix precommit @@ -326,59 +326,59 @@ Changelog for package simple_planning_simulator * add allow_autonomous_in_stopped * fix typo * fix precommit -* feat(simple_planning_simulator): add acceleration publisher (`#1214 `_) +* feat(simple_planning_simulator): add acceleration publisher (`#1214 `_) * feat(simple_planning_simulator): add acceleration publisher * add cov -* feat(simple_planning_simulator): add control_mode server (`#1061 `_) +* feat(simple_planning_simulator): add control_mode server (`#1061 `_) * add control-mode in simulator * precommit * update * update readme * update simulator * fix typo -* fix(simple_planning_simlator): keep alive tf (`#1175 `_) +* fix(simple_planning_simlator): keep alive tf (`#1175 `_) * fix(simple_planning_simlator): keep alive tf * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* docs(simulator): fixed simple_planning_simulator table (`#1025 `_) -* docs: update link style and fix typos (`#950 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) +* docs(simulator): fixed simple_planning_simulator table (`#1025 `_) +* docs: update link style and fix typos (`#950 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * docs: update link style * chore: fix link - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) - * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) - * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(tier4_traffic_light_rviz_plugin): update documentation (`#905 `_) + * fix(accel_brake_map_calibrator): rviz panel type (`#895 `_) * fixed panel type * modified instruction for rosbag replay case * modified update_map_dir service name - * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) + * fix(behavior velocity planner): skipping emplace back stop reason if it is empty (`#898 `_) * skipping emplace back stop reason if it is empty * add braces * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> - * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) + * feat(behavior_path_planner): weakened noise filtering of drivable area (`#838 `_) * feat(behavior_path_planner): Weakened noise filtering of drivable area * fix lanelet's longitudinal disconnection * add comments of erode/dilate process - * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) + * refactor(vehicle-cmd-gate): using namespace for msgs (`#913 `_) * refactor(vehicle-cmd-gate): using namespace for msgs * for clang - * feat(pose_initializer): introduce an array copy function (`#900 `_) + * feat(pose_initializer): introduce an array copy function (`#900 `_) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat: add lidar point filter when debug (`#865 `_) + * feat: add lidar point filter when debug (`#865 `_) * feat: add lidar point filter when debug * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(component_interface_utils): add interface classes (`#899 `_) + * feat(component_interface_utils): add interface classes (`#899 `_) * feat(component_interface_utils): add interface classes * feat(default_ad_api): apply the changes of interface utils * fix(component_interface_utils): remove old comment @@ -386,18 +386,18 @@ Changelog for package simple_planning_simulator * fix(component_interface_utils): remove unimplemented message * docs(component_interface_utils): add design policy * docs(component_interface_utils): add comment - * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) + * refactor(vehicle_cmd_gate): change namespace in launch file (`#927 `_) Co-authored-by: Berkay - * feat: visualize lane boundaries (`#923 `_) + * feat: visualize lane boundaries (`#923 `_) * feat: visualize lane boundaries * fix: start_bound * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) + * fix(system_monitor): fix truncation warning in strncpy (`#872 `_) * fix(system_monitor): fix truncation warning in strncpy * Use std::string constructor to copy char array * Fixed typo - * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) + * fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision (`#917 `_) * fix: extend following and previous search range to avoid no collision * chore: add debug marker * fix: simplify logic @@ -407,11 +407,11 @@ Changelog for package simple_planning_simulator * ci(pre-commit): autofix * fix: delete debug code Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * docs(surround obstacle checker): update documentation (`#878 `_) + * docs(surround obstacle checker): update documentation (`#878 `_) * docs(surround_obstacle_checker): update pub/sub topics & params * docs(surround_obstacle_checker): remove unused files * docs(surround_obstacke_checker): update purpose - * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) + * feat(tier4_autoware_utils): add vehicle state checker (`#896 `_) * feat(tier4_autoware_utils): add vehicle state checker * fix(tier4_autoware_utils): use absolute value * feat(tier4_autoware_utils): divide into two classies @@ -421,20 +421,20 @@ Changelog for package simple_planning_simulator * fix(tier4_autoware_utils): into same loop * fix(tier4_autoware_utils): fix variables name * fix(tier4_autoware_utils): remove redundant codes - * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) + * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (`#816 `_) * fix(motion_velocity_smoother): fix overwriteStopPoint using backward point * Modify overwriteStopPoint input and output - * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) + * feat(obstacle_avoidance_planner): explicitly insert zero velocity (`#906 `_) * feat(obstacle_avoidance_planner) fix bug of stop line unalignment * fix bug of unsorted output points * move calcVelocity in node.cpp * fix build error - * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) - * fix(system_monitor): add some smart information to diagnostics (`#708 `_) - * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) + * feat(behavior_velocity): find occlusion more efficiently (`#829 `_) + * fix(system_monitor): add some smart information to diagnostics (`#708 `_) + * feat(obstacle_avoidance_planner): dealt with close lane change (`#921 `_) * feat(obstacle_avoidance_planner): dealt with close lane change * fix bug of right lane change - * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) + * feat(obstacle_avoidance_planner): some fix for narrow driving (`#916 `_) * use car like constraints in mpt * use not widest bounds for the first bounds * organized params @@ -444,17 +444,17 @@ Changelog for package simple_planning_simulator * update config * remove unnecessary files * update tier4_planning_launch params - * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) - * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) + * chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (`#919 `_) + * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (`#932 `_) * chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check * feat: use marker helper - * feat(map_loader): visualize center line by points (`#931 `_) + * feat(map_loader): visualize center line by points (`#931 `_) * feat: visualize center line points * fix: delete space * feat: visualize center line by arrow * revert insertMarkerArray * fix: delete space - * feat: add RTC interface (`#765 `_) + * feat: add RTC interface (`#765 `_) * feature(rtc_interface): add files * feature(rtc_interface): implement functions * feature(rtc_interface): reimprement functions to use CooperateCommands and write README.md @@ -466,23 +466,23 @@ Changelog for package simple_planning_simulator * feature(rtc_interface): add isRegistered and clearCooperateStatus * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore: sync files (`#911 `_) + * chore: sync files (`#911 `_) Co-authored-by: kenji-miyake - * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) + * fix: replace boost::mutex::scoped_lock to std::scoped_lock (`#907 `_) * fix: replace boost::mutex::scoped_lock to std::scoped_lock * fix: replace boost::mutex to std::mutex - * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) + * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (`#885 `_) * feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node * feat(tensorrt_yolo): update arg Co-authored-by: Kaan Colak - * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) + * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (`#887 `_) * feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner * Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * feat: add param.yaml in behavior_velocity_planner package * some fix Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> - * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) + * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (`#942 `_) * fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader * fix(map_loader): remove c_str * fix(map_loader): replace c_str to string @@ -521,24 +521,24 @@ Changelog for package simple_planning_simulator Co-authored-by: Kaan Çolak Co-authored-by: Kaan Colak Co-authored-by: Kenji Miyake -* feat(vehicle_info_util): add max_steer_angle (`#740 `_) +* feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura -* feat: isolate gtests in all packages (`#693 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: simplify Rolling support (`#854 `_) -* refactor: use autoware cmake (`#849 `_) +* feat: isolate gtests in all packages (`#693 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: simplify Rolling support (`#854 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove bad chars (`#845 `_) -* fix: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* fix(autoware_auto_tf2): modify build error in rolling (`#718 `_) +* chore: remove bad chars (`#845 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(autoware_auto_tf2): modify build error in rolling (`#718 `_) * fix(autoware_auto_common): modify build error in rolling * fix(autoware_auto_tf2): modify build error in rolling * fix(autoware_auto_geometry): modify build error in rolling @@ -548,7 +548,7 @@ Changelog for package simple_planning_simulator * fix(simple_planning_simulator): modify build error in rolling * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci(pre-commit): clear the exclude option (`#426 `_) +* ci(pre-commit): clear the exclude option (`#426 `_) * ci(pre-commit): remove unnecessary excludes * ci(pre-commit): autofix * ci(pre-commit): autofix @@ -560,35 +560,35 @@ Changelog for package simple_planning_simulator * fix build * use autoware_lint_common Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(simple_planning_simulator): fix bug in function to apply noise (`#665 `_) -* test(simple_planning_simulator): add node test (`#422 `_) +* fix(simple_planning_simulator): fix bug in function to apply noise (`#665 `_) +* test(simple_planning_simulator): add node test (`#422 `_) * test(simple_planning_simulator): add node test * use TEST_P -* fix(simple psim): gear bug to update state in simple psim (`#370 `_) +* fix(simple psim): gear bug to update state in simple psim (`#370 `_) * fix(simple psim): gear bug to update state in simple psim * upadte ideal acc geared model as well -* fix: simple psim with vehicle engage (`#301 `_) +* fix: simple psim with vehicle engage (`#301 `_) * feat: add initial_engage_state for /vehicle/engage sub result * feat: simulating only when vehicle engage is true -* feat(simple_planning_simulator): add delay model of velocity and steering (`#235 `_) +* feat(simple_planning_simulator): add delay model of velocity and steering (`#235 `_) * add delay steer vel in psim * change wz to steer * fix param description * modify readme * modify cmake * ci: change file URL - * fix: order to create callback (`#220 `_) + * fix: order to create callback (`#220 `_) Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> - * chore: remove unnecessary depends (`#227 `_) + * chore: remove unnecessary depends (`#227 `_) * ci: add check-build-depends.yaml * chore: simplify build_depends.repos * chore: remove exec_depend * chore: use register-autonomoustuff-repository * chore: add setup tasks to other workflows - * ci: update .yamllint.yaml (`#229 `_) + * ci: update .yamllint.yaml (`#229 `_) * ci: update .yamllint.yaml * chore: fix for yamllint - * fix: remove warning for compile error (`#198 `_) + * fix: remove warning for compile error (`#198 `_) * fix: fix compile error of pointcloud preprocessor * fix: fix compiler warning for had map utils * fix: fix compiler warning for behavior velocity planner @@ -596,12 +596,12 @@ Changelog for package simple_planning_simulator * fix: fix compiler warning for occupancy grid map outlier filter * fix: fix compiler warning for detection by tracker * fix: restore comment - * fix: set control_mode false before autoware engage (`#232 `_) + * fix: set control_mode false before autoware engage (`#232 `_) * fix: set control_mode false before autoware engage * add input/engage remap in launch - * fix: library path (`#225 `_) + * fix: library path (`#225 `_) Co-authored-by: taikitanaka3 - * fix: interpolation (`#791 `_) (`#218 `_) + * fix: interpolation (`#791 `_) (`#218 `_) Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * add missing function definition in .cpp * set input and state for DELAY_STEER_VEL model @@ -614,16 +614,16 @@ Changelog for package simple_planning_simulator Co-authored-by: Takayuki Murooka Co-authored-by: taikitanaka3 Co-authored-by: Tomoya Kimura -* fix: set control_mode false before autoware engage (`#232 `_) +* fix: set control_mode false before autoware engage (`#232 `_) * fix: set control_mode false before autoware engage * add input/engage remap in launch -* feat: replace VehicleStateCommand with GearCommand (`#217 `_) +* feat: replace VehicleStateCommand with GearCommand (`#217 `_) Co-authored-by: Tomoya Kimura -* fix: fix typo and url (`#201 `_) +* fix: fix typo and url (`#201 `_) * fix typo * fix url (jp -> en) Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor @@ -640,10 +640,10 @@ Changelog for package simple_planning_simulator * fix ad_service_state_monitor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix: update simple planning simulator param file (`#179 `_) +* fix: update simple planning simulator param file (`#179 `_) Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* feat: add simulator_launch package (`#166 `_) - * Add simulator_launch package (`#459 `_) +* feat: add simulator_launch package (`#166 `_) + * Add simulator_launch package (`#459 `_) * Add simulator_launch package * add argument * fix depend order @@ -653,7 +653,7 @@ Changelog for package simple_planning_simulator * Update simulator_launch/launch/simulator.launch.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Move simple_planning_simulator to simulator_launch (`#462 `_) + * Move simple_planning_simulator to simulator_launch (`#462 `_) * move simple_planning_simulator * add simulation arg to logging_simulator.launch * delete unused argument @@ -662,17 +662,17 @@ Changelog for package simple_planning_simulator * update README * add default value to simulator arg * restore vehicle_simulation arg - * Fix/revert initial engage state (`#484 `_) + * Fix/revert initial engage state (`#484 `_) * Fix args * Add initial_engage_state to vehicle.launch.xml * Update vehicle.launch.xml - * Change formatter to black (`#488 `_) + * Change formatter to black (`#488 `_) * Update pre-commit settings * Apply Black * Replace ament_lint_common with autoware_lint_common * Update build_depends.repos * Fix build_depends - * Auto/fix launch (`#110 `_) + * Auto/fix launch (`#110 `_) * fix namespace * remove dynamic_object_visualization * fix rviz @@ -684,7 +684,7 @@ Changelog for package simple_planning_simulator Co-authored-by: Kenji Miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* feat: load vehicle info default param (`#148 `_) +* feat: load vehicle info default param (`#148 `_) * update global_parameter loader readme * remove unused dependency * add default vehicle_info_param to launch files @@ -698,7 +698,7 @@ Changelog for package simple_planning_simulator * ci(pre-commit): autofix Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -706,33 +706,33 @@ Changelog for package simple_planning_simulator * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: add simple planning simulator package (`#5 `_) +* feat: add simple planning simulator package (`#5 `_) * release v0.4.0 * remove ROS1 packages temporarily * add sample ros2 packages * add COLCON_IGNORE to ros1 packages - * Fix simple planning simulator (`#26 `_) + * Fix simple planning simulator (`#26 `_) * simple planning simulator: fix params & launch file * remove unused file * fix timercallback - * [simple_planning_simulator] add rostopic relay in launch file (`#117 `_) + * [simple_planning_simulator] add rostopic relay in launch file (`#117 `_) * [simple_planning_simulator] add rostopic relay in launch file * add topic_tools as exec_depend - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * reduce terminal ouput for better error message visibility (`#200 `_) + * reduce terminal ouput for better error message visibility (`#200 `_) * reduce terminal ouput for better error message visibility * [costmap_generator] fix waiting for first transform * fix tests * fix test - * Use trajectory for z position source (`#243 `_) - * Ros2 v0.8.0 engage (`#342 `_) + * Use trajectory for z position source (`#243 `_) + * Ros2 v0.8.0 engage (`#342 `_) * [autoware_vehicle_msgs]: Add engage message * [as]: Update message * [awapi_awiv_adapter]: Update message @@ -741,7 +741,7 @@ Changelog for package simple_planning_simulator * [autoware_state_monitor]: Update message * [autoware_control_msgs]: Remove EngageMode message * [simple_planning_simulator]: Update message - * Ros2 v0.8.0 fix packages (`#351 `_) + * Ros2 v0.8.0 fix packages (`#351 `_) * add subscription to QoS * add vihicle_param _file to simple_planning_sim * update cmake/packages.xml @@ -755,27 +755,27 @@ Changelog for package simple_planning_simulator * apply lint * add latch option to autoware_state_monitor * delete unused comment - * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) * Rename ROS-related .yaml to .param.yaml * Remove prefix 'default\_' of yaml files * Rename vehicle_info.yaml to vehicle_info.param.yaml * Rename diagnostic_aggregator's param files * Fix overlooked parameters - * Fix typo in simulator module (`#439 `_) - * add use_sim-time option (`#454 `_) - * Format launch files (`#1219 `_) - * Fix rolling build errors (`#1225 `_) + * Fix typo in simulator module (`#439 `_) + * add use_sim-time option (`#454 `_) + * Format launch files (`#1219 `_) + * Fix rolling build errors (`#1225 `_) * Add missing include files * Replace rclcpp::Duration * Use reference for exceptions * Use from_seconds - * Sync public repo (`#1228 `_) - * [simple_planning_simulator] add readme (`#424 `_) + * Sync public repo (`#1228 `_) + * [simple_planning_simulator] add readme (`#424 `_) * add readme of simple_planning_simulator * Update simulator/simple_planning_simulator/README.md - * set transit_margin_time to intersect. planner (`#460 `_) - * Fix pose2twist (`#462 `_) - * Ros2 vehicle info param server (`#447 `_) + * set transit_margin_time to intersect. planner (`#460 `_) + * Fix pose2twist (`#462 `_) + * Ros2 vehicle info param server (`#447 `_) * add vehicle_info_param_server * update vehicle info * apply format @@ -783,7 +783,7 @@ Changelog for package simple_planning_simulator * skip unnecessary search * delete vehicle param file * fix bug - * Ros2 fix topic name part2 (`#425 `_) + * Ros2 fix topic name part2 (`#425 `_) * Fix topic name of traffic_light_classifier * Fix topic name of traffic_light_visualization * Fix topic name of traffic_light_ssd_fine_detector @@ -793,19 +793,19 @@ Changelog for package simple_planning_simulator * Fix lint traffic_light_classifier * Fix lint traffic_light_classifier * Fix lint traffic_light_ssd_fine_detector - * Fix issues in hdd_reader (`#466 `_) + * Fix issues in hdd_reader (`#466 `_) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct - * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) - * Rviz overlay render fix (`#461 `_) + * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) + * Rviz overlay render fix (`#461 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified * acquire data in mutex * back to RTD as superclass - * Rviz overlay render in update (`#465 `_) + * Rviz overlay render in update (`#465 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified @@ -819,8 +819,8 @@ Changelog for package simple_planning_simulator Co-authored-by: Kazuki Miyahara Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski - * Remove use_sim_time for set_parameter (`#1260 `_) - * Refactor vehicle info util (`#1305 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Refactor vehicle info util (`#1305 `_) * Update license * Refactor vehicle_info_util * Rename and split files @@ -828,10 +828,10 @@ Changelog for package simple_planning_simulator * Fix bug and add error handling * Add "// namespace" * Add missing include - * Fix lint errors (`#1378 `_) + * Fix lint errors (`#1378 `_) * Fix lint errors * Fix variable names - * Add pre-commit (`#1560 `_) + * Add pre-commit (`#1560 `_) * add pre-commit * add pre-commit-config * add additional settings for private repository @@ -851,25 +851,25 @@ Changelog for package simple_planning_simulator Co-authored-by: Kazuki Miyahara Co-authored-by: pre-commit Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Add markdownlint and prettier (`#1661 `_) + * Add markdownlint and prettier (`#1661 `_) * Add markdownlint and prettier * Ignore .param.yaml * Apply format - * add cov pub in psim (`#1732 `_) - * Fix -Wunused-parameter (`#1836 `_) + * add cov pub in psim (`#1732 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * fix some typos (`#1941 `_) + * fix some typos (`#1941 `_) * fix some typos * fix typo * Fix typo Co-authored-by: Kenji Miyake - * Add autoware api (`#1979 `_) - * add sort-package-xml hook in pre-commit (`#1881 `_) + * Add autoware api (`#1979 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -883,12 +883,12 @@ Changelog for package simple_planning_simulator * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Feature/add ideal accel model interface (`#1894 `_) + * Feature/add ideal accel model interface (`#1894 `_) * Add IDEAL_ACCEL model interface for simple planning simulator * Add IDEAL_ACCEL model descriptions * Fix format * Change vehicle model type description at config file - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -900,60 +900,60 @@ Changelog for package simple_planning_simulator * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * Back port .auto control packages (`#571 `_) + * Add COLCON_IGNORE (`#500 `_) + * Back port .auto control packages (`#571 `_) * Implement Lateral and Longitudinal Control Muxer - * [`#570 `_] Porting wf_simulator - * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' - * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' - * [`#1057 `_] Add osqp_interface package - * [`#1057 `_] Add library code for MPC-based lateral control - * [`#1271 `_] Use std::abs instead of abs - * [`#1057 `_] Implement Lateral Controller for Cargo ODD - * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" - * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' - * [`#1058 `_] Add library code of longitudinal controller + * [`#570 `_] Porting wf_simulator + * [`#1189 `_] Deactivate flaky test in 'trajectory_follower_nodes' + * [`#1189 `_] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' + * [`#1057 `_] Add osqp_interface package + * [`#1057 `_] Add library code for MPC-based lateral control + * [`#1271 `_] Use std::abs instead of abs + * [`#1057 `_] Implement Lateral Controller for Cargo ODD + * [`#1246 `_] Resolve "Test case names currently use snake_case but should be CamelCase" + * [`#1325 `_] Deactivate flaky smoke test in 'trajectory_follower_nodes' + * [`#1058 `_] Add library code of longitudinal controller * Fix build error for trajectory follower * Fix build error for trajectory follower nodes - * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator - * [`#1058 `_] Add Longitudinal Controller node - * [`#1058 `_] Rename velocity_controller -> longitudinal_controller - * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node - * [`#1058 `_] Add smoke test python launch file - * [`#1058 `_] Use LowPassFilter1d from trajectory_follower - * [`#1058 `_] Use autoware_auto_msgs - * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) - * [`#1058 `_] Remove unused parameters - * [`#1058 `_] Fix ros test - * [`#1058 `_] Rm default params from declare_parameters + use autoware types - * [`#1058 `_] Use default param file to setup NodeOptions in the ros test - * [`#1058 `_] Fix docstring - * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState - * [`#1058 `_] Change class variables format to m\_ prefix - * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt - * [`#1058 `_] Fix copyright dates - * [`#1058 `_] Reorder includes - * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) - * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) - * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope - * [`#1058 `_] Calculate wheel_base value from vehicle parameters - * [`#1058 `_] Cleanup redundant logger setting in tests - * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures - * [`#1058 `_] Remove TF listener and use published vehicle state instead - * [`#1058 `_] Change smoke tests to use autoware_testing - * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control - * [`#1058 `_] Improve design documents - * [`#1058 `_] Disable flaky test - * [`#1058 `_] Properly transform vehicle state in longitudinal node - * [`#1058 `_] Fix TF buffer of lateral controller - * [`#1058 `_] Tuning of lateral controller for LGSVL - * [`#1058 `_] Fix formating - * [`#1058 `_] Fix /tf_static sub to be transient_local - * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller + * [`#1272 `_] Add AckermannControlCommand support to simple_planning_simulator + * [`#1058 `_] Add Longitudinal Controller node + * [`#1058 `_] Rename velocity_controller -> longitudinal_controller + * [`#1058 `_] Update CMakeLists.txt for the longitudinal_controller_node + * [`#1058 `_] Add smoke test python launch file + * [`#1058 `_] Use LowPassFilter1d from trajectory_follower + * [`#1058 `_] Use autoware_auto_msgs + * [`#1058 `_] Changes for .auto (debug msg tmp fix, common func, tf listener) + * [`#1058 `_] Remove unused parameters + * [`#1058 `_] Fix ros test + * [`#1058 `_] Rm default params from declare_parameters + use autoware types + * [`#1058 `_] Use default param file to setup NodeOptions in the ros test + * [`#1058 `_] Fix docstring + * [`#1058 `_] Replace receiving a Twist with a VehicleKinematicState + * [`#1058 `_] Change class variables format to m\_ prefix + * [`#1058 `_] Fix plugin name of LongitudinalController in CMakeLists.txt + * [`#1058 `_] Fix copyright dates + * [`#1058 `_] Reorder includes + * [`#1058 `_] Add some tests (~89% coverage without disabling flaky tests) + * [`#1058 `_] Add more tests (90+% coverage without disabling flaky tests) + * [`#1058 `_] Use Float32MultiArrayDiagnostic message for debug and slope + * [`#1058 `_] Calculate wheel_base value from vehicle parameters + * [`#1058 `_] Cleanup redundant logger setting in tests + * [`#1058 `_] Set ROS_DOMAIN_ID when running tests to prevent CI failures + * [`#1058 `_] Remove TF listener and use published vehicle state instead + * [`#1058 `_] Change smoke tests to use autoware_testing + * [`#1058 `_] Add plotjuggler cfg for both lateral and longitudinal control + * [`#1058 `_] Improve design documents + * [`#1058 `_] Disable flaky test + * [`#1058 `_] Properly transform vehicle state in longitudinal node + * [`#1058 `_] Fix TF buffer of lateral controller + * [`#1058 `_] Tuning of lateral controller for LGSVL + * [`#1058 `_] Fix formating + * [`#1058 `_] Fix /tf_static sub to be transient_local + * [`#1058 `_] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build - * [`#1379 `_] Update trajectory_follower - * [`#1379 `_] Update simple_planning_simulator - * [`#1379 `_] Update trajectory_follower_nodes + * [`#1379 `_] Update trajectory_follower + * [`#1379 `_] Update simple_planning_simulator + * [`#1379 `_] Update trajectory_follower_nodes * apply trajectory msg modification in control * move directory * remote control/trajectory_follower level dorectpry @@ -977,7 +977,7 @@ Changelog for package simple_planning_simulator Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: tomoya.kimura - * [simple planning simulator]change type of msg (`#590 `_) + * [simple planning simulator]change type of msg (`#590 `_) * remove kinematic_state * remove vehicle_state_command/report * get z-position from trajectory @@ -990,19 +990,19 @@ Changelog for package simple_planning_simulator Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * fix typo Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> - * [autoware_vehicle_rviz_plugin/route_handler/simple_planning_simulator]fix some packages (`#606 `_) + * [autoware_vehicle_rviz_plugin/route_handler/simple_planning_simulator]fix some packages (`#606 `_) * fix console meter * fix velocity_history * fix route handler * change topic name - * update to support velocity report header (`#655 `_) + * update to support velocity report header (`#655 `_) * update to support velocity report header * Update simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp Co-authored-by: tkimura4 * use maybe_unused * fix precommit Co-authored-by: tkimura4 - * adapt to actuation cmd/status as control msg (`#646 `_) + * adapt to actuation cmd/status as control msg (`#646 `_) * adapt to actuation cmd/status as control msg * fix readme * fix topics @@ -1013,38 +1013,38 @@ Changelog for package simple_planning_simulator * revert gyro_odometer_change * revert twist topic change * revert unchanged package - * FIx vehicle status topic name/type (`#658 `_) + * FIx vehicle status topic name/type (`#658 `_) * shift -> gear_status * twist -> velocity_status - * fix topic name (`#674 `_) + * fix topic name (`#674 `_) * fix topic name * fix gear message name - * Fix psim param path (`#696 `_) - * Fix/psim topics emergency handler awapi (`#702 `_) + * Fix psim param path (`#696 `_) + * Fix/psim topics emergency handler awapi (`#702 `_) * fix emergency handler * fix awapi * remove unused topic * remove duplecated vehicle cmd - * Auto/add turn indicators and hazards (`#717 `_) + * Auto/add turn indicators and hazards (`#717 `_) * add turn indicators * add hazard light * omit name space * remap topic name * delete unnecessary blank line - * [simple_planning_simulator]fix bug (`#727 `_) + * [simple_planning_simulator]fix bug (`#727 `_) * input z-axis of trajectory to pose(tf/odometry) * output 0 velocity when invalid gear is input - * fix gear process in sim (`#728 `_) - * Fix for integration test (`#732 `_) + * fix gear process in sim (`#728 `_) + * Fix for integration test (`#732 `_) * Add backward compatibility of autoware state * Add simulator initial pose service * Fix pre-commit * Fix pre-commit - * Simple planning simulator update for latest develop (`#735 `_) - * Refactor vehicle info util (`#1305 `_) - * add cov pub in psim (`#1732 `_) + * Simple planning simulator update for latest develop (`#735 `_) + * Refactor vehicle info util (`#1305 `_) + * add cov pub in psim (`#1732 `_) * remove pose_with_covariance publisher and add covariance information in Odometry - * Fix acceleration for reverse (`#737 `_) + * Fix acceleration for reverse (`#737 `_) * Fix acceleration for reverse * Fix acceleration in set_input * remove unused using diff --git a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst index 1a8c55e318454..df41afe78a70f 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst +++ b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst @@ -5,17 +5,17 @@ Changelog for package tier4_dummy_object_rviz_plugin 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* style: update rviz plugin icons to match the theme (`#8868 `_) -* fix(dummy_perception_publisher, tier4_dummy_object_rviz_plugin): separate dummy object msg (`#8828 `_) +* style: update rviz plugin icons to match the theme (`#8868 `_) +* fix(dummy_perception_publisher, tier4_dummy_object_rviz_plugin): separate dummy object msg (`#8828 `_) * fix: dummy object rviz plugin dependency * fix: remove message from dummy perception publisher * fix: node name --------- -* fix(tier4_dummy_object_rviz_plugin): fix unusedFunction (`#8844 `_) +* fix(tier4_dummy_object_rviz_plugin): fix unusedFunction (`#8844 `_) fix:unusedFunction -* fix(tier4_dummy_object_rviz_plugin): fix functionConst (`#8830 `_) +* fix(tier4_dummy_object_rviz_plugin): fix functionConst (`#8830 `_) fix:functionConst -* fix(tier4_perception_rviz_plugin): relocate tier4_perception_rviz_plugin and rename it to tier4_dummy_object_rviz_plugin (`#8818 `_) +* fix(tier4_perception_rviz_plugin): relocate tier4_perception_rviz_plugin and rename it to tier4_dummy_object_rviz_plugin (`#8818 `_) * chore: move tier4_perception_rviz_plugin package to simulation folder * chore: reorder codeowners * rename package to tier4_dummy_perception_rviz_plugin diff --git a/simulator/vehicle_door_simulator/CHANGELOG.rst b/simulator/vehicle_door_simulator/CHANGELOG.rst index 7b17ff1b51fc1..d825a300763f4 100644 --- a/simulator/vehicle_door_simulator/CHANGELOG.rst +++ b/simulator/vehicle_door_simulator/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package vehicle_door_simulator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix: fix internal door interface qos (`#9144 `_) +* fix: fix internal door interface qos (`#9144 `_) * Contributors: Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* feat(default_ad_api): add door api (`#5737 `_) +* feat(default_ad_api): add door api (`#5737 `_) * Contributors: Takagi, Isamu diff --git a/system/autoware_component_monitor/CHANGELOG.rst b/system/autoware_component_monitor/CHANGELOG.rst index f950048d41550..30c97e6f41adc 100644 --- a/system/autoware_component_monitor/CHANGELOG.rst +++ b/system/autoware_component_monitor/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_component_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(autoware_component_monitor): add maintainers (`#8867 `_) -* fix(autoware_component_monitor): fix unusedFunction (`#8582 `_) -* feat(system): create a package to monitor component containers (`#7094 `_) +* chore(autoware_component_monitor): add maintainers (`#8867 `_) +* fix(autoware_component_monitor): fix unusedFunction (`#8582 `_) +* feat(system): create a package to monitor component containers (`#7094 `_) * Contributors: Hayate TOBA, Mehmet Emin BAŞOĞLU, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/system/autoware_default_adapi/CHANGELOG.rst b/system/autoware_default_adapi/CHANGELOG.rst index 4f463ff2ecea3..295b95531177f 100644 --- a/system/autoware_default_adapi/CHANGELOG.rst +++ b/system/autoware_default_adapi/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_default_adapi 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) -* fix(default_ad_api): fix unusedFunction (`#8581 `_) +* refactor(component_interface_specs): prefix package and namespace with autoware (`#9094 `_) +* fix(default_ad_api): fix unusedFunction (`#8581 `_) * fix: unusedFunction * Revert "fix: unusedFunction" This reverts commit c70a36d4d29668f02dae9416f202ccd05abee552. * fix: unusedFunction --------- Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) +* chore(autoware_default_adapi)!: prefix autoware to package name (`#8533 `_) * Contributors: Esteve Fernandez, Hayate TOBA, Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/system/autoware_processing_time_checker/CHANGELOG.rst b/system/autoware_processing_time_checker/CHANGELOG.rst index fb41b530fd4ca..672a5db25e31c 100644 --- a/system/autoware_processing_time_checker/CHANGELOG.rst +++ b/system/autoware_processing_time_checker/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package autoware_processing_time_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) +* feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (`#9065 `_) * feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub * fix: pre-commit * feat(costmap_generator): fix: No output when not Active. * fix: clang-format * Re: fix: clang-format --------- -* feat(processing_time_checker): add a new package (`#7957 `_) +* feat(processing_time_checker): add a new package (`#7957 `_) * feat(processing_time_checker): add a new package * fix * fix diff --git a/system/bluetooth_monitor/CHANGELOG.rst b/system/bluetooth_monitor/CHANGELOG.rst index 7c87ae598d638..ca70113c03740 100644 --- a/system/bluetooth_monitor/CHANGELOG.rst +++ b/system/bluetooth_monitor/CHANGELOG.rst @@ -5,18 +5,18 @@ Changelog for package bluetooth_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(docs): fix file name for bluetooth monitor schema (`#8308 `_) +* fix(docs): fix file name for bluetooth monitor schema (`#8308 `_) * fix file name for schema * the variable name should be addresses instead --------- -* fix(bluetooth_monitor): fix unreadVariable (`#8371 `_) +* fix(bluetooth_monitor): fix unreadVariable (`#8371 `_) fix:unreadVariable -* fix(bluetooth_monitor): apply cppcheck-suppress for cstyleCast (`#7869 `_) +* fix(bluetooth_monitor): apply cppcheck-suppress for cstyleCast (`#7869 `_) * Contributors: Koichi98, Yutaka Kondo, Yuxuan Liu, kobayu858 0.26.0 (2024-04-03) ------------------- -* refactor(bluetooth_monitor): rework parameters (`#5239 `_) +* refactor(bluetooth_monitor): rework parameters (`#5239 `_) * refactor(bluetooth_monitor): rework parameters * style(pre-commit): autofix * doc(bluetooth_monitor): fix default for integer parameters @@ -25,7 +25,7 @@ Changelog for package bluetooth_monitor * doc(bluetooth_monitor): fix parameter description --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -33,24 +33,24 @@ Changelog for package bluetooth_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build(bluetooth_monitor): add build dependency (`#2738 `_) -* ci(pre-commit): format SVG files (`#2172 `_) +* build(bluetooth_monitor): add build dependency (`#2738 `_) +* ci(pre-commit): format SVG files (`#2172 `_) * ci(pre-commit): format SVG files * ci(pre-commit): autofix * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(bluetooth_monitor): run bluetooth monitor with new parameter (`#1111 `_) +* feat(bluetooth_monitor): run bluetooth monitor with new parameter (`#1111 `_) * feat(bluetooth_monitor): run bluetooth monitor with new parameter * ci(pre-commit): autofix * Fixed a build error in humble Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(bluetooth_monitor): add functionality to monitor Bluetooth connection (`#862 `_) +* feat(bluetooth_monitor): add functionality to monitor Bluetooth connection (`#862 `_) * feat(bluetooth_monitor): add functionality to monitor Bluetooth connection * ci(pre-commit): autofix * Fixed a typo diff --git a/system/component_state_monitor/CHANGELOG.rst b/system/component_state_monitor/CHANGELOG.rst index 5b35d6e4e0ea0..751b67a25a6e4 100644 --- a/system/component_state_monitor/CHANGELOG.rst +++ b/system/component_state_monitor/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package component_state_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* fix(componet_state_monitor): remove ndt node alive monitoring (`#6957 `_) +* fix(componet_state_monitor): remove ndt node alive monitoring (`#6957 `_) remove ndt node alive monitoring -* chore(component_state_monitor): relax pose_estimator_pose timeout (`#6916 `_) +* chore(component_state_monitor): relax pose_estimator_pose timeout (`#6916 `_) * Contributors: Ryohsuke Mitsudome, Shumpei Wakabayashi, Yamato Ando, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* fix(component_state_monitor): change pose_estimator_pose rate (`#6563 `_) -* chore: update api package maintainers (`#6086 `_) +* fix(component_state_monitor): change pose_estimator_pose rate (`#6563 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* feat(component_state_monitor): monitor traffic light recognition output (`#5778 `_) -* feat(component_state_monitor): monitor pose_estimator output (`#5617 `_) -* docs: add readme for interface packages (`#4235 `_) +* feat(component_state_monitor): monitor traffic light recognition output (`#5778 `_) +* feat(component_state_monitor): monitor pose_estimator output (`#5617 `_) +* docs: add readme for interface packages (`#4235 `_) add readme for interface packages -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -35,15 +35,15 @@ Changelog for package component_state_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) +* feat(pose_initializer): enable pose initialization while running (only for sim) (`#3038 `_) * feat(pose_initializer): enable pose initialization while running (only for sim) * both logsim and psim params * only one pose_initializer_param_path arg * use two param files for pose_initializer --------- -* fix(component_state_monitor): add dependency on topic_state_monitor (`#3030 `_) -* fix(component_state_monitor): fix lanelet route package (`#2552 `_) -* feat!: replace HADMap with Lanelet (`#2356 `_) +* fix(component_state_monitor): add dependency on topic_state_monitor (`#3030 `_) +* fix(component_state_monitor): fix lanelet route package (`#2552 `_) +* feat!: replace HADMap with Lanelet (`#2356 `_) * feat!: replace HADMap with Lanelet * update topic.yaml * Update perception/traffic_light_map_based_detector/README.md @@ -56,8 +56,8 @@ Changelog for package component_state_monitor Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * format readme Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* chore: add api maintainers (`#2361 `_) -* feat(component_state_monitor): add component state monitor (`#2120 `_) +* chore: add api maintainers (`#2361 `_) +* feat(component_state_monitor): add component state monitor (`#2120 `_) * feat(component_state_monitor): add component state monitor * feat: change module * Contributors: Kenji Miyake, Kosuke Takeuchi, Takagi, Isamu, Tomohito ANDO, Vincent Richard, Yamato Ando, kminoda diff --git a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst index 013ce592350b1..4c4f7943578bb 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst +++ b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package ad_api_adaptors 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(ad_api_adaptors): rework parameter (`#8796 `_) +* refactor(ad_api_adaptors): rework parameter (`#8796 `_) * refactor(ad_api_adaptors): rework parameter * * ad_api_adaptors.schema.json @@ -13,19 +13,19 @@ Changelog for package ad_api_adaptors * refactor(ad_api_adaptors): rework parameter --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(map_height_fitter)!: prefix package and namespace with autoware (`#8421 `_) +* refactor(map_height_fitter)!: prefix package and namespace with autoware (`#8421 `_) * add autoware\_ prefix * style(pre-commit): autofix * remove duplicated dependency --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: SakodaShintaro -* feat(ad_api_adaptors): componentize nodes (`#7022 `_) +* feat(ad_api_adaptors): componentize nodes (`#7022 `_) * Contributors: Masaki Baba, Prakash Kannaiah, Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* feat(map_height_fitter): fitting by vector_map (`#6340 `_) +* feat(map_height_fitter): fitting by vector_map (`#6340 `_) * Added fit_target * Fixed group * Fixed to run @@ -49,22 +49,22 @@ Changelog for package ad_api_adaptors --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* chore(default_ad_api_helpers): update readme topic (`#5258 `_) +* chore(default_ad_api_helpers): update readme topic (`#5258 `_) * chore(default_ad_api_helpers): update readme topic * style(pre-commit): autofix * update readme --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(map_height_fitter): add service node (`#4128 `_) +* feat(map_height_fitter): add service node (`#4128 `_) * add map height fitter node * fix response success --------- -* docs(ad_api_adaptors): fix readme to remove unused service (`#4117 `_) -* build: mark autoware_cmake as (`#3616 `_) +* docs(ad_api_adaptors): fix readme to remove unused service (`#4117 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -72,16 +72,16 @@ Changelog for package ad_api_adaptors --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* feat(default_ad_api): add route change api (`#3197 `_) +* feat(default_ad_api): add route change api (`#3197 `_) * feat: add route change api * fix: reroute --------- -* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) +* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) * chore(default_ad_api): add yukkysaito to maintainer * add mitsudome-r instead of kenji-miyake --------- -* feat(default_ad_api_helpers): support goal modification for rviz (`#3370 `_) -* feat(map_height_fitter): change map height fitter to library (`#2724 `_) +* feat(default_ad_api_helpers): support goal modification for rviz (`#3370 `_) +* feat(map_height_fitter): change map height fitter to library (`#2724 `_) * feat: move map height fitter * feat: remove map height fitter dependency * apply to initial pose adaptor @@ -94,12 +94,12 @@ Changelog for package ad_api_adaptors This reverts commit 71250342305aad6ac3710625ab2ea1dfd3eca11a. * feat: add map fit log --------- -* chore: add api maintainers (`#2361 `_) -* fix(ad_api_adaptors): fix to merge waypoint (`#2215 `_) +* chore: add api maintainers (`#2361 `_) +* fix(ad_api_adaptors): fix to merge waypoint (`#2215 `_) * fix(ad_api_adaptors): fix to merge waypoint * fix(ad_api_adaptors): update comments and variable name -* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) -* feat(default_ad_api): add localization api (`#1431 `_) +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* feat(default_ad_api): add localization api (`#1431 `_) * feat(default_ad_api): add localization api * docs: add readme * feat: add auto initial pose @@ -119,7 +119,7 @@ Changelog for package ad_api_adaptors * fix: remove needless keyword * feat: change api helper node namespace * fix: fix launch file path -* feat(default_ad_api): add routing api (`#1494 `_) +* feat(default_ad_api): add routing api (`#1494 `_) * feat(default_ad_api): add routing api * fix: build error * docs: add readme diff --git a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst index b12567c03499a..bea6efd9c2fe3 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst +++ b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst @@ -9,17 +9,17 @@ Changelog for package ad_api_visualizers 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* refactor(start_planner): rename pull out to start planner (`#3908 `_) -* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) -* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) +* refactor(start_planner): rename pull out to start planner (`#3908 `_) +* refactor(behavior_path_planner): rename pull_over to goal_planner (`#3501 `_) +* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) * chore(default_ad_api): add yukkysaito to maintainer * add mitsudome-r instead of kenji-miyake --------- -* feat(default_ad_api): add planning api (`#2481 `_) +* feat(default_ad_api): add planning api (`#2481 `_) * feat(default_ad_api): add planning api * feat: complement velocity factor * feat: add stop check diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst index 9215b1d4be07e..1e08d0eff6194 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst +++ b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst @@ -5,18 +5,18 @@ Changelog for package automatic_pose_initializer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(automatic_pose_initializer): fix plugin name (`#7035 `_) +* fix(automatic_pose_initializer): fix plugin name (`#7035 `_) Fixed automatic_pose_initializer plugin name -* feat(automatic_pose_initializer): componentize node (`#7021 `_) +* feat(automatic_pose_initializer): componentize node (`#7021 `_) * Contributors: SakodaShintaro, Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore: update api package maintainers (`#6086 `_) +* chore: update api package maintainers (`#6086 `_) * update api maintainers * fix --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -24,14 +24,14 @@ Changelog for package automatic_pose_initializer --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) +* chore(default_ad_api): add yukkysaito and mitsudome-r to maintainer (`#3440 `_) * chore(default_ad_api): add yukkysaito to maintainer * add mitsudome-r instead of kenji-miyake --------- -* chore: add api maintainers (`#2361 `_) -* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) -* fix(automatic_pose_initializer): fix starvation (`#1756 `_) -* feat(default_ad_api): add localization api (`#1431 `_) +* chore: add api maintainers (`#2361 `_) +* feat(autoware_ad_api_msgs): replace adapi message (`#1897 `_) +* fix(automatic_pose_initializer): fix starvation (`#1756 `_) +* feat(default_ad_api): add localization api (`#1431 `_) * feat(default_ad_api): add localization api * docs: add readme * feat: add auto initial pose diff --git a/system/diagnostic_graph_aggregator/CHANGELOG.rst b/system/diagnostic_graph_aggregator/CHANGELOG.rst index ff6880b9a07b6..2398f0bb7f37f 100644 --- a/system/diagnostic_graph_aggregator/CHANGELOG.rst +++ b/system/diagnostic_graph_aggregator/CHANGELOG.rst @@ -5,57 +5,57 @@ Changelog for package diagnostic_graph_aggregator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(diagnostic_graph_aggregator): fix unusedFunction (`#8580 `_) +* fix(diagnostic_graph_aggregator): fix unusedFunction (`#8580 `_) fix: unusedFunction Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* fix(diagnostic_graph_aggregator): fix noConstructor (`#8508 `_) +* fix(diagnostic_graph_aggregator): fix noConstructor (`#8508 `_) fix:noConstructor -* fix(diagnostic_graph_aggregator): fix cppcheck warning of functionStatic (`#8266 `_) +* fix(diagnostic_graph_aggregator): fix cppcheck warning of functionStatic (`#8266 `_) * fix: deal with functionStatic warning * suppress warning by comment --------- -* fix(diagnostic_graph_aggregator): fix uninitMemberVar (`#8313 `_) +* fix(diagnostic_graph_aggregator): fix uninitMemberVar (`#8313 `_) * fix:funinitMemberVar * fix:funinitMemberVar * fix:uninitMemberVar * fix:clang format --------- -* fix(diagnostic_graph_aggregator): fix functionConst (`#8279 `_) +* fix(diagnostic_graph_aggregator): fix functionConst (`#8279 `_) * fix:functionConst * fix:functionConst * fix:clang format --------- -* fix(diagnostic_graph_aggregator): fix constParameterReference (`#8054 `_) +* fix(diagnostic_graph_aggregator): fix constParameterReference (`#8054 `_) fix:constParameterReference -* fix(diagnostic_graph_aggregator): fix constVariableReference (`#8062 `_) +* fix(diagnostic_graph_aggregator): fix constVariableReference (`#8062 `_) * fix:constVariableReference * fix:constVariableReference * fix:constVariableReference * fix:constVariableReference --------- -* fix(diagnostic_graph_aggregator): fix shadowFunction (`#7838 `_) +* fix(diagnostic_graph_aggregator): fix shadowFunction (`#7838 `_) * fix(diagnostic_graph_aggregator): fix shadowFunction * feat: modify variable name --------- Co-authored-by: Takagi, Isamu -* fix(diagnostic_graph_aggregator): fix uselessOverride warning (`#7768 `_) +* fix(diagnostic_graph_aggregator): fix uselessOverride warning (`#7768 `_) * fix(diagnostic_graph_aggregator): fix uselessOverride warning * restore and suppress inline * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(diagnostic_graph_aggregator): fix shadowArgument warning in create_unit_config (`#7664 `_) -* feat(diagnostic_graph_aggregator): componentize node (`#7025 `_) -* fix(diagnostic_graph_aggregator): fix a bug where unit links were incorrectly updated (`#6932 `_) +* fix(diagnostic_graph_aggregator): fix shadowArgument warning in create_unit_config (`#7664 `_) +* feat(diagnostic_graph_aggregator): componentize node (`#7025 `_) +* fix(diagnostic_graph_aggregator): fix a bug where unit links were incorrectly updated (`#6932 `_) fix(diagnostic_graph_aggregator): fix unit link filter -* feat: remake diagnostic graph packages (`#6715 `_) +* feat: remake diagnostic graph packages (`#6715 `_) * Contributors: Hayate TOBA, Koichi98, Ryuta Kambe, Takagi, Isamu, Yutaka Kondo, kobayu858, taisa1 0.26.0 (2024-04-03) ------------------- -* feat(diagnostic_graph_aggregator): update tools (`#6614 `_) -* docs(diagnostic_graph_aggregator): update documents (`#6613 `_) -* feat(diagnostic_graph_aggregator): add dump tool (`#6427 `_) -* feat(diagnostic_graph_aggregator): change default publish rate (`#5872 `_) -* feat(diagnostic_graph_aggregator): rename system_diagnostic_graph package (`#5827 `_) +* feat(diagnostic_graph_aggregator): update tools (`#6614 `_) +* docs(diagnostic_graph_aggregator): update documents (`#6613 `_) +* feat(diagnostic_graph_aggregator): add dump tool (`#6427 `_) +* feat(diagnostic_graph_aggregator): change default publish rate (`#5872 `_) +* feat(diagnostic_graph_aggregator): rename system_diagnostic_graph package (`#5827 `_) * Contributors: Takagi, Isamu diff --git a/system/diagnostic_graph_utils/CHANGELOG.rst b/system/diagnostic_graph_utils/CHANGELOG.rst index 51673855a00f3..8d1a7606444d3 100644 --- a/system/diagnostic_graph_utils/CHANGELOG.rst +++ b/system/diagnostic_graph_utils/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package diagnostic_graph_utils 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(static_centerline_generator): organize AUTO/GUI/VMB modes (`#7432 `_) -* feat(diagnostic_graph_utils): componentize node (`#7189 `_) -* feat(default_ad_api): add diagnostics api (`#7052 `_) -* feat: remake diagnostic graph packages (`#6715 `_) +* feat(static_centerline_generator): organize AUTO/GUI/VMB modes (`#7432 `_) +* feat(diagnostic_graph_utils): componentize node (`#7189 `_) +* feat(default_ad_api): add diagnostics api (`#7052 `_) +* feat: remake diagnostic graph packages (`#6715 `_) * Contributors: Takagi, Isamu, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) diff --git a/system/dummy_diag_publisher/CHANGELOG.rst b/system/dummy_diag_publisher/CHANGELOG.rst index 0aff998ade0f0..1fef1964efc56 100644 --- a/system/dummy_diag_publisher/CHANGELOG.rst +++ b/system/dummy_diag_publisher/CHANGELOG.rst @@ -5,25 +5,25 @@ Changelog for package dummy_diag_publisher 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(dummy_diag_publisher): componentize node (`#7190 `_) +* feat(dummy_diag_publisher): componentize node (`#7190 `_) * Contributors: Kosuke Takeuchi, Takagi, Isamu, Takayuki Murooka, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore: update maintainer (`#5730 `_) +* chore: update maintainer (`#5730 `_) update maintainer -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -31,13 +31,13 @@ Changelog for package dummy_diag_publisher --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(dummy diag publisher): change diag name specification method to YAML (`#2840 `_) +* feat(dummy diag publisher): change diag name specification method to YAML (`#2840 `_) * Signed-off-by: asana17 modified dummy_diag_publisher to use YAML for param * Signed-off-by: asana17 @@ -48,24 +48,24 @@ Changelog for package dummy_diag_publisher * add pkg maintainer * launch dummy_diag_publisher by launch_dummy_diag_publisher param --------- -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* fix(dummy_diag_publisher): modify build error in rolling (`#760 `_) -* feat(dummy_diag_publisher): use as a component (`#652 `_) +* fix(dummy_diag_publisher): modify build error in rolling (`#760 `_) +* feat(dummy_diag_publisher): use as a component (`#652 `_) * feat(dummy_diag_publisher): use as components * fix: add explicit * fix: fix node name -* fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(dummy_diag_publisher): update README and launch file (`#536 `_) +* chore(dummy_diag_publisher): update README and launch file (`#536 `_) * chore: update README * feat: add param in launch * chore: Update system/dummy_diag_publisher/README.md @@ -74,12 +74,12 @@ Changelog for package dummy_diag_publisher * ci(pre-commit): autofix Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(dummy_diag_publisher): add exec_depend (`#523 `_) +* chore(dummy_diag_publisher): add exec_depend (`#523 `_) * chore(dummy_diag_publisher): add exec_depend * Update system/dummy_diag_publisher/package.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* chore: replace legacy timer (`#329 `_) +* chore: replace legacy timer (`#329 `_) * chore(goal_distance_calculator): replace legacy timer * chore(path_distance_calculator): replace legacy timer * chore(control_performance_analysis): replace legacy timer @@ -114,7 +114,7 @@ Changelog for package dummy_diag_publisher * chore(external_cmd_converter): replace legacy timer * chore(pacmod_interface): replace legacy timer * chore(lint): apply pre-commit -* feat: rename existing packages name starting with autoware to different names (`#180 `_) +* feat: rename existing packages name starting with autoware to different names (`#180 `_) * autoware_api_utils -> tier4_api_utils * autoware_debug_tools -> tier4_debug_tools * autoware_error_monitor -> system_error_monitor @@ -131,14 +131,14 @@ Changelog for package dummy_diag_publisher * fix ad_service_state_monitor * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add dummy_diag_publisher package (`#18 `_) +* feat: add dummy_diag_publisher package (`#18 `_) * release v0.4.0 * remove ROS1 packages temporarily * Revert "remove ROS1 packages temporarily" This reverts commit 6ab6bcca1dea5065fcb06aeec107538dad1f62af. * add COLCON_IGNORE to ros1 packages - * Rename launch files to launch.xml (`#28 `_) - * ROS2 Porting: dummy_diag_publisher (`#69 `_) + * Rename launch files to launch.xml (`#28 `_) + * ROS2 Porting: dummy_diag_publisher (`#69 `_) * Fix CMake, package.xml and remove COLCON_IGNORE * First pass - Remove ROS references: dynamic_configuration @@ -163,39 +163,39 @@ Changelog for package dummy_diag_publisher * Address PR comment: - Remove headers specification Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> - * Rename h files to hpp (`#142 `_) + * Rename h files to hpp (`#142 `_) * Change includes * Rename files * Adjustments to make things compile * Other packages - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * Add linters (`#208 `_) - * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Add linters (`#208 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) * Rename ROS-related .yaml to .param.yaml * Remove prefix 'default\_' of yaml files * Rename vehicle_info.yaml to vehicle_info.param.yaml * Rename diagnostic_aggregator's param files * Fix overlooked parameters - * add use_sim-time option (`#454 `_) - * Fix for rolling (`#1226 `_) + * add use_sim-time option (`#454 `_) + * Fix for rolling (`#1226 `_) * Replace doc by description * Replace ns by push-ros-namespace - * Remove use_sim_time for set_parameter (`#1260 `_) - * Cleanup dummy_diag_publisher (`#1392 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Cleanup dummy_diag_publisher (`#1392 `_) * Cleanup dummy_diag_publisher * Fix typo * Make double and write comment * Set hardware_id from diag_name * Add const to daig_name and hardware_id Co-authored-by: kosuke55 - * suppress warnings for declare parameters (`#1724 `_) + * suppress warnings for declare parameters (`#1724 `_) * fix for lanelet2_extension * fix for traffic light ssd fine detector * fix for topic_state_monitor @@ -214,15 +214,15 @@ Changelog for package dummy_diag_publisher * add Werror * add Werror * fix style - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * Fix typo `obstacle_crush` to `obstacle_crash` (`#2031 `_) - * add sort-package-xml hook in pre-commit (`#1881 `_) + * Fix typo `obstacle_crush` to `obstacle_crash` (`#2031 `_) + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -236,10 +236,10 @@ Changelog for package dummy_diag_publisher * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Refactor dummy_diag_publisher (`#2151 `_) + * Refactor dummy_diag_publisher (`#2151 `_) * Refactor dummy_diag_publisher * fix depend order - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -251,9 +251,9 @@ Changelog for package dummy_diag_publisher * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove COLCON_IGNORE in dummy_diag_publisher (`#528 `_) - * add README in dummy diag publisher (`#627 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in dummy_diag_publisher (`#528 `_) + * add README in dummy diag publisher (`#627 `_) Co-authored-by: mitsudome-r Co-authored-by: Nikolai Morin Co-authored-by: Jilada Eccleston diff --git a/system/dummy_infrastructure/CHANGELOG.rst b/system/dummy_infrastructure/CHANGELOG.rst index b6ec51ae7d5c9..25c3bf5d0f6a3 100644 --- a/system/dummy_infrastructure/CHANGELOG.rst +++ b/system/dummy_infrastructure/CHANGELOG.rst @@ -5,14 +5,14 @@ Changelog for package dummy_infrastructure 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(dummy_infrastructure): rework parameters (`#5275 `_) +* refactor(dummy_infrastructure): rework parameters (`#5275 `_) * Contributors: Yuntianyi Chen, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore: update maintainer (`#4140 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -20,24 +20,24 @@ Changelog for package dummy_infrastructure --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* build(dummy_infrastructure): add build dependency (`#2739 `_) -* feat(dummy_infrastructure): change to multiple virtual signal state outputs (`#1717 `_) +* build(dummy_infrastructure): add build dependency (`#2739 `_) +* feat(dummy_infrastructure): change to multiple virtual signal state outputs (`#1717 `_) * Added parameter to dummy_infrastructure.param.yaml * Modified dummy infrastructure * Modified dummy infrastructure for multiple commands * update dummy_infrastructure -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* ci: check include guard (`#438 `_) +* ci: check include guard (`#438 `_) * ci: check include guard * apply pre-commit * Update .pre-commit-config.yaml @@ -45,7 +45,7 @@ Changelog for package dummy_infrastructure * fix: pre-commit Co-authored-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> -* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) +* feat: change pachage name: autoware_msgs -> tier4_msgs (`#150 `_) * change pkg name: autoware\_*_msgs -> tier\_*_msgs * ci(pre-commit): autofix * autoware_external_api_msgs -> tier4_external_api_msgs @@ -53,9 +53,9 @@ Changelog for package dummy_infrastructure * fix description Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> -* feat: add dummy_infrastructure package (`#19 `_) - * Feature/add virtual traffic light planner (`#1588 `_) - * Change formatter to clang-format and black (`#2332 `_) +* feat: add dummy_infrastructure package (`#19 `_) + * Feature/add virtual traffic light planner (`#1588 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -67,9 +67,9 @@ Changelog for package dummy_infrastructure * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * delete COLCON_IGNORE (`#540 `_) - * add readme [dummy infrastructure] (`#693 `_) + * Add COLCON_IGNORE (`#500 `_) + * delete COLCON_IGNORE (`#540 `_) + * add readme [dummy infrastructure] (`#693 `_) * add readme dummy infra * fix lint * update readme diff --git a/system/duplicated_node_checker/CHANGELOG.rst b/system/duplicated_node_checker/CHANGELOG.rst index 410026b29f94d..406406b49daeb 100644 --- a/system/duplicated_node_checker/CHANGELOG.rst +++ b/system/duplicated_node_checker/CHANGELOG.rst @@ -5,10 +5,10 @@ Changelog for package duplicated_node_checker 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(duplicated_node_checker): fix unusedFunction (`#8579 `_) +* fix(duplicated_node_checker): fix unusedFunction (`#8579 `_) fix: unusedFunction Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> -* feat(duplicated_node_checker): add duplicate nodes to ignore (`#7959 `_) +* feat(duplicated_node_checker): add duplicate nodes to ignore (`#7959 `_) * feat: add duplicate nodes to ignore * remove talker * newline @@ -21,12 +21,12 @@ Changelog for package duplicated_node_checker 0.26.0 (2024-04-03) ------------------- -* chore(duplicate_node_checker): print duplication name (`#6488 `_) -* feat(duplicated_node_checker): add duplicated node names to msg (`#5382 `_) +* chore(duplicate_node_checker): print duplication name (`#6488 `_) +* feat(duplicated_node_checker): add duplicated node names to msg (`#5382 `_) * add duplicated node names to msg * align with launcher repository --------- -* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) +* feat(duplicated_node_checker): add packages to check duplication of node names in ros2 (`#5286 `_) * add implementation for duplicated node checking * update the default parameters of system_error_monitor to include results from duplication check * style(pre-commit): autofix diff --git a/system/hazard_status_converter/CHANGELOG.rst b/system/hazard_status_converter/CHANGELOG.rst index 151dba1f7d688..c0f54a85f3b27 100644 --- a/system/hazard_status_converter/CHANGELOG.rst +++ b/system/hazard_status_converter/CHANGELOG.rst @@ -5,12 +5,12 @@ Changelog for package hazard_status_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat: remake diagnostic graph packages (`#6715 `_) -* fix(hazard_status_converter): check current operation mode (`#6733 `_) +* feat: remake diagnostic graph packages (`#6715 `_) +* fix(hazard_status_converter): check current operation mode (`#6733 `_) * fix: hazard status converter * fix: topic name and modes * fix check target mode @@ -22,6 +22,6 @@ Changelog for package hazard_status_converter 0.26.0 (2024-04-03) ------------------- -* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) -* feat(hazard_status_converter): add package (`#6428 `_) +* feat(tier4_system_launch): add option to launch mrm handler (`#6660 `_) +* feat(hazard_status_converter): add package (`#6428 `_) * Contributors: Takagi, Isamu diff --git a/system/mrm_comfortable_stop_operator/CHANGELOG.rst b/system/mrm_comfortable_stop_operator/CHANGELOG.rst index bfb6602f7a622..1da165fc4b710 100644 --- a/system/mrm_comfortable_stop_operator/CHANGELOG.rst +++ b/system/mrm_comfortable_stop_operator/CHANGELOG.rst @@ -5,20 +5,20 @@ Changelog for package mrm_comfortable_stop_operator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(mrm_comfortable_stop_operator): remove unused main file (`#7191 `_) +* chore(mrm_comfortable_stop_operator): remove unused main file (`#7191 `_) * Contributors: Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) +* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) chore(mrm_emergency_stop_operator): add a maintainer for mrm operator packages -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -26,19 +26,19 @@ Changelog for package mrm_comfortable_stop_operator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) +* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) * fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators * ci(pre-commit): autofix * fix(mrm_emergency_stop_operator): remove os import * fix(mrm_emergency_stop_operator): remove unused packages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) * feat(emergency_handler): add mrm command and status publishers * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg * feat(emergency_handler): add mrm clients and subscribers diff --git a/system/mrm_emergency_stop_operator/CHANGELOG.rst b/system/mrm_emergency_stop_operator/CHANGELOG.rst index 83df65ec5d921..e8a4611e43299 100644 --- a/system/mrm_emergency_stop_operator/CHANGELOG.rst +++ b/system/mrm_emergency_stop_operator/CHANGELOG.rst @@ -5,29 +5,29 @@ Changelog for package mrm_emergency_stop_operator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat(mrm_emergency_stop_operator): add support for real time param reconfigure for mrm_emergency_stop (`#6994 `_) +* feat(mrm_emergency_stop_operator): add support for real time param reconfigure for mrm_emergency_stop (`#6994 `_) add support for real time param reconfigure for mrm_emergency_stop * Contributors: Kosuke Takeuchi, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, danielsanchezaran 0.26.0 (2024-04-03) ------------------- -* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) +* chore(mrm_emergency_stop_operator): add a maintainer for mrm operator… (`#3489 `_) chore(mrm_emergency_stop_operator): add a maintainer for mrm operator packages -* docs(mrm_emergency_stop_operator): fix file name (`#4226 `_) -* style: fix typos (`#3617 `_) +* docs(mrm_emergency_stop_operator): fix file name (`#4226 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -35,13 +35,13 @@ Changelog for package mrm_emergency_stop_operator --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) +* fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators (`#2378 `_) * fix(mrm_emergency_stop_operator): fix parameter loading in mrm operators * ci(pre-commit): autofix * fix(mrm_emergency_stop_operator): remove os import * fix(mrm_emergency_stop_operator): remove unused packages Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) +* feat(emergency_handler): add a selector for multiple MRM behaviors (`#2070 `_) * feat(emergency_handler): add mrm command and status publishers * feat(autoware_ad_api_msgs): define mrm operation srv and mrm status msg * feat(emergency_handler): add mrm clients and subscribers diff --git a/system/mrm_handler/CHANGELOG.rst b/system/mrm_handler/CHANGELOG.rst index 9b3aa1e525df7..92b7cb8a59351 100644 --- a/system/mrm_handler/CHANGELOG.rst +++ b/system/mrm_handler/CHANGELOG.rst @@ -5,33 +5,33 @@ Changelog for package mrm_handler 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(mrm_handler, emergency_handler): remove unnecessary depend (`#8099 `_) +* fix(mrm_handler, emergency_handler): remove unnecessary depend (`#8099 `_) * fix(mrm_handler): remove unnecessary depends * fix(emergency_handler): remove unnecessary depends --------- -* feat(mrm_handler): input gear command (`#8080 `_) +* feat(mrm_handler): input gear command (`#8080 `_) * feat(mrm_handler): input gear command * style(pre-commit): autofix * fix minor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(mrm_handler): add check for autonomous mode and do some refactoring (`#8067 `_) +* fix(mrm_handler): add check for autonomous mode and do some refactoring (`#8067 `_) * add check for autonomous mode and do some refactoring * add comments * fix comment --------- -* feat(mrm_handler): operate mrm only when autonomous operation mode (`#7784 `_) +* feat(mrm_handler): operate mrm only when autonomous operation mode (`#7784 `_) * feat: add isOperationModeAutonomous() function to MRM handler core The code changes add a new function `isOperationModeAutonomous()` to the MRM handler core. This function is used to check if the operation mode is set to autonomous. --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(mrm_handler): fix multiCondition warning (`#7543 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(mrm_handler): fix multiCondition warning (`#7543 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(mrm_handler): fix stop judgement (`#7362 `_) +* fix(mrm_handler): fix stop judgement (`#7362 `_) fix stop judgement Co-authored-by: Autumn60 -* feat(emergency_handler, mrm_handler): change to read topic by polling (`#7297 `_) +* feat(emergency_handler, mrm_handler): change to read topic by polling (`#7297 `_) * replace Subscription to InterProcessPollingSubscriber * sort depend packages list in package.xml * fix end of file @@ -40,29 +40,29 @@ Changelog for package mrm_handler * replace Subscription to InterProcessPollingSubscriber (mrm_handler) --------- Co-authored-by: Autumn60 -* refactor(mrm_handler): use switch for state machine (`#7277 `_) +* refactor(mrm_handler): use switch for state machine (`#7277 `_) * refactor nested if elses * delete other commits * return for consistency --------- -* fix(emergency_handler,mrm_handler): check for ego speed when determining the gear command (`#7264 `_) +* fix(emergency_handler,mrm_handler): check for ego speed when determining the gear command (`#7264 `_) * check for ego speed when determining the gear command * add gear history * update msg types --------- Co-authored-by: veqcc -* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for system modules (`#7249 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat: componentize-mrm-handler (`#7018 `_) +* feat: componentize-mrm-handler (`#7018 `_) * Contributors: Autumn60, Kosuke Takeuchi, Kyoichi Sugahara, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, TetsuKawa, Yutaka Kondo, danielsanchezaran 0.26.0 (2024-04-03) ------------------- -* fix(mrm_handler): fix bug in operation mode availability timeout (`#6513 `_) +* fix(mrm_handler): fix bug in operation mode availability timeout (`#6513 `_) * fix operation mode availability timeout -* feat: add timeouts of request services (`#6532 `_) +* feat: add timeouts of request services (`#6532 `_) * feat: add timeouts of request services * style(pre-commit): autofix * feat: replace define with enum @@ -74,11 +74,11 @@ Changelog for package mrm_handler Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Ryuta Kambe -* refactor(mrm_handler): delete control_cmd publish function (`#6514 `_) +* refactor(mrm_handler): delete control_cmd publish function (`#6514 `_) * refactor(mrm_handler): delete control_cmd publish function -* feat(mrm_handler, emergency_handler): remove takeover (`#6522 `_) +* feat(mrm_handler, emergency_handler): remove takeover (`#6522 `_) update(mrm_handler, emergency_handler): remove takeover -* feat(mrm_handler): add mrm_handler (`#6400 `_) +* feat(mrm_handler): add mrm_handler (`#6400 `_) * feat: add mrm_handler * style(pre-commit): autofix * modify: update README diff --git a/system/system_diagnostic_monitor/CHANGELOG.rst b/system/system_diagnostic_monitor/CHANGELOG.rst index dc237f55ab53c..f25eab5c7fed4 100644 --- a/system/system_diagnostic_monitor/CHANGELOG.rst +++ b/system/system_diagnostic_monitor/CHANGELOG.rst @@ -5,24 +5,24 @@ Changelog for package system_diagnostic_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(localization_error_monitor, system diag): fix to use diagnostics_module in localization_util (`#8543 `_) +* fix(localization_error_monitor, system diag): fix to use diagnostics_module in localization_util (`#8543 `_) * fix(localization_error_monitor): fix to use diagnostics_module in localization_util * fix: update media * fix: update component name * fix: rename include file --------- -* feat(autonomous_emergency_braking): enable AEB emergency stop (`#8255 `_) +* feat(autonomous_emergency_braking): enable AEB emergency stop (`#8255 `_) enable AEB emergency stop -* fix(system_diagnostic_monitor): fix local mode config (`#7532 `_) -* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) -* feat(default_ad_api): use diagnostic graph (`#7043 `_) -* feat(system diags): rename diag of ndt scan matcher (`#6889 `_) +* fix(system_diagnostic_monitor): fix local mode config (`#7532 `_) +* feat(tier4_system_launch): modify diagnostic_graph_aggregator_graph argument (`#7133 `_) +* feat(default_ad_api): use diagnostic graph (`#7043 `_) +* feat(system diags): rename diag of ndt scan matcher (`#6889 `_) rename ndt diag -* feat: remake diagnostic graph packages (`#6715 `_) +* feat: remake diagnostic graph packages (`#6715 `_) * Contributors: RyuYamamoto, Takagi, Isamu, Yamato Ando, Yutaka Kondo, danielsanchezaran 0.26.0 (2024-04-03) ------------------- -* feat(system_diagnostic_graph): change config file format (`#5340 `_) -* feat: system diagnostic monitor (`#4722 `_) +* feat(system_diagnostic_graph): change config file format (`#5340 `_) +* feat: system diagnostic monitor (`#4722 `_) * Contributors: Takagi, Isamu diff --git a/system/system_monitor/CHANGELOG.rst b/system/system_monitor/CHANGELOG.rst index 874e58908e8be..b5c97c09e28df 100644 --- a/system/system_monitor/CHANGELOG.rst +++ b/system/system_monitor/CHANGELOG.rst @@ -6,91 +6,91 @@ Changelog for package system_monitor ------------------- * remove system_monitor/CHANGELOG.rst * unify package.xml version to 0.37.0 -* fix(system_monitor): fix variableScope (`#8448 `_) +* fix(system_monitor): fix variableScope (`#8448 `_) fix:variableScope -* fix(system_monitor): fix unusedStructMember (`#8401 `_) +* fix(system_monitor): fix unusedStructMember (`#8401 `_) * fix:unusedStructMember * fix:clang format * fix:clang format --------- -* fix(system_monitor): fix unreadVariable (`#8372 `_) +* fix(system_monitor): fix unreadVariable (`#8372 `_) fix:unreadVariable -* fix(system_monitor): fix shadowVariable (`#7981 `_) +* fix(system_monitor): fix shadowVariable (`#7981 `_) fix:shadowVariable -* fix(system_monitor): apply cppcheck-suppress for cstyleCast (`#7867 `_) +* fix(system_monitor): apply cppcheck-suppress for cstyleCast (`#7867 `_) * fix(system_monitor): apply cppcheck-suppress for cstyleCast * fix(system_monitor): apply cppcheck-suppress for cstyleCast * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* fix(net_monitor): fix cppcheck warnings (`#7573 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* fix(net_monitor): fix cppcheck warnings (`#7573 `_) * fix unusedVariable warning * fix unusedVariable warning * fix variableScope warning * fix unreadVariable warning * fix --------- -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* fix(system_monitor): fix unsignedLessThanZero warning (`#7545 `_) -* ci(pre-commit): autoupdate (`#7499 `_) +* fix(system_monitor): fix unsignedLessThanZero warning (`#7545 `_) +* ci(pre-commit): autoupdate (`#7499 `_) Co-authored-by: M. Fatih Cırıt -* fix(system_monitor): fix warning of containerOutOfBounds (`#6927 `_) +* fix(system_monitor): fix warning of containerOutOfBounds (`#6927 `_) * Contributors: Koichi98, Kosuke Takeuchi, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 0.26.0 (2024-04-03) ------------------- -* fix(system_monitor): move headers to a separate directory (`#5942 `_) +* fix(system_monitor): move headers to a separate directory (`#5942 `_) * fix(system_monitor): move headers to a separate directory * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(system_monitor): fix uninitialized diag level of process monitor (`#5753 `_) -* chore: update maintainer (`#5730 `_) +* fix(system_monitor): fix uninitialized diag level of process monitor (`#5753 `_) +* chore: update maintainer (`#5730 `_) update maintainer -* fix(system_monitor): output command line (`#5430 `_) +* fix(system_monitor): output command line (`#5430 `_) * fix(system_monitor): output command line * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* perf(system_monitor): fix program command line reading (`#5191 `_) +* perf(system_monitor): fix program command line reading (`#5191 `_) * Fix program command line reading * style(pre-commit): autofix * fix spelling commandline->command_line --------- Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(ntp_monitor): move chronyc command execution to a timer (`#4634 `_) +* fix(ntp_monitor): move chronyc command execution to a timer (`#4634 `_) * fix(ntp_monitor): move chronyc command execution to a timer * add newly added parameter timeout to config --------- Co-authored-by: Hiroki OTA -* fix(system_monitor): high-memory process are not provided in MEM order (`#4654 `_) +* fix(system_monitor): high-memory process are not provided in MEM order (`#4654 `_) * fix(process_monitor): high-memory process are not being provided in %MEM order * changed option from 'g' to 'n' --------- -* fix(system_monitor): extend command line to display (`#4553 `_) -* feat(system_monitor): add detection of ECC memory errors (`#3795 `_) +* fix(system_monitor): extend command line to display (`#4553 `_) +* feat(system_monitor): add detection of ECC memory errors (`#3795 `_) * feat(system_monitor): add detection of ECC memory errors * style(pre-commit): autofix * fix process crash when edac-utils is not installed * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(perception): remove UB reinterpret_cast (`#3383 `_) +* fix(perception): remove UB reinterpret_cast (`#3383 `_) * fix(perception): remove UB reinterpret_cast see https://github.com/autowarefoundation/autoware.universe/issues/3215 * fix(pointcloud_preprocessor): remove UB reinterpret_cast * refactor --------- -* style: fix typos (`#3617 `_) +* style: fix typos (`#3617 `_) * style: fix typos in documents * style: fix typos in package.xml * style: fix typos in launch files * style: fix typos in comments --------- -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -98,17 +98,17 @@ Changelog for package system_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build(system_monitor): added missing Boost dependencies (`#2881 `_) +* build(system_monitor): added missing Boost dependencies (`#2881 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* build(system_monitor): add build dependency (`#2740 `_) -* fix(system_monitor): change default param path (`#2560 `_) -* fix(system_monitor): prevent nethogs from monitoring all networks due to high CPU load (`#2474 `_) +* build(system_monitor): add build dependency (`#2740 `_) +* fix(system_monitor): change default param path (`#2560 `_) +* fix(system_monitor): prevent nethogs from monitoring all networks due to high CPU load (`#2474 `_) * fix(system_monitor): prevent nethogs from monitoring all networks due to high CPU load * ci(pre-commit): autofix * fix(system_monitor): fix include guards @@ -129,17 +129,17 @@ Changelog for package system_monitor * fix(net_monitor): update README * fix(net_monitor): add lock guard to protect variable Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: replace python launch with xml launch for system monitor (`#2430 `_) +* feat: replace python launch with xml launch for system monitor (`#2430 `_) * feat: replace python launch with xml launch for system monitor * ci(pre-commit): autofix * update figure Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore(system_monitor): add maintainer (`#2420 `_) -* refactor(system_monitor/hdd_monitor): rename structs and functions (`#2144 `_) +* chore(system_monitor): add maintainer (`#2420 `_) +* refactor(system_monitor/hdd_monitor): rename structs and functions (`#2144 `_) * refactor(system_monitor/hdd_monitor): rename structs and functions * fix a mistake -* chore(system_monitor): fix typos (`#2142 `_) -* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) +* chore(system_monitor): fix typos (`#2142 `_) +* feat: (system_monitor) adding a node for CMOS battery monitoring (`#1989 `_) * adding document for voltage monitor * ci(pre-commit): autofix * fixed for the issue of multithread @@ -159,36 +159,36 @@ Changelog for package system_monitor * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -199,7 +199,7 @@ Changelog for package system_monitor * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -209,50 +209,50 @@ Changelog for package system_monitor * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -273,36 +273,36 @@ Changelog for package system_monitor * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -313,7 +313,7 @@ Changelog for package system_monitor * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -323,50 +323,50 @@ Changelog for package system_monitor * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -376,11 +376,11 @@ Changelog for package system_monitor * merge main ->feature_battery_monitoring * Added voltages are provisional values. * ci(pre-commit): autofix - * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) + * feat(behavior_path_planner): add turn signal parameters (`#2086 `_) * feat(behavior_path_planner): add and change parameters * update * update - * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) + * refactor(perception_utils): refactor matching function in perception_utils (`#2045 `_) * refactor(perception_util): refactor matching function in perception_util * fix namespace * refactor @@ -388,7 +388,7 @@ Changelog for package system_monitor * fix bug * add const * refactor function name - * refactor(perception_utils): refactor object_classification (`#2042 `_) + * refactor(perception_utils): refactor object_classification (`#2042 `_) * refactor(perception_utils): refactor object_classification * fix bug * fix unittest @@ -396,14 +396,14 @@ Changelog for package system_monitor * fix unit test * remove redundant else * refactor variable name - * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) - * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) - * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) + * feat(autoware_auto_perception_rviz_plugin): add accel text visualization (`#2046 `_) + * refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func (`#2078 `_) + * refactor(osqp_interface, motion_velocity_smoother): unsolved status log (`#2076 `_) * refactor(osqp_interface, motion_velocity_smoother): unsolved status log * Update common/osqp_interface/src/osqp_interface.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) + * feat(lidar_centerpoint): eliminated the tf dependency for single frame detection (`#1925 `_) Co-authored-by: Yusuke Muramatsu * change name hardware_monitor -> voltage_monitor * copy right 2020 -> 2022 @@ -428,36 +428,36 @@ Changelog for package system_monitor * ci(pre-commit): autofix * added topics_voltage_monitor.md) * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -468,7 +468,7 @@ Changelog for package system_monitor * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -478,50 +478,50 @@ Changelog for package system_monitor * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -539,36 +539,36 @@ Changelog for package system_monitor * ci(pre-commit): autofix * ci(pre-commit): autofix * ci(pre-commit): autofix - * chore: sync files (`#629 `_) + * chore: sync files (`#629 `_) * chore: sync files * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) - * chore: sync files (`#648 `_) + * fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (`#639 `_) + * chore: sync files (`#648 `_) * chore: sync files * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. * sync codecov.yaml Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake - * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) + * fix(autoware_state_panel): fix message type for /api/autoware/get/engage (`#666 `_) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) - * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) - * docs: fix 404 error caused by typo in url (`#871 `_) + * fix(behavior_velocity): avoid insert same point on trajectory utils (`#834 `_) + * refactor(behavior_velocity_planner): simplify CMakeLists.txt (`#855 `_) + * docs: fix 404 error caused by typo in url (`#871 `_) * docs: fix 404 error caused by typo in url * docs: fix typo in url for yolov4 - * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) + * fix(image_projection_based_fusion): set imagebuffersize (`#820 `_) * fix: set imagebuffersize configured * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * chore(avoidance_module): fix spell check (`#732 `_) - * feat: isolate gtests in all packages (`#693 `_) - * docs(virtual traffic light): add documentation (`#245 `_) + * chore(avoidance_module): fix spell check (`#732 `_) + * feat: isolate gtests in all packages (`#693 `_) + * docs(virtual traffic light): add documentation (`#245 `_) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc * doc(behavior_velocity): minor fix @@ -579,7 +579,7 @@ Changelog for package system_monitor * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) + * feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (`#830 `_) * fix(surroud_obstacle_checker): use alias * feat(surround_obstacle_checker): use velocity limit * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions @@ -589,50 +589,50 @@ Changelog for package system_monitor * refactor(surround_obstacle_checker): cleanup polygon handling * refactor(surround_obstacle_checker): use marker helper * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow - * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) - * fix: update nvinfer api (`#863 `_) + * fix(surround_obstacle_checker): fix ego footprint polygon (`#877 `_) + * fix: update nvinfer api (`#863 `_) * fix(lidar_centerpoint): update nvinfer api * fix(tensorrt_yolo): update nvinfer api * fix(lidar_apollo_instance_segmentation): update nvinfer api * fix(traffic_light_classifier): update nvinfer api * fix(traffic_light_ssd_fine_detector): update nvinfer api * pre-commit run - * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) + * fix(avoidance_module): ignore object instead of creating zero shift (`#731 `_) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. * refactor: sync continue with upstream * fix: fix debug message for insufficient lateral margin - * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) - * test(autoware_testing): fix smoke_test (`#479 `_) + * fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (`#738 `_) + * test(autoware_testing): fix smoke_test (`#479 `_) * fix(autoware_testing): fix smoke_test * restore smoke_test for trajectory_follower_nodes * add support multiple parameter files * ci(pre-commit): autofix * minor fix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) + * feat(rviz_plugins): add velocity limit to autoware state panel (`#879 `_) * feat(rviz_plugins): add velocity limit to autoware state panel * chore(rviz_plugin): change ms to kmh - * feat(vehicle_info_util): add max_steer_angle (`#740 `_) + * feat(vehicle_info_util): add max_steer_angle (`#740 `_) * feat(vehicle_info_util): add max_steer_angle * applied pre-commit * Added max_steer_angle in test config Co-authored-by: Tomoya Kimura - * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) + * fix(lidar_centerpoint): fix google drive url to avoid 404 (`#889 `_) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * chore: fix typos (`#886 `_) - * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) + * chore: fix typos (`#886 `_) + * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (`#894 `_) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) + * feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (`#890 `_) * add random point sampling function to quickly calculate the 'viewer' coordinate Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * docs(obstacle_stop_planner): update documentation (`#880 `_) + * docs(obstacle_stop_planner): update documentation (`#880 `_) * ci(pre-commit): autofix * fixed conflicts * ci(pre-commit): autofix @@ -675,7 +675,7 @@ Changelog for package system_monitor Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa Co-authored-by: Yusuke Muramatsu -* feat: add HDD monitoring items to hdd_monitor (`#721 `_) +* feat: add HDD monitoring items to hdd_monitor (`#721 `_) * feat: add HDD monitoring items to hdd_monitor * fix pre-commit C long type error * fixed the monitoring method of RecoveredError @@ -686,7 +686,7 @@ Changelog for package system_monitor * fix(system_monitor): level change when not connected in HDD connection monitoring * fix(system_monitor): unmount function added in hdd_reader * fix(system_monitor): separate S.M.A.R.T. request and lazy unmount request for hdd_reader -* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) +* feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor (`#1427 `_) * feat(system_monitor): add IP packet reassembles failed monitoring to net_monitor * fix build errors caused by merge mistakes * fix(system_monitor): chang word Reasm and fix deep nesting @@ -696,63 +696,63 @@ Changelog for package system_monitor * fix(system_monitor): remove unnecessary static_cast * fix(system_monitor): typo fix Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* feat: add GPU clock monitoring to gpu_monitor (`#687 `_) -* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) +* feat: add GPU clock monitoring to gpu_monitor (`#687 `_) +* fix(system_monitor): fix parameter threshold of CPU Usage monitoring (`#1805 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* fix(system_monitor): incorrect counter increment in CPU Usage monitor (`#1783 `_) +* fix(system_monitor): incorrect counter increment in CPU Usage monitor (`#1783 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* feat: add CRC error monitoring to net_monitor (`#638 `_) +* feat: add CRC error monitoring to net_monitor (`#638 `_) * feat: add CRC error monitoring to net_monitor * add CRC error monitoring information to README.md * ci(pre-commit): autofix Co-authored-by: noriyuki.h Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* fix(system_monitor): multithreading support for boost::process (`#1714 `_) -* fix(system_monitor): move top command execution to a timer (`#948 `_) +* fix(system_monitor): multithreading support for boost::process (`#1714 `_) +* fix(system_monitor): move top command execution to a timer (`#948 `_) * fix(system_monitor): move top command execution to a timer * removed unnecessary update method * use tier4_autoware_utils::StopWatch * Ensure thread-safe -* fix(system_monitor): add some smart information to diagnostics (`#708 `_) -* fix(system_monitor): fix truncation warning in strncpy (`#872 `_) +* fix(system_monitor): add some smart information to diagnostics (`#708 `_) +* fix(system_monitor): fix truncation warning in strncpy (`#872 `_) * fix(system_monitor): fix truncation warning in strncpy * Use std::string constructor to copy char array * Fixed typo -* feat: isolate gtests in all packages (`#693 `_) -* fix(system_monitor): fix build error on tegra platform (`#869 `_) +* feat: isolate gtests in all packages (`#693 `_) +* fix(system_monitor): fix build error on tegra platform (`#869 `_) * fix(system_monitor): fix build error on tegra platform * ci(pre-commit): autofix * Update system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp Co-authored-by: Shark Liu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* chore: remove bad chars (`#845 `_) -* fix: suppress compiler warnings (`#852 `_) -* style: fix format of package.xml (`#844 `_) -* fix(system_monitor): modify build error in rolling (`#788 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* chore: remove bad chars (`#845 `_) +* fix: suppress compiler warnings (`#852 `_) +* style: fix format of package.xml (`#844 `_) +* fix(system_monitor): modify build error in rolling (`#788 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(system_monitor): add some smart information to diagnostics (`#560 `_) +* feat(system_monitor): add some smart information to diagnostics (`#560 `_) * feat(system_monitor): add some smart information to diagnostics * ci(pre-commit): autofix * modify regex for nvme device name Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(system_monitor): change method of CPU usage monitoring (`#557 `_) - * feat(lidar_detection): changing default input topic name of lidar detection nodes (`#433 `_) +* feat(system_monitor): change method of CPU usage monitoring (`#557 `_) + * feat(lidar_detection): changing default input topic name of lidar detection nodes (`#433 `_) * feat(system_monitor): change method of CPU usage monitoring Co-authored-by: Taichi Higashide -* feat(hdd_monitor): add unit to value side as well as other metrics (`#325 `_) -* feat: add cpu usage topic (`#353 `_) +* feat(hdd_monitor): add unit to value side as well as other metrics (`#325 `_) +* feat: add cpu usage topic (`#353 `_) * modified for publishing cpu_usage_api * modified for calib error output and cpu usage output * modified push_back condition @@ -768,13 +768,13 @@ Changelog for package system_monitor * modify unnecessary change for pull request * run pre-commit * modify unnecessary change - * modified along the comments on PR `#353 `_ - * modified along the comments on PR `#353 `_ + * modified along the comments on PR `#353 `_ + * modified along the comments on PR `#353 `_ * remove unnecessary process Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(system_monitor): handle parameter as mount point (`#259 `_) -* fix(system_monitor): fix build error on aarch64 (`#263 `_) -* feat: change launch package name (`#186 `_) +* feat(system_monitor): handle parameter as mount point (`#259 `_) +* fix(system_monitor): fix build error on aarch64 (`#263 `_) +* feat: change launch package name (`#186 `_) * rename launch folder * autoware_launch -> tier4_autoware_launch * integration_launch -> tier4_integration_launch @@ -792,22 +792,22 @@ Changelog for package system_monitor Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tanaka3 Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> -* chore(sync): merged autoware.iv/pull/2362 (`#761 `_) (`#134 `_) +* chore(sync): merged autoware.iv/pull/2362 (`#761 `_) (`#134 `_) Co-authored-by: h-mitsui-esol <57085544+h-mitsui-esol@users.noreply.github.com> -* feat: add autoware_system_monitor package (`#14 `_) +* feat: add autoware_system_monitor package (`#14 `_) * release v0.4.0 - * Fixed uninitialized variable. (`#763 `_) - * Fixed various bugs. (`#768 `_) + * Fixed uninitialized variable. (`#763 `_) + * Fixed various bugs. (`#768 `_) * Fixed various bugs. * Fixed wrong status report of NIC. - * Added the mode of CPU Usage to check statistics calculated as averages among all processors by default. (`#788 `_) - * fix uninitialized variables (`#816 `_) + * Added the mode of CPU Usage to check statistics calculated as averages among all processors by default. (`#788 `_) + * fix uninitialized variables (`#816 `_) * remove ROS1 packages temporarily * Revert "remove ROS1 packages temporarily" This reverts commit a9436882d50dc09fa5b8d6c0a151a10def76b242. * add COLCON_IGNORE to ros1 packages - * Rename launch files to launch.xml (`#28 `_) - * Port system monitor to ros2 (`#71 `_) + * Rename launch files to launch.xml (`#28 `_) + * Port system monitor to ros2 (`#71 `_) * Implement a utility function that spins and updates a monitor node. * Port cpu monitor * Port hdd monitor. @@ -820,89 +820,89 @@ Changelog for package system_monitor * Clean up the build and launch files: * Clean up and comment on CMake and package files. * Port the launch file to ROS2 - * Rename h files to hpp (`#142 `_) + * Rename h files to hpp (`#142 `_) * Change includes * Rename files * Adjustments to make things compile * Other packages - * Adjust copyright notice on 532 out of 699 source files (`#143 `_) - * Use quotes for includes where appropriate (`#144 `_) + * Adjust copyright notice on 532 out of 699 source files (`#143 `_) + * Use quotes for includes where appropriate (`#144 `_) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully - * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) + * Run uncrustify on the entire Pilot.Auto codebase (`#151 `_) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs - * ROS2 Linting: system_monitor (`#207 `_) + * ROS2 Linting: system_monitor (`#207 `_) * Add linters * Fix clang-tidy error in util.hpp - * Ros2 v0.8.0 system monitor (`#276 `_) + * Ros2 v0.8.0 system monitor (`#276 `_) * fix dependency of system_monitor - * Rename ROS-related .yaml to .param.yaml (`#352 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) * Rename ROS-related .yaml to .param.yaml * Remove prefix 'default\_' of yaml files * Rename vehicle_info.yaml to vehicle_info.param.yaml * Rename diagnostic_aggregator's param files * Fix overlooked parameters - * Exclude SwPowerCap as an error. (`#1146 `_) (`#364 `_) + * Exclude SwPowerCap as an error. (`#1146 `_) (`#364 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> - * [Update v0.9.0] system monitor (`#365 `_) - * Disable CPU Load Average warning. (`#1147 `_) - * Fix cpu_monitor respawning forever. (`#1150 `_) - * Disable cpu_temperature in planning simulation (`#1151 `_) - * Net Monitor: Handle as an error if specified device not exist. (`#1152 `_) + * [Update v0.9.0] system monitor (`#365 `_) + * Disable CPU Load Average warning. (`#1147 `_) + * Fix cpu_monitor respawning forever. (`#1150 `_) + * Disable cpu_temperature in planning simulation (`#1151 `_) + * Net Monitor: Handle as an error if specified device not exist. (`#1152 `_) * Handled as an error if specified device not exist. * Disable network diags in simulation Co-authored-by: Kenji Miyake * apply ament_uncrustify - * Disable resource monitoring in planning_simulator (`#1172 `_) - * Treat logging errors as safe faults (`#1164 `_) - * Fix test code of system_monitor (`#1178 `_) + * Disable resource monitoring in planning_simulator (`#1172 `_) + * Treat logging errors as safe faults (`#1164 `_) + * Fix test code of system_monitor (`#1178 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Kenji Miyake Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> - * Use thread for ntpdate. (`#1160 `_) (`#375 `_) - * Use thread for ntpdate. (`#1160 `_) + * Use thread for ntpdate. (`#1160 `_) (`#375 `_) + * Use thread for ntpdate. (`#1160 `_) * removed unused variable - * Import v0.9.1 (`#431 `_) - * add local optimal solution ocillation check to ndt_scan_matcher (`#1182 `_) - * Add obstacle_crush diagnostic (`#1186 `_) - * Fix diagnostics api (`#1185 `_) + * Import v0.9.1 (`#431 `_) + * add local optimal solution ocillation check to ndt_scan_matcher (`#1182 `_) + * Add obstacle_crush diagnostic (`#1186 `_) + * Fix diagnostics api (`#1185 `_) * Fix diagnostics api * Don't overwrite level * Overwrite level of No Fault diagnostics - * Add missing diag in autoware_error_monitor.yaml (`#1187 `_) - * Filter hazard_status (`#1191 `_) + * Add missing diag in autoware_error_monitor.yaml (`#1187 `_) + * Filter hazard_status (`#1191 `_) * Filter hazard_status * Filter leaf diagnostics - * Fix wrong calculation of available memory. (`#1168 `_) + * Fix wrong calculation of available memory. (`#1168 `_) * Fixed wrong calculation of available memory. * Added comments about output example of free -tb command. - * Change monitoring method to get HDD temperature and usage per specified device. (`#1195 `_) + * Change monitoring method to get HDD temperature and usage per specified device. (`#1195 `_) * Changed monitoring method to get temperature and usage per specified device. * Fixed test codes. * Removed unnecessary (void) parameter. - * return input pointcloud when ground plane not found (`#1190 `_) - * fix yaw-smoothing bug (`#1198 `_) + * return input pointcloud when ground plane not found (`#1190 `_) + * fix yaw-smoothing bug (`#1198 `_) * Fix lint Co-authored-by: Taichi Higashide Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: tkimura4 - * Fix typo in system module (`#434 `_) + * Fix typo in system module (`#434 `_) * Fix typo in system module * Change variable name * Move comments * Apply uncrustify - * Split system_monitor config (`#452 `_) - * Remove unnecessary diagnostic update. (`#455 `_) - * add use_sim-time option (`#454 `_) - * Sync public repo (`#1228 `_) - * [simple_planning_simulator] add readme (`#424 `_) + * Split system_monitor config (`#452 `_) + * Remove unnecessary diagnostic update. (`#455 `_) + * add use_sim-time option (`#454 `_) + * Sync public repo (`#1228 `_) + * [simple_planning_simulator] add readme (`#424 `_) * add readme of simple_planning_simulator * Update simulator/simple_planning_simulator/README.md - * set transit_margin_time to intersect. planner (`#460 `_) - * Fix pose2twist (`#462 `_) - * Ros2 vehicle info param server (`#447 `_) + * set transit_margin_time to intersect. planner (`#460 `_) + * Fix pose2twist (`#462 `_) + * Ros2 vehicle info param server (`#447 `_) * add vehicle_info_param_server * update vehicle info * apply format @@ -910,7 +910,7 @@ Changelog for package system_monitor * skip unnecessary search * delete vehicle param file * fix bug - * Ros2 fix topic name part2 (`#425 `_) + * Ros2 fix topic name part2 (`#425 `_) * Fix topic name of traffic_light_classifier * Fix topic name of traffic_light_visualization * Fix topic name of traffic_light_ssd_fine_detector @@ -920,19 +920,19 @@ Changelog for package system_monitor * Fix lint traffic_light_classifier * Fix lint traffic_light_classifier * Fix lint traffic_light_ssd_fine_detector - * Fix issues in hdd_reader (`#466 `_) + * Fix issues in hdd_reader (`#466 `_) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct - * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) - * Rviz overlay render fix (`#461 `_) + * fix: re-construct laneletMapLayer for reindex RTree (`#463 `_) + * Rviz overlay render fix (`#461 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified * acquire data in mutex * back to RTD as superclass - * Rviz overlay render in update (`#465 `_) + * Rviz overlay render in update (`#465 `_) * Moved painiting in SteeringAngle plugin to update() * super class now back to MFD * uncrustified @@ -946,7 +946,7 @@ Changelog for package system_monitor Co-authored-by: Kazuki Miyahara Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski - * Fix issues in gpu_monitor (`#1248 `_) + * Fix issues in gpu_monitor (`#1248 `_) * Fix issues in gpu_monitor * Fix uninitialized variables * Use range-based for loop @@ -954,13 +954,13 @@ Changelog for package system_monitor * Replace C-style to C++-style * Make iterators const * Fix fmt::format() usage error - * Unify Apache-2.0 license name (`#1242 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * [system_monitor] change some nodes into components (`#1234 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * [system_monitor] change some nodes into components (`#1234 `_) Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: Takeshi Miura Co-authored-by: wep21 - * add system_monitor.launch.py (`#1238 `_) + * add system_monitor.launch.py (`#1238 `_) * add system_monitor.launch.py * refactor system_monitor.launch.py * fix launch bug @@ -968,50 +968,50 @@ Changelog for package system_monitor * fix launch py * fix param loading * format code - * fix system monitor executor to publish diagnostics asynclonously (`#1283 `_) - * Fix lint errors (`#1378 `_) + * fix system monitor executor to publish diagnostics asynclonously (`#1283 `_) + * Fix lint errors (`#1378 `_) * Fix lint errors * Fix variable names - * Add kernel CPU usage. (`#1465 `_) + * Add kernel CPU usage. (`#1465 `_) * Add kernel CPU usage. * Change CPU x: usage to CPU x: total. * Changed variable name. - * Add markdownlint and prettier (`#1661 `_) + * Add markdownlint and prettier (`#1661 `_) * Add markdownlint and prettier * Ignore .param.yaml * Apply format - * suppress warnings for system monitor (`#1723 `_) + * suppress warnings for system monitor (`#1723 `_) * fix for hdd_monitor * fix no initialization and warning - * change command for ntp_monitor (`#1705 `_) + * change command for ntp_monitor (`#1705 `_) * [EVT4-403] change command for ntp_monitor * [EVT4-403] fixed CI build error * [EVT4-403] fixed cpplint error * delete executeChronyc thread, fix error topic and log output code * fix cpplint error and code style divergence * fix cpplint error(missing correction) - * Fix MD029 (`#1813 `_) - * Fix -Wunused-parameter (`#1836 `_) + * Fix MD029 (`#1813 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * add gpu usage per process (`#1798 `_) + * add gpu usage per process (`#1798 `_) * add gpu usage per process * change illegal usage(4294967295%) to 0%, and fix CI running errors * Replace gettimeofday with rclcpp::Node::now(). * Fix uncrustify error. * Replace rclcpp::Node::now() with rclcpp::Clock(RCL_SYSTEM_TIME). Co-authored-by: ito-san - * fix some typos (`#1941 `_) + * fix some typos (`#1941 `_) * fix some typos * fix typo * Fix typo Co-authored-by: Kenji Miyake - * suppress warnings for system directory `#2046 `_ - * add sort-package-xml hook in pre-commit (`#1881 `_) + * suppress warnings for system directory `#2046 `_ + * add sort-package-xml hook in pre-commit (`#1881 `_) * add sort xml hook in pre-commit * change retval to exit_status * rename @@ -1025,8 +1025,8 @@ Changelog for package system_monitor * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit - * Add execution time logging. (`#2066 `_) - * Add markdown-link-check pre-commit (`#2215 `_) + * Add execution time logging. (`#2066 `_) + * Add markdown-link-check pre-commit (`#2215 `_) * add markdown-lint-check pre-commit * delete files argument * add optional hook @@ -1041,7 +1041,7 @@ Changelog for package system_monitor * Ignore tier4 github url * Update link Co-authored-by: Kenji Miyake - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -1053,8 +1053,8 @@ Changelog for package system_monitor * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) Co-authored-by: mitsudome-r Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Kazuki Miyahara diff --git a/system/topic_state_monitor/CHANGELOG.rst b/system/topic_state_monitor/CHANGELOG.rst index f47e2edb1079c..8c636a421375c 100644 --- a/system/topic_state_monitor/CHANGELOG.rst +++ b/system/topic_state_monitor/CHANGELOG.rst @@ -5,19 +5,19 @@ Changelog for package topic_state_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* chore(topic_state_monitor): enrich error log message (`#7236 `_) +* chore(topic_state_monitor): enrich error log message (`#7236 `_) * Contributors: Takamasa Horibe, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* refactor(topic_state_monitor): add state log message (`#5378 `_) +* refactor(topic_state_monitor): add state log message (`#5378 `_) * refactor(topic_state_monitor): add state log message * add debug print --------- -* docs(topic_state_monitor): rename readme to README (`#4225 `_) -* chore: update maintainer (`#4140 `_) +* docs(topic_state_monitor): rename readme to README (`#4225 `_) +* chore: update maintainer (`#4140 `_) Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -25,27 +25,27 @@ Changelog for package topic_state_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* chore: sync files (`#3227 `_) +* chore: sync files (`#3227 `_) * chore: sync files * style(pre-commit): autofix --------- Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat(topic_state_monitor): support transform topic check (`#1586 `_) -* refactor(topic_state_monitor): move the parameter group to match implementation (`#1909 `_) -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* feat(topic_state_monitor): support transform topic check (`#1586 `_) +* refactor(topic_state_monitor): move the parameter group to match implementation (`#1909 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* chore: replace legacy timer (`#329 `_) +* chore: replace legacy timer (`#329 `_) * chore(goal_distance_calculator): replace legacy timer * chore(path_distance_calculator): replace legacy timer * chore(control_performance_analysis): replace legacy timer @@ -80,28 +80,28 @@ Changelog for package topic_state_monitor * chore(external_cmd_converter): replace legacy timer * chore(pacmod_interface): replace legacy timer * chore(lint): apply pre-commit -* feat: add topic_state_monitor package (`#15 `_) - * Ros2 v0.8.0 topic state monitor (`#283 `_) - * Add node_name_suffix to topic_state_monitor.launch (`#1157 `_) (`#370 `_) - * fix launch file (`#411 `_) - * add transient local option to topic state monitor (`#410 `_) +* feat: add topic_state_monitor package (`#15 `_) + * Ros2 v0.8.0 topic state monitor (`#283 `_) + * Add node_name_suffix to topic_state_monitor.launch (`#1157 `_) (`#370 `_) + * fix launch file (`#411 `_) + * add transient local option to topic state monitor (`#410 `_) * add transient local option to topic state monitor * sort parameters * sort parameter - * [topic_state_monitor]: Add best effort option (`#430 `_) + * [topic_state_monitor]: Add best effort option (`#430 `_) Co-authored-by: autoware - * add use_sim-time option (`#454 `_) - * Fix for rolling (`#1226 `_) + * add use_sim-time option (`#454 `_) + * Fix for rolling (`#1226 `_) * Replace doc by description * Replace ns by push-ros-namespace - * change to composable node (`#1233 `_) - * Unify Apache-2.0 license name (`#1242 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Fix lint errors (`#1378 `_) + * change to composable node (`#1233 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Fix lint errors (`#1378 `_) * Fix lint errors * Fix variable names - * Use integrated generic subscription (`#1342 `_) - * suppress warnings for declare parameters (`#1724 `_) + * Use integrated generic subscription (`#1342 `_) + * suppress warnings for declare parameters (`#1724 `_) * fix for lanelet2_extension * fix for traffic light ssd fine detector * fix for topic_state_monitor @@ -120,14 +120,14 @@ Changelog for package topic_state_monitor * add Werror * add Werror * fix style - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -139,9 +139,9 @@ Changelog for package topic_state_monitor * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) - * [topic_state_monitor]add readme (`#565 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * [topic_state_monitor]add readme (`#565 `_) * add readme * Update system/topic_state_monitor/Readme.md Co-authored-by: Kazuki Miyahara diff --git a/system/velodyne_monitor/CHANGELOG.rst b/system/velodyne_monitor/CHANGELOG.rst index c5ad4d6604ec5..ca10466633e36 100644 --- a/system/velodyne_monitor/CHANGELOG.rst +++ b/system/velodyne_monitor/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package velodyne_monitor 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(velodyne_monitor): componentize node (`#7201 `_) +* feat(velodyne_monitor): componentize node (`#7201 `_) * Contributors: Takagi, Isamu, Yutaka Kondo 0.26.0 (2024-04-03) ------------------- -* refactor(system-velodyne-monitor): rework parameters (`#5667 `_) +* refactor(system-velodyne-monitor): rework parameters (`#5667 `_) system-velodyne-monitor -* docs(velodyne_monitor): rename readme to README (`#4224 `_) -* build: mark autoware_cmake as (`#3616 `_) +* docs(velodyne_monitor): rename readme to README (`#4224 `_) +* build: mark autoware_cmake as (`#3616 `_) * build: mark autoware_cmake as with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) * style(pre-commit): autofix @@ -21,14 +21,14 @@ Changelog for package velodyne_monitor --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake -* fix(velodyne_monitor): add fmt package to dependencies (`#3069 `_) +* fix(velodyne_monitor): add fmt package to dependencies (`#3069 `_) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> -* docs(velodyne_monitor): add known limits (`#1802 `_) +* docs(velodyne_monitor): add known limits (`#1802 `_) * docs(velodyne_monitor): add known limits * Update Readme.md -* fix(velodyne_monitor): add temp_hot\_*** to 20 (`#1744 `_) +* fix(velodyne_monitor): add temp_hot\_*** to 20 (`#1744 `_) fix(velodyne_monitor): add 20 to temp_hot\_*** -* fix(velodyne monitor): fix warning and error threshold of hot temperature (`#1623 `_) +* fix(velodyne monitor): fix warning and error threshold of hot temperature (`#1623 `_) * fix(velodyne_monitor): fix warning and error threshold of hot temperature * doc: update README * doc: fix typo @@ -37,41 +37,41 @@ Changelog for package velodyne_monitor * Update Readme.md * Update Readme.md * fix: typo -* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) -* refactor: use autoware cmake (`#849 `_) +* chore: upgrade cmake_minimum_required to 3.14 (`#856 `_) +* refactor: use autoware cmake (`#849 `_) * remove autoware_auto_cmake * add build_depend of autoware_cmake * use autoware_cmake in CMakeLists.txt * fix bugs * fix cmake lint errors -* style: fix format of package.xml (`#844 `_) -* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) +* style: fix format of package.xml (`#844 `_) +* ci(pre-commit): update pre-commit-hooks-ros (`#625 `_) * ci(pre-commit): update pre-commit-hooks-ros * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* feat: add velodyne_monitor package (`#17 `_) - * Ros2 v0.8.0 velodyne monitor (`#285 `_) - * Rename ROS-related .yaml to .param.yaml (`#352 `_) +* feat: add velodyne_monitor package (`#17 `_) + * Ros2 v0.8.0 velodyne monitor (`#285 `_) + * Rename ROS-related .yaml to .param.yaml (`#352 `_) * Rename ROS-related .yaml to .param.yaml * Remove prefix 'default\_' of yaml files * Rename vehicle_info.yaml to vehicle_info.param.yaml * Rename diagnostic_aggregator's param files * Fix overlooked parameters - * add use_sim-time option (`#454 `_) - * Unify Apache-2.0 license name (`#1242 `_) - * Remove use_sim_time for set_parameter (`#1260 `_) - * Add exception handling for extract_json() (`#1779 `_) + * add use_sim-time option (`#454 `_) + * Unify Apache-2.0 license name (`#1242 `_) + * Remove use_sim_time for set_parameter (`#1260 `_) + * Add exception handling for extract_json() (`#1779 `_) * Add exception handling for extract_json() * Add diagnostics error when catching exception Co-authored-by: Takayuki AKAMINE - * Fix -Wunused-parameter (`#1836 `_) + * Fix -Wunused-parameter (`#1836 `_) * Fix -Wunused-parameter * Fix mistake * fix spell * Fix lint issues * Ignore flake8 warnings Co-authored-by: Hiroki OTA - * Fix compiler warnings (`#1837 `_) + * Fix compiler warnings (`#1837 `_) * Fix -Wunused-private-field * Fix -Wunused-variable * Fix -Wformat-security @@ -86,13 +86,13 @@ Changelog for package velodyne_monitor * Ignore -Wno-deprecated-declarations in CUDA-related packages * Fix mistake * Fix -Wunused-parameter - * Remove duplicated update (`#2072 `_) (`#2084 `_) + * Remove duplicated update (`#2072 `_) (`#2084 `_) Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> - * Fix velodyne monitor config file variable name (`#2090 `_) (`#2092 `_) + * Fix velodyne monitor config file variable name (`#2090 `_) (`#2092 `_) Co-authored-by: j4tfwm6z Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: j4tfwm6z - * Change formatter to clang-format and black (`#2332 `_) + * Change formatter to clang-format and black (`#2332 `_) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common @@ -104,9 +104,9 @@ Changelog for package velodyne_monitor * Fix include double quotes to angle brackets * Apply clang-format * Fix build errors - * Add COLCON_IGNORE (`#500 `_) - * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) - * [Velodyne monitor]add readme (`#570 `_) + * Add COLCON_IGNORE (`#500 `_) + * remove COLCON_IGNORE in system_packages and map_tf_generator (`#532 `_) + * [Velodyne monitor]add readme (`#570 `_) * add readme * change the description * Update system/velodyne_monitor/Readme.md diff --git a/tools/reaction_analyzer/CHANGELOG.rst b/tools/reaction_analyzer/CHANGELOG.rst index 720b662630fa3..81084ba8724c4 100644 --- a/tools/reaction_analyzer/CHANGELOG.rst +++ b/tools/reaction_analyzer/CHANGELOG.rst @@ -5,30 +5,30 @@ Changelog for package reaction_analyzer 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* docs(reaction_analyzer): update bag files and the README (`#8633 `_) +* docs(reaction_analyzer): update bag files and the README (`#8633 `_) * docs(reaction_analyzer): update bag files and the README -* fix(reaction_analyzer): fix include hierarchy of tf2_eigen (`#8663 `_) +* fix(reaction_analyzer): fix include hierarchy of tf2_eigen (`#8663 `_) Fixed include hierarchy of tf2_eigen -* fix(reaction_analyzer): fix variableScope (`#8450 `_) +* fix(reaction_analyzer): fix variableScope (`#8450 `_) * fix:variableScope * fix:clang format --------- -* fix(reaction_analyzer): fix constVariableReference (`#8063 `_) +* fix(reaction_analyzer): fix constVariableReference (`#8063 `_) * fix:constVariableReference * fix:constVariableReference * fix:constVariableReference * fix:suppression constVariableReference --------- -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat!: replace autoware_auto_msgs with autoware_msgs for tools (`#7250 `_) +* feat!: replace autoware_auto_msgs with autoware_msgs for tools (`#7250 `_) Co-authored-by: Cynthia Liu Co-authored-by: NorahXiong Co-authored-by: beginningfan -* feat(reaction_analyzer): add reaction anaylzer tool to measure end-to-end delay in sudden obstacle braking response (`#5954 `_) +* feat(reaction_analyzer): add reaction anaylzer tool to measure end-to-end delay in sudden obstacle braking response (`#5954 `_) * feat(reaction_analyzer): add reaction anaylzer tool to measure end-to-end delay in sudden obstacle braking response * feat: implement message_filters package, clean up * feat: update style and readme diff --git a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst index 6cc3ccca1d49a..1c025329b3417 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst +++ b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog for package autoware_accel_brake_map_calibrator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_accel_brake_map_calibrator): conditional actuation data processing based on source (`#8593 `_) +* feat(autoware_accel_brake_map_calibrator): conditional actuation data processing based on source (`#8593 `_) * fix: Conditional Actuation Data Processing Based on Source * style(pre-commit): autofix * delete extra comentout, indent @@ -13,20 +13,20 @@ Changelog for package autoware_accel_brake_map_calibrator * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(autowre_accel_brake_map_calibrator): fix for flake-ros v0.9.0 (`#8529 `_) -* fix(autoware_accel_brake_map_calibrator): fix redundantInitialization (`#8230 `_) -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) +* refactor(autowre_accel_brake_map_calibrator): fix for flake-ros v0.9.0 (`#8529 `_) +* fix(autoware_accel_brake_map_calibrator): fix redundantInitialization (`#8230 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* refactor(motion_utils)!: add autoware prefix and include dir (`#7539 `_) refactor(motion_utils): add autoware prefix and include dir -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(accel_brake_map_calibrator): replace polling takeData function with the callback function (`#7429 `_) +* feat(accel_brake_map_calibrator): replace polling takeData function with the callback function (`#7429 `_) * fix : repush to solve conflict * style(pre-commit): autofix * delete duplicated int cast --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) +* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) * add prefix to the codes change dir name update diff --git a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst index 9621a46534b05..058678773d251 100644 --- a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst @@ -5,18 +5,18 @@ Changelog for package autoware_external_cmd_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* feat(autoware_external_cmd_converter): add ext cmd converter tests (`#9118 `_) +* feat(autoware_external_cmd_converter): add ext cmd converter tests (`#9118 `_) * add ext cmd converter tests * add briefs to describe the tests * update tests and add nan and inf check --------- -* refactor(autoware_external_cmd_converter): add explanation about external control commands (`#8224 `_) +* refactor(autoware_external_cmd_converter): add explanation about external control commands (`#8224 `_) * refactor(autoware_external_cmd_converter): add explanation about external control commands * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Tomoya Kimura -* fix(autoware_external_cmd_converter): fix check_topic_state (`#7921 `_) +* fix(autoware_external_cmd_converter): fix check_topic_state (`#7921 `_) * fix(autoware_external_cmd_converter): fix check_topic_state * style(pre-commit): autofix * Update vehicle/autoware_external_cmd_converter/src/node.cpp @@ -26,10 +26,10 @@ Changelog for package autoware_external_cmd_converter Co-authored-by: shtokuda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) +* refactor(external cmd converter)!: add autoware\_ prefix (`#7361 `_) * add prefix to the code * rename * fix diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst index d13df1dd55306..483f8cbd12c60 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst @@ -5,9 +5,9 @@ Changelog for package autoware_raw_vehicle_cmd_converter 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (`#8963 `_) +* fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (`#8963 `_) swap row and column -* test(raw_vehicle_cmd_converter): add tests (`#8951 `_) +* test(raw_vehicle_cmd_converter): add tests (`#8951 `_) * remove header file according to clangd warning * add test * fix @@ -15,18 +15,18 @@ Changelog for package autoware_raw_vehicle_cmd_converter * apply clang tidy * fix test content --------- -* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) +* refactor(autoware_interpolation): prefix package and namespace with autoware (`#8088 `_) Co-authored-by: kosuke55 -* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) +* refactor(start_planner,raw_vechile_cmd_converter): align parameter with autoware_launch's parameter (`#8913 `_) * align autoware_raw_vehicle_cmd_converter's parameter * align start_planner's parameter --------- -* fix(raw_vehicle_cmd_converter): fix convert_steer_cmd_method condition (`#8813 `_) -* fix(raw_vehicle_cmd_converter): fix null check (`#8677 `_) -* chore(raw_vehicle_cmd_converter): add maintainer (`#8671 `_) -* feat(raw_vehicle_cmd_converter): set convert_actuation_to_steering_status false by default (`#8668 `_) -* feat(raw_vehicle_cmd_converter): disable actuation to steering (`#8588 `_) -* feat(raw_vehicle_cmd_converter): add steer command conversion with VGR (`#8504 `_) +* fix(raw_vehicle_cmd_converter): fix convert_steer_cmd_method condition (`#8813 `_) +* fix(raw_vehicle_cmd_converter): fix null check (`#8677 `_) +* chore(raw_vehicle_cmd_converter): add maintainer (`#8671 `_) +* feat(raw_vehicle_cmd_converter): set convert_actuation_to_steering_status false by default (`#8668 `_) +* feat(raw_vehicle_cmd_converter): disable actuation to steering (`#8588 `_) +* feat(raw_vehicle_cmd_converter): add steer command conversion with VGR (`#8504 `_) * feat(raw_vehicle_cmd_converter): add steer command conversion with VGR * make class and add test * remove member vgr_coef from node @@ -39,17 +39,17 @@ Changelog for package autoware_raw_vehicle_cmd_converter * add comment for using normal sub for steering status --------- Co-authored-by: Takamasa Horibe -* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* refactor(universe_utils/motion_utils)!: add autoware namespace (`#7594 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* feat(raw_vehicle_cmd_converter): use polling subscriber (`#7319 `_) +* feat(raw_vehicle_cmd_converter): use polling subscriber (`#7319 `_) * replace subscription * fix document * sum up functions * add maintainer --------- Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> -* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) +* refactor(accel_brake_map_calibrator)!: add autoware\_ prefix (`#7351 `_) * add prefix to the codes change dir name update @@ -60,7 +60,7 @@ Changelog for package autoware_raw_vehicle_cmd_converter * restore * poi --------- -* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) +* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#7385 `_) * add prefix * fix other packages * fix cppcheck diff --git a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst index d8120eb5ad00d..9a421dc7a35bf 100644 --- a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst +++ b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst @@ -5,15 +5,15 @@ Changelog for package autoware_steer_offset_estimator 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 -* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) +* refactor(pose2twist)!: prefix package and namespace with autoware (`#8347 `_) * add autoware\_ prefix * use target_include_directories instead --------- Co-authored-by: SakodaShintaro -* fix(steer_offset_estimator): fix link to json schema in README (`#7655 `_) -* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) +* fix(steer_offset_estimator): fix link to json schema in README (`#7655 `_) +* feat(autoware_universe_utils)!: rename from tier4_autoware_utils (`#7538 `_) Co-authored-by: kosuke55 -* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) +* refactor(vehicle_info_utils)!: prefix package and namespace with autoware (`#7353 `_) * chore(autoware_vehicle_info_utils): rename header * chore(bpp-common): vehicle info * chore(path_optimizer): vehicle info @@ -48,7 +48,7 @@ Changelog for package autoware_steer_offset_estimator * chore(sensing): vehicle info * fix(autoware_joy_controller): remove unused deps --------- -* chore(steer_offset_estimator): add prefix autoware\_ to steer_offset_estimator (`#7342 `_) +* chore(steer_offset_estimator): add prefix autoware\_ to steer_offset_estimator (`#7342 `_) * add perfix * fix directory structrue * fix include guard From a3b27234eb56c9dd9f69db756caf67c760a5ce40 Mon Sep 17 00:00:00 2001 From: Kento Osa <38522559+taisa1@users.noreply.github.com> Date: Wed, 13 Nov 2024 04:07:43 +0900 Subject: [PATCH 413/701] perf(autoware_ndt_scan_matcher): remove evecs_, evals_ of Leaf for memory efficiency (#9281) * fix(lane_change): correct computation of maximum lane changing length threshold (#9279) fix computation of maximum lane changing length threshold Signed-off-by: mohammad alqudah Signed-off-by: taisa1 * perf: remove evecs, evals from Leaf Signed-off-by: taisa1 * perf: remove evecs, evals from Leaf Signed-off-by: taisa1 --------- Signed-off-by: mohammad alqudah Signed-off-by: taisa1 Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --- .../ndt_omp/multi_voxel_grid_covariance_omp.h | 41 ++----------------- .../multi_voxel_grid_covariance_omp_impl.hpp | 5 +-- 2 files changed, 5 insertions(+), 41 deletions(-) diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h index 85f37e878bd48..0e43b0b35aecd 100644 --- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h @@ -130,19 +130,12 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid mean_(Eigen::Vector3d::Zero()), centroid_(), cov_(Eigen::Matrix3d::Identity()), - icov_(Eigen::Matrix3d::Zero()), - evecs_(Eigen::Matrix3d::Identity()), - evals_(Eigen::Vector3d::Zero()) + icov_(Eigen::Matrix3d::Zero()) { } Leaf(const Leaf & other) - : mean_(other.mean_), - centroid_(other.centroid_), - cov_(other.cov_), - icov_(other.icov_), - evecs_(other.evecs_), - evals_(other.evals_) + : mean_(other.mean_), centroid_(other.centroid_), cov_(other.cov_), icov_(other.icov_) { nr_points_ = other.nr_points_; } @@ -151,9 +144,7 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid : mean_(std::move(other.mean_)), centroid_(std::move(other.centroid_)), cov_(std::move(other.cov_)), - icov_(std::move(other.icov_)), - evecs_(std::move(other.evecs_)), - evals_(std::move(other.evals_)) + icov_(std::move(other.icov_)) { nr_points_ = other.nr_points_; } @@ -164,8 +155,6 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid centroid_ = other.centroid_; cov_ = other.cov_; icov_ = other.icov_; - evecs_ = other.evecs_; - evals_ = other.evals_; nr_points_ = other.nr_points_; return *this; @@ -177,8 +166,6 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid centroid_ = std::move(other.centroid_); cov_ = std::move(other.cov_); icov_ = std::move(other.icov_); - evecs_ = std::move(other.evecs_); - evals_ = std::move(other.evals_); nr_points_ = other.nr_points_; return *this; @@ -204,22 +191,6 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid Eigen::Vector3d & getMean() { return (mean_); } - /** \brief Get the eigen vectors of the voxel covariance. - * \note Order corresponds with \ref getEvals - * \return matrix whose columns contain eigen vectors - */ - const Eigen::Matrix3d & getEvecs() const { return (evecs_); } - - Eigen::Matrix3d & getEvecs() { return (evecs_); } - - /** \brief Get the eigen values of the voxel covariance. - * \note Order corresponds with \ref getEvecs - * \return vector of eigen values - */ - const Eigen::Vector3d & getEvals() const { return (evals_); } - - Eigen::Vector3d & getEvals() { return (evals_); } - /** \brief Get the number of points contained by this voxel. * \return number of points */ @@ -241,12 +212,6 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid /** \brief Inverse of voxel covariance matrix */ Eigen::Matrix3d icov_; - - /** \brief Eigen vectors of voxel covariance matrix */ - Eigen::Matrix3d evecs_; - - /** \brief Eigen values of voxel covariance matrix */ - Eigen::Vector3d evals_; }; /** \brief Pointer to MultiVoxelGridCovariance leaf structure */ diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp index ef64471dd4784..3d7076bbae06d 100644 --- a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp +++ b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp @@ -441,7 +441,7 @@ void pclomp::MultiVoxelGridCovariance::computeLeafParams( // Normalize Eigen Val such that max no more than 100x min. eigensolver.compute(leaf.cov_); Eigen::Matrix3d eigen_val = eigensolver.eigenvalues().asDiagonal(); - leaf.evecs_ = eigensolver.eigenvectors(); + Eigen::Matrix3d eigen_vec = eigensolver.eigenvectors(); if (eigen_val(0, 0) < 0 || eigen_val(1, 1) < 0 || eigen_val(2, 2) <= 0) { leaf.nr_points_ = -1; @@ -457,9 +457,8 @@ void pclomp::MultiVoxelGridCovariance::computeLeafParams( eigen_val(1, 1) = min_covar_eigvalue; } - leaf.cov_ = leaf.evecs_ * eigen_val * leaf.evecs_.inverse(); + leaf.cov_ = eigen_vec * eigen_val * eigen_vec.inverse(); } - leaf.evals_ = eigen_val.diagonal(); leaf.icov_ = leaf.cov_.inverse(); if ( From d1877225c65f8f29e03a91712c141966c122bc8c Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Wed, 13 Nov 2024 08:03:53 +0900 Subject: [PATCH 414/701] test(costmap_generator): unit test implementation for costmap generator (#9149) * modify costmap generator directory structure Signed-off-by: mohammad alqudah * rename class CostmapGenerator to CostmapGeneratorNode Signed-off-by: mohammad alqudah * unit test for object_map_utils Signed-off-by: mohammad alqudah * catch error from lookupTransform Signed-off-by: mohammad alqudah * use polling subscriber in costmap generator node Signed-off-by: mohammad alqudah * add test for costmap generator node Signed-off-by: mohammad alqudah * add test for isActive() Signed-off-by: mohammad alqudah * revert unnecessary changes Signed-off-by: mohammad alqudah * remove commented out line Signed-off-by: mohammad alqudah * minor fix Signed-off-by: mohammad alqudah * Update planning/autoware_costmap_generator/src/costmap_generator.cpp Co-authored-by: Kosuke Takeuchi --------- Signed-off-by: mohammad alqudah Co-authored-by: Kosuke Takeuchi --- .../test_map/overlap_map.osm | 557 +++++++++++------- .../autoware_costmap_generator/CMakeLists.txt | 34 +- .../costmap_generator}/costmap_generator.hpp | 44 +- .../utils}/object_map_utils.hpp | 12 +- .../utils}/objects_to_costmap.hpp | 6 +- .../utils}/points_to_costmap.hpp | 6 +- .../autoware_costmap_generator/package.xml | 1 + .../costmap_generator.cpp} | 116 ++-- .../utils}/object_map_utils.cpp | 13 +- .../utils}/objects_to_costmap.cpp | 2 +- .../utils}/points_to_costmap.cpp | 2 +- .../test/test_costmap_generator.cpp | 170 ++++++ .../test/test_object_map_utils.cpp | 93 +++ .../test/test_objects_to_costmap.cpp | 151 ++++- .../test/test_points_to_costmap.cpp | 2 +- 15 files changed, 844 insertions(+), 365 deletions(-) rename planning/autoware_costmap_generator/include/{autoware_costmap_generator => autoware/costmap_generator}/costmap_generator.hpp (83%) rename planning/autoware_costmap_generator/include/{autoware_costmap_generator => autoware/costmap_generator/utils}/object_map_utils.hpp (80%) rename planning/autoware_costmap_generator/include/{autoware_costmap_generator => autoware/costmap_generator/utils}/objects_to_costmap.hpp (96%) rename planning/autoware_costmap_generator/include/{autoware_costmap_generator => autoware/costmap_generator/utils}/points_to_costmap.hpp (96%) rename planning/autoware_costmap_generator/{nodes/autoware_costmap_generator/costmap_generator_node.cpp => src/costmap_generator.cpp} (85%) rename planning/autoware_costmap_generator/{nodes/autoware_costmap_generator => src/utils}/object_map_utils.cpp (79%) rename planning/autoware_costmap_generator/{nodes/autoware_costmap_generator => src/utils}/objects_to_costmap.cpp (99%) rename planning/autoware_costmap_generator/{nodes/autoware_costmap_generator => src/utils}/points_to_costmap.cpp (98%) create mode 100644 planning/autoware_costmap_generator/test/test_costmap_generator.cpp create mode 100644 planning/autoware_costmap_generator/test/test_object_map_utils.cpp diff --git a/common/autoware_test_utils/test_map/overlap_map.osm b/common/autoware_test_utils/test_map/overlap_map.osm index 27823db79b19c..7333b45a0e9ab 100644 --- a/common/autoware_test_utils/test_map/overlap_map.osm +++ b/common/autoware_test_utils/test_map/overlap_map.osm @@ -1,684 +1,691 @@ - - - + + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -916,6 +923,102 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/planning/autoware_costmap_generator/CMakeLists.txt b/planning/autoware_costmap_generator/CMakeLists.txt index 4978f7e54df6a..59ec264ea3d1e 100644 --- a/planning/autoware_costmap_generator/CMakeLists.txt +++ b/planning/autoware_costmap_generator/CMakeLists.txt @@ -16,9 +16,9 @@ include_directories( ) ament_auto_add_library(costmap_generator_lib SHARED - nodes/autoware_costmap_generator/points_to_costmap.cpp - nodes/autoware_costmap_generator/objects_to_costmap.cpp - nodes/autoware_costmap_generator/object_map_utils.cpp + src/utils/points_to_costmap.cpp + src/utils/objects_to_costmap.cpp + src/utils/object_map_utils.cpp ) target_link_libraries(costmap_generator_lib ${PCL_LIBRARIES} @@ -37,7 +37,7 @@ generate_parameter_library(costmap_generator_node_parameters ) ament_auto_add_library(costmap_generator_node SHARED - nodes/autoware_costmap_generator/costmap_generator_node.cpp + src/costmap_generator.cpp ) target_link_libraries(costmap_generator_node ${PCL_LIBRARIES} @@ -56,25 +56,29 @@ rclcpp_components_register_node(costmap_generator_node if(BUILD_TESTING) find_package(ament_cmake_ros REQUIRED) - ament_add_ros_isolated_gtest(test_points_to_costmap + ament_add_ros_isolated_gtest(test_costmap_generator_lib test/test_points_to_costmap.cpp + test/test_objects_to_costmap.cpp + test/test_object_map_utils.cpp ) - - target_link_libraries(test_points_to_costmap + target_link_libraries(test_costmap_generator_lib costmap_generator_lib ) - ament_add_ros_isolated_gtest(test_objects_to_costmap - test/test_objects_to_costmap.cpp + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_costmap_generator.cpp ) - - target_link_libraries(test_objects_to_costmap - costmap_generator_lib + target_link_libraries(test_${PROJECT_NAME} + costmap_generator_node + costmap_generator_node_parameters + ) + target_compile_options(test_${PROJECT_NAME} PUBLIC + -Wno-error=deprecated-declarations ) endif() ament_auto_package( - INSTALL_TO_SHARE - launch - config + INSTALL_TO_SHARE + launch + config ) diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp similarity index 83% rename from planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp rename to planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp index a26589775ff3e..94906cdf2725a 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp @@ -42,13 +42,14 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#ifndef AUTOWARE_COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ -#define AUTOWARE_COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ +#ifndef AUTOWARE__COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ +#define AUTOWARE__COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ -#include "autoware_costmap_generator/objects_to_costmap.hpp" -#include "autoware_costmap_generator/points_to_costmap.hpp" +#include "autoware/costmap_generator/utils/objects_to_costmap.hpp" +#include "autoware/costmap_generator/utils/points_to_costmap.hpp" #include "costmap_generator_node_parameters.hpp" +#include #include #include #include @@ -72,8 +73,12 @@ #include #include +class TestCostmapGenerator; + namespace autoware::costmap_generator { +using autoware_perception_msgs::msg::PredictedObjects; + class CostmapGenerator : public rclcpp::Node { public: @@ -82,9 +87,10 @@ class CostmapGenerator : public rclcpp::Node private: std::shared_ptr<::costmap_generator_node::ParamListener> param_listener_; std::shared_ptr<::costmap_generator_node::Params> param_; + geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose_; lanelet::LaneletMapPtr lanelet_map_; - autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr objects_; + PredictedObjects::ConstSharedPtr objects_; sensor_msgs::msg::PointCloud2::ConstSharedPtr points_; grid_map::GridMap costmap_; @@ -95,10 +101,13 @@ class CostmapGenerator : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_processing_time_; rclcpp::Publisher::SharedPtr pub_processing_time_ms_; - rclcpp::Subscription::SharedPtr sub_points_; - rclcpp::Subscription::SharedPtr sub_objects_; rclcpp::Subscription::SharedPtr sub_lanelet_bin_map_; - rclcpp::Subscription::SharedPtr sub_scenario_; + autoware::universe_utils::InterProcessPollingSubscriber + sub_points_{this, "~/input/points_no_ground", autoware::universe_utils::SingleDepthSensorQoS()}; + autoware::universe_utils::InterProcessPollingSubscriber sub_objects_{ + this, "~/input/objects"}; + autoware::universe_utils::InterProcessPollingSubscriber + sub_scenario_{this, "~/input/scenario"}; rclcpp::TimerBase::SharedPtr timer_; @@ -126,17 +135,9 @@ class CostmapGenerator : public rclcpp::Node /// \brief callback for loading lanelet2 map void onLaneletMapBin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg); - /// \brief callback for DynamicObjectArray - /// \param[in] in_objects input DynamicObjectArray usually from prediction or perception - /// component - void onObjects(const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg); + void update_data(); - /// \brief callback for sensor_msgs::PointCloud2 - /// \param[in] in_points input sensor_msgs::PointCloud2. Assuming ground-filtered pointcloud - /// by default - void onPoints(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg); - - void onScenario(const tier4_planning_msgs::msg::Scenario::ConstSharedPtr msg); + void set_current_pose(); void onTimer(); @@ -170,8 +171,7 @@ class CostmapGenerator : public rclcpp::Node /// \brief calculate cost from DynamicObjectArray /// \param[in] in_objects: subscribed DynamicObjectArray - grid_map::Matrix generateObjectsCostmap( - const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr in_objects); + grid_map::Matrix generateObjectsCostmap(const PredictedObjects::ConstSharedPtr in_objects); /// \brief calculate cost from lanelet2 map grid_map::Matrix generatePrimitivesCostmap(); @@ -181,7 +181,9 @@ class CostmapGenerator : public rclcpp::Node /// \brief measure processing time autoware::universe_utils::StopWatch stop_watch; + + friend class ::TestCostmapGenerator; }; } // namespace autoware::costmap_generator -#endif // AUTOWARE_COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ +#endif // AUTOWARE__COSTMAP_GENERATOR__COSTMAP_GENERATOR_HPP_ diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/object_map_utils.hpp similarity index 80% rename from planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp rename to planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/object_map_utils.hpp index 737af55aa0b92..e68162f18efbe 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/object_map_utils.hpp @@ -30,8 +30,8 @@ * */ -#ifndef AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ -#define AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ +#ifndef AUTOWARE__COSTMAP_GENERATOR__UTILS__OBJECT_MAP_UTILS_HPP_ +#define AUTOWARE__COSTMAP_GENERATOR__UTILS__OBJECT_MAP_UTILS_HPP_ #include #include @@ -55,16 +55,12 @@ namespace autoware::costmap_generator::object_map * @param[in] in_grid_layer_name Name to assign to the layer * @param[in] in_layer_background_value Empty state value * @param[in] in_fill_value Value to fill inside the given polygons - * @param[in] in_tf_target_frame Target frame to transform the points - * @param[in] in_tf_source_frame Source frame, where the points are located - * @param[in] in_tf_listener Valid listener to obtain the transformation */ void fill_polygon_areas( grid_map::GridMap & out_grid_map, const std::vector & in_polygons, const std::string & in_grid_layer_name, const float in_layer_background_value, - const float in_fill_value, const std::string & in_tf_target_frame, - const std::string & in_tf_source_frame, const tf2_ros::Buffer & in_tf_buffer); + const float in_fill_value); } // namespace autoware::costmap_generator::object_map -#endif // AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ +#endif // AUTOWARE__COSTMAP_GENERATOR__UTILS__OBJECT_MAP_UTILS_HPP_ diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/objects_to_costmap.hpp similarity index 96% rename from planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp rename to planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/objects_to_costmap.hpp index a04e139fdaa6e..955c39169e962 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/objects_to_costmap.hpp @@ -42,8 +42,8 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#ifndef AUTOWARE_COSTMAP_GENERATOR__OBJECTS_TO_COSTMAP_HPP_ -#define AUTOWARE_COSTMAP_GENERATOR__OBJECTS_TO_COSTMAP_HPP_ +#ifndef AUTOWARE__COSTMAP_GENERATOR__UTILS__OBJECTS_TO_COSTMAP_HPP_ +#define AUTOWARE__COSTMAP_GENERATOR__UTILS__OBJECTS_TO_COSTMAP_HPP_ #include @@ -126,4 +126,4 @@ class ObjectsToCostmap grid_map::GridMap & objects_costmap); }; } // namespace autoware::costmap_generator -#endif // AUTOWARE_COSTMAP_GENERATOR__OBJECTS_TO_COSTMAP_HPP_ +#endif // AUTOWARE__COSTMAP_GENERATOR__UTILS__OBJECTS_TO_COSTMAP_HPP_ diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/points_to_costmap.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/points_to_costmap.hpp similarity index 96% rename from planning/autoware_costmap_generator/include/autoware_costmap_generator/points_to_costmap.hpp rename to planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/points_to_costmap.hpp index 0e3abbd69ec20..cda96ea9b3283 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/points_to_costmap.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/points_to_costmap.hpp @@ -42,8 +42,8 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#ifndef AUTOWARE_COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_ -#define AUTOWARE_COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_ +#ifndef AUTOWARE__COSTMAP_GENERATOR__UTILS__POINTS_TO_COSTMAP_HPP_ +#define AUTOWARE__COSTMAP_GENERATOR__UTILS__POINTS_TO_COSTMAP_HPP_ #include @@ -120,4 +120,4 @@ class PointsToCostmap }; } // namespace autoware::costmap_generator -#endif // AUTOWARE_COSTMAP_GENERATOR__POINTS_TO_COSTMAP_HPP_ +#endif // AUTOWARE__COSTMAP_GENERATOR__UTILS__POINTS_TO_COSTMAP_HPP_ diff --git a/planning/autoware_costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml index db2ad24c0c773..8779c1e706123 100644 --- a/planning/autoware_costmap_generator/package.xml +++ b/planning/autoware_costmap_generator/package.xml @@ -19,6 +19,7 @@ autoware_lanelet2_extension autoware_map_msgs autoware_perception_msgs + autoware_test_utils autoware_universe_utils generate_parameter_library grid_map_ros diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp b/planning/autoware_costmap_generator/src/costmap_generator.cpp similarity index 85% rename from planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp rename to planning/autoware_costmap_generator/src/costmap_generator.cpp index 0a85f7520b317..6fa3db119d02e 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp +++ b/planning/autoware_costmap_generator/src/costmap_generator.cpp @@ -42,8 +42,9 @@ * OF private_node SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#include "autoware_costmap_generator/costmap_generator.hpp" -#include "autoware_costmap_generator/object_map_utils.hpp" +#include "autoware/costmap_generator/costmap_generator.hpp" + +#include "autoware/costmap_generator/utils/object_map_utils.hpp" #include #include @@ -135,6 +136,19 @@ pcl::PointCloud getTransformedPointCloud( return transformed_pointcloud; } +std::vector getTransformedPrimitives( + const std::vector & in_polygons, + const geometry_msgs::msg::TransformStamped & transform) +{ + std::vector out_polygons; + for (const auto & polygon : in_polygons) { + geometry_msgs::msg::Polygon transformed_polygon; + tf2::doTransform(polygon, transformed_polygon, transform); + out_polygons.emplace_back(transformed_polygon); + } + return out_polygons; +} + } // namespace namespace autoware::costmap_generator @@ -146,30 +160,10 @@ CostmapGenerator::CostmapGenerator(const rclcpp::NodeOptions & node_options) this->get_node_parameters_interface()); param_ = std::make_shared<::costmap_generator_node::Params>(param_listener_->get_params()); - // Wait for first tf - // We want to do this before creating subscriptions - while (rclcpp::ok()) { - try { - tf_buffer_.lookupTransform("map", "base_link", tf2::TimePointZero); - break; - } catch (const tf2::TransformException & ex) { - RCLCPP_INFO(this->get_logger(), "waiting for initial pose..."); - } - rclcpp::sleep_for(std::chrono::milliseconds(5000)); - } - - // Subscribers - using std::placeholders::_1; - sub_objects_ = this->create_subscription( - "~/input/objects", 1, std::bind(&CostmapGenerator::onObjects, this, _1)); - sub_points_ = this->create_subscription( - "~/input/points_no_ground", rclcpp::SensorDataQoS(), - std::bind(&CostmapGenerator::onPoints, this, _1)); + // Lanelet map subscriber sub_lanelet_bin_map_ = this->create_subscription( "~/input/vector_map", rclcpp::QoS{1}.transient_local(), - std::bind(&CostmapGenerator::onLaneletMapBin, this, _1)); - sub_scenario_ = this->create_subscription( - "~/input/scenario", 1, std::bind(&CostmapGenerator::onScenario, this, _1)); + std::bind(&CostmapGenerator::onLaneletMapBin, this, std::placeholders::_1)); // Publishers pub_costmap_ = this->create_publisher("~/output/grid_map", 1); @@ -249,26 +243,27 @@ void CostmapGenerator::onLaneletMapBin( } } -void CostmapGenerator::onObjects( - const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg) -{ - objects_ = msg; -} - -void CostmapGenerator::onPoints(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) +void CostmapGenerator::update_data() { - points_ = msg; + objects_ = sub_objects_.takeData(); + points_ = sub_points_.takeData(); + scenario_ = sub_scenario_.takeData(); } -void CostmapGenerator::onScenario(const tier4_planning_msgs::msg::Scenario::ConstSharedPtr msg) +void CostmapGenerator::set_current_pose() { - scenario_ = msg; + current_pose_ = getCurrentPose(tf_buffer_, this->get_logger()); } void CostmapGenerator::onTimer() { + update_data(); + autoware::universe_utils::ScopedTimeTrack scoped_time_track(__func__, *time_keeper_); stop_watch.tic(); + + if (!param_->activate_by_scenario) set_current_pose(); + if (!isActive()) { // Publish ProcessingTime tier4_debug_msgs::msg::Float64Stamped processing_time_msg; @@ -326,19 +321,15 @@ bool CostmapGenerator::isActive() } if (param_->activate_by_scenario) { - if (scenario_) { - const auto & s = scenario_->activating_scenarios; - if ( - std::find(std::begin(s), std::end(s), tier4_planning_msgs::msg::Scenario::PARKING) != - std::end(s)) { - return true; - } - } - return false; + if (!scenario_) return false; + const auto & s = scenario_->activating_scenarios; + return std::any_of(s.begin(), s.end(), [](const auto scen) { + return scen == tier4_planning_msgs::msg::Scenario::PARKING; + }); } - const auto & current_pose_wrt_map = getCurrentPose(tf_buffer_, this->get_logger()); - if (!current_pose_wrt_map) return false; - return isInParkingLot(lanelet_map_, current_pose_wrt_map->pose); + + if (!current_pose_) return false; + return isInParkingLot(lanelet_map_, current_pose_->pose); } void CostmapGenerator::initGridmap() @@ -374,12 +365,11 @@ grid_map::Matrix CostmapGenerator::generatePointsCostmap( return points_costmap; } -autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr transformObjects( - const tf2_ros::Buffer & tf_buffer, - const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr in_objects, +PredictedObjects::ConstSharedPtr transformObjects( + const tf2_ros::Buffer & tf_buffer, const PredictedObjects::ConstSharedPtr in_objects, const std::string & target_frame_id, const std::string & src_frame_id) { - auto objects = new autoware_perception_msgs::msg::PredictedObjects(); + auto objects = std::make_shared(); *objects = *in_objects; objects->header.frame_id = target_frame_id; @@ -398,11 +388,11 @@ autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr transformObjects object.kinematics.initial_pose_with_covariance.pose = output_stamped.pose; } - return autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr(objects); + return PredictedObjects::ConstSharedPtr(objects); } grid_map::Matrix CostmapGenerator::generateObjectsCostmap( - const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr in_objects) + const PredictedObjects::ConstSharedPtr in_objects) { const auto object_frame = in_objects->header.frame_id; const auto transformed_objects = @@ -417,11 +407,25 @@ grid_map::Matrix CostmapGenerator::generateObjectsCostmap( grid_map::Matrix CostmapGenerator::generatePrimitivesCostmap() { grid_map::GridMap lanelet2_costmap = costmap_; - if (!primitives_polygons_.empty()) { - object_map::fill_polygon_areas( - lanelet2_costmap, primitives_polygons_, LayerName::primitives, param_->grid_max_value, - param_->grid_min_value, param_->costmap_frame, param_->map_frame, tf_buffer_); + if (primitives_polygons_.empty()) { + return lanelet2_costmap[LayerName::primitives]; + } + + geometry_msgs::msg::TransformStamped primitives2costmap; + try { + primitives2costmap = + tf_buffer_.lookupTransform(param_->costmap_frame, param_->map_frame, tf2::TimePointZero); + } catch (const tf2::TransformException & ex) { + RCLCPP_ERROR(rclcpp::get_logger("costmap_generator"), "%s", ex.what()); } + + const auto transformed_primitives = + getTransformedPrimitives(primitives_polygons_, primitives2costmap); + + object_map::fill_polygon_areas( + lanelet2_costmap, transformed_primitives, LayerName::primitives, param_->grid_max_value, + param_->grid_min_value); + return lanelet2_costmap[LayerName::primitives]; } diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp b/planning/autoware_costmap_generator/src/utils/object_map_utils.cpp similarity index 79% rename from planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp rename to planning/autoware_costmap_generator/src/utils/object_map_utils.cpp index 1b8764e4d3f1c..e4dcaccb4ed6d 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp +++ b/planning/autoware_costmap_generator/src/utils/object_map_utils.cpp @@ -30,7 +30,7 @@ * */ -#include "autoware_costmap_generator/object_map_utils.hpp" +#include "autoware/costmap_generator/utils/object_map_utils.hpp" #include #include @@ -46,23 +46,16 @@ namespace autoware::costmap_generator::object_map void fill_polygon_areas( grid_map::GridMap & out_grid_map, const std::vector & in_polygons, const std::string & in_grid_layer_name, const float in_layer_background_value, - const float in_fill_value, const std::string & in_tf_target_frame, - const std::string & in_tf_source_frame, const tf2_ros::Buffer & in_tf_buffer) + const float in_fill_value) { if (!out_grid_map.exists(in_grid_layer_name)) { out_grid_map.add(in_grid_layer_name); } out_grid_map[in_grid_layer_name].setConstant(in_layer_background_value); - const geometry_msgs::msg::TransformStamped transform = - in_tf_buffer.lookupTransform(in_tf_target_frame, in_tf_source_frame, tf2::TimePointZero); - for (const auto & poly : in_polygons) { - // transform from Map to GridMap coordinates - geometry_msgs::msg::Polygon transformed_poly; - tf2::doTransform(poly, transformed_poly, transform); grid_map::Polygon grid_map_poly; - for (const auto & p : transformed_poly.points) { + for (const auto & p : poly.points) { grid_map_poly.addVertex({p.x, p.y}); } for (grid_map_utils::PolygonIterator it(out_grid_map, grid_map_poly); !it.isPastEnd(); ++it) { diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp b/planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp similarity index 99% rename from planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp rename to planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp index efa0ea6651632..bcd2e15fe9ca7 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp @@ -42,7 +42,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#include "autoware_costmap_generator/objects_to_costmap.hpp" +#include "autoware/costmap_generator/utils/objects_to_costmap.hpp" #include #include diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/points_to_costmap.cpp b/planning/autoware_costmap_generator/src/utils/points_to_costmap.cpp similarity index 98% rename from planning/autoware_costmap_generator/nodes/autoware_costmap_generator/points_to_costmap.cpp rename to planning/autoware_costmap_generator/src/utils/points_to_costmap.cpp index 723c27201ac8a..6b2dd2b20d672 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/points_to_costmap.cpp +++ b/planning/autoware_costmap_generator/src/utils/points_to_costmap.cpp @@ -42,7 +42,7 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************/ -#include "autoware_costmap_generator/points_to_costmap.hpp" +#include "autoware/costmap_generator/utils/points_to_costmap.hpp" #include #include diff --git a/planning/autoware_costmap_generator/test/test_costmap_generator.cpp b/planning/autoware_costmap_generator/test/test_costmap_generator.cpp new file mode 100644 index 0000000000000..00c35e2514f43 --- /dev/null +++ b/planning/autoware_costmap_generator/test/test_costmap_generator.cpp @@ -0,0 +1,170 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/costmap_generator/costmap_generator.hpp" + +#include +#include +#include + +#include + +using autoware::costmap_generator::CostmapGenerator; +using tier4_planning_msgs::msg::Scenario; + +class TestCostmapGenerator : public ::testing::Test +{ +public: + void SetUp() override + { + rclcpp::init(0, nullptr); + set_up_node(); + setup_lanelet_map(); + } + + void set_up_node() + { + auto node_options = rclcpp::NodeOptions{}; + const auto costmap_generator_dir = + ament_index_cpp::get_package_share_directory("autoware_costmap_generator"); + node_options.arguments( + {"--ros-args", "--params-file", + costmap_generator_dir + "/config/costmap_generator.param.yaml"}); + costmap_generator_ = std::make_shared(node_options); + } + + void setup_lanelet_map() + { + const auto lanelet2_path = autoware::test_utils::get_absolute_path_to_lanelet_map( + "autoware_test_utils", "overlap_map.osm"); + const auto map_bin_msg = autoware::test_utils::make_map_bin_msg(lanelet2_path, 5.0); + lanelet_map_ = std::make_shared(); + lanelet::utils::conversion::fromBinMsg(map_bin_msg, lanelet_map_); + } + + [[nodiscard]] double get_grid_length_x() { return costmap_generator_->costmap_.getLength()[0]; } + + [[nodiscard]] double get_grid_length_y() { return costmap_generator_->costmap_.getLength()[1]; } + + [[nodiscard]] double get_grid_resolution() + { + return costmap_generator_->costmap_.getResolution(); + } + + [[nodiscard]] std::vector get_grid_layers() + { + return costmap_generator_->costmap_.getLayers(); + } + + size_t test_load_road_areas() + { + std::vector road_areas; + costmap_generator_->loadRoadAreasFromLaneletMap(lanelet_map_, road_areas); + return road_areas.size(); + } + + size_t test_load_parking_areas() + { + std::vector parking_areas; + costmap_generator_->loadParkingAreasFromLaneletMap(lanelet_map_, parking_areas); + return parking_areas.size(); + } + + bool test_is_active_by_pos( + const bool is_within_parking_lot = true, const bool no_lanelet_map = false) + { + costmap_generator_->lanelet_map_.reset(); + if (no_lanelet_map) { + return costmap_generator_->isActive(); + } + + costmap_generator_->lanelet_map_ = lanelet_map_; + costmap_generator_->param_->activate_by_scenario = false; + + geometry_msgs::msg::PoseStamped::SharedPtr p(new geometry_msgs::msg::PoseStamped()); + p->pose.position.x = 3697.07; + p->pose.position.y = 73735.49; + if (!is_within_parking_lot) { + p->pose.position.x += 10.0; + } + + costmap_generator_->current_pose_ = p; + return costmap_generator_->isActive(); + } + + bool test_is_active_by_scenario( + const bool is_parking_scenario = true, const bool no_lanelet_map = false) + { + costmap_generator_->lanelet_map_.reset(); + if (no_lanelet_map) { + return costmap_generator_->isActive(); + } + + costmap_generator_->lanelet_map_ = lanelet_map_; + costmap_generator_->param_->activate_by_scenario = true; + + Scenario scenario; + scenario.current_scenario = is_parking_scenario ? Scenario::PARKING : Scenario::LANEDRIVING; + if (is_parking_scenario) { + scenario.activating_scenarios.push_back(Scenario::PARKING); + } + + costmap_generator_->scenario_ = std::make_shared(scenario); + return costmap_generator_->isActive(); + } + + void TearDown() override + { + rclcpp::shutdown(); + costmap_generator_ = nullptr; + lanelet_map_ = nullptr; + } + + std::shared_ptr costmap_generator_; + lanelet::LaneletMapPtr lanelet_map_; +}; + +TEST_F(TestCostmapGenerator, testInitializeGridmap) +{ + const double grid_resolution = get_grid_resolution(); + const double grid_length_x = get_grid_length_x(); + const double grid_length_y = get_grid_length_y(); + EXPECT_FLOAT_EQ(grid_resolution, 0.3); + EXPECT_TRUE(70.0 - grid_length_x < grid_resolution); + EXPECT_TRUE(70.0 - grid_length_y < grid_resolution); + + const auto grid_layers = get_grid_layers(); + + EXPECT_TRUE(std::find(grid_layers.begin(), grid_layers.end(), "points") != grid_layers.end()); + EXPECT_TRUE(std::find(grid_layers.begin(), grid_layers.end(), "objects") != grid_layers.end()); + EXPECT_TRUE(std::find(grid_layers.begin(), grid_layers.end(), "primitives") != grid_layers.end()); + EXPECT_TRUE(std::find(grid_layers.begin(), grid_layers.end(), "combined") != grid_layers.end()); +} + +TEST_F(TestCostmapGenerator, testLoadAreasFromLaneletMap) +{ + EXPECT_EQ(test_load_road_areas(), 12ul); + EXPECT_EQ(test_load_parking_areas(), 10ul); +} + +TEST_F(TestCostmapGenerator, testIsActive) +{ + EXPECT_TRUE(test_is_active_by_pos()); + EXPECT_FALSE(test_is_active_by_pos(false)); + EXPECT_FALSE(test_is_active_by_pos(true, true)); + + EXPECT_TRUE(test_is_active_by_scenario()); + EXPECT_FALSE(test_is_active_by_scenario(false)); + EXPECT_FALSE(test_is_active_by_scenario(true, true)); +} diff --git a/planning/autoware_costmap_generator/test/test_object_map_utils.cpp b/planning/autoware_costmap_generator/test/test_object_map_utils.cpp new file mode 100644 index 0000000000000..a20c2326d2757 --- /dev/null +++ b/planning/autoware_costmap_generator/test/test_object_map_utils.cpp @@ -0,0 +1,93 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include + +namespace +{ +grid_map::GridMap construct_gridmap( + const double length_x, const double length_y, const double resolution, const double position_x, + const double position_y) +{ + grid_map::GridMap gm; + + gm.setFrameId("map"); + // set gridmap size,resolution + gm.setGeometry(grid_map::Length(length_x, length_y), resolution); + // center of grid to position p in map frame + gm.setPosition(grid_map::Position(position_x, position_y)); + + // set initial value + gm.add("primitives", 0); + + return gm; +} + +geometry_msgs::msg::Polygon get_primitive_polygon( + const double min_x, const double min_y, const double max_x, const double max_y) +{ + const auto get_point = [](const double x, const double y) { + geometry_msgs::msg::Point32 point; + point.x = x; + point.y = y; + point.z = 0.0; + return point; + }; + geometry_msgs::msg::Polygon polygon; + polygon.points.push_back(get_point(min_x, min_y)); + polygon.points.push_back(get_point(min_x, max_y)); + polygon.points.push_back(get_point(max_x, max_y)); + polygon.points.push_back(get_point(max_x, min_y)); + return polygon; +} +} // namespace + +namespace autoware::costmap_generator +{ +TEST(ObjectMapUtilsTest, testFillPolygonAreas) +{ + const double grid_length_x = 21; + const double grid_length_y = 21; + const double grid_resolution = 1.0; + const double grid_position_x = 0.0; + const double grid_position_y = 0.0; + grid_map::GridMap gridmap = construct_gridmap( + grid_length_x, grid_length_y, grid_resolution, grid_position_x, grid_position_y); + + std::vector primitives_polygons; + primitives_polygons.emplace_back(get_primitive_polygon(-15.0, -2.0, 15.0, 2.0)); + primitives_polygons.emplace_back(get_primitive_polygon(-5.0, -5.0, 5.0, 5.0)); + + const double min_value = 0.0; + const double max_value = 1.0; + + object_map::fill_polygon_areas(gridmap, primitives_polygons, "primitives", max_value, min_value); + + const auto costmap = gridmap["primitives"]; + + int empty_grid_cell_num = 0; + for (int i = 0; i < costmap.rows(); i++) { + for (int j = 0; j < costmap.cols(); j++) { + if (costmap(i, j) == min_value) { + empty_grid_cell_num += 1; + } + } + } + + EXPECT_EQ(empty_grid_cell_num, 144); +} +} // namespace autoware::costmap_generator diff --git a/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp b/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp index 8d437865b8793..4ab5a32e77028 100644 --- a/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp @@ -12,14 +12,31 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include +#include #include #include +#include + +namespace +{ +geometry_msgs::msg::Point32 toPoint32(const geometry_msgs::msg::Pose & pose) +{ + geometry_msgs::msg::Point32 point; + point.x = pose.position.x; + point.y = pose.position.y; + point.z = pose.position.z; + return point; +} +} // namespace namespace autoware::costmap_generator { using LABEL = autoware_perception_msgs::msg::ObjectClassification; +using autoware_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObjects; +using autoware_perception_msgs::msg::Shape; class ObjectsToCostMapTest : public ::testing::Test { @@ -30,6 +47,10 @@ class ObjectsToCostMapTest : public ::testing::Test grid_map::GridMap construct_gridmap(); + [[nodiscard]] PredictedObject get_object( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 dimension, + const bool box_type = true) const; + public: double grid_resolution_ = 1; double grid_length_x_ = 21; @@ -60,6 +81,38 @@ grid_map::GridMap ObjectsToCostMapTest::construct_gridmap() return gm; } +PredictedObject ObjectsToCostMapTest::get_object( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 dimension, + const bool box_type) const +{ + PredictedObject object; + object.classification.push_back(LABEL{}); + object.classification.at(0).label = LABEL::CAR; + object.classification.at(0).probability = 0.8; + object.kinematics.initial_pose_with_covariance.pose = pose; + object.shape.dimensions = dimension; + if (box_type) { + object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + return object; + } + + object.shape.type = autoware_perception_msgs::msg::Shape::POLYGON; + + object.shape.footprint.points.emplace_back(toPoint32( + autoware::universe_utils::calcOffsetPose(pose, -0.5 * dimension.x, -0.5 * dimension.y, 0.0))); + + object.shape.footprint.points.emplace_back(toPoint32( + autoware::universe_utils::calcOffsetPose(pose, -0.5 * dimension.x, 0.5 * dimension.y, 0.0))); + + object.shape.footprint.points.emplace_back(toPoint32( + autoware::universe_utils::calcOffsetPose(pose, 0.5 * dimension.x, 0.5 * dimension.y, 0.0))); + + object.shape.footprint.points.emplace_back(toPoint32( + autoware::universe_utils::calcOffsetPose(pose, 0.5 * dimension.x, -0.5 * dimension.y, 0.0))); + + return object; +} + /* grid_y | @@ -69,29 +122,89 @@ grid_y | map_y |--------grid_x */ -TEST_F(ObjectsToCostMapTest, TestMakeCostmapFromObjects) +TEST_F(ObjectsToCostMapTest, TestMakeCostmapFromObjects_BoxType) { - auto objs = std::make_shared(); - autoware_perception_msgs::msg::PredictedObject object; + auto objs = std::make_shared(); + + geometry_msgs::msg::Pose obj_pose; + obj_pose.position.x = 1; + obj_pose.position.y = 2; + obj_pose.position.z = 1; + obj_pose.orientation.x = 0; + obj_pose.orientation.y = 0; + obj_pose.orientation.z = 0; + obj_pose.orientation.w = 1; + + geometry_msgs::msg::Vector3 dimension; + dimension.x = 5; + dimension.y = 3; + dimension.z = 2; + + const auto object = get_object(obj_pose, dimension); + objs->objects.push_back(object); - object.classification.push_back(autoware_perception_msgs::msg::ObjectClassification{}); - object.classification.at(0).label = LABEL::CAR; - object.classification.at(0).probability = 0.8; + grid_map::GridMap gridmap = construct_gridmap(); + ObjectsToCostmap objectsToCostmap; - object.kinematics.initial_pose_with_covariance.pose.position.x = 1; - object.kinematics.initial_pose_with_covariance.pose.position.y = 2; - object.kinematics.initial_pose_with_covariance.pose.position.z = 1; - // yaw=0 for easy test - object.kinematics.initial_pose_with_covariance.pose.orientation.x = 0; - object.kinematics.initial_pose_with_covariance.pose.orientation.y = 0; - object.kinematics.initial_pose_with_covariance.pose.orientation.z = 0; - object.kinematics.initial_pose_with_covariance.pose.orientation.w = 1; + const double expand_polygon_size = 0.0; + const double size_of_expansion_kernel = 1; // do not expand for easy test check + grid_map::Matrix objects_costmap = objectsToCostmap.makeCostmapFromObjects( + gridmap, expand_polygon_size, size_of_expansion_kernel, objs); - object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; - object.shape.dimensions.x = 5; - object.shape.dimensions.y = 3; - object.shape.dimensions.z = 2; + // yaw = 0,so we can just calculate like this easily + int expected_non_empty_cost_grid_num = + (object.shape.dimensions.x * object.shape.dimensions.y) / grid_resolution_; + // check if cost is correct + int non_empty_cost_grid_num = 0; + for (int i = 0; i < objects_costmap.rows(); i++) { + for (int j = 0; j < objects_costmap.cols(); j++) { + if (objects_costmap(i, j) == object.classification.at(0).probability) { + non_empty_cost_grid_num += 1; + } + } + } + + EXPECT_EQ(non_empty_cost_grid_num, expected_non_empty_cost_grid_num); + + float obj_center_x = + grid_length_x_ / 2 - object.kinematics.initial_pose_with_covariance.pose.position.x; + float obj_center_y = + grid_length_y_ / 2 - object.kinematics.initial_pose_with_covariance.pose.position.y; + float obj_left_x = obj_center_x - object.shape.dimensions.x / 2.; + float obj_right_x = obj_center_x + object.shape.dimensions.x / 2.; + float obj_bottom_y = obj_center_y - object.shape.dimensions.y / 2.; + float obj_top_y = obj_center_y + object.shape.dimensions.y / 2.; + int index_x_min = static_cast(obj_left_x / grid_resolution_); + int index_x_max = static_cast(obj_right_x / grid_resolution_); + int index_y_min = static_cast(obj_bottom_y / grid_resolution_); + int index_y_max = static_cast(obj_top_y / grid_resolution_); + for (int i = index_x_min; i < index_x_max; i++) { + for (int j = index_y_min; j < index_y_max; j++) { + EXPECT_DOUBLE_EQ(objects_costmap(i, j), object.classification.at(0).probability); + } + } +} + +TEST_F(ObjectsToCostMapTest, TestMakeCostmapFromObjects_PolygonType) +{ + auto objs = std::make_shared(); + + geometry_msgs::msg::Pose obj_pose; + obj_pose.position.x = 1; + obj_pose.position.y = 2; + obj_pose.position.z = 1; + obj_pose.orientation.x = 0; + obj_pose.orientation.y = 0; + obj_pose.orientation.z = 0; + obj_pose.orientation.w = 1; + + geometry_msgs::msg::Vector3 dimension; + dimension.x = 5; + dimension.y = 3; + dimension.z = 2; + + const auto object = get_object(obj_pose, dimension, false); objs->objects.push_back(object); grid_map::GridMap gridmap = construct_gridmap(); diff --git a/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp b/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp index 6c52e2dc6ce9d..b98479f43c2aa 100644 --- a/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp +++ b/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include From d053b12c7cad88316170c2d42e7770366e7a3b3b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E3=81=90=E3=82=8B=E3=81=90=E3=82=8B?= Date: Wed, 13 Nov 2024 11:19:05 +0900 Subject: [PATCH 415/701] fix(control): missing dependency in control components (#9073) --- control/autoware_autonomous_emergency_braking/package.xml | 1 + control/autoware_control_validator/package.xml | 1 + control/autoware_trajectory_follower_node/package.xml | 1 + control/autoware_vehicle_cmd_gate/package.xml | 1 + 4 files changed, 4 insertions(+) diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml index 135986f592663..edec3ac8fd6a1 100644 --- a/control/autoware_autonomous_emergency_braking/package.xml +++ b/control/autoware_autonomous_emergency_braking/package.xml @@ -15,6 +15,7 @@ ament_cmake autoware_cmake ament_cmake_ros + ament_index_cpp ament_lint_auto autoware_lint_common autoware_test_utils diff --git a/control/autoware_control_validator/package.xml b/control/autoware_control_validator/package.xml index dc71ec6cc3830..fbe759547aba1 100644 --- a/control/autoware_control_validator/package.xml +++ b/control/autoware_control_validator/package.xml @@ -33,6 +33,7 @@ visualization_msgs ament_cmake_ros + ament_index_cpp ament_lint_auto autoware_lint_common autoware_test_utils diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml index 6de26798c5813..848eb7d3b6d10 100644 --- a/control/autoware_trajectory_follower_node/package.xml +++ b/control/autoware_trajectory_follower_node/package.xml @@ -37,6 +37,7 @@ ros2launch ament_cmake_ros + ament_index_cpp ament_index_python ament_lint_auto autoware_lint_common diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml index a80bb2a4086b8..a5026a0edb3ef 100644 --- a/control/autoware_vehicle_cmd_gate/package.xml +++ b/control/autoware_vehicle_cmd_gate/package.xml @@ -39,6 +39,7 @@ rosidl_default_runtime ament_cmake_ros + ament_index_cpp ament_lint_auto autoware_lint_common From 7245f6317244e3a5cd9596921b0e2767c323de2e Mon Sep 17 00:00:00 2001 From: "Kem (TiankuiXian)" <1041084556@qq.com> Date: Wed, 13 Nov 2024 11:37:38 +0900 Subject: [PATCH 416/701] test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (#9307) * update unit test of control_evaluator. Signed-off-by: xtk8532704 <1041084556@qq.com> * manual pre-commit. Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com> --- .../test/test_control_evaluator_node.cpp | 64 ++++++++++++++++--- 1 file changed, 56 insertions(+), 8 deletions(-) diff --git a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp index 030080213bfe5..0a2f777e49b61 100644 --- a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp @@ -37,6 +37,7 @@ using EvalNode = control_diagnostics::ControlEvaluatorNode; using Trajectory = autoware_planning_msgs::msg::Trajectory; using TrajectoryPoint = autoware_planning_msgs::msg::TrajectoryPoint; using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; +using geometry_msgs::msg::AccelWithCovarianceStamped; using nav_msgs::msg::Odometry; constexpr double epsilon = 1e-6; @@ -69,6 +70,8 @@ class EvalTest : public ::testing::Test rclcpp::create_publisher(dummy_node, "/control_evaluator/input/trajectory", 1); odom_pub_ = rclcpp::create_publisher(dummy_node, "/control_evaluator/input/odometry", 1); + acc_pub_ = rclcpp::create_publisher( + dummy_node, "/control_evaluator/input/acceleration", 1); tf_broadcaster_ = std::make_unique(dummy_node); publishEgoPose(0.0, 0.0, 0.0); } @@ -107,9 +110,7 @@ class EvalTest : public ::testing::Test void publishTrajectory(const Trajectory & traj) { traj_pub_->publish(traj); - rclcpp::spin_some(eval_node); - rclcpp::spin_some(dummy_node); - rclcpp::sleep_for(std::chrono::milliseconds(100)); + spin_some(); } double publishTrajectoryAndGetMetric(const Trajectory & traj) @@ -117,9 +118,7 @@ class EvalTest : public ::testing::Test metric_updated_ = false; traj_pub_->publish(traj); while (!metric_updated_) { - rclcpp::spin_some(eval_node); - rclcpp::spin_some(dummy_node); - rclcpp::sleep_for(std::chrono::milliseconds(100)); + spin_some(); } return metric_value_; } @@ -138,8 +137,36 @@ class EvalTest : public ::testing::Test odom.pose.pose.orientation.y = q.y(); odom.pose.pose.orientation.z = q.z(); odom.pose.pose.orientation.w = q.w(); - odom_pub_->publish(odom); + spin_some(); + } + + void publishEgoAcc(const double acc1) + { + AccelWithCovarianceStamped acc_msg; + acc_msg.header.frame_id = "baselink"; + acc_msg.header.stamp = dummy_node->now(); + acc_msg.accel.accel.linear.x = acc1; + acc_pub_->publish(acc_msg); + spin_some(); + } + + double publishEgoAccAndGetMetric(const double acc) + { + metric_updated_ = false; + AccelWithCovarianceStamped acc_msg; + acc_msg.header.frame_id = "baselink"; + + acc_msg.header.stamp = dummy_node->now(); + acc_msg.accel.accel.linear.x = acc; + acc_pub_->publish(acc_msg); + while (!metric_updated_) { + spin_some(); + } + return metric_value_; + } + void spin_some() + { rclcpp::spin_some(eval_node); rclcpp::spin_some(dummy_node); rclcpp::sleep_for(std::chrono::milliseconds(100)); @@ -151,9 +178,10 @@ class EvalTest : public ::testing::Test // Node rclcpp::Node::SharedPtr dummy_node; EvalNode::SharedPtr eval_node; - // Trajectory publishers + // publishers rclcpp::Publisher::SharedPtr traj_pub_; rclcpp::Publisher::SharedPtr odom_pub_; + rclcpp::Publisher::SharedPtr acc_pub_; rclcpp::Subscription::SharedPtr metric_sub_; // TF broadcaster std::unique_ptr tf_broadcaster_; @@ -196,3 +224,23 @@ TEST_F(EvalTest, TestLateralDeviation) publishEgoPose(1.0, 1.0, 0.0); EXPECT_NEAR(publishTrajectoryAndGetMetric(t), 1.0, epsilon); } + +TEST_F(EvalTest, TestKinematicStateAcc) +{ + setTargetMetric("kinematic_state/acc"); + Trajectory t = makeTrajectory({{0.0, 0.0}, {1.0, 0.0}}); + publishTrajectory(t); + publishEgoPose(0.0, 0.0, 0.0); + EXPECT_NEAR(publishEgoAccAndGetMetric(2.0), 2.0, epsilon); +} + +TEST_F(EvalTest, TestKinematicStateJerk) +{ + setTargetMetric("kinematic_state/jerk"); + Trajectory t = makeTrajectory({{0.0, 0.0}, {1.0, 0.0}}); + publishTrajectory(t); + publishEgoPose(0.0, 0.0, 0.0); + // there is about 0.1 sec delay in spin_some + publishEgoAcc(0.0); + EXPECT_NEAR(publishEgoAccAndGetMetric(1), 10.0, 0.5); +} From 6bd5135024c0ed0ec2a1401d65a88f9267712a24 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 13 Nov 2024 13:56:31 +0900 Subject: [PATCH 417/701] fix(collision_detector): skip process when odometry is not published (#9308) * subscribe odometry Signed-off-by: Go Sakayori * fix precommit Signed-off-by: Go Sakayori * remove unnecessary log info Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori --- .../include/autoware/collision_detector/node.hpp | 3 +++ control/autoware_collision_detector/src/node.cpp | 8 ++++++++ launch/tier4_control_launch/launch/control.launch.xml | 1 + 3 files changed, 12 insertions(+) diff --git a/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp b/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp index 79cdd2ef91c35..a45f70fc2612e 100644 --- a/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp +++ b/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp @@ -108,6 +108,8 @@ class CollisionDetectorNode : public rclcpp::Node rclcpp::TimerBase::SharedPtr timer_; // publisher and subscriber + autoware::universe_utils::InterProcessPollingSubscriber sub_odometry_{ + this, "~/input/odometry"}; autoware::universe_utils::InterProcessPollingSubscriber sub_pointcloud_{this, "~/input/pointcloud", autoware::universe_utils::SingleDepthSensorQoS()}; autoware::universe_utils::InterProcessPollingSubscriber sub_dynamic_objects_{ @@ -121,6 +123,7 @@ class CollisionDetectorNode : public rclcpp::Node autoware::vehicle_info_utils::VehicleInfo vehicle_info_; // data + nav_msgs::msg::Odometry::ConstSharedPtr odometry_ptr_; sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_ptr_; PredictedObjects::ConstSharedPtr object_ptr_; OperationModeState::ConstSharedPtr operation_mode_ptr_; diff --git a/control/autoware_collision_detector/src/node.cpp b/control/autoware_collision_detector/src/node.cpp index e6618c4670d4e..cfb9e5bfc6dbb 100644 --- a/control/autoware_collision_detector/src/node.cpp +++ b/control/autoware_collision_detector/src/node.cpp @@ -312,6 +312,14 @@ bool CollisionDetectorNode::shouldBeExcluded( void CollisionDetectorNode::checkCollision(diagnostic_updater::DiagnosticStatusWrapper & stat) { + odometry_ptr_ = sub_odometry_.takeData(); + + if (!odometry_ptr_) { + RCLCPP_INFO_THROTTLE( + this->get_logger(), *this->get_clock(), 5000 /* ms */, "waiting for current odometry..."); + return; + } + pointcloud_ptr_ = sub_pointcloud_.takeData(); object_ptr_ = sub_dynamic_objects_.takeData(); operation_mode_ptr_ = sub_operation_mode_.takeData(); diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml index 44e09c292896a..acb81df58c641 100644 --- a/launch/tier4_control_launch/launch/control.launch.xml +++ b/launch/tier4_control_launch/launch/control.launch.xml @@ -233,6 +233,7 @@ + From 80b9cdcde5604337c59d1e06e80664aaed974674 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 13 Nov 2024 14:46:53 +0900 Subject: [PATCH 418/701] feat(goal_planner): safety check with only parking path (#9293) Signed-off-by: kosuke55 --- .../src/goal_planner_module.cpp | 15 ++++++++++----- .../utils/path_safety_checker/safety_check.hpp | 3 +++ .../utils/path_safety_checker/safety_check.cpp | 16 ++++++++++++++++ 3 files changed, 29 insertions(+), 5 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index ebc3130afe931..35e4b82a48f36 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -2210,6 +2210,10 @@ bool GoalPlannerModule::isSafePath( const std::shared_ptr & objects_filtering_params, const std::shared_ptr & safety_check_params) const { + using autoware::behavior_path_planner::utils::path_safety_checker::createPredictedPath; + using autoware::behavior_path_planner::utils::path_safety_checker:: + filterPredictedPathAfterTargetPose; + if (!found_pull_over_path || !pull_over_path_opt) { return false; } @@ -2227,7 +2231,6 @@ bool GoalPlannerModule::isSafePath( const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( *route_handler, left_side_parking_, parameters.backward_goal_search_length, parameters.forward_goal_search_length); - const size_t ego_seg_idx = planner_data->findEgoSegmentIndex(current_pull_over_path.points); const std::pair terminal_velocity_and_accel = pull_over_path.getPairsTerminalVelocityAndAccel(); RCLCPP_DEBUG( @@ -2238,10 +2241,12 @@ bool GoalPlannerModule::isSafePath( // TODO(Sugahara): shoule judge is_object_front properly const bool is_object_front = true; const bool limit_to_max_velocity = true; - const auto ego_predicted_path = - autoware::behavior_path_planner::utils::path_safety_checker::createPredictedPath( - ego_predicted_path_params, current_pull_over_path.points, current_pose, current_velocity, - ego_seg_idx, is_object_front, limit_to_max_velocity); + const auto ego_seg_idx = planner_data->findEgoIndex(current_pull_over_path.points); + const auto ego_predicted_path_from_current_pose = createPredictedPath( + ego_predicted_path_params, current_pull_over_path.points, current_pose, current_velocity, + ego_seg_idx, is_object_front, limit_to_max_velocity); + const auto ego_predicted_path = filterPredictedPathAfterTargetPose( + ego_predicted_path_from_current_pose, pull_over_path.start_pose()); // ========================================================================================== // if ego is before the entry of pull_over_lanes, the beginning of the safety check area diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp index a3e77d5e1d24f..56ffd99905579 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp @@ -128,6 +128,9 @@ ExtendedPredictedObjects filterObjectPredictedPathByTimeHorizon( const ExtendedPredictedObjects & objects, const double time_horizon, const bool check_all_predicted_path); +std::vector filterPredictedPathAfterTargetPose( + const std::vector & path, const Pose & target_pose); + bool checkSafetyWithRSS( const PathWithLaneId & planned_path, const std::vector & ego_predicted_path, diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp index a7ed94c0768c3..5b629cf0c9a20 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp @@ -470,6 +470,22 @@ ExtendedPredictedObjects filterObjectPredictedPathByTimeHorizon( return filtered_objects; } +std::vector filterPredictedPathAfterTargetPose( + const std::vector & path, const Pose & target_pose) +{ + std::vector filtered_path; + + const auto target_idx = + std::min_element(path.begin(), path.end(), [&target_pose](const auto & a, const auto & b) { + return calcDistance2d(a.pose.position, target_pose.position) < + calcDistance2d(b.pose.position, target_pose.position); + }); + + std::copy(target_idx, path.end(), std::back_inserter(filtered_path)); + + return filtered_path; +}; + bool checkSafetyWithRSS( const PathWithLaneId & planned_path, const std::vector & ego_predicted_path, From c5f94dbb2abba3aad9c9f0915bc780c0e4494c9f Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 13 Nov 2024 14:58:49 +0900 Subject: [PATCH 419/701] refactor(goal_planner): remove reference_goal_pose getter/setter (#9270) Signed-off-by: Mamoru Sobue --- .../goal_planner_module.hpp | 2 - .../goal_searcher.hpp | 3 +- .../goal_searcher_base.hpp | 11 +----- .../src/goal_planner_module.cpp | 38 ++++++------------- .../src/goal_searcher.cpp | 30 ++++++++++++--- 5 files changed, 41 insertions(+), 43 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 6caeff97c2607..907bce430f46d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -237,7 +237,6 @@ class GoalPlannerModule : public SceneModuleInterface // collision detector // need to be shared_ptr to be used in planner and goal searcher std::shared_ptr occupancy_grid_map; - std::shared_ptr goal_searcher; const BehaviorModuleOutput & getPreviousModuleOutput() const { return previous_module_output; } const ModuleStatus & getCurrentStatus() const { return current_status; } @@ -246,7 +245,6 @@ class GoalPlannerModule : public SceneModuleInterface void update( const GoalPlannerParameters & parameters, const PlannerData & planner_data, const ModuleStatus & current_status, const BehaviorModuleOutput & previous_module_output, - const std::shared_ptr goal_searcher_, const autoware::universe_utils::LinearRing2d & vehicle_footprint); private: diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp index 923fb6ae5bd44..ac4ffe97d6f2d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp @@ -51,7 +51,8 @@ class GoalSearcher : public GoalSearcherBase private: void countObjectsToAvoid( GoalCandidates & goal_candidates, const PredictedObjects & objects, - const std::shared_ptr & planner_data) const; + const std::shared_ptr & planner_data, + const Pose & reference_goal_pose) const; void createAreaPolygons( std::vector original_search_poses, const std::shared_ptr & planner_data); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp index b7d6ffe0710fe..23a51d1f8c86a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp @@ -43,15 +43,9 @@ using GoalCandidates = std::vector; class GoalSearcherBase { public: - explicit GoalSearcherBase(const GoalPlannerParameters & parameters) { parameters_ = parameters; } + explicit GoalSearcherBase(const GoalPlannerParameters & parameters) : parameters_{parameters} {} virtual ~GoalSearcherBase() = default; - void setReferenceGoal(const Pose & reference_goal_pose) - { - reference_goal_pose_ = reference_goal_pose; - } - const Pose & getReferenceGoal() const { return reference_goal_pose_; } - MultiPolygon2d getAreaPolygons() const { return area_polygons_; } virtual GoalCandidates search(const std::shared_ptr & planner_data) = 0; virtual void update( @@ -72,8 +66,7 @@ class GoalSearcherBase const PredictedObjects & objects) const = 0; protected: - GoalPlannerParameters parameters_{}; - Pose reference_goal_pose_{}; + const GoalPlannerParameters parameters_; MultiPolygon2d area_polygons_{}; }; } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 35e4b82a48f36..5147f938c18fa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -208,7 +208,6 @@ void GoalPlannerModule::onTimer() std::optional last_previous_module_output_opt{std::nullopt}; std::shared_ptr occupancy_grid_map{nullptr}; std::optional parameters_opt{std::nullopt}; - std::shared_ptr goal_searcher{nullptr}; // begin of critical section { @@ -221,18 +220,17 @@ void GoalPlannerModule::onTimer() last_previous_module_output_opt = gp_planner_data.last_previous_module_output; occupancy_grid_map = gp_planner_data.occupancy_grid_map; parameters_opt = gp_planner_data.parameters; - goal_searcher = gp_planner_data.goal_searcher; } } // end of critical section if ( !local_planner_data || !current_status_opt || !previous_module_output_opt || - !last_previous_module_output_opt || !occupancy_grid_map || !parameters_opt || !goal_searcher) { + !last_previous_module_output_opt || !occupancy_grid_map || !parameters_opt) { RCLCPP_ERROR( getLogger(), "failed to get valid " - "local_planner_data/current_status/previous_module_output/occupancy_grid_map/parameters_opt/" - "goal_searcher in onTimer"); + "local_planner_data/current_status/previous_module_output/occupancy_grid_map/parameters_opt " + "in onTimer"); return; } const auto & current_status = current_status_opt.value(); @@ -375,7 +373,7 @@ void GoalPlannerModule::onFreespaceParkingTimer() std::optional current_status_opt{std::nullopt}; std::shared_ptr occupancy_grid_map{nullptr}; std::optional parameters_opt{std::nullopt}; - std::shared_ptr goal_searcher{nullptr}; + std::optional vehicle_footprint_opt{std::nullopt}; // begin of critical section { @@ -386,20 +384,21 @@ void GoalPlannerModule::onFreespaceParkingTimer() current_status_opt = gp_planner_data.current_status; occupancy_grid_map = gp_planner_data.occupancy_grid_map; parameters_opt = gp_planner_data.parameters; - goal_searcher = gp_planner_data.goal_searcher; + vehicle_footprint_opt = gp_planner_data.vehicle_footprint; } } // end of critical section - if (!local_planner_data || !current_status_opt || !parameters_opt || !goal_searcher) { + if (!local_planner_data || !current_status_opt || !parameters_opt || !vehicle_footprint_opt) { RCLCPP_ERROR( getLogger(), - "failed to get valid planner_data/current_status/parameters/goal_searcher in " + "failed to get valid planner_data/current_status/parameters in " "onFreespaceParkingTimer"); return; } const auto & current_status = current_status_opt.value(); const auto & parameters = parameters_opt.value(); + const auto & vehicle_footprint = vehicle_footprint_opt.value(); if (current_status == ModuleStatus::IDLE) { return; @@ -437,6 +436,8 @@ void GoalPlannerModule::onFreespaceParkingTimer() needPathUpdate( local_planner_data->self_odometry->pose.pose, path_update_duration, modified_goal_opt, parameters)) { + auto goal_searcher = std::make_shared(parameters, vehicle_footprint); + planFreespacePath(local_planner_data, goal_searcher, occupancy_grid_map); } } @@ -522,7 +523,7 @@ void GoalPlannerModule::updateData() // **re-pointing** by `planner_data_->foo = msg` in behavior_path_planner::onCallbackFor(msg) // and if these two coincided, only the reference count is affected gp_planner_data.update( - *parameters_, *planner_data_, getCurrentStatus(), getPreviousModuleOutput(), goal_searcher_, + *parameters_, *planner_data_, getCurrentStatus(), getPreviousModuleOutput(), vehicle_footprint_); // NOTE: RouteHandler holds several shared pointers in it, so just copying PlannerData as // value does not adds the reference counts of RouteHandler.lanelet_map_ptr_ and others. Since @@ -585,14 +586,6 @@ void GoalPlannerModule::updateData() // update goal searcher and generate goal candidates if (thread_safe_data_.get_goal_candidates().empty()) { - const auto refined_goal = goal_planner_utils::calcRefinedGoal( - planner_data_->route_handler->getOriginalGoalPose(), planner_data_->route_handler, - left_side_parking_, planner_data_->parameters.vehicle_width, - planner_data_->parameters.base_link2front, planner_data_->parameters.base_link2rear, - *parameters_); - if (refined_goal) { - goal_searcher_->setReferenceGoal(refined_goal.value()); - } thread_safe_data_.set_goal_candidates(generateGoalCandidates()); } @@ -2599,15 +2592,13 @@ GoalPlannerModule::GoalPlannerData GoalPlannerModule::GoalPlannerData::clone() c GoalPlannerModule::GoalPlannerData gp_planner_data( planner_data, parameters, last_previous_module_output); gp_planner_data.update( - parameters, planner_data, current_status, previous_module_output, goal_searcher, - vehicle_footprint); + parameters, planner_data, current_status, previous_module_output, vehicle_footprint); return gp_planner_data; } void GoalPlannerModule::GoalPlannerData::update( const GoalPlannerParameters & parameters_, const PlannerData & planner_data_, const ModuleStatus & current_status_, const BehaviorModuleOutput & previous_module_output_, - const std::shared_ptr goal_searcher_, const autoware::universe_utils::LinearRing2d & vehicle_footprint_) { parameters = parameters_; @@ -2619,11 +2610,6 @@ void GoalPlannerModule::GoalPlannerData::update( last_previous_module_output = previous_module_output; previous_module_output = previous_module_output_; occupancy_grid_map->setMap(*(planner_data.occupancy_grid)); - // to create a deepcopy of GoalPlanner(not GoalPlannerBase), goal_searcher_ is not enough, so - // recreate it here - goal_searcher = std::make_shared(parameters, vehicle_footprint); - // and then copy the reference goal - goal_searcher->setReferenceGoal(goal_searcher_->getReferenceGoal()); } void PathDecisionStateController::transit_state( diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp index 0bca5ba7a7864..5607729e1030d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -102,6 +102,16 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p { GoalCandidates goal_candidates{}; + const auto reference_goal_pose_opt = goal_planner_utils::calcRefinedGoal( + planner_data->route_handler->getOriginalGoalPose(), planner_data->route_handler, + left_side_parking_, planner_data->parameters.vehicle_width, + planner_data->parameters.base_link2front, planner_data->parameters.base_link2rear, parameters_); + + if (!reference_goal_pose_opt) { + return goal_candidates; + } + const auto & reference_goal_pose = reference_goal_pose_opt.value(); + const auto & route_handler = planner_data->route_handler; const double forward_length = parameters_.forward_goal_search_length; const double backward_length = parameters_.backward_goal_search_length; @@ -122,7 +132,7 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p const auto departure_check_lane = goal_planner_utils::createDepartureCheckLanelet( pull_over_lanes, *route_handler, left_side_parking_); const auto goal_arc_coords = - lanelet::utils::getArcCoordinates(pull_over_lanes, reference_goal_pose_); + lanelet::utils::getArcCoordinates(pull_over_lanes, reference_goal_pose); const double s_start = std::max(0.0, goal_arc_coords.length - backward_length); const double s_end = goal_arc_coords.length + forward_length; const double longitudinal_interval = use_bus_stop_area @@ -163,7 +173,7 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p const Pose original_search_pose = calcOffsetPose(center_pose, 0, offset_from_center_line, 0); const double longitudinal_distance_from_original_goal = std::abs(autoware::motion_utils::calcSignedArcLength( - center_line_path.points, reference_goal_pose_.position, original_search_pose.position)); + center_line_path.points, reference_goal_pose.position, original_search_pose.position)); original_search_poses.push_back(original_search_pose); // for createAreaPolygon Pose search_pose{}; // search goal_pose in lateral direction @@ -232,7 +242,7 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p void GoalSearcher::countObjectsToAvoid( GoalCandidates & goal_candidates, const PredictedObjects & objects, - const std::shared_ptr & planner_data) const + const std::shared_ptr & planner_data, const Pose & reference_goal_pose) const { const auto & route_handler = planner_data->route_handler; const double forward_length = parameters_.forward_goal_search_length; @@ -244,7 +254,7 @@ void GoalSearcher::countObjectsToAvoid( *route_handler, left_side_parking_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length); const auto goal_arc_coords = - lanelet::utils::getArcCoordinates(pull_over_lanes, reference_goal_pose_); + lanelet::utils::getArcCoordinates(pull_over_lanes, reference_goal_pose); const double s_start = std::max(0.0, goal_arc_coords.length - backward_length); const double s_end = goal_arc_coords.length + forward_length; const auto center_line_path = utils::resamplePathWithSpline( @@ -302,8 +312,18 @@ void GoalSearcher::update( const std::shared_ptr occupancy_grid_map, const std::shared_ptr & planner_data, const PredictedObjects & objects) const { + const auto refined_goal_opt = goal_planner_utils::calcRefinedGoal( + planner_data->route_handler->getOriginalGoalPose(), planner_data->route_handler, + left_side_parking_, planner_data->parameters.vehicle_width, + planner_data->parameters.base_link2front, planner_data->parameters.base_link2rear, parameters_); + + if (!refined_goal_opt) { + return; + } + + const auto & refined_goal = refined_goal_opt.value(); if (parameters_.prioritize_goals_before_objects) { - countObjectsToAvoid(goal_candidates, objects, planner_data); + countObjectsToAvoid(goal_candidates, objects, planner_data, refined_goal); } if (parameters_.goal_priority == "minimum_weighted_distance") { From 391beda2313b9a8684dd69aeb29611057fb821d8 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 13 Nov 2024 14:59:19 +0900 Subject: [PATCH 420/701] feat(start_planner, lane_departure_checker): speed up by updating polygons (#9309) speed up by updating polygons Signed-off-by: Daniel Sanchez --- .../lane_departure_checker.hpp | 3 ++- .../lane_departure_checker.cpp | 14 +++++++++++--- .../src/shift_pull_out.cpp | 5 ++++- 3 files changed, 17 insertions(+), 5 deletions(-) diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp index 9ef803d874520..6c83f8780c93c 100644 --- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp +++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp @@ -147,7 +147,8 @@ class LaneDepartureChecker PathWithLaneId cropPointsOutsideOfLanes( const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path, - const size_t end_index); + const size_t end_index, std::vector & fused_lanelets_id, + std::optional & fused_lanelets_polygon); static bool isOutOfLane( const lanelet::ConstLanelets & candidate_lanelets, const LinearRing2d & vehicle_footprint); diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp index a6b91c25763c5..f823988c77e4d 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp @@ -340,13 +340,21 @@ bool LaneDepartureChecker::checkPathWillLeaveLane( } PathWithLaneId LaneDepartureChecker::cropPointsOutsideOfLanes( - const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path, const size_t end_index) + const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path, const size_t end_index, + std::vector & fused_lanelets_id, + std::optional & fused_lanelets_polygon) { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); PathWithLaneId temp_path; - const auto fused_lanelets_polygon = getFusedLaneletPolygonForPath(lanelet_map_ptr, path); - if (path.points.empty() || !fused_lanelets_polygon) return temp_path; + + // Update the lanelet polygon for the current path + if ( + path.points.empty() || !updateFusedLaneletPolygonForPath( + lanelet_map_ptr, path, fused_lanelets_id, fused_lanelets_polygon)) { + return temp_path; + } + const auto vehicle_footprints = utils::createVehicleFootprints(path, *vehicle_info_ptr_, param_.footprint_extra_margin); diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp index 2d94ceb85de28..aa3246eb3dac0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp @@ -67,6 +67,8 @@ std::optional ShiftPullOut::plan( std::vector fused_id_start_to_end{}; std::optional fused_polygon_start_to_end = std::nullopt; + std::vector fused_id_crop_points{}; + std::optional fused_polygon_crop_points = std::nullopt; // get safe path for (auto & pull_out_path : pull_out_paths) { universe_utils::ScopedTimeTrack st("get safe path", *time_keeper_); @@ -121,7 +123,8 @@ std::optional ShiftPullOut::plan( common_parameters.ego_nearest_yaw_threshold); const auto cropped_path = lane_departure_checker_->cropPointsOutsideOfLanes( - lanelet_map_ptr, shift_path, start_segment_idx); + lanelet_map_ptr, shift_path, start_segment_idx, fused_id_crop_points, + fused_polygon_crop_points); if (cropped_path.points.empty()) { planner_debug_data.conditions_evaluation.emplace_back("cropped path is empty"); continue; From 08038bd1b7169fbbe02d5e02c5196bbd27da8da8 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Wed, 13 Nov 2024 17:33:56 +0900 Subject: [PATCH 421/701] fix(autoware_trajectory): fix bug of autoware_trajectory (#9314) Signed-off-by: Y.Hisaki --- common/autoware_trajectory/src/pose.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/autoware_trajectory/src/pose.cpp b/common/autoware_trajectory/src/pose.cpp index 14806bb4701ae..35eca81981f89 100644 --- a/common/autoware_trajectory/src/pose.cpp +++ b/common/autoware_trajectory/src/pose.cpp @@ -45,8 +45,8 @@ PointType Trajectory::compute(double s) const { PointType result; result.position = BaseClass::compute(s); - result.orientation = orientation_interpolator_->compute(s); s = clamp(s); + result.orientation = orientation_interpolator_->compute(s); return result; } From 842b1abd37cbf10c4cd776ee4ad35ccad78fbc09 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Wed, 13 Nov 2024 18:23:39 +0900 Subject: [PATCH 422/701] feat(autoware_trajectory): change default value of min_points (#9315) Signed-off-by: Y.Hisaki --- .../include/autoware/trajectory/path_point.hpp | 2 +- .../include/autoware/trajectory/path_point_with_lane_id.hpp | 2 +- .../autoware_trajectory/include/autoware/trajectory/point.hpp | 2 +- common/autoware_trajectory/include/autoware/trajectory/pose.hpp | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/common/autoware_trajectory/include/autoware/trajectory/path_point.hpp b/common/autoware_trajectory/include/autoware/trajectory/path_point.hpp index c14a5b023240d..eb4ffd6f46207 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/path_point.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/path_point.hpp @@ -57,7 +57,7 @@ class Trajectory * @param min_points Minimum number of points * @return Vector of points */ - [[nodiscard]] std::vector restore(const size_t & min_points = 100) const; + [[nodiscard]] std::vector restore(const size_t & min_points = 4) const; class Builder { diff --git a/common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp b/common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp index 776779396db41..4597c0cc61c6e 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp @@ -58,7 +58,7 @@ class Trajectory * @param min_points Minimum number of points * @return Vector of points */ - [[nodiscard]] std::vector restore(const size_t & min_points = 100) const; + [[nodiscard]] std::vector restore(const size_t & min_points = 4) const; class Builder { diff --git a/common/autoware_trajectory/include/autoware/trajectory/point.hpp b/common/autoware_trajectory/include/autoware/trajectory/point.hpp index cdc5440e62eab..e9d985a85194a 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/point.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/point.hpp @@ -244,7 +244,7 @@ class Trajectory * @param min_points Minimum number of points * @return Vector of points */ - [[nodiscard]] std::vector restore(const size_t & min_points = 100) const; + [[nodiscard]] std::vector restore(const size_t & min_points = 4) const; void crop(const double & start, const double & length); diff --git a/common/autoware_trajectory/include/autoware/trajectory/pose.hpp b/common/autoware_trajectory/include/autoware/trajectory/pose.hpp index 90d84ef0a6a90..8acc7b48dc8e4 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/pose.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/pose.hpp @@ -56,7 +56,7 @@ class Trajectory : public Trajectory restore(const size_t & min_points = 100) const; + [[nodiscard]] std::vector restore(const size_t & min_points = 4) const; /** * @brief Align the orientation with the direction From eb816cfb747f643cbe6afc72695d23a4a7c049ab Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 13 Nov 2024 18:42:49 +0900 Subject: [PATCH 423/701] chore(codecov): update maintained packages (#9316) Signed-off-by: Mamoru Sobue --- codecov.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/codecov.yaml b/codecov.yaml index 4c989445a9f54..89b40a063b0ed 100644 --- a/codecov.yaml +++ b/codecov.yaml @@ -117,6 +117,7 @@ component_management: # - control/control_performance_analysis/** - control/obstacle_collision_checker/** # - control/predicted_path_checker/** + - control/autoware_collision_detector/** - component_id: localization-tier-iv-maintained-packages name: Localization TIER IV Maintained Packages @@ -215,7 +216,7 @@ component_management: - planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/** - planning/behavior_path_planner/autoware_behavior_path_planner_common/** - planning/behavior_path_planner/autoware_behavior_path_start_planner_module/** - - planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/** + # - planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/** - planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** # - planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** - planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** @@ -245,3 +246,5 @@ component_management: - planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** - planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** - planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** + #### sampling_based_planner + - planning/sampling_based_planner/autoware_bezier_sampler/** From 96230fcd7dc76076798edc47eaec617c56d3f700 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 13 Nov 2024 11:57:51 +0100 Subject: [PATCH 424/701] doc: fix links to design documents (#9301) Signed-off-by: Esteve Fernandez --- common/.pages | 27 +++++++++++++-------------- 1 file changed, 13 insertions(+), 14 deletions(-) diff --git a/common/.pages b/common/.pages index bba56f6dab486..64d2223329a10 100644 --- a/common/.pages +++ b/common/.pages @@ -9,20 +9,19 @@ nav: - 'comparisons': common/autoware_auto_common/design/comparisons - 'autoware_grid_map_utils': common/autoware_grid_map_utils - 'autoware_point_types': common/autoware_point_types - - 'Geography Utils': common/geography_utils + - 'Geography Utils': common/autoware_geography_utils - 'Global Parameter Loader': common/global_parameter_loader/Readme - 'Glog Component': common/glog_component - - 'interpolation': common/interpolation - - 'Kalman Filter': common/kalman_filter + - 'interpolation': common/autoware_interpolation + - 'Kalman Filter': common/autoware_kalman_filter - 'Motion Utils': common/autoware_motion_utils - 'Vehicle Utils': common/autoware_motion_utils/docs/vehicle/vehicle - - 'Object Recognition Utils': common/object_recognition_utils - - 'OSQP Interface': common/osqp_interface/design/osqp_interface-design - - 'Perception Utils': common/perception_utils - - 'QP Interface': common/qp_interface/design/qp_interface-design + - 'Object Recognition Utils': common/autoware_object_recognition_utils + - 'OSQP Interface': common/autoware_osqp_interface/design/osqp_interface-design + - 'QP Interface': common/autoware_qp_interface/design/qp_interface-design - 'Signal Processing': - - 'Introduction': common/signal_processing - - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter + - 'Introduction': common/autoware_signal_processing + - 'Butterworth Filter': common/autoware_signal_processing/documentation/ButterworthFilter - 'autoware_universe_utils': common/autoware_universe_utils - 'traffic_light_utils': common/traffic_light_utils - 'RVIZ2 Plugins': @@ -30,7 +29,7 @@ nav: - 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin - 'autoware_mission_details_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin - 'bag_time_manager_rviz_plugin': common/bag_time_manager_rviz_plugin - - 'polar_grid': common/polar_grid/Readme + - 'polar_grid': common/autoware_polar_grid/Readme - 'tier4_adapi_rviz_plugin': common/tier4_adapi_rviz_plugin - 'tier4_api_utils': common/tier4_api_utils - 'tier4_camera_view_rviz_plugin': common/tier4_camera_view_rviz_plugin @@ -43,10 +42,10 @@ nav: - 'tier4_vehicle_rviz_plugin': common/tier4_vehicle_rviz_plugin - 'traffic_light_recognition_marker_publisher': common/traffic_light_recognition_marker_publisher/Readme - 'Node': - - 'Goal Distance Calculator': common/goal_distance_calculator/Readme + - 'Goal Distance Calculator': common/autoware_goal_distance_calculator/Readme - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme - 'Others': - 'autoware_adapi_specs': common/autoware_adapi_specs - - 'component_interface_specs': common/component_interface_specs - - 'component_interface_tools': common/component_interface_tools - - 'component_interface_utils': common/component_interface_utils + - 'autoware_component_interface_specs': common/autoware_component_interface_specs + - 'autoware_component_interface_tools': common/autoware_component_interface_tools + - 'autoware_component_interface_utils': common/autoware_component_interface_utils From e0002f3e36defd695a026df741b5761df615d7e1 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Wed, 13 Nov 2024 20:34:26 +0900 Subject: [PATCH 425/701] fix(costmap_generator): use vehicle frame for lidar height thresholds (#9311) Signed-off-by: Maxime CLEMENT --- planning/autoware_costmap_generator/README.md | 4 ++-- .../config/costmap_generator.param.yaml | 4 ++-- .../costmap_generator/costmap_generator.hpp | 3 ++- .../src/costmap_generator.cpp | 14 +++++++++----- 4 files changed, 15 insertions(+), 10 deletions(-) diff --git a/planning/autoware_costmap_generator/README.md b/planning/autoware_costmap_generator/README.md index cb298195a82a1..78ce05cc46dc9 100644 --- a/planning/autoware_costmap_generator/README.md +++ b/planning/autoware_costmap_generator/README.md @@ -50,8 +50,8 @@ None | `grid_length_y` | int | size of gridmap for y direction | | `grid_position_x` | int | offset from coordinate in x direction | | `grid_position_y` | int | offset from coordinate in y direction | -| `maximum_lidar_height_thres` | double | maximum height threshold for pointcloud data | -| `minimum_lidar_height_thres` | double | minimum height threshold for pointcloud data | +| `maximum_lidar_height_thres` | double | maximum height threshold for pointcloud data (relative to the vehicle_frame) | +| `minimum_lidar_height_thres` | double | minimum height threshold for pointcloud data (relative to the vehicle_frame) | | `expand_rectangle_size` | double | expand object's rectangle with this value | | `size_of_expansion_kernel` | int | kernel size for blurring effect on object's costmap | diff --git a/planning/autoware_costmap_generator/config/costmap_generator.param.yaml b/planning/autoware_costmap_generator/config/costmap_generator.param.yaml index dc2e74deb3ef9..f3abb62e34b0f 100644 --- a/planning/autoware_costmap_generator/config/costmap_generator.param.yaml +++ b/planning/autoware_costmap_generator/config/costmap_generator.param.yaml @@ -12,8 +12,8 @@ grid_length_y: 70.0 grid_position_x: 0.0 grid_position_y: 0.0 - maximum_lidar_height_thres: 0.3 - minimum_lidar_height_thres: -2.2 + maximum_lidar_height_thres: 2.5 # [m] when use_points is true, ignore points with a z value above this (in the vehicle_frame) + minimum_lidar_height_thres: 0.0 # [m] when use_points is true, ignore points with a z value bellow this (in the vehicle_frame) use_wayarea: true use_parkinglot: true use_objects: true diff --git a/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp index 94906cdf2725a..72b56f0348a40 100644 --- a/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp @@ -166,8 +166,9 @@ class CostmapGenerator : public rclcpp::Node /// \brief calculate cost from pointcloud data /// \param[in] in_points: subscribed pointcloud data + /// \param[in] vehicle_to_map_z: z value of the ego vehicle in the costmap frame grid_map::Matrix generatePointsCostmap( - const sensor_msgs::msg::PointCloud2::ConstSharedPtr & in_points); + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & in_points, const double vehicle_to_map_z); /// \brief calculate cost from DynamicObjectArray /// \param[in] in_objects: subscribed DynamicObjectArray diff --git a/planning/autoware_costmap_generator/src/costmap_generator.cpp b/planning/autoware_costmap_generator/src/costmap_generator.cpp index 6fa3db119d02e..d791836fa0a08 100644 --- a/planning/autoware_costmap_generator/src/costmap_generator.cpp +++ b/planning/autoware_costmap_generator/src/costmap_generator.cpp @@ -51,6 +51,7 @@ #include #include #include +#include #include #include @@ -303,7 +304,7 @@ void CostmapGenerator::onTimer() if (param_->use_points && points_) { autoware::universe_utils::ScopedTimeTrack st("generatePointsCostmap()", *time_keeper_); - costmap_[LayerName::points] = generatePointsCostmap(points_); + costmap_[LayerName::points] = generatePointsCostmap(points_, tf.transform.translation.z); } { @@ -346,21 +347,24 @@ void CostmapGenerator::initGridmap() } grid_map::Matrix CostmapGenerator::generatePointsCostmap( - const sensor_msgs::msg::PointCloud2::ConstSharedPtr & in_points) + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & in_points, const double vehicle_to_map_z) { geometry_msgs::msg::TransformStamped points2costmap; try { points2costmap = tf_buffer_.lookupTransform( param_->costmap_frame, in_points->header.frame_id, tf2::TimePointZero); } catch (const tf2::TransformException & ex) { - RCLCPP_ERROR(rclcpp::get_logger("costmap_generator"), "%s", ex.what()); + RCLCPP_ERROR_THROTTLE( + rclcpp::get_logger("costmap_generator"), *get_clock(), 1000, "%s", ex.what()); } const auto transformed_points = getTransformedPointCloud(*in_points, points2costmap.transform); + const auto maximum_height_thres = param_->maximum_lidar_height_thres + vehicle_to_map_z; + const auto minimum_height_thres = param_->minimum_lidar_height_thres + vehicle_to_map_z; grid_map::Matrix points_costmap = points2costmap_.makeCostmapFromPoints( - param_->maximum_lidar_height_thres, param_->minimum_lidar_height_thres, param_->grid_min_value, - param_->grid_max_value, costmap_, LayerName::points, transformed_points); + maximum_height_thres, minimum_height_thres, param_->grid_min_value, param_->grid_max_value, + costmap_, LayerName::points, transformed_points); return points_costmap; } From 6a1ddbd08bd701e974af8d13b5e7bca6d66c9207 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 13 Nov 2024 15:17:24 +0100 Subject: [PATCH 426/701] fix(tier4_dummy_object_rviz_plugin): fix missing dependency (#9306) Signed-off-by: Esteve Fernandez --- simulator/tier4_dummy_object_rviz_plugin/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/simulator/tier4_dummy_object_rviz_plugin/package.xml b/simulator/tier4_dummy_object_rviz_plugin/package.xml index 688f72026804e..c3d8f78670502 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/package.xml +++ b/simulator/tier4_dummy_object_rviz_plugin/package.xml @@ -10,6 +10,7 @@ ament_cmake autoware_cmake + libboost-dev libqt5-core libqt5-gui libqt5-widgets From 01e78a16ecc4346c4b0137748281b3b841145001 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 14 Nov 2024 12:39:35 +0900 Subject: [PATCH 427/701] fix(bvp): remove callback group (#9294) Signed-off-by: satoshi-ota --- .../src/node.cpp | 17 +---------------- 1 file changed, 1 insertion(+), 16 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp index 93473402ebc9c..394412a508d41 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp @@ -38,20 +38,6 @@ #include #include -namespace -{ -rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node_ptr) -{ - rclcpp::CallbackGroup::SharedPtr callback_group = - node_ptr->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); - - auto sub_opt = rclcpp::SubscriptionOptions(); - sub_opt.callback_group = callback_group; - - return sub_opt; -} -} // namespace - namespace autoware::behavior_velocity_planner { namespace @@ -80,8 +66,7 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio // Trigger Subscriber trigger_sub_path_with_lane_id_ = this->create_subscription( - "~/input/path_with_lane_id", 1, std::bind(&BehaviorVelocityPlannerNode::onTrigger, this, _1), - createSubscriptionOptions(this)); + "~/input/path_with_lane_id", 1, std::bind(&BehaviorVelocityPlannerNode::onTrigger, this, _1)); srv_load_plugin_ = create_service( "~/service/load_plugin", std::bind(&BehaviorVelocityPlannerNode::onLoadPlugin, this, _1, _2)); From 7eec0bbae2003103ec835de162722e51acf95a88 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 14 Nov 2024 13:32:30 +0900 Subject: [PATCH 428/701] fix(run_out): output velocity factor (#9319) * fix(run_out): output velocity factor Signed-off-by: satoshi-ota * fix(adapi): subscribe run out velocity factor Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../src/scene.cpp | 10 +++++++++- system/autoware_default_adapi/src/planning.cpp | 1 + 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp index 5a219f654561a..2296655d700d3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp @@ -50,7 +50,7 @@ RunOutModule::RunOutModule( debug_ptr_(debug_ptr), state_machine_(std::make_unique(planner_param.approaching.state)) { - velocity_factor_.init(PlanningBehavior::UNKNOWN); + velocity_factor_.init(PlanningBehavior::ROUTE_OBSTACLE); if (planner_param.run_out.use_partition_lanelet) { const lanelet::LaneletMapConstPtr & ll = planner_data->route_handler_->getLaneletMapPtr(); @@ -768,6 +768,11 @@ bool RunOutModule::insertStopPoint( stop_point_with_lane_id = path.points.at(nearest_seg_idx); stop_point_with_lane_id.point.pose = *stop_point; planning_utils::insertVelocity(path, stop_point_with_lane_id, 0.0, insert_idx); + + velocity_factor_.set( + path.points, planner_data_->current_odometry->pose, stop_point.value(), VelocityFactor::UNKNOWN, + "run_out"); + return true; } @@ -870,6 +875,9 @@ void RunOutModule::insertApproachingVelocity( return; } + velocity_factor_.set( + output_path.points, current_pose, stop_point.value(), VelocityFactor::UNKNOWN, "run_out"); + // debug debug_ptr_->pushStopPose(autoware::universe_utils::calcOffsetPose( *stop_point, planner_param_.vehicle_param.base_to_front, 0, 0)); diff --git a/system/autoware_default_adapi/src/planning.cpp b/system/autoware_default_adapi/src/planning.cpp index 49c4e8f432de6..4ff0edfd2b7d5 100644 --- a/system/autoware_default_adapi/src/planning.cpp +++ b/system/autoware_default_adapi/src/planning.cpp @@ -81,6 +81,7 @@ PlanningNode::PlanningNode(const rclcpp::NodeOptions & options) : Node("planning "/planning/velocity_factors/obstacle_stop", "/planning/velocity_factors/obstacle_cruise", "/planning/velocity_factors/occlusion_spot", + "/planning/velocity_factors/run_out", "/planning/velocity_factors/stop_line", "/planning/velocity_factors/surround_obstacle", "/planning/velocity_factors/traffic_light", From 6e1c3aa807866f432bd66b8fdedc901c30b67c1a Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Thu, 14 Nov 2024 15:35:47 +0900 Subject: [PATCH 429/701] fix(codeowner): fix codeowner file's directory name (#9321) fix codeowner Signed-off-by: Y.Hisaki --- .github/CODEOWNERS | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 6e83e2b52fdbe..579b60a5be77f 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -22,7 +22,7 @@ common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.j common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -common/autoware_trajectory_container/** yukinari.hisaki.2@tier4.jp takayuki.murooka@tier4.jp mamoru.sobue@tier4.jp +common/autoware_trajectory/** yukinari.hisaki.2@tier4.jp takayuki.murooka@tier4.jp mamoru.sobue@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp From 7528c4738398b5f58e0582f0b065c4ee14da6ad7 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Thu, 14 Nov 2024 17:27:44 +0900 Subject: [PATCH 430/701] feat(behavior_velocity_planner): replace first_stop_path_point_index (#9296) * feat(behavior_velocity_planner): replace first_stop_path_point_index Signed-off-by: Y.Hisaki * add const Signed-off-by: Y.Hisaki * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp Co-authored-by: Kosuke Takeuchi * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp Co-authored-by: Kosuke Takeuchi --------- Signed-off-by: Y.Hisaki Co-authored-by: Kosuke Takeuchi --- .../src/scene.cpp | 9 ++++---- .../src/scene_no_stopping_area.cpp | 12 +++++----- .../src/planner_manager.cpp | 22 +++++++++++++------ .../plugin_interface.hpp | 2 +- .../plugin_wrapper.hpp | 4 ++-- .../scene_module_interface.hpp | 9 ++++---- .../src/scene_module_interface.cpp | 6 ++--- .../src/scene.cpp | 5 +++-- .../src/manager.cpp | 9 +++++--- .../src/scene.cpp | 9 +++++--- 10 files changed, 53 insertions(+), 34 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp index afbff7425542a..abbb818f2b042 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp @@ -195,13 +195,14 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * // Create legacy StopReason { - const auto insert_idx = stop_point->first + 1; + const double stop_path_point_distance = autoware::motion_utils::calcSignedArcLength( + path->points, 0, stop_pose.position, stop_point->first); if ( - !first_stop_path_point_index_ || - static_cast(insert_idx) < first_stop_path_point_index_) { + !first_stop_path_point_distance_ || + stop_path_point_distance < first_stop_path_point_distance_.value()) { debug_data_.first_stop_pose = stop_point->second; - first_stop_path_point_index_ = static_cast(insert_idx); + first_stop_path_point_distance_ = stop_path_point_distance; } } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp index 031f2976da0a7..bac91d6ca92fd 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp @@ -153,12 +153,14 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason // Create legacy StopReason { - const auto insert_idx = stop_point->first + 1; + const double stop_path_point_distance = autoware::motion_utils::calcSignedArcLength( + path->points, 0, stop_pose.position, stop_point->first); + if ( - !first_stop_path_point_index_ || - static_cast(insert_idx) < first_stop_path_point_index_) { - debug_data_.first_stop_pose = stop_pose; - first_stop_path_point_index_ = static_cast(insert_idx); + !first_stop_path_point_distance_ || + stop_path_point_distance < first_stop_path_point_distance_.value()) { + debug_data_.first_stop_pose = stop_point->second; + first_stop_path_point_distance_ = stop_path_point_distance; } } } else if (state_machine_.getState() == StateMachine::State::GO) { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp index 4a55ba5c1c666..05aa4868249f3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp @@ -14,9 +14,13 @@ #include "planner_manager.hpp" +#include +#include + #include #include +#include #include namespace autoware::behavior_velocity_planner @@ -103,24 +107,28 @@ tier4_planning_msgs::msg::PathWithLaneId BehaviorVelocityPlannerManager::planPat { tier4_planning_msgs::msg::PathWithLaneId output_path_msg = input_path_msg; - int first_stop_path_point_index = static_cast(output_path_msg.points.size() - 1); + double first_stop_path_point_distance = + autoware::motion_utils::calcArcLength(output_path_msg.points); std::string stop_reason_msg("path_end"); for (const auto & plugin : scene_manager_plugins_) { plugin->updateSceneModuleInstances(planner_data, input_path_msg); plugin->plan(&output_path_msg); - const auto firstStopPathPointIndex = plugin->getFirstStopPathPointIndex(); + const std::optional firstStopPathPointDistance = + plugin->getFirstStopPathPointDistance(); - if (firstStopPathPointIndex) { - if (firstStopPathPointIndex.value() < first_stop_path_point_index) { - first_stop_path_point_index = firstStopPathPointIndex.value(); + if (firstStopPathPointDistance.has_value()) { + if (firstStopPathPointDistance.value() < first_stop_path_point_distance) { + first_stop_path_point_distance = firstStopPathPointDistance.value(); stop_reason_msg = plugin->getModuleName(); } } } - stop_reason_diag_ = makeStopReasonDiag( - stop_reason_msg, output_path_msg.points[first_stop_path_point_index].point.pose); + const geometry_msgs::msg::Pose stop_pose = autoware::motion_utils::calcInterpolatedPose( + output_path_msg.points, first_stop_path_point_distance); + + stop_reason_diag_ = makeStopReasonDiag(stop_reason_msg, stop_pose); return output_path_msg; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp index b163cd31e3030..5f6549f1e4492 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp @@ -34,7 +34,7 @@ class PluginInterface virtual void updateSceneModuleInstances( const std::shared_ptr & planner_data, const tier4_planning_msgs::msg::PathWithLaneId & path) = 0; - virtual std::optional getFirstStopPathPointIndex() = 0; + virtual std::optional getFirstStopPathPointDistance() = 0; virtual const char * getModuleName() = 0; }; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp index 0e32ff958c0a5..0392bf24d3a36 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp @@ -38,9 +38,9 @@ class PluginWrapper : public PluginInterface { scene_manager_->updateSceneModuleInstances(planner_data, path); } - std::optional getFirstStopPathPointIndex() override + std::optional getFirstStopPathPointDistance() override { - return scene_manager_->getFirstStopPathPointIndex(); + return scene_manager_->getFirstStopPathPointDistance(); } const char * getModuleName() override { return scene_manager_->getModuleName(); } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp index 705062e35885b..e39cfb3a5144d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp @@ -37,6 +37,7 @@ #include #include +#include #include #include #include @@ -115,7 +116,7 @@ class SceneModuleInterface std::shared_ptr getTimeKeeper() { return time_keeper_; } - std::optional getFirstStopPathPointIndex() { return first_stop_path_point_index_; } + std::optional getFirstStopPathPointDistance() { return first_stop_path_point_distance_; } void setActivation(const bool activated) { activated_ = activated; } void setRTCEnabled(const bool enable_rtc) { rtc_enabled_ = enable_rtc; } @@ -138,7 +139,7 @@ class SceneModuleInterface rclcpp::Clock::SharedPtr clock_; std::shared_ptr planner_data_; std::optional infrastructure_command_; - std::optional first_stop_path_point_index_; + std::optional first_stop_path_point_distance_; autoware::motion_utils::VelocityFactorInterface velocity_factor_; std::vector objects_of_interest_; mutable std::shared_ptr time_keeper_; @@ -173,7 +174,7 @@ class SceneModuleManagerInterface virtual const char * getModuleName() = 0; - std::optional getFirstStopPathPointIndex() { return first_stop_path_point_index_; } + std::optional getFirstStopPathPointDistance() { return first_stop_path_point_distance_; } void updateSceneModuleInstances( const std::shared_ptr & planner_data, @@ -207,7 +208,7 @@ class SceneModuleManagerInterface std::shared_ptr planner_data_; autoware::motion_utils::VirtualWallMarkerCreator virtual_wall_marker_creator_; - std::optional first_stop_path_point_index_; + std::optional first_stop_path_point_distance_; rclcpp::Node & node_; rclcpp::Clock::SharedPtr clock_; // Debug diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp index ba7a0bee2851e..2d014d4bbf81d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp @@ -117,7 +117,7 @@ void SceneModuleManagerInterface::modifyPathVelocity( tier4_v2x_msgs::msg::InfrastructureCommandArray infrastructure_command_array; infrastructure_command_array.stamp = clock_->now(); - first_stop_path_point_index_ = static_cast(path->points.size()) - 1; + first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); for (const auto & scene_module : scene_modules_) { tier4_planning_msgs::msg::StopReason stop_reason; scene_module->resetVelocityFactor(); @@ -137,8 +137,8 @@ void SceneModuleManagerInterface::modifyPathVelocity( infrastructure_command_array.commands.push_back(*command); } - if (scene_module->getFirstStopPathPointIndex() < first_stop_path_point_index_) { - first_stop_path_point_index_ = scene_module->getFirstStopPathPointIndex(); + if (scene_module->getFirstStopPathPointDistance() < first_stop_path_point_distance_) { + first_stop_path_point_distance_ = scene_module->getFirstStopPathPointDistance(); } for (const auto & marker : scene_module->createDebugMarkerArray().markers) { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp index 50b85613ef08f..0500d22d425cd 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -48,7 +48,7 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop if (path->points.empty()) return true; const auto base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; debug_data_.base_link2front = base_link2front; - first_stop_path_point_index_ = static_cast(path->points.size()) - 1; + first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); *stop_reason = planning_utils::initializeStopReason(StopReason::STOP_LINE); const LineString2d stop_line = planning_utils::extendLine( @@ -91,7 +91,8 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop planning_utils::insertStopPoint(stop_pose.position, stop_line_seg_idx, *path); // Update first stop index - first_stop_path_point_index_ = static_cast(stop_point_idx); + first_stop_path_point_distance_ = autoware::motion_utils::calcSignedArcLength( + path->points, 0, stop_pose.position, stop_line_seg_idx); debug_data_.stop_pose = stop_pose; // Get stop point and stop factor diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp index eddc30657a0df..0d7c77d5e1b59 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp @@ -15,6 +15,7 @@ #include "manager.hpp" #include +#include #include #include @@ -60,7 +61,7 @@ void TrafficLightModuleManager::modifyPathVelocity(tier4_planning_msgs::msg::Pat stop_reason_array.header.frame_id = "map"; stop_reason_array.header.stamp = path->header.stamp; - first_stop_path_point_index_ = static_cast(path->points.size() - 1); + first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); nearest_ref_stop_path_point_index_ = static_cast(path->points.size() - 1); for (const auto & scene_module : scene_modules_) { tier4_planning_msgs::msg::StopReason stop_reason; @@ -79,8 +80,10 @@ void TrafficLightModuleManager::modifyPathVelocity(tier4_planning_msgs::msg::Pat stop_reason_array.stop_reasons.emplace_back(stop_reason); } - if (traffic_light_scene_module->getFirstStopPathPointIndex() < first_stop_path_point_index_) { - first_stop_path_point_index_ = traffic_light_scene_module->getFirstStopPathPointIndex(); + if ( + traffic_light_scene_module->getFirstStopPathPointDistance() < + first_stop_path_point_distance_) { + first_stop_path_point_distance_ = traffic_light_scene_module->getFirstStopPathPointDistance(); } if ( traffic_light_scene_module->getFirstRefStopPathPointIndex() < diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp index af5eac943ec13..4b17f95358be6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -58,7 +58,7 @@ bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason * { debug_data_ = DebugData(); debug_data_.base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; - first_stop_path_point_index_ = static_cast(path->points.size()) - 1; + first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); first_ref_stop_path_point_index_ = static_cast(path->points.size()) - 1; *stop_reason = planning_utils::initializeStopReason(StopReason::TRAFFIC_LIGHT); @@ -291,8 +291,11 @@ tier4_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopPose( // Insert stop pose into path or replace with zero velocity size_t insert_index = insert_target_point_idx; planning_utils::insertVelocity(modified_path, target_point_with_lane_id, 0.0, insert_index); - if (static_cast(target_velocity_point_idx) < first_stop_path_point_index_) { - first_stop_path_point_index_ = static_cast(target_velocity_point_idx); + + const double target_velocity_point_distance = autoware::motion_utils::calcArcLength(std::vector( + modified_path.points.begin(), modified_path.points.begin() + target_velocity_point_idx)); + if (target_velocity_point_distance < first_stop_path_point_distance_) { + first_stop_path_point_distance_ = target_velocity_point_distance; debug_data_.first_stop_pose = target_point_with_lane_id.point.pose; } From 4e12cb06c3fd735810922a7fbe68c298272e8455 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 14 Nov 2024 18:57:16 +0900 Subject: [PATCH 431/701] feat(run_out_module): add tests to run out (#9222) * WIP add tests for utils and path_utils Signed-off-by: Daniel Sanchez * add tests for utils and fix test path utils Signed-off-by: Daniel Sanchez * dynamic obstacles Signed-off-by: Daniel Sanchez * new tests and add function declarations Signed-off-by: Daniel Sanchez * add points for test of extractObstaclePointsWithinPolygon Signed-off-by: Daniel Sanchez * add state machine tests and other tests for dynamic obstacle Signed-off-by: Daniel Sanchez * remove unused test checks Signed-off-by: Daniel Sanchez * remove unused tests Signed-off-by: Daniel Sanchez * remove unwanted semicolons Signed-off-by: Daniel Sanchez * test Signed-off-by: Daniel Sanchez * add comments Signed-off-by: Daniel Sanchez * solve cpp-check limitation issue by removing namespaces Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../CMakeLists.txt | 15 + .../package.xml | 1 + .../src/dynamic_obstacle.cpp | 10 +- .../src/dynamic_obstacle.hpp | 53 +++ .../src/path_utils.cpp | 3 + .../src/utils.cpp | 8 +- .../src/utils.hpp | 3 +- .../tests/test_dynamic_obstacle.cpp | 404 ++++++++++++++++++ .../tests/test_path_utils.cpp | 71 +++ .../tests/test_state_machine.cpp | 107 +++++ .../tests/test_utils.cpp | 302 +++++++++++++ 11 files changed, 962 insertions(+), 15 deletions(-) create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_dynamic_obstacle.cpp create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_path_utils.cpp create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_state_machine.cpp create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_utils.cpp diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt index bcbe4ea12a643..da2f4ce33ff60 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CMakeLists.txt @@ -15,4 +15,19 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/path_utils.cpp ) +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + tests/test_dynamic_obstacle.cpp + tests/test_path_utils.cpp + tests/test_utils.cpp + tests/test_state_machine.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + autoware_behavior_velocity_run_out_module + ) + target_include_directories(test_${PROJECT_NAME} PRIVATE src) +endif() + + + ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml index 369b5fba81122..6aaab5817aad6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml @@ -41,6 +41,7 @@ tf2_ros visualization_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp index f75da2b5cc5de..74b1ca490f752 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp @@ -32,8 +32,7 @@ namespace autoware::behavior_velocity_planner { -namespace -{ + // create quaternion facing to the nearest trajectory point geometry_msgs::msg::Quaternion createQuaternionFacingToTrajectory( const PathPointsWithLaneId & path_points, const geometry_msgs::msg::Point & point) @@ -114,10 +113,7 @@ pcl::PointCloud applyVoxelGridFilter( bool isAheadOf( const geometry_msgs::msg::Point & target_point, const geometry_msgs::msg::Pose & base_pose) { - const auto longitudinal_deviation = - autoware::universe_utils::calcLongitudinalDeviation(base_pose, target_point); - const bool is_ahead = longitudinal_deviation > 0; - return is_ahead; + return autoware::universe_utils::calcLongitudinalDeviation(base_pose, target_point) > 0; } pcl::PointCloud extractObstaclePointsWithinPolygon( @@ -349,8 +345,6 @@ std::vector createPathToPredictionTime( return path_to_prediction_time; } -} // namespace - DynamicObstacleCreatorForObject::DynamicObstacleCreatorForObject( rclcpp::Node & node, std::shared_ptr & debug_ptr, const DynamicObstacleParam & param) : DynamicObstacleCreator(node, debug_ptr, param) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.hpp index c1d59794a30fe..6b4050fe9bfbb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.hpp @@ -40,6 +40,7 @@ #include #include +#include #include namespace autoware::behavior_velocity_planner @@ -171,6 +172,58 @@ class DynamicObstacleCreatorForPoints : public DynamicObstacleCreator pcl::PointCloud obstacle_points_map_filtered_; }; +geometry_msgs::msg::Quaternion createQuaternionFacingToTrajectory( + const PathPointsWithLaneId & path_points, const geometry_msgs::msg::Point & point); + +std::vector createPredictedPath( + const geometry_msgs::msg::Pose & initial_pose, const float time_step, + const float max_velocity_mps, const float max_prediction_time); + +pcl::PointCloud applyVoxelGridFilter( + const pcl::PointCloud & input_points); + +pcl::PointCloud applyVoxelGridFilter( + const sensor_msgs::msg::PointCloud2 & input_points); + +bool isAheadOf( + const geometry_msgs::msg::Point & target_point, const geometry_msgs::msg::Pose & base_pose); + +pcl::PointCloud extractObstaclePointsWithinPolygon( + const pcl::PointCloud & input_points, const Polygons2d & polys); + +std::vector> groupPointsWithNearestSegmentIndex( + const pcl::PointCloud & input_points, const PathPointsWithLaneId & path_points); + +pcl::PointXYZ calculateLateralNearestPoint( + const pcl::PointCloud & input_points, const geometry_msgs::msg::Pose & base_pose); + +pcl::PointCloud selectLateralNearestPoints( + const std::vector> & points_with_index, + const PathPointsWithLaneId & path_points); + +pcl::PointCloud extractLateralNearestPoints( + const pcl::PointCloud & input_points, const PathWithLaneId & path, + const float interval); + +std::optional getTransformMatrix( + const tf2_ros::Buffer & tf_buffer, const std::string & target_frame_id, + const std::string & source_frame_id, const builtin_interfaces::msg::Time & stamp); + +pcl::PointCloud transformPointCloud( + const PointCloud2 & input_pointcloud, const Eigen::Affine3f & transform_matrix); + +PointCloud2 concatPointCloud( + const pcl::PointCloud & cloud1, const pcl::PointCloud & cloud2); + +void calculateMinAndMaxVelFromCovariance( + const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance, + const double std_dev_multiplier, run_out_utils::DynamicObstacle & dynamic_obstacle); + +double convertDurationToDouble(const builtin_interfaces::msg::Duration & duration); + +std::vector createPathToPredictionTime( + const autoware_perception_msgs::msg::PredictedPath & predicted_path, double prediction_time); + } // namespace autoware::behavior_velocity_planner #endif // DYNAMIC_OBSTACLE_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp index 2196cdec36886..cf3c0fd7e10e1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp @@ -17,6 +17,9 @@ #include namespace autoware::behavior_velocity_planner::run_out_utils { +/** + * This function returns the point with the smallest (signed) longitudinal distance + */ geometry_msgs::msg::Point findLongitudinalNearestPoint( const std::vector & points, const geometry_msgs::msg::Point & src_point, diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp index 151d2616da5f9..c32d38da2db33 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp @@ -127,11 +127,7 @@ std::vector findLateralSameSidePoints( bool isSamePoint(const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2) { - if (autoware::universe_utils::calcDistance2d(p1, p2) < std::numeric_limits::epsilon()) { - return true; - } - - return false; + return (autoware::universe_utils::calcDistance2d(p1, p2) < std::numeric_limits::epsilon()); } // insert path velocity which doesn't exceed original velocity @@ -230,7 +226,7 @@ PathPointsWithLaneId decimatePathPoints( const PathPointsWithLaneId & input_path_points, const float step) { if (input_path_points.empty()) { - return PathPointsWithLaneId(); + return {}; } float dist_sum = 0.0; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp index af6d9a7bc631b..1f948cc7faaa1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp @@ -255,7 +255,8 @@ std::optional> createDetectionAreaPolygon // extend path to the pose of goal PathWithLaneId extendPath(const PathWithLaneId & input, const double extend_distance); -PathPoint createExtendPathPoint(const double extend_distance, const PathPoint & goal_point); +PathPointWithLaneId createExtendPathPoint( + const double extend_distance, const PathPointWithLaneId & goal_point); DetectionMethod toEnum(const std::string & detection_method); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_dynamic_obstacle.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_dynamic_obstacle.cpp new file mode 100644 index 0000000000000..e6a838c77fb37 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_dynamic_obstacle.cpp @@ -0,0 +1,404 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "debug.hpp" +#include "dynamic_obstacle.hpp" +#include "path_utils.hpp" +#include "scene.hpp" +#include "utils.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +using autoware::universe_utils::Point2d; +using autoware::universe_utils::Polygon2d; +using autoware_perception_msgs::msg::ObjectClassification; +using geometry_msgs::msg::Point; +using Polygons2d = std::vector; + +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; +using PathPointsWithLaneId = std::vector; + +using autoware::behavior_velocity_planner::applyVoxelGridFilter; +using autoware::behavior_velocity_planner::createPredictedPath; +using autoware::behavior_velocity_planner::createQuaternionFacingToTrajectory; +using autoware::behavior_velocity_planner::extractLateralNearestPoints; +using autoware::behavior_velocity_planner::extractObstaclePointsWithinPolygon; +using autoware::behavior_velocity_planner::groupPointsWithNearestSegmentIndex; + +using autoware::behavior_velocity_planner::calculateLateralNearestPoint; +using autoware::behavior_velocity_planner::calculateMinAndMaxVelFromCovariance; +using autoware::behavior_velocity_planner::concatPointCloud; +using autoware::behavior_velocity_planner::convertDurationToDouble; +using autoware::behavior_velocity_planner::createPathToPredictionTime; +using autoware::behavior_velocity_planner::DynamicObstacle; +using autoware::behavior_velocity_planner::DynamicObstacleCreatorForObject; +using autoware::behavior_velocity_planner::DynamicObstacleCreatorForObjectWithoutPath; +using autoware::behavior_velocity_planner::DynamicObstacleCreatorForPoints; +using autoware::behavior_velocity_planner::DynamicObstacleParam; +using autoware::behavior_velocity_planner::isAheadOf; +using autoware::behavior_velocity_planner::PointCloud2; +using autoware::behavior_velocity_planner::RunOutDebug; +using autoware::behavior_velocity_planner::selectLateralNearestPoints; +using autoware::behavior_velocity_planner::transformPointCloud; +using autoware::behavior_velocity_planner::run_out_utils::createExtendPathPoint; + +class TestDynamicObstacleMethods : public ::testing::Test +{ + void SetUp() override {} +}; + +class TestDynamicObstacle : public ::testing::Test +{ + void SetUp() override { init_param(); } + + void init_param() + { + auto node_options = rclcpp::NodeOptions{}; + node_ptr_ = std::make_shared(name_, node_options); + debug_ptr_ = std::make_shared(*node_ptr_); + object_creator_for_points_ = + std::make_shared(*node_ptr_, debug_ptr_, param_); + object_creator_for_objects_ = + std::make_shared(*node_ptr_, debug_ptr_, param_); + object_creator_for_objects_without_path_ = + std::make_shared(*node_ptr_, debug_ptr_, param_); + } + std::string name_{"test_dynamic_obstacle_creators"}; + + std::shared_ptr object_creator_for_points_; + std::shared_ptr object_creator_for_objects_; + std::shared_ptr + object_creator_for_objects_without_path_; + DynamicObstacleParam param_; + std::shared_ptr debug_ptr_; + std::shared_ptr node_ptr_; +}; + +pcl::PointCloud generate_pointcloud( + const size_t number_points_in_axis, const double resolution) +{ + pcl::PointCloud point_cloud; + for (size_t i = 0; i < number_points_in_axis; ++i) { + for (size_t j = 0; j < number_points_in_axis; ++j) { + for (size_t k = 0; k < number_points_in_axis; ++k) { + pcl::PointXYZ p; + p.x = i * resolution; + p.y = j * resolution; + p.z = k * resolution; + point_cloud.push_back(p); + } + } + } + return point_cloud; +}; + +TEST_F(TestDynamicObstacleMethods, testCreateQuaternionFacingToTrajectory) +{ + constexpr size_t n_path_points{10}; + PathPointsWithLaneId path; + PathPointWithLaneId base_point; + for (size_t i = 0; i < n_path_points; ++i) { + const PathPointWithLaneId p = createExtendPathPoint(static_cast(i), base_point); + path.push_back(p); + } + + /* + path + | ^ x + | | + | y | + | <------- ref frame + | + | + (2.0,0.0) |<------0 (2.0,-2.0) point + | ^ + | | + | 90 deg yaw + */ + + { + geometry_msgs::msg::Point point; + point.x = 2.0; + point.y = -2.0; + + const auto quaternion_facing_traj = createQuaternionFacingToTrajectory(path, point); + const auto rpy = autoware::universe_utils::getRPY(quaternion_facing_traj); + const auto yaw = autoware::universe_utils::normalizeRadian(rpy.z); + EXPECT_DOUBLE_EQ(yaw, M_PI_2); + geometry_msgs::msg::Pose geom_base_point; + geom_base_point.position = base_point.point.pose.position; + EXPECT_TRUE(isAheadOf(point, geom_base_point)); + } + + { + geometry_msgs::msg::Point point; + point.x = 2.75; // path resolution is 1.0, this makes sure the point is "behind" the closest + // point on the path. + point.y = -0.25; + + const auto quaternion_facing_traj = createQuaternionFacingToTrajectory(path, point); + const auto rpy = autoware::universe_utils::getRPY(quaternion_facing_traj); + const auto yaw = autoware::universe_utils::normalizeRadian(rpy.z); + EXPECT_DOUBLE_EQ(std::abs(yaw), M_PI_2); + geometry_msgs::msg::Pose geom_base_point; + geom_base_point.position = base_point.point.pose.position; + EXPECT_TRUE(isAheadOf(point, geom_base_point)); + } +} + +TEST_F(TestDynamicObstacleMethods, testCreatePredictedPath) +{ + using autoware::behavior_velocity_planner::run_out_utils::isSamePoint; + + constexpr float time_step{0.1}; + constexpr float max_velocity_mps{3.0}; + constexpr float max_prediction_time{5.0}; + geometry_msgs::msg::Pose initial_pose; + + const auto traj = + createPredictedPath(initial_pose, time_step, max_velocity_mps, max_prediction_time); + EXPECT_EQ(traj.size(), static_cast(max_prediction_time / time_step)); + auto last_pose = traj.back(); + geometry_msgs::msg::Point expected_point; + expected_point.x = max_prediction_time * max_velocity_mps - time_step * max_velocity_mps; + EXPECT_TRUE(std::abs(expected_point.x - last_pose.position.x) < 1e-3); +} + +TEST_F(TestDynamicObstacleMethods, testApplyVoxelGridFilter) +{ + pcl::PointCloud point_cloud = generate_pointcloud(10, 0.025); + + { + auto filtered_point_cloud = applyVoxelGridFilter(point_cloud); + EXPECT_FALSE(filtered_point_cloud.empty()); + EXPECT_TRUE(filtered_point_cloud.size() < point_cloud.size()); + const bool points_have_no_height = std::all_of( + filtered_point_cloud.begin(), filtered_point_cloud.end(), + [](const auto & p) { return std::abs(p.z) < std::numeric_limits::epsilon(); }); + EXPECT_TRUE(points_have_no_height); + + Polygons2d polys; + const auto empty_cloud = extractObstaclePointsWithinPolygon(filtered_point_cloud, polys); + EXPECT_TRUE(empty_cloud.empty()); + + Polygon2d poly; + Point2d p1; + p1.x() = 1.0; + p1.y() = 0.0; + + Point2d p2; + p2.x() = -1.0; + p2.y() = 2.0; + + Point2d p3; + p3.x() = -1.0; + p3.y() = -2.0; + poly.outer().push_back(p1); + poly.outer().push_back(p2); + poly.outer().push_back(p3); + poly.outer().push_back(p1); + polys.push_back(poly); + const auto all_points_in_cloud = + extractObstaclePointsWithinPolygon(filtered_point_cloud, polys); + EXPECT_FALSE(all_points_in_cloud.empty()); + EXPECT_EQ(all_points_in_cloud.size(), filtered_point_cloud.size()); + } + + sensor_msgs::msg::PointCloud2 ros_pointcloud; + pcl::toROSMsg(point_cloud, ros_pointcloud); + + { + auto filtered_point_cloud = applyVoxelGridFilter(ros_pointcloud); + EXPECT_FALSE(filtered_point_cloud.empty()); + EXPECT_TRUE(filtered_point_cloud.size() < point_cloud.size()); + const bool points_have_no_height = std::all_of( + filtered_point_cloud.begin(), filtered_point_cloud.end(), + [](const auto & p) { return std::abs(p.z) < std::numeric_limits::epsilon(); }); + EXPECT_TRUE(points_have_no_height); + } +} + +TEST_F(TestDynamicObstacleMethods, testGroupPointsWithNearestSegmentIndex) +{ + constexpr size_t n_points{10}; + constexpr double points_resolution{0.025}; + + pcl::PointCloud point_cloud = generate_pointcloud(n_points, points_resolution); + constexpr size_t n_path_points{10}; + PathPointsWithLaneId path; + PathPointWithLaneId base_point; + for (size_t i = 0; i < n_path_points; ++i) { + const PathPointWithLaneId p = createExtendPathPoint(static_cast(i), base_point); + path.push_back(p); + } + const auto grouped_points = groupPointsWithNearestSegmentIndex(point_cloud, path); + EXPECT_FALSE(grouped_points.empty()); + EXPECT_EQ(grouped_points.size(), path.size()); + // first point in path is the closest to all points + EXPECT_EQ(grouped_points.at(0).size(), point_cloud.size()); +} + +TEST_F(TestDynamicObstacleMethods, testCalculateLateralNearestPoint) +{ + constexpr size_t n_points{10}; + constexpr double points_resolution{1.0}; + + pcl::PointCloud point_cloud = generate_pointcloud(n_points, points_resolution); + geometry_msgs::msg::Pose base_pose; + base_pose.position.y = 10.0; + auto nearest_point = calculateLateralNearestPoint(point_cloud, base_pose); + EXPECT_DOUBLE_EQ(nearest_point.y, (n_points - 1) * points_resolution); + + PathPointsWithLaneId path; + PathPointWithLaneId base_point; + constexpr size_t n_path_points{10}; + for (size_t i = 0; i < n_path_points; ++i) { + const PathPointWithLaneId p = createExtendPathPoint(static_cast(i), base_point); + path.push_back(p); + } + + const auto grouped_points = groupPointsWithNearestSegmentIndex(point_cloud, path); + auto lateral_nearest_points = selectLateralNearestPoints(grouped_points, path); + EXPECT_FALSE(grouped_points.empty()); + EXPECT_EQ(grouped_points.size(), path.size()); + EXPECT_TRUE(lateral_nearest_points.size() <= n_path_points); + for (size_t i = 0; i < lateral_nearest_points.size(); ++i) { + const auto p = path.at(i); + const auto curr_nearest_point = lateral_nearest_points.at(i); + auto deviation = std::abs(autoware::universe_utils::calcLateralDeviation( + p.point.pose, + autoware::universe_utils::createPoint(curr_nearest_point.x, curr_nearest_point.y, 0))); + EXPECT_DOUBLE_EQ(deviation, 0.0); + } + + constexpr double interval{1.0}; + const auto path_with_lane_id = + autoware::test_utils::generateTrajectory(n_path_points, interval); + { + const auto interp_lateral_nearest_points = + extractLateralNearestPoints(point_cloud, path_with_lane_id, interval / 4.0); + EXPECT_EQ(interp_lateral_nearest_points.size(), path_with_lane_id.points.size()); + } + + { + const auto interp_lateral_nearest_points = + extractLateralNearestPoints(point_cloud, path_with_lane_id, interval * 2.0); + EXPECT_EQ(interp_lateral_nearest_points.size(), path_with_lane_id.points.size() / 2); + } +} + +TEST_F(TestDynamicObstacleMethods, testConcatPointCloud) +{ + constexpr size_t n_points{10}; + constexpr double points_resolution{0.025}; + + pcl::PointCloud point_cloud_1 = generate_pointcloud(n_points, points_resolution); + pcl::PointCloud point_cloud_2 = + generate_pointcloud(n_points * 2, points_resolution * 2.0); + auto point_cloud_concat = concatPointCloud(point_cloud_1, point_cloud_2); + // the pcl method used by this function generates a pointcloud that has a way bigger size than + // just the sum of both point clouds + EXPECT_TRUE(point_cloud_concat.data.size() >= point_cloud_1.size() + point_cloud_2.size()); + + Eigen::Matrix3f R; + R = Eigen::Matrix3f::Identity(); + Eigen::Vector3f T; + T.setOnes(); + Eigen::Matrix4f transform; // Your Transformation Matrix + transform.setIdentity(); // Set to Identity to make bottom row of Matrix 0,0,0,1 + transform.block<3, 3>(0, 0) = R; + transform.block<3, 1>(0, 3) = T; + + Eigen::Affine3f m; + m.matrix() = transform; + + PointCloud2 ros_pointcloud; + pcl::toROSMsg(point_cloud_1, ros_pointcloud); + + auto transformed_pointcloud = transformPointCloud(ros_pointcloud, m); + EXPECT_TRUE(transformed_pointcloud.at(0).x > T.x() - std::numeric_limits::epsilon()); + EXPECT_TRUE(transformed_pointcloud.at(0).y > T.y() - std::numeric_limits::epsilon()); + EXPECT_TRUE(transformed_pointcloud.at(0).z > T.z() - std::numeric_limits::epsilon()); +} + +TEST_F(TestDynamicObstacleMethods, testCalculateMinAndMaxVelFromCovariance) +{ + geometry_msgs::msg::TwistWithCovariance twist; + twist.covariance[0] = 1.0; + twist.covariance[7] = 1.0; + twist.twist.linear.x = 1.0; + twist.twist.linear.y = 1.0; + + constexpr double std_dev_multiplier{1.0}; + DynamicObstacle dynamic_obstacle; + calculateMinAndMaxVelFromCovariance(twist, std_dev_multiplier, dynamic_obstacle); + EXPECT_TRUE(std::abs(dynamic_obstacle.max_velocity_mps - std::hypot(2.0, 2.0)) < 1e-3); + EXPECT_DOUBLE_EQ(dynamic_obstacle.min_velocity_mps, std::hypot(0.0, 0.0)); +} + +TEST_F(TestDynamicObstacleMethods, testCreatePathToPredictionTime) +{ + autoware_perception_msgs::msg::PredictedPath predicted_path; + constexpr double prediction_time{5.0}; + predicted_path.time_step = rclcpp::Duration(0.0, 100000000.0); + + geometry_msgs::msg::Pose initial_pose; + + constexpr double max_velocity_mps = 1.0; + constexpr double max_prediction_time = 2.0 * prediction_time; + const double time_step = convertDurationToDouble(predicted_path.time_step); + + const auto traj = + createPredictedPath(initial_pose, time_step, max_velocity_mps, max_prediction_time); + predicted_path.path = traj; + + { + auto path_to_prediction_time = createPathToPredictionTime(predicted_path, 0.0); + EXPECT_EQ(0, path_to_prediction_time.size()); + } + + { + auto path_to_prediction_time = createPathToPredictionTime(predicted_path, prediction_time); + EXPECT_EQ(predicted_path.path.size() / 2, path_to_prediction_time.size()); + EXPECT_TRUE( + std::abs(path_to_prediction_time.back().position.x - prediction_time * max_velocity_mps) < + time_step * max_velocity_mps + std::numeric_limits::epsilon()); + } +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_path_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_path_utils.cpp new file mode 100644 index 0000000000000..eb8502f043b22 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_path_utils.cpp @@ -0,0 +1,71 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "path_utils.hpp" + +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include +#include +#include +#include + +using autoware::behavior_velocity_planner::run_out_utils::findLongitudinalNearestPoint; +using geometry_msgs::msg::Point; +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; + +class TestPathUtils : public ::testing::Test +{ + void SetUp() override {} +}; + +TEST_F(TestPathUtils, testFindLongitudinalNearestPoint) +{ + const auto path = + autoware::test_utils::generateTrajectory(10, 1.0, 1.0, 0.0, 0.0); + const auto p_src = path.points.front(); + const auto p_dst = path.points.back(); + const auto p_med = path.points.at(path.points.size() / 2); + + const auto geom_p_src = autoware::universe_utils::createPoint( + p_src.point.pose.position.x, p_src.point.pose.position.y, p_src.point.pose.position.z); + const auto geom_p_dst = autoware::universe_utils::createPoint( + p_dst.point.pose.position.x, p_dst.point.pose.position.y, p_dst.point.pose.position.z); + const auto geom_p_med = autoware::universe_utils::createPoint( + p_med.point.pose.position.x, p_med.point.pose.position.y, p_med.point.pose.position.z); + std::vector dst_points{geom_p_src, geom_p_dst, geom_p_med}; + const auto closest_point_src = findLongitudinalNearestPoint(path.points, geom_p_src, dst_points); + const auto closest_point_dst = findLongitudinalNearestPoint(path.points, geom_p_dst, dst_points); + const auto closest_point_med = findLongitudinalNearestPoint(path.points, geom_p_med, dst_points); + + EXPECT_DOUBLE_EQ( + autoware::universe_utils::calcDistance3d(closest_point_src, geom_p_src), + autoware::universe_utils::calcDistance3d(geom_p_src, geom_p_src)); + EXPECT_DOUBLE_EQ( + autoware::universe_utils::calcDistance3d(closest_point_dst, geom_p_dst), + autoware::universe_utils::calcDistance3d(geom_p_src, geom_p_dst)); + EXPECT_DOUBLE_EQ( + autoware::universe_utils::calcDistance3d(closest_point_med, geom_p_med), + autoware::universe_utils::calcDistance3d(geom_p_src, geom_p_med)); +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_state_machine.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_state_machine.cpp new file mode 100644 index 0000000000000..d39436baa7dea --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_state_machine.cpp @@ -0,0 +1,107 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "dynamic_obstacle.hpp" +#include "state_machine.hpp" +#include "utils.hpp" + +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include +#include +#include +#include +#include + +using autoware::behavior_velocity_planner::DynamicObstacle; +using autoware::behavior_velocity_planner::run_out_utils::StateMachine; +using autoware::behavior_velocity_planner::run_out_utils::StateParam; + +using geometry_msgs::msg::Point; +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; + +class TestStateMachine : public ::testing::Test +{ + void SetUp() override + { + StateParam state_params; + state_params.stop_thresh = stop_thresh_; + state_params.stop_time_thresh = stop_time_thresh_; + state_params.disable_approach_dist = disable_approach_dist_; + state_params.keep_approach_duration = keep_approach_duration_; + state_machine_ptr_ = std::make_shared(state_params); + } + +public: + std::shared_ptr state_machine_ptr_; + float stop_thresh_{2.0}; + float stop_time_thresh_{1.0}; + float keep_approach_duration_{1.0}; + float disable_approach_dist_{1.0}; +}; + +TEST_F(TestStateMachine, testToString) +{ + using State = autoware::behavior_velocity_planner::run_out_utils::StateMachine::State; + State state = state_machine_ptr_->getCurrentState(); + + auto state_string = state_machine_ptr_->toString(state); + EXPECT_EQ(state_string, "GO"); + + state = State::STOP; + state_string = state_machine_ptr_->toString(state); + EXPECT_EQ(state_string, "STOP"); + + state = State::APPROACH; + state_string = state_machine_ptr_->toString(state); + EXPECT_EQ(state_string, "APPROACH"); + + state = State::UNKNOWN; + state_string = state_machine_ptr_->toString(state); + EXPECT_EQ(state_string, "UNKNOWN"); +} + +TEST_F(TestStateMachine, testUpdateState) +{ + rclcpp::init(0, nullptr); + using State = autoware::behavior_velocity_planner::run_out_utils::StateMachine::State; + using StateInput = autoware::behavior_velocity_planner::run_out_utils::StateMachine::StateInput; + constexpr float dist_to_collision{10.0}; + StateInput state_input{stop_thresh_ / 2.0, dist_to_collision, {}}; + state_input.current_obstacle = DynamicObstacle(); + rclcpp::Clock clock(RCL_ROS_TIME); + + EXPECT_TRUE(state_machine_ptr_->getCurrentState() == State::GO); + + // current velocity < stop_threshold. GO -> STOP + state_machine_ptr_->updateState(state_input, clock); + EXPECT_TRUE(state_machine_ptr_->getCurrentState() == State::STOP); + + // if STOP state continues for a certain time, transit to APPROACH state + const int sleep_time = static_cast(stop_time_thresh_) + 1; + std::this_thread::sleep_for(std::chrono::seconds(sleep_time)); + state_machine_ptr_->updateState(state_input, clock); + EXPECT_TRUE(state_machine_ptr_->getCurrentState() == State::APPROACH); + rclcpp::shutdown(); +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_utils.cpp new file mode 100644 index 0000000000000..c523dd0a53a71 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/tests/test_utils.cpp @@ -0,0 +1,302 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "dynamic_obstacle.hpp" +#include "path_utils.hpp" +#include "utils.hpp" + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +using autoware::behavior_velocity_planner::DynamicObstacle; +using autoware::behavior_velocity_planner::run_out_utils::createBoostPolyFromMsg; +using autoware::behavior_velocity_planner::run_out_utils::createExtendPathPoint; +using autoware::behavior_velocity_planner::run_out_utils::decimatePathPoints; +using autoware::behavior_velocity_planner::run_out_utils::DetectionMethod; +using autoware::behavior_velocity_planner::run_out_utils::findFirstStopPointIdx; +using autoware::behavior_velocity_planner::run_out_utils::findLateralSameSidePoints; +using autoware::behavior_velocity_planner::run_out_utils::getHighestConfidencePath; +using autoware::behavior_velocity_planner::run_out_utils::getHighestProbLabel; +using autoware::behavior_velocity_planner::run_out_utils::insertPathVelocityFromIndex; +using autoware::behavior_velocity_planner::run_out_utils::insertPathVelocityFromIndexLimited; +using autoware::behavior_velocity_planner::run_out_utils::isSamePoint; +using autoware::behavior_velocity_planner::run_out_utils::lerpByPose; +using autoware::behavior_velocity_planner::run_out_utils::pathIntersectsEgoCutLine; +using autoware::behavior_velocity_planner::run_out_utils::PathPointsWithLaneId; +using autoware::behavior_velocity_planner::run_out_utils::PredictedPath; +using autoware::behavior_velocity_planner::run_out_utils::toEnum; +using autoware::behavior_velocity_planner::run_out_utils::trimPathFromSelfPose; + +using autoware_perception_msgs::msg::ObjectClassification; +using geometry_msgs::msg::Point; +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; + +class TestRunOutUtils : public ::testing::Test +{ + void SetUp() override {} +}; + +TEST_F(TestRunOutUtils, testFindLongitudinalNearestPoint) +{ + std::vector poly; + poly.push_back(autoware::universe_utils::createPoint(0.0, 1.0, 0.0)); + poly.push_back(autoware::universe_utils::createPoint(0.0, -1.0, 0.0)); + poly.push_back(autoware::universe_utils::createPoint(1.0, 1.0, 0.0)); + poly.push_back(autoware::universe_utils::createPoint(1.0, 0.0, 0.0)); + + const auto boost_poly = createBoostPolyFromMsg(poly); + EXPECT_FALSE(boost_poly.outer().empty()); + EXPECT_EQ(boost_poly.outer().size(), poly.size() + 1); +} + +TEST_F(TestRunOutUtils, testGetHighestProbLabel) +{ + ObjectClassification classification_1; + classification_1.label = ObjectClassification::BICYCLE; + classification_1.probability = 0.7; + + ObjectClassification classification_2; + classification_2.label = ObjectClassification::MOTORCYCLE; + classification_2.probability = 0.1; + + ObjectClassification classification_3; + classification_3.label = ObjectClassification::TRUCK; + classification_3.probability = 0.2; + + std::vector classifications{ + classification_1, classification_2, classification_3}; + const auto classification = getHighestProbLabel(classifications); + + EXPECT_EQ(classification, classification_1.label); +} + +TEST_F(TestRunOutUtils, testGetHighestConfidencePath) +{ + std::vector predicted_paths{}; + const auto empty_path = getHighestConfidencePath(predicted_paths); + EXPECT_TRUE(empty_path.empty()); + geometry_msgs::msg::Pose p1; + p1.position.x = 1.0; + + geometry_msgs::msg::Pose p2; + p2.position.x = 2.0; + + PredictedPath predicted_path_1{}; + predicted_path_1.path = {p1}; + predicted_path_1.confidence = 0.85; + + PredictedPath predicted_path_2{}; + predicted_path_2.path = {p2}; + predicted_path_2.confidence = 0.15; + + predicted_paths.push_back(predicted_path_1); + predicted_paths.push_back(predicted_path_2); + + const auto high_confidence_path = getHighestConfidencePath(predicted_paths); + const auto path_point = high_confidence_path.front(); + EXPECT_TRUE(isSamePoint(path_point.position, p1.position)); +} + +TEST_F(TestRunOutUtils, testLerpByPose) +{ + geometry_msgs::msg::Pose p1; + p1.position.x = 1.0; + geometry_msgs::msg::Pose p2; + p2.position.x = 2.0; + const auto p3 = lerpByPose(p1, p2, 0.5); + EXPECT_DOUBLE_EQ(1.5, p3.position.x); +} + +TEST_F(TestRunOutUtils, testFindLateralSameSidePoints) +{ + std::vector points; + for (size_t i = 0; i < 10; ++i) { + geometry_msgs::msg::Point p; + p.x = static_cast(i); + p.y = 0.0; + points.push_back(p); + } + + { + geometry_msgs::msg::Pose base_pose; + base_pose.position.x = 1.0; + base_pose.position.y = -1.0; + + geometry_msgs::msg::Point target_pose; + target_pose.x = 2.0; + target_pose.y = 2.0; + const auto same_points = findLateralSameSidePoints(points, base_pose, target_pose); + EXPECT_EQ(same_points.size(), points.size()); + } + + { + geometry_msgs::msg::Pose base_pose; + base_pose.position.x = 1.0; + base_pose.position.y = 1.0; + + geometry_msgs::msg::Point target_pose; + target_pose.x = 2.0; + target_pose.y = 2.0; + + const auto same_points = findLateralSameSidePoints(points, base_pose, target_pose); + EXPECT_FALSE(same_points.empty()); + } +} + +TEST_F(TestRunOutUtils, testInsertPathVelocity) +{ + constexpr double path_velocity = 2.0; + constexpr size_t n_path_points = 100; + + PathPointWithLaneId p; + p.point.longitudinal_velocity_mps = path_velocity; + PathPointsWithLaneId path(n_path_points, p); + + const size_t middle_index = path.size() / 2; + + constexpr double high_velocity = 2.0 * path_velocity; + insertPathVelocityFromIndexLimited(middle_index, high_velocity, path); + const auto middle_itr = path.begin() + path.size() / 2; + const bool is_velocity_not_modified = + std::all_of(middle_itr, path.end(), [path_velocity](const auto & v) { + return std::abs(v.point.longitudinal_velocity_mps - path_velocity) < + std::numeric_limits::epsilon(); + }); + EXPECT_TRUE(is_velocity_not_modified); + + constexpr double low_velocity = 0.5 * path_velocity; + insertPathVelocityFromIndexLimited(middle_index, low_velocity, path); + const bool is_velocity_modified = + std::all_of(middle_itr, path.end(), [low_velocity](const auto & v) { + return std::abs(v.point.longitudinal_velocity_mps - low_velocity) < + std::numeric_limits::epsilon(); + }); + EXPECT_TRUE(is_velocity_modified); + + insertPathVelocityFromIndex(0, high_velocity, path); + const bool all_velocities_modified = + std::all_of(path.begin(), path.end(), [high_velocity](const auto & v) { + return std::abs(v.point.longitudinal_velocity_mps - high_velocity) < + std::numeric_limits::epsilon(); + }); + EXPECT_TRUE(all_velocities_modified); + + auto first_stop_point = findFirstStopPointIdx(path); + EXPECT_FALSE(first_stop_point.has_value()); + insertPathVelocityFromIndex(middle_index, 0.0, path); + first_stop_point = findFirstStopPointIdx(path); + EXPECT_TRUE(first_stop_point.has_value()); + EXPECT_EQ(middle_index, first_stop_point.value()); +} + +TEST_F(TestRunOutUtils, testPathIntersectsEgoCutLine) +{ + std::vector poses; + geometry_msgs::msg::Pose ego_pose; + constexpr double half_line_length = 2.0; + std::vector ego_cut_line; + EXPECT_FALSE(pathIntersectsEgoCutLine(poses, ego_pose, half_line_length, ego_cut_line)); + for (size_t i = 0; i < 10; ++i) { + geometry_msgs::msg::Pose p; + p.position.x = static_cast(i) - 5.0; + p.position.y = 0.5; + poses.push_back(p); + } + + EXPECT_TRUE(pathIntersectsEgoCutLine(poses, ego_pose, half_line_length, ego_cut_line)); + ego_pose.position.y = 3.0; + EXPECT_FALSE(pathIntersectsEgoCutLine(poses, ego_pose, half_line_length, ego_cut_line)); +} + +TEST_F(TestRunOutUtils, testExcludeObstaclesOutSideOfLine) +{ + constexpr size_t n_path_points{100}; + + PathPointsWithLaneId path; + + PathPointWithLaneId base_point; + + for (size_t i = 0; i < n_path_points; ++i) { + const PathPointWithLaneId p = createExtendPathPoint(static_cast(i) / 10.0, base_point); + path.push_back(p); + } + + path = decimatePathPoints(path, 1.0); + EXPECT_EQ(path.size(), n_path_points / 10); + + lanelet::BasicPolygon2d partition; + partition.emplace_back(1.0, 1.0); + partition.emplace_back(2.0, 1.0); + partition.emplace_back(3.0, 1.0); + partition.emplace_back(4.0, 1.0); + + constexpr double long_position{2.0}; + constexpr double lat_position_of_excluded_obstacle{2.0}; + constexpr double lat_position_of_included_obstacle{-2.0}; + + DynamicObstacle obstacle_1; + obstacle_1.pose.position.x = long_position; + obstacle_1.pose.position.y = lat_position_of_included_obstacle; + + DynamicObstacle obstacle_2; + obstacle_2.pose.position.x = long_position; + obstacle_2.pose.position.y = lat_position_of_excluded_obstacle; + std::vector obstacles{obstacle_1, obstacle_2}; + + const auto filtered_obstacles = excludeObstaclesOutSideOfLine(obstacles, path, partition); + + EXPECT_EQ(filtered_obstacles.size(), 1); + EXPECT_DOUBLE_EQ(filtered_obstacles.front().pose.position.y, lat_position_of_included_obstacle); +} + +TEST_F(TestRunOutUtils, testTrimPathFromSelfPose) +{ + constexpr double point_interval{1e-2}; + const auto path = + autoware::test_utils::generateTrajectory(1000, point_interval, 1.0, 0.0, 0.0); + + geometry_msgs::msg::Pose self_pose; + constexpr double trim_distance{10.0}; + + const auto trimmed_path = trimPathFromSelfPose(path, self_pose, trim_distance); + const auto path_length = autoware::motion_utils::calcArcLength(path.points); + EXPECT_TRUE( + path_length - trim_distance < point_interval + std::numeric_limits::epsilon()); +} + +TEST_F(TestRunOutUtils, testToEnum) +{ + EXPECT_EQ(toEnum("Object"), DetectionMethod::Object); + EXPECT_EQ(toEnum("ObjectWithoutPath"), DetectionMethod::ObjectWithoutPath); + EXPECT_EQ(toEnum("Points"), DetectionMethod::Points); + EXPECT_EQ(toEnum("Autoware"), DetectionMethod::Unknown); +} From 827a5d9147bb05b38c0916700b291c911966f6b0 Mon Sep 17 00:00:00 2001 From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Date: Thu, 14 Nov 2024 19:21:58 +0900 Subject: [PATCH 432/701] feat(hazard_status_converter): hazard status converter subscribe emergency holding (#9287) * feat: add subscriber for emergency_holding Signed-off-by: TetsuKawa * modify: fix value name Signed-off-by: TetsuKawa * style(pre-commit): autofix Signed-off-by: TetsuKawa * feat: add const to is_emergency_holding Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Signed-off-by: TetsuKawa --------- Signed-off-by: TetsuKawa Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --- .../launch/hazard_status_converter.launch.xml | 1 + system/hazard_status_converter/package.xml | 1 + system/hazard_status_converter/src/converter.cpp | 5 ++++- system/hazard_status_converter/src/converter.hpp | 5 +++++ 4 files changed, 11 insertions(+), 1 deletion(-) diff --git a/system/hazard_status_converter/launch/hazard_status_converter.launch.xml b/system/hazard_status_converter/launch/hazard_status_converter.launch.xml index f3b07bfa94834..84318a921d4ce 100644 --- a/system/hazard_status_converter/launch/hazard_status_converter.launch.xml +++ b/system/hazard_status_converter/launch/hazard_status_converter.launch.xml @@ -2,5 +2,6 @@ + diff --git a/system/hazard_status_converter/package.xml b/system/hazard_status_converter/package.xml index ec54b4c003080..7d154abb7b26c 100644 --- a/system/hazard_status_converter/package.xml +++ b/system/hazard_status_converter/package.xml @@ -12,6 +12,7 @@ autoware_adapi_v1_msgs autoware_system_msgs + autoware_universe_utils diagnostic_graph_utils diagnostic_msgs rclcpp diff --git a/system/hazard_status_converter/src/converter.cpp b/system/hazard_status_converter/src/converter.cpp index e8213b441bb33..d92af2186f415 100644 --- a/system/hazard_status_converter/src/converter.cpp +++ b/system/hazard_status_converter/src/converter.cpp @@ -117,7 +117,10 @@ void Converter::on_update(DiagGraph::ConstSharedPtr graph) hazard.stamp = graph->updated_stamp(); hazard.status.level = get_system_level(hazard.status); hazard.status.emergency = hazard.status.level == HazardStatus::SINGLE_POINT_FAULT; - hazard.status.emergency_holding = false; + + const auto is_emergency_holding = sub_emergency_holding_.takeData(); + hazard.status.emergency_holding = + is_emergency_holding == nullptr ? false : is_emergency_holding->is_holding; pub_hazard_->publish(hazard); } diff --git a/system/hazard_status_converter/src/converter.hpp b/system/hazard_status_converter/src/converter.hpp index 442eedf588429..8011b911f3d42 100644 --- a/system/hazard_status_converter/src/converter.hpp +++ b/system/hazard_status_converter/src/converter.hpp @@ -15,10 +15,12 @@ #ifndef CONVERTER_HPP_ #define CONVERTER_HPP_ +#include #include #include #include +#include #include @@ -38,6 +40,9 @@ class Converter : public rclcpp::Node void on_update(DiagGraph::ConstSharedPtr graph); diagnostic_graph_utils::DiagGraphSubscription sub_graph_; rclcpp::Publisher::SharedPtr pub_hazard_; + autoware::universe_utils::InterProcessPollingSubscriber< + tier4_system_msgs::msg::EmergencyHoldingState> + sub_emergency_holding_{this, "~/input/emergency_holding"}; DiagUnit * auto_mode_root_; std::unordered_set auto_mode_tree_; From c6c3b1c6e6e2dc3a1f8a84a9d72dce8a171fece7 Mon Sep 17 00:00:00 2001 From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Date: Thu, 14 Nov 2024 19:22:29 +0900 Subject: [PATCH 433/701] feat(mrm_handler): mrm handler publish emergecy holding (#9285) * feat: add publisher for emrgency holding Signed-off-by: TetsuKawa * modify: fix msg element Signed-off-by: TetsuKawa * style(pre-commit): autofix --------- Signed-off-by: TetsuKawa Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../include/mrm_handler/mrm_handler_core.hpp | 5 +++++ system/mrm_handler/launch/mrm_handler.launch.xml | 2 ++ .../mrm_handler/src/mrm_handler/mrm_handler_core.cpp | 11 +++++++++++ 3 files changed, 18 insertions(+) diff --git a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp index f73d0df4153ce..b292ab1d874d3 100644 --- a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp +++ b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp @@ -29,6 +29,7 @@ #include #include #include +#include #include #include #include @@ -109,6 +110,10 @@ class MrmHandler : public rclcpp::Node autoware_adapi_v1_msgs::msg::MrmState mrm_state_; void publishMrmState(); + rclcpp::Publisher::SharedPtr + pub_emergency_holding_; + void publishEmergencyHolding(); + // Clients rclcpp::CallbackGroup::SharedPtr client_mrm_pull_over_group_; rclcpp::Client::SharedPtr client_mrm_pull_over_; diff --git a/system/mrm_handler/launch/mrm_handler.launch.xml b/system/mrm_handler/launch/mrm_handler.launch.xml index c99b22e10ad77..51a22cf92bebc 100644 --- a/system/mrm_handler/launch/mrm_handler.launch.xml +++ b/system/mrm_handler/launch/mrm_handler.launch.xml @@ -12,6 +12,7 @@ + @@ -32,6 +33,7 @@ + diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp index 0fc0cb29ecf21..4022bdaadebef 100644 --- a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp +++ b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp @@ -49,6 +49,8 @@ MrmHandler::MrmHandler(const rclcpp::NodeOptions & options) : Node("mrm_handler" create_publisher("~/output/gear", rclcpp::QoS{1}); pub_mrm_state_ = create_publisher("~/output/mrm/state", rclcpp::QoS{1}); + pub_emergency_holding_ = create_publisher( + "~/output/emergency_holding", rclcpp::QoS{1}); // Clients client_mrm_pull_over_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); @@ -153,6 +155,14 @@ void MrmHandler::publishMrmState() pub_mrm_state_->publish(mrm_state_); } +void MrmHandler::publishEmergencyHolding() +{ + tier4_system_msgs::msg::EmergencyHoldingState msg; + msg.stamp = this->now(); + msg.is_holding = is_emergency_holding_; + pub_emergency_holding_->publish(msg); +} + void MrmHandler::operateMrm() { using autoware_adapi_v1_msgs::msg::MrmState; @@ -352,6 +362,7 @@ void MrmHandler::onTimer() publishMrmState(); publishHazardCmd(); publishGearCmd(); + publishEmergencyHolding(); } void MrmHandler::transitionTo(const int new_state) From b4603fd06fa2b81c90dece1385652cce2d4cd438 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 14 Nov 2024 20:39:29 +0900 Subject: [PATCH 434/701] feat(trajectory_follower): publsih control horzion (#8977) * feat(trajectory_follower): publsih control horzion Signed-off-by: kosuke55 * fix typo Signed-off-by: kosuke55 * rename functions and minor refactor Signed-off-by: kosuke55 * add option to enable horizon pub Signed-off-by: kosuke55 * add tests for horizon Signed-off-by: kosuke55 * update docs Signed-off-by: kosuke55 * rename to ~/debug/control_cmd_horizon Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../autoware/mpc_lateral_controller/mpc.hpp | 5 +- .../mpc_lateral_controller.hpp | 9 ++ .../src/mpc.cpp | 16 ++- .../src/mpc_lateral_controller.cpp | 25 +++- .../test/test_mpc.cpp | 72 +++++++++--- .../src/pid_longitudinal_controller.cpp | 8 +- .../control_horizon.hpp | 42 +++++++ .../lateral_controller_base.hpp | 5 +- .../longitudinal_controller_base.hpp | 5 +- .../README.md | 2 + .../controller_node.hpp | 21 ++++ .../src/controller_node.cpp | 110 ++++++++++++++++++ 12 files changed, 298 insertions(+), 22 deletions(-) create mode 100644 control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/control_horizon.hpp diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp index 36a79cc95728e..0e4691822326f 100644 --- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp @@ -20,6 +20,7 @@ #include "autoware/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp" #include "autoware/mpc_lateral_controller/steering_predictor.hpp" #include "autoware/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" +#include "autoware/trajectory_follower_base/control_horizon.hpp" #include "rclcpp/rclcpp.hpp" #include "autoware_control_msgs/msg/lateral.hpp" @@ -38,6 +39,7 @@ namespace autoware::motion::control::mpc_lateral_controller { +using autoware::motion::control::trajectory_follower::LateralHorizon; using autoware_control_msgs::msg::Lateral; using autoware_planning_msgs::msg::Trajectory; using autoware_vehicle_msgs::msg::SteeringReport; @@ -450,7 +452,8 @@ class MPC */ bool calculateMPC( const SteeringReport & current_steer, const Odometry & current_kinematics, Lateral & ctrl_cmd, - Trajectory & predicted_trajectory, Float32MultiArrayStamped & diagnostic); + Trajectory & predicted_trajectory, Float32MultiArrayStamped & diagnostic, + LateralHorizon & ctrl_cmd_horizon); /** * @brief Set the reference trajectory to be followed. diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp index 09399d1fa2dce..aca0f0ccbc814 100644 --- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp @@ -22,6 +22,7 @@ #include "autoware/trajectory_follower_base/lateral_controller_base.hpp" #include "rclcpp/rclcpp.hpp" +#include #include #include "autoware_control_msgs/msg/lateral.hpp" @@ -49,6 +50,7 @@ using autoware_vehicle_msgs::msg::SteeringReport; using nav_msgs::msg::Odometry; using tier4_debug_msgs::msg::Float32MultiArrayStamped; using tier4_debug_msgs::msg::Float32Stamped; +using trajectory_follower::LateralHorizon; class MpcLateralController : public trajectory_follower::LateralControllerBase { @@ -214,6 +216,13 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase */ Lateral createCtrlCmdMsg(const Lateral & ctrl_cmd); + /** + * @brief Create the control command horizon message. + * @param ctrl_cmd_horizon Control command horizon to be created. + * @return Created control command horizon. + */ + LateralHorizon createCtrlCmdHorizonMsg(const LateralHorizon & ctrl_cmd_horizon) const; + /** * @brief Publish the predicted future trajectory. * @param predicted_traj Predicted future trajectory to be published. diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp index 0f350dc40ad0e..2d2179bb41a84 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp @@ -39,7 +39,8 @@ MPC::MPC(rclcpp::Node & node) bool MPC::calculateMPC( const SteeringReport & current_steer, const Odometry & current_kinematics, Lateral & ctrl_cmd, - Trajectory & predicted_trajectory, Float32MultiArrayStamped & diagnostic) + Trajectory & predicted_trajectory, Float32MultiArrayStamped & diagnostic, + LateralHorizon & ctrl_cmd_horizon) { // since the reference trajectory does not take into account the current velocity of the ego // vehicle, it needs to calculate the trajectory velocity considering the longitudinal dynamics. @@ -124,6 +125,19 @@ bool MPC::calculateMPC( diagnostic = generateDiagData(reference_trajectory, mpc_data, mpc_matrix, ctrl_cmd, Uex, current_kinematics); + // create LateralHorizon command + ctrl_cmd_horizon.time_step_ms = prediction_dt * 1000.0; + ctrl_cmd_horizon.controls.clear(); + ctrl_cmd_horizon.controls.push_back(ctrl_cmd); + for (auto it = std::next(Uex.begin()); it != Uex.end(); ++it) { + Lateral lateral{}; + lateral.steering_tire_angle = static_cast(std::clamp(*it, -m_steer_lim, m_steer_lim)); + lateral.steering_tire_rotation_rate = + (lateral.steering_tire_angle - ctrl_cmd_horizon.controls.back().steering_tire_angle) / + m_ctrl_period; + ctrl_cmd_horizon.controls.push_back(lateral); + } + return true; } diff --git a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp index f4ba74d74f246..7998aafd8cb4f 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp @@ -276,8 +276,10 @@ trajectory_follower::LateralOutput MpcLateralController::run( m_is_ctrl_cmd_prev_initialized = true; } + trajectory_follower::LateralHorizon ctrl_cmd_horizon{}; const bool is_mpc_solved = m_mpc->calculateMPC( - m_current_steering, m_current_kinematic_state, ctrl_cmd, predicted_traj, debug_values); + m_current_steering, m_current_kinematic_state, ctrl_cmd, predicted_traj, debug_values, + ctrl_cmd_horizon); m_is_mpc_solved = is_mpc_solved; // for diagnostic updater @@ -304,9 +306,13 @@ trajectory_follower::LateralOutput MpcLateralController::run( publishPredictedTraj(predicted_traj); publishDebugValues(debug_values); - const auto createLateralOutput = [this](const auto & cmd, const bool is_mpc_solved) { + const auto createLateralOutput = + [this]( + const auto & cmd, const bool is_mpc_solved, + const auto & cmd_horizon) -> trajectory_follower::LateralOutput { trajectory_follower::LateralOutput output; output.control_cmd = createCtrlCmdMsg(cmd); + output.control_cmd_horizon = createCtrlCmdHorizonMsg(cmd_horizon); // To be sure current steering of the vehicle is desired steering angle, we need to check // following conditions. // 1. At the last loop, mpc should be solved because command should be optimized output. @@ -325,7 +331,7 @@ trajectory_follower::LateralOutput MpcLateralController::run( } // Use previous command value as previous raw steer command m_mpc->m_raw_steer_cmd_prev = m_ctrl_cmd_prev.steering_tire_angle; - return createLateralOutput(m_ctrl_cmd_prev, false); + return createLateralOutput(m_ctrl_cmd_prev, false, ctrl_cmd_horizon); } if (!is_mpc_solved) { @@ -334,7 +340,7 @@ trajectory_follower::LateralOutput MpcLateralController::run( } m_ctrl_cmd_prev = ctrl_cmd; - return createLateralOutput(ctrl_cmd, is_mpc_solved); + return createLateralOutput(ctrl_cmd, is_mpc_solved, ctrl_cmd_horizon); } bool MpcLateralController::isSteerConverged(const Lateral & cmd) const @@ -465,6 +471,17 @@ Lateral MpcLateralController::createCtrlCmdMsg(const Lateral & ctrl_cmd) return out; } +LateralHorizon MpcLateralController::createCtrlCmdHorizonMsg( + const LateralHorizon & ctrl_cmd_horizon) const +{ + auto out = ctrl_cmd_horizon; + const auto now = clock_->now(); + for (auto & cmd : out.controls) { + cmd.stamp = now; + } + return out; +} + void MpcLateralController::publishPredictedTraj(Trajectory & predicted_traj) const { predicted_traj.header.stamp = clock_->now(); diff --git a/control/autoware_mpc_lateral_controller/test/test_mpc.cpp b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp index c4a67552a6083..fe2ca8d451018 100644 --- a/control/autoware_mpc_lateral_controller/test/test_mpc.cpp +++ b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp @@ -21,6 +21,8 @@ #include "gtest/gtest.h" #include "rclcpp/rclcpp.hpp" +#include + #include "autoware_control_msgs/msg/lateral.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" @@ -41,6 +43,7 @@ namespace autoware::motion::control::mpc_lateral_controller { +using autoware::motion::control::trajectory_follower::LateralHorizon; using autoware_control_msgs::msg::Lateral; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; @@ -209,10 +212,14 @@ TEST_F(MPCTest, InitializeAndCalculate) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, InitializeAndCalculateRightTurn) @@ -241,10 +248,14 @@ TEST_F(MPCTest, InitializeAndCalculateRightTurn) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); EXPECT_LT(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_LT(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_LT(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_LT(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, OsqpCalculate) @@ -268,10 +279,14 @@ TEST_F(MPCTest, OsqpCalculate) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - EXPECT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + EXPECT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, OsqpCalculateRightTurn) @@ -296,10 +311,14 @@ TEST_F(MPCTest, OsqpCalculateRightTurn) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); EXPECT_LT(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_LT(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_LT(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_LT(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, KinematicsNoDelayCalculate) @@ -326,10 +345,14 @@ TEST_F(MPCTest, KinematicsNoDelayCalculate) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, KinematicsNoDelayCalculateRightTurn) @@ -357,10 +380,14 @@ TEST_F(MPCTest, KinematicsNoDelayCalculateRightTurn) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); EXPECT_LT(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_LT(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_LT(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_LT(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, DynamicCalculate) @@ -382,10 +409,14 @@ TEST_F(MPCTest, DynamicCalculate) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, MultiSolveWithBuffer) @@ -406,24 +437,37 @@ TEST_F(MPCTest, MultiSolveWithBuffer) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(mpc->m_input_buffer.size(), size_t(3)); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); + ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(mpc->m_input_buffer.size(), size_t(3)); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); + ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(mpc->m_input_buffer.size(), size_t(3)); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); + ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(mpc->m_input_buffer.size(), size_t(3)); + EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); + EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); } TEST_F(MPCTest, FailureCases) @@ -446,11 +490,13 @@ TEST_F(MPCTest, FailureCases) Lateral ctrl_cmd; Trajectory pred_traj; Float32MultiArrayStamped diag; + LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_far, default_velocity); - EXPECT_FALSE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag)); + EXPECT_FALSE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); // Calculate MPC with a fast velocity to make the prediction go further than the reference path EXPECT_FALSE(mpc->calculateMPC( - neutral_steer, makeOdometry(pose_far, default_velocity + 10.0), ctrl_cmd, pred_traj, diag)); + neutral_steer, makeOdometry(pose_far, default_velocity + 10.0), ctrl_cmd, pred_traj, diag, + ctrl_cmd_horizon)); } } // namespace autoware::motion::control::mpc_lateral_controller diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index e3cdc4505c037..9bc9a5cd59ac3 100644 --- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp +++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp @@ -433,6 +433,8 @@ trajectory_follower::LongitudinalOutput PidLongitudinalController::run( publishDebugData(raw_ctrl_cmd, control_data); // publish debug data trajectory_follower::LongitudinalOutput output; output.control_cmd = cmd_msg; + output.control_cmd_horizon.controls.push_back(cmd_msg); + output.control_cmd_horizon.time_step_ms = 0.0; return output; } @@ -442,11 +444,15 @@ trajectory_follower::LongitudinalOutput PidLongitudinalController::run( // calculate control command const Motion ctrl_cmd = calcCtrlCmd(control_data); - // publish control command + // create control command const auto cmd_msg = createCtrlCmdMsg(ctrl_cmd, control_data.current_motion.vel); trajectory_follower::LongitudinalOutput output; output.control_cmd = cmd_msg; + // create control command horizon + output.control_cmd_horizon.controls.push_back(cmd_msg); + output.control_cmd_horizon.time_step_ms = 0.0; + // publish debug data publishDebugData(ctrl_cmd, control_data); diff --git a/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/control_horizon.hpp b/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/control_horizon.hpp new file mode 100644 index 0000000000000..980568cc73dc6 --- /dev/null +++ b/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/control_horizon.hpp @@ -0,0 +1,42 @@ +// Copyright 2024 The Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__TRAJECTORY_FOLLOWER_BASE__CONTROL_HORIZON_HPP_ +#define AUTOWARE__TRAJECTORY_FOLLOWER_BASE__CONTROL_HORIZON_HPP_ + +#include "autoware_control_msgs/msg/lateral.hpp" +#include "autoware_control_msgs/msg/longitudinal.hpp" + +#include + +namespace autoware::motion::control::trajectory_follower +{ + +using autoware_control_msgs::msg::Lateral; +using autoware_control_msgs::msg::Longitudinal; + +struct LateralHorizon +{ + double time_step_ms; + std::vector controls; +}; + +struct LongitudinalHorizon +{ + double time_step_ms; + std::vector controls; +}; + +} // namespace autoware::motion::control::trajectory_follower +#endif // AUTOWARE__TRAJECTORY_FOLLOWER_BASE__CONTROL_HORIZON_HPP_ diff --git a/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/lateral_controller_base.hpp b/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/lateral_controller_base.hpp index 891b3982ddf49..4a3ddee78f6ad 100644 --- a/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/lateral_controller_base.hpp +++ b/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/lateral_controller_base.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE__TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_ #define AUTOWARE__TRAJECTORY_FOLLOWER_BASE__LATERAL_CONTROLLER_BASE_HPP_ +#include "autoware/trajectory_follower_base/control_horizon.hpp" #include "autoware/trajectory_follower_base/input_data.hpp" #include "autoware/trajectory_follower_base/sync_data.hpp" #include "rclcpp/rclcpp.hpp" @@ -24,9 +25,11 @@ #include namespace autoware::motion::control::trajectory_follower { +using autoware_control_msgs::msg::Lateral; struct LateralOutput { - autoware_control_msgs::msg::Lateral control_cmd; + Lateral control_cmd; + LateralHorizon control_cmd_horizon; LateralSyncData sync_data; }; diff --git a/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/longitudinal_controller_base.hpp b/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/longitudinal_controller_base.hpp index 176141572d6a8..3c440c5a6dfb6 100644 --- a/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/longitudinal_controller_base.hpp +++ b/control/autoware_trajectory_follower_base/include/autoware/trajectory_follower_base/longitudinal_controller_base.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE__TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_ #define AUTOWARE__TRAJECTORY_FOLLOWER_BASE__LONGITUDINAL_CONTROLLER_BASE_HPP_ +#include "autoware/trajectory_follower_base/control_horizon.hpp" #include "autoware/trajectory_follower_base/input_data.hpp" #include "autoware/trajectory_follower_base/sync_data.hpp" #include "rclcpp/rclcpp.hpp" @@ -25,9 +26,11 @@ namespace autoware::motion::control::trajectory_follower { +using autoware_control_msgs::msg::Longitudinal; struct LongitudinalOutput { - autoware_control_msgs::msg::Longitudinal control_cmd; + Longitudinal control_cmd; + LongitudinalHorizon control_cmd_horizon; LongitudinalSyncData sync_data; }; class LongitudinalControllerBase diff --git a/control/autoware_trajectory_follower_node/README.md b/control/autoware_trajectory_follower_node/README.md index aa692c323f6d0..ac05dd67f18e6 100644 --- a/control/autoware_trajectory_follower_node/README.md +++ b/control/autoware_trajectory_follower_node/README.md @@ -136,6 +136,7 @@ Giving the longitudinal controller information about steer convergence allows it #### Outputs - `autoware_control_msgs/Control`: message containing both lateral and longitudinal commands. +- `autoware_control_msgs/ControlHorizon`: message containing both lateral and longitudinal horizon commands. this is NOT published by default. by using this, the performance of vehicle control may be improved, and by turning the default on, it can be used as an experimental topic. #### Parameter @@ -146,6 +147,7 @@ Giving the longitudinal controller information about steer convergence allows it 2. The last received commands are not older than defined by `timeout_thr_sec`. - `lateral_controller_mode`: `mpc` or `pure_pursuit` - (currently there is only `PID` for longitudinal controller) +- `enable_control_cmd_horizon_pub`: publish `ControlHorizon` or not (default: false) ## Debugging diff --git a/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp b/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp index a5f8665328f34..1733b4bcbbb7d 100644 --- a/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp +++ b/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE__TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_ #define AUTOWARE__TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_ +#include "autoware/trajectory_follower_base/control_horizon.hpp" #include "autoware/trajectory_follower_base/lateral_controller_base.hpp" #include "autoware/trajectory_follower_base/longitudinal_controller_base.hpp" #include "autoware/trajectory_follower_node/visibility_control.hpp" @@ -33,6 +34,7 @@ #include #include "autoware_control_msgs/msg/control.hpp" +#include "autoware_control_msgs/msg/control_horizon.hpp" #include "autoware_control_msgs/msg/longitudinal.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "geometry_msgs/msg/accel_stamped.hpp" @@ -41,6 +43,7 @@ #include "nav_msgs/msg/odometry.hpp" #include "tf2_msgs/msg/tf_message.hpp" #include "visualization_msgs/msg/marker_array.hpp" +#include #include #include @@ -50,13 +53,16 @@ namespace autoware::motion::control { +using trajectory_follower::LateralHorizon; using trajectory_follower::LateralOutput; +using trajectory_follower::LongitudinalHorizon; using trajectory_follower::LongitudinalOutput; namespace trajectory_follower_node { using autoware::universe_utils::StopWatch; using autoware_adapi_v1_msgs::msg::OperationModeState; +using autoware_control_msgs::msg::ControlHorizon; using tier4_debug_msgs::msg::Float64Stamped; namespace trajectory_follower = ::autoware::motion::control::trajectory_follower; @@ -72,6 +78,7 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node private: rclcpp::TimerBase::SharedPtr timer_control_; double timeout_thr_sec_; + bool enable_control_cmd_horizon_pub_{false}; boost::optional longitudinal_output_{boost::none}; std::shared_ptr diag_updater_ = @@ -104,6 +111,7 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_processing_time_lat_ms_; rclcpp::Publisher::SharedPtr pub_processing_time_lon_ms_; rclcpp::Publisher::SharedPtr debug_marker_pub_; + rclcpp::Publisher::SharedPtr control_cmd_horizon_pub_; autoware_planning_msgs::msg::Trajectory::ConstSharedPtr current_trajectory_ptr_; nav_msgs::msg::Odometry::ConstSharedPtr current_odometry_ptr_; @@ -134,6 +142,19 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node void publishDebugMarker( const trajectory_follower::InputData & input_data, const trajectory_follower::LateralOutput & lat_out) const; + /** + * @brief merge lateral and longitudinal horizons + * @details If one of the commands has only one control, repeat the control to match the other + * horizon. If each horizon has different time intervals, resample them to match the size + * with the greatest common divisor. + * @param lateral_horizon lateral horizon + * @param longitudinal_horizon longitudinal horizon + * @param stamp stamp + * @return merged control horizon + */ + static std::optional mergeLatLonHorizon( + const LateralHorizon & lateral_horizon, const LongitudinalHorizon & longitudinal_horizon, + const rclcpp::Time & stamp); std::unique_ptr logger_configure_; diff --git a/control/autoware_trajectory_follower_node/src/controller_node.cpp b/control/autoware_trajectory_follower_node/src/controller_node.cpp index d5167f5096786..7dfbefadca52c 100644 --- a/control/autoware_trajectory_follower_node/src/controller_node.cpp +++ b/control/autoware_trajectory_follower_node/src/controller_node.cpp @@ -19,6 +19,8 @@ #include "autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp" #include "autoware/universe_utils/ros/marker_helper.hpp" +#include + #include #include #include @@ -26,6 +28,26 @@ #include #include +namespace +{ +template +std::vector resampleHorizonByZeroOrderHold( + const std::vector & original_horizon, const double original_time_step_ms, + const double new_time_step_ms) +{ + std::vector resampled_horizon{}; + const size_t step_factor = static_cast(original_time_step_ms / new_time_step_ms); + const size_t resampled_size = original_horizon.size() * step_factor; + resampled_horizon.reserve(resampled_size); + for (const auto & command : original_horizon) { + for (size_t i = 0; i < step_factor; ++i) { + resampled_horizon.push_back(command); + } + } + return resampled_horizon; +} +} // namespace + namespace autoware::motion::control::trajectory_follower_node { Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("controller", node_options) @@ -34,6 +56,11 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control const double ctrl_period = declare_parameter("ctrl_period"); timeout_thr_sec_ = declare_parameter("timeout_thr_sec"); + // NOTE: It is possible that using control_horizon could be expected to enhance performance, + // but it is not a formal interface topic, only an experimental one. + // So it is disabled by default. + enable_control_cmd_horizon_pub_ = + declare_parameter("enable_control_cmd_horizon_pub", false); const auto lateral_controller_mode = getLateralControllerMode(declare_parameter("lateral_controller_mode")); @@ -74,6 +101,11 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control debug_marker_pub_ = create_publisher("~/output/debug_marker", rclcpp::QoS{1}); + if (enable_control_cmd_horizon_pub_) { + control_cmd_horizon_pub_ = create_publisher( + "~/debug/control_cmd_horizon", 1); + } + // Timer { const auto period_ns = std::chrono::duration_cast( @@ -215,6 +247,15 @@ void Controller::callbackTimerControl() // 6. publish debug published_time_publisher_->publish_if_subscribed(control_cmd_pub_, out.stamp); publishDebugMarker(*input_data, lat_out); + + // 7. publish experimental topic + if (enable_control_cmd_horizon_pub_) { + const auto control_horizon = + mergeLatLonHorizon(lat_out.control_cmd_horizon, lon_out.control_cmd_horizon, this->now()); + if (control_horizon.has_value()) { + control_cmd_horizon_pub_->publish(control_horizon.value()); + } + } } void Controller::publishDebugMarker( @@ -254,6 +295,75 @@ void Controller::publishProcessingTime( pub->publish(msg); } +std::optional Controller::mergeLatLonHorizon( + const LateralHorizon & lateral_horizon, const LongitudinalHorizon & longitudinal_horizon, + const rclcpp::Time & stamp) +{ + if (lateral_horizon.controls.empty() || longitudinal_horizon.controls.empty()) { + return std::nullopt; + } + + autoware_control_msgs::msg::ControlHorizon control_horizon{}; + control_horizon.stamp = stamp; + + // If either of the horizons has only one control, repeat the control to match the other horizon. + if (lateral_horizon.controls.size() == 1) { + control_horizon.time_step_ms = longitudinal_horizon.time_step_ms; + const auto lateral = lateral_horizon.controls.front(); + for (const auto & longitudinal : longitudinal_horizon.controls) { + autoware_control_msgs::msg::Control control; + control.longitudinal = longitudinal; + control.lateral = lateral; + control.stamp = stamp; + control_horizon.controls.push_back(control); + } + return control_horizon; + } + if (longitudinal_horizon.controls.size() == 1) { + control_horizon.time_step_ms = lateral_horizon.time_step_ms; + const auto longitudinal = longitudinal_horizon.controls.front(); + for (const auto & lateral : lateral_horizon.controls) { + autoware_control_msgs::msg::Control control; + control.longitudinal = longitudinal; + control.lateral = lateral; + control.stamp = stamp; + control_horizon.controls.push_back(control); + } + return control_horizon; + } + + // If both horizons have multiple controls, align the time steps and zero-order hold the controls. + // calculate greatest common divisor of time steps + const auto gcd_double = [](const double a, const double b) { + const double precision = 1e9; + const int int_a = static_cast(round(a * precision)); + const int int_b = static_cast(round(b * precision)); + return static_cast(std::gcd(int_a, int_b)) / precision; + }; + const double time_step_ms = + gcd_double(lateral_horizon.time_step_ms, longitudinal_horizon.time_step_ms); + control_horizon.time_step_ms = time_step_ms; + + const auto lateral_controls = resampleHorizonByZeroOrderHold( + lateral_horizon.controls, lateral_horizon.time_step_ms, time_step_ms); + const auto longitudinal_controls = resampleHorizonByZeroOrderHold( + longitudinal_horizon.controls, longitudinal_horizon.time_step_ms, time_step_ms); + + if (lateral_controls.size() != longitudinal_controls.size()) { + return std::nullopt; + } + + const size_t num_steps = lateral_controls.size(); + for (size_t i = 0; i < num_steps; ++i) { + autoware_control_msgs::msg::Control control{}; + control.stamp = stamp; + control.lateral = lateral_controls.at(i); + control.longitudinal = longitudinal_controls.at(i); + control_horizon.controls.push_back(control); + } + return control_horizon; +} + } // namespace autoware::motion::control::trajectory_follower_node #include "rclcpp_components/register_node_macro.hpp" From a59d309b050848a9063b7eaa2b57d1643d9e97f6 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Thu, 14 Nov 2024 12:58:45 +0100 Subject: [PATCH 435/701] refactor(fake_test_node): prefix package and namespace with autoware (#9249) Signed-off-by: Esteve Fernandez --- .github/CODEOWNERS | 2 +- common/.pages | 2 +- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 8 ++++---- .../design/fake_test_node-design.md | 8 ++++---- .../fake_test_node/fake_test_node.hpp | 18 ++++++------------ .../fake_test_node/visibility_control.hpp | 6 +++--- .../package.xml | 2 +- .../src/fake_test_node.cpp | 17 +++-------------- .../test/test_fake_test_node.cpp | 6 +++--- .../CMakeLists.txt | 2 +- .../package.xml | 2 +- .../test/test_controller_node.cpp | 4 ++-- .../test/trajectory_follower_test_utils.hpp | 4 ++-- planning/autoware_path_optimizer/package.xml | 2 +- planning/autoware_path_smoother/package.xml | 2 +- .../autoware_path_sampler/package.xml | 2 +- 17 files changed, 35 insertions(+), 52 deletions(-) rename common/{fake_test_node => autoware_fake_test_node}/CHANGELOG.rst (100%) rename common/{fake_test_node => autoware_fake_test_node}/CMakeLists.txt (51%) rename common/{fake_test_node => autoware_fake_test_node}/design/fake_test_node-design.md (91%) rename common/{fake_test_node/include => autoware_fake_test_node/include/autoware}/fake_test_node/fake_test_node.hpp (96%) rename common/{fake_test_node/include => autoware_fake_test_node/include/autoware}/fake_test_node/visibility_control.hpp (90%) rename common/{fake_test_node => autoware_fake_test_node}/package.xml (96%) rename common/{fake_test_node => autoware_fake_test_node}/src/fake_test_node.cpp (90%) rename common/{fake_test_node => autoware_fake_test_node}/test/test_fake_test_node.cpp (94%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 579b60a5be77f..7e6d38636a1b2 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -3,6 +3,7 @@ common/autoware_adapi_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_component_interface_tools/** isamu.takagi@tier4.jp +common/autoware_fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_geography_utils/** koji.minoda@tier4.jp common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp @@ -27,7 +28,6 @@ common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp -common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/glog_component/** takamasa.horibe@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp diff --git a/common/.pages b/common/.pages index 64d2223329a10..cd0423fa8de79 100644 --- a/common/.pages +++ b/common/.pages @@ -2,7 +2,7 @@ nav: - 'Introduction': common - 'Testing Libraries': - 'autoware_testing': common/autoware_testing/design/autoware_testing-design - - 'fake_test_node': common/fake_test_node/design/fake_test_node-design + - 'autoware_fake_test_node': common/autoware_fake_test_node/design/fake_test_node-design - 'Test Utils': common/autoware_test_utils - 'Common Libraries': - 'autoware_auto_common': diff --git a/common/fake_test_node/CHANGELOG.rst b/common/autoware_fake_test_node/CHANGELOG.rst similarity index 100% rename from common/fake_test_node/CHANGELOG.rst rename to common/autoware_fake_test_node/CHANGELOG.rst diff --git a/common/fake_test_node/CMakeLists.txt b/common/autoware_fake_test_node/CMakeLists.txt similarity index 51% rename from common/fake_test_node/CMakeLists.txt rename to common/autoware_fake_test_node/CMakeLists.txt index 8ad71df2777f3..1be6cdf51ee00 100644 --- a/common/fake_test_node/CMakeLists.txt +++ b/common/autoware_fake_test_node/CMakeLists.txt @@ -1,17 +1,17 @@ cmake_minimum_required(VERSION 3.14) -project(fake_test_node) +project(autoware_fake_test_node) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(fake_test_node SHARED src/fake_test_node.cpp) +ament_auto_add_library(${PROJECT_NAME} SHARED src/fake_test_node.cpp) if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_fake_test_node test/test_fake_test_node.cpp ) - add_dependencies(test_fake_test_node fake_test_node) - target_link_libraries(test_fake_test_node fake_test_node) + add_dependencies(test_fake_test_node ${PROJECT_NAME}) + target_link_libraries(test_fake_test_node ${PROJECT_NAME}) endif() ament_auto_package() diff --git a/common/fake_test_node/design/fake_test_node-design.md b/common/autoware_fake_test_node/design/fake_test_node-design.md similarity index 91% rename from common/fake_test_node/design/fake_test_node-design.md rename to common/autoware_fake_test_node/design/fake_test_node-design.md index c9c040881664a..34142c3529ea9 100644 --- a/common/fake_test_node/design/fake_test_node-design.md +++ b/common/autoware_fake_test_node/design/fake_test_node-design.md @@ -10,8 +10,8 @@ fixture. This package contains a library that introduces two utility classes that can be used in place of custom fixtures described above to write integration tests for a node: -- `autoware::tools::testing::FakeTestNode` - to use as a custom test fixture with `TEST_F` tests -- `autoware::tools::testing::FakeTestNodeParametrized` - to use a custom test fixture with the +- `autoware::fake_test_node::FakeTestNode` - to use as a custom test fixture with `TEST_F` tests +- `autoware::fake_test_node::FakeTestNodeParametrized` - to use a custom test fixture with the parametrized `TEST_P` tests (accepts a template parameter that gets forwarded to `testing::TestWithParam`) @@ -30,10 +30,10 @@ Let's say there is a node `NodeUnderTest` that requires testing. It just subscribes to `std_msgs::msg::Int32` messages and publishes a `std_msgs::msg::Bool` to indicate that the input is positive. To test such a node the following code can be used utilizing the -`autoware::tools::testing::FakeTestNode`: +`autoware::fake_test_node::FakeTestNode`: ```cpp -using FakeNodeFixture = autoware::tools::testing::FakeTestNode; +using FakeNodeFixture = autoware::fake_test_node::FakeTestNode; /// @test Test that we can use a non-parametrized test. TEST_F(FakeNodeFixture, Test) { diff --git a/common/fake_test_node/include/fake_test_node/fake_test_node.hpp b/common/autoware_fake_test_node/include/autoware/fake_test_node/fake_test_node.hpp similarity index 96% rename from common/fake_test_node/include/fake_test_node/fake_test_node.hpp rename to common/autoware_fake_test_node/include/autoware/fake_test_node/fake_test_node.hpp index 9f7fee89776b3..40d45f0689283 100644 --- a/common/fake_test_node/include/fake_test_node/fake_test_node.hpp +++ b/common/autoware_fake_test_node/include/autoware/fake_test_node/fake_test_node.hpp @@ -17,10 +17,10 @@ /// \copyright Copyright 2021 Apex.AI, Inc. /// All rights reserved. -#ifndef FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ -#define FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ +#ifndef AUTOWARE__FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ +#define AUTOWARE__FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ -#include +#include #include #include @@ -30,11 +30,7 @@ #include #include -namespace autoware -{ -namespace tools -{ -namespace testing +namespace autoware::fake_test_node { /// @@ -237,8 +233,6 @@ class FAKE_TEST_NODE_PUBLIC FakeTestNode : public detail::FakeNodeCore, public : void TearDown() override; }; -} // namespace testing -} // namespace tools -} // namespace autoware +} // namespace autoware::fake_test_node -#endif // FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ +#endif // AUTOWARE__FAKE_TEST_NODE__FAKE_TEST_NODE_HPP_ diff --git a/common/fake_test_node/include/fake_test_node/visibility_control.hpp b/common/autoware_fake_test_node/include/autoware/fake_test_node/visibility_control.hpp similarity index 90% rename from common/fake_test_node/include/fake_test_node/visibility_control.hpp rename to common/autoware_fake_test_node/include/autoware/fake_test_node/visibility_control.hpp index 62e57eef113f1..d21dbfdbcfc75 100644 --- a/common/fake_test_node/include/fake_test_node/visibility_control.hpp +++ b/common/autoware_fake_test_node/include/autoware/fake_test_node/visibility_control.hpp @@ -17,8 +17,8 @@ /// \copyright Copyright 2021 Apex.AI, Inc. /// All rights reserved. -#ifndef FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ -#define FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ +#ifndef AUTOWARE__FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ +#define AUTOWARE__FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ //////////////////////////////////////////////////////////////////////////////// #if defined(__WIN32) @@ -39,4 +39,4 @@ #error "Unsupported Build Configuration" #endif // defined(__WIN32) -#endif // FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ +#endif // AUTOWARE__FAKE_TEST_NODE__VISIBILITY_CONTROL_HPP_ diff --git a/common/fake_test_node/package.xml b/common/autoware_fake_test_node/package.xml similarity index 96% rename from common/fake_test_node/package.xml rename to common/autoware_fake_test_node/package.xml index ac2cf75a52423..413f359eafbcc 100644 --- a/common/fake_test_node/package.xml +++ b/common/autoware_fake_test_node/package.xml @@ -1,7 +1,7 @@ - fake_test_node + autoware_fake_test_node 0.38.0 A fake node that we can use in the integration-like cpp tests. Apex.AI, Inc. diff --git a/common/fake_test_node/src/fake_test_node.cpp b/common/autoware_fake_test_node/src/fake_test_node.cpp similarity index 90% rename from common/fake_test_node/src/fake_test_node.cpp rename to common/autoware_fake_test_node/src/fake_test_node.cpp index 1704d371c3a5e..75714c0dd5b08 100644 --- a/common/fake_test_node/src/fake_test_node.cpp +++ b/common/autoware_fake_test_node/src/fake_test_node.cpp @@ -17,12 +17,12 @@ /// \copyright Copyright 2021 Apex.AI, Inc. /// All rights reserved. -#include +#include #include #include -namespace +namespace autoware::fake_test_node { constexpr auto kSpinThread = false; constexpr auto kArgc = 0; @@ -34,15 +34,6 @@ std::string sanitize_test_name(const std::string & name) return sanitize_test_name; } -} // namespace - -namespace autoware -{ -namespace tools -{ -namespace testing -{ - void detail::FakeNodeCore::set_up(const std::string & test_name) { ASSERT_FALSE(rclcpp::ok()); @@ -76,6 +67,4 @@ void FakeTestNode::TearDown() tear_down(); } -} // namespace testing -} // namespace tools -} // namespace autoware +} // namespace autoware::fake_test_node diff --git a/common/fake_test_node/test/test_fake_test_node.cpp b/common/autoware_fake_test_node/test/test_fake_test_node.cpp similarity index 94% rename from common/fake_test_node/test/test_fake_test_node.cpp rename to common/autoware_fake_test_node/test/test_fake_test_node.cpp index 77e9294cb48c2..886433ed5fff6 100644 --- a/common/fake_test_node/test/test_fake_test_node.cpp +++ b/common/autoware_fake_test_node/test/test_fake_test_node.cpp @@ -17,7 +17,7 @@ /// \copyright Copyright 2021 Apex.AI, Inc. /// All rights reserved. -#include +#include #include #include @@ -30,8 +30,8 @@ using bool8_t = bool; -using FakeNodeFixture = autoware::tools::testing::FakeTestNode; -using FakeNodeFixtureParametrized = autoware::tools::testing::FakeTestNodeParametrized; +using FakeNodeFixture = autoware::fake_test_node::FakeTestNode; +using FakeNodeFixtureParametrized = autoware::fake_test_node::FakeTestNodeParametrized; using std_msgs::msg::Bool; using std_msgs::msg::Int32; diff --git a/control/autoware_trajectory_follower_node/CMakeLists.txt b/control/autoware_trajectory_follower_node/CMakeLists.txt index 26488bd474149..90fa1b0319919 100644 --- a/control/autoware_trajectory_follower_node/CMakeLists.txt +++ b/control/autoware_trajectory_follower_node/CMakeLists.txt @@ -33,7 +33,7 @@ if(BUILD_TESTING) test/trajectory_follower_test_utils.hpp test/test_controller_node.cpp ) - ament_target_dependencies(${TRAJECTORY_FOLLOWER_NODES_TEST} fake_test_node) + ament_target_dependencies(${TRAJECTORY_FOLLOWER_NODES_TEST} autoware_fake_test_node) target_link_libraries( ${TRAJECTORY_FOLLOWER_NODES_TEST} ${CONTROLLER_NODE}) diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml index 848eb7d3b6d10..86a2592ebf5f4 100644 --- a/control/autoware_trajectory_follower_node/package.xml +++ b/control/autoware_trajectory_follower_node/package.xml @@ -40,9 +40,9 @@ ament_index_cpp ament_index_python ament_lint_auto + autoware_fake_test_node autoware_lint_common autoware_testing - fake_test_node ros_testing diff --git a/control/autoware_trajectory_follower_node/test/test_controller_node.cpp b/control/autoware_trajectory_follower_node/test/test_controller_node.cpp index 71813c8a5c5d8..40e4366d9aa17 100644 --- a/control/autoware_trajectory_follower_node/test/test_controller_node.cpp +++ b/control/autoware_trajectory_follower_node/test/test_controller_node.cpp @@ -13,8 +13,8 @@ // limitations under the License. #include "ament_index_cpp/get_package_share_directory.hpp" +#include "autoware/fake_test_node/fake_test_node.hpp" #include "autoware/trajectory_follower_node/controller_node.hpp" -#include "fake_test_node/fake_test_node.hpp" #include "gtest/gtest.h" #include "rclcpp/rclcpp.hpp" #include "rclcpp/time.hpp" @@ -42,7 +42,7 @@ using SteeringReport = autoware_vehicle_msgs::msg::SteeringReport; using autoware_adapi_v1_msgs::msg::OperationModeState; using geometry_msgs::msg::AccelWithCovarianceStamped; -using FakeNodeFixture = autoware::tools::testing::FakeTestNode; +using FakeNodeFixture = autoware::fake_test_node::FakeTestNode; const rclcpp::Duration one_second(1, 0); diff --git a/control/autoware_trajectory_follower_node/test/trajectory_follower_test_utils.hpp b/control/autoware_trajectory_follower_node/test/trajectory_follower_test_utils.hpp index 1ccffcaf7f3e3..31c5bad619cb9 100644 --- a/control/autoware_trajectory_follower_node/test/trajectory_follower_test_utils.hpp +++ b/control/autoware_trajectory_follower_node/test/trajectory_follower_test_utils.hpp @@ -15,7 +15,7 @@ #ifndef TRAJECTORY_FOLLOWER_TEST_UTILS_HPP_ #define TRAJECTORY_FOLLOWER_TEST_UTILS_HPP_ -#include "fake_test_node/fake_test_node.hpp" +#include "autoware/fake_test_node/fake_test_node.hpp" #include "rclcpp/rclcpp.hpp" #include "rclcpp/time.hpp" #include "tf2_ros/static_transform_broadcaster.h" @@ -27,7 +27,7 @@ namespace test_utils { -using FakeNodeFixture = autoware::tools::testing::FakeTestNode; +using FakeNodeFixture = autoware::fake_test_node::FakeTestNode; inline void waitForMessage( const std::shared_ptr & node, FakeNodeFixture * fixture, const bool & received_flag, diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml index 5dd763494ada0..7c5b1e68e759a 100644 --- a/planning/autoware_path_optimizer/package.xml +++ b/planning/autoware_path_optimizer/package.xml @@ -34,9 +34,9 @@ ament_cmake_ros ament_index_python ament_lint_auto + autoware_fake_test_node autoware_lint_common autoware_testing - fake_test_node ament_cmake diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml index a9ead8e54d104..6c8b3efec678b 100644 --- a/planning/autoware_path_smoother/package.xml +++ b/planning/autoware_path_smoother/package.xml @@ -31,9 +31,9 @@ ament_cmake_ros ament_index_python ament_lint_auto + autoware_fake_test_node autoware_lint_common autoware_testing - fake_test_node ament_cmake diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml index 188839c805179..c4dafda08a14c 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml @@ -34,9 +34,9 @@ ament_cmake_ros ament_index_python ament_lint_auto + autoware_fake_test_node autoware_lint_common autoware_testing - fake_test_node ament_cmake From cdb6e888b4b320b29bad86b745cb0908dc2282ef Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Thu, 14 Nov 2024 12:08:14 +0000 Subject: [PATCH 436/701] chore: update CODEOWNERS (#9232) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/CODEOWNERS | 27 +++++++++++++-------------- 1 file changed, 13 insertions(+), 14 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 7e6d38636a1b2..61af2edc5b516 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -3,8 +3,9 @@ common/autoware_adapi_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_component_interface_tools/** isamu.takagi@tier4.jp +common/autoware_component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -common/autoware_geography_utils/** koji.minoda@tier4.jp +common/autoware_geography_utils/** anh.nguyen.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp common/autoware_interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp @@ -23,11 +24,10 @@ common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.j common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -common/autoware_trajectory/** yukinari.hisaki.2@tier4.jp takayuki.murooka@tier4.jp mamoru.sobue@tier4.jp +common/autoware_trajectory/** mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp yukinari.hisaki.2@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp -common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/glog_component/** takamasa.horibe@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp @@ -61,12 +61,11 @@ control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/predicted_path_checker/** berkay@leodrive.ai evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp -evaluator/autoware_evaluator_utils/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp -evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp -evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp +evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp temkei.kem@tier4.jp evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp evaluator/localization_evaluator/** dominik.jargot@robotec.ai koji.minoda@tier4.jp evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp +evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp launch/tier4_localization_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp @@ -105,7 +104,7 @@ map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakam perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp perception/autoware_compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp +perception/autoware_crosswalk_traffic_light_estimator/** masato.saeki@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp perception/autoware_detected_object_feature_remover/** kotaro.uetake@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp perception/autoware_detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @@ -135,13 +134,13 @@ perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura perception/autoware_tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp kotaro.uetake@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp masato.saeki@tier4.jp -perception/autoware_traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp masato.saeki@tier4.jp -perception/autoware_traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp -perception/autoware_traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp masato.saeki@tier4.jp -perception/autoware_traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp -perception/autoware_traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp masato.saeki@tier4.jp -perception/autoware_traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp masato.saeki@tier4.jp +perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp masato.saeki@tier4.jp shunsuke.miura@tier4.jp +perception/autoware_traffic_light_classifier/** masato.saeki@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_traffic_light_fine_detector/** masato.saeki@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_traffic_light_map_based_detector/** masato.saeki@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_traffic_light_multi_camera_fusion/** masato.saeki@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_traffic_light_occlusion_predictor/** masato.saeki@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp +perception/autoware_traffic_light_visualization/** masato.saeki@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp perception/perception_utils/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp planning/autoware_costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp From 778fb4528486d7ddf2fdfb2b235d9b40c3f2c46e Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Fri, 15 Nov 2024 11:31:02 +0900 Subject: [PATCH 437/701] fix(freespace_planner): fix is near target check (#9327) * fix is_near_target_check Signed-off-by: mohammad alqudah * update unit test Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .../src/autoware_freespace_planner/utils.cpp | 6 +++--- .../test/test_freespace_planner_utils.cpp | 10 ++++++++++ 2 files changed, 13 insertions(+), 3 deletions(-) diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp index badd9c824468a..ef22a21d33eb1 100644 --- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp @@ -171,8 +171,8 @@ bool is_stopped( bool is_near_target(const Pose & target_pose, const Pose & current_pose, const double th_distance_m) { - const double long_disp_to_target = - autoware::universe_utils::calcLongitudinalDeviation(target_pose, current_pose.position); - return std::abs(long_disp_to_target) < th_distance_m; + const auto pose_dev = autoware::universe_utils::calcPoseDeviation(target_pose, current_pose); + return abs(pose_dev.yaw) < M_PI_2 && abs(pose_dev.longitudinal) < th_distance_m && + abs(pose_dev.lateral) < th_distance_m; } } // namespace autoware::freespace_planner::utils diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp index 071f7e2cfcaa0..7c795a8eb7b85 100644 --- a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp @@ -153,9 +153,11 @@ TEST(FreespacePlannerUtilsTest, testIsNearTarget) const auto trajectory = get_trajectory(0ul); const auto target_pose = trajectory.points.back().pose; + static constexpr double eps = 0.01; auto current_pose = target_pose; current_pose.position.x -= 1.0; current_pose.position.y += 1.0; + current_pose.orientation = autoware::universe_utils::createQuaternionFromYaw(M_PI_2 + eps); const double th_distance_m = 0.5; @@ -163,6 +165,14 @@ TEST(FreespacePlannerUtilsTest, testIsNearTarget) autoware::freespace_planner::utils::is_near_target(target_pose, current_pose, th_distance_m)); current_pose.position.x += 0.6; + EXPECT_FALSE( + autoware::freespace_planner::utils::is_near_target(target_pose, current_pose, th_distance_m)); + + current_pose.position.y -= 0.6; + EXPECT_FALSE( + autoware::freespace_planner::utils::is_near_target(target_pose, current_pose, th_distance_m)); + + current_pose.orientation = autoware::universe_utils::createQuaternionFromYaw(M_PI_4); EXPECT_TRUE( autoware::freespace_planner::utils::is_near_target(target_pose, current_pose, th_distance_m)); } From 3adfb07cfb70e23d7d00f0e0fbde960cd27d8bd7 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Fri, 15 Nov 2024 11:36:18 +0900 Subject: [PATCH 438/701] refactor(static obstacle avoidance): remove redundant calculation (#9326) * refactor bases on clang tidy Signed-off-by: Go Sakayori * refactor extend backward length Signed-off-by: Go Sakayori * mover redundant calculation in getRoadShoulderDistance Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../src/scene.cpp | 20 ++++++----- .../src/utils.cpp | 36 ++++++++----------- 2 files changed, 25 insertions(+), 31 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 380e93338b1f0..f30e09fe6475f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -24,6 +24,7 @@ #include "autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp" #include "autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp" +#include #include #include #include @@ -574,7 +575,7 @@ void StaticObstacleAvoidanceModule::fillEgoStatus( } const auto registered_sl_force_deactivated = - [&](const std::string & direction, const RegisteredShiftLineArray shift_line_array) { + [&](const std::string & direction, const RegisteredShiftLineArray & shift_line_array) { return std::any_of( shift_line_array.begin(), shift_line_array.end(), [&](const auto & shift_line) { return rtc_interface_ptr_map_.at(direction)->isForceDeactivated(shift_line.uuid); @@ -611,7 +612,7 @@ void StaticObstacleAvoidanceModule::fillEgoStatus( }; auto registered_sl_force_activated = - [&](const std::string & direction, const RegisteredShiftLineArray shift_line_array) { + [&](const std::string & direction, const RegisteredShiftLineArray & shift_line_array) { return std::any_of( shift_line_array.begin(), shift_line_array.end(), [&](const auto & shift_line) { return rtc_interface_ptr_map_.at(direction)->isForceActivated(shift_line.uuid); @@ -916,13 +917,14 @@ PathWithLaneId StaticObstacleAvoidanceModule::extendBackwardLength( } size_t clip_idx = 0; - for (size_t i = 0; i < prev_ego_idx; ++i) { - if ( - backward_length > - autoware::motion_utils::calcSignedArcLength(previous_path.points, clip_idx, *prev_ego_idx)) { + double accumulated_length = 0.0; + for (size_t i = prev_ego_idx.value(); i > 0; i--) { + accumulated_length += autoware::universe_utils::calcDistance2d( + previous_path.points.at(i - 1), previous_path.points.at(i)); + if (accumulated_length > backward_length) { + clip_idx = i; break; } - clip_idx = i; } PathWithLaneId extended_path{}; @@ -1245,8 +1247,8 @@ void StaticObstacleAvoidanceModule::updatePathShifter(const AvoidLineArray & shi generator_.setRawRegisteredShiftLine(shift_lines, avoid_data_); const auto sl = helper_->getMainShiftLine(shift_lines); - const auto sl_front = shift_lines.front(); - const auto sl_back = shift_lines.back(); + const auto & sl_front = shift_lines.front(); + const auto & sl_back = shift_lines.back(); const auto relative_longitudinal = sl_back.end_longitudinal - sl_front.start_longitudinal; if (helper_->getRelativeShiftToPath(sl) > 0.0) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index 72b75586d42c5..84978286a96c6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -545,11 +545,7 @@ bool isParkedVehicle( object.to_centerline = lanelet::utils::getArcCoordinates(data.current_lanelets, object.getPose()).distance; - if (std::abs(object.to_centerline) < parameters->threshold_distance_object_is_on_center) { - return false; - } - - return true; + return std::abs(object.to_centerline) >= parameters->threshold_distance_object_is_on_center; } bool isCloseToStopFactor( @@ -1091,16 +1087,17 @@ double getRoadShoulderDistance( return 0.0; } + const auto centerline_pose = + lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object.getPosition()); + // TODO(Satoshi OTA): check if the basic point is on right or left of bound. + const auto bound = isOnRight(object) ? data.left_bound : data.right_bound; + const auto envelope_polygon_width = boost::geometry::area(object.envelope_poly) / + std::max(object.length, 1e-3); // prevent division by zero + std::vector> intersects; for (const auto & p1 : object.overhang_points) { - const auto centerline_pose = - lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object.getPosition()); const auto p_tmp = geometry_msgs::build().position(p1.second).orientation(centerline_pose.orientation); - - // TODO(Satoshi OTA): check if the basic point is on right or left of bound. - const auto bound = isOnRight(object) ? data.left_bound : data.right_bound; - for (size_t i = 1; i < bound.size(); i++) { { const auto p2 = @@ -1114,11 +1111,6 @@ double getRoadShoulderDistance( break; } } - - const auto envelope_polygon_width = - boost::geometry::area(object.envelope_poly) / - std::max(object.length, 1e-3); // prevent division by zero - { const auto p2 = calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -0.5 : 0.5) * envelope_polygon_width, 0.0) @@ -1301,7 +1293,7 @@ std::vector calcParentIds(const AvoidLineArray & lines1, const AvoidLine & for (const auto & al : lines1) { const auto p_s = al.start_longitudinal; const auto p_e = al.end_longitudinal; - const auto has_overlap = !(p_e < lines2.start_longitudinal || lines2.end_longitudinal < p_s); + const auto has_overlap = p_e >= lines2.start_longitudinal && lines2.end_longitudinal >= p_s; if (!has_overlap) { continue; @@ -1315,10 +1307,11 @@ std::vector calcParentIds(const AvoidLineArray & lines1, const AvoidLine & double lerpShiftLengthOnArc(double arc, const AvoidLine & ap) { if (ap.start_longitudinal <= arc && arc < ap.end_longitudinal) { - if (std::abs(ap.getRelativeLongitudinal()) < 1.0e-5) { + const auto relative_longitudinal = ap.getRelativeLongitudinal(); + if (std::abs(relative_longitudinal) < 1.0e-5) { return ap.end_shift_length; } - const auto start_weight = (ap.end_longitudinal - arc) / ap.getRelativeLongitudinal(); + const auto start_weight = (ap.end_longitudinal - arc) / relative_longitudinal; return start_weight * ap.start_shift_length + (1.0 - start_weight) * ap.end_shift_length; } return 0.0; @@ -1339,7 +1332,6 @@ void fillLongitudinalAndLengthByClosestEnvelopeFootprint( } obj.longitudinal = min_distance; obj.length = max_distance - min_distance; - return; } std::vector> calcEnvelopeOverhangDistance( @@ -2220,9 +2212,9 @@ std::vector getSafetyCheckTargetObjects( }); }; - const auto to_predicted_objects = [&p, ¶meters](const auto & objects) { + const auto to_predicted_objects = [¶meters](const auto & objects) { PredictedObjects ret{}; - std::for_each(objects.begin(), objects.end(), [&p, &ret, ¶meters](const auto & object) { + std::for_each(objects.begin(), objects.end(), [&ret, ¶meters](const auto & object) { if (filtering_utils::isSafetyCheckTargetObjectType(object.object, parameters)) { // check only moving objects if (filtering_utils::isMovingObject(object, parameters) || !object.is_parked) { From 3b623fbd8cd0ffc3afd1bd0ac9f212386a97e078 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Fri, 15 Nov 2024 13:53:30 +0900 Subject: [PATCH 439/701] feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (#9299) * feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory Signed-off-by: Y.Hisaki * update Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- .../factor/velocity_factor_interface.hpp | 3 + .../src/factor/velocity_factor_interface.cpp | 9 ++ .../autoware/trajectory/detail/utils.hpp | 2 +- .../autoware_trajectory/src/detail/util.cpp | 2 +- .../package.xml | 1 + .../src/debug.cpp | 8 +- .../src/manager.cpp | 3 +- .../src/manager.hpp | 6 +- .../src/scene.cpp | 113 ++++++++---------- .../src/scene.hpp | 34 +----- 10 files changed, 80 insertions(+), 101 deletions(-) diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp index 30eca6927db34..2fcde52ec7c81 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp @@ -44,6 +44,9 @@ class VelocityFactorInterface const std::vector & points, const Pose & curr_pose, const Pose & stop_pose, const VelocityFactorStatus status, const std::string & detail = ""); + void set( + const double & distance, const VelocityFactorStatus & status, const std::string & detail = ""); + private: VelocityFactorBehavior behavior_{VelocityFactor::UNKNOWN}; VelocityFactor velocity_factor_{}; diff --git a/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp b/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp index e405cdb655c02..6a1ddff453bd0 100644 --- a/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp +++ b/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp @@ -36,6 +36,15 @@ void VelocityFactorInterface::set( velocity_factor_.detail = detail; } +void VelocityFactorInterface::set( + const double & distance, const VelocityFactorStatus & status, const std::string & detail) +{ + velocity_factor_.behavior = behavior_; + velocity_factor_.distance = static_cast(distance); + velocity_factor_.status = status; + velocity_factor_.detail = detail; +} + template void VelocityFactorInterface::set( const std::vector &, const Pose &, const Pose &, const VelocityFactorStatus, const std::string &); diff --git a/common/autoware_trajectory/include/autoware/trajectory/detail/utils.hpp b/common/autoware_trajectory/include/autoware/trajectory/detail/utils.hpp index 9a33152a7dfdb..3346d4ce8104f 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/detail/utils.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/detail/utils.hpp @@ -36,7 +36,7 @@ namespace autoware::trajectory::detail */ geometry_msgs::msg::Point to_point(const geometry_msgs::msg::Point & p); geometry_msgs::msg::Point to_point(const geometry_msgs::msg::Pose & p); -geometry_msgs::msg::Point to_point(const Eigen::Ref & p); +geometry_msgs::msg::Point to_point(const Eigen::Vector2d & p); geometry_msgs::msg::Point to_point(const autoware_planning_msgs::msg::PathPoint & p); geometry_msgs::msg::Point to_point(const tier4_planning_msgs::msg::PathPointWithLaneId & p); geometry_msgs::msg::Point to_point(const lanelet::BasicPoint2d & p); diff --git a/common/autoware_trajectory/src/detail/util.cpp b/common/autoware_trajectory/src/detail/util.cpp index 8cfb8029629cb..4c9649ef1f3ab 100644 --- a/common/autoware_trajectory/src/detail/util.cpp +++ b/common/autoware_trajectory/src/detail/util.cpp @@ -30,7 +30,7 @@ geometry_msgs::msg::Point to_point(const geometry_msgs::msg::Pose & p) return p.position; } -geometry_msgs::msg::Point to_point(const Eigen::Ref & p) +geometry_msgs::msg::Point to_point(const Eigen::Vector2d & p) { geometry_msgs::msg::Point point; point.x = p(0); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml index 464a5d0f09bf7..68a8d919512b1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml @@ -23,6 +23,7 @@ autoware_motion_utils autoware_planning_msgs autoware_route_handler + autoware_trajectory eigen geometry_msgs pluginlib diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp index 29295f41cdf04..573a260138679 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" +#include "autoware/motion_utils/marker/virtual_wall_marker_creator.hpp" +#include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/ros/marker_helper.hpp" #include "scene.hpp" -#include -#include -#include -#include #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp index 4dcd0309ce526..ffdcea16b45b5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp @@ -15,6 +15,7 @@ #include "manager.hpp" #include "autoware/universe_utils/ros/parameter.hpp" +#include "autoware_lanelet2_extension/utility/query.hpp" #include #include @@ -57,7 +58,7 @@ std::vector StopLineModuleManager::getStopLinesWithLaneIdOnP } for (const auto & stop_line : traffic_sign_reg_elem->refLines()) { - stop_lines_with_lane_id.push_back(std::make_pair(stop_line, lane_id)); + stop_lines_with_lane_id.emplace_back(stop_line, lane_id); } } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp index 2a008ce1700ab..b83a4f94e9a1f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp @@ -15,11 +15,11 @@ #ifndef MANAGER_HPP_ #define MANAGER_HPP_ +#include "autoware/behavior_velocity_planner_common/plugin_interface.hpp" +#include "autoware/behavior_velocity_planner_common/plugin_wrapper.hpp" +#include "autoware/behavior_velocity_planner_common/scene_module_interface.hpp" #include "scene.hpp" -#include -#include -#include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp index 0500d22d425cd..6a4b85cd6926c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -14,60 +14,66 @@ #include "scene.hpp" -#include -#include -#include -#include +#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" +#include "autoware/trajectory/path_point_with_lane_id.hpp" -#include -#include +#include namespace autoware::behavior_velocity_planner { -namespace bg = boost::geometry; StopLineModule::StopLineModule( - const int64_t module_id, const size_t lane_id, const lanelet::ConstLineString3d & stop_line, - const PlannerParam & planner_param, const rclcpp::Logger logger, + const int64_t module_id, const size_t lane_id, lanelet::ConstLineString3d stop_line, + const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock) : SceneModuleInterface(module_id, logger, clock), lane_id_(lane_id), - stop_line_(stop_line), + stop_line_(std::move(stop_line)), state_(State::APPROACH), + planner_param_(planner_param), debug_data_() { velocity_factor_.init(PlanningBehavior::STOP_SIGN); - planner_param_ = planner_param; } bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) { - universe_utils::ScopedTimeTrack st( - std::string(__func__) + " (lane_id:=" + std::to_string(module_id_) + ")", *getTimeKeeper()); + auto trajectory = + trajectory::Trajectory::Builder{}.build( + path->points); + + if (!trajectory) { + return true; + } + debug_data_ = DebugData(); - if (path->points.empty()) return true; - const auto base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; + const double base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; debug_data_.base_link2front = base_link2front; - first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); + first_stop_path_point_distance_ = trajectory->length(); *stop_reason = planning_utils::initializeStopReason(StopReason::STOP_LINE); const LineString2d stop_line = planning_utils::extendLine( stop_line_[0], stop_line_[1], planner_data_->stop_line_extend_length); - time_keeper_->start_track("createTargetPoint"); - // Calculate stop pose and insert index - const auto stop_point = arc_lane_utils::createTargetPoint( - *path, stop_line, planner_param_.stop_margin, - planner_data_->vehicle_info_.max_longitudinal_offset_m); - time_keeper_->end_track("createTargetPoint"); + // Calculate intersection with stop line + const auto trajectory_stop_line_intersection = + trajectory->crossed(stop_line.front(), stop_line.back()); + // If no collision found, do nothing - if (!stop_point) { + if (!trajectory_stop_line_intersection) { RCLCPP_DEBUG_THROTTLE(logger_, *clock_, 5000 /* ms */, "is no collision"); return true; } - const auto stop_point_idx = stop_point->first; - auto stop_pose = stop_point->second; + const double stop_point_s = + *trajectory_stop_line_intersection - + (base_link2front + planner_param_.stop_margin); // consider vehicle length and stop margin + + if (stop_point_s < 0.0) { + return true; + } + + const auto stop_pose = trajectory->compute(stop_point_s); /** * @brief : calculate signed arc length consider stop margin from stop line @@ -75,35 +81,26 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop * |----------------------------| * s---ego----------x--|--------g */ - time_keeper_->start_track( - "calcSegmentIndexFromPointIndex & findEgoSegmentIndex & calcSignedArcLength"); - const size_t stop_line_seg_idx = planning_utils::calcSegmentIndexFromPointIndex( - path->points, stop_pose.position, stop_point_idx); - const size_t current_seg_idx = findEgoSegmentIndex(path->points); - const double signed_arc_dist_to_stop_point = autoware::motion_utils::calcSignedArcLength( - path->points, planner_data_->current_odometry->pose.position, current_seg_idx, - stop_pose.position, stop_line_seg_idx); - time_keeper_->end_track( - "calcSegmentIndexFromPointIndex & findEgoSegmentIndex & calcSignedArcLength"); + const double ego_on_trajectory_s = + trajectory->closest(planner_data_->current_odometry->pose.position); + const double signed_arc_dist_to_stop_point = stop_point_s - ego_on_trajectory_s; + switch (state_) { case State::APPROACH: { // Insert stop pose - planning_utils::insertStopPoint(stop_pose.position, stop_line_seg_idx, *path); + trajectory->longitudinal_velocity_mps.range(stop_point_s, trajectory->length()).set(0.0); - // Update first stop index - first_stop_path_point_distance_ = autoware::motion_utils::calcSignedArcLength( - path->points, 0, stop_pose.position, stop_line_seg_idx); - debug_data_.stop_pose = stop_pose; + // Update first stop path point distance + first_stop_path_point_distance_ = stop_point_s; + debug_data_.stop_pose = stop_pose.point.pose; // Get stop point and stop factor { tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = stop_pose; + stop_factor.stop_pose = stop_pose.point.pose; stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_)); planning_utils::appendStopReason(stop_factor, stop_reason); - velocity_factor_.set( - path->points, planner_data_->current_odometry->pose, stop_pose, - VelocityFactor::APPROACHING); + velocity_factor_.set(signed_arc_dist_to_stop_point, VelocityFactor::APPROACHING); } // Move to stopped state if stopped @@ -125,34 +122,22 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop } case State::STOPPED: { - // Change state after vehicle departure - const auto stopped_pose = autoware::motion_utils::calcLongitudinalOffsetPose( - path->points, planner_data_->current_odometry->pose.position, 0.0); - - if (!stopped_pose) { - break; - } - - SegmentIndexWithPose ego_pos_on_path; - ego_pos_on_path.pose = stopped_pose.value(); - ego_pos_on_path.index = findEgoSegmentIndex(path->points); - // Insert stop pose - planning_utils::insertStopPoint(ego_pos_on_path.pose.position, ego_pos_on_path.index, *path); - - debug_data_.stop_pose = stop_pose; + trajectory->longitudinal_velocity_mps.range(ego_on_trajectory_s, trajectory->length()) + .set(0.0); + const auto ego_pos_on_path = trajectory->compute(ego_on_trajectory_s).point.pose; + debug_data_.stop_pose = ego_pos_on_path; // Get stop point and stop factor { tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = ego_pos_on_path.pose; + stop_factor.stop_pose = ego_pos_on_path; stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_)); planning_utils::appendStopReason(stop_factor, stop_reason); - velocity_factor_.set( - path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::STOPPED); + velocity_factor_.set(signed_arc_dist_to_stop_point, VelocityFactor::STOPPED); } - const auto elapsed_time = (clock_->now() - *stopped_time_).seconds(); + const double elapsed_time = (clock_->now() - *stopped_time_).seconds(); if (planner_param_.stop_duration_sec < elapsed_time) { RCLCPP_INFO(logger_, "STOPPED -> START"); @@ -175,6 +160,8 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop } } + path->points = trajectory->restore(); + return true; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp index 78aec89adb063..cb48aabe57c1a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp @@ -15,23 +15,20 @@ #ifndef SCENE_HPP_ #define SCENE_HPP_ +#include "autoware/behavior_velocity_planner_common/scene_module_interface.hpp" +#include "autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp" +#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" + #include -#include -#include #include #include #define EIGEN_MPL2_ONLY #include #include -#include -#include -#include -#include #include #include -#include namespace autoware::behavior_velocity_planner { @@ -42,24 +39,6 @@ class StopLineModule : public SceneModuleInterface public: enum class State { APPROACH, STOPPED, START }; - struct SegmentIndexWithPose - { - size_t index; - geometry_msgs::msg::Pose pose; - }; - - struct SegmentIndexWithPoint2d - { - size_t index; - Point2d point; - }; - - struct SegmentIndexWithOffset - { - size_t index; - double offset; - }; - struct DebugData { double base_link2front; @@ -77,10 +56,9 @@ class StopLineModule : public SceneModuleInterface bool show_stop_line_collision_check; }; -public: StopLineModule( - const int64_t module_id, const size_t lane_id, const lanelet::ConstLineString3d & stop_line, - const PlannerParam & planner_param, const rclcpp::Logger logger, + const int64_t module_id, const size_t lane_id, lanelet::ConstLineString3d stop_line, + const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; From e54020e87cc199a318d6c5066fd5d36c63c677da Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 15 Nov 2024 14:52:25 +0900 Subject: [PATCH 440/701] test(bpp_common): add tests for the static drivable area (#9324) Signed-off-by: Maxime CLEMENT --- .../autoware_test_utils.hpp | 13 + .../src/autoware_test_utils.cpp | 13 + .../CMakeLists.txt | 1 + .../static_drivable_area.hpp | 58 +- .../static_drivable_area.cpp | 15 +- .../test/test_static_drivable_area.cpp | 528 ++++++++++++++++++ 6 files changed, 620 insertions(+), 8 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp index c760ba1c94b45..3721dc67526b5 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp @@ -330,6 +330,19 @@ void updateNodeOptions( */ PathWithLaneId loadPathWithLaneIdInYaml(); +/** + * @brief create a straight lanelet from 2 segments defined by 4 points + * @param [in] left0 start of the left segment + * @param [in] left1 end of the left segment + * @param [in] right0 start of the right segment + * @param [in] right1 end of the right segment + * @return a ConstLanelet with the given left and right bounds and a unique lanelet id + * + */ +lanelet::ConstLanelet make_lanelet( + const lanelet::BasicPoint2d & left0, const lanelet::BasicPoint2d & left1, + const lanelet::BasicPoint2d & right0, const lanelet::BasicPoint2d & right1); + /** * @brief Generates a trajectory with specified parameters. * diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp index 1e2c7b50912f6..696f58d5e19e8 100644 --- a/common/autoware_test_utils/src/autoware_test_utils.cpp +++ b/common/autoware_test_utils/src/autoware_test_utils.cpp @@ -313,6 +313,19 @@ PathWithLaneId loadPathWithLaneIdInYaml() return parse(yaml_path); } +lanelet::ConstLanelet make_lanelet( + const lanelet::BasicPoint2d & left0, const lanelet::BasicPoint2d & left1, + const lanelet::BasicPoint2d & right0, const lanelet::BasicPoint2d & right1) +{ + lanelet::LineString3d left_bound; + left_bound.push_back(lanelet::Point3d(lanelet::InvalId, left0.x(), left0.y(), 0.0)); + left_bound.push_back(lanelet::Point3d(lanelet::InvalId, left1.x(), left1.y(), 0.0)); + lanelet::LineString3d right_bound; + right_bound.push_back(lanelet::Point3d(lanelet::InvalId, right0.x(), right0.y(), 0.0)); + right_bound.push_back(lanelet::Point3d(lanelet::InvalId, right1.x(), right1.y(), 0.0)); + return {lanelet::utils::getId(), left_bound, right_bound}; +} + std::optional resolve_pkg_share_uri(const std::string & uri_path) { std::smatch match; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index bcc8dd9d9f299..22faf1a6375d8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -45,6 +45,7 @@ if(BUILD_TESTING) ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_drivable_area_expansion test/test_drivable_area_expansion.cpp test/test_footprints.cpp + test/test_static_drivable_area.cpp ) target_link_libraries(test_${PROJECT_NAME}_drivable_area_expansion diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp index f393ec18f8a32..23f0de6f5348f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp @@ -25,12 +25,30 @@ namespace autoware::behavior_path_planner::utils { using autoware::behavior_path_planner::drivable_area_expansion::DrivableAreaExpansionParameters; +/** + * @brief finds the index of the first lane in the provided vector that overlaps with a preceding + * lane (excluding the immediate predecessor in the vector) + * @param [ink] lanes vector of DrivableLanes + * @return the index of the first overlapping lane (if any) + */ std::optional getOverlappedLaneletId(const std::vector & lanes); +/** + * @brief modify a path to only keep points inside the given lanes (before any lane overlap) + * @details the path point lanelet_ids are used to determine if they are inside a lanelet + * @param [inout] path path to be cut + * @param [in] lanes lanes used to cut the path + * @return the shortened lanes without overlaps + */ std::vector cutOverlappedLanes( PathWithLaneId & path, const std::vector & lanes); -std::vector generateDrivableLanes(const lanelet::ConstLanelets & current_lanes); +/** + * @brief generate DrivableLanes objects from a sequence of lanelets + * @param [in] lanelets sequence of lanelets + * @return a vector of DrivableLanes constructed from the given lanelets + */ +std::vector generateDrivableLanes(const lanelet::ConstLanelets & lanelets); std::vector generateDrivableLanesWithShoulderLanes( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & shoulder_lanes); @@ -38,12 +56,36 @@ std::vector generateDrivableLanesWithShoulderLanes( std::vector getNonOverlappingExpandedLanes( PathWithLaneId & path, const std::vector & lanes, const DrivableAreaExpansionParameters & parameters); + +/** + * @brief generate the drivable area of the given path + * @param [inout] path path whose center line is used to calculate the drivable area and whose + * left/right bound are generated + * @param [in] lanes lanes driven by the ego vehicle + * @param [in] enable_expanding_hatched_road_markings if true, expand the drivable area into hatched + * road markings + * @param [in] enable_expanding_intersection_areas if true, expand the drivable area into + * intersection areas + * @param [in] enable_expanding_freespace_areas if true, expand the drivable area into freespace + * areas + * @param [in] planner_data planner data with the route handler (and map), the parameters, the ego + * pose, etc + * @param [in] is_driving_forward true if the ego vehicle drives in the forward direction + */ void generateDrivableArea( PathWithLaneId & path, const std::vector & lanes, const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, const bool enable_expanding_freespace_areas, const std::shared_ptr planner_data, const bool is_driving_forward = true); +/** + * @brief generate the drivable area of the given path by applying the given offsets to its points + * @param [inout] path path whose center line is used to calculate the drivable area and whose + * left/right bound are generated + * @param [in] vehicle_length [m] length of the ego vehicle + * @param [in] offset [m] lateral offset between the path points and the drivable area + * @param [in] is_driving_forward true if the ego vehicle drives in the forward direction + */ void generateDrivableArea( PathWithLaneId & path, const double vehicle_length, const double offset, const bool is_driving_forward = true); @@ -72,6 +114,14 @@ std::vector getBoundWithHatchedRoadMarkings( const std::vector & original_bound, const std::shared_ptr & route_handler); +/** + * @brief Expand the given bound to include intersection areas from the map + * @param [in] original_bound original bound to expand + * @param [in] drivable_lanes lanelets to consider + * @param [in] route_handler route handler with the map information + * @param [in] is_left whether the bound to calculate is on the left or not + * @return the bound including intersection areas + */ std::vector getBoundWithIntersectionAreas( const std::vector & original_bound, const std::shared_ptr & route_handler, @@ -90,6 +140,12 @@ std::vector postProcess( const std::vector & drivable_lanes, const bool is_left, const bool is_driving_forward = true); +/** + * @brief combine two drivable area info objects + * @param [in] drivable_area_Info1 first drivable area info + * @param [in] drivable_area_Info2 second drivable area info + * @return the combined drivable area info + */ DrivableAreaInfo combineDrivableAreaInfo( const DrivableAreaInfo & drivable_area_info1, const DrivableAreaInfo & drivable_area_info2); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp index 9c35032e51063..012c42a379c00 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp @@ -626,8 +626,6 @@ std::vector updateBoundary( namespace autoware::behavior_path_planner::utils { -using autoware::universe_utils::Point2d; - std::optional getOverlappedLaneletId(const std::vector & lanes) { auto overlaps = [](const DrivableLanes & lanes, const DrivableLanes & target_lanes) { @@ -745,12 +743,12 @@ std::vector cutOverlappedLanes( return shorten_lanes; } -std::vector generateDrivableLanes(const lanelet::ConstLanelets & lanes) +std::vector generateDrivableLanes(const lanelet::ConstLanelets & lanelets) { - std::vector drivable_lanes(lanes.size()); - for (size_t i = 0; i < lanes.size(); ++i) { - drivable_lanes.at(i).left_lane = lanes.at(i); - drivable_lanes.at(i).right_lane = lanes.at(i); + std::vector drivable_lanes(lanelets.size()); + for (size_t i = 0; i < lanelets.size(); ++i) { + drivable_lanes.at(i).left_lane = lanelets.at(i); + drivable_lanes.at(i).right_lane = lanelets.at(i); } return drivable_lanes; } @@ -856,6 +854,9 @@ void generateDrivableArea( } } } + if (resampled_path.points.empty()) { + return; + } // add last point of path if enough far from the one of resampled path constexpr double th_last_point_distance = 0.3; if ( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp new file mode 100644 index 0000000000000..ba3141a89b26a --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp @@ -0,0 +1,528 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_path_planner_common/data_manager.hpp" +#include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" + +#include +#include + +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +const auto intersection_map = + autoware::test_utils::make_map_bin_msg(autoware::test_utils::get_absolute_path_to_lanelet_map( + "autoware_test_utils", "intersection/lanelet2_map.osm")); + +using autoware::behavior_path_planner::DrivableLanes; +using autoware::test_utils::make_lanelet; + +DrivableLanes make_drivable_lanes(const lanelet::ConstLanelet & ll) +{ + using autoware::behavior_path_planner::utils::generateDrivableLanes; + return generateDrivableLanes({ll}).front(); +} + +bool equal(const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2) +{ + return p1.x == p2.x && p1.y == p2.y && p1.z == p2.z; +} + +bool equal(const DrivableLanes & l1, const DrivableLanes & l2) +{ + if (l1.middle_lanes.size() != l2.middle_lanes.size()) { + return false; + } + auto are_equal = true; + are_equal &= boost::geometry::equals( + l1.left_lane.polygon2d().basicPolygon(), l2.left_lane.polygon2d().basicPolygon()); + are_equal &= boost::geometry::equals( + l1.right_lane.polygon2d().basicPolygon(), l2.right_lane.polygon2d().basicPolygon()); + for (auto i = 0UL; i < l1.middle_lanes.size(); ++i) { + are_equal &= boost::geometry::equals( + l1.middle_lanes[i].polygon2d().basicPolygon(), l2.middle_lanes[i].polygon2d().basicPolygon()); + } + return are_equal; +} + +TEST(StaticDrivableArea, getOverlappedLaneletId) +{ + using autoware::behavior_path_planner::utils::getOverlappedLaneletId; + + std::vector lanes; + { // empty lanes + const auto result = getOverlappedLaneletId(lanes); + EXPECT_FALSE(result.has_value()); + } + { // lanes at 0 + const DrivableLanes l = + make_drivable_lanes(make_lanelet({0.0, 1.0}, {5.0, 1.0}, {5.0, -1.0}, {5.0, -1.0})); + lanes.push_back(l); + const auto result = getOverlappedLaneletId(lanes); + EXPECT_FALSE(result.has_value()); + } + { // lanes at 1, overlap with 0 but ignored since it is the following lane + const DrivableLanes l = + make_drivable_lanes(make_lanelet({4.0, 1.0}, {8.0, 1.0}, {4.0, -1.0}, {8.0, -1.0})); + lanes.push_back(l); + const auto result = getOverlappedLaneletId(lanes); + EXPECT_FALSE(result.has_value()); + } + { // lanes at 2, overlap with 1 but ignored since it is the following lane + const DrivableLanes l = + make_drivable_lanes(make_lanelet({6.0, 1.0}, {10.0, 1.0}, {6.0, -1.0}, {10.0, -1.0})); + lanes.push_back(l); + const auto result = getOverlappedLaneletId(lanes); + EXPECT_FALSE(result.has_value()); + } + { // lanes at 3, overlap with 1 so 3 is returned + const DrivableLanes l = + make_drivable_lanes(make_lanelet({5.0, 0.0}, {5.0, 5.0}, {6.0, 0.0}, {6.0, 5.0})); + lanes.push_back(l); + const auto result = getOverlappedLaneletId(lanes); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(*result, 3UL); + } + { // lanes at 4, overlap with 2 but since 3 overlaps first it is still returned + const DrivableLanes l = + make_drivable_lanes(make_lanelet({7.0, 0.0}, {7.0, 5.0}, {8.0, 0.0}, {8.0, 5.0})); + lanes.push_back(l); + const auto result = getOverlappedLaneletId(lanes); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(*result, 3UL); + } + { // change 1 to no longer overlap with 3 and now 4 is the first overlap + const DrivableLanes l = make_drivable_lanes( + make_lanelet({100.0, 110.0}, {110.0, 100.0}, {100.0, 90.0}, {100.0, 90.0})); + lanes[1] = l; + const auto result = getOverlappedLaneletId(lanes); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(*result, 4UL); + } +} + +TEST(StaticDrivableArea, cutOverlappedLanes) +{ + using autoware::behavior_path_planner::utils::cutOverlappedLanes; + tier4_planning_msgs::msg::PathWithLaneId path; + std::vector lanes; + { // empty inputs + const auto result = cutOverlappedLanes(path, lanes); + EXPECT_TRUE(result.empty()); + EXPECT_TRUE(path.points.empty()); + } + constexpr auto path_size = 10UL; + const auto reset_path = [&]() { + path.points.clear(); + for (auto i = 0UL; i < path_size; ++i) { + path.points.emplace_back(); + path.points.back().point.pose.position.x = static_cast(i) * 1.0; + path.points.back().point.pose.position.y = 0.0; + } + }; + { // add some path points + reset_path(); + const auto result = cutOverlappedLanes(path, lanes); + EXPECT_TRUE(result.empty()); + ASSERT_EQ(path.points.size(), path_size); + for (auto i = 0UL; i < path_size; ++i) { + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.x, i * 1.0); + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.y, 0.0); + } + } + { // add some drivable lanes without any overlap (no overlap -> path is not modified) + reset_path(); + lanes.push_back( + make_drivable_lanes(make_lanelet({0.0, 1.0}, {2.0, 1.0}, {0.0, -1.0}, {2.0, -1.0}))); + const auto result = cutOverlappedLanes(path, lanes); + ASSERT_EQ(result.size(), lanes.size()); + EXPECT_TRUE(equal(result.front(), lanes.front())); + ASSERT_EQ(path.points.size(), path_size); + for (auto i = 0UL; i < path_size; ++i) { + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.x, i * 1.0); + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.y, 0.0); + } + } + { // add more drivable lanes without an overlap (no overlap -> path is not modified) + reset_path(); + lanes.push_back( + make_drivable_lanes(make_lanelet({2.0, 1.0}, {4.0, 1.0}, {2.0, -1.0}, {4.0, -1.0}))); + lanes.push_back( + make_drivable_lanes(make_lanelet({4.0, 1.0}, {6.0, 1.0}, {4.0, -1.0}, {6.0, -1.0}))); + const auto result = cutOverlappedLanes(path, lanes); + ASSERT_EQ(result.size(), lanes.size()); + for (auto i = 0UL; i < result.size(); ++i) { + EXPECT_TRUE(equal(result[i], lanes[i])); + } + ASSERT_EQ(path.points.size(), path_size); + for (auto i = 0UL; i < path_size; ++i) { + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.x, i * 1.0); + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.y, 0.0); + } + } + { // add an overlapping lane + reset_path(); + lanes.push_back( + make_drivable_lanes(make_lanelet({2.5, -1.0}, {2.5, 1.0}, {3.5, -1.0}, {3.5, 1.0}))); + const auto result = cutOverlappedLanes(path, lanes); + // the last lane is cut + ASSERT_EQ(result.size() + 1, lanes.size()); + for (auto i = 0UL; i < result.size(); ++i) { + EXPECT_TRUE(equal(result[i], lanes[i])); + } + // since the path points do not have ids, all points are cut + EXPECT_TRUE(path.points.empty()); + } + { // add the overlapping lane id to the path points + reset_path(); + for (auto & p : path.points) { + p.lane_ids.push_back(lanes.back().left_lane.id()); + } + cutOverlappedLanes(path, lanes); + // since the overlapped lane was removed, the path points were still cut + EXPECT_TRUE(path.points.empty()); + } + { // add the first lane id to some path points, only these points will be kept + reset_path(); + constexpr auto filtered_start = 3UL; + constexpr auto filtered_size = 5UL; + for (auto i = filtered_start; i < filtered_start + filtered_size; ++i) { + path.points[i].lane_ids.push_back(lanes.front().left_lane.id()); + } + cutOverlappedLanes(path, lanes); + ASSERT_EQ(path.points.size(), filtered_size); + for (auto i = 0UL; i < filtered_size; ++i) { + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.x, (i + filtered_start) * 1.0); + EXPECT_DOUBLE_EQ(path.points[i].point.pose.position.y, 0.0); + } + } +} + +TEST(StaticDrivableArea, generateDrivableLanes) +{ + using autoware::behavior_path_planner::utils::generateDrivableLanes; + lanelet::ConstLanelets lanelets; + lanelet::Lanelet ll; + { // empty case + const auto lanes = generateDrivableLanes(lanelets); + EXPECT_TRUE(lanes.empty()); + } + { // single lanelet: it is found in the drivable lane's left/right lanes + ll.setId(0); + lanelets.push_back(ll); + const auto lanes = generateDrivableLanes(lanelets); + ASSERT_EQ(lanes.size(), lanelets.size()); + EXPECT_TRUE(lanes[0].middle_lanes.empty()); + EXPECT_EQ(lanes[0].left_lane.id(), lanelets[0].id()); + EXPECT_EQ(lanes[0].right_lane.id(), lanelets[0].id()); + } + { // many lanelets: they are all in the calculated drivable lane + for (auto i = 1; i < 20; ++i) { + ll.setId(0); + lanelets.push_back(ll); + } + const auto lanes = generateDrivableLanes(lanelets); + ASSERT_EQ(lanes.size(), lanelets.size()); + for (auto i = 0UL; i < lanes.size(); ++i) { + EXPECT_TRUE(lanes[i].middle_lanes.empty()); + EXPECT_EQ(lanes[i].left_lane.id(), lanelets[i].id()); + EXPECT_EQ(lanes[i].right_lane.id(), lanelets[i].id()); + } + } +} + +TEST(StaticDrivableArea, generateDrivableArea_subfunction) +{ + using autoware::behavior_path_planner::utils::generateDrivableArea; + tier4_planning_msgs::msg::PathWithLaneId path; + tier4_planning_msgs::msg::PathPointWithLaneId p; + generateDrivableArea(path, 0.0, 0.0, true); + EXPECT_TRUE(path.left_bound.empty()); + EXPECT_TRUE(path.right_bound.empty()); + // add only 1 point : drivable area with 1 point + p.point.pose.position.set__x(0.0).set__y(0.0); + path.points.push_back(p); + auto lon_offset = 0.0; + auto lat_offset = 0.0; + generateDrivableArea(path, lon_offset, lat_offset, true); + // 3 points in the resulting drivable area: 1 for the path point and 2 for front/rear offset + ASSERT_EQ(path.left_bound.size(), 3UL); + ASSERT_EQ(path.right_bound.size(), 3UL); + // no offset so we expect exactly the same points + for (auto i = 0UL; i < 3UL; ++i) { + EXPECT_TRUE(equal(path.points.front().point.pose.position, path.left_bound[i])); + EXPECT_TRUE(equal(path.points.front().point.pose.position, path.right_bound[i])); + } + // add some offset + lon_offset = 1.0; + lat_offset = 0.5; + generateDrivableArea(path, lon_offset, lat_offset, true); + ASSERT_EQ(path.left_bound.size(), 3UL); + ASSERT_EQ(path.right_bound.size(), 3UL); + EXPECT_DOUBLE_EQ(path.left_bound[0].x, -lon_offset); + EXPECT_DOUBLE_EQ(path.left_bound[1].x, 0.0); + EXPECT_DOUBLE_EQ(path.left_bound[2].x, lon_offset); + EXPECT_DOUBLE_EQ(path.right_bound[0].x, -lon_offset); + EXPECT_DOUBLE_EQ(path.right_bound[1].x, 0.0); + EXPECT_DOUBLE_EQ(path.right_bound[2].x, lon_offset); + EXPECT_DOUBLE_EQ(path.left_bound[0].y, lat_offset); + EXPECT_DOUBLE_EQ(path.left_bound[1].y, lat_offset); + EXPECT_DOUBLE_EQ(path.left_bound[2].y, lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[0].y, -lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[1].y, -lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[2].y, -lat_offset); + // set driving_forward to false: longitudinal offset is inversely applied + generateDrivableArea(path, lon_offset, lat_offset, false); + ASSERT_EQ(path.left_bound.size(), 3UL); + ASSERT_EQ(path.right_bound.size(), 3UL); + EXPECT_DOUBLE_EQ(path.left_bound[0].x, lon_offset); + EXPECT_DOUBLE_EQ(path.left_bound[1].x, 0.0); + EXPECT_DOUBLE_EQ(path.left_bound[2].x, -lon_offset); + EXPECT_DOUBLE_EQ(path.right_bound[0].x, lon_offset); + EXPECT_DOUBLE_EQ(path.right_bound[1].x, 0.0); + EXPECT_DOUBLE_EQ(path.right_bound[2].x, -lon_offset); + EXPECT_DOUBLE_EQ(path.left_bound[0].y, lat_offset); + EXPECT_DOUBLE_EQ(path.left_bound[1].y, lat_offset); + EXPECT_DOUBLE_EQ(path.left_bound[2].y, lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[0].y, -lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[1].y, -lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[2].y, -lat_offset); + // add more points + for (auto x = 1; x < 10; ++x) { + // space points by more than 2m to avoid resampling + p.point.pose.position.set__x(x * 3.0).set__y(0.0); + path.points.push_back(p); + } + generateDrivableArea(path, lon_offset, lat_offset, true); + ASSERT_EQ(path.left_bound.size(), path.points.size() + 2UL); + ASSERT_EQ(path.right_bound.size(), path.points.size() + 2UL); + EXPECT_DOUBLE_EQ(path.left_bound.front().x, -lon_offset); + EXPECT_DOUBLE_EQ(path.right_bound.front().x, -lon_offset); + EXPECT_DOUBLE_EQ(path.left_bound.back().x, path.points.back().point.pose.position.x + lon_offset); + EXPECT_DOUBLE_EQ( + path.right_bound.back().x, path.points.back().point.pose.position.x + lon_offset); + EXPECT_DOUBLE_EQ(path.left_bound.front().y, lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound.front().y, -lat_offset); + EXPECT_DOUBLE_EQ(path.left_bound.back().y, lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound.back().y, -lat_offset); + for (auto i = 1UL; i + 1 < path.points.size(); ++i) { + const auto & path_p = path.points[i - 1].point.pose.position; + EXPECT_DOUBLE_EQ(path.left_bound[i].x, path_p.x); + EXPECT_DOUBLE_EQ(path.right_bound[i].x, path_p.x); + EXPECT_DOUBLE_EQ(path.left_bound[i].y, path_p.y + lat_offset); + EXPECT_DOUBLE_EQ(path.right_bound[i].y, path_p.y - lat_offset); + } + // case with self intersections + path.points.clear(); + p.point.pose.position.set__x(0.0).set__y(0.0); + path.points.push_back(p); + p.point.pose.position.set__x(3.0).set__y(0.0); + path.points.push_back(p); + p.point.pose.position.set__x(0.0).set__y(3.0); + path.points.push_back(p); + lon_offset = 0.0; + lat_offset = 3.0; + generateDrivableArea(path, lon_offset, lat_offset, false); + // TODO(Anyone): self intersection case looks buggy + ASSERT_EQ(path.left_bound.size(), path.points.size() + 2UL); + ASSERT_EQ(path.right_bound.size(), path.points.size() + 2UL); + EXPECT_TRUE(equal(path.left_bound[0], path.left_bound[1])); + EXPECT_TRUE(equal(path.right_bound[0], path.right_bound[1])); + EXPECT_TRUE(equal(path.left_bound[3], path.left_bound[4])); + EXPECT_TRUE(equal(path.right_bound[3], path.right_bound[4])); + EXPECT_DOUBLE_EQ(path.left_bound[1].x, 0.0); + EXPECT_DOUBLE_EQ(path.left_bound[1].y, 3.0); + EXPECT_DOUBLE_EQ(path.left_bound[2].x, 3.0); + EXPECT_DOUBLE_EQ(path.left_bound[2].y, 3.0); + EXPECT_DOUBLE_EQ(path.left_bound[3].x, 0.0); + EXPECT_DOUBLE_EQ(path.left_bound[3].y, 6.0); + EXPECT_DOUBLE_EQ(path.right_bound[1].x, 0.0); + EXPECT_DOUBLE_EQ(path.right_bound[1].y, -3.0); + EXPECT_DOUBLE_EQ(path.right_bound[2].x, 3.0); + EXPECT_DOUBLE_EQ(path.right_bound[2].y, -3.0); + EXPECT_DOUBLE_EQ(path.right_bound[3].x, 0.0); + EXPECT_DOUBLE_EQ(path.right_bound[3].y, 0.0); +} + +TEST(StaticDrivableArea, getBoundWithIntersectionAreas) +{ + using autoware::behavior_path_planner::utils::getBoundWithIntersectionAreas; + std::vector original_bound; + std::shared_ptr route_handler = + std::make_shared(); + std::vector drivable_lanes; + bool is_left = false; + auto result = + getBoundWithIntersectionAreas(original_bound, route_handler, drivable_lanes, is_left); + EXPECT_TRUE(result.empty()); + + route_handler->setMap(intersection_map); + DrivableLanes lanes; + const auto lanelet_with_intersection_area = route_handler->getLaneletsFromId(3101); + lanes.middle_lanes = {}; + lanes.right_lane = lanelet_with_intersection_area; + lanes.left_lane = lanelet_with_intersection_area; + for (const auto & p : lanelet_with_intersection_area.rightBound()) { + original_bound.push_back(p); + } + drivable_lanes.push_back(lanes); + result = getBoundWithIntersectionAreas(original_bound, route_handler, drivable_lanes, is_left); + // the expanded bound includes the intersection area so its size is larger + EXPECT_GT(result.size(), original_bound.size()); +} + +TEST(StaticDrivableArea, combineDrivableAreaInfo) +{ + using autoware::behavior_path_planner::utils::combineDrivableAreaInfo; + autoware::behavior_path_planner::DrivableAreaInfo drivable_area_info1; + autoware::behavior_path_planner::DrivableAreaInfo drivable_area_info2; + { + const auto combined = combineDrivableAreaInfo(drivable_area_info1, drivable_area_info2); + EXPECT_TRUE(combined.drivable_lanes.empty()); + } + { // combination of obstacles + drivable_area_info1.obstacles.emplace_back().pose.position.x = 1.0; + drivable_area_info2.obstacles.emplace_back().pose.position.x = 2.0; + const auto combined = combineDrivableAreaInfo(drivable_area_info1, drivable_area_info2); + ASSERT_EQ(combined.obstacles.size(), 2UL); + EXPECT_DOUBLE_EQ(combined.obstacles[0].pose.position.x, 1.0); + EXPECT_DOUBLE_EQ(combined.obstacles[1].pose.position.x, 2.0); + } + { // combination of the drivable lanes + DrivableLanes lanes; + lanes.middle_lanes.push_back(lanelet::Lanelet(0)); + lanes.middle_lanes.push_back(lanelet::Lanelet(1)); + drivable_area_info1.drivable_lanes.push_back(lanes); + lanes.middle_lanes.clear(); + lanes.middle_lanes.push_back(lanelet::Lanelet(2)); + lanes.middle_lanes.push_back(lanelet::Lanelet(3)); + drivable_area_info2.drivable_lanes.push_back(lanes); + const auto combined = combineDrivableAreaInfo(drivable_area_info1, drivable_area_info2); + ASSERT_EQ(combined.drivable_lanes.size(), 1UL); + ASSERT_EQ(combined.drivable_lanes[0].middle_lanes.size(), 4UL); + for (auto id = 0UL; id < combined.drivable_lanes[0].middle_lanes.size(); ++id) { + EXPECT_EQ(combined.drivable_lanes[0].middle_lanes[id].id(), id); + } + } + { // combination of the parameters + drivable_area_info1.drivable_margin = 5.0; + drivable_area_info2.drivable_margin = 2.0; + drivable_area_info1.enable_expanding_freespace_areas = false; + drivable_area_info2.enable_expanding_freespace_areas = false; + drivable_area_info1.enable_expanding_intersection_areas = true; + drivable_area_info2.enable_expanding_intersection_areas = true; + drivable_area_info1.enable_expanding_hatched_road_markings = false; + drivable_area_info2.enable_expanding_hatched_road_markings = true; + const auto combined = combineDrivableAreaInfo(drivable_area_info1, drivable_area_info2); + EXPECT_DOUBLE_EQ(combined.drivable_margin, 5.0); // expect the maximum of the margins + // expect OR of the booleans + EXPECT_FALSE(combined.enable_expanding_freespace_areas); + EXPECT_TRUE(combined.enable_expanding_intersection_areas); + EXPECT_TRUE(combined.enable_expanding_hatched_road_markings); + } +} + +TEST(DISABLED_StaticDrivableArea, generateDrivableArea) +{ + using autoware::behavior_path_planner::PlannerData; + using autoware::behavior_path_planner::utils::generateDrivableArea; + tier4_planning_msgs::msg::PathWithLaneId path; + std::vector lanes; + bool enable_expanding_hatched_road_markings = true; + bool enable_expanding_intersection_areas = true; + bool enable_expanding_freespace_areas = true; + bool is_driving_forward = true; + PlannerData planner_data; + planner_data.drivable_area_expansion_parameters.enabled = false; // disable dynamic expansion + planner_data.parameters.ego_nearest_dist_threshold = 1.0; + planner_data.parameters.ego_nearest_yaw_threshold = M_PI; + auto planner_data_ptr = std::make_shared(planner_data); + // empty: no crash + EXPECT_NO_FATAL_FAILURE(generateDrivableArea( + path, lanes, enable_expanding_hatched_road_markings, enable_expanding_intersection_areas, + enable_expanding_freespace_areas, planner_data_ptr, is_driving_forward)); + planner_data.route_handler = std::make_shared(); + planner_data.route_handler->setMap(intersection_map); + // create a path from a lanelet centerline + constexpr auto lanelet_id = 3008377; + const auto ll = planner_data.route_handler->getLaneletsFromId(lanelet_id); + const auto shoulder_ll = planner_data.route_handler->getLaneletsFromId(3008385); + lanes = autoware::behavior_path_planner::utils::generateDrivableLanes({ll, shoulder_ll}); + lanelet::BasicLineString2d path_ls; + for (const auto & p : ll.centerline().basicLineString()) { + tier4_planning_msgs::msg::PathPointWithLaneId pp; + pp.point.pose.position.x = p.x(); + pp.point.pose.position.y = p.y(); + pp.point.pose.position.z = p.z(); + pp.lane_ids = {lanelet_id}; + path.points.push_back(pp); + path_ls.emplace_back(p.x(), p.y()); + } + auto odometry = nav_msgs::msg::Odometry(); + odometry.pose.pose = path.points.front().point.pose; + planner_data.self_odometry = std::make_shared(odometry); + planner_data_ptr = std::make_shared(planner_data); + generateDrivableArea( + path, lanes, enable_expanding_hatched_road_markings, enable_expanding_intersection_areas, + enable_expanding_freespace_areas, planner_data_ptr, is_driving_forward); + + ASSERT_EQ(path.left_bound.size(), ll.leftBound().size()); + ASSERT_EQ(path.right_bound.size(), ll.rightBound().size()); + { + lanelet::BasicLineString2d left_ls; + lanelet::BasicLineString2d right_ls; + for (const auto & p : path.left_bound) { + left_ls.emplace_back(p.x, p.y); + } + for (const auto & p : path.right_bound) { + right_ls.emplace_back(p.x, p.y); + } + EXPECT_FALSE(boost::geometry::intersects(path_ls, left_ls)); + EXPECT_FALSE(boost::geometry::intersects(path_ls, right_ls)); // TODO(someone): this is failing + } + // reverse case + is_driving_forward = false; + odometry.pose.pose = std::prev(path.points.end(), 2)->point.pose; + planner_data.self_odometry = std::make_shared(odometry); + planner_data_ptr = std::make_shared(planner_data); + generateDrivableArea( + path, lanes, enable_expanding_hatched_road_markings, enable_expanding_intersection_areas, + enable_expanding_freespace_areas, planner_data_ptr, is_driving_forward); + ASSERT_EQ(path.left_bound.size(), ll.leftBound().size()); + ASSERT_EQ(path.right_bound.size(), ll.rightBound().size()); + { + lanelet::BasicLineString2d left_ls; + lanelet::BasicLineString2d right_ls; + for (const auto & p : path.left_bound) { + left_ls.emplace_back(p.x, p.y); + } + for (const auto & p : path.right_bound) { + right_ls.emplace_back(p.x, p.y); + } + EXPECT_FALSE(boost::geometry::intersects(path_ls, left_ls)); + EXPECT_FALSE(boost::geometry::intersects(path_ls, right_ls)); + } +} From fbf297afa91d394a32c9183fcef1c788269b778d Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 15 Nov 2024 15:44:39 +0900 Subject: [PATCH 441/701] chore(crosswalk)!: delete wide crosswalk corresponding function (#9329) Signed-off-by: Yuki Takagi --- .../src/manager.cpp | 2 -- .../src/scene_crosswalk.cpp | 4 +--- .../src/scene_crosswalk.hpp | 1 - 3 files changed, 1 insertion(+), 6 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp index 949a8de361409..8ba05be36ae56 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp @@ -51,8 +51,6 @@ CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node) getOrDeclareParameter(node, ns + ".stop_position.stop_distance_from_object_preferred"); cp.stop_distance_from_object_limit = getOrDeclareParameter(node, ns + ".stop_position.stop_distance_from_object_limit"); - cp.far_object_threshold = - getOrDeclareParameter(node, ns + ".stop_position.far_object_threshold"); cp.stop_position_threshold = getOrDeclareParameter(node, ns + ".stop_position.stop_position_threshold"); cp.min_acc_preferred = diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 057c9d103aeba..51a0b4aa23fde 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -420,9 +420,7 @@ std::optional CrosswalkModule::calcStopPose( if (!ped_stop_pref_opt.has_value()) { RCLCPP_INFO(logger_, "Failure to calculate pref_stop."); return std::nullopt; - } else if ( - default_stop_opt.has_value() && ped_stop_pref_opt->dist > default_stop_opt->dist && - ped_stop_pref_opt->dist < default_stop_opt->dist + planner_param_.far_object_threshold) { + } else if (default_stop_opt.has_value() && ped_stop_pref_opt->dist > default_stop_opt->dist) { return default_stop_opt; } else { return ped_stop_pref_opt; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp index 80f348027e1fd..de696aa670ad3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp @@ -122,7 +122,6 @@ class CrosswalkModule : public SceneModuleInterface double stop_distance_from_object_preferred; double stop_distance_from_object_limit; double stop_distance_from_crosswalk; - double far_object_threshold; double stop_position_threshold; double min_acc_preferred; double min_jerk_preferred; From 8028e382c2f1d6042488b6c7a832e42a5f4c29c5 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Fri, 15 Nov 2024 16:52:57 +0900 Subject: [PATCH 442/701] chore(autoware_behavior_velocity_intersection_module): include opencv as system (#9330) Signed-off-by: Y.Hisaki --- .../CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CMakeLists.txt index 167c7182e8f05..38298694d76f9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CMakeLists.txt @@ -22,6 +22,10 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp ) +target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC + ${OpenCV_INCLUDE_DIRS} +) + target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ) From d819a661cc5822fdacd88d2ad726001b49c59f84 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 15 Nov 2024 17:21:46 +0900 Subject: [PATCH 443/701] refactor(bpp): rework steering factor interface (#9325) * refactor(bpp): rework steering factor interface Signed-off-by: satoshi-ota * refactor(soa): rework steering factor interface Signed-off-by: satoshi-ota * refactor(AbLC): rework steering factor interface Signed-off-by: satoshi-ota * refactor(doa): rework steering factor interface Signed-off-by: satoshi-ota * refactor(lc): rework steering factor interface Signed-off-by: satoshi-ota * refactor(gp): rework steering factor interface Signed-off-by: satoshi-ota * refactor(sp): rework steering factor interface Signed-off-by: satoshi-ota * refactor(sbp): rework steering factor interface Signed-off-by: satoshi-ota * refactor(ss): rework steering factor interface Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../src/interface.cpp | 4 +- .../src/interface.hpp | 3 +- .../src/manager.cpp | 2 +- .../manager.hpp | 2 +- .../scene.hpp | 3 +- .../src/scene.cpp | 5 +- .../src/manager.cpp | 4 +- .../goal_planner_module.hpp | 3 +- .../src/goal_planner_module.cpp | 10 ++-- .../src/manager.cpp | 2 +- .../interface.hpp | 1 - .../src/interface.cpp | 13 +++-- .../src/manager.cpp | 2 +- .../behavior_path_planner_node.hpp | 3 +- .../src/behavior_path_planner_node.cpp | 22 +++++++-- .../src/planner_manager.cpp | 3 +- .../interface/scene_module_interface.hpp | 22 ++++----- .../scene_module_manager_interface.hpp | 26 +++++++++- .../interface/steering_factor_interface.hpp | 31 ++++++------ .../scene_module_manager_interface.cpp | 8 +-- .../interface/steering_factor_interface.cpp | 49 ++++--------------- .../manager.hpp | 2 +- .../sampling_planner_module.hpp | 3 +- .../src/sampling_planner_module.cpp | 5 +- .../manager.hpp | 2 +- .../behavior_path_side_shift_module/scene.hpp | 3 +- .../src/scene.cpp | 5 +- .../manager.hpp | 2 +- .../start_planner_module.hpp | 3 +- .../src/start_planner_module.cpp | 26 +++++----- .../manager.hpp | 2 +- .../scene.hpp | 11 ++--- .../src/scene.cpp | 10 ++-- 33 files changed, 136 insertions(+), 156 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp index 1051a3460be3b..0e0b0fcf63933 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp @@ -31,15 +31,13 @@ AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface( const std::shared_ptr & avoidance_by_lane_change_parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) + objects_of_interest_marker_interface_ptr_map) : LaneChangeInterface{ name, node, parameters, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, - steering_factor_interface_ptr, std::make_unique(parameters, avoidance_by_lane_change_parameters)} { } diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp index 4d200411904b0..c7fbba34b1adb 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp @@ -40,8 +40,7 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface const std::shared_ptr & avoidance_by_lane_change_parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); bool isExecutionRequested() const override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp index 28ff6c9e110d6..c54774a575332 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp @@ -190,7 +190,7 @@ SMIPtr AvoidanceByLaneChangeModuleManager::createNewSceneModuleInstance() { return std::make_unique( name_, *node_, parameters_, avoidance_parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp index c0d2cdbee5c04..f09196b2cc8e1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp @@ -42,7 +42,7 @@ class DynamicObstacleAvoidanceModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp index d02648f4ccfd4..33d33119602f5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp @@ -350,8 +350,7 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); void updateModuleParams(const std::any & parameters) override { diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp index 852a3fe0feedf..c162170ae5eb0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp @@ -329,9 +329,8 @@ DynamicObstacleAvoidanceModule::DynamicObstacleAvoidanceModule( std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT + objects_of_interest_marker_interface_ptr_map) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT parameters_{std::move(parameters)}, target_objects_manager_{TargetObjectsManager( parameters_->successive_num_to_entry_dynamic_avoidance_condition, diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp index 3c730e6d36376..c04914ed1c72b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp @@ -26,7 +26,7 @@ ExternalRequestLaneChangeRightModuleManager::createNewSceneModuleInstance() { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_, + objects_of_interest_marker_interface_ptr_map_, std::make_unique(parameters_, direction_)); } @@ -35,7 +35,7 @@ ExternalRequestLaneChangeLeftModuleManager::createNewSceneModuleInstance() { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_, + objects_of_interest_marker_interface_ptr_map_, std::make_unique(parameters_, direction_)); } diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 907bce430f46d..e8c82c0a4600b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -142,8 +142,7 @@ class GoalPlannerModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); ~GoalPlannerModule() { diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 5147f938c18fa..f69a0fe2c0a41 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -63,9 +63,8 @@ GoalPlannerModule::GoalPlannerModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT + objects_of_interest_marker_interface_ptr_map) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT parameters_{parameters}, vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}, thread_safe_data_{mutex_, clock_}, @@ -135,6 +134,8 @@ GoalPlannerModule::GoalPlannerModule( initializeSafetyCheckParameters(); } + steering_factor_interface_.init(PlanningBehavior::GOAL_PLANNER); + /** * NOTE: Add `universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);` to functions called * from the main thread only. @@ -1262,8 +1263,7 @@ void GoalPlannerModule::updateSteeringFactor( return SteeringFactor::STRAIGHT; }); - steering_factor_interface_ptr_->updateSteeringFactor( - pose, distance, PlanningBehavior::GOAL_PLANNER, steering_factor_direction, type, ""); + steering_factor_interface_.set(pose, distance, steering_factor_direction, type, ""); } void GoalPlannerModule::decideVelocity() diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp index 346e863934945..6bbc34a495080 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp @@ -31,7 +31,7 @@ std::unique_ptr GoalPlannerModuleManager::createNewSceneMo { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } GoalPlannerParameters GoalPlannerModuleManager::initGoalPlannerParameters( diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp index fd9375c7e9f75..bd309dd35a260 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp @@ -52,7 +52,6 @@ class LaneChangeInterface : public SceneModuleInterface const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr, std::unique_ptr && module_type); LaneChangeInterface(const LaneChangeInterface &) = delete; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index 8fb1459f62c98..4ff2a6cc52e63 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -38,15 +38,15 @@ LaneChangeInterface::LaneChangeInterface( const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr, std::unique_ptr && module_type) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT parameters_{std::move(parameters)}, module_type_{std::move(module_type)}, prev_approved_path_{std::make_unique()} { module_type_->setTimeKeeper(getTimeKeeper()); logger_ = utils::lane_change::getLogger(module_type_->getModuleTypeStr()); + steering_factor_interface_.init(PlanningBehavior::LANE_CHANGE); } void LaneChangeInterface::processOnExit() @@ -422,10 +422,9 @@ void LaneChangeInterface::updateSteeringFactorPtr(const BehaviorModuleOutput & o const auto finish_distance = autoware::motion_utils::calcSignedArcLength( output.path.points, current_position, status.lane_change_path.info.shift_line.end.position); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {status.lane_change_path.info.shift_line.start, status.lane_change_path.info.shift_line.end}, - {start_distance, finish_distance}, PlanningBehavior::LANE_CHANGE, steering_factor_direction, - SteeringFactor::TURNING, ""); + {start_distance, finish_distance}, steering_factor_direction, SteeringFactor::TURNING, ""); } void LaneChangeInterface::updateSteeringFactorPtr( @@ -438,9 +437,9 @@ void LaneChangeInterface::updateSteeringFactorPtr( return SteeringFactor::RIGHT; }); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {selected_path.info.shift_line.start, selected_path.info.shift_line.end}, {output.start_distance_to_path_change, output.finish_distance_to_path_change}, - PlanningBehavior::LANE_CHANGE, steering_factor_direction, SteeringFactor::APPROACHING, ""); + steering_factor_direction, SteeringFactor::APPROACHING, ""); } } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp index 04371e8ff3f37..10dba38645f39 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -310,7 +310,7 @@ std::unique_ptr LaneChangeModuleManager::createNewSceneMod { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_, + objects_of_interest_marker_interface_ptr_map_, std::make_unique(parameters_, LaneChangeModuleType::NORMAL, direction_)); } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp index 1965a0f909927..5085af0d143bf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp @@ -124,6 +124,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr modified_goal_publisher_; rclcpp::Publisher::SharedPtr stop_reason_publisher_; rclcpp::Publisher::SharedPtr reroute_availability_publisher_; + rclcpp::Publisher::SharedPtr pub_steering_factors_; rclcpp::TimerBase::SharedPtr timer_; std::map::SharedPtr> path_candidate_publishers_; @@ -138,7 +139,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node std::shared_ptr planner_manager_; - std::unique_ptr steering_factor_interface_ptr_; + SteeringFactorInterface steering_factor_interface_; std::mutex mutex_pd_; // mutex for planner_data_ std::mutex mutex_manager_; // mutex for bt_manager_ or planner_manager_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp index d168361a19858..a2fffa0bb7a63 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp @@ -52,6 +52,8 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod modified_goal_publisher_ = create_publisher("~/output/modified_goal", durable_qos); stop_reason_publisher_ = create_publisher("~/output/stop_reasons", 1); + pub_steering_factors_ = + create_publisher("/planning/steering_factor/intersection", 1); reroute_availability_publisher_ = create_publisher("~/output/is_reroute_available", 1); debug_avoidance_msg_array_publisher_ = @@ -114,7 +116,7 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod turn_signal_search_time, turn_signal_intersection_angle_threshold_deg); } - steering_factor_interface_ptr_ = std::make_unique(this, "intersection"); + steering_factor_interface_.init(PlanningBehavior::INTERSECTION); // Start timer { @@ -473,13 +475,23 @@ void BehaviorPathPlannerNode::publish_steering_factor( const auto [intersection_pose, intersection_distance] = planner_data->turn_signal_decider.getIntersectionPoseAndDistance(); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {intersection_pose, intersection_pose}, {intersection_distance, intersection_distance}, - PlanningBehavior::INTERSECTION, steering_factor_direction, SteeringFactor::TURNING, ""); + steering_factor_direction, SteeringFactor::TURNING, ""); } else { - steering_factor_interface_ptr_->clearSteeringFactors(); + steering_factor_interface_.reset(); } - steering_factor_interface_ptr_->publishSteeringFactor(get_clock()->now()); + + autoware_adapi_v1_msgs::msg::SteeringFactorArray steering_factor_array; + steering_factor_array.header.frame_id = "map"; + steering_factor_array.header.stamp = this->now(); + + const auto steering_factor = steering_factor_interface_.get(); + if (steering_factor.behavior != PlanningBehavior::UNKNOWN) { + steering_factor_array.factors.emplace_back(steering_factor); + } + + pub_steering_factors_->publish(steering_factor_array); } void BehaviorPathPlannerNode::publish_reroute_availability() const diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp index 6281988036635..29c2d60a30d9f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp @@ -177,6 +177,7 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & da std::for_each(manager_ptrs_.begin(), manager_ptrs_.end(), [](const auto & m) { m->updateObserver(); m->publishRTCStatus(); + m->publishSteeringFactor(); }); generateCombinedDrivableArea(result_output.valid_output, data); @@ -750,8 +751,6 @@ BehaviorModuleOutput SubPlannerManager::run( module_ptr->updateCurrentState(); - module_ptr->publishSteeringFactor(); - module_ptr->publishObjectsOfInterestMarker(); processing_time_.at(module_ptr->name()) += stop_watch.toc(module_ptr->name(), true); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index f536b211da8a6..997009edf0f43 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -74,6 +74,7 @@ using tier4_rtc_msgs::msg::State; using unique_identifier_msgs::msg::UUID; using visualization_msgs::msg::MarkerArray; using PlanResult = PathWithLaneId::SharedPtr; +using autoware_adapi_v1_msgs::msg::PlanningBehavior; enum class ModuleStatus { IDLE = 0, @@ -90,15 +91,13 @@ class SceneModuleInterface const std::string & name, rclcpp::Node & node, std::unordered_map> rtc_interface_ptr_map, std::unordered_map> - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) + objects_of_interest_marker_interface_ptr_map) : name_{name}, logger_{node.get_logger().get_child(name)}, clock_{node.get_clock()}, rtc_interface_ptr_map_(std::move(rtc_interface_ptr_map)), objects_of_interest_marker_interface_ptr_map_( std::move(objects_of_interest_marker_interface_ptr_map)), - steering_factor_interface_ptr_{steering_factor_interface_ptr}, time_keeper_(std::make_shared()) { for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { @@ -189,7 +188,8 @@ class SceneModuleInterface clearWaitingApproval(); unlockNewModuleLaunch(); unlockOutputPath(); - steering_factor_interface_ptr_->clearSteeringFactors(); + + reset_factor(); stop_reason_ = StopReason(); @@ -205,14 +205,6 @@ class SceneModuleInterface } } - void publishSteeringFactor() - { - if (!steering_factor_interface_ptr_) { - return; - } - steering_factor_interface_ptr_->publishSteeringFactor(clock_->now()); - } - void lockRTCCommand() { for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { @@ -275,6 +267,10 @@ class SceneModuleInterface StopReason getStopReason() const { return stop_reason_; } + void reset_factor() { steering_factor_interface_.reset(); } + + auto get_steering_factor() const -> SteeringFactor { return steering_factor_interface_.get(); } + std::string name() const { return name_; } std::optional getStopPose() const @@ -631,7 +627,7 @@ class SceneModuleInterface std::unordered_map> objects_of_interest_marker_interface_ptr_map_; - std::shared_ptr steering_factor_interface_ptr_; + mutable SteeringFactorInterface steering_factor_interface_; mutable std::optional stop_pose_{std::nullopt}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index 2020399531e7e..5b61ea8152367 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -23,6 +23,7 @@ #include #include +#include #include #include @@ -40,6 +41,7 @@ using autoware::motion_utils::createDeadLineVirtualWallMarker; using autoware::motion_utils::createSlowDownVirtualWallMarker; using autoware::motion_utils::createStopVirtualWallMarker; using autoware::universe_utils::toHexString; +using autoware_adapi_v1_msgs::msg::SteeringFactorArray; using unique_identifier_msgs::msg::UUID; using SceneModulePtr = std::shared_ptr; using SceneModuleObserver = std::weak_ptr; @@ -102,6 +104,26 @@ class SceneModuleManagerInterface } } + void publishSteeringFactor() + { + autoware_adapi_v1_msgs::msg::SteeringFactorArray steering_factor_array; + steering_factor_array.header.frame_id = "map"; + steering_factor_array.header.stamp = node_->now(); + + for (const auto & m : observers_) { + if (m.expired()) { + continue; + } + + const auto steering_factor = m.lock()->get_steering_factor(); + if (steering_factor.behavior != PlanningBehavior::UNKNOWN) { + steering_factor_array.factors.emplace_back(steering_factor); + } + } + + pub_steering_factors_->publish(steering_factor_array); + } + void publishVirtualWall() const { using autoware::universe_utils::appendMarkerArray; @@ -262,14 +284,14 @@ class SceneModuleManagerInterface rclcpp::Publisher::SharedPtr pub_drivable_lanes_; + rclcpp::Publisher::SharedPtr pub_steering_factors_; + rclcpp::Publisher::SharedPtr pub_processing_time_; std::string name_; std::shared_ptr planner_data_; - std::shared_ptr steering_factor_interface_ptr_; - std::vector observers_; std::unique_ptr idle_module_ptr_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp index 385eb2a8ad0ae..eb644dee05b32 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp @@ -17,7 +17,8 @@ #include -#include +#include +#include #include #include @@ -25,29 +26,27 @@ namespace steering_factor_interface { + +using autoware_adapi_v1_msgs::msg::PlanningBehavior; using autoware_adapi_v1_msgs::msg::SteeringFactor; -using autoware_adapi_v1_msgs::msg::SteeringFactorArray; +using SteeringFactorBehavior = SteeringFactor::_behavior_type; +using SteeringFactorStatus = SteeringFactor::_status_type; using geometry_msgs::msg::Pose; class SteeringFactorInterface { public: - SteeringFactorInterface(rclcpp::Node * node, const std::string & name); - void publishSteeringFactor(const rclcpp::Time & stamp); - void updateSteeringFactor( - const std::array & poses, const std::array distances, - const std::string & behavior, const uint16_t direction, const uint16_t status, - const std::string & detail); - void clearSteeringFactors(); - -private: - rclcpp::Logger getLogger() const; + [[nodiscard]] SteeringFactor get() const { return steering_factor_; } + void init(const SteeringFactorBehavior & behavior) { behavior_ = behavior; } + void reset() { steering_factor_.behavior = PlanningBehavior::UNKNOWN; } - rclcpp::Publisher::SharedPtr pub_steering_factors_; + void set( + const std::array & pose, const std::array distance, + const uint16_t direction, const uint16_t status, const std::string & detail = ""); - std::mutex mutex_; - rclcpp::Logger logger_; - SteeringFactorArray registered_steering_factors_; +private: + SteeringFactorBehavior behavior_{SteeringFactor::UNKNOWN}; + SteeringFactor steering_factor_{}; }; } // namespace steering_factor_interface diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp index 535e5cff43e33..35f29921b97b5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp @@ -57,12 +57,8 @@ void SceneModuleManagerInterface::initInterface( pub_drivable_lanes_ = node->create_publisher("~/drivable_lanes/" + name_, 20); pub_processing_time_ = node->create_publisher( "~/processing_time/" + name_, 20); - } - - // init steering factor - { - steering_factor_interface_ptr_ = - std::make_shared(node, utils::convertToSnakeCase(name_)); + pub_steering_factors_ = + node->create_publisher("/planning/steering_factor/" + name_, 1); } // misc diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp index daebfa31be311..8f39063b5a93b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp @@ -16,48 +16,17 @@ namespace steering_factor_interface { -SteeringFactorInterface::SteeringFactorInterface(rclcpp::Node * node, const std::string & name) -: logger_{node->get_logger().get_child("PlanningAPI[" + name + "]")} +void SteeringFactorInterface::set( + const std::array & pose, const std::array distance, const uint16_t direction, + const uint16_t status, const std::string & detail) { - // Publisher - pub_steering_factors_ = - node->create_publisher("/planning/steering_factor/" + name, 1); -} - -void SteeringFactorInterface::publishSteeringFactor(const rclcpp::Time & stamp) -{ - std::lock_guard lock(mutex_); - registered_steering_factors_.header.stamp = stamp; - pub_steering_factors_->publish(registered_steering_factors_); -} - -void SteeringFactorInterface::updateSteeringFactor( - const std::array & pose, const std::array distance, - const std::string & behavior, const uint16_t direction, const uint16_t status, - const std::string & detail) -{ - std::lock_guard lock(mutex_); - SteeringFactor factor; - factor.pose = pose; + steering_factor_.pose = pose; std::array converted_distance{0.0, 0.0}; for (int i = 0; i < 2; ++i) converted_distance[i] = static_cast(distance[i]); - factor.distance = converted_distance; - factor.behavior = behavior; - factor.direction = direction; - factor.status = status; - factor.detail = detail; - registered_steering_factors_.factors = {factor}; + steering_factor_.distance = converted_distance; + steering_factor_.behavior = behavior_; + steering_factor_.direction = direction; + steering_factor_.status = status; + steering_factor_.detail = detail; } - -void SteeringFactorInterface::clearSteeringFactors() -{ - std::lock_guard lock(mutex_); - registered_steering_factors_.factors.clear(); -} - -rclcpp::Logger SteeringFactorInterface::getLogger() const -{ - return logger_; -} - } // namespace steering_factor_interface diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp index 778afd1698ff2..28c310ae20ec2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp @@ -38,7 +38,7 @@ class SamplingPlannerModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } void updateModuleParams( diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp index d0d34b5d9a37f..e82c4fd287432 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp @@ -86,8 +86,7 @@ class SamplingPlannerModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); bool isExecutionRequested() const override; bool isExecutionReady() const override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp index 1cf40255f4fef..ede912ea1c285 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp @@ -33,9 +33,8 @@ SamplingPlannerModule::SamplingPlannerModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT + objects_of_interest_marker_interface_ptr_map) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()} { internal_params_ = std::make_shared(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp index d1c9c8e2535ec..b495e6619a1c7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp @@ -39,7 +39,7 @@ class SideShiftModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp index 74953b7927b5d..543b17aca9352 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp @@ -45,8 +45,7 @@ class SideShiftModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); bool isExecutionRequested() const override; bool isExecutionReady() const override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp index e1f6d0bb6af9c..5970a3a807517 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp @@ -41,9 +41,8 @@ SideShiftModule::SideShiftModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT + objects_of_interest_marker_interface_ptr_map) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT parameters_{parameters} { } diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp index a26c48ad065c9..5d3d224673124 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp @@ -38,7 +38,7 @@ class StartPlannerModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp index e0bb5d95f565a..bb70ae2638056 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp @@ -88,8 +88,7 @@ class StartPlannerModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); ~StartPlannerModule() override { diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp index fa17409de5b94..b303ffb1c71d9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp @@ -58,9 +58,8 @@ StartPlannerModule::StartPlannerModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT + objects_of_interest_marker_interface_ptr_map) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT parameters_{parameters}, vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}, is_freespace_planner_cb_running_{false} @@ -97,6 +96,8 @@ StartPlannerModule::StartPlannerModule( std::bind(&StartPlannerModule::onFreespacePlannerTimer, this), freespace_planner_timer_cb_group_); } + + steering_factor_interface_.init(PlanningBehavior::START_PLANNER); } void StartPlannerModule::onFreespacePlannerTimer() @@ -747,10 +748,9 @@ BehaviorModuleOutput StartPlannerModule::plan() path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.end_pose.position); updateRTCStatus(start_distance, finish_distance); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, - {start_distance, finish_distance}, PlanningBehavior::START_PLANNER, steering_factor_direction, - SteeringFactor::TURNING, ""); + {start_distance, finish_distance}, steering_factor_direction, SteeringFactor::TURNING, ""); setDebugData(); return output; } @@ -758,9 +758,9 @@ BehaviorModuleOutput StartPlannerModule::plan() path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.start_pose.position); updateRTCStatus(0.0, distance); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, {0.0, distance}, - PlanningBehavior::START_PLANNER, steering_factor_direction, SteeringFactor::TURNING, ""); + steering_factor_direction, SteeringFactor::TURNING, ""); setDebugData(); @@ -853,10 +853,10 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval() stop_path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.end_pose.position); updateRTCStatus(start_distance, finish_distance); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, - {start_distance, finish_distance}, PlanningBehavior::START_PLANNER, steering_factor_direction, - SteeringFactor::APPROACHING, ""); + {start_distance, finish_distance}, steering_factor_direction, SteeringFactor::APPROACHING, + ""); setDebugData(); return output; @@ -865,9 +865,9 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval() stop_path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.start_pose.position); updateRTCStatus(0.0, distance); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, {0.0, distance}, - PlanningBehavior::START_PLANNER, steering_factor_direction, SteeringFactor::APPROACHING, ""); + steering_factor_direction, SteeringFactor::APPROACHING, ""); setDebugData(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp index fa54ec52203f9..895390f91cc16 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp @@ -41,7 +41,7 @@ class StaticObstacleAvoidanceModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); + objects_of_interest_marker_interface_ptr_map_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp index d4b7cae705a61..b700cafa3b2f4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp @@ -46,8 +46,7 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr); + objects_of_interest_marker_interface_ptr_map); CandidateOutput planCandidate() const override; BehaviorModuleOutput plan() override; @@ -130,9 +129,9 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface } if (finish_distance > -1.0e-03) { - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {left_shift.start_pose, left_shift.finish_pose}, {start_distance, finish_distance}, - PlanningBehavior::AVOIDANCE, SteeringFactor::LEFT, SteeringFactor::TURNING, ""); + SteeringFactor::LEFT, SteeringFactor::TURNING, ""); } } @@ -150,9 +149,9 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface } if (finish_distance > -1.0e-03) { - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {right_shift.start_pose, right_shift.finish_pose}, {start_distance, finish_distance}, - PlanningBehavior::AVOIDANCE, SteeringFactor::RIGHT, SteeringFactor::TURNING, ""); + SteeringFactor::RIGHT, SteeringFactor::TURNING, ""); } } } diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index f30e09fe6475f..d92e43dcf13bf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -77,13 +77,13 @@ StaticObstacleAvoidanceModule::StaticObstacleAvoidanceModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map, - std::shared_ptr & steering_factor_interface_ptr) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT + objects_of_interest_marker_interface_ptr_map) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT helper_{std::make_shared(parameters)}, parameters_{parameters}, generator_{parameters} { + steering_factor_interface_.init(PlanningBehavior::AVOIDANCE); } bool StaticObstacleAvoidanceModule::isExecutionRequested() const @@ -1204,10 +1204,10 @@ CandidateOutput StaticObstacleAvoidanceModule::planCandidate() const const uint16_t steering_factor_direction = std::invoke([&output]() { return output.lateral_shift > 0.0 ? SteeringFactor::LEFT : SteeringFactor::RIGHT; }); - steering_factor_interface_ptr_->updateSteeringFactor( + steering_factor_interface_.set( {sl_front.start, sl_back.end}, {output.start_distance_to_path_change, output.finish_distance_to_path_change}, - PlanningBehavior::AVOIDANCE, steering_factor_direction, SteeringFactor::APPROACHING, ""); + steering_factor_direction, SteeringFactor::APPROACHING, ""); output.path_candidate = shifted_path.path; return output; From 8dfc04a3554155f52b39b4227c08ecb8800ecbf4 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 15 Nov 2024 18:29:12 +0900 Subject: [PATCH 444/701] fix(bpp): update collided polygon pose only once (#9338) * fix(bpp): update collided polygon pose only once Signed-off-by: Zulfaqar Azmi * add expected pose Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../path_safety_checker/safety_check.cpp | 29 +++++++++++-------- 1 file changed, 17 insertions(+), 12 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp index 5b629cf0c9a20..04b61b86dfa02 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp @@ -622,13 +622,15 @@ std::vector get_collided_polygons( // check intersects if (boost::geometry::intersects(ego_polygon, obj_polygon)) { - debug.unsafe_reason = "overlap_polygon"; + if (collided_polygons.empty()) { + debug.unsafe_reason = "overlap_polygon"; + debug.expected_ego_pose = ego_pose; + debug.expected_obj_pose = obj_pose; + debug.extended_ego_polygon = ego_polygon; + debug.extended_obj_polygon = obj_polygon; + } collided_polygons.push_back(obj_polygon); - debug.expected_ego_pose = ego_pose; - debug.expected_obj_pose = obj_pose; - debug.extended_ego_polygon = ego_polygon; - debug.extended_obj_polygon = obj_polygon; continue; } @@ -676,14 +678,17 @@ std::vector get_collided_polygons( // check intersects with extended polygon if (boost::geometry::intersects(extended_ego_polygon, extended_obj_polygon)) { - debug.unsafe_reason = "overlap_extended_polygon"; + if (collided_polygons.empty()) { + debug.unsafe_reason = "overlap_extended_polygon"; + debug.rss_longitudinal = rss_dist; + debug.inter_vehicle_distance = min_lon_length; + debug.expected_ego_pose = ego_pose; + debug.expected_obj_pose = obj_pose; + debug.extended_ego_polygon = extended_ego_polygon; + debug.extended_obj_polygon = extended_obj_polygon; + debug.is_front = is_object_front; + } collided_polygons.push_back(obj_polygon); - - debug.rss_longitudinal = rss_dist; - debug.inter_vehicle_distance = min_lon_length; - debug.extended_ego_polygon = extended_ego_polygon; - debug.extended_obj_polygon = extended_obj_polygon; - debug.is_front = is_object_front; } } From 1ed46dc475617f349883ca907814397b2156c994 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Fri, 15 Nov 2024 20:01:25 +0900 Subject: [PATCH 445/701] fix(static_obstacle_avoidance): override setInitState (#9340) override setInitState Signed-off-by: Go Sakayori --- .../behavior_path_static_obstacle_avoidance_module/scene.hpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp index b700cafa3b2f4..5848cc75f148e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp @@ -65,6 +65,8 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface std::shared_ptr get_debug_msg_array() const; private: + ModuleStatus setInitState() const override { return ModuleStatus::WAITING_APPROVAL; }; + /** * @brief return the result whether the module can stop path generation process. * @param avoidance data. From 08951b23a20e86f52fde0c1e9cdc6d5d31677c54 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Sun, 17 Nov 2024 17:18:40 +0900 Subject: [PATCH 446/701] chore(autoware_traffic_light_visualization): include opencv as system (#9331) Signed-off-by: Y.Hisaki --- .../autoware_traffic_light_visualization/CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/perception/autoware_traffic_light_visualization/CMakeLists.txt b/perception/autoware_traffic_light_visualization/CMakeLists.txt index 4db2163e81932..f14f0e292b0ba 100644 --- a/perception/autoware_traffic_light_visualization/CMakeLists.txt +++ b/perception/autoware_traffic_light_visualization/CMakeLists.txt @@ -11,6 +11,10 @@ ament_auto_add_library(traffic_light_roi_visualizer SHARED src/traffic_light_roi_visualizer/shape_draw.cpp ) +target_include_directories(traffic_light_roi_visualizer SYSTEM PUBLIC + ${OpenCV_INCLUDE_DIRS} +) + target_link_libraries(traffic_light_roi_visualizer ${OpenCV_LIBRARIES} ) From 6f40830ee5eeb34eb88150a314308053a16ff77f Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 18 Nov 2024 09:06:12 +0900 Subject: [PATCH 447/701] refactor(factor): move steering factor interface to motion utils (#9337) Signed-off-by: satoshi-ota --- .../factor}/steering_factor_interface.hpp | 15 ++++++--------- .../src/factor}/steering_factor_interface.cpp | 8 ++++---- .../behavior_path_planner_node.hpp | 4 ++-- .../CMakeLists.txt | 1 - .../interface/scene_module_interface.hpp | 8 +++----- .../interface/scene_module_manager_interface.hpp | 2 +- 6 files changed, 16 insertions(+), 22 deletions(-) rename {planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface => common/autoware_motion_utils/include/autoware/motion_utils/factor}/steering_factor_interface.hpp (78%) rename {planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface => common/autoware_motion_utils/src/factor}/steering_factor_interface.cpp (85%) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp similarity index 78% rename from planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp rename to common/autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp index eb644dee05b32..5b701a73ac543 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp @@ -1,4 +1,4 @@ -// Copyright 2022 Tier IV, Inc. +// Copyright 2022 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,19 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__STEERING_FACTOR_INTERFACE_HPP_ -#define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__STEERING_FACTOR_INTERFACE_HPP_ - -#include +#ifndef AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_ +#define AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_ #include #include #include -#include #include -namespace steering_factor_interface +namespace autoware::motion_utils { using autoware_adapi_v1_msgs::msg::PlanningBehavior; @@ -49,6 +46,6 @@ class SteeringFactorInterface SteeringFactor steering_factor_{}; }; -} // namespace steering_factor_interface +} // namespace autoware::motion_utils -#endif // AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__STEERING_FACTOR_INTERFACE_HPP_ +#endif // AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp b/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp similarity index 85% rename from planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp rename to common/autoware_motion_utils/src/factor/steering_factor_interface.cpp index 8f39063b5a93b..f85b5b26cd0c2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp +++ b/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp @@ -1,4 +1,4 @@ -// Copyright 2022 Tier IV, Inc. +// Copyright 2022 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp" +#include -namespace steering_factor_interface +namespace autoware::motion_utils { void SteeringFactorInterface::set( const std::array & pose, const std::array distance, const uint16_t direction, @@ -29,4 +29,4 @@ void SteeringFactorInterface::set( steering_factor_.status = status; steering_factor_.detail = detail; } -} // namespace steering_factor_interface +} // namespace autoware::motion_utils diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp index 5085af0d143bf..f0bd4486eb04a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp @@ -17,10 +17,10 @@ #include "autoware/behavior_path_planner_common/data_manager.hpp" #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp" -#include "autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp" #include "autoware/universe_utils/ros/logger_level_configure.hpp" #include "planner_manager.hpp" +#include #include #include @@ -52,6 +52,7 @@ namespace autoware::behavior_path_planner { +using autoware::motion_utils::SteeringFactorInterface; using autoware_adapi_v1_msgs::msg::OperationModeState; using autoware_map_msgs::msg::LaneletMapBin; using autoware_perception_msgs::msg::PredictedObject; @@ -65,7 +66,6 @@ using autoware_vehicle_msgs::msg::TurnIndicatorsCommand; using nav_msgs::msg::OccupancyGrid; using nav_msgs::msg::Odometry; using rcl_interfaces::msg::SetParametersResult; -using steering_factor_interface::SteeringFactorInterface; using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; using tier4_planning_msgs::msg::LateralOffset; using tier4_planning_msgs::msg::PathWithLaneId; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index 22faf1a6375d8..ac33966a1bf7c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -8,7 +8,6 @@ find_package(magic_enum CONFIG REQUIRED) ament_auto_add_library(${PROJECT_NAME} SHARED src/turn_signal_decider.cpp - src/interface/steering_factor_interface.cpp src/interface/scene_module_visitor.cpp src/interface/scene_module_interface.cpp src/interface/scene_module_manager_interface.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index 997009edf0f43..60a5faf6cd929 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -20,8 +20,8 @@ #include "autoware/behavior_path_planner_common/marker_utils/utils.hpp" #include "autoware/behavior_path_planner_common/utils/utils.hpp" -#include #include +#include #include #include #include @@ -35,8 +35,7 @@ #include #include -#include -#include +#include #include #include #include @@ -57,6 +56,7 @@ namespace autoware::behavior_path_planner { +using autoware::motion_utils::SteeringFactorInterface; using autoware::objects_of_interest_marker_interface::ColorName; using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface; using autoware::rtc_interface::RTCInterface; @@ -64,7 +64,6 @@ using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::generateUUID; using autoware_adapi_v1_msgs::msg::PlanningBehavior; using autoware_adapi_v1_msgs::msg::SteeringFactor; -using steering_factor_interface::SteeringFactorInterface; using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; using tier4_planning_msgs::msg::PathWithLaneId; using tier4_planning_msgs::msg::StopFactor; @@ -74,7 +73,6 @@ using tier4_rtc_msgs::msg::State; using unique_identifier_msgs::msg::UUID; using visualization_msgs::msg::MarkerArray; using PlanResult = PathWithLaneId::SharedPtr; -using autoware_adapi_v1_msgs::msg::PlanningBehavior; enum class ModuleStatus { IDLE = 0, diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index 5b61ea8152367..65df5e15dad41 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -106,7 +106,7 @@ class SceneModuleManagerInterface void publishSteeringFactor() { - autoware_adapi_v1_msgs::msg::SteeringFactorArray steering_factor_array; + SteeringFactorArray steering_factor_array; steering_factor_array.header.frame_id = "map"; steering_factor_array.header.stamp = node_->now(); From a0c4ab45d78f64ef9c7c1022af2c8f61682ae32a Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Mon, 18 Nov 2024 09:39:46 +0900 Subject: [PATCH 448/701] refactor(lane_change): refactor extended object safety check (#9322) * refactor LC extended object collision check code Signed-off-by: mohammad alqudah * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --------- Signed-off-by: mohammad alqudah Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --- .../scene.hpp | 7 ++-- .../utils/utils.hpp | 5 +-- .../src/scene.cpp | 42 +++++++++++++------ .../src/utils/utils.cpp | 15 ++----- 4 files changed, 40 insertions(+), 29 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp index 4c8cbe05f5535..dd21233c716f1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp @@ -169,12 +169,13 @@ class NormalLaneChange : public LaneChangeBase bool has_collision_with_decel_patterns( const LaneChangePath & lane_change_path, const ExtendedPredictedObjects & objects, const size_t deceleration_sampling_num, const RSSparams & rss_param, - CollisionCheckDebugMap & debug_data) const; + const bool check_prepare_phase, CollisionCheckDebugMap & debug_data) const; bool is_collided( - const PathWithLaneId & lane_change_path, const ExtendedPredictedObject & obj, + const LaneChangePath & lane_change_path, const ExtendedPredictedObject & obj, const std::vector & ego_predicted_path, - const RSSparams & selected_rss_param, CollisionCheckDebugMap & debug_data) const; + const RSSparams & selected_rss_param, const bool check_prepare_phase, + CollisionCheckDebugMap & debug_data) const; double get_max_velocity_for_safety_check() const; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index 747a991b038e9..edf64ecdc49ee 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -145,7 +145,7 @@ lanelet::BasicPolygon2d create_polygon( ExtendedPredictedObject transform( const PredictedObject & object, const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters, const bool check_at_prepare_phase); + const LaneChangeParameters & lane_change_parameters); bool is_collided_polygons_in_lanelet( const std::vector & collided_polygons, const lanelet::BasicPolygon2d & lanes_polygon); @@ -249,8 +249,7 @@ bool is_before_terminal( double calc_angle_to_lanelet_segment(const lanelet::ConstLanelets & lanelets, const Pose & pose); ExtendedPredictedObjects transform_to_extended_objects( - const CommonDataPtr & common_data_ptr, const std::vector & objects, - const bool check_prepare_phase); + const CommonDataPtr & common_data_ptr, const std::vector & objects); double get_distance_to_next_regulatory_element( const CommonDataPtr & common_data_ptr, const bool ignore_crosswalk = false, diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 1e102a8b7542d..3f06ff0481c7e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -1006,17 +1006,16 @@ FilteredByLanesExtendedObjects NormalLaneChange::filterObjects() const return is_within_vel_th(object) && ahead_of_ego; }); - const auto is_check_prepare_phase = check_prepare_phase(); const auto target_lane_leading_extended_objects = utils::lane_change::transform_to_extended_objects( - common_data_ptr_, filtered_by_lanes_objects.target_lane_leading, is_check_prepare_phase); + common_data_ptr_, filtered_by_lanes_objects.target_lane_leading); const auto target_lane_trailing_extended_objects = utils::lane_change::transform_to_extended_objects( - common_data_ptr_, filtered_by_lanes_objects.target_lane_trailing, is_check_prepare_phase); + common_data_ptr_, filtered_by_lanes_objects.target_lane_trailing); const auto current_lane_extended_objects = utils::lane_change::transform_to_extended_objects( - common_data_ptr_, filtered_by_lanes_objects.current_lane, is_check_prepare_phase); + common_data_ptr_, filtered_by_lanes_objects.current_lane); const auto other_lane_extended_objects = utils::lane_change::transform_to_extended_objects( - common_data_ptr_, filtered_by_lanes_objects.other_lane, is_check_prepare_phase); + common_data_ptr_, filtered_by_lanes_objects.other_lane); FilteredByLanesExtendedObjects lane_change_target_objects( current_lane_extended_objects, target_lane_leading_extended_objects, @@ -1856,10 +1855,13 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe( return {is_safe, !is_object_behind_ego}; } + const auto is_check_prepare_phase = check_prepare_phase(); + const auto all_decel_pattern_has_collision = [&](const utils::path_safety_checker::ExtendedPredictedObjects & objects) -> bool { return has_collision_with_decel_patterns( - lane_change_path, objects, deceleration_sampling_num, rss_params, debug_data); + lane_change_path, objects, deceleration_sampling_num, rss_params, is_check_prepare_phase, + debug_data); }; if (all_decel_pattern_has_collision(collision_check_objects.trailing)) { @@ -1876,7 +1878,7 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe( bool NormalLaneChange::has_collision_with_decel_patterns( const LaneChangePath & lane_change_path, const ExtendedPredictedObjects & objects, const size_t deceleration_sampling_num, const RSSparams & rss_param, - CollisionCheckDebugMap & debug_data) const + const bool check_prepare_phase, CollisionCheckDebugMap & debug_data) const { if (objects.empty()) { return false; @@ -1922,7 +1924,8 @@ bool NormalLaneChange::has_collision_with_decel_patterns( ? lane_change_parameters_->rss_params_for_parked : rss_param; return is_collided( - lane_change_path.path, obj, ego_predicted_path, selected_rss_param, debug_data); + lane_change_path, obj, ego_predicted_path, selected_rss_param, check_prepare_phase, + debug_data); }); }); @@ -1930,13 +1933,14 @@ bool NormalLaneChange::has_collision_with_decel_patterns( } bool NormalLaneChange::is_collided( - const PathWithLaneId & lane_change_path, const ExtendedPredictedObject & obj, + const LaneChangePath & lane_change_path, const ExtendedPredictedObject & obj, const std::vector & ego_predicted_path, - const RSSparams & selected_rss_param, CollisionCheckDebugMap & debug_data) const + const RSSparams & selected_rss_param, const bool check_prepare_phase, + CollisionCheckDebugMap & debug_data) const { constexpr auto is_collided{true}; - if (lane_change_path.points.empty()) { + if (lane_change_path.path.points.empty()) { return !is_collided; } @@ -1961,9 +1965,23 @@ bool NormalLaneChange::is_collided( const auto safety_check_max_vel = get_max_velocity_for_safety_check(); const auto & bpp_param = *common_data_ptr_->bpp_param_ptr; + const double velocity_threshold = lane_change_parameters_->stopped_object_velocity_threshold; + const double prepare_duration = lane_change_path.info.duration.prepare; + const double start_time = check_prepare_phase ? 0.0 : prepare_duration; + for (const auto & obj_path : obj_predicted_paths) { + utils::path_safety_checker::PredictedPathWithPolygon predicted_obj_path; + predicted_obj_path.confidence = obj_path.confidence; + std::copy_if( + obj_path.path.begin(), obj_path.path.end(), std::back_inserter(predicted_obj_path.path), + [&](const auto & entry) { + return !( + entry.time < start_time || + (entry.time < prepare_duration && entry.velocity < velocity_threshold)); + }); + const auto collided_polygons = utils::path_safety_checker::get_collided_polygons( - lane_change_path, ego_predicted_path, obj, obj_path, bpp_param.vehicle_info, + lane_change_path.path, ego_predicted_path, obj, predicted_obj_path, bpp_param.vehicle_info, selected_rss_param, hysteresis_factor, safety_check_max_vel, collision_check_yaw_diff_threshold, current_debug_data.second); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index 4d92b7440d1ec..69cf6441ef766 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -914,14 +914,11 @@ lanelet::BasicPolygon2d create_polygon( ExtendedPredictedObject transform( const PredictedObject & object, [[maybe_unused]] const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters, const bool check_at_prepare_phase) + const LaneChangeParameters & lane_change_parameters) { ExtendedPredictedObject extended_object(object); const auto & time_resolution = lane_change_parameters.prediction_time_resolution; - const auto & prepare_duration = lane_change_parameters.lane_change_prepare_duration; - const auto & velocity_threshold = lane_change_parameters.stopped_object_velocity_threshold; - const auto start_time = check_at_prepare_phase ? 0.0 : prepare_duration; const double obj_vel_norm = std::hypot(extended_object.initial_twist.linear.x, extended_object.initial_twist.linear.y); @@ -933,11 +930,8 @@ ExtendedPredictedObject transform( extended_object.predicted_paths.at(i).confidence = path.confidence; // create path - for (double t = start_time; t < end_time + std::numeric_limits::epsilon(); + for (double t = 0.0; t < end_time + std::numeric_limits::epsilon(); t += time_resolution) { - if (t < prepare_duration && obj_vel_norm < velocity_threshold) { - continue; - } const auto obj_pose = autoware::object_recognition_utils::calcInterpolatedPose(path, t); if (obj_pose) { const auto obj_polygon = autoware::universe_utils::toPolygon2d(*obj_pose, object.shape); @@ -1163,8 +1157,7 @@ double calc_angle_to_lanelet_segment(const lanelet::ConstLanelets & lanelets, co } ExtendedPredictedObjects transform_to_extended_objects( - const CommonDataPtr & common_data_ptr, const std::vector & objects, - const bool check_prepare_phase) + const CommonDataPtr & common_data_ptr, const std::vector & objects) { ExtendedPredictedObjects extended_objects; extended_objects.reserve(objects.size()); @@ -1173,7 +1166,7 @@ ExtendedPredictedObjects transform_to_extended_objects( const auto & lc_param = *common_data_ptr->lc_param_ptr; std::transform( objects.begin(), objects.end(), std::back_inserter(extended_objects), [&](const auto & object) { - return utils::lane_change::transform(object, bpp_param, lc_param, check_prepare_phase); + return utils::lane_change::transform(object, bpp_param, lc_param); }); return extended_objects; From 5dcb52b55ea9ef39f330a1a550a91d5db9e1afac Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Mon, 18 Nov 2024 10:23:49 +0900 Subject: [PATCH 449/701] feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error (#9336) * feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error Signed-off-by: Y.Hisaki * add const to argument Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- .../package.xml | 1 + ...traffic_light_multi_camera_fusion_node.cpp | 6 ++-- ...traffic_light_multi_camera_fusion_node.hpp | 30 +++++++++---------- 3 files changed, 19 insertions(+), 18 deletions(-) diff --git a/perception/autoware_traffic_light_multi_camera_fusion/package.xml b/perception/autoware_traffic_light_multi_camera_fusion/package.xml index e029c79def9f9..111e34030c870 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/package.xml +++ b/perception/autoware_traffic_light_multi_camera_fusion/package.xml @@ -16,6 +16,7 @@ autoware_lanelet2_extension autoware_map_msgs autoware_perception_msgs + message_filters rclcpp rclcpp_components sensor_msgs diff --git a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp index 70841b936af37..08c6600d91923 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp +++ b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp @@ -102,8 +102,8 @@ V at_or(const std::unordered_map & map, const K & key, const V & value) autoware_perception_msgs::msg::TrafficLightElement convert( const tier4_perception_msgs::msg::TrafficLightElement & input) { - typedef tier4_perception_msgs::msg::TrafficLightElement OldElem; - typedef autoware_perception_msgs::msg::TrafficLightElement NewElem; + using OldElem = tier4_perception_msgs::msg::TrafficLightElement; + using NewElem = autoware_perception_msgs::msg::TrafficLightElement; static const std::unordered_map color_map( {{OldElem::RED, NewElem::RED}, {OldElem::AMBER, NewElem::AMBER}, @@ -292,7 +292,7 @@ void MultiCameraFusion::multiCameraFusion(std::map & fused } void MultiCameraFusion::groupFusion( - std::map & fused_record_map, + const std::map & fused_record_map, std::map & grouped_record_map) { grouped_record_map.clear(); diff --git a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp index 23bc59c26b293..bf41df9bb3a24 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp +++ b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.hpp @@ -65,16 +65,16 @@ bool operator<(const FusionRecordArr & r1, const FusionRecordArr & r2) class MultiCameraFusion : public rclcpp::Node { public: - typedef sensor_msgs::msg::CameraInfo CamInfoType; - typedef tier4_perception_msgs::msg::TrafficLightRoi RoiType; - typedef tier4_perception_msgs::msg::TrafficLight SignalType; - typedef tier4_perception_msgs::msg::TrafficLightArray SignalArrayType; - typedef tier4_perception_msgs::msg::TrafficLightRoiArray RoiArrayType; - typedef tier4_perception_msgs::msg::TrafficLightRoi::_traffic_light_id_type IdType; - typedef autoware_perception_msgs::msg::TrafficLightGroup NewSignalType; - typedef autoware_perception_msgs::msg::TrafficLightGroupArray NewSignalArrayType; + using CamInfoType = sensor_msgs::msg::CameraInfo; + using RoiType = tier4_perception_msgs::msg::TrafficLightRoi; + using SignalType = tier4_perception_msgs::msg::TrafficLight; + using SignalArrayType = tier4_perception_msgs::msg::TrafficLightArray; + using RoiArrayType = tier4_perception_msgs::msg::TrafficLightRoiArray; + using IdType = tier4_perception_msgs::msg::TrafficLightRoi::_traffic_light_id_type; + using NewSignalType = autoware_perception_msgs::msg::TrafficLightGroup; + using NewSignalArrayType = autoware_perception_msgs::msg::TrafficLightGroupArray; - typedef std::pair RecordArrayType; + using RecordArrayType = std::pair; explicit MultiCameraFusion(const rclcpp::NodeOptions & node_options); @@ -91,14 +91,14 @@ class MultiCameraFusion : public rclcpp::Node const std::map & grouped_record_map, NewSignalArrayType & msg_out); void groupFusion( - std::map & fused_record_map, + const std::map & fused_record_map, std::map & grouped_record_map); - typedef mf::sync_policies::ExactTime ExactSyncPolicy; - typedef mf::Synchronizer ExactSync; - typedef mf::sync_policies::ApproximateTime - ApproximateSyncPolicy; - typedef mf::Synchronizer ApproximateSync; + using ExactSyncPolicy = mf::sync_policies::ExactTime; + using ExactSync = mf::Synchronizer; + using ApproximateSyncPolicy = + mf::sync_policies::ApproximateTime; + using ApproximateSync = mf::Synchronizer; std::vector>> signal_subs_; std::vector>> roi_subs_; From 93828b6d2570fa88c147da00e78e02bcda473dff Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 18 Nov 2024 10:29:26 +0900 Subject: [PATCH 450/701] feat(bpp): add velocity interface (#9344) * feat(bpp): add velocity interface Signed-off-by: satoshi-ota * fix(adapi): subscribe additional velocity factors Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../src/planner_manager.cpp | 1 + .../interface/scene_module_interface.hpp | 29 ++++++++++++++++++- .../scene_module_manager_interface.hpp | 24 +++++++++++++++ .../scene_module_manager_interface.cpp | 2 ++ .../autoware_default_adapi/src/planning.cpp | 9 +++++- 5 files changed, 63 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp index 29c2d60a30d9f..bd5b391127467 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp @@ -178,6 +178,7 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & da m->updateObserver(); m->publishRTCStatus(); m->publishSteeringFactor(); + m->publishVelocityFactor(); }); generateCombinedDrivableArea(result_output.valid_output, data); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index 60a5faf6cd929..5da5c9ccc6c15 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -22,6 +22,7 @@ #include #include +#include #include #include #include @@ -57,6 +58,7 @@ namespace autoware::behavior_path_planner { using autoware::motion_utils::SteeringFactorInterface; +using autoware::motion_utils::VelocityFactorInterface; using autoware::objects_of_interest_marker_interface::ColorName; using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface; using autoware::rtc_interface::RTCInterface; @@ -64,6 +66,7 @@ using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::generateUUID; using autoware_adapi_v1_msgs::msg::PlanningBehavior; using autoware_adapi_v1_msgs::msg::SteeringFactor; +using autoware_adapi_v1_msgs::msg::VelocityFactor; using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; using tier4_planning_msgs::msg::PathWithLaneId; using tier4_planning_msgs::msg::StopFactor; @@ -265,10 +268,16 @@ class SceneModuleInterface StopReason getStopReason() const { return stop_reason_; } - void reset_factor() { steering_factor_interface_.reset(); } + void reset_factor() + { + steering_factor_interface_.reset(); + velocity_factor_interface_.reset(); + } auto get_steering_factor() const -> SteeringFactor { return steering_factor_interface_.get(); } + auto get_velocity_factor() const -> VelocityFactor { return velocity_factor_interface_.get(); } + std::string name() const { return name_; } std::optional getStopPose() const @@ -555,6 +564,22 @@ class SceneModuleInterface } } + void setVelocityFactor(const PathWithLaneId & path) + { + if (stop_pose_.has_value()) { + velocity_factor_interface_.set( + path.points, getEgoPose(), stop_pose_.value(), VelocityFactor::APPROACHING, "stop"); + return; + } + + if (!slow_pose_.has_value()) { + return; + } + + velocity_factor_interface_.set( + path.points, getEgoPose(), slow_pose_.value(), VelocityFactor::APPROACHING, "slow down"); + } + void setStopReason(const std::string & stop_reason, const PathWithLaneId & path) { stop_reason_.reason = stop_reason; @@ -627,6 +652,8 @@ class SceneModuleInterface mutable SteeringFactorInterface steering_factor_interface_; + mutable VelocityFactorInterface velocity_factor_interface_; + mutable std::optional stop_pose_{std::nullopt}; mutable std::optional slow_pose_{std::nullopt}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index 65df5e15dad41..e199309dea8bb 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -24,6 +24,7 @@ #include #include +#include #include #include @@ -42,6 +43,7 @@ using autoware::motion_utils::createSlowDownVirtualWallMarker; using autoware::motion_utils::createStopVirtualWallMarker; using autoware::universe_utils::toHexString; using autoware_adapi_v1_msgs::msg::SteeringFactorArray; +using autoware_adapi_v1_msgs::msg::VelocityFactorArray; using unique_identifier_msgs::msg::UUID; using SceneModulePtr = std::shared_ptr; using SceneModuleObserver = std::weak_ptr; @@ -124,6 +126,26 @@ class SceneModuleManagerInterface pub_steering_factors_->publish(steering_factor_array); } + void publishVelocityFactor() + { + VelocityFactorArray velocity_factor_array; + velocity_factor_array.header.frame_id = "map"; + velocity_factor_array.header.stamp = node_->now(); + + for (const auto & m : observers_) { + if (m.expired()) { + continue; + } + + const auto velocity_factor = m.lock()->get_velocity_factor(); + if (velocity_factor.behavior != PlanningBehavior::UNKNOWN) { + velocity_factor_array.factors.emplace_back(velocity_factor); + } + } + + pub_velocity_factors_->publish(velocity_factor_array); + } + void publishVirtualWall() const { using autoware::universe_utils::appendMarkerArray; @@ -286,6 +308,8 @@ class SceneModuleManagerInterface rclcpp::Publisher::SharedPtr pub_steering_factors_; + rclcpp::Publisher::SharedPtr pub_velocity_factors_; + rclcpp::Publisher::SharedPtr pub_processing_time_; std::string name_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp index 35f29921b97b5..7b362d9a8bafa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp @@ -59,6 +59,8 @@ void SceneModuleManagerInterface::initInterface( "~/processing_time/" + name_, 20); pub_steering_factors_ = node->create_publisher("/planning/steering_factor/" + name_, 1); + pub_velocity_factors_ = + node->create_publisher("/planning/velocity_factors/" + name_, 1); } // misc diff --git a/system/autoware_default_adapi/src/planning.cpp b/system/autoware_default_adapi/src/planning.cpp index 4ff0edfd2b7d5..d89ef6c221666 100644 --- a/system/autoware_default_adapi/src/planning.cpp +++ b/system/autoware_default_adapi/src/planning.cpp @@ -87,7 +87,14 @@ PlanningNode::PlanningNode(const rclcpp::NodeOptions & options) : Node("planning "/planning/velocity_factors/traffic_light", "/planning/velocity_factors/virtual_traffic_light", "/planning/velocity_factors/walkway", - "/planning/velocity_factors/motion_velocity_planner"}; + "/planning/velocity_factors/motion_velocity_planner", + "/planning/velocity_factors/static_obstacle_avoidance", + "/planning/velocity_factors/dynamic_obstacle_avoidance", + "/planning/velocity_factors/avoidance_by_lane_change", + "/planning/velocity_factors/lane_change_left", + "/planning/velocity_factors/lane_change_right", + "/planning/velocity_factors/start_planner", + "/planning/velocity_factors/goal_planner"}; std::vector steering_factor_topics = { "/planning/steering_factor/static_obstacle_avoidance", From c826605107f0bf32d04e95432a355f3c28924579 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 18 Nov 2024 11:09:53 +0900 Subject: [PATCH 451/701] feat(avoidance): output velocity factor (#9345) Signed-off-by: satoshi-ota --- .../src/scene.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index d92e43dcf13bf..01922a16e8a49 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -84,6 +84,7 @@ StaticObstacleAvoidanceModule::StaticObstacleAvoidanceModule( generator_{parameters} { steering_factor_interface_.init(PlanningBehavior::AVOIDANCE); + velocity_factor_interface_.init(PlanningBehavior::AVOIDANCE); } bool StaticObstacleAvoidanceModule::isExecutionRequested() const @@ -769,6 +770,8 @@ void StaticObstacleAvoidanceModule::updateEgoBehavior( insertReturnDeadLine(isBestEffort(parameters_->policy_deceleration), path); setStopReason(StopReason::AVOIDANCE, path.path); + + setVelocityFactor(path.path); } bool StaticObstacleAvoidanceModule::isSafePath( From c5597ce09e5f8fa119dbc268bbbe9d76b2db863a Mon Sep 17 00:00:00 2001 From: Kazunori-Nakajima <169115284+Kazunori-Nakajima@users.noreply.github.com> Date: Mon, 18 Nov 2024 11:11:00 +0900 Subject: [PATCH 452/701] feat(freespace_planner): add processing time pub (#9332) Signed-off-by: Kasunori-Nakajima --- .../freespace_planner/freespace_planner_node.hpp | 2 ++ .../freespace_planner_node.cpp | 11 +++++++++++ 2 files changed, 13 insertions(+) diff --git a/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp b/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp index 55d7bf966b24f..1f5a52ca040a0 100644 --- a/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp +++ b/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp @@ -45,6 +45,7 @@ #include #include #include +#include #include #ifdef ROS_DISTRO_GALACTIC @@ -111,6 +112,7 @@ class FreespacePlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr debug_pose_array_pub_; rclcpp::Publisher::SharedPtr debug_partial_pose_array_pub_; rclcpp::Publisher::SharedPtr parking_state_pub_; + rclcpp::Publisher::SharedPtr processing_time_pub_; rclcpp::Subscription::SharedPtr route_sub_; diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp index a2a4d1f079b3c..f968d668223e0 100644 --- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp @@ -36,6 +36,7 @@ #include #include #include +#include #include #include @@ -94,6 +95,8 @@ FreespacePlannerNode::FreespacePlannerNode(const rclcpp::NodeOptions & node_opti debug_pose_array_pub_ = create_publisher("~/debug/pose_array", qos); debug_partial_pose_array_pub_ = create_publisher("~/debug/partial_pose_array", qos); parking_state_pub_ = create_publisher("is_completed", qos); + processing_time_pub_ = + create_publisher("~/debug/processing_time_ms", 1); } // TF @@ -277,6 +280,8 @@ bool FreespacePlannerNode::isDataReady() void FreespacePlannerNode::onTimer() { + autoware::universe_utils::StopWatch stop_watch; + scenario_ = scenario_sub_.takeData(); if (!utils::is_active(scenario_)) { reset(); @@ -355,6 +360,12 @@ void FreespacePlannerNode::onTimer() debug_partial_pose_array_pub_->publish(utils::trajectory_to_pose_array(partial_trajectory_)); is_new_parking_cycle_ = false; + + // Publish ProcessingTime + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + processing_time_pub_->publish(processing_time_msg); } void FreespacePlannerNode::planTrajectory() From 44d9a9802677629f1801e5ff087a046d878e7479 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 18 Nov 2024 11:28:35 +0900 Subject: [PATCH 453/701] feat(start_planner): output velocity factor (#9347) Signed-off-by: satoshi-ota --- .../src/start_planner_module.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp index b303ffb1c71d9..7dd597e27b71f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp @@ -98,6 +98,7 @@ StartPlannerModule::StartPlannerModule( } steering_factor_interface_.init(PlanningBehavior::START_PLANNER); + velocity_factor_interface_.init(PlanningBehavior::START_PLANNER); } void StartPlannerModule::onFreespacePlannerTimer() @@ -738,6 +739,8 @@ BehaviorModuleOutput StartPlannerModule::plan() setDrivableAreaInfo(output); + setVelocityFactor(output.path); + const auto steering_factor_direction = getSteeringFactorDirection(output); if (status_.driving_forward) { From 09c01820d9ffe181d32389b505efc31b0242c35a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 18 Nov 2024 11:30:46 +0900 Subject: [PATCH 454/701] feat(lane_change): output velocity factor (#9349) Signed-off-by: satoshi-ota --- .../src/interface.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index 4ff2a6cc52e63..44252bb9f2005 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -47,6 +47,7 @@ LaneChangeInterface::LaneChangeInterface( module_type_->setTimeKeeper(getTimeKeeper()); logger_ = utils::lane_change::getLogger(module_type_->getModuleTypeStr()); steering_factor_interface_.init(PlanningBehavior::LANE_CHANGE); + velocity_factor_interface_.init(PlanningBehavior::LANE_CHANGE); } void LaneChangeInterface::processOnExit() @@ -145,6 +146,8 @@ BehaviorModuleOutput LaneChangeInterface::plan() } } + setVelocityFactor(output.path); + return output; } @@ -179,6 +182,8 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() isExecutionReady(), State::WAITING_FOR_EXECUTION); is_abort_path_approved_ = false; + setVelocityFactor(out.path); + return out; } From 4cb6f103f72250f3c72e8cc4d793d419a51fed41 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 18 Nov 2024 11:31:09 +0900 Subject: [PATCH 455/701] feat(goal_planner): output velocity factor (#9348) Signed-off-by: satoshi-ota --- .../src/goal_planner_module.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index f69a0fe2c0a41..4204d8177c5b1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -135,6 +135,7 @@ GoalPlannerModule::GoalPlannerModule( } steering_factor_interface_.init(PlanningBehavior::GOAL_PLANNER); + velocity_factor_interface_.init(PlanningBehavior::GOAL_PLANNER); /** * NOTE: Add `universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);` to functions called @@ -1468,6 +1469,8 @@ void GoalPlannerModule::postProcess() setStopReason(StopReason::GOAL_PLANNER, pull_over_path.full_path()); + setVelocityFactor(pull_over_path.full_path()); + context_data_ = std::nullopt; } From 4a4db996998836399381fe5f30745fbc66e2d7d1 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 18 Nov 2024 15:28:11 +0900 Subject: [PATCH 456/701] feat(mrm_comfortable_stop_operator): add updateParam for mrm comfortable stop (#9353) * add updateParam for mrm comfortable stop Signed-off-by: Daniel Sanchez * remove abs since it is not necessary Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../mrm_comfortable_stop_operator_core.hpp | 7 +++++++ .../mrm_comfortable_stop_operator/package.xml | 1 + .../mrm_comfortable_stop_operator_core.cpp | 20 +++++++++++++++++++ 3 files changed, 28 insertions(+) diff --git a/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp b/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp index 7856c23fa3158..eb84191f481f9 100644 --- a/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp +++ b/system/mrm_comfortable_stop_operator/include/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp @@ -17,6 +17,7 @@ // Core #include +#include // Autoware #include @@ -55,6 +56,9 @@ class MrmComfortableStopOperator : public rclcpp::Node const tier4_system_msgs::srv::OperateMrm::Request::SharedPtr request, const tier4_system_msgs::srv::OperateMrm::Response::SharedPtr response); + rcl_interfaces::msg::SetParametersResult onParameter( + const std::vector & parameters); + // Publisher rclcpp::Publisher::SharedPtr pub_status_; rclcpp::Publisher::SharedPtr pub_velocity_limit_; @@ -72,6 +76,9 @@ class MrmComfortableStopOperator : public rclcpp::Node // States tier4_system_msgs::msg::MrmBehaviorStatus status_; + + // Parameter callback + OnSetParametersCallbackHandle::SharedPtr set_param_res_; }; } // namespace mrm_comfortable_stop_operator diff --git a/system/mrm_comfortable_stop_operator/package.xml b/system/mrm_comfortable_stop_operator/package.xml index 67211c95d4bdf..92a9569bf329a 100644 --- a/system/mrm_comfortable_stop_operator/package.xml +++ b/system/mrm_comfortable_stop_operator/package.xml @@ -12,6 +12,7 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_universe_utils rclcpp rclcpp_components std_msgs diff --git a/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp b/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp index 5c9562463f891..6b18555053582 100644 --- a/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp +++ b/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp @@ -14,6 +14,8 @@ #include "mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.hpp" +#include + namespace mrm_comfortable_stop_operator { @@ -48,6 +50,10 @@ MrmComfortableStopOperator::MrmComfortableStopOperator(const rclcpp::NodeOptions // Initialize status_.state = tier4_system_msgs::msg::MrmBehaviorStatus::AVAILABLE; + + // Parameter Callback + set_param_res_ = add_on_set_parameters_callback( + std::bind(&MrmComfortableStopOperator::onParameter, this, std::placeholders::_1)); } void MrmComfortableStopOperator::operateComfortableStop( @@ -65,6 +71,20 @@ void MrmComfortableStopOperator::operateComfortableStop( } } +rcl_interfaces::msg::SetParametersResult MrmComfortableStopOperator::onParameter( + const std::vector & parameters) +{ + using autoware::universe_utils::updateParam; + updateParam(parameters, "min_acceleration", params_.min_acceleration); + updateParam(parameters, "max_jerk", params_.max_jerk); + updateParam(parameters, "min_jerk", params_.min_jerk); + + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + result.reason = "success"; + return result; +} + void MrmComfortableStopOperator::publishStatus() const { auto status = status_; From 2a37cd2c064071522f068b2f535243b465235771 Mon Sep 17 00:00:00 2001 From: Kazunori-Nakajima <169115284+Kazunori-Nakajima@users.noreply.github.com> Date: Mon, 18 Nov 2024 17:40:10 +0900 Subject: [PATCH 457/701] feat(control_evaluator): add processing time publisher (#9339) Signed-off-by: Kasunori-Nakajima --- .../control_evaluator/control_evaluator_node.hpp | 3 +++ .../src/control_evaluator_node.cpp | 9 +++++++++ 2 files changed, 12 insertions(+) diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index eed263db49bbc..6e4a04964a72c 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -19,11 +19,13 @@ #include #include +#include #include #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" #include #include +#include #include #include @@ -77,6 +79,7 @@ class ControlEvaluatorNode : public rclcpp::Node LaneletMapBin, autoware::universe_utils::polling_policy::Newest> vector_map_subscriber_{this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()}; + rclcpp::Publisher::SharedPtr processing_time_pub_; rclcpp::Publisher::SharedPtr metrics_pub_; // update Route Handler diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index 28034eed5f89c..c24dfee571852 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -29,6 +29,8 @@ ControlEvaluatorNode::ControlEvaluatorNode(const rclcpp::NodeOptions & node_opti using std::placeholders::_1; // Publisher + processing_time_pub_ = + this->create_publisher("~/debug/processing_time_ms", 1); metrics_pub_ = create_publisher("~/metrics", 1); // Timer callback to publish evaluator diagnostics @@ -196,6 +198,7 @@ void ControlEvaluatorNode::AddGoalYawDeviationMetricMsg(const Pose & ego_pose) void ControlEvaluatorNode::onTimer() { + autoware::universe_utils::StopWatch stop_watch; const auto traj = traj_sub_.takeData(); const auto odom = odometry_sub_.takeData(); const auto acc = accel_sub_.takeData(); @@ -225,6 +228,12 @@ void ControlEvaluatorNode::onTimer() metrics_msg_.stamp = now(); metrics_pub_->publish(metrics_msg_); metrics_msg_ = MetricArrayMsg{}; + + // Publish processing time + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + processing_time_pub_->publish(processing_time_msg); } } // namespace control_diagnostics From 34fc143383d1447936d005a7d664593bb0d29aad Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Mon, 18 Nov 2024 17:45:31 +0900 Subject: [PATCH 458/701] refactor(autoware_trajectory): refactor autoware_trajectory (#9356) Signed-off-by: Y.Hisaki --- .../trajectory/detail/interpolated_array.hpp | 7 +++- .../detail/interpolator_common_interface.hpp | 41 ++++++++++++++----- .../detail/interpolator_mixin.hpp | 12 ++---- .../detail/nearest_neighbor_common_impl.hpp | 11 ++--- .../detail/stairstep_common_impl.hpp | 10 ++--- .../trajectory/interpolator/interpolator.hpp | 8 ++-- .../trajectory/path_point_with_lane_id.hpp | 10 ++--- .../src/path_point_with_lane_id.cpp | 2 + 8 files changed, 55 insertions(+), 46 deletions(-) diff --git a/common/autoware_trajectory/include/autoware/trajectory/detail/interpolated_array.hpp b/common/autoware_trajectory/include/autoware/trajectory/detail/interpolated_array.hpp index 29c3e9961045a..1ab22d94605dc 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/detail/interpolated_array.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/detail/interpolated_array.hpp @@ -194,13 +194,16 @@ class InterpolatedArray * @param x The position to compute the value at. * @return The interpolated value. */ - T compute(const double & x) const { return interpolator_->compute(x); } + [[nodiscard]] T compute(const double & x) const { return interpolator_->compute(x); } /** * @brief Get the underlying data of the array. * @return A pair containing the axis and values. */ - std::pair, std::vector> get_data() const { return {bases_, values_}; } + [[nodiscard]] std::pair, std::vector> get_data() const + { + return {bases_, values_}; + } }; } // namespace autoware::trajectory::detail diff --git a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp index 9ce92e9bd02ea..eeca7775a7ff3 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_common_interface.hpp @@ -12,10 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -// clang-format off -#ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_ // NOLINT -#define AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_ // NOLINT -// clang-format on +#ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_ +#define AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_ #include #include @@ -74,17 +72,33 @@ class InterpolatorCommonInterface * Checks that the interpolator has been built and that the input value is within range. * * @param s The input value. - * @throw std::runtime_error if the interpolator has not been built. + * @return The input value, clamped to the range of the interpolator. */ - void validate_compute_input(const double & s) const + [[nodiscard]] double validate_compute_input(const double & s) const { if (s < start() || s > end()) { RCLCPP_WARN( rclcpp::get_logger("Interpolator"), "Input value %f is outside the range of the interpolator [%f, %f].", s, start(), end()); } + return std::clamp(s, start(), end()); } + /** + * @brief Get the index of the interval containing the input value. + * + * This method determines the index of the interval in the bases array that contains the given + * value. It assumes that the bases array is sorted in ascending order. + * + * If `end_inclusive` is true and the input value matches the end of the bases array, + * the method returns the index of the second-to-last interval. + * + * @param s The input value for which to find the interval index. + * @param end_inclusive Whether to include the end value in the last interval. Defaults to true. + * @return The index of the interval containing the input value. + * + * @throw std::out_of_range if the input value is outside the range of the bases array. + */ [[nodiscard]] int32_t get_index(const double & s, bool end_inclusive = true) const { if (end_inclusive && s == end()) { @@ -96,6 +110,13 @@ class InterpolatorCommonInterface } public: + InterpolatorCommonInterface() = default; + virtual ~InterpolatorCommonInterface() = default; + InterpolatorCommonInterface(const InterpolatorCommonInterface & other) = default; + InterpolatorCommonInterface & operator=(const InterpolatorCommonInterface & other) = default; + InterpolatorCommonInterface(InterpolatorCommonInterface && other) noexcept = default; + InterpolatorCommonInterface & operator=(InterpolatorCommonInterface && other) noexcept = default; + /** * @brief Build the interpolator with the given bases and values. * @@ -132,12 +153,10 @@ class InterpolatorCommonInterface */ [[nodiscard]] T compute(const double & s) const { - validate_compute_input(s); - return compute_impl(s); + double clamped_s = validate_compute_input(s); + return compute_impl(clamped_s); } }; } // namespace autoware::trajectory::interpolator::detail -// clang-format off -#endif // AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_ // NOLINT -// clang-format on +#endif // AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_ diff --git a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_mixin.hpp b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_mixin.hpp index a71bdcf0067cf..c9456ecf8a020 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_mixin.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_mixin.hpp @@ -12,10 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -// clang-format off -#ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_ // NOLINT -#define AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_ // NOLINT -// clang-format on +#ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_ +#define AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_ #include "autoware/trajectory/interpolator/interpolator.hpp" @@ -40,7 +38,7 @@ namespace autoware::trajectory::interpolator::detail template struct InterpolatorMixin : public InterpolatorInterface { - std::shared_ptr> clone() const override + [[nodiscard]] std::shared_ptr> clone() const override { return std::make_shared(static_cast(*this)); } @@ -85,6 +83,4 @@ struct InterpolatorMixin : public InterpolatorInterface } // namespace autoware::trajectory::interpolator::detail -// clang-format off -#endif // AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_ // NOLINT -// clang-format on +#endif // AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_ diff --git a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/nearest_neighbor_common_impl.hpp b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/nearest_neighbor_common_impl.hpp index 94df905ef4815..f02ed5fa8a4c4 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/nearest_neighbor_common_impl.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/interpolator/detail/nearest_neighbor_common_impl.hpp @@ -12,10 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -// clang-format off -#ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_ // NOLINT -#define AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_ // NOLINT -// clang-format on +#ifndef AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_ +#define AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_ #include "autoware/trajectory/interpolator/detail/interpolator_mixin.hpp" @@ -80,6 +78,5 @@ class NearestNeighborCommonImpl : public detail::InterpolatorMixin, T> } // namespace detail } // namespace autoware::trajectory::interpolator -// clang-format off -#endif // AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__STAIRSTEP_COMMON_IMPL_HPP_ // NOLINT -// clang-format on +#endif // AUTOWARE__TRAJECTORY__INTERPOLATOR__DETAIL__STAIRSTEP_COMMON_IMPL_HPP_ diff --git a/common/autoware_trajectory/include/autoware/trajectory/interpolator/interpolator.hpp b/common/autoware_trajectory/include/autoware/trajectory/interpolator/interpolator.hpp index 8503d658a1202..86dbbe8cdbde4 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/interpolator/interpolator.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/interpolator/interpolator.hpp @@ -73,8 +73,8 @@ class InterpolatorInterface : public detail::InterpolatorCommonInterface */ [[nodiscard]] double compute_first_derivative(const double & s) const { - this->validate_compute_input(s); - return compute_first_derivative_impl(s); + double clamped_s = this->validate_compute_input(s); + return compute_first_derivative_impl(clamped_s); } /** @@ -85,8 +85,8 @@ class InterpolatorInterface : public detail::InterpolatorCommonInterface */ [[nodiscard]] double compute_second_derivative(const double & s) const { - this->validate_compute_input(s); - return compute_second_derivative_impl(s); + double clamped_s = this->validate_compute_input(s); + return compute_second_derivative_impl(clamped_s); } [[nodiscard]] virtual std::shared_ptr> clone() const = 0; diff --git a/common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp b/common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp index 4597c0cc61c6e..0ed92a10a7ea4 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp @@ -12,10 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -// clang-format off -#ifndef AUTOWARE__TRAJECTORY__PATH_POINT_WITH_LANE_ID_HPP_ // NOLINT -#define AUTOWARE__TRAJECTORY__PATH_POINT_WITH_LANE_ID_HPP_ // NOLINT -// clang-format on +#ifndef AUTOWARE__TRAJECTORY__PATH_POINT_WITH_LANE_ID_HPP_ +#define AUTOWARE__TRAJECTORY__PATH_POINT_WITH_LANE_ID_HPP_ #include "autoware/trajectory/path_point.hpp" #include "autoware/trajectory/point.hpp" @@ -149,6 +147,4 @@ class Trajectory }; } // namespace autoware::trajectory -// clang-format off -#endif // AUTOWARE__TRAJECTORY__PATH_POINT_WITH_LANE_ID_HPP_ // NOLINT -// clang-format on +#endif // AUTOWARE__TRAJECTORY__PATH_POINT_WITH_LANE_ID_HPP_ diff --git a/common/autoware_trajectory/src/path_point_with_lane_id.cpp b/common/autoware_trajectory/src/path_point_with_lane_id.cpp index 9906c577d45c7..6c983c4dfa0d3 100644 --- a/common/autoware_trajectory/src/path_point_with_lane_id.cpp +++ b/common/autoware_trajectory/src/path_point_with_lane_id.cpp @@ -16,6 +16,8 @@ #include "autoware/trajectory/detail/utils.hpp" +#include + namespace autoware::trajectory { From 9b0ba2d1216e33a04b9d27ef4d3cad526ac58b6a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 18 Nov 2024 17:47:29 +0900 Subject: [PATCH 459/701] fix(factors_panel): sort by distance to stop/decel or point where it starts moving the steering (#9346) Signed-off-by: satoshi-ota --- .../src/velocity_steering_factors_panel.cpp | 22 +++++++++++++++---- 1 file changed, 18 insertions(+), 4 deletions(-) diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp index 90ad18fe5af6c..b7ea26e2c6895 100644 --- a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp @@ -104,8 +104,15 @@ void VelocitySteeringFactorsPanel::onVelocityFactors(const VelocityFactorArray:: velocity_factors_table_->clearContents(); velocity_factors_table_->setRowCount(msg->factors.size()); - for (std::size_t i = 0; i < msg->factors.size(); i++) { - const auto & e = msg->factors.at(i); + auto sorted = *msg; + + // sort by distance to the decel/stop point. + std::sort(sorted.factors.begin(), sorted.factors.end(), [](const auto & a, const auto & b) { + return a.distance < b.distance; + }); + + for (std::size_t i = 0; i < sorted.factors.size(); i++) { + const auto & e = sorted.factors.at(i); // behavior { @@ -157,8 +164,15 @@ void VelocitySteeringFactorsPanel::onSteeringFactors(const SteeringFactorArray:: steering_factors_table_->clearContents(); steering_factors_table_->setRowCount(msg->factors.size()); - for (std::size_t i = 0; i < msg->factors.size(); i++) { - const auto & e = msg->factors.at(i); + auto sorted = *msg; + + // sort by distance to the point where it starts moving the steering. + std::sort(sorted.factors.begin(), sorted.factors.end(), [](const auto & a, const auto & b) { + return a.distance.front() < b.distance.front(); + }); + + for (std::size_t i = 0; i < sorted.factors.size(); i++) { + const auto & e = sorted.factors.at(i); // behavior { From 24652f834f73b13b3e4465bfc9ab8335cbe6cdcf Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Mon, 18 Nov 2024 18:05:38 +0900 Subject: [PATCH 460/701] refactor(map_loader)!: prefix package and namespace with autoware (#8927) * make lanelet2_map_visualization independent Signed-off-by: a-maumau * remove unused files Signed-off-by: a-maumau * remove unused package Signed-off-by: a-maumau * fix package name Signed-off-by: a-maumau * add autoware_ prefix Signed-off-by: a-maumau * add autoware to exec name Signed-off-by: a-maumau * add autoware prefix Signed-off-by: a-maumau * removed unnecessary dependency Signed-off-by: a-maumau --------- Signed-off-by: a-maumau --- .github/CODEOWNERS | 1 + .../src/traffic_light_publish_panel.cpp | 2 +- launch/tier4_map_launch/launch/map.launch.xml | 8 ++--- launch/tier4_map_launch/package.xml | 2 +- .../CMakeLists.txt | 18 ++++++++++ .../README.md | 21 +++++++++++ .../launch/lanelet2_map_visualizer.launch.xml | 9 +++++ .../package.xml | 36 +++++++++++++++++++ .../src}/lanelet2_map_visualization_node.cpp | 8 ++--- .../src}/lanelet2_map_visualization_node.hpp | 9 +++-- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 19 +++------- .../README.md | 28 +++------------ .../config/lanelet2_map_loader.param.yaml | 0 .../config/pointcloud_map_loader.param.yaml | 0 .../map_loader/lanelet2_map_loader_node.hpp | 9 +++-- .../launch/lanelet2_map_loader.launch.xml | 15 ++++++++ .../launch/pointcloud_map_loader.launch.xml | 4 +-- .../package.xml | 4 +-- .../schema/lanelet2_map_loader.schema.json | 0 .../schema/pointcloud_map_loader.schema.json | 0 .../script/map_hash_generator | 0 .../lanelet2_local_projector.hpp | 17 +++++---- .../lanelet2_map_loader_node.cpp | 9 +++-- .../differential_map_loader_module.cpp | 3 ++ .../differential_map_loader_module.hpp | 3 ++ .../partial_map_loader_module.cpp | 3 ++ .../partial_map_loader_module.hpp | 3 ++ .../pointcloud_map_loader_module.cpp | 3 ++ .../pointcloud_map_loader_module.hpp | 3 ++ .../pointcloud_map_loader_node.cpp | 5 ++- .../pointcloud_map_loader_node.hpp | 3 ++ .../selected_map_loader_module.cpp | 5 +-- .../selected_map_loader_module.hpp | 3 ++ .../src/pointcloud_map_loader/utils.cpp | 3 ++ .../src/pointcloud_map_loader/utils.hpp | 4 +++ .../test/data/test_map.osm | 0 .../test/lanelet2_map_loader_launch.test.py | 6 ++-- .../test/test_cylinder_box_overlap.cpp | 2 ++ .../test_differential_map_loader_module.cpp | 5 +-- .../test/test_load_pcd_metadata.cpp | 4 +-- .../test/test_partial_map_loader_module.cpp | 5 +-- .../test_pointcloud_map_loader_module.cpp | 3 +- .../test/test_replace_with_absolute_path.cpp | 2 ++ map/autoware_map_projection_loader/README.md | 2 +- .../launch/lanelet2_map_loader.launch.xml | 20 ----------- .../static_centerline_generator.launch.xml | 2 +- .../package.xml | 2 +- .../src/static_centerline_generator_node.cpp | 14 ++++---- .../test_static_centerline_generator.test.py | 2 +- 50 files changed, 215 insertions(+), 114 deletions(-) create mode 100644 map/autoware_lanelet2_map_visualizer/CMakeLists.txt create mode 100644 map/autoware_lanelet2_map_visualizer/README.md create mode 100644 map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml create mode 100644 map/autoware_lanelet2_map_visualizer/package.xml rename map/{map_loader/src/lanelet2_map_loader => autoware_lanelet2_map_visualizer/src}/lanelet2_map_visualization_node.cpp (98%) rename map/{map_loader/include/map_loader => autoware_lanelet2_map_visualizer/src}/lanelet2_map_visualization_node.hpp (83%) rename map/{map_loader => autoware_map_loader}/CHANGELOG.rst (100%) rename map/{map_loader => autoware_map_loader}/CMakeLists.txt (84%) rename map/{map_loader => autoware_map_loader}/README.md (91%) rename map/{map_loader => autoware_map_loader}/config/lanelet2_map_loader.param.yaml (100%) rename map/{map_loader => autoware_map_loader}/config/pointcloud_map_loader.param.yaml (100%) rename map/{map_loader/include => autoware_map_loader/include/autoware}/map_loader/lanelet2_map_loader_node.hpp (88%) create mode 100644 map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml rename map/{map_loader => autoware_map_loader}/launch/pointcloud_map_loader.launch.xml (73%) rename map/{map_loader => autoware_map_loader}/package.xml (94%) rename map/{map_loader => autoware_map_loader}/schema/lanelet2_map_loader.schema.json (100%) rename map/{map_loader => autoware_map_loader}/schema/pointcloud_map_loader.schema.json (100%) rename map/{map_loader => autoware_map_loader}/script/map_hash_generator (100%) rename map/{map_loader => autoware_map_loader}/src/lanelet2_map_loader/lanelet2_local_projector.hpp (64%) rename map/{map_loader => autoware_map_loader}/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp (96%) rename map/{map_loader => autoware_map_loader}/src/pointcloud_map_loader/differential_map_loader_module.cpp (98%) rename map/{map_loader => autoware_map_loader}/src/pointcloud_map_loader/differential_map_loader_module.hpp (96%) rename map/{map_loader => autoware_map_loader}/src/pointcloud_map_loader/partial_map_loader_module.cpp (97%) rename map/{map_loader => autoware_map_loader}/src/pointcloud_map_loader/partial_map_loader_module.hpp (96%) rename map/{map_loader => autoware_map_loader}/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp (97%) rename map/{map_loader => autoware_map_loader}/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp (95%) rename map/{map_loader => autoware_map_loader}/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp (97%) rename map/{map_loader => autoware_map_loader}/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp (96%) rename map/{map_loader => autoware_map_loader}/src/pointcloud_map_loader/selected_map_loader_module.cpp (98%) rename map/{map_loader => autoware_map_loader}/src/pointcloud_map_loader/selected_map_loader_module.hpp (96%) rename map/{map_loader => autoware_map_loader}/src/pointcloud_map_loader/utils.cpp (98%) rename map/{map_loader => autoware_map_loader}/src/pointcloud_map_loader/utils.hpp (96%) rename map/{map_loader => autoware_map_loader}/test/data/test_map.osm (100%) rename map/{map_loader => autoware_map_loader}/test/lanelet2_map_loader_launch.test.py (91%) rename map/{map_loader => autoware_map_loader}/test/test_cylinder_box_overlap.cpp (97%) rename map/{map_loader => autoware_map_loader}/test/test_differential_map_loader_module.cpp (94%) rename map/{map_loader => autoware_map_loader}/test/test_load_pcd_metadata.cpp (90%) rename map/{map_loader => autoware_map_loader}/test/test_partial_map_loader_module.cpp (94%) rename map/{map_loader => autoware_map_loader}/test/test_pointcloud_map_loader_module.cpp (96%) rename map/{map_loader => autoware_map_loader}/test/test_replace_with_absolute_path.cpp (95%) delete mode 100644 map/map_loader/launch/lanelet2_map_loader.launch.xml diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 61af2edc5b516..0097a386e47a7 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -97,6 +97,7 @@ localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuu localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/autoware_lanelet2_map_visualizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp index 2165587493a7a..c4104584f3f3b 100644 --- a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp +++ b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp @@ -364,7 +364,7 @@ void TrafficLightPublishPanel::onTimer() void TrafficLightPublishPanel::onVectorMap(const LaneletMapBin::ConstSharedPtr msg) { if (received_vector_map_) return; - // NOTE: examples from map_loader/lanelet2_map_visualization_node.cpp + // NOTE: examples from autoware_lanelet2_map_visualizer/lanelet2_map_visualization_node.cpp lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap); lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map); lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map); diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml index 3b30a891ae555..2fbdbc694cacc 100644 --- a/launch/tier4_map_launch/launch/map.launch.xml +++ b/launch/tier4_map_launch/launch/map.launch.xml @@ -20,7 +20,7 @@ - + @@ -31,13 +31,13 @@ - + - + @@ -47,7 +47,7 @@ - + diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index ca2d46db38a52..a5120987605f5 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -18,9 +18,9 @@ ament_cmake_auto autoware_cmake + autoware_map_loader autoware_map_projection_loader autoware_map_tf_generator - map_loader ament_lint_auto autoware_lint_common diff --git a/map/autoware_lanelet2_map_visualizer/CMakeLists.txt b/map/autoware_lanelet2_map_visualizer/CMakeLists.txt new file mode 100644 index 0000000000000..5f2cb4a1f67a1 --- /dev/null +++ b/map/autoware_lanelet2_map_visualizer/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_lanelet2_map_visualizer) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(lanelet2_map_visualization_node SHARED + src/lanelet2_map_visualization_node.cpp +) + +rclcpp_components_register_node(lanelet2_map_visualization_node + PLUGIN "autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode" + EXECUTABLE lanelet2_map_visualization +) + +ament_auto_package(INSTALL_TO_SHARE + launch +) diff --git a/map/autoware_lanelet2_map_visualizer/README.md b/map/autoware_lanelet2_map_visualizer/README.md new file mode 100644 index 0000000000000..b7e86b4a0d62b --- /dev/null +++ b/map/autoware_lanelet2_map_visualizer/README.md @@ -0,0 +1,21 @@ +# autoware_lanelet2_map_visualizer package + +This package provides the features of visualizing the lanelet2 maps. + +## lanelet2_map_visualization + +### Feature + +lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray. + +### How to Run + +`ros2 run autoware_lanelet2_map_visualizer lanelet2_map_visualization` + +### Subscribed Topics + +- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map + +### Published Topics + +- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz diff --git a/map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml b/map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml new file mode 100644 index 0000000000000..6c6702c6e7904 --- /dev/null +++ b/map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/map/autoware_lanelet2_map_visualizer/package.xml b/map/autoware_lanelet2_map_visualizer/package.xml new file mode 100644 index 0000000000000..0244a5f010aa4 --- /dev/null +++ b/map/autoware_lanelet2_map_visualizer/package.xml @@ -0,0 +1,36 @@ + + + + autoware_lanelet2_map_visualizer + 0.1.0 + The autoware_lanelet2_map_visualizer package + Yamato Ando + Ryu Yamamoto + Masahiro Sakamoto + Kento Yabuuchi + NGUYEN Viet Anh + Taiki Yamada + Shintaro Sakoda + Mamoru Sobue + + Apache License 2.0 + Ryohsuke Mitsudome + Koji Minoda + + ament_cmake_auto + autoware_cmake + + autoware_lanelet2_extension + autoware_map_msgs + rclcpp + rclcpp_components + tier4_map_msgs + visualization_msgs + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp b/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp similarity index 98% rename from map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp rename to map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp index 4a9aae78e8eb3..ae9e7114cb385 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp +++ b/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp @@ -31,7 +31,7 @@ * */ -#include "map_loader/lanelet2_map_visualization_node.hpp" +#include "lanelet2_map_visualization_node.hpp" #include #include @@ -49,7 +49,7 @@ #include #include -namespace +namespace autoware::lanelet2_map_visualizer { void insert_marker_array( visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2) @@ -64,7 +64,6 @@ void set_color(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, doub cl->b = static_cast(b); cl->a = static_cast(a); } -} // namespace Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOptions & options) : Node("lanelet2_map_visualization", options) @@ -314,6 +313,7 @@ void Lanelet2MapVisualizationNode::on_map_bin( pub_marker_->publish(map_marker_array); } +} // namespace autoware::lanelet2_map_visualizer #include -RCLCPP_COMPONENTS_REGISTER_NODE(Lanelet2MapVisualizationNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode) diff --git a/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp b/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.hpp similarity index 83% rename from map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp rename to map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.hpp index 049d714ec452a..7694c191f12a2 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp +++ b/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_ -#define MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_ +#ifndef LANELET2_MAP_VISUALIZATION_NODE_HPP_ +#define LANELET2_MAP_VISUALIZATION_NODE_HPP_ #include @@ -23,6 +23,8 @@ #include #include +namespace autoware::lanelet2_map_visualizer +{ class Lanelet2MapVisualizationNode : public rclcpp::Node { public: @@ -36,5 +38,6 @@ class Lanelet2MapVisualizationNode : public rclcpp::Node void on_map_bin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg); }; +} // namespace autoware::lanelet2_map_visualizer -#endif // MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_ +#endif // LANELET2_MAP_VISUALIZATION_NODE_HPP_ diff --git a/map/map_loader/CHANGELOG.rst b/map/autoware_map_loader/CHANGELOG.rst similarity index 100% rename from map/map_loader/CHANGELOG.rst rename to map/autoware_map_loader/CHANGELOG.rst diff --git a/map/map_loader/CMakeLists.txt b/map/autoware_map_loader/CMakeLists.txt similarity index 84% rename from map/map_loader/CMakeLists.txt rename to map/autoware_map_loader/CMakeLists.txt index 115f7e5b17464..9f8f8681488aa 100644 --- a/map/map_loader/CMakeLists.txt +++ b/map/autoware_map_loader/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(map_loader) +project(autoware_map_loader) find_package(autoware_cmake REQUIRED) autoware_package() @@ -23,8 +23,8 @@ target_include_directories(pointcloud_map_loader_node ) rclcpp_components_register_node(pointcloud_map_loader_node - PLUGIN "PointCloudMapLoaderNode" - EXECUTABLE pointcloud_map_loader + PLUGIN "autoware::map_loader::PointCloudMapLoaderNode" + EXECUTABLE autoware_pointcloud_map_loader ) ament_auto_add_library(lanelet2_map_loader_node SHARED @@ -32,17 +32,8 @@ ament_auto_add_library(lanelet2_map_loader_node SHARED ) rclcpp_components_register_node(lanelet2_map_loader_node - PLUGIN "Lanelet2MapLoaderNode" - EXECUTABLE lanelet2_map_loader -) - -ament_auto_add_library(lanelet2_map_visualization_node SHARED - src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp -) - -rclcpp_components_register_node(lanelet2_map_visualization_node - PLUGIN "Lanelet2MapVisualizationNode" - EXECUTABLE lanelet2_map_visualization + PLUGIN "autoware::map_loader::Lanelet2MapLoaderNode" + EXECUTABLE autoware_lanelet2_map_loader ) if(BUILD_TESTING) diff --git a/map/map_loader/README.md b/map/autoware_map_loader/README.md similarity index 91% rename from map/map_loader/README.md rename to map/autoware_map_loader/README.md index bc3eb80d80339..046c9062081ca 100644 --- a/map/map_loader/README.md +++ b/map/autoware_map_loader/README.md @@ -1,4 +1,4 @@ -# map_loader package +# autoware_map_loader package This package provides the features of loading various maps. @@ -111,7 +111,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co ### Parameters -{{ json_to_markdown("map/map_loader/schema/pointcloud_map_loader.schema.json") }} +{{ json_to_markdown("map/autoware_map_loader/schema/pointcloud_map_loader.schema.json") }} ### Interfaces @@ -136,7 +136,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie ### How to run -`ros2 run map_loader lanelet2_map_loader --ros-args -p lanelet2_map_path:=path/to/map.osm` +`ros2 run autoware_map_loader lanelet2_map_loader --ros-args -p lanelet2_map_path:=path/to/map.osm` ### Subscribed Topics @@ -148,27 +148,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie ### Parameters -{{ json_to_markdown("map/map_loader/schema/lanelet2_map_loader.schema.json") }} +{{ json_to_markdown("map/autoware_map_loader/schema/lanelet2_map_loader.schema.json") }} `use_waypoints` decides how to handle a centerline. This flag enables to use the `overwriteLaneletsCenterlineWithWaypoints` function instead of `overwriteLaneletsCenterline`. Please see [the document of the autoware_lanelet2_extension package](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md#centerline) in detail. - ---- - -## lanelet2_map_visualization - -### Feature - -lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray. - -### How to Run - -`ros2 run map_loader lanelet2_map_visualization` - -### Subscribed Topics - -- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map - -### Published Topics - -- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz diff --git a/map/map_loader/config/lanelet2_map_loader.param.yaml b/map/autoware_map_loader/config/lanelet2_map_loader.param.yaml similarity index 100% rename from map/map_loader/config/lanelet2_map_loader.param.yaml rename to map/autoware_map_loader/config/lanelet2_map_loader.param.yaml diff --git a/map/map_loader/config/pointcloud_map_loader.param.yaml b/map/autoware_map_loader/config/pointcloud_map_loader.param.yaml similarity index 100% rename from map/map_loader/config/pointcloud_map_loader.param.yaml rename to map/autoware_map_loader/config/pointcloud_map_loader.param.yaml diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp similarity index 88% rename from map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp rename to map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp index 2d3fbfb2a140f..54d8244ff76e0 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp +++ b/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ -#define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ +#ifndef AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ +#define AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ #include #include @@ -28,6 +28,8 @@ #include #include +namespace autoware::map_loader +{ class Lanelet2MapLoaderNode : public rclcpp::Node { public: @@ -52,5 +54,6 @@ class Lanelet2MapLoaderNode : public rclcpp::Node sub_map_projector_info_; rclcpp::Publisher::SharedPtr pub_map_bin_; }; +} // namespace autoware::map_loader -#endif // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ +#endif // AUTOWARE__MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ diff --git a/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml b/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml new file mode 100644 index 0000000000000..48f92550fe404 --- /dev/null +++ b/map/autoware_map_loader/launch/lanelet2_map_loader.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/map/map_loader/launch/pointcloud_map_loader.launch.xml b/map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml similarity index 73% rename from map/map_loader/launch/pointcloud_map_loader.launch.xml rename to map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml index 3633a8fa39a6b..314b3082efff8 100644 --- a/map/map_loader/launch/pointcloud_map_loader.launch.xml +++ b/map/autoware_map_loader/launch/pointcloud_map_loader.launch.xml @@ -1,9 +1,9 @@ - + - + diff --git a/map/map_loader/package.xml b/map/autoware_map_loader/package.xml similarity index 94% rename from map/map_loader/package.xml rename to map/autoware_map_loader/package.xml index 54cfdcb2b07d3..15fc9fd13df64 100644 --- a/map/map_loader/package.xml +++ b/map/autoware_map_loader/package.xml @@ -1,9 +1,9 @@ - map_loader + autoware_map_loader 0.38.0 - The map_loader package + The autoware_map_loader package Yamato Ando Ryu Yamamoto Masahiro Sakamoto diff --git a/map/map_loader/schema/lanelet2_map_loader.schema.json b/map/autoware_map_loader/schema/lanelet2_map_loader.schema.json similarity index 100% rename from map/map_loader/schema/lanelet2_map_loader.schema.json rename to map/autoware_map_loader/schema/lanelet2_map_loader.schema.json diff --git a/map/map_loader/schema/pointcloud_map_loader.schema.json b/map/autoware_map_loader/schema/pointcloud_map_loader.schema.json similarity index 100% rename from map/map_loader/schema/pointcloud_map_loader.schema.json rename to map/autoware_map_loader/schema/pointcloud_map_loader.schema.json diff --git a/map/map_loader/script/map_hash_generator b/map/autoware_map_loader/script/map_hash_generator similarity index 100% rename from map/map_loader/script/map_hash_generator rename to map/autoware_map_loader/script/map_hash_generator diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp similarity index 64% rename from map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp rename to map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp index d73ec0d1ee06e..66b0231c01fd4 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp +++ b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_local_projector.hpp @@ -17,25 +17,24 @@ #include -namespace lanelet::projection +namespace autoware::map_loader { -class LocalProjector : public Projector +class LocalProjector : public lanelet::Projector { public: - LocalProjector() : Projector(Origin(GPSPoint{})) {} + LocalProjector() : Projector(lanelet::Origin(lanelet::GPSPoint{})) {} - BasicPoint3d forward(const GPSPoint & gps) const override // NOLINT + lanelet::BasicPoint3d forward(const lanelet::GPSPoint & gps) const override // NOLINT { - return BasicPoint3d{0.0, 0.0, gps.ele}; + return lanelet::BasicPoint3d{0.0, 0.0, gps.ele}; } - [[nodiscard]] GPSPoint reverse(const BasicPoint3d & point) const override + [[nodiscard]] lanelet::GPSPoint reverse(const lanelet::BasicPoint3d & point) const override { - return GPSPoint{0.0, 0.0, point.z()}; + return lanelet::GPSPoint{0.0, 0.0, point.z()}; } }; - -} // namespace lanelet::projection +} // namespace autoware::map_loader #endif // LANELET2_MAP_LOADER__LANELET2_LOCAL_PROJECTOR_HPP_ diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp similarity index 96% rename from map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp rename to map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index c2334d4589f27..ee1cc4a58a1be 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +++ b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp @@ -31,7 +31,7 @@ * */ -#include "map_loader/lanelet2_map_loader_node.hpp" +#include "autoware/map_loader/lanelet2_map_loader_node.hpp" #include "lanelet2_local_projector.hpp" @@ -52,6 +52,8 @@ #include #include +namespace autoware::map_loader +{ using autoware_map_msgs::msg::LaneletMapBin; using tier4_map_msgs::msg::MapProjectorInfo; @@ -145,7 +147,7 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map( return map; } } else { - const lanelet::projection::LocalProjector projector; + const autoware::map_loader::LocalProjector projector; lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors); if (!errors.empty()) { @@ -199,6 +201,7 @@ LaneletMapBin Lanelet2MapLoaderNode::create_map_bin_msg( return map_bin_msg; } +} // namespace autoware::map_loader #include -RCLCPP_COMPONENTS_REGISTER_NODE(Lanelet2MapLoaderNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_loader::Lanelet2MapLoaderNode) diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp similarity index 98% rename from map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp index da42389dcc69f..160c6f876138d 100644 --- a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp @@ -16,6 +16,8 @@ #include +namespace autoware::map_loader +{ DifferentialMapLoaderModule::DifferentialMapLoaderModule( rclcpp::Node * node, std::map pcd_file_metadata_dict) : logger_(node->get_logger()), all_pcd_file_metadata_dict_(std::move(pcd_file_metadata_dict)) @@ -89,3 +91,4 @@ DifferentialMapLoaderModule::load_point_cloud_map_cell_with_id( pointcloud_map_cell_with_id.cell_id = map_id; return pointcloud_map_cell_with_id; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp index 690ffeca653c8..5c51e7f6206d6 100644 --- a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.hpp @@ -32,6 +32,8 @@ #include #include +namespace autoware::map_loader +{ class DifferentialMapLoaderModule { using GetDifferentialPointCloudMap = autoware_map_msgs::srv::GetDifferentialPointCloudMap; @@ -55,5 +57,6 @@ class DifferentialMapLoaderModule [[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__DIFFERENTIAL_MAP_LOADER_MODULE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp similarity index 97% rename from map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp index 62e165dd1005b..afa3da7b82b2d 100644 --- a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp @@ -16,6 +16,8 @@ #include +namespace autoware::map_loader +{ PartialMapLoaderModule::PartialMapLoaderModule( rclcpp::Node * node, std::map pcd_file_metadata_dict) : logger_(node->get_logger()), all_pcd_file_metadata_dict_(std::move(pcd_file_metadata_dict)) @@ -76,3 +78,4 @@ PartialMapLoaderModule::load_point_cloud_map_cell_with_id( pointcloud_map_cell_with_id.cell_id = map_id; return pointcloud_map_cell_with_id; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp index ec97661366419..6660c56ade759 100644 --- a/map/map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.hpp @@ -32,6 +32,8 @@ #include #include +namespace autoware::map_loader +{ class PartialMapLoaderModule { using GetPartialPointCloudMap = autoware_map_msgs::srv::GetPartialPointCloudMap; @@ -55,5 +57,6 @@ class PartialMapLoaderModule [[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__PARTIAL_MAP_LOADER_MODULE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp similarity index 97% rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp index 1754d0b7629a2..0b6521f69ca09 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp @@ -21,6 +21,8 @@ #include #include +namespace autoware::map_loader +{ sensor_msgs::msg::PointCloud2 downsample( const sensor_msgs::msg::PointCloud2 & msg_input, const float leaf_size) { @@ -99,3 +101,4 @@ sensor_msgs::msg::PointCloud2 PointcloudMapLoaderModule::load_pcd_files( return whole_pcd; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp similarity index 95% rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp index 44f23ded70e37..59145265ecdb4 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp @@ -28,6 +28,8 @@ #include #include +namespace autoware::map_loader +{ class PointcloudMapLoaderModule { public: @@ -42,5 +44,6 @@ class PointcloudMapLoaderModule [[nodiscard]] sensor_msgs::msg::PointCloud2 load_pcd_files( const std::vector & pcd_paths, const boost::optional leaf_size) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_MODULE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp similarity index 97% rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp index c718b25c56694..2500d96650ae3 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp @@ -24,6 +24,8 @@ #include #include +namespace autoware::map_loader +{ namespace fs = std::filesystem; namespace @@ -145,6 +147,7 @@ std::vector PointCloudMapLoaderNode::get_pcd_paths( } return pcd_paths; } +} // namespace autoware::map_loader #include -RCLCPP_COMPONENTS_REGISTER_NODE(PointCloudMapLoaderNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_loader::PointCloudMapLoaderNode) diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp index dbc0d584d347b..251575d7d6424 100644 --- a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp @@ -33,6 +33,8 @@ #include #include +namespace autoware::map_loader +{ class PointCloudMapLoaderNode : public rclcpp::Node { public: @@ -50,5 +52,6 @@ class PointCloudMapLoaderNode : public rclcpp::Node std::map get_pcd_metadata( const std::string & pcd_metadata_path, const std::vector & pcd_paths) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_NODE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp similarity index 98% rename from map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp index 76b56341b8632..082d1f545dc14 100644 --- a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp @@ -15,7 +15,8 @@ #include "selected_map_loader_module.hpp" #include -namespace + +namespace autoware::map_loader { autoware_map_msgs::msg::PointCloudMapMetaData create_metadata( const std::map & pcd_file_metadata_dict) @@ -42,7 +43,6 @@ autoware_map_msgs::msg::PointCloudMapMetaData create_metadata( return metadata_msg; } -} // namespace SelectedMapLoaderModule::SelectedMapLoaderModule( rclcpp::Node * node, std::map pcd_file_metadata_dict) @@ -107,3 +107,4 @@ SelectedMapLoaderModule::load_point_cloud_map_cell_with_id( pointcloud_map_cell_with_id.cell_id = map_id; return pointcloud_map_cell_with_id; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp index eea8b8c1950ae..bc07543d7a6be 100644 --- a/map/map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.hpp @@ -33,6 +33,8 @@ #include #include +namespace autoware::map_loader +{ class SelectedMapLoaderModule { using GetSelectedPointCloudMap = autoware_map_msgs::srv::GetSelectedPointCloudMap; @@ -55,5 +57,6 @@ class SelectedMapLoaderModule [[nodiscard]] autoware_map_msgs::msg::PointCloudMapCellWithID load_point_cloud_map_cell_with_id( const std::string & path, const std::string & map_id) const; }; +} // namespace autoware::map_loader #endif // POINTCLOUD_MAP_LOADER__SELECTED_MAP_LOADER_MODULE_HPP_ diff --git a/map/map_loader/src/pointcloud_map_loader/utils.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp similarity index 98% rename from map/map_loader/src/pointcloud_map_loader/utils.cpp rename to map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp index ea2c2e7033014..172d462947548 100644 --- a/map/map_loader/src/pointcloud_map_loader/utils.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp @@ -20,6 +20,8 @@ #include #include +namespace autoware::map_loader +{ std::map load_pcd_metadata(const std::string & pcd_metadata_path) { YAML::Node config = YAML::LoadFile(pcd_metadata_path); @@ -107,3 +109,4 @@ bool is_grid_within_queried_area( cylinder_and_box_overlap_exists(center_x, center_y, radius, metadata.min, metadata.max); return res; } +} // namespace autoware::map_loader diff --git a/map/map_loader/src/pointcloud_map_loader/utils.hpp b/map/autoware_map_loader/src/pointcloud_map_loader/utils.hpp similarity index 96% rename from map/map_loader/src/pointcloud_map_loader/utils.hpp rename to map/autoware_map_loader/src/pointcloud_map_loader/utils.hpp index 07e8ade5c6f7c..7a3cec7fcc14a 100644 --- a/map/map_loader/src/pointcloud_map_loader/utils.hpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/utils.hpp @@ -26,6 +26,8 @@ #include #include +namespace autoware::map_loader +{ struct PCDFileMetadata { pcl::PointXYZ min; @@ -48,4 +50,6 @@ bool cylinder_and_box_overlap_exists( bool is_grid_within_queried_area( const autoware_map_msgs::msg::AreaInfo area, const PCDFileMetadata metadata); +} // namespace autoware::map_loader + #endif // POINTCLOUD_MAP_LOADER__UTILS_HPP_ diff --git a/map/map_loader/test/data/test_map.osm b/map/autoware_map_loader/test/data/test_map.osm similarity index 100% rename from map/map_loader/test/data/test_map.osm rename to map/autoware_map_loader/test/data/test_map.osm diff --git a/map/map_loader/test/lanelet2_map_loader_launch.test.py b/map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py similarity index 91% rename from map/map_loader/test/lanelet2_map_loader_launch.test.py rename to map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py index 0a29a74e90b06..14f05b1938b61 100644 --- a/map/map_loader/test/lanelet2_map_loader_launch.test.py +++ b/map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py @@ -28,12 +28,12 @@ @pytest.mark.launch_test def generate_test_description(): lanelet2_map_path = os.path.join( - get_package_share_directory("map_loader"), "test/data/test_map.osm" + get_package_share_directory("autoware_map_loader"), "test/data/test_map.osm" ) lanelet2_map_loader = Node( - package="map_loader", - executable="lanelet2_map_loader", + package="autoware_map_loader", + executable="autoware_lanelet2_map_loader", parameters=[ { "lanelet2_map_path": lanelet2_map_path, diff --git a/map/map_loader/test/test_cylinder_box_overlap.cpp b/map/autoware_map_loader/test/test_cylinder_box_overlap.cpp similarity index 97% rename from map/map_loader/test/test_cylinder_box_overlap.cpp rename to map/autoware_map_loader/test/test_cylinder_box_overlap.cpp index d8ca2ca9f8734..6ab0c0a309be0 100644 --- a/map/map_loader/test/test_cylinder_box_overlap.cpp +++ b/map/autoware_map_loader/test/test_cylinder_box_overlap.cpp @@ -16,6 +16,8 @@ #include +using autoware::map_loader::cylinder_and_box_overlap_exists; + TEST(CylinderAndBoxOverlapExists, NoOverlap) { // Cylinder: center = (5, 0), radius = 4 - 0.1 diff --git a/map/map_loader/test/test_differential_map_loader_module.cpp b/map/autoware_map_loader/test/test_differential_map_loader_module.cpp similarity index 94% rename from map/map_loader/test/test_differential_map_loader_module.cpp rename to map/autoware_map_loader/test/test_differential_map_loader_module.cpp index e25a8f97a70ca..cd9b670b32fd3 100644 --- a/map/map_loader/test/test_differential_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_differential_map_loader_module.cpp @@ -23,6 +23,7 @@ #include +using autoware::map_loader::DifferentialMapLoaderModule; using autoware_map_msgs::srv::GetDifferentialPointCloudMap; class TestDifferentialMapLoaderModule : public ::testing::Test @@ -45,8 +46,8 @@ class TestDifferentialMapLoaderModule : public ::testing::Test pcl::io::savePCDFileASCII("/tmp/dummy.pcd", dummy_cloud); // Generate a sample dummy pointcloud metadata dictionary - std::map dummy_metadata_dict; - PCDFileMetadata dummy_metadata; + std::map dummy_metadata_dict; + autoware::map_loader::PCDFileMetadata dummy_metadata; dummy_metadata.min = pcl::PointXYZ(-1.0, -1.0, -1.0); dummy_metadata.max = pcl::PointXYZ(1.0, 1.0, 1.0); dummy_metadata_dict["/tmp/dummy.pcd"] = dummy_metadata; diff --git a/map/map_loader/test/test_load_pcd_metadata.cpp b/map/autoware_map_loader/test/test_load_pcd_metadata.cpp similarity index 90% rename from map/map_loader/test/test_load_pcd_metadata.cpp rename to map/autoware_map_loader/test/test_load_pcd_metadata.cpp index fcec100f389c5..dc23c3a9fb2d6 100644 --- a/map/map_loader/test/test_load_pcd_metadata.cpp +++ b/map/autoware_map_loader/test/test_load_pcd_metadata.cpp @@ -39,12 +39,12 @@ TEST(LoadPCDMetadataTest, BasicFunctionality) { std::string yaml_file_path = create_yaml_file(); - std::map expected = { + std::map expected = { {"file1.pcd", {{1, 2, 0}, {6, 8, 0}}}, {"file2.pcd", {{3, 4, 0}, {8, 10, 0}}}, }; - auto result = load_pcd_metadata(yaml_file_path); + auto result = autoware::map_loader::load_pcd_metadata(yaml_file_path); ASSERT_THAT(result, ContainerEq(expected)); } diff --git a/map/map_loader/test/test_partial_map_loader_module.cpp b/map/autoware_map_loader/test/test_partial_map_loader_module.cpp similarity index 94% rename from map/map_loader/test/test_partial_map_loader_module.cpp rename to map/autoware_map_loader/test/test_partial_map_loader_module.cpp index 9ff27df29ab8b..fd25b600c81af 100644 --- a/map/map_loader/test/test_partial_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_partial_map_loader_module.cpp @@ -22,6 +22,7 @@ #include +using autoware::map_loader::PartialMapLoaderModule; using autoware_map_msgs::srv::GetPartialPointCloudMap; class TestPartialMapLoaderModule : public ::testing::Test @@ -44,8 +45,8 @@ class TestPartialMapLoaderModule : public ::testing::Test pcl::io::savePCDFileASCII("/tmp/dummy.pcd", dummy_cloud); // Generate a sample dummy pointcloud metadata dictionary - std::map dummy_metadata_dict; - PCDFileMetadata dummy_metadata; + std::map dummy_metadata_dict; + autoware::map_loader::PCDFileMetadata dummy_metadata; dummy_metadata.min = pcl::PointXYZ(-1.0, -1.0, -1.0); dummy_metadata.max = pcl::PointXYZ(1.0, 1.0, 1.0); dummy_metadata_dict["/tmp/dummy.pcd"] = dummy_metadata; diff --git a/map/map_loader/test/test_pointcloud_map_loader_module.cpp b/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp similarity index 96% rename from map/map_loader/test/test_pointcloud_map_loader_module.cpp rename to map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp index 5667f476b4dab..d61839d5abfc8 100644 --- a/map/map_loader/test/test_pointcloud_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp @@ -65,7 +65,8 @@ TEST_F(TestPointcloudMapLoaderModule, LoadPCDFilesNoDownsampleTest) std::vector pcd_paths = {temp_pcd_path}; // Create PointcloudMapLoaderModule instance - PointcloudMapLoaderModule loader(node.get(), pcd_paths, "pointcloud_map_no_downsample", false); + autoware::map_loader::PointcloudMapLoaderModule loader( + node.get(), pcd_paths, "pointcloud_map_no_downsample", false); // Create a subscriber to the published pointcloud topic auto pointcloud_received = std::make_shared(false); diff --git a/map/map_loader/test/test_replace_with_absolute_path.cpp b/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp similarity index 95% rename from map/map_loader/test/test_replace_with_absolute_path.cpp rename to map/autoware_map_loader/test/test_replace_with_absolute_path.cpp index 03d533d41cf18..e8ccfbd5fb9f4 100644 --- a/map/map_loader/test/test_replace_with_absolute_path.cpp +++ b/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp @@ -17,6 +17,8 @@ #include #include +using autoware::map_loader::PCDFileMetadata; +using autoware::map_loader::replace_with_absolute_path; using ::testing::ContainerEq; TEST(ReplaceWithAbsolutePathTest, BasicFunctionality) diff --git a/map/autoware_map_projection_loader/README.md b/map/autoware_map_projection_loader/README.md index 11246c092231e..2568bb2c17df7 100644 --- a/map/autoware_map_projection_loader/README.md +++ b/map/autoware_map_projection_loader/README.md @@ -11,7 +11,7 @@ This is necessary information especially when you want to convert from global (g ## Map projector info file specification -You need to provide a YAML file, namely `map_projector_info.yaml` under the `map_path` directory. For `pointcloud_map_metadata.yaml`, please refer to the Readme of `map_loader`. +You need to provide a YAML file, namely `map_projector_info.yaml` under the `map_path` directory. For `pointcloud_map_metadata.yaml`, please refer to the Readme of `autoware_map_loader`. ```bash sample-map-rosbag diff --git a/map/map_loader/launch/lanelet2_map_loader.launch.xml b/map/map_loader/launch/lanelet2_map_loader.launch.xml deleted file mode 100644 index 5baee911d6572..0000000000000 --- a/map/map_loader/launch/lanelet2_map_loader.launch.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml index 38379a52e4c92..b897cf4d88711 100644 --- a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml +++ b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml @@ -20,7 +20,7 @@ - + autoware_geography_utils autoware_interpolation autoware_lanelet2_extension + autoware_map_loader autoware_map_msgs autoware_map_projection_loader autoware_mission_planner @@ -33,7 +34,6 @@ autoware_vehicle_info_utils geometry_msgs global_parameter_loader - map_loader rclcpp rclcpp_components tier4_map_msgs diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index a6ba007e71485..398edc215da3e 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -15,6 +15,7 @@ #include "static_centerline_generator_node.hpp" #include "autoware/interpolation/spline_interpolation_points_2d.hpp" +#include "autoware/map_loader/lanelet2_map_loader_node.hpp" #include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" #include "autoware/map_projection_loader/map_projection_loader.hpp" #include "autoware/motion_utils/resample/resample.hpp" @@ -26,7 +27,6 @@ #include "autoware_lanelet2_extension/utility/utilities.hpp" #include "autoware_static_centerline_generator/msg/points_with_lane_id.hpp" #include "centerline_source/bag_ego_trajectory_based_centerline.hpp" -#include "map_loader/lanelet2_map_loader_node.hpp" #include "type_alias.hpp" #include "utils.hpp" @@ -358,24 +358,24 @@ void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_ // load map map_projector_info_ = std::make_unique( autoware::map_projection_loader::load_info_from_lanelet2_map(lanelet2_input_file_path)); - const auto map_ptr = - Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, *map_projector_info_); + const auto map_ptr = autoware::map_loader::Lanelet2MapLoaderNode::load_map( + lanelet2_input_file_path, *map_projector_info_); if (!map_ptr) { return nullptr; } // NOTE: The original map is stored here since the centerline will be added to all the // lanelet when lanelet::utils::overwriteLaneletCenterline is called. - original_map_ptr_ = - Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, *map_projector_info_); + original_map_ptr_ = autoware::map_loader::Lanelet2MapLoaderNode::load_map( + lanelet2_input_file_path, *map_projector_info_); // overwrite more dense centerline // NOTE: overwriteLaneletsCenterlineWithWaypoints is used only in real time calculation. lanelet::utils::overwriteLaneletsCenterline(map_ptr, 5.0, false); // create map bin msg - const auto map_bin_msg = - Lanelet2MapLoaderNode::create_map_bin_msg(map_ptr, lanelet2_input_file_path, now()); + const auto map_bin_msg = autoware::map_loader::Lanelet2MapLoaderNode::create_map_bin_msg( + map_ptr, lanelet2_input_file_path, now()); return std::make_shared(map_bin_msg); }(); diff --git a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py index 4bb0630d13942..ca2621212ef83 100644 --- a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py +++ b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py @@ -71,7 +71,7 @@ def generate_test_description(): "config/path_optimizer.param.yaml", ), os.path.join( - get_package_share_directory("map_loader"), + get_package_share_directory("autoware_map_loader"), "config/lanelet2_map_loader.param.yaml", ), os.path.join( From d813446fba229d393fe157e166531e269dff6c7e Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 18 Nov 2024 20:23:25 +0900 Subject: [PATCH 461/701] perf(static_obstacle_avoidance): remove redundant calculation related to lanelet functions (#9355) * add traffic light distance and modified goal allowance to avoidance data Signed-off-by: Go Sakayori * add closest lanelet related variable to avoidanceData structure Signed-off-by: Go Sakayori * use route handler for checking closest lanelet Signed-off-by: Go Sakayori * use std::optional Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori --- .../data_structs.hpp | 7 ++++ .../helper.hpp | 8 ++-- .../utils.hpp | 11 +++--- .../src/scene.cpp | 28 ++++++++----- .../src/utils.cpp | 39 ++++++++----------- 5 files changed, 53 insertions(+), 40 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp index 52916275eeb5d..732a364db8e06 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp @@ -27,6 +27,7 @@ #include #include +#include #include #include #include @@ -594,6 +595,12 @@ struct AvoidancePlanningData double to_return_point{std::numeric_limits::max()}; + std::optional distance_to_red_traffic_light{std::nullopt}; + + std::optional closest_lanelet{std::nullopt}; + + bool is_allowed_goal_modification{false}; + bool request_operator{false}; }; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp index be6ca8bb9812d..1575d764fffd0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp @@ -212,7 +212,8 @@ class AvoidanceHelper : std::max(shift_length, getRightShiftBound()); } - double getForwardDetectionRange() const + double getForwardDetectionRange( + const std::optional & closest_lanelet) const { if (parameters_->use_static_detection_area) { return parameters_->object_check_max_forward_distance; @@ -220,12 +221,11 @@ class AvoidanceHelper const auto & route_handler = data_->route_handler; - lanelet::ConstLanelet closest_lane; - if (!route_handler->getClosestLaneletWithinRoute(getEgoPose(), &closest_lane)) { + if (!closest_lanelet.has_value()) { return parameters_->object_check_max_forward_distance; } - const auto limit = route_handler->getTrafficRulesPtr()->speedLimit(closest_lane); + const auto limit = route_handler->getTrafficRulesPtr()->speedLimit(closest_lanelet.value()); const auto speed = isShifted() ? limit.speedLimit.value() : getEgoSpeed(); const auto max_shift_length = std::max( diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp index 56d1a93ea1799..9509b9954304d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp @@ -54,7 +54,8 @@ double calcShiftLength( const bool & is_object_on_right, const double & overhang_dist, const double & avoid_margin); bool isWithinLanes( - const lanelet::ConstLanelets & lanelets, const std::shared_ptr & planner_data); + const std::optional & closest_lanelet, + const std::shared_ptr & planner_data); /** * @brief check if the ego has to shift driving position. @@ -261,12 +262,12 @@ DrivableLanes generateExpandedDrivableLanes( double calcDistanceToReturnDeadLine( const lanelet::ConstLanelets & lanelets, const PathWithLaneId & path, const std::shared_ptr & planner_data, - const std::shared_ptr & parameters); + const std::shared_ptr & parameters, + const std::optional distance_to_red_traffic, const bool is_allowed_goal_modification); double calcDistanceToAvoidStartLine( - const lanelet::ConstLanelets & lanelets, const PathWithLaneId & path, - const std::shared_ptr & planner_data, - const std::shared_ptr & parameters); + const lanelet::ConstLanelets & lanelets, const std::shared_ptr & parameters, + const std::optional distance_to_red_traffic); /** * @brief calculate error eclipse radius based on object pose covariance. diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 01922a16e8a49..13ef46f9f531f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -32,6 +32,7 @@ #include #include #include +#include #include #include #include @@ -210,9 +211,13 @@ void StaticObstacleAvoidanceModule::fillFundamentalData( data.extend_lanelets = utils::static_obstacle_avoidance::getExtendLanes( data.current_lanelets, getEgoPose(), planner_data_); + lanelet::ConstLanelet closest_lanelet{}; + if (planner_data_->route_handler->getClosestLaneletWithinRoute(getEgoPose(), &closest_lanelet)) + data.closest_lanelet = closest_lanelet; + // expand drivable lanes const auto is_within_current_lane = - utils::static_obstacle_avoidance::isWithinLanes(data.current_lanelets, planner_data_); + utils::static_obstacle_avoidance::isWithinLanes(data.closest_lanelet, planner_data_); const auto red_signal_lane_itr = std::find_if( data.current_lanelets.begin(), data.current_lanelets.end(), [&](const auto & lanelet) { if (utils::traffic_light::isTrafficSignalStop({lanelet}, planner_data_)) { @@ -285,11 +290,17 @@ void StaticObstacleAvoidanceModule::fillFundamentalData( data.reference_path, 0, data.reference_path.points.size(), autoware::motion_utils::calcSignedArcLength(data.reference_path.points, getEgoPosition(), 0)); + data.is_allowed_goal_modification = + utils::isAllowedGoalModification(planner_data_->route_handler); + data.distance_to_red_traffic_light = utils::traffic_light::calcDistanceToRedTrafficLight( + data.current_lanelets, data.reference_path_rough, planner_data_); + data.to_return_point = utils::static_obstacle_avoidance::calcDistanceToReturnDeadLine( - data.current_lanelets, data.reference_path_rough, planner_data_, parameters_); + data.current_lanelets, data.reference_path_rough, planner_data_, parameters_, + data.distance_to_red_traffic_light, data.is_allowed_goal_modification); data.to_start_point = utils::static_obstacle_avoidance::calcDistanceToAvoidStartLine( - data.current_lanelets, data.reference_path_rough, planner_data_, parameters_); + data.current_lanelets, parameters_, data.distance_to_red_traffic_light); // filter only for the latest detected objects. fillAvoidanceTargetObjects(data, debug); @@ -323,17 +334,16 @@ void StaticObstacleAvoidanceModule::fillAvoidanceTargetObjects( using utils::static_obstacle_avoidance::filterTargetObjects; using utils::static_obstacle_avoidance::separateObjectsByPath; using utils::static_obstacle_avoidance::updateRoadShoulderDistance; - using utils::traffic_light::calcDistanceToRedTrafficLight; // Separate dynamic objects based on whether they are inside or outside of the expanded lanelets. constexpr double MARGIN = 10.0; const auto forward_detection_range = [&]() { - const auto to_traffic_light = calcDistanceToRedTrafficLight( - data.current_lanelets, helper_->getPreviousReferencePath(), planner_data_); - if (!to_traffic_light.has_value()) { - return helper_->getForwardDetectionRange(); + if (!data.distance_to_red_traffic_light.has_value()) { + return helper_->getForwardDetectionRange(data.closest_lanelet); } - return std::min(helper_->getForwardDetectionRange(), to_traffic_light.value()); + return std::min( + helper_->getForwardDetectionRange(data.closest_lanelet), + data.distance_to_red_traffic_light.value()); }(); const auto [object_within_target_lane, object_outside_target_lane] = separateObjectsByPath( diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index 84978286a96c6..cc036b687b105 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -35,6 +35,7 @@ #include #include #include +#include #include #include @@ -1161,7 +1162,8 @@ double calcShiftLength( } bool isWithinLanes( - const lanelet::ConstLanelets & lanelets, const std::shared_ptr & planner_data) + const std::optional & closest_lanelet, + const std::shared_ptr & planner_data) { const auto & rh = planner_data->route_handler; const auto & ego_pose = planner_data->self_odometry->pose.pose; @@ -1169,8 +1171,7 @@ bool isWithinLanes( const auto footprint = autoware::universe_utils::transformVector( planner_data->parameters.vehicle_info.createFootprint(), transform); - lanelet::ConstLanelet closest_lanelet{}; - if (!lanelet::utils::query::getClosestLanelet(lanelets, ego_pose, &closest_lanelet)) { + if (!closest_lanelet.has_value()) { return true; } @@ -1178,18 +1179,18 @@ bool isWithinLanes( // push previous lanelet lanelet::ConstLanelets prev_lanelet; - if (rh->getPreviousLaneletsWithinRoute(closest_lanelet, &prev_lanelet)) { + if (rh->getPreviousLaneletsWithinRoute(closest_lanelet.value(), &prev_lanelet)) { concat_lanelets.push_back(prev_lanelet.front()); } // push nearest lanelet { - concat_lanelets.push_back(closest_lanelet); + concat_lanelets.push_back(closest_lanelet.value()); } // push next lanelet lanelet::ConstLanelet next_lanelet; - if (rh->getNextLaneletWithinRoute(closest_lanelet, &next_lanelet)) { + if (rh->getNextLaneletWithinRoute(closest_lanelet.value(), &next_lanelet)) { concat_lanelets.push_back(next_lanelet); } @@ -1950,13 +1951,11 @@ void filterTargetObjects( ? autoware::motion_utils::calcSignedArcLength( data.reference_path_rough.points, ego_idx, data.reference_path_rough.points.size() - 1) : std::numeric_limits::max(); - const auto & is_allowed_goal_modification = - utils::isAllowedGoalModification(planner_data->route_handler); for (auto & o : objects) { if (!filtering_utils::isSatisfiedWithCommonCondition( o, data.reference_path_rough, forward_detection_range, to_goal_distance, - planner_data->self_odometry->pose.pose.position, is_allowed_goal_modification, + planner_data->self_odometry->pose.pose.position, data.is_allowed_goal_modification, parameters)) { data.other_objects.push_back(o); continue; @@ -2556,9 +2555,8 @@ DrivableLanes generateExpandedDrivableLanes( } double calcDistanceToAvoidStartLine( - const lanelet::ConstLanelets & lanelets, const PathWithLaneId & path, - const std::shared_ptr & planner_data, - const std::shared_ptr & parameters) + const lanelet::ConstLanelets & lanelets, const std::shared_ptr & parameters, + const std::optional distance_to_red_traffic) { if (lanelets.empty()) { return std::numeric_limits::lowest(); @@ -2568,11 +2566,10 @@ double calcDistanceToAvoidStartLine( // dead line stop factor(traffic light) if (parameters->enable_dead_line_for_traffic_light) { - const auto to_traffic_light = calcDistanceToRedTrafficLight(lanelets, path, planner_data); - if (to_traffic_light.has_value()) { + if (distance_to_red_traffic.has_value()) { distance_to_return_dead_line = std::max( distance_to_return_dead_line, - to_traffic_light.value() + parameters->dead_line_buffer_for_traffic_light); + distance_to_red_traffic.value() + parameters->dead_line_buffer_for_traffic_light); } } @@ -2582,7 +2579,8 @@ double calcDistanceToAvoidStartLine( double calcDistanceToReturnDeadLine( const lanelet::ConstLanelets & lanelets, const PathWithLaneId & path, const std::shared_ptr & planner_data, - const std::shared_ptr & parameters) + const std::shared_ptr & parameters, + const std::optional distance_to_red_traffic, const bool is_allowed_goal_modification) { if (lanelets.empty()) { return std::numeric_limits::max(); @@ -2592,18 +2590,15 @@ double calcDistanceToReturnDeadLine( // dead line stop factor(traffic light) if (parameters->enable_dead_line_for_traffic_light) { - const auto to_traffic_light = calcDistanceToRedTrafficLight(lanelets, path, planner_data); - if (to_traffic_light.has_value()) { + if (distance_to_red_traffic.has_value()) { distance_to_return_dead_line = std::min( distance_to_return_dead_line, - to_traffic_light.value() - parameters->dead_line_buffer_for_traffic_light); + distance_to_red_traffic.value() - parameters->dead_line_buffer_for_traffic_light); } } // dead line for goal - if ( - !utils::isAllowedGoalModification(planner_data->route_handler) && - parameters->enable_dead_line_for_goal) { + if (!is_allowed_goal_modification && parameters->enable_dead_line_for_goal) { if (planner_data->route_handler->isInGoalRouteSection(lanelets.back())) { const auto & ego_pos = planner_data->self_odometry->pose.pose.position; const auto to_goal_distance = From 2a2bffa96c8706b490b87dafaab57f4778566acf Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 18 Nov 2024 20:38:52 +0900 Subject: [PATCH 462/701] feat(goal_planner): move goal_candidates from ThreadSafeData to GoalPlannerData (#9292) Signed-off-by: Mamoru Sobue --- .../goal_planner_module.hpp | 8 ++- .../thread_data.hpp | 6 +- .../src/goal_planner_module.cpp | 61 ++++++++++--------- 3 files changed, 40 insertions(+), 35 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index e8c82c0a4600b..2edd0714eceff 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -233,6 +233,8 @@ class GoalPlannerModule : public SceneModuleInterface ModuleStatus current_status; BehaviorModuleOutput previous_module_output; BehaviorModuleOutput last_previous_module_output; // occupancy_grid_map; @@ -244,7 +246,8 @@ class GoalPlannerModule : public SceneModuleInterface void update( const GoalPlannerParameters & parameters, const PlannerData & planner_data, const ModuleStatus & current_status, const BehaviorModuleOutput & previous_module_output, - const autoware::universe_utils::LinearRing2d & vehicle_footprint); + const autoware::universe_utils::LinearRing2d & vehicle_footprint, + const GoalCandidates & goal_candidates); private: void initializeOccupancyGridMap( @@ -309,6 +312,7 @@ class GoalPlannerModule : public SceneModuleInterface // goal searcher std::shared_ptr goal_searcher_; + GoalCandidates goal_candidates_{}; // NOTE: this is latest occupancy_grid_map pointer which the local planner_data on // onFreespaceParkingTimer thread storage may point to while calculation. @@ -409,7 +413,7 @@ class GoalPlannerModule : public SceneModuleInterface // freespace parking bool planFreespacePath( std::shared_ptr planner_data, - const std::shared_ptr goal_searcher, + const std::shared_ptr goal_searcher, const GoalCandidates & goal_candidates, const std::shared_ptr occupancy_grid_map); bool canReturnToLaneParking(const PullOverContextData & context_data); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp index a0d5d40d8c8d5..9df48fb5f0a5f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp @@ -106,7 +106,6 @@ class ThreadSafeData const std::lock_guard lock(mutex_); pull_over_path_ = nullptr; pull_over_path_candidates_.clear(); - goal_candidates_.clear(); last_path_update_time_ = std::nullopt; closest_start_pose_ = std::nullopt; prev_data_ = PathDecisionState{}; @@ -115,6 +114,7 @@ class ThreadSafeData // main --> lane/freespace DEFINE_SETTER_GETTER_WITH_MUTEX(PredictedObjects, static_target_objects) DEFINE_SETTER_GETTER_WITH_MUTEX(PredictedObjects, dynamic_target_objects) + // main --> lane DEFINE_SETTER_GETTER_WITH_MUTEX(PathDecisionState, prev_data) @@ -125,8 +125,6 @@ class ThreadSafeData // main <--> lane/freespace DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, pull_over_path) DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_update_time) - - DEFINE_SETTER_GETTER_WITH_MUTEX(GoalCandidates, goal_candidates) DEFINE_SETTER_GETTER_WITH_MUTEX( utils::path_safety_checker::CollisionCheckDebugMap, collision_check) @@ -144,7 +142,6 @@ class ThreadSafeData last_path_update_time_ = clock_->now(); } - void set_no_lock(const GoalCandidates & arg) { goal_candidates_ = arg; } void set_no_lock(const std::vector & arg) { pull_over_path_candidates_ = arg; } void set_no_lock(const std::shared_ptr & arg) { set_pull_over_path_no_lock(arg); } void set_no_lock(const PullOverPath & arg) { set_pull_over_path_no_lock(arg); } @@ -155,7 +152,6 @@ class ThreadSafeData std::shared_ptr pull_over_path_{nullptr}; std::vector pull_over_path_candidates_; - GoalCandidates goal_candidates_{}; std::optional last_path_update_time_; std::optional closest_start_pose_{}; utils::path_safety_checker::CollisionCheckDebugMap collision_check_{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 4204d8177c5b1..f8a35134e0407 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -210,6 +210,7 @@ void GoalPlannerModule::onTimer() std::optional last_previous_module_output_opt{std::nullopt}; std::shared_ptr occupancy_grid_map{nullptr}; std::optional parameters_opt{std::nullopt}; + std::optional goal_candidates_opt{std::nullopt}; // begin of critical section { @@ -222,12 +223,14 @@ void GoalPlannerModule::onTimer() last_previous_module_output_opt = gp_planner_data.last_previous_module_output; occupancy_grid_map = gp_planner_data.occupancy_grid_map; parameters_opt = gp_planner_data.parameters; + goal_candidates_opt = gp_planner_data.goal_candidates; } } // end of critical section if ( !local_planner_data || !current_status_opt || !previous_module_output_opt || - !last_previous_module_output_opt || !occupancy_grid_map || !parameters_opt) { + !last_previous_module_output_opt || !occupancy_grid_map || !parameters_opt || + !goal_candidates_opt) { RCLCPP_ERROR( getLogger(), "failed to get valid " @@ -239,13 +242,14 @@ void GoalPlannerModule::onTimer() const auto & previous_module_output = previous_module_output_opt.value(); const auto & last_previous_module_output = last_previous_module_output_opt.value(); const auto & parameters = parameters_opt.value(); + const auto & goal_candidates = goal_candidates_opt.value(); if (current_status == ModuleStatus::IDLE) { return; } // goals are not yet available. - if (thread_safe_data_.get_goal_candidates().empty()) { + if (goal_candidates.empty()) { return; } @@ -296,8 +300,6 @@ void GoalPlannerModule::onTimer() return; } - const auto goal_candidates = thread_safe_data_.get_goal_candidates(); - // generate valid pull over path candidates and calculate closest start pose const auto current_lanes = utils::getExtendedCurrentLanes( local_planner_data, parameters.backward_goal_search_length, @@ -376,6 +378,7 @@ void GoalPlannerModule::onFreespaceParkingTimer() std::shared_ptr occupancy_grid_map{nullptr}; std::optional parameters_opt{std::nullopt}; std::optional vehicle_footprint_opt{std::nullopt}; + std::optional goal_candidates_opt{std::nullopt}; // begin of critical section { @@ -387,10 +390,13 @@ void GoalPlannerModule::onFreespaceParkingTimer() occupancy_grid_map = gp_planner_data.occupancy_grid_map; parameters_opt = gp_planner_data.parameters; vehicle_footprint_opt = gp_planner_data.vehicle_footprint; + goal_candidates_opt = gp_planner_data.goal_candidates; } } // end of critical section - if (!local_planner_data || !current_status_opt || !parameters_opt || !vehicle_footprint_opt) { + if ( + !local_planner_data || !current_status_opt || !parameters_opt || !vehicle_footprint_opt || + !goal_candidates_opt) { RCLCPP_ERROR( getLogger(), "failed to get valid planner_data/current_status/parameters in " @@ -401,6 +407,7 @@ void GoalPlannerModule::onFreespaceParkingTimer() const auto & current_status = current_status_opt.value(); const auto & parameters = parameters_opt.value(); const auto & vehicle_footprint = vehicle_footprint_opt.value(); + const auto & goal_candidates = goal_candidates_opt.value(); if (current_status == ModuleStatus::IDLE) { return; @@ -440,7 +447,7 @@ void GoalPlannerModule::onFreespaceParkingTimer() parameters)) { auto goal_searcher = std::make_shared(parameters, vehicle_footprint); - planFreespacePath(local_planner_data, goal_searcher, occupancy_grid_map); + planFreespacePath(local_planner_data, goal_searcher, goal_candidates, occupancy_grid_map); } } @@ -501,6 +508,11 @@ void GoalPlannerModule::updateData() thread_safe_data_.set_static_target_objects(static_target_objects); thread_safe_data_.set_dynamic_target_objects(dynamic_target_objects); + // update goal searcher and generate goal candidates + if (goal_candidates_.empty()) { + goal_candidates_ = generateGoalCandidates(); + } + // In PlannerManager::run(), it calls SceneModuleInterface::setData and // SceneModuleInterface::setPreviousModuleOutput before module_ptr->run(). // Then module_ptr->run() invokes GoalPlannerModule::updateData and then @@ -526,7 +538,7 @@ void GoalPlannerModule::updateData() // and if these two coincided, only the reference count is affected gp_planner_data.update( *parameters_, *planner_data_, getCurrentStatus(), getPreviousModuleOutput(), - vehicle_footprint_); + vehicle_footprint_, goal_candidates_); // NOTE: RouteHandler holds several shared pointers in it, so just copying PlannerData as // value does not adds the reference counts of RouteHandler.lanelet_map_ptr_ and others. Since // behavior_path_planner::run() updates @@ -586,11 +598,6 @@ void GoalPlannerModule::updateData() thread_safe_data_.get_pull_over_path_candidates(), prev_decision_state); auto & ctx_data = context_data_.value(); - // update goal searcher and generate goal candidates - if (thread_safe_data_.get_goal_candidates().empty()) { - thread_safe_data_.set_goal_candidates(generateGoalCandidates()); - } - thread_safe_data_.set_prev_data(path_decision_controller_.get_current_state()); if (!isActivated()) { @@ -760,15 +767,13 @@ double GoalPlannerModule::calcModuleRequestLength() const bool GoalPlannerModule::planFreespacePath( std::shared_ptr planner_data, - const std::shared_ptr goal_searcher, + const std::shared_ptr goal_searcher, const GoalCandidates & goal_candidates_arg, const std::shared_ptr occupancy_grid_map) { - GoalCandidates goal_candidates{}; - goal_candidates = thread_safe_data_.get_goal_candidates(); + auto goal_candidates = goal_candidates_arg; goal_searcher->update( goal_candidates, occupancy_grid_map, planner_data, thread_safe_data_.get_static_target_objects()); - thread_safe_data_.set_goal_candidates(goal_candidates); debug_data_.freespace_planner.num_goal_candidates = goal_candidates.size(); debug_data_.freespace_planner.is_planning = true; @@ -1370,7 +1375,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( thread_safe_data_.clearPullOverPath(); // update goal candidates - auto goal_candidates = thread_safe_data_.get_goal_candidates(); + auto goal_candidates = goal_candidates_; goal_searcher_->update( goal_candidates, occupancy_grid_map_, planner_data_, context_data.static_target_objects); @@ -1392,7 +1397,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( * As the next action item, only set this selected pull_over_path to only * FreespaceThreadSafeData. */ - thread_safe_data_.set(goal_candidates, pull_over_path); + thread_safe_data_.set(pull_over_path); if (pull_over_path_with_velocity_opt) { auto & pull_over_path_with_velocity = pull_over_path_with_velocity_opt.value(); // copy the path for later setOutput() @@ -1403,8 +1408,6 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( RCLCPP_DEBUG( getLogger(), "selected pull over path: path_id: %ld, goal_id: %ld", pull_over_path.id(), pull_over_path.modified_goal().id); - } else { - thread_safe_data_.set(goal_candidates); } } @@ -1566,8 +1569,8 @@ PathWithLaneId GoalPlannerModule::generateStopPath(const PullOverContextData & c // calculate search start offset pose from the closest goal candidate pose with // approximate_pull_over_distance_ ego vehicle decelerates to this position. or if no feasible // stop point is found, stop at this position. - const auto closest_goal_candidate = goal_searcher_->getClosetGoalCandidateAlongLanes( - thread_safe_data_.get_goal_candidates(), planner_data_); + const auto closest_goal_candidate = + goal_searcher_->getClosetGoalCandidateAlongLanes(goal_candidates_, planner_data_); const auto decel_pose = calcLongitudinalOffsetPose( extended_prev_path.points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); @@ -1968,8 +1971,8 @@ void GoalPlannerModule::deceleratePath(PullOverPath & pull_over_path) const universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); // decelerate before the search area start - const auto closest_goal_candidate = goal_searcher_->getClosetGoalCandidateAlongLanes( - thread_safe_data_.get_goal_candidates(), planner_data_); + const auto closest_goal_candidate = + goal_searcher_->getClosetGoalCandidateAlongLanes(goal_candidates_, planner_data_); const auto decel_pose = calcLongitudinalOffsetPose( pull_over_path.full_path().points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); @@ -2371,8 +2374,7 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) goal_searcher_->getAreaPolygons(), header, color, z)); // Visualize goal candidates - const auto goal_candidates = thread_safe_data_.get_goal_candidates(); - add(goal_planner_utils::createGoalCandidatesMarkerArray(goal_candidates, color)); + add(goal_planner_utils::createGoalCandidatesMarkerArray(goal_candidates_, color)); // Visualize objects extraction polygon auto marker = autoware::universe_utils::createDefaultMarker( @@ -2595,14 +2597,16 @@ GoalPlannerModule::GoalPlannerData GoalPlannerModule::GoalPlannerData::clone() c GoalPlannerModule::GoalPlannerData gp_planner_data( planner_data, parameters, last_previous_module_output); gp_planner_data.update( - parameters, planner_data, current_status, previous_module_output, vehicle_footprint); + parameters, planner_data, current_status, previous_module_output, vehicle_footprint, + goal_candidates); return gp_planner_data; } void GoalPlannerModule::GoalPlannerData::update( const GoalPlannerParameters & parameters_, const PlannerData & planner_data_, const ModuleStatus & current_status_, const BehaviorModuleOutput & previous_module_output_, - const autoware::universe_utils::LinearRing2d & vehicle_footprint_) + const autoware::universe_utils::LinearRing2d & vehicle_footprint_, + const GoalCandidates & goal_candidates_) { parameters = parameters_; vehicle_footprint = vehicle_footprint_; @@ -2613,6 +2617,7 @@ void GoalPlannerModule::GoalPlannerData::update( last_previous_module_output = previous_module_output; previous_module_output = previous_module_output_; occupancy_grid_map->setMap(*(planner_data.occupancy_grid)); + goal_candidates = goal_candidates_; } void PathDecisionStateController::transit_state( From f112f652bb85b7b980f3b1d7a7bb2c133cc84c61 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Mon, 18 Nov 2024 14:43:53 +0100 Subject: [PATCH 463/701] refactor(traffic_light_utils): prefix package and namespace with autoware (#9251) Signed-off-by: Esteve Fernandez --- .github/CODEOWNERS | 2 +- common/.pages | 2 +- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 6 +++--- .../README.md | 2 +- .../traffic_light_utils/traffic_light_utils.hpp | 10 +++++----- .../package.xml | 4 ++-- .../src/traffic_light_utils.cpp | 6 +++--- .../test/test_traffic_light_utils.cpp | 6 +++--- .../package.xml | 2 +- .../src/node.cpp | 5 +++-- .../src/node.hpp | 2 +- .../autoware_behavior_path_planner_common/package.xml | 2 +- .../src/utils/traffic_light_utils.cpp | 6 +++--- .../package.xml | 2 +- .../src/scene.cpp | 4 ++-- .../package.xml | 2 +- .../src/filter_predicted_objects.cpp | 2 +- .../src/out_of_lane_module.cpp | 5 +++-- 19 files changed, 36 insertions(+), 34 deletions(-) rename common/{traffic_light_utils => autoware_traffic_light_utils}/CHANGELOG.rst (100%) rename common/{traffic_light_utils => autoware_traffic_light_utils}/CMakeLists.txt (76%) rename common/{traffic_light_utils => autoware_traffic_light_utils}/README.md (90%) rename common/{traffic_light_utils/include => autoware_traffic_light_utils/include/autoware}/traffic_light_utils/traffic_light_utils.hpp (92%) rename common/{traffic_light_utils => autoware_traffic_light_utils}/package.xml (88%) rename common/{traffic_light_utils => autoware_traffic_light_utils}/src/traffic_light_utils.cpp (95%) rename common/{traffic_light_utils => autoware_traffic_light_utils}/test/test_traffic_light_utils.cpp (93%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 0097a386e47a7..df6be468e726f 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -25,6 +25,7 @@ common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp ta common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_trajectory/** mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp yukinari.hisaki.2@tier4.jp +common/autoware_traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp @@ -41,7 +42,6 @@ common/tier4_system_rviz_plugin/** koji.minoda@tier4.jp common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp -common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp tomohito.ando@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp diff --git a/common/.pages b/common/.pages index cd0423fa8de79..2ca956927b905 100644 --- a/common/.pages +++ b/common/.pages @@ -22,8 +22,8 @@ nav: - 'Signal Processing': - 'Introduction': common/autoware_signal_processing - 'Butterworth Filter': common/autoware_signal_processing/documentation/ButterworthFilter + - 'autoware_traffic_light_utils': common/autoware_traffic_light_utils - 'autoware_universe_utils': common/autoware_universe_utils - - 'traffic_light_utils': common/traffic_light_utils - 'RVIZ2 Plugins': - 'autoware_perception_rviz_plugin': common/autoware_perception_rviz_plugin - 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin diff --git a/common/traffic_light_utils/CHANGELOG.rst b/common/autoware_traffic_light_utils/CHANGELOG.rst similarity index 100% rename from common/traffic_light_utils/CHANGELOG.rst rename to common/autoware_traffic_light_utils/CHANGELOG.rst diff --git a/common/traffic_light_utils/CMakeLists.txt b/common/autoware_traffic_light_utils/CMakeLists.txt similarity index 76% rename from common/traffic_light_utils/CMakeLists.txt rename to common/autoware_traffic_light_utils/CMakeLists.txt index 741bdd585ed7f..2c9d11994290e 100644 --- a/common/traffic_light_utils/CMakeLists.txt +++ b/common/autoware_traffic_light_utils/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(traffic_light_utils) +project(autoware_traffic_light_utils) find_package(autoware_cmake REQUIRED) autoware_package() @@ -7,7 +7,7 @@ autoware_package() find_package(Boost REQUIRED) find_package(autoware_cmake REQUIRED) -ament_auto_add_library(traffic_light_utils SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/traffic_light_utils.cpp ) @@ -16,7 +16,7 @@ if(BUILD_TESTING) file(GLOB_RECURSE TEST_SOURCES test/*.cpp) ament_add_ros_isolated_gtest(test_traffic_light_utils ${TEST_SOURCES}) target_include_directories(test_traffic_light_utils PRIVATE src/include) - target_link_libraries(test_traffic_light_utils traffic_light_utils) + target_link_libraries(test_traffic_light_utils ${PROJECT_NAME}) endif() ament_auto_package() diff --git a/common/traffic_light_utils/README.md b/common/autoware_traffic_light_utils/README.md similarity index 90% rename from common/traffic_light_utils/README.md rename to common/autoware_traffic_light_utils/README.md index 0963a33bc1c4e..d13fddd35f987 100644 --- a/common/traffic_light_utils/README.md +++ b/common/autoware_traffic_light_utils/README.md @@ -1,4 +1,4 @@ -# traffic_light_utils +# autoware_traffic_light_utils ## Purpose diff --git a/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp b/common/autoware_traffic_light_utils/include/autoware/traffic_light_utils/traffic_light_utils.hpp similarity index 92% rename from common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp rename to common/autoware_traffic_light_utils/include/autoware/traffic_light_utils/traffic_light_utils.hpp index 3a40c0c3b1d51..bb2500c5d9f63 100644 --- a/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp +++ b/common/autoware_traffic_light_utils/include/autoware/traffic_light_utils/traffic_light_utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ -#define TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ +#ifndef AUTOWARE__TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ +#define AUTOWARE__TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ #include "autoware_perception_msgs/msg/traffic_light_element.hpp" #include "autoware_perception_msgs/msg/traffic_light_group.hpp" @@ -27,7 +27,7 @@ #include #include -namespace traffic_light_utils +namespace autoware::traffic_light_utils { void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence = -1); @@ -79,6 +79,6 @@ tf2::Vector3 getTrafficLightBottomRight(const lanelet::ConstLineString3d & traff tf2::Vector3 getTrafficLightCenter(const lanelet::ConstLineString3d & traffic_light); -} // namespace traffic_light_utils +} // namespace autoware::traffic_light_utils -#endif // TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ +#endif // AUTOWARE__TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ diff --git a/common/traffic_light_utils/package.xml b/common/autoware_traffic_light_utils/package.xml similarity index 88% rename from common/traffic_light_utils/package.xml rename to common/autoware_traffic_light_utils/package.xml index 82955eb4c82c4..384839d1c91d4 100644 --- a/common/traffic_light_utils/package.xml +++ b/common/autoware_traffic_light_utils/package.xml @@ -1,9 +1,9 @@ - traffic_light_utils + autoware_traffic_light_utils 0.38.0 - The traffic_light_utils package + The autoware_traffic_light_utils package Kotaro Uetake Shunsuke Miura Satoshi Ota diff --git a/common/traffic_light_utils/src/traffic_light_utils.cpp b/common/autoware_traffic_light_utils/src/traffic_light_utils.cpp similarity index 95% rename from common/traffic_light_utils/src/traffic_light_utils.cpp rename to common/autoware_traffic_light_utils/src/traffic_light_utils.cpp index a3da21c1bb578..4ba7e1c1d57d8 100644 --- a/common/traffic_light_utils/src/traffic_light_utils.cpp +++ b/common/autoware_traffic_light_utils/src/traffic_light_utils.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "traffic_light_utils/traffic_light_utils.hpp" +#include "autoware/traffic_light_utils/traffic_light_utils.hpp" -namespace traffic_light_utils +namespace autoware::traffic_light_utils { void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence) @@ -105,4 +105,4 @@ tf2::Vector3 getTrafficLightCenter(const lanelet::ConstLineString3d & traffic_li return (top_left + bottom_right) / 2; } -} // namespace traffic_light_utils +} // namespace autoware::traffic_light_utils diff --git a/common/traffic_light_utils/test/test_traffic_light_utils.cpp b/common/autoware_traffic_light_utils/test/test_traffic_light_utils.cpp similarity index 93% rename from common/traffic_light_utils/test/test_traffic_light_utils.cpp rename to common/autoware_traffic_light_utils/test/test_traffic_light_utils.cpp index a9e601370945d..856e8b5e9828b 100644 --- a/common/traffic_light_utils/test/test_traffic_light_utils.cpp +++ b/common/autoware_traffic_light_utils/test/test_traffic_light_utils.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/traffic_light_utils/traffic_light_utils.hpp" #include "gtest/gtest.h" -#include "traffic_light_utils/traffic_light_utils.hpp" -namespace traffic_light_utils +namespace autoware::traffic_light_utils { TEST(setSignalUnknown, set_signal_element) @@ -53,4 +53,4 @@ TEST(getTrafficLightCenter, get_signal) EXPECT_FLOAT_EQ(getTrafficLightCenter(test_light).z(), (float)1.5); } -} // namespace traffic_light_utils +} // namespace autoware::traffic_light_utils diff --git a/perception/autoware_traffic_light_occlusion_predictor/package.xml b/perception/autoware_traffic_light_occlusion_predictor/package.xml index 8817ec2c97647..bebe2ae189e74 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/package.xml +++ b/perception/autoware_traffic_light_occlusion_predictor/package.xml @@ -15,6 +15,7 @@ autoware_lanelet2_extension autoware_map_msgs + autoware_traffic_light_utils autoware_universe_utils geometry_msgs image_geometry @@ -27,7 +28,6 @@ tf2_eigen tf2_ros tier4_perception_msgs - traffic_light_utils ament_lint_auto autoware_lint_common diff --git a/perception/autoware_traffic_light_occlusion_predictor/src/node.cpp b/perception/autoware_traffic_light_occlusion_predictor/src/node.cpp index 8bc11fdea2aad..16498eb4d7094 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/src/node.cpp +++ b/perception/autoware_traffic_light_occlusion_predictor/src/node.cpp @@ -117,7 +117,8 @@ void TrafficLightOcclusionPredictorNode::mapCallback( continue; } lanelet::ConstLineString3d string3d = static_cast(lsp); - traffic_light_position_map_[lsp.id()] = traffic_light_utils::getTrafficLightCenter(string3d); + traffic_light_position_map_[lsp.id()] = + autoware::traffic_light_utils::getTrafficLightCenter(string3d); } } } @@ -166,7 +167,7 @@ void TrafficLightOcclusionPredictorNode::syncCallback( out_msg_.signals.push_back(in_signal_msg->signals.at(i)); if (occlusion_ratios[i] >= config_.max_occlusion_ratio) { - traffic_light_utils::setSignalUnknown(out_msg_.signals.at(predicted_num + i), 0.0); + autoware::traffic_light_utils::setSignalUnknown(out_msg_.signals.at(predicted_num + i), 0.0); } } diff --git a/perception/autoware_traffic_light_occlusion_predictor/src/node.hpp b/perception/autoware_traffic_light_occlusion_predictor/src/node.hpp index 5ee4876a6abbf..bc3afcac8db13 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/src/node.hpp +++ b/perception/autoware_traffic_light_occlusion_predictor/src/node.hpp @@ -17,9 +17,9 @@ #include "occlusion_predictor.hpp" +#include #include #include -#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml index dea42c692b880..5b925bd5ffd8e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml @@ -54,6 +54,7 @@ autoware_planning_msgs autoware_route_handler autoware_rtc_interface + autoware_traffic_light_utils autoware_universe_utils autoware_vehicle_info_utils geometry_msgs @@ -61,7 +62,6 @@ rclcpp tf2 tier4_planning_msgs - traffic_light_utils visualization_msgs ament_cmake_ros diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp index 14332d953819e..19c9bbcf365a3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp @@ -14,7 +14,7 @@ #include #include -#include +#include namespace autoware::behavior_path_planner::utils::traffic_light { @@ -91,7 +91,7 @@ std::optional calcDistanceToRedTrafficLight( continue; } - if (!traffic_light_utils::isTrafficSignalStop( + if (!autoware::traffic_light_utils::isTrafficSignalStop( lanelet, traffic_signal_stamped.value().signal)) { continue; } @@ -143,7 +143,7 @@ bool isTrafficSignalStop( continue; } - if (traffic_light_utils::isTrafficSignalStop( + if (autoware::traffic_light_utils::isTrafficSignalStop( lanelet, traffic_signal_stamped.value().signal)) { return true; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml index 9cff5fb92b54b..244d03553351b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml @@ -25,6 +25,7 @@ autoware_perception_msgs autoware_planning_msgs autoware_route_handler + autoware_traffic_light_utils autoware_universe_utils eigen geometry_msgs @@ -34,7 +35,6 @@ tf2_eigen tf2_geometry_msgs tier4_planning_msgs - traffic_light_utils visualization_msgs ament_cmake_ros diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp index 4b17f95358be6..c59071f2043bb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -18,7 +18,7 @@ #include #include -#include +#include #include #include @@ -177,7 +177,7 @@ bool TrafficLightModule::isStopSignal() } // Check if the current traffic signal state requires stopping - return traffic_light_utils::isTrafficSignalStop(lane_, looking_tl_state_); + return autoware::traffic_light_utils::isTrafficSignalStop(lane_, looking_tl_state_); } void TrafficLightModule::updateTrafficSignal() diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml index 6c8122e816555..18e072191905e 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml @@ -21,6 +21,7 @@ autoware_perception_msgs autoware_planning_msgs autoware_route_handler + autoware_traffic_light_utils autoware_universe_utils autoware_vehicle_info_utils geometry_msgs @@ -29,7 +30,6 @@ rclcpp tf2 tier4_planning_msgs - traffic_light_utils visualization_msgs ament_cmake_ros diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp index 652e941e905e4..f9ba7f4af9877 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp @@ -15,8 +15,8 @@ #include "filter_predicted_objects.hpp" #include +#include #include -#include #include #include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp index 03a8468d19b3a..63ca1b5784fe8 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp @@ -26,11 +26,11 @@ #include #include #include +#include #include #include #include #include -#include #include #include @@ -179,7 +179,8 @@ void prepare_stop_lines_rtree( const auto traffic_signal_stamped = planner_data.get_traffic_signal(element->id()); if ( traffic_signal_stamped.has_value() && element->stopLine().has_value() && - traffic_light_utils::isTrafficSignalStop(ll, traffic_signal_stamped.value().signal)) { + autoware::traffic_light_utils::isTrafficSignalStop( + ll, traffic_signal_stamped.value().signal)) { stop_line_node.second.stop_line.clear(); for (const auto & p : element->stopLine()->basicLineString()) { stop_line_node.second.stop_line.emplace_back(p.x(), p.y()); From 9aab36bb0faba049d9a2d5e3cc0ecae9f4393ce2 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Tue, 19 Nov 2024 11:23:01 +0900 Subject: [PATCH 464/701] chore(perception_utils): install include directory (#9354) --- perception/perception_utils/CMakeLists.txt | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/perception/perception_utils/CMakeLists.txt b/perception/perception_utils/CMakeLists.txt index e4b581928cc5e..5623d830918fe 100644 --- a/perception/perception_utils/CMakeLists.txt +++ b/perception/perception_utils/CMakeLists.txt @@ -13,6 +13,11 @@ target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} ) +install( + DIRECTORY include/ + DESTINATION include +) + if(BUILD_TESTING) ament_auto_add_gtest(test_utils test/test_utils.cpp From ef36c36d160a1c2a15d5064e058c4e267718f1c3 Mon Sep 17 00:00:00 2001 From: "Kem (TiankuiXian)" <1041084556@qq.com> Date: Tue, 19 Nov 2024 11:44:20 +0900 Subject: [PATCH 465/701] feat(tier4_control_launch): use preset.yaml to control which modules to launch for control modules (#9351) * update contro.launch for preset.xml Signed-off-by: xtk8532704 <1041084556@qq.com> * update options. Signed-off-by: xtk8532704 <1041084556@qq.com> * fix bug. Signed-off-by: xtk8532704 <1041084556@qq.com> * rename to enable_* Signed-off-by: xtk8532704 <1041084556@qq.com> * check group. Signed-off-by: xtk8532704 <1041084556@qq.com> * space. Signed-off-by: xtk8532704 <1041084556@qq.com> * reduce num of load_composable_node. Signed-off-by: xtk8532704 <1041084556@qq.com> * tmp save. Signed-off-by: xtk8532704 <1041084556@qq.com> * tmp save. Signed-off-by: xtk8532704 <1041084556@qq.com> * splite control modules' launch. Signed-off-by: xtk8532704 <1041084556@qq.com> * final version Signed-off-by: xtk8532704 <1041084556@qq.com> * remove on/off option for shift decider, vehicle cmd gate, and operation mode transition manager Signed-off-by: xtk8532704 <1041084556@qq.com> * pre-commit Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com> --- .../launch/control.launch.xml | 313 ++++++++++-------- 1 file changed, 169 insertions(+), 144 deletions(-) diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml index acb81df58c641..899db1448dbf8 100644 --- a/launch/tier4_control_launch/launch/control.launch.xml +++ b/launch/tier4_control_launch/launch/control.launch.xml @@ -1,13 +1,23 @@ - - + + - - - - + + + + + + + + + + + + + + @@ -39,47 +49,9 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + @@ -89,7 +61,6 @@ - @@ -130,7 +101,6 @@ - + - - - + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - + + + + - - - - - - + + + + + + + + + + + + + + + - - - - - - - - - - - - - + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + + - - + + + + + + + + + + + + + + + - - - - - - - - - + + + + + + + + + + + + + + + - - - - - - + + + + + + + + + + + + + + + From 802f906c8d8a666d5b9621dbf58b473aa7c2e7ba Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Tue, 19 Nov 2024 12:39:46 +0900 Subject: [PATCH 466/701] perf(static_obstacle_avoidance): use lanelet::utils instead of route handle for closest lanelet (#9367) use lanelet::utils for performance improvement Signed-off-by: Go Sakayori --- .../src/scene.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 13ef46f9f531f..f0fc87648bc4a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -212,7 +212,8 @@ void StaticObstacleAvoidanceModule::fillFundamentalData( data.current_lanelets, getEgoPose(), planner_data_); lanelet::ConstLanelet closest_lanelet{}; - if (planner_data_->route_handler->getClosestLaneletWithinRoute(getEgoPose(), &closest_lanelet)) + if (lanelet::utils::query::getClosestLanelet( + data.current_lanelets, getEgoPose(), &closest_lanelet)) data.closest_lanelet = closest_lanelet; // expand drivable lanes From 2ce051049d08e9254a59033f552e41b66a308af9 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 19 Nov 2024 13:28:04 +0900 Subject: [PATCH 467/701] fix(compare_map_segmentation): timer period mismatched with parameter (#9259) Signed-off-by: badai-nguyen --- .../src/voxel_grid_map_loader/voxel_grid_map_loader.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp index 6e927db4e298b..b57874d7d3b24 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp @@ -311,7 +311,8 @@ VoxelGridDynamicMapLoader::VoxelGridDynamicMapLoader( RCLCPP_INFO(logger_, "service not available, waiting again ..."); } - const auto period_ns = rclcpp::Rate(timer_interval_ms).period(); + const auto period_ns = std::chrono::duration_cast( + std::chrono::milliseconds(timer_interval_ms)); timer_callback_group_ = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); map_update_timer_ = rclcpp::create_timer( node, node->get_clock(), period_ns, std::bind(&VoxelGridDynamicMapLoader::timer_callback, this), From dbb1015991d8fb2c4c575f608515e957d23a282a Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 19 Nov 2024 13:28:23 +0900 Subject: [PATCH 468/701] chore(compare_map_segmentation): add maintainer (#9371) Signed-off-by: badai-nguyen --- perception/autoware_compare_map_segmentation/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/perception/autoware_compare_map_segmentation/package.xml b/perception/autoware_compare_map_segmentation/package.xml index b7d497b704bb7..de3d97df91c6f 100644 --- a/perception/autoware_compare_map_segmentation/package.xml +++ b/perception/autoware_compare_map_segmentation/package.xml @@ -7,6 +7,7 @@ amc-nu Yukihiro Saito Dai Nguyen + Yoshi Ri Apache License 2.0 From bcd7830a28404b55f0bf58a6c12c37c7fbd47d80 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 19 Nov 2024 14:06:14 +0900 Subject: [PATCH 469/701] feat(autoware_multi_object_tracker): new function to add odometry uncertainty (#9139) * feat: add Odometry uncertainty to object tracking Signed-off-by: Taekjin LEE * feat: Add odometry heading uncertainty to object pose covariance feat: Rotate object pose covariance matrix to account for yaw uncertainty Rotate the object pose covariance matrix in the uncertainty_processor.cpp file to account for the yaw uncertainty. This ensures that the covariance matrix accurately represents the position uncertainty of the object. Refactor the code to rotate the covariance matrix using Eigen's Rotation2D class. The yaw uncertainty is added to the y-y element of the rotated covariance matrix. Finally, update the object_pose_cov array with the updated covariance values. Closes #123 Signed-off-by: Taekjin LEE * feat: Add odometry motion uncertainty to object pose covariance Signed-off-by: Taekjin LEE refactoring Signed-off-by: Taekjin LEE * feat: Update ego twist uncertainty to the object velocity uncertainty Signed-off-by: Taekjin LEE * feat: update object twist covariance by odometry yaw rate uncertainty Signed-off-by: Taekjin LEE * feat: move uncertainty modeling to input side Signed-off-by: Taekjin LEE * feat: add option to select odometry uncertainty Signed-off-by: Taekjin LEE * refactor: rename consider_odometry_uncertainty to enable_odometry_uncertainty Signed-off-by: Taekjin LEE * fix: transform to world first, add odometry covariance later Signed-off-by: Taekjin LEE style(pre-commit): autofix Signed-off-by: Taekjin LEE * feat: Add odometry heading uncertainty to object pose covariance Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../multi_object_tracker_node.param.yaml | 1 + .../uncertainty/uncertainty_processor.hpp | 3 + .../lib/uncertainty/uncertainty_processor.cpp | 101 ++++++++++++++++++ .../autoware_multi_object_tracker/package.xml | 1 + .../src/multi_object_tracker_node.cpp | 45 ++++++-- .../src/multi_object_tracker_node.hpp | 1 + .../src/processor/input_manager.cpp | 11 +- 7 files changed, 154 insertions(+), 9 deletions(-) diff --git a/perception/autoware_multi_object_tracker/config/multi_object_tracker_node.param.yaml b/perception/autoware_multi_object_tracker/config/multi_object_tracker_node.param.yaml index 09621a40c499f..7dd588ec8eeba 100644 --- a/perception/autoware_multi_object_tracker/config/multi_object_tracker_node.param.yaml +++ b/perception/autoware_multi_object_tracker/config/multi_object_tracker_node.param.yaml @@ -13,6 +13,7 @@ publish_rate: 10.0 world_frame_id: map enable_delay_compensation: false + consider_odometry_uncertainty: false # debug parameters publish_processing_time: false diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp index c67e71b38a6f9..12bd865795b85 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp @@ -23,6 +23,7 @@ #include #include +#include namespace autoware::multi_object_tracker { @@ -34,6 +35,7 @@ using autoware::multi_object_tracker::object_model::ObjectModel; using autoware_perception_msgs::msg::DetectedObject; using autoware_perception_msgs::msg::DetectedObjects; using autoware_perception_msgs::msg::ObjectClassification; +using nav_msgs::msg::Odometry; ObjectModel decodeObjectModel(const ObjectClassification & object_class); @@ -44,6 +46,7 @@ object_model::StateCovariance covarianceFromObjectClass( void normalizeUncertainty(DetectedObjects & detected_objects); +void addOdometryUncertainty(const Odometry & odometry, DetectedObjects & detected_objects); } // namespace uncertainty } // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp b/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp index 840879f9bd7aa..3f0b854931842 100644 --- a/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp +++ b/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp @@ -17,6 +17,9 @@ #include "autoware/multi_object_tracker/uncertainty/uncertainty_processor.hpp" +#include +#include + namespace autoware::multi_object_tracker { namespace uncertainty @@ -135,5 +138,103 @@ void normalizeUncertainty(DetectedObjects & detected_objects) } } +void addOdometryUncertainty(const Odometry & odometry, DetectedObjects & detected_objects) +{ + const auto & odom_pose = odometry.pose.pose; + const auto & odom_pose_cov = odometry.pose.covariance; + const auto & odom_twist = odometry.twist.twist; + const auto & odom_twist_cov = odometry.twist.covariance; + + // ego motion uncertainty, velocity multiplied by time uncertainty + const double ego_yaw = tf2::getYaw(odom_pose.orientation); + const double dt = + (rclcpp::Time(odometry.header.stamp) - rclcpp::Time(detected_objects.header.stamp)).seconds(); + const double dt2 = dt * dt; + Eigen::MatrixXd m_rot_ego = Eigen::Rotation2D(ego_yaw).toRotationMatrix(); + Eigen::MatrixXd m_cov_motion = Eigen::MatrixXd(2, 2); + m_cov_motion << odom_twist.linear.x * odom_twist.linear.x * dt2, 0, 0, + odom_twist.linear.y * odom_twist.linear.y * dt2; + + // ego position uncertainty, position covariance + motion covariance + Eigen::MatrixXd m_cov_ego_pose = Eigen::MatrixXd(2, 2); + m_cov_ego_pose << odom_pose_cov[0], odom_pose_cov[1], odom_pose_cov[6], odom_pose_cov[7]; + m_cov_ego_pose = m_cov_ego_pose + m_rot_ego * m_cov_motion * m_rot_ego.transpose(); + + // ego yaw uncertainty, position covariance + yaw motion covariance + const double & cov_ego_yaw = odom_pose_cov[35]; + const double cov_yaw = cov_ego_yaw + odom_twist.angular.z * odom_twist.angular.z * dt2; + + // ego velocity uncertainty, velocity covariance + Eigen::MatrixXd m_cov_ego_twist = Eigen::MatrixXd(2, 2); + m_cov_ego_twist << odom_twist_cov[0], odom_twist_cov[1], odom_twist_cov[6], odom_twist_cov[7]; + const double & cov_yaw_rate = odom_twist_cov[35]; + + for (auto & object : detected_objects.objects) { + auto & object_pose = object.kinematics.pose_with_covariance.pose; + auto & object_pose_cov = object.kinematics.pose_with_covariance.covariance; + const double dx = object_pose.position.x - odom_pose.position.x; + const double dy = object_pose.position.y - odom_pose.position.y; + const double r2 = dx * dx + dy * dy; + const double theta = std::atan2(dy, dx); + + // 1. add odometry position and motion uncertainty to the object position covariance + Eigen::MatrixXd m_pose_cov = Eigen::MatrixXd(2, 2); + m_pose_cov << object_pose_cov[XYZRPY_COV_IDX::X_X], object_pose_cov[XYZRPY_COV_IDX::X_Y], + object_pose_cov[XYZRPY_COV_IDX::Y_X], object_pose_cov[XYZRPY_COV_IDX::Y_Y]; + + // 1-a. add odometry position uncertainty to the object position covariance + // object position and it covariance is based on the world frame (map) + m_pose_cov = m_pose_cov + m_cov_ego_pose; + + // 1-b. add odometry heading uncertainty to the object position covariance + // uncertainty is proportional to the distance and the uncertainty orientation is vertical to + // the vector to the object + { + const double cov_by_yaw = cov_ego_yaw * r2; + // rotate the covariance matrix, add the yaw uncertainty, and rotate back + Eigen::MatrixXd m_rot_theta = Eigen::Rotation2D(theta).toRotationMatrix(); + Eigen::MatrixXd m_cov_rot = m_rot_theta.transpose() * m_pose_cov * m_rot_theta; + m_cov_rot(1, 1) += cov_by_yaw; // yaw uncertainty is added to y-y element + m_pose_cov = m_rot_theta * m_cov_rot * m_rot_theta.transpose(); + } + // 1-c. add odometry yaw uncertainty to the object yaw covariance + object_pose_cov[XYZRPY_COV_IDX::YAW_YAW] += cov_yaw; // yaw-yaw + + // update the covariance matrix + object_pose_cov[XYZRPY_COV_IDX::X_X] = m_pose_cov(0, 0); + object_pose_cov[XYZRPY_COV_IDX::X_Y] = m_pose_cov(0, 1); + object_pose_cov[XYZRPY_COV_IDX::Y_X] = m_pose_cov(1, 0); + object_pose_cov[XYZRPY_COV_IDX::Y_Y] = m_pose_cov(1, 1); + + // 2. add odometry velocity uncertainty to the object velocity covariance + auto & object_twist_cov = object.kinematics.twist_with_covariance.covariance; + Eigen::MatrixXd m_twist_cov = Eigen::MatrixXd(2, 2); + m_twist_cov << object_twist_cov[XYZRPY_COV_IDX::X_X], object_twist_cov[XYZRPY_COV_IDX::X_Y], + object_twist_cov[XYZRPY_COV_IDX::Y_X], object_twist_cov[XYZRPY_COV_IDX::Y_Y]; + + // 2-a. add odometry velocity uncertainty to the object linear twist covariance + { + const double obj_yaw = tf2::getYaw(object_pose.orientation); // object yaw is global frame + Eigen::MatrixXd m_rot_theta = Eigen::Rotation2D(obj_yaw - ego_yaw).toRotationMatrix(); + m_twist_cov = m_twist_cov + m_rot_theta.transpose() * m_cov_ego_twist * m_rot_theta; + } + + // 2-b. add odometry yaw rate uncertainty to the object linear twist covariance + { + const double cov_by_yaw_rate = cov_yaw_rate * r2; + Eigen::MatrixXd m_rot_theta = Eigen::Rotation2D(theta).toRotationMatrix(); + Eigen::MatrixXd m_twist_cov_rot = m_rot_theta.transpose() * m_twist_cov * m_rot_theta; + m_twist_cov_rot(1, 1) += cov_by_yaw_rate; // yaw rate uncertainty is added to y-y element + m_twist_cov = m_rot_theta * m_twist_cov_rot * m_rot_theta.transpose(); + } + + // update the covariance matrix + object_twist_cov[XYZRPY_COV_IDX::X_X] = m_twist_cov(0, 0); + object_twist_cov[XYZRPY_COV_IDX::X_Y] = m_twist_cov(0, 1); + object_twist_cov[XYZRPY_COV_IDX::Y_X] = m_twist_cov(1, 0); + object_twist_cov[XYZRPY_COV_IDX::Y_Y] = m_twist_cov(1, 1); + } +} + } // namespace uncertainty } // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml index e16e4c0d2a836..5eb591d60133f 100644 --- a/perception/autoware_multi_object_tracker/package.xml +++ b/perception/autoware_multi_object_tracker/package.xml @@ -21,6 +21,7 @@ eigen glog mussp + nav_msgs rclcpp rclcpp_components tf2 diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp index 24bf4ef9c123d..68a356cd91da5 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp @@ -87,6 +87,7 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) double publish_rate = declare_parameter("publish_rate"); // [hz] world_frame_id_ = declare_parameter("world_frame_id"); bool enable_delay_compensation{declare_parameter("enable_delay_compensation")}; + enable_odometry_uncertainty_ = declare_parameter("consider_odometry_uncertainty"); declare_parameter("selected_input_channels", std::vector()); std::vector selected_input_channels = @@ -274,19 +275,49 @@ void MultiObjectTracker::runProcess( return; } - // Model the object uncertainty if it is empty - DetectedObjects input_objects_with_uncertainty = uncertainty::modelUncertainty(input_objects); - - // Normalize the object uncertainty - uncertainty::normalizeUncertainty(input_objects_with_uncertainty); - // Transform the objects to the world frame DetectedObjects transformed_objects; if (!autoware::object_recognition_utils::transformObjects( - input_objects_with_uncertainty, world_frame_id_, tf_buffer_, transformed_objects)) { + input_objects, world_frame_id_, tf_buffer_, transformed_objects)) { return; } + // the object uncertainty + if (enable_odometry_uncertainty_) { + // Create a modeled odometry message + nav_msgs::msg::Odometry odometry; + odometry.header.stamp = measurement_time + rclcpp::Duration::from_seconds(0.001); + + // set odometry pose from self_transform + auto & odom_pose = odometry.pose.pose; + odom_pose.position.x = self_transform->translation.x; + odom_pose.position.y = self_transform->translation.y; + odom_pose.position.z = self_transform->translation.z; + odom_pose.orientation = self_transform->rotation; + + // set odometry twist + auto & odom_twist = odometry.twist.twist; + odom_twist.linear.x = 10.0; // m/s + odom_twist.linear.y = 0.1; // m/s + odom_twist.angular.z = 0.1; // rad/s + + // model the uncertainty + auto & odom_pose_cov = odometry.pose.covariance; + odom_pose_cov[0] = 0.1; // x-x + odom_pose_cov[7] = 0.1; // y-y + odom_pose_cov[35] = 0.0001; // yaw-yaw + + auto & odom_twist_cov = odometry.twist.covariance; + odom_twist_cov[0] = 2.0; // x-x [m^2/s^2] + odom_twist_cov[7] = 0.2; // y-y [m^2/s^2] + odom_twist_cov[35] = 0.001; // yaw-yaw [rad^2/s^2] + + // Add the odometry uncertainty to the object uncertainty + uncertainty::addOdometryUncertainty(odometry, transformed_objects); + } + // Normalize the object uncertainty + uncertainty::normalizeUncertainty(transformed_objects); + /* prediction */ processor_->predict(measurement_time); diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp index 04d83ebd47acb..b9886ee3fc847 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp @@ -87,6 +87,7 @@ class MultiObjectTracker : public rclcpp::Node std::string world_frame_id_; // tracking frame std::unique_ptr association_; std::unique_ptr processor_; + bool enable_odometry_uncertainty_; // input manager std::unique_ptr input_manager_; diff --git a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp index decd2139c5b81..c9ee8dae9562a 100644 --- a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp +++ b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp @@ -14,6 +14,8 @@ #include "input_manager.hpp" +#include + #include namespace autoware::multi_object_tracker @@ -49,8 +51,13 @@ void InputStream::init(const InputChannel & input_channel) void InputStream::onMessage( const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr msg) { - const DetectedObjects objects = *msg; - objects_que_.push_back(objects); + const DetectedObjects & objects = *msg; + + // Model the object uncertainty only if it is not available + DetectedObjects objects_with_uncertainty = uncertainty::modelUncertainty(objects); + + // Move the objects_with_uncertainty to the objects queue + objects_que_.push_back(std::move(objects_with_uncertainty)); while (objects_que_.size() > que_size_) { objects_que_.pop_front(); } From 5fcd19626c6af7d3f4782e15879a33fc03786219 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Tue, 19 Nov 2024 14:24:33 +0900 Subject: [PATCH 470/701] fix(autoware_behavior_path_sampling_planner_module): fix invalid parameter file (#9231) Signed-off-by: mitsudome-r Co-authored-by: Yutaka Kondo --- .../config/sampling_planner.param.yaml | 39 ++++++++++++++++++- 1 file changed, 38 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml index f485ac3ac08b6..9a6b30c219d63 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml @@ -1,3 +1,40 @@ /**: ros__parameters: - start_planner: + common: + output_delta_arc_length: 0.5 # [m] delta arc length for output trajectory + + debug: + enable_calculation_time_info: false # flag to print calculation times + id: 0 # id of the candidate paths for which to print/show details (e.g., footprint in rviz) + + preprocessing: + force_zero_initial_deviation: True # if true, initial planning starts from the reference path + force_zero_initial_heading: True # if true, initial planning starts with a heading aligned with the reference path + smooth_reference_trajectory: False # if true, the reference trajectory is smoothed before being used for planning + constraints: + hard: + max_curvature: 3.0 # [m⁻¹] maximum curvature of a sampled path + min_curvature: -3.0 # [m⁻¹] minimum curvature of a sampled path + soft: + lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path + length_weight: 1.0 # cost weight for the length of a sampled path + curvature_weight: 2000.0 # cost weight for the curvature of a sampled path + weights: [0.5,1.0,20.0] + sampling: + enable_frenet: True + enable_bezier: False + resolution: 0.5 # [m] target distance between sampled path points + previous_path_reuse_points_nb: 2 # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc) + target_lengths: [20.0, 40.0] # [m] target lengths of the sampled paths + nb_target_lateral_positions: 0 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) + target_lateral_positions: [-4.5,-2.5, 0.0, 2.5,4.5] # manual values that are only used if nb_target_lateral_positions = 0 + frenet: # target values for the sampled "lateral deviation over longitudinal position" polynomial + target_lateral_velocities: [-0.5, 0.0, 0.5] + target_lateral_accelerations: [0.0] + # bezier: + # nb_k: 3 # number of sampled curvature values + # mk_min: 0.0 # minimum curvature value + # mk_max: 10.0 # maximum curvature value + # nb_t: 5 # number of sampled acceleration values + # mt_min: 0.3 # minimum acceleration value + # mt_max: 1.7 # maximum acceleration value From d1eb8be4675b895ae3e3943bf4836d674d80d347 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Tue, 19 Nov 2024 14:25:28 +0900 Subject: [PATCH 471/701] chore(autoware_mpc_lateral_controller): add maintainer (#9374) Signed-off-by: Kyoichi Sugahara --- control/autoware_mpc_lateral_controller/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml index ec7be46fb9f00..a965343ad3e98 100644 --- a/control/autoware_mpc_lateral_controller/package.xml +++ b/control/autoware_mpc_lateral_controller/package.xml @@ -7,6 +7,7 @@ Takamasa Horibe Takayuki Murooka + Kyoichi Sugahara Apache 2.0 From 245802e53f94ae2272ddbcfe5418ae2140098667 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 19 Nov 2024 14:37:42 +0900 Subject: [PATCH 472/701] fix(yabloc_pose_initializer): include opencv as system (#9375) Signed-off-by: veqcc --- localization/yabloc/yabloc_pose_initializer/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt b/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt index 2e6d31ae2f12b..d67c0e73eb91f 100644 --- a/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt +++ b/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt @@ -27,7 +27,7 @@ ament_auto_add_library(${PROJECT_NAME} src/camera/semantic_segmentation.cpp src/camera/camera_pose_initializer_core.cpp) target_include_directories(${PROJECT_NAME} PUBLIC include) -target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}) +target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} Sophus::Sophus) ament_target_dependencies(${PROJECT_NAME} OpenCV) From 8e0648474774cc05c2ac52eff5003bb66bfc5a48 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 19 Nov 2024 14:48:12 +0900 Subject: [PATCH 473/701] fix(autoware_pose_estimator_arbiter): add missing include (#9376) Signed-off-by: veqcc --- localization/autoware_pose_estimator_arbiter/src/shared_data.hpp | 1 + 1 file changed, 1 insertion(+) diff --git a/localization/autoware_pose_estimator_arbiter/src/shared_data.hpp b/localization/autoware_pose_estimator_arbiter/src/shared_data.hpp index 6332b77a9ed31..884daa7ee7580 100644 --- a/localization/autoware_pose_estimator_arbiter/src/shared_data.hpp +++ b/localization/autoware_pose_estimator_arbiter/src/shared_data.hpp @@ -21,6 +21,7 @@ #include #include +#include #include #include #include From a1c3e6dc65f8eefaddb37a905501ce32b6e16fc9 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 19 Nov 2024 15:15:46 +0900 Subject: [PATCH 474/701] fix(autoware_trajectory_follower_node): fix clang-diagnostic-format-security (#9378) Signed-off-by: veqcc --- .../autoware_trajectory_follower_node/src/controller_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/control/autoware_trajectory_follower_node/src/controller_node.cpp b/control/autoware_trajectory_follower_node/src/controller_node.cpp index 7dfbefadca52c..f4a32444afe9d 100644 --- a/control/autoware_trajectory_follower_node/src/controller_node.cpp +++ b/control/autoware_trajectory_follower_node/src/controller_node.cpp @@ -142,8 +142,8 @@ bool Controller::processData(rclcpp::Clock & clock) bool is_ready = true; const auto & logData = [&clock, this](const std::string & data_type) { - std::string msg = "Waiting for " + data_type + " data"; - RCLCPP_INFO_THROTTLE(get_logger(), clock, logger_throttle_interval, msg.c_str()); + RCLCPP_INFO_THROTTLE( + get_logger(), clock, logger_throttle_interval, "Waiting for %s data", data_type.c_str()); }; const auto & getData = [&logData](auto & dest, auto & sub, const std::string & data_type = "") { From 332a9bb600b2bb42ee00e0b78a4a5a3010dc3aa7 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 19 Nov 2024 16:00:54 +0900 Subject: [PATCH 475/701] fix(autoware_control_validator): fix clang-diagnostic-unused-private-field (#9381) Signed-off-by: veqcc --- .../include/autoware/control_validator/control_validator.hpp | 1 - 1 file changed, 1 deletion(-) diff --git a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp index 86ffac1ec371e..080e8f0e6abc3 100644 --- a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp +++ b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp @@ -149,7 +149,6 @@ class ControlValidator : public rclcpp::Node ControlValidatorStatus validation_status_; ValidationParams validation_params_; // for thresholds - bool is_velocity_valid_{true}; autoware::signal_processing::LowpassFilter1d vehicle_vel_{0.0}; autoware::signal_processing::LowpassFilter1d target_vel_{0.0}; bool hold_velocity_error_until_stop_{false}; From 5778e0188c6887a40c844508088770dfdf6c6c92 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 19 Nov 2024 17:33:35 +0900 Subject: [PATCH 476/701] fix(control_performance_analysis): clang-diagnostic-pessimizing-move (#9380) Signed-off-by: veqcc --- .../src/control_performance_analysis_core.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/control/control_performance_analysis/src/control_performance_analysis_core.cpp b/control/control_performance_analysis/src/control_performance_analysis_core.cpp index 5f72c8ea316bd..769593ac34d09 100644 --- a/control/control_performance_analysis/src/control_performance_analysis_core.cpp +++ b/control/control_performance_analysis/src/control_performance_analysis_core.cpp @@ -335,8 +335,7 @@ bool ControlPerformanceAnalysisCore::calculateDrivingVars() lpf(curr.desired_steering_angle.data, prev->desired_steering_angle.data); } - prev_driving_vars_ = - std::move(std::make_unique(driving_status_vars)); + prev_driving_vars_ = std::make_unique(driving_status_vars); last_odom_header.stamp = odom_history_ptr_->at(odom_size - 1).header.stamp; last_steering_report.stamp = current_vec_steering_msg_ptr_->stamp; From 2e0d5de5195ef515d292505c64cdf7893d971c2d Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Tue, 19 Nov 2024 21:12:19 +0900 Subject: [PATCH 477/701] test(bpp_common): add unit test for safety check (#9386) * fix docstring Signed-off-by: Go Sakayori * add basic collision test Signed-off-by: Go Sakayori * add some more tests Signed-off-by: Go Sakayori * add unit test for all functions Signed-off-by: Go Sakayori * remove unecessary header and space Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../path_safety_checker/safety_check.hpp | 69 ++++- .../test/test_safety_check.cpp | 263 ++++++++++++++++-- 2 files changed, 297 insertions(+), 35 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp index 56ffd99905579..ab62c369c41e4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp @@ -76,9 +76,22 @@ Polygon2d createExtendedPolygon( const PoseWithVelocityAndPolygonStamped & obj_pose_with_poly, const double lon_length, const double lat_margin, const bool is_stopped_obj, CollisionCheckDebug & debug); +/** + * @brief Converts path (path with velocity stamped) to predicted path. + * @param path Path. + * @param time_resolution Time resolution. + * @return Predicted path. + */ PredictedPath convertToPredictedPath( const std::vector & path, const double time_resolution); +/** + * @brief Calculates RSS related distance. + * @param front_object_velocity Velocity of front object. + * @param rear_object_velocity Velocity of rear object. + * @param rss_params RSS parameters. + * @return Longitudinal distance. + */ double calcRssDistance( const double front_object_velocity, const double rear_object_velocity, const RSSparams & rss_params); @@ -128,9 +141,29 @@ ExtendedPredictedObjects filterObjectPredictedPathByTimeHorizon( const ExtendedPredictedObjects & objects, const double time_horizon, const bool check_all_predicted_path); +/** + * @brief Filters the path by obtaining points after target pose. + * @param path Path to filter. + * @param target_pose Target pose. + * @return Filtered path. + */ std::vector filterPredictedPathAfterTargetPose( const std::vector & path, const Pose & target_pose); +/** + * @brief Iterate the points in the ego and target's predicted path and + * perform safety check for each of the iterated points using RSS parameters + * @param planned_path The planned path of the ego vehicle. + * @param ego_predicted_path Ego vehicle's predicted path + * @param objects Detected objects. + * @param debug_map Map for collision check debug. + * @param parameters The common parameters used in behavior path planner. + * @param rss_params The parameters used in RSSs + * @param check_all_predicted_path If true, uses all predicted path + * @param hysteresis_factor Hysteresis factor + * @param yaw_difference_th Threshold for yaw difference + * @return True if planned path is safe. + */ bool checkSafetyWithRSS( const PathWithLaneId & planned_path, const std::vector & ego_predicted_path, @@ -144,16 +177,14 @@ bool checkSafetyWithRSS( * perform safety check for each of the iterated points. * @param planned_path The predicted path of the ego vehicle. * @param predicted_ego_path Ego vehicle's predicted path - * @param ego_current_velocity Current velocity of the ego vehicle. * @param target_object The predicted object to check collision with. * @param target_object_path The predicted path of the target object. - * @param common_parameters The common parameters used in behavior path planner. - * @param front_object_deceleration The deceleration of the object in the front.(used in RSS) - * @param rear_object_deceleration The deceleration of the object in the rear.(used in RSS) - * @param yaw_difference_th maximum yaw difference between any given ego path pose and object - * predicted path pose. + * @param common_parameters Common parameters used for behavior path planning. + * @param rss_parameters The parameters used in RSS. + * @param hysteresis_factor Hysteresis factor. + * @param yaw_difference_th Threshold of yaw difference. * @param debug The debug information for collision checking. - * @return true if distance is safe. + * @return True if there is no collision. */ bool checkCollision( const PathWithLaneId & planned_path, @@ -166,16 +197,17 @@ bool checkCollision( /** * @brief Iterate the points in the ego and target's predicted path and * perform safety check for each of the iterated points. - * @param planned_path The predicted path of the ego vehicle. + * @param planned_path The planned path of the ego vehicle. * @param predicted_ego_path Ego vehicle's predicted path - * @param ego_current_velocity Current velocity of the ego vehicle. * @param target_object The predicted object to check collision with. * @param target_object_path The predicted path of the target object. - * @param common_parameters The common parameters used in behavior path planner. - * @param front_object_deceleration The deceleration of the object in the front.(used in RSS) - * @param rear_object_deceleration The deceleration of the object in the rear.(used in RSS) + * @param vehicle_info Ego vehicle information. + * @param rss_parameters The parameters used in RSS. + * @param hysteresis_factor Hysteresis factor. + * @param max_velocity_limit Maximum velocity of ego vehicle. + * @param yaw_difference_th Threshold of yaw difference. * @param debug The debug information for collision checking. - * @return a list of polygon when collision is expected. + * @return List of polygon which collision is expected. */ std::vector get_collided_polygons( const PathWithLaneId & planned_path, @@ -187,6 +219,17 @@ std::vector get_collided_polygons( bool checkPolygonsIntersects( const std::vector & polys_1, const std::vector & polys_2); + +/** + * @brief Checks for safety using integral predicted polygons. + * @param ego_predicted_path The predicted path of ego vehicle. + * @param vehicle_info Information (parameters) about ego vehicle. + * @param objects Surrounding objects. + * @param check_all_predicted_path Whether to check all predicted paths of objects. + * @param params Parameters for integral predicted polygon. + * @param debug_map Map to store debug information. + * @return True if the ego vehicle's path is safe, and false otherwise. + */ bool checkSafetyWithIntegralPredictedPolygon( const std::vector & ego_predicted_path, const VehicleInfo & vehicle_info, const ExtendedPredictedObjects & objects, const bool check_all_predicted_path, diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp index 0d36b2c3fa377..c5694db10f65e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp @@ -12,7 +12,6 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/behavior_path_planner_common/parameters.hpp" #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" #include "autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp" @@ -22,6 +21,7 @@ #include #include +#include #include #include @@ -29,15 +29,21 @@ #include +#include +#include #include #include constexpr double epsilon = 1e-6; using autoware::behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug; +using autoware::behavior_path_planner::utils::path_safety_checker::CollisionCheckDebugMap; +using autoware::behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObject; using autoware::behavior_path_planner::utils::path_safety_checker:: PoseWithVelocityAndPolygonStamped; using autoware::behavior_path_planner::utils::path_safety_checker::PoseWithVelocityStamped; +using autoware::behavior_path_planner::utils::path_safety_checker::PredictedPathWithPolygon; +using autoware::behavior_path_planner::utils::path_safety_checker::RSSparams; using autoware::test_utils::createPose; using autoware::test_utils::generateTrajectory; using autoware::universe_utils::Polygon2d; @@ -45,7 +51,7 @@ using autoware_perception_msgs::msg::Shape; using geometry_msgs::msg::Pose; using tier4_planning_msgs::msg::PathWithLaneId; -std::vector createTestPath() +std::vector create_test_path() { std::vector path; path.emplace_back(0.0, createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 1.0); @@ -54,6 +60,69 @@ std::vector createTestPath() return path; } +RSSparams create_rss_parameters( + double longitudinal_velocity_delta_time = 2.0, double rear_vehicle_reaction_time = 1.0, + double rear_vehicle_safety_time_margin = 1.0, double longitudinal_distance_min_threshold = 3.0, + double rear_vehicle_deceleration = -1.0, double front_vehicle_deceleration = -2.0) +{ + RSSparams params; + params.longitudinal_velocity_delta_time = longitudinal_velocity_delta_time; + params.rear_vehicle_reaction_time = rear_vehicle_reaction_time; + params.rear_vehicle_safety_time_margin = rear_vehicle_safety_time_margin; + params.longitudinal_distance_min_threshold = longitudinal_distance_min_threshold; + params.rear_vehicle_deceleration = rear_vehicle_deceleration; + params.front_vehicle_deceleration = front_vehicle_deceleration; + params.extended_polygon_policy = "rectangle"; + + return params; +} + +std::vector create_path_with_velocity_and_polygon( + const Pose initial_pose, const Shape & shape, size_t point_num, double interval, double velocity) +{ + std::vector predicted_path; + predicted_path.reserve(point_num); + Pose pose = initial_pose; + + for (size_t i = 0; i < point_num; i++) { + double time = static_cast(i) * interval; + pose.position.x = initial_pose.position.x + time * velocity; + PoseWithVelocityAndPolygonStamped obj_pose_with_poly( + time, pose, velocity, autoware::universe_utils::toPolygon2d(pose, shape)); + predicted_path.push_back(obj_pose_with_poly); + } + + return predicted_path; +} + +PredictedPathWithPolygon create_predicted_path_with_polygon(Pose pose, float confidence) +{ + PredictedPathWithPolygon path; + Shape shape; + shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + shape.dimensions.x = 1.0; + shape.dimensions.y = 1.0; + path.path = create_path_with_velocity_and_polygon(pose, shape, 10, 1.0, 1.0); + path.confidence = confidence; + + return path; +} + +ExtendedPredictedObject create_extended_predicted_object(Pose pose, float confidence) +{ + ExtendedPredictedObject object; + Shape shape; + shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + shape.dimensions.x = 1.0; + shape.dimensions.y = 1.0; + object.initial_pose = pose; + object.shape = shape; + object.initial_polygon = autoware::universe_utils::toPolygon2d(pose, shape); + object.predicted_paths.push_back(create_predicted_path_with_polygon(pose, confidence)); + + return object; +} + TEST(BehaviorPathPlanningSafetyUtilsTest, isTargetObjectOncoming) { using autoware::behavior_path_planner::utils::path_safety_checker::isTargetObjectOncoming; @@ -228,9 +297,6 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedObjPolygon) CollisionCheckDebug debug; - using autoware::behavior_path_planner::utils::path_safety_checker:: - PoseWithVelocityAndPolygonStamped; - PoseWithVelocityAndPolygonStamped obj_pose_with_poly( 0.0, obj_pose, 0.0, autoware::universe_utils::toPolygon2d(obj_pose, shape)); const auto polygon = @@ -253,22 +319,26 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedObjPolygon) } } +TEST(BehaviorPathPlanningSafetyUtilsTest, convertToPredictedPath) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::convertToPredictedPath; + + auto path = create_test_path(); + double time_resolution = 1.0; + auto predicted_path = convertToPredictedPath(path, time_resolution); + EXPECT_EQ(predicted_path.path.size(), 3); + EXPECT_DOUBLE_EQ(predicted_path.time_step.sec, 1.0); + EXPECT_DOUBLE_EQ(predicted_path.time_step.nanosec, 0.0); +} + TEST(BehaviorPathPlanningSafetyUtilsTest, calcRssDistance) { using autoware::behavior_path_planner::utils::path_safety_checker::calcRssDistance; - using autoware::behavior_path_planner::utils::path_safety_checker::RSSparams; { const double front_vel = 5.0; - const double front_decel = -2.0; const double rear_vel = 10.0; - const double rear_decel = -1.0; - RSSparams params; - params.rear_vehicle_reaction_time = 1.0; - params.rear_vehicle_safety_time_margin = 1.0; - params.longitudinal_distance_min_threshold = 3.0; - params.rear_vehicle_deceleration = rear_decel; - params.front_vehicle_deceleration = front_decel; + auto params = create_rss_parameters(); EXPECT_NEAR(calcRssDistance(front_vel, rear_vel, params), 63.75, epsilon); } @@ -281,9 +351,8 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, calc_minimum_longitudinal_length) double front_object_velocity = 10.0; double rear_object_velocity = 5.0; - autoware::behavior_path_planner::utils::path_safety_checker::RSSparams param; + auto param = create_rss_parameters(); param.longitudinal_distance_min_threshold = 4.0; - param.longitudinal_velocity_delta_time = 2.0; // Condition: front is faster than rear object EXPECT_DOUBLE_EQ( @@ -295,7 +364,7 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, calc_minimum_longitudinal_length) // Basic interpolation test TEST(CalcInterpolatedPoseWithVelocityTest, BasicInterpolation) { - auto path = createTestPath(); + auto path = create_test_path(); auto result = calc_interpolated_pose_with_velocity(path, 0.5); ASSERT_TRUE(result.has_value()); @@ -307,7 +376,7 @@ TEST(CalcInterpolatedPoseWithVelocityTest, BasicInterpolation) // Boundary conditions test TEST(CalcInterpolatedPoseWithVelocityTest, BoundaryConditions) { - auto path = createTestPath(); + auto path = create_test_path(); // First point of the path auto start_result = calc_interpolated_pose_with_velocity(path, 0.0); @@ -330,7 +399,7 @@ TEST(CalcInterpolatedPoseWithVelocityTest, InvalidInput) using autoware::behavior_path_planner::utils::path_safety_checker:: calc_interpolated_pose_with_velocity; - auto path = createTestPath(); + auto path = create_test_path(); // Empty path EXPECT_FALSE(calc_interpolated_pose_with_velocity({}, 1.0).has_value()); @@ -372,13 +441,11 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, get_interpolated_pose_with_velocity_an get_interpolated_pose_with_velocity_and_polygon_stamped; std::vector pred_path; - std::vector pred_path_with_polygon; double current_time = 0.5; autoware::vehicle_info_utils::VehicleInfo vehicle_info{}; vehicle_info.max_longitudinal_offset_m = 1.0; vehicle_info.rear_overhang_m = 1.0; vehicle_info.vehicle_width_m = 2.0; - Shape shape; // Condition: empty path EXPECT_FALSE( @@ -386,12 +453,164 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, get_interpolated_pose_with_velocity_an .has_value()); // Condition: with path - pred_path = createTestPath(); + pred_path = create_test_path(); auto interpolation_result = get_interpolated_pose_with_velocity_and_polygon_stamped(pred_path, current_time, vehicle_info); EXPECT_TRUE(interpolation_result.has_value()); } +TEST(BehaviorPathPlanningSafetyUtilsTest, filterPredictedPathAfterTargetPose) +{ + using autoware::behavior_path_planner::utils::path_safety_checker:: + filterPredictedPathAfterTargetPose; + + auto path = create_test_path(); + Pose pose = createPose(1.0, 0.0, 0.0, 0.0, 0.0, 0.0); + auto filtered_path = filterPredictedPathAfterTargetPose(path, pose); + EXPECT_EQ(filtered_path.size(), 2); + double x_target = 1.0; + for (const auto & pose_with_velocity : filtered_path) { + EXPECT_DOUBLE_EQ(pose_with_velocity.pose.position.x, x_target); + x_target += 1.0; + } +} + +TEST(BehaviorPathPlanningSafetyUtilsTest, checkSafetyWithRSS) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::checkSafetyWithRSS; + + auto planned_path = generateTrajectory(3, 1.0); + auto ego_predicted_path = create_test_path(); + autoware::vehicle_info_utils::VehicleInfo vehicle_info{}; + vehicle_info.max_longitudinal_offset_m = 1.0; + vehicle_info.rear_overhang_m = 1.0; + vehicle_info.vehicle_width_m = 2.0; + std::vector objects; + objects.push_back( + create_extended_predicted_object(createPose(10.0, 8.0, 0.0, 0.0, 0.0, 0.0), 0.5)); + objects.push_back( + create_extended_predicted_object(createPose(0.0, 1.0, 0.0, 0.0, 0.0, 0.0), 0.6)); + CollisionCheckDebugMap debug_map; + BehaviorPathPlannerParameters parameters; + parameters.vehicle_info = vehicle_info; + auto rss_params = create_rss_parameters(); + double hysteresis_factor = 1.0; + const double yaw_difference_th = M_PI_2; + + EXPECT_FALSE(checkSafetyWithRSS( + planned_path, ego_predicted_path, objects, debug_map, parameters, rss_params, true, + hysteresis_factor, yaw_difference_th)); + objects.pop_back(); + EXPECT_TRUE(checkSafetyWithRSS( + planned_path, ego_predicted_path, objects, debug_map, parameters, rss_params, true, + hysteresis_factor, yaw_difference_th)); +} + +TEST(BehaviorPathPlanningSafetyUtilsTest, checkSafetyWithIntegralPredictedPolygon) +{ + using autoware::behavior_path_planner::utils::path_safety_checker:: + checkSafetyWithIntegralPredictedPolygon; + + auto ego_predicted_path = create_test_path(); + autoware::vehicle_info_utils::VehicleInfo vehicle_info{}; + vehicle_info.max_longitudinal_offset_m = 1.0; + vehicle_info.rear_overhang_m = 1.0; + vehicle_info.vehicle_width_m = 2.0; + autoware::behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObjects objects; + objects.push_back( + create_extended_predicted_object(createPose(10.0, 8.0, 0.0, 0.0, 0.0, 0.0), 0.5)); + objects.push_back( + create_extended_predicted_object(createPose(0.0, 1.0, 0.0, 0.0, 0.0, 0.0), 0.6)); + + autoware::behavior_path_planner::utils::path_safety_checker::IntegralPredictedPolygonParams + params{1.0, 1.0, 1.0, 2.0}; + CollisionCheckDebugMap debug_map; + + EXPECT_FALSE(checkSafetyWithIntegralPredictedPolygon( + ego_predicted_path, vehicle_info, objects, true, params, debug_map)); + + objects.pop_back(); + EXPECT_TRUE(checkSafetyWithIntegralPredictedPolygon( + ego_predicted_path, vehicle_info, objects, true, params, debug_map)); +} + +TEST(BehaviorPathPlanningSafetyUtilsTest, checkCollision) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::checkCollision; + using autoware::behavior_path_planner::utils::path_safety_checker::get_collided_polygons; + + auto planned_path = autoware::test_utils::generateTrajectory(3, 1.0); + auto predicted_ego_path = create_test_path(); + + ExtendedPredictedObject target_object; + target_object.initial_pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + Shape shape; + shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + shape.dimensions.x = 2.0; + shape.dimensions.y = 2.0; + auto object_path = + create_predicted_path_with_polygon(createPose(0.0, 1.0, 0.0, 0.0, 0.0, 0.0), 1.0); + + autoware::vehicle_info_utils::VehicleInfo vehicle_info; + vehicle_info.max_longitudinal_offset_m = 4.0; + vehicle_info.vehicle_width_m = 2.0; + vehicle_info.rear_overhang_m = 1.0; + BehaviorPathPlannerParameters common_parameters; + common_parameters.vehicle_info = vehicle_info; + + auto rss_parameters = create_rss_parameters(); + double hysteresis_factor = 1.0; + double max_velocity_limit = 10.0; + const double yaw_difference_th = M_PI_2; + CollisionCheckDebug debug; + + { + EXPECT_FALSE(checkCollision( + planned_path, predicted_ego_path, target_object, object_path, common_parameters, + rss_parameters, hysteresis_factor, yaw_difference_th, debug)); + auto collide_polygon = get_collided_polygons( + planned_path, predicted_ego_path, target_object, object_path, vehicle_info, rss_parameters, + hysteresis_factor, max_velocity_limit, yaw_difference_th, debug); + EXPECT_EQ(collide_polygon.size(), 3); + } + { + target_object.initial_pose = createPose(0.0, 4.0, 0.0, 0.0, 0.0, 0.0); + object_path = create_predicted_path_with_polygon(createPose(0.0, 4.0, 0.0, 0.0, 0.0, 0.0), 1.0); + auto collide_polygon = get_collided_polygons( + planned_path, predicted_ego_path, target_object, object_path, vehicle_info, rss_parameters, + hysteresis_factor, max_velocity_limit, yaw_difference_th, debug); + EXPECT_TRUE(checkCollision( + planned_path, predicted_ego_path, target_object, object_path, common_parameters, + rss_parameters, hysteresis_factor, yaw_difference_th, debug)); + EXPECT_TRUE(collide_polygon.empty()); + } + { + target_object.initial_pose = createPose(10.0, 4.0, 0.0, 0.0, 0.0, 0.0); + object_path = + create_predicted_path_with_polygon(createPose(10.0, 4.0, 0.0, 0.0, 0.0, 0.0), 1.0); + EXPECT_TRUE(checkCollision( + planned_path, predicted_ego_path, target_object, object_path, common_parameters, + rss_parameters, hysteresis_factor, yaw_difference_th, debug)); + auto collide_polygon = get_collided_polygons( + planned_path, predicted_ego_path, target_object, object_path, vehicle_info, rss_parameters, + hysteresis_factor, max_velocity_limit, yaw_difference_th, debug); + EXPECT_TRUE(collide_polygon.empty()); + } + { + rss_parameters.extended_polygon_policy = "along_path"; + target_object.initial_pose = createPose(10.0, 4.0, 0.0, 0.0, 0.0, 0.0); + object_path = + create_predicted_path_with_polygon(createPose(10.0, 4.0, 0.0, 0.0, 0.0, 0.0), 1.0); + EXPECT_TRUE(checkCollision( + planned_path, predicted_ego_path, target_object, object_path, common_parameters, + rss_parameters, hysteresis_factor, yaw_difference_th, debug)); + auto collide_polygon = get_collided_polygons( + planned_path, predicted_ego_path, target_object, object_path, vehicle_info, rss_parameters, + hysteresis_factor, max_velocity_limit, yaw_difference_th, debug); + EXPECT_TRUE(collide_polygon.empty()); + } +} + TEST(BehaviorPathPlanningSafetyUtilsTest, checkPolygonsIntersects) { using autoware::behavior_path_planner::utils::path_safety_checker::checkPolygonsIntersects; From a7cc44d91ba1ce1b572349db3b8b4f74bed64b9a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 19 Nov 2024 21:23:47 +0900 Subject: [PATCH 478/701] feat: suppress warning/error of the empty predicted trajectory by MPC (#9373) Signed-off-by: Takayuki Murooka --- .../autoware_control_validator/src/control_validator.cpp | 4 +--- .../lane_departure_checker_node.cpp | 3 +-- control/autoware_mpc_lateral_controller/README.md | 6 ++++++ 3 files changed, 8 insertions(+), 5 deletions(-) diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp index 796928519e8d1..d51282cb33bb3 100644 --- a/control/autoware_control_validator/src/control_validator.cpp +++ b/control/autoware_control_validator/src/control_validator.cpp @@ -191,9 +191,7 @@ void ControlValidator::validate( const Odometry & kinematics) { if (predicted_trajectory.points.size() < 2) { - RCLCPP_ERROR_THROTTLE( - get_logger(), *get_clock(), 1000, - "predicted_trajectory size is less than 2. Cannot validate."); + RCLCPP_DEBUG(get_logger(), "predicted_trajectory size is less than 2. Cannot validate."); return; } if (reference_trajectory.points.size() < 2) { diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp index 8d954517f552d..366b84a1f6131 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp @@ -252,8 +252,7 @@ bool LaneDepartureCheckerNode::isDataValid() } if (predicted_trajectory_->points.empty()) { - RCLCPP_ERROR_THROTTLE( - get_logger(), *get_clock(), 5000, "predicted_trajectory is empty. Not expected!"); + RCLCPP_DEBUG(get_logger(), "predicted_trajectory is empty. Not expected!"); return false; } diff --git a/control/autoware_mpc_lateral_controller/README.md b/control/autoware_mpc_lateral_controller/README.md index 1b3af44343208..7585e7db140b3 100644 --- a/control/autoware_mpc_lateral_controller/README.md +++ b/control/autoware_mpc_lateral_controller/README.md @@ -75,6 +75,12 @@ Return LateralOutput which contains the following to the controller node - LateralSyncData - steer angle convergence +Publish the following messages. + +| Name | Type | Description | +| ------------------------------- | ---------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `~/output/predicted_trajectory` | autoware_planning_msgs::Trajectory | Predicted trajectory calculated by MPC. The trajectory size will be empty when the controller is in an emergency such as too large deviation from the planning trajectory. | + ### MPC class The `MPC` class (defined in `mpc.hpp`) provides the interface with the MPC algorithm. From de9d9cbc493cf954cceb2308188990672ef2a972 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 19 Nov 2024 22:15:35 +0900 Subject: [PATCH 479/701] fix(autoware_mpc_lateral_controller): fix variableScope (#9390) Signed-off-by: Ryuta Kambe --- control/autoware_mpc_lateral_controller/src/mpc.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp index 2d2179bb41a84..94af6bfd61e8a 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp @@ -511,7 +511,6 @@ MPCMatrix MPC::generateMPCMatrix( // update mpc matrix int idx_x_i = i * DIM_X; - int idx_x_i_prev = (i - 1) * DIM_X; int idx_u_i = i * DIM_U; int idx_y_i = i * DIM_Y; if (i == 0) { @@ -519,6 +518,7 @@ MPCMatrix MPC::generateMPCMatrix( m.Bex.block(0, 0, DIM_X, DIM_U) = Bd; m.Wex.block(0, 0, DIM_X, 1) = Wd; } else { + int idx_x_i_prev = (i - 1) * DIM_X; m.Aex.block(idx_x_i, 0, DIM_X, DIM_X) = Ad * m.Aex.block(idx_x_i_prev, 0, DIM_X, DIM_X); for (int j = 0; j < i; ++j) { int idx_u_j = j * DIM_U; From 3a1ae3bdba64bf7cf5f4a36eb48de07a7ca025e7 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 20 Nov 2024 00:00:23 +0900 Subject: [PATCH 480/701] feat(mpc_lateral_controller): suppress rclcpp_warning/error (#9382) * feat(mpc_lateral_controller): suppress rclcpp_warning/error Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * fix test Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../CMakeLists.txt | 2 + .../autoware/mpc_lateral_controller/mpc.hpp | 14 +++-- .../mpc_lateral_controller.hpp | 2 +- .../src/mpc.cpp | 63 +++++++++---------- .../src/mpc_lateral_controller.cpp | 25 ++++---- .../test/test_mpc.cpp | 44 ++++++++----- .../src/controller_node.cpp | 2 + 7 files changed, 86 insertions(+), 66 deletions(-) diff --git a/control/autoware_mpc_lateral_controller/CMakeLists.txt b/control/autoware_mpc_lateral_controller/CMakeLists.txt index dff85d70419a1..b03fa84e4b116 100644 --- a/control/autoware_mpc_lateral_controller/CMakeLists.txt +++ b/control/autoware_mpc_lateral_controller/CMakeLists.txt @@ -4,6 +4,8 @@ project(autoware_mpc_lateral_controller) find_package(autoware_cmake REQUIRED) autoware_package() +find_package(fmt REQUIRED) + ament_auto_add_library(steering_offset_lib SHARED src/steering_offset/steering_offset.cpp ) diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp index 0e4691822326f..eedac39f37bd4 100644 --- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp @@ -191,6 +191,12 @@ struct MPCMatrix MPCMatrix() = default; }; +struct ResultWithReason +{ + bool result{false}; + std::string reason{""}; +}; + /** * MPC-based waypoints follower class * @brief calculate control command to follow reference waypoints @@ -232,7 +238,7 @@ class MPC * @param current_kinematics The current vehicle kinematics. * @return A pair of a boolean flag indicating success and the MPC data. */ - std::pair getData( + std::pair getData( const MPCTrajectory & trajectory, const SteeringReport & current_steer, const Odometry & current_kinematics); @@ -272,7 +278,7 @@ class MPC * @param [in] current_velocity current ego velocity * @return A pair of a boolean flag indicating success and the optimized input vector. */ - std::pair executeOptimization( + std::pair executeOptimization( const MPCMatrix & mpc_matrix, const VectorXd & x0, const double prediction_dt, const MPCTrajectory & trajectory, const double current_velocity); @@ -283,7 +289,7 @@ class MPC * @param input The input trajectory. * @return A pair of a boolean flag indicating success and the resampled trajectory. */ - std::pair resampleMPCTrajectoryByTime( + std::pair resampleMPCTrajectoryByTime( const double start_time, const double prediction_dt, const MPCTrajectory & input) const; /** @@ -450,7 +456,7 @@ class MPC * @param diagnostic Diagnostic data for debugging purposes. * @return True if the MPC calculation is successful, false otherwise. */ - bool calculateMPC( + ResultWithReason calculateMPC( const SteeringReport & current_steer, const Odometry & current_kinematics, Lateral & ctrl_cmd, Trajectory & predicted_trajectory, Float32MultiArrayStamped & diagnostic, LateralHorizon & ctrl_cmd_horizon); diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp index aca0f0ccbc814..fe68d150b5b9a 100644 --- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp @@ -96,7 +96,7 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase bool m_keep_steer_control_until_converged; // MPC solver checker. - bool m_is_mpc_solved{true}; + ResultWithReason m_mpc_solved_status{true}; // trajectory buffer for detecting new trajectory std::deque m_trajectory_buffer; diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp index 94af6bfd61e8a..3c3496080b597 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp @@ -20,6 +20,8 @@ #include "autoware/universe_utils/math/unit_conversion.hpp" #include "rclcpp/rclcpp.hpp" +#include + #include #include @@ -37,7 +39,7 @@ MPC::MPC(rclcpp::Node & node) node.create_publisher("~/debug/resampled_reference_trajectory", rclcpp::QoS(1)); } -bool MPC::calculateMPC( +ResultWithReason MPC::calculateMPC( const SteeringReport & current_steer, const Odometry & current_kinematics, Lateral & ctrl_cmd, Trajectory & predicted_trajectory, Float32MultiArrayStamped & diagnostic, LateralHorizon & ctrl_cmd_horizon) @@ -48,10 +50,10 @@ bool MPC::calculateMPC( applyVelocityDynamicsFilter(m_reference_trajectory, current_kinematics); // get the necessary data - const auto [success_data, mpc_data] = + const auto [get_data_result, mpc_data] = getData(reference_trajectory, current_steer, current_kinematics); - if (!success_data) { - return fail_warn_throttle("fail to get MPC Data. Stop MPC."); + if (!get_data_result.result) { + return ResultWithReason{false, fmt::format("getting MPC Data ({}).", get_data_result.reason)}; } // calculate initial state of the error dynamics @@ -61,7 +63,7 @@ bool MPC::calculateMPC( const auto [success_delay, x0_delayed] = updateStateForDelayCompensation(reference_trajectory, mpc_data.nearest_time, x0); if (!success_delay) { - return fail_warn_throttle("delay compensation failed. Stop MPC."); + return ResultWithReason{false, "delay compensation."}; } // resample reference trajectory with mpc sampling time @@ -69,21 +71,22 @@ bool MPC::calculateMPC( const double prediction_dt = getPredictionDeltaTime(mpc_start_time, reference_trajectory, current_kinematics); - const auto [success_resample, mpc_resampled_ref_trajectory] = + const auto [resample_result, mpc_resampled_ref_trajectory] = resampleMPCTrajectoryByTime(mpc_start_time, prediction_dt, reference_trajectory); - if (!success_resample) { - return fail_warn_throttle("trajectory resampling failed. Stop MPC."); + if (!resample_result.result) { + return ResultWithReason{ + false, fmt::format("trajectory resampling ({}).", resample_result.reason)}; } // generate mpc matrix : predict equation Xec = Aex * x0 + Bex * Uex + Wex const auto mpc_matrix = generateMPCMatrix(mpc_resampled_ref_trajectory, prediction_dt); // solve Optimization problem - const auto [success_opt, Uex] = executeOptimization( + const auto [opt_result, Uex] = executeOptimization( mpc_matrix, x0_delayed, prediction_dt, mpc_resampled_ref_trajectory, current_kinematics.twist.twist.linear.x); - if (!success_opt) { - return fail_warn_throttle("optimization failed. Stop MPC."); + if (!opt_result.result) { + return ResultWithReason{false, fmt::format("optimization failure ({}).", opt_result.reason)}; } // apply filters for the input limitation and low pass filter @@ -138,7 +141,7 @@ bool MPC::calculateMPC( ctrl_cmd_horizon.controls.push_back(lateral); } - return true; + return ResultWithReason{true}; } Float32MultiArrayStamped MPC::generateDiagData( @@ -278,7 +281,7 @@ void MPC::resetPrevResult(const SteeringReport & current_steer) m_raw_steer_cmd_pprev = std::clamp(current_steer.steering_tire_angle, -steer_lim_f, steer_lim_f); } -std::pair MPC::getData( +std::pair MPC::getData( const MPCTrajectory & traj, const SteeringReport & current_steer, const Odometry & current_kinematics) { @@ -288,8 +291,7 @@ std::pair MPC::getData( if (!MPCUtils::calcNearestPoseInterp( traj, current_pose, &(data.nearest_pose), &(data.nearest_idx), &(data.nearest_time), ego_nearest_dist_threshold, ego_nearest_yaw_threshold)) { - warn_throttle("calculateMPC: error in calculating nearest pose. stop mpc."); - return {false, MPCData{}}; + return {ResultWithReason{false, "error in calculating nearest pose"}, MPCData{}}; } // get data @@ -304,14 +306,12 @@ std::pair MPC::getData( // check error limit const double dist_err = calcDistance2d(current_pose, data.nearest_pose); if (dist_err > m_admissible_position_error) { - warn_throttle("Too large position error: %fm > %fm", dist_err, m_admissible_position_error); - return {false, MPCData{}}; + return {ResultWithReason{false, "too large position error"}, MPCData{}}; } // check yaw error limit if (std::fabs(data.yaw_err) > m_admissible_yaw_error_rad) { - warn_throttle("Too large yaw error: %f > %f", data.yaw_err, m_admissible_yaw_error_rad); - return {false, MPCData{}}; + return {ResultWithReason{false, "too large yaw error"}, MPCData{}}; } // check trajectory time length @@ -319,13 +319,12 @@ std::pair MPC::getData( m_param.min_prediction_length / static_cast(m_param.prediction_horizon - 1); auto end_time = data.nearest_time + m_param.input_delay + m_ctrl_period + max_prediction_time; if (end_time > traj.relative_time.back()) { - warn_throttle("path is too short for prediction."); - return {false, MPCData{}}; + return {ResultWithReason{false, "path is too short for prediction."}, MPCData{}}; } - return {true, data}; + return {ResultWithReason{true}, data}; } -std::pair MPC::resampleMPCTrajectoryByTime( +std::pair MPC::resampleMPCTrajectoryByTime( const double ts, const double prediction_dt, const MPCTrajectory & input) const { MPCTrajectory output; @@ -334,8 +333,7 @@ std::pair MPC::resampleMPCTrajectoryByTime( mpc_time_v.push_back(ts + i * prediction_dt); } if (!MPCUtils::linearInterpMPCTrajectory(input.relative_time, input, mpc_time_v, output)) { - warn_throttle("calculateMPC: mpc resample error. stop mpc calculation. check code!"); - return {false, {}}; + return {ResultWithReason{false, "mpc resample error"}, {}}; } // Publish resampled reference trajectory for debug purpose. if (m_publish_debug_trajectories) { @@ -344,7 +342,7 @@ std::pair MPC::resampleMPCTrajectoryByTime( converted_output.header.frame_id = "map"; m_debug_resampled_reference_trajectory_pub->publish(converted_output); } - return {true, output}; + return {ResultWithReason{true}, output}; } VectorXd MPC::getInitialState(const MPCData & data) @@ -577,15 +575,14 @@ MPCMatrix MPC::generateMPCMatrix( * ~~~ * [ -au_lim * dt ] < [uN-uN-1] < [ au_lim * dt ] (*N... DIM_U) */ -std::pair MPC::executeOptimization( +std::pair MPC::executeOptimization( const MPCMatrix & m, const VectorXd & x0, const double prediction_dt, const MPCTrajectory & traj, const double current_velocity) { VectorXd Uex; if (!isValid(m)) { - warn_throttle("model matrix is invalid. stop MPC."); - return {false, {}}; + return {ResultWithReason{false, "invalid model matrix"}, {}}; } const int DIM_U_N = m_param.prediction_horizon * m_vehicle_model_ptr->getDimU(); @@ -622,8 +619,7 @@ std::pair MPC::executeOptimization( bool solve_result = m_qpsolver_ptr->solve(H, f.transpose(), A, lb, ub, lbA, ubA, Uex); auto t_end = std::chrono::system_clock::now(); if (!solve_result) { - warn_throttle("qp solver error"); - return {false, {}}; + return {ResultWithReason{false, "qp solver error"}, {}}; } { @@ -632,10 +628,9 @@ std::pair MPC::executeOptimization( } if (Uex.array().isNaN().any()) { - warn_throttle("model Uex includes NaN, stop MPC."); - return {false, {}}; + return {ResultWithReason{false, "model Uex including NaN"}, {}}; } - return {true, Uex}; + return {ResultWithReason{true}, Uex}; } void MPC::addSteerWeightR(const double prediction_dt, MatrixXd & R) const diff --git a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp index 7998aafd8cb4f..76e5b4737e418 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp @@ -235,20 +235,17 @@ std::shared_ptr MpcLateralController::createSteerOffset void MpcLateralController::setStatus(diagnostic_updater::DiagnosticStatusWrapper & stat) { - if (m_is_mpc_solved) { + if (m_mpc_solved_status.result) { stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "MPC succeeded."); } else { - const std::string error_msg = "The MPC solver failed. Call MRM to stop the car."; + const std::string error_msg = "MPC failed due to " + m_mpc_solved_status.reason; stat.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, error_msg); } } void MpcLateralController::setupDiag() { - auto & d = diag_updater_; - d->setHardwareID("mpc_lateral_controller"); - - d->add("MPC_solve_checker", [&](auto & stat) { setStatus(stat); }); + diag_updater_->add("MPC_solve_checker", [&](auto & stat) { setStatus(stat); }); } trajectory_follower::LateralOutput MpcLateralController::run( @@ -277,11 +274,16 @@ trajectory_follower::LateralOutput MpcLateralController::run( } trajectory_follower::LateralHorizon ctrl_cmd_horizon{}; - const bool is_mpc_solved = m_mpc->calculateMPC( + const auto mpc_solved_status = m_mpc->calculateMPC( m_current_steering, m_current_kinematic_state, ctrl_cmd, predicted_traj, debug_values, ctrl_cmd_horizon); - m_is_mpc_solved = is_mpc_solved; // for diagnostic updater + if ( + (m_mpc_solved_status.result == true && mpc_solved_status.result == false) || + (!mpc_solved_status.result && mpc_solved_status.reason != m_mpc_solved_status.reason)) { + RCLCPP_ERROR(logger_, "MPC failed due to %s", mpc_solved_status.reason.c_str()); + } + m_mpc_solved_status = mpc_solved_status; // for diagnostic updater diag_updater_->force_update(); @@ -290,7 +292,7 @@ trajectory_follower::LateralOutput MpcLateralController::run( // the vehicle will return to the path by re-planning the trajectory or external operation. // After the recovery, the previous value of the optimization may deviate greatly from // the actual steer angle, and it may make the optimization result unstable. - if (!is_mpc_solved || !is_under_control) { + if (!mpc_solved_status.result || !is_under_control) { m_mpc->resetPrevResult(m_current_steering); } else { setSteeringToHistory(ctrl_cmd); @@ -334,13 +336,12 @@ trajectory_follower::LateralOutput MpcLateralController::run( return createLateralOutput(m_ctrl_cmd_prev, false, ctrl_cmd_horizon); } - if (!is_mpc_solved) { - warn_throttle("MPC is not solved. publish 0 velocity."); + if (!mpc_solved_status.result) { ctrl_cmd = getStopControlCommand(); } m_ctrl_cmd_prev = ctrl_cmd; - return createLateralOutput(ctrl_cmd, is_mpc_solved, ctrl_cmd_horizon); + return createLateralOutput(ctrl_cmd, mpc_solved_status.result, ctrl_cmd_horizon); } bool MpcLateralController::isSteerConverged(const Lateral & cmd) const diff --git a/control/autoware_mpc_lateral_controller/test/test_mpc.cpp b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp index fe2ca8d451018..ccc91d0e7751b 100644 --- a/control/autoware_mpc_lateral_controller/test/test_mpc.cpp +++ b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp @@ -214,7 +214,8 @@ TEST_F(MPCTest, InitializeAndCalculate) Float32MultiArrayStamped diag; LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); @@ -250,7 +251,8 @@ TEST_F(MPCTest, InitializeAndCalculateRightTurn) Float32MultiArrayStamped diag; LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_LT(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_LT(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); @@ -281,7 +283,8 @@ TEST_F(MPCTest, OsqpCalculate) Float32MultiArrayStamped diag; LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - EXPECT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); + EXPECT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); @@ -313,7 +316,8 @@ TEST_F(MPCTest, OsqpCalculateRightTurn) Float32MultiArrayStamped diag; LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_LT(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_LT(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); @@ -347,7 +351,8 @@ TEST_F(MPCTest, KinematicsNoDelayCalculate) Float32MultiArrayStamped diag; LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); @@ -382,7 +387,8 @@ TEST_F(MPCTest, KinematicsNoDelayCalculateRightTurn) Float32MultiArrayStamped diag; LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_LT(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_LT(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); @@ -411,7 +417,8 @@ TEST_F(MPCTest, DynamicCalculate) Float32MultiArrayStamped diag; LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); @@ -440,28 +447,32 @@ TEST_F(MPCTest, MultiSolveWithBuffer) LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_zero, default_velocity); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(mpc->m_input_buffer.size(), size_t(3)); EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(mpc->m_input_buffer.size(), size_t(3)); EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(mpc->m_input_buffer.size(), size_t(3)); EXPECT_EQ(ctrl_cmd_horizon.controls.size(), param.prediction_horizon); EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd_horizon.controls.front().steering_tire_rotation_rate, 0.0f); - ASSERT_TRUE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); + ASSERT_TRUE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); EXPECT_EQ(ctrl_cmd.steering_tire_angle, 0.0f); EXPECT_EQ(ctrl_cmd.steering_tire_rotation_rate, 0.0f); EXPECT_EQ(mpc->m_input_buffer.size(), size_t(3)); @@ -492,11 +503,14 @@ TEST_F(MPCTest, FailureCases) Float32MultiArrayStamped diag; LateralHorizon ctrl_cmd_horizon; const auto odom = makeOdometry(pose_far, default_velocity); - EXPECT_FALSE(mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon)); + EXPECT_FALSE( + mpc->calculateMPC(neutral_steer, odom, ctrl_cmd, pred_traj, diag, ctrl_cmd_horizon).result); // Calculate MPC with a fast velocity to make the prediction go further than the reference path - EXPECT_FALSE(mpc->calculateMPC( - neutral_steer, makeOdometry(pose_far, default_velocity + 10.0), ctrl_cmd, pred_traj, diag, - ctrl_cmd_horizon)); + EXPECT_FALSE(mpc + ->calculateMPC( + neutral_steer, makeOdometry(pose_far, default_velocity + 10.0), ctrl_cmd, + pred_traj, diag, ctrl_cmd_horizon) + .result); } } // namespace autoware::motion::control::mpc_lateral_controller diff --git a/control/autoware_trajectory_follower_node/src/controller_node.cpp b/control/autoware_trajectory_follower_node/src/controller_node.cpp index f4a32444afe9d..d3fc1ba52c95c 100644 --- a/control/autoware_trajectory_follower_node/src/controller_node.cpp +++ b/control/autoware_trajectory_follower_node/src/controller_node.cpp @@ -62,6 +62,8 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control enable_control_cmd_horizon_pub_ = declare_parameter("enable_control_cmd_horizon_pub", false); + diag_updater_->setHardwareID("trajectory_follower_node"); + const auto lateral_controller_mode = getLateralControllerMode(declare_parameter("lateral_controller_mode")); switch (lateral_controller_mode) { From f22096a4ffb75ac8f0a315ac0496aad781fb8166 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Wed, 20 Nov 2024 09:20:57 +0900 Subject: [PATCH 481/701] fix(autoware_obstacle_stop_planner): fix cppcheck warnings (#9388) Signed-off-by: Ryuta Kambe --- .../src/adaptive_cruise_control.cpp | 14 ++------------ .../src/adaptive_cruise_control.hpp | 4 ++-- .../src/debug_marker.hpp | 2 +- 3 files changed, 5 insertions(+), 15 deletions(-) diff --git a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp index ee2eadac6f780..82a4d5a7ec550 100644 --- a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp +++ b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp @@ -111,16 +111,6 @@ double getDistanceFromTwoPoint( } } -constexpr double sign(const double value) -{ - if (value > 0) { - return 1.0; - } else if (value < 0) { - return -1.0; - } else { - return 0.0; - } -} } // namespace namespace autoware::motion_planning @@ -573,7 +563,7 @@ double AdaptiveCruiseController::calcUpperVelocity( } double AdaptiveCruiseController::calcThreshDistToForwardObstacle( - const double current_vel, const double obj_vel) + const double current_vel, const double obj_vel) const { const double current_vel_min = std::max(1.0, std::fabs(current_vel)); const double obj_vel_min = std::max(0.0, obj_vel); @@ -590,7 +580,7 @@ double AdaptiveCruiseController::calcThreshDistToForwardObstacle( } double AdaptiveCruiseController::calcBaseDistToForwardObstacle( - const double current_vel, const double obj_vel) + const double current_vel, const double obj_vel) const { const double obj_vel_min = std::max(0.0, obj_vel); const double minimum_distance = param_.min_dist_standard; diff --git a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp index 7535986f1db85..ce57f585197ad 100644 --- a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp +++ b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp @@ -203,8 +203,8 @@ class AdaptiveCruiseController double estimateRoughPointVelocity(double current_vel); bool isObstacleVelocityHigh(const double obj_vel); double calcUpperVelocity(const double dist_to_col, const double obj_vel, const double self_vel); - double calcThreshDistToForwardObstacle(const double current_vel, const double obj_vel); - double calcBaseDistToForwardObstacle(const double current_vel, const double obj_vel); + double calcThreshDistToForwardObstacle(const double current_vel, const double obj_vel) const; + double calcBaseDistToForwardObstacle(const double current_vel, const double obj_vel) const; double calcTargetVelocity_P(const double target_dist, const double current_dist) const; static double calcTargetVelocity_I(const double target_dist, const double current_dist); double calcTargetVelocity_D(const double target_dist, const double current_dist); diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp index ac043dd895ea7..4400368cc3d70 100644 --- a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp +++ b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp @@ -77,7 +77,7 @@ class DebugValues * @brief get all the debug values as an std::array * @return array of all debug values */ - std::array(TYPE::SIZE)> getValues() const { return values_; } + const std::array(TYPE::SIZE)> & getValues() const { return values_; } /** * @brief set the given type to the given value * @param [in] type TYPE of the value From be8235d785597c41d01782ec35da862ba0906578 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Wed, 20 Nov 2024 10:46:29 +0900 Subject: [PATCH 482/701] refactor(sensing): move CUDA related packages to `sensing/cuda` directory (#9369) move to cuda dir Signed-off-by: Yutaka Kondo --- sensing/{ => cuda}/autoware_cuda_utils/CHANGELOG.rst | 0 sensing/{ => cuda}/autoware_cuda_utils/CMakeLists.txt | 0 sensing/{ => cuda}/autoware_cuda_utils/README.md | 0 .../include/autoware/cuda_utils/cuda_check_error.hpp | 0 .../include/autoware/cuda_utils/cuda_unique_ptr.hpp | 0 .../include/autoware/cuda_utils/stream_unique_ptr.hpp | 0 sensing/{ => cuda}/autoware_cuda_utils/package.xml | 0 7 files changed, 0 insertions(+), 0 deletions(-) rename sensing/{ => cuda}/autoware_cuda_utils/CHANGELOG.rst (100%) rename sensing/{ => cuda}/autoware_cuda_utils/CMakeLists.txt (100%) rename sensing/{ => cuda}/autoware_cuda_utils/README.md (100%) rename sensing/{ => cuda}/autoware_cuda_utils/include/autoware/cuda_utils/cuda_check_error.hpp (100%) rename sensing/{ => cuda}/autoware_cuda_utils/include/autoware/cuda_utils/cuda_unique_ptr.hpp (100%) rename sensing/{ => cuda}/autoware_cuda_utils/include/autoware/cuda_utils/stream_unique_ptr.hpp (100%) rename sensing/{ => cuda}/autoware_cuda_utils/package.xml (100%) diff --git a/sensing/autoware_cuda_utils/CHANGELOG.rst b/sensing/cuda/autoware_cuda_utils/CHANGELOG.rst similarity index 100% rename from sensing/autoware_cuda_utils/CHANGELOG.rst rename to sensing/cuda/autoware_cuda_utils/CHANGELOG.rst diff --git a/sensing/autoware_cuda_utils/CMakeLists.txt b/sensing/cuda/autoware_cuda_utils/CMakeLists.txt similarity index 100% rename from sensing/autoware_cuda_utils/CMakeLists.txt rename to sensing/cuda/autoware_cuda_utils/CMakeLists.txt diff --git a/sensing/autoware_cuda_utils/README.md b/sensing/cuda/autoware_cuda_utils/README.md similarity index 100% rename from sensing/autoware_cuda_utils/README.md rename to sensing/cuda/autoware_cuda_utils/README.md diff --git a/sensing/autoware_cuda_utils/include/autoware/cuda_utils/cuda_check_error.hpp b/sensing/cuda/autoware_cuda_utils/include/autoware/cuda_utils/cuda_check_error.hpp similarity index 100% rename from sensing/autoware_cuda_utils/include/autoware/cuda_utils/cuda_check_error.hpp rename to sensing/cuda/autoware_cuda_utils/include/autoware/cuda_utils/cuda_check_error.hpp diff --git a/sensing/autoware_cuda_utils/include/autoware/cuda_utils/cuda_unique_ptr.hpp b/sensing/cuda/autoware_cuda_utils/include/autoware/cuda_utils/cuda_unique_ptr.hpp similarity index 100% rename from sensing/autoware_cuda_utils/include/autoware/cuda_utils/cuda_unique_ptr.hpp rename to sensing/cuda/autoware_cuda_utils/include/autoware/cuda_utils/cuda_unique_ptr.hpp diff --git a/sensing/autoware_cuda_utils/include/autoware/cuda_utils/stream_unique_ptr.hpp b/sensing/cuda/autoware_cuda_utils/include/autoware/cuda_utils/stream_unique_ptr.hpp similarity index 100% rename from sensing/autoware_cuda_utils/include/autoware/cuda_utils/stream_unique_ptr.hpp rename to sensing/cuda/autoware_cuda_utils/include/autoware/cuda_utils/stream_unique_ptr.hpp diff --git a/sensing/autoware_cuda_utils/package.xml b/sensing/cuda/autoware_cuda_utils/package.xml similarity index 100% rename from sensing/autoware_cuda_utils/package.xml rename to sensing/cuda/autoware_cuda_utils/package.xml From e9017515ab29571e772b160316ddd259a237353e Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Wed, 20 Nov 2024 11:47:47 +0900 Subject: [PATCH 483/701] Revert "refactor(sensing): move CUDA related packages to `sensing/cuda` directory" (#9394) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Revert "refactor(sensing): move CUDA related packages to `sensing/cuda` direc…" This reverts commit be8235d785597c41d01782ec35da862ba0906578. --- sensing/{cuda => }/autoware_cuda_utils/CHANGELOG.rst | 0 sensing/{cuda => }/autoware_cuda_utils/CMakeLists.txt | 0 sensing/{cuda => }/autoware_cuda_utils/README.md | 0 .../include/autoware/cuda_utils/cuda_check_error.hpp | 0 .../include/autoware/cuda_utils/cuda_unique_ptr.hpp | 0 .../include/autoware/cuda_utils/stream_unique_ptr.hpp | 0 sensing/{cuda => }/autoware_cuda_utils/package.xml | 0 7 files changed, 0 insertions(+), 0 deletions(-) rename sensing/{cuda => }/autoware_cuda_utils/CHANGELOG.rst (100%) rename sensing/{cuda => }/autoware_cuda_utils/CMakeLists.txt (100%) rename sensing/{cuda => }/autoware_cuda_utils/README.md (100%) rename sensing/{cuda => }/autoware_cuda_utils/include/autoware/cuda_utils/cuda_check_error.hpp (100%) rename sensing/{cuda => }/autoware_cuda_utils/include/autoware/cuda_utils/cuda_unique_ptr.hpp (100%) rename sensing/{cuda => }/autoware_cuda_utils/include/autoware/cuda_utils/stream_unique_ptr.hpp (100%) rename sensing/{cuda => }/autoware_cuda_utils/package.xml (100%) diff --git a/sensing/cuda/autoware_cuda_utils/CHANGELOG.rst b/sensing/autoware_cuda_utils/CHANGELOG.rst similarity index 100% rename from sensing/cuda/autoware_cuda_utils/CHANGELOG.rst rename to sensing/autoware_cuda_utils/CHANGELOG.rst diff --git a/sensing/cuda/autoware_cuda_utils/CMakeLists.txt b/sensing/autoware_cuda_utils/CMakeLists.txt similarity index 100% rename from sensing/cuda/autoware_cuda_utils/CMakeLists.txt rename to sensing/autoware_cuda_utils/CMakeLists.txt diff --git a/sensing/cuda/autoware_cuda_utils/README.md b/sensing/autoware_cuda_utils/README.md similarity index 100% rename from sensing/cuda/autoware_cuda_utils/README.md rename to sensing/autoware_cuda_utils/README.md diff --git a/sensing/cuda/autoware_cuda_utils/include/autoware/cuda_utils/cuda_check_error.hpp b/sensing/autoware_cuda_utils/include/autoware/cuda_utils/cuda_check_error.hpp similarity index 100% rename from sensing/cuda/autoware_cuda_utils/include/autoware/cuda_utils/cuda_check_error.hpp rename to sensing/autoware_cuda_utils/include/autoware/cuda_utils/cuda_check_error.hpp diff --git a/sensing/cuda/autoware_cuda_utils/include/autoware/cuda_utils/cuda_unique_ptr.hpp b/sensing/autoware_cuda_utils/include/autoware/cuda_utils/cuda_unique_ptr.hpp similarity index 100% rename from sensing/cuda/autoware_cuda_utils/include/autoware/cuda_utils/cuda_unique_ptr.hpp rename to sensing/autoware_cuda_utils/include/autoware/cuda_utils/cuda_unique_ptr.hpp diff --git a/sensing/cuda/autoware_cuda_utils/include/autoware/cuda_utils/stream_unique_ptr.hpp b/sensing/autoware_cuda_utils/include/autoware/cuda_utils/stream_unique_ptr.hpp similarity index 100% rename from sensing/cuda/autoware_cuda_utils/include/autoware/cuda_utils/stream_unique_ptr.hpp rename to sensing/autoware_cuda_utils/include/autoware/cuda_utils/stream_unique_ptr.hpp diff --git a/sensing/cuda/autoware_cuda_utils/package.xml b/sensing/autoware_cuda_utils/package.xml similarity index 100% rename from sensing/cuda/autoware_cuda_utils/package.xml rename to sensing/autoware_cuda_utils/package.xml From 8ce9f583c0a3fc6d92f7921273d50ab9f960e577 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 13:09:05 +0900 Subject: [PATCH 484/701] fix(autoware_occupancy_grid_map_outlier_filter): fix bugprone-incorrect-roundings (#9217) * fix: bugprone-incorrect-roundings Signed-off-by: kobayu858 * fix: clang-format Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/occupancy_grid_map_outlier_filter_node.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp b/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp index cf8e36833b339..eb52b903b90ca 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp +++ b/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp @@ -32,6 +32,7 @@ #endif #include +#include #include #include #include @@ -140,7 +141,8 @@ void RadiusSearch2dFilter::filter( const float distance = std::hypot(xy_cloud->points[i].x - pose.position.x, xy_cloud->points[i].y - pose.position.y); const int min_points_threshold = std::min( - std::max(static_cast(min_points_and_distance_ratio_ / distance + 0.5f), min_points_), + std::max( + static_cast(std::lround(min_points_and_distance_ratio_ / distance)), min_points_), max_points_); const int points_num = kd_tree_->radiusSearch(i, search_radius_, k_indices, k_distances, min_points_threshold); @@ -200,7 +202,8 @@ void RadiusSearch2dFilter::filter( const float distance = std::hypot(xy_cloud->points[i].x - pose.position.x, xy_cloud->points[i].y - pose.position.y); const int min_points_threshold = std::min( - std::max(static_cast(min_points_and_distance_ratio_ / distance + 0.5f), min_points_), + std::max( + static_cast(std::lround(min_points_and_distance_ratio_ / distance)), min_points_), max_points_); const int points_num = kd_tree_->radiusSearch(i, search_radius_, k_indices, k_distances, min_points_threshold); From 50ba24a758e92b10d4d21bc21d792bc4136d49ba Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 13:51:01 +0900 Subject: [PATCH 485/701] fix(autoware_costmap_generator): fix clang-diagnostic-unused-private-field (#9395) fix: clang-diagnostic-unused-private-field Signed-off-by: kobayu858 --- .../autoware/costmap_generator/utils/points_to_costmap.hpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/points_to_costmap.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/points_to_costmap.hpp index cda96ea9b3283..1cf3365b0f344 100644 --- a/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/points_to_costmap.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/utils/points_to_costmap.hpp @@ -79,8 +79,6 @@ class PointsToCostmap double grid_resolution_; double grid_position_x_; double grid_position_y_; - double y_cell_size_; - double x_cell_size_; /// \brief initialize gridmap parameters /// \param[in] gridmap: gridmap object to be initialized From eafa68e47fb5cb08c16ebf28b28cf342a315c257 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 14:35:52 +0900 Subject: [PATCH 486/701] fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-defaulted-function-deleted (#9398) fix: clang-diagnostic-defaulted-function-deleted Signed-off-by: kobayu858 --- .../autoware/obstacle_cruise_planner/planner_interface.hpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp index a2265ea6affa0..df46f32610150 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp @@ -66,8 +66,6 @@ class PlannerInterface node.declare_parameter("slow_down.moving_object_hysteresis_range"); } - PlannerInterface() = default; - void setParam( const bool enable_debug_info, const bool enable_calculation_time_info, const bool use_pointcloud, const double min_behavior_stop_margin, From f58d71dc9edd847de8a1ae10f421dc4c23b9ad78 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 14:59:48 +0900 Subject: [PATCH 487/701] fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-unused-private-field (#9396) * fix: clang-diagnostic-unused-private-field Signed-off-by: kobayu858 * fix: build error Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../include/autoware/freespace_planning_algorithms/rrtstar.hpp | 2 -- .../autoware_freespace_planning_algorithms/src/rrtstar.cpp | 3 +-- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp index b30692ce8da2d..1bdc7105067d4 100644 --- a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp +++ b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp @@ -68,8 +68,6 @@ class RRTStar : public AbstractPlanningAlgorithm // algorithm specific param const RRTStarParam rrtstar_param_; - - const VehicleShape original_vehicle_shape_; }; } // namespace autoware::freespace_planning_algorithms diff --git a/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp b/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp index b9343f680fa1a..696d04a06cb28 100644 --- a/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp @@ -33,8 +33,7 @@ RRTStar::RRTStar( original_vehicle_shape.width + 2 * rrtstar_param.margin, original_vehicle_shape.base_length, original_vehicle_shape.max_steering, original_vehicle_shape.base2back + rrtstar_param.margin)), - rrtstar_param_(rrtstar_param), - original_vehicle_shape_(original_vehicle_shape) + rrtstar_param_(rrtstar_param) { if (rrtstar_param_.margin <= 0) { throw std::invalid_argument("rrt's collision margin must be greater than 0"); From 41cec8711513bb38b8d27242c920554e3dc1f4ae Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 16:07:53 +0900 Subject: [PATCH 488/701] fix(autoware_surround_obstacle_checker): fix clang-diagnostic-unused-private-field (#9399) * fix: clang-diagnostic-unused-private-field Signed-off-by: kobayu858 * refactor: fmt Signed-off-by: kobayu858 * refactor: fmt Signed-off-by: kobayu858 * refactor: fmt Signed-off-by: kobayu858 * fix: hpp Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/debug_marker.cpp | 11 +++++------ .../src/debug_marker.hpp | 3 +-- .../autoware_surround_obstacle_checker/src/node.cpp | 6 +++--- 3 files changed, 9 insertions(+), 11 deletions(-) diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp index 92429504c7d5e..57d9cc8bc67a7 100644 --- a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp +++ b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp @@ -60,13 +60,12 @@ using autoware::universe_utils::createMarkerScale; using autoware::universe_utils::createPoint; SurroundObstacleCheckerDebugNode::SurroundObstacleCheckerDebugNode( - const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double base_link2front, - const std::string & object_label, const double & surround_check_front_distance, - const double & surround_check_side_distance, const double & surround_check_back_distance, - const double & surround_check_hysteresis_distance, const geometry_msgs::msg::Pose & self_pose, - const rclcpp::Clock::SharedPtr clock, rclcpp::Node & node) + const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const std::string & object_label, + const double & surround_check_front_distance, const double & surround_check_side_distance, + const double & surround_check_back_distance, const double & surround_check_hysteresis_distance, + const geometry_msgs::msg::Pose & self_pose, const rclcpp::Clock::SharedPtr clock, + rclcpp::Node & node) : vehicle_info_(vehicle_info), - base_link2front_(base_link2front), object_label_(object_label), surround_check_front_distance_(surround_check_front_distance), surround_check_side_distance_(surround_check_side_distance), diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp index ba8877b539e81..17ec2631b2dad 100644 --- a/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp +++ b/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp @@ -56,7 +56,7 @@ class SurroundObstacleCheckerDebugNode { public: explicit SurroundObstacleCheckerDebugNode( - const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double base_link2front, + const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const std::string & object_label, const double & surround_check_front_distance, const double & surround_check_side_distance, const double & surround_check_back_distance, const double & surround_check_hysteresis_distance, const geometry_msgs::msg::Pose & self_pose, @@ -77,7 +77,6 @@ class SurroundObstacleCheckerDebugNode rclcpp::Publisher::SharedPtr vehicle_footprint_recover_offset_pub_; autoware::vehicle_info_utils::VehicleInfo vehicle_info_; - double base_link2front_; std::string object_label_; double surround_check_front_distance_; double surround_check_side_distance_; diff --git a/planning/autoware_surround_obstacle_checker/src/node.cpp b/planning/autoware_surround_obstacle_checker/src/node.cpp index da0dd0ec09a26..70e81fa3b1d12 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.cpp +++ b/planning/autoware_surround_obstacle_checker/src/node.cpp @@ -126,9 +126,9 @@ SurroundObstacleCheckerNode::SurroundObstacleCheckerNode(const rclcpp::NodeOptio const auto param = param_listener_->get_params(); const auto check_distances = getCheckDistances(param.debug_footprint_label); debug_ptr_ = std::make_shared( - vehicle_info_, vehicle_info_.max_longitudinal_offset_m, param.debug_footprint_label, - check_distances.at(0), check_distances.at(1), check_distances.at(2), - param.surround_check_hysteresis_distance, odometry_ptr_->pose.pose, this->get_clock(), *this); + vehicle_info_, param.debug_footprint_label, check_distances.at(0), check_distances.at(1), + check_distances.at(2), param.surround_check_hysteresis_distance, odometry_ptr_->pose.pose, + this->get_clock(), *this); } } From 5fbb9d2c7fe16b22c4ad02de3b2ea557bd19cd7d Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 20 Nov 2024 17:31:47 +0900 Subject: [PATCH 489/701] feat(goal_planner): remove unnecessary member from ThreadSafeData (#9393) Signed-off-by: Mamoru Sobue --- .../goal_planner_module.hpp | 7 ++- .../thread_data.hpp | 13 ----- .../src/goal_planner_module.cpp | 58 ++++++++++++------- 3 files changed, 42 insertions(+), 36 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 2edd0714eceff..5d7fe103a9346 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -73,6 +73,7 @@ struct GoalPlannerDebugData std::vector ego_polygons_expanded{}; lanelet::ConstLanelet expanded_pull_over_lane_between_ego{}; Polygon2d objects_extraction_polygon{}; + utils::path_safety_checker::CollisionCheckDebugMap collision_check{}; }; struct LastApprovalData @@ -326,7 +327,6 @@ class GoalPlannerModule : public SceneModuleInterface autoware::universe_utils::LinearRing2d vehicle_footprint_; std::recursive_mutex mutex_; - // TODO(Mamoru Sobue): isSafePath() modifies ThreadSafeData::check_collision, avoid this mutable mutable ThreadSafeData thread_safe_data_; // TODO(soblin): organize part of thread_safe_data and previous data to PullOverContextData @@ -414,7 +414,8 @@ class GoalPlannerModule : public SceneModuleInterface bool planFreespacePath( std::shared_ptr planner_data, const std::shared_ptr goal_searcher, const GoalCandidates & goal_candidates, - const std::shared_ptr occupancy_grid_map); + const std::shared_ptr occupancy_grid_map, + const PredictedObjects & static_target_objects); bool canReturnToLaneParking(const PullOverContextData & context_data); // plan pull over path @@ -477,7 +478,7 @@ class GoalPlannerModule : public SceneModuleInterface * @brief Checks if the current path is safe. * @return If the path is safe in the current state, true. */ - bool isSafePath( + std::pair isSafePath( const std::shared_ptr planner_data, const bool found_pull_over_path, const std::optional & pull_over_path_opt, const PathDecisionState & prev_data, const GoalPlannerParameters & parameters, diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp index 9df48fb5f0a5f..549319b42ee4c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp @@ -111,10 +111,6 @@ class ThreadSafeData prev_data_ = PathDecisionState{}; } - // main --> lane/freespace - DEFINE_SETTER_GETTER_WITH_MUTEX(PredictedObjects, static_target_objects) - DEFINE_SETTER_GETTER_WITH_MUTEX(PredictedObjects, dynamic_target_objects) - // main --> lane DEFINE_SETTER_GETTER_WITH_MUTEX(PathDecisionState, prev_data) @@ -125,8 +121,6 @@ class ThreadSafeData // main <--> lane/freespace DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, pull_over_path) DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_update_time) - DEFINE_SETTER_GETTER_WITH_MUTEX( - utils::path_safety_checker::CollisionCheckDebugMap, collision_check) private: void set_pull_over_path_no_lock(const PullOverPath & path) @@ -145,18 +139,11 @@ class ThreadSafeData void set_no_lock(const std::vector & arg) { pull_over_path_candidates_ = arg; } void set_no_lock(const std::shared_ptr & arg) { set_pull_over_path_no_lock(arg); } void set_no_lock(const PullOverPath & arg) { set_pull_over_path_no_lock(arg); } - void set_no_lock(const utils::path_safety_checker::CollisionCheckDebugMap & arg) - { - collision_check_ = arg; - } std::shared_ptr pull_over_path_{nullptr}; std::vector pull_over_path_candidates_; std::optional last_path_update_time_; std::optional closest_start_pose_{}; - utils::path_safety_checker::CollisionCheckDebugMap collision_check_{}; - PredictedObjects static_target_objects_{}; - PredictedObjects dynamic_target_objects_{}; PathDecisionState prev_data_{}; std::recursive_mutex & mutex_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index f8a35134e0407..b4fa4dfe30d7a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -395,8 +395,8 @@ void GoalPlannerModule::onFreespaceParkingTimer() } // end of critical section if ( - !local_planner_data || !current_status_opt || !parameters_opt || !vehicle_footprint_opt || - !goal_candidates_opt) { + !local_planner_data || !current_status_opt || !occupancy_grid_map || !parameters_opt || + !vehicle_footprint_opt || !goal_candidates_opt) { RCLCPP_ERROR( getLogger(), "failed to get valid planner_data/current_status/parameters in " @@ -434,20 +434,43 @@ void GoalPlannerModule::onFreespaceParkingTimer() return; } + const double vehicle_width = planner_data_->parameters.vehicle_width; + const bool left_side_parking = parameters.parking_policy == ParkingPolicy::LEFT_SIDE; + const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( + *(local_planner_data->route_handler), left_side_parking, parameters.backward_goal_search_length, + parameters.forward_goal_search_length); + const auto objects_extraction_polygon = goal_planner_utils::generateObjectExtractionPolygon( + pull_over_lanes, left_side_parking, parameters.detection_bound_offset, + parameters.margin_from_boundary + parameters.max_lateral_offset + vehicle_width); + + PredictedObjects dynamic_target_objects{}; + for (const auto & object : local_planner_data->dynamic_object->objects) { + const auto object_polygon = universe_utils::toPolygon2d(object); + if ( + objects_extraction_polygon.has_value() && + boost::geometry::intersects(object_polygon, objects_extraction_polygon.value())) { + dynamic_target_objects.objects.push_back(object); + } + } + const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( + dynamic_target_objects, parameters.th_moving_object_velocity); + const bool is_new_costmap = (clock_->now() - local_planner_data->costmap->header.stamp).seconds() < 1.0; constexpr double path_update_duration = 1.0; if ( isStuck( - thread_safe_data_.get_static_target_objects(), thread_safe_data_.get_dynamic_target_objects(), - local_planner_data, occupancy_grid_map, parameters) && + static_target_objects, dynamic_target_objects, local_planner_data, occupancy_grid_map, + parameters) && is_new_costmap && needPathUpdate( local_planner_data->self_odometry->pose.pose, path_update_duration, modified_goal_opt, parameters)) { auto goal_searcher = std::make_shared(parameters, vehicle_footprint); - planFreespacePath(local_planner_data, goal_searcher, goal_candidates, occupancy_grid_map); + planFreespacePath( + local_planner_data, goal_searcher, goal_candidates, occupancy_grid_map, + static_target_objects); } } @@ -504,10 +527,6 @@ void GoalPlannerModule::updateData() const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( dynamic_target_objects, p->th_moving_object_velocity); - // these objects are used for path collision check not for safety check - thread_safe_data_.set_static_target_objects(static_target_objects); - thread_safe_data_.set_dynamic_target_objects(dynamic_target_objects); - // update goal searcher and generate goal candidates if (goal_candidates_.empty()) { goal_candidates_ = generateGoalCandidates(); @@ -583,9 +602,10 @@ void GoalPlannerModule::updateData() // save "old" state const auto prev_decision_state = path_decision_controller_.get_current_state(); - const bool is_current_safe = isSafePath( + const auto [is_current_safe, collision_check_map] = isSafePath( planner_data_, found_pull_over_path, pull_over_path_recv, prev_decision_state, *parameters_, ego_predicted_path_params_, objects_filtering_params_, safety_check_params_); + debug_data_.collision_check = collision_check_map; // update to latest state path_decision_controller_.transit_state( found_pull_over_path, clock_->now(), static_target_objects, dynamic_target_objects, @@ -768,12 +788,11 @@ double GoalPlannerModule::calcModuleRequestLength() const bool GoalPlannerModule::planFreespacePath( std::shared_ptr planner_data, const std::shared_ptr goal_searcher, const GoalCandidates & goal_candidates_arg, - const std::shared_ptr occupancy_grid_map) + const std::shared_ptr occupancy_grid_map, + const PredictedObjects & static_target_objects) { auto goal_candidates = goal_candidates_arg; - goal_searcher->update( - goal_candidates, occupancy_grid_map, planner_data, - thread_safe_data_.get_static_target_objects()); + goal_searcher->update(goal_candidates, occupancy_grid_map, planner_data, static_target_objects); debug_data_.freespace_planner.num_goal_candidates = goal_candidates.size(); debug_data_.freespace_planner.is_planning = true; @@ -2201,7 +2220,7 @@ static std::vector filterOb return refined_filtered_objects; } -bool GoalPlannerModule::isSafePath( +std::pair GoalPlannerModule::isSafePath( const std::shared_ptr planner_data, const bool found_pull_over_path, const std::optional & pull_over_path_opt, const PathDecisionState & prev_data, const GoalPlannerParameters & parameters, @@ -2212,9 +2231,10 @@ bool GoalPlannerModule::isSafePath( using autoware::behavior_path_planner::utils::path_safety_checker::createPredictedPath; using autoware::behavior_path_planner::utils::path_safety_checker:: filterPredictedPathAfterTargetPose; + CollisionCheckDebugMap collision_check{}; if (!found_pull_over_path || !pull_over_path_opt) { - return false; + return {false, collision_check}; } const auto & pull_over_path = pull_over_path_opt.value(); const auto & current_pull_over_path = pull_over_path.getCurrentPath(); @@ -2299,7 +2319,6 @@ bool GoalPlannerModule::isSafePath( const double hysteresis_factor = prev_data.is_stable_safe ? 1.0 : parameters.hysteresis_factor_expand_rate; - CollisionCheckDebugMap collision_check{}; const bool current_is_safe = std::invoke([&]() { if (parameters.safety_check_params.method == "RSS") { return autoware::behavior_path_planner::utils::path_safety_checker::checkSafetyWithRSS( @@ -2319,7 +2338,6 @@ bool GoalPlannerModule::isSafePath( parameters.safety_check_params.method.c_str()); throw std::domain_error("[pull_over] invalid safety check method"); }); - thread_safe_data_.set_collision_check(collision_check); /* * ==== is_safe @@ -2334,7 +2352,7 @@ bool GoalPlannerModule::isSafePath( * | | | | | | | | * 0 =========================-------==========-- t */ - return current_is_safe; + return {current_is_safe, collision_check}; } void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) @@ -2451,7 +2469,6 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) } } - auto collision_check = thread_safe_data_.get_collision_check(); // safety check if (parameters_->safety_check_params.enable_safety_check) { if (goal_planner_data_.ego_predicted_path.size() > 0) { @@ -2465,6 +2482,7 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) goal_planner_data_.filtered_objects, "filtered_objects", 0, 0.0, 0.5, 0.9)); } + auto collision_check = debug_data_.collision_check; if (parameters_->safety_check_params.method == "RSS") { add(showSafetyCheckInfo(collision_check, "object_debug_info")); } From 67bc182330948cadb6b5231d614ced4529857d48 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 18:05:03 +0900 Subject: [PATCH 490/701] fix(autoware_behavior_velocity_intersection_module): fix clang-diagnostic-unused-lambda-capture (#9407) fix: clang-diagnostic-unused-parameter Signed-off-by: kobayu858 --- .../src/manager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp index dcb0ebb5ba688..39ed8e80412a6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp @@ -360,7 +360,7 @@ IntersectionModuleManager::getModuleExpiredFunction( const auto lane_set = planning_utils::getLaneletsOnPath( path, planner_data_->route_handler_->getLaneletMapPtr(), planner_data_->current_odometry->pose); - return [this, lane_set](const std::shared_ptr & scene_module) { + return [lane_set](const std::shared_ptr & scene_module) { const auto intersection_module = std::dynamic_pointer_cast(scene_module); const auto & associative_ids = intersection_module->getAssociativeIds(); for (const auto & lane : lane_set) { @@ -555,7 +555,7 @@ MergeFromPrivateModuleManager::getModuleExpiredFunction( const auto lane_set = planning_utils::getLaneletsOnPath( path, planner_data_->route_handler_->getLaneletMapPtr(), planner_data_->current_odometry->pose); - return [this, lane_set](const std::shared_ptr & scene_module) { + return [lane_set](const std::shared_ptr & scene_module) { const auto merge_from_private_module = std::dynamic_pointer_cast(scene_module); const auto & associative_ids = merge_from_private_module->getAssociativeIds(); From ec22883354038d5c0db2c93e96e8222f6d68401e Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 20 Nov 2024 18:05:19 +0900 Subject: [PATCH 491/701] test(autoware_test_utils): add TrafficLight to map, fix launcher (#9318) Signed-off-by: Mamoru Sobue --- .../launch/psim_intersection.launch.xml | 2 +- .../launch/psim_road_shoulder.launch.xml | 2 +- .../rviz/psim_test_map.rviz | 10 +- .../test_map/intersection/lanelet2_map.osm | 733 ++++++++++++++++++ 4 files changed, 742 insertions(+), 5 deletions(-) diff --git a/common/autoware_test_utils/launch/psim_intersection.launch.xml b/common/autoware_test_utils/launch/psim_intersection.launch.xml index 70ae619e67705..723dd7352219d 100644 --- a/common/autoware_test_utils/launch/psim_intersection.launch.xml +++ b/common/autoware_test_utils/launch/psim_intersection.launch.xml @@ -2,7 +2,7 @@ - + diff --git a/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml b/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml index 0d61abef95d2c..7dd888a036f9d 100644 --- a/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml +++ b/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml @@ -2,7 +2,7 @@ - + diff --git a/common/autoware_test_utils/rviz/psim_test_map.rviz b/common/autoware_test_utils/rviz/psim_test_map.rviz index 022621885ed72..8475c94b86bb4 100644 --- a/common/autoware_test_utils/rviz/psim_test_map.rviz +++ b/common/autoware_test_utils/rviz/psim_test_map.rviz @@ -24,6 +24,8 @@ Panels: Name: AutowareStatePanel - Class: rviz_plugins::SimulatedClockPanel Name: SimulatedClockPanel + - Class: rviz_plugins::TrafficLightPublishPanel + Name: TrafficLightPublishPanel Visualization Manager: Class: "" Displays: @@ -4429,7 +4431,7 @@ Visualization Manager: Value: /rviz/routing/rough_goal - Acceleration: 0 Class: rviz_plugins/PedestrianInitialPoseTool - Interactive: true + Interactive: false Max velocity: 33.29999923706055 Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info @@ -4443,7 +4445,7 @@ Visualization Manager: - Acceleration: 0 Class: rviz_plugins/CarInitialPoseTool H vehicle height: 2 - Interactive: true + Interactive: false L vehicle length: 4 Max velocity: 33.29999923706055 Min velocity: -33.29999923706055 @@ -4459,7 +4461,7 @@ Visualization Manager: - Acceleration: 0 Class: rviz_plugins/BusInitialPoseTool H vehicle height: 3.5 - Interactive: true + Interactive: false L vehicle length: 10.5 Max velocity: 33.29999923706055 Min velocity: -33.29999923706055 @@ -4558,6 +4560,8 @@ Window Geometry: collapsed: false Tool Properties: collapsed: false + TrafficLightPublishPanel: + collapsed: false Views: collapsed: false Width: 1920 diff --git a/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm b/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm index 92307e28cf6cc..c5c5b7b1fc657 100644 --- a/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm +++ b/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm @@ -15199,6 +15199,393 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -20570,6 +20957,180 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -20997,6 +21558,7 @@ + @@ -21009,6 +21571,7 @@ + @@ -21021,6 +21584,7 @@ + @@ -21034,6 +21598,7 @@ + @@ -21046,6 +21611,7 @@ + @@ -21060,6 +21626,7 @@ + @@ -21072,6 +21639,7 @@ + @@ -21084,6 +21652,7 @@ + @@ -21097,6 +21666,7 @@ + @@ -21109,6 +21679,7 @@ + @@ -21122,6 +21693,7 @@ + @@ -21134,6 +21706,7 @@ + @@ -21148,6 +21721,7 @@ + @@ -21161,6 +21735,7 @@ + @@ -21174,6 +21749,7 @@ + @@ -21187,6 +21763,7 @@ + @@ -21200,6 +21777,7 @@ + @@ -21213,6 +21791,7 @@ + @@ -21226,6 +21805,7 @@ + @@ -21240,6 +21820,7 @@ + @@ -21254,6 +21835,7 @@ + @@ -21267,6 +21849,7 @@ + @@ -21280,6 +21863,7 @@ + @@ -21293,6 +21877,7 @@ + @@ -21306,6 +21891,7 @@ + @@ -21350,6 +21936,7 @@ + @@ -21364,6 +21951,7 @@ + @@ -21376,6 +21964,7 @@ + @@ -21671,6 +22260,7 @@ + @@ -22374,4 +22964,147 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 228400c75e7f748b5a32c3984b30732c2bfb091b Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 18:09:42 +0900 Subject: [PATCH 492/701] fix(autoware_behavior_velocity_intersection_module): fix clang-diagnostic-unused-parameter (#9409) fix: clang-diagnostic-unused-parameter Signed-off-by: kobayu858 --- .../src/scene_intersection.cpp | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp index 844380f135559..8115f52437a04 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -490,8 +490,10 @@ VisitorSwitch(Ts...) -> VisitorSwitch; template void prepareRTCByDecisionResult( - const T & result, const tier4_planning_msgs::msg::PathWithLaneId & path, bool * default_safety, - double * default_distance, bool * occlusion_safety, double * occlusion_distance) + [[maybe_unused]] const T & result, + [[maybe_unused]] const tier4_planning_msgs::msg::PathWithLaneId & path, + [[maybe_unused]] bool * default_safety, [[maybe_unused]] double * default_distance, + [[maybe_unused]] bool * occlusion_safety, [[maybe_unused]] double * occlusion_distance) { static_assert("Unsupported type passed to prepareRTCByDecisionResult"); return; @@ -704,10 +706,14 @@ void IntersectionModule::prepareRTCStatus( template void reactRTCApprovalByDecisionResult( - const bool rtc_default_approved, const bool rtc_occlusion_approved, const T & decision_result, - const IntersectionModule::PlannerParam & planner_param, const double baselink2front, - tier4_planning_msgs::msg::PathWithLaneId * path, StopReason * stop_reason, - VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) + [[maybe_unused]] const bool rtc_default_approved, + [[maybe_unused]] const bool rtc_occlusion_approved, [[maybe_unused]] const T & decision_result, + [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, + [[maybe_unused]] const double baselink2front, + [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, + [[maybe_unused]] StopReason * stop_reason, + [[maybe_unused]] VelocityFactorInterface * velocity_factor, + [[maybe_unused]] IntersectionModule::DebugData * debug_data) { static_assert("Unsupported type passed to reactRTCByDecisionResult"); return; From a4a5749314de3474fe6103a6c27f9027cbe4e16c Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 20 Nov 2024 18:52:47 +0900 Subject: [PATCH 493/701] feat(behavior_path_planner_common): use azimuth for interpolatePose (#9362) Signed-off-by: kosuke55 --- .../src/utils/path_utils.cpp | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp index d6f56f9c90168..1e2ad668bf28f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp @@ -329,6 +329,8 @@ std::vector spline_two_points( std::vector interpolatePose( const Pose & start_pose, const Pose & end_pose, const double resample_interval) { + using autoware::universe_utils::calcAzimuthAngle; + std::vector interpolated_poses{}; // output const double distance = @@ -351,14 +353,21 @@ std::vector interpolatePose( std::sin(tf2::getYaw(end_pose.orientation)), new_s); for (size_t i = 0; i < interpolated_x.size(); ++i) { Pose pose{}; - pose = autoware::universe_utils::calcInterpolatedPose( - end_pose, start_pose, (distance - new_s.at(i)) / distance); pose.position.x = interpolated_x.at(i); pose.position.y = interpolated_y.at(i); pose.position.z = end_pose.position.z; interpolated_poses.push_back(pose); } + // insert orientation + for (size_t i = 0; i < interpolated_poses.size(); ++i) { + const double yaw = calcAzimuthAngle( + interpolated_poses.at(i).position, i < interpolated_poses.size() - 1 + ? interpolated_poses.at(i + 1).position + : end_pose.position); + interpolated_poses.at(i).orientation = autoware::universe_utils::createQuaternionFromYaw(yaw); + } + return interpolated_poses; } From 2ac579f647b53042e6a2a5b82f81d06c3b3140ed Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 20 Nov 2024 18:53:09 +0900 Subject: [PATCH 494/701] fix(behavior_path_planner_common): prevent duplicated point insertion in cutOverlappedLanes (#9363) Signed-off-by: kosuke55 --- .../utils/drivable_area_expansion/static_drivable_area.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp index 012c42a379c00..1c6295f3e70ef 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp @@ -729,10 +729,13 @@ std::vector cutOverlappedLanes( } // Step2. pick up only path points within drivable lanes + std::set path_point_indices; for (const auto & drivable_lanes : shorten_lanes) { for (size_t i = start_point_idx; i < original_points.size(); ++i) { - if (is_point_in_drivable_lanes(drivable_lanes, original_points.at(i))) { - path.points.push_back(original_points.at(i)); + const auto & p = original_points.at(i); + if (is_point_in_drivable_lanes(drivable_lanes, p) && path_point_indices.count(i) == 0) { + path.points.push_back(p); + path_point_indices.insert(i); continue; } start_point_idx = i; From dea1778f1b42bb440d9d1c07c52c2306653d14ab Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 20 Nov 2024 19:03:14 +0900 Subject: [PATCH 495/701] feat(autoware_test_utils): add parser for LaneletRoute, TrackedObject (#9317) Signed-off-by: Mamoru Sobue --- .../config/sample_topic_snapshot.yaml | 3 + .../autoware_test_utils/mock_data_parser.hpp | 16 ++ .../src/mock_data_parser.cpp | 49 +++++ .../src/topic_snapshot_saver.cpp | 21 +- .../test/test_mock_data_parser.cpp | 207 ++++++++++++++++++ 5 files changed, 289 insertions(+), 7 deletions(-) diff --git a/common/autoware_test_utils/config/sample_topic_snapshot.yaml b/common/autoware_test_utils/config/sample_topic_snapshot.yaml index 8f6e0d4ca2627..d9eff5d579540 100644 --- a/common/autoware_test_utils/config/sample_topic_snapshot.yaml +++ b/common/autoware_test_utils/config/sample_topic_snapshot.yaml @@ -24,3 +24,6 @@ fields: - name: dynamic_object type: PredictedObjects # autoware_perception_msgs::msg::PredictedObjects topic: /perception/object_recognition/objects +# - name: tracked_object +# type: TrackedObjects # autoware_perception_msgs::msg::TrackedObjects +# topic: /perception/object_recognition/tracking/objects diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp index adce8176a2ade..5d36e8aefef3b 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp @@ -20,6 +20,7 @@ #include #include +#include #include #include #include @@ -47,6 +48,9 @@ using autoware_perception_msgs::msg::PredictedObjectKinematics; using autoware_perception_msgs::msg::PredictedObjects; using autoware_perception_msgs::msg::PredictedPath; using autoware_perception_msgs::msg::Shape; +using autoware_perception_msgs::msg::TrackedObject; +using autoware_perception_msgs::msg::TrackedObjectKinematics; +using autoware_perception_msgs::msg::TrackedObjects; using autoware_perception_msgs::msg::TrafficLightElement; using autoware_perception_msgs::msg::TrafficLightGroup; using autoware_perception_msgs::msg::TrafficLightGroupArray; @@ -131,6 +135,9 @@ std::vector parse(const YAML::Node & node); template <> std::vector parse(const YAML::Node & node); +template <> +LaneletRoute parse(const YAML::Node & node); + template <> std::vector parse(const YAML::Node & node); @@ -155,6 +162,15 @@ PredictedObject parse(const YAML::Node & node); template <> PredictedObjects parse(const YAML::Node & node); +template <> +TrackedObjectKinematics parse(const YAML::Node & node); + +template <> +TrackedObject parse(const YAML::Node & node); + +template <> +TrackedObjects parse(const YAML::Node & node); + template <> TrafficLightGroupArray parse(const YAML::Node & node); diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp index d2c6de5c0a46f..9e895c7b4027d 100644 --- a/common/autoware_test_utils/src/mock_data_parser.cpp +++ b/common/autoware_test_utils/src/mock_data_parser.cpp @@ -204,6 +204,17 @@ std::vector parse(const YAML::Node & node) return segments; } +template <> +LaneletRoute parse(const YAML::Node & node) +{ + LaneletRoute route; + + route.start_pose = parse(node["start_pose"]); + route.goal_pose = parse(node["goal_pose"]); + route.segments = parse>(node["segments"]); + return route; +} + template <> std::vector parse>(const YAML::Node & node) { @@ -330,6 +341,44 @@ PredictedObjects parse(const YAML::Node & node) return msg; } +template <> +TrackedObjectKinematics parse(const YAML::Node & node) +{ + TrackedObjectKinematics msg; + msg.pose_with_covariance = parse(node["pose_with_covariance"]); + msg.twist_with_covariance = parse(node["twist_with_covariance"]); + msg.acceleration_with_covariance = + parse(node["acceleration_with_covariance"]); + msg.orientation_availability = node["orientation_availability"].as(); + msg.is_stationary = node["is_stationary"].as(); + return msg; +} + +template <> +TrackedObject parse(const YAML::Node & node) +{ + TrackedObject msg; + msg.object_id = parse(node["object_id"]); + msg.existence_probability = node["existence_probability"].as(); + for (const auto & classification_node : node["classification"]) { + msg.classification.push_back(parse(classification_node)); + } + msg.kinematics = parse(node["kinematics"]); + msg.shape = parse(node["shape"]); + return msg; +} + +template <> +TrackedObjects parse(const YAML::Node & node) +{ + TrackedObjects msg; + msg.header = parse

(node["header"]); + for (const auto & object_node : node["objects"]) { + msg.objects.push_back(parse(object_node)); + } + return msg; +} + template <> TrafficLightElement parse(const YAML::Node & node) { diff --git a/common/autoware_test_utils/src/topic_snapshot_saver.cpp b/common/autoware_test_utils/src/topic_snapshot_saver.cpp index 29b1e19f272c2..82700be9e3f54 100644 --- a/common/autoware_test_utils/src/topic_snapshot_saver.cpp +++ b/common/autoware_test_utils/src/topic_snapshot_saver.cpp @@ -19,6 +19,7 @@ #include #include +#include #include #include #include @@ -34,12 +35,13 @@ #include using MessageType = std::variant< - nav_msgs::msg::Odometry, // 0 - geometry_msgs::msg::AccelWithCovarianceStamped, // 1 - autoware_perception_msgs::msg::PredictedObjects, // 2 - autoware_adapi_v1_msgs::msg::OperationModeState, // 3 - autoware_planning_msgs::msg::LaneletRoute, // 4 - autoware_perception_msgs::msg::TrafficLightGroupArray // 5 + nav_msgs::msg::Odometry, // 0 + geometry_msgs::msg::AccelWithCovarianceStamped, // 1 + autoware_perception_msgs::msg::PredictedObjects, // 2 + autoware_adapi_v1_msgs::msg::OperationModeState, // 3 + autoware_planning_msgs::msg::LaneletRoute, // 4 + autoware_perception_msgs::msg::TrafficLightGroupArray, // 5 + autoware_perception_msgs::msg::TrackedObjects // 6 >; std::optional get_topic_index(const std::string & name) @@ -62,6 +64,9 @@ std::optional get_topic_index(const std::string & name) if (name == "TrafficLightGroupArray") { return 5; } + if (name == "TrackedObjects") { + return 6; + } return std::nullopt; } @@ -185,6 +190,7 @@ class TopicSnapShotSaver REGISTER_CALLBACK(3); REGISTER_CALLBACK(4); REGISTER_CALLBACK(5); + REGISTER_CALLBACK(6); } } @@ -231,6 +237,7 @@ class TopicSnapShotSaver REGISTER_WRITE_TYPE(3); REGISTER_WRITE_TYPE(4); REGISTER_WRITE_TYPE(5); + REGISTER_WRITE_TYPE(6); } const std::string desc = std::string(R"(# @@ -241,7 +248,7 @@ class TopicSnapShotSaver # map_path_uri: package:/// # fields(this is array) # - name: -# type: either {Odometry | AccelWithCovarianceStamped | PredictedObjects | OperationModeState | LaneletRoute | TrafficLightGroupArray | TBD} +# type: either {Odometry | AccelWithCovarianceStamped | PredictedObjects | OperationModeState | LaneletRoute | TrafficLightGroupArray | TrackedObjects | TBD} # topic: # )"); diff --git a/common/autoware_test_utils/test/test_mock_data_parser.cpp b/common/autoware_test_utils/test/test_mock_data_parser.cpp index 0aeb5fb1db462..a0dd0fce9bd29 100644 --- a/common/autoware_test_utils/test/test_mock_data_parser.cpp +++ b/common/autoware_test_utils/test/test_mock_data_parser.cpp @@ -459,6 +459,188 @@ const char g_complete_yaml[] = R"( is_autonomous_mode_available: true is_local_mode_available: true is_remote_mode_available: true +tracked_object: + header: + stamp: + sec: 288 + nanosec: 743249865 + frame_id: map + objects: + - object_id: + uuid: + - 35 + - 106 + - 130 + - 18 + - 249 + - 15 + - 247 + - 148 + - 31 + - 235 + - 198 + - 121 + - 150 + - 136 + - 225 + - 99 + existence_probability: 0.00000 + classification: + - label: 1 + probability: 1.00000 + kinematics: + pose_with_covariance: + pose: + position: + x: 269.944 + y: 376.116 + z: 101.346 + orientation: + x: 0.00000 + y: 0.00000 + z: -0.715560 + w: 0.698551 + covariance: + - 0.0267953 + - 0.00119480 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00119480 + - 0.0831472 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00551386 + twist_with_covariance: + twist: + linear: + x: 2.99743 + y: -0.0100529 + z: 0.00000 + angular: + x: 0.00000 + y: 0.00000 + z: -0.00913898 + covariance: + - 0.609089 + - -0.00201817 + - 0.00000 + - 0.00000 + - 0.00000 + - -0.00183470 + - -0.00201817 + - 0.000777658 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.000706962 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - -0.00183470 + - 0.000706962 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.000642693 + acceleration_with_covariance: + accel: + linear: + x: 0.00000 + y: 0.00000 + z: 0.00000 + angular: + x: 0.00000 + y: 0.00000 + z: 0.00000 + covariance: + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + orientation_availability: 1 + is_stationary: false + shape: + type: 0 + footprint: + points: [] + dimensions: + x: 4.40000 + y: 1.73071 + z: 1.00000 )"; TEST(ParseFunctions, CompleteYAMLTest) @@ -572,6 +754,31 @@ TEST(ParseFunctions, CompleteYAMLTest) EXPECT_EQ(operation_mode.is_autonomous_mode_available, true); EXPECT_EQ(operation_mode.is_local_mode_available, true); EXPECT_EQ(operation_mode.is_remote_mode_available, true); + + const auto tracked_objects = parse(config["tracked_object"]); + EXPECT_EQ(tracked_objects.header.stamp.sec, 288); + EXPECT_EQ(tracked_objects.header.stamp.nanosec, 743249865); + EXPECT_EQ(tracked_objects.header.frame_id, "map"); + EXPECT_EQ(tracked_objects.objects.at(0).object_id.uuid.at(0), 35); + EXPECT_FLOAT_EQ(tracked_objects.objects.at(0).existence_probability, 0.0); + EXPECT_EQ(tracked_objects.objects.at(0).classification.at(0).label, 1); + EXPECT_FLOAT_EQ(tracked_objects.objects.at(0).classification.at(0).probability, 1.0); + EXPECT_FLOAT_EQ( + tracked_objects.objects.at(0).kinematics.pose_with_covariance.pose.position.x, 269.944); + EXPECT_FLOAT_EQ( + tracked_objects.objects.at(0).kinematics.pose_with_covariance.covariance.at(0), 0.0267953); + EXPECT_FLOAT_EQ( + tracked_objects.objects.at(0).kinematics.twist_with_covariance.twist.linear.x, 2.99743); + EXPECT_FLOAT_EQ( + tracked_objects.objects.at(0).kinematics.twist_with_covariance.twist.angular.z, -0.00913898); + EXPECT_FLOAT_EQ( + tracked_objects.objects.at(0).kinematics.twist_with_covariance.covariance.at(0), 0.609089); + EXPECT_EQ(tracked_objects.objects.at(0).kinematics.orientation_availability, 1); + EXPECT_EQ(tracked_objects.objects.at(0).kinematics.is_stationary, false); + EXPECT_EQ(tracked_objects.objects.at(0).shape.type, 0); + EXPECT_EQ(tracked_objects.objects.at(0).shape.dimensions.x, 4.40000); + EXPECT_EQ(tracked_objects.objects.at(0).shape.dimensions.y, 1.73071); + EXPECT_EQ(tracked_objects.objects.at(0).shape.dimensions.z, 1.0); } TEST(ParseFunction, CompleteFromFilename) From 5249a1347d5224e7d096ee8b8cb5ba190be9fb54 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 19:13:27 +0900 Subject: [PATCH 496/701] fix(autoware_behavior_velocity_run_out_module): fix clang-diagnostic-unused-lambda-capture (#9416) fix: clang-diagnostic-unused-lambda-capture Signed-off-by: kobayu858 --- .../src/manager.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp index 2a8bce46b9006..f294e698ba8c2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp @@ -160,12 +160,12 @@ void RunOutModuleManager::launchNewModules(const tier4_planning_msgs::msg::PathW } std::function &)> -RunOutModuleManager::getModuleExpiredFunction(const tier4_planning_msgs::msg::PathWithLaneId & path) +RunOutModuleManager::getModuleExpiredFunction( + [[maybe_unused]] const tier4_planning_msgs::msg::PathWithLaneId & path) { - return - [&path]([[maybe_unused]] const std::shared_ptr & scene_module) -> bool { - return false; - }; + return []([[maybe_unused]] const std::shared_ptr & scene_module) -> bool { + return false; + }; } void RunOutModuleManager::setDynamicObstacleCreator( From ce3d682553fa7130cd80995f59924fff92d428b7 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 19:13:42 +0900 Subject: [PATCH 497/701] fix(autoware_behavior_velocity_walkway_module): fix clang-diagnostic-unused-lambda-capture (#9415) fix: clang-diagnostic-unused-lambda-capture Signed-off-by: kobayu858 --- .../autoware_behavior_velocity_walkway_module/src/manager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp index d2cf4d39b2b2a..0f1a7509043b5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp @@ -45,7 +45,7 @@ void WalkwayModuleManager::launchNewModules(const PathWithLaneId & path) { const auto rh = planner_data_->route_handler_; - const auto launch = [this, &path](const auto & lanelet, const auto & use_regulatory_element) { + const auto launch = [this](const auto & lanelet, const auto & use_regulatory_element) { const auto attribute = lanelet.attributeOr(lanelet::AttributeNamesString::Subtype, std::string("")); if (attribute != lanelet::AttributeValueString::Walkway) { From e3aba5518222a76e22e975388aa8207c4d6ae8e2 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 19:13:57 +0900 Subject: [PATCH 498/701] fix(autoware_behavior_velocity_planner_common): fix clang-diagnostic-unused-const-variable (#9413) fix: clang-diagnostic-unused-const-variable Signed-off-by: kobayu858 --- .../src/utilization/path_utilization.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp index 2132d50d0ad52..17ea92022ea13 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp @@ -21,8 +21,6 @@ #include #include -constexpr double DOUBLE_EPSILON = 1e-6; - namespace autoware::behavior_velocity_planner { bool splineInterpolate( From 6717fb225cc5533a65bade6245ff47217ec5eb43 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 19:14:10 +0900 Subject: [PATCH 499/701] fix(autoware_behavior_velocity_planner): fix clang-diagnostic-format-security (#9411) fix: clang-diagnostic-format-security Signed-off-by: kobayu858 --- .../autoware_behavior_velocity_planner/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp index 394412a508d41..5f4d0606abfc6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp @@ -233,7 +233,7 @@ bool BehaviorVelocityPlannerNode::processData(rclcpp::Clock clock) bool is_ready = true; const auto & logData = [&clock, this](const std::string & data_type) { std::string msg = "Waiting for " + data_type + " data"; - RCLCPP_INFO_THROTTLE(get_logger(), clock, logger_throttle_interval, msg.c_str()); + RCLCPP_INFO_THROTTLE(get_logger(), clock, logger_throttle_interval, "%s", msg.c_str()); }; const auto & getData = [&logData](auto & dest, auto & sub, const std::string & data_type = "") { From 7a19e8aa360f7849f871f15d9d971a4aff68739a Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 20 Nov 2024 19:58:39 +0900 Subject: [PATCH 500/701] feat(simple_planning_simulator): add mechanical actuaion sim model (#9300) * feat(simple_planning_simulator): add mechanical actuaion sim model Signed-off-by: kosuke55 update docs Signed-off-by: kosuke55 * update from suggestions Signed-off-by: kosuke55 * calc internal state using RK4 results Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../simple_planning_simulator/CMakeLists.txt | 1 + simulator/simple_planning_simulator/README.md | 76 +-- .../docs/actuation_cmd_sim.md | 105 +++ .../simple_planning_simulator_core.hpp | 5 +- .../utils/mechanical_controller.hpp | 208 ++++++ .../vehicle_model/sim_model_actuation_cmd.hpp | 220 ++++--- .../vehicle_model/sim_model_interface.hpp | 14 +- .../simple_planning_simulator.launch.py | 7 +- .../media/mechanical_controller.drawio.svg | 602 ++++++++++++++++++ ...nical_controller_system_identification.png | Bin 0 -> 268250 bytes ...ing_simulator_mechanical_sample.param.yaml | 62 ++ .../simple_planning_simulator_core.cpp | 104 ++- .../utils/mechanical_controller.cpp | 352 ++++++++++ .../vehicle_model/sim_model_actuation_cmd.cpp | 265 +++++--- .../test/test_simple_planning_simulator.cpp | 82 +-- 15 files changed, 1817 insertions(+), 286 deletions(-) create mode 100644 simulator/simple_planning_simulator/docs/actuation_cmd_sim.md create mode 100644 simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp create mode 100644 simulator/simple_planning_simulator/media/mechanical_controller.drawio.svg create mode 100644 simulator/simple_planning_simulator/media/mechanical_controller_system_identification.png create mode 100644 simulator/simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml create mode 100644 simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp diff --git a/simulator/simple_planning_simulator/CMakeLists.txt b/simulator/simple_planning_simulator/CMakeLists.txt index 07e7e6b5ad169..6acb74342c90f 100644 --- a/simulator/simple_planning_simulator/CMakeLists.txt +++ b/simulator/simple_planning_simulator/CMakeLists.txt @@ -23,6 +23,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp src/simple_planning_simulator/utils/csv_loader.cpp + src/simple_planning_simulator/utils/mechanical_controller.cpp ) target_include_directories(${PROJECT_NAME} PUBLIC ${Python3_INCLUDE_DIRS} ${learning_based_vehicle_model_INCLUDE_DIRS}) # Node executable diff --git a/simulator/simple_planning_simulator/README.md b/simulator/simple_planning_simulator/README.md index 1d91d5e6149b4..cd362c0115358 100644 --- a/simulator/simple_planning_simulator/README.md +++ b/simulator/simple_planning_simulator/README.md @@ -65,32 +65,38 @@ The purpose of this simulator is for the integration test of planning and contro - `DELAY_STEER_ACC_GEARED_WO_FALL_GUARD` - `DELAY_STEER_MAP_ACC_GEARED`: applies 1D dynamics and time delay to the steering and acceleration commands. The simulated acceleration is determined by a value converted through the provided acceleration map. This model is valuable for an accurate simulation with acceleration deviations in a real vehicle. - `LEARNED_STEER_VEL`: launches learned python models. More about this [here](../learning_based_vehicle_model). -- `ACTUATION_CMD`: A simulator model that receives `ACTUATION_CMD`. In this case, the `raw_vehicle_cmd_converter` is also launched. + +The following models receive `ACTUATION_CMD` generated from `raw_vehicle_cmd_converter`. Therefore, when these models are selected, the `raw_vehicle_cmd_converter` is also launched. + +- `ACTUATION_CMD`: This model only converts accel/brake commands and use steer command as it is. +- `ACTUATION_CMD_STEER_MAP`: The steer command is converted to the steer rate command using the steer map. +- `ACTUATION_CMD_VGR`: The steer command is converted to the steer rate command using the variable gear ratio. +- `ACTUATION_CMD_MECHANICAL`: This model has mechanical dynamics and controller for that. The `IDEAL` model moves ideally as commanded, while the `DELAY` model moves based on a 1st-order with time delay model. The `STEER` means the model receives the steer command. The `VEL` means the model receives the target velocity command, while the `ACC` model receives the target acceleration command. The `GEARED` suffix means that the motion will consider the gear command: the vehicle moves only one direction following the gear. The table below shows which models correspond to what parameters. The model names are written in abbreviated form (e.g. IDEAL_STEER_VEL = I_ST_V). -| Name | Type | Description | I_ST_V | I_ST_A | I_ST_A_G | D_ST_V | D_ST_A | D_ST_A_G | D_ST_A_G_WO_FG | D_ST_M_ACC_G | L_S_V | Default value | unit | -| :------------------------- | :----- | :---------------------------------------------------------------------------------------------------------- | :----- | :----- | :------- | :----- | :----- | :------- | :------------- | :----------- | :---- | :------------ | :------ | -| acc_time_delay | double | dead time for the acceleration input | x | x | x | x | o | o | o | o | x | 0.1 | [s] | -| steer_time_delay | double | dead time for the steering input | x | x | x | o | o | o | o | o | x | 0.24 | [s] | -| vel_time_delay | double | dead time for the velocity input | x | x | x | o | x | x | x | x | x | 0.25 | [s] | -| acc_time_constant | double | time constant of the 1st-order acceleration dynamics | x | x | x | x | o | o | o | o | x | 0.1 | [s] | -| steer_time_constant | double | time constant of the 1st-order steering dynamics | x | x | x | o | o | o | o | o | x | 0.27 | [s] | -| steer_dead_band | double | dead band for steering angle | x | x | x | o | o | o | o | x | x | 0.0 | [rad] | -| vel_time_constant | double | time constant of the 1st-order velocity dynamics | x | x | x | o | x | x | x | x | x | 0.5 | [s] | -| vel_lim | double | limit of velocity | x | x | x | o | o | o | o | o | x | 50.0 | [m/s] | -| vel_rate_lim | double | limit of acceleration | x | x | x | o | o | o | o | o | x | 7.0 | [m/ss] | -| steer_lim | double | limit of steering angle | x | x | x | o | o | o | o | o | x | 1.0 | [rad] | -| steer_rate_lim | double | limit of steering angle change rate | x | x | x | o | o | o | o | o | x | 5.0 | [rad/s] | -| steer_bias | double | bias for steering angle | x | x | x | o | o | o | o | o | x | 0.0 | [rad] | -| debug_acc_scaling_factor | double | scaling factor for accel command | x | x | x | x | o | o | o | x | x | 1.0 | [-] | -| debug_steer_scaling_factor | double | scaling factor for steer command | x | x | x | x | o | o | o | x | x | 1.0 | [-] | -| acceleration_map_path | string | path to csv file for acceleration map which converts velocity and ideal acceleration to actual acceleration | x | x | x | x | x | x | x | o | x | - | [-] | -| model_module_paths | string | path to a python module where the model is implemented | x | x | x | x | x | x | x | x | o | - | [-] | -| model_param_paths | string | path to the file where model parameters are stored (can be empty string if no parameter file is required) | x | x | x | x | x | x | x | x | o | - | [-] | -| model_class_names | string | name of the class that implements the model | x | x | x | x | x | x | x | x | o | - | [-] | +| Name | Type | Description | I_ST_V | I_ST_A | I_ST_A_G | D_ST_V | D_ST_A | D_ST_A_G | D_ST_A_G_WO_FG | D_ST_M_ACC_G | L_S_V | A_C | Default value | unit | +| :------------------------- | :----- | :---------------------------------------------------------------------------------------------------------- | :----- | :----- | :------- | :----- | :----- | :------- | :------------- | :----------- | :---- | :-- | :------------ | :------ | +| acc_time_delay | double | dead time for the acceleration input | x | x | x | x | o | o | o | o | x | x | 0.1 | [s] | +| steer_time_delay | double | dead time for the steering input | x | x | x | o | o | o | o | o | x | o | 0.24 | [s] | +| vel_time_delay | double | dead time for the velocity input | x | x | x | o | x | x | x | x | x | x | 0.25 | [s] | +| acc_time_constant | double | time constant of the 1st-order acceleration dynamics | x | x | x | x | o | o | o | o | x | x | 0.1 | [s] | +| steer_time_constant | double | time constant of the 1st-order steering dynamics | x | x | x | o | o | o | o | o | x | o | 0.27 | [s] | +| steer_dead_band | double | dead band for steering angle | x | x | x | o | o | o | o | x | x | o | 0.0 | [rad] | +| vel_time_constant | double | time constant of the 1st-order velocity dynamics | x | x | x | o | x | x | x | x | x | x | 0.5 | [s] | +| vel_lim | double | limit of velocity | x | x | x | o | o | o | o | o | x | x | 50.0 | [m/s] | +| vel_rate_lim | double | limit of acceleration | x | x | x | o | o | o | o | o | x | x | 7.0 | [m/ss] | +| steer_lim | double | limit of steering angle | x | x | x | o | o | o | o | o | x | o | 1.0 | [rad] | +| steer_rate_lim | double | limit of steering angle change rate | x | x | x | o | o | o | o | o | x | o | 5.0 | [rad/s] | +| steer_bias | double | bias for steering angle | x | x | x | o | o | o | o | o | x | o | 0.0 | [rad] | +| debug_acc_scaling_factor | double | scaling factor for accel command | x | x | x | x | o | o | o | x | x | x | 1.0 | [-] | +| debug_steer_scaling_factor | double | scaling factor for steer command | x | x | x | x | o | o | o | x | x | x | 1.0 | [-] | +| acceleration_map_path | string | path to csv file for acceleration map which converts velocity and ideal acceleration to actual acceleration | x | x | x | x | x | x | x | o | x | x | - | [-] | +| model_module_paths | string | path to a python module where the model is implemented | x | x | x | x | x | x | x | x | o | x | - | [-] | +| model_param_paths | string | path to the file where model parameters are stored (can be empty string if no parameter file is required) | x | x | x | x | x | x | x | x | o | x | - | [-] | +| model_class_names | string | name of the class that implements the model | x | x | x | x | x | x | x | x | o | x | - | [-] | _Note:_ Parameters `model_module_paths`, `model_param_paths`, and `model_class_names` need to have the same length. @@ -125,32 +131,8 @@ default, 0.00, 1.39, 2.78, 4.17, 5.56, 6.94, 8.33, 9.72, 11.11, 12.50, 1 ##### ACTUATION_CMD model -The simple_planning_simulator usually operates by receiving Control commands, but when the `ACTUATION_CMD` model is selected, it receives Actuation commands instead of Control commands. This model can simulate the motion using the vehicle command that is actually sent to the real vehicle. Therefore, when this model is selected, the `raw_vehicle_cmd_converter` is also launched. - -`convert_steer_cmd_method` has two options: "vgr" and "steer_map". If you choose "vgr" (variable gear ratio), it is assumed that the steering wheel angle is sent as the actuation command, and the value is converted to the steering tire angle to move the model. If you choose "steer_map", it is assumed that an arbitrary value is sent as the actuation command, and the value is converted to the steering tire rate to move the model. An arbitrary value is like EPS (Electric Power Steering) Voltage . `enable_pub_steer` determines whether to publish the steering tire angle. If false, it is expected to be converted and published from actuation_status in other nodes (e.g. raw_vehicle_cmd_converter). - -![vgr_sim](./media/vgr_sim.drawio.svg) - -```yaml - -``` - -The parameters used in the ACTUATION_CMD are as follows. - -| Name | Type | Description | unit | -| :----------------------- | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :--- | -| accel_time_delay | double | dead time for the acceleration input | [s] | -| accel_time_constant | double | time constant of the 1st-order acceleration dynamics | [s] | -| brake_time_delay | double | dead time for the brake input | [s] | -| brake_time_constant | double | time constant of the 1st-order brake dynamics | [s] | -| convert_accel_cmd | bool | If true, it is assumed that the command is received converted to an accel actuation value, and it is converted back to acceleration value inside the simulator. | [-] | -| convert_brake_cmd | bool | If true, it is assumed that the command is received converted to a brake actuation value, and it is converted back to acceleration value inside the simulator. | [-] | -| convert_steer_cmd | bool | If true, it is assumed that the command is received converted to a steer actuation value, and it is converted back to steer rate value inside the simulator. | [-] | -| convert_steer_cmd_method | bool | method to convert steer command. You can choose from "vgr" and "steer_map". | [-] | -| vgr_coef_a | double | the value of the coefficient a of the variable gear ratio | [-] | -| vgr_coef_b | double | the value of the coefficient b of the variable gear ratio | [-] | -| vgr_coef_c | double | the value of the coefficient c of the variable gear ratio | [-] | -| enable_pub_steer | bool | whether to publish the steering tire angle. if false, it is expected to be converted and published from actuation_status in other nodes (e.g. raw_vehicle_cmd_converter) | [-] | +The simple_planning_simulator usually operates by receiving Control commands, but when the `ACTUATION_CMD*` model is selected, it receives Actuation commands instead of Control commands. This model can simulate the motion using the vehicle command that is actually sent to the real vehicle. Therefore, when this model is selected, the `raw_vehicle_cmd_converter` is also launched. +Please refer to the [actuation_cmd_sim.md](./docs/actuation_cmd_sim.md) for more details. diff --git a/simulator/simple_planning_simulator/docs/actuation_cmd_sim.md b/simulator/simple_planning_simulator/docs/actuation_cmd_sim.md new file mode 100644 index 0000000000000..5219b20b6dbaf --- /dev/null +++ b/simulator/simple_planning_simulator/docs/actuation_cmd_sim.md @@ -0,0 +1,105 @@ +# ACTUATION_CMD model + +The simple_planning_simulator usually operates by receiving Control commands, but when the `ACTUATION_CMD*` model is selected, it receives Actuation commands instead of Control commands. This model can simulate the motion using the vehicle command that is actually sent to the real vehicle. Therefore, when this model is selected, the `raw_vehicle_cmd_converter` is also launched. + +## ACTUATION_CMD + +This model receives the accel/brake commands and converts them using the map to calculate the motion of the model. The steer command is used as it is. +Please make sure that the raw_vehicle_cmd_converter is configured as follows. + +```yaml +convert_accel_cmd: true +convert_brake_cmd: true +convert_steer_cmd: false +``` + +## ACTUATION_CMD_STEER_MAP + +This model is inherited from ACTUATION_CMD and receives steering arbitrary value as the actuation command. +The value is converted to the steering tire rate to calculate the motion of the model. An arbitrary value is like EPS (Electric Power Steering) Voltage. + +Please make sure that the raw_vehicle_cmd_converter is configured as follows. + +```yaml +convert_accel_cmd: true +convert_brake_cmd: true +convert_steer_cmd: true +``` + +## ACTUATION_CMD_VGR + +This model is inherited from ACTUATION_CMD and steering wheel angle is sent as the actuation command. +The value is converted to the steering tire angle to calculate the motion of the model. + +Please make sure that the raw_vehicle_cmd_converter is configured as follows. + +```yaml +convert_accel_cmd: true +convert_brake_cmd: true +convert_steer_cmd: true +``` + +![vgr_sim](../media/vgr_sim.drawio.svg) + +## ACTUATION_CMD_MECHANICAL + +This model is inherited from ACTUATION_CMD_VGR nad has mechanical dynamics and controller for that to simulate the mechanical structure and software of the real vehicle. + +Please make sure that the raw_vehicle_cmd_converter is configured as follows. + +```yaml +convert_accel_cmd: true +convert_brake_cmd: true +convert_steer_cmd: true +``` + +The mechanical structure of the vehicle is as follows. + +![mechanical_controller](../media/mechanical_controller.drawio.svg) + +The vehicle side software assumes that it has limiters, PID controllers, power steering, etc. for the input. +The conversion in the power steering is approximated by a polynomial. +Steering Dynamics is a model that represents the motion of the tire angle when the Steering Torque is input. It is represented by the following formula. + +```math +\begin{align} +\dot{\theta} &= \omega \\ +\dot{\omega} &= \frac{1}{I} (T_{\text{input}} - D \omega - K \theta - \text{sign}(\omega) F_{\text{friction}} ) \\ +\end{align} +``` + +In this case, + +- $\theta$ : Tire angle +- $\omega$ : Tire angular velocity +- $T_{\text{input}}$ : Input torque +- $D$ : Damping coefficient +- $K$ : Spring constant +- $F_{\text{friction}}$ : Friction force +- $I$ : Moment of inertia + +Also, this dynamics has a dead zone. +The steering rotation direction is different from the steering torque input direction, and the steering torque input is less than the dead zone threshold, it enters the dead zone. Once it enters the dead zone, it is judged to be in the dead zone until there is a steering input above the dead zone threshold. When in the dead zone, the steering tire angle does not move. + +Please refer to the following file for the values of the parameters that have been system-identified using the actual vehicle's driving data. +The blue line is the control input, the green line is the actual vehicle's tire angle output, and the red line is the simulator's tire angle output. +[mechanical_sample_param](../param/simple_planning_simulator_mechanical_sample.param.yaml) + +This model has a smaller sum of errors with the observed values of the actual vehicle than when tuned with a normal first-order lag model. For details, please refer to [#9252](https://github.com/autowarefoundation/autoware.universe/pull/9300). + +![mechanical_controller_system_identification](../media/mechanical_controller_system_identification.png) + +The parameters used in the ACTUATION_CMD are as follows. + +| Name | Type | Description | unit | +| :------------------ | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :--- | +| accel_time_delay | double | dead time for the acceleration input | [s] | +| accel_time_constant | double | time constant of the 1st-order acceleration dynamics | [s] | +| brake_time_delay | double | dead time for the brake input | [s] | +| brake_time_constant | double | time constant of the 1st-order brake dynamics | [s] | +| convert_accel_cmd | bool | If true, it is assumed that the command is received converted to an accel actuation value, and it is converted back to acceleration value inside the simulator. | [-] | +| convert_brake_cmd | bool | If true, it is assumed that the command is received converted to a brake actuation value, and it is converted back to acceleration value inside the simulator. | [-] | +| vgr_coef_a | double | the value of the coefficient a of the variable gear ratio | [-] | +| vgr_coef_b | double | the value of the coefficient b of the variable gear ratio | [-] | +| vgr_coef_c | double | the value of the coefficient c of the variable gear ratio | [-] | +| enable_pub_steer | bool | whether to publish the steering tire angle. if false, it is expected to be converted and published from actuation_status in other nodes (e.g. raw_vehicle_cmd_converter) | [-] | diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp index 76fdf5bdda6c9..3e54bca245f82 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp @@ -224,7 +224,10 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node DELAY_STEER_MAP_ACC_GEARED = 6, LEARNED_STEER_VEL = 7, DELAY_STEER_ACC_GEARED_WO_FALL_GUARD = 8, - ACTUATION_CMD = 9 + ACTUATION_CMD = 9, + ACTUATION_CMD_VGR = 10, + ACTUATION_CMD_MECHANICAL = 11, + ACTUATION_CMD_STEER_MAP = 12, } vehicle_model_type_; //!< @brief vehicle model type to decide the model dynamics std::shared_ptr vehicle_model_ptr_; //!< @brief vehicle model pointer diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp new file mode 100644 index 0000000000000..fcb8d41dd72b5 --- /dev/null +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp @@ -0,0 +1,208 @@ +// Copyright 2024 The Autoware Foundation. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_ +#define SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_ + +#include +#include +#include +#include +#include + +namespace autoware::simple_planning_simulator::utils::mechanical_controller +{ + +using DelayBuffer = std::deque>; +using DelayOutput = std::pair, DelayBuffer>; + +DelayOutput delay( + const double signal, const double delay_time, const DelayBuffer & buffer, + const double elapsed_time); + +double sign(const double x); + +double apply_limits( + const double current_angle, const double previous_angle, const double angle_limit, + const double rate_limit, const double dt); + +double feedforward(const double input_angle, const double ff_gain); + +double polynomial_transform( + const double torque, const double speed, const double a, const double b, const double c, + const double d, const double e, const double f, const double g, const double h); + +struct PIDControllerParams +{ + double kp{0.0}; + double ki{0.0}; + double kd{0.0}; +}; + +struct PIDControllerState +{ + double integral{0.0}; + double error{0.0}; +}; + +class PIDController +{ +public: + PIDController(const double kp, const double ki, const double kd); + + [[nodiscard]] double compute( + const double error, const double integral, const double prev_error, const double dt) const; + + void update_state(const double error, const double dt); + + void update_state( + const double k1_error, const double k2_error, const double k3_error, const double k4_error, + const double dt); + + [[nodiscard]] PIDControllerState get_state() const; + + void clear_state(); + +private: + double kp_{0.0}, ki_{0.0}, kd_{0.0}; + PIDControllerState state_; +}; + +struct SteeringDynamicsParams +{ + double angular_position{0.0}; + double angular_velocity{0.0}; + double inertia{0.0}; + double damping{0.0}; + double stiffness{0.0}; + double friction{0.0}; + double dead_zone_threshold{0.0}; +}; + +struct SteeringDynamicsState +{ + double angular_position{0.0}; + double angular_velocity{0.0}; + bool is_in_dead_zone{false}; +}; + +struct SteeringDynamicsDeltaState +{ + double d_angular_position{0.0}; + double d_angular_velocity{0.0}; +}; + +/** + * @brief SteeringDynamics class + * @details This class calculates the dynamics which receives the steering torque and outputs the + * steering tire angle. The steering system is modeled as a spring-damper system with friction and + * dead zone. + */ +class SteeringDynamics +{ +public: + SteeringDynamics( + const double angular_position, const double angular_velocity, const double inertia, + const double damping, const double stiffness, const double friction, + const double dead_zone_threshold); + + [[nodiscard]] bool is_in_dead_zone( + const SteeringDynamicsState & state, const double input_torque) const; + + [[nodiscard]] SteeringDynamicsDeltaState calc_model( + const SteeringDynamicsState & state, const double input_torque) const; + + void set_state(const SteeringDynamicsState & state); + + [[nodiscard]] SteeringDynamicsState get_state() const; + + void clear_state(); + + void set_steer(const double steer); + +private: + SteeringDynamicsState state_; + const double inertia_; + const double damping_; + const double stiffness_; + const double friction_; + const double dead_zone_threshold_; +}; + +struct StepResult +{ + DelayBuffer delay_buffer{}; + double pid_error{0.0}; + SteeringDynamicsDeltaState dynamics_d_state{}; + bool is_in_dead_zone{false}; +}; + +struct MechanicalParams +{ + double kp{0.0}; + double ki{0.0}; + double kd{0.0}; + double ff_gain{0.0}; + double dead_zone_threshold{0.0}; + double poly_a{0.0}; + double poly_b{0.0}; + double poly_c{0.0}; + double poly_d{0.0}; + double poly_e{0.0}; + double poly_f{0.0}; + double poly_g{0.0}; + double poly_h{0.0}; + double inertia{0.0}; + double damping{0.0}; + double stiffness{0.0}; + double friction{0.0}; + double delay_time{0.0}; + + // limit + double angle_limit{0.0}; + double rate_limit{0.0}; + double steering_torque_limit{0.0}; + double torque_delay_time{0.0}; +}; + +class MechanicalController +{ +public: + explicit MechanicalController(const MechanicalParams & mechanical_params); + + [[maybe_unused]] double update_euler( + const double input_angle, const double speed, const double prev_input_angle, const double dt); + + double update_runge_kutta( + const double input_angle, const double speed, const double prev_input_angle, const double dt); + + void clear_state(); + + void set_steer(const double steer); + +private: + DelayBuffer delay_buffer_; + PIDController pid_; + SteeringDynamics steering_dynamics_; + const MechanicalParams params_; + + [[nodiscard]] StepResult run_one_step( + const double input_angle, const double speed, const double prev_input_angle, const double dt, + const DelayBuffer & delay_buffer, const PIDController & pid, + const SteeringDynamics & dynamics) const; +}; + +} // namespace autoware::simple_planning_simulator::utils::mechanical_controller + +#endif // SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp index b78ec8ccd538a..25fac72d283ee 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp @@ -19,15 +19,20 @@ #include "eigen3/Eigen/Core" #include "eigen3/Eigen/LU" #include "simple_planning_simulator/utils/csv_loader.hpp" +#include "simple_planning_simulator/utils/mechanical_controller.hpp" #include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include #include +#include #include #include #include #include +using autoware::simple_planning_simulator::utils::mechanical_controller::MechanicalController; +using autoware::simple_planning_simulator::utils::mechanical_controller::MechanicalParams; + /** * @class ActuationMap * @brief class to convert from actuation command to control command @@ -101,10 +106,8 @@ class BrakeMap : public ActuationMap class SimModelActuationCmd : public SimModelInterface { public: - enum class ActuationSimType { VGR, STEER_MAP }; - /** - * @brief constructor (adaptive gear ratio conversion model) + * @brief constructor (only longitudinal) * @param [in] vx_lim velocity limit [m/s] * @param [in] steer_lim steering limit [rad] * @param [in] vx_rate_lim acceleration limit [m/ss] @@ -120,49 +123,15 @@ class SimModelActuationCmd : public SimModelInterface * @param [in] steer_bias steering bias [rad] * @param [in] convert_accel_cmd flag to convert accel command * @param [in] convert_brake_cmd flag to convert brake command - * @param [in] convert_steer_cmd flag to convert steer command - * @param [in] accel_map_path path to csv file for accel conversion map - * @param [in] brake_map_path path to csv file for brake conversion map - * @param [in] vgr_coef_a coefficient for variable gear ratio - * @param [in] vgr_coef_b coefficient for variable gear ratio - * @param [in] vgr_coef_c coefficient for variable gear ratio - */ - SimModelActuationCmd( - double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, - double dt, double accel_delay, double accel_time_constant, double brake_delay, - double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, - bool convert_accel_cmd, bool convert_brake_cmd, bool convert_steer_cmd, - std::string accel_map_path, std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, - double vgr_coef_c); - - /** - * @brief constructor (steer map conversion model) - * @param [in] vx_lim velocity limit [m/s] - * @param [in] steer_lim steering limit [rad] - * @param [in] vx_rate_lim acceleration limit [m/ss] - * @param [in] steer_rate_lim steering angular velocity limit [rad/ss] - * @param [in] wheelbase vehicle wheelbase length [m] - * @param [in] dt delta time information to set input buffer for delay - * @param [in] accel_delay time delay for accel command [s] - * @param [in] acc_time_constant time constant for 1D model of accel dynamics - * @param [in] brake_delay time delay for brake command [s] - * @param [in] brake_time_constant time constant for 1D model of brake dynamics - * @param [in] steer_delay time delay for steering command [s] - * @param [in] steer_time_constant time constant for 1D model of steering dynamics - * @param [in] steer_bias steering bias [rad] - * @param [in] convert_accel_cmd flag to convert accel command - * @param [in] convert_brake_cmd flag to convert brake command - * @param [in] convert_steer_cmd flag to convert steer command * @param [in] accel_map_path path to csv file for accel conversion map * @param [in] brake_map_path path to csv file for brake conversion map - * @param [in] steer_map_path path to csv file for steer conversion map */ SimModelActuationCmd( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double accel_delay, double accel_time_constant, double brake_delay, double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, - bool convert_accel_cmd, bool convert_brake_cmd, bool convert_steer_cmd, - std::string accel_map_path, std::string brake_map_path, std::string steer_map_path); + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path); /** * @brief default destructor @@ -179,7 +148,7 @@ class SimModelActuationCmd : public SimModelInterface */ bool shouldPublishActuationStatus() const override { return true; } -private: +protected: const double MIN_TIME_CONSTANT; //!< @brief minimum time constant enum IDX { @@ -198,39 +167,29 @@ class SimModelActuationCmd : public SimModelInterface GEAR, }; - const double vx_lim_; //!< @brief velocity limit [m/s] - const double vx_rate_lim_; //!< @brief acceleration limit [m/ss] - const double steer_lim_; //!< @brief steering limit [rad] - const double steer_rate_lim_; //!< @brief steering angular velocity limit [rad/s] - const double wheelbase_; //!< @brief vehicle wheelbase length [m] - - std::deque accel_input_queue_; //!< @brief buffer for accel command - std::deque brake_input_queue_; //!< @brief buffer for brake command - std::deque steer_input_queue_; //!< @brief buffer for steering command - const double accel_delay_; //!< @brief time delay for accel command [s] - const double accel_time_constant_; //!< @brief time constant for accel dynamics - const double brake_delay_; //!< @brief time delay for brake command [s] - const double brake_time_constant_; //!< @brief time constant for brake dynamics - const double steer_delay_; //!< @brief time delay for steering command [s] - const double steer_time_constant_; //!< @brief time constant for steering dynamics - const double steer_bias_; //!< @brief steering angle bias [rad] - - bool convert_accel_cmd_; - bool convert_brake_cmd_; - bool convert_steer_cmd_; - - AccelMap accel_map_; - BrakeMap brake_map_; - ActuationMap steer_map_; - - // steer map conversion model - - // adaptive gear ratio conversion model - double vgr_coef_a_; - double vgr_coef_b_; - double vgr_coef_c_; - - ActuationSimType actuation_sim_type_{ActuationSimType::VGR}; + const double vx_lim_{0.0}; //!< @brief velocity limit [m/s] + const double vx_rate_lim_{0.0}; //!< @brief acceleration limit [m/ss] + const double steer_lim_{0.0}; //!< @brief steering limit [rad] + const double steer_rate_lim_{0.0}; //!< @brief steering angular velocity limit [rad/s] + const double wheelbase_{0.0}; //!< @brief vehicle wheelbase length [m] + + std::deque accel_input_queue_{}; //!< @brief buffer for accel command + std::deque brake_input_queue_{}; //!< @brief buffer for brake command + std::deque steer_input_queue_{}; //!< @brief buffer for steering command + const double accel_delay_{0.0}; //!< @brief time delay for accel command [s] + const double accel_time_constant_{0.0}; //!< @brief time constant for accel dynamics + const double brake_delay_{0.0}; //!< @brief time delay for brake command [s] + const double brake_time_constant_{0.0}; //!< @brief time constant for brake dynamics + const double steer_delay_{0.0}; //!< @brief time delay for steering command [s] + const double steer_time_constant_{0.0}; //!< @brief time constant for steering dynamics + const double steer_bias_{0.0}; //!< @brief steering angle bias [rad] + + bool convert_accel_cmd_{false}; + bool convert_brake_cmd_{false}; + bool convert_steer_cmd_{false}; + + AccelMap accel_map_{}; + BrakeMap brake_map_{}; /** * @brief set queue buffer for input command @@ -284,6 +243,24 @@ class SimModelActuationCmd : public SimModelInterface */ void update(const double & dt) override; + /** + * @brief calculate derivative of longitudinal states + * @param [in] state current model state + * @param [in] input input vector to model + * @return derivative of longitudinal states except steering + */ + Eigen::VectorXd calcLongitudinalModel( + const Eigen::VectorXd & state, const Eigen::VectorXd & input); + + /** + * @brief calculate derivative of lateral states + * @param [in] steer current steering angle [rad] + * @param [in] steer_input desired steering angle [rad] + * @param [in] vel current velocity [m/s] + * @return derivative of lateral states + */ + virtual double calcLateralModel(const double steer, const double steer_des, const double vel); + /** * @brief calculate derivative of states with time delay steering model * @param [in] state current model state @@ -301,7 +278,35 @@ class SimModelActuationCmd : public SimModelInterface void updateStateWithGear( Eigen::VectorXd & state, const Eigen::VectorXd & prev_state, const uint8_t gear, const double dt); +}; +class SimModelActuationCmdSteerMap : public SimModelActuationCmd +{ +public: + SimModelActuationCmdSteerMap( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path, std::string steer_map_path); + +private: + double calcLateralModel(const double steer, const double steer_des, const double vel) override; + + ActuationMap steer_map_; +}; + +class SimModelActuationCmdVGR : public SimModelActuationCmd +{ +public: + SimModelActuationCmdVGR( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, double vgr_coef_c); + +protected: /** * @brief calculate steering tire command * @param [in] vel current velocity [m/s] @@ -321,6 +326,75 @@ class SimModelActuationCmd : public SimModelInterface * @return variable gear ratio */ double calculateVariableGearRatio(const double vel, const double steer_wheel) const; + +private: + double calcLateralModel(const double steer, const double steer_des, const double vel) override; + + // adaptive gear ratio conversion model + double vgr_coef_a_; + double vgr_coef_b_; + double vgr_coef_c_; +}; + +class SimModelActuationCmdMechanical : public SimModelActuationCmdVGR +{ +public: + /** + * @brief constructor (mechanical model) + * @param [in] vx_lim velocity limit [m/s] + * @param [in] steer_lim steering limit [rad] + * @param [in] vx_rate_lim acceleration limit [m/ss] + * @param [in] steer_rate_lim steering angular velocity limit [rad/ss] + * @param [in] wheelbase vehicle wheelbase length [m] + * @param [in] dt delta time information to set input buffer for delay + * @param [in] accel_delay time delay for accel command [s] + * @param [in] acc_time_constant time constant for 1D model of accel dynamics + * @param [in] brake_delay time delay for brake command [s] + * @param [in] brake_time_constant time constant for 1D model of brake dynamics + * @param [in] steer_delay time delay for steering command [s] + * @param [in] steer_time_constant time constant for 1D model of steering dynamics + * @param [in] steer_bias steering bias [rad] + * @param [in] convert_accel_cmd flag to convert accel command + * @param [in] convert_brake_cmd flag to convert brake command + * @param [in] convert_steer_cmd flag to convert steer command + * @param [in] accel_map_path path to csv file for accel conversion map + * @param [in] brake_map_path path to csv file for brake conversion map + * @param [in] vgr_coef_a coefficient for variable gear ratio + * @param [in] vgr_coef_b coefficient for variable gear ratio + * @param [in] vgr_coef_c coefficient for variable gear ratio + */ + SimModelActuationCmdMechanical( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, double vgr_coef_c, + MechanicalParams mechanical_params); + + /** + * @brief update vehicle states + * @param [in] dt delta time [s] + */ + void update(const double & dt) override; + + /** + * @brief update vehicle states with controller + * @details In updateRungeKutta, calcModel is called four times, but the internal state of PID and + * Dynamics should not be updated. Therefore, a method is prepared to update the internal state + * only once at the end without using the updateRungeKutta of the interface. + */ + void updateRungeKuttaWithController(const double dt, const Eigen::VectorXd & input); + + /** + * @brief set state + * @details This model needs to update mechanical dynamics state too + * @param [in] state state vector + */ + void setState(const Eigen::VectorXd & state) override; + +private: + std::unique_ptr mechanical_controller_; + double prev_steer_tire_des_{0.0}; // }; #endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp index f8d682a6e851c..5ca886b1b5847 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp @@ -64,12 +64,6 @@ class SimModelInterface */ void getInput(Eigen::VectorXd & input); - /** - * @brief set state vector of model - * @param [in] state state vector - */ - void setState(const Eigen::VectorXd & state); - /** * @brief set input vector of model * @param [in] input input vector @@ -96,6 +90,14 @@ class SimModelInterface */ void updateEuler(const double & dt, const Eigen::VectorXd & input); + /** + * @brief set state vector of model + * @details In some sim models, the state member should be updated as well. Therefore, this + * function is defined as virtual. + * @param [in] state state vector + */ + virtual void setState(const Eigen::VectorXd & state); + /** * @brief update vehicle states * @param [in] dt delta time [s] diff --git a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py index 9b31926a53d57..aed088de9fd22 100644 --- a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py +++ b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py @@ -106,10 +106,9 @@ def launch_setup(context, *args, **kwargs): # Determine if we should launch raw_vehicle_cmd_converter based on the vehicle_model_type with open(simulator_model_param_path, "r") as f: simulator_model_param_yaml = yaml.safe_load(f) - launch_vehicle_cmd_converter = ( - simulator_model_param_yaml["/**"]["ros__parameters"].get("vehicle_model_type") - == "ACTUATION_CMD" - ) + launch_vehicle_cmd_converter = "ACTUATION_CMD" in simulator_model_param_yaml["/**"][ + "ros__parameters" + ].get("vehicle_model_type") # 1) Launch only simple_planning_simulator_node if not launch_vehicle_cmd_converter: diff --git a/simulator/simple_planning_simulator/media/mechanical_controller.drawio.svg b/simulator/simple_planning_simulator/media/mechanical_controller.drawio.svg new file mode 100644 index 0000000000000..a595b2479d4c6 --- /dev/null +++ b/simulator/simple_planning_simulator/media/mechanical_controller.drawio.svg @@ -0,0 +1,602 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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z3a}sG=sZvzF*$DEUb8$PCqqFlhU_L849Nh(k>w|8)mdwosaqYs9&G_*KE`CCLCS1JFtty`nv=aCOp z@_Us$dGX>!os_S^&IM>TlYrX^G)YZKX#q1dgPcHCOG|4d*W>F0N&>fpeKT(oT^ZT` z&6_tRTxOFzJw1s#APRD=yE!w*gnNcbVe31_;Qjk+*A^k;G zxONswv{=*_iXg~`hO#AVXDQ%)uu9}#W2|m&PGw^*>#yZP;-)`esrl);n2?y*GyEQb zN8mnJK9qm0(JKjj^kHssxkqZ<*O&FssrXQOSC~w9J))g?77oK1T$_yD2%^&rhH@Bs r#0!|V$TkipHal-M`DVRu+E++NKh8{Q3p+^>H8= literal 0 HcmV?d00001 diff --git a/simulator/simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml b/simulator/simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml new file mode 100644 index 0000000000000..e844b07ba0693 --- /dev/null +++ b/simulator/simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml @@ -0,0 +1,62 @@ +/**: + ros__parameters: + simulated_frame_id: "base_link" + origin_frame_id: "map" + vehicle_model_type: "ACTUATION_CMD_MECHANICAL" + initialize_source: "INITIAL_POSE_TOPIC" + timer_sampling_time_ms: 25 + add_measurement_noise: False + enable_road_slope_simulation: True + vel_lim: 50.0 + vel_rate_lim: 7.0 + steer_lim: 1.0 + steer_rate_lim: 5.0 + acc_time_delay: 0.1 + acc_time_constant: 0.1 + steer_time_delay: 0.0 + steer_time_constant: 0.001 + steer_dead_band: 0.0 + x_stddev: 0.0001 # x standard deviation for dummy covariance in map coordinate + y_stddev: 0.0001 # y standard deviation for dummy covariance in map coordinate + + accel_time_delay: 0.1 + accel_time_constant: 0.1 + brake_time_delay: 0.1 + brake_time_constant: 0.1 + accel_map_path: $(find-pkg-share simple_planning_simulator)/data/actuation_cmd_map/accel_map.csv + brake_map_path: $(find-pkg-share simple_planning_simulator)/data/actuation_cmd_map/brake_map.csv + + convert_accel_cmd: true + convert_brake_cmd: true + + convert_steer_cmd_method: "vgr" + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + enable_pub_steer: true + + mechanical_params: + kp: 386.9151820510161 + ki: 5.460970982628869 + kd: 0.03550834077602694 + ff_gain: 0.03051963576179274 + angle_limit: 10.0 + rate_limit: 3.0 + dead_zone_threshold: 0.00708241866710033 + poly_a: 0.15251276182076065 + poly_b: -0.17301900674117585 + poly_c: 1.5896528355739639 + poly_d: 0.002300899817071436 + poly_e: -0.0418928856764797 + poly_f: 0.18449047960081838 + poly_g: -0.06320887302605509 + poly_h: 0.18696796150634806 + inertia: 25.17844747941984 + damping: 117.00653795106054 + stiffness: 0.17526182368541224 + friction: 0.6596571248682918 + vgr_coef_a: 2.4181735349544224 + vgr_coef_b: -0.013434076966833082 + vgr_coef_c: -0.033963661615283594 + steering_torque_limit: 30.0 + torque_delay_time: 0.0007641271506616108 diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index 96cfa1587e646..685708844d32d 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -21,6 +21,7 @@ #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" #include "rclcpp_components/register_node_macro.hpp" #include "simple_planning_simulator/vehicle_model/sim_model.hpp" +#include "simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp" #include #include @@ -147,7 +148,7 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt // Initial value must be set to current_input_command_ with the correct type. // If not, the vehicle_model will not be updated, and it will die when publishing the state. const auto vehicle_model_type_str = declare_parameter("vehicle_model_type", "IDEAL_STEER_VEL"); - if (vehicle_model_type_str == "ACTUATION_CMD") { + if (vehicle_model_type_str.find("ACTUATION_CMD") != std::string::npos) { current_input_command_ = ActuationCommandStamped(); sub_actuation_cmd_ = create_subscription( "input/actuation_command", QoS{1}, @@ -311,9 +312,7 @@ void SimplePlanningSimulator::initialize_vehicle_model(const std::string & vehic vehicle_model_ptr_ = std::make_shared( timer_sampling_time_ms_ / 1000.0, model_module_paths, model_param_paths, model_class_names); - } else if (vehicle_model_type_str == "ACTUATION_CMD") { - vehicle_model_type_ = VehicleModelType::ACTUATION_CMD; - + } else if (vehicle_model_type_str.find("ACTUATION_CMD") != std::string::npos) { // time delay const double accel_time_delay = declare_parameter("accel_time_delay"); const double accel_time_constant = declare_parameter("accel_time_constant"); @@ -323,37 +322,77 @@ void SimplePlanningSimulator::initialize_vehicle_model(const std::string & vehic // command conversion flag const bool convert_accel_cmd = declare_parameter("convert_accel_cmd"); const bool convert_brake_cmd = declare_parameter("convert_brake_cmd"); - const bool convert_steer_cmd = declare_parameter("convert_steer_cmd"); // actuation conversion map const std::string accel_map_path = declare_parameter("accel_map_path"); const std::string brake_map_path = declare_parameter("brake_map_path"); - // init vehicle model depending on convert_steer_cmd_method - if (convert_steer_cmd) { - const std::string convert_steer_cmd_method = - declare_parameter("convert_steer_cmd_method"); - if (convert_steer_cmd_method == "vgr") { - const double vgr_coef_a = declare_parameter("vgr_coef_a"); - const double vgr_coef_b = declare_parameter("vgr_coef_b"); - const double vgr_coef_c = declare_parameter("vgr_coef_c"); - vehicle_model_ptr_ = std::make_shared( - vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, - timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, - brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, - convert_brake_cmd, convert_steer_cmd, accel_map_path, brake_map_path, vgr_coef_a, - vgr_coef_b, vgr_coef_c); - } else if (convert_steer_cmd_method == "steer_map") { - const std::string steer_map_path = declare_parameter("steer_map_path"); - vehicle_model_ptr_ = std::make_shared( - vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, - timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, - brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, - convert_brake_cmd, convert_steer_cmd, accel_map_path, brake_map_path, steer_map_path); - } else { - throw std::invalid_argument( - "Invalid convert_steer_cmd_method: " + convert_steer_cmd_method); - } + if (vehicle_model_type_str == "ACTUATION_CMD") { + vehicle_model_type_ = VehicleModelType::ACTUATION_CMD; + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, + timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, + brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, + convert_brake_cmd, accel_map_path, brake_map_path); + } else if (vehicle_model_type_str == "ACTUATION_CMD_VGR") { + vehicle_model_type_ = VehicleModelType::ACTUATION_CMD_VGR; + const double vgr_coef_a = declare_parameter("vgr_coef_a"); + const double vgr_coef_b = declare_parameter("vgr_coef_b"); + const double vgr_coef_c = declare_parameter("vgr_coef_c"); + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, + timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, + brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, + convert_brake_cmd, accel_map_path, brake_map_path, vgr_coef_a, vgr_coef_b, vgr_coef_c); + } else if (vehicle_model_type_str == "ACTUATION_CMD_MECHANICAL") { + vehicle_model_type_ = VehicleModelType::ACTUATION_CMD_MECHANICAL; + const double vgr_coef_a = declare_parameter("vgr_coef_a"); + const double vgr_coef_b = declare_parameter("vgr_coef_b"); + const double vgr_coef_c = declare_parameter("vgr_coef_c"); + + const MechanicalParams mechanical_params = std::invoke([this]() -> MechanicalParams { + const std::string ns = "mechanical_params."; + MechanicalParams p; + p.kp = declare_parameter(ns + "kp"); + p.ki = declare_parameter(ns + "ki"); + p.kd = declare_parameter(ns + "kd"); + p.ff_gain = declare_parameter(ns + "ff_gain"); + p.angle_limit = declare_parameter(ns + "angle_limit"); + p.rate_limit = declare_parameter(ns + "rate_limit"); + p.dead_zone_threshold = declare_parameter(ns + "dead_zone_threshold"); + p.poly_a = declare_parameter(ns + "poly_a"); + p.poly_b = declare_parameter(ns + "poly_b"); + p.poly_c = declare_parameter(ns + "poly_c"); + p.poly_d = declare_parameter(ns + "poly_d"); + p.poly_e = declare_parameter(ns + "poly_e"); + p.poly_f = declare_parameter(ns + "poly_f"); + p.poly_g = declare_parameter(ns + "poly_g"); + p.poly_h = declare_parameter(ns + "poly_h"); + p.inertia = declare_parameter(ns + "inertia"); + p.damping = declare_parameter(ns + "damping"); + p.stiffness = declare_parameter(ns + "stiffness"); + p.friction = declare_parameter(ns + "friction"); + p.steering_torque_limit = declare_parameter(ns + "steering_torque_limit"); + p.torque_delay_time = declare_parameter(ns + "torque_delay_time"); + return p; + }); + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, + timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, + brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, + convert_brake_cmd, accel_map_path, brake_map_path, vgr_coef_a, vgr_coef_b, vgr_coef_c, + mechanical_params); + } else if (vehicle_model_type_str == "ACTUATION_CMD_STEER_MAP") { + vehicle_model_type_ = VehicleModelType::ACTUATION_CMD_STEER_MAP; + const std::string steer_map_path = declare_parameter("steer_map_path"); + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, + timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, + brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, + convert_brake_cmd, accel_map_path, brake_map_path, steer_map_path); + } else { + throw std::invalid_argument( + "Invalid ACTUATION_CMD vehicle_model_type: " + vehicle_model_type_str); } } else { throw std::invalid_argument("Invalid vehicle_model_type: " + vehicle_model_type_str); @@ -710,7 +749,10 @@ void SimplePlanningSimulator::set_initial_state(const Pose & pose, const Twist & vehicle_model_type_ == VehicleModelType::DELAY_STEER_ACC_GEARED || vehicle_model_type_ == VehicleModelType::DELAY_STEER_ACC_GEARED_WO_FALL_GUARD || vehicle_model_type_ == VehicleModelType::DELAY_STEER_MAP_ACC_GEARED || - vehicle_model_type_ == VehicleModelType::ACTUATION_CMD) { + vehicle_model_type_ == VehicleModelType::ACTUATION_CMD || + vehicle_model_type_ == VehicleModelType::ACTUATION_CMD_VGR || + vehicle_model_type_ == VehicleModelType::ACTUATION_CMD_MECHANICAL || + vehicle_model_type_ == VehicleModelType::ACTUATION_CMD_STEER_MAP) { state << x, y, yaw, vx, steer, accx; } vehicle_model_ptr_->setState(state); diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp new file mode 100644 index 0000000000000..0977cd9e25a92 --- /dev/null +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp @@ -0,0 +1,352 @@ +// Copyright 2024 The Autoware Foundation. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "simple_planning_simulator/utils/mechanical_controller.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace autoware::simple_planning_simulator::utils::mechanical_controller +{ + +using DelayBuffer = std::deque>; +using DelayOutput = std::pair, DelayBuffer>; + +DelayOutput delay( + const double signal, const double delay_time, const DelayBuffer & buffer, + const double elapsed_time) +{ + DelayBuffer new_buffer = buffer; + + new_buffer.push_back(std::make_pair(signal, elapsed_time)); + + if (!buffer.empty() && (elapsed_time - new_buffer.front().second) >= delay_time) { + const double delayed_signal = new_buffer.front().first; + new_buffer.pop_front(); + return {delayed_signal, new_buffer}; + } else { + return {std::nullopt, new_buffer}; + } +} + +double sign(const double x) +{ + return (x >= 0.0) ? 1.0 : -1.0; +} + +double apply_limits( + const double current_angle, const double previous_angle, const double angle_limit, + const double rate_limit, const double dt) +{ + const double angle_diff = std::clamp(current_angle, -angle_limit, angle_limit) - previous_angle; + const double rate_limited_diff = std::clamp(angle_diff, -rate_limit * dt, rate_limit * dt); + return std::clamp(previous_angle + rate_limited_diff, -angle_limit, angle_limit); +} + +double feedforward(const double input_angle, const double ff_gain) +{ + return ff_gain * input_angle; +} + +double polynomial_transform( + const double torque, const double speed, const double a, const double b, const double c, + const double d, const double e, const double f, const double g, const double h) +{ + return a * torque * torque * torque + b * torque * torque + c * torque + + d * speed * speed * speed + e * speed * speed + f * speed + g * torque * speed + h; +} + +PIDController::PIDController(const double kp, const double ki, const double kd) +: kp_(kp), ki_(ki), kd_(kd), state_{0.0, 0.0} +{ +} + +double PIDController::compute( + const double error, const double integral, const double prev_error, const double dt) const +{ + const double p_term = kp_ * error; + const double i_term = ki_ * integral; + const double d_term = dt < 1e-6 ? 0.0 : kd_ * (error - prev_error) / dt; + + return p_term + i_term + d_term; +} + +void PIDController::update_state(const double error, const double dt) +{ + state_.integral += error * dt; + state_.error = error; +}; + +void PIDController::update_state( + const double k1_error, const double k2_error, const double k3_error, const double k4_error, + const double dt) +{ + state_.error = (k1_error + 2 * k2_error + 2 * k3_error + k4_error) / 6.0; + state_.integral += state_.error * dt; +}; + +PIDControllerState PIDController::get_state() const +{ + return state_; +} + +void PIDController::clear_state() +{ + state_ = {0.0, 0.0}; +} + +SteeringDynamics::SteeringDynamics( + const double angular_position, const double angular_velocity, const double inertia, + const double damping, const double stiffness, const double friction, + const double dead_zone_threshold) +: state_{angular_position, angular_velocity, false}, + inertia_(inertia), + damping_(damping), + stiffness_(stiffness), + friction_(friction), + dead_zone_threshold_(dead_zone_threshold) +{ +} + +bool SteeringDynamics::is_in_dead_zone( + const SteeringDynamicsState & state, const double input_torque) const +{ + bool is_in_dead_zone = state.is_in_dead_zone; + const int rotation_direction = sign(state.angular_velocity); + const int input_direction = sign(input_torque); + + if (input_direction != rotation_direction && std::abs(input_torque) < dead_zone_threshold_) { + return true; + } + + if (is_in_dead_zone) { + return !(dead_zone_threshold_ <= std::abs(input_torque)); + } + + return false; +} + +SteeringDynamicsDeltaState SteeringDynamics::calc_model( + const SteeringDynamicsState & state, const double input_torque) const +{ + const double friction_force = friction_ * sign(state.angular_velocity); + const double angular_acceleration = (input_torque - damping_ * state.angular_velocity - + stiffness_ * state.angular_position - friction_force) / + inertia_; + + const double d_angular_velocity = angular_acceleration; + const double d_angular_position = state.angular_velocity; + + return {d_angular_position, d_angular_velocity}; +} + +void SteeringDynamics::set_state(const SteeringDynamicsState & state) +{ + state_ = state; +} + +SteeringDynamicsState SteeringDynamics::get_state() const +{ + return state_; +} + +void SteeringDynamics::set_steer(const double steer) +{ + state_.angular_position = steer; +} + +void SteeringDynamics::clear_state() +{ + state_ = {0.0, 0.0, false}; +} + +MechanicalController::MechanicalController(const MechanicalParams & params) +: pid_(params.kp, params.ki, params.kd), + steering_dynamics_( + 0.0, 0.0, params.inertia, params.damping, params.stiffness, params.friction, + params.dead_zone_threshold), + params_(params) +{ +} + +void MechanicalController::clear_state() +{ + delay_buffer_.clear(); + pid_.clear_state(); + steering_dynamics_.clear_state(); +} + +void MechanicalController::set_steer(const double steer) +{ + steering_dynamics_.set_steer(steer); +} + +[[maybe_unused]] double MechanicalController::update_euler( + const double input_angle, const double speed, const double prev_input_angle, const double dt) +{ + const auto dynamics_state = steering_dynamics_.get_state(); + + const auto d_state = + run_one_step(input_angle, speed, prev_input_angle, dt, delay_buffer_, pid_, steering_dynamics_); + + const double d_angular_position = d_state.dynamics_d_state.d_angular_position; + const double d_angular_velocity = d_state.dynamics_d_state.d_angular_velocity; + + auto dynamics_state_new = dynamics_state; + dynamics_state_new.angular_position = std::clamp( + dynamics_state.angular_position + d_angular_position * dt, -params_.angle_limit, + params_.angle_limit); + dynamics_state_new.angular_velocity = std::clamp( + dynamics_state.angular_velocity + d_angular_velocity * dt, -params_.rate_limit, + params_.rate_limit); + dynamics_state_new.is_in_dead_zone = d_state.is_in_dead_zone; + steering_dynamics_.set_state(dynamics_state_new); + + pid_.update_state(d_state.pid_error, dt); + delay_buffer_ = d_state.delay_buffer; + + return dynamics_state_new.angular_position; +} + +double MechanicalController::update_runge_kutta( + const double input_angle, const double speed, const double prev_input_angle, const double dt) +{ + const auto dynamics_state = steering_dynamics_.get_state(); + + // NOTE: k1, k2, k3, k4 suffix denote the intermediate points of RK4 + const auto k1 = + run_one_step(input_angle, speed, prev_input_angle, dt, delay_buffer_, pid_, steering_dynamics_); + + auto dynamics_for_k2 = steering_dynamics_; + auto dynamics_state_for_k2 = steering_dynamics_.get_state(); + dynamics_state_for_k2.angular_position = + dynamics_state.angular_position + k1.dynamics_d_state.d_angular_position * 0.5 * dt; + dynamics_state_for_k2.angular_velocity = + dynamics_state.angular_velocity + k1.dynamics_d_state.d_angular_velocity * 0.5 * dt; + dynamics_for_k2.set_state(dynamics_state_for_k2); + const auto k2 = + run_one_step(input_angle, speed, prev_input_angle, dt, delay_buffer_, pid_, dynamics_for_k2); + + auto dynamics_for_k3 = steering_dynamics_; + auto dynamics_state_for_k3 = steering_dynamics_.get_state(); + dynamics_state_for_k3.angular_position = + dynamics_state.angular_position + k2.dynamics_d_state.d_angular_position * 0.5 * dt; + dynamics_state_for_k3.angular_velocity = + dynamics_state.angular_velocity + k2.dynamics_d_state.d_angular_velocity * 0.5 * dt; + dynamics_for_k3.set_state(dynamics_state_for_k3); + const auto k3 = + run_one_step(input_angle, speed, prev_input_angle, dt, delay_buffer_, pid_, dynamics_for_k3); + + auto dynamics_for_k4 = steering_dynamics_; + auto dynamics_state_for_k4 = steering_dynamics_.get_state(); + dynamics_state_for_k4.angular_position = + dynamics_state.angular_position + k3.dynamics_d_state.d_angular_position * dt; + dynamics_state_for_k4.angular_velocity = + dynamics_state.angular_velocity + k3.dynamics_d_state.d_angular_velocity * dt; + dynamics_for_k4.set_state(dynamics_state_for_k4); + const auto k4 = + run_one_step(input_angle, speed, prev_input_angle, dt, delay_buffer_, pid_, dynamics_for_k4); + + const double d_angular_position = + (k1.dynamics_d_state.d_angular_position + 2.0 * k2.dynamics_d_state.d_angular_position + + 2.0 * k3.dynamics_d_state.d_angular_position + k4.dynamics_d_state.d_angular_position) / + 6.0; + const double d_angular_velocity = + (k1.dynamics_d_state.d_angular_velocity + 2.0 * k2.dynamics_d_state.d_angular_velocity + + 2.0 * k3.dynamics_d_state.d_angular_velocity + k4.dynamics_d_state.d_angular_velocity) / + 6.0; + + // update steering dynamics/controller internal state + auto dynamics_state_new = dynamics_state; + dynamics_state_new.angular_position = std::clamp( + dynamics_state.angular_position + d_angular_position * dt, -params_.angle_limit, + params_.angle_limit); + dynamics_state_new.angular_velocity = std::clamp( + dynamics_state.angular_velocity + d_angular_velocity * dt, -params_.rate_limit, + params_.rate_limit); + pid_.update_state(k1.pid_error, k2.pid_error, k3.pid_error, k4.pid_error, dt); + if ( + k1.delay_buffer.empty() || k2.delay_buffer.empty() || k3.delay_buffer.empty() || + k4.delay_buffer.empty()) { + // This condition is assumed to never be met because it is always pushed by + // the delay() function. + return dynamics_state.angular_position; + } + const double delayed_signal = + (k1.delay_buffer.back().first + 2.0 * k2.delay_buffer.back().first + + 2.0 * k3.delay_buffer.back().first + k4.delay_buffer.back().first) / + 6.0; + const double elapsed_time = delay_buffer_.empty() ? dt : delay_buffer_.back().second + dt; + delay_buffer_ = + delay(delayed_signal, params_.torque_delay_time, delay_buffer_, elapsed_time).second; + dynamics_state_new.is_in_dead_zone = + steering_dynamics_.is_in_dead_zone(dynamics_state_new, delayed_signal); + steering_dynamics_.set_state(dynamics_state_new); + + return dynamics_state_new.angular_position; +} + +StepResult MechanicalController::run_one_step( + const double input_angle, const double speed, const double prev_input_angle, const double dt, + const DelayBuffer & delay_buffer, const PIDController & pid, + const SteeringDynamics & dynamics) const +{ + const auto dynamics_state = dynamics.get_state(); + const auto pid_state = pid.get_state(); + + const double limited_input_angle = + apply_limits(input_angle, prev_input_angle, params_.angle_limit, params_.rate_limit, dt); + + const double ff_torque = feedforward(limited_input_angle, params_.ff_gain); + + const double pid_error = limited_input_angle - dynamics_state.angular_position; + + const double pid_torque = + pid.compute(pid_error, pid_state.integral + pid_error * dt, pid_state.error, dt); + + const double total_torque = ff_torque + pid_torque; + + // NOTE: do not distinguish between forward and backward driving + const double steering_torque = std::clamp( + polynomial_transform( + total_torque, std::abs(speed), params_.poly_a, params_.poly_b, params_.poly_c, params_.poly_d, + params_.poly_e, params_.poly_f, params_.poly_g, params_.poly_h), + -params_.steering_torque_limit, params_.steering_torque_limit); + + const double elapsed_time = delay_buffer.empty() ? dt : delay_buffer.back().second + dt; + const auto [delayed_torque_opt, delay_buffer_new] = + delay(steering_torque, params_.torque_delay_time, delay_buffer, elapsed_time); + + if (!delayed_torque_opt.has_value()) { + return {delay_buffer_new, pid_error, {0.0, 0.0}, dynamics_state.is_in_dead_zone}; + } + + const bool is_in_dead_zone = dynamics.is_in_dead_zone(dynamics_state, steering_torque); + if (is_in_dead_zone) { + return {delay_buffer_new, pid_error, {0.0, 0.0}, true}; + } + + const auto d_state = dynamics.calc_model(dynamics.get_state(), steering_torque); + + return {delay_buffer_new, pid_error, d_state, false}; +} + +} // namespace autoware::simple_planning_simulator::utils::mechanical_controller diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp index 74ad765687a2e..469c30dc4f0cf 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp @@ -108,43 +108,13 @@ double BrakeMap::getBrake(const double acc, double vel) const return autoware::interpolation::lerp(interpolated_acc_vec, brake_indices, acc); } -// steer map sim model +// convert only longitudinal actuation command SimModelActuationCmd::SimModelActuationCmd( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double accel_delay, double accel_time_constant, double brake_delay, double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, - bool convert_accel_cmd, bool convert_brake_cmd, bool convert_steer_cmd, - std::string accel_map_path, std::string brake_map_path, std::string steer_map_path) -: SimModelInterface(6 /* dim x */, 5 /* dim u */), - MIN_TIME_CONSTANT(0.03), - vx_lim_(vx_lim), - vx_rate_lim_(vx_rate_lim), - steer_lim_(steer_lim), - steer_rate_lim_(steer_rate_lim), - wheelbase_(wheelbase), - accel_delay_(accel_delay), - accel_time_constant_(std::max(accel_time_constant, MIN_TIME_CONSTANT)), - brake_delay_(brake_delay), - brake_time_constant_(std::max(brake_time_constant, MIN_TIME_CONSTANT)), - steer_delay_(steer_delay), - steer_time_constant_(std::max(steer_time_constant, MIN_TIME_CONSTANT)), - steer_bias_(steer_bias) -{ - initializeInputQueue(dt); - convert_accel_cmd_ = convert_accel_cmd && accel_map_.readActuationMapFromCSV(accel_map_path); - convert_brake_cmd_ = convert_brake_cmd && brake_map_.readActuationMapFromCSV(brake_map_path); - convert_steer_cmd_ = convert_steer_cmd && steer_map_.readActuationMapFromCSV(steer_map_path); - actuation_sim_type_ = ActuationSimType::STEER_MAP; -} - -// VGR sim model -SimModelActuationCmd::SimModelActuationCmd( - double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, - double dt, double accel_delay, double accel_time_constant, double brake_delay, - double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, - bool convert_accel_cmd, bool convert_brake_cmd, bool convert_steer_cmd, - std::string accel_map_path, std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, - double vgr_coef_c) + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path) : SimModelInterface(6 /* dim x */, 5 /* dim u */), MIN_TIME_CONSTANT(0.03), vx_lim_(vx_lim), @@ -159,15 +129,12 @@ SimModelActuationCmd::SimModelActuationCmd( steer_delay_(steer_delay), steer_time_constant_(std::max(steer_time_constant, MIN_TIME_CONSTANT)), steer_bias_(steer_bias), - convert_steer_cmd_(convert_steer_cmd), - vgr_coef_a_(vgr_coef_a), - vgr_coef_b_(vgr_coef_b), - vgr_coef_c_(vgr_coef_c) + convert_accel_cmd_(convert_accel_cmd), + convert_brake_cmd_(convert_brake_cmd) { initializeInputQueue(dt); convert_accel_cmd_ = convert_accel_cmd && accel_map_.readActuationMapFromCSV(accel_map_path); convert_brake_cmd_ = convert_brake_cmd && brake_map_.readActuationMapFromCSV(brake_map_path); - actuation_sim_type_ = ActuationSimType::VGR; } double SimModelActuationCmd::getX() @@ -222,6 +189,7 @@ void SimModelActuationCmd::update(const double & dt) delayed_input(IDX_U::SLOPE_ACCX) = input_(IDX_U::SLOPE_ACCX); const auto prev_state = state_; + updateRungeKutta(dt, delayed_input); // take velocity/steer limit explicitly @@ -248,36 +216,32 @@ void SimModelActuationCmd::initializeInputQueue(const double & dt) std::fill(steer_input_queue_.begin(), steer_input_queue_.end(), 0.0); } -Eigen::VectorXd SimModelActuationCmd::calcModel( +Eigen::VectorXd SimModelActuationCmd::calcLongitudinalModel( const Eigen::VectorXd & state, const Eigen::VectorXd & input) { using autoware_vehicle_msgs::msg::GearCommand; const double vel = std::clamp(state(IDX::VX), -vx_lim_, vx_lim_); const double acc = std::clamp(state(IDX::ACCX), -vx_rate_lim_, vx_rate_lim_); - const double yaw = state(IDX::YAW); const double steer = state(IDX::STEER); - + const double yaw = state(IDX::YAW); const double accel = input(IDX_U::ACCEL_DES); const double brake = input(IDX_U::BRAKE_DES); const auto gear = input(IDX_U::GEAR); - // 1) calculate acceleration by accel and brake command + // calculate acceleration by accel and brake command const double acc_des_wo_slope = std::clamp( std::invoke([&]() -> double { - // Select the non-zero value between accel and brake and calculate the acceleration if (convert_accel_cmd_ && accel > 0.0) { - // convert accel command to acceleration return accel_map_.getControlCommand(accel, vel); } else if (convert_brake_cmd_ && brake > 0.0) { - // convert brake command to acceleration return brake_map_.getControlCommand(brake, vel); } else { - // if conversion is disabled, accel command is directly used as acceleration return accel; } }), -vx_rate_lim_, vx_rate_lim_); + // add slope acceleration considering the gear state const double acc_by_slope = input(IDX_U::SLOPE_ACCX); const double acc_des = std::invoke([&]() -> double { @@ -290,36 +254,31 @@ Eigen::VectorXd SimModelActuationCmd::calcModel( }); const double acc_time_constant = accel > 0.0 ? accel_time_constant_ : brake_time_constant_; - // 2) calculate steering rate by steer command - const double steer_rate = std::clamp( - std::invoke([&]() -> double { - // if conversion is enabled, calculate steering rate from steer command - if (convert_steer_cmd_) { - if (actuation_sim_type_ == ActuationSimType::VGR) { - // convert steer wheel command to steer rate - const double steer_des = - calculateSteeringTireCommand(vel, steer, input(IDX_U::STEER_DES)); - return -(getSteer() - steer_des) / steer_time_constant_; - } else if (actuation_sim_type_ == ActuationSimType::STEER_MAP) { - // convert steer command to steer rate - return steer_map_.getControlCommand(input(IDX_U::STEER_DES), vel) / steer_time_constant_; - } - } - // otherwise, steer command is desired steering angle, so calculate steering rate from the - // difference between the desired steering angle and the current steering angle. - const double steer_des = std::clamp(input(IDX_U::STEER_DES), -steer_lim_, steer_lim_); - return -(getSteer() - steer_des) / steer_time_constant_; - }), - -steer_rate_lim_, steer_rate_lim_); + // calculate derivative of longitudinal states except steering + Eigen::VectorXd d_longitudinal_state = Eigen::VectorXd::Zero(dim_x_); + d_longitudinal_state(IDX::X) = vel * cos(yaw); + d_longitudinal_state(IDX::Y) = vel * sin(yaw); + d_longitudinal_state(IDX::YAW) = vel * std::tan(steer) / wheelbase_; + d_longitudinal_state(IDX::VX) = acc; + d_longitudinal_state(IDX::ACCX) = -(acc - acc_des) / acc_time_constant; - Eigen::VectorXd d_state = Eigen::VectorXd::Zero(dim_x_); - d_state(IDX::X) = vel * cos(yaw); - d_state(IDX::Y) = vel * sin(yaw); - d_state(IDX::YAW) = vel * std::tan(steer) / wheelbase_; - d_state(IDX::VX) = acc; - d_state(IDX::STEER) = steer_rate; - d_state(IDX::ACCX) = -(acc - acc_des) / acc_time_constant; + return d_longitudinal_state; +} +double SimModelActuationCmd::calcLateralModel( + [[maybe_unused]] const double steer, const double steer_input, [[maybe_unused]] const double vel) +{ + const double steer_rate = std::clamp( + -(getSteer() - steer_input) / steer_time_constant_, -steer_rate_lim_, steer_rate_lim_); + return steer_rate; +} + +Eigen::VectorXd SimModelActuationCmd::calcModel( + const Eigen::VectorXd & state, const Eigen::VectorXd & input) +{ + Eigen::VectorXd d_state = calcLongitudinalModel(state, input); + d_state(IDX::STEER) = + calcLateralModel(state(IDX::STEER), input(IDX_U::STEER_DES), state(IDX::VX)); return d_state; } @@ -383,20 +342,57 @@ SimModelActuationCmd::getActuationStatus() const actuation_status.status.brake_status = brake_map_.getBrake(acc_state, vel_state); } - if (convert_steer_cmd_) { - if (actuation_sim_type_ == ActuationSimType::VGR) { - actuation_status.status.steer_status = - calculateSteeringWheelState(vel_state, state_(IDX::STEER)); - } - // NOTE: Conversion by steer map is not supported - // else if (actuation_sim_type_ == ActuationSimType::STEER_MAP) {} + return actuation_status; +} + +/* ------ SteerMap model ----- */ +SimModelActuationCmdSteerMap::SimModelActuationCmdSteerMap( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path, std::string steer_map_path) +: SimModelActuationCmd( + vx_lim, steer_lim, vx_rate_lim, steer_rate_lim, wheelbase, dt, accel_delay, accel_time_constant, + brake_delay, brake_time_constant, steer_delay, steer_time_constant, steer_bias, + convert_accel_cmd, convert_brake_cmd, accel_map_path, brake_map_path) +{ + initializeInputQueue(dt); + if (!steer_map_.readActuationMapFromCSV(steer_map_path)) { + throw std::runtime_error("Failed to read steer map from " + steer_map_path); } +} - return actuation_status; +double SimModelActuationCmdSteerMap::calcLateralModel( + [[maybe_unused]] const double steer, const double steer_input, const double vel) +{ + const double steer_rate = std::clamp( + steer_map_.getControlCommand(steer_input, vel) / steer_time_constant_, -steer_rate_lim_, + steer_rate_lim_); + + return steer_rate; } +/* ---------------------------------------- */ -/* ------ Functions for VGR sim model ----- */ -double SimModelActuationCmd::calculateSteeringTireCommand( +/* ------ VGR model ----- */ +SimModelActuationCmdVGR::SimModelActuationCmdVGR( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, double vgr_coef_c) +: SimModelActuationCmd( + vx_lim, steer_lim, vx_rate_lim, steer_rate_lim, wheelbase, dt, accel_delay, accel_time_constant, + brake_delay, brake_time_constant, steer_delay, steer_time_constant, steer_bias, + convert_accel_cmd, convert_brake_cmd, accel_map_path, brake_map_path), + vgr_coef_a_(vgr_coef_a), + vgr_coef_b_(vgr_coef_b), + vgr_coef_c_(vgr_coef_c) +{ + initializeInputQueue(dt); +} + +double SimModelActuationCmdVGR::calculateSteeringTireCommand( const double vel, const double steer, const double steer_wheel_des) const { // steer_tire_state -> steer_wheel_state @@ -408,17 +404,114 @@ double SimModelActuationCmd::calculateSteeringTireCommand( return steer_wheel_des / adaptive_gear_ratio; } -double SimModelActuationCmd::calculateSteeringWheelState( +double SimModelActuationCmdVGR::calculateSteeringWheelState( const double vel, const double steer_state) const { return (vgr_coef_a_ + vgr_coef_b_ * vel * vel) * steer_state / (1.0 + vgr_coef_c_ * std::abs(steer_state)); } -double SimModelActuationCmd::calculateVariableGearRatio( +double SimModelActuationCmdVGR::calculateVariableGearRatio( const double vel, const double steer_wheel) const { return std::max( 1e-5, vgr_coef_a_ + vgr_coef_b_ * vel * vel - vgr_coef_c_ * std::fabs(steer_wheel)); } + +double SimModelActuationCmdVGR::calcLateralModel( + const double steer, const double steer_input, const double vel) +{ + const double steer_des = calculateSteeringTireCommand(vel, steer, steer_input); + const double steer_rate = + std::clamp(-(getSteer() - steer_des) / steer_time_constant_, -steer_rate_lim_, steer_rate_lim_); + return steer_rate; +} +/* ---------------------------------------- */ + +/* ------ MECHANICAL model ----- */ +SimModelActuationCmdMechanical::SimModelActuationCmdMechanical( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, std::string accel_map_path, + std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, double vgr_coef_c, + MechanicalParams mechanical_params) +: SimModelActuationCmdVGR( + vx_lim, steer_lim, vx_rate_lim, steer_rate_lim, wheelbase, dt, accel_delay, accel_time_constant, + brake_delay, brake_time_constant, steer_delay, steer_time_constant, steer_bias, + convert_accel_cmd, convert_brake_cmd, accel_map_path, brake_map_path, vgr_coef_a, vgr_coef_b, + vgr_coef_c), + mechanical_controller_(std::make_unique(mechanical_params)) +{ +} + +void SimModelActuationCmdMechanical::update(const double & dt) +{ + Eigen::VectorXd delayed_input = Eigen::VectorXd::Zero(dim_u_); + + accel_input_queue_.push_back(input_(IDX_U::ACCEL_DES)); + delayed_input(IDX_U::ACCEL_DES) = accel_input_queue_.front(); + accel_input_queue_.pop_front(); + + brake_input_queue_.push_back(input_(IDX_U::BRAKE_DES)); + delayed_input(IDX_U::BRAKE_DES) = brake_input_queue_.front(); + brake_input_queue_.pop_front(); + + steer_input_queue_.push_back(input_(IDX_U::STEER_DES)); + delayed_input(IDX_U::STEER_DES) = steer_input_queue_.front(); + steer_input_queue_.pop_front(); + + delayed_input(IDX_U::GEAR) = input_(IDX_U::GEAR); + delayed_input(IDX_U::SLOPE_ACCX) = input_(IDX_U::SLOPE_ACCX); + + const auto prev_state = state_; + + updateRungeKuttaWithController(dt, delayed_input); + + // take velocity/steer limit explicitly + state_(IDX::VX) = std::clamp(state_(IDX::VX), -vx_lim_, vx_lim_); + state_(IDX::STEER) = std::clamp(state_(IDX::STEER), -steer_lim_, steer_lim_); + + // consider gear + // update position and velocity first, and then acceleration is calculated naturally + updateStateWithGear(state_, prev_state, gear_, dt); +} + +void SimModelActuationCmdMechanical::updateRungeKuttaWithController( + const double dt, const Eigen::VectorXd & input) +{ + // 1) update longitudinal states + const Eigen::VectorXd k1_longitudinal = calcLongitudinalModel(state_, input); + const Eigen::VectorXd k2_longitudinal = + calcLongitudinalModel(state_ + k1_longitudinal * 0.5 * dt, input); + const Eigen::VectorXd k3_longitudinal = + calcLongitudinalModel(state_ + k2_longitudinal * 0.5 * dt, input); + const Eigen::VectorXd k4_longitudinal = + calcLongitudinalModel(state_ + k3_longitudinal * dt, input); + state_ += + dt / 6.0 * (k1_longitudinal + 2.0 * k2_longitudinal + 2.0 * k3_longitudinal + k4_longitudinal); + + // 2) update lateral states + const double steer = state_(IDX::STEER); + const double steer_des = input(IDX_U::STEER_DES); + const double vel = state_(IDX::VX); + + const double steer_tire_des = calculateSteeringTireCommand(vel, steer, steer_des); + + mechanical_controller_->set_steer(state_(IDX::STEER)); + const double new_steer = + mechanical_controller_->update_runge_kutta(steer_tire_des, vel, prev_steer_tire_des_, dt); + state_(IDX::STEER) = new_steer; + prev_steer_tire_des_ = steer_tire_des; +} + +void SimModelActuationCmdMechanical::setState(const Eigen::VectorXd & state) +{ + // NOTE: This function is intended to overwrite the state by setting the initial pose, etc. In + // that case, it is necessary to reset the pid and steering dynamics states of the mechanical + // controller. + mechanical_controller_->clear_state(); + mechanical_controller_->set_steer(state(IDX::STEER)); + state_ = state; +} /* ---------------------------------------- */ diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp index d774617dc77f1..6f2590417e574 100644 --- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp +++ b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp @@ -271,19 +271,11 @@ void declareVehicleInfoParams(rclcpp::NodeOptions & node_options) node_options.append_parameter_override("max_steer_angle", 0.7); } +// NOTE: +// command type and vehicle model type area common params to all vehicle models. +// currently, no vehicle model requires additional parameters. using DefaultParamType = std::tuple; -using ActuationCmdParamType = std::tuple; -using ParamType = std::variant; -std::unordered_map vehicle_model_type_map = { - {"IDEAL_STEER_VEL", typeid(DefaultParamType)}, - {"IDEAL_STEER_ACC", typeid(DefaultParamType)}, - {"IDEAL_STEER_ACC_GEARED", typeid(DefaultParamType)}, - {"DELAY_STEER_VEL", typeid(DefaultParamType)}, - {"DELAY_STEER_ACC", typeid(DefaultParamType)}, - {"DELAY_STEER_ACC_GEARED", typeid(DefaultParamType)}, - {"DELAY_STEER_ACC_GEARED_WO_FALL_GUARD", typeid(DefaultParamType)}, - {"ACTUATION_CMD", typeid(ActuationCmdParamType)}}; - +using ParamType = std::variant; std::pair get_common_params(const ParamType & params) { return std::visit( @@ -304,21 +296,10 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) rclcpp::init(0, nullptr); const auto params = GetParam(); - // common parameters const auto common_params = get_common_params(params); const auto command_type = common_params.first; const auto vehicle_model_type = common_params.second; - // optional parameters - std::optional conversion_type{}; // for ActuationCmdParamType - - // Determine the ParamType corresponding to vehicle_model_type and get the specific parameters. - const auto iter = vehicle_model_type_map.find(vehicle_model_type); - if (iter == vehicle_model_type_map.end()) { - throw std::invalid_argument("Unexpected vehicle_model_type."); - } - if (iter->second == typeid(ActuationCmdParamType)) { - conversion_type = std::get<2>(std::get(params)); - } + std::cout << "\n\n vehicle model = " << vehicle_model_type << std::endl << std::endl; rclcpp::NodeOptions node_options; node_options.append_parameter_override("initialize_source", "INITIAL_POSE_TOPIC"); @@ -331,7 +312,6 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) node_options.append_parameter_override("brake_time_constant", 0.2); node_options.append_parameter_override("convert_accel_cmd", true); node_options.append_parameter_override("convert_brake_cmd", true); - node_options.append_parameter_override("convert_steer_cmd", true); const auto share_dir = ament_index_cpp::get_package_share_directory("simple_planning_simulator"); const auto accel_map_path = share_dir + "/test/actuation_cmd_map/accel_map.csv"; const auto brake_map_path = share_dir + "/test/actuation_cmd_map/brake_map.csv"; @@ -342,17 +322,31 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) node_options.append_parameter_override("vgr_coef_a", 15.713); node_options.append_parameter_override("vgr_coef_b", 0.053); node_options.append_parameter_override("vgr_coef_c", 0.042); - if (conversion_type.has_value()) { - std::cout << "\n\n vehicle model = " << vehicle_model_type - << ", conversion_type = " << conversion_type.value() << std::endl - << std::endl; - node_options.append_parameter_override("convert_steer_cmd_method", conversion_type.value()); - } else { - std::cout << "\n\n vehicle model = " << vehicle_model_type << std::endl << std::endl; - } + // mechanical parameters + node_options.append_parameter_override("mechanical_params.kp", 386.915); + node_options.append_parameter_override("mechanical_params.ki", 5.461); + node_options.append_parameter_override("mechanical_params.kd", 0.036); + node_options.append_parameter_override("mechanical_params.ff_gain", 0.031); + node_options.append_parameter_override("mechanical_params.angle_limit", 10.0); + node_options.append_parameter_override("mechanical_params.rate_limit", 3.0); + node_options.append_parameter_override("mechanical_params.dead_zone_threshold", 0.007); + node_options.append_parameter_override("mechanical_params.poly_a", 0.153); + node_options.append_parameter_override("mechanical_params.poly_b", -0.173); + node_options.append_parameter_override("mechanical_params.poly_c", 1.590); + node_options.append_parameter_override("mechanical_params.poly_d", 0.002); + node_options.append_parameter_override("mechanical_params.poly_e", -0.042); + node_options.append_parameter_override("mechanical_params.poly_f", 0.184); + node_options.append_parameter_override("mechanical_params.poly_g", -0.063); + node_options.append_parameter_override("mechanical_params.poly_h", 0.187); + node_options.append_parameter_override("mechanical_params.inertia", 25.178); + node_options.append_parameter_override("mechanical_params.damping", 117.007); + node_options.append_parameter_override("mechanical_params.stiffness", 0.175); + node_options.append_parameter_override("mechanical_params.friction", 0.660); + node_options.append_parameter_override("mechanical_params.steering_torque_limit", 30.0); + node_options.append_parameter_override("mechanical_params.torque_delay_time", 0.001); declareVehicleInfoParams(node_options); - const auto sim_node = std::make_shared(node_options); + auto sim_node = std::make_shared(node_options); const auto pub_sub_node = std::make_shared(); @@ -364,7 +358,7 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) // acceleration or braking, and whether it turns left or right, and generate an actuation // command. So do not change the map. If it is necessary, you need to change this parameters as // well. - const double target_steer_actuation = 10.0f; + const double target_steer_actuation = 20.0f; const double target_accel_actuation = 0.5f; // const double target_brake_actuation = 0.5f; // unused for now. @@ -375,10 +369,15 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) const auto t = sim_node->now(); sendCommand(command_type, sim_node, pub_sub_node, t, ackermann_cmd, actuation_cmd); }; + // NOTE: Since the node has a queue, the node needs to be re-created. + auto _restartNode = [&]() { + sim_node.reset(); + sim_node = std::make_shared(node_options); + }; // check pub-sub connections { - size_t expected = 1; + constexpr size_t expected = 1; // actuation or ackermann must be subscribed const auto sub_command_count = (command_type == CommandType::Actuation) @@ -404,6 +403,7 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) // go backward // NOTE: positive acceleration with reverse gear drives the vehicle backward. + _restartNode(); _resetInitialpose(); _sendBwdGear(); _sendCommand( @@ -412,6 +412,7 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) isOnBackward(*(pub_sub_node->current_odom_), init_state); // go forward left + _restartNode(); _resetInitialpose(); _sendFwdGear(); _sendCommand( @@ -421,6 +422,7 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) // go backward right // NOTE: positive acceleration with reverse gear drives the vehicle backward. + _restartNode(); _resetInitialpose(); _sendBwdGear(); _sendCommand( @@ -443,5 +445,9 @@ INSTANTIATE_TEST_SUITE_P( std::make_tuple(CommandType::Ackermann, "DELAY_STEER_ACC_GEARED"), std::make_tuple(CommandType::Ackermann, "DELAY_STEER_ACC_GEARED_WO_FALL_GUARD"), /* Actuation type */ - std::make_tuple(CommandType::Actuation, "ACTUATION_CMD", "steer_map"), - std::make_tuple(CommandType::Actuation, "ACTUATION_CMD", "vgr"))); + // NOTE: Just "ACTUATION_CMD" sim model converts only accel/brake actuation commands. The test + // is performed for models that convert all accel/brake/steer commands, so the test for + // accel/brake alone is skipped. + std::make_tuple(CommandType::Actuation, "ACTUATION_CMD_STEER_MAP"), + std::make_tuple(CommandType::Actuation, "ACTUATION_CMD_VGR"), + std::make_tuple(CommandType::Actuation, "ACTUATION_CMD_MECHANICAL"))); From 51098ebc48171f81393e53327dd26e9d422cb220 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 21:06:14 +0900 Subject: [PATCH 501/701] fix(autoware_behavior_path_start_planner_module): fix clang-diagnostic-unused-variable (#9405) fix: clang-diagnostic-unused-variable Signed-off-by: kobayu858 --- .../src/pull_out_planner_base.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp index e82db8a68740e..f7713ea2e91b2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp @@ -26,7 +26,6 @@ bool PullOutPlannerBase::isPullOutPathCollided( const auto & dynamic_objects = planner_data_->dynamic_object; const auto pull_out_lanes = start_planner_utils::getPullOutLanes( planner_data_, planner_data_->parameters.backward_path_length + parameters_.max_back_distance); - const auto & vehicle_footprint = vehicle_info_.createFootprint(); // extract stop objects in pull out lane for collision check const auto stop_objects = utils::path_safety_checker::filterObjectsByVelocity( *dynamic_objects, parameters_.th_moving_object_velocity); From 6c20d58a5da8cb9feb6563e3101cb798ba2e56af Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 20 Nov 2024 21:06:29 +0900 Subject: [PATCH 502/701] fix(autoware_behavior_velocity_blind_spot_module): fix clang-diagnostic-unused-parameter (#9406) fix: clang-diagnostic-unused-parameter Signed-off-by: kobayu858 --- .../src/decisions.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp index da4582dd1643f..116050871c722 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp @@ -24,7 +24,7 @@ namespace autoware::behavior_velocity_planner */ template void BlindSpotModule::setRTCStatusByDecision( - const T &, const tier4_planning_msgs::msg::PathWithLaneId & path) + const T &, [[maybe_unused]] const tier4_planning_msgs::msg::PathWithLaneId & path) { static_assert("Unsupported type passed to setRTCStatus"); return; From d8087f40fdab6d8e289f3374b621aa5228a1e45a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 20 Nov 2024 23:51:32 +0900 Subject: [PATCH 503/701] feat(pid_longitudinal_controller): suppress rclcpp_warning/error (#9384) * feat(pid_longitudinal_controller): suppress rclcpp_warning/error Signed-off-by: Takayuki Murooka * update codeowner Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../CMakeLists.txt | 2 + .../pid_longitudinal_controller.hpp | 13 ++++ .../package.xml | 1 + .../src/pid_longitudinal_controller.cpp | 71 +++++++++++-------- 4 files changed, 56 insertions(+), 31 deletions(-) diff --git a/control/autoware_pid_longitudinal_controller/CMakeLists.txt b/control/autoware_pid_longitudinal_controller/CMakeLists.txt index 4edba06ccee87..d0fef75a1154d 100644 --- a/control/autoware_pid_longitudinal_controller/CMakeLists.txt +++ b/control/autoware_pid_longitudinal_controller/CMakeLists.txt @@ -4,6 +4,8 @@ project(autoware_pid_longitudinal_controller) find_package(autoware_cmake REQUIRED) autoware_package() +find_package(fmt REQUIRED) + set(PID_LON_CON_LIB ${PROJECT_NAME}_lib) ament_auto_add_library(${PID_LON_CON_LIB} SHARED DIRECTORY src diff --git a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp index 1d4192d51d98d..7daf3013bab4a 100644 --- a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp @@ -254,6 +254,12 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro void setupDiagnosticUpdater(); void checkControlState(diagnostic_updater::DiagnosticStatusWrapper & stat); + struct ResultWithReason + { + bool result{false}; + std::string reason{""}; + }; + /** * @brief set current and previous velocity with received message * @param [in] msg current state message @@ -298,6 +304,13 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro */ Motion calcEmergencyCtrlCmd(const double dt); + /** + * @brief change control state + * @param [in] new state + * @param [in] reason to change control state + */ + void changeControlState(const ControlState & control_state, const std::string & reason = ""); + /** * @brief update control state according to the current situation * @param [in] control_data control data diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml index 2e9ca5375932b..b4bf580e133e7 100644 --- a/control/autoware_pid_longitudinal_controller/package.xml +++ b/control/autoware_pid_longitudinal_controller/package.xml @@ -8,6 +8,7 @@ Takamasa Horibe Takayuki Murooka Mamoru Sobue + Yuki Takagi Apache 2.0 diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index 9bc9a5cd59ac3..7f6da35527290 100644 --- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp +++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp @@ -18,6 +18,8 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/normalization.hpp" +#include + #include #include #include @@ -424,7 +426,8 @@ trajectory_follower::LongitudinalOutput PidLongitudinalController::run( // self pose is far from trajectory if (control_data.is_far_from_trajectory) { if (m_enable_large_tracking_error_emergency) { - m_control_state = ControlState::EMERGENCY; // update control state + // update control state + changeControlState(ControlState::EMERGENCY, "the tracking error is too large"); } const Motion raw_ctrl_cmd = calcEmergencyCtrlCmd(control_data.dt); // calculate control command m_prev_raw_ctrl_cmd = raw_ctrl_cmd; @@ -606,13 +609,23 @@ PidLongitudinalController::Motion PidLongitudinalController::calcEmergencyCtrlCm longitudinal_utils::applyDiffLimitFilter(raw_ctrl_cmd.acc, m_prev_raw_ctrl_cmd.acc, dt, p.jerk); m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_JERK_LIMITED, raw_ctrl_cmd.acc); - RCLCPP_ERROR_THROTTLE( - logger_, *clock_, 3000, "[Emergency stop] vel: %3.3f, acc: %3.3f", raw_ctrl_cmd.vel, - raw_ctrl_cmd.acc); - return raw_ctrl_cmd; } +void PidLongitudinalController::changeControlState( + const ControlState & control_state, const std::string & reason) +{ + if (control_state != m_control_state) { + RCLCPP_DEBUG_STREAM( + logger_, + "controller state changed: " << toStr(m_control_state) << " -> " << toStr(control_state)); + if (control_state == ControlState::EMERGENCY) { + RCLCPP_ERROR(logger_, "Emergency Stop since %s", reason.c_str()); + } + } + m_control_state = control_state; +} + void PidLongitudinalController::updateControlState(const ControlData & control_data) { const double current_vel = control_data.current_motion.vel; @@ -662,19 +675,16 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d // ========================================================================================== const double current_vel_cmd = std::fabs( control_data.interpolated_traj.points.at(control_data.nearest_idx).longitudinal_velocity_mps); - const bool emergency_condition = m_enable_overshoot_emergency && - stop_dist < -p.emergency_state_overshoot_stop_dist && - current_vel_cmd < vel_epsilon; - const bool has_nonzero_target_vel = std::abs(current_vel_cmd) > 1.0e-5; - - const auto changeState = [this](const auto s) { - if (s != m_control_state) { - RCLCPP_DEBUG_STREAM( - logger_, "controller state changed: " << toStr(m_control_state) << " -> " << toStr(s)); + const auto emergency_condition = [&]() { + if ( + m_enable_overshoot_emergency && stop_dist < -p.emergency_state_overshoot_stop_dist && + current_vel_cmd < vel_epsilon) { + return ResultWithReason{ + true, fmt::format("the target velocity {} is less than {}", current_vel_cmd, vel_epsilon)}; } - m_control_state = s; - return; - }; + return ResultWithReason{false}; + }(); + const bool has_nonzero_target_vel = std::abs(current_vel_cmd) > 1.0e-5; const auto debug_msg_once = [this](const auto & s) { RCLCPP_DEBUG_ONCE(logger_, "%s", s); }; @@ -694,11 +704,11 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d // transit state // in DRIVE state if (m_control_state == ControlState::DRIVE) { - if (emergency_condition) { - return changeState(ControlState::EMERGENCY); + if (emergency_condition.result) { + return changeControlState(ControlState::EMERGENCY, emergency_condition.reason); } if (!is_under_control && stopped_condition) { - return changeState(ControlState::STOPPED); + return changeControlState(ControlState::STOPPED); } if (m_enable_smooth_stop) { @@ -709,11 +719,11 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d control_data.stop_dist - 0.5 * (pred_vel_in_target + current_vel) * m_delay_compensation_time; m_smooth_stop.init(pred_vel_in_target, pred_stop_dist); - return changeState(ControlState::STOPPING); + return changeControlState(ControlState::STOPPING); } } else { if (stopped_condition && !departure_condition_from_stopped) { - return changeState(ControlState::STOPPED); + return changeControlState(ControlState::STOPPED); } } return; @@ -721,11 +731,11 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d // in STOPPING state if (m_control_state == ControlState::STOPPING) { - if (emergency_condition) { - return changeState(ControlState::EMERGENCY); + if (emergency_condition.result) { + return changeControlState(ControlState::EMERGENCY, emergency_condition.reason); } if (stopped_condition) { - return changeState(ControlState::STOPPED); + return changeControlState(ControlState::STOPPED); } if (departure_condition_from_stopping) { @@ -733,7 +743,7 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d m_lpf_vel_error->reset(0.0); // prevent the car from taking a long time to start to move m_prev_ctrl_cmd.acc = std::max(0.0, m_prev_raw_ctrl_cmd.acc); - return changeState(ControlState::DRIVE); + return changeControlState(ControlState::DRIVE); } return; } @@ -779,7 +789,7 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d m_pid_vel.reset(); m_lpf_vel_error->reset(0.0); m_lpf_acc_error->reset(0.0); - return changeState(ControlState::DRIVE); + return changeControlState(ControlState::DRIVE); } return; @@ -788,13 +798,13 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d // in EMERGENCY state if (m_control_state == ControlState::EMERGENCY) { if (stopped_condition) { - return changeState(ControlState::STOPPED); + return changeControlState(ControlState::STOPPED); } - if (!emergency_condition) { + if (!emergency_condition.result) { if (!is_under_control) { // NOTE: On manual driving, no need stopping to exit the emergency. - return changeState(ControlState::DRIVE); + return changeControlState(ControlState::DRIVE); } } return; @@ -1213,7 +1223,6 @@ void PidLongitudinalController::updateDebugVelAcc(const ControlData & control_da void PidLongitudinalController::setupDiagnosticUpdater() { - diag_updater_->setHardwareID("autoware_pid_longitudinal_controller"); diag_updater_->add("control_state", this, &PidLongitudinalController::checkControlState); } From 2f57890b691277de17e4465939b2c2a5527efaef Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Thu, 21 Nov 2024 10:03:03 +0900 Subject: [PATCH 504/701] fix(autoware_pointcloud_preprocessor): clang-tidy for overrides (#9414) fix: clang-tidy for overrides Signed-off-by: vividf --- .../crop_box_filter/crop_box_filter_node.hpp | 4 ++-- .../downsample_filter/voxel_grid_downsample_filter_node.hpp | 4 ++-- .../outlier_filter/ring_outlier_filter_node.hpp | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp index 7cc61798bfef9..2a983835e4e55 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp @@ -72,9 +72,9 @@ class CropBoxFilterComponent : public autoware::pointcloud_preprocessor::Filter // TODO(sykwer): Temporary Implementation: Remove this interface when all the filter nodes conform // to new API - virtual void faster_filter( + void faster_filter( const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output, - const TransformInfo & transform_info); + const TransformInfo & transform_info) override; void publishCropBoxPolygon(); diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_node.hpp index a03b4a4cd0b86..7884890eb7d20 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_node.hpp @@ -69,9 +69,9 @@ class VoxelGridDownsampleFilterComponent : public autoware::pointcloud_preproces // TODO(atsushi421): Temporary Implementation: Remove this interface when all the filter nodes // conform to new API - virtual void faster_filter( + void faster_filter( const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output, - const TransformInfo & transform_info); + const TransformInfo & transform_info) override; private: float voxel_size_x_; diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp index b5aa9d56a0dfb..a19c0c1e257b2 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp @@ -49,9 +49,9 @@ class RingOutlierFilterComponent : public autoware::pointcloud_preprocessor::Fil // TODO(sykwer): Temporary Implementation: Remove this interface when all the filter nodes conform // to new API - virtual void faster_filter( + void faster_filter( const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output, - const TransformInfo & transform_info); + const TransformInfo & transform_info) override; rclcpp::Publisher::SharedPtr visibility_pub_; From d17ffd3e87d1bf2d04e2a27fa6093dd79d7d43cb Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Thu, 21 Nov 2024 10:03:15 +0900 Subject: [PATCH 505/701] fix(autoware_pointcloud_preprocessor): clang-tidy error in distortion corrector (#9412) fix: clang-tidy Signed-off-by: vividf --- .../distortion_corrector/distortion_corrector.hpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp index d4432c24dd5b0..1cc8fd2ff407f 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp @@ -90,6 +90,9 @@ class DistortionCorrectorBase managed_tf_buffer_ = std::make_unique(&node, has_static_tf_only); } + + virtual ~DistortionCorrectorBase() = default; + [[nodiscard]] bool pointcloud_transform_exists() const; [[nodiscard]] bool pointcloud_transform_needed() const; std::deque get_twist_queue(); From 837138384275b6e004ab395f0a3f59d9d84cafe9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E3=81=90=E3=82=8B=E3=81=90=E3=82=8B?= Date: Thu, 21 Nov 2024 10:39:52 +0900 Subject: [PATCH 506/701] fix(evaluator): missing dependency in evaluator components (#9074) --- evaluator/autoware_planning_evaluator/package.xml | 1 + evaluator/kinematic_evaluator/package.xml | 1 + evaluator/localization_evaluator/package.xml | 1 + evaluator/perception_online_evaluator/package.xml | 1 + 4 files changed, 4 insertions(+) diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml index 572c99d8ac3a5..15d5d6da8504d 100644 --- a/evaluator/autoware_planning_evaluator/package.xml +++ b/evaluator/autoware_planning_evaluator/package.xml @@ -30,6 +30,7 @@ tier4_metric_msgs ament_cmake_ros + ament_index_cpp ament_lint_auto autoware_lint_common diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/kinematic_evaluator/package.xml index a70bf053171f3..99254d06d0642 100644 --- a/evaluator/kinematic_evaluator/package.xml +++ b/evaluator/kinematic_evaluator/package.xml @@ -29,6 +29,7 @@ tf2_ros ament_cmake_gtest + ament_index_cpp ament_lint_auto autoware_lint_common diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml index f7c81fa101f30..49dd156f983b4 100644 --- a/evaluator/localization_evaluator/package.xml +++ b/evaluator/localization_evaluator/package.xml @@ -25,6 +25,7 @@ tf2_ros ament_cmake_gtest + ament_index_cpp ament_lint_auto autoware_lint_common diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml index 414f75253d5f0..654586a76453d 100644 --- a/evaluator/perception_online_evaluator/package.xml +++ b/evaluator/perception_online_evaluator/package.xml @@ -35,6 +35,7 @@ tf2_ros ament_cmake_ros + ament_index_cpp ament_lint_auto autoware_lint_common From 1c96aa61f94e4979c50ee80342c0eb6cb2cb5a91 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 21 Nov 2024 11:13:58 +0900 Subject: [PATCH 507/701] feat(build_depends.repos): change autoware_adapi_msgs version (#9420) Signed-off-by: Takagi, Isamu --- build_depends.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build_depends.repos b/build_depends.repos index 0c1deb7194cfb..61a56463e2e41 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -28,7 +28,7 @@ repositories: core/autoware_adapi_msgs: type: git url: https://github.com/autowarefoundation/autoware_adapi_msgs.git - version: 1.3.0 + version: beta/1.7.0 core/autoware_internal_msgs: type: git url: https://github.com/autowarefoundation/autoware_internal_msgs.git From 03b696281037acaa01b960df3f38f95843516711 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 21 Nov 2024 13:41:42 +0900 Subject: [PATCH 508/701] fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-delete-abstract-non-virtual-dtor (#9419) fix: clang-diagnostic-delete-abstract-non-virtual-dtor Signed-off-by: kobayu858 --- .../autoware/obstacle_cruise_planner/planner_interface.hpp | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp index df46f32610150..e4fb1c6cfe36d 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp @@ -42,6 +42,7 @@ using MetricArray = tier4_metric_msgs::msg::MetricArray; class PlannerInterface { public: + virtual ~PlannerInterface() = default; PlannerInterface( rclcpp::Node & node, const LongitudinalInfo & longitudinal_info, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, From f7f2fc07936dc5494b40756937c122a27a31706c Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 21 Nov 2024 13:41:56 +0900 Subject: [PATCH 509/701] fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-ignored-optimization-argument (#9418) fix: clang-diagnostic-ignored-optimization-argument Signed-off-by: kobayu858 --- planning/autoware_freespace_planning_algorithms/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning/autoware_freespace_planning_algorithms/CMakeLists.txt b/planning/autoware_freespace_planning_algorithms/CMakeLists.txt index 4f678cd9fdec5..5b6013528f7fc 100644 --- a/planning/autoware_freespace_planning_algorithms/CMakeLists.txt +++ b/planning/autoware_freespace_planning_algorithms/CMakeLists.txt @@ -60,6 +60,8 @@ find_package(Python3 REQUIRED COMPONENTS Interpreter Development) find_package(pybind11_vendor REQUIRED) find_package(pybind11 REQUIRED) +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-ignored-optimization-argument") + pybind11_add_module(${PROJECT_NAME}_pybind SHARED scripts/bind/astar_search_pybind.cpp ) From dd9c1162b0c097206b8ae3f05a16b2eddf537fbc Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 21 Nov 2024 13:42:10 +0900 Subject: [PATCH 510/701] fix(autoware_behavior_path_sampling_planner_module): fix clang-diagnostic-unused-variable (#9404) fix: clang-diagnostic-unused-variable Signed-off-by: kobayu858 --- .../sampling_planner_module.hpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp index e82c4fd287432..c9b75f7fa96de 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp @@ -155,8 +155,6 @@ class SamplingPlannerModule : public SceneModuleInterface bool canTransitSuccessState() override { std::vector drivable_lanes{}; - const auto & prev_module_path = - std::make_shared(getPreviousModuleOutput().path); const auto prev_module_reference_path = std::make_shared(getPreviousModuleOutput().reference_path); From f070655c5d7c748cab553b0216bee9b81ba26b73 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 21 Nov 2024 16:03:15 +0900 Subject: [PATCH 511/701] feat(behavior_velocity_planner): update velocity factor initialization for run out module (#9352) feat(behavior_velocity_planner): update velocity factor initialization Update the initialization of the velocity factor in the RunOutModule of the behavior_velocity_planner. The velocity factor is now initialized for the RUN_OUT behavior instead of the ROUTE_OBSTACLE behavior. Signed-off-by: Kyoichi Sugahara --- .../autoware_behavior_velocity_run_out_module/src/scene.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp index 2296655d700d3..c3f91d0506388 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp @@ -50,7 +50,7 @@ RunOutModule::RunOutModule( debug_ptr_(debug_ptr), state_machine_(std::make_unique(planner_param.approaching.state)) { - velocity_factor_.init(PlanningBehavior::ROUTE_OBSTACLE); + velocity_factor_.init(PlanningBehavior::RUN_OUT); if (planner_param.run_out.use_partition_lanelet) { const lanelet::LaneletMapConstPtr & ll = planner_data->route_handler_->getLaneletMapPtr(); From 0b7223943947e05c08378eda7e5c95c1ba6da7e1 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 21 Nov 2024 16:06:28 +0900 Subject: [PATCH 512/701] feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle. (#9359) * feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle. Signed-off-by: satoshi-ota * fix: cppcheck Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../obstacle_cruise_planner/utils.hpp | 4 +++ .../pid_based_planner/pid_based_planner.cpp | 4 +++ .../src/planner_interface.cpp | 29 +++++-------------- .../src/utils.cpp | 22 ++++++++++++++ 4 files changed, 37 insertions(+), 22 deletions(-) diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/utils.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/utils.hpp index 8af9a63f3a1fa..d929647d9bcd0 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/utils.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/utils.hpp @@ -93,6 +93,10 @@ size_t getIndexWithLongitudinalOffset( } return 0; } + +VelocityFactorArray makeVelocityFactorArray( + const rclcpp::Time & time, const std::string & behavior = PlanningBehavior::ROUTE_OBSTACLE, + const std::optional pose = std::nullopt); } // namespace obstacle_cruise_utils #endif // AUTOWARE__OBSTACLE_CRUISE_PLANNER__UTILS_HPP_ diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp index 80fb85d4e30c9..da5d083d6ddcf 100644 --- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp @@ -326,6 +326,10 @@ std::vector PIDBasedPlanner::planCruise( // cruise obstacle debug_data_ptr_->obstacles_to_cruise.push_back(cruise_obstacle_info->obstacle); debug_data_ptr_->cruise_metrics = makeMetrics("PIDBasedPlanner", "cruise", planner_data); + + velocity_factors_pub_->publish(obstacle_cruise_utils::makeVelocityFactorArray( + planner_data.current_time, PlanningBehavior::ADAPTIVE_CRUISE, + stop_traj_points.at(wall_idx).pose)); } // do cruise planning diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp index 140396a09e042..61946a8e4b37f 100644 --- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp @@ -87,26 +87,6 @@ StopReasonArray makeEmptyStopReasonArray(const rclcpp::Time & current_time) return stop_reason_array; } -VelocityFactorArray makeVelocityFactorArray( - const rclcpp::Time & time, const std::optional pose = std::nullopt) -{ - VelocityFactorArray velocity_factor_array; - velocity_factor_array.header.frame_id = "map"; - velocity_factor_array.header.stamp = time; - - if (pose) { - using distance_type = VelocityFactor::_distance_type; - VelocityFactor velocity_factor; - velocity_factor.behavior = PlanningBehavior::ROUTE_OBSTACLE; - velocity_factor.pose = pose.value(); - velocity_factor.distance = std::numeric_limits::quiet_NaN(); - velocity_factor.status = VelocityFactor::UNKNOWN; - velocity_factor.detail = std::string(); - velocity_factor_array.factors.push_back(velocity_factor); - } - return velocity_factor_array; -} - double calcMinimumDistanceToStop( const double initial_vel, const double max_acc, const double min_acc) { @@ -247,7 +227,8 @@ std::vector PlannerInterface::generateStopTrajectory( if (stop_obstacles.empty()) { stop_reasons_pub_->publish(makeEmptyStopReasonArray(planner_data.current_time)); - velocity_factors_pub_->publish(makeVelocityFactorArray(planner_data.current_time)); + velocity_factors_pub_->publish( + obstacle_cruise_utils::makeVelocityFactorArray(planner_data.current_time)); // delete marker const auto markers = autoware::motion_utils::createDeletedStopVirtualWallMarker(planner_data.current_time, 0); @@ -403,7 +384,8 @@ std::vector PlannerInterface::generateStopTrajectory( const auto stop_reasons_msg = makeStopReasonArray(planner_data, stop_pose, *determined_stop_obstacle); stop_reasons_pub_->publish(stop_reasons_msg); - velocity_factors_pub_->publish(makeVelocityFactorArray(planner_data.current_time, stop_pose)); + velocity_factors_pub_->publish(obstacle_cruise_utils::makeVelocityFactorArray( + planner_data.current_time, PlanningBehavior::ROUTE_OBSTACLE, stop_pose)); // Store stop reason debug data debug_data_ptr_->stop_metrics = makeMetrics("PlannerInterface", "stop", planner_data, stop_pose, *determined_stop_obstacle); @@ -656,6 +638,9 @@ std::vector PlannerInterface::generateSlowDownTrajectory( const auto markers = autoware::motion_utils::createSlowDownVirtualWallMarker( slow_down_traj_points.at(slow_down_wall_idx).pose, "obstacle slow down", planner_data.current_time, i, abs_ego_offset, "", planner_data.is_driving_forward); + velocity_factors_pub_->publish(obstacle_cruise_utils::makeVelocityFactorArray( + planner_data.current_time, PlanningBehavior::ROUTE_OBSTACLE, + slow_down_traj_points.at(slow_down_wall_idx).pose)); autoware::universe_utils::appendMarkerArray(markers, &debug_data_ptr_->slow_down_wall_marker); } diff --git a/planning/autoware_obstacle_cruise_planner/src/utils.cpp b/planning/autoware_obstacle_cruise_planner/src/utils.cpp index bc52e800c8fc5..3bf6ee311ca13 100644 --- a/planning/autoware_obstacle_cruise_planner/src/utils.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/utils.cpp @@ -113,4 +113,26 @@ std::vector getClosestStopObstacles(const std::vector pose) +{ + VelocityFactorArray velocity_factor_array; + velocity_factor_array.header.frame_id = "map"; + velocity_factor_array.header.stamp = time; + + if (pose) { + using distance_type = VelocityFactor::_distance_type; + VelocityFactor velocity_factor; + velocity_factor.behavior = behavior; + velocity_factor.pose = pose.value(); + velocity_factor.distance = std::numeric_limits::quiet_NaN(); + velocity_factor.status = VelocityFactor::UNKNOWN; + velocity_factor.detail = std::string(); + velocity_factor_array.factors.push_back(velocity_factor); + } + return velocity_factor_array; +} + } // namespace obstacle_cruise_utils From 86070456b9e53bd7f4c86d8078e838511d4a28b8 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Thu, 21 Nov 2024 17:20:34 +0900 Subject: [PATCH 513/701] chore: update license of pointcloud preprocessor (#9397) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- sensing/autoware_pointcloud_preprocessor/package.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/sensing/autoware_pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml index 2fed0b54824be..85e42b4291626 100644 --- a/sensing/autoware_pointcloud_preprocessor/package.xml +++ b/sensing/autoware_pointcloud_preprocessor/package.xml @@ -15,6 +15,8 @@ David Wong Melike Tanrikulu Apache License 2.0 + + LGPLv3 Open Perception From 74ca3ab4128e19e01bdcddb46350b29376cfb566 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 21 Nov 2024 18:30:53 +0900 Subject: [PATCH 514/701] feat(goal_planner): do not insert shift end pose on pull over lane to path (#9361) Signed-off-by: kosuke55 --- .../src/pull_over_planner/shift_pull_over.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp index f70dbbd9c1e50..c299957d16a66 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp @@ -206,9 +206,6 @@ std::optional ShiftPullOver::generatePullOverPath( shifted_path.path.points = autoware::motion_utils::removeOverlapPoints(shifted_path.path.points); autoware::motion_utils::insertOrientation(shifted_path.path.points, true); - // set same orientation, because the reference center line orientation is not same to the - shifted_path.path.points.back().point.pose.orientation = shift_end_pose.orientation; - // for debug. result of shift is not equal to the target const Pose actual_shift_end_pose = shifted_path.path.points.back().point.pose; From 60dbc46ae102a351d79f11a2c3748005e7ca0228 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 21 Nov 2024 19:51:35 +0900 Subject: [PATCH 515/701] refactor(goal_planner): rename shoulder_lane to pull_over_lane (#9422) Signed-off-by: kosuke55 --- .../pull_over_planner/shift_pull_over.hpp | 2 +- .../src/pull_over_planner/shift_pull_over.cpp | 8 +++---- .../geometric_parallel_parking.hpp | 8 +++---- .../geometric_parallel_parking.cpp | 22 +++++++++---------- 4 files changed, 20 insertions(+), 20 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp index bfb0173874784..08e0b8508c991 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp @@ -50,7 +50,7 @@ class ShiftPullOver : public PullOverPlannerBase const GoalCandidate & goal_candidate, const size_t id, const std::shared_ptr planner_data, const BehaviorModuleOutput & previous_module_output, const lanelet::ConstLanelets & road_lanes, - const lanelet::ConstLanelets & shoulder_lanes, const double lateral_jerk) const; + const lanelet::ConstLanelets & pull_over_lanes, const double lateral_jerk) const; static double calcBeforeShiftedArcLength( const PathWithLaneId & path, const double after_shifted_arc_length, const double dr); static std::vector splineTwoPoints( diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp index c299957d16a66..e1184c49e40ba 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp @@ -132,7 +132,7 @@ std::optional ShiftPullOver::generatePullOverPath( const GoalCandidate & goal_candidate, const size_t id, const std::shared_ptr planner_data, const BehaviorModuleOutput & previous_module_output, const lanelet::ConstLanelets & road_lanes, - const lanelet::ConstLanelets & shoulder_lanes, const double lateral_jerk) const + const lanelet::ConstLanelets & pull_over_lanes, const double lateral_jerk) const { const double pull_over_velocity = parameters_.pull_over_velocity; const double after_shift_straight_distance = parameters_.after_shift_straight_distance; @@ -224,7 +224,7 @@ std::optional ShiftPullOver::generatePullOverPath( p.point.longitudinal_velocity_mps = 0.0; p.point.pose = goal_pose; p.lane_ids = shifted_path.path.points.back().lane_ids; - for (const auto & lane : shoulder_lanes) { + for (const auto & lane : pull_over_lanes) { p.lane_ids.push_back(lane.id()); } shifted_path.path.points.push_back(p); @@ -246,7 +246,7 @@ std::optional ShiftPullOver::generatePullOverPath( } } // add shoulder lane_id if not found - for (const auto & lane : shoulder_lanes) { + for (const auto & lane : pull_over_lanes) { if ( std::find(point.lane_ids.begin(), point.lane_ids.end(), lane.id()) == point.lane_ids.end()) { @@ -294,7 +294,7 @@ std::optional ShiftPullOver::generatePullOverPath( }); const bool is_in_lanes = std::invoke([&]() -> bool { const auto drivable_lanes = - utils::generateDrivableLanesWithShoulderLanes(road_lanes, shoulder_lanes); + utils::generateDrivableLanesWithShoulderLanes(road_lanes, pull_over_lanes); const auto & dp = planner_data->drivable_area_expansion_parameters; const auto expanded_lanes = utils::expandLanelets( drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp index 518d1108f0ee1..9cc9bec8e963a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp @@ -70,11 +70,11 @@ class GeometricParallelParking bool isParking() const; bool planPullOver( const Pose & goal_pose, const lanelet::ConstLanelets & road_lanes, - const lanelet::ConstLanelets & shoulder_lanes, const bool is_forward, + const lanelet::ConstLanelets & pull_over_lanes, const bool is_forward, const bool left_side_parking); bool planPullOut( const Pose & start_pose, const Pose & goal_pose, const lanelet::ConstLanelets & road_lanes, - const lanelet::ConstLanelets & shoulder_lanes, const bool left_side_start, + const lanelet::ConstLanelets & pull_over_lanes, const bool left_side_start, const std::shared_ptr autoware_lane_departure_checker); void setParameters(const ParallelParkingParameters & parameters) { parameters_ = parameters; } @@ -117,7 +117,7 @@ class GeometricParallelParking void clearPaths(); std::vector planOneTrial( const Pose & start_pose, const Pose & goal_pose, const double R_E_far, - const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes, + const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & pull_over_lanes, const bool is_forward, const bool left_side_parking, const double end_pose_offset, const double lane_departure_margin, const double arc_path_interval, const std::shared_ptr @@ -134,7 +134,7 @@ class GeometricParallelParking const bool left_side_parking); std::vector generatePullOverPaths( const Pose & start_pose, const Pose & goal_pose, const double R_E_far, - const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes, + const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & pull_over_lanes, const bool is_forward, const bool left_side_parking, const double end_pose_offset, const double velocity); PathWithLaneId generateStraightPath( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp index e2218e37a771b..b18858e9dad04 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp @@ -105,7 +105,7 @@ void GeometricParallelParking::setVelocityToArcPaths( std::vector GeometricParallelParking::generatePullOverPaths( const Pose & start_pose, const Pose & goal_pose, const double R_E_far, - const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes, + const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & pull_over_lanes, const bool is_forward, const bool left_side_parking, const double end_pose_offset, const double velocity) { @@ -115,7 +115,7 @@ std::vector GeometricParallelParking::generatePullOverPaths( const double arc_path_interval = is_forward ? parameters_.forward_parking_path_interval : parameters_.backward_parking_path_interval; auto arc_paths = planOneTrial( - start_pose, goal_pose, R_E_far, road_lanes, shoulder_lanes, is_forward, left_side_parking, + start_pose, goal_pose, R_E_far, road_lanes, pull_over_lanes, is_forward, left_side_parking, end_pose_offset, lane_departure_margin, arc_path_interval, {}); if (arc_paths.empty()) { return std::vector{}; @@ -156,7 +156,7 @@ void GeometricParallelParking::clearPaths() bool GeometricParallelParking::planPullOver( const Pose & goal_pose, const lanelet::ConstLanelets & road_lanes, - const lanelet::ConstLanelets & shoulder_lanes, const bool is_forward, + const lanelet::ConstLanelets & pull_over_lanes, const bool is_forward, const bool left_side_parking) { const auto & common_params = planner_data_->parameters; @@ -186,7 +186,7 @@ bool GeometricParallelParking::planPullOver( } const auto paths = generatePullOverPaths( - *start_pose, goal_pose, R_E_far, road_lanes, shoulder_lanes, is_forward, left_side_parking, + *start_pose, goal_pose, R_E_far, road_lanes, pull_over_lanes, is_forward, left_side_parking, end_pose_offset, parameters_.forward_parking_velocity); if (!paths.empty()) { paths_ = paths; @@ -208,8 +208,8 @@ bool GeometricParallelParking::planPullOver( } const auto paths = generatePullOverPaths( - *start_pose, goal_pose, R_E_min_, road_lanes, shoulder_lanes, is_forward, left_side_parking, - end_pose_offset, parameters_.backward_parking_velocity); + *start_pose, goal_pose, R_E_min_, road_lanes, pull_over_lanes, is_forward, + left_side_parking, end_pose_offset, parameters_.backward_parking_velocity); if (!paths.empty()) { paths_ = paths; return true; @@ -222,7 +222,7 @@ bool GeometricParallelParking::planPullOver( bool GeometricParallelParking::planPullOut( const Pose & start_pose, const Pose & goal_pose, const lanelet::ConstLanelets & road_lanes, - const lanelet::ConstLanelets & shoulder_lanes, const bool left_side_start, + const lanelet::ConstLanelets & pull_over_lanes, const bool left_side_start, const std::shared_ptr lane_departure_checker) { @@ -242,7 +242,7 @@ bool GeometricParallelParking::planPullOut( // plan reverse path of parking. end_pose <-> start_pose auto arc_paths = planOneTrial( - *end_pose, start_pose, R_E_min_, road_lanes, shoulder_lanes, is_forward, left_side_start, + *end_pose, start_pose, R_E_min_, road_lanes, pull_over_lanes, is_forward, left_side_start, start_pose_offset, parameters_.pull_out_lane_departure_margin, parameters_.pull_out_arc_path_interval, lane_departure_checker); if (arc_paths.empty()) { @@ -374,7 +374,7 @@ PathWithLaneId GeometricParallelParking::generateStraightPath( std::vector GeometricParallelParking::planOneTrial( const Pose & start_pose, const Pose & goal_pose, const double R_E_far, - const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes, + const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & pull_over_lanes, const bool is_forward, const bool left_side_parking, const double end_pose_offset, const double lane_departure_margin, const double arc_path_interval, const std::shared_ptr @@ -419,7 +419,7 @@ std::vector GeometricParallelParking::planOneTrial( } lanes.push_back(lane); } - lanes.insert(lanes.end(), shoulder_lanes.begin(), shoulder_lanes.end()); + lanes.insert(lanes.end(), pull_over_lanes.begin(), pull_over_lanes.end()); // If start_pose is parallel to goal_pose, we can know lateral deviation of edges of vehicle, // and detect lane departure. @@ -427,7 +427,7 @@ std::vector GeometricParallelParking::planOneTrial( const double R_front_near = std::hypot(R_E_far + common_params.vehicle_width / 2, common_params.base_link2front); const double distance_to_near_bound = - utils::getSignedDistanceFromBoundary(shoulder_lanes, arc_end_pose, left_side_parking); + utils::getSignedDistanceFromBoundary(pull_over_lanes, arc_end_pose, left_side_parking); const double near_deviation = R_front_near - R_E_far; if (std::abs(distance_to_near_bound) - near_deviation < lane_departure_margin) { return std::vector{}; From 248bba7f2a3cd6a8d0777350c6dce062e79f5967 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Thu, 21 Nov 2024 16:41:54 +0100 Subject: [PATCH 516/701] refactor(traffic_light_recognition_marker_publisher): prefix package and namespace with autoware (#9305) Signed-off-by: Esteve Fernandez --- common/.pages | 2 +- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 2 +- .../Readme.md | 0 ...affic_light_recognition_visualization_sample.png | Bin ...ic_light_recognition_marker_publisher.launch.xml | 2 +- .../package.xml | 4 ++-- .../traffic_light_recognition_marker_publisher.cpp | 0 .../traffic_light_recognition_marker_publisher.hpp | 0 9 files changed, 5 insertions(+), 5 deletions(-) rename common/{traffic_light_recognition_marker_publisher => autoware_traffic_light_recognition_marker_publisher}/CHANGELOG.rst (100%) rename common/{traffic_light_recognition_marker_publisher => autoware_traffic_light_recognition_marker_publisher}/CMakeLists.txt (86%) rename common/{traffic_light_recognition_marker_publisher => autoware_traffic_light_recognition_marker_publisher}/Readme.md (100%) rename common/{traffic_light_recognition_marker_publisher => autoware_traffic_light_recognition_marker_publisher}/images/traffic_light_recognition_visualization_sample.png (100%) rename common/{traffic_light_recognition_marker_publisher => autoware_traffic_light_recognition_marker_publisher}/launch/traffic_light_recognition_marker_publisher.launch.xml (62%) rename common/{traffic_light_recognition_marker_publisher => autoware_traffic_light_recognition_marker_publisher}/package.xml (86%) rename common/{traffic_light_recognition_marker_publisher => autoware_traffic_light_recognition_marker_publisher}/src/traffic_light_recognition_marker_publisher.cpp (100%) rename common/{traffic_light_recognition_marker_publisher => autoware_traffic_light_recognition_marker_publisher}/src/traffic_light_recognition_marker_publisher.hpp (100%) diff --git a/common/.pages b/common/.pages index 2ca956927b905..27ee85c30ea77 100644 --- a/common/.pages +++ b/common/.pages @@ -40,7 +40,7 @@ nav: - 'tier4_system_rviz_plugin': common/tier4_system_rviz_plugin - 'tier4_traffic_light_rviz_plugin': common/tier4_traffic_light_rviz_plugin - 'tier4_vehicle_rviz_plugin': common/tier4_vehicle_rviz_plugin - - 'traffic_light_recognition_marker_publisher': common/traffic_light_recognition_marker_publisher/Readme + - 'autoware_traffic_light_recognition_marker_publisher': common/autoware_traffic_light_recognition_marker_publisher/Readme - 'Node': - 'Goal Distance Calculator': common/autoware_goal_distance_calculator/Readme - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme diff --git a/common/traffic_light_recognition_marker_publisher/CHANGELOG.rst b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst similarity index 100% rename from common/traffic_light_recognition_marker_publisher/CHANGELOG.rst rename to common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst diff --git a/common/traffic_light_recognition_marker_publisher/CMakeLists.txt b/common/autoware_traffic_light_recognition_marker_publisher/CMakeLists.txt similarity index 86% rename from common/traffic_light_recognition_marker_publisher/CMakeLists.txt rename to common/autoware_traffic_light_recognition_marker_publisher/CMakeLists.txt index d028ab21475f7..281a6fc7dc802 100644 --- a/common/traffic_light_recognition_marker_publisher/CMakeLists.txt +++ b/common/autoware_traffic_light_recognition_marker_publisher/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(traffic_light_recognition_marker_publisher) +project(autoware_traffic_light_recognition_marker_publisher) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/traffic_light_recognition_marker_publisher/Readme.md b/common/autoware_traffic_light_recognition_marker_publisher/Readme.md similarity index 100% rename from common/traffic_light_recognition_marker_publisher/Readme.md rename to common/autoware_traffic_light_recognition_marker_publisher/Readme.md diff --git a/common/traffic_light_recognition_marker_publisher/images/traffic_light_recognition_visualization_sample.png b/common/autoware_traffic_light_recognition_marker_publisher/images/traffic_light_recognition_visualization_sample.png similarity index 100% rename from common/traffic_light_recognition_marker_publisher/images/traffic_light_recognition_visualization_sample.png rename to common/autoware_traffic_light_recognition_marker_publisher/images/traffic_light_recognition_visualization_sample.png diff --git a/common/traffic_light_recognition_marker_publisher/launch/traffic_light_recognition_marker_publisher.launch.xml b/common/autoware_traffic_light_recognition_marker_publisher/launch/traffic_light_recognition_marker_publisher.launch.xml similarity index 62% rename from common/traffic_light_recognition_marker_publisher/launch/traffic_light_recognition_marker_publisher.launch.xml rename to common/autoware_traffic_light_recognition_marker_publisher/launch/traffic_light_recognition_marker_publisher.launch.xml index b982be34e77d3..60f5c34e1f283 100644 --- a/common/traffic_light_recognition_marker_publisher/launch/traffic_light_recognition_marker_publisher.launch.xml +++ b/common/autoware_traffic_light_recognition_marker_publisher/launch/traffic_light_recognition_marker_publisher.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/common/traffic_light_recognition_marker_publisher/package.xml b/common/autoware_traffic_light_recognition_marker_publisher/package.xml similarity index 86% rename from common/traffic_light_recognition_marker_publisher/package.xml rename to common/autoware_traffic_light_recognition_marker_publisher/package.xml index 8d3f422171611..88addcfb77b44 100644 --- a/common/traffic_light_recognition_marker_publisher/package.xml +++ b/common/autoware_traffic_light_recognition_marker_publisher/package.xml @@ -1,9 +1,9 @@ - traffic_light_recognition_marker_publisher + autoware_traffic_light_recognition_marker_publisher 0.38.0 - The traffic_light_recognition_marker_publisher package + The autoware_traffic_light_recognition_marker_publisher package Tomoya Kimura Takeshi Miura Shumpei Wakabayashi diff --git a/common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp similarity index 100% rename from common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp rename to common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp diff --git a/common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp similarity index 100% rename from common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp rename to common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp From 3be9fd6621936681541c8dd2e07fd7519ea95013 Mon Sep 17 00:00:00 2001 From: Zhanhong Yan <43631587+Ericpotato@users.noreply.github.com> Date: Fri, 22 Nov 2024 15:46:18 +0900 Subject: [PATCH 517/701] fix(static_centerline_generator): map_tf_generator package name needs update (#9383) fix map_tf_generator name in autoware_static_centerline_generator.launch Signed-off-by: Ericpotato --- .../launch/static_centerline_generator.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml index b897cf4d88711..7d97caf4b375f 100644 --- a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml +++ b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml @@ -40,7 +40,7 @@ - + From 834ba991e120987236a1fd0ed68fe78ff04b082f Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Fri, 22 Nov 2024 15:51:29 +0900 Subject: [PATCH 518/701] chore(autoware_behavior_velocity_stop_line_module): add maintainer (#9427) Signed-off-by: Y.Hisaki --- .../autoware_behavior_velocity_stop_line_module/package.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml index 68a8d919512b1..e24f167eb2058 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml @@ -5,6 +5,8 @@ 0.38.0 The autoware_behavior_velocity_stop_line_module package + Yukinari Hisaki + Satoshi Ota Fumiya Watanabe Zhe Shen Tomoya Kimura From 328afb446e07dbf92fb616a267e4515948dd5121 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 22 Nov 2024 16:05:11 +0900 Subject: [PATCH 519/701] fix(goal_planner): use departure_check_lane for path (#9423) --- .../pull_over_planner/geometric_pull_over.cpp | 5 +++-- .../src/pull_over_planner/shift_pull_over.cpp | 18 ++++++------------ 2 files changed, 9 insertions(+), 14 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp index 09be040019338..f75358601d877 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp @@ -55,7 +55,6 @@ std::optional GeometricPullOver::plan( if (road_lanes.empty() || pull_over_lanes.empty()) { return {}; } - const auto lanes = utils::combineLanelets(road_lanes, pull_over_lanes); const auto & p = parallel_parking_parameters_; const double max_steer_angle = @@ -69,10 +68,12 @@ std::optional GeometricPullOver::plan( return {}; } + const auto departure_check_lane = goal_planner_utils::createDepartureCheckLanelet( + pull_over_lanes, *planner_data->route_handler, left_side_parking_); const auto arc_path = planner_.getArcPath(); // check lane departure with road and shoulder lanes - if (lane_departure_checker_.checkPathWillLeaveLane(lanes, arc_path)) return {}; + if (lane_departure_checker_.checkPathWillLeaveLane({departure_check_lane}, arc_path)) return {}; auto pull_over_path_opt = PullOverPath::create( getPlannerType(), id, planner_.getPaths(), planner_.getStartPose(), modified_goal_pose, diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp index e1184c49e40ba..da99c830c68bb 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp @@ -292,18 +292,12 @@ std::optional ShiftPullOver::generatePullOverPath( return is_footprint_in_any_polygon(footprint); }); }); - const bool is_in_lanes = std::invoke([&]() -> bool { - const auto drivable_lanes = - utils::generateDrivableLanesWithShoulderLanes(road_lanes, pull_over_lanes); - const auto & dp = planner_data->drivable_area_expansion_parameters; - const auto expanded_lanes = utils::expandLanelets( - drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, - dp.drivable_area_types_to_skip); - const auto combined_drivable = utils::combineDrivableLanes( - expanded_lanes, previous_module_output.drivable_area_info.drivable_lanes); - return !lane_departure_checker_.checkPathWillLeaveLane( - utils::transformToLanelets(combined_drivable), pull_over_path.parking_path()); - }); + + const auto departure_check_lane = goal_planner_utils::createDepartureCheckLanelet( + pull_over_lanes, *planner_data->route_handler, left_side_parking_); + const bool is_in_lanes = !lane_departure_checker_.checkPathWillLeaveLane( + {departure_check_lane}, pull_over_path.parking_path()); + if (!is_in_parking_lots && !is_in_lanes) { return {}; } From e5181a5630a8d0af9713112be82c31b1e3ba4821 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 22 Nov 2024 16:09:56 +0900 Subject: [PATCH 520/701] fix(autoware_ndt_scan_matcher): remove unsed functions (#9387) Signed-off-by: Ryuta Kambe --- .../ndt_omp/multi_voxel_grid_covariance_omp.h | 12 +-- .../ndt_omp/multigrid_ndt_omp.h | 74 ------------------- 2 files changed, 1 insertion(+), 85 deletions(-) diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h index 0e43b0b35aecd..35451ede3a6aa 100644 --- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h @@ -171,12 +171,6 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid return *this; } - /** \brief Get the voxel covariance. - * \return covariance matrix - */ - const Eigen::Matrix3d & getCov() const { return (cov_); } - Eigen::Matrix3d & getCov() { return (cov_); } - /** \brief Get the inverse of the voxel covariance. * \return inverse covariance matrix */ @@ -191,11 +185,6 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid Eigen::Vector3d & getMean() { return (mean_); } - /** \brief Get the number of points contained by this voxel. - * \return number of points - */ - int getPointCount() const { return (nr_points_); } - /** \brief Number of points contained by voxel */ int nr_points_; @@ -352,6 +341,7 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid } // A wrapper of the real apply_filter + // cppcheck-suppress unusedFunction inline bool apply_filter_thread(int tid, GridNodeType & node) { apply_filter(processing_inputs_[tid], node); diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h index b173d164de97d..00c567775a6bf 100644 --- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h @@ -132,15 +132,6 @@ class MultiGridNormalDistributionsTransform : public pcl::Registration calculateNearestVoxelScoreEachPoint( const PointCloudSource & cloud) const; - inline void setRegularizationScaleFactor(float regularization_scale_factor) - { - params_.regularization_scale_factor = regularization_scale_factor; - } - inline void setRegularizationPose(Eigen::Matrix4f regularization_pose) { regularization_pose_ = regularization_pose; @@ -298,29 +247,6 @@ class MultiGridNormalDistributionsTransform : public pcl::Registration Date: Fri, 22 Nov 2024 16:30:22 +0900 Subject: [PATCH 521/701] refactor(lane_change): separate target lane leading based on obj behavior (#9372) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * separate target lane leading objects based on behavior (RT1-8532) Signed-off-by: Zulfaqar Azmi * fixed overlapped filtering and lanes debug marker Signed-off-by: Zulfaqar Azmi * combine filteredObjects function Signed-off-by: Zulfaqar Azmi * renaming functions and type Signed-off-by: Zulfaqar Azmi * update some logic to check is stopped Signed-off-by: Zulfaqar Azmi * rename expanded to stopped_outside_boundary Signed-off-by: Zulfaqar Azmi * Include docstring Signed-off-by: Zulfaqar Azmi * rename stopped_outside_boundary → stopped_at_bound Signed-off-by: Zulfaqar Azmi * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Signed-off-by: Zulfaqar Azmi * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Signed-off-by: Zulfaqar Azmi * spell-check Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --- .../scene.hpp | 7 +- .../utils/base_class.hpp | 2 +- .../utils/data_structs.hpp | 34 ++- .../utils/debug_structs.hpp | 8 +- .../utils/markers.hpp | 4 +- .../utils/utils.hpp | 46 ++- .../package.xml | 1 + .../src/scene.cpp | 275 ++++++------------ .../src/utils/markers.cpp | 52 ++-- .../src/utils/utils.cpp | 139 +++++---- .../path_safety_checker/objects_filtering.hpp | 5 +- .../path_safety_checker/objects_filtering.cpp | 9 +- .../test/test_objects_filtering.cpp | 15 +- 13 files changed, 284 insertions(+), 313 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp index dd21233c716f1..550925c4a10fc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp @@ -121,16 +121,13 @@ class NormalLaneChange : public LaneChangeBase TurnSignalInfo get_terminal_turn_signal_info() const final; lane_change::TargetObjects get_target_objects( - const FilteredByLanesExtendedObjects & filtered_objects, + const FilteredLanesObjects & filtered_objects, const lanelet::ConstLanelets & current_lanes) const; - FilteredByLanesExtendedObjects filterObjects() const; + FilteredLanesObjects filter_objects() const; void filterOncomingObjects(PredictedObjects & objects) const; - FilteredByLanesObjects filterObjectsByLanelets( - const PredictedObjects & objects, const PathWithLaneId & current_lanes_ref_path) const; - bool get_prepare_segment( PathWithLaneId & prepare_segment, const double prepare_length) const override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp index 634f3b737942b..e5c7fcb6d621e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp @@ -276,7 +276,7 @@ class LaneChangeBase std::shared_ptr abort_path_{}; std::shared_ptr planner_data_{}; lane_change::CommonDataPtr common_data_ptr_{}; - FilteredByLanesExtendedObjects filtered_objects_{}; + FilteredLanesObjects filtered_objects_{}; BehaviorModuleOutput prev_module_output_{}; std::optional lane_change_stop_pose_{std::nullopt}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp index 16b2b69a81af8..231353e812dd1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp @@ -262,25 +262,28 @@ struct Info } }; -template -struct LanesObjects +struct TargetLaneLeadingObjects { - Object current_lane{}; - Object target_lane_leading{}; - Object target_lane_trailing{}; - Object other_lane{}; - - LanesObjects() = default; - LanesObjects( - Object current_lane, Object target_lane_leading, Object target_lane_trailing, Object other_lane) - : current_lane(std::move(current_lane)), - target_lane_leading(std::move(target_lane_leading)), - target_lane_trailing(std::move(target_lane_trailing)), - other_lane(std::move(other_lane)) + ExtendedPredictedObjects moving; + ExtendedPredictedObjects stopped; + + // for objects outside of target lanes, but close to its boundaries + ExtendedPredictedObjects stopped_at_bound; + + [[nodiscard]] size_t size() const { + return moving.size() + stopped.size() + stopped_at_bound.size(); } }; +struct FilteredLanesObjects +{ + ExtendedPredictedObjects others; + ExtendedPredictedObjects current_lane; + ExtendedPredictedObjects target_lane_trailing; + TargetLaneLeadingObjects target_lane_leading; +}; + struct TargetObjects { ExtendedPredictedObjects leading; @@ -418,8 +421,7 @@ using LaneChangeStates = lane_change::States; using LaneChangePhaseInfo = lane_change::PhaseInfo; using LaneChangePhaseMetrics = lane_change::PhaseMetrics; using LaneChangeInfo = lane_change::Info; -using FilteredByLanesObjects = lane_change::LanesObjects>; -using FilteredByLanesExtendedObjects = lane_change::LanesObjects; +using FilteredLanesObjects = lane_change::FilteredLanesObjects; using LateralAccelerationMap = lane_change::LateralAccelerationMap; } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp index fc51a82a8a842..a28b8523a75c7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp @@ -35,7 +35,7 @@ struct Debug LaneChangePaths valid_paths; CollisionCheckDebugMap collision_check_objects; CollisionCheckDebugMap collision_check_objects_after_approval; - FilteredByLanesExtendedObjects filtered_objects; + FilteredLanesObjects filtered_objects; geometry_msgs::msg::Polygon execution_area; geometry_msgs::msg::Pose ego_pose; lanelet::ConstLanelets current_lanes; @@ -55,9 +55,11 @@ struct Debug collision_check_objects.clear(); collision_check_objects_after_approval.clear(); filtered_objects.current_lane.clear(); - filtered_objects.target_lane_leading.clear(); filtered_objects.target_lane_trailing.clear(); - filtered_objects.other_lane.clear(); + filtered_objects.target_lane_leading.moving.clear(); + filtered_objects.target_lane_leading.stopped.clear(); + filtered_objects.target_lane_leading.stopped_at_bound.clear(); + filtered_objects.others.clear(); execution_area.points.clear(); current_lanes.clear(); target_lanes.clear(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp index d403e7e1436c7..c95b388a2e4a4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp @@ -29,7 +29,7 @@ namespace marker_utils::lane_change_markers { -using autoware::behavior_path_planner::FilteredByLanesExtendedObjects; +using autoware::behavior_path_planner::FilteredLanesObjects; using autoware::behavior_path_planner::LaneChangePath; using autoware::behavior_path_planner::lane_change::Debug; using autoware::behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObjects; @@ -40,7 +40,7 @@ MarkerArray createLaneChangingVirtualWallMarker( const geometry_msgs::msg::Pose & lane_changing_pose, const std::string & module_name, const rclcpp::Time & now, const std::string & ns); MarkerArray showFilteredObjects( - const FilteredByLanesExtendedObjects & filtered_objects, const std::string & ns); + const FilteredLanesObjects & filtered_objects, const std::string & ns); MarkerArray createExecutionArea(const geometry_msgs::msg::Polygon & execution_area); MarkerArray showExecutionInfo(const Debug & debug_data, const geometry_msgs::msg::Pose & ego_pose); MarkerArray createDebugMarkerArray( diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index edf64ecdc49ee..a02a61d5e72b6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -54,6 +54,7 @@ using behavior_path_planner::lane_change::CommonDataPtr; using behavior_path_planner::lane_change::LanesPolygon; using behavior_path_planner::lane_change::ModuleType; using behavior_path_planner::lane_change::PathSafetyStatus; +using behavior_path_planner::lane_change::TargetLaneLeadingObjects; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using geometry_msgs::msg::Twist; @@ -144,8 +145,7 @@ lanelet::BasicPolygon2d create_polygon( const lanelet::ConstLanelets & lanes, const double start_dist, const double end_dist); ExtendedPredictedObject transform( - const PredictedObject & object, const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters); + const PredictedObject & object, const LaneChangeParameters & lane_change_parameters); bool is_collided_polygons_in_lanelet( const std::vector & collided_polygons, const lanelet::BasicPolygon2d & lanes_polygon); @@ -240,17 +240,14 @@ bool is_same_lane_with_prev_iteration( bool is_ahead_of_ego( const CommonDataPtr & common_data_ptr, const PathWithLaneId & path, - const PredictedObject & object); + const ExtendedPredictedObject & object); bool is_before_terminal( const CommonDataPtr & common_data_ptr, const PathWithLaneId & path, - const PredictedObject & object); + const ExtendedPredictedObject & object); double calc_angle_to_lanelet_segment(const lanelet::ConstLanelets & lanelets, const Pose & pose); -ExtendedPredictedObjects transform_to_extended_objects( - const CommonDataPtr & common_data_ptr, const std::vector & objects); - double get_distance_to_next_regulatory_element( const CommonDataPtr & common_data_ptr, const bool ignore_crosswalk = false, const bool ignore_intersection = false); @@ -274,7 +271,7 @@ double get_distance_to_next_regulatory_element( * found, returns the maximum possible double value. */ double get_min_dist_to_current_lanes_obj( - const CommonDataPtr & common_data_ptr, const FilteredByLanesExtendedObjects & filtered_objects, + const CommonDataPtr & common_data_ptr, const FilteredLanesObjects & filtered_objects, const double dist_to_target_lane_start, const PathWithLaneId & path); /** @@ -294,8 +291,8 @@ double get_min_dist_to_current_lanes_obj( * otherwise, false. */ bool has_blocking_target_object( - const CommonDataPtr & common_data_ptr, const FilteredByLanesExtendedObjects & filtered_objects, - const double stop_arc_length, const PathWithLaneId & path); + const TargetLaneLeadingObjects & target_leading_objects, const double stop_arc_length, + const PathWithLaneId & path); /** * @brief Checks if the ego vehicle has passed any turn direction within an intersection. @@ -342,5 +339,34 @@ std::vector get_line_string_paths(const ExtendedPredictedObject & */ bool has_overtaking_turn_lane_object( const CommonDataPtr & common_data_ptr, const ExtendedPredictedObjects & trailing_objects); + +/** + * @brief Filters objects based on their positions and velocities relative to the ego vehicle and + * the target lane. + * + * This function evaluates whether an object should be classified as a leading or trailing object + * in the context of a lane change. Objects are filtered based on their lateral distance from + * the ego vehicle, velocity, and whether they are within the target lane or its expanded + * boundaries. + * + * @param common_data_ptr Shared pointer to CommonData containing information about current lanes, + * vehicle dimensions, lane polygons, and behavior parameters. + * @param object An extended predicted object representing a potential obstacle in the environment. + * @param dist_ego_to_current_lanes_center Distance from the ego vehicle to the center of the + * current lanes. + * @param ahead_of_ego Boolean flag indicating if the object is ahead of the ego vehicle. + * @param before_terminal Boolean flag indicating if the ego vehicle is before the terminal point of + * the lane. + * @param leading_objects Reference to a structure for storing leading objects (stopped, moving, or + * outside boundaries). + * @param trailing_objects Reference to a collection for storing trailing objects. + * + * @return true if the object is classified as either leading or trailing, false otherwise. + */ +bool filter_target_lane_objects( + const CommonDataPtr & common_data_ptr, const ExtendedPredictedObject & object, + const double dist_ego_to_current_lanes_center, const bool ahead_of_ego, + const bool before_terminal, TargetLaneLeadingObjects & leading_objects, + ExtendedPredictedObjects & trailing_objects); } // namespace autoware::behavior_path_planner::utils::lane_change #endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml index a755b8dc0d42b..aef3d357c20da 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml @@ -27,6 +27,7 @@ autoware_rtc_interface autoware_universe_utils pluginlib + range-v3 rclcpp tier4_planning_msgs visualization_msgs diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 3f06ff0481c7e..942902b836c95 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -30,6 +30,10 @@ #include #include #include +#include +#include +#include +#include #include #include @@ -45,8 +49,8 @@ namespace autoware::behavior_path_planner { using autoware::motion_utils::calcSignedArcLength; using utils::lane_change::create_lanes_polygon; -using utils::path_safety_checker::isPolygonOverlapLanelet; namespace calculation = utils::lane_change::calculation; +using utils::path_safety_checker::filter::velocity_filter; NormalLaneChange::NormalLaneChange( const std::shared_ptr & parameters, LaneChangeModuleType type, @@ -111,6 +115,18 @@ void NormalLaneChange::update_lanes(const bool is_approved) *route_handler_ptr, get_target_lanes(), common_data_ptr_->get_ego_pose(), common_data_ptr_->lc_param_ptr->backward_lane_length); + lane_change_debug_.current_lanes = common_data_ptr_->lanes_ptr->current; + lane_change_debug_.target_lanes = common_data_ptr_->lanes_ptr->target; + + lane_change_debug_.target_backward_lanes.clear(); + ranges::for_each( + common_data_ptr_->lanes_ptr->preceding_target, + [&](const lanelet::ConstLanelets & preceding_lanes) { + ranges::insert( + lane_change_debug_.target_backward_lanes, lane_change_debug_.target_backward_lanes.end(), + preceding_lanes); + }); + *common_data_ptr_->lanes_polygon_ptr = create_lanes_polygon(common_data_ptr_); } @@ -193,7 +209,7 @@ void NormalLaneChange::update_transient_data() void NormalLaneChange::update_filtered_objects() { - filtered_objects_ = filterObjects(); + filtered_objects_ = filter_objects(); } void NormalLaneChange::updateLaneChangeStatus() @@ -566,7 +582,7 @@ void NormalLaneChange::insert_stop_point_on_current_lanes(PathWithLaneId & path) // [ego]> | <--- stop margin ---> [obj]> // ---------------------------------------------------------- const auto has_blocking_target_lane_obj = utils::lane_change::has_blocking_target_object( - common_data_ptr_, filtered_objects_, stop_arc_length_behind_obj, path); + filtered_objects_.target_lane_leading, stop_arc_length_behind_obj, path); if (has_blocking_target_lane_obj || stop_arc_length_behind_obj <= 0.0) { set_stop_pose(dist_to_terminal_stop, path); @@ -926,30 +942,31 @@ bool NormalLaneChange::get_prepare_segment( } lane_change::TargetObjects NormalLaneChange::get_target_objects( - const FilteredByLanesExtendedObjects & filtered_objects, + const FilteredLanesObjects & filtered_objects, [[maybe_unused]] const lanelet::ConstLanelets & current_lanes) const { - ExtendedPredictedObjects leading_objects = filtered_objects.target_lane_leading; + ExtendedPredictedObjects leading_objects = filtered_objects.target_lane_leading.moving; + auto insert_leading_objects = [&](const auto & objects) { + ranges::actions::insert(leading_objects, leading_objects.end(), objects); + }; + + insert_leading_objects(filtered_objects.target_lane_leading.stopped); + insert_leading_objects(filtered_objects.target_lane_leading.stopped_at_bound); const auto chk_obj_in_curr_lanes = lane_change_parameters_->check_objects_on_current_lanes; if (chk_obj_in_curr_lanes || common_data_ptr_->transient_data.is_ego_stuck) { - leading_objects.insert( - leading_objects.end(), filtered_objects.current_lane.begin(), - filtered_objects.current_lane.end()); + insert_leading_objects(filtered_objects.current_lane); } const auto chk_obj_in_other_lanes = lane_change_parameters_->check_objects_on_other_lanes; if (chk_obj_in_other_lanes) { - leading_objects.insert( - leading_objects.end(), filtered_objects.other_lane.begin(), - filtered_objects.other_lane.end()); + insert_leading_objects(filtered_objects.others); } return {leading_objects, filtered_objects.target_lane_trailing}; } -FilteredByLanesExtendedObjects NormalLaneChange::filterObjects() const +FilteredLanesObjects NormalLaneChange::filter_objects() const { - const auto & route_handler = getRouteHandler(); auto objects = *planner_data_->dynamic_object; utils::path_safety_checker::filterObjectsByClass( objects, lane_change_parameters_->object_types_to_check); @@ -964,64 +981,81 @@ FilteredByLanesExtendedObjects NormalLaneChange::filterObjects() const return {}; } - const auto & current_lanes = get_current_lanes(); - - if (current_lanes.empty()) { + if (!common_data_ptr_->is_lanes_available()) { return {}; } - const auto & target_lanes = get_target_lanes(); + const auto & current_pose = common_data_ptr_->get_ego_pose(); + const auto & current_lanes = common_data_ptr_->lanes_ptr->current; - if (target_lanes.empty()) { - return {}; - } + const auto & current_lanes_ref_path = common_data_ptr_->current_lanes_path; - const auto & path = common_data_ptr_->current_lanes_path; + const auto & lanes_polygon = *common_data_ptr_->lanes_polygon_ptr; + const auto dist_ego_to_current_lanes_center = + lanelet::utils::getLateralDistanceToClosestLanelet(current_lanes, current_pose); - auto filtered_by_lanes_objects = filterObjectsByLanelets(objects, path); + FilteredLanesObjects filtered_objects; + const auto reserve_size = objects.objects.size(); + filtered_objects.current_lane.reserve(reserve_size); + auto & target_lane_leading = filtered_objects.target_lane_leading; + target_lane_leading.stopped.reserve(reserve_size); + target_lane_leading.moving.reserve(reserve_size); + target_lane_leading.stopped_at_bound.reserve(reserve_size); + filtered_objects.target_lane_trailing.reserve(reserve_size); + filtered_objects.others.reserve(reserve_size); - const auto is_within_vel_th = [](const auto & object) -> bool { - constexpr double min_vel_th = 1.0; - constexpr double max_vel_th = std::numeric_limits::max(); - return utils::path_safety_checker::filter::velocity_filter(object, min_vel_th, max_vel_th); - }; + const auto stopped_obj_vel_th = common_data_ptr_->lc_param_ptr->stopped_object_velocity_threshold; - utils::path_safety_checker::filterObjects( - filtered_by_lanes_objects.target_lane_trailing, - [&](const PredictedObject & object) { return is_within_vel_th(object); }); + for (const auto & object : objects.objects) { + auto ext_object = utils::lane_change::transform(object, *common_data_ptr_->lc_param_ptr); + const auto & ext_obj_pose = ext_object.initial_pose; + ext_object.dist_from_ego = autoware::motion_utils::calcSignedArcLength( + current_lanes_ref_path.points, current_pose.position, ext_obj_pose.position); - if (lane_change_parameters_->check_objects_on_other_lanes) { - utils::path_safety_checker::filterObjects( - filtered_by_lanes_objects.other_lane, [&](const PredictedObject & object) { - const auto ahead_of_ego = - utils::lane_change::is_ahead_of_ego(common_data_ptr_, path, object); - return is_within_vel_th(object) && ahead_of_ego; - }); + const auto is_before_terminal = + utils::lane_change::is_before_terminal(common_data_ptr_, current_lanes_ref_path, ext_object); + + const auto ahead_of_ego = + utils::lane_change::is_ahead_of_ego(common_data_ptr_, current_lanes_ref_path, ext_object); + + if (utils::lane_change::filter_target_lane_objects( + common_data_ptr_, ext_object, dist_ego_to_current_lanes_center, ahead_of_ego, + is_before_terminal, target_lane_leading, filtered_objects.target_lane_trailing)) { + continue; + } + + // TODO(Azu): We have to think about how to remove is_within_vel_th without breaking AW behavior + const auto is_moving = velocity_filter( + ext_object.initial_twist, stopped_obj_vel_th, std::numeric_limits::max()); + + if ( + ahead_of_ego && is_moving && is_before_terminal && + !boost::geometry::disjoint(ext_object.initial_polygon, lanes_polygon.current)) { + // check only the objects that are in front of the ego vehicle + filtered_objects.current_lane.push_back(ext_object); + continue; + } + + filtered_objects.others.push_back(ext_object); } - // TODO(Azu): We have to think about how to remove is_within_vel_th without breaking AW behavior - utils::path_safety_checker::filterObjects( - filtered_by_lanes_objects.current_lane, [&](const PredictedObject & object) { - const auto ahead_of_ego = utils::lane_change::is_ahead_of_ego(common_data_ptr_, path, object); - return is_within_vel_th(object) && ahead_of_ego; - }); + const auto dist_comparator = [](const auto & obj1, const auto & obj2) { + return obj1.dist_from_ego < obj2.dist_from_ego; + }; + + // There are no use cases for other lane objects yet, so to save some computation time, we dont + // have to sort them. + ranges::sort(filtered_objects.current_lane, dist_comparator); + ranges::sort(target_lane_leading.stopped_at_bound, dist_comparator); + ranges::sort(target_lane_leading.stopped, dist_comparator); + ranges::sort(target_lane_leading.moving, dist_comparator); + ranges::sort(filtered_objects.target_lane_trailing, [&](const auto & obj1, const auto & obj2) { + return !dist_comparator(obj1, obj2); + }); + + lane_change_debug_.filtered_objects = filtered_objects; - const auto target_lane_leading_extended_objects = - utils::lane_change::transform_to_extended_objects( - common_data_ptr_, filtered_by_lanes_objects.target_lane_leading); - const auto target_lane_trailing_extended_objects = - utils::lane_change::transform_to_extended_objects( - common_data_ptr_, filtered_by_lanes_objects.target_lane_trailing); - const auto current_lane_extended_objects = utils::lane_change::transform_to_extended_objects( - common_data_ptr_, filtered_by_lanes_objects.current_lane); - const auto other_lane_extended_objects = utils::lane_change::transform_to_extended_objects( - common_data_ptr_, filtered_by_lanes_objects.other_lane); - - FilteredByLanesExtendedObjects lane_change_target_objects( - current_lane_extended_objects, target_lane_leading_extended_objects, - target_lane_trailing_extended_objects, other_lane_extended_objects); - lane_change_debug_.filtered_objects = lane_change_target_objects; - return lane_change_target_objects; + return filtered_objects; } void NormalLaneChange::filterOncomingObjects(PredictedObjects & objects) const @@ -1038,7 +1072,8 @@ void NormalLaneChange::filterOncomingObjects(PredictedObjects & objects) const const auto is_stopped_object = [](const auto & object) -> bool { constexpr double min_vel_th = -0.5; constexpr double max_vel_th = 0.5; - return utils::path_safety_checker::filter::velocity_filter(object, min_vel_th, max_vel_th); + return velocity_filter( + object.kinematics.initial_twist_with_covariance.twist, min_vel_th, max_vel_th); }; utils::path_safety_checker::filterObjects(objects, [&](const PredictedObject & object) { @@ -1051,122 +1086,6 @@ void NormalLaneChange::filterOncomingObjects(PredictedObjects & objects) const }); } -FilteredByLanesObjects NormalLaneChange::filterObjectsByLanelets( - const PredictedObjects & objects, const PathWithLaneId & current_lanes_ref_path) const -{ - std::vector target_lane_leading_objects; - std::vector target_lane_trailing_objects; - std::vector current_lane_objects; - std::vector other_lane_objects; - - const auto & current_pose = getEgoPose(); - const auto & current_lanes = common_data_ptr_->lanes_ptr->current; - const auto & target_lanes = common_data_ptr_->lanes_ptr->target; - const auto & route_handler = getRouteHandler(); - const auto & common_parameters = planner_data_->parameters; - const auto check_optional_polygon = [](const auto & object, const auto & polygon) { - return !polygon.empty() && isPolygonOverlapLanelet(object, polygon); - }; - - // get backward lanes - const auto & target_backward_lanes = common_data_ptr_->lanes_ptr->preceding_target; - - { - lane_change_debug_.current_lanes = current_lanes; - lane_change_debug_.target_lanes = target_lanes; - - // TODO(Azu) change the type to std::vector - lane_change_debug_.target_backward_lanes.clear(); - std::for_each( - target_backward_lanes.begin(), target_backward_lanes.end(), - [&](const lanelet::ConstLanelets & target_backward_lane) { - lane_change_debug_.target_backward_lanes.insert( - lane_change_debug_.target_backward_lanes.end(), target_backward_lane.begin(), - target_backward_lane.end()); - }); - } - - const auto & lanes_polygon = *common_data_ptr_->lanes_polygon_ptr; - const auto dist_ego_to_current_lanes_center = - lanelet::utils::getLateralDistanceToClosestLanelet(current_lanes, current_pose); - - const auto reserve_size = objects.objects.size(); - current_lane_objects.reserve(reserve_size); - target_lane_leading_objects.reserve(reserve_size); - target_lane_trailing_objects.reserve(reserve_size); - other_lane_objects.reserve(reserve_size); - - for (const auto & object : objects.objects) { - const auto is_lateral_far = std::invoke([&]() -> bool { - const auto dist_object_to_current_lanes_center = - lanelet::utils::getLateralDistanceToClosestLanelet( - current_lanes, object.kinematics.initial_pose_with_covariance.pose); - const auto lateral = dist_object_to_current_lanes_center - dist_ego_to_current_lanes_center; - return std::abs(lateral) > (common_parameters.vehicle_width / 2); - }); - - const auto is_before_terminal = [&]() { - return utils::lane_change::is_before_terminal( - common_data_ptr_, current_lanes_ref_path, object); - }; - - if ( - check_optional_polygon(object, lanes_polygon.target) && is_lateral_far && - is_before_terminal()) { - const auto ahead_of_ego = - utils::lane_change::is_ahead_of_ego(common_data_ptr_, current_lanes_ref_path, object); - if (ahead_of_ego) { - target_lane_leading_objects.push_back(object); - } else { - target_lane_trailing_objects.push_back(object); - } - continue; - } - - if ( - check_optional_polygon(object, lanes_polygon.expanded_target) && is_lateral_far && - is_before_terminal()) { - const auto ahead_of_ego = - utils::lane_change::is_ahead_of_ego(common_data_ptr_, current_lanes_ref_path, object); - const auto stopped_obj_vel_th = - common_data_ptr_->lc_param_ptr->stopped_object_velocity_threshold; - if (object.kinematics.initial_twist_with_covariance.twist.linear.x < stopped_obj_vel_th) { - if (ahead_of_ego) { - target_lane_leading_objects.push_back(object); - continue; - } - } - } - - const auto is_overlap_target_backward = std::invoke([&]() -> bool { - const auto check_backward_polygon = [&object](const auto & target_backward_polygon) { - return isPolygonOverlapLanelet(object, target_backward_polygon); - }; - return std::any_of( - lanes_polygon.preceding_target.begin(), lanes_polygon.preceding_target.end(), - check_backward_polygon); - }); - - // check if the object intersects with target backward lanes - if (is_overlap_target_backward) { - target_lane_trailing_objects.push_back(object); - continue; - } - - if (check_optional_polygon(object, lanes_polygon.current)) { - // check only the objects that are in front of the ego vehicle - current_lane_objects.push_back(object); - continue; - } - - other_lane_objects.push_back(object); - } - - return { - current_lane_objects, target_lane_leading_objects, target_lane_trailing_objects, - other_lane_objects}; -} - PathWithLaneId NormalLaneChange::getTargetSegment( const lanelet::ConstLanelets & target_lanes, const Pose & lane_changing_start_pose, const double target_lane_length, const double lane_changing_length, @@ -1420,7 +1339,7 @@ bool NormalLaneChange::check_candidate_path_safety( if ( !is_stuck && !utils::lane_change::passed_parked_objects( - common_data_ptr_, candidate_path, filtered_objects_.target_lane_leading, + common_data_ptr_, candidate_path, filtered_objects_.target_lane_leading.stopped, lane_change_debug_.collision_check_objects)) { throw std::logic_error( "Ego is not stuck and parked vehicle exists in the target lane. Skip lane change."); @@ -1601,7 +1520,7 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const } const auto has_passed_parked_objects = utils::lane_change::passed_parked_objects( - common_data_ptr_, path, filtered_objects_.target_lane_leading, debug_data); + common_data_ptr_, path, filtered_objects_.target_lane_leading.stopped, debug_data); if (!has_passed_parked_objects) { RCLCPP_DEBUG(logger_, "Lane change has been delayed."); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp index 7aea478bd6794..5700842780395 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp @@ -101,36 +101,34 @@ MarkerArray createLaneChangingVirtualWallMarker( } MarkerArray showFilteredObjects( - const FilteredByLanesExtendedObjects & filtered_objects, const std::string & ns) + const FilteredLanesObjects & filtered_objects, const std::string & ns) { int32_t update_id = 0; - auto current_marker = marker_utils::showFilteredObjects( - filtered_objects.current_lane, ns, colors::yellow(), update_id); - update_id += static_cast(current_marker.markers.size()); - auto target_leading_marker = marker_utils::showFilteredObjects( - filtered_objects.target_lane_leading, ns, colors::aqua(), update_id); - update_id += static_cast(target_leading_marker.markers.size()); - auto target_trailing_marker = marker_utils::showFilteredObjects( - filtered_objects.target_lane_trailing, ns, colors::blue(), update_id); - update_id += static_cast(target_trailing_marker.markers.size()); - auto other_marker = marker_utils::showFilteredObjects( - filtered_objects.other_lane, ns, colors::medium_orchid(), update_id); - MarkerArray marker_array; - std::move( - current_marker.markers.begin(), current_marker.markers.end(), - std::back_inserter(marker_array.markers)); - std::move( - target_leading_marker.markers.begin(), target_leading_marker.markers.end(), - std::back_inserter(marker_array.markers)); - - std::move( - target_trailing_marker.markers.begin(), target_trailing_marker.markers.end(), - std::back_inserter(marker_array.markers)); - - std::move( - other_marker.markers.begin(), other_marker.markers.end(), - std::back_inserter(marker_array.markers)); + auto reserve_size = filtered_objects.current_lane.size() + filtered_objects.others.size() + + filtered_objects.target_lane_leading.size() + + filtered_objects.target_lane_trailing.size(); + marker_array.markers.reserve(2 * reserve_size); + auto add_objects_to_marker = + [&](const ExtendedPredictedObjects & objects, const ColorRGBA & color) { + if (objects.empty()) { + return; + } + + auto marker = marker_utils::showFilteredObjects(objects, ns, color, update_id); + update_id += static_cast(marker.markers.size()); + std::move( + marker.markers.begin(), marker.markers.end(), std::back_inserter(marker_array.markers)); + }; + + add_objects_to_marker(filtered_objects.current_lane, colors::yellow()); + add_objects_to_marker(filtered_objects.target_lane_leading.moving, colors::aqua()); + add_objects_to_marker(filtered_objects.target_lane_leading.stopped, colors::light_steel_blue()); + add_objects_to_marker(filtered_objects.target_lane_trailing, colors::blue()); + add_objects_to_marker( + filtered_objects.target_lane_leading.stopped_at_bound, colors::light_pink()); + add_objects_to_marker(filtered_objects.others, colors::medium_orchid()); + return marker_array; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index 69cf6441ef766..49551aa73f635 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -25,6 +25,7 @@ #include "autoware/object_recognition_utils/predicted_path_utils.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" +#include #include #include #include @@ -33,6 +34,7 @@ #include #include #include +#include #include #include @@ -912,9 +914,7 @@ lanelet::BasicPolygon2d create_polygon( } ExtendedPredictedObject transform( - const PredictedObject & object, - [[maybe_unused]] const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters) + const PredictedObject & object, const LaneChangeParameters & lane_change_parameters) { ExtendedPredictedObject extended_object(object); @@ -1078,21 +1078,15 @@ bool is_same_lane_with_prev_iteration( bool is_ahead_of_ego( const CommonDataPtr & common_data_ptr, const PathWithLaneId & path, - const PredictedObject & object) + const ExtendedPredictedObject & object) { - const auto & current_ego_pose = common_data_ptr->get_ego_pose(); - - const auto & obj_position = object.kinematics.initial_pose_with_covariance.pose.position; - - const auto dist_to_base_link = autoware::motion_utils::calcSignedArcLength( - path.points, current_ego_pose.position, obj_position); const auto & ego_info = common_data_ptr->bpp_param_ptr->vehicle_info; const auto lon_dev = std::max( ego_info.max_longitudinal_offset_m + ego_info.rear_overhang_m, object.shape.dimensions.x); // we don't always have to check the distance accurately. - if (std::abs(dist_to_base_link) > lon_dev) { - return dist_to_base_link >= 0.0; + if (std::abs(object.dist_from_ego) > lon_dev) { + return object.dist_from_ego >= 0.0; } const auto & current_footprint = common_data_ptr->transient_data.current_footprint.outer(); @@ -1105,9 +1099,8 @@ bool is_ahead_of_ego( ego_min_dist_to_end = std::min(dist_to_end, ego_min_dist_to_end); } - const auto obj_polygon = autoware::universe_utils::toPolygon2d(object).outer(); auto current_min_dist_to_end = std::numeric_limits::max(); - for (const auto & polygon_p : obj_polygon) { + for (const auto & polygon_p : object.initial_polygon.outer()) { const auto obj_p = autoware::universe_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0); const auto dist_ego_to_obj = autoware::motion_utils::calcSignedArcLength( path.points, obj_p, path.points.back().point.pose.position); @@ -1118,7 +1111,7 @@ bool is_ahead_of_ego( bool is_before_terminal( const CommonDataPtr & common_data_ptr, const PathWithLaneId & path, - const PredictedObject & object) + const ExtendedPredictedObject & object) { const auto & route_handler_ptr = common_data_ptr->route_handler_ptr; const auto & lanes_ptr = common_data_ptr->lanes_ptr; @@ -1127,7 +1120,7 @@ bool is_before_terminal( : path.points.back().point.pose.position; double current_max_dist = std::numeric_limits::lowest(); - const auto & obj_position = object.kinematics.initial_pose_with_covariance.pose.position; + const auto & obj_position = object.initial_pose.position; const auto dist_to_base_link = autoware::motion_utils::calcSignedArcLength(path.points, obj_position, terminal_position); // we don't always have to check the distance accurately. @@ -1135,8 +1128,7 @@ bool is_before_terminal( return dist_to_base_link >= 0.0; } - const auto obj_polygon = autoware::universe_utils::toPolygon2d(object).outer(); - for (const auto & polygon_p : obj_polygon) { + for (const auto & polygon_p : object.initial_polygon.outer()) { const auto obj_p = autoware::universe_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0); const auto dist_obj_to_terminal = autoware::motion_utils::calcSignedArcLength(path.points, obj_p, terminal_position); @@ -1156,22 +1148,6 @@ double calc_angle_to_lanelet_segment(const lanelet::ConstLanelets & lanelets, co return std::abs(autoware::universe_utils::calcYawDeviation(closest_pose, pose)); } -ExtendedPredictedObjects transform_to_extended_objects( - const CommonDataPtr & common_data_ptr, const std::vector & objects) -{ - ExtendedPredictedObjects extended_objects; - extended_objects.reserve(objects.size()); - - const auto & bpp_param = *common_data_ptr->bpp_param_ptr; - const auto & lc_param = *common_data_ptr->lc_param_ptr; - std::transform( - objects.begin(), objects.end(), std::back_inserter(extended_objects), [&](const auto & object) { - return utils::lane_change::transform(object, bpp_param, lc_param); - }); - - return extended_objects; -} - double get_distance_to_next_regulatory_element( const CommonDataPtr & common_data_ptr, const bool ignore_crosswalk, const bool ignore_intersection) @@ -1200,7 +1176,7 @@ double get_distance_to_next_regulatory_element( } double get_min_dist_to_current_lanes_obj( - const CommonDataPtr & common_data_ptr, const FilteredByLanesExtendedObjects & filtered_objects, + const CommonDataPtr & common_data_ptr, const FilteredLanesObjects & filtered_objects, const double dist_to_target_lane_start, const PathWithLaneId & path) { const auto & path_points = path.points; @@ -1240,28 +1216,15 @@ double get_min_dist_to_current_lanes_obj( } bool has_blocking_target_object( - const CommonDataPtr & common_data_ptr, const FilteredByLanesExtendedObjects & filtered_objects, - const double stop_arc_length, const PathWithLaneId & path) + const TargetLaneLeadingObjects & target_leading_objects, const double stop_arc_length, + const PathWithLaneId & path) { - return std::any_of( - filtered_objects.target_lane_leading.begin(), filtered_objects.target_lane_leading.end(), - [&](const auto & object) { - const auto v = std::abs(object.initial_twist.linear.x); - if (v > common_data_ptr->lc_param_ptr->stop_velocity_threshold) { - return false; - } - - // filtered_objects includes objects out of target lanes, so filter them out - if (boost::geometry::disjoint( - object.initial_polygon, common_data_ptr->lanes_polygon_ptr->target)) { - return false; - } - - const auto arc_length_to_target_lane_obj = motion_utils::calcSignedArcLength( - path.points, path.points.front().point.pose.position, object.initial_pose.position); - const auto width_margin = object.shape.dimensions.x / 2; - return (arc_length_to_target_lane_obj - width_margin) >= stop_arc_length; - }); + return ranges::any_of(target_leading_objects.stopped, [&](const auto & object) { + const auto arc_length_to_target_lane_obj = motion_utils::calcSignedArcLength( + path.points, path.points.front().point.pose.position, object.initial_pose.position); + const auto width_margin = object.shape.dimensions.x / 2; + return (arc_length_to_target_lane_obj - width_margin) >= stop_arc_length; + }); } bool has_passed_intersection_turn_direction(const CommonDataPtr & common_data_ptr) @@ -1323,4 +1286,68 @@ bool has_overtaking_turn_lane_object( return std::any_of( trailing_objects.begin(), trailing_objects.end(), is_object_overlap_with_target); } + +bool filter_target_lane_objects( + const CommonDataPtr & common_data_ptr, const ExtendedPredictedObject & object, + const double dist_ego_to_current_lanes_center, const bool ahead_of_ego, + const bool before_terminal, TargetLaneLeadingObjects & leading_objects, + ExtendedPredictedObjects & trailing_objects) +{ + using behavior_path_planner::utils::path_safety_checker::filter::velocity_filter; + const auto & current_lanes = common_data_ptr->lanes_ptr->current; + const auto & vehicle_width = common_data_ptr->bpp_param_ptr->vehicle_info.vehicle_width_m; + const auto & lanes_polygon = *common_data_ptr->lanes_polygon_ptr; + const auto stopped_obj_vel_th = common_data_ptr->lc_param_ptr->stopped_object_velocity_threshold; + + const auto is_lateral_far = std::invoke([&]() -> bool { + const auto dist_object_to_current_lanes_center = + lanelet::utils::getLateralDistanceToClosestLanelet(current_lanes, object.initial_pose); + const auto lateral = dist_object_to_current_lanes_center - dist_ego_to_current_lanes_center; + return std::abs(lateral) > (vehicle_width / 2); + }); + + const auto is_stopped = velocity_filter( + object.initial_twist, -std::numeric_limits::epsilon(), stopped_obj_vel_th); + if (is_lateral_far && before_terminal) { + const auto in_target_lanes = + !boost::geometry::disjoint(object.initial_polygon, lanes_polygon.target); + if (in_target_lanes) { + if (!ahead_of_ego && !is_stopped) { + trailing_objects.push_back(object); + return true; + } + + if (ahead_of_ego) { + if (is_stopped) { + leading_objects.stopped.push_back(object); + } else { + leading_objects.moving.push_back(object); + } + return true; + } + } + + // Check if the object is positioned outside the lane boundary but still close to its edge. + const auto in_expanded_target_lanes = + !boost::geometry::disjoint(object.initial_polygon, lanes_polygon.expanded_target); + + if (in_expanded_target_lanes && is_stopped && ahead_of_ego) { + leading_objects.stopped_at_bound.push_back(object); + return true; + } + } + + const auto is_overlap_target_backward = + ranges::any_of(lanes_polygon.preceding_target, [&](const auto & target_backward_polygon) { + return !boost::geometry::disjoint(object.initial_polygon, target_backward_polygon); + }); + + // check if the object intersects with target backward lanes + if (is_overlap_target_backward && !is_stopped) { + trailing_objects.push_back(object); + return true; + } + + return false; +} } // namespace autoware::behavior_path_planner::utils::lane_change diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp index d9873975dabe1..5c29f347ad9ef 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp @@ -37,13 +37,12 @@ using tier4_planning_msgs::msg::PathPointWithLaneId; /** * @brief Filters object based on velocity. * - * @param object The predicted object to filter. + * @param twist The twist of predicted object to filter. * @param velocity_threshold Lower bound * @param max_velocity Upper bound * @return Returns true when the object is within a certain velocity range. */ -bool velocity_filter( - const PredictedObject & object, double velocity_threshold, double max_velocity); +bool velocity_filter(const Twist & object_twist, double velocity_threshold, double max_velocity); /** * @brief Filters object based on position. diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp index 80936b655cc48..3c1d9f194aeec 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp @@ -26,11 +26,9 @@ namespace autoware::behavior_path_planner::utils::path_safety_checker::filter { -bool velocity_filter(const PredictedObject & object, double velocity_threshold, double max_velocity) +bool velocity_filter(const Twist & object_twist, double velocity_threshold, double max_velocity) { - const auto v_norm = std::hypot( - object.kinematics.initial_twist_with_covariance.twist.linear.x, - object.kinematics.initial_twist_with_covariance.twist.linear.y); + const auto v_norm = std::hypot(object_twist.linear.x, object_twist.linear.y); return (velocity_threshold < v_norm && v_norm < max_velocity); } @@ -148,7 +146,8 @@ PredictedObjects filterObjectsByVelocity( const PredictedObjects & objects, double velocity_threshold, double max_velocity) { const auto filter = [&](const auto & object) { - return filter::velocity_filter(object, velocity_threshold, max_velocity); + return filter::velocity_filter( + object.kinematics.initial_twist_with_covariance.twist, velocity_threshold, max_velocity); }; auto filtered = objects; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp index a2058db51c9ea..88ed968d27b64 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp @@ -66,13 +66,14 @@ TEST(BehaviorPathPlanningObjectsFiltering, velocity_filter) using autoware::behavior_path_planner::utils::path_safety_checker::filter::velocity_filter; PredictedObject predicted_obj; - predicted_obj.kinematics.initial_twist_with_covariance.twist.linear.x = 4.0; - predicted_obj.kinematics.initial_twist_with_covariance.twist.linear.y = 3.0; - - EXPECT_TRUE(velocity_filter(predicted_obj, 4.0, 10.0)); - EXPECT_FALSE(velocity_filter(predicted_obj, 6.0, 10.0)); - EXPECT_FALSE(velocity_filter(predicted_obj, 2.0, 4.9)); - EXPECT_FALSE(velocity_filter(predicted_obj, 6.0, 2.0)); + auto & twist = predicted_obj.kinematics.initial_twist_with_covariance.twist; + twist.linear.x = 4.0; + twist.linear.y = 3.0; + + EXPECT_TRUE(velocity_filter(twist, 4.0, 10.0)); + EXPECT_FALSE(velocity_filter(twist, 6.0, 10.0)); + EXPECT_FALSE(velocity_filter(twist, 2.0, 4.9)); + EXPECT_FALSE(velocity_filter(twist, 6.0, 2.0)); } TEST(BehaviorPathPlanningObjectsFiltering, position_filter) From 740d42a80cd420a1221e9a1b38e94c767c8527f8 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Fri, 22 Nov 2024 17:21:25 +0900 Subject: [PATCH 522/701] chore(behavior_path_planner_common): add package maintainer (#9429) add package maintainer Signed-off-by: mohammad alqudah --- .../autoware_behavior_path_planner_common/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml index 5b925bd5ffd8e..bd32cf42293a7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml @@ -26,6 +26,7 @@ Takamasa Horibe Zulfaqar Azmi Go Sakayori + Alqudah Mohammad Apache License 2.0 From 83f6391c4bf1a53075a6a5c392a592563ba0cb3f Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 25 Nov 2024 12:54:04 +0900 Subject: [PATCH 523/701] feat(pyplot): add C++ pyplot (#9430) Signed-off-by: Mamoru Sobue --- common/autoware_pyplot/CMakeLists.txt | 32 +++ .../include/autoware/pyplot/axes.hpp | 141 ++++++++++++ .../include/autoware/pyplot/common.hpp | 44 ++++ .../include/autoware/pyplot/figure.hpp | 62 ++++++ .../include/autoware/pyplot/legend.hpp | 32 +++ .../include/autoware/pyplot/loader.hpp | 28 +++ .../include/autoware/pyplot/patches.hpp | 57 +++++ .../include/autoware/pyplot/pyplot.hpp | 164 ++++++++++++++ .../include/autoware/pyplot/quiver.hpp | 32 +++ .../include/autoware/pyplot/text.hpp | 40 ++++ common/autoware_pyplot/package.xml | 25 +++ common/autoware_pyplot/src/axes.cpp | 154 +++++++++++++ common/autoware_pyplot/src/common.cpp | 30 +++ common/autoware_pyplot/src/figure.cpp | 66 ++++++ common/autoware_pyplot/src/legend.cpp | 28 +++ common/autoware_pyplot/src/patches.cpp | 45 ++++ common/autoware_pyplot/src/pyplot.cpp | 205 ++++++++++++++++++ common/autoware_pyplot/src/quiver.cpp | 28 +++ common/autoware_pyplot/src/text.cpp | 35 +++ common/autoware_pyplot/test/test_pyplot.cpp | 64 ++++++ 20 files changed, 1312 insertions(+) create mode 100644 common/autoware_pyplot/CMakeLists.txt create mode 100644 common/autoware_pyplot/include/autoware/pyplot/axes.hpp create mode 100644 common/autoware_pyplot/include/autoware/pyplot/common.hpp create mode 100644 common/autoware_pyplot/include/autoware/pyplot/figure.hpp create mode 100644 common/autoware_pyplot/include/autoware/pyplot/legend.hpp create mode 100644 common/autoware_pyplot/include/autoware/pyplot/loader.hpp create mode 100644 common/autoware_pyplot/include/autoware/pyplot/patches.hpp create mode 100644 common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp create mode 100644 common/autoware_pyplot/include/autoware/pyplot/quiver.hpp create mode 100644 common/autoware_pyplot/include/autoware/pyplot/text.hpp create mode 100644 common/autoware_pyplot/package.xml create mode 100644 common/autoware_pyplot/src/axes.cpp create mode 100644 common/autoware_pyplot/src/common.cpp create mode 100644 common/autoware_pyplot/src/figure.cpp create mode 100644 common/autoware_pyplot/src/legend.cpp create mode 100644 common/autoware_pyplot/src/patches.cpp create mode 100644 common/autoware_pyplot/src/pyplot.cpp create mode 100644 common/autoware_pyplot/src/quiver.cpp create mode 100644 common/autoware_pyplot/src/text.cpp create mode 100644 common/autoware_pyplot/test/test_pyplot.cpp diff --git a/common/autoware_pyplot/CMakeLists.txt b/common/autoware_pyplot/CMakeLists.txt new file mode 100644 index 0000000000000..6922d5d9306f7 --- /dev/null +++ b/common/autoware_pyplot/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 3.14) + +project(autoware_pyplot) + +find_package(autoware_cmake REQUIRED) + +find_package( + Python3 + COMPONENTS Interpreter Development + REQUIRED) +find_package(pybind11 REQUIRED) + +autoware_package() + +ament_auto_add_library(${PROJECT_NAME} STATIC + DIRECTORY src +) +target_link_libraries(${PROJECT_NAME} ${Python3_LIBRARIES} pybind11::embed) + +if(BUILD_TESTING) + find_package(ament_cmake_ros REQUIRED) + + file(GLOB_RECURSE test_files test/*.cpp) + + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files}) + + target_link_libraries(test_${PROJECT_NAME} + ${PROJECT_NAME} + ) +endif() + +ament_auto_package() diff --git a/common/autoware_pyplot/include/autoware/pyplot/axes.hpp b/common/autoware_pyplot/include/autoware/pyplot/axes.hpp new file mode 100644 index 0000000000000..53eb2daf21b8f --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/axes.hpp @@ -0,0 +1,141 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__AXES_HPP_ +#define AUTOWARE__PYPLOT__AXES_HPP_ + +#include +#include +#include + +#include + +namespace autoware::pyplot +{ +inline namespace axes +{ +class DECL_VISIBILITY Axes : public PyObjectWrapper +{ +public: + explicit Axes(const pybind11::object & object); + explicit Axes(pybind11::object && object); + + PyObjectWrapper add_patch( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper bar_label( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper cla( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper contour( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper errorbar( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper fill( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper fill_between( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + std::tuple get_xlim() const; + + std::tuple get_ylim() const; + + PyObjectWrapper grid( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper imshow( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + legend::Legend legend( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper plot( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + quiver::Quiver quiver( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper set_aspect( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper set_title( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper set_xlabel( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper set_xlim( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper set_ylabel( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper set_ylim( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper text( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + +private: + void load_attrs(); + + pybind11::object add_patch_attr; + pybind11::object cla_attr; + pybind11::object contour_attr; + pybind11::object contourf_attr; + pybind11::object fill_attr; + pybind11::object fill_between_attr; + pybind11::object get_xlim_attr; + pybind11::object get_ylim_attr; + pybind11::object grid_attr; + pybind11::object imshow_attr; + pybind11::object legend_attr; + pybind11::object quiver_attr; + pybind11::object plot_attr; + pybind11::object scatter_attr; + pybind11::object set_aspect_attr; + pybind11::object set_title_attr; + pybind11::object set_xlabel_attr; + pybind11::object set_xlim_attr; + pybind11::object set_ylabel_attr; + pybind11::object set_ylim_attr; + pybind11::object text_attr; +}; +} // namespace axes +} // namespace autoware::pyplot +#endif // AUTOWARE__PYPLOT__AXES_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/common.hpp b/common/autoware_pyplot/include/autoware/pyplot/common.hpp new file mode 100644 index 0000000000000..123bd82029e08 --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/common.hpp @@ -0,0 +1,44 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__COMMON_HPP_ +#define AUTOWARE__PYPLOT__COMMON_HPP_ + +#include + +namespace autoware::pyplot +{ + +#ifdef _WIN32 +#define DECL_VISIBILITY __declspec(dllexport) +#else +#define DECL_VISIBILITY __attribute__((visibility("hidden"))) +#endif + +inline namespace common +{ +class DECL_VISIBILITY PyObjectWrapper +{ +public: + explicit PyObjectWrapper(const pybind11::object & object); + explicit PyObjectWrapper(pybind11::object && object); + pybind11::object unwrap() const { return self_; } + +protected: + pybind11::object self_; +}; +} // namespace common +} // namespace autoware::pyplot + +#endif // AUTOWARE__PYPLOT__COMMON_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/figure.hpp b/common/autoware_pyplot/include/autoware/pyplot/figure.hpp new file mode 100644 index 0000000000000..d438682d5b368 --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/figure.hpp @@ -0,0 +1,62 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__FIGURE_HPP_ +#define AUTOWARE__PYPLOT__FIGURE_HPP_ + +#include +#include + +namespace autoware::pyplot +{ +inline namespace figure +{ +class DECL_VISIBILITY Figure : public PyObjectWrapper +{ +public: + explicit Figure(const pybind11::object & object); + explicit Figure(pybind11::object && object); + + axes::Axes add_axes( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + axes::Axes add_subplot( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper colorbar( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper savefig( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + + PyObjectWrapper tight_layout( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + +private: + void load_attrs(); + + pybind11::object add_axes_attr; + pybind11::object add_subplot_attr; + pybind11::object colorbar_attr; + pybind11::object savefig_attr; + pybind11::object tight_layout_attr; +}; +} // namespace figure +} // namespace autoware::pyplot +#endif // AUTOWARE__PYPLOT__FIGURE_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/legend.hpp b/common/autoware_pyplot/include/autoware/pyplot/legend.hpp new file mode 100644 index 0000000000000..853f1e288407c --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/legend.hpp @@ -0,0 +1,32 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__LEGEND_HPP_ +#define AUTOWARE__PYPLOT__LEGEND_HPP_ + +#include + +namespace autoware::pyplot +{ +inline namespace legend +{ +class DECL_VISIBILITY Legend : public PyObjectWrapper +{ +public: + explicit Legend(const pybind11::object & object); + explicit Legend(pybind11::object && object); +}; +} // namespace legend +} // namespace autoware::pyplot +#endif // AUTOWARE__PYPLOT__LEGEND_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/loader.hpp b/common/autoware_pyplot/include/autoware/pyplot/loader.hpp new file mode 100644 index 0000000000000..df44c257d5925 --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/loader.hpp @@ -0,0 +1,28 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__LOADER_HPP_ +#define AUTOWARE__PYPLOT__LOADER_HPP_ + +namespace autoware::pyplot +{ + +#define LOAD_FUNC_ATTR(obj, mod) \ + do { \ + obj##_attr = mod.attr(#obj); \ + } while (0) + +} // namespace autoware::pyplot + +#endif // AUTOWARE__PYPLOT__LOADER_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/patches.hpp b/common/autoware_pyplot/include/autoware/pyplot/patches.hpp new file mode 100644 index 0000000000000..0c6c545942c74 --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/patches.hpp @@ -0,0 +1,57 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__PATCHES_HPP_ +#define AUTOWARE__PYPLOT__PATCHES_HPP_ + +#include + +namespace autoware::pyplot +{ +inline namespace patches +{ +class DECL_VISIBILITY Circle : public PyObjectWrapper +{ +public: + explicit Circle( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); +}; + +class DECL_VISIBILITY Ellipse : public PyObjectWrapper +{ +public: + explicit Ellipse( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); +}; + +class DECL_VISIBILITY Rectangle : public PyObjectWrapper +{ +public: + explicit Rectangle( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); +}; + +class DECL_VISIBILITY Polygon : public PyObjectWrapper +{ +public: + explicit Polygon( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); +}; +} // namespace patches +} // namespace autoware::pyplot +#endif // AUTOWARE__PYPLOT__PATCHES_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp b/common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp new file mode 100644 index 0000000000000..83e0febeb237f --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp @@ -0,0 +1,164 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__PYPLOT_HPP_ +#define AUTOWARE__PYPLOT__PYPLOT_HPP_ + +#include +#include +#include + +#include +#include +#include + +namespace autoware::pyplot +{ +struct DECL_VISIBILITY PyPlot +{ +public: + explicit PyPlot(const pybind11::module & mod_); + + axes::Axes axes(const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper axis( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper cla( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper clf( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + figure::Figure figure( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + axes::Axes gca( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + figure::Figure gcf( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper gci( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper grid( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper imshow( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper legend( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper plot( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper quiver( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper savefig( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper scatter( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper show( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + axes::Axes subplot(const pybind11::dict & kwargs = pybind11::dict()); + axes::Axes subplot(int cri); + + std::tuple subplots(const pybind11::dict & kwargs = pybind11::dict()); + std::tuple> subplots( + int r, int c, const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper title( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper xlabel( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper xlim( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper ylabel( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + + PyObjectWrapper ylim( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()); + +private: + void load_attrs(); + pybind11::module mod; + pybind11::object axes_attr; + pybind11::object cla_attr; + pybind11::object clf_attr; + pybind11::object figure_attr; + pybind11::object gca_attr; + pybind11::object gcf_attr; + pybind11::object gci_attr; + pybind11::object grid_attr; + pybind11::object imshow_attr; + pybind11::object legend_attr; + pybind11::object plot_attr; + pybind11::object quiver_attr; + pybind11::object savefig_attr; + pybind11::object scatter_attr; + pybind11::object show_attr; + pybind11::object subplot_attr; + pybind11::object subplots_attr; + pybind11::object title_attr; + pybind11::object xlabel_attr; + pybind11::object xlim_attr; + pybind11::object ylabel_attr; + pybind11::object ylim_attr; +}; + +PyPlot import(); + +} // namespace autoware::pyplot + +template +pybind11::tuple Args(ArgsT &&... args) +{ + return pybind11::make_tuple(std::forward(args)...); +} + +using Kwargs = pybind11::dict; + +namespace py = pybind11; +using namespace py::literals; + +#endif // AUTOWARE__PYPLOT__PYPLOT_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/quiver.hpp b/common/autoware_pyplot/include/autoware/pyplot/quiver.hpp new file mode 100644 index 0000000000000..443c0540d9308 --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/quiver.hpp @@ -0,0 +1,32 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__QUIVER_HPP_ +#define AUTOWARE__PYPLOT__QUIVER_HPP_ + +#include + +namespace autoware::pyplot +{ +inline namespace quiver +{ +class DECL_VISIBILITY Quiver : public PyObjectWrapper +{ +public: + explicit Quiver(const pybind11::object & object); + explicit Quiver(pybind11::object && object); +}; +} // namespace quiver +} // namespace autoware::pyplot +#endif // AUTOWARE__PYPLOT__QUIVER_HPP_ diff --git a/common/autoware_pyplot/include/autoware/pyplot/text.hpp b/common/autoware_pyplot/include/autoware/pyplot/text.hpp new file mode 100644 index 0000000000000..27f892e90488f --- /dev/null +++ b/common/autoware_pyplot/include/autoware/pyplot/text.hpp @@ -0,0 +1,40 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__PYPLOT__TEXT_HPP_ +#define AUTOWARE__PYPLOT__TEXT_HPP_ + +#include + +namespace autoware::pyplot +{ +inline namespace text +{ +class DECL_VISIBILITY Text : public PyObjectWrapper +{ +public: + explicit Text(const pybind11::object & object); + explicit Text(pybind11::object && object); + + PyObjectWrapper set_rotation( + const pybind11::tuple & args = pybind11::tuple(), + const pybind11::dict & kwargs = pybind11::dict()) const; + +private: + void load_attrs(); + pybind11::object set_rotation_attr; +}; +} // namespace text +} // namespace autoware::pyplot +#endif // AUTOWARE__PYPLOT__TEXT_HPP_ diff --git a/common/autoware_pyplot/package.xml b/common/autoware_pyplot/package.xml new file mode 100644 index 0000000000000..1391db88cddff --- /dev/null +++ b/common/autoware_pyplot/package.xml @@ -0,0 +1,25 @@ + + + + autoware_pyplot + 0.1.0 + C++ interface for matplotlib based on pybind11 + Mamoru Sobue + Yukinari Hisaki + Apache License 2.0 + + Mamoru Sobue + + ament_cmake_auto + autoware_cmake + + pybind11-dev + + ament_cmake_ros + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/common/autoware_pyplot/src/axes.cpp b/common/autoware_pyplot/src/axes.cpp new file mode 100644 index 0000000000000..0f08ffe5773f6 --- /dev/null +++ b/common/autoware_pyplot/src/axes.cpp @@ -0,0 +1,154 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +namespace autoware::pyplot +{ +inline namespace axes +{ +Axes::Axes(const pybind11::object & object) : PyObjectWrapper(object) +{ + load_attrs(); +} +Axes::Axes(pybind11::object && object) : PyObjectWrapper(object) +{ + load_attrs(); +} + +PyObjectWrapper Axes::add_patch(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{add_patch_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::cla(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{cla_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::contour(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{contour_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::fill(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{fill_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::fill_between( + const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{fill_between_attr(*args, **kwargs)}; +} + +std::tuple Axes::get_xlim() const +{ + const pybind11::list ret = get_xlim_attr(); + return {ret[0].cast(), ret[1].cast()}; +} + +std::tuple Axes::get_ylim() const +{ + const pybind11::list ret = get_ylim_attr(); + return {ret[0].cast(), ret[1].cast()}; +} + +PyObjectWrapper Axes::grid(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{grid_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::imshow(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{imshow_attr(*args, **kwargs)}; +} + +legend::Legend Axes::legend(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return legend::Legend{legend_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::plot(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{plot_attr(*args, **kwargs)}; +} + +quiver::Quiver Axes::quiver(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return Quiver{quiver_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::set_aspect(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{set_aspect_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::set_title(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{set_title_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::set_xlabel(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{set_xlabel_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::set_xlim(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{set_xlim_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::set_ylabel(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{set_ylabel_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::set_ylim(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{set_ylim_attr(*args, **kwargs)}; +} + +PyObjectWrapper Axes::text(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{text_attr(*args, **kwargs)}; +} + +void Axes::load_attrs() +{ + LOAD_FUNC_ATTR(add_patch, self_); + LOAD_FUNC_ATTR(cla, self_); + LOAD_FUNC_ATTR(contour, self_); + LOAD_FUNC_ATTR(contourf, self_); + LOAD_FUNC_ATTR(fill, self_); + LOAD_FUNC_ATTR(fill_between, self_); + LOAD_FUNC_ATTR(get_xlim, self_); + LOAD_FUNC_ATTR(get_ylim, self_); + LOAD_FUNC_ATTR(grid, self_); + LOAD_FUNC_ATTR(imshow, self_); + LOAD_FUNC_ATTR(legend, self_); + LOAD_FUNC_ATTR(quiver, self_); + LOAD_FUNC_ATTR(plot, self_); + LOAD_FUNC_ATTR(scatter, self_); + LOAD_FUNC_ATTR(set_aspect, self_); + LOAD_FUNC_ATTR(set_title, self_); + LOAD_FUNC_ATTR(set_xlabel, self_); + LOAD_FUNC_ATTR(set_xlim, self_); + LOAD_FUNC_ATTR(set_ylabel, self_); + LOAD_FUNC_ATTR(set_ylim, self_); + LOAD_FUNC_ATTR(text, self_); +} +} // namespace axes +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/common.cpp b/common/autoware_pyplot/src/common.cpp new file mode 100644 index 0000000000000..5b3fffa37f30e --- /dev/null +++ b/common/autoware_pyplot/src/common.cpp @@ -0,0 +1,30 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +namespace autoware::pyplot +{ +inline namespace common +{ +PyObjectWrapper::PyObjectWrapper(const pybind11::object & object) +{ + self_ = object; +} +PyObjectWrapper::PyObjectWrapper(pybind11::object && object) +{ + self_ = std::move(object); +} +} // namespace common +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/figure.cpp b/common/autoware_pyplot/src/figure.cpp new file mode 100644 index 0000000000000..07aacf8dd516a --- /dev/null +++ b/common/autoware_pyplot/src/figure.cpp @@ -0,0 +1,66 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +namespace autoware::pyplot +{ +inline namespace figure +{ +Figure::Figure(const pybind11::object & object) : PyObjectWrapper(object) +{ + load_attrs(); +} +Figure::Figure(pybind11::object && object) : PyObjectWrapper(object) +{ + load_attrs(); +} + +void Figure::load_attrs() +{ + LOAD_FUNC_ATTR(add_axes, self_); + LOAD_FUNC_ATTR(add_subplot, self_); + LOAD_FUNC_ATTR(colorbar, self_); + LOAD_FUNC_ATTR(savefig, self_); + LOAD_FUNC_ATTR(tight_layout, self_); +} + +axes::Axes Figure::add_axes(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return axes::Axes{add_axes_attr(*args, **kwargs)}; +} + +axes::Axes Figure::add_subplot(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return axes::Axes{add_subplot_attr(*args, **kwargs)}; +} + +PyObjectWrapper Figure::colorbar(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{colorbar_attr(*args, **kwargs)}; +} + +PyObjectWrapper Figure::savefig(const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{savefig_attr(*args, **kwargs)}; +} + +PyObjectWrapper Figure::tight_layout( + const pybind11::tuple & args, const pybind11::dict & kwargs) const +{ + return PyObjectWrapper{tight_layout_attr(*args, **kwargs)}; +} +} // namespace figure +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/legend.cpp b/common/autoware_pyplot/src/legend.cpp new file mode 100644 index 0000000000000..e5a128725fec7 --- /dev/null +++ b/common/autoware_pyplot/src/legend.cpp @@ -0,0 +1,28 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +namespace autoware::pyplot +{ +inline namespace legend +{ +Legend::Legend(const pybind11::object & object) : PyObjectWrapper(object) +{ +} +Legend::Legend(pybind11::object && object) : PyObjectWrapper(object) +{ +} +} // namespace legend +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/patches.cpp b/common/autoware_pyplot/src/patches.cpp new file mode 100644 index 0000000000000..4df4de27e81e3 --- /dev/null +++ b/common/autoware_pyplot/src/patches.cpp @@ -0,0 +1,45 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +namespace autoware::pyplot +{ +inline namespace patches +{ +Circle::Circle(const pybind11::tuple & args, const pybind11::dict & kwargs) +: PyObjectWrapper(pybind11::module::import("matplotlib.patches").attr("Circle")) +{ + self_ = self_(*args, **kwargs); +} + +Ellipse::Ellipse(const pybind11::tuple & args, const pybind11::dict & kwargs) +: PyObjectWrapper(pybind11::module::import("matplotlib.patches").attr("Ellipse")) +{ + self_ = self_(*args, **kwargs); +} + +Rectangle::Rectangle(const pybind11::tuple & args, const pybind11::dict & kwargs) +: PyObjectWrapper(pybind11::module::import("matplotlib.patches").attr("Rectangle")) +{ + self_ = self_(*args, **kwargs); +} + +Polygon::Polygon(const pybind11::tuple & args, const pybind11::dict & kwargs) +: PyObjectWrapper(pybind11::module::import("matplotlib.patches").attr("Polygon")) +{ + self_ = self_(*args, **kwargs); +} +} // namespace patches +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/pyplot.cpp b/common/autoware_pyplot/src/pyplot.cpp new file mode 100644 index 0000000000000..d45d34a35d767 --- /dev/null +++ b/common/autoware_pyplot/src/pyplot.cpp @@ -0,0 +1,205 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +namespace autoware::pyplot +{ +PyPlot::PyPlot(const pybind11::module & mod_) : mod(mod_) +{ + load_attrs(); +} + +void PyPlot::load_attrs() +{ + LOAD_FUNC_ATTR(axes, mod); + LOAD_FUNC_ATTR(cla, mod); + LOAD_FUNC_ATTR(clf, mod); + LOAD_FUNC_ATTR(figure, mod); + LOAD_FUNC_ATTR(gca, mod); + LOAD_FUNC_ATTR(gcf, mod); + LOAD_FUNC_ATTR(gci, mod); + LOAD_FUNC_ATTR(grid, mod); + LOAD_FUNC_ATTR(imshow, mod); + LOAD_FUNC_ATTR(legend, mod); + LOAD_FUNC_ATTR(plot, mod); + LOAD_FUNC_ATTR(quiver, mod); + LOAD_FUNC_ATTR(savefig, mod); + LOAD_FUNC_ATTR(scatter, mod); + LOAD_FUNC_ATTR(show, mod); + LOAD_FUNC_ATTR(subplot, mod); + LOAD_FUNC_ATTR(subplots, mod); + LOAD_FUNC_ATTR(title, mod); + LOAD_FUNC_ATTR(xlabel, mod); + LOAD_FUNC_ATTR(xlim, mod); + LOAD_FUNC_ATTR(ylabel, mod); + LOAD_FUNC_ATTR(ylim, mod); +} + +axes::Axes PyPlot::axes(const pybind11::dict & kwargs) +{ + return axes::Axes{axes_attr(**kwargs)}; +} + +PyObjectWrapper PyPlot::cla(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{cla_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::clf(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{clf_attr(*args, **kwargs)}; +} + +figure::Figure PyPlot::figure(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return figure::Figure{figure_attr(*args, **kwargs)}; +} + +axes::Axes PyPlot::gca(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return axes::Axes{gca_attr(*args, **kwargs)}; +} + +figure::Figure PyPlot::gcf(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return figure::Figure{gcf_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::gci(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{gci_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::grid(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{grid_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::imshow(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{imshow_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::legend(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{legend_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::plot(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{plot_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::quiver(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{quiver_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::scatter(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{scatter_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::savefig(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{savefig_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::show(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{show_attr(*args, **kwargs)}; +} + +axes::Axes PyPlot::subplot(const pybind11::dict & kwargs) +{ + return axes::Axes(subplot_attr(**kwargs)); +} + +axes::Axes PyPlot::subplot(int cri) +{ + return axes::Axes(subplot_attr(cri)); +} + +std::tuple PyPlot::subplots(const pybind11::dict & kwargs) +{ + pybind11::list ret = subplots_attr(**kwargs); + pybind11::object fig = ret[0]; + pybind11::object ax = ret[1]; + return {figure::Figure(fig), axes::Axes(ax)}; +} + +std::tuple> PyPlot::subplots( + int r, int c, const pybind11::dict & kwargs) +{ + // subplots() returns [][] (if r > 1 && c > 1) else [] + // return []axes in row-major + // NOTE: equal to Axes.flat + pybind11::tuple args = pybind11::make_tuple(r, c); + pybind11::list ret = subplots_attr(*args, **kwargs); + std::vector axes; + pybind11::object fig = ret[0]; + figure::Figure figure(fig); + if (r == 1 && c == 1) { + // python returns Axes + axes.emplace_back(ret[1]); + } else if (r == 1 || c == 1) { + // python returns []Axes + pybind11::list axs = ret[1]; + for (int i = 0; i < r * c; ++i) axes.emplace_back(axs[i]); + } else { + // python returns [][]Axes + pybind11::list axs = ret[1]; + for (pybind11::size_t i = 0; i < axs.size(); ++i) { + pybind11::list ax_i = axs[i]; + for (unsigned j = 0; j < ax_i.size(); ++j) axes.emplace_back(ax_i[j]); + } + } + return {figure, axes}; +} + +PyObjectWrapper PyPlot::title(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{title_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::xlabel(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{xlabel_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::xlim(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{xlim_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::ylabel(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{ylabel_attr(*args, **kwargs)}; +} + +PyObjectWrapper PyPlot::ylim(const pybind11::tuple & args, const pybind11::dict & kwargs) +{ + return PyObjectWrapper{ylim_attr(*args, **kwargs)}; +} + +PyPlot import() +{ + auto mod = pybind11::module::import("matplotlib.pyplot"); + auto g_pyplot = PyPlot(mod); + return g_pyplot; +} + +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/quiver.cpp b/common/autoware_pyplot/src/quiver.cpp new file mode 100644 index 0000000000000..72614fb6227a7 --- /dev/null +++ b/common/autoware_pyplot/src/quiver.cpp @@ -0,0 +1,28 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +namespace autoware::pyplot +{ +inline namespace quiver +{ +Quiver::Quiver(const pybind11::object & object) : PyObjectWrapper(object) +{ +} +Quiver::Quiver(pybind11::object && object) : PyObjectWrapper(object) +{ +} +} // namespace quiver +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/src/text.cpp b/common/autoware_pyplot/src/text.cpp new file mode 100644 index 0000000000000..024c7c2daf946 --- /dev/null +++ b/common/autoware_pyplot/src/text.cpp @@ -0,0 +1,35 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +namespace autoware::pyplot +{ +inline namespace text +{ +Text::Text(const pybind11::object & object) : PyObjectWrapper(object) +{ +} + +Text::Text(pybind11::object && object) : PyObjectWrapper(object) +{ +} + +void Text::load_attrs() +{ + LOAD_FUNC_ATTR(set_rotation, self_); +} +} // namespace text +} // namespace autoware::pyplot diff --git a/common/autoware_pyplot/test/test_pyplot.cpp b/common/autoware_pyplot/test/test_pyplot.cpp new file mode 100644 index 0000000000000..2055709c61f52 --- /dev/null +++ b/common/autoware_pyplot/test/test_pyplot.cpp @@ -0,0 +1,64 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include +#include +/* + very weirdly, you must include to pass vector. Although the code + compiles without it, the executable crashes at runtime + */ +#include + +#include + +TEST(PyPlot, single_plot) +{ + // NOTE: somehow, running multiple tests simultaneously causes the python interpreter to crash + py::scoped_interpreter guard{}; + auto plt = autoware::pyplot::import(); + { + plt.plot(Args(std::vector({1, 3, 2, 4})), Kwargs("color"_a = "blue", "linewidth"_a = 1.0)); + plt.xlabel(Args("x-title")); + plt.ylabel(Args("y-title")); + plt.title(Args("title")); + plt.xlim(Args(0, 5)); + plt.ylim(Args(0, 5)); + plt.grid(Args(true)); + plt.savefig(Args("test_single_plot.png")); + } + { + auto [fig, axes] = plt.subplots(1, 2); + auto & ax1 = axes[0]; + auto & ax2 = axes[1]; + + auto c = + autoware::pyplot::Circle(Args(py::make_tuple(0, 0), 0.5), Kwargs("fc"_a = "g", "ec"_a = "r")); + ax1.add_patch(Args(c.unwrap())); + + auto e = autoware::pyplot::Ellipse( + Args(py::make_tuple(-0.25, 0), 0.5, 0.25), Kwargs("fc"_a = "b", "ec"_a = "y")); + ax1.add_patch(Args(e.unwrap())); + + auto r = autoware::pyplot::Rectangle( + Args(py::make_tuple(0, 0), 0.25, 0.5), Kwargs("ec"_a = "#000000", "fill"_a = false)); + ax2.add_patch(Args(r.unwrap())); + + ax1.set_aspect(Args("equal")); + ax2.set_aspect(Args("equal")); + plt.savefig(Args("test_double_plot.svg")); + } +} From 536c805783651aebddb4f7f8ce780f7370deb9ca Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 25 Nov 2024 14:00:33 +0900 Subject: [PATCH 524/701] feat(autonomous_emergency_braking): set a lateral deviation limit for AEB IMU path (#9410) * add a steer limit option for AEB Signed-off-by: Daniel Sanchez * wip refactor and add max lat dev param Signed-off-by: Daniel Sanchez * fix issue with test Signed-off-by: Daniel Sanchez * delete unwanted parts Signed-off-by: Daniel Sanchez * delete unwanted changes Signed-off-by: Daniel Sanchez * set to false Signed-off-by: Daniel Sanchez * change back path length Signed-off-by: Daniel Sanchez * add suggestions Signed-off-by: Daniel Sanchez * update readme Signed-off-by: Daniel Sanchez * cpp check Signed-off-by: Daniel Sanchez * fix some sentences Signed-off-by: Daniel Sanchez * expand explanation Signed-off-by: Daniel Sanchez * update image Signed-off-by: Daniel Sanchez * update README Signed-off-by: Daniel Sanchez * update description Signed-off-by: Daniel Sanchez * fix typo Signed-off-by: Daniel Sanchez * fix sentences Signed-off-by: Daniel Sanchez * improve readme Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../README.md | 52 +- .../autonomous_emergency_braking.param.yaml | 18 +- .../image/labeling.drawio.svg | 390 ++++++++++ .../measuring-lat-dev-on-imu-path.drawio.svg | 374 +++++++++ .../image/obstacle_filtering_1.drawio.svg | 708 +++++++++++------- .../image/rss_check.drawio.svg | 223 ++++-- .../speed_calculation_expansion.drawio.svg | 184 +++-- .../autonomous_emergency_braking/node.hpp | 3 +- .../src/node.cpp | 63 +- .../test/test.cpp | 2 +- 10 files changed, 1553 insertions(+), 464 deletions(-) create mode 100644 control/autoware_autonomous_emergency_braking/image/labeling.drawio.svg create mode 100644 control/autoware_autonomous_emergency_braking/image/measuring-lat-dev-on-imu-path.drawio.svg diff --git a/control/autoware_autonomous_emergency_braking/README.md b/control/autoware_autonomous_emergency_braking/README.md index 42b3f4c9f96de..f0f4a6c9f7014 100644 --- a/control/autoware_autonomous_emergency_braking/README.md +++ b/control/autoware_autonomous_emergency_braking/README.md @@ -60,6 +60,8 @@ We do not activate AEB module if it satisfies the following conditions. ### 2. Generate a predicted path of the ego vehicle +#### IMU path generation + AEB generates a predicted footprint path based on current velocity and current angular velocity obtained from attached sensors. Note that if `use_imu_path` is `false`, it skips this step. This predicted path is generated as: $$ @@ -68,9 +70,21 @@ y_{k+1} = y_k + v sin(\theta_k) dt \\ \theta_{k+1} = \theta_k + \omega dt $$ -where $v$ and $\omega$ are current longitudinal velocity and angular velocity respectively. $dt$ is time interval that users can define in advance. +where $v$ and $\omega$ are current longitudinal velocity and angular velocity respectively. $dt$ is time interval that users can define in advance with the `imu_prediction_time_interval` parameter. The IMU path is generated considering a time horizon, defined by the `imu_prediction_time_horizon` parameter. + +Since the IMU path generation only uses the ego vehicle's current angular velocity, disregarding the MPC's planner steering, the shape of the IMU path tends to get distorted quite easily and protrude out of the ego vehicle's current lane, possibly causing unwanted emergency stops. That is why it is not recommended to use a big `imu_prediction_time_horizon`. To fix this issue, the IMU path's length can be cut short by tuning the `max_generated_imu_path_length` parameter, the IMU path generation will be cut short once its length surpasses this parameter's value. + +It is also possible to limit the IMU path length based on the predicted lateral deviation of the vehicle by setting the `limit_imu_path_lat_dev` parameter flag to "true", and setting a threshold lateral deviation with the `imu_path_lat_dev_threshold` parameter. That way, the AEB will generate a predicted IMU path until a given predicted ego pose surpasses the lateral deviation threshold, and the IMU path will be cut short when the ego vehicle is turning relatively fast. + +The advantage of setting a lateral deviation limit with the `limit_imu_path_lat_dev` parameter is that the `imu_prediction_time_horizon` and the `max_generated_imu_path_length` can be increased without worries about the IMU predicted path deforming beyond a certain threshold. The downside is that the IMU path will be cut short when the ego has a high angular velocity, in said cases, the AEB module would mostly rely on the MPC path to prevent or mitigate collisions. If it is assumed the ego vehicle will mostly travel along the centerline of its lanelets, it can be useful to set the lateral deviation threshold parameter `imu_path_lat_dev_threshold` to be equal to or smaller than the average lanelet width divided by 2, that way, the chance of the IMU predicted path leaving the current ego lanelet is smaller, and it is possible to increase the `imu_prediction_time_horizon` to prevent frontal collisions when the ego is mostly traveling in a straight line. + +The lateral deviation is measured using the ego vehicle's current position as a reference, and it measures the distance of the furthermost vertex of the predicted ego footprint to the predicted path. The following image illustrates how the lateral deviation of a given ego pose is measured. + +![measuring_lat_dev](./image/measuring-lat-dev-on-imu-path.drawio.svg) + +#### MPC path generation -On the other hand, if `use_predicted_trajectory` is set to true, the AEB module will use the predicted path from the MPC as a base to generate a footprint path. Both the IMU footprint path and the MPC footprint path can be used at the same time. +If the `use_predicted_trajectory` parameter is set to true, the AEB module will directly use the predicted path from the MPC as a base to generate a footprint path. It will copy the ego poses generated by the MPC until a given time horizon. The `mpc_prediction_time_horizon` parameter dictates how far ahead in the future the MPC path will predict the ego vehicle's movement. Both the IMU footprint path and the MPC footprint path can be used at the same time. ### 3. Get target obstacles @@ -82,7 +96,7 @@ The AEB module can filter the input pointcloud to find target obstacles with whi ##### Rough filtering -In rough filtering step, we select target obstacle with simple filter. Create a search area up to a certain distance (default is half of the ego vehicle width plus the `path_footprint_extra_margin` parameter) away from the predicted path of the ego vehicle and ignore the point cloud that are not within it. The rough filtering step is illustrated below. +In rough filtering step, we select target obstacle with simple filter. Create a search area up to a certain distance (default is half of the ego vehicle width plus the `path_footprint_extra_margin` parameter plus the `expand_width` parameter) away from the predicted path of the ego vehicle and ignore the point cloud that are not within it. The rough filtering step is illustrated below. ![rough_filtering](./image/obstacle_filtering_1.drawio.svg) @@ -94,26 +108,34 @@ Furthermore, a 2D convex hull is created around each detected cluster, the verti ##### Rigorous filtering -After Noise filtering, the module performs a geometric collision check to determine whether the filtered obstacles/hull vertices actually have possibility to collide with the ego vehicle. In this check, the ego vehicle is represented as a rectangle, and the point cloud obstacles are represented as points. Only the vertices with a possibility of collision are kept. +After Noise filtering, the module performs a geometric collision check to determine whether the filtered obstacles/hull vertices actually have possibility to collide with the ego vehicle. In this check, the ego vehicle is represented as a rectangle, and the point cloud obstacles are represented as points. Only the vertices with a possibility of collision are labeled as target obstacles. ![rigorous_filtering](./image/obstacle_filtering_2.drawio.svg) +##### Obstacle labeling + +After rigorous filtering, the remaining obstacles are labeled. An obstacle is given a "target" label for collision checking only if it falls within the ego vehicle's defined footprint (made using the ego vehicle's width and the `expand_width` parameter). For an emergency stop to occur, at least one obstacle needs to be labeled as a target. + +![labeling](./image/labeling.drawio.svg) + #### Using predicted objects to get target obstacles -If the `use_predicted_object_data` parameter is set to true, the AEB can use predicted object data coming from the perception modules, to get target obstacle points. This is done by obtaining the 2D intersection points between the ego's predicted footprint path and each of the predicted objects enveloping polygon or bounding box. +If the `use_predicted_object_data` parameter is set to true, the AEB can use predicted object data coming from the perception modules, to get target obstacle points. This is done by obtaining the 2D intersection points between the ego's predicted footprint path (made using the ego vehicle's width and the `expand_width` parameter) and each of the predicted objects enveloping polygon or bounding box. if there is no intersection, all points are discarded. ![predicted_object_and_path_intersection](./image/using-predicted-objects.drawio.svg) ### Finding the closest target obstacle -Once all target obstacles have been identified, the AEB module chooses the point that is closest to the ego vehicle as the candidate for collision checking. Only the closest point is considered because RSS distance is used to judge if a collision will happen or not, and if the closest vertex to the ego is deemed to be safe from collision, the rest of the target obstacles will also be safe. +After identifying all possible obstacles using pointcloud data and/or predicted object data, the AEB module selects the closest point to the ego vehicle as the candidate for collision checking. The "closest object" is defined as an obstacle within the ego vehicle's footprint, determined by its width and the `expand_width` parameter, that is closest to the ego vehicle along the longitudinal axis, using the IMU or MPC path as a reference. Target obstacles are prioritized over those outside the ego path, even if the latter are longitudinally closer. This prioritization ensures that the collision check focuses on objects that pose the highest risk based on the vehicle's trajectory. + +If no target obstacles are found, the AEB module considers other nearby obstacles outside the path. In such cases, it skips the collision check but records the position of the closest obstacle to calculate its speed (Step #4). Note that, obstacles obtained with predicted object data are all target obstacles since they are within the ego footprint path and it is not necessary to calculate their speed (it is already calculated by the perception module). Such obstacles are excluded from step #4. ![closest_object](./image/closest-point.drawio.svg) ### 4. Obstacle velocity estimation To begin calculating the target point's velocity, the point must enter the speed calculation area, -which is defined by the `speed_calculation_expansion_margin` parameter. +which is defined by the `speed_calculation_expansion_margin` parameter plus the ego vehicles width and the `expand_width` parameter. Depending on the operational environment, this margin can reduce unnecessary autonomous emergency braking caused by velocity miscalculations during the initial calculation steps. @@ -148,19 +170,24 @@ $$ where $yaw_{diff}$ is the difference in yaw between the ego path and the displacement vector $$v_{pos} = o_{pos} - prev_{pos} $$ and $v_{ego}$ is the ego's current speed, which accounts for the movement of points caused by the ego moving and not the object. All these equations are performed disregarding the z axis (in 2D). -Note that, the object velocity is calculated against the ego's current movement direction. If the object moves in the opposite direction to the ego's movement, the object velocity will be negative, which will reduce the rss distance on the next step. +Note that the object velocity is calculated against the ego's current movement direction. If the object moves in the opposite direction to the ego's movement, the object velocity will be negative, which will reduce the rss distance on the next step. The resulting estimated object speed is added to a queue of speeds with timestamps. The AEB then checks for expiration of past speed estimations and eliminates expired speed measurements from the queue, the object expiration is determined by checking if the time elapsed since the speed was first added to the queue is larger than the parameter `previous_obstacle_keep_time`. Finally, the median speed of the queue is calculated. The median speed will be used to calculate the RSS distance used for collision checking. ### 5. Collision check with target obstacles using RSS distance -In the fourth step, it checks the collision with the closest obstacle point using RSS distance. RSS distance is formulated as: +In the fifth step, the AEB module checks for collision with the closest target obstacle using RSS distance. +Only the closest target object is evaluated because RSS distance is used to determine collision risk. If the nearest target point is deemed safe, all other potential obstacles within the path are also assumed to be safe. + +RSS distance is formulated as: $$ d = v_{ego}*t_{response} + v_{ego}^2/(2*a_{min}) -(sign(v_{obj})) * v_{obj}^2/(2*a_{obj_{min}}) + offset $$ -where $v_{ego}$ and $v_{obj}$ is current ego and obstacle velocity, $a_{min}$ and $a_{obj_{min}}$ is ego and object minimum acceleration (maximum deceleration), $t_{response}$ is response time of the ego vehicle to start deceleration. Therefore the distance from the ego vehicle to the obstacle is smaller than this RSS distance $d$, the ego vehicle send emergency stop signals. This is illustrated in the following picture. +where $v_{ego}$ and $v_{obj}$ is current ego and obstacle velocity, $a_{min}$ and $a_{obj_{min}}$ is ego and object minimum acceleration (maximum deceleration), $t_{response}$ is response time of the ego vehicle to start deceleration. Therefore the distance from the ego vehicle to the obstacle is smaller than this RSS distance $d$, the ego vehicle send emergency stop signals. + +Only obstacles classified as "targets" (as defined in Step #3) are considered for RSS distance calculations. Among these "target" obstacles, the one closest to the ego vehicle is used for the calculation. If no "target" obstacles are present—meaning no obstacles fall within the ego vehicle's predicted path (determined by its width and an expanded margin)—this step is skipped. Instead, the position of the closest obstacle is recorded for future speed calculations (Step #4). In this scenario, no emergency stop diagnostic message is generated. The process is illustrated in the accompanying diagram. ![rss_check](./image/rss_check.drawio.svg) @@ -215,7 +242,7 @@ When vehicle odometry information is faulty, it is possible that the MPC fails t | maximum_cluster_size | [-] | int | maximum amount of points contained by a cluster for it to be considered as a possible target obstacle | 10000 | | min_generated_imu_path_length | [m] | double | minimum distance for a predicted path generated by sensors | 0.5 | | max_generated_imu_path_length | [m] | double | maximum distance for a predicted path generated by sensors | 10.0 | -| expand_width | [m] | double | expansion width of the ego vehicle for the collision check | 0.1 | +| expand_width | [m] | double | expansion width of the ego vehicle for collision checking, path cropping and speed calculation | 0.1 | | longitudinal_offset | [m] | double | longitudinal offset distance for collision check | 2.0 | | t_response | [s] | double | response time for the ego to detect the front vehicle starting deceleration | 1.0 | | a_ego_min | [m/ss] | double | maximum deceleration value of the ego vehicle | -3.0 | @@ -225,7 +252,8 @@ When vehicle odometry information is faulty, it is possible that the MPC fails t | mpc_prediction_time_horizon | [s] | double | time horizon of the predicted path generated by mpc | 1.5 | | mpc_prediction_time_interval | [s] | double | time interval of the predicted path generated by mpc | 0.1 | | aeb_hz | [-] | double | frequency at which AEB operates per second | 10 | -| speed_calculation_expansion_margin | [m] | double | expansion width of the ego vehicle for the beginning speed calculation | 0.1 | +| speed_calculation_expansion_margin | [m] | double | expansion width of the ego vehicle footprint used when calculating the closest object's speed | 0.7 | +| path_footprint_extra_margin | [m] | double | this parameters expands the ego footprint used to crop the AEB input pointcloud | 1.0 | ## Limitations diff --git a/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml b/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml index f7548536beaef..99ca4d4ef52cb 100644 --- a/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml +++ b/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml @@ -3,10 +3,12 @@ # Ego path calculation use_predicted_trajectory: true use_imu_path: true + limit_imu_path_lat_dev: false use_pointcloud_data: true use_predicted_object_data: false use_object_velocity_calculation: true check_autoware_state: true + imu_path_lat_dev_threshold: 1.75 min_generated_imu_path_length: 0.5 max_generated_imu_path_length: 10.0 imu_prediction_time_horizon: 1.5 @@ -21,14 +23,14 @@ # Point cloud partitioning detection_range_min_height: 0.0 detection_range_max_height_margin: 0.0 - voxel_grid_x: 0.05 - voxel_grid_y: 0.05 - voxel_grid_z: 100000.0 + voxel_grid_x: 0.1 + voxel_grid_y: 0.1 + voxel_grid_z: 0.5 # Point cloud cropping - expand_width: 0.1 - path_footprint_extra_margin: 4.0 - speed_calculation_expansion_margin: 0.5 + expand_width: -0.2 + path_footprint_extra_margin: 1.0 + speed_calculation_expansion_margin: 0.7 # Point cloud clustering cluster_tolerance: 0.15 #[m] @@ -37,10 +39,10 @@ maximum_cluster_size: 10000 # RSS distance collision check - longitudinal_offset: 2.0 + longitudinal_offset: 1.0 t_response: 1.0 a_ego_min: -3.0 a_obj_min: -1.0 - collision_keeping_sec: 2.0 + collision_keeping_sec: 3.0 previous_obstacle_keep_time: 1.0 aeb_hz: 10.0 diff --git a/control/autoware_autonomous_emergency_braking/image/labeling.drawio.svg b/control/autoware_autonomous_emergency_braking/image/labeling.drawio.svg new file mode 100644 index 0000000000000..0f9995a9918cd --- /dev/null +++ b/control/autoware_autonomous_emergency_braking/image/labeling.drawio.svg @@ -0,0 +1,390 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ expand_width + path_footprint_extra_margin + Ego width / 2 +
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+ + + + + + + + + + + + + - - - - - - diff --git a/control/autoware_autonomous_emergency_braking/image/rss_check.drawio.svg b/control/autoware_autonomous_emergency_braking/image/rss_check.drawio.svg index 1d3dd824df5f0..82590ed107558 100644 --- a/control/autoware_autonomous_emergency_braking/image/rss_check.drawio.svg +++ b/control/autoware_autonomous_emergency_braking/image/rss_check.drawio.svg @@ -1,73 +1,170 @@ + + + - - - - - - - - - - - - - - - - -
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- - Closest point distance -
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+ + RSS distance + + + + + + + + + + + + + + + +
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+ ego vehicle width + 2 * expand_width +
+
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+ + ego vehicle width + 2 * expand_width + + + + + + + + + + Text is not SVG - cannot display + + diff --git a/control/autoware_autonomous_emergency_braking/image/speed_calculation_expansion.drawio.svg b/control/autoware_autonomous_emergency_braking/image/speed_calculation_expansion.drawio.svg index 37728253370e4..8df567f05962c 100644 --- a/control/autoware_autonomous_emergency_braking/image/speed_calculation_expansion.drawio.svg +++ b/control/autoware_autonomous_emergency_braking/image/speed_calculation_expansion.drawio.svg @@ -3,19 +3,15 @@ - - - + @@ -24,24 +20,24 @@ - +
-
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+
+
speed_calculation_expansion_margin
@@ -51,19 +47,19 @@ + >#svg-image-FwhNqmDYWad8ta0ORfnb .cls-1 { clip-path: url("#clippath"); } #svg-image-FwhNqmDYWad8ta0ORfnb .cls-2 { fill: none; } #svg-image-FwhNqmDYWad8ta0ORfnb .cls-2, #svg-image-FwhNqmDYWad8ta0ORfnb .cls-3 { stroke-width: 0px; } #svg-image-FwhNqmDYWad8ta0ORfnb .cls-3 { fill: rgb(35, 31, 32); } @@ -87,147 +83,181 @@ - + - + - + - + - + - - + + - +
-
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- speed_calculation_expansion_margin +
+
+ ego width / 2 + expand_width + speed_calculation_expansion_margin
- - - - - - - - - - - - - - - - - - - - - + + - +
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- Closest Point +
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+ Closest Point to ego
+ + + + + + + + + + + + + + + + + + + + + + + + + - + - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp index d18185c77335c..96efb5dc9ff1f 100644 --- a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp +++ b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp @@ -553,13 +553,14 @@ class AEB : public rclcpp::Node // Member variables bool publish_debug_pointcloud_; bool publish_debug_markers_; - bool publish_debug_time_; bool use_predicted_trajectory_; bool use_imu_path_; + bool limit_imu_path_lat_dev_; bool use_pointcloud_data_; bool use_predicted_object_data_; bool use_object_velocity_calculation_; bool check_autoware_state_; + double imu_path_lat_dev_threshold_; double path_footprint_extra_margin_; double speed_calculation_expansion_margin_; double detection_range_min_height_; diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index 846a7654d7313..7c4cf58cbc6e7 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include #include @@ -154,11 +155,13 @@ AEB::AEB(const rclcpp::NodeOptions & node_options) publish_debug_markers_ = declare_parameter("publish_debug_markers"); use_predicted_trajectory_ = declare_parameter("use_predicted_trajectory"); use_imu_path_ = declare_parameter("use_imu_path"); + limit_imu_path_lat_dev_ = declare_parameter("limit_imu_path_lat_dev"); use_pointcloud_data_ = declare_parameter("use_pointcloud_data"); use_predicted_object_data_ = declare_parameter("use_predicted_object_data"); use_object_velocity_calculation_ = declare_parameter("use_object_velocity_calculation"); check_autoware_state_ = declare_parameter("check_autoware_state"); path_footprint_extra_margin_ = declare_parameter("path_footprint_extra_margin"); + imu_path_lat_dev_threshold_ = declare_parameter("imu_path_lat_dev_threshold"); speed_calculation_expansion_margin_ = declare_parameter("speed_calculation_expansion_margin"); detection_range_min_height_ = declare_parameter("detection_range_min_height"); @@ -216,12 +219,14 @@ rcl_interfaces::msg::SetParametersResult AEB::onParameter( updateParam(parameters, "publish_debug_markers", publish_debug_markers_); updateParam(parameters, "use_predicted_trajectory", use_predicted_trajectory_); updateParam(parameters, "use_imu_path", use_imu_path_); + updateParam(parameters, "limit_imu_path_lat_dev", limit_imu_path_lat_dev_); updateParam(parameters, "use_pointcloud_data", use_pointcloud_data_); updateParam(parameters, "use_predicted_object_data", use_predicted_object_data_); updateParam( parameters, "use_object_velocity_calculation", use_object_velocity_calculation_); updateParam(parameters, "check_autoware_state", check_autoware_state_); updateParam(parameters, "path_footprint_extra_margin", path_footprint_extra_margin_); + updateParam(parameters, "imu_path_lat_dev_threshold", imu_path_lat_dev_threshold_); updateParam( parameters, "speed_calculation_expansion_margin", speed_calculation_expansion_margin_); updateParam(parameters, "detection_range_min_height", detection_range_min_height_); @@ -647,14 +652,6 @@ bool AEB::hasCollision(const double current_v, const ObjectData & closest_object Path AEB::generateEgoPath(const double curr_v, const double curr_w) { autoware::universe_utils::ScopedTimeTrack st(std::string(__func__) + "(IMU)", *time_keeper_); - Path path; - double curr_x = 0.0; - double curr_y = 0.0; - double curr_yaw = 0.0; - geometry_msgs::msg::Pose ini_pose; - ini_pose.position = autoware::universe_utils::createPoint(curr_x, curr_y, 0.0); - ini_pose.orientation = autoware::universe_utils::createQuaternionFromYaw(curr_yaw); - path.push_back(ini_pose); const double & dt = imu_prediction_time_interval_; const double distance_between_points = std::abs(curr_v) * dt; constexpr double minimum_distance_between_points{1e-2}; @@ -662,28 +659,57 @@ Path AEB::generateEgoPath(const double curr_v, const double curr_w) // if distance between points is too small, arc length calculation is unreliable, so we skip // creating the path if (std::abs(curr_v) < 0.1 || distance_between_points < minimum_distance_between_points) { - return path; + return {}; } - const double & horizon = imu_prediction_time_horizon_; + // The initial pose is always aligned with the local reference frame. + geometry_msgs::msg::Pose initial_pose; + initial_pose.position = autoware::universe_utils::createPoint(0.0, 0.0, 0.0); + initial_pose.orientation = autoware::universe_utils::createQuaternionFromYaw(0.0); + + const double horizon = imu_prediction_time_horizon_; + const double base_link_to_front_offset = vehicle_info_.max_longitudinal_offset_m; + const double rear_overhang = vehicle_info_.rear_overhang_m; + const double vehicle_half_width = expand_width_ + vehicle_info_.vehicle_width_m / 2.0; + + // Choose the coordinates of the ego footprint vertex that will used to check for lateral + // deviation + const auto longitudinal_offset = (curr_v > 0.0) ? base_link_to_front_offset : -rear_overhang; + const auto lateral_offset = (curr_v * curr_w > 0.0) ? vehicle_half_width : -vehicle_half_width; + + Path path{initial_pose}; + path.reserve(static_cast(horizon / dt)); + double curr_x = 0.0; + double curr_y = 0.0; + double curr_yaw = 0.0; double path_arc_length = 0.0; double t = 0.0; - bool finished_creating_path = false; - while (!finished_creating_path) { + while (true) { curr_x = curr_x + curr_v * std::cos(curr_yaw) * dt; curr_y = curr_y + curr_v * std::sin(curr_yaw) * dt; curr_yaw = curr_yaw + curr_w * dt; - geometry_msgs::msg::Pose current_pose; - current_pose.position = autoware::universe_utils::createPoint(curr_x, curr_y, 0.0); - current_pose.orientation = autoware::universe_utils::createQuaternionFromYaw(curr_yaw); + geometry_msgs::msg::Pose current_pose = + autoware::universe_utils::calcOffsetPose(initial_pose, curr_x, curr_y, 0.0, curr_yaw); t += dt; path_arc_length += distance_between_points; + const auto edge_of_ego_vehicle = autoware::universe_utils::calcOffsetPose( + current_pose, longitudinal_offset, lateral_offset, 0.0) + .position; + + const bool basic_path_conditions_satisfied = + (t > horizon) && (path_arc_length > min_generated_imu_path_length_); + const bool path_length_threshold_surpassed = path_arc_length > max_generated_imu_path_length_; + const bool lat_dev_threshold_surpassed = + limit_imu_path_lat_dev_ && std::abs(edge_of_ego_vehicle.y) > imu_path_lat_dev_threshold_; + + if ( + basic_path_conditions_satisfied || path_length_threshold_surpassed || + lat_dev_threshold_surpassed) { + break; + } - finished_creating_path = (t > horizon) && (path_arc_length > min_generated_imu_path_length_); - finished_creating_path = - (finished_creating_path) || (path_arc_length > max_generated_imu_path_length_); path.push_back(current_pose); } return path; @@ -826,6 +852,7 @@ void AEB::createObjectDataUsingPredictedObjects( obj.position = obj_position; obj.velocity = obj_tangent_velocity; obj.distance_to_object = std::abs(dist_ego_to_object); + obj.is_target = true; object_data_vector.push_back(obj); collision_points_added = true; } diff --git a/control/autoware_autonomous_emergency_braking/test/test.cpp b/control/autoware_autonomous_emergency_braking/test/test.cpp index c2a58941cc144..3c00a4e6b5caf 100644 --- a/control/autoware_autonomous_emergency_braking/test/test.cpp +++ b/control/autoware_autonomous_emergency_braking/test/test.cpp @@ -210,7 +210,7 @@ TEST_F(TestAEB, checkEmptyPathAtZeroSpeed) const double velocity = 0.0; constexpr double yaw_rate = 0.0; const auto imu_path = aeb_node_->generateEgoPath(velocity, yaw_rate); - ASSERT_EQ(imu_path.size(), 1); + ASSERT_EQ(imu_path.size(), 0); } TEST_F(TestAEB, checkParamUpdate) From 341ea150c91735569d7eece0049eff27f15081cc Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 25 Nov 2024 14:29:27 +0900 Subject: [PATCH 525/701] fix(autoware_perception_rviz_plugin): fix orientation indication rendering fix (#9434) refactor: fix orientation indication rendering fix Signed-off-by: Taekjin LEE --- .../src/object_detection/object_polygon_detail.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp b/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp index 04d07462e8695..5742e6b5d1872 100644 --- a/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp +++ b/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp @@ -728,10 +728,10 @@ void calc_2d_bounding_box_bottom_orientation_line_list( // front corner cuts for orientation const double point_list[4][3] = { - {length_half, width_half - tick_width, height_half}, - {length_half - tick_length, width_half, height_half}, - {length_half, -width_half + tick_width, height_half}, - {length_half - tick_length, -width_half, height_half}, + {length_half, width_half - tick_width, -height_half}, + {length_half - tick_length, width_half, -height_half}, + {length_half, -width_half + tick_width, -height_half}, + {length_half - tick_length, -width_half, -height_half}, }; const int point_pairs[2][2] = { {0, 1}, From 882af41502f936e4f7327ee9faeb210c2029d59d Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 25 Nov 2024 15:07:19 +0900 Subject: [PATCH 526/701] fix(goal_planner): remove stop reason (#9365) Signed-off-by: satoshi-ota --- .../src/goal_planner_module.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index b4fa4dfe30d7a..fed42be0753d7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1489,8 +1489,6 @@ void GoalPlannerModule::postProcess() {distance_to_path_change.first, distance_to_path_change.second}, has_decided_path ? SteeringFactor::TURNING : SteeringFactor::APPROACHING); - setStopReason(StopReason::GOAL_PLANNER, pull_over_path.full_path()); - setVelocityFactor(pull_over_path.full_path()); context_data_ = std::nullopt; From badf8ca728f098735ded4f802b57e9e8011ee802 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 25 Nov 2024 15:09:25 +0900 Subject: [PATCH 527/701] fix(avoidance): remove stop reason (#9364) Signed-off-by: satoshi-ota --- .../src/scene.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index f0fc87648bc4a..f7fc4ee48d364 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -780,8 +780,6 @@ void StaticObstacleAvoidanceModule::updateEgoBehavior( insertReturnDeadLine(isBestEffort(parameters_->policy_deceleration), path); - setStopReason(StopReason::AVOIDANCE, path.path); - setVelocityFactor(path.path); } From 135de571b317e8c93110de429b2cac5f5d0650f9 Mon Sep 17 00:00:00 2001 From: Kazunori-Nakajima <169115284+Kazunori-Nakajima@users.noreply.github.com> Date: Mon, 25 Nov 2024 16:52:01 +0900 Subject: [PATCH 528/701] feat(planning_evaluator): add processing time pub (#9334) Signed-off-by: Kasunori-Nakajima --- .../planning_evaluator/planning_evaluator_node.hpp | 3 +++ .../src/planning_evaluator_node.cpp | 11 +++++++++++ 2 files changed, 14 insertions(+) diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp index 81787741a7583..065d168b02d38 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp @@ -23,6 +23,7 @@ #include #include +#include #include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp" @@ -31,6 +32,7 @@ #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" #include +#include #include #include @@ -142,6 +144,7 @@ class PlanningEvaluatorNode : public rclcpp::Node autoware::universe_utils::InterProcessPollingSubscriber accel_sub_{ this, "~/input/acceleration"}; + rclcpp::Publisher::SharedPtr processing_time_pub_; rclcpp::Publisher::SharedPtr metrics_pub_; std::shared_ptr transform_listener_{nullptr}; std::unique_ptr tf_buffer_; diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp index a1d7c75891f4a..e5e1c947a735c 100644 --- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp @@ -53,6 +53,9 @@ PlanningEvaluatorNode::PlanningEvaluatorNode(const rclcpp::NodeOptions & node_op output_file_str_ = declare_parameter("output_file"); ego_frame_str_ = declare_parameter("ego_frame"); + processing_time_pub_ = + this->create_publisher("~/debug/processing_time_ms", 1); + // List of metrics to calculate and publish metrics_pub_ = create_publisher("~/metrics", 1); for (const std::string & selected_metric : @@ -222,6 +225,8 @@ void PlanningEvaluatorNode::AddMetricMsg(const Metric & metric, const Stat stop_watch; + const auto ego_state_ptr = odometry_sub_.takeData(); onOdometry(ego_state_ptr); { @@ -247,6 +252,12 @@ void PlanningEvaluatorNode::onTimer() metrics_msg_.stamp = now(); metrics_pub_->publish(metrics_msg_); metrics_msg_ = MetricArrayMsg{}; + + // Publish ProcessingTime + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + processing_time_pub_->publish(processing_time_msg); } void PlanningEvaluatorNode::onTrajectory( From b782772ee0ab506b309002e4a49bc8acd3da9bb8 Mon Sep 17 00:00:00 2001 From: Kazunori-Nakajima <169115284+Kazunori-Nakajima@users.noreply.github.com> Date: Mon, 25 Nov 2024 17:01:37 +0900 Subject: [PATCH 529/701] feat(mission_planner): add processing time publisher (#9342) * feat(mission_planner): add processing time publisher Signed-off-by: Kasunori-Nakajima * delete extra line Signed-off-by: Kasunori-Nakajima * update: mission_planner, route_selector, service_utils. Signed-off-by: Kasunori-Nakajima * Revert "update: mission_planner, route_selector, service_utils." This reverts commit d460a633c04c166385963c5233c3845c661e595e. Signed-off-by: Kasunori-Nakajima * Update to show that exceptions are not handled Signed-off-by: Kasunori-Nakajima * feat(mission_planner,route_selector): add processing time publisher Signed-off-by: Kasunori-Nakajima --------- Signed-off-by: Kasunori-Nakajima Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi --- .../src/mission_planner/mission_planner.cpp | 11 +++++++++++ .../src/mission_planner/mission_planner.hpp | 5 +++++ .../src/mission_planner/route_selector.cpp | 13 +++++++++++++ .../src/mission_planner/route_selector.hpp | 5 +++++ .../src/mission_planner/service_utils.hpp | 4 ++++ 5 files changed, 38 insertions(+) diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp index 2b54160a81038..467bc33d20a56 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp @@ -83,6 +83,17 @@ MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options) data_check_timer_ = create_wall_timer(period, [this] { check_initialization(); }); logger_configure_ = std::make_unique(this); + pub_processing_time_ = + this->create_publisher("~/debug/processing_time_ms", 1); +} + +void MissionPlanner::publish_processing_time( + autoware::universe_utils::StopWatch stop_watch) +{ + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + pub_processing_time_->publish(processing_time_msg); } void MissionPlanner::publish_pose_log(const Pose & pose, const std::string & pose_type) diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp index 9342bc7840641..b0389c49bef33 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp @@ -21,6 +21,7 @@ #include #include #include +#include #include #include @@ -29,6 +30,7 @@ #include #include #include +#include #include #include #include @@ -68,6 +70,8 @@ class MissionPlanner : public rclcpp::Node { public: explicit MissionPlanner(const rclcpp::NodeOptions & options); + void publish_processing_time( + autoware::universe_utils::StopWatch stop_watch); private: ArrivalChecker arrival_checker_; @@ -141,6 +145,7 @@ class MissionPlanner : public rclcpp::Node bool check_reroute_safety(const LaneletRoute & original_route, const LaneletRoute & target_route); std::unique_ptr logger_configure_; + rclcpp::Publisher::SharedPtr pub_processing_time_; }; } // namespace autoware::mission_planner diff --git a/planning/autoware_mission_planner/src/mission_planner/route_selector.cpp b/planning/autoware_mission_planner/src/mission_planner/route_selector.cpp index bfc809b921d90..5ee565af00423 100644 --- a/planning/autoware_mission_planner/src/mission_planner/route_selector.cpp +++ b/planning/autoware_mission_planner/src/mission_planner/route_selector.cpp @@ -136,6 +136,19 @@ RouteSelector::RouteSelector(const rclcpp::NodeOptions & options) initialized_ = false; mrm_operating_ = false; main_request_ = std::monostate{}; + + // Processing time + pub_processing_time_ = + this->create_publisher("~/debug/processing_time_ms", 1); +} + +void RouteSelector::publish_processing_time( + autoware::universe_utils::StopWatch stop_watch) +{ + tier4_debug_msgs::msg::Float64Stamped processing_time_msg; + processing_time_msg.stamp = get_clock()->now(); + processing_time_msg.data = stop_watch.toc(); + pub_processing_time_->publish(processing_time_msg); } void RouteSelector::on_state(const RouteState::ConstSharedPtr msg) diff --git a/planning/autoware_mission_planner/src/mission_planner/route_selector.hpp b/planning/autoware_mission_planner/src/mission_planner/route_selector.hpp index a3423d7fbf1bd..5c8f81aaf216e 100644 --- a/planning/autoware_mission_planner/src/mission_planner/route_selector.hpp +++ b/planning/autoware_mission_planner/src/mission_planner/route_selector.hpp @@ -15,9 +15,11 @@ #ifndef MISSION_PLANNER__ROUTE_SELECTOR_HPP_ #define MISSION_PLANNER__ROUTE_SELECTOR_HPP_ +#include #include #include +#include #include #include #include @@ -64,6 +66,8 @@ class RouteSelector : public rclcpp::Node { public: explicit RouteSelector(const rclcpp::NodeOptions & options); + void publish_processing_time( + autoware::universe_utils::StopWatch stop_watch); private: using WaypointRequest = SetWaypointRoute::Request::SharedPtr; @@ -78,6 +82,7 @@ class RouteSelector : public rclcpp::Node rclcpp::Client::SharedPtr cli_set_lanelet_route_; rclcpp::Subscription::SharedPtr sub_state_; rclcpp::Subscription::SharedPtr sub_route_; + rclcpp::Publisher::SharedPtr pub_processing_time_; bool initialized_; bool mrm_operating_; diff --git a/planning/autoware_mission_planner/src/mission_planner/service_utils.hpp b/planning/autoware_mission_planner/src/mission_planner/service_utils.hpp index 6e942ead9b383..b12b5f635275c 100644 --- a/planning/autoware_mission_planner/src/mission_planner/service_utils.hpp +++ b/planning/autoware_mission_planner/src/mission_planner/service_utils.hpp @@ -15,6 +15,8 @@ #ifndef MISSION_PLANNER__SERVICE_UTILS_HPP_ #define MISSION_PLANNER__SERVICE_UTILS_HPP_ +#include + #include #include @@ -57,11 +59,13 @@ template std::function handle_exception(void (T::*callback)(Req, Res), T * instance) { return [instance, callback](Req req, Res res) { + autoware::universe_utils::StopWatch stop_watch; try { (instance->*callback)(req, res); } catch (const ServiceException & error) { error.set(res->status); } + instance->publish_processing_time(stop_watch); }; } From 9efee7824ed0d7217a85e72c840bc34af198b8b3 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Mon, 25 Nov 2024 17:30:20 +0900 Subject: [PATCH 530/701] ci: use CodeBuild for clang-tidy-differential (#9451) Signed-off-by: Ryohsuke Mitsudome --- .github/workflows/build-and-test-differential.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index c824bb94b2a6c..871fc67499f48 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -75,7 +75,7 @@ jobs: clang-tidy-differential: needs: build-and-test-differential - runs-on: ubuntu-22.04 + runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda steps: - name: Set PR fetch depth From 9c6895b191163c20726828523b1282e5aed8566a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 25 Nov 2024 18:45:02 +0900 Subject: [PATCH 531/701] fix(bpp)!: remove stop reason (#9449) fix(bpp): remove stop reason Signed-off-by: satoshi-ota --- .../autoware_behavior_path_planner/README.md | 1 - .../behavior_path_planner_node.hpp | 3 -- .../behavior_path_planner/planner_manager.hpp | 32 ------------------- .../launch/behavior_path_planner.launch.xml | 1 - .../src/behavior_path_planner_node.cpp | 2 -- .../interface/scene_module_interface.hpp | 29 ----------------- .../src/interface/scene_module_interface.cpp | 2 -- 7 files changed, 70 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/README.md b/planning/behavior_path_planner/autoware_behavior_path_planner/README.md index b6282e39e3910..ab8d02dc83f92 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/README.md @@ -113,7 +113,6 @@ The Planner Manager's responsibilities include: | ~/output/turn_indicators_cmd | `autoware_vehicle_msgs::msg::TurnIndicatorsCommand` | turn indicators command. | `volatile` | | ~/output/hazard_lights_cmd | `autoware_vehicle_msgs::msg::HazardLightsCommand` | hazard lights command. | `volatile` | | ~/output/modified_goal | `autoware_planning_msgs::msg::PoseWithUuidStamped` | output modified goal commands. | `transient_local` | -| ~/output/stop_reasons | `tier4_planning_msgs::msg::StopReasonArray` | describe the reason for ego vehicle stop | `volatile` | | ~/output/reroute_availability | `tier4_planning_msgs::msg::RerouteAvailability` | the path the module is about to take. to be executed as soon as external approval is obtained. | `volatile` | ### Debug diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp index f0bd4486eb04a..ebe7c47e6fab2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp @@ -40,7 +40,6 @@ #include #include #include -#include #include #include @@ -71,7 +70,6 @@ using tier4_planning_msgs::msg::LateralOffset; using tier4_planning_msgs::msg::PathWithLaneId; using tier4_planning_msgs::msg::RerouteAvailability; using tier4_planning_msgs::msg::Scenario; -using tier4_planning_msgs::msg::StopReasonArray; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; @@ -122,7 +120,6 @@ class BehaviorPathPlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr hazard_signal_publisher_; rclcpp::Publisher::SharedPtr bound_publisher_; rclcpp::Publisher::SharedPtr modified_goal_publisher_; - rclcpp::Publisher::SharedPtr stop_reason_publisher_; rclcpp::Publisher::SharedPtr reroute_availability_publisher_; rclcpp::Publisher::SharedPtr pub_steering_factors_; rclcpp::TimerBase::SharedPtr timer_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp index 0cb9c02ccbc4b..3bed1e6a88bd8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp @@ -26,7 +26,6 @@ #include #include -#include #include @@ -42,7 +41,6 @@ namespace autoware::behavior_path_planner using autoware::universe_utils::StopWatch; using tier4_planning_msgs::msg::PathWithLaneId; -using tier4_planning_msgs::msg::StopReasonArray; using SceneModulePtr = std::shared_ptr; using SceneModuleManagerPtr = std::shared_ptr; using DebugPublisher = autoware::universe_utils::DebugPublisher; @@ -484,36 +482,6 @@ class PlannerManager return ret; } - /** - * @brief aggregate launched module's stop reasons. - * @return stop reason array - */ - StopReasonArray getStopReasons() const - { - StopReasonArray stop_reason_array; - stop_reason_array.header.frame_id = "map"; - stop_reason_array.header.stamp = clock_.now(); - - const auto approved_module_ptrs = approved_modules(); - const auto candidate_module_ptrs = candidate_modules(); - - std::for_each(approved_module_ptrs.begin(), approved_module_ptrs.end(), [&](const auto & m) { - const auto reason = m->getStopReason(); - if (reason.reason != "") { - stop_reason_array.stop_reasons.push_back(m->getStopReason()); - } - }); - - std::for_each(candidate_module_ptrs.begin(), candidate_module_ptrs.end(), [&](const auto & m) { - const auto reason = m->getStopReason(); - if (reason.reason != "") { - stop_reason_array.stop_reasons.push_back(m->getStopReason()); - } - }); - - return stop_reason_array; - } - /** * @brief check if re-routable approved module is running(namely except for fixed_goal_planner * and dynamic_avoidance) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/launch/behavior_path_planner.launch.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/launch/behavior_path_planner.launch.xml index 79c590363beb5..e088250219039 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/launch/behavior_path_planner.launch.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/launch/behavior_path_planner.launch.xml @@ -37,7 +37,6 @@ - diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp index a2fffa0bb7a63..7758ab530e88c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp @@ -51,7 +51,6 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod const auto durable_qos = rclcpp::QoS(1).transient_local(); modified_goal_publisher_ = create_publisher("~/output/modified_goal", durable_qos); - stop_reason_publisher_ = create_publisher("~/output/stop_reasons", 1); pub_steering_factors_ = create_publisher("/planning/steering_factor/intersection", 1); reroute_availability_publisher_ = @@ -408,7 +407,6 @@ void BehaviorPathPlannerNode::run() publishSceneModuleDebugMsg(planner_manager_->getDebugMsg()); publishPathCandidate(planner_manager_->getSceneModuleManagers(), planner_data_); publishPathReference(planner_manager_->getSceneModuleManagers(), planner_data_); - stop_reason_publisher_->publish(planner_manager_->getStopReasons()); // publish modified goal only when it is updated if ( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index 5da5c9ccc6c15..9fc4113e87d9e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -39,9 +39,6 @@ #include #include #include -#include -#include -#include #include #include #include @@ -69,9 +66,6 @@ using autoware_adapi_v1_msgs::msg::SteeringFactor; using autoware_adapi_v1_msgs::msg::VelocityFactor; using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; using tier4_planning_msgs::msg::PathWithLaneId; -using tier4_planning_msgs::msg::StopFactor; -using tier4_planning_msgs::msg::StopReason; -using tier4_planning_msgs::msg::StopReasonArray; using tier4_rtc_msgs::msg::State; using unique_identifier_msgs::msg::UUID; using visualization_msgs::msg::MarkerArray; @@ -192,8 +186,6 @@ class SceneModuleInterface reset_factor(); - stop_reason_ = StopReason(); - processOnExit(); } @@ -266,8 +258,6 @@ class SceneModuleInterface ModuleStatus getCurrentStatus() const { return current_state_; } - StopReason getStopReason() const { return stop_reason_; } - void reset_factor() { steering_factor_interface_.reset(); @@ -446,8 +436,6 @@ class SceneModuleInterface BehaviorModuleOutput previous_module_output_; - StopReason stop_reason_; - bool is_locked_new_module_launch_{false}; bool is_locked_output_path_{false}; @@ -580,23 +568,6 @@ class SceneModuleInterface path.points, getEgoPose(), slow_pose_.value(), VelocityFactor::APPROACHING, "slow down"); } - void setStopReason(const std::string & stop_reason, const PathWithLaneId & path) - { - stop_reason_.reason = stop_reason; - stop_reason_.stop_factors.clear(); - - if (!stop_pose_) { - stop_reason_.reason = ""; - return; - } - - StopFactor stop_factor; - stop_factor.stop_pose = stop_pose_.value(); - stop_factor.dist_to_stop_pose = autoware::motion_utils::calcSignedArcLength( - path.points, getEgoPosition(), stop_pose_.value().position); - stop_reason_.stop_factors.push_back(stop_factor); - } - void setDrivableLanes(const std::vector & drivable_lanes); BehaviorModuleOutput getPreviousModuleOutput() const { return previous_module_output_; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp index 580b9c73888b6..a6c480e130d7a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp @@ -26,8 +26,6 @@ void SceneModuleInterface::onEntry() { RCLCPP_DEBUG(getLogger(), "%s %s", name_.c_str(), __func__); - stop_reason_ = StopReason(); - processOnEntry(); } } // namespace autoware::behavior_path_planner From 685f1aa46bf791fdb3966d0793c2b6fd5c15344d Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Mon, 25 Nov 2024 20:23:19 +0900 Subject: [PATCH 532/701] fix(autoware_smart_mpc_trajectory_follower): fix clang-diagnostic-ignored-optimization-argument (#9437) Signed-off-by: veqcc --- control/autoware_smart_mpc_trajectory_follower/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/control/autoware_smart_mpc_trajectory_follower/CMakeLists.txt b/control/autoware_smart_mpc_trajectory_follower/CMakeLists.txt index b4b21bded9c73..37d7925cdf0a0 100644 --- a/control/autoware_smart_mpc_trajectory_follower/CMakeLists.txt +++ b/control/autoware_smart_mpc_trajectory_follower/CMakeLists.txt @@ -9,6 +9,8 @@ find_package(pybind11 REQUIRED) find_package(Eigen3 REQUIRED) autoware_package() +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-ignored-optimization-argument") + execute_process(COMMAND bash -c "pip3 install numba==0.58.1 --force-reinstall") execute_process(COMMAND bash -c "pip3 install GPy") From 9769a9e3c24a072b847760a4ba8a8aeb930bf76e Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 25 Nov 2024 22:43:19 +0900 Subject: [PATCH 533/701] test(bpp_common): add unit test for traffic light utils (#9441) * add test data for traffic light utils Signed-off-by: Go Sakayori * add unit test function Signed-off-by: Go Sakayori * fix style Signed-off-by: Go Sakayori * use test_utils::resolve_plg_share_uri for map path Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../CMakeLists.txt | 5 +- .../src/utils/traffic_light_utils.cpp | 2 +- .../test/test_traffic_light_utils.cpp | 174 +++++++++++ .../test/test_utils.cpp | 2 +- .../test_data/test_traffic_light.yaml | 285 ++++++++++++++++++ 5 files changed, 465 insertions(+), 3 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_traffic_light_utils.cpp create mode 100644 planning/behavior_path_planner/autoware_behavior_path_planner_common/test_data/test_traffic_light.yaml diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index ac33966a1bf7c..35fa1584c4635 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -35,6 +35,7 @@ if(BUILD_TESTING) ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_utilities test/test_utils.cpp test/test_path_utils.cpp + test/test_traffic_light_utils.cpp ) target_link_libraries(test_${PROJECT_NAME}_utilities @@ -93,4 +94,6 @@ if(BUILD_TESTING) ) endif() -ament_auto_package() +ament_auto_package(INSTALL_TO_SHARE + test_data +) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp index 19c9bbcf365a3..c31bddd921f99 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp @@ -130,7 +130,7 @@ bool isStoppedAtRedTrafficLightWithinDistance( return false; } - return (distance_to_red_traffic_light < distance_threshold); + return (distance_to_red_traffic_light.value() < distance_threshold); } bool isTrafficSignalStop( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_traffic_light_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_traffic_light_utils.cpp new file mode 100644 index 0000000000000..a5d77b96292f9 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_traffic_light_utils.cpp @@ -0,0 +1,174 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "ament_index_cpp/get_package_share_directory.hpp" +#include "autoware/behavior_path_planner_common/data_manager.hpp" +#include "autoware/behavior_path_planner_common/utils/traffic_light_utils.hpp" +#include "autoware_test_utils/autoware_test_utils.hpp" +#include "autoware_test_utils/mock_data_parser.hpp" + +#include + +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include + +using autoware::behavior_path_planner::PlannerData; +using autoware::behavior_path_planner::TrafficSignalStamped; +using autoware_perception_msgs::msg::TrafficLightGroupArray; +using autoware_planning_msgs::msg::LaneletRoute; +using geometry_msgs::msg::Pose; + +const double epsilon = 1e-06; + +class TrafficLightTest : public ::testing::Test +{ +protected: + void SetUp() override + { + planner_data_ = std::make_shared(); + const auto test_data_file = + ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner_common") + + "/test_data/test_traffic_light.yaml"; + YAML::Node config = YAML::LoadFile(test_data_file); + + set_current_pose(config); + set_route_handler(config); + set_traffic_signal(config); + } + + void set_current_pose(YAML::Node config) + { + const auto self_odometry = + autoware::test_utils::parse(config["self_odometry"]); + planner_data_->self_odometry = std::make_shared(self_odometry); + } + + void set_route_handler(YAML::Node config) + { + const auto route = autoware::test_utils::parse(config["route"]); + const auto map_path = + autoware::test_utils::resolve_pkg_share_uri(config["map_path_uri"].as()); + if (!map_path.has_value()) return; + const auto intersection_map = autoware::test_utils::make_map_bin_msg(map_path.value()); + planner_data_->route_handler->setMap(intersection_map); + planner_data_->route_handler->setRoute(route); + + for (const auto & segment : route.segments) { + lanelets.push_back( + planner_data_->route_handler->getLaneletsFromId(segment.preferred_primitive.id)); + } + } + + void set_traffic_signal(YAML::Node config) + { + const auto traffic_light = + autoware::test_utils::parse(config["traffic_signal"]); + for (const auto & signal : traffic_light.traffic_light_groups) { + TrafficSignalStamped traffic_signal; + traffic_signal.stamp = rclcpp::Clock{RCL_ROS_TIME}.now(); + traffic_signal.signal = signal; + planner_data_->traffic_light_id_map[signal.traffic_light_group_id] = traffic_signal; + } + } + + void set_zero_velocity() + { + nav_msgs::msg::Odometry odometry; + odometry.pose.pose = planner_data_->self_odometry->pose.pose; + odometry.twist.twist.linear = autoware::universe_utils::createVector3(0.0, 0.0, 0.0); + planner_data_->self_odometry = std::make_shared(odometry); + } + + lanelet::ConstLanelets lanelets; + std::shared_ptr planner_data_; +}; + +TEST_F(TrafficLightTest, getDistanceToNextTrafficLight) +{ + using autoware::behavior_path_planner::utils::traffic_light::getDistanceToNextTrafficLight; + + { + const Pose pose = autoware::test_utils::createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + const lanelet::ConstLanelets empty_lanelets; + EXPECT_DOUBLE_EQ( + getDistanceToNextTrafficLight(pose, empty_lanelets), std::numeric_limits::infinity()); + } + { + EXPECT_NEAR( + getDistanceToNextTrafficLight(planner_data_->self_odometry->pose.pose, lanelets), 117.1599371, + epsilon); + } +} + +TEST_F(TrafficLightTest, calcDistanceToRedTrafficLight) +{ + using autoware::behavior_path_planner::utils::traffic_light::calcDistanceToRedTrafficLight; + + { + const tier4_planning_msgs::msg::PathWithLaneId path; + const lanelet::ConstLanelets empty_lanelets; + EXPECT_FALSE(calcDistanceToRedTrafficLight(empty_lanelets, path, planner_data_).has_value()); + } + { + const auto path = planner_data_->route_handler->getCenterLinePath(lanelets, 0.0, 300.0); + const auto distance = calcDistanceToRedTrafficLight(lanelets, path, planner_data_); + ASSERT_TRUE(distance.has_value()); + EXPECT_NEAR(distance.value(), 117.1096960, epsilon); + } +} + +TEST_F(TrafficLightTest, isStoppedAtRedTrafficLightWithinDistance) +{ + using autoware::behavior_path_planner::utils::traffic_light:: + isStoppedAtRedTrafficLightWithinDistance; + const auto distance_threshold = 10.0; + const auto path = planner_data_->route_handler->getCenterLinePath(lanelets, 0.0, 300.0); + { + EXPECT_FALSE( + isStoppedAtRedTrafficLightWithinDistance(lanelets, path, planner_data_, distance_threshold)); + } + { + set_zero_velocity(); + EXPECT_FALSE( + isStoppedAtRedTrafficLightWithinDistance(lanelets, path, planner_data_, distance_threshold)); + } + { + set_zero_velocity(); + EXPECT_TRUE(isStoppedAtRedTrafficLightWithinDistance(lanelets, path, planner_data_)); + } +} + +TEST_F(TrafficLightTest, isTrafficSignalStop) +{ + using autoware::behavior_path_planner::utils::traffic_light::isTrafficSignalStop; + + { + const lanelet::ConstLanelets empty_lanelets; + EXPECT_FALSE(isTrafficSignalStop(empty_lanelets, planner_data_)); + } + { + EXPECT_TRUE(isTrafficSignalStop(lanelets, planner_data_)); + } +} diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp index 09c7561955801..4326cfdb8e6be 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp @@ -1,4 +1,4 @@ -// Copyright 2024 Tier IV, Inc. All rights reserved. +// Copyright 2024 TIER IV, Inc. All rights reserved. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_data/test_traffic_light.yaml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_data/test_traffic_light.yaml new file mode 100644 index 0000000000000..10d40a15fdb5a --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_data/test_traffic_light.yaml @@ -0,0 +1,285 @@ +# +# AUTO GENERATED by autoware_test_utils::topic_snapshot_saver +# format1: +# +# format_version: +# map_path_uri: package:/// +# fields(this is array) +# - name: +# type: either {Odometry | AccelWithCovarianceStamped | PredictedObjects | OperationModeState | LaneletRoute | TrafficLightGroupArray | TrackedObjects | TBD} +# topic: +# +format_version: 1 +map_path_uri: package://autoware_test_utils/test_map/intersection/lanelet2_map.osm +dynamic_object: + header: + stamp: + sec: 50 + nanosec: 334681087 + frame_id: map + objects: [] +traffic_signal: + stamp: + sec: 1732179380 + nanosec: 814263853 + traffic_light_groups: + - traffic_light_group_id: 3010757 + elements: + - color: 1 + shape: 1 + status: 2 + confidence: 1.00000 +route: + header: + stamp: + sec: 24 + nanosec: 685572149 + frame_id: map + start_pose: + position: + x: 363.790 + y: 433.627 + z: 100.000 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.695229 + w: 0.718789 + goal_pose: + position: + x: 356.900 + y: 863.677 + z: 100.000 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.715472 + w: 0.698641 + segments: + - preferred_primitive: + id: 1001 + primitive_type: "" + primitives: + - id: 1000 + primitive_type: lane + - id: 1001 + primitive_type: lane + - id: 1002 + primitive_type: lane + - id: 1003 + primitive_type: lane + - preferred_primitive: + id: 1011 + primitive_type: "" + primitives: + - id: 1010 + primitive_type: lane + - id: 1011 + primitive_type: lane + - id: 1012 + primitive_type: lane + - preferred_primitive: + id: 1101 + primitive_type: "" + primitives: + - id: 1100 + primitive_type: lane + - id: 1101 + primitive_type: lane + - id: 1102 + primitive_type: lane + - preferred_primitive: + id: 3501 + primitive_type: "" + primitives: + - id: 3500 + primitive_type: lane + - id: 3501 + primitive_type: lane + - id: 3502 + primitive_type: lane + uuid: + uuid: + - 6 + - 70 + - 102 + - 94 + - 252 + - 4 + - 42 + - 203 + - 16 + - 204 + - 158 + - 233 + - 14 + - 119 + - 47 + - 217 + allow_modification: false +operation_mode: + stamp: + sec: 37 + nanosec: 230399363 + mode: 2 + is_autoware_control_enabled: true + is_in_transition: false + is_stop_mode_available: true + is_autonomous_mode_available: true + is_local_mode_available: true + is_remote_mode_available: true +self_acceleration: + header: + stamp: + sec: 50 + nanosec: 365979114 + frame_id: /base_link + accel: + accel: + linear: + x: 0.528559 + y: -0.0304000 + z: 0.00000 + angular: + x: 0.00000 + y: 0.00000 + z: 0.00000 + covariance: + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 +self_odometry: + header: + stamp: + sec: 50 + nanosec: 365979114 + frame_id: map + child_frame_id: base_link + pose: + pose: + position: + x: 364.031 + y: 495.469 + z: 100.000 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.707849 + w: 0.706364 + covariance: + - 0.000100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.000100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + twist: + twist: + linear: + x: 10.4530 + y: 0.00000 + z: 0.00000 + angular: + x: 0.00000 + y: 0.00000 + z: -0.00290825 + covariance: + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 From b075d50e2abc3852a6b3075f2c2aef15e77a8351 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Mon, 25 Nov 2024 16:43:47 +0100 Subject: [PATCH 534/701] fix(autoware_pyplot): fix missing python3-dev dependency (#9461) Signed-off-by: Esteve Fernandez --- common/autoware_pyplot/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/common/autoware_pyplot/package.xml b/common/autoware_pyplot/package.xml index 1391db88cddff..af0237d0aead8 100644 --- a/common/autoware_pyplot/package.xml +++ b/common/autoware_pyplot/package.xml @@ -14,6 +14,7 @@ autoware_cmake pybind11-dev + python3-dev ament_cmake_ros ament_lint_auto From 81dab81cc764ce0a232f2cab643553faa8195527 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Tue, 26 Nov 2024 08:50:27 +0900 Subject: [PATCH 535/701] test(bpp_common): add unit test for object filtering (#9408) * add unit test for all function Signed-off-by: Go Sakayori * add function to create bounding nox object Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori --- .../test/test_objects_filtering.cpp | 301 ++++++++++++++++-- 1 file changed, 272 insertions(+), 29 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp index 88ed968d27b64..e7280c5bc150b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp @@ -14,12 +14,21 @@ #include "autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp" #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" +#include "autoware/behavior_path_planner_common/utils/utils.hpp" #include +#include #include +#include + #include #include +#include + +#include +#include +#include using PredictedObject = autoware_perception_msgs::msg::PredictedObject; using PredictedObjects = autoware_perception_msgs::msg::PredictedObjects; @@ -32,10 +41,34 @@ using tier4_planning_msgs::msg::PathPointWithLaneId; using autoware::test_utils::createPose; using autoware::test_utils::generateTrajectory; +using autoware::test_utils::make_lanelet; using autoware::universe_utils::createPoint; +using autoware::universe_utils::createVector3; constexpr double epsilon = 1e-6; +const auto intersection_map = + autoware::test_utils::make_map_bin_msg(autoware::test_utils::get_absolute_path_to_lanelet_map( + "autoware_test_utils", "intersection/lanelet2_map.osm")); + +PredictedObject create_bounding_box_object( + const geometry_msgs::msg::Pose pose, + const geometry_msgs::msg::Vector3 velocity = geometry_msgs::msg::Vector3(), + const double x_dimension = 1.0, const double y_dimension = 1.0, + const std::vector & classification = std::vector()) +{ + PredictedObject object; + object.object_id = autoware::universe_utils::generateUUID(); + object.kinematics.initial_pose_with_covariance.pose = pose; + object.kinematics.initial_twist_with_covariance.twist.linear = velocity; + object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object.shape.dimensions.x = x_dimension; + object.shape.dimensions.y = y_dimension; + object.classification = classification; + + return object; +} + std::vector trajectory_to_path_with_lane_id(const Trajectory & trajectory) { std::vector path_with_lane_id; @@ -81,8 +114,7 @@ TEST(BehaviorPathPlanningObjectsFiltering, position_filter) using autoware::behavior_path_planner::utils::path_safety_checker::filter::position_filter; auto current_pos = createPoint(0.0, 0.0, 0.0); - PredictedObject object; - object.kinematics.initial_pose_with_covariance.pose = createPose(10.0, 0.0, 0.0, 0.0, 0.0, 0.0); + PredictedObject object = create_bounding_box_object(createPose(10.0, 0.0, 0.0, 0.0, 0.0, 0.0)); auto straight_trajectory = generateTrajectory(20, 1.0); double forward_distance = 20.0; double backward_distance = 1.0; @@ -129,23 +161,101 @@ TEST(BehaviorPathPlanningObjectsFiltering, is_within_circle) EXPECT_TRUE(is_within_circle(object_pos, ref_point, search_radius)); } +TEST(BehaviorPathPlanningObjectsFiltering, isCentroidWithinLanelet) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::isCentroidWithinLanelet; + using autoware::behavior_path_planner::utils::path_safety_checker::isCentroidWithinLanelets; + + auto object = create_bounding_box_object(createPose(0.5, 0.0, 0.0, 0.0, 0.0, 0.0)); + auto lanelet = make_lanelet({0.0, 1.0}, {5.0, 1.0}, {0.0, -1.0}, {5.0, -1.0}); + double yaw_threshold = M_PI_2; + + EXPECT_TRUE(isCentroidWithinLanelet(object, lanelet, yaw_threshold)); + + object.kinematics.initial_pose_with_covariance.pose.position.x = 8.0; + EXPECT_FALSE(isCentroidWithinLanelet(object, lanelet, yaw_threshold)); + + lanelet::ConstLanelets target_lanelets; + target_lanelets.push_back(lanelet); + target_lanelets.push_back(make_lanelet({5.0, 1.0}, {10.0, 1.0}, {5.0, -1.0}, {10.0, -1.0})); + EXPECT_TRUE(isCentroidWithinLanelets(object, target_lanelets)); +} + +TEST(BehaviorPathPlanningObjectsFiltering, isPolygonOverlapLanelet) +{ + using autoware::behavior_path_planner::utils::toPolygon2d; + using autoware::behavior_path_planner::utils::path_safety_checker::isPolygonOverlapLanelet; + + PredictedObject object = create_bounding_box_object(createPose(0.5, 0.0, 0.0, 0.0, 0.0, 0.0)); + + auto lanelet = make_lanelet({0.0, 1.0}, {5.0, 1.0}, {0.0, -1.0}, {5.0, -1.0}); + double yaw_threshold = M_PI_2; + + EXPECT_TRUE(isPolygonOverlapLanelet(object, lanelet.polygon2d().basicPolygon())); + EXPECT_TRUE(isPolygonOverlapLanelet(object, toPolygon2d(lanelet))); + EXPECT_TRUE(isPolygonOverlapLanelet(object, lanelet, yaw_threshold)); + + object.kinematics.initial_pose_with_covariance.pose = createPose(10.0, 10.0, 0.0, 0.0, 0.0, 0.0); + EXPECT_FALSE(isPolygonOverlapLanelet(object, lanelet.polygon2d().basicPolygon())); + EXPECT_FALSE(isPolygonOverlapLanelet(object, toPolygon2d(lanelet))); + EXPECT_FALSE(isPolygonOverlapLanelet(object, lanelet, yaw_threshold)); +} + +TEST(BehaviorPathPlanningObjectsFiltering, filterObjects) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::filterObjects; + using autoware::behavior_path_planner::utils::path_safety_checker::ObjectsFilteringParams; + using autoware::universe_utils::createVector3; + + std::shared_ptr objects = std::make_shared(); + std::shared_ptr route_handler = + std::make_shared(); + std::shared_ptr params = std::make_shared(); + params->ignore_object_velocity_threshold = false; + params->object_check_forward_distance = 20.0; + params->object_check_backward_distance = 10.0; + params->object_types_to_check.check_car = true; + route_handler->setMap(intersection_map); + lanelet::ConstLanelets current_lanes; + + current_lanes.push_back(route_handler->getLaneletsFromId(1000)); + current_lanes.push_back(route_handler->getLaneletsFromId(1010)); + auto current_pose = createPoint(360.22, 600.51, 0.0); + + EXPECT_TRUE( + filterObjects(objects, route_handler, current_lanes, current_pose, params).objects.empty()); + + ObjectClassification classification; + classification.label = ObjectClassification::Type::CAR; + classification.probability = 1.0; + + auto target_object = create_bounding_box_object( + createPose(360.22, 605.51, 0.0, 0.0, 0.0, 0.0), createVector3(1.0, 1.0, 0.0)); + target_object.classification.push_back(classification); + auto other_object = create_bounding_box_object( + createPose(370.22, 600.51, 0.0, 0.0, 0.0, 0.0), createVector3(1.0, 1.0, 0.0)); + other_object.classification.push_back(classification); + + objects->objects.push_back(target_object); + objects->objects.push_back(other_object); + + auto filtered_object = filterObjects(objects, route_handler, current_lanes, current_pose, params); + EXPECT_FALSE(filtered_object.objects.empty()); + EXPECT_EQ(filtered_object.objects.front().object_id, target_object.object_id); +} + TEST(BehaviorPathPlanningObjectsFiltering, filterObjectsByVelocity) { using autoware::behavior_path_planner::utils::path_safety_checker::filterObjectsByVelocity; PredictedObjects objects; - PredictedObject slow_obj; - PredictedObject fast_obj; + auto slow_obj = create_bounding_box_object( + createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), createVector3(2.0, 0.0, 0.0)); + auto fast_obj = create_bounding_box_object( + createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), createVector3(10.0, 0.0, 0.0)); double vel_thr = 5.0; - slow_obj.object_id = autoware::universe_utils::generateUUID(); - slow_obj.kinematics.initial_twist_with_covariance.twist.linear.x = 2.0; - slow_obj.kinematics.initial_twist_with_covariance.twist.linear.y = 0.0; objects.objects.push_back(slow_obj); - - fast_obj.object_id = autoware::universe_utils::generateUUID(); - fast_obj.kinematics.initial_twist_with_covariance.twist.linear.x = 10.0; - fast_obj.kinematics.initial_twist_with_covariance.twist.linear.y = 0.0; objects.objects.push_back(fast_obj); auto filtered_obj = filterObjectsByVelocity(objects, vel_thr, false); @@ -176,17 +286,12 @@ TEST(BehaviorPathPlanningObjectsFiltering, filterObjectsByPosition) double search_radius = 10.0; PredictedObjects objects; - PredictedObject far_obj; - PredictedObject near_obj; + auto far_obj = create_bounding_box_object(createPose(50.0, 0.0, 0.0, 0.0, 0.0, 0.0)); + auto near_obj = create_bounding_box_object(createPose(5.0, 0.0, 0.0, 0.0, 0.0, 0.0)); - near_obj.object_id = autoware::universe_utils::generateUUID(); - near_obj.kinematics.initial_pose_with_covariance.pose = createPose(5.0, 0.0, 0.0, 0.0, 0.0, 0.0); objects.objects.push_back(near_obj); - auto target_uuid = near_obj.object_id; - - far_obj.object_id = autoware::universe_utils::generateUUID(); - far_obj.kinematics.initial_pose_with_covariance.pose = createPose(50.0, 0.0, 0.0, 0.0, 0.0, 0.0); objects.objects.push_back(far_obj); + auto target_uuid = near_obj.object_id; filterObjectsByPosition(objects, straight_path, current_pos, forward_distance, backward_distance); @@ -202,6 +307,108 @@ TEST(BehaviorPathPlanningObjectsFiltering, filterObjectsByPosition) EXPECT_EQ(objects.objects.front().object_id, target_uuid); } +TEST(BehaviorPathPlanningObjectsFiltering, separateObjectsByLanelets) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::isPolygonOverlapLanelet; + using autoware::behavior_path_planner::utils::path_safety_checker:: + separateObjectIndicesByLanelets; + using autoware::behavior_path_planner::utils::path_safety_checker::separateObjectsByLanelets; + + double yaw_threshold = M_PI_2; + + auto target_object = create_bounding_box_object(createPose(0.5, 0.0, 0.0, 0.0, 0.0, 0.0)); + auto other_object = create_bounding_box_object(createPose(-1.5, 0.0, 0.0, 0.0, 0.0, 0.0)); + + PredictedObjects objects; + objects.objects.push_back(target_object); + objects.objects.push_back(other_object); + + lanelet::ConstLanelets target_lanelets; + { + auto object_indices = separateObjectIndicesByLanelets( + objects, target_lanelets, + [](const auto & obj, const auto & lane, const auto & yaw_threshold) { + return isPolygonOverlapLanelet(obj, lane, yaw_threshold); + }, + yaw_threshold); + EXPECT_TRUE(object_indices.first.empty()); + EXPECT_TRUE(object_indices.second.empty()); + } + { + target_lanelets.push_back(make_lanelet({0.0, 1.0}, {5.0, 1.0}, {0.0, -1.0}, {5.0, -1.0})); + target_lanelets.push_back(make_lanelet({5.0, 1.0}, {10.0, 1.0}, {5.0, -1.0}, {10.0, -1.0})); + auto object_indices = separateObjectIndicesByLanelets( + objects, target_lanelets, + [](const auto & obj, const auto & lane, const auto & yaw_threshold) { + return isPolygonOverlapLanelet(obj, lane, yaw_threshold); + }, + yaw_threshold); + EXPECT_FALSE(object_indices.first.empty()); + EXPECT_FALSE(object_indices.second.empty()); + EXPECT_EQ(object_indices.first.front(), 0); + EXPECT_EQ(object_indices.second.front(), 1); + + auto filtered_object = separateObjectsByLanelets( + objects, target_lanelets, + [](const auto & obj, const auto & lane, const auto & yaw_threshold) { + return isPolygonOverlapLanelet(obj, lane, yaw_threshold); + }, + yaw_threshold); + EXPECT_FALSE(filtered_object.first.objects.empty()); + EXPECT_FALSE(filtered_object.second.objects.empty()); + EXPECT_EQ(filtered_object.first.objects.front().object_id, target_object.object_id); + EXPECT_EQ(filtered_object.second.objects.front().object_id, other_object.object_id); + } +} + +TEST(BehaviorPathPlanningObjectsFiltering, getPredictedPathFromObj) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::getPredictedPathFromObj; + using autoware::behavior_path_planner::utils::path_safety_checker:: + PoseWithVelocityAndPolygonStamped; + using autoware::behavior_path_planner::utils::path_safety_checker::PredictedPathWithPolygon; + + autoware::behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObject object; + std::vector predicted_paths; + PredictedPathWithPolygon predicted_path; + + autoware_perception_msgs::msg::Shape shape; + shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + shape.dimensions.x = 1.0; + shape.dimensions.y = 1.0; + + double velocity = 1.0; + + const auto path = [&](geometry_msgs::msg::Pose initial_pose) { + std::vector path; + geometry_msgs::msg::Pose pose; + for (size_t i = 0; i < 10; i++) { + auto time = static_cast(i); + pose.position.x = initial_pose.position.x + time * velocity; + pose.position.y = initial_pose.position.y; + PoseWithVelocityAndPolygonStamped obj_pose_with_poly( + time, pose, velocity, autoware::universe_utils::toPolygon2d(pose, shape)); + path.push_back(obj_pose_with_poly); + } + return path; + }; + + for (size_t i = 0; i < 2; i++) { + predicted_path.path = path(createPose(0.0, static_cast(i), 0.0, 0.0, 0.0, 0.0)); + predicted_path.confidence = 0.1f * (static_cast(i) + 1.0f); + predicted_paths.push_back(predicted_path); + } + object.predicted_paths = predicted_paths; + + bool use_all_predicted_path = true; + EXPECT_EQ(getPredictedPathFromObj(object, use_all_predicted_path).size(), 2); + + use_all_predicted_path = false; + auto extracted_path = getPredictedPathFromObj(object, use_all_predicted_path); + EXPECT_EQ(extracted_path.size(), 1); + EXPECT_DOUBLE_EQ(extracted_path.front().path.front().pose.position.y, 1.0); +} + TEST(BehaviorPathPlanningObjectsFiltering, createPredictedPath) { using autoware::behavior_path_planner::utils::path_safety_checker::createPredictedPath; @@ -257,22 +464,14 @@ TEST(BehaviorPathPlanningObjectsFiltering, transform) { using autoware::behavior_path_planner::utils::path_safety_checker::transform; auto velocity = autoware::universe_utils::createVector3(2.0, 0.0, 0.0); - auto angular = autoware::universe_utils::createVector3(0.0, 0.0, 0.0); - PredictedObject obj; - obj.object_id = autoware::universe_utils::generateUUID(); - obj.kinematics.initial_pose_with_covariance.pose = createPose(2.0, 0.0, 0.0, 0.0, 0.0, 0.0); - obj.kinematics.initial_twist_with_covariance.twist = - autoware::universe_utils::createTwist(velocity, angular); + auto obj = create_bounding_box_object( + createPose(2.0, 0.0, 0.0, 0.0, 0.0, 0.0), createVector3(2.0, 0.0, 0.0), 2.0, 1.0); autoware_perception_msgs::msg::PredictedPath predicted_path; auto straight_path = trajectory_to_predicted_path(generateTrajectory(5, 1.0)); straight_path.confidence = 0.6; straight_path.time_step.sec = 1.0; obj.kinematics.predicted_paths.push_back(straight_path); - obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; - obj.shape.dimensions.x = 2.0; - obj.shape.dimensions.y = 1.0; - obj.shape.dimensions.z = 1.0; double safety_check_time_horizon = 2.0; double safety_check_time_resolution = 0.5; @@ -356,6 +555,50 @@ TEST(BehaviorPathPlanningObjectsFiltering, filterObjectsByClass) EXPECT_TRUE(objects.objects.empty()); } +TEST(BehaviorPathPlanningObjectsFiltering, createTargetObjectsOnLane) +{ + using autoware::behavior_path_planner::utils::path_safety_checker::createTargetObjectsOnLane; + using autoware::behavior_path_planner::utils::path_safety_checker::ObjectsFilteringParams; + using autoware::universe_utils::createVector3; + + PredictedObjects objects; + std::shared_ptr route_handler = + std::make_shared(); + std::shared_ptr params = std::make_shared(); + params->object_lane_configuration = {true, true, true, true, true}; + params->include_opposite_lane = true; + params->invert_opposite_lane = false; + params->safety_check_time_horizon = 10.0; + params->safety_check_time_resolution = 1.0; + route_handler->setMap(intersection_map); + lanelet::ConstLanelets current_lanes; + + current_lanes.push_back(route_handler->getLaneletsFromId(1001)); + current_lanes.push_back(route_handler->getLaneletsFromId(1011)); + + ObjectClassification classification; + classification.label = ObjectClassification::Type::CAR; + classification.probability = 1.0; + + PredictedObject current_lane_object = + create_bounding_box_object(createPose(363.64, 565.03, 0.0, 0.0, 0.0, 0.0)); + PredictedObject right_lane_object = + create_bounding_box_object(createPose(366.91, 523.47, 0.0, 0.0, 0.0, 0.0)); + + objects.objects.push_back(current_lane_object); + objects.objects.push_back(right_lane_object); + + auto target_objects_on_lane = + createTargetObjectsOnLane(current_lanes, route_handler, objects, params); + EXPECT_FALSE(target_objects_on_lane.on_current_lane.empty()); + EXPECT_FALSE(target_objects_on_lane.on_right_lane.empty()); + EXPECT_TRUE(target_objects_on_lane.on_left_lane.empty()); + EXPECT_TRUE(target_objects_on_lane.on_other_lane.empty()); + + EXPECT_EQ(target_objects_on_lane.on_current_lane.front().uuid, current_lane_object.object_id); + EXPECT_EQ(target_objects_on_lane.on_right_lane.front().uuid, right_lane_object.object_id); +} + TEST(BehaviorPathPlanningObjectsFiltering, isTargetObjectType) { using autoware::behavior_path_planner::utils::path_safety_checker::isTargetObjectType; From e9093e6f09a3524f0b3a4756abdc88ec9637dbf9 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 26 Nov 2024 09:10:25 +0900 Subject: [PATCH 536/701] feat(autoware_ground_segmentation): grid data structure revision for efficiency improvement (#9297) * fix: replace point index to data index Signed-off-by: Taekjin LEE * feat: Use emplace_back instead of push_back for adding gnd_grids in node.cpp Signed-off-by: Taekjin LEE * fix: prep for non-sorted grid process Signed-off-by: Taekjin LEE * feat: Add Cell class and Grid class for grid-based segmentation Signed-off-by: Taekjin LEE * refactor: Add Cell and Grid classes for grid-based segmentation Signed-off-by: Taekjin LEE * feat: initialize new grid Signed-off-by: Taekjin LEE * refactor: Update Grid class initialization to use radians for azimuth size refactor: Update Grid class initialization to use radians for azimuth size refactor: Update Grid class initialization to use radians for azimuth size Signed-off-by: Taekjin LEE * refactor: Fix calculation of azimuth index in Grid class Signed-off-by: Taekjin LEE * feat: implement grid based segmentation, temporary logic Signed-off-by: Taekjin LEE * refactor: idx position convert methods Signed-off-by: Taekjin LEE * refactor: Update Grid class initialization to use radians for azimuth size Signed-off-by: Taekjin LEE * feat: reconnect grids filled Signed-off-by: Taekjin LEE * feat: grid initialization Signed-off-by: Taekjin LEE * refactor: Update Grid class initialization and reset methods, implement a segmentation logic refactor: Update Grid class initialization and reset methods, implement a segmentation logic refactor: replace original methods Signed-off-by: Taekjin LEE * feat: add time_keeper Signed-off-by: Taekjin LEE * refactor: add time keeper in grid class refactor: remove previous scan ground grid Signed-off-by: Taekjin LEE * refactor: optimize grid boundary calculations and use squared values for radius comparisons Signed-off-by: Taekjin LEE * fix: use pointer for prev cell Signed-off-by: Taekjin LEE * refactor: remove time keeper called too many times Signed-off-by: Taekjin LEE * fix: radial idx estimation fix Signed-off-by: Taekjin LEE * refactor: optimize ground bin average calculation fix: ground bin logic fix Signed-off-by: Taekjin LEE * refactor: make grid ground filter separate Signed-off-by: Taekjin LEE * refactor: remove unused code fix: azimuth grid index converter bug Signed-off-by: Taekjin LEE * fix: segmentation logic determination fix fix: cell connection bug fix Signed-off-by: Taekjin LEE * refactor: optimize pseudoArcTan2 function Signed-off-by: Taekjin LEE * refactor: update grid radial calculation Signed-off-by: Taekjin LEE * refactor: contain input cloud ptr Signed-off-by: Taekjin LEE * refactor: separate ground initialization Signed-off-by: Taekjin LEE * refactor: Remove unused code and optimize grid radial calculation Signed-off-by: Taekjin LEE * refactor: Inline functions for improved performance Signed-off-by: Taekjin LEE * feat: various azimuth interval per radial distance Signed-off-by: Taekjin LEE * refactor: Fix bug in grid ground filter segmentation logic and cell connection Remove unused code and optimize grid radial calculation Signed-off-by: Taekjin LEE * fix: add missing offset calculation Signed-off-by: Taekjin LEE * refactor: Improve grid ground filter segmentation logic and cell connection Optimize grid radial calculation and remove unused code Signed-off-by: Taekjin LEE * refactor: Remove debug print statements and optimize grid initialization Signed-off-by: Taekjin LEE * refactor: Update grid radial limit to 200.0m Signed-off-by: Taekjin LEE * refactor: Update grid size to 0.5m for improved ground segmentation Signed-off-by: Taekjin LEE * refactor: Improve grid ground filter segmentation logic Signed-off-by: Taekjin LEE * refactor: Optimize grid ground filter segmentation logic Signed-off-by: Taekjin LEE * refactor: Update logic order for fast segmentation Signed-off-by: Taekjin LEE * fix: resolve cppcheck issue Signed-off-by: Taekjin LEE * fix: pseudo atan2 fix for even distribution of azimuth Signed-off-by: Taekjin LEE * fix: remove unused next_grid_idx_ update Signed-off-by: Taekjin LEE * fix: introduce pseudo tangent to match result of pseudo arc tangent Signed-off-by: Taekjin LEE * style(pre-commit): autofix Signed-off-by: Taekjin LEE * fix: limit gradient Signed-off-by: Taekjin LEE * fix: bring previous average when the ground bin is empty Signed-off-by: Taekjin LEE * fix: back to constant azimuth interval grid Signed-off-by: Taekjin LEE * perf: remove division for efficiency Signed-off-by: Taekjin LEE * perf: remove division for efficiency Signed-off-by: Taekjin LEE * perf: contain radius and height to avoid double calculation Signed-off-by: Taekjin LEE * perf: optimize grid distance calculation for efficiency Signed-off-by: Taekjin LEE * style(pre-commit): autofix Signed-off-by: Taekjin LEE * perf: using isEmpty for efficiency Signed-off-by: Taekjin LEE * chore: initialization fix Signed-off-by: Taekjin LEE * perf: initial ground cell is integrated into the classify method for efficiency Signed-off-by: Taekjin LEE * perf: refactor grid initialization for efficiency Signed-off-by: Taekjin LEE * perf: optimize grid cell linking for efficiency Signed-off-by: Taekjin LEE * Revert "perf: initial ground cell is integrated into the classify method for efficiency" This reverts commit a4ab70b630f966d3e2827a07a0ec27079ecc78d2. Signed-off-by: Taekjin LEE * fix: fix pseudo atan2 bug Signed-off-by: Taekjin LEE * feat: various azimuth interval by range Signed-off-by: Taekjin LEE * perf: optimize pseudoArcTan2 function for efficiency Signed-off-by: Taekjin LEE * style(pre-commit): autofix Signed-off-by: Taekjin LEE * fix: avoid zero division on the slope estimation Signed-off-by: Taekjin LEE * fix: limit recursive search Signed-off-by: Taekjin LEE refactor: improve efficiency of recursiveSearch function Fix function parameter type in GridGroundFilter * refactor: add comments about unclassified case Signed-off-by: Taekjin LEE * chore: add comment to explain methods Signed-off-by: Taekjin LEE * refactor: remove unnecessary include statement Signed-off-by: Taekjin LEE * refactor: cast point_list size to int in getPointNum method Signed-off-by: Taekjin LEE * refactor: add index check in getCell method Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../CMakeLists.txt | 1 + .../config/scan_ground_filter.param.yaml | 2 +- .../src/scan_ground_filter/data.hpp | 69 +++ .../src/scan_ground_filter/grid.hpp | 501 ++++++++++++++++-- .../scan_ground_filter/grid_ground_filter.cpp | 492 +++++++++++++++++ .../scan_ground_filter/grid_ground_filter.hpp | 221 ++++++++ .../src/scan_ground_filter/node.cpp | 476 ++--------------- .../src/scan_ground_filter/node.hpp | 93 +--- 8 files changed, 1293 insertions(+), 562 deletions(-) create mode 100644 perception/autoware_ground_segmentation/src/scan_ground_filter/data.hpp create mode 100644 perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp create mode 100644 perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.hpp diff --git a/perception/autoware_ground_segmentation/CMakeLists.txt b/perception/autoware_ground_segmentation/CMakeLists.txt index 9cf256b9492bb..957f06e8cecc3 100644 --- a/perception/autoware_ground_segmentation/CMakeLists.txt +++ b/perception/autoware_ground_segmentation/CMakeLists.txt @@ -25,6 +25,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/ray_ground_filter/node.cpp src/ransac_ground_filter/node.cpp src/scan_ground_filter/node.cpp + src/scan_ground_filter/grid_ground_filter.cpp ) target_link_libraries(${PROJECT_NAME} diff --git a/perception/autoware_ground_segmentation/config/scan_ground_filter.param.yaml b/perception/autoware_ground_segmentation/config/scan_ground_filter.param.yaml index 49c6c32624e75..ce07e83ecc833 100644 --- a/perception/autoware_ground_segmentation/config/scan_ground_filter.param.yaml +++ b/perception/autoware_ground_segmentation/config/scan_ground_filter.param.yaml @@ -6,7 +6,7 @@ use_virtual_ground_point: True split_height_distance: 0.2 non_ground_height_threshold: 0.20 - grid_size_m: 0.1 + grid_size_m: 0.5 grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 4 detection_range_z_max: 2.5 diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/data.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/data.hpp new file mode 100644 index 0000000000000..d2624ffb44c97 --- /dev/null +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/data.hpp @@ -0,0 +1,69 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef SCAN_GROUND_FILTER__DATA_HPP_ +#define SCAN_GROUND_FILTER__DATA_HPP_ + +#include + +#include + +namespace autoware::ground_segmentation +{ +using PointCloud2ConstPtr = sensor_msgs::msg::PointCloud2::ConstSharedPtr; + +class PclDataAccessor +{ +public: + PclDataAccessor() = default; + ~PclDataAccessor() = default; + + bool isInitialized() const { return data_offset_initialized_; } + + void setField(const PointCloud2ConstPtr & input) + { + data_offset_x_ = input->fields[pcl::getFieldIndex(*input, "x")].offset; + data_offset_y_ = input->fields[pcl::getFieldIndex(*input, "y")].offset; + data_offset_z_ = input->fields[pcl::getFieldIndex(*input, "z")].offset; + int intensity_index = pcl::getFieldIndex(*input, "intensity"); + if (intensity_index != -1) { + data_offset_intensity_ = input->fields[intensity_index].offset; + intensity_type_ = input->fields[intensity_index].datatype; + } else { + data_offset_intensity_ = -1; + } + data_offset_initialized_ = true; + } + + inline void getPoint( + const PointCloud2ConstPtr & input, const size_t data_index, pcl::PointXYZ & point) const + { + point.x = *reinterpret_cast(&input->data[data_index + data_offset_x_]); + point.y = *reinterpret_cast(&input->data[data_index + data_offset_y_]); + point.z = *reinterpret_cast(&input->data[data_index + data_offset_z_]); + } + +private: + // data field offsets + int data_offset_x_ = 0; + int data_offset_y_ = 0; + int data_offset_z_ = 0; + int data_offset_intensity_ = 0; + int intensity_type_ = 0; + bool data_offset_initialized_ = false; +}; + +} // namespace autoware::ground_segmentation + +#endif // SCAN_GROUND_FILTER__DATA_HPP_ diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp index cd55d4a548211..05fcde9317abe 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp @@ -17,93 +17,486 @@ #include #include +#include +#include #include +#include +#include +#include + +namespace +{ + +float pseudoArcTan2(const float y, const float x) +{ + // lightweight arc tangent + + // avoid divide-by-zero + if (y == 0.0f) { + if (x >= 0.0f) return 0.0f; + return M_PIf; + } + if (x == 0.0f) { + if (y >= 0.0f) return M_PI_2f; + return -M_PI_2f; + } + + const float x_abs = std::abs(x); + const float y_abs = std::abs(y); + + // divide to 8 zones + constexpr float M_2PIf = 2.0f * M_PIf; + constexpr float M_3PI_2f = 3.0f * M_PI_2f; + if (x_abs > y_abs) { + const float ratio = y_abs / x_abs; + const float angle = ratio * M_PI_4f; + if (y >= 0.0f) { + if (x >= 0.0f) return angle; // 1st zone + return M_PIf - angle; // 2nd zone + } else { + if (x >= 0.0f) return M_2PIf - angle; // 4th zone + return M_PIf + angle; // 3rd zone + } + } else { + const float ratio = x_abs / y_abs; + const float angle = ratio * M_PI_4f; + if (y >= 0.0f) { + if (x >= 0.0f) return M_PI_2f - angle; // 1st zone + return M_PI_2f + angle; // 2nd zone + } else { + if (x >= 0.0f) return M_3PI_2f + angle; // 4th zone + return M_3PI_2f - angle; // 3rd zone + } + } +} + +float pseudoTan(const float theta) +{ + // lightweight tangent + + // normalize the angle, range of [-pi/2, pi/2] + float normalized_theta = theta; + while (normalized_theta > M_PI_2f) { + normalized_theta -= M_PIf; + } + while (normalized_theta < -M_PI_2f) { + normalized_theta += M_PIf; + } + + // avoid divide-by-zero + if (normalized_theta == 0.0f) return 0.0f; + + if (std::abs(normalized_theta) <= 1.0f) { + return normalized_theta / M_PI_4f; + } + return std::copysign(M_PI_4f / (M_PI_2f - std::abs(normalized_theta)), normalized_theta); +} +} // namespace namespace autoware::ground_segmentation { +using autoware::universe_utils::ScopedTimeTrack; -class ScanGroundGrid +struct Point +{ + size_t index; + float distance; + float height; +}; + +// Concentric Zone Model (CZM) based polar grid +class Cell { public: - ScanGroundGrid() = default; - ~ScanGroundGrid() = default; + // list of point indices + std::vector point_list_; // point index and distance + + // method to check if the cell is empty + inline bool isEmpty() const { return point_list_.empty(); } + inline int getPointNum() const { return static_cast(point_list_.size()); } + + // index of the cell + int grid_idx_; + int radial_idx_; + int azimuth_idx_; + int next_grid_idx_; + int prev_grid_idx_; + + int scan_grid_root_idx_; + + // geometric properties of the cell + float center_radius_; + float center_azimuth_; + float radial_size_; + float azimuth_size_; + + // ground statistics of the points in the cell + float avg_height_; + float max_height_; + float min_height_; + float avg_radius_; + float gradient_; + float intercept_; + + // process flags + bool is_processed_ = false; + bool is_ground_initialized_ = false; + bool has_ground_ = false; +}; + +class Grid +{ +public: + Grid(const float origin_x, const float origin_y, const float origin_z) + : origin_x_(origin_x), origin_y_(origin_y), origin_z_(origin_z) + { + } + ~Grid() = default; + + void setTimeKeeper(std::shared_ptr time_keeper_ptr) + { + time_keeper_ = std::move(time_keeper_ptr); + } void initialize( - const float grid_size_m, const float grid_mode_switch_radius, const float virtual_lidar_z) + const float grid_dist_size, const float grid_azimuth_size, + const float grid_linearity_switch_radius) { - grid_size_m_ = grid_size_m; - mode_switch_radius_ = grid_mode_switch_radius; - virtual_lidar_z_ = virtual_lidar_z; - - // calculate parameters - inv_grid_size_m_ = 1.0f / grid_size_m_; - mode_switch_grid_id_ = mode_switch_radius_ * inv_grid_size_m_; - mode_switch_angle_rad_ = std::atan2(mode_switch_radius_, virtual_lidar_z_); - - grid_size_rad_ = universe_utils::normalizeRadian( - std::atan2(mode_switch_radius_ + grid_size_m_, virtual_lidar_z_)) - - universe_utils::normalizeRadian(mode_switch_angle_rad_); - inv_grid_size_rad_ = 1.0f / grid_size_rad_; - tan_grid_size_rad_ = std::tan(grid_size_rad_); - grid_id_offset_ = mode_switch_grid_id_ - mode_switch_angle_rad_ * inv_grid_size_rad_; + grid_dist_size_ = grid_dist_size; + grid_azimuth_size_ = grid_azimuth_size; + + // set grid linearity switch radius + grid_linearity_switch_num_ = static_cast(grid_linearity_switch_radius / grid_dist_size_); + grid_linearity_switch_radius_ = grid_linearity_switch_num_ * grid_dist_size_; + + // calculate grid parameters + grid_dist_size_rad_ = + pseudoArcTan2(grid_linearity_switch_radius_ + grid_dist_size_, origin_z_) - + pseudoArcTan2(grid_linearity_switch_radius_, origin_z_); + grid_dist_size_inv_ = 1.0f / grid_dist_size_; + + // generate grid geometry + setGridBoundaries(); + // initialize and resize cells + cells_.clear(); + cells_.resize(radial_idx_offsets_.back() + azimuth_grids_per_radial_.back()); + + // set cell geometry + setCellGeometry(); + + // set initialized flag is_initialized_ = true; } - float getGridSize(const float radius, const size_t grid_id) const + // method to add a point to the grid + void addPoint(const float x, const float y, const float z, const size_t point_idx) { - // check if initialized - if (!is_initialized_) { - throw std::runtime_error("ScanGroundGrid is not initialized."); + const float x_fixed = x - origin_x_; + const float y_fixed = y - origin_y_; + const float radius = std::sqrt(x_fixed * x_fixed + y_fixed * y_fixed); + const float azimuth = pseudoArcTan2(y_fixed, x_fixed); + + // calculate the grid id + const int grid_idx = getGridIdx(radius, azimuth); + + // check if the point is within the grid + if (grid_idx < 0) { + return; } + const size_t grid_idx_idx = static_cast(grid_idx); - float grid_size = grid_size_m_; - constexpr uint16_t back_steps_num = 1; + // add the point to the cell + cells_[grid_idx_idx].point_list_.emplace_back(Point{point_idx, radius, z}); + } + + size_t getGridSize() const { return cells_.size(); } - if (radius > mode_switch_radius_ && grid_id > mode_switch_grid_id_ + back_steps_num) { - // equivalent to grid_size = (std::tan(gamma) - std::tan(gamma - grid_size_rad_)) * - // virtual_lidar_z_ - // where gamma = normalizeRadian(std::atan2(radius, virtual_lidar_z_), 0.0f) - grid_size = radius - (radius - tan_grid_size_rad_ * virtual_lidar_z_) / - (1 + radius * tan_grid_size_rad_ / virtual_lidar_z_); + // method to get the cell + inline Cell & getCell(const int grid_idx) + { + const size_t idx = static_cast(grid_idx); + if (idx >= cells_.size()) { + throw std::out_of_range("Invalid grid index"); } - return grid_size; + return cells_[idx]; } - uint16_t getGridId(const float radius) const + void resetCells() { - // check if initialized - if (!is_initialized_) { - throw std::runtime_error("ScanGroundGrid is not initialized."); + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + for (auto & cell : cells_) { + cell.point_list_.clear(); + cell.is_processed_ = false; + cell.is_ground_initialized_ = false; + cell.has_ground_ = false; } + } - uint16_t grid_id = 0; - if (radius <= mode_switch_radius_) { - grid_id = static_cast(radius * inv_grid_size_m_); - } else { - auto gamma{universe_utils::normalizeRadian(std::atan2(radius, virtual_lidar_z_), 0.0f)}; - grid_id = grid_id_offset_ + gamma * inv_grid_size_rad_; + void setGridConnections() + { + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + // iterate over grid cells + for (Cell & cell : cells_) { + // find and link the scan-grid root cell + cell.scan_grid_root_idx_ = cell.prev_grid_idx_; + while (cell.scan_grid_root_idx_ >= 0) { + const auto & prev_cell = cells_[cell.scan_grid_root_idx_]; + // if the previous cell has point, set the previous cell as the root cell + if (!prev_cell.isEmpty()) break; + // keep searching the previous cell + cell.scan_grid_root_idx_ = prev_cell.scan_grid_root_idx_; + } + // if the grid root idx reaches -1, finish the search } - return grid_id; } private: + // given parameters + float origin_x_; + float origin_y_; + float origin_z_; + float grid_dist_size_ = 1.0f; // meters + float grid_azimuth_size_ = 0.01f; // radians + float grid_linearity_switch_radius_ = 20.0f; // meters + + // calculated parameters + float grid_dist_size_rad_ = 0.0f; // radians + float grid_dist_size_inv_ = 0.0f; // inverse of the grid size in meters + int grid_linearity_switch_num_ = 0; // number of grids within the switch radius + float grid_linearity_switch_angle_ = 0.0f; // angle at the switch radius + float grid_size_rad_inv_ = 0.0f; // inverse of the grid size in radians bool is_initialized_ = false; // configured parameters - float grid_size_m_ = 0.0f; - float mode_switch_radius_ = 0.0f; - float virtual_lidar_z_ = 0.0f; + float grid_radial_limit_ = 200.0f; // meters - // calculated parameters - float inv_grid_size_m_ = 0.0f; - float grid_size_rad_ = 0.0f; - float inv_grid_size_rad_ = 0.0f; - float tan_grid_size_rad_ = 0.0f; - float mode_switch_grid_id_ = 0.0f; - float mode_switch_angle_rad_ = 0.0f; - float grid_id_offset_ = 0.0f; + // array of grid boundaries + std::vector grid_radial_boundaries_; + std::vector azimuth_grids_per_radial_; + std::vector azimuth_interval_per_radial_; + std::vector radial_idx_offsets_; + + // list of cells + std::vector cells_; + + // debug information + std::shared_ptr time_keeper_; + + // Generate grid geometry + // the grid is cylindrical mesh grid + // azimuth interval: constant angle + // radial interval: constant distance within mode switch radius + // constant elevation angle outside mode switch radius + void setGridBoundaries() + { + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + // radial boundaries + { + // constant distance + for (int i = 0; i < grid_linearity_switch_num_; i++) { + grid_radial_boundaries_.push_back(i * grid_dist_size_); + } + // constant angle + grid_linearity_switch_angle_ = pseudoArcTan2(grid_linearity_switch_radius_, origin_z_); + float angle = grid_linearity_switch_angle_; + const float grid_angle_interval = + pseudoArcTan2(grid_linearity_switch_radius_ + grid_dist_size_, origin_z_) - angle; + grid_size_rad_inv_ = 1.0f / grid_angle_interval; + while (angle < M_PI_2) { + const float dist = pseudoTan(angle) * origin_z_; + grid_radial_boundaries_.push_back(dist); + if (dist > grid_radial_limit_) { + break; + } + angle += grid_angle_interval; + } + } + + const size_t radial_grid_num = grid_radial_boundaries_.size(); + + // azimuth boundaries + { + if (grid_azimuth_size_ <= 0) { + throw std::runtime_error("Grid azimuth size is not positive."); + } + + // number of azimuth grids per radial grid + azimuth_grids_per_radial_.resize(radial_grid_num); + azimuth_interval_per_radial_.resize(radial_grid_num); + azimuth_grids_per_radial_[0] = 1; + azimuth_interval_per_radial_[0] = 2.0f * M_PIf; + + const int max_azimuth_grid_num = static_cast(2.0 * M_PIf / grid_azimuth_size_); + + int divider = 1; + for (size_t i = radial_grid_num - 1; i > 0; --i) { + // set divider + const float radius = grid_radial_boundaries_[i]; + const int divider_next = std::ceil(grid_linearity_switch_radius_ / radius); + if (divider_next % divider == 0 && max_azimuth_grid_num % divider_next == 0) { + divider = divider_next; + } + // set azimuth grid number + const int grid_num = static_cast(max_azimuth_grid_num / divider); + const int azimuth_grid_num = std::max(std::min(grid_num, max_azimuth_grid_num), 1); + const float azimuth_interval_evened = 2.0f * M_PIf / azimuth_grid_num; + + azimuth_grids_per_radial_[i] = azimuth_grid_num; + azimuth_interval_per_radial_[i] = azimuth_interval_evened; + } + } + + // accumulate the number of azimuth grids per radial grid, set offset for each radial grid + radial_idx_offsets_.resize(radial_grid_num); + radial_idx_offsets_[0] = 0; + for (size_t i = 1; i < radial_grid_num; ++i) { + radial_idx_offsets_[i] = radial_idx_offsets_[i - 1] + azimuth_grids_per_radial_[i - 1]; + } + } + + int getAzimuthGridIdx(const int & radial_idx, const float & azimuth) const + { + const int azimuth_grid_num = azimuth_grids_per_radial_[radial_idx]; + + int azimuth_grid_idx = + static_cast(std::floor(azimuth / azimuth_interval_per_radial_[radial_idx])); + if (azimuth_grid_idx == azimuth_grid_num) { + // loop back to the first grid + azimuth_grid_idx = 0; + } + // constant azimuth interval + return azimuth_grid_idx; + } + + int getRadialIdx(const float & radius) const + { + // check if the point is within the grid + if (radius > grid_radial_limit_) { + return -1; + } + if (radius < 0) { + return -1; + } + + // determine the grid id + int grid_rad_idx = -1; + + // constant distance + if (radius < grid_linearity_switch_radius_) { + grid_rad_idx = static_cast(radius * grid_dist_size_inv_); + } else if (radius < grid_radial_limit_) { + const float angle = pseudoArcTan2(radius, origin_z_); + grid_rad_idx = grid_linearity_switch_num_ + + static_cast((angle - grid_linearity_switch_angle_) * grid_size_rad_inv_); + } + + return grid_rad_idx; + } + + int getGridIdx(const int & radial_idx, const int & azimuth_idx) const + { + return radial_idx_offsets_[radial_idx] + azimuth_idx; + } + + // method to determine the grid id of a point + // -1 means out of range + // range limit is horizon angle + int getGridIdx(const float & radius, const float & azimuth) const + { + const int grid_rad_idx = getRadialIdx(radius); + if (grid_rad_idx < 0) { + return -1; + } + + // azimuth grid id + const int grid_az_idx = getAzimuthGridIdx(grid_rad_idx, azimuth); + if (grid_az_idx < 0) { + return -1; + } + + return getGridIdx(grid_rad_idx, grid_az_idx); + } + + void getRadialAzimuthIdxFromCellIdx(const int cell_id, int & radial_idx, int & azimuth_idx) const + { + radial_idx = -1; + azimuth_idx = -1; + for (size_t i = 0; i < radial_idx_offsets_.size(); ++i) { + if (cell_id < radial_idx_offsets_[i]) { + radial_idx = i - 1; + azimuth_idx = cell_id - radial_idx_offsets_[i - 1]; + break; + } + } + if (cell_id >= radial_idx_offsets_.back()) { + radial_idx = radial_idx_offsets_.size() - 1; + azimuth_idx = cell_id - radial_idx_offsets_.back(); + } + } + + void setCellGeometry() + { + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + for (size_t idx = 0; idx < cells_.size(); ++idx) { + Cell & cell = cells_[idx]; + + int radial_idx = 0; + int azimuth_idx = 0; + getRadialAzimuthIdxFromCellIdx(idx, radial_idx, azimuth_idx); + + cell.grid_idx_ = idx; + cell.radial_idx_ = radial_idx; + cell.azimuth_idx_ = azimuth_idx; + + // set width of the cell + const auto radial_grid_num = static_cast(grid_radial_boundaries_.size() - 1); + if (radial_idx < radial_grid_num) { + cell.radial_size_ = + grid_radial_boundaries_[radial_idx + 1] - grid_radial_boundaries_[radial_idx]; + } else { + cell.radial_size_ = grid_radial_limit_ - grid_radial_boundaries_[radial_idx]; + } + cell.azimuth_size_ = azimuth_interval_per_radial_[radial_idx]; + + // set center of the cell + cell.center_radius_ = grid_radial_boundaries_[radial_idx] + cell.radial_size_ * 0.5f; + cell.center_azimuth_ = (static_cast(azimuth_idx) + 0.5f) * cell.azimuth_size_; + + // set next grid id, which is radially next + int next_grid_idx = -1; + // only if the next radial grid exists + if (radial_idx < radial_grid_num) { + // find nearest azimuth grid in the next radial grid + const float azimuth = cell.center_azimuth_; + const size_t azimuth_idx_next_radial_grid = getAzimuthGridIdx(radial_idx + 1, azimuth); + next_grid_idx = getGridIdx(radial_idx + 1, azimuth_idx_next_radial_grid); + } + cell.next_grid_idx_ = next_grid_idx; + + // set previous grid id, which is radially previous + int prev_grid_idx = -1; + // only if the previous radial grid exists + if (radial_idx > 0) { + // find nearest azimuth grid in the previous radial grid + const float azimuth = cell.center_azimuth_; + // constant azimuth interval + const size_t azimuth_idx_prev_radial_grid = getAzimuthGridIdx(radial_idx - 1, azimuth); + prev_grid_idx = getGridIdx(radial_idx - 1, azimuth_idx_prev_radial_grid); + } + cell.prev_grid_idx_ = prev_grid_idx; + cell.scan_grid_root_idx_ = -1; + } + } }; } // namespace autoware::ground_segmentation diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp new file mode 100644 index 0000000000000..8b754357cd45f --- /dev/null +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp @@ -0,0 +1,492 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "grid_ground_filter.hpp" + +#include "data.hpp" + +#include + +namespace autoware::ground_segmentation +{ + +// assign the pointcloud data to the grid +void GridGroundFilter::convert() +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + const size_t in_cloud_data_size = in_cloud_->data.size(); + const size_t in_cloud_point_step = in_cloud_->point_step; + + for (size_t data_index = 0; data_index + in_cloud_point_step <= in_cloud_data_size; + data_index += in_cloud_point_step) { + // Get Point + pcl::PointXYZ input_point; + data_accessor_.getPoint(in_cloud_, data_index, input_point); + grid_ptr_->addPoint(input_point.x, input_point.y, input_point.z, data_index); + } +} + +// preprocess the grid data, set the grid connections +void GridGroundFilter::preprocess() +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + // eliminate empty cells from connection for efficiency + grid_ptr_->setGridConnections(); +} + +// recursive search for the ground grid cell close to the grid origin +bool GridGroundFilter::recursiveSearch( + const int check_idx, const int search_cnt, std::vector & idx) const +{ + // set the maximum search count + constexpr size_t count_limit = 1023; + return recursiveSearch(check_idx, search_cnt, idx, count_limit); +} + +bool GridGroundFilter::recursiveSearch( + const int check_idx, const int search_cnt, std::vector & idx, size_t count) const +{ + if (count == 0) { + return false; + } + count -= 1; + // recursive search + if (check_idx < 0) { + return false; + } + if (search_cnt == 0) { + return true; + } + const auto & check_cell = grid_ptr_->getCell(check_idx); + if (check_cell.has_ground_) { + // the cell has ground, add the index to the list, and search previous cell + idx.push_back(check_idx); + return recursiveSearch(check_cell.scan_grid_root_idx_, search_cnt - 1, idx, count); + } + // if the cell does not have ground, search previous cell + return recursiveSearch(check_cell.scan_grid_root_idx_, search_cnt, idx, count); +} + +// fit the line from the ground grid cells +void GridGroundFilter::fitLineFromGndGrid(const std::vector & idx, float & a, float & b) const +{ + // if the idx is empty, the line is not defined + if (idx.empty()) { + a = 0.0f; + b = 0.0f; + return; + } + // if the idx is length of 1, the line is zero-crossing line + if (idx.size() == 1) { + const auto & cell = grid_ptr_->getCell(idx.front()); + a = cell.avg_height_ / cell.avg_radius_; + b = 0.0f; + return; + } + // calculate the line by least square method + float sum_x = 0.0f; + float sum_y = 0.0f; + float sum_xy = 0.0f; + float sum_x2 = 0.0f; + for (const auto & i : idx) { + const auto & cell = grid_ptr_->getCell(i); + sum_x += cell.avg_radius_; + sum_y += cell.avg_height_; + sum_xy += cell.avg_radius_ * cell.avg_height_; + sum_x2 += cell.avg_radius_ * cell.avg_radius_; + } + const float n = static_cast(idx.size()); + const float denominator = n * sum_x2 - sum_x * sum_x; + if (denominator != 0.0f) { + a = (n * sum_xy - sum_x * sum_y) / denominator; + a = std::clamp(a, -param_.global_slope_max_ratio, param_.global_slope_max_ratio); + b = (sum_y - a * sum_x) / n; + } else { + const auto & cell = grid_ptr_->getCell(idx.front()); + a = cell.avg_height_ / cell.avg_radius_; + b = 0.0f; + } +} + +// process the grid data to initialize the ground cells prior to the ground segmentation +void GridGroundFilter::initializeGround(pcl::PointIndices & out_no_ground_indices) +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + const auto grid_size = grid_ptr_->getGridSize(); + // loop over grid cells + for (size_t idx = 0; idx < grid_size; idx++) { + auto & cell = grid_ptr_->getCell(idx); + if (cell.is_ground_initialized_) continue; + // if the cell is empty, skip + if (cell.isEmpty()) continue; + + // check scan root grid + if (cell.scan_grid_root_idx_ >= 0) { + const Cell & prev_cell = grid_ptr_->getCell(cell.scan_grid_root_idx_); + if (prev_cell.is_ground_initialized_) { + cell.is_ground_initialized_ = true; + continue; + } + } + + // initialize ground in this cell + bool is_ground_found = false; + PointsCentroid ground_bin; + + for (const auto & pt : cell.point_list_) { + const size_t & pt_idx = pt.index; + const float & radius = pt.distance; + const float & height = pt.height; + + const float global_slope_threshold = param_.global_slope_max_ratio * radius; + if (height >= global_slope_threshold && height > param_.non_ground_height_threshold) { + // this point is obstacle + out_no_ground_indices.indices.push_back(pt_idx); + } else if ( + abs(height) < global_slope_threshold && abs(height) < param_.non_ground_height_threshold) { + // this point is ground + ground_bin.addPoint(radius, height, pt_idx); + is_ground_found = true; + } + // else, this point is not classified, not ground nor obstacle + } + cell.is_processed_ = true; + cell.has_ground_ = is_ground_found; + if (is_ground_found) { + cell.is_ground_initialized_ = true; + ground_bin.processAverage(); + cell.avg_height_ = ground_bin.getAverageHeight(); + cell.avg_radius_ = ground_bin.getAverageRadius(); + cell.max_height_ = ground_bin.getMaxHeight(); + cell.min_height_ = ground_bin.getMinHeight(); + cell.gradient_ = std::clamp( + cell.avg_height_ / cell.avg_radius_, -param_.global_slope_max_ratio, + param_.global_slope_max_ratio); + cell.intercept_ = 0.0f; + } else { + cell.is_ground_initialized_ = false; + } + } +} + +// segment the point in the cell, logic for the continuous cell +void GridGroundFilter::SegmentContinuousCell( + const Cell & cell, PointsCentroid & ground_bin, pcl::PointIndices & out_no_ground_indices) +{ + const Cell & prev_cell = grid_ptr_->getCell(cell.scan_grid_root_idx_); + const float local_thresh_angle_ratio = std::tan(DEG2RAD(5.0)); + + // loop over points in the cell + for (const auto & pt : cell.point_list_) { + const size_t & pt_idx = pt.index; + const float & radius = pt.distance; + const float & height = pt.height; + + // 1. height is out-of-range + const float delta_z = height - prev_cell.avg_height_; + if (delta_z > param_.detection_range_z_max) { + // this point is out-of-range + continue; + } + + // 2. the angle is exceed the global slope threshold + if (height > param_.global_slope_max_ratio * radius) { + // this point is obstacle + out_no_ground_indices.indices.push_back(pt_idx); + // go to the next point + continue; + } + + // 3. local slope + const float delta_radius = radius - prev_cell.avg_radius_; + if (abs(delta_z) < param_.global_slope_max_ratio * delta_radius) { + // this point is ground + ground_bin.addPoint(radius, height, pt_idx); + // go to the next point + continue; + } + + // 3. height from the estimated ground + const float next_gnd_z = cell.gradient_ * radius + cell.intercept_; + const float gnd_z_local_thresh = local_thresh_angle_ratio * delta_radius; + const float delta_gnd_z = height - next_gnd_z; + const float gnd_z_threshold = param_.non_ground_height_threshold + gnd_z_local_thresh; + if (delta_gnd_z > gnd_z_threshold) { + // this point is obstacle + out_no_ground_indices.indices.push_back(pt_idx); + // go to the next point + continue; + } + if (abs(delta_gnd_z) <= gnd_z_threshold) { + // this point is ground + ground_bin.addPoint(radius, height, pt_idx); + // go to the next point + continue; + } + // else, this point is not classified, not ground nor obstacle + } +} + +// segment the point in the cell, logic for the discontinuous cell +void GridGroundFilter::SegmentDiscontinuousCell( + const Cell & cell, PointsCentroid & ground_bin, pcl::PointIndices & out_no_ground_indices) +{ + const Cell & prev_cell = grid_ptr_->getCell(cell.scan_grid_root_idx_); + + // loop over points in the cell + for (const auto & pt : cell.point_list_) { + const size_t & pt_idx = pt.index; + const float & radius = pt.distance; + const float & height = pt.height; + + // 1. height is out-of-range + const float delta_avg_z = height - prev_cell.avg_height_; + if (delta_avg_z > param_.detection_range_z_max) { + // this point is out-of-range + continue; + } + + // 2. the angle is exceed the global slope threshold + if (height > param_.global_slope_max_ratio * radius) { + // this point is obstacle + out_no_ground_indices.indices.push_back(pt_idx); + // go to the next point + continue; + } + // 3. local slope + const float delta_radius = radius - prev_cell.avg_radius_; + const float global_slope_threshold = param_.global_slope_max_ratio * delta_radius; + if (abs(delta_avg_z) < global_slope_threshold) { + // this point is ground + ground_bin.addPoint(radius, height, pt_idx); + // go to the next point + continue; + } + // 4. height from the estimated ground + if (abs(delta_avg_z) < param_.non_ground_height_threshold) { + // this point is ground + ground_bin.addPoint(radius, height, pt_idx); + // go to the next point + continue; + } + const float delta_max_z = height - prev_cell.max_height_; + if (abs(delta_max_z) < param_.non_ground_height_threshold) { + // this point is ground + ground_bin.addPoint(radius, height, pt_idx); + // go to the next point + continue; + } + // 5. obstacle from local slope + if (delta_avg_z >= global_slope_threshold) { + // this point is obstacle + out_no_ground_indices.indices.push_back(pt_idx); + // go to the next point + continue; + } + // else, this point is not classified, not ground nor obstacle + } +} + +// segment the point in the cell, logic for the break cell +void GridGroundFilter::SegmentBreakCell( + const Cell & cell, PointsCentroid & ground_bin, pcl::PointIndices & out_no_ground_indices) +{ + const Cell & prev_cell = grid_ptr_->getCell(cell.scan_grid_root_idx_); + + // loop over points in the cell + for (const auto & pt : cell.point_list_) { + const size_t & pt_idx = pt.index; + const float & radius = pt.distance; + const float & height = pt.height; + + // 1. height is out-of-range + const float delta_z = height - prev_cell.avg_height_; + if (delta_z > param_.detection_range_z_max) { + // this point is out-of-range + continue; + } + + // 2. the angle is exceed the global slope threshold + if (height > param_.global_slope_max_ratio * radius) { + // this point is obstacle + out_no_ground_indices.indices.push_back(pt_idx); + // go to the next point + continue; + } + + // 3. the point is over discontinuous grid + const float delta_radius = radius - prev_cell.avg_radius_; + const float global_slope_threshold = param_.global_slope_max_ratio * delta_radius; + if (abs(delta_z) < global_slope_threshold) { + // this point is ground + ground_bin.addPoint(radius, height, pt_idx); + // go to the next point + continue; + } + if (delta_z >= global_slope_threshold) { + // this point is obstacle + out_no_ground_indices.indices.push_back(pt_idx); + // go to the next point + continue; + } + // else, this point is not classified, not ground nor obstacle + } +} + +// classify the point cloud into ground and non-ground points +void GridGroundFilter::classify(pcl::PointIndices & out_no_ground_indices) +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + // loop over grid cells + const auto grid_size = grid_ptr_->getGridSize(); + for (size_t idx = 0; idx < grid_size; idx++) { + auto & cell = grid_ptr_->getCell(idx); + // if the cell is empty, skip + if (cell.isEmpty()) continue; + if (cell.is_processed_) continue; + + // set a cell pointer for the previous cell + // check scan root grid + if (cell.scan_grid_root_idx_ < 0) continue; + const Cell & prev_cell = grid_ptr_->getCell(cell.scan_grid_root_idx_); + if (!(prev_cell.is_ground_initialized_)) continue; + + // get current cell gradient and intercept + std::vector grid_idcs; + { + const int search_count = param_.gnd_grid_buffer_size; + const int check_cell_idx = cell.scan_grid_root_idx_; + recursiveSearch(check_cell_idx, search_count, grid_idcs); + } + + // segment the ground and non-ground points + enum SegmentationMode { NONE, CONTINUOUS, DISCONTINUOUS, BREAK }; + SegmentationMode mode = SegmentationMode::NONE; + { + const int front_radial_id = + grid_ptr_->getCell(grid_idcs.back()).radial_idx_ + grid_idcs.size(); + const float radial_diff_between_cells = cell.center_radius_ - prev_cell.center_radius_; + + if (radial_diff_between_cells < param_.gnd_grid_continual_thresh * cell.radial_size_) { + if (cell.radial_idx_ - front_radial_id < param_.gnd_grid_continual_thresh) { + mode = SegmentationMode::CONTINUOUS; + } else { + mode = SegmentationMode::DISCONTINUOUS; + } + } else { + mode = SegmentationMode::BREAK; + } + } + + { + PointsCentroid ground_bin; + if (mode == SegmentationMode::CONTINUOUS) { + // calculate the gradient and intercept by least square method + float a, b; + fitLineFromGndGrid(grid_idcs, a, b); + cell.gradient_ = a; + cell.intercept_ = b; + + SegmentContinuousCell(cell, ground_bin, out_no_ground_indices); + } else if (mode == SegmentationMode::DISCONTINUOUS) { + SegmentDiscontinuousCell(cell, ground_bin, out_no_ground_indices); + } else if (mode == SegmentationMode::BREAK) { + SegmentBreakCell(cell, ground_bin, out_no_ground_indices); + } + + // recheck ground bin + if ( + param_.use_recheck_ground_cluster && cell.avg_radius_ > param_.grid_mode_switch_radius && + ground_bin.getGroundPointNum() > 0) { + // recheck the ground cluster + float reference_height = 0; + if (param_.use_lowest_point) { + reference_height = ground_bin.getMinHeightOnly(); + } else { + ground_bin.processAverage(); + reference_height = ground_bin.getAverageHeight(); + } + const float threshold = reference_height + param_.non_ground_height_threshold; + const std::vector & gnd_indices = ground_bin.getIndicesRef(); + const std::vector & height_list = ground_bin.getHeightListRef(); + for (size_t j = 0; j < height_list.size(); ++j) { + if (height_list.at(j) >= threshold) { + // fill the non-ground indices + out_no_ground_indices.indices.push_back(gnd_indices.at(j)); + // mark the point as non-ground + ground_bin.is_ground_list.at(j) = false; + } + } + } + + // finalize current cell, update the cell ground information + if (ground_bin.getGroundPointNum() > 0) { + ground_bin.processAverage(); + cell.avg_height_ = ground_bin.getAverageHeight(); + cell.avg_radius_ = ground_bin.getAverageRadius(); + cell.max_height_ = ground_bin.getMaxHeight(); + cell.min_height_ = ground_bin.getMinHeight(); + cell.has_ground_ = true; + } else { + // copy previous cell + cell.avg_radius_ = prev_cell.avg_radius_; + cell.avg_height_ = prev_cell.avg_height_; + cell.max_height_ = prev_cell.max_height_; + cell.min_height_ = prev_cell.min_height_; + cell.has_ground_ = false; + } + + cell.is_processed_ = true; + } + } +} + +// process the point cloud to segment the ground points +void GridGroundFilter::process( + const PointCloud2ConstPtr & in_cloud, pcl::PointIndices & out_no_ground_indices) +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + // set input cloud + in_cloud_ = in_cloud; + + // clear the output indices + out_no_ground_indices.indices.clear(); + + // reset grid cells + grid_ptr_->resetCells(); + + // 1. assign points to grid cells + convert(); + + // 2. cell preprocess + preprocess(); + + // 3. initialize ground + initializeGround(out_no_ground_indices); + + // 4. classify point cloud + classify(out_no_ground_indices); +} + +} // namespace autoware::ground_segmentation diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.hpp new file mode 100644 index 0000000000000..0024582f22b0a --- /dev/null +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.hpp @@ -0,0 +1,221 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef SCAN_GROUND_FILTER__GRID_GROUND_FILTER_HPP_ +#define SCAN_GROUND_FILTER__GRID_GROUND_FILTER_HPP_ + +#include "data.hpp" +#include "grid.hpp" + +#include +#include + +#include + +#include + +#include +#include +#include +#include +#include + +namespace autoware::ground_segmentation +{ +using PointCloud2ConstPtr = sensor_msgs::msg::PointCloud2::ConstSharedPtr; + +struct PointsCentroid +{ + float radius_avg; + float height_avg; + float height_max; + float height_min; + uint16_t grid_id; + std::vector pcl_indices; + std::vector height_list; + std::vector radius_list; + std::vector is_ground_list; + + PointsCentroid() + : radius_avg(0.0f), height_avg(0.0f), height_max(-10.0f), height_min(10.0f), grid_id(0) + { + } + + void initialize() + { + radius_avg = 0.0f; + height_avg = 0.0f; + height_max = -10.0f; + height_min = 10.0f; + grid_id = 0; + pcl_indices.clear(); + height_list.clear(); + radius_list.clear(); + is_ground_list.clear(); + } + + inline void addPoint(const float radius, const float height, const size_t index) + { + pcl_indices.push_back(index); + height_list.push_back(height); + radius_list.push_back(radius); + is_ground_list.push_back(true); + } + + int getGroundPointNum() const + { + return std::count(is_ground_list.begin(), is_ground_list.end(), true); + } + + void processAverage() + { + // process only if is_ground_list is true + const int ground_point_num = getGroundPointNum(); + if (ground_point_num == 0) { + return; + } + + float radius_sum = 0.0f; + float height_sum = 0.0f; + height_max = -10.0f; + height_min = 10.0f; + + for (size_t i = 0; i < is_ground_list.size(); ++i) { + if (!is_ground_list[i]) { + continue; + } + radius_sum += radius_list[i]; + height_sum += height_list[i]; + height_max = std::max(height_max, height_list[i]); + height_min = std::min(height_min, height_list[i]); + } + + radius_avg = radius_sum / ground_point_num; + height_avg = height_sum / ground_point_num; + } + + float getMinHeightOnly() const + { + float min_height = 10.0f; + for (size_t i = 0; i < is_ground_list.size(); ++i) { + if (!is_ground_list[i]) { + continue; + } + min_height = std::min(min_height, height_list[i]); + } + return min_height; + } + + float getAverageSlope() const { return std::atan2(height_avg, radius_avg); } + float getAverageHeight() const { return height_avg; } + float getAverageRadius() const { return radius_avg; } + float getMaxHeight() const { return height_max; } + float getMinHeight() const { return height_min; } + const std::vector & getIndicesRef() const { return pcl_indices; } + const std::vector & getHeightListRef() const { return height_list; } +}; + +struct GridGroundFilterParameter +{ + // parameters + float global_slope_max_angle_rad; + float local_slope_max_angle_rad; + float global_slope_max_ratio; + float local_slope_max_ratio; + float radial_divider_angle_rad; + size_t radial_dividers_num; + + bool use_recheck_ground_cluster; + bool use_lowest_point; + float detection_range_z_max; + float non_ground_height_threshold; + const uint16_t gnd_grid_continual_thresh = 3; + + float grid_size_m; + float grid_mode_switch_radius; + int gnd_grid_buffer_size; + float virtual_lidar_x; + float virtual_lidar_y; + float virtual_lidar_z; +}; + +class GridGroundFilter +{ +public: + explicit GridGroundFilter(GridGroundFilterParameter & param) : param_(param) + { + // calculate derived parameters + param_.global_slope_max_ratio = std::tan(param_.global_slope_max_angle_rad); + param_.local_slope_max_ratio = std::tan(param_.local_slope_max_angle_rad); + param_.radial_dividers_num = std::ceil(2.0 * M_PI / param_.radial_divider_angle_rad); + + // initialize grid pointer + grid_ptr_ = std::make_unique( + param_.virtual_lidar_x, param_.virtual_lidar_y, param_.virtual_lidar_z); + grid_ptr_->initialize( + param_.grid_size_m, param_.radial_divider_angle_rad, param_.grid_mode_switch_radius); + } + ~GridGroundFilter() = default; + + void setTimeKeeper(std::shared_ptr time_keeper_ptr) + { + time_keeper_ = std::move(time_keeper_ptr); + + // set time keeper for grid + grid_ptr_->setTimeKeeper(time_keeper_); + } + + void setDataAccessor(const PointCloud2ConstPtr & in_cloud) + { + if (!data_accessor_.isInitialized()) { + data_accessor_.setField(in_cloud); + } + } + void process(const PointCloud2ConstPtr & in_cloud, pcl::PointIndices & out_no_ground_indices); + +private: + // parameters + GridGroundFilterParameter param_; + + // data + PointCloud2ConstPtr in_cloud_; + PclDataAccessor data_accessor_; + + // grid data + std::unique_ptr grid_ptr_; + + // debug information + std::shared_ptr time_keeper_; + + bool recursiveSearch(const int check_idx, const int search_cnt, std::vector & idx) const; + bool recursiveSearch( + const int check_idx, const int search_cnt, std::vector & idx, size_t count) const; + void fitLineFromGndGrid(const std::vector & idx, float & a, float & b) const; + + void convert(); + void preprocess(); + void initializeGround(pcl::PointIndices & out_no_ground_indices); + + void SegmentContinuousCell( + const Cell & cell, PointsCentroid & ground_bin, pcl::PointIndices & out_no_ground_indices); + void SegmentDiscontinuousCell( + const Cell & cell, PointsCentroid & ground_bin, pcl::PointIndices & out_no_ground_indices); + void SegmentBreakCell( + const Cell & cell, PointsCentroid & ground_bin, pcl::PointIndices & out_no_ground_indices); + void classify(pcl::PointIndices & out_no_ground_indices); +}; + +} // namespace autoware::ground_segmentation + +#endif // SCAN_GROUND_FILTER__GRID_GROUND_FILTER_HPP_ diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp index 0d7c41802cca9..488de2da47f91 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp @@ -14,6 +14,8 @@ #include "node.hpp" +#include "grid_ground_filter.hpp" + #include #include #include @@ -55,8 +57,6 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & local_slope_max_ratio_ = std::tan(local_slope_max_angle_rad_); split_points_distance_tolerance_ = static_cast(declare_parameter("split_points_distance_tolerance")); - split_points_distance_tolerance_square_ = - split_points_distance_tolerance_ * split_points_distance_tolerance_; // vehicle info vehicle_info_ = VehicleInfoUtils(*this).getVehicleInfo(); @@ -81,11 +81,27 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & gnd_grid_buffer_size_ = declare_parameter("gnd_grid_buffer_size"); virtual_lidar_z_ = vehicle_info_.vehicle_height_m; - // initialize grid - grid_.initialize(grid_size_m_, grid_mode_switch_radius_, virtual_lidar_z_); - - // data access - data_offset_initialized_ = false; + // initialize grid filter + { + GridGroundFilterParameter param; + param.global_slope_max_angle_rad = global_slope_max_angle_rad_; + param.local_slope_max_angle_rad = local_slope_max_angle_rad_; + param.radial_divider_angle_rad = radial_divider_angle_rad_; + + param.use_recheck_ground_cluster = use_recheck_ground_cluster_; + param.use_lowest_point = use_lowest_point_; + param.detection_range_z_max = detection_range_z_max_; + param.non_ground_height_threshold = non_ground_height_threshold_; + + param.grid_size_m = grid_size_m_; + param.grid_mode_switch_radius = grid_mode_switch_radius_; + param.gnd_grid_buffer_size = gnd_grid_buffer_size_; + param.virtual_lidar_x = vehicle_info_.wheel_base_m / 2.0f + center_pcl_shift_; + param.virtual_lidar_y = 0.0f; + param.virtual_lidar_z = virtual_lidar_z_; + + grid_ground_filter_ptr_ = std::make_unique(param); + } } using std::placeholders::_1; @@ -108,86 +124,9 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & "~/debug/processing_time_detail_ms", 1); auto time_keeper = autoware::universe_utils::TimeKeeper(detailed_processing_time_publisher_); time_keeper_ = std::make_shared(time_keeper); - } - } -} -inline void ScanGroundFilterComponent::set_field_index_offsets(const PointCloud2ConstPtr & input) -{ - data_offset_x_ = input->fields[pcl::getFieldIndex(*input, "x")].offset; - data_offset_y_ = input->fields[pcl::getFieldIndex(*input, "y")].offset; - data_offset_z_ = input->fields[pcl::getFieldIndex(*input, "z")].offset; - int intensity_index = pcl::getFieldIndex(*input, "intensity"); - if (intensity_index != -1) { - data_offset_intensity_ = input->fields[intensity_index].offset; - intensity_type_ = input->fields[intensity_index].datatype; - } else { - data_offset_intensity_ = -1; - } - data_offset_initialized_ = true; -} - -inline void ScanGroundFilterComponent::get_point_from_data_index( - const PointCloud2ConstPtr & input, const size_t data_index, pcl::PointXYZ & point) const -{ - point.x = *reinterpret_cast(&input->data[data_index + data_offset_x_]); - point.y = *reinterpret_cast(&input->data[data_index + data_offset_y_]); - point.z = *reinterpret_cast(&input->data[data_index + data_offset_z_]); -} - -void ScanGroundFilterComponent::convertPointcloudGridScan( - const PointCloud2ConstPtr & in_cloud, - std::vector & out_radial_ordered_points) const -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - out_radial_ordered_points.resize(radial_dividers_num_); - PointData current_point; - - const auto inv_radial_divider_angle_rad = 1.0f / radial_divider_angle_rad_; - const auto x_shift = vehicle_info_.wheel_base_m / 2.0f + center_pcl_shift_; - - const size_t in_cloud_data_size = in_cloud->data.size(); - const size_t in_cloud_point_step = in_cloud->point_step; - - { // grouping pointcloud by its azimuth angle - std::unique_ptr inner_st_ptr; - if (time_keeper_) - inner_st_ptr = std::make_unique("azimuth_angle_grouping", *time_keeper_); - - size_t point_index = 0; - pcl::PointXYZ input_point; - for (size_t data_index = 0; data_index + in_cloud_point_step <= in_cloud_data_size; - data_index += in_cloud_point_step) { - // Get Point - get_point_from_data_index(in_cloud, data_index, input_point); - - // determine the azimuth angle group - auto x{input_point.x - x_shift}; // base on front wheel center - auto radius{static_cast(std::hypot(x, input_point.y))}; - auto theta{normalizeRadian(std::atan2(x, input_point.y), 0.0)}; - auto radial_div{static_cast(std::floor(theta * inv_radial_divider_angle_rad))}; - - current_point.radius = radius; - current_point.point_state = PointLabel::INIT; - current_point.orig_index = point_index; - current_point.grid_id = grid_.getGridId(radius); - - // store the point in the corresponding radial division - out_radial_ordered_points[radial_div].emplace_back(current_point); - ++point_index; - } - } - - { // sorting pointcloud by distance, on each azimuth angle group - std::unique_ptr inner_st_ptr; - if (time_keeper_) inner_st_ptr = std::make_unique("sort", *time_keeper_); - - for (size_t i = 0; i < radial_dividers_num_; ++i) { - std::sort( - out_radial_ordered_points[i].begin(), out_radial_ordered_points[i].end(), - [](const PointData & a, const PointData & b) { return a.radius < b.radius; }); + // set time keeper to grid + grid_ground_filter_ptr_->setTimeKeeper(time_keeper_); } } } @@ -212,12 +151,11 @@ void ScanGroundFilterComponent::convertPointcloud( if (time_keeper_) inner_st_ptr = std::make_unique("azimuth_angle_grouping", *time_keeper_); - size_t point_index = 0; pcl::PointXYZ input_point; for (size_t data_index = 0; data_index + in_cloud_point_step <= in_cloud_data_size; data_index += in_cloud_point_step) { // Get Point - get_point_from_data_index(in_cloud, data_index, input_point); + data_accessor_.getPoint(in_cloud, data_index, input_point); // determine the azimuth angle group auto radius{static_cast(std::hypot(input_point.x, input_point.y))}; @@ -226,11 +164,10 @@ void ScanGroundFilterComponent::convertPointcloud( current_point.radius = radius; current_point.point_state = PointLabel::INIT; - current_point.orig_index = point_index; + current_point.data_index = data_index; // store the point in the corresponding radial division out_radial_ordered_points[radial_div].emplace_back(current_point); - ++point_index; } } @@ -253,332 +190,6 @@ void ScanGroundFilterComponent::calcVirtualGroundOrigin(pcl::PointXYZ & point) c point.z = 0; } -void ScanGroundFilterComponent::initializeFirstGndGrids( - const float h, const float r, const uint16_t id, std::vector & gnd_grids) const -{ - // initialize gnd_grids - gnd_grids.clear(); - gnd_grids.reserve(gnd_grid_buffer_size_); - - // Index of grids - // id is the first grid, will be filled by initial centroid_bin - // id - gnd_grid_buffer_size_ is the first grid of zero-zero position - // the intermediate grids are generated by linear interpolation - const uint16_t estimating_grid_num = gnd_grid_buffer_size_ + 1; - const uint16_t idx_estimate_from = id - estimating_grid_num; - const float gradient = h / r; - - GridCenter curr_gnd_grid; - for (uint16_t idx = 1; idx < estimating_grid_num; ++idx) { - float interpolation_ratio = static_cast(idx) / static_cast(estimating_grid_num); - const uint16_t ind_grid = idx_estimate_from + idx; - - const float interpolated_r = r * interpolation_ratio; - const float interpolated_z = gradient * interpolated_r; - - curr_gnd_grid.radius = interpolated_r; - curr_gnd_grid.avg_height = interpolated_z; - curr_gnd_grid.max_height = interpolated_z; - curr_gnd_grid.gradient = gradient; - curr_gnd_grid.intercept = 0.0f; - curr_gnd_grid.grid_id = ind_grid; - gnd_grids.push_back(curr_gnd_grid); - } -} - -void ScanGroundFilterComponent::fitLineFromGndGrid( - const std::vector & gnd_grids_list, const size_t start_idx, const size_t end_idx, - float & a, float & b) const -{ - // calculate local gradient by least square method - float sum_x = 0.0f; - float sum_y = 0.0f; - float sum_xy = 0.0f; - float sum_x2 = 0.0f; - for (auto it = gnd_grids_list.begin() + start_idx; it < gnd_grids_list.begin() + end_idx; ++it) { - sum_x += it->radius; - sum_y += it->avg_height; - sum_xy += it->radius * it->avg_height; - sum_x2 += it->radius * it->radius; - } - const float n = static_cast(end_idx - start_idx); - - // y = a * x + b - a = (n * sum_xy - sum_x * sum_y) / (n * sum_x2 - sum_x * sum_x); - b = (sum_y - a * sum_x) / n; -} - -void ScanGroundFilterComponent::checkContinuousGndGrid( - PointData & pd, const pcl::PointXYZ & point_curr, - const std::vector & gnd_grids_list) const -{ - // 1. check local slope - { - // reference gird is the last-1 - const auto reference_grid_it = gnd_grids_list.end() - 2; - const float delta_z = point_curr.z - reference_grid_it->avg_height; - const float delta_radius = pd.radius - reference_grid_it->radius; - const float local_slope_ratio = delta_z / delta_radius; - - if (abs(local_slope_ratio) < local_slope_max_ratio_) { - pd.point_state = PointLabel::GROUND; - return; - } - } - - // 2. mean of grid buffer(filtering) - const float gradient = - std::clamp(gnd_grids_list.back().gradient, -global_slope_max_ratio_, global_slope_max_ratio_); - const float & intercept = gnd_grids_list.back().intercept; - - // extrapolate next ground height - const float next_gnd_z = gradient * pd.radius + intercept; - - // calculate fixed angular threshold from the reference position - const float gnd_z_local_thresh = - std::tan(DEG2RAD(5.0)) * (pd.radius - gnd_grids_list.back().radius); - - if (abs(point_curr.z - next_gnd_z) <= non_ground_height_threshold_ + gnd_z_local_thresh) { - pd.point_state = PointLabel::GROUND; - return; - } - if (point_curr.z - next_gnd_z >= non_ground_height_threshold_ + gnd_z_local_thresh) { - pd.point_state = PointLabel::NON_GROUND; - return; - } -} - -void ScanGroundFilterComponent::checkDiscontinuousGndGrid( - PointData & pd, const pcl::PointXYZ & point_curr, - const std::vector & gnd_grids_list) const -{ - const auto & grid_ref = gnd_grids_list.back(); - const float delta_avg_z = point_curr.z - grid_ref.avg_height; - if (abs(delta_avg_z) < non_ground_height_threshold_) { - pd.point_state = PointLabel::GROUND; - return; - } - const float delta_max_z = point_curr.z - grid_ref.max_height; - if (abs(delta_max_z) < non_ground_height_threshold_) { - pd.point_state = PointLabel::GROUND; - return; - } - const float delta_radius = pd.radius - grid_ref.radius; - const float local_slope_ratio = delta_avg_z / delta_radius; - if (abs(local_slope_ratio) < local_slope_max_ratio_) { - pd.point_state = PointLabel::GROUND; - return; - } - if (local_slope_ratio >= local_slope_max_ratio_) { - pd.point_state = PointLabel::NON_GROUND; - return; - } -} - -void ScanGroundFilterComponent::checkBreakGndGrid( - PointData & pd, const pcl::PointXYZ & point_curr, - const std::vector & gnd_grids_list) const -{ - const auto & grid_ref = gnd_grids_list.back(); - const float delta_avg_z = point_curr.z - grid_ref.avg_height; - const float delta_radius = pd.radius - grid_ref.radius; - const float local_slope_ratio = delta_avg_z / delta_radius; - if (abs(local_slope_ratio) < global_slope_max_ratio_) { - pd.point_state = PointLabel::GROUND; - return; - } - if (local_slope_ratio >= global_slope_max_ratio_) { - pd.point_state = PointLabel::NON_GROUND; - return; - } -} - -void ScanGroundFilterComponent::recheckGroundCluster( - const PointsCentroid & gnd_cluster, const float non_ground_threshold, const bool use_lowest_point, - pcl::PointIndices & non_ground_indices) const -{ - const float reference_height = - use_lowest_point ? gnd_cluster.getMinHeight() : gnd_cluster.getAverageHeight(); - const pcl::PointIndices & gnd_indices = gnd_cluster.getIndicesRef(); - const std::vector & height_list = gnd_cluster.getHeightListRef(); - for (size_t i = 0; i < height_list.size(); ++i) { - if (height_list.at(i) >= reference_height + non_ground_threshold) { - non_ground_indices.indices.push_back(gnd_indices.indices.at(i)); - } - } -} - -void ScanGroundFilterComponent::classifyPointCloudGridScan( - const PointCloud2ConstPtr & in_cloud, - const std::vector & in_radial_ordered_clouds, - pcl::PointIndices & out_no_ground_indices) const -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - out_no_ground_indices.indices.clear(); - - // run the classification algorithm for each ray (azimuth division) - for (size_t i = 0; i < in_radial_ordered_clouds.size(); ++i) { - PointsCentroid centroid_bin; - centroid_bin.initialize(); - std::vector gnd_grids; - - // check empty ray - if (in_radial_ordered_clouds[i].size() == 0) { - continue; - } - - bool initialized_first_gnd_grid = false; - - PointData pd_curr, pd_prev; - pcl::PointXYZ point_curr, point_prev; - - // initialize the previous point - { - pd_curr = in_radial_ordered_clouds[i][0]; - const size_t data_index = in_cloud->point_step * pd_curr.orig_index; - get_point_from_data_index(in_cloud, data_index, point_curr); - } - - // iterate over the points in the ray - for (const auto & point : in_radial_ordered_clouds[i]) { - // set the previous point - pd_prev = pd_curr; - point_prev = point_curr; - - // set the current point - pd_curr = point; - const size_t data_index = in_cloud->point_step * pd_curr.orig_index; - get_point_from_data_index(in_cloud, data_index, point_curr); - - // determine if the current point is in new grid - const bool is_curr_in_next_grid = pd_curr.grid_id > pd_prev.grid_id; - - // initialization process for the first grid and interpolate the previous grids - if (!initialized_first_gnd_grid) { - // set the thresholds - const float global_slope_ratio_p = point_prev.z / pd_prev.radius; - float non_ground_height_threshold_local = non_ground_height_threshold_; - if (point_prev.x < low_priority_region_x_) { - non_ground_height_threshold_local = - non_ground_height_threshold_ * abs(point_prev.x / low_priority_region_x_); - } - // non_ground_height_threshold_local is only for initialization - - // prepare centroid_bin for the first grid - if ( - // classify previous point - global_slope_ratio_p >= global_slope_max_ratio_ && - point_prev.z > non_ground_height_threshold_local) { - out_no_ground_indices.indices.push_back(pd_prev.orig_index); - pd_prev.point_state = PointLabel::NON_GROUND; - } else if ( - abs(global_slope_ratio_p) < global_slope_max_ratio_ && - abs(point_prev.z) < non_ground_height_threshold_local) { - centroid_bin.addPoint(pd_prev.radius, point_prev.z, pd_prev.orig_index); - pd_prev.point_state = PointLabel::GROUND; - // centroid_bin is filled at least once - // if the current point is in the next gird, it is ready to be initialized - initialized_first_gnd_grid = is_curr_in_next_grid; - } - // keep filling the centroid_bin until it is ready to be initialized - if (!initialized_first_gnd_grid) { - continue; - } - // estimate previous grids by linear interpolation - float h = centroid_bin.getAverageHeight(); - float r = centroid_bin.getAverageRadius(); - initializeFirstGndGrids(h, r, pd_prev.grid_id, gnd_grids); - } - - // finalize the current centroid_bin and update the gnd_grids - if (is_curr_in_next_grid && centroid_bin.getIndicesRef().indices.size() > 0) { - // check if the prev grid have ground point cloud - if (use_recheck_ground_cluster_) { - recheckGroundCluster( - centroid_bin, non_ground_height_threshold_, use_lowest_point_, out_no_ground_indices); - // centroid_bin is not modified. should be rechecked by out_no_ground_indices? - } - // convert the centroid_bin to grid-center and add it to the gnd_grids - GridCenter curr_gnd_grid; - curr_gnd_grid.radius = centroid_bin.getAverageRadius(); - curr_gnd_grid.avg_height = centroid_bin.getAverageHeight(); - curr_gnd_grid.max_height = centroid_bin.getMaxHeight(); - curr_gnd_grid.grid_id = pd_prev.grid_id; - curr_gnd_grid.gradient = 0.0f; // not calculated yet - curr_gnd_grid.intercept = 0.0f; // not calculated yet - gnd_grids.push_back(curr_gnd_grid); - // clear the centroid_bin - centroid_bin.initialize(); - - // calculate local ground gradient - float gradient, intercept; - fitLineFromGndGrid( - gnd_grids, gnd_grids.size() - gnd_grid_buffer_size_, gnd_grids.size(), gradient, - intercept); - // update the current grid - gnd_grids.back().gradient = gradient; // update the gradient - gnd_grids.back().intercept = intercept; // update the intercept - } - - // 0: set the thresholds - const float global_slope_ratio_p = point_curr.z / pd_curr.radius; - const auto & grid_ref = gnd_grids.back(); - - // 1: height is out-of-range - if (point_curr.z - grid_ref.avg_height > detection_range_z_max_) { - pd_curr.point_state = PointLabel::OUT_OF_RANGE; - continue; - } - - // 2: continuously non-ground - float points_xy_distance_square = - (point_curr.x - point_prev.x) * (point_curr.x - point_prev.x) + - (point_curr.y - point_prev.y) * (point_curr.y - point_prev.y); - if ( - pd_prev.point_state == PointLabel::NON_GROUND && - points_xy_distance_square < split_points_distance_tolerance_square_ && - point_curr.z > point_prev.z) { - pd_curr.point_state = PointLabel::NON_GROUND; - out_no_ground_indices.indices.push_back(pd_curr.orig_index); - continue; - } - - // 3: the angle is exceed the global slope threshold - if (global_slope_ratio_p > global_slope_max_ratio_) { - out_no_ground_indices.indices.push_back(pd_curr.orig_index); - continue; - } - - const uint16_t next_gnd_grid_id_thresh = (gnd_grids.end() - gnd_grid_buffer_size_)->grid_id + - gnd_grid_buffer_size_ + gnd_grid_continual_thresh_; - const float curr_grid_width = grid_.getGridSize(pd_curr.radius, pd_curr.grid_id); - if ( - // 4: the point is continuous with the previous grid - pd_curr.grid_id < next_gnd_grid_id_thresh && - pd_curr.radius - grid_ref.radius < gnd_grid_continual_thresh_ * curr_grid_width) { - checkContinuousGndGrid(pd_curr, point_curr, gnd_grids); - } else if ( - // 5: the point is discontinuous with the previous grid - pd_curr.radius - grid_ref.radius < gnd_grid_continual_thresh_ * curr_grid_width) { - checkDiscontinuousGndGrid(pd_curr, point_curr, gnd_grids); - } else { - // 6: the point is break the previous grid - checkBreakGndGrid(pd_curr, point_curr, gnd_grids); - } - - // update the point label and update the ground cluster - if (pd_curr.point_state == PointLabel::NON_GROUND) { - out_no_ground_indices.indices.push_back(pd_curr.orig_index); - } else if (pd_curr.point_state == PointLabel::GROUND) { - centroid_bin.addPoint(pd_curr.radius, point_curr.z, pd_curr.orig_index); - } - // else, the point is not classified - } - } -} - void ScanGroundFilterComponent::classifyPointCloud( const PointCloud2ConstPtr & in_cloud, const std::vector & in_radial_ordered_clouds, @@ -615,8 +226,7 @@ void ScanGroundFilterComponent::classifyPointCloud( const PointData & pd = in_radial_ordered_clouds[i][j]; point_label_curr = pd.point_state; - const size_t data_index = in_cloud->point_step * pd.orig_index; - get_point_from_data_index(in_cloud, data_index, point_curr); + data_accessor_.getPoint(in_cloud, pd.data_index, point_curr); if (j == 0) { bool is_front_side = (point_curr.x > virtual_ground_point.x); if (use_virtual_ground_point_ && is_front_side) { @@ -677,12 +287,12 @@ void ScanGroundFilterComponent::classifyPointCloud( non_ground_cluster.initialize(); } if (point_label_curr == PointLabel::NON_GROUND) { - out_no_ground_indices.indices.push_back(pd.orig_index); + out_no_ground_indices.indices.push_back(pd.data_index); } else if ( // NOLINT (point_label_prev == PointLabel::NON_GROUND) && (point_label_curr == PointLabel::POINT_FOLLOW)) { point_label_curr = PointLabel::NON_GROUND; - out_no_ground_indices.indices.push_back(pd.orig_index); + out_no_ground_indices.indices.push_back(pd.data_index); } else if ( // NOLINT (point_label_prev == PointLabel::GROUND) && (point_label_curr == PointLabel::POINT_FOLLOW)) { @@ -714,9 +324,9 @@ void ScanGroundFilterComponent::extractObjectPoints( size_t output_data_size = 0; - for (const auto & i : in_indices.indices) { + for (const auto & idx : in_indices.indices) { std::memcpy( - &out_object_cloud.data[output_data_size], &in_cloud_ptr->data[i * in_cloud_ptr->point_step], + &out_object_cloud.data[output_data_size], &in_cloud_ptr->data[idx], in_cloud_ptr->point_step * sizeof(uint8_t)); output_data_size += in_cloud_ptr->point_step; } @@ -731,19 +341,19 @@ void ScanGroundFilterComponent::faster_filter( if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); std::scoped_lock lock(mutex_); - stop_watch_ptr_->toc("processing_time", true); + if (stop_watch_ptr_) stop_watch_ptr_->toc("processing_time", true); - if (!data_offset_initialized_) { - set_field_index_offsets(input); + if (!data_accessor_.isInitialized()) { + data_accessor_.setField(input); + grid_ground_filter_ptr_->setDataAccessor(input); } - std::vector radial_ordered_points; pcl::PointIndices no_ground_indices; if (elevation_grid_mode_) { - convertPointcloudGridScan(input, radial_ordered_points); - classifyPointCloudGridScan(input, radial_ordered_points, no_ground_indices); + grid_ground_filter_ptr_->process(input, no_ground_indices); } else { + std::vector radial_ordered_points; convertPointcloud(input, radial_ordered_points); classifyPointCloud(input, radial_ordered_points, no_ground_indices); } @@ -783,10 +393,10 @@ rcl_interfaces::msg::SetParametersResult ScanGroundFilterComponent::onParameter( const std::vector & param) { if (get_param(param, "grid_size_m", grid_size_m_)) { - grid_.initialize(grid_size_m_, grid_mode_switch_radius_, virtual_lidar_z_); + // grid_ptr_->initialize(grid_size_m_, radial_divider_angle_rad_, grid_mode_switch_radius_); } if (get_param(param, "grid_mode_switch_radius", grid_mode_switch_radius_)) { - grid_.initialize(grid_size_m_, grid_mode_switch_radius_, virtual_lidar_z_); + // grid_ptr_->initialize(grid_size_m_, radial_divider_angle_rad_, grid_mode_switch_radius_); } double global_slope_max_angle_deg{get_parameter("global_slope_max_angle_deg").as_double()}; if (get_param(param, "global_slope_max_angle_deg", global_slope_max_angle_deg)) { @@ -808,19 +418,15 @@ rcl_interfaces::msg::SetParametersResult ScanGroundFilterComponent::onParameter( if (get_param(param, "radial_divider_angle_deg", radial_divider_angle_deg)) { radial_divider_angle_rad_ = deg2rad(radial_divider_angle_deg); radial_dividers_num_ = std::ceil(2.0 * M_PI / radial_divider_angle_rad_); + // grid_ptr_->initialize(grid_size_m_, radial_divider_angle_rad_, grid_mode_switch_radius_); RCLCPP_DEBUG( get_logger(), "Setting radial_divider_angle_rad to: %f.", radial_divider_angle_rad_); RCLCPP_DEBUG(get_logger(), "Setting radial_dividers_num to: %zu.", radial_dividers_num_); } if (get_param(param, "split_points_distance_tolerance", split_points_distance_tolerance_)) { - split_points_distance_tolerance_square_ = - split_points_distance_tolerance_ * split_points_distance_tolerance_; RCLCPP_DEBUG( get_logger(), "Setting split_points_distance_tolerance to: %f.", split_points_distance_tolerance_); - RCLCPP_DEBUG( - get_logger(), "Setting split_points_distance_tolerance_square to: %f.", - split_points_distance_tolerance_square_); } if (get_param(param, "split_height_distance", split_height_distance_)) { RCLCPP_DEBUG(get_logger(), "Setting split_height_distance to: %f.", split_height_distance_); diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp index acc6114ed0acc..62db8307a0a37 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp @@ -15,11 +15,13 @@ #ifndef SCAN_GROUND_FILTER__NODE_HPP_ #define SCAN_GROUND_FILTER__NODE_HPP_ -#include "autoware/pointcloud_preprocessor/filter.hpp" -#include "autoware/pointcloud_preprocessor/transform_info.hpp" -#include "autoware/universe_utils/system/time_keeper.hpp" -#include "autoware_vehicle_info_utils/vehicle_info.hpp" -#include "grid.hpp" +#include "data.hpp" +#include "grid_ground_filter.hpp" + +#include +#include +#include +#include #include @@ -36,6 +38,7 @@ #include +#include #include #include #include @@ -67,20 +70,10 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt float radius; // cylindrical coords on XY Plane PointLabel point_state{PointLabel::INIT}; uint16_t grid_id; // id of grid in vertical - size_t orig_index; // index of this point in the source pointcloud + size_t data_index; // index of this point data in the source pointcloud }; using PointCloudVector = std::vector; - struct GridCenter - { - float radius; - float avg_height; - float max_height; - float gradient; - float intercept; - uint16_t grid_id; - }; - struct PointsCentroid { float radius_sum; @@ -91,8 +84,9 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt float height_min; uint32_t point_num; uint16_t grid_id; - pcl::PointIndices pcl_indices; + std::vector pcl_indices; std::vector height_list; + std::vector radius_list; PointsCentroid() : radius_sum(0.0f), @@ -116,7 +110,7 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt height_min = 10.0f; point_num = 0; grid_id = 0; - pcl_indices.indices.clear(); + pcl_indices.clear(); height_list.clear(); } @@ -130,24 +124,20 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt height_max = height_max < height ? height : height_max; height_min = height_min > height ? height : height_min; } - void addPoint(const float radius, const float height, const uint index) + + void addPoint(const float radius, const float height, const size_t index) { - pcl_indices.indices.push_back(index); + pcl_indices.push_back(index); height_list.push_back(height); addPoint(radius, height); } float getAverageSlope() const { return std::atan2(height_avg, radius_avg); } - float getAverageHeight() const { return height_avg; } - float getAverageRadius() const { return radius_avg; } - float getMaxHeight() const { return height_max; } - float getMinHeight() const { return height_min; } - - const pcl::PointIndices & getIndicesRef() const { return pcl_indices; } + const std::vector & getIndicesRef() const { return pcl_indices; } const std::vector & getHeightListRef() const { return height_list; } }; @@ -163,12 +153,8 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt tf2_ros::Buffer tf_buffer_{get_clock()}; tf2_ros::TransformListener tf_listener_{tf_buffer_}; - int data_offset_x_; - int data_offset_y_; - int data_offset_z_; - int data_offset_intensity_; - int intensity_type_; - bool data_offset_initialized_; + // data accessor + PclDataAccessor data_accessor_; const uint16_t gnd_grid_continual_thresh_ = 3; bool elevation_grid_mode_; @@ -187,7 +173,6 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt float global_slope_max_ratio_; float local_slope_max_ratio_; float split_points_distance_tolerance_; // distance in meters between concentric divisions - float split_points_distance_tolerance_square_; // non-grid mode parameters bool use_virtual_ground_point_; @@ -206,13 +191,8 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt uint16_t gnd_grid_buffer_size_; float virtual_lidar_z_; - // grid data - ScanGroundGrid grid_; - - // data access methods - void set_field_index_offsets(const PointCloud2ConstPtr & input); - void get_point_from_data_index( - const PointCloud2ConstPtr & input, const size_t data_index, pcl::PointXYZ & point) const; + // grid ground filter processor + std::unique_ptr grid_ground_filter_ptr_; // time keeper related rclcpp::Publisher::SharedPtr @@ -237,9 +217,7 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt void convertPointcloud( const PointCloud2ConstPtr & in_cloud, std::vector & out_radial_ordered_points) const; - void convertPointcloudGridScan( - const PointCloud2ConstPtr & in_cloud, - std::vector & out_radial_ordered_points) const; + /*! * Output ground center of front wheels as the virtual ground point * @param[out] point Virtual ground origin point @@ -253,39 +231,10 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt * @param out_no_ground_indices Returns the indices of the points * classified as not ground in the original PointCloud */ - - void initializeFirstGndGrids( - const float h, const float r, const uint16_t id, std::vector & gnd_grids) const; - - void fitLineFromGndGrid( - const std::vector & gnd_grids_list, const size_t start_idx, const size_t end_idx, - float & a, float & b) const; - void checkContinuousGndGrid( - PointData & pd, const pcl::PointXYZ & point_curr, - const std::vector & gnd_grids_list) const; - void checkDiscontinuousGndGrid( - PointData & pd, const pcl::PointXYZ & point_curr, - const std::vector & gnd_grids_list) const; - void checkBreakGndGrid( - PointData & pd, const pcl::PointXYZ & point_curr, - const std::vector & gnd_grids_list) const; void classifyPointCloud( const PointCloud2ConstPtr & in_cloud, const std::vector & in_radial_ordered_clouds, pcl::PointIndices & out_no_ground_indices) const; - void classifyPointCloudGridScan( - const PointCloud2ConstPtr & in_cloud, - const std::vector & in_radial_ordered_clouds, - pcl::PointIndices & out_no_ground_indices) const; - /*! - * Re-classifies point of ground cluster based on their height - * @param gnd_cluster Input ground cluster for re-checking - * @param non_ground_threshold Height threshold for ground and non-ground points classification - * @param non_ground_indices Output non-ground PointCloud indices - */ - void recheckGroundCluster( - const PointsCentroid & gnd_cluster, const float non_ground_threshold, - const bool use_lowest_point, pcl::PointIndices & non_ground_indices) const; /*! * Returns the resulting complementary PointCloud, one with the points kept * and the other removed as indicated in the indices From f3e76a8affaaa67e4edcdadff1a4ea74dad1b67a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 26 Nov 2024 09:11:52 +0900 Subject: [PATCH 537/701] fix(surround_obstacle_checker)!: remove stop reason (#9450) fix(surround_obstacle_checker): remove stop reason Signed-off-by: satoshi-ota --- .../README.md | 3 -- .../surround_obstacle_checker.launch.xml | 1 - .../src/debug_marker.cpp | 30 ----------------- .../src/debug_marker.hpp | 6 ---- .../src/node.cpp | 33 ------------------- .../src/node.hpp | 1 - .../surround_obstacle_checker-design.ja.md | 3 -- 7 files changed, 77 deletions(-) diff --git a/planning/autoware_surround_obstacle_checker/README.md b/planning/autoware_surround_obstacle_checker/README.md index 1f4bf77145624..fbe749f2eec08 100644 --- a/planning/autoware_surround_obstacle_checker/README.md +++ b/planning/autoware_surround_obstacle_checker/README.md @@ -34,8 +34,6 @@ else endif -:Publish stop reason; - stop @enduml ``` @@ -93,7 +91,6 @@ As mentioned in stop condition section, it prevents chattering by changing thres | `~/output/velocity_limit_clear_command` | `tier4_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command | | `~/output/max_velocity` | `tier4_planning_msgs::msg::VelocityLimit` | Velocity limit command | | `~/output/no_start_reason` | `diagnostic_msgs::msg::DiagnosticStatus` | No start reason | -| `~/output/stop_reasons` | `tier4_planning_msgs::msg::StopReasonArray` | Stop reasons | | `~/debug/marker` | `visualization_msgs::msg::MarkerArray` | Marker for visualization | | `~/debug/footprint` | `geometry_msgs::msg::PolygonStamped` | Ego vehicle base footprint for visualization | | `~/debug/footprint_offset` | `geometry_msgs::msg::PolygonStamped` | Ego vehicle footprint with `surround_check_distance` offset for visualization | diff --git a/planning/autoware_surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml b/planning/autoware_surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml index 0ba7d29090916..c7e440f6eb3e1 100644 --- a/planning/autoware_surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml +++ b/planning/autoware_surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml @@ -10,7 +10,6 @@ - diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp index 57d9cc8bc67a7..6a5883fbd660d 100644 --- a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp +++ b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp @@ -75,7 +75,6 @@ SurroundObstacleCheckerDebugNode::SurroundObstacleCheckerDebugNode( clock_(clock) { debug_viz_pub_ = node.create_publisher("~/debug/marker", 1); - stop_reason_pub_ = node.create_publisher("~/output/stop_reasons", 1); velocity_factor_pub_ = node.create_publisher("/planning/velocity_factors/surround_obstacle", 1); vehicle_footprint_pub_ = node.create_publisher("~/debug/footprint", 1); @@ -142,8 +141,6 @@ void SurroundObstacleCheckerDebugNode::publish() debug_viz_pub_->publish(visualization_msg); /* publish stop reason for autoware api */ - const auto stop_reason_msg = makeStopReasonArray(); - stop_reason_pub_->publish(stop_reason_msg); const auto velocity_factor_msg = makeVelocityFactorArray(); velocity_factor_pub_->publish(velocity_factor_msg); @@ -171,33 +168,6 @@ MarkerArray SurroundObstacleCheckerDebugNode::makeVisualizationMarker() return msg; } -StopReasonArray SurroundObstacleCheckerDebugNode::makeStopReasonArray() -{ - // create header - std_msgs::msg::Header header; - header.frame_id = "map"; - header.stamp = this->clock_->now(); - - // create stop reason stamped - StopReason stop_reason_msg; - stop_reason_msg.reason = StopReason::SURROUND_OBSTACLE_CHECK; - StopFactor stop_factor; - - if (stop_pose_ptr_ != nullptr) { - stop_factor.stop_pose = *stop_pose_ptr_; - if (stop_obstacle_point_ptr_ != nullptr) { - stop_factor.stop_factor_points.emplace_back(*stop_obstacle_point_ptr_); - } - stop_reason_msg.stop_factors.emplace_back(stop_factor); - } - - // create stop reason array - StopReasonArray stop_reason_array; - stop_reason_array.header = header; - stop_reason_array.stop_reasons.emplace_back(stop_reason_msg); - return stop_reason_array; -} - VelocityFactorArray SurroundObstacleCheckerDebugNode::makeVelocityFactorArray() { VelocityFactorArray velocity_factor_array; diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp index 17ec2631b2dad..b2c350c1b4698 100644 --- a/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp +++ b/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp @@ -22,7 +22,6 @@ #include #include #include -#include #include #include @@ -39,9 +38,6 @@ using autoware_adapi_v1_msgs::msg::PlanningBehavior; using autoware_adapi_v1_msgs::msg::VelocityFactor; using autoware_adapi_v1_msgs::msg::VelocityFactorArray; using geometry_msgs::msg::PolygonStamped; -using tier4_planning_msgs::msg::StopFactor; -using tier4_planning_msgs::msg::StopReason; -using tier4_planning_msgs::msg::StopReasonArray; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; @@ -69,7 +65,6 @@ class SurroundObstacleCheckerDebugNode private: rclcpp::Publisher::SharedPtr debug_viz_pub_; - rclcpp::Publisher::SharedPtr stop_reason_pub_; rclcpp::Publisher::SharedPtr velocity_factor_pub_; rclcpp::Publisher::SharedPtr vehicle_footprint_pub_; @@ -85,7 +80,6 @@ class SurroundObstacleCheckerDebugNode geometry_msgs::msg::Pose self_pose_; MarkerArray makeVisualizationMarker(); - StopReasonArray makeStopReasonArray(); VelocityFactorArray makeVelocityFactorArray(); PolygonStamped boostPolygonToPolygonStamped(const Polygon2d & boost_polygon, const double & z); diff --git a/planning/autoware_surround_obstacle_checker/src/node.cpp b/planning/autoware_surround_obstacle_checker/src/node.cpp index 70e81fa3b1d12..1a938a9275df5 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.cpp +++ b/planning/autoware_surround_obstacle_checker/src/node.cpp @@ -57,34 +57,6 @@ using autoware::universe_utils::createPoint; using autoware::universe_utils::pose2transform; using autoware_perception_msgs::msg::ObjectClassification; -namespace -{ -std::string jsonDumpsPose(const geometry_msgs::msg::Pose & pose) -{ - const std::string json_dumps_pose = - (boost::format( - R"({"position":{"x":%lf,"y":%lf,"z":%lf},"orientation":{"w":%lf,"x":%lf,"y":%lf,"z":%lf}})") % - pose.position.x % pose.position.y % pose.position.z % pose.orientation.w % pose.orientation.x % - pose.orientation.y % pose.orientation.z) - .str(); - return json_dumps_pose; -} - -diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag( - const std::string & no_start_reason, const geometry_msgs::msg::Pose & stop_pose) -{ - diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; - diagnostic_msgs::msg::KeyValue no_start_reason_diag_kv; - no_start_reason_diag.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - no_start_reason_diag.name = "no_start_reason"; - no_start_reason_diag.message = no_start_reason; - no_start_reason_diag_kv.key = "no_start_pose"; - no_start_reason_diag_kv.value = jsonDumpsPose(stop_pose); - no_start_reason_diag.values.push_back(no_start_reason_diag_kv); - return no_start_reason_diag; -} -} // namespace - SurroundObstacleCheckerNode::SurroundObstacleCheckerNode(const rclcpp::NodeOptions & node_options) : Node("surround_obstacle_checker_node", node_options) { @@ -104,8 +76,6 @@ SurroundObstacleCheckerNode::SurroundObstacleCheckerNode(const rclcpp::NodeOptio vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo(); // Publishers - pub_stop_reason_ = - this->create_publisher("~/output/no_start_reason", 1); pub_clear_velocity_limit_ = this->create_publisher( "~/output/velocity_limit_clear_command", rclcpp::QoS{1}.transient_local()); pub_velocity_limit_ = this->create_publisher( @@ -256,10 +226,8 @@ void SurroundObstacleCheckerNode::onTimer() debug_ptr_->pushObstaclePoint(nearest_obstacle.value().second, PointType::NoStart); } - diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; if (state_ == State::STOP) { debug_ptr_->pushPose(odometry_ptr_->pose.pose, PoseType::NoStart); - no_start_reason_diag = makeStopReasonDiag("obstacle", odometry_ptr_->pose.pose); } tier4_debug_msgs::msg::Float64Stamped processing_time_msg; @@ -267,7 +235,6 @@ void SurroundObstacleCheckerNode::onTimer() processing_time_msg.data = stop_watch.toc(); pub_processing_time_->publish(processing_time_msg); - pub_stop_reason_->publish(no_start_reason_diag); debug_ptr_->publish(); } diff --git a/planning/autoware_surround_obstacle_checker/src/node.hpp b/planning/autoware_surround_obstacle_checker/src/node.hpp index 480a937a4a909..17eb2979e6809 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.hpp +++ b/planning/autoware_surround_obstacle_checker/src/node.hpp @@ -104,7 +104,6 @@ class SurroundObstacleCheckerNode : public rclcpp::Node sub_pointcloud_{this, "~/input/pointcloud", autoware::universe_utils::SingleDepthSensorQoS()}; autoware::universe_utils::InterProcessPollingSubscriber sub_dynamic_objects_{ this, "~/input/objects"}; - rclcpp::Publisher::SharedPtr pub_stop_reason_; rclcpp::Publisher::SharedPtr pub_clear_velocity_limit_; rclcpp::Publisher::SharedPtr pub_velocity_limit_; rclcpp::Publisher::SharedPtr pub_processing_time_; diff --git a/planning/autoware_surround_obstacle_checker/surround_obstacle_checker-design.ja.md b/planning/autoware_surround_obstacle_checker/surround_obstacle_checker-design.ja.md index f8a5f29e064f7..b19f556e59830 100644 --- a/planning/autoware_surround_obstacle_checker/surround_obstacle_checker-design.ja.md +++ b/planning/autoware_surround_obstacle_checker/surround_obstacle_checker-design.ja.md @@ -34,8 +34,6 @@ else endif -:Publish stop reason; - stop @enduml ``` @@ -93,7 +91,6 @@ Stop condition の項で述べたように、状態によって障害物判定 | `~/output/velocity_limit_clear_command` | `tier4_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command | | `~/output/max_velocity` | `tier4_planning_msgs::msg::VelocityLimit` | Velocity limit command | | `~/output/no_start_reason` | `diagnostic_msgs::msg::DiagnosticStatus` | No start reason | -| `~/output/stop_reasons` | `tier4_planning_msgs::msg::StopReasonArray` | Stop reasons | | `~/debug/marker` | `visualization_msgs::msg::MarkerArray` | Marker for visualization | ## Parameters From e46e2fcf68d057b7502c7ffbd66ee350774e58a3 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 26 Nov 2024 09:13:46 +0900 Subject: [PATCH 538/701] fix(tier4_camera_view_rviz_plugin): fix clang-diagnostic-unused-const-variable (#9438) Signed-off-by: veqcc --- .../src/bird_eye_view_controller.cpp | 3 --- .../src/third_person_view_controller.cpp | 1 - 2 files changed, 4 deletions(-) diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp b/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp index b6637a3c619a5..a961d7c9250ce 100644 --- a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp +++ b/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp @@ -62,9 +62,6 @@ static const Ogre::Quaternion ROBOT_TO_CAMERA_ROTATION = Ogre::Quaternion(Ogre::Radian(-Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_Y) * Ogre::Quaternion(Ogre::Radian(-Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_Z); -static const float PITCH_LIMIT_LOW = -Ogre::Math::HALF_PI + 0.001; -static const float PITCH_LIMIT_HIGH = Ogre::Math::HALF_PI - 0.001; - BirdEyeViewController::BirdEyeViewController() : dragging_(false) { scale_property_ = new rviz_common::properties::FloatProperty( diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp b/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp index 97216f238d593..b7d754b02d4bd 100644 --- a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp +++ b/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp @@ -68,7 +68,6 @@ static const float PITCH_START = Ogre::Math::HALF_PI / 3; static const float YAW_START = Ogre::Math::PI; static const float DISTANCE_START = 30; static const float FOCAL_SHAPE_SIZE_START = 0.05; -static const bool FOCAL_SHAPE_FIXED_SIZE = true; static const char * TARGET_FRAME_START = "base_link"; // move camera up so the focal point appears in the lower image half From 19364ff11980e4e390dc429ac944cb1a2590cf58 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 26 Nov 2024 10:11:15 +0900 Subject: [PATCH 539/701] fix(autoware_vehicle_cmd_gate): remove unused variable (#9377) Signed-off-by: veqcc --- control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp | 1 - 1 file changed, 1 deletion(-) diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp index 9e5db63f9311d..c44e96631998f 100644 --- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp @@ -137,7 +137,6 @@ class VehicleCmdGate : public rclcpp::Node bool is_engaged_; bool is_system_emergency_ = false; bool is_external_emergency_stop_ = false; - bool is_filtered_marker_published_ = false; double current_steer_ = 0; GateMode current_gate_mode_; MrmState current_mrm_state_; From 0db25c101dd1729918217ae13e9575a4b87042d4 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 26 Nov 2024 13:34:51 +0900 Subject: [PATCH 540/701] fix(diagnostic_graph_utils): fix clang-diagnostic-delete-abstract-non-virtual-dtor (#9431) Signed-off-by: veqcc --- .../include/diagnostic_graph_utils/graph.hpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/system/diagnostic_graph_utils/include/diagnostic_graph_utils/graph.hpp b/system/diagnostic_graph_utils/include/diagnostic_graph_utils/graph.hpp index c5b386dbe2c86..275e4ffcb1c7e 100644 --- a/system/diagnostic_graph_utils/include/diagnostic_graph_utils/graph.hpp +++ b/system/diagnostic_graph_utils/include/diagnostic_graph_utils/graph.hpp @@ -37,6 +37,8 @@ class DiagUnit using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; using DiagnosticLevel = DiagnosticStatus::_level_type; + virtual ~DiagUnit() = default; + struct DiagChild { DiagLink * link; From b3ded07cbf31bb3947f8d240fa83d27f1287d9ca Mon Sep 17 00:00:00 2001 From: Kazunori-Nakajima <169115284+Kazunori-Nakajima@users.noreply.github.com> Date: Tue, 26 Nov 2024 13:40:48 +0900 Subject: [PATCH 541/701] feat(processing_time_checker): update processing time list (#9350) Signed-off-by: Kasunori-Nakajima --- .../config/processing_time_checker.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml b/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml index 033b20d234fd9..526e413ea196f 100644 --- a/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml +++ b/system/autoware_processing_time_checker/config/processing_time_checker.param.yaml @@ -2,6 +2,7 @@ ros__parameters: update_rate: 10.0 processing_time_topic_name_list: + - /control/control_evaluator/debug/processing_time_ms - /control/control_validator/debug/processing_time_ms - /control/trajectory_follower/controller_node_exe/lateral/debug/processing_time_ms - /control/trajectory_follower/controller_node_exe/longitudinal/debug/processing_time_ms @@ -9,6 +10,9 @@ - /control/vehicle_cmd_gate/debug/processing_time_ms - /perception/object_recognition/prediction/map_based_prediction/debug/processing_time_ms - /perception/object_recognition/tracking/multi_object_tracker/debug/processing_time_ms + - /planning/mission_planning/mission_planner/debug/processing_time_ms + - /planning/mission_planning/route_selector/debug/processing_time_ms + - /planning/planning_evaluator/debug/processing_time_ms - /planning/planning_validator/debug/processing_time_ms - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_by_lane_change/processing_time_ms - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance/processing_time_ms @@ -37,6 +41,7 @@ - /planning/scenario_planning/lane_driving/motion_planning/path_optimizer/debug/processing_time_ms - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/processing_time_ms - /planning/scenario_planning/parking/costmap_generator/debug/processing_time_ms + - /planning/scenario_planning/parking/freespace_planner/debug/processing_time_ms - /planning/scenario_planning/scenario_selector/debug/processing_time_ms - /planning/scenario_planning/velocity_smoother/debug/processing_time_ms - /simulation/shape_estimation/debug/processing_time_ms From abf0f23c6a66cacf7a302c51b49cbcdaa165b3bd Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Tue, 26 Nov 2024 14:10:21 +0900 Subject: [PATCH 542/701] refactor(lane_change): refactor lane change parameters (#9403) * refactor lane change parameters Signed-off-by: mohammad alqudah * update lane change param yaml Signed-off-by: mohammad alqudah * update lane change README Signed-off-by: mohammad alqudah * regroup some parameters Signed-off-by: mohammad alqudah * run pre-commit prettier step Signed-off-by: mohammad alqudah * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * apply pre-commit checks Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --- .../README.md | 41 +- .../config/lane_change.param.yaml | 51 +-- .../utils/data_structs.hpp | 135 +----- .../utils/parameters.hpp | 169 ++++++++ .../src/manager.cpp | 398 ++++++++---------- .../src/scene.cpp | 92 ++-- .../src/utils/calculation.cpp | 52 +-- .../src/utils/utils.cpp | 18 +- 8 files changed, 475 insertions(+), 481 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md index 3b23dd8b4212b..6ebe79c180e95 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md @@ -525,8 +525,6 @@ The ego vehicle may need to secure ample inter-vehicle distance ahead of the tar ![enable collision check at prepare phase](./images/lane_change-enable_collision_check_at_prepare_phase.png) -The parameter `prepare_phase_ignore_target_speed_thresh` can be configured to ignore the prepare phase collision check for targets whose speeds are less than a specific threshold, such as stationary or very slow-moving objects. - #### If the lane is blocked and multiple lane changes When driving on the public road with other vehicles, there exist scenarios where lane changes cannot be executed. Suppose the candidate path is evaluated as unsafe, for example, due to incoming vehicles in the adjacent lane. In that case, the ego vehicle can't change lanes, and it is impossible to reach the goal. Therefore, the ego vehicle must stop earlier at a certain distance and wait for the adjacent lane to be evaluated as safe. The minimum stopping distance can be computed from shift length and minimum lane changing velocity. @@ -820,25 +818,22 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi | Name | Unit | Type | Description | Default value | | :------------------------------------------- | ------ | ------ | ---------------------------------------------------------------------------------------------------------------------- | ------------------ | | `backward_lane_length` | [m] | double | The backward length to check incoming objects in lane change target lane. | 200.0 | -| `prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | | `backward_length_buffer_for_end_of_lane` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change | 3.0 | | `backward_length_buffer_for_blocking_object` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change when there is an object in front | 3.0 | | `backward_length_from_intersection` | [m] | double | Distance threshold from the last intersection to invalidate or cancel the lane change path | 5.0 | -| `lane_change_finish_judge_buffer` | [m] | double | The additional buffer used to confirm lane change process completion | 2.0 | -| `lane_changing_lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 | -| `minimum_lane_changing_velocity` | [m/s] | double | Minimum speed during lane changing process. | 2.78 | -| `prediction_time_resolution` | [s] | double | Time resolution for object's path interpolation and collision check. | 0.5 | -| `longitudinal_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by longitudinal acceleration | 3 | -| `lateral_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 | +| `trajectory.prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | +| `trajectory.lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 | +| `trajectory.minimum_lane_changing_velocity` | [m/s] | double | Minimum speed during lane changing process. | 2.78 | +| `trajectory.lon_acc_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by longitudinal acceleration | 3 | +| `trajectory.lat_acc_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 | +| `trajectory.max_longitudinal_acc` | [m/s2] | double | maximum longitudinal acceleration for lane change | 1.0 | +| `trajectory.min_longitudinal_acc` | [m/s2] | double | maximum longitudinal deceleration for lane change | -1.0 | | `object_check_min_road_shoulder_width` | [m] | double | Width considered as a road shoulder if the lane does not have a road shoulder | 0.5 | | `object_shiftable_ratio_threshold` | [-] | double | Vehicles around the center line within this distance ratio will be excluded from parking objects | 0.6 | | `min_length_for_turn_signal_activation` | [m] | double | Turn signal will be activated if the ego vehicle approaches to this length from minimum lane change length | 10.0 | -| `length_ratio_for_turn_signal_deactivation` | [-] | double | Turn signal will be deactivated if the ego vehicle approaches to this length ratio for lane change finish point | 0.8 | -| `max_longitudinal_acc` | [-] | double | maximum longitudinal acceleration for lane change | 1.0 | -| `min_longitudinal_acc` | [-] | double | maximum longitudinal deceleration for lane change | -1.0 | | `lateral_acceleration.velocity` | [m/s] | double | Reference velocity for lateral acceleration calculation (look up table) | [0.0, 4.0, 10.0] | -| `lateral_acceleration.min_values` | [m/ss] | double | Min lateral acceleration values corresponding to velocity (look up table) | [0.4, 0.4, 0.4] | -| `lateral_acceleration.max_values` | [m/ss] | double | Max lateral acceleration values corresponding to velocity (look up table) | [0.65, 0.65, 0.65] | +| `lateral_acceleration.min_values` | [m/s2] | double | Min lateral acceleration values corresponding to velocity (look up table) | [0.4, 0.4, 0.4] | +| `lateral_acceleration.max_values` | [m/s2] | double | Max lateral acceleration values corresponding to velocity (look up table) | [0.65, 0.65, 0.65] | ### Parameter to judge if lane change is completed @@ -891,14 +886,14 @@ The following parameters are used to judge lane change completion. | Name | Unit | Type | Description | Default value | | :------------------------------------------------------- | ----- | ------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | -| `enable_collision_check_for_prepare_phase.general_lanes` | [-] | boolean | Perform collision check starting from the prepare phase for situations not explicitly covered by other settings (e.g., intersections). If `false`, collision check only evaluated for lane changing phase. | false | -| `enable_collision_check_for_prepare_phase.intersection` | [-] | boolean | Perform collision check starting from prepare phase when ego is in intersection. If `false`, collision check only evaluated for lane changing phase. | true | -| `enable_collision_check_for_prepare_phase.turns` | [-] | boolean | Perform collision check starting from prepare phase when ego is in lanelet with turn direction tags. If `false`, collision check only evaluated for lane changing phase. | true | -| `prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | -| `check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module check objects on current lanes when performing collision assessment. | false | -| `check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. when performing collision assessment | false | -| `use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | -| `safety_check.collision_check_yaw_diff_threshold` | [rad] | double | Maximum yaw difference between ego and object when executing rss-based collision checking | 3.1416 | +| `collision_check.enable_for_prepare_phase.general_lanes` | [-] | boolean | Perform collision check starting from the prepare phase for situations not explicitly covered by other settings (e.g., intersections). If `false`, collision check only evaluated for lane changing phase. | false | +| `collision_check.enable_for_prepare_phase.intersection` | [-] | boolean | Perform collision check starting from prepare phase when ego is in intersection. If `false`, collision check only evaluated for lane changing phase. | true | +| `collision_check.enable_for_prepare_phase.turns` | [-] | boolean | Perform collision check starting from prepare phase when ego is in lanelet with turn direction tags. If `false`, collision check only evaluated for lane changing phase. | true | +| `collision_check.check_current_lanes` | [-] | boolean | If true, the lane change module always checks objects in the current lanes for collision assessment. If false, it only checks objects in the current lanes when the ego vehicle is stuck. | false | +| `collision_check.check_other_lanes` | [-] | boolean | If true, the lane change module includes objects in other lanes when performing collision assessment. | false | +| `collision_check.use_all_predicted_paths` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | +| `collision_check.prediction_time_resolution` | [s] | double | Time resolution for object's path interpolation and collision check. | 0.5 | +| `collision_check.yaw_diff_threshold` | [rad] | double | Maximum yaw difference between ego and object when executing rss-based collision checking | 3.1416 | #### safety constraints during lane change path is computed @@ -910,7 +905,7 @@ The following parameters are used to judge lane change completion. | `safety_check.execution.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 1.0 | | `safety_check.execution.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 2.0 | | `safety_check.execution.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | -| `safety_check.cancel.longitudinal_velocity_delta_time` | [m] | double | The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance) | 0.8 | +| `safety_check.execution.longitudinal_velocity_delta_time` | [m] | double | The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance) | 0.8 | #### safety constraints specifically for stopped or parked vehicles diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml index a2a6fbfd880e4..6ac4544f2b342 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml @@ -1,42 +1,35 @@ /**: ros__parameters: lane_change: - backward_lane_length: 200.0 #[m] - prepare_duration: 4.0 # [s] - + backward_lane_length: 200.0 backward_length_buffer_for_end_of_lane: 3.0 # [m] backward_length_buffer_for_blocking_object: 3.0 # [m] backward_length_from_intersection: 5.0 # [m] - lane_changing_lateral_jerk: 0.5 # [m/s3] - - minimum_lane_changing_velocity: 2.78 # [m/s] - prediction_time_resolution: 0.5 # [s] - longitudinal_acceleration_sampling_num: 5 - lateral_acceleration_sampling_num: 3 - # side walk parked vehicle object_check_min_road_shoulder_width: 0.5 # [m] object_shiftable_ratio_threshold: 0.6 # turn signal min_length_for_turn_signal_activation: 10.0 # [m] - length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position) - # longitudinal acceleration - min_longitudinal_acc: -1.0 - max_longitudinal_acc: 1.0 - - skip_process: - longitudinal_distance_diff_threshold: - prepare: 1.0 - lane_changing: 1.0 + # trajectory generation + trajectory: + prepare_duration: 4.0 + lateral_jerk: 0.5 + min_longitudinal_acc: -1.0 + max_longitudinal_acc: 1.0 + th_prepare_length_diff: 1.0 + th_lane_changing_length_diff: 1.0 + min_lane_changing_velocity: 2.78 + lon_acc_sampling_num: 5 + lat_acc_sampling_num: 3 # safety check safety_check: allow_loose_check_for_cancel: true enable_target_lane_bound_check: true - collision_check_yaw_diff_threshold: 3.1416 + stopped_object_velocity_threshold: 1.0 # [m/s] execution: expected_front_deceleration: -1.0 expected_rear_deceleration: -1.0 @@ -104,14 +97,16 @@ stop_time: 3.0 # [s] # collision check - enable_collision_check_for_prepare_phase: - general_lanes: false - intersection: true - turns: true - stopped_object_velocity_threshold: 1.0 # [m/s] - check_objects_on_current_lanes: false - check_objects_on_other_lanes: false - use_all_predicted_path: false + collision_check: + enable_for_prepare_phase: + general_lanes: false + intersection: true + turns: true + prediction_time_resolution: 0.5 + yaw_diff_threshold: 3.1416 + check_current_lanes: false + check_other_lanes: false + use_all_predicted_paths: false # lane change cancel cancel: diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp index 231353e812dd1..32cf000ecb1a7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp @@ -14,6 +14,7 @@ #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_ #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_ +#include "autoware/behavior_path_lane_change_module/utils/parameters.hpp" #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" @@ -42,140 +43,6 @@ using route_handler::RouteHandler; using universe_utils::Polygon2d; using utils::path_safety_checker::ExtendedPredictedObjects; -struct LateralAccelerationMap -{ - std::vector base_vel; - std::vector base_min_acc; - std::vector base_max_acc; - - void add(const double velocity, const double min_acc, const double max_acc) - { - if (base_vel.size() != base_min_acc.size() || base_vel.size() != base_max_acc.size()) { - return; - } - - size_t idx = 0; - for (size_t i = 0; i < base_vel.size(); ++i) { - if (velocity < base_vel.at(i)) { - break; - } - idx = i + 1; - } - - base_vel.insert(base_vel.begin() + idx, velocity); - base_min_acc.insert(base_min_acc.begin() + idx, min_acc); - base_max_acc.insert(base_max_acc.begin() + idx, max_acc); - } - - std::pair find(const double velocity) const - { - if (!base_vel.empty() && velocity < base_vel.front()) { - return std::make_pair(base_min_acc.front(), base_max_acc.front()); - } - if (!base_vel.empty() && velocity > base_vel.back()) { - return std::make_pair(base_min_acc.back(), base_max_acc.back()); - } - - const double min_acc = autoware::interpolation::lerp(base_vel, base_min_acc, velocity); - const double max_acc = autoware::interpolation::lerp(base_vel, base_max_acc, velocity); - - return std::make_pair(min_acc, max_acc); - } -}; - -struct CancelParameters -{ - bool enable_on_prepare_phase{true}; - bool enable_on_lane_changing_phase{false}; - double delta_time{1.0}; - double duration{5.0}; - double max_lateral_jerk{10.0}; - double overhang_tolerance{0.0}; - - // unsafe_hysteresis_threshold will be compare with the number of detected unsafe instance. If the - // number of unsafe exceeds unsafe_hysteresis_threshold, the lane change will be cancelled or - // aborted. - int unsafe_hysteresis_threshold{2}; - - int deceleration_sampling_num{5}; -}; - -struct Parameters -{ - // trajectory generation - double backward_lane_length{200.0}; - double prediction_time_resolution{0.5}; - int longitudinal_acc_sampling_num{10}; - int lateral_acc_sampling_num{10}; - - // lane change parameters - double backward_length_buffer_for_end_of_lane{0.0}; - double backward_length_buffer_for_blocking_object{0.0}; - double backward_length_from_intersection{5.0}; - double lane_changing_lateral_jerk{0.5}; - double minimum_lane_changing_velocity{5.6}; - double lane_change_prepare_duration{4.0}; - LateralAccelerationMap lane_change_lat_acc_map; - - // parked vehicle - double object_check_min_road_shoulder_width{0.5}; - double object_shiftable_ratio_threshold{0.6}; - - // turn signal - double min_length_for_turn_signal_activation{10.0}; - double length_ratio_for_turn_signal_deactivation{0.8}; - - // acceleration data - double min_longitudinal_acc{-1.0}; - double max_longitudinal_acc{1.0}; - - double skip_process_lon_diff_th_prepare{0.5}; - double skip_process_lon_diff_th_lane_changing{1.0}; - - // collision check - bool enable_collision_check_for_prepare_phase_in_general_lanes{false}; - bool enable_collision_check_for_prepare_phase_in_intersection{true}; - bool enable_collision_check_for_prepare_phase_in_turns{true}; - double stopped_object_velocity_threshold{0.1}; - bool check_objects_on_current_lanes{true}; - bool check_objects_on_other_lanes{true}; - bool use_all_predicted_path{false}; - double lane_expansion_left_offset{0.0}; - double lane_expansion_right_offset{0.0}; - - // regulatory elements - bool regulate_on_crosswalk{false}; - bool regulate_on_intersection{false}; - bool regulate_on_traffic_light{false}; - - // ego vehicle stuck detection - double stop_velocity_threshold{0.1}; - double stop_time_threshold{3.0}; - - // true by default for all objects - utils::path_safety_checker::ObjectTypesToCheck object_types_to_check; - - // safety check - bool allow_loose_check_for_cancel{true}; - bool enable_target_lane_bound_check{true}; - double collision_check_yaw_diff_threshold{3.1416}; - utils::path_safety_checker::RSSparams rss_params{}; - utils::path_safety_checker::RSSparams rss_params_for_parked{}; - utils::path_safety_checker::RSSparams rss_params_for_abort{}; - utils::path_safety_checker::RSSparams rss_params_for_stuck{}; - - // abort - CancelParameters cancel{}; - - // finish judge parameter - double lane_change_finish_judge_buffer{3.0}; - double finish_judge_lateral_threshold{0.2}; - double finish_judge_lateral_angle_deviation{autoware::universe_utils::deg2rad(3.0)}; - - // debug marker - bool publish_debug_marker{false}; -}; - enum class States { Normal = 0, Cancel, diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp new file mode 100644 index 0000000000000..d688782ed8d8d --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp @@ -0,0 +1,169 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_ +#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_ + +#include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" + +#include +#include + +#include +#include + +namespace autoware::behavior_path_planner::lane_change +{ +using utils::path_safety_checker::ObjectTypesToCheck; +using utils::path_safety_checker::RSSparams; + +struct LateralAccelerationMap +{ + std::vector base_vel; + std::vector base_min_acc; + std::vector base_max_acc; + + void add(const double velocity, const double min_acc, const double max_acc) + { + if (base_vel.size() != base_min_acc.size() || base_vel.size() != base_max_acc.size()) { + return; + } + + size_t idx = 0; + for (size_t i = 0; i < base_vel.size(); ++i) { + if (velocity < base_vel.at(i)) { + break; + } + idx = i + 1; + } + + base_vel.insert(base_vel.begin() + idx, velocity); + base_min_acc.insert(base_min_acc.begin() + idx, min_acc); + base_max_acc.insert(base_max_acc.begin() + idx, max_acc); + } + + std::pair find(const double velocity) const + { + if (!base_vel.empty() && velocity < base_vel.front()) { + return std::make_pair(base_min_acc.front(), base_max_acc.front()); + } + if (!base_vel.empty() && velocity > base_vel.back()) { + return std::make_pair(base_min_acc.back(), base_max_acc.back()); + } + + const double min_acc = autoware::interpolation::lerp(base_vel, base_min_acc, velocity); + const double max_acc = autoware::interpolation::lerp(base_vel, base_max_acc, velocity); + + return std::make_pair(min_acc, max_acc); + } +}; + +struct CancelParameters +{ + bool enable_on_prepare_phase{true}; + bool enable_on_lane_changing_phase{false}; + double delta_time{1.0}; + double duration{5.0}; + double max_lateral_jerk{10.0}; + double overhang_tolerance{0.0}; + + // th_unsafe_hysteresis will be compare with the number of detected unsafe instance. If the + // number of unsafe exceeds th_unsafe_hysteresis, the lane change will be cancelled or + // aborted. + int th_unsafe_hysteresis{2}; + + int deceleration_sampling_num{5}; +}; + +struct CollisionCheckParameters +{ + bool enable_for_prepare_phase_in_general_lanes{false}; + bool enable_for_prepare_phase_in_intersection{true}; + bool enable_for_prepare_phase_in_turns{true}; + bool check_current_lane{true}; + bool check_other_lanes{true}; + bool use_all_predicted_paths{false}; + double th_yaw_diff{3.1416}; + double prediction_time_resolution{0.5}; +}; + +struct SafetyParameters +{ + bool enable_loose_check_for_cancel{true}; + bool enable_target_lane_bound_check{true}; + double th_stopped_object_velocity{0.1}; + double lane_expansion_left_offset{0.0}; + double lane_expansion_right_offset{0.0}; + RSSparams rss_params{}; + RSSparams rss_params_for_parked{}; + RSSparams rss_params_for_abort{}; + RSSparams rss_params_for_stuck{}; + ObjectTypesToCheck target_object_types{}; + CollisionCheckParameters collision_check{}; +}; + +struct TrajectoryParameters +{ + double prepare_duration{4.0}; + double lateral_jerk{0.5}; + double min_longitudinal_acc{-1.0}; + double max_longitudinal_acc{1.0}; + double th_prepare_length_diff{0.5}; + double th_lane_changing_length_diff{0.5}; + double min_lane_changing_velocity{5.6}; + int lon_acc_sampling_num{10}; + int lat_acc_sampling_num{10}; + LateralAccelerationMap lat_acc_map{}; +}; + +struct Parameters +{ + TrajectoryParameters trajectory{}; + SafetyParameters safety{}; + CancelParameters cancel{}; + + // lane change parameters + double backward_lane_length{200.0}; + double backward_length_buffer_for_end_of_lane{0.0}; + double backward_length_buffer_for_blocking_object{0.0}; + double backward_length_from_intersection{5.0}; + + // parked vehicle + double object_check_min_road_shoulder_width{0.5}; + double th_object_shiftable_ratio{0.6}; + + // turn signal + double min_length_for_turn_signal_activation{10.0}; + + // regulatory elements + bool regulate_on_crosswalk{false}; + bool regulate_on_intersection{false}; + bool regulate_on_traffic_light{false}; + + // ego vehicle stuck detection + double th_stop_velocity{0.1}; + double th_stop_time{3.0}; + + // finish judge parameter + double lane_change_finish_judge_buffer{3.0}; + double th_finish_judge_lateral_diff{0.2}; + double th_finish_judge_yaw_diff{autoware::universe_utils::deg2rad(3.0)}; + + // debug marker + bool publish_debug_marker{false}; +}; + +} // namespace autoware::behavior_path_planner::lane_change + +#endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp index 10dba38645f39..2624d0f1a87c6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -43,49 +43,72 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s const auto parameter = [](std::string && name) { return "lane_change." + name; }; // trajectory generation - p.backward_lane_length = getOrDeclareParameter(*node, parameter("backward_lane_length")); - p.prediction_time_resolution = - getOrDeclareParameter(*node, parameter("prediction_time_resolution")); - p.longitudinal_acc_sampling_num = - getOrDeclareParameter(*node, parameter("longitudinal_acceleration_sampling_num")); - p.lateral_acc_sampling_num = - getOrDeclareParameter(*node, parameter("lateral_acceleration_sampling_num")); + { + p.trajectory.prepare_duration = + getOrDeclareParameter(*node, parameter("trajectory.prepare_duration")); + p.trajectory.lateral_jerk = + getOrDeclareParameter(*node, parameter("trajectory.lateral_jerk")); + p.trajectory.min_longitudinal_acc = + getOrDeclareParameter(*node, parameter("trajectory.min_longitudinal_acc")); + p.trajectory.max_longitudinal_acc = + getOrDeclareParameter(*node, parameter("trajectory.max_longitudinal_acc")); + p.trajectory.th_prepare_length_diff = + getOrDeclareParameter(*node, parameter("trajectory.th_prepare_length_diff")); + p.trajectory.th_lane_changing_length_diff = + getOrDeclareParameter(*node, parameter("trajectory.th_lane_changing_length_diff")); + p.trajectory.min_lane_changing_velocity = + getOrDeclareParameter(*node, parameter("trajectory.min_lane_changing_velocity")); + p.trajectory.lon_acc_sampling_num = + getOrDeclareParameter(*node, parameter("trajectory.lon_acc_sampling_num")); + p.trajectory.lat_acc_sampling_num = + getOrDeclareParameter(*node, parameter("trajectory.lat_acc_sampling_num")); + + const auto max_acc = getOrDeclareParameter(*node, "normal.max_acc"); + p.trajectory.min_lane_changing_velocity = + std::min(p.trajectory.min_lane_changing_velocity, max_acc * p.trajectory.prepare_duration); + + // validation of trajectory parameters + if (p.trajectory.lon_acc_sampling_num < 1 || p.trajectory.lat_acc_sampling_num < 1) { + RCLCPP_FATAL_STREAM( + node->get_logger().get_child(node_name), + "lane_change_sampling_num must be positive integer. Given longitudinal parameter: " + << p.trajectory.lon_acc_sampling_num + << "Given lateral parameter: " << p.trajectory.lat_acc_sampling_num << std::endl + << "Terminating the program..."); + exit(EXIT_FAILURE); + } + + // lateral acceleration map + const auto lateral_acc_velocity = + getOrDeclareParameter>(*node, parameter("lateral_acceleration.velocity")); + const auto min_lateral_acc = getOrDeclareParameter>( + *node, parameter("lateral_acceleration.min_values")); + const auto max_lateral_acc = getOrDeclareParameter>( + *node, parameter("lateral_acceleration.max_values")); + if ( + lateral_acc_velocity.size() != min_lateral_acc.size() || + lateral_acc_velocity.size() != max_lateral_acc.size()) { + RCLCPP_ERROR( + node->get_logger().get_child(node_name), + "Lane change lateral acceleration map has invalid size."); + exit(EXIT_FAILURE); + } + for (size_t i = 0; i < lateral_acc_velocity.size(); ++i) { + p.trajectory.lat_acc_map.add( + lateral_acc_velocity.at(i), min_lateral_acc.at(i), max_lateral_acc.at(i)); + } + } // parked vehicle detection p.object_check_min_road_shoulder_width = getOrDeclareParameter(*node, parameter("object_check_min_road_shoulder_width")); - p.object_shiftable_ratio_threshold = + p.th_object_shiftable_ratio = getOrDeclareParameter(*node, parameter("object_shiftable_ratio_threshold")); // turn signal p.min_length_for_turn_signal_activation = getOrDeclareParameter(*node, parameter("min_length_for_turn_signal_activation")); - p.length_ratio_for_turn_signal_deactivation = - getOrDeclareParameter(*node, parameter("length_ratio_for_turn_signal_deactivation")); - - // acceleration - p.min_longitudinal_acc = getOrDeclareParameter(*node, parameter("min_longitudinal_acc")); - p.max_longitudinal_acc = getOrDeclareParameter(*node, parameter("max_longitudinal_acc")); - - // collision check - p.enable_collision_check_for_prepare_phase_in_general_lanes = getOrDeclareParameter( - *node, parameter("enable_collision_check_for_prepare_phase.general_lanes")); - p.enable_collision_check_for_prepare_phase_in_intersection = getOrDeclareParameter( - *node, parameter("enable_collision_check_for_prepare_phase.intersection")); - p.enable_collision_check_for_prepare_phase_in_turns = - getOrDeclareParameter(*node, parameter("enable_collision_check_for_prepare_phase.turns")); - p.stopped_object_velocity_threshold = - getOrDeclareParameter(*node, parameter("stopped_object_velocity_threshold")); - p.check_objects_on_current_lanes = - getOrDeclareParameter(*node, parameter("check_objects_on_current_lanes")); - p.check_objects_on_other_lanes = - getOrDeclareParameter(*node, parameter("check_objects_on_other_lanes")); - p.use_all_predicted_path = - getOrDeclareParameter(*node, parameter("use_all_predicted_path")); - p.lane_expansion_left_offset = - getOrDeclareParameter(*node, parameter("safety_check.lane_expansion.left_offset")); - p.lane_expansion_right_offset = - getOrDeclareParameter(*node, parameter("safety_check.lane_expansion.right_offset")); + // lane change regulations p.regulate_on_crosswalk = getOrDeclareParameter(*node, parameter("regulation.crosswalk")); p.regulate_on_intersection = @@ -94,99 +117,85 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s getOrDeclareParameter(*node, parameter("regulation.traffic_light")); // ego vehicle stuck detection - p.stop_velocity_threshold = - getOrDeclareParameter(*node, parameter("stuck_detection.velocity")); - p.stop_time_threshold = - getOrDeclareParameter(*node, parameter("stuck_detection.stop_time")); - - // safety check - p.allow_loose_check_for_cancel = - getOrDeclareParameter(*node, parameter("safety_check.allow_loose_check_for_cancel")); - p.enable_target_lane_bound_check = - getOrDeclareParameter(*node, parameter("safety_check.enable_target_lane_bound_check")); - p.collision_check_yaw_diff_threshold = getOrDeclareParameter( - *node, parameter("safety_check.collision_check_yaw_diff_threshold")); - - p.rss_params.longitudinal_distance_min_threshold = getOrDeclareParameter( - *node, parameter("safety_check.execution.longitudinal_distance_min_threshold")); - p.rss_params.longitudinal_distance_min_threshold = getOrDeclareParameter( - *node, parameter("safety_check.execution.longitudinal_distance_min_threshold")); - p.rss_params.longitudinal_velocity_delta_time = getOrDeclareParameter( - *node, parameter("safety_check.execution.longitudinal_velocity_delta_time")); - p.rss_params.front_vehicle_deceleration = getOrDeclareParameter( - *node, parameter("safety_check.execution.expected_front_deceleration")); - p.rss_params.rear_vehicle_deceleration = getOrDeclareParameter( - *node, parameter("safety_check.execution.expected_rear_deceleration")); - p.rss_params.rear_vehicle_reaction_time = getOrDeclareParameter( - *node, parameter("safety_check.execution.rear_vehicle_reaction_time")); - p.rss_params.rear_vehicle_safety_time_margin = getOrDeclareParameter( - *node, parameter("safety_check.execution.rear_vehicle_safety_time_margin")); - p.rss_params.lateral_distance_max_threshold = getOrDeclareParameter( - *node, parameter("safety_check.execution.lateral_distance_max_threshold")); - - p.rss_params_for_parked.longitudinal_distance_min_threshold = getOrDeclareParameter( - *node, parameter("safety_check.parked.longitudinal_distance_min_threshold")); - p.rss_params_for_parked.longitudinal_distance_min_threshold = getOrDeclareParameter( - *node, parameter("safety_check.parked.longitudinal_distance_min_threshold")); - p.rss_params_for_parked.longitudinal_velocity_delta_time = getOrDeclareParameter( - *node, parameter("safety_check.parked.longitudinal_velocity_delta_time")); - p.rss_params_for_parked.front_vehicle_deceleration = getOrDeclareParameter( - *node, parameter("safety_check.parked.expected_front_deceleration")); - p.rss_params_for_parked.rear_vehicle_deceleration = getOrDeclareParameter( - *node, parameter("safety_check.parked.expected_rear_deceleration")); - p.rss_params_for_parked.rear_vehicle_reaction_time = getOrDeclareParameter( - *node, parameter("safety_check.parked.rear_vehicle_reaction_time")); - p.rss_params_for_parked.rear_vehicle_safety_time_margin = getOrDeclareParameter( - *node, parameter("safety_check.parked.rear_vehicle_safety_time_margin")); - p.rss_params_for_parked.lateral_distance_max_threshold = getOrDeclareParameter( - *node, parameter("safety_check.parked.lateral_distance_max_threshold")); - - p.rss_params_for_abort.longitudinal_distance_min_threshold = getOrDeclareParameter( - *node, parameter("safety_check.cancel.longitudinal_distance_min_threshold")); - p.rss_params_for_abort.longitudinal_velocity_delta_time = getOrDeclareParameter( - *node, parameter("safety_check.cancel.longitudinal_velocity_delta_time")); - p.rss_params_for_abort.front_vehicle_deceleration = getOrDeclareParameter( - *node, parameter("safety_check.cancel.expected_front_deceleration")); - p.rss_params_for_abort.rear_vehicle_deceleration = getOrDeclareParameter( - *node, parameter("safety_check.cancel.expected_rear_deceleration")); - p.rss_params_for_abort.rear_vehicle_reaction_time = getOrDeclareParameter( - *node, parameter("safety_check.cancel.rear_vehicle_reaction_time")); - p.rss_params_for_abort.rear_vehicle_safety_time_margin = getOrDeclareParameter( - *node, parameter("safety_check.cancel.rear_vehicle_safety_time_margin")); - p.rss_params_for_abort.lateral_distance_max_threshold = getOrDeclareParameter( - *node, parameter("safety_check.cancel.lateral_distance_max_threshold")); - - p.rss_params_for_stuck.longitudinal_distance_min_threshold = getOrDeclareParameter( - *node, parameter("safety_check.stuck.longitudinal_distance_min_threshold")); - p.rss_params_for_stuck.longitudinal_velocity_delta_time = getOrDeclareParameter( - *node, parameter("safety_check.stuck.longitudinal_velocity_delta_time")); - p.rss_params_for_stuck.front_vehicle_deceleration = getOrDeclareParameter( - *node, parameter("safety_check.stuck.expected_front_deceleration")); - p.rss_params_for_stuck.rear_vehicle_deceleration = getOrDeclareParameter( - *node, parameter("safety_check.stuck.expected_rear_deceleration")); - p.rss_params_for_stuck.rear_vehicle_reaction_time = getOrDeclareParameter( - *node, parameter("safety_check.stuck.rear_vehicle_reaction_time")); - p.rss_params_for_stuck.rear_vehicle_safety_time_margin = getOrDeclareParameter( - *node, parameter("safety_check.stuck.rear_vehicle_safety_time_margin")); - p.rss_params_for_stuck.lateral_distance_max_threshold = getOrDeclareParameter( - *node, parameter("safety_check.stuck.lateral_distance_max_threshold")); + p.th_stop_velocity = getOrDeclareParameter(*node, parameter("stuck_detection.velocity")); + p.th_stop_time = getOrDeclareParameter(*node, parameter("stuck_detection.stop_time")); + + // safety + { + p.safety.enable_loose_check_for_cancel = + getOrDeclareParameter(*node, parameter("safety_check.allow_loose_check_for_cancel")); + p.safety.enable_target_lane_bound_check = + getOrDeclareParameter(*node, parameter("safety_check.enable_target_lane_bound_check")); + p.safety.th_stopped_object_velocity = getOrDeclareParameter( + *node, parameter("safety_check.stopped_object_velocity_threshold")); + p.safety.lane_expansion_left_offset = + getOrDeclareParameter(*node, parameter("safety_check.lane_expansion.left_offset")); + p.safety.lane_expansion_right_offset = + getOrDeclareParameter(*node, parameter("safety_check.lane_expansion.right_offset")); + + // collision check + p.safety.collision_check.enable_for_prepare_phase_in_general_lanes = + getOrDeclareParameter( + *node, parameter("collision_check.enable_for_prepare_phase.general_lanes")); + p.safety.collision_check.enable_for_prepare_phase_in_intersection = getOrDeclareParameter( + *node, parameter("collision_check.enable_for_prepare_phase.intersection")); + p.safety.collision_check.enable_for_prepare_phase_in_turns = getOrDeclareParameter( + *node, parameter("collision_check.enable_for_prepare_phase.turns")); + p.safety.collision_check.check_current_lane = + getOrDeclareParameter(*node, parameter("collision_check.check_current_lanes")); + p.safety.collision_check.check_other_lanes = + getOrDeclareParameter(*node, parameter("collision_check.check_other_lanes")); + p.safety.collision_check.use_all_predicted_paths = + getOrDeclareParameter(*node, parameter("collision_check.use_all_predicted_paths")); + p.safety.collision_check.prediction_time_resolution = + getOrDeclareParameter(*node, parameter("collision_check.prediction_time_resolution")); + p.safety.collision_check.th_yaw_diff = + getOrDeclareParameter(*node, parameter("collision_check.yaw_diff_threshold")); + + // rss check + auto set_rss_params = [&](auto & params, const std::string & prefix) { + params.longitudinal_distance_min_threshold = getOrDeclareParameter( + *node, parameter(prefix + ".longitudinal_distance_min_threshold")); + params.longitudinal_velocity_delta_time = getOrDeclareParameter( + *node, parameter(prefix + ".longitudinal_velocity_delta_time")); + params.front_vehicle_deceleration = + getOrDeclareParameter(*node, parameter(prefix + ".expected_front_deceleration")); + params.rear_vehicle_deceleration = + getOrDeclareParameter(*node, parameter(prefix + ".expected_rear_deceleration")); + params.rear_vehicle_reaction_time = + getOrDeclareParameter(*node, parameter(prefix + ".rear_vehicle_reaction_time")); + params.rear_vehicle_safety_time_margin = getOrDeclareParameter( + *node, parameter(prefix + ".rear_vehicle_safety_time_margin")); + params.lateral_distance_max_threshold = + getOrDeclareParameter(*node, parameter(prefix + ".lateral_distance_max_threshold")); + }; + set_rss_params(p.safety.rss_params, "safety_check.execution"); + set_rss_params(p.safety.rss_params_for_parked, "safety_check.parked"); + set_rss_params(p.safety.rss_params_for_abort, "safety_check.cancel"); + set_rss_params(p.safety.rss_params_for_stuck, "safety_check.stuck"); + + // target object types + const std::string ns = "lane_change.target_object."; + p.safety.target_object_types.check_car = getOrDeclareParameter(*node, ns + "car"); + p.safety.target_object_types.check_truck = getOrDeclareParameter(*node, ns + "truck"); + p.safety.target_object_types.check_bus = getOrDeclareParameter(*node, ns + "bus"); + p.safety.target_object_types.check_trailer = getOrDeclareParameter(*node, ns + "trailer"); + p.safety.target_object_types.check_unknown = getOrDeclareParameter(*node, ns + "unknown"); + p.safety.target_object_types.check_bicycle = getOrDeclareParameter(*node, ns + "bicycle"); + p.safety.target_object_types.check_motorcycle = + getOrDeclareParameter(*node, ns + "motorcycle"); + p.safety.target_object_types.check_pedestrian = + getOrDeclareParameter(*node, ns + "pedestrian"); + } // lane change parameters - const auto max_acc = getOrDeclareParameter(*node, "normal.max_acc"); + p.backward_lane_length = getOrDeclareParameter(*node, parameter("backward_lane_length")); p.backward_length_buffer_for_end_of_lane = getOrDeclareParameter(*node, parameter("backward_length_buffer_for_end_of_lane")); p.backward_length_buffer_for_blocking_object = getOrDeclareParameter(*node, parameter("backward_length_buffer_for_blocking_object")); p.backward_length_from_intersection = getOrDeclareParameter(*node, parameter("backward_length_from_intersection")); - p.lane_changing_lateral_jerk = - getOrDeclareParameter(*node, parameter("lane_changing_lateral_jerk")); - p.lane_change_prepare_duration = - getOrDeclareParameter(*node, parameter("prepare_duration")); - p.minimum_lane_changing_velocity = - getOrDeclareParameter(*node, parameter("minimum_lane_changing_velocity")); - p.minimum_lane_changing_velocity = - std::min(p.minimum_lane_changing_velocity, max_acc * p.lane_change_prepare_duration); if (p.backward_length_buffer_for_end_of_lane < 1.0) { RCLCPP_WARN_STREAM( @@ -194,41 +203,6 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s "Lane change buffer must be more than 1 meter. Modifying the buffer."); } - // lateral acceleration map for lane change - const auto lateral_acc_velocity = - getOrDeclareParameter>(*node, parameter("lateral_acceleration.velocity")); - const auto min_lateral_acc = - getOrDeclareParameter>(*node, parameter("lateral_acceleration.min_values")); - const auto max_lateral_acc = - getOrDeclareParameter>(*node, parameter("lateral_acceleration.max_values")); - if ( - lateral_acc_velocity.size() != min_lateral_acc.size() || - lateral_acc_velocity.size() != max_lateral_acc.size()) { - RCLCPP_ERROR( - node->get_logger().get_child(node_name), - "Lane change lateral acceleration map has invalid size."); - exit(EXIT_FAILURE); - } - for (size_t i = 0; i < lateral_acc_velocity.size(); ++i) { - p.lane_change_lat_acc_map.add( - lateral_acc_velocity.at(i), min_lateral_acc.at(i), max_lateral_acc.at(i)); - } - - // target object - { - const std::string ns = "lane_change.target_object."; - p.object_types_to_check.check_car = getOrDeclareParameter(*node, ns + "car"); - p.object_types_to_check.check_truck = getOrDeclareParameter(*node, ns + "truck"); - p.object_types_to_check.check_bus = getOrDeclareParameter(*node, ns + "bus"); - p.object_types_to_check.check_trailer = getOrDeclareParameter(*node, ns + "trailer"); - p.object_types_to_check.check_unknown = getOrDeclareParameter(*node, ns + "unknown"); - p.object_types_to_check.check_bicycle = getOrDeclareParameter(*node, ns + "bicycle"); - p.object_types_to_check.check_motorcycle = - getOrDeclareParameter(*node, ns + "motorcycle"); - p.object_types_to_check.check_pedestrian = - getOrDeclareParameter(*node, ns + "pedestrian"); - } - // lane change cancel p.cancel.enable_on_prepare_phase = getOrDeclareParameter(*node, parameter("cancel.enable_on_prepare_phase")); @@ -240,7 +214,7 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s getOrDeclareParameter(*node, parameter("cancel.max_lateral_jerk")); p.cancel.overhang_tolerance = getOrDeclareParameter(*node, parameter("cancel.overhang_tolerance")); - p.cancel.unsafe_hysteresis_threshold = + p.cancel.th_unsafe_hysteresis = getOrDeclareParameter(*node, parameter("cancel.unsafe_hysteresis_threshold")); p.cancel.deceleration_sampling_num = getOrDeclareParameter(*node, parameter("cancel.deceleration_sampling_num")); @@ -248,43 +222,35 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s // finish judge parameters p.lane_change_finish_judge_buffer = getOrDeclareParameter(*node, parameter("lane_change_finish_judge_buffer")); - p.finish_judge_lateral_threshold = + p.th_finish_judge_lateral_diff = getOrDeclareParameter(*node, parameter("finish_judge_lateral_threshold")); const auto finish_judge_lateral_angle_deviation = getOrDeclareParameter(*node, parameter("finish_judge_lateral_angle_deviation")); - p.finish_judge_lateral_angle_deviation = + p.th_finish_judge_yaw_diff = autoware::universe_utils::deg2rad(finish_judge_lateral_angle_deviation); // debug marker p.publish_debug_marker = getOrDeclareParameter(*node, parameter("publish_debug_marker")); - // validation of parameters - if (p.longitudinal_acc_sampling_num < 1 || p.lateral_acc_sampling_num < 1) { - RCLCPP_FATAL_STREAM( - node->get_logger().get_child(node_name), - "lane_change_sampling_num must be positive integer. Given longitudinal parameter: " - << p.longitudinal_acc_sampling_num - << "Given lateral parameter: " << p.lateral_acc_sampling_num << std::endl - << "Terminating the program..."); - exit(EXIT_FAILURE); - } - // validation of safety check parameters - // if loosely check is not allowed, lane change module will keep on chattering and canceling, and + // if loose check is not enabled, lane change module will keep on chattering and canceling, and // false positive situation might occur - if (!p.allow_loose_check_for_cancel) { + if (!p.safety.enable_loose_check_for_cancel) { if ( - p.rss_params.front_vehicle_deceleration > p.rss_params_for_abort.front_vehicle_deceleration || - p.rss_params.rear_vehicle_deceleration > p.rss_params_for_abort.rear_vehicle_deceleration || - p.rss_params.rear_vehicle_reaction_time > p.rss_params_for_abort.rear_vehicle_reaction_time || - p.rss_params.rear_vehicle_safety_time_margin > - p.rss_params_for_abort.rear_vehicle_safety_time_margin || - p.rss_params.lateral_distance_max_threshold > - p.rss_params_for_abort.lateral_distance_max_threshold || - p.rss_params.longitudinal_distance_min_threshold > - p.rss_params_for_abort.longitudinal_distance_min_threshold || - p.rss_params.longitudinal_velocity_delta_time > - p.rss_params_for_abort.longitudinal_velocity_delta_time) { + p.safety.rss_params.front_vehicle_deceleration > + p.safety.rss_params_for_abort.front_vehicle_deceleration || + p.safety.rss_params.rear_vehicle_deceleration > + p.safety.rss_params_for_abort.rear_vehicle_deceleration || + p.safety.rss_params.rear_vehicle_reaction_time > + p.safety.rss_params_for_abort.rear_vehicle_reaction_time || + p.safety.rss_params.rear_vehicle_safety_time_margin > + p.safety.rss_params_for_abort.rear_vehicle_safety_time_margin || + p.safety.rss_params.lateral_distance_max_threshold > + p.safety.rss_params_for_abort.lateral_distance_max_threshold || + p.safety.rss_params.longitudinal_distance_min_threshold > + p.safety.rss_params_for_abort.longitudinal_distance_min_threshold || + p.safety.rss_params.longitudinal_velocity_delta_time > + p.safety.rss_params_for_abort.longitudinal_velocity_delta_time) { RCLCPP_FATAL_STREAM( node->get_logger().get_child(node_name), "abort parameter might be loose... Terminating the program..."); @@ -323,8 +289,6 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector(parameters, ns + "backward_lane_length", p->backward_lane_length); - updateParam(parameters, ns + "prepare_duration", p->lane_change_prepare_duration); - updateParam( parameters, ns + "backward_length_buffer_for_end_of_lane", p->backward_length_buffer_for_end_of_lane); @@ -335,59 +299,57 @@ void LaneChangeModuleManager::updateModuleParams(const std::vectorlane_change_finish_judge_buffer); updateParam( - parameters, ns + "lane_changing_lateral_jerk", p->lane_changing_lateral_jerk); + parameters, ns + "finish_judge_lateral_threshold", p->th_finish_judge_lateral_diff); + updateParam(parameters, ns + "publish_debug_marker", p->publish_debug_marker); + } + { + const std::string ns = "lane_change.trajectory."; + updateParam(parameters, ns + "prepare_duration", p->trajectory.prepare_duration); + updateParam(parameters, ns + "lateral_jerk", p->trajectory.lateral_jerk); updateParam( - parameters, ns + "minimum_lane_changing_velocity", p->minimum_lane_changing_velocity); + parameters, ns + ".min_lane_changing_velocity", p->trajectory.min_lane_changing_velocity); + // longitudinal acceleration updateParam( - parameters, ns + "prediction_time_resolution", p->prediction_time_resolution); - + parameters, ns + "min_longitudinal_acc", p->trajectory.min_longitudinal_acc); + updateParam( + parameters, ns + "max_longitudinal_acc", p->trajectory.max_longitudinal_acc); int longitudinal_acc_sampling_num = 0; - updateParam( - parameters, ns + "longitudinal_acceleration_sampling_num", longitudinal_acc_sampling_num); + updateParam(parameters, ns + "lon_acc_sampling_num", longitudinal_acc_sampling_num); if (longitudinal_acc_sampling_num > 0) { - p->longitudinal_acc_sampling_num = longitudinal_acc_sampling_num; + p->trajectory.lon_acc_sampling_num = longitudinal_acc_sampling_num; } int lateral_acc_sampling_num = 0; - updateParam( - parameters, ns + "lateral_acceleration_sampling_num", lateral_acc_sampling_num); + updateParam(parameters, ns + "lat_acc_sampling_num", lateral_acc_sampling_num); if (lateral_acc_sampling_num > 0) { - p->lateral_acc_sampling_num = lateral_acc_sampling_num; + p->trajectory.lat_acc_sampling_num = lateral_acc_sampling_num; } updateParam( - parameters, ns + "finish_judge_lateral_threshold", p->finish_judge_lateral_threshold); - updateParam(parameters, ns + "publish_debug_marker", p->publish_debug_marker); - - // longitudinal acceleration - updateParam(parameters, ns + "min_longitudinal_acc", p->min_longitudinal_acc); - updateParam(parameters, ns + "max_longitudinal_acc", p->max_longitudinal_acc); - } - - { - const std::string ns = "lane_change.skip_process.longitudinal_distance_diff_threshold."; - updateParam(parameters, ns + "prepare", p->skip_process_lon_diff_th_prepare); + parameters, ns + "th_prepare_length_diff", p->trajectory.th_prepare_length_diff); updateParam( - parameters, ns + "lane_changing", p->skip_process_lon_diff_th_lane_changing); + parameters, ns + "th_lane_changing_length_diff", p->trajectory.th_lane_changing_length_diff); } { const std::string ns = "lane_change.safety_check.lane_expansion."; - updateParam(parameters, ns + "left_offset", p->lane_expansion_left_offset); - updateParam(parameters, ns + "right_offset", p->lane_expansion_right_offset); + updateParam(parameters, ns + "left_offset", p->safety.lane_expansion_left_offset); + updateParam(parameters, ns + "right_offset", p->safety.lane_expansion_right_offset); } { const std::string ns = "lane_change.target_object."; - updateParam(parameters, ns + "car", p->object_types_to_check.check_car); - updateParam(parameters, ns + "truck", p->object_types_to_check.check_truck); - updateParam(parameters, ns + "bus", p->object_types_to_check.check_bus); - updateParam(parameters, ns + "trailer", p->object_types_to_check.check_trailer); - updateParam(parameters, ns + "unknown", p->object_types_to_check.check_unknown); - updateParam(parameters, ns + "bicycle", p->object_types_to_check.check_bicycle); - updateParam(parameters, ns + "motorcycle", p->object_types_to_check.check_motorcycle); - updateParam(parameters, ns + "pedestrian", p->object_types_to_check.check_pedestrian); + updateParam(parameters, ns + "car", p->safety.target_object_types.check_car); + updateParam(parameters, ns + "truck", p->safety.target_object_types.check_truck); + updateParam(parameters, ns + "bus", p->safety.target_object_types.check_bus); + updateParam(parameters, ns + "trailer", p->safety.target_object_types.check_trailer); + updateParam(parameters, ns + "unknown", p->safety.target_object_types.check_unknown); + updateParam(parameters, ns + "bicycle", p->safety.target_object_types.check_bicycle); + updateParam( + parameters, ns + "motorcycle", p->safety.target_object_types.check_motorcycle); + updateParam( + parameters, ns + "pedestrian", p->safety.target_object_types.check_pedestrian); } { @@ -399,8 +361,8 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector(parameters, ns + "velocity", p->stop_velocity_threshold); - updateParam(parameters, ns + "stop_time", p->stop_time_threshold); + updateParam(parameters, ns + "velocity", p->th_stop_velocity); + updateParam(parameters, ns + "stop_time", p->th_stop_time); } { @@ -425,7 +387,7 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector(parameters, ns + "max_lateral_jerk", p->cancel.max_lateral_jerk); updateParam(parameters, ns + "overhang_tolerance", p->cancel.overhang_tolerance); updateParam( - parameters, ns + "unsafe_hysteresis_threshold", p->cancel.unsafe_hysteresis_threshold); + parameters, ns + "unsafe_hysteresis_threshold", p->cancel.th_unsafe_hysteresis); } std::for_each(observers_.begin(), observers_.end(), [&p](const auto & observer) { if (!observer.expired()) observer.lock()->updateModuleParams(p); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 942902b836c95..2e9b9e337e51c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -289,7 +289,7 @@ bool NormalLaneChange::is_near_regulatory_element() const if (common_data_ptr_->transient_data.is_ego_near_current_terminal_start) return false; - const bool only_tl = getStopTime() >= lane_change_parameters_->stop_time_threshold; + const bool only_tl = getStopTime() >= lane_change_parameters_->th_stop_time; if (only_tl) { RCLCPP_DEBUG(logger_, "Stop time is over threshold. Ignore crosswalk and intersection checks."); @@ -556,7 +556,8 @@ void NormalLaneChange::insert_stop_point_on_current_lanes(PathWithLaneId & path) // margin with leading vehicle // consider rss distance when the LC need to avoid obstacles const auto rss_dist = calcRssDistance( - 0.0, lc_param_ptr->minimum_lane_changing_velocity, lc_param_ptr->rss_params_for_parked); + 0.0, lc_param_ptr->trajectory.min_lane_changing_velocity, + lc_param_ptr->safety.rss_params_for_parked); const auto stop_margin = transient_data.lane_changing_length.min + lc_param_ptr->backward_length_buffer_for_blocking_object + rss_dist + @@ -753,13 +754,13 @@ bool NormalLaneChange::hasFinishedLaneChange() const const auto yaw_deviation_to_centerline = utils::lane_change::calc_angle_to_lanelet_segment(target_lanes, current_pose); - if (yaw_deviation_to_centerline > lane_change_parameters_->finish_judge_lateral_angle_deviation) { + if (yaw_deviation_to_centerline > lane_change_parameters_->th_finish_judge_yaw_diff) { return false; } const auto & arc_length = common_data_ptr_->transient_data.target_lanes_ego_arc; const auto reach_target_lane = - std::abs(arc_length.distance) < lane_change_parameters_->finish_judge_lateral_threshold; + std::abs(arc_length.distance) < lane_change_parameters_->th_finish_judge_lateral_diff; lane_change_debug_.distance_to_lane_change_finished = arc_length.distance; @@ -791,7 +792,7 @@ bool NormalLaneChange::isAbleToReturnCurrentLane() const planner_data_->parameters.ego_nearest_yaw_threshold); const double ego_velocity = - std::max(getEgoVelocity(), lane_change_parameters_->minimum_lane_changing_velocity); + std::max(getEgoVelocity(), lane_change_parameters_->trajectory.min_lane_changing_velocity); const double estimated_travel_dist = ego_velocity * lane_change_parameters_->cancel.delta_time; double dist = 0.0; @@ -952,12 +953,14 @@ lane_change::TargetObjects NormalLaneChange::get_target_objects( insert_leading_objects(filtered_objects.target_lane_leading.stopped); insert_leading_objects(filtered_objects.target_lane_leading.stopped_at_bound); - const auto chk_obj_in_curr_lanes = lane_change_parameters_->check_objects_on_current_lanes; + const auto chk_obj_in_curr_lanes = + lane_change_parameters_->safety.collision_check.check_current_lane; if (chk_obj_in_curr_lanes || common_data_ptr_->transient_data.is_ego_stuck) { insert_leading_objects(filtered_objects.current_lane); } - const auto chk_obj_in_other_lanes = lane_change_parameters_->check_objects_on_other_lanes; + const auto chk_obj_in_other_lanes = + lane_change_parameters_->safety.collision_check.check_other_lanes; if (chk_obj_in_other_lanes) { insert_leading_objects(filtered_objects.others); } @@ -969,7 +972,7 @@ FilteredLanesObjects NormalLaneChange::filter_objects() const { auto objects = *planner_data_->dynamic_object; utils::path_safety_checker::filterObjectsByClass( - objects, lane_change_parameters_->object_types_to_check); + objects, lane_change_parameters_->safety.target_object_types); if (objects.objects.empty()) { return {}; @@ -1004,10 +1007,10 @@ FilteredLanesObjects NormalLaneChange::filter_objects() const filtered_objects.target_lane_trailing.reserve(reserve_size); filtered_objects.others.reserve(reserve_size); - const auto stopped_obj_vel_th = common_data_ptr_->lc_param_ptr->stopped_object_velocity_threshold; + const auto stopped_obj_vel_th = lane_change_parameters_->safety.th_stopped_object_velocity; for (const auto & object : objects.objects) { - auto ext_object = utils::lane_change::transform(object, *common_data_ptr_->lc_param_ptr); + auto ext_object = utils::lane_change::transform(object, *lane_change_parameters_); const auto & ext_obj_pose = ext_object.initial_pose; ext_object.dist_from_ego = autoware::motion_utils::calcSignedArcLength( current_lanes_ref_path.points, current_pose.position, ext_obj_pose.position); @@ -1186,9 +1189,9 @@ bool NormalLaneChange::get_lane_change_paths(LaneChangePaths & candidate_paths) const auto prepare_phase_metrics = get_prepare_metrics(); candidate_paths.reserve( - prepare_phase_metrics.size() * lane_change_parameters_->lateral_acc_sampling_num); + prepare_phase_metrics.size() * lane_change_parameters_->trajectory.lat_acc_sampling_num); - const bool only_tl = getStopTime() >= lane_change_parameters_->stop_time_threshold; + const bool only_tl = getStopTime() >= lane_change_parameters_->th_stop_time; const auto dist_to_next_regulatory_element = utils::lane_change::get_distance_to_next_regulatory_element(common_data_ptr_, only_tl, only_tl); @@ -1197,12 +1200,12 @@ bool NormalLaneChange::get_lane_change_paths(LaneChangePaths & candidate_paths) if (candidate_paths.empty()) return true; const auto prep_diff = std::abs(candidate_paths.back().info.length.prepare - prep_length); - if (prep_diff > lane_change_parameters_->skip_process_lon_diff_th_prepare) return true; + if (prep_diff > lane_change_parameters_->trajectory.th_prepare_length_diff) return true; if (!check_lc) return false; const auto lc_diff = std::abs(candidate_paths.back().info.length.lane_changing - lc_length); - return lc_diff > lane_change_parameters_->skip_process_lon_diff_th_lane_changing; + return lc_diff > lane_change_parameters_->trajectory.th_lane_changing_length_diff; }; for (const auto & prep_metric : prepare_phase_metrics) { @@ -1346,11 +1349,11 @@ bool NormalLaneChange::check_candidate_path_safety( } const auto lc_start_velocity = candidate_path.info.velocity.prepare; - const auto min_lc_velocity = lane_change_parameters_->minimum_lane_changing_velocity; + const auto min_lc_velocity = lane_change_parameters_->trajectory.min_lane_changing_velocity; constexpr double margin = 0.1; // path is unsafe if it exceeds target lane boundary with a high velocity if ( - lane_change_parameters_->enable_target_lane_bound_check && + lane_change_parameters_->safety.enable_target_lane_bound_check && lc_start_velocity > min_lc_velocity + margin && utils::lane_change::path_footprint_exceeds_target_lane_bound( common_data_ptr_, candidate_path.shifted_path.path, planner_data_->parameters.vehicle_info)) { @@ -1359,12 +1362,12 @@ bool NormalLaneChange::check_candidate_path_safety( constexpr size_t decel_sampling_num = 1; const auto safety_check_with_normal_rss = isLaneChangePathSafe( - candidate_path, target_objects, common_data_ptr_->lc_param_ptr->rss_params, decel_sampling_num, - lane_change_debug_.collision_check_objects); + candidate_path, target_objects, common_data_ptr_->lc_param_ptr->safety.rss_params, + decel_sampling_num, lane_change_debug_.collision_check_objects); if (!safety_check_with_normal_rss.is_safe && is_stuck) { const auto safety_check_with_stuck_rss = isLaneChangePathSafe( - candidate_path, target_objects, common_data_ptr_->lc_param_ptr->rss_params_for_stuck, + candidate_path, target_objects, common_data_ptr_->lc_param_ptr->safety.rss_params_for_stuck, decel_sampling_num, lane_change_debug_.collision_check_objects); return safety_check_with_stuck_rss.is_safe; } @@ -1392,7 +1395,7 @@ std::optional NormalLaneChange::calcTerminalLaneChangePath( const auto & route_handler = *getRouteHandler(); const auto minimum_lane_changing_velocity = - lane_change_parameters_->minimum_lane_changing_velocity; + lane_change_parameters_->trajectory.min_lane_changing_velocity; const auto is_goal_in_route = route_handler.isInGoalRouteSection(target_lanes.back()); @@ -1433,10 +1436,10 @@ std::optional NormalLaneChange::calcTerminalLaneChangePath( target_lanes, lane_changing_start_pose.value()); const auto [min_lateral_acc, max_lateral_acc] = - lane_change_parameters_->lane_change_lat_acc_map.find(minimum_lane_changing_velocity); + lane_change_parameters_->trajectory.lat_acc_map.find(minimum_lane_changing_velocity); const auto lane_changing_time = autoware::motion_utils::calc_shift_time_from_jerk( - shift_length, lane_change_parameters_->lane_changing_lateral_jerk, max_lateral_acc); + shift_length, lane_change_parameters_->trajectory.lateral_jerk, max_lateral_acc); const auto target_lane_length = common_data_ptr_->transient_data.target_lane_length; const auto target_segment = getTargetSegment( @@ -1528,7 +1531,7 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const } const auto safety_status = isLaneChangePathSafe( - path, target_objects, lane_change_parameters_->rss_params_for_abort, + path, target_objects, lane_change_parameters_->safety.rss_params_for_abort, static_cast(lane_change_parameters_->cancel.deceleration_sampling_num), debug_data); { // only for debug purpose @@ -1562,7 +1565,7 @@ PathSafetyStatus NormalLaneChange::evaluateApprovedPathWithUnsafeHysteresis( } unsafe_hysteresis_count_ = 0; } - if (unsafe_hysteresis_count_ > lane_change_parameters_->cancel.unsafe_hysteresis_threshold) { + if (unsafe_hysteresis_count_ > lane_change_parameters_->cancel.th_unsafe_hysteresis) { RCLCPP_DEBUG( logger_, "%s: hysteresis count exceed threshold. lane change is now %s", __func__, (approved_path_safety_status.is_safe ? "safe" : "UNSAFE")); @@ -1624,7 +1627,7 @@ bool NormalLaneChange::calcAbortPath() const auto & route_handler = getRouteHandler(); const auto & common_param = getCommonParam(); const auto current_velocity = - std::max(lane_change_parameters_->minimum_lane_changing_velocity, getEgoVelocity()); + std::max(lane_change_parameters_->trajectory.min_lane_changing_velocity, getEgoVelocity()); const auto current_pose = getEgoPose(); const auto & selected_path = status_.lane_change_path; @@ -1707,7 +1710,7 @@ bool NormalLaneChange::calcAbortPath() shift_line.end_shift_length, abort_start_dist, current_velocity); path_shifter.setVelocity(current_velocity); const auto lateral_acc_range = - lane_change_parameters_->lane_change_lat_acc_map.find(current_velocity); + lane_change_parameters_->trajectory.lat_acc_map.find(current_velocity); const double & max_lateral_acc = lateral_acc_range.second; path_shifter.setLateralAccelerationLimit(max_lateral_acc); @@ -1827,8 +1830,10 @@ bool NormalLaneChange::has_collision_with_decel_patterns( acceleration_values.begin(), acceleration_values.end(), acceleration_values.begin(), [&](double n) { return lane_changing_acc + n * acc_resolution; }); - const auto time_resolution = lane_change_parameters_->prediction_time_resolution; + const auto time_resolution = + lane_change_parameters_->safety.collision_check.prediction_time_resolution; + const auto stopped_obj_vel_th = lane_change_parameters_->safety.th_stopped_object_velocity; const auto all_collided = std::all_of( acceleration_values.begin(), acceleration_values.end(), [&](const auto acceleration) { const auto ego_predicted_path = utils::lane_change::convertToPredictedPath( @@ -1838,10 +1843,9 @@ bool NormalLaneChange::has_collision_with_decel_patterns( utils::path_safety_checker::convertToPredictedPath(ego_predicted_path, time_resolution); return std::any_of(objects.begin(), objects.end(), [&](const auto & obj) { - const auto selected_rss_param = - (obj.initial_twist.linear.x <= lane_change_parameters_->stopped_object_velocity_threshold) - ? lane_change_parameters_->rss_params_for_parked - : rss_param; + const auto selected_rss_param = (obj.initial_twist.linear.x <= stopped_obj_vel_th) + ? lane_change_parameters_->safety.rss_params_for_parked + : rss_param; return is_collided( lane_change_path, obj, ego_predicted_path, selected_rss_param, check_prepare_phase, debug_data); @@ -1880,11 +1884,11 @@ bool NormalLaneChange::is_collided( constexpr auto collision_check_yaw_diff_threshold{M_PI}; constexpr auto hysteresis_factor{1.0}; const auto obj_predicted_paths = utils::path_safety_checker::getPredictedPathFromObj( - obj, lane_change_parameters_->use_all_predicted_path); + obj, lane_change_parameters_->safety.collision_check.use_all_predicted_paths); const auto safety_check_max_vel = get_max_velocity_for_safety_check(); const auto & bpp_param = *common_data_ptr_->bpp_param_ptr; - const double velocity_threshold = lane_change_parameters_->stopped_object_velocity_threshold; + const double velocity_threshold = lane_change_parameters_->safety.th_stopped_object_velocity; const double prepare_duration = lane_change_path.info.duration.prepare; const double start_time = check_prepare_phase ? 0.0 : prepare_duration; @@ -1946,13 +1950,13 @@ bool NormalLaneChange::is_ego_stuck() const universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & lc_param_ptr = common_data_ptr_->lc_param_ptr; - if (std::abs(common_data_ptr_->get_ego_speed()) > lc_param_ptr->stop_velocity_threshold) { + if (std::abs(common_data_ptr_->get_ego_speed()) > lc_param_ptr->th_stop_velocity) { RCLCPP_DEBUG(logger_, "Ego is still moving, not in stuck"); return false; } // Ego is just stopped, not sure it is in stuck yet. - if (getStopTime() < lc_param_ptr->stop_time_threshold) { + if (getStopTime() < lc_param_ptr->th_stop_time) { RCLCPP_DEBUG(logger_, "Ego is just stopped, counting for stuck judge... (%f)", getStopTime()); return false; } @@ -1960,8 +1964,8 @@ bool NormalLaneChange::is_ego_stuck() const // Check if any stationary object exist in obstacle_check_distance const auto & current_lanes_path = common_data_ptr_->current_lanes_path; const auto & ego_pose = common_data_ptr_->get_ego_pose(); - const auto rss_dist = - calcRssDistance(0.0, lc_param_ptr->minimum_lane_changing_velocity, lc_param_ptr->rss_params); + const auto rss_dist = calcRssDistance( + 0.0, lc_param_ptr->trajectory.min_lane_changing_velocity, lc_param_ptr->safety.rss_params); // It is difficult to define the detection range. If it is too short, the stuck will not be // determined, even though you are stuck by an obstacle. If it is too long, @@ -1978,7 +1982,7 @@ bool NormalLaneChange::is_ego_stuck() const // Note: it needs chattering prevention. if ( std::abs(object.initial_twist.linear.x) > - lc_param_ptr->stopped_object_velocity_threshold) { // check if stationary + lc_param_ptr->safety.th_stopped_object_velocity) { // check if stationary return false; } @@ -2016,14 +2020,14 @@ void NormalLaneChange::updateStopTime() universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto current_vel = getEgoVelocity(); - if (std::abs(current_vel) > lane_change_parameters_->stop_velocity_threshold) { + if (std::abs(current_vel) > lane_change_parameters_->th_stop_velocity) { stop_time_ = 0.0; } else { const double duration = stop_watch_.toc("stop_time"); // clip stop time - if (stop_time_ + duration * 0.001 > lane_change_parameters_->stop_time_threshold) { + if (stop_time_ + duration * 0.001 > lane_change_parameters_->th_stop_time) { constexpr double eps = 0.1; - stop_time_ = lane_change_parameters_->stop_time_threshold + eps; + stop_time_ = lane_change_parameters_->th_stop_time + eps; } else { stop_time_ += duration * 0.001; } @@ -2037,7 +2041,7 @@ bool NormalLaneChange::check_prepare_phase() const const auto & route_handler = getRouteHandler(); const auto check_in_general_lanes = - lane_change_parameters_->enable_collision_check_for_prepare_phase_in_general_lanes; + lane_change_parameters_->safety.collision_check.enable_for_prepare_phase_in_general_lanes; lanelet::ConstLanelet current_lane; if (!route_handler->getClosestLaneletWithinRoute(getEgoPose(), ¤t_lane)) { @@ -2048,11 +2052,11 @@ bool NormalLaneChange::check_prepare_phase() const } const auto check_in_intersection = - lane_change_parameters_->enable_collision_check_for_prepare_phase_in_intersection && + lane_change_parameters_->safety.collision_check.enable_for_prepare_phase_in_intersection && common_data_ptr_->transient_data.in_intersection; const auto check_in_turns = - lane_change_parameters_->enable_collision_check_for_prepare_phase_in_turns && + lane_change_parameters_->safety.collision_check.enable_for_prepare_phase_in_turns && common_data_ptr_->transient_data.in_turn_direction_lane; return check_in_intersection || check_in_turns || check_in_general_lanes; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index 741a5d7b4761d..b73e242a9a70f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -49,8 +49,8 @@ double calc_dist_from_pose_to_terminal_end( double calc_stopping_distance(const LCParamPtr & lc_param_ptr) { // v^2 = u^2 + 2ad - const auto min_lc_vel = lc_param_ptr->minimum_lane_changing_velocity; - const auto min_lon_acc = lc_param_ptr->min_longitudinal_acc; + const auto min_lc_vel = lc_param_ptr->trajectory.min_lane_changing_velocity; + const auto min_lon_acc = lc_param_ptr->trajectory.min_longitudinal_acc; const auto min_back_dist = std::abs((min_lc_vel * min_lc_vel) / (2 * min_lon_acc)); const auto param_back_dist = lc_param_ptr->backward_length_buffer_for_end_of_lane; @@ -104,7 +104,7 @@ double calc_dist_to_last_fit_width( double calc_maximum_prepare_length(const CommonDataPtr & common_data_ptr) { - const auto max_prepare_duration = common_data_ptr->lc_param_ptr->lane_change_prepare_duration; + const auto max_prepare_duration = common_data_ptr->lc_param_ptr->trajectory.prepare_duration; const auto ego_max_speed = common_data_ptr->bpp_param_ptr->max_vel; return max_prepare_duration * ego_max_speed; @@ -146,7 +146,7 @@ double calc_minimum_acceleration( const double min_acc_threshold, const double prepare_duration) { if (prepare_duration < eps) return -std::abs(min_acc_threshold); - const double min_lc_velocity = lane_change_parameters.minimum_lane_changing_velocity; + const double min_lc_velocity = lane_change_parameters.trajectory.min_lane_changing_velocity; const double acc = (min_lc_velocity - current_velocity) / prepare_duration; return std::clamp(acc, -std::abs(min_acc_threshold), -eps); } @@ -167,10 +167,10 @@ std::vector calc_min_lane_change_lengths( return {}; } - const auto min_vel = lc_param_ptr->minimum_lane_changing_velocity; - const auto min_max_lat_acc = lc_param_ptr->lane_change_lat_acc_map.find(min_vel); + const auto min_vel = lc_param_ptr->trajectory.min_lane_changing_velocity; + const auto min_max_lat_acc = lc_param_ptr->trajectory.lat_acc_map.find(min_vel); const auto max_lat_acc = std::get<1>(min_max_lat_acc); - const auto lat_jerk = lc_param_ptr->lane_changing_lateral_jerk; + const auto lat_jerk = lc_param_ptr->trajectory.lateral_jerk; std::vector min_lc_lengths{}; min_lc_lengths.reserve(shift_intervals.size()); @@ -195,24 +195,23 @@ std::vector calc_max_lane_change_lengths( return {}; } - const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; - const auto lat_jerk = lc_param_ptr->lane_changing_lateral_jerk; - const auto t_prepare = lc_param_ptr->lane_change_prepare_duration; + const auto & params = common_data_ptr->lc_param_ptr->trajectory; + const auto lat_jerk = params.lateral_jerk; + const auto t_prepare = params.prepare_duration; const auto current_velocity = common_data_ptr->get_ego_speed(); const auto path_velocity = common_data_ptr->transient_data.current_path_velocity; const auto max_acc = calc_maximum_acceleration( - t_prepare, current_velocity, path_velocity, lc_param_ptr->max_longitudinal_acc); + t_prepare, current_velocity, path_velocity, params.max_longitudinal_acc); // TODO(Quda, Azu): should probably limit upper bound of velocity as well, but // disabled due failing evaluation tests. // const auto limit_vel = [&](const auto vel) { // const auto max_global_vel = common_data_ptr->bpp_param_ptr->max_vel; - // return std::clamp(vel, lc_param_ptr->minimum_lane_changing_velocity, max_global_vel); + // return std::clamp(vel, params.min_lane_changing_velocity, max_global_vel); // }; - auto vel = - std::max(common_data_ptr->get_ego_speed(), lc_param_ptr->minimum_lane_changing_velocity); + auto vel = std::max(common_data_ptr->get_ego_speed(), params.min_lane_changing_velocity); std::vector max_lc_lengths{}; @@ -222,7 +221,7 @@ std::vector calc_max_lane_change_lengths( vel = vel + max_acc * t_prepare; // lane changing section - const auto [min_lat_acc, max_lat_acc] = lc_param_ptr->lane_change_lat_acc_map.find(vel); + const auto [min_lat_acc, max_lat_acc] = params.lat_acc_map.find(vel); const auto t_lane_changing = autoware::motion_utils::calc_shift_time_from_jerk(shift_interval, lat_jerk, max_lat_acc); const auto lane_changing_length = @@ -307,8 +306,10 @@ std::pair calc_min_max_acceleration( const auto & bpp_params = *common_data_ptr->bpp_param_ptr; const auto current_ego_velocity = common_data_ptr->get_ego_speed(); - const auto min_accel_threshold = std::max(bpp_params.min_acc, lc_params.min_longitudinal_acc); - const auto max_accel_threshold = std::min(bpp_params.max_acc, lc_params.max_longitudinal_acc); + const auto min_accel_threshold = + std::max(bpp_params.min_acc, lc_params.trajectory.min_longitudinal_acc); + const auto max_accel_threshold = + std::min(bpp_params.max_acc, lc_params.trajectory.max_longitudinal_acc); // calculate minimum and maximum acceleration const auto min_acc = calc_minimum_acceleration( @@ -352,7 +353,7 @@ std::vector calc_lon_acceleration_samples( const auto & current_pose = common_data_ptr->get_ego_pose(); const auto & target_lanes = common_data_ptr->lanes_ptr->target; const auto goal_pose = common_data_ptr->route_handler_ptr->getGoalPose(); - const auto sampling_num = common_data_ptr->lc_param_ptr->longitudinal_acc_sampling_num; + const auto sampling_num = common_data_ptr->lc_param_ptr->trajectory.lon_acc_sampling_num; const auto [min_accel, max_accel] = calc_min_max_acceleration(common_data_ptr, max_path_velocity, prepare_duration); @@ -396,7 +397,7 @@ std::vector calc_prepare_durations(const CommonDataPtr & common_data_ptr const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; const auto threshold = common_data_ptr->bpp_param_ptr->base_link2front + lc_param_ptr->min_length_for_turn_signal_activation; - const auto max_prepare_duration = lc_param_ptr->lane_change_prepare_duration; + const auto max_prepare_duration = lc_param_ptr->trajectory.prepare_duration; // TODO(Azu) this check seems to cause scenario failures. if (common_data_ptr->transient_data.dist_to_terminal_start >= threshold) { @@ -418,7 +419,7 @@ std::vector calc_prepare_phase_metrics( const double max_path_velocity, const double min_length_threshold, const double max_length_threshold) { - const auto & min_lc_vel = common_data_ptr->lc_param_ptr->minimum_lane_changing_velocity; + const auto & min_lc_vel = common_data_ptr->lc_param_ptr->trajectory.min_lane_changing_velocity; const auto & max_vel = common_data_ptr->bpp_param_ptr->max_vel; std::vector metrics; @@ -465,14 +466,15 @@ std::vector calc_shift_phase_metrics( const CommonDataPtr & common_data_ptr, const double shift_length, const double initial_velocity, const double max_path_velocity, const double lon_accel, const double max_length_threshold) { - const auto & min_lc_vel = common_data_ptr->lc_param_ptr->minimum_lane_changing_velocity; + const auto & min_lc_vel = common_data_ptr->lc_param_ptr->trajectory.min_lane_changing_velocity; const auto & max_vel = common_data_ptr->bpp_param_ptr->max_vel; // get lateral acceleration range const auto [min_lateral_acc, max_lateral_acc] = - common_data_ptr->lc_param_ptr->lane_change_lat_acc_map.find(initial_velocity); - const auto lateral_acc_resolution = std::abs(max_lateral_acc - min_lateral_acc) / - common_data_ptr->lc_param_ptr->lateral_acc_sampling_num; + common_data_ptr->lc_param_ptr->trajectory.lat_acc_map.find(initial_velocity); + const auto lateral_acc_resolution = + std::abs(max_lateral_acc - min_lateral_acc) / + common_data_ptr->lc_param_ptr->trajectory.lat_acc_sampling_num; std::vector metrics; @@ -490,7 +492,7 @@ std::vector calc_shift_phase_metrics( for (double lat_acc = min_lateral_acc; lat_acc < max_lateral_acc + eps; lat_acc += lateral_acc_resolution) { const auto lane_changing_duration = autoware::motion_utils::calc_shift_time_from_jerk( - shift_length, common_data_ptr->lc_param_ptr->lane_changing_lateral_jerk, lat_acc); + shift_length, common_data_ptr->lc_param_ptr->trajectory.lateral_jerk, lat_acc); const double lane_changing_accel = calc_lane_changing_acceleration( initial_velocity, max_path_velocity, lane_changing_duration, lon_accel); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index 49551aa73f635..ff8bb971405ad 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -613,7 +613,7 @@ std::vector convertToPredictedPath( const auto duration = lane_change_path.info.duration.sum(); const auto prepare_time = lane_change_path.info.duration.prepare; const auto & minimum_lane_changing_velocity = - lane_change_parameters.minimum_lane_changing_velocity; + lane_change_parameters.trajectory.min_lane_changing_velocity; const auto nearest_seg_idx = autoware::motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( @@ -784,8 +784,7 @@ bool passed_parked_objects( const auto lane_change_parameters = *common_data_ptr->lc_param_ptr; const auto & object_check_min_road_shoulder_width = lane_change_parameters.object_check_min_road_shoulder_width; - const auto & object_shiftable_ratio_threshold = - lane_change_parameters.object_shiftable_ratio_threshold; + const auto & object_shiftable_ratio_threshold = lane_change_parameters.th_object_shiftable_ratio; const auto & current_lane_path = common_data_ptr->current_lanes_path; if (objects.empty() || lane_change_path.path.points.empty() || current_lane_path.points.empty()) { @@ -918,7 +917,8 @@ ExtendedPredictedObject transform( { ExtendedPredictedObject extended_object(object); - const auto & time_resolution = lane_change_parameters.prediction_time_resolution; + const auto & time_resolution = + lane_change_parameters.safety.collision_check.prediction_time_resolution; const double obj_vel_norm = std::hypot(extended_object.initial_twist.linear.x, extended_object.initial_twist.linear.y); @@ -1032,10 +1032,10 @@ LanesPolygon create_lanes_polygon(const CommonDataPtr & common_data_ptr) lanes_polygon.target = utils::lane_change::create_polygon(lanes->target, 0.0, std::numeric_limits::max()); - const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; + const auto & params = common_data_ptr->lc_param_ptr->safety; const auto expanded_target_lanes = utils::lane_change::generateExpandedLanelets( - lanes->target, common_data_ptr->direction, lc_param_ptr->lane_expansion_left_offset, - lc_param_ptr->lane_expansion_right_offset); + lanes->target, common_data_ptr->direction, params.lane_expansion_left_offset, + params.lane_expansion_right_offset); lanes_polygon.expanded_target = utils::lane_change::create_polygon( expanded_target_lanes, 0.0, std::numeric_limits::max()); @@ -1184,7 +1184,7 @@ double get_min_dist_to_current_lanes_obj( for (const auto & object : filtered_objects.current_lane) { // check if stationary const auto obj_v = std::abs(object.initial_twist.linear.x); - if (obj_v > common_data_ptr->lc_param_ptr->stop_velocity_threshold) { + if (obj_v > common_data_ptr->lc_param_ptr->th_stop_velocity) { continue; } @@ -1297,7 +1297,7 @@ bool filter_target_lane_objects( const auto & current_lanes = common_data_ptr->lanes_ptr->current; const auto & vehicle_width = common_data_ptr->bpp_param_ptr->vehicle_info.vehicle_width_m; const auto & lanes_polygon = *common_data_ptr->lanes_polygon_ptr; - const auto stopped_obj_vel_th = common_data_ptr->lc_param_ptr->stopped_object_velocity_threshold; + const auto stopped_obj_vel_th = common_data_ptr->lc_param_ptr->safety.th_stopped_object_velocity; const auto is_lateral_far = std::invoke([&]() -> bool { const auto dist_object_to_current_lanes_center = From 53724037838c73575eaa7a7c794d729bf7d93f8c Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 26 Nov 2024 14:30:27 +0900 Subject: [PATCH 543/701] fix(obstacle_cruise_planner)!: remove stop reason (#9464) fix(obstacle_cruise_planner): remove stop reason Signed-off-by: satoshi-ota --- .../README.md | 11 ++-- .../planner_interface.hpp | 2 - .../obstacle_cruise_planner/type_alias.hpp | 5 -- .../launch/obstacle_cruise_planner.launch.xml | 1 - .../src/planner_interface.cpp | 52 ------------------- 5 files changed, 5 insertions(+), 66 deletions(-) diff --git a/planning/autoware_obstacle_cruise_planner/README.md b/planning/autoware_obstacle_cruise_planner/README.md index 1cb8128110e7c..42a569c07ddb2 100644 --- a/planning/autoware_obstacle_cruise_planner/README.md +++ b/planning/autoware_obstacle_cruise_planner/README.md @@ -23,12 +23,11 @@ The `autoware_obstacle_cruise_planner` package has following modules. ### Output topics -| Name | Type | Description | -| ------------------------------- | ---------------------------------------------- | ------------------------------------- | -| `~/output/trajectory` | autoware_planning_msgs::Trajectory | output trajectory | -| `~/output/velocity_limit` | tier4_planning_msgs::VelocityLimit | velocity limit for cruising | -| `~/output/clear_velocity_limit` | tier4_planning_msgs::VelocityLimitClearCommand | clear command for velocity limit | -| `~/output/stop_reasons` | tier4_planning_msgs::StopReasonArray | reasons that make the vehicle to stop | +| Name | Type | Description | +| ------------------------------- | ---------------------------------------------- | -------------------------------- | +| `~/output/trajectory` | autoware_planning_msgs::Trajectory | output trajectory | +| `~/output/velocity_limit` | tier4_planning_msgs::VelocityLimit | velocity limit for cruising | +| `~/output/clear_velocity_limit` | tier4_planning_msgs::VelocityLimitClearCommand | clear command for velocity limit | ## Design diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp index e4fb1c6cfe36d..ef6ae1662dcee 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp @@ -54,7 +54,6 @@ class PlannerInterface slow_down_param_(SlowDownParam(node)), stop_param_(StopParam(node, longitudinal_info)) { - stop_reasons_pub_ = node.create_publisher("~/output/stop_reasons", 1); velocity_factors_pub_ = node.create_publisher("/planning/velocity_factors/obstacle_cruise", 1); stop_speed_exceeded_pub_ = @@ -146,7 +145,6 @@ class PlannerInterface stop_watch_; // Publishers - rclcpp::Publisher::SharedPtr stop_reasons_pub_; rclcpp::Publisher::SharedPtr velocity_factors_pub_; rclcpp::Publisher::SharedPtr stop_speed_exceeded_pub_; rclcpp::Publisher::SharedPtr metrics_pub_; diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp index 541a8281b2f1d..04badd2a956ef 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp @@ -30,8 +30,6 @@ #include "sensor_msgs/msg/point_cloud2.hpp" #include "tier4_debug_msgs/msg/float32_stamped.hpp" #include "tier4_debug_msgs/msg/float64_stamped.hpp" -#include "tier4_planning_msgs/msg/stop_factor.hpp" -#include "tier4_planning_msgs/msg/stop_reason_array.hpp" #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp" #include "tier4_planning_msgs/msg/velocity_limit.hpp" #include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp" @@ -58,9 +56,6 @@ using nav_msgs::msg::Odometry; using sensor_msgs::msg::PointCloud2; using tier4_debug_msgs::msg::Float32Stamped; using tier4_debug_msgs::msg::Float64Stamped; -using tier4_planning_msgs::msg::StopFactor; -using tier4_planning_msgs::msg::StopReason; -using tier4_planning_msgs::msg::StopReasonArray; using tier4_planning_msgs::msg::StopSpeedExceeded; using tier4_planning_msgs::msg::VelocityLimit; using tier4_planning_msgs::msg::VelocityLimitClearCommand; diff --git a/planning/autoware_obstacle_cruise_planner/launch/obstacle_cruise_planner.launch.xml b/planning/autoware_obstacle_cruise_planner/launch/obstacle_cruise_planner.launch.xml index aaf6db3e36613..189cd44379276 100644 --- a/planning/autoware_obstacle_cruise_planner/launch/obstacle_cruise_planner.launch.xml +++ b/planning/autoware_obstacle_cruise_planner/launch/obstacle_cruise_planner.launch.xml @@ -31,6 +31,5 @@ - diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp index 61946a8e4b37f..bfff561e3ffe2 100644 --- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp @@ -39,54 +39,6 @@ StopSpeedExceeded createStopSpeedExceededMsg( return msg; } -tier4_planning_msgs::msg::StopReasonArray makeStopReasonArray( - const PlannerData & planner_data, const geometry_msgs::msg::Pose & stop_pose, - const StopObstacle & stop_obstacle) -{ - // create header - std_msgs::msg::Header header; - header.frame_id = "map"; - header.stamp = planner_data.current_time; - - // create stop factor - StopFactor stop_factor; - stop_factor.stop_pose = stop_pose; - geometry_msgs::msg::Point stop_factor_point = stop_obstacle.collision_point; - stop_factor_point.z = stop_pose.position.z; - stop_factor.dist_to_stop_pose = autoware::motion_utils::calcSignedArcLength( - planner_data.traj_points, planner_data.ego_pose.position, stop_pose.position); - stop_factor.stop_factor_points.emplace_back(stop_factor_point); - - // create stop reason stamped - StopReason stop_reason_msg; - stop_reason_msg.reason = StopReason::OBSTACLE_STOP; - stop_reason_msg.stop_factors.emplace_back(stop_factor); - - // create stop reason array - StopReasonArray stop_reason_array; - stop_reason_array.header = header; - stop_reason_array.stop_reasons.emplace_back(stop_reason_msg); - return stop_reason_array; -} - -StopReasonArray makeEmptyStopReasonArray(const rclcpp::Time & current_time) -{ - // create header - std_msgs::msg::Header header; - header.frame_id = "map"; - header.stamp = current_time; - - // create stop reason stamped - StopReason stop_reason_msg; - stop_reason_msg.reason = StopReason::OBSTACLE_STOP; - - // create stop reason array - StopReasonArray stop_reason_array; - stop_reason_array.header = header; - stop_reason_array.stop_reasons.emplace_back(stop_reason_msg); - return stop_reason_array; -} - double calcMinimumDistanceToStop( const double initial_vel, const double max_acc, const double min_acc) { @@ -226,7 +178,6 @@ std::vector PlannerInterface::generateStopTrajectory( : std::abs(vehicle_info_.min_longitudinal_offset_m); if (stop_obstacles.empty()) { - stop_reasons_pub_->publish(makeEmptyStopReasonArray(planner_data.current_time)); velocity_factors_pub_->publish( obstacle_cruise_utils::makeVelocityFactorArray(planner_data.current_time)); // delete marker @@ -381,9 +332,6 @@ std::vector PlannerInterface::generateStopTrajectory( // Publish Stop Reason const auto stop_pose = output_traj_points.at(*zero_vel_idx).pose; - const auto stop_reasons_msg = - makeStopReasonArray(planner_data, stop_pose, *determined_stop_obstacle); - stop_reasons_pub_->publish(stop_reasons_msg); velocity_factors_pub_->publish(obstacle_cruise_utils::makeVelocityFactorArray( planner_data.current_time, PlanningBehavior::ROUTE_OBSTACLE, stop_pose)); // Store stop reason debug data From 824a7d543630e15287a3bce2e34970bdfe84448d Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 26 Nov 2024 16:23:09 +0900 Subject: [PATCH 544/701] fix(autoware_ekf_localizer): publish `processing_time_ms` (#9443) Fixed to publish processing_time_ms Signed-off-by: Shintaro Sakoda --- localization/autoware_ekf_localizer/README.md | 1 + .../include/autoware/ekf_localizer/ekf_localizer.hpp | 3 +++ .../launch/ekf_localizer.launch.xml | 2 ++ .../autoware_ekf_localizer/src/ekf_localizer.cpp | 10 ++++++++++ 4 files changed, 16 insertions(+) diff --git a/localization/autoware_ekf_localizer/README.md b/localization/autoware_ekf_localizer/README.md index fb367e5b42286..aad65da2516d1 100644 --- a/localization/autoware_ekf_localizer/README.md +++ b/localization/autoware_ekf_localizer/README.md @@ -54,6 +54,7 @@ This package includes the following features: | `ekf_twist` | `geometry_msgs::msg::TwistStamped` | Estimated twist. | | `ekf_twist_with_covariance` | `geometry_msgs::msg::TwistWithCovarianceStamped` | The estimated twist with covariance. | | `diagnostics` | `diagnostics_msgs::msg::DiagnosticArray` | The diagnostic information. | +| `debug/processing_time_ms` | `tier4_debug_msgs::msg::Float64Stamped` | The processing time [ms]. | ### Published TF diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp index d61faa39a93a0..1b437f26e9c7d 100644 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp @@ -85,6 +85,8 @@ class EKFLocalizer : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_biased_pose_cov_; //!< @brief diagnostics publisher rclcpp::Publisher::SharedPtr pub_diag_; + //!< @brief processing_time publisher + rclcpp::Publisher::SharedPtr pub_processing_time_; //!< @brief initial pose subscriber rclcpp::Subscription::SharedPtr sub_initialpose_; //!< @brief measurement pose with covariance subscriber @@ -185,6 +187,7 @@ class EKFLocalizer : public rclcpp::Node std_srvs::srv::SetBool::Response::SharedPtr res); autoware::universe_utils::StopWatch stop_watch_; + autoware::universe_utils::StopWatch stop_watch_timer_cb_; friend class EKFLocalizerTestSuite; // for test code }; diff --git a/localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml b/localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml index 2942abe1ff11e..76ac35bcba38e 100644 --- a/localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml +++ b/localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml @@ -16,6 +16,7 @@ + @@ -32,6 +33,7 @@ + diff --git a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp index 70ae4c04436ec..7e2606cdc3860 100644 --- a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp +++ b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp @@ -73,6 +73,8 @@ EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options) pub_biased_pose_cov_ = create_publisher( "ekf_biased_pose_with_covariance", 1); pub_diag_ = this->create_publisher("/diagnostics", 10); + pub_processing_time_ = + create_publisher("debug/processing_time_ms", 1); sub_initialpose_ = create_subscription( "initialpose", 1, std::bind(&EKFLocalizer::callback_initial_pose, this, _1)); sub_pose_with_cov_ = create_subscription( @@ -129,6 +131,8 @@ void EKFLocalizer::update_predict_frequency(const rclcpp::Time & current_time) */ void EKFLocalizer::timer_callback() { + stop_watch_timer_cb_.tic(); + const rclcpp::Time current_time = this->now(); if (!is_activated_) { @@ -219,6 +223,12 @@ void EKFLocalizer::timer_callback() /* publish ekf result */ publish_estimate_result(current_ekf_pose, current_biased_ekf_pose, current_ekf_twist); publish_diagnostics(current_ekf_pose, current_time); + + /* publish processing time */ + const double elapsed_time = stop_watch_timer_cb_.toc(); + pub_processing_time_->publish(tier4_debug_msgs::build() + .stamp(current_time) + .data(elapsed_time)); } /* From f1d967d181599f3cd8f6450eed9a048e19a2193a Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 26 Nov 2024 16:33:34 +0900 Subject: [PATCH 545/701] feat(lane_change): parse predicted objects for lane change test (RT1-8251) (#9256) * RT1-8251 parse predicted objects Signed-off-by: Zulfaqar Azmi * fix pre-commit and build error Signed-off-by: Zulfaqar Azmi * add additional test and fix test failure Signed-off-by: Zulfaqar Azmi * fix lint_cmake failure Signed-off-by: Zulfaqar Azmi * use expect instead Signed-off-by: Zulfaqar Azmi * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --------- Signed-off-by: Zulfaqar Azmi Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --- .../CMakeLists.txt | 5 +- .../test/test_lane_change_scene.cpp | 41 +- .../test_data/test_object_filter.yaml | 1838 +++++++++++++++++ 3 files changed, 1880 insertions(+), 4 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test_data/test_object_filter.yaml diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt index 6ae84881477e8..d1b6bfed868f0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt @@ -28,4 +28,7 @@ if(BUILD_TESTING) target_include_directories(test_${PROJECT_NAME} PRIVATE src) endif() -ament_auto_package(INSTALL_TO_SHARE config) +ament_auto_package(INSTALL_TO_SHARE + config + test_data +) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp index 6f285190c4169..0570349bc3df5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp @@ -21,12 +21,13 @@ #include -#include "autoware_planning_msgs/msg/lanelet_route.hpp" +#include #include #include +using autoware::behavior_path_planner::FilteredLanesObjects; using autoware::behavior_path_planner::LaneChangeModuleManager; using autoware::behavior_path_planner::LaneChangeModuleType; using autoware::behavior_path_planner::NormalLaneChange; @@ -40,6 +41,7 @@ using autoware::test_utils::get_absolute_path_to_config; using autoware::test_utils::get_absolute_path_to_lanelet_map; using autoware::test_utils::get_absolute_path_to_route; using autoware_map_msgs::msg::LaneletMapBin; +using autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::LaneletRoute; using geometry_msgs::msg::Pose; using tier4_planning_msgs::msg::PathWithLaneId; @@ -64,8 +66,13 @@ class TestNormalLaneChange : public ::testing::Test ego_pose_ = autoware::test_utils::createPose(-50.0, 1.75, 0.0, 0.0, 0.0, 0.0); planner_data_->self_odometry = set_odometry(ego_pose_); - planner_data_->dynamic_object = - std::make_shared(); + const auto objects_file = + ament_index_cpp::get_package_share_directory("autoware_behavior_path_lane_change_module") + + "/test_data/test_object_filter.yaml"; + + YAML::Node yaml_node = YAML::LoadFile(objects_file); + const auto objects = autoware::test_utils::parse(yaml_node); + planner_data_->dynamic_object = std::make_shared(objects); } void init_module() @@ -131,6 +138,11 @@ class TestNormalLaneChange : public ::testing::Test return std::make_shared(odom); } + [[nodiscard]] FilteredLanesObjects & get_filtered_objects() const + { + return normal_lane_change_->filtered_objects_; + } + void set_previous_approved_path() { normal_lane_change_->prev_module_output_.path = create_previous_approved_path(); @@ -212,6 +224,29 @@ TEST_F(TestNormalLaneChange, testGetPathWhenInvalid) ASSERT_FALSE(lc_status.is_valid_path); } +TEST_F(TestNormalLaneChange, testFilteredObjects) +{ + constexpr auto is_approved = true; + ego_pose_ = autoware::test_utils::createPose(1.0, 1.75, 0.0, 0.0, 0.0, 0.0); + planner_data_->self_odometry = set_odometry(ego_pose_); + set_previous_approved_path(); + + normal_lane_change_->update_lanes(!is_approved); + normal_lane_change_->update_filtered_objects(); + + const auto & filtered_objects = get_filtered_objects(); + + // Note: There's 1 stopping object in current lanes, however, it was filtered out. + const auto filtered_size = + filtered_objects.current_lane.size() + filtered_objects.target_lane_leading.size() + + filtered_objects.target_lane_trailing.size() + filtered_objects.others.size(); + EXPECT_EQ(filtered_size, planner_data_->dynamic_object->objects.size()); + EXPECT_EQ(filtered_objects.current_lane.size(), 0); + EXPECT_EQ(filtered_objects.target_lane_leading.size(), 2); + EXPECT_EQ(filtered_objects.target_lane_trailing.size(), 0); + EXPECT_EQ(filtered_objects.others.size(), 2); +} + TEST_F(TestNormalLaneChange, testGetPathWhenValid) { constexpr auto is_approved = true; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test_data/test_object_filter.yaml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test_data/test_object_filter.yaml new file mode 100644 index 0000000000000..3ef05a0cd1024 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test_data/test_object_filter.yaml @@ -0,0 +1,1838 @@ +header: + stamp: + sec: 1730959270 + nanosec: 700904396 + frame_id: map +objects: + - object_id: + uuid: + - 57 + - 234 + - 237 + - 159 + - 195 + - 229 + - 66 + - 71 + - 21 + - 44 + - 68 + - 122 + - 144 + - 106 + - 13 + - 190 + existence_probability: 0.0 + classification: + - label: 3 + probability: 1.0 + kinematics: + initial_pose_with_covariance: + pose: + position: + x: -26.277885137995664 + y: -1.894734886474639 + z: 0.8911920935795934 + orientation: + x: 0.0 + y: 0.0 + z: -0.025541935117105664 + w: 0.9996737515562133 + covariance: + - 0.12314689855728007 + - -0.0061611584403754 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - -0.0061611584403753975 + - 0.0028632078333398737 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.010000000000000002 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.010000000000000002 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.010000000000000002 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0007922605681590912 + initial_twist_with_covariance: + twist: + linear: + x: 0.0022924032607949227 + y: 1.0376500541998356e-07 + z: 0.0 + angular: + x: 0.0 + y: 0.0 + z: 3.908788083083818e-08 + covariance: + - 0.7401171867683597 + - 3.350119623596881e-05 + - 0.0 + - 0.0 + - 0.0 + - 1.2619772541445709e-05 + - 3.350119623596881e-05 + - 4.254924999186505e-08 + - 0.0 + - 0.0 + - 0.0 + - 1.6028139799077814e-08 + - 0.0 + - 0.0 + - 0.010000000000000002 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.010000000000000002 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.010000000000000002 + - 0.0 + - 1.261977254144571e-05 + - 1.6028139799077817e-08 + - 0.0 + - 0.0 + - 0.0 + - 6.037738984069024e-09 + initial_acceleration_with_covariance: + accel: + linear: + x: 0.0 + y: 0.0 + z: 0.0 + angular: + x: 0.0 + y: 0.0 + z: 0.0 + covariance: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + predicted_paths: + - path: + - position: + x: -26.277885137995664 + y: -1.894734886474639 + z: 0.8911920935795934 + orientation: + x: 0.0 + y: 0.0 + z: -0.025541935117105664 + w: 0.9996737515562133 + - position: + x: -26.277885137995664 + y: -1.894734886474639 + z: 0.8911920935795934 + orientation: + x: 0.0 + y: 0.0 + z: -0.025541935117105664 + w: 0.9996737515562133 + - position: + x: -26.277885137995664 + y: -1.894734886474639 + z: 0.8911920935795934 + orientation: + x: 0.0 + y: 0.0 + z: -0.025541935117105664 + w: 0.9996737515562133 + - position: + x: -26.277885137995664 + y: -1.894734886474639 + z: 0.8911920935795934 + orientation: + x: 0.0 + y: 0.0 + z: -0.025541935117105664 + w: 0.9996737515562133 + - position: + x: -26.277885137995664 + y: -1.894734886474639 + z: 0.8911920935795934 + orientation: + x: 0.0 + y: 0.0 + z: -0.025541935117105664 + w: 0.9996737515562133 + - position: + x: -26.277885137995664 + y: -1.894734886474639 + z: 0.8911920935795934 + orientation: + x: 0.0 + y: 0.0 + z: -0.025541935117105664 + w: 0.9996737515562133 + - position: + x: -26.277885137995664 + 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Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> Date: Tue, 26 Nov 2024 16:47:57 +0900 Subject: [PATCH 546/701] docs(autoware_autonomous_emergency_braking): enhance IMU path generation section with constraints and algorithm details (#9458) Signed-off-by: Kyoichi Sugahara --- .../README.md | 73 ++++++++++++++++++- 1 file changed, 69 insertions(+), 4 deletions(-) diff --git a/control/autoware_autonomous_emergency_braking/README.md b/control/autoware_autonomous_emergency_braking/README.md index f0f4a6c9f7014..d3ee7d4e1aa29 100644 --- a/control/autoware_autonomous_emergency_braking/README.md +++ b/control/autoware_autonomous_emergency_braking/README.md @@ -60,7 +60,7 @@ We do not activate AEB module if it satisfies the following conditions. ### 2. Generate a predicted path of the ego vehicle -#### IMU path generation +#### 2.1 Overview of IMU Path Generation AEB generates a predicted footprint path based on current velocity and current angular velocity obtained from attached sensors. Note that if `use_imu_path` is `false`, it skips this step. This predicted path is generated as: @@ -72,16 +72,81 @@ $$ where $v$ and $\omega$ are current longitudinal velocity and angular velocity respectively. $dt$ is time interval that users can define in advance with the `imu_prediction_time_interval` parameter. The IMU path is generated considering a time horizon, defined by the `imu_prediction_time_horizon` parameter. -Since the IMU path generation only uses the ego vehicle's current angular velocity, disregarding the MPC's planner steering, the shape of the IMU path tends to get distorted quite easily and protrude out of the ego vehicle's current lane, possibly causing unwanted emergency stops. That is why it is not recommended to use a big `imu_prediction_time_horizon`. To fix this issue, the IMU path's length can be cut short by tuning the `max_generated_imu_path_length` parameter, the IMU path generation will be cut short once its length surpasses this parameter's value. +#### 2.2 Constraints and Countermeasures in IMU Path Generation -It is also possible to limit the IMU path length based on the predicted lateral deviation of the vehicle by setting the `limit_imu_path_lat_dev` parameter flag to "true", and setting a threshold lateral deviation with the `imu_path_lat_dev_threshold` parameter. That way, the AEB will generate a predicted IMU path until a given predicted ego pose surpasses the lateral deviation threshold, and the IMU path will be cut short when the ego vehicle is turning relatively fast. +Since the IMU path generation only uses the ego vehicle's current angular velocity, disregarding the MPC's planner steering, the shape of the IMU path tends to get distorted quite easily and protrude out of the ego vehicle's current lane, possibly causing unwanted emergency stops. There are two countermeasures for this issue: -The advantage of setting a lateral deviation limit with the `limit_imu_path_lat_dev` parameter is that the `imu_prediction_time_horizon` and the `max_generated_imu_path_length` can be increased without worries about the IMU predicted path deforming beyond a certain threshold. The downside is that the IMU path will be cut short when the ego has a high angular velocity, in said cases, the AEB module would mostly rely on the MPC path to prevent or mitigate collisions. If it is assumed the ego vehicle will mostly travel along the centerline of its lanelets, it can be useful to set the lateral deviation threshold parameter `imu_path_lat_dev_threshold` to be equal to or smaller than the average lanelet width divided by 2, that way, the chance of the IMU predicted path leaving the current ego lanelet is smaller, and it is possible to increase the `imu_prediction_time_horizon` to prevent frontal collisions when the ego is mostly traveling in a straight line. +1. Control using the `max_generated_imu_path_length` parameter + + - Generation stops when path length exceeds the set value + - Avoid using a large `imu_prediction_time_horizon` + +2. Control based on lateral deviation + - Set the `limit_imu_path_lat_dev` parameter to "true" + - Set deviation threshold using `imu_path_lat_dev_threshold` + - Path generation stops when lateral deviation exceeds the threshold + +#### 2.3 Advantages and Limitations of Lateral Deviation Control + +The advantage of setting a lateral deviation limit with the `limit_imu_path_lat_dev` parameter is that the `imu_prediction_time_horizon` and the `max_generated_imu_path_length` can be increased without worries about the IMU predicted path deforming beyond a certain threshold. The downside is that the IMU path will be cut short when the ego has a high angular velocity, in said cases, the AEB module would mostly rely on the MPC path to prevent or mitigate collisions. + +If it is assumed the ego vehicle will mostly travel along the centerline of its lanelets, it can be useful to set the lateral deviation threshold parameter `imu_path_lat_dev_threshold` to be equal to or smaller than the average lanelet width divided by 2, that way, the chance of the IMU predicted path leaving the current ego lanelet is smaller, and it is possible to increase the `imu_prediction_time_horizon` to prevent frontal collisions when the ego is mostly traveling in a straight line. The lateral deviation is measured using the ego vehicle's current position as a reference, and it measures the distance of the furthermost vertex of the predicted ego footprint to the predicted path. The following image illustrates how the lateral deviation of a given ego pose is measured. ![measuring_lat_dev](./image/measuring-lat-dev-on-imu-path.drawio.svg) +#### 2.4 IMU Path Generation Algorithm + +##### 2.4.1 Selection of Lateral Deviation Check Points + +Select vehicle vertices for lateral deviation checks based on the following conditions: + +- Forward motion ($v > 0$) + - Right turn ($\omega > 0$): Right front vertex + - Left turn ($\omega < 0$): Left front vertex +- Reverse motion ($v < 0$) + - Right turn ($\omega > 0$): Right rear vertex + - Left turn ($\omega < 0$): Left rear vertex +- Straight motion ($\omega = 0$): Check both front/rear vertices depending on forward/reverse motion + +##### 2.4.2 Path Generation Process + +Execute the following steps at each time step: + +1. State Update + + - Calculate next position $(x_{k+1}, y_{k+1})$ and yaw angle $\theta_{k+1}$ based on current velocity $v$ and angular velocity $\omega$ + - Time interval $dt$ is based on the `imu_prediction_time_interval` parameter + +2. Vehicle Footprint Generation + + - Place vehicle footprint at calculated position + - Calculate check point coordinates + +3. Lateral Deviation Calculation + + - Calculate lateral deviation from selected vertex to path + - Update path length and elapsed time + +4. Evaluation of Termination Conditions + +##### 2.4.3 Termination Conditions + +Path generation terminates when any of the following conditions are met: + +1. Basic Termination Conditions (both must be satisfied) + + - Predicted time exceeds `imu_prediction_time_horizon` + - AND path length exceeds `min_generated_imu_path_length` + +2. Path Length Termination Condition + + - Path length exceeds `max_generated_imu_path_length` + +3. Lateral Deviation Termination Condition (when `limit_imu_path_lat_dev = true`) + - Lateral deviation of selected vertex exceeds `imu_path_lat_dev_threshold` + #### MPC path generation If the `use_predicted_trajectory` parameter is set to true, the AEB module will directly use the predicted path from the MPC as a base to generate a footprint path. It will copy the ego poses generated by the MPC until a given time horizon. The `mpc_prediction_time_horizon` parameter dictates how far ahead in the future the MPC path will predict the ego vehicle's movement. Both the IMU footprint path and the MPC footprint path can be used at the same time. From c8bbeff4d5dc1efd16795724b4048717db7b7169 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 26 Nov 2024 17:07:31 +0900 Subject: [PATCH 547/701] fix(autoware_mission_planner): fix clang-diagnostic-error (#9432) Signed-off-by: veqcc --- .../src/mission_planner/service_utils.hpp | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/autoware_mission_planner/src/mission_planner/service_utils.hpp b/planning/autoware_mission_planner/src/mission_planner/service_utils.hpp index b12b5f635275c..8b6e5c9916705 100644 --- a/planning/autoware_mission_planner/src/mission_planner/service_utils.hpp +++ b/planning/autoware_mission_planner/src/mission_planner/service_utils.hpp @@ -19,6 +19,7 @@ #include +#include #include #include From e5ad03af80a786f23726e6c2940ed82867056b00 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 26 Nov 2024 17:07:59 +0900 Subject: [PATCH 548/701] fix(simple_planning_simulator): fix clang-diagnostic-delete-non-abstract-non-virtual-dtor (#9448) Signed-off-by: veqcc --- .../vehicle_model/sim_model_interface.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp index 5ca886b1b5847..bab4531484aa6 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp @@ -50,7 +50,7 @@ class SimModelInterface /** * @brief destructor */ - ~SimModelInterface() = default; + virtual ~SimModelInterface() = default; /** * @brief get state vector of model From 4fcd6da9feed8438805c7404992e20fae870744a Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 26 Nov 2024 20:36:29 +0900 Subject: [PATCH 549/701] fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-unused-const-variable (#9433) Signed-off-by: veqcc --- .../autoware_freespace_planning_algorithms/src/reeds_shepp.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/autoware_freespace_planning_algorithms/src/reeds_shepp.cpp b/planning/autoware_freespace_planning_algorithms/src/reeds_shepp.cpp index ee6d1cb8d1d9a..7b5acb40892e2 100644 --- a/planning/autoware_freespace_planning_algorithms/src/reeds_shepp.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/reeds_shepp.cpp @@ -91,7 +91,7 @@ using autoware::freespace_planning_algorithms::ReedsSheppStateSpace; const double pi = M_PI; const double twopi = 2. * pi; -const double RS_EPS = 1e-6; +[[maybe_unused]] const double RS_EPS = 1e-6; // used only in assertions const double ZERO = 10 * std::numeric_limits::epsilon(); inline double mod2pi(double x) From 9a28f08ef2b7e2883952f0f62a8a6bf3a7a5d4bd Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 26 Nov 2024 20:37:15 +0900 Subject: [PATCH 550/701] fix(autoware_mpc_lateral_controller): fix clang-tidy errors (#9436) Signed-off-by: veqcc --- .../include/autoware/mpc_lateral_controller/mpc.hpp | 6 ++---- .../mpc_lateral_controller/mpc_lateral_controller.hpp | 4 ++-- 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp index eedac39f37bd4..81c8b71683092 100644 --- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp @@ -227,8 +227,6 @@ class MPC bool m_is_forward_shift = true; // Flag indicating if the shift is in the forward direction. - double m_min_prediction_length = 5.0; // Minimum prediction distance. - rclcpp::Publisher::SharedPtr m_debug_frenet_predicted_trajectory_pub; rclcpp::Publisher::SharedPtr m_debug_resampled_reference_trajectory_pub; /** @@ -405,7 +403,7 @@ class MPC template inline bool fail_warn_throttle(Args &&... args) const { - RCLCPP_WARN_THROTTLE(m_logger, *m_clock, 3000, args...); + RCLCPP_WARN_THROTTLE(m_logger, *m_clock, 3000, "%s", args...); return false; } @@ -413,7 +411,7 @@ class MPC template inline void warn_throttle(Args &&... args) const { - RCLCPP_WARN_THROTTLE(m_logger, *m_clock, 3000, args...); + RCLCPP_WARN_THROTTLE(m_logger, *m_clock, 3000, "%s", args...); } public: diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp index fe68d150b5b9a..d7442f64b028a 100644 --- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp @@ -292,13 +292,13 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase template inline void info_throttle(Args &&... args) { - RCLCPP_INFO_THROTTLE(logger_, *clock_, 5000, args...); + RCLCPP_INFO_THROTTLE(logger_, *clock_, 5000, "%s", args...); } template inline void warn_throttle(Args &&... args) { - RCLCPP_WARN_THROTTLE(logger_, *clock_, 5000, args...); + RCLCPP_WARN_THROTTLE(logger_, *clock_, 5000, "%s", args...); } }; } // namespace autoware::motion::control::mpc_lateral_controller From 96951e7968a5f9f36c29982ff45f919d040ecd7e Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 26 Nov 2024 20:37:34 +0900 Subject: [PATCH 551/701] fix(autoware_osqp_interface): fix clang-tidy errors (#9440) Signed-off-by: veqcc --- common/autoware_osqp_interface/CMakeLists.txt | 2 +- common/autoware_osqp_interface/src/osqp_interface.cpp | 2 +- common/autoware_qp_interface/CMakeLists.txt | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/common/autoware_osqp_interface/CMakeLists.txt b/common/autoware_osqp_interface/CMakeLists.txt index e9ed0ce25f2f8..b770af659e52a 100644 --- a/common/autoware_osqp_interface/CMakeLists.txt +++ b/common/autoware_osqp_interface/CMakeLists.txt @@ -26,7 +26,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ${OSQP_INTERFACE_LIB_SRC} ${OSQP_INTERFACE_LIB_HEADERS} ) -target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast -Wno-error=useless-cast) +target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast) target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC diff --git a/common/autoware_osqp_interface/src/osqp_interface.cpp b/common/autoware_osqp_interface/src/osqp_interface.cpp index 9ebf132f65028..ceeae626222ca 100644 --- a/common/autoware_osqp_interface/src/osqp_interface.cpp +++ b/common/autoware_osqp_interface/src/osqp_interface.cpp @@ -430,6 +430,6 @@ void OSQPInterface::logUnsolvedStatus(const std::string & prefix_message) const output_message += "Optimization failed due to " + status_message; // log with warning - RCLCPP_WARN(rclcpp::get_logger("osqp_interface"), output_message.c_str()); + RCLCPP_WARN(rclcpp::get_logger("osqp_interface"), "%s", output_message.c_str()); } } // namespace autoware::osqp_interface diff --git a/common/autoware_qp_interface/CMakeLists.txt b/common/autoware_qp_interface/CMakeLists.txt index d2f2d6347cb3d..1df75d2d719a0 100644 --- a/common/autoware_qp_interface/CMakeLists.txt +++ b/common/autoware_qp_interface/CMakeLists.txt @@ -30,7 +30,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ${QP_INTERFACE_LIB_SRC} ${QP_INTERFACE_LIB_HEADERS} ) -target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast -Wno-error=useless-cast) +target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast) target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC From 635ad2da8d57c988ec72130d493ea244df32f6a1 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 26 Nov 2024 20:40:28 +0900 Subject: [PATCH 552/701] fix(tier4_adapi_rviz_plugin): fix clang-diagnostic-unused-lambda-capture (#9439) Signed-off-by: veqcc --- common/tier4_adapi_rviz_plugin/src/state_panel.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/tier4_adapi_rviz_plugin/src/state_panel.cpp b/common/tier4_adapi_rviz_plugin/src/state_panel.cpp index 6d2980a7f2c4a..0525f5fdc1a09 100644 --- a/common/tier4_adapi_rviz_plugin/src/state_panel.cpp +++ b/common/tier4_adapi_rviz_plugin/src/state_panel.cpp @@ -280,7 +280,7 @@ void StatePanel::onInitialize() void StatePanel::onOperationMode(const OperationModeState::ConstSharedPtr msg) { - auto changeButtonState = [this]( + auto changeButtonState = []( QPushButton * button, const bool is_desired_mode_available, const uint8_t current_mode = OperationModeState::UNKNOWN, const uint8_t desired_mode = OperationModeState::STOP) { From 340a5af9fb54af1d978e1126413c8602015085d7 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 26 Nov 2024 20:54:30 +0900 Subject: [PATCH 553/701] fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-overloaded-virtual (#9400) Signed-off-by: kobayu858 --- .../autoware/behavior_path_lane_change_module/interface.hpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp index bd309dd35a260..07920f83fd980 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp @@ -93,6 +93,8 @@ class LaneChangeInterface : public SceneModuleInterface MarkerArray getModuleVirtualWall() override; protected: + using SceneModuleInterface::updateRTCStatus; + std::shared_ptr parameters_; std::unique_ptr module_type_; From 56ed0551b3c0469986f99bbba4a9fce1331ec3d3 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 26 Nov 2024 20:54:54 +0900 Subject: [PATCH 554/701] fix(autoware_lidar_centerpoint): fix clang-diagnostic-unused-private-field (#9471) Signed-off-by: kobayu858 --- .../include/autoware/lidar_centerpoint/node.hpp | 1 - 1 file changed, 1 deletion(-) diff --git a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/node.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/node.hpp index eb056ed14c57f..a49451fde9d0d 100644 --- a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/node.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/node.hpp @@ -51,7 +51,6 @@ class LidarCenterPointNode : public rclcpp::Node rclcpp::Subscription::SharedPtr pointcloud_sub_; rclcpp::Publisher::SharedPtr objects_pub_; - float score_threshold_{0.0}; std::vector class_names_; bool has_variance_{false}; bool has_twist_{false}; From 2244f286fc9eca8fb246a11c39cc4dd17c97d022 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 26 Nov 2024 20:56:28 +0900 Subject: [PATCH 555/701] fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (#9472) Signed-off-by: kobayu858 --- .../roi_detected_object_fusion/node.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp index ea15a2df5efe2..7103537ec852d 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp @@ -57,7 +57,7 @@ class RoiDetectedObjectFusionNode void publish(const DetectedObjects & output_msg) override; - bool out_of_scope(const DetectedObject & obj); + bool out_of_scope(const DetectedObject & obj) override; private: struct From f9159c1b0d93e654b9e602f62588ad754007e354 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 26 Nov 2024 21:00:31 +0900 Subject: [PATCH 556/701] fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-error (#9402) Signed-off-by: kobayu858 --- .../src/utils/calculation.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index b73e242a9a70f..9cbf9d4beb5ff 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -355,8 +355,10 @@ std::vector calc_lon_acceleration_samples( const auto goal_pose = common_data_ptr->route_handler_ptr->getGoalPose(); const auto sampling_num = common_data_ptr->lc_param_ptr->trajectory.lon_acc_sampling_num; - const auto [min_accel, max_accel] = + const auto min_max_accel = calc_min_max_acceleration(common_data_ptr, max_path_velocity, prepare_duration); + const auto & min_accel = min_max_accel.first; + const auto & max_accel = min_max_accel.second; const auto is_sampling_required = std::invoke([&]() -> bool { if (max_accel < 0.0 || transient_data.is_ego_stuck) return true; From 5b5a93c92a1cc46680ece34bd4e8ebbb94cbb60e Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Wed, 27 Nov 2024 09:28:57 +0900 Subject: [PATCH 557/701] fix(autoware_pointcloud_preprocessor): fix clang-diagnostic-inconsistent-missing-override (#9445) Signed-off-by: veqcc --- .../crop_box_filter/crop_box_filter_node.hpp | 4 ++-- .../outlier_filter/ring_outlier_filter_node.hpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp index 2a983835e4e55..2eb0f2505642a 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp @@ -67,8 +67,8 @@ namespace autoware::pointcloud_preprocessor class CropBoxFilterComponent : public autoware::pointcloud_preprocessor::Filter { protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; // TODO(sykwer): Temporary Implementation: Remove this interface when all the filter nodes conform // to new API diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp index a19c0c1e257b2..c898cbacf33ea 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp @@ -44,8 +44,8 @@ class RingOutlierFilterComponent : public autoware::pointcloud_preprocessor::Fil using InputPointType = autoware::point_types::PointXYZIRCAEDT; using OutputPointType = autoware::point_types::PointXYZIRC; - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; // TODO(sykwer): Temporary Implementation: Remove this interface when all the filter nodes conform // to new API From f23916f6e2881be89dc800e5da5f701c61a2066e Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Wed, 27 Nov 2024 11:26:56 +0900 Subject: [PATCH 558/701] fix(autoware_trajectory): autoware_trajectory bug (#9475) fix autoware_trajectory bug Signed-off-by: Y.Hisaki --- common/autoware_trajectory/src/path_point.cpp | 2 +- common/autoware_trajectory/src/path_point_with_lane_id.cpp | 2 +- common/autoware_trajectory/src/pose.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/common/autoware_trajectory/src/path_point.cpp b/common/autoware_trajectory/src/path_point.cpp index af1e9286b533d..4a2ac80b749bd 100644 --- a/common/autoware_trajectory/src/path_point.cpp +++ b/common/autoware_trajectory/src/path_point.cpp @@ -76,7 +76,7 @@ std::vector Trajectory::restore(const size_t & min_points) points.reserve(bases.size()); for (const auto & s : bases) { PointType p; - p.pose = Trajectory::compute(s); + p.pose = Trajectory::compute(s - start_); p.longitudinal_velocity_mps = static_cast(this->longitudinal_velocity_mps.compute(s)); p.lateral_velocity_mps = static_cast(this->lateral_velocity_mps.compute(s)); p.heading_rate_rps = static_cast(this->heading_rate_rps.compute(s)); diff --git a/common/autoware_trajectory/src/path_point_with_lane_id.cpp b/common/autoware_trajectory/src/path_point_with_lane_id.cpp index 6c983c4dfa0d3..c3d7441fef405 100644 --- a/common/autoware_trajectory/src/path_point_with_lane_id.cpp +++ b/common/autoware_trajectory/src/path_point_with_lane_id.cpp @@ -65,7 +65,7 @@ std::vector Trajectory::restore(const size_t & min_points) points.reserve(bases.size()); for (const auto & s : bases) { PointType p; - p.point = BaseClass::compute(s); + p.point = BaseClass::compute(s - start_); p.lane_ids = lane_ids.compute(s); points.emplace_back(p); } diff --git a/common/autoware_trajectory/src/pose.cpp b/common/autoware_trajectory/src/pose.cpp index 35eca81981f89..3906ee17fa2eb 100644 --- a/common/autoware_trajectory/src/pose.cpp +++ b/common/autoware_trajectory/src/pose.cpp @@ -92,7 +92,7 @@ std::vector Trajectory::restore(const size_t & min_points) points.reserve(bases.size()); for (const auto & s : bases) { PointType p; - p.position = BaseClass::compute(s); + p.position = BaseClass::compute(s - start_); p.orientation = orientation_interpolator_->compute(s); points.emplace_back(p); } From 12a86f63dd865c4a0661286c5b4f354260299944 Mon Sep 17 00:00:00 2001 From: "Kem (TiankuiXian)" <1041084556@qq.com> Date: Wed, 27 Nov 2024 11:57:54 +0900 Subject: [PATCH 559/701] refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (#9459) * add Accumulator class to autoware_universe_utils Signed-off-by: xtk8532704 <1041084556@qq.com> * use Accumulator on all evaluators. Signed-off-by: xtk8532704 <1041084556@qq.com> * pre-commit Signed-off-by: xtk8532704 <1041084556@qq.com> * found and fixed a bug. add more tests. Signed-off-by: xtk8532704 <1041084556@qq.com> * pre-commit Signed-off-by: xtk8532704 <1041084556@qq.com> * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp Co-authored-by: Kosuke Takeuchi Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com> Co-authored-by: Kosuke Takeuchi --- .../universe_utils/math/accumulator.hpp | 26 +++--- .../test/src/math/test_accumulator.cpp | 64 +++++++++++++ .../autoware_planning_evaluator/README.md | 4 +- .../metrics/deviation_metrics.hpp | 15 +-- .../metrics/metrics_utils.hpp | 2 - .../metrics/obstacle_metrics.hpp | 8 +- .../metrics/stability_metrics.hpp | 7 +- .../metrics/trajectory_metrics.hpp | 20 ++-- .../planning_evaluator/metrics_calculator.hpp | 7 +- .../motion_evaluator_node.hpp | 3 +- .../planning_evaluator_node.hpp | 7 +- .../src/metrics/deviation_metrics.cpp | 24 ++--- .../src/metrics/obstacle_metrics.cpp | 9 +- .../src/metrics/stability_metrics.cpp | 8 +- .../src/metrics/trajectory_metrics.cpp | 33 +++---- .../src/metrics_calculator.cpp | 4 +- .../src/planning_evaluator_node.cpp | 3 +- .../kinematic_evaluator_node.hpp | 9 +- .../metrics/kinematic_metrics.hpp | 5 +- .../metrics_calculator.hpp | 9 +- .../include/kinematic_evaluator/stat.hpp | 93 ------------------- .../src/kinematic_evaluator_node.cpp | 4 +- .../src/metrics/kinematic_metrics.cpp | 4 +- .../src/metrics_calculator.cpp | 4 +- .../localization_evaluator_node.hpp | 9 +- .../metrics/localization_metrics.hpp | 11 ++- .../metrics_calculator.hpp | 7 +- .../include/localization_evaluator/stat.hpp | 93 ------------------- .../src/localization_evaluator_node.cpp | 4 +- .../src/metrics/localization_metrics.cpp | 12 +-- .../src/metrics_calculator.cpp | 4 +- .../metrics/detection_count.hpp | 1 - .../metrics/deviation_metrics.hpp | 2 - .../metrics/metric.hpp | 9 +- .../metrics_calculator.hpp | 1 - .../perception_online_evaluator_node.hpp | 5 +- .../perception_online_evaluator/stat.hpp | 93 ------------------- .../src/metrics_calculator.cpp | 6 +- .../src/perception_online_evaluator_node.cpp | 2 +- 39 files changed, 215 insertions(+), 416 deletions(-) rename evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/stat.hpp => common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp (69%) create mode 100644 common/autoware_universe_utils/test/src/math/test_accumulator.cpp delete mode 100644 evaluator/kinematic_evaluator/include/kinematic_evaluator/stat.hpp delete mode 100644 evaluator/localization_evaluator/include/localization_evaluator/stat.hpp delete mode 100644 evaluator/perception_online_evaluator/include/perception_online_evaluator/stat.hpp diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/stat.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp similarity index 69% rename from evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/stat.hpp rename to common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp index 5f63f29a96f26..eb460cc685891 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/stat.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 Tier IV, Inc. +// Copyright 2021-2024 Tier IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -15,17 +15,17 @@ #include #include -#ifndef AUTOWARE__PLANNING_EVALUATOR__STAT_HPP_ -#define AUTOWARE__PLANNING_EVALUATOR__STAT_HPP_ +#ifndef AUTOWARE__UNIVERSE_UTILS__MATH__ACCUMULATOR_HPP_ +#define AUTOWARE__UNIVERSE_UTILS__MATH__ACCUMULATOR_HPP_ -namespace planning_diagnostics +namespace autoware::universe_utils { /** - * @brief class to incrementally build statistics + * @brief class to accumulate statistical data, supporting min, max and mean. * @typedef T type of the values (default to double) */ template -class Stat +class Accumulator { public: /** @@ -65,11 +65,11 @@ class Stat unsigned int count() const { return count_; } template - friend std::ostream & operator<<(std::ostream & os, const Stat & stat); + friend std::ostream & operator<<(std::ostream & os, const Accumulator & accumulator); private: T min_ = std::numeric_limits::max(); - T max_ = std::numeric_limits::min(); + T max_ = std::numeric_limits::lowest(); long double mean_ = 0.0; unsigned int count_ = 0; }; @@ -78,16 +78,16 @@ class Stat * @brief overload << operator for easy print to output stream */ template -std::ostream & operator<<(std::ostream & os, const Stat & stat) +std::ostream & operator<<(std::ostream & os, const Accumulator & accumulator) { - if (stat.count() == 0) { + if (accumulator.count() == 0) { os << "None None None"; } else { - os << stat.min() << " " << stat.max() << " " << stat.mean(); + os << accumulator.min() << " " << accumulator.max() << " " << accumulator.mean(); } return os; } -} // namespace planning_diagnostics +} // namespace autoware::universe_utils -#endif // AUTOWARE__PLANNING_EVALUATOR__STAT_HPP_ +#endif // AUTOWARE__UNIVERSE_UTILS__MATH__ACCUMULATOR_HPP_ diff --git a/common/autoware_universe_utils/test/src/math/test_accumulator.cpp b/common/autoware_universe_utils/test/src/math/test_accumulator.cpp new file mode 100644 index 0000000000000..89630454d5f19 --- /dev/null +++ b/common/autoware_universe_utils/test/src/math/test_accumulator.cpp @@ -0,0 +1,64 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/universe_utils/math/accumulator.hpp" + +#include + +TEST(accumulator, empty) +{ + autoware::universe_utils::Accumulator acc; + + EXPECT_DOUBLE_EQ(acc.mean(), 0.0); + EXPECT_DOUBLE_EQ(acc.min(), std::numeric_limits::max()); + EXPECT_DOUBLE_EQ(acc.max(), std::numeric_limits::lowest()); + EXPECT_EQ(acc.count(), 0); +} + +TEST(accumulator, addValues) +{ + autoware::universe_utils::Accumulator acc; + acc.add(100.0); + + EXPECT_DOUBLE_EQ(acc.mean(), 100.0); + EXPECT_DOUBLE_EQ(acc.min(), 100.0); + EXPECT_DOUBLE_EQ(acc.max(), 100.0); + EXPECT_EQ(acc.count(), 1); +} + +TEST(accumulator, positiveValues) +{ + autoware::universe_utils::Accumulator acc; + acc.add(10.0); + acc.add(40.0); + acc.add(10.0); + + EXPECT_DOUBLE_EQ(acc.mean(), 20.0); + EXPECT_DOUBLE_EQ(acc.min(), 10.0); + EXPECT_DOUBLE_EQ(acc.max(), 40.0); + EXPECT_EQ(acc.count(), 3); +} + +TEST(accumulator, negativeValues) +{ + autoware::universe_utils::Accumulator acc; + acc.add(-10.0); + acc.add(-40.0); + acc.add(-10.0); + + EXPECT_DOUBLE_EQ(acc.mean(), -20.0); + EXPECT_DOUBLE_EQ(acc.min(), -40.0); + EXPECT_DOUBLE_EQ(acc.max(), -10.0); + EXPECT_EQ(acc.count(), 3); +} diff --git a/evaluator/autoware_planning_evaluator/README.md b/evaluator/autoware_planning_evaluator/README.md index d09949bd69b0e..30ae1559ca9da 100644 --- a/evaluator/autoware_planning_evaluator/README.md +++ b/evaluator/autoware_planning_evaluator/README.md @@ -20,7 +20,7 @@ which is also responsible for calculating metrics. ### Stat -Each metric is calculated using a `Stat` instance which contains +Each metric is calculated using a `autoware::universe_utils::Accumulator` instance which contains the minimum, maximum, and mean values calculated for the metric as well as the number of values measured. @@ -35,7 +35,7 @@ The `MetricsCalculator` is responsible for calculating metric statistics through calls to function: ```C++ -Stat MetricsCalculator::calculate(const Metric metric, const Trajectory & traj) const; +Accumulator MetricsCalculator::calculate(const Metric metric, const Trajectory & traj) const; ``` Adding a new metric `M` requires the following steps: diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/deviation_metrics.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/deviation_metrics.hpp index 8d7cfbd30d604..59866c96ad702 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/deviation_metrics.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/deviation_metrics.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE__PLANNING_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_ #define AUTOWARE__PLANNING_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_ -#include "autoware/planning_evaluator/stat.hpp" +#include "autoware/universe_utils/math/accumulator.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" @@ -24,6 +24,7 @@ namespace planning_diagnostics { namespace metrics { +using autoware::universe_utils::Accumulator; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; using geometry_msgs::msg::Point; @@ -35,7 +36,7 @@ using geometry_msgs::msg::Pose; * @param [in] traj input trajectory * @return calculated statistics */ -Stat calcLateralDeviation(const Trajectory & ref, const Trajectory & traj); +Accumulator calcLateralDeviation(const Trajectory & ref, const Trajectory & traj); /** * @brief calculate yaw deviation of the given trajectory from the reference trajectory @@ -43,7 +44,7 @@ Stat calcLateralDeviation(const Trajectory & ref, const Trajectory & tra * @param [in] traj input trajectory * @return calculated statistics */ -Stat calcYawDeviation(const Trajectory & ref, const Trajectory & traj); +Accumulator calcYawDeviation(const Trajectory & ref, const Trajectory & traj); /** * @brief calculate velocity deviation of the given trajectory from the reference trajectory @@ -51,7 +52,7 @@ Stat calcYawDeviation(const Trajectory & ref, const Trajectory & traj); * @param [in] traj input trajectory * @return calculated statistics */ -Stat calcVelocityDeviation(const Trajectory & ref, const Trajectory & traj); +Accumulator calcVelocityDeviation(const Trajectory & ref, const Trajectory & traj); /** * @brief calculate longitudinal deviation of the given ego pose from the modified goal pose @@ -59,7 +60,7 @@ Stat calcVelocityDeviation(const Trajectory & ref, const Trajectory & tr * @param [in] target_point target point * @return calculated statistics */ -Stat calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point); +Accumulator calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point); /** * @brief calculate lateral deviation of the given ego pose from the modified goal pose @@ -67,7 +68,7 @@ Stat calcLongitudinalDeviation(const Pose & base_pose, const Point & tar * @param [in] target_point target point * @return calculated statistics */ -Stat calcLateralDeviation(const Pose & base_pose, const Point & target_point); +Accumulator calcLateralDeviation(const Pose & base_pose, const Point & target_point); /** * @brief calculate yaw deviation of the given ego pose from the modified goal pose @@ -75,7 +76,7 @@ Stat calcLateralDeviation(const Pose & base_pose, const Point & target_p * @param [in] target_pose target pose * @return calculated statistics */ -Stat calcYawDeviation(const Pose & base_pose, const Pose & target_pose); +Accumulator calcYawDeviation(const Pose & base_pose, const Pose & target_pose); } // namespace metrics } // namespace planning_diagnostics diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/metrics_utils.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/metrics_utils.hpp index 2ade316ba7ad5..0006e49c3338a 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/metrics_utils.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/metrics_utils.hpp @@ -15,8 +15,6 @@ #ifndef AUTOWARE__PLANNING_EVALUATOR__METRICS__METRICS_UTILS_HPP_ #define AUTOWARE__PLANNING_EVALUATOR__METRICS__METRICS_UTILS_HPP_ -#include "autoware/planning_evaluator/stat.hpp" - #include "autoware_planning_msgs/msg/trajectory.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/obstacle_metrics.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/obstacle_metrics.hpp index c4d468b4dacd5..55e46bf710450 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/obstacle_metrics.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/obstacle_metrics.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE__PLANNING_EVALUATOR__METRICS__OBSTACLE_METRICS_HPP_ #define AUTOWARE__PLANNING_EVALUATOR__METRICS__OBSTACLE_METRICS_HPP_ -#include "autoware/planning_evaluator/stat.hpp" +#include "autoware/universe_utils/math/accumulator.hpp" #include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" @@ -24,6 +24,7 @@ namespace planning_diagnostics { namespace metrics { +using autoware::universe_utils::Accumulator; using autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::Trajectory; @@ -33,7 +34,8 @@ using autoware_planning_msgs::msg::Trajectory; * @param [in] traj trajectory * @return calculated statistics */ -Stat calcDistanceToObstacle(const PredictedObjects & obstacles, const Trajectory & traj); +Accumulator calcDistanceToObstacle( + const PredictedObjects & obstacles, const Trajectory & traj); /** * @brief calculate the time to collision of the trajectory with the given obstacles @@ -42,7 +44,7 @@ Stat calcDistanceToObstacle(const PredictedObjects & obstacles, const Tr * @param [in] traj trajectory * @return calculated statistics */ -Stat calcTimeToCollision( +Accumulator calcTimeToCollision( const PredictedObjects & obstacles, const Trajectory & traj, const double distance_threshold); } // namespace metrics diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/stability_metrics.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/stability_metrics.hpp index f1e93380d34d6..38f388feeadda 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/stability_metrics.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/stability_metrics.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE__PLANNING_EVALUATOR__METRICS__STABILITY_METRICS_HPP_ #define AUTOWARE__PLANNING_EVALUATOR__METRICS__STABILITY_METRICS_HPP_ -#include "autoware/planning_evaluator/stat.hpp" +#include "autoware/universe_utils/math/accumulator.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" @@ -23,6 +23,7 @@ namespace planning_diagnostics { namespace metrics { +using autoware::universe_utils::Accumulator; using autoware_planning_msgs::msg::Trajectory; /** @@ -31,7 +32,7 @@ using autoware_planning_msgs::msg::Trajectory; * @param [in] traj2 second trajectory * @return calculated statistics */ -Stat calcFrechetDistance(const Trajectory & traj1, const Trajectory & traj2); +Accumulator calcFrechetDistance(const Trajectory & traj1, const Trajectory & traj2); /** * @brief calculate the lateral distance between two trajectories @@ -39,7 +40,7 @@ Stat calcFrechetDistance(const Trajectory & traj1, const Trajectory & tr * @param [in] traj2 second trajectory * @return calculated statistics */ -Stat calcLateralDistance(const Trajectory & traj1, const Trajectory & traj2); +Accumulator calcLateralDistance(const Trajectory & traj1, const Trajectory & traj2); } // namespace metrics } // namespace planning_diagnostics diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/trajectory_metrics.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/trajectory_metrics.hpp index 14a6a5c451619..c530a8d6d8b05 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/trajectory_metrics.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/trajectory_metrics.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE__PLANNING_EVALUATOR__METRICS__TRAJECTORY_METRICS_HPP_ #define AUTOWARE__PLANNING_EVALUATOR__METRICS__TRAJECTORY_METRICS_HPP_ -#include "autoware/planning_evaluator/stat.hpp" +#include "autoware/universe_utils/math/accumulator.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" @@ -24,6 +24,7 @@ namespace planning_diagnostics { namespace metrics { +using autoware::universe_utils::Accumulator; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; @@ -33,56 +34,57 @@ using autoware_planning_msgs::msg::TrajectoryPoint; * @param [in] min_dist_threshold minimum distance between successive points * @return calculated statistics */ -Stat calcTrajectoryRelativeAngle(const Trajectory & traj, const double min_dist_threshold); +Accumulator calcTrajectoryRelativeAngle( + const Trajectory & traj, const double min_dist_threshold); /** * @brief calculate metric for the distance between trajectory points * @param [in] traj input trajectory * @return calculated statistics */ -Stat calcTrajectoryInterval(const Trajectory & traj); +Accumulator calcTrajectoryInterval(const Trajectory & traj); /** * @brief calculate curvature metric * @param [in] traj input trajectory * @return calculated statistics */ -Stat calcTrajectoryCurvature(const Trajectory & traj); +Accumulator calcTrajectoryCurvature(const Trajectory & traj); /** * @brief calculate length of the trajectory [m] * @param [in] traj input trajectory * @return calculated statistics */ -Stat calcTrajectoryLength(const Trajectory & traj); +Accumulator calcTrajectoryLength(const Trajectory & traj); /** * @brief calculate duration of the trajectory [s] * @param [in] traj input trajectory * @return calculated statistics */ -Stat calcTrajectoryDuration(const Trajectory & traj); +Accumulator calcTrajectoryDuration(const Trajectory & traj); /** * @brief calculate velocity metrics for the trajectory * @param [in] traj input trajectory * @return calculated statistics */ -Stat calcTrajectoryVelocity(const Trajectory & traj); +Accumulator calcTrajectoryVelocity(const Trajectory & traj); /** * @brief calculate acceleration metrics for the trajectory * @param [in] traj input trajectory * @return calculated statistics */ -Stat calcTrajectoryAcceleration(const Trajectory & traj); +Accumulator calcTrajectoryAcceleration(const Trajectory & traj); /** * @brief calculate jerk metrics for the trajectory * @param [in] traj input trajectory * @return calculated statistics */ -Stat calcTrajectoryJerk(const Trajectory & traj); +Accumulator calcTrajectoryJerk(const Trajectory & traj); } // namespace metrics } // namespace planning_diagnostics diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics_calculator.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics_calculator.hpp index f500a435edba1..97d23cad10af2 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics_calculator.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/metrics_calculator.hpp @@ -16,7 +16,7 @@ #define AUTOWARE__PLANNING_EVALUATOR__METRICS_CALCULATOR_HPP_ #include "autoware/planning_evaluator/metrics/metric.hpp" #include "autoware/planning_evaluator/parameters.hpp" -#include "autoware/planning_evaluator/stat.hpp" +#include "autoware/universe_utils/math/accumulator.hpp" #include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp" @@ -28,6 +28,7 @@ namespace planning_diagnostics { +using autoware::universe_utils::Accumulator; using autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::PoseWithUuidStamped; using autoware_planning_msgs::msg::Trajectory; @@ -47,8 +48,8 @@ class MetricsCalculator * @param [in] metric Metric enum value * @return string describing the requested metric */ - std::optional> calculate(const Metric metric, const Trajectory & traj) const; - std::optional> calculate( + std::optional> calculate(const Metric metric, const Trajectory & traj) const; + std::optional> calculate( const Metric metric, const Pose & base_pose, const Pose & target_pose) const; /** diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/motion_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/motion_evaluator_node.hpp index ed9c975436ba5..8193472c4dc39 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/motion_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/motion_evaluator_node.hpp @@ -16,7 +16,7 @@ #define AUTOWARE__PLANNING_EVALUATOR__MOTION_EVALUATOR_NODE_HPP_ #include "autoware/planning_evaluator/metrics_calculator.hpp" -#include "autoware/planning_evaluator/stat.hpp" +#include "autoware/universe_utils/math/accumulator.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" @@ -33,6 +33,7 @@ namespace planning_diagnostics { +using autoware::universe_utils::Accumulator; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp index 065d168b02d38..0f4b8f7289a4f 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp @@ -16,7 +16,7 @@ #define AUTOWARE__PLANNING_EVALUATOR__PLANNING_EVALUATOR_NODE_HPP_ #include "autoware/planning_evaluator/metrics_calculator.hpp" -#include "autoware/planning_evaluator/stat.hpp" +#include "autoware/universe_utils/math/accumulator.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" @@ -43,6 +43,7 @@ #include namespace planning_diagnostics { +using autoware::universe_utils::Accumulator; using autoware_perception_msgs::msg::PredictedObjects; using autoware_planning_msgs::msg::PoseWithUuidStamped; using autoware_planning_msgs::msg::Trajectory; @@ -98,7 +99,7 @@ class PlanningEvaluatorNode : public rclcpp::Node /** * @brief publish the given metric statistic */ - void AddMetricMsg(const Metric & metric, const Stat & metric_stat); + void AddMetricMsg(const Metric & metric, const Accumulator & metric_stat); /** * @brief publish current ego lane info @@ -162,7 +163,7 @@ class PlanningEvaluatorNode : public rclcpp::Node // Metrics std::vector metrics_; std::deque stamps_; - std::array>, static_cast(Metric::SIZE)> metric_stats_; + std::array>, static_cast(Metric::SIZE)> metric_stats_; rclcpp::TimerBase::SharedPtr timer_; std::optional prev_acc_stamped_{std::nullopt}; diff --git a/evaluator/autoware_planning_evaluator/src/metrics/deviation_metrics.cpp b/evaluator/autoware_planning_evaluator/src/metrics/deviation_metrics.cpp index 8ce8a009652d8..7e2217a49ef87 100644 --- a/evaluator/autoware_planning_evaluator/src/metrics/deviation_metrics.cpp +++ b/evaluator/autoware_planning_evaluator/src/metrics/deviation_metrics.cpp @@ -25,9 +25,9 @@ namespace metrics using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; -Stat calcLateralDeviation(const Trajectory & ref, const Trajectory & traj) +Accumulator calcLateralDeviation(const Trajectory & ref, const Trajectory & traj) { - Stat stat; + Accumulator stat; if (ref.points.empty() || traj.points.empty()) { return stat; @@ -45,9 +45,9 @@ Stat calcLateralDeviation(const Trajectory & ref, const Trajectory & tra return stat; } -Stat calcYawDeviation(const Trajectory & ref, const Trajectory & traj) +Accumulator calcYawDeviation(const Trajectory & ref, const Trajectory & traj) { - Stat stat; + Accumulator stat; if (ref.points.empty() || traj.points.empty()) { return stat; @@ -64,9 +64,9 @@ Stat calcYawDeviation(const Trajectory & ref, const Trajectory & traj) return stat; } -Stat calcVelocityDeviation(const Trajectory & ref, const Trajectory & traj) +Accumulator calcVelocityDeviation(const Trajectory & ref, const Trajectory & traj) { - Stat stat; + Accumulator stat; if (ref.points.empty() || traj.points.empty()) { return stat; @@ -81,23 +81,23 @@ Stat calcVelocityDeviation(const Trajectory & ref, const Trajectory & tr return stat; } -Stat calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point) +Accumulator calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point) { - Stat stat; + Accumulator stat; stat.add(std::abs(autoware::universe_utils::calcLongitudinalDeviation(base_pose, target_point))); return stat; } -Stat calcLateralDeviation(const Pose & base_pose, const Point & target_point) +Accumulator calcLateralDeviation(const Pose & base_pose, const Point & target_point) { - Stat stat; + Accumulator stat; stat.add(std::abs(autoware::universe_utils::calcLateralDeviation(base_pose, target_point))); return stat; } -Stat calcYawDeviation(const Pose & base_pose, const Pose & target_pose) +Accumulator calcYawDeviation(const Pose & base_pose, const Pose & target_pose) { - Stat stat; + Accumulator stat; stat.add(std::abs(autoware::universe_utils::calcYawDeviation(base_pose, target_pose))); return stat; } diff --git a/evaluator/autoware_planning_evaluator/src/metrics/obstacle_metrics.cpp b/evaluator/autoware_planning_evaluator/src/metrics/obstacle_metrics.cpp index 3cdaf3d7eaaae..0afc8d982a7e9 100644 --- a/evaluator/autoware_planning_evaluator/src/metrics/obstacle_metrics.cpp +++ b/evaluator/autoware_planning_evaluator/src/metrics/obstacle_metrics.cpp @@ -30,9 +30,10 @@ namespace metrics using autoware::universe_utils::calcDistance2d; using autoware_planning_msgs::msg::TrajectoryPoint; -Stat calcDistanceToObstacle(const PredictedObjects & obstacles, const Trajectory & traj) +Accumulator calcDistanceToObstacle( + const PredictedObjects & obstacles, const Trajectory & traj) { - Stat stat; + Accumulator stat; for (const TrajectoryPoint & p : traj.points) { double min_dist = std::numeric_limits::max(); for (const auto & object : obstacles.objects) { @@ -45,10 +46,10 @@ Stat calcDistanceToObstacle(const PredictedObjects & obstacles, const Tr return stat; } -Stat calcTimeToCollision( +Accumulator calcTimeToCollision( const PredictedObjects & obstacles, const Trajectory & traj, const double distance_threshold) { - Stat stat; + Accumulator stat; /** TODO(Maxime CLEMENT): * this implementation assumes static obstacles and does not work for dynamic obstacles */ diff --git a/evaluator/autoware_planning_evaluator/src/metrics/stability_metrics.cpp b/evaluator/autoware_planning_evaluator/src/metrics/stability_metrics.cpp index 4d1c02faa406f..e6ede0d07b9b3 100644 --- a/evaluator/autoware_planning_evaluator/src/metrics/stability_metrics.cpp +++ b/evaluator/autoware_planning_evaluator/src/metrics/stability_metrics.cpp @@ -29,9 +29,9 @@ namespace metrics { using autoware_planning_msgs::msg::TrajectoryPoint; -Stat calcFrechetDistance(const Trajectory & traj1, const Trajectory & traj2) +Accumulator calcFrechetDistance(const Trajectory & traj1, const Trajectory & traj2) { - Stat stat; + Accumulator stat; if (traj1.points.empty() || traj2.points.empty()) { return stat; @@ -58,9 +58,9 @@ Stat calcFrechetDistance(const Trajectory & traj1, const Trajectory & tr return stat; } -Stat calcLateralDistance(const Trajectory & traj1, const Trajectory & traj2) +Accumulator calcLateralDistance(const Trajectory & traj1, const Trajectory & traj2) { - Stat stat; + Accumulator stat; if (traj1.points.empty()) { return stat; } diff --git a/evaluator/autoware_planning_evaluator/src/metrics/trajectory_metrics.cpp b/evaluator/autoware_planning_evaluator/src/metrics/trajectory_metrics.cpp index 4526865ced97d..bd5eed06f96f8 100644 --- a/evaluator/autoware_planning_evaluator/src/metrics/trajectory_metrics.cpp +++ b/evaluator/autoware_planning_evaluator/src/metrics/trajectory_metrics.cpp @@ -23,18 +23,19 @@ namespace metrics using autoware::universe_utils::calcCurvature; using autoware::universe_utils::calcDistance2d; -Stat calcTrajectoryInterval(const Trajectory & traj) +Accumulator calcTrajectoryInterval(const Trajectory & traj) { - Stat stat; + Accumulator stat; for (size_t i = 1; i < traj.points.size(); ++i) { stat.add(calcDistance2d(traj.points.at(i), traj.points.at(i - 1))); } return stat; } -Stat calcTrajectoryRelativeAngle(const Trajectory & traj, const double min_dist_threshold) +Accumulator calcTrajectoryRelativeAngle( + const Trajectory & traj, const double min_dist_threshold) { - Stat stat; + Accumulator stat; // We need at least three points to compute relative angle const size_t relative_angle_points_num = 3; if (traj.points.size() < relative_angle_points_num) { @@ -79,9 +80,9 @@ Stat calcTrajectoryRelativeAngle(const Trajectory & traj, const double m return stat; } -Stat calcTrajectoryCurvature(const Trajectory & traj) +Accumulator calcTrajectoryCurvature(const Trajectory & traj) { - Stat stat; + Accumulator stat; // We need at least three points to compute curvature if (traj.points.size() < 3) { return stat; @@ -111,18 +112,18 @@ Stat calcTrajectoryCurvature(const Trajectory & traj) return stat; } -Stat calcTrajectoryLength(const Trajectory & traj) +Accumulator calcTrajectoryLength(const Trajectory & traj) { double length = 0.0; for (size_t i = 1; i < traj.points.size(); ++i) { length += calcDistance2d(traj.points.at(i), traj.points.at(i - 1)); } - Stat stat; + Accumulator stat; stat.add(length); return stat; } -Stat calcTrajectoryDuration(const Trajectory & traj) +Accumulator calcTrajectoryDuration(const Trajectory & traj) { double duration = 0.0; for (size_t i = 0; i + 1 < traj.points.size(); ++i) { @@ -132,32 +133,32 @@ Stat calcTrajectoryDuration(const Trajectory & traj) duration += length / std::abs(velocity); } } - Stat stat; + Accumulator stat; stat.add(duration); return stat; } -Stat calcTrajectoryVelocity(const Trajectory & traj) +Accumulator calcTrajectoryVelocity(const Trajectory & traj) { - Stat stat; + Accumulator stat; for (TrajectoryPoint p : traj.points) { stat.add(p.longitudinal_velocity_mps); } return stat; } -Stat calcTrajectoryAcceleration(const Trajectory & traj) +Accumulator calcTrajectoryAcceleration(const Trajectory & traj) { - Stat stat; + Accumulator stat; for (TrajectoryPoint p : traj.points) { stat.add(p.acceleration_mps2); } return stat; } -Stat calcTrajectoryJerk(const Trajectory & traj) +Accumulator calcTrajectoryJerk(const Trajectory & traj) { - Stat stat; + Accumulator stat; for (size_t i = 0; i + 1 < traj.points.size(); ++i) { const double vel = traj.points.at(i).longitudinal_velocity_mps; if (vel != 0) { diff --git a/evaluator/autoware_planning_evaluator/src/metrics_calculator.cpp b/evaluator/autoware_planning_evaluator/src/metrics_calculator.cpp index 8658a666b4976..6e057bcc9fc3d 100644 --- a/evaluator/autoware_planning_evaluator/src/metrics_calculator.cpp +++ b/evaluator/autoware_planning_evaluator/src/metrics_calculator.cpp @@ -22,7 +22,7 @@ #include "autoware/universe_utils/geometry/geometry.hpp" namespace planning_diagnostics { -std::optional> MetricsCalculator::calculate( +std::optional> MetricsCalculator::calculate( const Metric metric, const Trajectory & traj) const { // Functions to calculate trajectory metrics @@ -74,7 +74,7 @@ std::optional> MetricsCalculator::calculate( } } -std::optional> MetricsCalculator::calculate( +std::optional> MetricsCalculator::calculate( const Metric metric, const Pose & base_pose, const Pose & target_pose) const { // Functions to calculate pose metrics diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp index e5e1c947a735c..d770833bc40a8 100644 --- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp @@ -198,7 +198,8 @@ void PlanningEvaluatorNode::AddKinematicStateMetricMsg( return; } -void PlanningEvaluatorNode::AddMetricMsg(const Metric & metric, const Stat & metric_stat) +void PlanningEvaluatorNode::AddMetricMsg( + const Metric & metric, const Accumulator & metric_stat) { const std::string base_name = metric_to_str.at(metric) + "/"; MetricMsg metric_msg; diff --git a/evaluator/kinematic_evaluator/include/kinematic_evaluator/kinematic_evaluator_node.hpp b/evaluator/kinematic_evaluator/include/kinematic_evaluator/kinematic_evaluator_node.hpp index 16b4230fc4656..d401f63649468 100644 --- a/evaluator/kinematic_evaluator/include/kinematic_evaluator/kinematic_evaluator_node.hpp +++ b/evaluator/kinematic_evaluator/include/kinematic_evaluator/kinematic_evaluator_node.hpp @@ -15,8 +15,8 @@ #ifndef KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_ #define KINEMATIC_EVALUATOR__KINEMATIC_EVALUATOR_NODE_HPP_ +#include "autoware/universe_utils/math/accumulator.hpp" #include "kinematic_evaluator/metrics_calculator.hpp" -#include "kinematic_evaluator/stat.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" @@ -33,6 +33,7 @@ namespace kinematic_diagnostics { +using autoware::universe_utils::Accumulator; using diagnostic_msgs::msg::DiagnosticArray; using diagnostic_msgs::msg::DiagnosticStatus; @@ -55,7 +56,7 @@ class KinematicEvaluatorNode : public rclcpp::Node * @brief publish the given metric statistic */ DiagnosticStatus generateDiagnosticStatus( - const Metric & metric, const Stat & metric_stat) const; + const Metric & metric, const Accumulator & metric_stat) const; private: geometry_msgs::msg::Pose getCurrentEgoPose() const; @@ -74,8 +75,8 @@ class KinematicEvaluatorNode : public rclcpp::Node // Metrics std::vector metrics_; std::deque stamps_; - std::array>, static_cast(Metric::SIZE)> metric_stats_; - std::unordered_map> metrics_dict_; + std::array>, static_cast(Metric::SIZE)> metric_stats_; + std::unordered_map> metrics_dict_; }; } // namespace kinematic_diagnostics diff --git a/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/kinematic_metrics.hpp b/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/kinematic_metrics.hpp index d20bf079a363a..e7d18910e7c39 100644 --- a/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/kinematic_metrics.hpp +++ b/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics/kinematic_metrics.hpp @@ -15,7 +15,7 @@ #ifndef KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_ #define KINEMATIC_EVALUATOR__METRICS__KINEMATIC_METRICS_HPP_ -#include "kinematic_evaluator/stat.hpp" +#include "autoware/universe_utils/math/accumulator.hpp" #include @@ -23,6 +23,7 @@ namespace kinematic_diagnostics { namespace metrics { +using autoware::universe_utils::Accumulator; using nav_msgs::msg::Odometry; /** @@ -31,7 +32,7 @@ using nav_msgs::msg::Odometry; * @param [in] stat_prev input trajectory * @return calculated statistics */ -Stat updateVelocityStats(const double & value, const Stat stat_prev); +Accumulator updateVelocityStats(const double & value, const Accumulator stat_prev); } // namespace metrics } // namespace kinematic_diagnostics diff --git a/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics_calculator.hpp b/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics_calculator.hpp index 67f152e30c9eb..372d4a34af62c 100644 --- a/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics_calculator.hpp +++ b/evaluator/kinematic_evaluator/include/kinematic_evaluator/metrics_calculator.hpp @@ -15,15 +15,16 @@ #ifndef KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_ #define KINEMATIC_EVALUATOR__METRICS_CALCULATOR_HPP_ +#include "autoware/universe_utils/math/accumulator.hpp" #include "kinematic_evaluator/metrics/metric.hpp" #include "kinematic_evaluator/parameters.hpp" -#include "kinematic_evaluator/stat.hpp" #include "geometry_msgs/msg/pose.hpp" #include namespace kinematic_diagnostics { +using autoware::universe_utils::Accumulator; using nav_msgs::msg::Odometry; class MetricsCalculator @@ -39,7 +40,7 @@ class MetricsCalculator * @param [in] odom Odometry * @return string describing the requested metric */ - Stat calculate(const Metric metric, const Odometry & odom) const; + Accumulator calculate(const Metric metric, const Odometry & odom) const; /** * @brief update Metrics @@ -47,8 +48,8 @@ class MetricsCalculator * @param [in] odom Odometry * @return string describing the requested metric */ - Stat updateStat( - const Metric metric, const Odometry & odom, const Stat stat_prev) const; + Accumulator updateStat( + const Metric metric, const Odometry & odom, const Accumulator stat_prev) const; }; // class MetricsCalculator } // namespace kinematic_diagnostics diff --git a/evaluator/kinematic_evaluator/include/kinematic_evaluator/stat.hpp b/evaluator/kinematic_evaluator/include/kinematic_evaluator/stat.hpp deleted file mode 100644 index 096cb90b3dcf4..0000000000000 --- a/evaluator/kinematic_evaluator/include/kinematic_evaluator/stat.hpp +++ /dev/null @@ -1,93 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include - -#ifndef KINEMATIC_EVALUATOR__STAT_HPP_ -#define KINEMATIC_EVALUATOR__STAT_HPP_ - -namespace kinematic_diagnostics -{ -/** - * @brief class to incrementally build statistics - * @typedef T type of the values (default to double) - */ -template -class Stat -{ -public: - /** - * @brief add a value - * @param value value to add - */ - void add(const T & value) - { - if (value < min_) { - min_ = value; - } - if (value > max_) { - max_ = value; - } - ++count_; - mean_ = mean_ + (value - mean_) / count_; - } - - /** - * @brief get the mean value - */ - long double mean() const { return mean_; } - - /** - * @brief get the minimum value - */ - T min() const { return min_; } - - /** - * @brief get the maximum value - */ - T max() const { return max_; } - - /** - * @brief get the number of values used to build this statistic - */ - unsigned int count() const { return count_; } - - template - friend std::ostream & operator<<(std::ostream & os, const Stat & stat); - -private: - T min_ = std::numeric_limits::max(); - T max_ = std::numeric_limits::min(); - long double mean_ = 0.0; - unsigned int count_ = 0; -}; - -/** - * @brief overload << operator for easy print to output stream - */ -template -std::ostream & operator<<(std::ostream & os, const Stat & stat) -{ - if (stat.count() == 0) { - os << "None None None"; - } else { - os << stat.min() << " " << stat.max() << " " << stat.mean(); - } - return os; -} - -} // namespace kinematic_diagnostics - -#endif // KINEMATIC_EVALUATOR__STAT_HPP_ diff --git a/evaluator/kinematic_evaluator/src/kinematic_evaluator_node.cpp b/evaluator/kinematic_evaluator/src/kinematic_evaluator_node.cpp index 57631e5f861df..d34f9deb7f1ba 100644 --- a/evaluator/kinematic_evaluator/src/kinematic_evaluator_node.cpp +++ b/evaluator/kinematic_evaluator/src/kinematic_evaluator_node.cpp @@ -46,7 +46,7 @@ KinematicEvaluatorNode::KinematicEvaluatorNode(const rclcpp::NodeOptions & node_ for (const std::string & selected_metric : declare_parameter>("selected_metrics")) { Metric metric = str_to_metric.at(selected_metric); - metrics_dict_[metric] = Stat(); + metrics_dict_[metric] = Accumulator(); metrics_.push_back(metric); } } @@ -83,7 +83,7 @@ KinematicEvaluatorNode::~KinematicEvaluatorNode() } DiagnosticStatus KinematicEvaluatorNode::generateDiagnosticStatus( - const Metric & metric, const Stat & metric_stat) const + const Metric & metric, const Accumulator & metric_stat) const { DiagnosticStatus status; status.level = status.OK; diff --git a/evaluator/kinematic_evaluator/src/metrics/kinematic_metrics.cpp b/evaluator/kinematic_evaluator/src/metrics/kinematic_metrics.cpp index 2bb0dad86bf71..d410863a05010 100644 --- a/evaluator/kinematic_evaluator/src/metrics/kinematic_metrics.cpp +++ b/evaluator/kinematic_evaluator/src/metrics/kinematic_metrics.cpp @@ -19,9 +19,9 @@ namespace kinematic_diagnostics namespace metrics { -Stat updateVelocityStats(const double & value, const Stat stat_prev) +Accumulator updateVelocityStats(const double & value, const Accumulator stat_prev) { - Stat stat(stat_prev); + Accumulator stat(stat_prev); stat.add(value); return stat; } diff --git a/evaluator/kinematic_evaluator/src/metrics_calculator.cpp b/evaluator/kinematic_evaluator/src/metrics_calculator.cpp index af1e1114b9c43..8b0f581817b38 100644 --- a/evaluator/kinematic_evaluator/src/metrics_calculator.cpp +++ b/evaluator/kinematic_evaluator/src/metrics_calculator.cpp @@ -18,8 +18,8 @@ namespace kinematic_diagnostics { -Stat MetricsCalculator::updateStat( - const Metric metric, const Odometry & odom, const Stat stat_prev) const +Accumulator MetricsCalculator::updateStat( + const Metric metric, const Odometry & odom, const Accumulator stat_prev) const { switch (metric) { case Metric::velocity_stats: diff --git a/evaluator/localization_evaluator/include/localization_evaluator/localization_evaluator_node.hpp b/evaluator/localization_evaluator/include/localization_evaluator/localization_evaluator_node.hpp index 8c93ddd5fa0fc..feb61dd3cacbe 100644 --- a/evaluator/localization_evaluator/include/localization_evaluator/localization_evaluator_node.hpp +++ b/evaluator/localization_evaluator/include/localization_evaluator/localization_evaluator_node.hpp @@ -15,8 +15,8 @@ #ifndef LOCALIZATION_EVALUATOR__LOCALIZATION_EVALUATOR_NODE_HPP_ #define LOCALIZATION_EVALUATOR__LOCALIZATION_EVALUATOR_NODE_HPP_ +#include "autoware/universe_utils/math/accumulator.hpp" #include "localization_evaluator/metrics_calculator.hpp" -#include "localization_evaluator/stat.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" @@ -38,6 +38,7 @@ namespace localization_diagnostics { +using autoware::universe_utils::Accumulator; using diagnostic_msgs::msg::DiagnosticArray; using diagnostic_msgs::msg::DiagnosticStatus; using geometry_msgs::msg::PoseWithCovarianceStamped; @@ -70,7 +71,7 @@ class LocalizationEvaluatorNode : public rclcpp::Node * @brief publish the given metric statistic */ DiagnosticStatus generateDiagnosticStatus( - const Metric & metric, const Stat & metric_stat) const; + const Metric & metric, const Accumulator & metric_stat) const; private: // ROS @@ -93,8 +94,8 @@ class LocalizationEvaluatorNode : public rclcpp::Node // Metrics std::vector metrics_; std::deque stamps_; - std::array>, static_cast(Metric::SIZE)> metric_stats_; - std::unordered_map> metrics_dict_; + std::array>, static_cast(Metric::SIZE)> metric_stats_; + std::unordered_map> metrics_dict_; }; } // namespace localization_diagnostics diff --git a/evaluator/localization_evaluator/include/localization_evaluator/metrics/localization_metrics.hpp b/evaluator/localization_evaluator/include/localization_evaluator/metrics/localization_metrics.hpp index c973d285fd503..82119efca6082 100644 --- a/evaluator/localization_evaluator/include/localization_evaluator/metrics/localization_metrics.hpp +++ b/evaluator/localization_evaluator/include/localization_evaluator/metrics/localization_metrics.hpp @@ -15,12 +15,13 @@ #ifndef LOCALIZATION_EVALUATOR__METRICS__LOCALIZATION_METRICS_HPP_ #define LOCALIZATION_EVALUATOR__METRICS__LOCALIZATION_METRICS_HPP_ -#include "localization_evaluator/stat.hpp" +#include "autoware/universe_utils/math/accumulator.hpp" #include namespace localization_diagnostics { +using autoware::universe_utils::Accumulator; namespace metrics { /** @@ -30,8 +31,8 @@ namespace metrics * @param [in] lateral_ref reference lateral position * @return calculated statistics */ -Stat updateLateralStats( - const Stat stat_prev, const double & lateral_pos, const double & lateral_ref); +Accumulator updateLateralStats( + const Accumulator stat_prev, const double & lateral_pos, const double & lateral_ref); /** * @brief calculate absolute localization error @@ -40,8 +41,8 @@ Stat updateLateralStats( * @param [in] pos_ref reference position of the vehicle * @return calculated statistics */ -Stat updateAbsoluteStats( - const Stat stat_prev, const geometry_msgs::msg::Point & pos, +Accumulator updateAbsoluteStats( + const Accumulator stat_prev, const geometry_msgs::msg::Point & pos, const geometry_msgs::msg::Point & pos_ref); } // namespace metrics diff --git a/evaluator/localization_evaluator/include/localization_evaluator/metrics_calculator.hpp b/evaluator/localization_evaluator/include/localization_evaluator/metrics_calculator.hpp index 88f8ea85d4267..310d1b25e92f1 100644 --- a/evaluator/localization_evaluator/include/localization_evaluator/metrics_calculator.hpp +++ b/evaluator/localization_evaluator/include/localization_evaluator/metrics_calculator.hpp @@ -15,15 +15,16 @@ #ifndef LOCALIZATION_EVALUATOR__METRICS_CALCULATOR_HPP_ #define LOCALIZATION_EVALUATOR__METRICS_CALCULATOR_HPP_ +#include "autoware/universe_utils/math/accumulator.hpp" #include "localization_evaluator/metrics/metric.hpp" #include "localization_evaluator/parameters.hpp" -#include "localization_evaluator/stat.hpp" #include "geometry_msgs/msg/pose.hpp" #include namespace localization_diagnostics { +using autoware::universe_utils::Accumulator; class MetricsCalculator { public: @@ -38,8 +39,8 @@ class MetricsCalculator * @param [in] pos_ref reference position * @return string describing the requested metric */ - Stat updateStat( - const Stat stat_prev, const Metric metric, const geometry_msgs::msg::Point & pos, + Accumulator updateStat( + const Accumulator stat_prev, const Metric metric, const geometry_msgs::msg::Point & pos, const geometry_msgs::msg::Point & pos_ref) const; }; // class MetricsCalculator diff --git a/evaluator/localization_evaluator/include/localization_evaluator/stat.hpp b/evaluator/localization_evaluator/include/localization_evaluator/stat.hpp deleted file mode 100644 index fbea5b61813fb..0000000000000 --- a/evaluator/localization_evaluator/include/localization_evaluator/stat.hpp +++ /dev/null @@ -1,93 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include - -#ifndef LOCALIZATION_EVALUATOR__STAT_HPP_ -#define LOCALIZATION_EVALUATOR__STAT_HPP_ - -namespace localization_diagnostics -{ -/** - * @brief class to incrementally build statistics - * @typedef T type of the values (default to double) - */ -template -class Stat -{ -public: - /** - * @brief add a value - * @param value value to add - */ - void add(const T & value) - { - if (value < min_) { - min_ = value; - } - if (value > max_) { - max_ = value; - } - ++count_; - mean_ = mean_ + (value - mean_) / count_; - } - - /** - * @brief get the mean value - */ - long double mean() const { return mean_; } - - /** - * @brief get the minimum value - */ - T min() const { return min_; } - - /** - * @brief get the maximum value - */ - T max() const { return max_; } - - /** - * @brief get the number of values used to build this statistic - */ - unsigned int count() const { return count_; } - - template - friend std::ostream & operator<<(std::ostream & os, const Stat & stat); - -private: - T min_ = std::numeric_limits::max(); - T max_ = std::numeric_limits::min(); - long double mean_ = 0.0; - unsigned int count_ = 0; -}; - -/** - * @brief overload << operator for easy print to output stream - */ -template -std::ostream & operator<<(std::ostream & os, const Stat & stat) -{ - if (stat.count() == 0) { - os << "None None None"; - } else { - os << stat.min() << " " << stat.max() << " " << stat.mean(); - } - return os; -} - -} // namespace localization_diagnostics - -#endif // LOCALIZATION_EVALUATOR__STAT_HPP_ diff --git a/evaluator/localization_evaluator/src/localization_evaluator_node.cpp b/evaluator/localization_evaluator/src/localization_evaluator_node.cpp index db0c04a698725..8a9352d2a73e8 100644 --- a/evaluator/localization_evaluator/src/localization_evaluator_node.cpp +++ b/evaluator/localization_evaluator/src/localization_evaluator_node.cpp @@ -49,7 +49,7 @@ LocalizationEvaluatorNode::LocalizationEvaluatorNode(const rclcpp::NodeOptions & for (const std::string & selected_metric : declare_parameter>("selected_metrics")) { Metric metric = str_to_metric.at(selected_metric); - metrics_dict_[metric] = Stat(); + metrics_dict_[metric] = Accumulator(); metrics_.push_back(metric); } } @@ -86,7 +86,7 @@ LocalizationEvaluatorNode::~LocalizationEvaluatorNode() } DiagnosticStatus LocalizationEvaluatorNode::generateDiagnosticStatus( - const Metric & metric, const Stat & metric_stat) const + const Metric & metric, const Accumulator & metric_stat) const { DiagnosticStatus status; status.level = status.OK; diff --git a/evaluator/localization_evaluator/src/metrics/localization_metrics.cpp b/evaluator/localization_evaluator/src/metrics/localization_metrics.cpp index fab3377913bd4..97fd8e326cca7 100644 --- a/evaluator/localization_evaluator/src/metrics/localization_metrics.cpp +++ b/evaluator/localization_evaluator/src/metrics/localization_metrics.cpp @@ -21,19 +21,19 @@ namespace localization_diagnostics namespace metrics { -Stat updateLateralStats( - const Stat stat_prev, const double & lateral_pos, const double & lateral_ref) +Accumulator updateLateralStats( + const Accumulator stat_prev, const double & lateral_pos, const double & lateral_ref) { - Stat stat(stat_prev); + Accumulator stat(stat_prev); stat.add(std::abs(lateral_ref - lateral_pos)); return stat; } -Stat updateAbsoluteStats( - const Stat stat_prev, const geometry_msgs::msg::Point & pos, +Accumulator updateAbsoluteStats( + const Accumulator stat_prev, const geometry_msgs::msg::Point & pos, const geometry_msgs::msg::Point & pos_ref) { - Stat stat(stat_prev); + Accumulator stat(stat_prev); double dist = std::sqrt( (pos_ref.x - pos.x) * (pos_ref.x - pos.x) + (pos_ref.y - pos.y) * (pos_ref.y - pos.y) + (pos_ref.z - pos.z) * (pos_ref.z - pos.z)); diff --git a/evaluator/localization_evaluator/src/metrics_calculator.cpp b/evaluator/localization_evaluator/src/metrics_calculator.cpp index 72184937e846b..864fb4a5ddbd2 100644 --- a/evaluator/localization_evaluator/src/metrics_calculator.cpp +++ b/evaluator/localization_evaluator/src/metrics_calculator.cpp @@ -18,8 +18,8 @@ namespace localization_diagnostics { -Stat MetricsCalculator::updateStat( - const Stat stat_prev, const Metric metric, const geometry_msgs::msg::Point & pos, +Accumulator MetricsCalculator::updateStat( + const Accumulator stat_prev, const Metric metric, const geometry_msgs::msg::Point & pos, const geometry_msgs::msg::Point & pos_ref) const { if ( diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp index 010f1497da3da..c111a725a2ea0 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp @@ -16,7 +16,6 @@ #define PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_ #include "perception_online_evaluator/parameters.hpp" -#include "perception_online_evaluator/stat.hpp" #include "tf2_ros/buffer.h" #include diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp index d67413c174c41..0f3379b3f055e 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp @@ -15,8 +15,6 @@ #ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_ #define PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_ -#include "perception_online_evaluator/stat.hpp" - #include #include diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp index eaa07f2317940..4caf932919e61 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp @@ -15,7 +15,7 @@ #ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_ #define PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_ -#include "perception_online_evaluator/stat.hpp" +#include "autoware/universe_utils/math/accumulator.hpp" #include #include @@ -39,14 +39,15 @@ enum class Metric { // Each metric has a different return type. (statistic or just a one value etc). // To handle them all in the MetricsCalculator::calculate function, define MetricsMap as a variant -using MetricStatMap = std::unordered_map>; +using autoware::universe_utils::Accumulator; +using MetricStatMap = std::unordered_map>; using MetricValueMap = std::unordered_map; using MetricsMap = std::variant; struct PredictedPathDeviationMetrics { - Stat mean; - Stat variance; + Accumulator mean; + Accumulator variance; }; static const std::unordered_map str_to_metric = { diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp index a9b1388281ce8..c17051d2a30a7 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp @@ -19,7 +19,6 @@ #include "perception_online_evaluator/metrics/deviation_metrics.hpp" #include "perception_online_evaluator/metrics/metric.hpp" #include "perception_online_evaluator/parameters.hpp" -#include "perception_online_evaluator/stat.hpp" #include "perception_online_evaluator/utils/objects_filtering.hpp" #include "tf2_ros/buffer.h" diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp index 1bc427e667a2a..ea560a48f928b 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp @@ -15,9 +15,9 @@ #ifndef PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_ #define PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_ +#include "autoware/universe_utils/math/accumulator.hpp" #include "perception_online_evaluator/metrics_calculator.hpp" #include "perception_online_evaluator/parameters.hpp" -#include "perception_online_evaluator/stat.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" @@ -35,6 +35,7 @@ namespace perception_diagnostics { +using autoware::universe_utils::Accumulator; using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObjects; using diagnostic_msgs::msg::DiagnosticArray; @@ -60,7 +61,7 @@ class PerceptionOnlineEvaluatorNode : public rclcpp::Node void onObjects(const PredictedObjects::ConstSharedPtr objects_msg); DiagnosticStatus generateDiagnosticStatus( - const std::string metric, const Stat & metric_stat) const; + const std::string metric, const Accumulator & metric_stat) const; DiagnosticStatus generateDiagnosticStatus( const std::string & metric, const double metric_value) const; diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/stat.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/stat.hpp deleted file mode 100644 index 63494f90d02ee..0000000000000 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/stat.hpp +++ /dev/null @@ -1,93 +0,0 @@ -// Copyright 2024 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include - -#ifndef PERCEPTION_ONLINE_EVALUATOR__STAT_HPP_ -#define PERCEPTION_ONLINE_EVALUATOR__STAT_HPP_ - -namespace perception_diagnostics -{ -/** - * @brief class to incrementally build statistics - * @typedef T type of the values (default to double) - */ -template -class Stat -{ -public: - /** - * @brief add a value - * @param value value to add - */ - void add(const T & value) - { - if (value < min_) { - min_ = value; - } - if (value > max_) { - max_ = value; - } - ++count_; - mean_ = mean_ + (value - mean_) / count_; - } - - /** - * @brief get the mean value - */ - long double mean() const { return mean_; } - - /** - * @brief get the minimum value - */ - T min() const { return min_; } - - /** - * @brief get the maximum value - */ - T max() const { return max_; } - - /** - * @brief get the number of values used to build this statistic - */ - unsigned int count() const { return count_; } - - template - friend std::ostream & operator<<(std::ostream & os, const Stat & stat); - -private: - T min_ = std::numeric_limits::max(); - T max_ = std::numeric_limits::min(); - long double mean_ = 0.0; - unsigned int count_ = 0; -}; - -/** - * @brief overload << operator for easy print to output stream - */ -template -std::ostream & operator<<(std::ostream & os, const Stat & stat) -{ - if (stat.count() == 0) { - os << "None None None"; - } else { - os << stat.min() << " " << stat.max() << " " << stat.mean(); - } - return os; -} - -} // namespace perception_diagnostics - -#endif // PERCEPTION_ONLINE_EVALUATOR__STAT_HPP_ diff --git a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp index fea4316fa6820..0ced0b9d6c8a8 100644 --- a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp +++ b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp @@ -235,7 +235,7 @@ MetricStatMap MetricsCalculator::calcLateralDeviationMetrics( !parameters_->object_parameters.at(label).check_lateral_deviation) { continue; } - Stat stat{}; + Accumulator stat{}; const auto stamp = rclcpp::Time(objects.header.stamp); for (const auto & object : objects.objects) { const auto uuid = autoware::universe_utils::toHexString(object.object_id); @@ -264,7 +264,7 @@ MetricStatMap MetricsCalculator::calcYawDeviationMetrics( !parameters_->object_parameters.at(label).check_yaw_deviation) { continue; } - Stat stat{}; + Accumulator stat{}; const auto stamp = rclcpp::Time(objects.header.stamp); for (const auto & object : objects.objects) { const auto uuid = autoware::universe_utils::toHexString(object.object_id); @@ -420,7 +420,7 @@ MetricStatMap MetricsCalculator::calcYawRateMetrics(const ClassObjectsMap & clas MetricStatMap metric_stat_map{}; for (const auto & [label, objects] : class_objects_map) { - Stat stat{}; + Accumulator stat{}; const auto stamp = rclcpp::Time(objects.header.stamp); for (const auto & object : objects.objects) { diff --git a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp index a577fd359563c..abbdbd382498a 100644 --- a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp @@ -99,7 +99,7 @@ void PerceptionOnlineEvaluatorNode::publishMetrics() } DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus( - const std::string metric, const Stat & metric_stat) const + const std::string metric, const Accumulator & metric_stat) const { DiagnosticStatus status; From 64e5a69031f53ec2d0635618f06ab57445d8eb94 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 27 Nov 2024 14:21:41 +0900 Subject: [PATCH 560/701] test(bpp_common): add unit test for utils (#9469) * add easy unit test Signed-off-by: Go Sakayori * fix clang tidy warning and add unit test Signed-off-by: Go Sakayori * add more unit test Signed-off-by: Go Sakayori * add docstring Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../utils/utils.hpp | 116 +++++- .../src/utils/utils.cpp | 17 +- .../test/test_utils.cpp | 347 +++++++++++++++++- 3 files changed, 461 insertions(+), 19 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp index d6d37c3f581e4..7162f49b450e8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp @@ -137,9 +137,21 @@ double l2Norm(const Vector3 vector); double getDistanceToEndOfLane(const Pose & current_pose, const lanelet::ConstLanelets & lanelets); +/** + * @brief Calculates the distance to the next intersection. + * @param current_pose Ego pose. + * @param lanelets Lanelets to check. + * @return Distance. + */ double getDistanceToNextIntersection( const Pose & current_pose, const lanelet::ConstLanelets & lanelets); +/** + * @brief Calculates the distance to the next crosswalk. + * @param current_pose Ego pose. + * @param lanelets Lanelets to check. + * @return Distance. + */ double getDistanceToCrosswalk( const Pose & current_pose, const lanelet::ConstLanelets & lanelets, const lanelet::routing::RoutingGraphContainer & overall_graphs); @@ -236,6 +248,15 @@ bool set_goal( */ const Pose refineGoal(const Pose & goal, const lanelet::ConstLanelet & goal_lanelet); +/** + * @brief Recreate the path with a given goal pose. + * @param search_radius_range Searching radius. + * @param search_rad_range Searching angle. + * @param input Input path. + * @param goal Goal pose. + * @param goal_lane_id Lane ID of goal lanelet. + * @return Recreated path + */ PathWithLaneId refinePathForGoal( const double search_radius_range, const double search_rad_range, const PathWithLaneId & input, const Pose & goal, const int64_t goal_lane_id); @@ -243,8 +264,22 @@ PathWithLaneId refinePathForGoal( bool isAllowedGoalModification(const std::shared_ptr & route_handler); bool checkOriginalGoalIsInShoulder(const std::shared_ptr & route_handler); +/** + * @brief Checks if the given pose is inside the given lanes. + * @param pose Ego pose. + * @param lanes Lanelets to check. + * @return True if the ego pose is inside the lanes. + */ bool isInLanelets(const Pose & pose, const lanelet::ConstLanelets & lanes); +/** + * @brief Checks if the given pose is inside the given lane within certain yaw difference. + * @param current_pose Ego pose. + * @param lanelet Lanelet to check. + * @param yaw_threshold Yaw angle difference threshold. + * @param radius Search radius + * @return True if the ego pose is inside the lane. + */ bool isInLaneletWithYawThreshold( const Pose & current_pose, const lanelet::ConstLanelet & lanelet, const double yaw_threshold, const double radius = 0.0); @@ -254,6 +289,14 @@ bool isEgoOutOfRoute( const std::optional & modified_goal, const std::shared_ptr & route_handler); +/** + * @brief Checks if the given pose is inside the original lane. + * @param current_lanes Original lanes. + * @param current_pose Ego pose. + * @param common_param Parameters used for behavior path planner. + * @param outer_margin Allowed margin. + * @return True if the ego pose is inside the original lane. + */ bool isEgoWithinOriginalLane( const lanelet::ConstLanelets & current_lanes, const Pose & current_pose, const BehaviorPathPlannerParameters & common_param, const double outer_margin = 0.0); @@ -268,18 +311,48 @@ bool isEgoWithinOriginalLane( std::shared_ptr generateCenterLinePath( const std::shared_ptr & planner_data); +/** + * @brief Inserts a stop point with given length + * @param length Distance to insert stop point. + * @param path Original path. + * @return Inserted stop point. + */ PathPointWithLaneId insertStopPoint(const double length, PathWithLaneId & path); +/** + * @brief Calculates distance to lane boundary. + * @param lanelet Target lanelet. + * @param position Ego position. + * @param left_side Whether to check left side boundary. + * @return Distance to boundary. + */ double getSignedDistanceFromLaneBoundary( const lanelet::ConstLanelet & lanelet, const Point & position, const bool left_side); + double getSignedDistanceFromBoundary( const lanelet::ConstLanelets & lanelets, const Pose & pose, const bool left_side); + +/** + * @brief Calculates distance to lane boundary. + * @param lanelet Target lanelet. + * @param vehicle_width Ego vehicle width. + * @param base_link2front Ego vehicle distance from base link to front. + * @param base_link2rear Ego vehicle distance from base link to rear. + * @param vehicle_pose Ego vehicle pose. + * @param left_side Whether to check left side boundary. + * @return Distance to boundary. + */ std::optional getSignedDistanceFromBoundary( const lanelet::ConstLanelets & lanelets, const double vehicle_width, const double base_link2front, const double base_link2rear, const Pose & vehicle_pose, const bool left_side); // misc +/** + * @brief Convert lanelet to 2D polygon. + * @param lanelet Target lanelet. + * @return Polygon + */ Polygon2d toPolygon2d(const lanelet::ConstLanelet & lanelet); Polygon2d toPolygon2d(const lanelet::BasicPolygon2d & polygon); @@ -316,10 +389,27 @@ lanelet::ConstLanelets extendPrevLane( lanelet::ConstLanelets extendLanes( const std::shared_ptr route_handler, const lanelet::ConstLanelets & lanes); +/** + * @brief Retrieves sequences of preceding lanelets from the target lanes. + * @param route_handler Reference to the route handler. + * @param target_lanes The set of target lanelets. + * @param current_pose The current pose of ego vehicle. + * @param backward_length The backward search length [m]. + * @return A vector of lanelet sequences that precede the target lanes + */ std::vector getPrecedingLanelets( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, const Pose & current_pose, const double backward_length); +/** + * @brief Retrieves all preceding lanelets as a flat list. + * @param route_handler Reference to the route handler. + * @param target_lanes The set of target lanelets. + * @param current_pose The current pose of ego vehicle. + * @param backward_length The backward search length [m]. + * @return Preceding lanelets within the specified backward length. + */ + lanelet::ConstLanelets getBackwardLanelets( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, const Pose & current_pose, const double backward_length); @@ -335,17 +425,41 @@ lanelet::ConstLanelets getExtendedCurrentLanesFromPath( const PathWithLaneId & path, const std::shared_ptr & planner_data, const double backward_length, const double forward_length, const bool forward_only_in_route); +/** + * @brief Calculates the sequence of lanelets around a given pose within a specified range. + * @param route_handler A shared pointer to the RouteHandler for accessing route and lanelet + * information. + * @param pose The reference pose to locate the lanelets around. + * @param forward_length The length of the route to extend forward from the reference pose. + * @param backward_length The length of the route to extend backward from the reference pose. + * @param dist_threshold The maximum allowable distance to consider a lanelet as closest. + * @param yaw_threshold The maximum allowable yaw difference (in radians) for lanelet matching. + * @return A sequence of lanelets around the given pose. + */ lanelet::ConstLanelets calcLaneAroundPose( - const std::shared_ptr route_handler, const geometry_msgs::msg::Pose & pose, + const std::shared_ptr & route_handler, const geometry_msgs::msg::Pose & pose, const double forward_length, const double backward_length, const double dist_threshold = std::numeric_limits::max(), const double yaw_threshold = std::numeric_limits::max()); +/** + * @brief Checks whether the relative angles between consecutive triplets of points in a path remain + * within a specified threshold. + * @param path Input path. + * @param angle_threshold The maximum allowable angle in radians. + * @return True if all relative angles are within the threshold or the path has fewer than three + * points. + */ bool checkPathRelativeAngle(const PathWithLaneId & path, const double angle_threshold); lanelet::ConstLanelets getLaneletsFromPath( const PathWithLaneId & path, const std::shared_ptr & route_handler); +/** + * @brief Converts camel case string to snake case string. + * @param input_str Input string. + * @return String + */ std::string convertToSnakeCase(const std::string & input_str); std::optional getPolygonByPoint( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp index a546c0026d4d6..a224ef16bc0d9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp @@ -380,9 +380,8 @@ PathWithLaneId refinePathForGoal( search_radius_range, search_rad_range, filtered_path, goal, goal_lane_id, &path_with_goal)) { return path_with_goal; - } else { - return filtered_path; } + return filtered_path; } bool isInLanelets(const Pose & pose, const lanelet::ConstLanelets & lanes) @@ -441,9 +440,8 @@ bool isEgoOutOfRoute( RCLCPP_WARN_STREAM( rclcpp::get_logger("behavior_path_planner").get_child("util"), "ego pose is beyond goal"); return true; - } else { - return false; } + return false; } // If ego vehicle is out of the closest lanelet, return true @@ -466,11 +464,7 @@ bool isEgoOutOfRoute( return false; }); - if (!is_in_shoulder_lane && !is_in_road_lane) { - return true; - } - - return false; + return !is_in_shoulder_lane && !is_in_road_lane; } bool isEgoWithinOriginalLane( @@ -1359,8 +1353,9 @@ lanelet::ConstLanelets getBackwardLanelets( } lanelet::ConstLanelets calcLaneAroundPose( - const std::shared_ptr route_handler, const Pose & pose, const double forward_length, - const double backward_length, const double dist_threshold, const double yaw_threshold) + const std::shared_ptr & route_handler, const Pose & pose, + const double forward_length, const double backward_length, const double dist_threshold, + const double yaw_threshold) { lanelet::ConstLanelet current_lane; if (!route_handler->getClosestLaneletWithConstrainsWithinRoute( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp index 4326cfdb8e6be..2234574fce83e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp @@ -15,8 +15,14 @@ #include "autoware/behavior_path_planner_common/utils/utils.hpp" #include +#include #include +#include + +#include +#include +#include using autoware::universe_utils::Point2d; using autoware_perception_msgs::msg::PredictedObject; @@ -25,11 +31,55 @@ using autoware_planning_msgs::msg::Trajectory; using tier4_planning_msgs::msg::PathPointWithLaneId; using tier4_planning_msgs::msg::PathWithLaneId; using ObjectClassification = autoware_perception_msgs::msg::ObjectClassification; +using autoware::behavior_path_planner::PlannerData; +using autoware_planning_msgs::msg::LaneletRoute; using autoware::test_utils::createPose; using autoware::test_utils::generateTrajectory; -TEST(BehaviorPathPlanningUtilTest, l2Norm) +class BehaviorPathPlanningUtilTest : public ::testing::Test +{ +protected: + void SetUp() override + { + planner_data_ = std::make_shared(); + const auto test_data_file = + ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner_common") + + "/test_data/test_traffic_light.yaml"; + YAML::Node config = YAML::LoadFile(test_data_file); + + set_current_pose(config); + set_route_handler(config); + } + + void set_current_pose(YAML::Node config) + { + const auto self_odometry = + autoware::test_utils::parse(config["self_odometry"]); + planner_data_->self_odometry = std::make_shared(self_odometry); + } + + void set_route_handler(YAML::Node config) + { + const auto route = autoware::test_utils::parse(config["route"]); + const auto intersection_map = + autoware::test_utils::make_map_bin_msg(autoware::test_utils::get_absolute_path_to_lanelet_map( + "autoware_test_utils", "intersection/lanelet2_map.osm")); + planner_data_->route_handler->setMap(intersection_map); + planner_data_->route_handler->setRoute(route); + + for (const auto & segment : route.segments) { + current_lanelets.push_back( + planner_data_->route_handler->getLaneletsFromId(segment.preferred_primitive.id)); + } + } + + std::shared_ptr planner_data_; + lanelet::ConstLanelets current_lanelets; + const double epsilon = 1e-06; +}; + +TEST_F(BehaviorPathPlanningUtilTest, l2Norm) { using autoware::behavior_path_planner::utils::l2Norm; @@ -42,7 +92,7 @@ TEST(BehaviorPathPlanningUtilTest, l2Norm) EXPECT_DOUBLE_EQ(norm, 3.0); } -TEST(BehaviorPathPlanningUtilTest, checkCollisionBetweenPathFootprintsAndObjects) +TEST_F(BehaviorPathPlanningUtilTest, checkCollisionBetweenPathFootprintsAndObjects) { using autoware::behavior_path_planner::utils::checkCollisionBetweenPathFootprintsAndObjects; @@ -75,7 +125,7 @@ TEST(BehaviorPathPlanningUtilTest, checkCollisionBetweenPathFootprintsAndObjects checkCollisionBetweenPathFootprintsAndObjects(base_footprint, ego_path, objs, margin)); } -TEST(BehaviorPathPlanningUtilTest, checkCollisionBetweenFootprintAndObjects) +TEST_F(BehaviorPathPlanningUtilTest, checkCollisionBetweenFootprintAndObjects) { using autoware::behavior_path_planner::utils::checkCollisionBetweenFootprintAndObjects; @@ -105,7 +155,7 @@ TEST(BehaviorPathPlanningUtilTest, checkCollisionBetweenFootprintAndObjects) EXPECT_TRUE(checkCollisionBetweenFootprintAndObjects(base_footprint, ego_pose, objs, margin)); } -TEST(BehaviorPathPlanningUtilTest, calcLateralDistanceFromEgoToObject) +TEST_F(BehaviorPathPlanningUtilTest, calcLateralDistanceFromEgoToObject) { using autoware::behavior_path_planner::utils::calcLateralDistanceFromEgoToObject; @@ -130,7 +180,7 @@ TEST(BehaviorPathPlanningUtilTest, calcLateralDistanceFromEgoToObject) EXPECT_DOUBLE_EQ(calcLateralDistanceFromEgoToObject(ego_pose, vehicle_width, obj), 3.0); } -TEST(BehaviorPathPlanningUtilTest, calc_longitudinal_distance_from_ego_to_object) +TEST_F(BehaviorPathPlanningUtilTest, calc_longitudinal_distance_from_ego_to_object) { using autoware::behavior_path_planner::utils::calc_longitudinal_distance_from_ego_to_object; @@ -164,7 +214,7 @@ TEST(BehaviorPathPlanningUtilTest, calc_longitudinal_distance_from_ego_to_object 2.0); } -TEST(BehaviorPathPlanningUtilTest, calcLongitudinalDistanceFromEgoToObjects) +TEST_F(BehaviorPathPlanningUtilTest, calcLongitudinalDistanceFromEgoToObjects) { using autoware::behavior_path_planner::utils::calcLongitudinalDistanceFromEgoToObjects; @@ -198,7 +248,206 @@ TEST(BehaviorPathPlanningUtilTest, calcLongitudinalDistanceFromEgoToObjects) calcLongitudinalDistanceFromEgoToObjects(ego_pose, base_link2front, base_link2rear, objs), 3.0); } -TEST(BehaviorPathPlanningUtilTest, getHighestProbLabel) +TEST_F(BehaviorPathPlanningUtilTest, refineGoal) +{ + using autoware::behavior_path_planner::utils::refineGoal; + + { + const auto goal_lanelet = current_lanelets.front(); + const auto goal_pose = planner_data_->self_odometry->pose.pose; + const auto refined_pose = refineGoal(goal_pose, goal_lanelet); + EXPECT_DOUBLE_EQ(refined_pose.position.x, goal_pose.position.x); + EXPECT_DOUBLE_EQ(refined_pose.position.y, goal_pose.position.y); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, refinePathForGoal) +{ + using autoware::behavior_path_planner::utils::refinePathForGoal; + + auto path = generateTrajectory(10, 1.0, 3.0); + const double search_rad_range = M_PI; + const auto goal_pose = createPose(5.2, 0.0, 0.0, 0.0, 0.0, 0.0); + const int64_t goal_lane_id = 5; + { + const double search_radius_range = 1.0; + const auto refined_path = + refinePathForGoal(search_radius_range, search_rad_range, path, goal_pose, goal_lane_id); + EXPECT_EQ(refined_path.points.size(), 7); + EXPECT_DOUBLE_EQ(refined_path.points.back().point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(refined_path.points.back().point.pose.position.x, 5.2); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, isInLanelets) +{ + using autoware::behavior_path_planner::utils::isInLanelets; + using autoware::behavior_path_planner::utils::isInLaneletWithYawThreshold; + + { + const auto pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + EXPECT_FALSE(isInLanelets(pose, current_lanelets)); + EXPECT_FALSE(isInLaneletWithYawThreshold(pose, current_lanelets.front(), M_PI_2)); + } + { + EXPECT_TRUE(isInLanelets(planner_data_->self_odometry->pose.pose, current_lanelets)); + EXPECT_TRUE(isInLaneletWithYawThreshold( + planner_data_->self_odometry->pose.pose, current_lanelets.front(), M_PI_2)); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, isEgoWithinOriginalLane) +{ + using autoware::behavior_path_planner::utils::isEgoWithinOriginalLane; + BehaviorPathPlannerParameters common_param; + common_param.vehicle_width = 1.0; + common_param.base_link2front = 1.0; + common_param.base_link2rear = 1.0; + + { + const auto pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + EXPECT_FALSE(isEgoWithinOriginalLane(current_lanelets, pose, common_param)); + } + { + EXPECT_TRUE(isEgoWithinOriginalLane( + current_lanelets, planner_data_->self_odometry->pose.pose, common_param)); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, getDistanceToNextIntersection) +{ + using autoware::behavior_path_planner::utils::getDistanceToNextIntersection; + + const auto current_pose = planner_data_->self_odometry->pose.pose; + { + const lanelet::ConstLanelets empty_lanelets; + EXPECT_DOUBLE_EQ( + getDistanceToNextIntersection(current_pose, empty_lanelets), + std::numeric_limits::infinity()); + } + { + EXPECT_NEAR( + getDistanceToNextIntersection(current_pose, current_lanelets), 117.1599371, epsilon); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, getDistanceToCrosswalk) +{ + using autoware::behavior_path_planner::utils::getDistanceToCrosswalk; + + const auto current_pose = planner_data_->self_odometry->pose.pose; + const auto routing_graph = planner_data_->route_handler->getOverallGraphPtr(); + { + const lanelet::ConstLanelets empty_lanelets; + EXPECT_DOUBLE_EQ( + getDistanceToCrosswalk(current_pose, empty_lanelets, *routing_graph), + std::numeric_limits::infinity()); + } + { + EXPECT_NEAR( + getDistanceToCrosswalk(current_pose, current_lanelets, *routing_graph), 120.4423193, epsilon); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, insertStopPoint) +{ + using autoware::behavior_path_planner::utils::insertStopPoint; + + { + const double length = 100.0; + auto path = generateTrajectory(10, 1.0, 1.0); + EXPECT_DOUBLE_EQ(insertStopPoint(length, path).point.pose.position.x, 0.0); + } + { + const double length = 5.0; + auto path = generateTrajectory(10, 1.0, 1.0); + EXPECT_DOUBLE_EQ(insertStopPoint(length, path).point.pose.position.x, 5.0); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, getSignedDistanceFromBoundary) +{ + using autoware::behavior_path_planner::utils::getSignedDistanceFromBoundary; + + { + lanelet::ConstLanelets empty_lanelets; + EXPECT_DOUBLE_EQ( + getSignedDistanceFromBoundary(empty_lanelets, planner_data_->self_odometry->pose.pose, true), + 0.0); + } + { + EXPECT_NEAR( + getSignedDistanceFromBoundary( + current_lanelets, planner_data_->self_odometry->pose.pose, true), + -1.4952926, epsilon); + EXPECT_NEAR( + getSignedDistanceFromBoundary( + current_lanelets, planner_data_->self_odometry->pose.pose, false), + 1.504715076, epsilon); + } + { + const double vehicle_width = 1.0; + const double base_link2front = 1.0; + const double base_link2rear = 1.0; + + const auto left_distance = getSignedDistanceFromBoundary( + current_lanelets, vehicle_width, base_link2front, base_link2rear, + planner_data_->self_odometry->pose.pose, true); + ASSERT_TRUE(left_distance.has_value()); + EXPECT_NEAR(left_distance.value(), -0.9946984, epsilon); + + const auto right_distance = getSignedDistanceFromBoundary( + current_lanelets, vehicle_width, base_link2front, base_link2rear, + planner_data_->self_odometry->pose.pose, false); + ASSERT_TRUE(right_distance.has_value()); + EXPECT_NEAR(right_distance.value(), 1.0041208, epsilon); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, getArcLengthToTargetLanelet) +{ + using autoware::behavior_path_planner::utils::getArcLengthToTargetLanelet; + { + auto target_lane = current_lanelets.front(); + EXPECT_DOUBLE_EQ( + getArcLengthToTargetLanelet( + current_lanelets, target_lane, planner_data_->self_odometry->pose.pose), + 0.0); + } + { + auto target_lane = current_lanelets.at(1); + EXPECT_NEAR( + getArcLengthToTargetLanelet( + current_lanelets, target_lane, planner_data_->self_odometry->pose.pose), + 86.78265658, epsilon); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, toPolygon2d) +{ + using autoware::behavior_path_planner::utils::toPolygon2d; + + const auto lanelet = current_lanelets.front(); + const auto lanelet_polygon = lanelet.polygon2d().basicPolygon(); + + auto polygon_converted_from_lanelet = toPolygon2d(lanelet); + auto polygon_converted_from_basic_polygon = toPolygon2d(lanelet_polygon); + + EXPECT_EQ( + polygon_converted_from_lanelet.outer().size(), + polygon_converted_from_basic_polygon.outer().size()); + + for (size_t i = 0; i < polygon_converted_from_lanelet.outer().size(); i++) { + EXPECT_DOUBLE_EQ( + polygon_converted_from_lanelet.outer().at(i).x(), + polygon_converted_from_basic_polygon.outer().at(i).x()); + EXPECT_DOUBLE_EQ( + polygon_converted_from_lanelet.outer().at(i).y(), + polygon_converted_from_basic_polygon.outer().at(i).y()); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, getHighestProbLabel) { using autoware::behavior_path_planner::utils::getHighestProbLabel; @@ -217,3 +466,87 @@ TEST(BehaviorPathPlanningUtilTest, getHighestProbLabel) .probability(0.6)); EXPECT_EQ(getHighestProbLabel(obj.classification), ObjectClassification::Type::TRUCK); } + +TEST_F(BehaviorPathPlanningUtilTest, getPrecedingLanelets) +{ + using autoware::behavior_path_planner::utils::getPrecedingLanelets; + const auto & route_handler_ptr = planner_data_->route_handler; + + { + const lanelet::ConstLanelets target_lanes; + EXPECT_TRUE(getPrecedingLanelets( + *route_handler_ptr, target_lanes, planner_data_->self_odometry->pose.pose, 10.0) + .empty()); + } + { + lanelet::ConstLanelets target_lanes; + target_lanes.push_back(route_handler_ptr->getLaneletsFromId(1001)); + EXPECT_TRUE(getPrecedingLanelets( + *route_handler_ptr, target_lanes, planner_data_->self_odometry->pose.pose, 0.0) + .empty()); + } + { + lanelet::ConstLanelets target_lanes; + target_lanes.push_back(route_handler_ptr->getLaneletsFromId(1011)); + target_lanes.push_back(route_handler_ptr->getLaneletsFromId(1101)); + const auto preceding_lanelets = getPrecedingLanelets( + *route_handler_ptr, target_lanes, planner_data_->self_odometry->pose.pose, 10.0); + ASSERT_FALSE(preceding_lanelets.empty()); + EXPECT_EQ(preceding_lanelets.front().data()->id(), 1001); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, getBackwardLanelets) +{ + using autoware::behavior_path_planner::utils::getBackwardLanelets; + + const auto & route_handler_ptr = planner_data_->route_handler; + lanelet::ConstLanelets target_lanes; + target_lanes.push_back(route_handler_ptr->getLaneletsFromId(1011)); + const auto backward_lanelets = getBackwardLanelets( + *route_handler_ptr, target_lanes, planner_data_->self_odometry->pose.pose, 10.0); + ASSERT_FALSE(backward_lanelets.empty()); + EXPECT_EQ(backward_lanelets.front().id(), 1001); +} + +TEST_F(BehaviorPathPlanningUtilTest, calcLaneAroundPose) +{ + using autoware::behavior_path_planner::utils::calcLaneAroundPose; + + { + const auto pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + std::shared_ptr route_handler_null = + std::make_shared(); + const auto lane = calcLaneAroundPose(route_handler_null, pose, 10.0, 0.0); + EXPECT_TRUE(lane.empty()); + } + { + const auto lane = calcLaneAroundPose( + planner_data_->route_handler, planner_data_->self_odometry->pose.pose, 10.0, 0.0); + EXPECT_EQ(lane.size(), 1); + EXPECT_EQ(lane.front().id(), 1001); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, checkPathRelativeAngle) +{ + using autoware::behavior_path_planner::utils::checkPathRelativeAngle; + + { + auto path = generateTrajectory(2, 1.0); + EXPECT_TRUE(checkPathRelativeAngle(path, 0.0)); + } + { + auto path = generateTrajectory(10, 1.0); + EXPECT_TRUE(checkPathRelativeAngle(path, M_PI_2)); + } +} + +TEST_F(BehaviorPathPlanningUtilTest, convertToSnakeCase) +{ + using autoware::behavior_path_planner::utils::convertToSnakeCase; + + std::string input_string = "testString"; + auto converted_string = convertToSnakeCase(input_string); + EXPECT_EQ(converted_string, "test_string"); +} From ddff5c2719c8c19b95090b3105de3909b92e1d97 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Wed, 27 Nov 2024 14:49:48 +0900 Subject: [PATCH 561/701] refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (#9470) * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files Signed-off-by: Y.Hisaki * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> * fix Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> --- .../behavior_planning.launch.xml | 1 + .../behavior_velocity_planner.param.yaml | 5 -- .../behavior_velocity_planner.launch.xml | 5 +- .../behavior_velocity_planner.schema.json | 32 +--------- .../test/src/test_node_interface.cpp | 42 +++++++------ .../CMakeLists.txt | 4 +- ...ehavior_velocity_planner_common.param.yaml | 7 +++ ...havior_velocity_planner_common.schema.json | 59 +++++++++++++++++++ .../scripts/dilemma_zone_plotter.py | 2 +- 9 files changed, 97 insertions(+), 60 deletions(-) create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/config/behavior_velocity_planner_common.param.yaml create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/schema/behavior_velocity_planner_common.schema.json diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index d88601497096d..dad351dec40e8 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -233,6 +233,7 @@ + diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/config/behavior_velocity_planner.param.yaml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/config/behavior_velocity_planner.param.yaml index b31506918a2db..49749cd1299bd 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/config/behavior_velocity_planner.param.yaml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/config/behavior_velocity_planner.param.yaml @@ -4,8 +4,3 @@ backward_path_length: 5.0 behavior_output_path_interval: 1.0 stop_line_extend_length: 5.0 - max_accel: -2.8 - max_jerk: -5.0 - system_delay: 0.5 - delay_response_time: 0.5 - is_publish_debug_path: false # publish all debug path with lane id in each module diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml index 3c4f4c3fdd64c..399762f0b8607 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml @@ -11,6 +11,7 @@ + @@ -26,7 +27,6 @@ - @@ -53,6 +53,7 @@ + @@ -68,7 +69,5 @@ - - diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/schema/behavior_velocity_planner.schema.json b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/schema/behavior_velocity_planner.schema.json index 67c9c06104b40..80044d5c6af03 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/schema/behavior_velocity_planner.schema.json +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/schema/behavior_velocity_planner.schema.json @@ -21,47 +21,17 @@ "default": "1.0", "description": "the output path will be interpolated by this interval" }, - "max_accel": { - "type": "number", - "default": "-2.8", - "description": "(to be a global parameter) max acceleration of the vehicle" - }, - "system_delay": { - "type": "number", - "default": "0.5", - "description": "(to be a global parameter) delay time until output control command" - }, - "delay_response_time": { - "type": "number", - "default": "0.5", - "description": "(to be a global parameter) delay time of the vehicle's response to control commands" - }, "stop_line_extend_length": { "type": "number", "default": "5.0", "description": "extend length of stop line" - }, - "max_jerk": { - "type": "number", - "default": "-5.0", - "description": "max jerk of the vehicle" - }, - "is_publish_debug_path": { - "type": "boolean", - "default": "false", - "description": "is publish debug path?" } }, "required": [ "forward_path_length", "behavior_output_path_interval", "backward_path_length", - "max_accel", - "system_delay", - "delay_response_time", - "stop_line_extend_length", - "max_jerk", - "is_publish_debug_path" + "stop_line_extend_length" ], "additionalProperties": false } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp index cc2f4bf3b96b4..1dfa3163b5b6f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp @@ -49,6 +49,8 @@ std::shared_ptr generateNode() const auto autoware_test_utils_dir = ament_index_cpp::get_package_share_directory("autoware_test_utils"); + const auto behavior_velocity_planner_common_dir = + ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner_common"); const auto behavior_velocity_planner_dir = ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner"); const auto velocity_smoother_dir = @@ -82,25 +84,27 @@ std::shared_ptr generateNode() node_options.parameter_overrides(params); autoware::test_utils::updateNodeOptions( - node_options, {autoware_test_utils_dir + "/config/test_common.param.yaml", - autoware_test_utils_dir + "/config/test_nearest_search.param.yaml", - autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml", - velocity_smoother_dir + "/config/default_velocity_smoother.param.yaml", - velocity_smoother_dir + "/config/Analytical.param.yaml", - behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml", - get_behavior_velocity_module_config("blind_spot"), - get_behavior_velocity_module_config("crosswalk"), - get_behavior_velocity_module_config("walkway"), - get_behavior_velocity_module_config("detection_area"), - get_behavior_velocity_module_config("intersection"), - get_behavior_velocity_module_config("no_stopping_area"), - get_behavior_velocity_module_config("occlusion_spot"), - get_behavior_velocity_module_config("run_out"), - get_behavior_velocity_module_config("speed_bump"), - get_behavior_velocity_module_config("stop_line"), - get_behavior_velocity_module_config("traffic_light"), - get_behavior_velocity_module_config("virtual_traffic_light"), - get_behavior_velocity_module_config("no_drivable_lane")}); + node_options, + {autoware_test_utils_dir + "/config/test_common.param.yaml", + autoware_test_utils_dir + "/config/test_nearest_search.param.yaml", + autoware_test_utils_dir + "/config/test_vehicle_info.param.yaml", + velocity_smoother_dir + "/config/default_velocity_smoother.param.yaml", + velocity_smoother_dir + "/config/Analytical.param.yaml", + behavior_velocity_planner_common_dir + "/config/behavior_velocity_planner_common.param.yaml", + behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml", + get_behavior_velocity_module_config("blind_spot"), + get_behavior_velocity_module_config("crosswalk"), + get_behavior_velocity_module_config("walkway"), + get_behavior_velocity_module_config("detection_area"), + get_behavior_velocity_module_config("intersection"), + get_behavior_velocity_module_config("no_stopping_area"), + get_behavior_velocity_module_config("occlusion_spot"), + get_behavior_velocity_module_config("run_out"), + get_behavior_velocity_module_config("speed_bump"), + get_behavior_velocity_module_config("stop_line"), + get_behavior_velocity_module_config("traffic_light"), + get_behavior_velocity_module_config("virtual_traffic_light"), + get_behavior_velocity_module_config("no_drivable_lane")}); // TODO(Takagi, Isamu): set launch_modules // TODO(Kyoichi Sugahara) set to true launch_virtual_traffic_light diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt index 9cb992312f52a..f76fcfa31c240 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt @@ -26,4 +26,6 @@ if(BUILD_TESTING) ) endif() -ament_auto_package() +ament_auto_package(INSTALL_TO_SHARE + config +) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/config/behavior_velocity_planner_common.param.yaml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/config/behavior_velocity_planner_common.param.yaml new file mode 100644 index 0000000000000..aff2aec9cfa29 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/config/behavior_velocity_planner_common.param.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + max_accel: -2.8 + max_jerk: -5.0 + system_delay: 0.5 + delay_response_time: 0.5 + is_publish_debug_path: false # publish all debug path with lane id in each module diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/schema/behavior_velocity_planner_common.schema.json b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/schema/behavior_velocity_planner_common.schema.json new file mode 100644 index 0000000000000..2468b71aa9be1 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/schema/behavior_velocity_planner_common.schema.json @@ -0,0 +1,59 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Behavior Velocity Planner Common", + "type": "object", + "definitions": { + "behavior_velocity_planner_common": { + "type": "object", + "properties": { + "max_accel": { + "type": "number", + "default": "-2.8", + "description": "(to be a global parameter) max acceleration of the vehicle" + }, + "system_delay": { + "type": "number", + "default": "0.5", + "description": "(to be a global parameter) delay time until output control command" + }, + "delay_response_time": { + "type": "number", + "default": "0.5", + "description": "(to be a global parameter) delay time of the vehicle's response to control commands" + }, + "max_jerk": { + "type": "number", + "default": "-5.0", + "description": "max jerk of the vehicle" + }, + "is_publish_debug_path": { + "type": "boolean", + "default": "false", + "description": "is publish debug path?" + } + }, + "required": [ + "max_accel", + "system_delay", + "delay_response_time", + "max_jerk", + "is_publish_debug_path" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/behavior_velocity_planner_common" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/scripts/dilemma_zone_plotter.py b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/scripts/dilemma_zone_plotter.py index 55bfbeff893b1..072979a2cef48 100755 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/scripts/dilemma_zone_plotter.py +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/scripts/dilemma_zone_plotter.py @@ -38,7 +38,7 @@ def get_params_from_yaml(): # get parameters from behavior velocity planner behavior_vel_yaml_file_path = os.path.join( autoware_launch_package_path, - "config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml", + "config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml", ) with open(behavior_vel_yaml_file_path, "r") as yaml_file: params = yaml.safe_load(yaml_file) From 24ef1f93546bc3c3e1ac1b471860fe46b81e3957 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 27 Nov 2024 15:10:17 +0900 Subject: [PATCH 562/701] fix(path_optimizer): solve issue with time keeper (#9483) solve issue with time keeper Signed-off-by: Daniel Sanchez --- planning/autoware_path_optimizer/src/node.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/planning/autoware_path_optimizer/src/node.cpp b/planning/autoware_path_optimizer/src/node.cpp index 62a4882f8a4c1..98bc05d0fe1cf 100644 --- a/planning/autoware_path_optimizer/src/node.cpp +++ b/planning/autoware_path_optimizer/src/node.cpp @@ -222,7 +222,7 @@ void PathOptimizer::resetPreviousData() void PathOptimizer::onPath(const Path::ConstSharedPtr path_ptr) { - time_keeper_->start_track(__func__); + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); stop_watch_.tic(); // check if input path is valid @@ -277,8 +277,6 @@ void PathOptimizer::onPath(const Path::ConstSharedPtr path_ptr) autoware::motion_utils::convertToTrajectory(full_traj_points, path_ptr->header); traj_pub_->publish(output_traj_msg); published_time_publisher_->publish_if_subscribed(traj_pub_, output_traj_msg.header.stamp); - - time_keeper_->end_track(__func__); } bool PathOptimizer::checkInputPath(const Path & path, rclcpp::Clock clock) const From bf9b1c21a02b30840fce23c7db5b6f065b45d80c Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 27 Nov 2024 10:20:12 +0100 Subject: [PATCH 563/701] fix: fix missing namespaces in C++ code (#9477) Signed-off-by: Esteve Fernandez --- common/autoware_component_interface_tools/CMakeLists.txt | 2 +- .../src/service_log_checker.cpp | 6 ++++-- .../src/service_log_checker.hpp | 4 +++- .../CMakeLists.txt | 2 +- .../src/traffic_light_recognition_marker_publisher.cpp | 6 +++++- .../src/traffic_light_recognition_marker_publisher.hpp | 3 +++ 6 files changed, 17 insertions(+), 6 deletions(-) diff --git a/common/autoware_component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt index e51db41ca0ea2..ce4af924f4c28 100644 --- a/common/autoware_component_interface_tools/CMakeLists.txt +++ b/common/autoware_component_interface_tools/CMakeLists.txt @@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "ServiceLogChecker" + PLUGIN "autoware::component_interface_tools::ServiceLogChecker" EXECUTABLE service_log_checker_node ) diff --git a/common/autoware_component_interface_tools/src/service_log_checker.cpp b/common/autoware_component_interface_tools/src/service_log_checker.cpp index 18f90af5737d2..ce413da5c1987 100644 --- a/common/autoware_component_interface_tools/src/service_log_checker.cpp +++ b/common/autoware_component_interface_tools/src/service_log_checker.cpp @@ -22,6 +22,8 @@ #define FMT_HEADER_ONLY #include +namespace autoware::component_interface_tools +{ ServiceLogChecker::ServiceLogChecker(const rclcpp::NodeOptions & options) : Node("service_log_checker", options), diagnostics_(this) { @@ -98,6 +100,6 @@ void ServiceLogChecker::update_diagnostics(diagnostic_updater::DiagnosticStatusW stat.summary(DiagnosticStatus::ERROR, "ERROR"); } } - +} // namespace autoware::component_interface_tools #include -RCLCPP_COMPONENTS_REGISTER_NODE(ServiceLogChecker) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::component_interface_tools::ServiceLogChecker) diff --git a/common/autoware_component_interface_tools/src/service_log_checker.hpp b/common/autoware_component_interface_tools/src/service_log_checker.hpp index 9579753dfd900..f6077d238e2e1 100644 --- a/common/autoware_component_interface_tools/src/service_log_checker.hpp +++ b/common/autoware_component_interface_tools/src/service_log_checker.hpp @@ -23,6 +23,8 @@ #include #include +namespace autoware::component_interface_tools +{ class ServiceLogChecker : public rclcpp::Node { public: @@ -38,5 +40,5 @@ class ServiceLogChecker : public rclcpp::Node void update_diagnostics(diagnostic_updater::DiagnosticStatusWrapper & stat); std::unordered_map errors_; }; - +} // namespace autoware::component_interface_tools #endif // SERVICE_LOG_CHECKER_HPP_ diff --git a/common/autoware_traffic_light_recognition_marker_publisher/CMakeLists.txt b/common/autoware_traffic_light_recognition_marker_publisher/CMakeLists.txt index 281a6fc7dc802..1babe2e464fec 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/CMakeLists.txt +++ b/common/autoware_traffic_light_recognition_marker_publisher/CMakeLists.txt @@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "TrafficLightRecognitionMarkerPublisher" + PLUGIN "autoware::traffic_light_recognition_marker_publisher::TrafficLightRecognitionMarkerPublisher" EXECUTABLE ${PROJECT_NAME}_node ) diff --git a/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp index 5d887a2296137..e9189a6c84c2b 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp +++ b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp @@ -20,6 +20,8 @@ #include #include +namespace autoware::traffic_light_recognition_marker_publisher +{ TrafficLightRecognitionMarkerPublisher::TrafficLightRecognitionMarkerPublisher( const rclcpp::NodeOptions & options) : Node("traffic_light_recognition_marker_publisher", options) @@ -159,6 +161,8 @@ std_msgs::msg::ColorRGBA TrafficLightRecognitionMarkerPublisher::getTrafficLight return c; // white } +} // namespace autoware::traffic_light_recognition_marker_publisher #include -RCLCPP_COMPONENTS_REGISTER_NODE(TrafficLightRecognitionMarkerPublisher) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::traffic_light_recognition_marker_publisher::TrafficLightRecognitionMarkerPublisher) diff --git a/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp index 14bb0e39628f9..b4fa388fe0167 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp +++ b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp @@ -29,6 +29,8 @@ #include #include +namespace autoware::traffic_light_recognition_marker_publisher +{ class TrafficLightRecognitionMarkerPublisher : public rclcpp::Node { public: @@ -58,5 +60,6 @@ class TrafficLightRecognitionMarkerPublisher : public rclcpp::Node bool is_map_ready_ = false; int32_t marker_id = 0; }; +} // namespace autoware::traffic_light_recognition_marker_publisher #endif // TRAFFIC_LIGHT_RECOGNITION_MARKER_PUBLISHER_HPP_ From 85d5bc42166d5e68ab984389115d3a1a68e095e0 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 27 Nov 2024 18:58:32 +0900 Subject: [PATCH 564/701] fix(start_planner): use extended current lanes to fix turn signal issue (#9487) fix current lanes issue Signed-off-by: Daniel Sanchez --- .../src/start_planner_module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp index 7dd597e27b71f..210afdcd7c1ea 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp @@ -1372,7 +1372,7 @@ TurnSignalInfo StartPlannerModule::calcTurnSignalInfo() path.points, status_.pull_out_path.start_pose.position); const auto shift_end_idx = autoware::motion_utils::findNearestIndex(path.points, status_.pull_out_path.end_pose.position); - const lanelet::ConstLanelets current_lanes = utils::getCurrentLanes(planner_data_); + const lanelet::ConstLanelets current_lanes = utils::getExtendedCurrentLanes(planner_data_); const auto is_ignore_signal = [this](const lanelet::Id & id) { if (!ignore_signal_.has_value()) { From a5e9d286220d3985c78ea93fcf188ff3096049c4 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 27 Nov 2024 19:07:31 +0900 Subject: [PATCH 565/701] fix(autoware_image_projection_based_fusion): fix clang-diagnostic-unused-private-field (#9473) * fix: clang-diagnostic-unused-private-field Signed-off-by: kobayu858 * fix: build error Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../autoware_image_projection_based_fusion/CMakeLists.txt | 1 + .../include/autoware/image_projection_based_fusion/debugger.hpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/perception/autoware_image_projection_based_fusion/CMakeLists.txt b/perception/autoware_image_projection_based_fusion/CMakeLists.txt index 73d305d2ab2a8..921a46ccebe3e 100644 --- a/perception/autoware_image_projection_based_fusion/CMakeLists.txt +++ b/perception/autoware_image_projection_based_fusion/CMakeLists.txt @@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.14) project(autoware_image_projection_based_fusion) # add_compile_options(-Wno-unknown-pragmas) add_compile_options(-Wno-unknown-pragmas -fopenmp) +add_compile_options(-Wno-error=attributes) find_package(autoware_cmake REQUIRED) find_package(OpenCV REQUIRED) diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp index ba7f8b6ca3496..d74347772ef10 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp @@ -56,7 +56,7 @@ class Debugger void imageCallback( const sensor_msgs::msg::Image::ConstSharedPtr input_image_msg, const std::size_t image_id); - rclcpp::Node * node_ptr_; + [[maybe_unused]] rclcpp::Node * node_ptr_; std::shared_ptr image_transport_; std::vector input_camera_topics_; std::vector image_subs_; From 35048a9fd48500d3c554df024475f910a2203633 Mon Sep 17 00:00:00 2001 From: "Kem (TiankuiXian)" <1041084556@qq.com> Date: Wed, 27 Nov 2024 19:32:33 +0900 Subject: [PATCH 566/701] feat(autoware_processing_time_checker): add a trigger to choice whether to output metrics to log folder (#9479) * add output_metrics option. Signed-off-by: xtk8532704 <1041084556@qq.com> * move param set from config to launch file. Signed-off-by: xtk8532704 <1041084556@qq.com> * fix bug. Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com> --- .../README.md | 2 + .../launch/processing_time_checker.launch.xml | 3 + .../package.xml | 2 + .../src/processing_time_checker.cpp | 55 +++++++++++++++++++ .../src/processing_time_checker.hpp | 9 +++ 5 files changed, 71 insertions(+) diff --git a/system/autoware_processing_time_checker/README.md b/system/autoware_processing_time_checker/README.md index 5745ec52086cc..1cb6a289bc54f 100644 --- a/system/autoware_processing_time_checker/README.md +++ b/system/autoware_processing_time_checker/README.md @@ -31,6 +31,8 @@ ros2 launch autoware_processing_time_checker processing_time_checker.launch.xml {{ json_to_markdown("system/autoware_processing_time_checker/schema/processing_time_checker.schema.json") }} +If `output_metrics = true`, the node writes the statics of the processing_time measured during its lifetime to `/autoware_metrics/-.json` when shut down. + ## Assumptions / Known limits TBD. diff --git a/system/autoware_processing_time_checker/launch/processing_time_checker.launch.xml b/system/autoware_processing_time_checker/launch/processing_time_checker.launch.xml index 1e9eb6a3d03e1..9789bd39dca94 100644 --- a/system/autoware_processing_time_checker/launch/processing_time_checker.launch.xml +++ b/system/autoware_processing_time_checker/launch/processing_time_checker.launch.xml @@ -1,7 +1,10 @@ + + + diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml index 73a0b43e44c50..16b225f3ef425 100644 --- a/system/autoware_processing_time_checker/package.xml +++ b/system/autoware_processing_time_checker/package.xml @@ -12,6 +12,8 @@ ament_cmake autoware_cmake + autoware_universe_utils + nlohmann-json-dev rclcpp rclcpp_components tier4_debug_msgs diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.cpp b/system/autoware_processing_time_checker/src/processing_time_checker.cpp index 3ab96ab0f9711..262c695d953a6 100644 --- a/system/autoware_processing_time_checker/src/processing_time_checker.cpp +++ b/system/autoware_processing_time_checker/src/processing_time_checker.cpp @@ -14,8 +14,12 @@ #include "processing_time_checker.hpp" +#include #include +#include +#include +#include #include #include @@ -38,6 +42,7 @@ std::string get_last_name(const std::string & str) ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_options) : Node("processing_time_checker", node_options) { + output_metrics_ = declare_parameter("output_metrics"); const double update_rate = declare_parameter("update_rate"); const auto processing_time_topic_name_list = declare_parameter>("processing_time_topic_name_list"); @@ -64,6 +69,7 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op // register module name if (module_name) { module_name_map_.insert_or_assign(processing_time_topic_name, *module_name); + processing_time_accumulator_map_.insert_or_assign(*module_name, Accumulator()); } else { throw std::invalid_argument("The format of the processing time topic name is not correct."); } @@ -79,6 +85,7 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op processing_time_topic_name, 1, [this, &module_name]([[maybe_unused]] const Float64Stamped & msg) { processing_time_map_.insert_or_assign(module_name, msg.data); + processing_time_accumulator_map_.at(module_name).add(msg.data); })); // clang-format on } @@ -90,6 +97,54 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op this, get_clock(), period_ns, std::bind(&ProcessingTimeChecker::on_timer, this)); } +ProcessingTimeChecker::~ProcessingTimeChecker() +{ + if (!output_metrics_) { + return; + } + + // generate json data + nlohmann::json j; + for (const auto & accumulator_iterator : processing_time_accumulator_map_) { + const auto module_name = accumulator_iterator.first; + const auto processing_time_accumulator = accumulator_iterator.second; + j[module_name + "/min"] = processing_time_accumulator.min(); + j[module_name + "/max"] = processing_time_accumulator.max(); + j[module_name + "/mean"] = processing_time_accumulator.mean(); + j[module_name + "/count"] = processing_time_accumulator.count(); + j[module_name + "/description"] = "processing time of " + module_name + "[ms]"; + } + + // get output folder + const std::string output_folder_str = + rclcpp::get_logging_directory().string() + "/autoware_metrics"; + if (!std::filesystem::exists(output_folder_str)) { + if (!std::filesystem::create_directories(output_folder_str)) { + RCLCPP_ERROR( + this->get_logger(), "Failed to create directories: %s", output_folder_str.c_str()); + return; + } + } + + // get time stamp + std::time_t now_time_t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now()); + std::tm * local_time = std::localtime(&now_time_t); + std::ostringstream oss; + oss << std::put_time(local_time, "%Y-%m-%d-%H-%M-%S"); + std::string cur_time_str = oss.str(); + + // Write metrics .json to file + const std::string output_file_str = + output_folder_str + "/autoware_processing_time_checker-" + cur_time_str + ".json"; + std::ofstream f(output_file_str); + if (f.is_open()) { + f << j.dump(4); + f.close(); + } else { + RCLCPP_ERROR(this->get_logger(), "Failed to open file: %s", output_file_str.c_str()); + } +} + void ProcessingTimeChecker::on_timer() { // create MetricArrayMsg diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.hpp b/system/autoware_processing_time_checker/src/processing_time_checker.hpp index 199410623f8b1..77450923509f2 100644 --- a/system/autoware_processing_time_checker/src/processing_time_checker.hpp +++ b/system/autoware_processing_time_checker/src/processing_time_checker.hpp @@ -15,6 +15,8 @@ #ifndef PROCESSING_TIME_CHECKER_HPP_ #define PROCESSING_TIME_CHECKER_HPP_ +#include "autoware/universe_utils/math/accumulator.hpp" + #include #include @@ -27,6 +29,7 @@ namespace autoware::processing_time_checker { +using autoware::universe_utils::Accumulator; using MetricMsg = tier4_metric_msgs::msg::Metric; using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray; using tier4_debug_msgs::msg::Float64Stamped; @@ -35,6 +38,7 @@ class ProcessingTimeChecker : public rclcpp::Node { public: explicit ProcessingTimeChecker(const rclcpp::NodeOptions & node_options); + ~ProcessingTimeChecker() override; private: void on_timer(); @@ -44,10 +48,15 @@ class ProcessingTimeChecker : public rclcpp::Node rclcpp::Publisher::SharedPtr metrics_pub_; std::vector::SharedPtr> processing_time_subscribers_; + // parameters + bool output_metrics_; + // topic name - module name std::unordered_map module_name_map_{}; // module name - processing time std::unordered_map processing_time_map_{}; + // module name - accumulator + std::unordered_map> processing_time_accumulator_map_{}; }; } // namespace autoware::processing_time_checker From 9c7f45f7c707209c24a6f82876ae56a5378ebab3 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Wed, 27 Nov 2024 20:17:02 +0900 Subject: [PATCH 567/701] fix(bag_time_manager_rviz_plugin): fix clang-diagnostic-unused-lambda-capture (#9444) Signed-off-by: veqcc --- .../src/bag_time_manager_panel.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp b/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp index 79da89bd9e981..ef52977cb7e73 100644 --- a/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp +++ b/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp @@ -82,7 +82,7 @@ void BagTimeManagerPanel::onPauseClicked() pause_button_->setStyleSheet("background-color: #00FF00;"); auto req = std::make_shared(); client_resume_->async_send_request( - req, [this]([[maybe_unused]] rclcpp::Client::SharedFuture result) {}); + req, []([[maybe_unused]] rclcpp::Client::SharedFuture result) {}); } else { // do pause current_state_ = STATE::PAUSE; @@ -91,7 +91,7 @@ void BagTimeManagerPanel::onPauseClicked() pause_button_->setStyleSheet("background-color: #FF0000;"); auto req = std::make_shared(); client_pause_->async_send_request( - req, [this]([[maybe_unused]] rclcpp::Client::SharedFuture result) {}); + req, []([[maybe_unused]] rclcpp::Client::SharedFuture result) {}); } } From 4fc74ae7386cbc04e836de4d46221474581a5d27 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 27 Nov 2024 20:39:58 +0900 Subject: [PATCH 568/701] fix(goal_planner): fix multiple lane ids of shift pull over (#9360) Signed-off-by: kosuke55 fix vel --- .../src/pull_over_planner/shift_pull_over.cpp | 36 +++++++++---------- 1 file changed, 17 insertions(+), 19 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp index da99c830c68bb..4bdec4a285d75 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp @@ -218,14 +218,23 @@ std::optional ShiftPullOver::generatePullOverPath( shifted_path.path.points.push_back(p); } + // combine road lanes and shoulder lanes to find closest lanelet id + const auto lanes = std::invoke([&]() -> lanelet::ConstLanelets { + auto lanes = road_lanes; + lanes.insert(lanes.end(), pull_over_lanes.begin(), pull_over_lanes.end()); + return lanes; // not copy the value (Return Value Optimization) + }); + // set goal pose with velocity 0 { PathPointWithLaneId p{}; p.point.longitudinal_velocity_mps = 0.0; p.point.pose = goal_pose; - p.lane_ids = shifted_path.path.points.back().lane_ids; - for (const auto & lane : pull_over_lanes) { - p.lane_ids.push_back(lane.id()); + lanelet::Lanelet goal_lanelet{}; + if (lanelet::utils::query::getClosestLanelet(lanes, goal_pose, &goal_lanelet)) { + p.lane_ids = {goal_lanelet.id()}; + } else { + p.lane_ids = shifted_path.path.points.back().lane_ids; } shifted_path.path.points.push_back(p); } @@ -234,24 +243,13 @@ std::optional ShiftPullOver::generatePullOverPath( for (size_t i = path_shifter.getShiftLines().front().start_idx; i < shifted_path.path.points.size() - 1; ++i) { auto & point = shifted_path.path.points.at(i); - // set velocity point.point.longitudinal_velocity_mps = std::min(point.point.longitudinal_velocity_mps, static_cast(pull_over_velocity)); - - // add target lanes to points after shift start - // add road lane_ids if not found - for (const auto id : shifted_path.path.points.back().lane_ids) { - if (std::find(point.lane_ids.begin(), point.lane_ids.end(), id) == point.lane_ids.end()) { - point.lane_ids.push_back(id); - } - } - // add shoulder lane_id if not found - for (const auto & lane : pull_over_lanes) { - if ( - std::find(point.lane_ids.begin(), point.lane_ids.end(), lane.id()) == - point.lane_ids.end()) { - point.lane_ids.push_back(lane.id()); - } + lanelet::Lanelet lanelet{}; + if (lanelet::utils::query::getClosestLanelet(lanes, point.point.pose, &lanelet)) { + point.lane_ids = {lanelet.id()}; // overwrite lane_ids + } else { + point.lane_ids = shifted_path.path.points.at(i - 1).lane_ids; } } From c3df6b1b509425935ac0afc47eefadd390b5e237 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 27 Nov 2024 13:14:34 +0100 Subject: [PATCH 569/701] chore(autoware_pyplot): move to visualization folder (#9489) Signed-off-by: Esteve Fernandez --- {common => visualization}/autoware_pyplot/CMakeLists.txt | 0 .../autoware_pyplot/include/autoware/pyplot/axes.hpp | 0 .../autoware_pyplot/include/autoware/pyplot/common.hpp | 0 .../autoware_pyplot/include/autoware/pyplot/figure.hpp | 0 .../autoware_pyplot/include/autoware/pyplot/legend.hpp | 0 .../autoware_pyplot/include/autoware/pyplot/loader.hpp | 0 .../autoware_pyplot/include/autoware/pyplot/patches.hpp | 0 .../autoware_pyplot/include/autoware/pyplot/pyplot.hpp | 0 .../autoware_pyplot/include/autoware/pyplot/quiver.hpp | 0 .../autoware_pyplot/include/autoware/pyplot/text.hpp | 0 {common => visualization}/autoware_pyplot/package.xml | 0 {common => visualization}/autoware_pyplot/src/axes.cpp | 0 {common => visualization}/autoware_pyplot/src/common.cpp | 0 {common => visualization}/autoware_pyplot/src/figure.cpp | 0 {common => visualization}/autoware_pyplot/src/legend.cpp | 0 {common => visualization}/autoware_pyplot/src/patches.cpp | 0 {common => visualization}/autoware_pyplot/src/pyplot.cpp | 0 {common => visualization}/autoware_pyplot/src/quiver.cpp | 0 {common => visualization}/autoware_pyplot/src/text.cpp | 0 {common => visualization}/autoware_pyplot/test/test_pyplot.cpp | 0 20 files changed, 0 insertions(+), 0 deletions(-) rename {common => visualization}/autoware_pyplot/CMakeLists.txt (100%) rename {common => visualization}/autoware_pyplot/include/autoware/pyplot/axes.hpp (100%) rename {common => visualization}/autoware_pyplot/include/autoware/pyplot/common.hpp (100%) rename {common => visualization}/autoware_pyplot/include/autoware/pyplot/figure.hpp (100%) rename {common => visualization}/autoware_pyplot/include/autoware/pyplot/legend.hpp (100%) rename {common => visualization}/autoware_pyplot/include/autoware/pyplot/loader.hpp (100%) rename {common => visualization}/autoware_pyplot/include/autoware/pyplot/patches.hpp (100%) rename {common => visualization}/autoware_pyplot/include/autoware/pyplot/pyplot.hpp (100%) rename {common => visualization}/autoware_pyplot/include/autoware/pyplot/quiver.hpp (100%) rename {common => visualization}/autoware_pyplot/include/autoware/pyplot/text.hpp (100%) rename {common => visualization}/autoware_pyplot/package.xml (100%) rename {common => visualization}/autoware_pyplot/src/axes.cpp (100%) rename {common => visualization}/autoware_pyplot/src/common.cpp (100%) rename {common => visualization}/autoware_pyplot/src/figure.cpp (100%) rename {common => visualization}/autoware_pyplot/src/legend.cpp (100%) rename {common => visualization}/autoware_pyplot/src/patches.cpp (100%) rename {common => visualization}/autoware_pyplot/src/pyplot.cpp (100%) rename {common => visualization}/autoware_pyplot/src/quiver.cpp (100%) rename {common => visualization}/autoware_pyplot/src/text.cpp (100%) rename {common => visualization}/autoware_pyplot/test/test_pyplot.cpp (100%) diff --git a/common/autoware_pyplot/CMakeLists.txt b/visualization/autoware_pyplot/CMakeLists.txt similarity index 100% rename from common/autoware_pyplot/CMakeLists.txt rename to visualization/autoware_pyplot/CMakeLists.txt diff --git a/common/autoware_pyplot/include/autoware/pyplot/axes.hpp b/visualization/autoware_pyplot/include/autoware/pyplot/axes.hpp similarity index 100% rename from common/autoware_pyplot/include/autoware/pyplot/axes.hpp rename to visualization/autoware_pyplot/include/autoware/pyplot/axes.hpp diff --git a/common/autoware_pyplot/include/autoware/pyplot/common.hpp b/visualization/autoware_pyplot/include/autoware/pyplot/common.hpp similarity index 100% rename from common/autoware_pyplot/include/autoware/pyplot/common.hpp rename to visualization/autoware_pyplot/include/autoware/pyplot/common.hpp diff --git a/common/autoware_pyplot/include/autoware/pyplot/figure.hpp b/visualization/autoware_pyplot/include/autoware/pyplot/figure.hpp similarity index 100% rename from common/autoware_pyplot/include/autoware/pyplot/figure.hpp rename to visualization/autoware_pyplot/include/autoware/pyplot/figure.hpp diff --git a/common/autoware_pyplot/include/autoware/pyplot/legend.hpp b/visualization/autoware_pyplot/include/autoware/pyplot/legend.hpp similarity index 100% rename from common/autoware_pyplot/include/autoware/pyplot/legend.hpp rename to visualization/autoware_pyplot/include/autoware/pyplot/legend.hpp diff --git a/common/autoware_pyplot/include/autoware/pyplot/loader.hpp b/visualization/autoware_pyplot/include/autoware/pyplot/loader.hpp similarity index 100% rename from common/autoware_pyplot/include/autoware/pyplot/loader.hpp rename to visualization/autoware_pyplot/include/autoware/pyplot/loader.hpp diff --git a/common/autoware_pyplot/include/autoware/pyplot/patches.hpp b/visualization/autoware_pyplot/include/autoware/pyplot/patches.hpp similarity index 100% rename from common/autoware_pyplot/include/autoware/pyplot/patches.hpp rename to visualization/autoware_pyplot/include/autoware/pyplot/patches.hpp diff --git a/common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp b/visualization/autoware_pyplot/include/autoware/pyplot/pyplot.hpp similarity index 100% rename from common/autoware_pyplot/include/autoware/pyplot/pyplot.hpp rename to visualization/autoware_pyplot/include/autoware/pyplot/pyplot.hpp diff --git a/common/autoware_pyplot/include/autoware/pyplot/quiver.hpp b/visualization/autoware_pyplot/include/autoware/pyplot/quiver.hpp similarity index 100% rename from common/autoware_pyplot/include/autoware/pyplot/quiver.hpp rename to visualization/autoware_pyplot/include/autoware/pyplot/quiver.hpp diff --git a/common/autoware_pyplot/include/autoware/pyplot/text.hpp b/visualization/autoware_pyplot/include/autoware/pyplot/text.hpp similarity index 100% rename from common/autoware_pyplot/include/autoware/pyplot/text.hpp rename to visualization/autoware_pyplot/include/autoware/pyplot/text.hpp diff --git a/common/autoware_pyplot/package.xml b/visualization/autoware_pyplot/package.xml similarity index 100% rename from common/autoware_pyplot/package.xml rename to visualization/autoware_pyplot/package.xml diff --git a/common/autoware_pyplot/src/axes.cpp b/visualization/autoware_pyplot/src/axes.cpp similarity index 100% rename from common/autoware_pyplot/src/axes.cpp rename to visualization/autoware_pyplot/src/axes.cpp diff --git a/common/autoware_pyplot/src/common.cpp b/visualization/autoware_pyplot/src/common.cpp similarity index 100% rename from common/autoware_pyplot/src/common.cpp rename to visualization/autoware_pyplot/src/common.cpp diff --git a/common/autoware_pyplot/src/figure.cpp b/visualization/autoware_pyplot/src/figure.cpp similarity index 100% rename from common/autoware_pyplot/src/figure.cpp rename to visualization/autoware_pyplot/src/figure.cpp diff --git a/common/autoware_pyplot/src/legend.cpp b/visualization/autoware_pyplot/src/legend.cpp similarity index 100% rename from common/autoware_pyplot/src/legend.cpp rename to visualization/autoware_pyplot/src/legend.cpp diff --git a/common/autoware_pyplot/src/patches.cpp b/visualization/autoware_pyplot/src/patches.cpp similarity index 100% rename from common/autoware_pyplot/src/patches.cpp rename to visualization/autoware_pyplot/src/patches.cpp diff --git a/common/autoware_pyplot/src/pyplot.cpp b/visualization/autoware_pyplot/src/pyplot.cpp similarity index 100% rename from common/autoware_pyplot/src/pyplot.cpp rename to visualization/autoware_pyplot/src/pyplot.cpp diff --git a/common/autoware_pyplot/src/quiver.cpp b/visualization/autoware_pyplot/src/quiver.cpp similarity index 100% rename from common/autoware_pyplot/src/quiver.cpp rename to visualization/autoware_pyplot/src/quiver.cpp diff --git a/common/autoware_pyplot/src/text.cpp b/visualization/autoware_pyplot/src/text.cpp similarity index 100% rename from common/autoware_pyplot/src/text.cpp rename to visualization/autoware_pyplot/src/text.cpp diff --git a/common/autoware_pyplot/test/test_pyplot.cpp b/visualization/autoware_pyplot/test/test_pyplot.cpp similarity index 100% rename from common/autoware_pyplot/test/test_pyplot.cpp rename to visualization/autoware_pyplot/test/test_pyplot.cpp From e6d90b700285b3b58ce38b36782dae4a9f40798a Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 27 Nov 2024 21:53:14 +0900 Subject: [PATCH 570/701] fix(autoware_lidar_transfusion): fix clang-diagnostic-unused-private-field (#9499) Signed-off-by: kobayu858 --- .../autoware/lidar_transfusion/lidar_transfusion_node.hpp | 1 - 1 file changed, 1 deletion(-) diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/lidar_transfusion_node.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/lidar_transfusion_node.hpp index e19d2d49af998..466c2202de3e3 100644 --- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/lidar_transfusion_node.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/lidar_transfusion_node.hpp @@ -55,7 +55,6 @@ class LIDAR_TRANSFUSION_PUBLIC LidarTransfusionNode : public rclcpp::Node tf2_ros::TransformListener tf_listener_{tf_buffer_}; DetectionClassRemapper detection_class_remapper_; - float score_threshold_{0.0}; std::vector class_names_; NonMaximumSuppression iou_bev_nms_; From cc8abac719521669795a006b7a21e46aabaeb7d2 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 27 Nov 2024 22:57:36 +0900 Subject: [PATCH 571/701] fix(autoware_raindrop_cluster_filter): fix clang-diagnostic-unused-private-field (#9496) Signed-off-by: kobayu858 --- .../src/low_intensity_cluster_filter_node.hpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp b/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp index 61e23860cd195..5f2dc05ba7eff 100644 --- a/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp +++ b/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.hpp @@ -56,13 +56,8 @@ class LowIntensityClusterFilter : public rclcpp::Node double max_y_; double min_y_; - double max_x_transformed_; - double min_x_transformed_; - double max_y_transformed_; - double min_y_transformed_; // Eigen::Vector4f min_boundary_transformed_; // Eigen::Vector4f max_boundary_transformed_; - bool is_validation_range_transformed_ = false; const std::string base_link_frame_id_ = "base_link"; autoware::detected_object_validation::utils::FilterTargetLabel filter_target_; From 2fbacc7b559be1782884ececf3ab791effd59453 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 28 Nov 2024 09:12:32 +0900 Subject: [PATCH 572/701] fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (#9494) Signed-off-by: kobayu858 --- .../src/association/data_association.cpp | 20 +++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/perception/autoware_tracking_object_merger/src/association/data_association.cpp b/perception/autoware_tracking_object_merger/src/association/data_association.cpp index 771fcb5f1a484..461dfb8ef14ce 100644 --- a/perception/autoware_tracking_object_merger/src/association/data_association.cpp +++ b/perception/autoware_tracking_object_merger/src/association/data_association.cpp @@ -94,11 +94,11 @@ void DataAssociation::assign( const Eigen::MatrixXd & src, std::unordered_map & direct_assignment, std::unordered_map & reverse_assignment) { - std::vector> score(src.rows()); + std::vector> score(static_cast(src.rows())); for (int row = 0; row < src.rows(); ++row) { - score.at(row).resize(src.cols()); + score.at(static_cast(row)).resize(static_cast(src.cols())); for (int col = 0; col < src.cols(); ++col) { - score.at(row).at(col) = src(row, col); + score.at(static_cast(row)).at(static_cast(col)) = src(row, col); } } // Solve @@ -134,15 +134,17 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( const autoware_perception_msgs::msg::TrackedObjects & objects0, const autoware_perception_msgs::msg::TrackedObjects & objects1) { - Eigen::MatrixXd score_matrix = - Eigen::MatrixXd::Zero(objects1.objects.size(), objects0.objects.size()); + Eigen::MatrixXd score_matrix = Eigen::MatrixXd::Zero( + static_cast(objects1.objects.size()), + static_cast(objects0.objects.size())); for (size_t objects1_idx = 0; objects1_idx < objects1.objects.size(); ++objects1_idx) { const auto & object1 = objects1.objects.at(objects1_idx); for (size_t objects0_idx = 0; objects0_idx < objects0.objects.size(); ++objects0_idx) { const auto & object0 = objects0.objects.at(objects0_idx); const double score = calcScoreBetweenObjects(object0, object1); - score_matrix(objects1_idx, objects0_idx) = score; + score_matrix( + static_cast(objects1_idx), static_cast(objects0_idx)) = score; } } return score_matrix; @@ -159,7 +161,8 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( const autoware_perception_msgs::msg::TrackedObjects & objects0, const std::vector & trackers) { - Eigen::MatrixXd score_matrix = Eigen::MatrixXd::Zero(trackers.size(), objects0.objects.size()); + Eigen::MatrixXd score_matrix = Eigen::MatrixXd::Zero( + static_cast(trackers.size()), static_cast(objects0.objects.size())); for (size_t trackers_idx = 0; trackers_idx < trackers.size(); ++trackers_idx) { const auto & object1 = trackers.at(trackers_idx).getObject(); @@ -167,7 +170,8 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix( const auto & object0 = objects0.objects.at(objects0_idx); const double score = calcScoreBetweenObjects(object0, object1); - score_matrix(trackers_idx, objects0_idx) = score; + score_matrix( + static_cast(trackers_idx), static_cast(objects0_idx)) = score; } } return score_matrix; From 4e939603779a70eae27d7e98819c7edabc443cd9 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 28 Nov 2024 09:12:55 +0900 Subject: [PATCH 573/701] fix(autoware_multi_object_tracker): fix clang-diagnostic-unused-private-field (#9491) Signed-off-by: kobayu858 --- .../src/debugger/debug_object.hpp | 1 - .../src/processor/input_manager.hpp | 3 --- 2 files changed, 4 deletions(-) diff --git a/perception/autoware_multi_object_tracker/src/debugger/debug_object.hpp b/perception/autoware_multi_object_tracker/src/debugger/debug_object.hpp index c77b465fb2bc9..e564afc9fd9d0 100644 --- a/perception/autoware_multi_object_tracker/src/debugger/debug_object.hpp +++ b/perception/autoware_multi_object_tracker/src/debugger/debug_object.hpp @@ -77,7 +77,6 @@ class TrackerObjectDebugger std::vector object_data_list_; std::list unused_marker_ids_; - int32_t marker_id_ = 0; std::vector> object_data_groups_; std::vector channel_names_; diff --git a/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp index f8b221f733faa..25ee6b5eb0d5a 100644 --- a/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp +++ b/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp @@ -88,7 +88,6 @@ class InputStream // bool is_time_initialized_{false}; int initial_count_{0}; - double expected_interval_{}; double latency_mean_{}; double latency_var_{}; double interval_mean_{}; @@ -130,8 +129,6 @@ class InputManager double target_stream_latency_std_{0.04}; // [s] double target_stream_interval_{0.1}; // [s] double target_stream_interval_std_{0.02}; // [s] - double target_latency_{0.2}; // [s] - double target_latency_band_{1.0}; // [s] private: void getObjectTimeInterval( From 08621e6e8c90627ded0356e0906abd9797f531fa Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Thu, 28 Nov 2024 11:00:37 +0900 Subject: [PATCH 574/701] fix(autoware_processing_time_checker): fix typo (#9504) Signed-off-by: veqcc --- .../src/processing_time_checker.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.cpp b/system/autoware_processing_time_checker/src/processing_time_checker.cpp index 262c695d953a6..1e3f04af8fa89 100644 --- a/system/autoware_processing_time_checker/src/processing_time_checker.cpp +++ b/system/autoware_processing_time_checker/src/processing_time_checker.cpp @@ -52,7 +52,7 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op // extract module name from topic name auto tmp_topic_name = processing_time_topic_name; - for (size_t i = 0; i < 4; ++i) { // 4 is enouh for the search depth + for (size_t i = 0; i < 4; ++i) { // 4 is enough for the search depth tmp_topic_name = remove_last_name(tmp_topic_name); const auto module_name_candidate = get_last_name(tmp_topic_name); // clang-format off From c4608ad6c3ad189e28a16cea4dde9bb58f85ebd0 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Thu, 28 Nov 2024 11:29:59 +0900 Subject: [PATCH 575/701] feat(lane_change): improve delay lane change logic (#9480) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * implement function to check if lane change delay is required Signed-off-by: mohammad alqudah * refactor function isParkedObject Signed-off-by: mohammad alqudah * refactor delay lane change parameters Signed-off-by: mohammad alqudah * update lc param yaml Signed-off-by: mohammad alqudah * separate target lane leading objects based on behavior (RT1-8532) Signed-off-by: Zulfaqar Azmi * fixed overlapped filtering and lanes debug marker Signed-off-by: Zulfaqar Azmi * combine filteredObjects function Signed-off-by: Zulfaqar Azmi * renaming functions and type Signed-off-by: Zulfaqar Azmi * update some logic to check is stopped Signed-off-by: Zulfaqar Azmi * rename expanded to stopped_outside_boundary Signed-off-by: Zulfaqar Azmi * Include docstring Signed-off-by: Zulfaqar Azmi * rename stopped_outside_boundary → stopped_at_bound Signed-off-by: Zulfaqar Azmi * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Signed-off-by: Zulfaqar Azmi * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Signed-off-by: Zulfaqar Azmi * spell-check Signed-off-by: Zulfaqar Azmi * add docstring for function is_delay_lane_change Signed-off-by: mohammad alqudah * remove unused functions Signed-off-by: mohammad alqudah * fix spelling Signed-off-by: mohammad alqudah * add delay parameters to README Signed-off-by: mohammad alqudah * add documentation for delay lane change behavior Signed-off-by: mohammad alqudah * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * run pre-commit checks Signed-off-by: mohammad alqudah * only check for delay lc if feature is enabled Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah Signed-off-by: Zulfaqar Azmi Co-authored-by: Zulfaqar Azmi Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --- .../README.md | 76 +- .../config/lane_change.param.yaml | 11 +- .../images/delay_lane_change_1.drawio.svg | 657 +++++++++++++++++ .../images/delay_lane_change_2.drawio.svg | 625 ++++++++++++++++ .../images/delay_lane_change_3.drawio.svg | 683 ++++++++++++++++++ .../images/delay_lane_change_4.drawio.svg | 683 ++++++++++++++++++ .../images/delay_lane_change_5.drawio.svg | 677 +++++++++++++++++ .../utils/parameters.hpp | 9 + .../utils/utils.hpp | 29 +- .../src/manager.cpp | 15 +- .../src/scene.cpp | 8 +- .../src/utils/utils.cpp | 198 ++--- 12 files changed, 3495 insertions(+), 176 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/delay_lane_change_1.drawio.svg create mode 100644 planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/delay_lane_change_2.drawio.svg create mode 100644 planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/delay_lane_change_3.drawio.svg create mode 100644 planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/delay_lane_change_4.drawio.svg create mode 100644 planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/delay_lane_change_5.drawio.svg diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md index 6ebe79c180e95..d24a89bf03000 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md @@ -351,6 +351,71 @@ stop @enduml ``` +#### Delay Lane Change Check + +In certain situations, when there are stopped vehicles along the target lane ahead of Ego vehicle, to avoid getting stuck, it is desired to perform the lane change maneuver after the stopped vehicle. +To do so, all static objects ahead of ego along the target lane are checked in order from closest to furthest, if any object satisfies the following conditions, lane change will be delayed and candidate path will be rejected. + +1. The distance from object to terminal end is sufficient to perform lane change +2. The distance to object is less than the lane changing length +3. The distance from object to next object is sufficient to perform lane change + +If the parameter `check_only_parked_vehicle` is set to `true`, the check will only consider objects which are determined as parked. + +The following flow chart illustrates the delay lane change check. + +```plantuml +@startuml +skinparam defaultTextAlignment center +skinparam backgroundColor #White + +start +if (Is target objects, candidate path, OR current lane path empty?) then (yes) + #LightPink:Return false; + stop +else (no) +endif + +:Start checking objects from closest to furthest; +repeat + if (Is distance from object to terminal sufficient) then (yes) + else (no) + #LightPink:Return false; + stop + endif + + if (Is distance to object less than lane changing length) then (yes) + else (no) + if (Is only check parked vehicles and vehicle is not parked) then (yes) + else (no) + if(Is last object OR distance to next object is sufficient) then (yes) + #LightGreen: Return true; + stop + else (no) + endif + endif + endif + repeat while (Is finished checking all objects) is (FALSE) + +#LightPink: Return false; +stop + +@enduml +``` + +The following figures demonstrate different situations under which will or will not be triggered: + +1. Delay lane change will be triggered as there is sufficient distance ahead. + ![delay lane change 1](./images/delay_lane_change_1.drawio.svg) +2. Delay lane change will NOT be triggered as there is no sufficient distance ahead + ![delay lane change 2](./images/delay_lane_change_2.drawio.svg) +3. Delay lane change will be triggered by fist NPC as there is sufficient distance ahead. + ![delay lane change 3](./images/delay_lane_change_3.drawio.svg) +4. Delay lane change will be triggered by second NPC as there is sufficient distance ahead + ![delay lane change 4](./images/delay_lane_change_4.drawio.svg) +5. Delay lane change will NOT be triggered as there is no sufficient distance ahead. + ![delay lane change 5](./images/delay_lane_change_5.drawio.svg) + #### Candidate Path's Safety check See [safety check utils explanation](../autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md) @@ -828,8 +893,6 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi | `trajectory.lat_acc_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 | | `trajectory.max_longitudinal_acc` | [m/s2] | double | maximum longitudinal acceleration for lane change | 1.0 | | `trajectory.min_longitudinal_acc` | [m/s2] | double | maximum longitudinal deceleration for lane change | -1.0 | -| `object_check_min_road_shoulder_width` | [m] | double | Width considered as a road shoulder if the lane does not have a road shoulder | 0.5 | -| `object_shiftable_ratio_threshold` | [-] | double | Vehicles around the center line within this distance ratio will be excluded from parking objects | 0.6 | | `min_length_for_turn_signal_activation` | [m] | double | Turn signal will be activated if the ego vehicle approaches to this length from minimum lane change length | 10.0 | | `lateral_acceleration.velocity` | [m/s] | double | Reference velocity for lateral acceleration calculation (look up table) | [0.0, 4.0, 10.0] | | `lateral_acceleration.min_values` | [m/s2] | double | Min lateral acceleration values corresponding to velocity (look up table) | [0.4, 0.4, 0.4] | @@ -860,6 +923,15 @@ The following parameters are used to judge lane change completion. | `stuck_detection.velocity` | [m/s] | double | Velocity threshold for ego vehicle stuck detection | 0.1 | | `stuck_detection.stop_time` | [s] | double | Stop time threshold for ego vehicle stuck detection | 3.0 | +### Delay Lane Change + +| Name | Unit | Type | Description | Default value | +| :------------------------------------------------ | ---- | ------ | ----------------------------------------------------------------------------------------------------- | ------------- | +| `delay_lane_change.enable` | [-] | bool | Flag to enable/disable lane change delay feature | true | +| `delay_lane_change.check_only_parked_vehicle` | [-] | bool | Flag to limit delay feature for only parked vehicles | false | +| `delay_lane_change.min_road_shoulder_width` | [m] | double | Width considered as road shoulder if lane doesn't have road shoulder when checking for parked vehicle | 0.5 | +| `delay_lane_change.th_parked_vehicle_shift_ratio` | [-] | double | Stopped vehicles beyond this distance ratio from center line will be considered as parked | 0.6 | + ### Collision checks #### Target Objects diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml index 6ac4544f2b342..6baf05edad484 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml @@ -6,10 +6,6 @@ backward_length_buffer_for_blocking_object: 3.0 # [m] backward_length_from_intersection: 5.0 # [m] - # side walk parked vehicle - object_check_min_road_shoulder_width: 0.5 # [m] - object_shiftable_ratio_threshold: 0.6 - # turn signal min_length_for_turn_signal_activation: 10.0 # [m] @@ -25,6 +21,13 @@ lon_acc_sampling_num: 5 lat_acc_sampling_num: 3 + # delay lane change + delay_lane_change: + enable: true + check_only_parked_vehicle: false + min_road_shoulder_width: 0.5 # [m] + th_parked_vehicle_shift_ratio: 0.6 + # safety check safety_check: allow_loose_check_for_cancel: true diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/delay_lane_change_1.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/delay_lane_change_1.drawio.svg new file mode 100644 index 0000000000000..f5f3e4e88559b --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/delay_lane_change_1.drawio.svg @@ -0,0 +1,657 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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new file mode 100644 index 0000000000000..d4abb53a84999 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/delay_lane_change_5.drawio.svg @@ -0,0 +1,677 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp index d688782ed8d8d..7f97eb872f795 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp @@ -127,11 +127,20 @@ struct TrajectoryParameters LateralAccelerationMap lat_acc_map{}; }; +struct DelayParameters +{ + bool enable{true}; + bool check_only_parked_vehicle{false}; + double min_road_shoulder_width{0.5}; + double th_parked_vehicle_shift_ratio{0.6}; +}; + struct Parameters { TrajectoryParameters trajectory{}; SafetyParameters safety{}; CancelParameters cancel{}; + DelayParameters delay{}; // lane change parameters double backward_lane_length{200.0}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index a02a61d5e72b6..2ec9d4cdf4e4e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -132,14 +132,29 @@ bool isParkedObject( const ExtendedPredictedObject & object, const double buffer_to_bound, const double ratio_threshold); -bool passed_parked_objects( +/** + * @brief Checks if delaying of lane change maneuver is necessary + * + * @details Scans through the provided target objects (assumed to be ordered from closest to + * furthest), and returns true if any of the objects satisfy the following conditions: + * - Not near the end of current lanes + * - There is sufficient distance from object to next one to do lane change + * If the parameter delay_lc_param.check_only_parked_vehicle is set to True, only objects + * which pass isParkedObject() check will be considered. + * + * @param common_data_ptr Shared pointer to CommonData that holds necessary lanes info, parameters, + * and transient data. + * @param lane_change_path Candidate lane change path to apply checks on. + * @param target_objects Relevant objects to consider for delay LC checks (assumed to only include + * target lane leading static objects). + * @param object_debug Collision check debug struct to be updated if any of the target objects + * satisfy the conditions. + * @return bool True if conditions to delay lane change are met + */ +bool is_delay_lane_change( const CommonDataPtr & common_data_ptr, const LaneChangePath & lane_change_path, - const std::vector & objects, CollisionCheckDebugMap & object_debug); - -std::optional getLeadingStaticObjectIdx( - const RouteHandler & route_handler, const LaneChangePath & lane_change_path, - const std::vector & objects, - const double object_check_min_road_shoulder_width, const double object_shiftable_ratio_threshold); + const std::vector & target_objects, + CollisionCheckDebugMap & object_debug); lanelet::BasicPolygon2d create_polygon( const lanelet::ConstLanelets & lanes, const double start_dist, const double end_dist); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp index 2624d0f1a87c6..fc419f149e2b9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -99,12 +99,6 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s } } - // parked vehicle detection - p.object_check_min_road_shoulder_width = - getOrDeclareParameter(*node, parameter("object_check_min_road_shoulder_width")); - p.th_object_shiftable_ratio = - getOrDeclareParameter(*node, parameter("object_shiftable_ratio_threshold")); - // turn signal p.min_length_for_turn_signal_activation = getOrDeclareParameter(*node, parameter("min_length_for_turn_signal_activation")); @@ -203,6 +197,15 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s "Lane change buffer must be more than 1 meter. Modifying the buffer."); } + // lane change delay + p.delay.enable = getOrDeclareParameter(*node, parameter("delay_lane_change.enable")); + p.delay.check_only_parked_vehicle = + getOrDeclareParameter(*node, parameter("delay_lane_change.check_only_parked_vehicle")); + p.delay.min_road_shoulder_width = + getOrDeclareParameter(*node, parameter("delay_lane_change.min_road_shoulder_width")); + p.delay.th_parked_vehicle_shift_ratio = getOrDeclareParameter( + *node, parameter("delay_lane_change.th_parked_vehicle_shift_ratio")); + // lane change cancel p.cancel.enable_on_prepare_phase = getOrDeclareParameter(*node, parameter("cancel.enable_on_prepare_phase")); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 2e9b9e337e51c..c6d8248be134c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -1341,7 +1341,7 @@ bool NormalLaneChange::check_candidate_path_safety( } if ( - !is_stuck && !utils::lane_change::passed_parked_objects( + !is_stuck && utils::lane_change::is_delay_lane_change( common_data_ptr_, candidate_path, filtered_objects_.target_lane_leading.stopped, lane_change_debug_.collision_check_objects)) { throw std::logic_error( @@ -1522,10 +1522,8 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const return {false, true}; } - const auto has_passed_parked_objects = utils::lane_change::passed_parked_objects( - common_data_ptr_, path, filtered_objects_.target_lane_leading.stopped, debug_data); - - if (!has_passed_parked_objects) { + if (utils::lane_change::is_delay_lane_change( + common_data_ptr_, path, filtered_objects_.target_lane_leading.stopped, debug_data)) { RCLCPP_DEBUG(logger_, "Lane change has been delayed."); return {false, false}; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index ff8bb971405ad..db0c1cb37abbb 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -668,9 +668,6 @@ bool isParkedObject( // +: object position // o: nearest point on centerline - using lanelet::geometry::distance2d; - using lanelet::geometry::toArcCoordinates; - const double object_vel_norm = std::hypot(object.initial_twist.linear.x, object.initial_twist.linear.y); if (object_vel_norm > static_object_velocity_threshold) { @@ -689,49 +686,15 @@ bool isParkedObject( const double lat_dist = autoware::motion_utils::calcLateralOffset(path.points, object_pose.position); - lanelet::BasicLineString2d bound; - double center_to_bound_buffer = 0.0; - if (lat_dist > 0.0) { - // left side vehicle - const auto most_left_road_lanelet = route_handler.getMostLeftLanelet(closest_lanelet); - const auto most_left_lanelet_candidates = - route_handler.getLaneletMapPtr()->laneletLayer.findUsages(most_left_road_lanelet.leftBound()); - lanelet::ConstLanelet most_left_lanelet = most_left_road_lanelet; - const lanelet::Attribute most_left_sub_type = - most_left_lanelet.attribute(lanelet::AttributeName::Subtype); - - for (const auto & ll : most_left_lanelet_candidates) { - const auto & sub_type = ll.attribute(lanelet::AttributeName::Subtype); - if (sub_type.value() == "road_shoulder") { - most_left_lanelet = ll; - } - } - bound = most_left_lanelet.leftBound2d().basicLineString(); - if (most_left_sub_type.value() != "road_shoulder") { - center_to_bound_buffer = object_check_min_road_shoulder_width; - } - } else { - // right side vehicle - const auto most_right_road_lanelet = route_handler.getMostRightLanelet(closest_lanelet); - const auto most_right_lanelet_candidates = - route_handler.getLaneletMapPtr()->laneletLayer.findUsages( - most_right_road_lanelet.rightBound()); - - lanelet::ConstLanelet most_right_lanelet = most_right_road_lanelet; - const lanelet::Attribute most_right_sub_type = - most_right_lanelet.attribute(lanelet::AttributeName::Subtype); - - for (const auto & ll : most_right_lanelet_candidates) { - const auto & sub_type = ll.attribute(lanelet::AttributeName::Subtype); - if (sub_type.value() == "road_shoulder") { - most_right_lanelet = ll; - } - } - bound = most_right_lanelet.rightBound2d().basicLineString(); - if (most_right_sub_type.value() != "road_shoulder") { - center_to_bound_buffer = object_check_min_road_shoulder_width; - } - } + const auto most_side_lanelet = + lat_dist > 0.0 ? route_handler.getMostLeftLanelet(closest_lanelet, false, true) + : route_handler.getMostRightLanelet(closest_lanelet, false, true); + const auto bound = lat_dist > 0.0 ? most_side_lanelet.leftBound2d().basicLineString() + : most_side_lanelet.rightBound2d().basicLineString(); + const lanelet::Attribute lanelet_sub_type = + most_side_lanelet.attribute(lanelet::AttributeName::Subtype); + const auto center_to_bound_buffer = + lanelet_sub_type.value() == "road_shoulder" ? 0.0 : object_check_min_road_shoulder_width; return isParkedObject( closest_lanelet, bound, object, center_to_bound_buffer, object_shiftable_ratio_threshold); @@ -776,129 +739,60 @@ bool isParkedObject( return clamped_ratio > ratio_threshold; } -bool passed_parked_objects( +bool is_delay_lane_change( const CommonDataPtr & common_data_ptr, const LaneChangePath & lane_change_path, - const std::vector & objects, CollisionCheckDebugMap & object_debug) + const ExtendedPredictedObjects & target_objects, CollisionCheckDebugMap & object_debug) { - const auto route_handler = *common_data_ptr->route_handler_ptr; - const auto lane_change_parameters = *common_data_ptr->lc_param_ptr; - const auto & object_check_min_road_shoulder_width = - lane_change_parameters.object_check_min_road_shoulder_width; - const auto & object_shiftable_ratio_threshold = lane_change_parameters.th_object_shiftable_ratio; const auto & current_lane_path = common_data_ptr->current_lanes_path; + const auto & delay_lc_param = common_data_ptr->lc_param_ptr->delay; - if (objects.empty() || lane_change_path.path.points.empty() || current_lane_path.points.empty()) { - return true; - } - - const auto leading_obj_idx = getLeadingStaticObjectIdx( - route_handler, lane_change_path, objects, object_check_min_road_shoulder_width, - object_shiftable_ratio_threshold); - if (!leading_obj_idx) { - return true; - } - - const auto & leading_obj = objects.at(*leading_obj_idx); - auto debug = utils::path_safety_checker::createObjectDebug(leading_obj); - const auto leading_obj_poly = - autoware::universe_utils::toPolygon2d(leading_obj.initial_pose, leading_obj.shape); - if (leading_obj_poly.outer().empty()) { - return true; + if ( + !delay_lc_param.enable || target_objects.empty() || lane_change_path.path.points.empty() || + current_lane_path.points.empty()) { + return false; } - const auto & current_path_end = current_lane_path.points.back().point.pose.position; - const auto dist_to_path_end = [&](const auto & src_point) { - if (common_data_ptr->lanes_ptr->current_lane_in_goal_section) { - const auto goal_pose = route_handler.getGoalPose(); - return motion_utils::calcSignedArcLength( - current_lane_path.points, src_point, goal_pose.position); - } - return motion_utils::calcSignedArcLength(current_lane_path.points, src_point, current_path_end); + const auto dist_to_end = common_data_ptr->transient_data.dist_to_terminal_end; + const auto dist_buffer = common_data_ptr->transient_data.current_dist_buffer.min; + auto is_near_end = [&dist_to_end, &dist_buffer](const ExtendedPredictedObject & obj) { + const auto dist_obj_to_end = dist_to_end - obj.dist_from_ego; + return dist_obj_to_end <= dist_buffer; }; - const auto min_dist_to_end_of_current_lane = std::invoke([&]() { - auto min_dist_to_end_of_current_lane = std::numeric_limits::max(); - for (const auto & point : leading_obj_poly.outer()) { - const auto obj_p = universe_utils::createPoint(point.x(), point.y(), 0.0); - const auto dist = dist_to_path_end(obj_p); - min_dist_to_end_of_current_lane = std::min(dist, min_dist_to_end_of_current_lane); - } - return min_dist_to_end_of_current_lane; - }); - - // If there are still enough length after the target object, we delay the lane change - if (min_dist_to_end_of_current_lane <= common_data_ptr->transient_data.current_dist_buffer.min) { - return true; - } - - const auto current_pose = common_data_ptr->get_ego_pose(); - const auto dist_ego_to_obj = motion_utils::calcSignedArcLength( - current_lane_path.points, current_pose.position, leading_obj.initial_pose.position); - - if (dist_ego_to_obj < lane_change_path.info.length.lane_changing) { - return true; - } - - debug.second.unsafe_reason = "delay lane change"; - utils::path_safety_checker::updateCollisionCheckDebugMap(object_debug, debug, false); - return false; -} - -std::optional getLeadingStaticObjectIdx( - const RouteHandler & route_handler, const LaneChangePath & lane_change_path, - const std::vector & objects, - const double object_check_min_road_shoulder_width, const double object_shiftable_ratio_threshold) -{ - const auto & path = lane_change_path.path; - - if (path.points.empty() || objects.empty()) { - return {}; - } - - const auto & lane_change_start = lane_change_path.info.lane_changing_start; - const auto & path_end = path.points.back(); - - double dist_lc_start_to_leading_obj = 0.0; - std::optional leading_obj_idx = std::nullopt; - for (size_t obj_idx = 0; obj_idx < objects.size(); ++obj_idx) { - const auto & obj = objects.at(obj_idx); - const auto & obj_pose = obj.initial_pose; - - // ignore non-static object - // TODO(shimizu): parametrize threshold - const double obj_vel_norm = std::hypot(obj.initial_twist.linear.x, obj.initial_twist.linear.y); - if (obj_vel_norm > 1.0) { - continue; - } + const auto ego_vel = common_data_ptr->get_ego_speed(); + const auto min_lon_acc = common_data_ptr->lc_param_ptr->trajectory.min_longitudinal_acc; + const auto gap_threshold = std::abs((ego_vel * ego_vel) / (2 * min_lon_acc)); + auto is_sufficient_gap = [&gap_threshold](const auto & current_obj, const auto & next_obj) { + const auto curr_obj_half_length = current_obj.shape.dimensions.x; + const auto next_obj_half_length = next_obj.shape.dimensions.x; + const auto dist_current_to_next = next_obj.dist_from_ego - current_obj.dist_from_ego; + const auto gap_length = dist_current_to_next - curr_obj_half_length - next_obj_half_length; + return gap_length > gap_threshold; + }; - // ignore non-parked object - if (!isParkedObject( - path, route_handler, obj, object_check_min_road_shoulder_width, - object_shiftable_ratio_threshold)) { - continue; - } + for (auto it = target_objects.begin(); it < target_objects.end(); ++it) { + if (is_near_end(*it)) break; - const double dist_back_to_obj = autoware::motion_utils::calcSignedArcLength( - path.points, path_end.point.pose.position, obj_pose.position); - if (dist_back_to_obj > 0.0) { - // object is not on the lane change path - continue; - } + if (it->dist_from_ego < lane_change_path.info.length.lane_changing) continue; - const double dist_lc_start_to_obj = autoware::motion_utils::calcSignedArcLength( - path.points, lane_change_start.position, obj_pose.position); - if (dist_lc_start_to_obj < 0.0) { - // object is on the lane changing path or behind it. It will be detected in safety check + if ( + delay_lc_param.check_only_parked_vehicle && + !isParkedObject( + lane_change_path.path, *common_data_ptr->route_handler_ptr, *it, + delay_lc_param.min_road_shoulder_width, delay_lc_param.th_parked_vehicle_shift_ratio)) { continue; } - if (dist_lc_start_to_obj > dist_lc_start_to_leading_obj) { - dist_lc_start_to_leading_obj = dist_lc_start_to_obj; - leading_obj_idx = obj_idx; + auto next_it = std::next(it); + if (next_it == target_objects.end() || is_sufficient_gap(*it, *next_it)) { + auto debug = utils::path_safety_checker::createObjectDebug(*it); + debug.second.unsafe_reason = "delay lane change"; + utils::path_safety_checker::updateCollisionCheckDebugMap(object_debug, debug, false); + return true; } } - return leading_obj_idx; + return false; } lanelet::BasicPolygon2d create_polygon( From d3f3f65c0e79e9e7baf406ad201b87ec5a228bc6 Mon Sep 17 00:00:00 2001 From: Motz Date: Thu, 28 Nov 2024 13:09:07 +0900 Subject: [PATCH 576/701] chore(localization_evaluator): Add some maintainers (#9503) Signed-off-by: Motsu-san --- evaluator/localization_evaluator/package.xml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml index 49dd156f983b4..b9d6285a0f08c 100644 --- a/evaluator/localization_evaluator/package.xml +++ b/evaluator/localization_evaluator/package.xml @@ -6,6 +6,11 @@ Dominik Jargot Koji Minoda + Anh Nguyen + Masahiro Sakamoto + Shintaro Sakoda + Taiki Yamada + Yamato Ando Apache License 2.0 From b9dae3f171848645d53f50415c5e9d655c183326 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Thu, 28 Nov 2024 04:30:46 +0000 Subject: [PATCH 577/701] chore: update CODEOWNERS (#9366) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/CODEOWNERS | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index df6be468e726f..6ac99a0243921 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -24,8 +24,9 @@ common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.j common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -common/autoware_trajectory/** mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp yukinari.hisaki.2@tier4.jp +common/autoware_traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp common/autoware_traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp +common/autoware_trajectory/** mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp yukinari.hisaki.2@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp @@ -41,17 +42,16 @@ common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khal common/tier4_system_rviz_plugin/** koji.minoda@tier4.jp common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp -common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp tomohito.ando@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp zulfaqar.azmi@tier4.jp -control/autoware_mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/autoware_mpc_lateral_controller/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_operation_mode_transition_manager/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp control/autoware_pure_pursuit/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_shift_decider/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_smart_mpc_trajectory_follower/** kosuke.takeuchi@tier4.jp masayuki.aino@proxima-ai-tech.com takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @@ -63,7 +63,7 @@ control/predicted_path_checker/** berkay@leodrive.ai evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp evaluator/autoware_planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp temkei.kem@tier4.jp evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -evaluator/localization_evaluator/** dominik.jargot@robotec.ai koji.minoda@tier4.jp +evaluator/localization_evaluator/** anh.nguyen.2@tier4.jp dominik.jargot@robotec.ai koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp evaluator/scenario_simulator_v2_adapter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp @@ -97,14 +97,14 @@ localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuu localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -map/autoware_lanelet2_map_visualizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/autoware_lanelet2_map_visualizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp mamoru.sobue@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/autoware_map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp -perception/autoware_compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_crosswalk_traffic_light_estimator/** masato.saeki@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp perception/autoware_detected_object_feature_remover/** kotaro.uetake@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp perception/autoware_detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @@ -169,7 +169,7 @@ planning/behavior_path_planner/autoware_behavior_path_external_request_lane_chan planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_path_planner/autoware_behavior_path_lane_change_module/** alqudah.mohammad@tier4.jp fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_planner/autoware_behavior_path_planner/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp -planning/behavior_path_planner/autoware_behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp +planning/behavior_path_planner/autoware_behavior_path_planner_common/** alqudah.mohammad@tier4.jp daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp planning/behavior_path_planner/autoware_behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_path_planner/autoware_behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp @@ -185,7 +185,7 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_planner/** kosuke. planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp +planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp zhe.shen@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @@ -245,5 +245,6 @@ vehicle/autoware_accel_brake_map_calibrator/** eiki.nagata.2@tier4.jp taiki.tana vehicle/autoware_external_cmd_converter/** eiki.nagata.2@tier4.jp takamasa.horibe@tier4.jp vehicle/autoware_raw_vehicle_cmd_converter/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp sho.iwasawa.2@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp +visualization/autoware_pyplot/** mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp ### Copied from .github/CODEOWNERS-manual ### From 89c18006234c70b4bb8cd161d611cba9550dd759 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 28 Nov 2024 13:39:35 +0900 Subject: [PATCH 578/701] fix(autoware_elevation_map_loader): fix clang-diagnostic-format-security (#9492) Signed-off-by: kobayu858 --- .../src/elevation_map_loader_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp b/perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp index 969c287622757..20a19cee4de59 100644 --- a/perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp +++ b/perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp @@ -148,7 +148,7 @@ void ElevationMapLoaderNode::publish() is_bag_loaded = grid_map::GridMapRosConverter::loadFromBag( *data_manager_.elevation_map_path_, "elevation_map", elevation_map_); } catch (const std::runtime_error & e) { - RCLCPP_ERROR(this->get_logger(), e.what()); + RCLCPP_ERROR(this->get_logger(), "%s", e.what()); is_bag_loaded = false; } if (!is_bag_loaded) { From af8db0c712b300f6a3c78eb1237ec532e8289088 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 28 Nov 2024 14:12:45 +0900 Subject: [PATCH 579/701] fix(mission_planner): fix initialization after route set (#9457) Signed-off-by: Takagi, Isamu --- .../src/mission_planner/mission_planner.cpp | 32 ++++++++----------- .../src/mission_planner/mission_planner.hpp | 1 + 2 files changed, 15 insertions(+), 18 deletions(-) diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp index 467bc33d20a56..521beb8f7dcd5 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp @@ -81,6 +81,7 @@ MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options) // otherwise the mission planner rejects the request for the API. const auto period = rclcpp::Rate(10).period(); data_check_timer_ = create_wall_timer(period, [this] { check_initialization(); }); + is_mission_planner_ready_ = false; logger_configure_ = std::make_unique(this); pub_processing_time_ = @@ -122,6 +123,7 @@ void MissionPlanner::check_initialization() } // All data is ready. Now API is available. + is_mission_planner_ready_ = true; RCLCPP_DEBUG(logger, "Route API is ready."); change_state(RouteState::UNSET); @@ -185,12 +187,8 @@ void MissionPlanner::on_modified_goal(const PoseWithUuidStamped::ConstSharedPtr RCLCPP_ERROR(get_logger(), "The route hasn't set yet. Cannot reroute."); return; } - if (!planner_->ready()) { - RCLCPP_ERROR(get_logger(), "The planner is not ready."); - return; - } - if (!odometry_) { - RCLCPP_ERROR(get_logger(), "The vehicle pose is not received."); + if (!is_mission_planner_ready_) { + RCLCPP_ERROR(get_logger(), "The mission planner is not ready."); return; } if (!current_route_) { @@ -220,6 +218,12 @@ void MissionPlanner::on_modified_goal(const PoseWithUuidStamped::ConstSharedPtr void MissionPlanner::on_clear_route( const ClearRoute::Request::SharedPtr, const ClearRoute::Response::SharedPtr res) { + if (!is_mission_planner_ready_) { + using ResponseCode = autoware_adapi_v1_msgs::msg::ResponseStatus; + throw service_utils::ServiceException( + ResponseCode::NO_EFFECT, "The mission planner is not ready.", true); + } + change_route(); change_state(RouteState::UNSET); res->status.success = true; @@ -235,13 +239,9 @@ void MissionPlanner::on_set_lanelet_route( throw service_utils::ServiceException( ResponseCode::ERROR_INVALID_STATE, "The route cannot be set in the current state."); } - if (!planner_->ready()) { + if (!is_mission_planner_ready_) { throw service_utils::ServiceException( - ResponseCode::ERROR_PLANNER_UNREADY, "The planner is not ready."); - } - if (!odometry_) { - throw service_utils::ServiceException( - ResponseCode::ERROR_PLANNER_UNREADY, "The vehicle pose is not received."); + ResponseCode::ERROR_PLANNER_UNREADY, "The mission planner is not ready."); } if (is_reroute && !operation_mode_state_) { throw service_utils::ServiceException( @@ -302,13 +302,9 @@ void MissionPlanner::on_set_waypoint_route( throw service_utils::ServiceException( ResponseCode::ERROR_INVALID_STATE, "The route cannot be set in the current state."); } - if (!planner_->ready()) { - throw service_utils::ServiceException( - ResponseCode::ERROR_PLANNER_UNREADY, "The planner is not ready."); - } - if (!odometry_) { + if (!is_mission_planner_ready_) { throw service_utils::ServiceException( - ResponseCode::ERROR_PLANNER_UNREADY, "The vehicle pose is not received."); + ResponseCode::ERROR_PLANNER_UNREADY, "The mission planner is not ready."); } if (is_reroute && !operation_mode_state_) { throw service_utils::ServiceException( diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp index b0389c49bef33..987ca6482ec11 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp @@ -136,6 +136,7 @@ class MissionPlanner : public rclcpp::Node rclcpp::TimerBase::SharedPtr data_check_timer_; void check_initialization(); + bool is_mission_planner_ready_; double reroute_time_threshold_; double minimum_reroute_length_; From 562a49d63a8a581ffaa8e5a8967a896ad7381ca7 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Thu, 28 Nov 2024 14:53:32 +0900 Subject: [PATCH 580/701] feat(autoware_lidar_centerpoint): added a check to notify if we are dropping pillars (#9488) * feat: added a check to notify if we are dropping pillars Signed-off-by: Kenzo Lobos-Tsunekawa * chore: updated text Signed-off-by: Kenzo Lobos-Tsunekawa * chore: throttled the message Signed-off-by: Kenzo Lobos-Tsunekawa --------- Signed-off-by: Kenzo Lobos-Tsunekawa --- .../lib/centerpoint_trt.cpp | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/perception/autoware_lidar_centerpoint/lib/centerpoint_trt.cpp b/perception/autoware_lidar_centerpoint/lib/centerpoint_trt.cpp index 5f81b70ab6d15..6ee2b3733bdb0 100644 --- a/perception/autoware_lidar_centerpoint/lib/centerpoint_trt.cpp +++ b/perception/autoware_lidar_centerpoint/lib/centerpoint_trt.cpp @@ -135,8 +135,7 @@ bool CenterPointTRT::detect( cudaMemsetAsync(spatial_features_d_.get(), 0, spatial_features_size_ * sizeof(float), stream_)); if (!preprocess(input_pointcloud_msg, tf_buffer)) { - RCLCPP_WARN_STREAM( - rclcpp::get_logger("lidar_centerpoint"), "Fail to preprocess and skip to detect."); + RCLCPP_WARN(rclcpp::get_logger("lidar_centerpoint"), "Fail to preprocess and skip to detect."); return false; } @@ -144,6 +143,20 @@ bool CenterPointTRT::detect( postProcess(det_boxes3d); + // Check the actual number of pillars after inference to avoid unnecessary synchronization. + unsigned int num_pillars = 0; + CHECK_CUDA_ERROR( + cudaMemcpy(&num_pillars, num_voxels_d_.get(), sizeof(unsigned int), cudaMemcpyDeviceToHost)); + + if (num_pillars >= config_.max_voxel_size_) { + rclcpp::Clock clock{RCL_ROS_TIME}; + RCLCPP_WARN_THROTTLE( + rclcpp::get_logger("lidar_centerpoint"), clock, 1000, + "The actual number of pillars (%u) exceeds its maximum value (%zu). " + "Please considering increasing it since it may limit the detection performance.", + num_pillars, config_.max_voxel_size_); + } + return true; } From ecdb3f5db2d10b92bba747c08816f1b815b74559 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 28 Nov 2024 15:25:40 +0900 Subject: [PATCH 581/701] fix(autoware_tensorrt_common): fix clang-diagnostic-unused-private-field (#9493) Signed-off-by: kobayu858 --- .../include/autoware/tensorrt_common/tensorrt_common.hpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp index 6fb90d1415244..76a9fd8bab7a8 100644 --- a/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp +++ b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp @@ -222,8 +222,6 @@ class TrtCommon // NOLINT TrtUniquePtr context_; std::unique_ptr calibrator_; - nvinfer1::Dims input_dims_; - nvinfer1::Dims output_dims_; std::string precision_; BatchConfig batch_config_; size_t max_workspace_size_; From 710dacc4e7ba14b9c037a215a9408950f545cd21 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> Date: Thu, 28 Nov 2024 15:29:47 +0900 Subject: [PATCH 582/701] refactor(autoware_autonomous_emergency_braking): add getObjectOnPathData and getLongitudinalOffset functions (#9462) * feat(aeb): add getObjectOnPathData and getLongitudinalOffset functions Signed-off-by: kyoichi-sugahara --------- Signed-off-by: Kyoichi Sugahara --- .../autonomous_emergency_braking/utils.hpp | 23 ++++++ .../src/node.cpp | 66 +++++----------- .../src/utils.cpp | 50 +++++++++++++ .../test/test.cpp | 75 ++++++++++++++++++- 4 files changed, 166 insertions(+), 48 deletions(-) diff --git a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/utils.hpp b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/utils.hpp index 18f3716b755ee..3b1994481c8b1 100644 --- a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/utils.hpp +++ b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/utils.hpp @@ -15,9 +15,12 @@ #ifndef AUTOWARE__AUTONOMOUS_EMERGENCY_BRAKING__UTILS_HPP_ #define AUTOWARE__AUTONOMOUS_EMERGENCY_BRAKING__UTILS_HPP_ +#include "autoware/autonomous_emergency_braking/node.hpp" + #include #include +#include #include #include @@ -49,6 +52,26 @@ using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using geometry_msgs::msg::TransformStamped; +/** + * @brief Get the Object data of an obstacle inside the ego path + * @param path the ego path + * @param front_offset offset from ego baselink to front + * @param rear_offset offset from ego baselink to back + */ +std::optional getObjectOnPathData( + const std::vector & ego_path, const geometry_msgs::msg::Point & obj_position, + const rclcpp::Time & stamp, const double path_length, const double path_width, + const double path_expansion, const double longitudinal_offset, const double object_speed = 0.0); + +/** + * @brief Get the longitudinal offset based on vehicle traveling direction + * @param path the ego path + * @param front_offset offset from ego baselink to front + * @param rear_offset offset from ego baselink to back + */ +std::optional getLongitudinalOffset( + const std::vector & path, const double front_offset, const double rear_offset); + /** * @brief Apply a transform to a predicted object * @param input the predicted object diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index 7c4cf58cbc6e7..7d019023b1656 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -815,6 +815,13 @@ void AEB::createObjectDataUsingPredictedObjects( const auto transform_stamped_opt = utils::getTransform("base_link", predicted_objects_ptr_->header.frame_id, tf_buffer_, logger); if (!transform_stamped_opt.has_value()) return; + + const auto longitudinal_offset_opt = utils::getLongitudinalOffset( + ego_path, vehicle_info_.max_longitudinal_offset_m, vehicle_info_.rear_overhang_m); + + if (!longitudinal_offset_opt.has_value()) return; + const auto longitudinal_offset = longitudinal_offset_opt.value(); + // Check which objects collide with the ego footprints std::for_each(objects.begin(), objects.end(), [&](const auto & predicted_object) { // get objects in base_link frame @@ -842,10 +849,7 @@ void AEB::createObjectDataUsingPredictedObjects( // If the object is behind the ego, we need to use the backward long offset. The // distance should be a positive number in any case - const bool is_object_in_front_of_ego = obj_arc_length > 0.0; - const double dist_ego_to_object = - (is_object_in_front_of_ego) ? obj_arc_length - vehicle_info_.max_longitudinal_offset_m - : obj_arc_length + vehicle_info_.min_longitudinal_offset_m; + const double dist_ego_to_object = obj_arc_length - longitudinal_offset; ObjectData obj; obj.stamp = stamp; @@ -928,53 +932,21 @@ void AEB::getClosestObjectsOnPath( if (ego_path.size() < 2 || points_belonging_to_cluster_hulls->empty()) { return; } - const auto ego_is_driving_forward_opt = autoware::motion_utils::isDrivingForward(ego_path); - if (!ego_is_driving_forward_opt.has_value()) { - return; - } - const bool ego_is_driving_forward = ego_is_driving_forward_opt.value(); - // select points inside the ego footprint path - const auto current_p = [&]() { - const auto & first_point_of_path = ego_path.front(); - const auto & p = first_point_of_path.position; - return autoware::universe_utils::createPoint(p.x, p.y, p.z); - }(); + const auto longitudinal_offset_opt = utils::getLongitudinalOffset( + ego_path, vehicle_info_.max_longitudinal_offset_m, vehicle_info_.rear_overhang_m); + + if (!longitudinal_offset_opt.has_value()) return; + const auto longitudinal_offset = longitudinal_offset_opt.value(); const auto path_length = autoware::motion_utils::calcArcLength(ego_path); + const auto path_width = vehicle_info_.vehicle_width_m / 2.0 + expand_width_; + // select points inside the ego footprint path for (const auto & p : *points_belonging_to_cluster_hulls) { const auto obj_position = autoware::universe_utils::createPoint(p.x, p.y, p.z); - const double obj_arc_length = - autoware::motion_utils::calcSignedArcLength(ego_path, current_p, obj_position); - if ( - std::isnan(obj_arc_length) || - obj_arc_length > path_length + vehicle_info_.max_longitudinal_offset_m) - continue; - - // calculate the lateral offset between the ego vehicle and the object - const double lateral_offset = - std::abs(autoware::motion_utils::calcLateralOffset(ego_path, obj_position)); - - if (std::isnan(lateral_offset)) continue; - - // object is outside region of interest - if ( - lateral_offset > - vehicle_info_.vehicle_width_m / 2.0 + expand_width_ + speed_calculation_expansion_margin_) { - continue; - } - - // If the object is behind the ego, we need to use the backward long offset. The distance should - // be a positive number in any case - const double dist_ego_to_object = (ego_is_driving_forward) - ? obj_arc_length - vehicle_info_.max_longitudinal_offset_m - : obj_arc_length + vehicle_info_.min_longitudinal_offset_m; - ObjectData obj; - obj.stamp = stamp; - obj.position = obj_position; - obj.velocity = 0.0; - obj.distance_to_object = std::abs(dist_ego_to_object); - obj.is_target = (lateral_offset < vehicle_info_.vehicle_width_m / 2.0 + expand_width_); - objects.push_back(obj); + auto obj_data_opt = utils::getObjectOnPathData( + ego_path, obj_position, stamp, path_length, path_width, speed_calculation_expansion_margin_, + longitudinal_offset, 0.0); + if (obj_data_opt.has_value()) objects.push_back(obj_data_opt.value()); } } diff --git a/control/autoware_autonomous_emergency_braking/src/utils.cpp b/control/autoware_autonomous_emergency_braking/src/utils.cpp index 5d9782ada5fbd..9b9d09777e09e 100644 --- a/control/autoware_autonomous_emergency_braking/src/utils.cpp +++ b/control/autoware_autonomous_emergency_braking/src/utils.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include +#include #include #include @@ -27,6 +28,55 @@ using geometry_msgs::msg::Pose; using geometry_msgs::msg::TransformStamped; using geometry_msgs::msg::Vector3; +std::optional getObjectOnPathData( + const std::vector & ego_path, const geometry_msgs::msg::Point & obj_position, + const rclcpp::Time & stamp, const double path_length, const double path_width, + const double path_expansion, const double longitudinal_offset, const double object_speed) +{ + const auto current_p = [&]() { + const auto & p = ego_path.front().position; + return autoware::universe_utils::createPoint(p.x, p.y, p.z); + }(); + const double obj_arc_length = + autoware::motion_utils::calcSignedArcLength(ego_path, current_p, obj_position); + if ( + std::isnan(obj_arc_length) || obj_arc_length < 0.0 || + obj_arc_length > path_length + longitudinal_offset) { + return {}; + } + + // calculate the lateral offset between the ego vehicle and the object + const double lateral_offset = + std::abs(autoware::motion_utils::calcLateralOffset(ego_path, obj_position)); + + // object is outside region of interest + if (std::isnan(lateral_offset) || lateral_offset > path_width + path_expansion) { + return {}; + } + + // If the object is behind the ego, we need to use the backward long offset. The distance should + // be a positive number in any case + const double dist_ego_to_object = obj_arc_length - longitudinal_offset; + ObjectData obj; + obj.stamp = stamp; + obj.position = obj_position; + obj.velocity = object_speed; + obj.distance_to_object = std::abs(dist_ego_to_object); + obj.is_target = (lateral_offset < path_width); + return obj; +} + +std::optional getLongitudinalOffset( + const std::vector & ego_path, const double front_offset, const double rear_offset) +{ + const auto ego_is_driving_forward_opt = autoware::motion_utils::isDrivingForward(ego_path); + if (!ego_is_driving_forward_opt.has_value()) { + return {}; + } + const bool ego_is_driving_forward = ego_is_driving_forward_opt.value(); + return (ego_is_driving_forward) ? front_offset : rear_offset; +} + PredictedObject transformObjectFrame( const PredictedObject & input, const geometry_msgs::msg::TransformStamped & transform_stamped) { diff --git a/control/autoware_autonomous_emergency_braking/test/test.cpp b/control/autoware_autonomous_emergency_braking/test/test.cpp index 3c00a4e6b5caf..360e6f9877e06 100644 --- a/control/autoware_autonomous_emergency_braking/test/test.cpp +++ b/control/autoware_autonomous_emergency_braking/test/test.cpp @@ -21,12 +21,14 @@ #include #include +#include #include #include #include #include +#include #include #include @@ -126,6 +128,76 @@ TEST_F(TestAEB, checkCollision) ASSERT_FALSE(aeb_node_->hasCollision(longitudinal_velocity, object_no_collision)); } +TEST_F(TestAEB, getObjectOnPathData) +{ + constexpr double longitudinal_velocity = 3.0; + constexpr double yaw_rate = 0.0; + const auto imu_path = aeb_node_->generateEgoPath(longitudinal_velocity, yaw_rate); + ASSERT_FALSE(imu_path.empty()); + + const double path_width = 2.0; + const auto path_length = autoware::motion_utils::calcArcLength(imu_path); + ASSERT_TRUE( + path_length < aeb_node_->max_generated_imu_path_length_ + + aeb_node_->imu_prediction_time_interval_ * longitudinal_velocity + + std::numeric_limits::epsilon()); + + const auto stamp = rclcpp::Time(); + + const auto longitudinal_offset_opt = utils::getLongitudinalOffset(imu_path, 1.0, -1.0); + ASSERT_TRUE(longitudinal_offset_opt.has_value()); + const auto longitudinal_offset = longitudinal_offset_opt.value(); + ASSERT_DOUBLE_EQ(longitudinal_offset, 1.0); + + // Object in path if longitudinal_offset is considered + Point obj_position; + double path_expansion; + + { + obj_position.x = path_length + std::numeric_limits::epsilon(); + obj_position.y = 1.0; + path_expansion = 0.0; + auto obj_data_opt = utils::getObjectOnPathData( + imu_path, obj_position, stamp, path_length, path_width, path_expansion, longitudinal_offset, + 0.0); + ASSERT_TRUE(obj_data_opt.has_value()); + ASSERT_TRUE(obj_data_opt.value().is_target); + } + + // Object outside of path + { + obj_position.x = path_length + std::numeric_limits::epsilon(); + obj_position.y = 3.0; + path_expansion = 0.0; + auto obj_data_opt = utils::getObjectOnPathData( + imu_path, obj_position, stamp, path_length, path_width, path_expansion, longitudinal_offset, + 0.0); + ASSERT_FALSE(obj_data_opt.has_value()); + } + + // Object outside of path + { + obj_position.x = -1.0; + obj_position.y = 0.0; + path_expansion = 0.0; + auto obj_data_opt = utils::getObjectOnPathData( + imu_path, obj_position, stamp, path_length, path_width, path_expansion, longitudinal_offset, + 0.0); + ASSERT_FALSE(obj_data_opt.has_value()); + } + + // Object is covered by path expansion + { + obj_position.x = path_length + std::numeric_limits::epsilon(); + obj_position.y = 3.0; + path_expansion = 2.0; + auto obj_data_opt = utils::getObjectOnPathData( + imu_path, obj_position, stamp, path_length, path_width, 2.0, longitudinal_offset, 0.0); + ASSERT_TRUE(obj_data_opt.has_value()); + ASSERT_FALSE(obj_data_opt.value().is_target); + } +} + TEST_F(TestAEB, checkImuPathGeneration) { constexpr double longitudinal_velocity = 3.0; @@ -145,7 +217,7 @@ TEST_F(TestAEB, checkImuPathGeneration) pcl::PointCloud::Ptr obstacle_points_ptr = pcl::make_shared>(); { - const double x_start{0.0}; + const double x_start{0.5}; const double y_start{0.0}; for (size_t i = 0; i < 15; ++i) { @@ -162,6 +234,7 @@ TEST_F(TestAEB, checkImuPathGeneration) MarkerArray debug_markers; aeb_node_->getPointsBelongingToClusterHulls( obstacle_points_ptr, points_belonging_to_cluster_hulls, debug_markers); + ASSERT_FALSE(points_belonging_to_cluster_hulls->empty()); std::vector objects; aeb_node_->getClosestObjectsOnPath(imu_path, stamp, points_belonging_to_cluster_hulls, objects); ASSERT_FALSE(objects.empty()); From 659b6b3836406bc33f257798c1ae41374a72c501 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> Date: Thu, 28 Nov 2024 15:33:11 +0900 Subject: [PATCH 583/701] refactor(autoware_autonomous_emergency_braking): update longitudinal offset parameter name (#9463) Update the parameter name for the longitudinal offset distance used for collision check in the autonomous emergency braking control module. The parameter name has been changed from "longitudinal_offset" to "longitudinal_offset_margin" to better reflect its purpose. Signed-off-by: kyoichi-sugahara --- .../README.md | 2 +- .../autonomous_emergency_braking.param.yaml | 3 +- .../autonomous_emergency_braking/node.hpp | 3 +- .../src/node.cpp | 43 +++++++++++-------- 4 files changed, 31 insertions(+), 20 deletions(-) diff --git a/control/autoware_autonomous_emergency_braking/README.md b/control/autoware_autonomous_emergency_braking/README.md index d3ee7d4e1aa29..7133e4ea6b7f7 100644 --- a/control/autoware_autonomous_emergency_braking/README.md +++ b/control/autoware_autonomous_emergency_braking/README.md @@ -308,7 +308,7 @@ When vehicle odometry information is faulty, it is possible that the MPC fails t | min_generated_imu_path_length | [m] | double | minimum distance for a predicted path generated by sensors | 0.5 | | max_generated_imu_path_length | [m] | double | maximum distance for a predicted path generated by sensors | 10.0 | | expand_width | [m] | double | expansion width of the ego vehicle for collision checking, path cropping and speed calculation | 0.1 | -| longitudinal_offset | [m] | double | longitudinal offset distance for collision check | 2.0 | +| longitudinal_offset_margin | [m] | double | longitudinal offset distance for collision check | 2.0 | | t_response | [s] | double | response time for the ego to detect the front vehicle starting deceleration | 1.0 | | a_ego_min | [m/ss] | double | maximum deceleration value of the ego vehicle | -3.0 | | a_obj_min | [m/ss] | double | maximum deceleration value of objects | -3.0 | diff --git a/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml b/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml index 99ca4d4ef52cb..b23c3bbdd4d59 100644 --- a/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml +++ b/control/autoware_autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml @@ -4,6 +4,7 @@ use_predicted_trajectory: true use_imu_path: true limit_imu_path_lat_dev: false + limit_imu_path_length: true use_pointcloud_data: true use_predicted_object_data: false use_object_velocity_calculation: true @@ -39,7 +40,7 @@ maximum_cluster_size: 10000 # RSS distance collision check - longitudinal_offset: 1.0 + longitudinal_offset_margin: 1.0 t_response: 1.0 a_ego_min: -3.0 a_obj_min: -1.0 diff --git a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp index 96efb5dc9ff1f..3de8a52c70643 100644 --- a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp +++ b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp @@ -556,6 +556,7 @@ class AEB : public rclcpp::Node bool use_predicted_trajectory_; bool use_imu_path_; bool limit_imu_path_lat_dev_; + bool limit_imu_path_length_; bool use_pointcloud_data_; bool use_predicted_object_data_; bool use_object_velocity_calculation_; @@ -571,7 +572,7 @@ class AEB : public rclcpp::Node double min_generated_imu_path_length_; double max_generated_imu_path_length_; double expand_width_; - double longitudinal_offset_; + double longitudinal_offset_margin_; double t_response_; double a_ego_min_; double a_obj_min_; diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index 7d019023b1656..21a690cd0eec3 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -57,6 +57,16 @@ #include #endif +namespace +{ +using autoware::motion::control::autonomous_emergency_braking::colorTuple; +constexpr double MIN_MOVING_VELOCITY_THRESHOLD = 0.1; +// Sky blue (RGB: 0, 148, 205) - A medium-bright blue color +constexpr colorTuple IMU_PATH_COLOR = {0.0 / 256.0, 148.0 / 256.0, 205.0 / 256.0, 0.999}; +// Forest green (RGB: 0, 100, 0) - A deep, dark green color +constexpr colorTuple MPC_PATH_COLOR = {0.0 / 256.0, 100.0 / 256.0, 0.0 / 256.0, 0.999}; +} // namespace + namespace autoware::motion::control::autonomous_emergency_braking { using autoware::motion::control::autonomous_emergency_braking::utils::convertObjToPolygon; @@ -156,6 +166,7 @@ AEB::AEB(const rclcpp::NodeOptions & node_options) use_predicted_trajectory_ = declare_parameter("use_predicted_trajectory"); use_imu_path_ = declare_parameter("use_imu_path"); limit_imu_path_lat_dev_ = declare_parameter("limit_imu_path_lat_dev"); + limit_imu_path_length_ = declare_parameter("limit_imu_path_length"); use_pointcloud_data_ = declare_parameter("use_pointcloud_data"); use_predicted_object_data_ = declare_parameter("use_predicted_object_data"); use_object_velocity_calculation_ = declare_parameter("use_object_velocity_calculation"); @@ -173,7 +184,7 @@ AEB::AEB(const rclcpp::NodeOptions & node_options) min_generated_imu_path_length_ = declare_parameter("min_generated_imu_path_length"); max_generated_imu_path_length_ = declare_parameter("max_generated_imu_path_length"); expand_width_ = declare_parameter("expand_width"); - longitudinal_offset_ = declare_parameter("longitudinal_offset"); + longitudinal_offset_margin_ = declare_parameter("longitudinal_offset_margin"); t_response_ = declare_parameter("t_response"); a_ego_min_ = declare_parameter("a_ego_min"); a_obj_min_ = declare_parameter("a_obj_min"); @@ -220,6 +231,7 @@ rcl_interfaces::msg::SetParametersResult AEB::onParameter( updateParam(parameters, "use_predicted_trajectory", use_predicted_trajectory_); updateParam(parameters, "use_imu_path", use_imu_path_); updateParam(parameters, "limit_imu_path_lat_dev", limit_imu_path_lat_dev_); + updateParam(parameters, "limit_imu_path_length", limit_imu_path_length_); updateParam(parameters, "use_pointcloud_data", use_pointcloud_data_); updateParam(parameters, "use_predicted_object_data", use_predicted_object_data_); updateParam( @@ -238,7 +250,7 @@ rcl_interfaces::msg::SetParametersResult AEB::onParameter( updateParam(parameters, "min_generated_imu_path_length", min_generated_imu_path_length_); updateParam(parameters, "max_generated_imu_path_length", max_generated_imu_path_length_); updateParam(parameters, "expand_width", expand_width_); - updateParam(parameters, "longitudinal_offset", longitudinal_offset_); + updateParam(parameters, "longitudinal_offset_margin", longitudinal_offset_margin_); updateParam(parameters, "t_response", t_response_); updateParam(parameters, "a_ego_min", a_ego_min_); updateParam(parameters, "a_obj_min", a_obj_min_); @@ -460,9 +472,8 @@ bool AEB::checkCollision(MarkerArray & debug_markers) } // step2. create velocity data check if the vehicle stops or not - constexpr double min_moving_velocity_th{0.1}; const double current_v = current_velocity_ptr_->longitudinal_velocity; - if (std::abs(current_v) < min_moving_velocity_th) { + if (std::abs(current_v) < MIN_MOVING_VELOCITY_THRESHOLD) { return false; } @@ -570,18 +581,16 @@ bool AEB::checkCollision(MarkerArray & debug_markers) getPointsBelongingToClusterHulls( filtered_objects, points_belonging_to_cluster_hulls, debug_markers); - const auto imu_path_objects = (!use_imu_path_ || !angular_velocity_ptr_) - ? std::vector{} - : get_objects_on_path( - ego_imu_path, points_belonging_to_cluster_hulls, - {0.0 / 256.0, 148.0 / 256.0, 205.0 / 256.0, 0.999}, "imu"); + const auto imu_path_objects = + (!use_imu_path_ || !angular_velocity_ptr_) + ? std::vector{} + : get_objects_on_path(ego_imu_path, points_belonging_to_cluster_hulls, IMU_PATH_COLOR, "imu"); const auto mpc_path_objects = (!use_predicted_trajectory_ || !predicted_traj_ptr_ || !ego_mpc_path.has_value()) ? std::vector{} : get_objects_on_path( - ego_mpc_path.value(), points_belonging_to_cluster_hulls, - {0.0 / 256.0, 100.0 / 256.0, 0.0 / 256.0, 0.999}, "mpc"); + ego_mpc_path.value(), points_belonging_to_cluster_hulls, MPC_PATH_COLOR, "mpc"); // merge object data which comes from the ego (imu) path and predicted path auto merge_objects = @@ -632,7 +641,7 @@ bool AEB::hasCollision(const double current_v, const ObjectData & closest_object const double obj_braking_distance = (obj_v > 0.0) ? -(obj_v * obj_v) / (2 * std::fabs(a_obj_min_)) : (obj_v * obj_v) / (2 * std::fabs(a_obj_min_)); - return ego_stopping_distance + obj_braking_distance + longitudinal_offset_; + return ego_stopping_distance + obj_braking_distance + longitudinal_offset_margin_; }); tier4_debug_msgs::msg::Float32Stamped rss_distance_msg; @@ -655,10 +664,9 @@ Path AEB::generateEgoPath(const double curr_v, const double curr_w) const double & dt = imu_prediction_time_interval_; const double distance_between_points = std::abs(curr_v) * dt; constexpr double minimum_distance_between_points{1e-2}; - // if current velocity is too small, assume it stops at the same point // if distance between points is too small, arc length calculation is unreliable, so we skip // creating the path - if (std::abs(curr_v) < 0.1 || distance_between_points < minimum_distance_between_points) { + if (distance_between_points < minimum_distance_between_points) { return {}; } @@ -700,7 +708,8 @@ Path AEB::generateEgoPath(const double curr_v, const double curr_w) const bool basic_path_conditions_satisfied = (t > horizon) && (path_arc_length > min_generated_imu_path_length_); - const bool path_length_threshold_surpassed = path_arc_length > max_generated_imu_path_length_; + const bool path_length_threshold_surpassed = + limit_imu_path_length_ && path_arc_length > max_generated_imu_path_length_; const bool lat_dev_threshold_surpassed = limit_imu_path_lat_dev_ && std::abs(edge_of_ego_vehicle.y) > imu_path_lat_dev_threshold_; @@ -1073,9 +1082,9 @@ void AEB::addVirtualStopWallMarker(MarkerArray & markers) }); if (ego_map_pose.has_value()) { - const double base_to_front_offset = vehicle_info_.max_longitudinal_offset_m; + const double base_link_to_front_offset = vehicle_info_.max_longitudinal_offset_m; const auto ego_front_pose = autoware::universe_utils::calcOffsetPose( - ego_map_pose.value(), base_to_front_offset, 0.0, 0.0, 0.0); + ego_map_pose.value(), base_link_to_front_offset, 0.0, 0.0, 0.0); const auto virtual_stop_wall = autoware::motion_utils::createStopVirtualWallMarker( ego_front_pose, "autonomous_emergency_braking", this->now(), 0); autoware::universe_utils::appendMarkerArray(virtual_stop_wall, &markers); From 64faa5c255bdaa905b008fdaae0d59aa164fe83d Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 28 Nov 2024 16:11:04 +0900 Subject: [PATCH 584/701] fix(autoware_traffic_light_classifier): fix clang-diagnostic-delete-abstract-non-virtual-dtor (#9497) fix: clang-diagnostic-delete-abstract-non-virtual-dtor Signed-off-by: kobayu858 --- .../src/classifier/classifier_interface.hpp | 1 + 1 file changed, 1 insertion(+) diff --git a/perception/autoware_traffic_light_classifier/src/classifier/classifier_interface.hpp b/perception/autoware_traffic_light_classifier/src/classifier/classifier_interface.hpp index cff5828a5b00f..a6b1f8413b1a3 100644 --- a/perception/autoware_traffic_light_classifier/src/classifier/classifier_interface.hpp +++ b/perception/autoware_traffic_light_classifier/src/classifier/classifier_interface.hpp @@ -27,6 +27,7 @@ namespace autoware::traffic_light class ClassifierInterface { public: + virtual ~ClassifierInterface() = default; virtual bool getTrafficSignals( const std::vector & input_image, tier4_perception_msgs::msg::TrafficLightArray & traffic_signals) = 0; From 9d8bd0c0f07c751c3d9973ddf7f13cc48644dff1 Mon Sep 17 00:00:00 2001 From: stevenbrills <90438581+stevenbrills@users.noreply.github.com> Date: Thu, 28 Nov 2024 02:34:41 -0500 Subject: [PATCH 585/701] fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (#9152) * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. * style(pre-commit): autofix * Updated the freespace planner instantiation call in the path planning modules * style(pre-commit): autofix * Updated tests for the utility functions * style(pre-commit): autofix --------- Co-authored-by: Steven Brills Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../autoware/freespace_planner/utils.hpp | 6 ++-- .../freespace_planner_node.cpp | 8 ++--- .../src/autoware_freespace_planner/utils.cpp | 10 +++--- .../test/test_freespace_planner.cpp | 6 ++-- .../test/test_freespace_planner_utils.cpp | 9 +++--- .../abstract_algorithm.hpp | 17 +++++++--- .../astar_search.hpp | 6 +++- .../freespace_planning_algorithms/rrtstar.hpp | 5 +-- .../src/astar_search.cpp | 31 +++++++++++++++++-- .../src/rrtstar.cpp | 15 ++++----- .../test_freespace_planning_algorithms.cpp | 9 ++++-- .../pull_over_planner/freespace_pull_over.cpp | 7 +++-- .../src/freespace_pull_out.cpp | 7 +++-- 13 files changed, 96 insertions(+), 40 deletions(-) diff --git a/planning/autoware_freespace_planner/include/autoware/freespace_planner/utils.hpp b/planning/autoware_freespace_planner/include/autoware/freespace_planner/utils.hpp index 4a7f3b1cd6c2b..1f2347958cfd2 100644 --- a/planning/autoware_freespace_planner/include/autoware/freespace_planner/utils.hpp +++ b/planning/autoware_freespace_planner/include/autoware/freespace_planner/utils.hpp @@ -58,13 +58,15 @@ size_t get_next_target_index( const size_t current_target_index); Trajectory get_partial_trajectory( - const Trajectory & trajectory, const size_t start_index, const size_t end_index); + const Trajectory & trajectory, const size_t start_index, const size_t end_index, + const rclcpp::Clock::SharedPtr clock); Trajectory create_trajectory( const PoseStamped & current_pose, const PlannerWaypoints & planner_waypoints, const double & velocity); -Trajectory create_stop_trajectory(const PoseStamped & current_pose); +Trajectory create_stop_trajectory( + const PoseStamped & current_pose, const rclcpp::Clock::SharedPtr clock); Trajectory create_stop_trajectory(const Trajectory & trajectory); diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp index f968d668223e0..a937114e653c6 100644 --- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp @@ -168,8 +168,8 @@ bool FreespacePlannerNode::checkCurrentTrajectoryCollision() const size_t nearest_index_partial = autoware::motion_utils::findNearestIndex( partial_trajectory_.points, current_pose_.pose.position); const size_t end_index_partial = partial_trajectory_.points.size() - 1; - const auto forward_trajectory = - utils::get_partial_trajectory(partial_trajectory_, nearest_index_partial, end_index_partial); + const auto forward_trajectory = utils::get_partial_trajectory( + partial_trajectory_, nearest_index_partial, end_index_partial, get_clock()); const bool is_obs_found = algo_->hasObstacleOnTrajectory(utils::trajectory_to_pose_array(forward_trajectory)); @@ -316,7 +316,7 @@ void FreespacePlannerNode::onTimer() // stops. if (!is_new_parking_cycle_) { const auto stop_trajectory = partial_trajectory_.points.empty() - ? utils::create_stop_trajectory(current_pose_) + ? utils::create_stop_trajectory(current_pose_, get_clock()) : utils::create_stop_trajectory(partial_trajectory_); trajectory_pub_->publish(stop_trajectory); debug_pose_array_pub_->publish(utils::trajectory_to_pose_array(stop_trajectory)); @@ -352,7 +352,7 @@ void FreespacePlannerNode::onTimer() // Update partial trajectory updateTargetIndex(); partial_trajectory_ = - utils::get_partial_trajectory(trajectory_, prev_target_index_, target_index_); + utils::get_partial_trajectory(trajectory_, prev_target_index_, target_index_, get_clock()); // Publish messages trajectory_pub_->publish(partial_trajectory_); diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp index ef22a21d33eb1..2e0c461ae71c0 100644 --- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp @@ -87,11 +87,12 @@ size_t get_next_target_index( } Trajectory get_partial_trajectory( - const Trajectory & trajectory, const size_t start_index, const size_t end_index) + const Trajectory & trajectory, const size_t start_index, const size_t end_index, + const rclcpp::Clock::SharedPtr clock) { Trajectory partial_trajectory; partial_trajectory.header = trajectory.header; - partial_trajectory.header.stamp = rclcpp::Clock().now(); + partial_trajectory.header.stamp = clock->now(); partial_trajectory.points.reserve(trajectory.points.size()); for (size_t i = start_index; i <= end_index; ++i) { @@ -134,12 +135,13 @@ Trajectory create_trajectory( return trajectory; } -Trajectory create_stop_trajectory(const PoseStamped & current_pose) +Trajectory create_stop_trajectory( + const PoseStamped & current_pose, const rclcpp::Clock::SharedPtr clock) { PlannerWaypoints waypoints; PlannerWaypoint waypoint; - waypoints.header.stamp = rclcpp::Clock().now(); + waypoints.header.stamp = clock->now(); waypoints.header.frame_id = current_pose.header.frame_id; waypoint.pose.header = waypoints.header; waypoint.pose.pose = current_pose.pose; diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner.cpp index 37ea52c07734b..add449c66eb0d 100644 --- a/planning/autoware_freespace_planner/test/test_freespace_planner.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner.cpp @@ -134,7 +134,8 @@ class TestFreespacePlanner : public ::testing::Test freespace_planner_->reversing_indices_ = reversing_indices; freespace_planner_->partial_trajectory_ = autoware::freespace_planner::utils::get_partial_trajectory( - trajectory_, 0, reversing_indices.front()); + trajectory_, 0, reversing_indices.front(), + std::make_shared(RCL_SYSTEM_TIME)); freespace_planner_->current_pose_.pose = trajectory_.points.front().pose; if (colliding) { @@ -161,7 +162,8 @@ class TestFreespacePlanner : public ::testing::Test trajectory_.points.size(), reversing_indices, freespace_planner_->prev_target_index_); freespace_planner_->partial_trajectory_ = autoware::freespace_planner::utils::get_partial_trajectory( - trajectory_, freespace_planner_->prev_target_index_, freespace_planner_->target_index_); + trajectory_, freespace_planner_->prev_target_index_, freespace_planner_->target_index_, + std::make_shared(RCL_SYSTEM_TIME)); Odometry odom; odom.pose.pose = trajectory_.points.front().pose; diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp index 7c795a8eb7b85..534278a3b8dc8 100644 --- a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp @@ -229,9 +229,8 @@ TEST(FreespacePlannerUtilsTest, testGetPartialTrajectory) autoware::freespace_planner::utils::get_reversing_indices(trajectory); ASSERT_EQ(reversing_indices.size(), 2ul); - auto partial_traj = autoware::freespace_planner::utils::get_partial_trajectory( - trajectory, 0ul, reversing_indices.front()); + trajectory, 0ul, reversing_indices.front(), std::make_shared(RCL_SYSTEM_TIME)); ASSERT_FALSE(partial_traj.points.empty()); auto expected_size = reversing_indices.front() + 1ul; EXPECT_EQ(partial_traj.points.size(), expected_size); @@ -239,7 +238,8 @@ TEST(FreespacePlannerUtilsTest, testGetPartialTrajectory) EXPECT_FLOAT_EQ(partial_traj.points.back().longitudinal_velocity_mps, 0.0); partial_traj = autoware::freespace_planner::utils::get_partial_trajectory( - trajectory, reversing_indices.front(), reversing_indices.back()); + trajectory, reversing_indices.front(), reversing_indices.back(), + std::make_shared(RCL_SYSTEM_TIME)); ASSERT_FALSE(partial_traj.points.empty()); expected_size = reversing_indices.back() - reversing_indices.front() + 1ul; EXPECT_EQ(partial_traj.points.size(), expected_size); @@ -271,7 +271,8 @@ TEST(FreespacePlannerUtilsTest, testCreateStopTrajectory) geometry_msgs::msg::PoseStamped current_pose; current_pose.pose.position.x = 1.0; - auto stop_traj = autoware::freespace_planner::utils::create_stop_trajectory(current_pose); + auto stop_traj = autoware::freespace_planner::utils::create_stop_trajectory( + current_pose, std::make_shared(RCL_SYSTEM_TIME)); EXPECT_EQ(stop_traj.points.size(), 1ul); if (!stop_traj.points.empty()) { EXPECT_DOUBLE_EQ(stop_traj.points.front().pose.position.x, 1.0); diff --git a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp index 8a4d6bf2e42b5..52b6b404ba6eb 100644 --- a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp +++ b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp @@ -158,8 +158,11 @@ class AbstractPlanningAlgorithm { public: AbstractPlanningAlgorithm( - const PlannerCommonParam & planner_common_param, const VehicleShape & collision_vehicle_shape) - : planner_common_param_(planner_common_param), collision_vehicle_shape_(collision_vehicle_shape) + const PlannerCommonParam & planner_common_param, const rclcpp::Clock::SharedPtr & clock, + const VehicleShape & collision_vehicle_shape) + : planner_common_param_(planner_common_param), + collision_vehicle_shape_(collision_vehicle_shape), + clock_(clock) { planner_common_param_.turning_steps = std::max(planner_common_param_.turning_steps, 1); collision_vehicle_shape_.max_steering *= planner_common_param_.max_turning_ratio; @@ -168,8 +171,11 @@ class AbstractPlanningAlgorithm AbstractPlanningAlgorithm( const PlannerCommonParam & planner_common_param, - const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double margin = 0.0) - : planner_common_param_(planner_common_param), collision_vehicle_shape_(vehicle_info, margin) + const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, + const rclcpp::Clock::SharedPtr & clock, const double margin = 0.0) + : planner_common_param_(planner_common_param), + collision_vehicle_shape_(vehicle_info, margin), + clock_(clock) { planner_common_param_.turning_steps = std::max(planner_common_param_.turning_steps, 1); collision_vehicle_shape_.max_steering *= planner_common_param_.max_turning_ratio; @@ -270,6 +276,9 @@ class AbstractPlanningAlgorithm PlannerCommonParam planner_common_param_; VehicleShape collision_vehicle_shape_; + // Pointer to the parent Node + rclcpp::Clock::SharedPtr clock_; + // costmap as occupancy grid nav_msgs::msg::OccupancyGrid costmap_; diff --git a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/astar_search.hpp b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/astar_search.hpp index 65ef53d820cba..cd4ad9d4d6413 100644 --- a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/astar_search.hpp +++ b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/astar_search.hpp @@ -98,6 +98,9 @@ class AstarSearch : public AbstractPlanningAlgorithm const PlannerCommonParam & planner_common_param, const VehicleShape & collision_vehicle_shape, const AstarParam & astar_param); + AstarSearch( + const PlannerCommonParam & planner_common_param, const VehicleShape & collision_vehicle_shape, + const AstarParam & astar_param, const rclcpp::Clock::SharedPtr & clock); AstarSearch( const PlannerCommonParam & planner_common_param, const VehicleShape & collision_vehicle_shape, rclcpp::Node & node) @@ -113,7 +116,8 @@ class AstarSearch : public AbstractPlanningAlgorithm node.declare_parameter("astar.distance_heuristic_weight"), node.declare_parameter("astar.smoothness_weight"), node.declare_parameter("astar.obstacle_distance_weight"), - node.declare_parameter("astar.goal_lat_distance_weight")}) + node.declare_parameter("astar.goal_lat_distance_weight")}, + node.get_clock()) { } diff --git a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp index 1bdc7105067d4..8f0ff9a677ebd 100644 --- a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp +++ b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp @@ -39,7 +39,7 @@ class RRTStar : public AbstractPlanningAlgorithm public: RRTStar( const PlannerCommonParam & planner_common_param, const VehicleShape & original_vehicle_shape, - const RRTStarParam & rrtstar_param); + const RRTStarParam & rrtstar_param, const rclcpp::Clock::SharedPtr & clock); RRTStar( const PlannerCommonParam & planner_common_param, const VehicleShape & original_vehicle_shape, @@ -51,7 +51,8 @@ class RRTStar : public AbstractPlanningAlgorithm node.declare_parameter("rrtstar.use_informed_sampling"), node.declare_parameter("rrtstar.max_planning_time"), node.declare_parameter("rrtstar.neighbor_radius"), - node.declare_parameter("rrtstar.margin")}) + node.declare_parameter("rrtstar.margin")}, + node.get_clock()) { } diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp index 875d44847b40c..3fecf800f1bf6 100644 --- a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp @@ -67,7 +67,34 @@ Pose calcRelativePose(const Pose & base_pose, const Pose & pose) AstarSearch::AstarSearch( const PlannerCommonParam & planner_common_param, const VehicleShape & collision_vehicle_shape, const AstarParam & astar_param) -: AbstractPlanningAlgorithm(planner_common_param, collision_vehicle_shape), +: AbstractPlanningAlgorithm( + planner_common_param, std::make_shared(RCL_ROS_TIME), collision_vehicle_shape), + astar_param_(astar_param), + goal_node_(nullptr), + use_reeds_shepp_(true) +{ + steering_resolution_ = + collision_vehicle_shape_.max_steering / planner_common_param_.turning_steps; + heading_resolution_ = 2.0 * M_PI / planner_common_param_.theta_size; + + const double avg_steering = + steering_resolution_ + (collision_vehicle_shape_.max_steering - steering_resolution_) / 2.0; + avg_turning_radius_ = + kinematic_bicycle_model::getTurningRadius(collision_vehicle_shape_.base_length, avg_steering); + + is_backward_search_ = astar_param_.search_method == "backward"; + + min_expansion_dist_ = astar_param_.expansion_distance; + max_expansion_dist_ = collision_vehicle_shape_.base_length * base_length_max_expansion_factor_; + + near_goal_dist_ = + std::max(astar_param.near_goal_distance, planner_common_param.longitudinal_goal_range); +} + +AstarSearch::AstarSearch( + const PlannerCommonParam & planner_common_param, const VehicleShape & collision_vehicle_shape, + const AstarParam & astar_param, const rclcpp::Clock::SharedPtr & clock) +: AbstractPlanningAlgorithm(planner_common_param, clock, collision_vehicle_shape), astar_param_(astar_param), goal_node_(nullptr), use_reeds_shepp_(true) @@ -399,7 +426,7 @@ double AstarSearch::getLatDistanceCost(const Pose & pose) const void AstarSearch::setPath(const AstarNode & goal_node) { std_msgs::msg::Header header; - header.stamp = rclcpp::Clock(RCL_ROS_TIME).now(); + header.stamp = clock_->now(); header.frame_id = costmap_.header.frame_id; // From the goal node to the start node diff --git a/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp b/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp index 696d04a06cb28..000b118214d9e 100644 --- a/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp @@ -26,13 +26,14 @@ rrtstar_core::Pose poseMsgToPose(const geometry_msgs::msg::Pose & pose_msg) RRTStar::RRTStar( const PlannerCommonParam & planner_common_param, const VehicleShape & original_vehicle_shape, - const RRTStarParam & rrtstar_param) + const RRTStarParam & rrtstar_param, const rclcpp::Clock::SharedPtr & clock) : AbstractPlanningAlgorithm( - planner_common_param, VehicleShape( - original_vehicle_shape.length + 2 * rrtstar_param.margin, - original_vehicle_shape.width + 2 * rrtstar_param.margin, - original_vehicle_shape.base_length, original_vehicle_shape.max_steering, - original_vehicle_shape.base2back + rrtstar_param.margin)), + planner_common_param, clock, + VehicleShape( + original_vehicle_shape.length + 2 * rrtstar_param.margin, + original_vehicle_shape.width + 2 * rrtstar_param.margin, original_vehicle_shape.base_length, + original_vehicle_shape.max_steering, + original_vehicle_shape.base2back + rrtstar_param.margin)), rrtstar_param_(rrtstar_param) { if (rrtstar_param_.margin <= 0) { @@ -129,7 +130,7 @@ bool RRTStar::hasObstacleOnTrajectory(const geometry_msgs::msg::PoseArray & traj void RRTStar::setRRTPath(const std::vector & waypoints) { std_msgs::msg::Header header; - header.stamp = rclcpp::Clock(RCL_ROS_TIME).now(); + header.stamp = clock_->now(); header.frame_id = costmap_.header.frame_id; waypoints_.header = header; diff --git a/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp b/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp index 2b2254d66c844..a2ed4c3e7e0fc 100644 --- a/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp +++ b/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp @@ -231,7 +231,9 @@ std::unique_ptr configure_astar(bool use_multi) obstacle_distance_weight, goal_lat_distance_weight}; - auto algo = std::make_unique(planner_common_param, vehicle_shape, astar_param); + auto clock_shrd_ptr = std::make_shared(RCL_ROS_TIME); + auto algo = std::make_unique( + planner_common_param, vehicle_shape, astar_param, clock_shrd_ptr); return algo; } @@ -244,7 +246,10 @@ std::unique_ptr configure_rrtstar(bool informed, const double margin = 0.2; const double max_planning_time = 200; const auto rrtstar_param = fpa::RRTStarParam{update, informed, max_planning_time, mu, margin}; - auto algo = std::make_unique(planner_common_param, vehicle_shape, rrtstar_param); + + auto clock_shrd_ptr = std::make_shared(RCL_ROS_TIME); + auto algo = std::make_unique( + planner_common_param, vehicle_shape, rrtstar_param, clock_shrd_ptr); return algo; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp index 452090571ac45..b51d5df42c75b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp @@ -48,11 +48,12 @@ FreespacePullOver::FreespacePullOver( vehicle_info, parameters.vehicle_shape_margin); if (parameters.freespace_parking_algorithm == "astar") { planner_ = std::make_unique( - parameters.freespace_parking_common_parameters, vehicle_shape, parameters.astar_parameters); + parameters.freespace_parking_common_parameters, vehicle_shape, parameters.astar_parameters, + node.get_clock()); } else if (parameters.freespace_parking_algorithm == "rrtstar") { planner_ = std::make_unique( - parameters.freespace_parking_common_parameters, vehicle_shape, - parameters.rrt_star_parameters); + parameters.freespace_parking_common_parameters, vehicle_shape, parameters.rrt_star_parameters, + node.get_clock()); } } diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp index c3f5e8883c284..f257904e141b6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp @@ -38,12 +38,13 @@ FreespacePullOut::FreespacePullOut( if (parameters.freespace_planner_algorithm == "astar") { use_back_ = parameters.astar_parameters.use_back; planner_ = std::make_unique( - parameters.freespace_planner_common_parameters, vehicle_shape, parameters.astar_parameters); + parameters.freespace_planner_common_parameters, vehicle_shape, parameters.astar_parameters, + node.get_clock()); } else if (parameters.freespace_planner_algorithm == "rrtstar") { use_back_ = true; // no option for disabling back in rrtstar planner_ = std::make_unique( - parameters.freespace_planner_common_parameters, vehicle_shape, - parameters.rrt_star_parameters); + parameters.freespace_planner_common_parameters, vehicle_shape, parameters.rrt_star_parameters, + node.get_clock()); } } From 62e9aa877ae9957af6c3c9d6167ba564484ef780 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 28 Nov 2024 16:42:29 +0900 Subject: [PATCH 586/701] fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (#9507) fix: clang-diagnostic-sign-conversion Signed-off-by: kobayu858 --- .../src/decorative_tracker_merger_node.cpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp b/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp index 55d31a1b890cd..eab815969ac9a 100644 --- a/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp +++ b/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp @@ -57,7 +57,8 @@ Eigen::MatrixXd calcScoreMatrixForAssociation( const rclcpp::Time current_time = rclcpp::Time(objects0.header.stamp); // calc score matrix - Eigen::MatrixXd score_matrix = Eigen::MatrixXd::Zero(trackers.size(), objects0.objects.size()); + Eigen::MatrixXd score_matrix = Eigen::MatrixXd::Zero( + static_cast(trackers.size()), static_cast(objects0.objects.size())); for (size_t trackers_idx = 0; trackers_idx < trackers.size(); ++trackers_idx) { const auto & tracker_obj = trackers.at(trackers_idx); const auto & object1 = tracker_obj.getObject(); @@ -77,7 +78,8 @@ Eigen::MatrixXd calcScoreMatrixForAssociation( } else { score = data_association_map.at("lidar-radar")->calcScoreBetweenObjects(object0, object1); } - score_matrix(trackers_idx, objects0_idx) = score; + score_matrix( + static_cast(trackers_idx), static_cast(objects0_idx)) = score; } } return score_matrix; @@ -316,9 +318,11 @@ bool DecorativeTrackerMergerNode::decorativeMerger( // look for tracker for (int tracker_idx = 0; tracker_idx < static_cast(inner_tracker_objects_.size()); ++tracker_idx) { - auto & object0_state = inner_tracker_objects_.at(tracker_idx); + auto & object0_state = + inner_tracker_objects_.at(static_cast::size_type>(tracker_idx)); if (direct_assignment.find(tracker_idx) != direct_assignment.end()) { // found and merge - const auto & object1 = objects1.at(direct_assignment.at(tracker_idx)); + const auto & object1 = + objects1.at(static_cast::size_type>(direct_assignment.at(tracker_idx))); // merge object1 into object0_state object0_state.updateState(input_sensor, current_time, object1); } else { // not found @@ -328,7 +332,7 @@ bool DecorativeTrackerMergerNode::decorativeMerger( } // look for new object for (int object1_idx = 0; object1_idx < static_cast(objects1.size()); ++object1_idx) { - const auto & object1 = objects1.at(object1_idx); + const auto & object1 = objects1.at(static_cast::size_type>(object1_idx)); if (reverse_assignment.find(object1_idx) != reverse_assignment.end()) { // found } else { // not found inner_tracker_objects_.push_back(createNewTracker(input_sensor, current_time, object1)); From 1e372668b68676f9e2dc92613e5765654bb352e7 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 28 Nov 2024 17:16:24 +0900 Subject: [PATCH 587/701] fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-unused-variable (#9401) Signed-off-by: kobayu858 --- .../autoware_behavior_path_lane_change_module/src/scene.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index c6d8248be134c..1c2e6ba1c5b85 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -1143,7 +1143,6 @@ std::vector NormalLaneChange::get_lane_changing_metrics( const PathWithLaneId & prep_segment, const LaneChangePhaseMetrics & prep_metric, const double shift_length, const double dist_to_reg_element) const { - const auto & route_handler = getRouteHandler(); const auto & transient_data = common_data_ptr_->transient_data; const auto dist_lc_start_to_end_of_lanes = calculation::calc_dist_from_pose_to_terminal_end( common_data_ptr_, common_data_ptr_->lanes_ptr->target_neighbor, From 210ff63ea059cd22007c61e630d217e545e85d12 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 28 Nov 2024 17:26:41 +0900 Subject: [PATCH 588/701] fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (#9510) Signed-off-by: kobayu858 --- .../image_projection_based_fusion/roi_cluster_fusion/node.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp index abececee35c25..2c0283a190023 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp @@ -54,7 +54,7 @@ class RoiClusterFusionNode double trust_object_distance_; std::string non_trust_object_iou_mode_{"iou_x"}; bool is_far_enough(const DetectedObjectWithFeature & obj, const double distance_threshold); - bool out_of_scope(const DetectedObjectWithFeature & obj); + bool out_of_scope(const DetectedObjectWithFeature & obj) override; double cal_iou_by_mode( const sensor_msgs::msg::RegionOfInterest & roi_1, const sensor_msgs::msg::RegionOfInterest & roi_2, const std::string iou_mode); From b77f091e016585a8c1517006be944eda051d98cd Mon Sep 17 00:00:00 2001 From: "Kem (TiankuiXian)" <1041084556@qq.com> Date: Thu, 28 Nov 2024 18:28:31 +0900 Subject: [PATCH 589/701] feat(control_evaluator, tier4_control_launch): add a trigger to choice whether to output metrics to log folder (#9478) * refactor and add output_metrics. a bug existing when psim. Signed-off-by: xtk8532704 <1041084556@qq.com> * refactored launch file. Signed-off-by: xtk8532704 <1041084556@qq.com> * output description Signed-off-by: xtk8532704 <1041084556@qq.com> * add parm to launch file. Signed-off-by: xtk8532704 <1041084556@qq.com> * move output_metrics from param config to launch file. Signed-off-by: xtk8532704 <1041084556@qq.com> * move output_metrics from config to launch.xml Signed-off-by: xtk8532704 <1041084556@qq.com> * fix unit test bug. Signed-off-by: xtk8532704 <1041084556@qq.com> * fix test bug again. Signed-off-by: xtk8532704 <1041084556@qq.com> * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp --------- Signed-off-by: xtk8532704 <1041084556@qq.com> Co-authored-by: Kosuke Takeuchi --- .../autoware_control_evaluator/README.md | 6 +- .../control_evaluator_node.hpp | 23 +++- .../control_evaluator/metrics/metric.hpp | 81 +++++++++++++ .../launch/control_evaluator.launch.xml | 14 +-- .../autoware_control_evaluator/package.xml | 1 + .../src/control_evaluator_node.cpp | 113 +++++++++++++----- .../test/test_control_evaluator_node.cpp | 1 + .../launch/control.launch.xml | 18 +-- 8 files changed, 198 insertions(+), 59 deletions(-) create mode 100644 evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp diff --git a/evaluator/autoware_control_evaluator/README.md b/evaluator/autoware_control_evaluator/README.md index 59c09015bd7b5..b7da418764959 100644 --- a/evaluator/autoware_control_evaluator/README.md +++ b/evaluator/autoware_control_evaluator/README.md @@ -4,14 +4,14 @@ This package provides nodes that generate metrics to evaluate the quality of control. -It publishes diagnostic information about control modules' outputs as well as the ego vehicle's current kinematics and position. +It publishes metric information about control modules' outputs as well as the ego vehicle's current kinematics and position. ## Evaluated metrics -The control evaluator uses the metrics defined in `include/autoware/control_evaluator/metrics/deviation_metrics.hpp`to calculate deviations in yaw and lateral distance from the ego's set-point. The control_evaluator can also be customized to offer metrics/evaluation about other control modules. Currently, the control_evaluator offers a simple diagnostic output based on the autonomous_emergency_braking node's output, but this functionality can be extended to evaluate other control modules' performance. +The control evaluator uses the metrics defined in `include/autoware/control_evaluator/metrics/metric.hpp`to calculate deviations in yaw and lateral distance from the ego's set-point. The control_evaluator can also be customized to offer metrics/evaluation about other control modules. Currently, the control_evaluator offers a simple metric output based on the autonomous_emergency_braking node's output, but this functionality can be extended to evaluate other control modules' performance. ## Kinematics output -The control evaluator module also constantly publishes information regarding the ego vehicle's kinematics and position. It publishes the current ego lane id with the longitudinal `s` and lateral `t` arc coordinates. It also publishes the current ego speed, acceleration and jerk in its diagnostic messages. +The control evaluator module also constantly publishes information regarding the ego vehicle's kinematics and position. It publishes the current ego lane id with the longitudinal `s` and lateral `t` arc coordinates. It also publishes the current ego speed, acceleration and jerk in its metric messages. This information can be used by other nodes to establish automated evaluation using rosbags: by crosschecking the ego position and kinematics with the evaluated control module's output, it is possible to judge if the evaluated control modules reacted in a satisfactory way at certain interesting points of the rosbag reproduction. diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index 6e4a04964a72c..c510b2ea46779 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -16,6 +16,8 @@ #define AUTOWARE__CONTROL_EVALUATOR__CONTROL_EVALUATOR_NODE_HPP_ #include "autoware/control_evaluator/metrics/deviation_metrics.hpp" +#include "autoware/control_evaluator/metrics/metric.hpp" +#include "autoware/universe_utils/math/accumulator.hpp" #include #include @@ -32,10 +34,11 @@ #include #include #include +#include namespace control_diagnostics { - +using autoware::universe_utils::Accumulator; using autoware_planning_msgs::msg::Trajectory; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; @@ -53,6 +56,9 @@ class ControlEvaluatorNode : public rclcpp::Node { public: explicit ControlEvaluatorNode(const rclcpp::NodeOptions & node_options); + ~ControlEvaluatorNode() override; + + void AddMetricMsg(const Metric & metric, const double & metric_value); void AddLateralDeviationMetricMsg(const Trajectory & traj, const Point & ego_point); void AddYawDeviationMetricMsg(const Trajectory & traj, const Pose & ego_pose); void AddGoalLongitudinalDeviationMetricMsg(const Pose & ego_pose); @@ -85,9 +91,18 @@ class ControlEvaluatorNode : public rclcpp::Node // update Route Handler void getRouteData(); - // Calculator - // Metrics - std::deque stamps_; + // Parameters + bool output_metrics_; + + // Metric + const std::vector metrics_ = { + // collect all metrics + Metric::lateral_deviation, Metric::yaw_deviation, Metric::goal_longitudinal_deviation, + Metric::goal_lateral_deviation, Metric::goal_yaw_deviation, + }; + + std::array, static_cast(Metric::SIZE)> + metric_accumulators_; // 3(min, max, mean) * metric_size MetricArrayMsg metrics_msg_; autoware::route_handler::RouteHandler route_handler_; diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp new file mode 100644 index 0000000000000..be2f3135d7f7e --- /dev/null +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/metric.hpp @@ -0,0 +1,81 @@ +// Copyright 2021 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__CONTROL_EVALUATOR__METRICS__METRIC_HPP_ +#define AUTOWARE__CONTROL_EVALUATOR__METRICS__METRIC_HPP_ + +#include +#include +#include +#include + +namespace control_diagnostics +{ +/** + * @brief Enumeration of trajectory metrics + */ +enum class Metric { + lateral_deviation, + yaw_deviation, + goal_longitudinal_deviation, + goal_lateral_deviation, + goal_yaw_deviation, + SIZE, +}; + +static const std::unordered_map str_to_metric = { + {"lateral_deviation", Metric::lateral_deviation}, + {"yaw_deviation", Metric::yaw_deviation}, + {"goal_longitudinal_deviation", Metric::goal_longitudinal_deviation}, + {"goal_lateral_deviation", Metric::goal_lateral_deviation}, + {"goal_yaw_deviation", Metric::goal_yaw_deviation}, +}; + +static const std::unordered_map metric_to_str = { + {Metric::lateral_deviation, "lateral_deviation"}, + {Metric::yaw_deviation, "yaw_deviation"}, + {Metric::goal_longitudinal_deviation, "goal_longitudinal_deviation"}, + {Metric::goal_lateral_deviation, "goal_lateral_deviation"}, + {Metric::goal_yaw_deviation, "goal_yaw_deviation"}, +}; + +// Metrics descriptions +static const std::unordered_map metric_descriptions = { + {Metric::lateral_deviation, "Lateral deviation from the reference trajectory[m]"}, + {Metric::yaw_deviation, "Yaw deviation from the reference trajectory[rad]"}, + {Metric::goal_longitudinal_deviation, "Longitudinal deviation from the goal point[m]"}, + {Metric::goal_lateral_deviation, "Lateral deviation from the goal point[m]"}, + {Metric::goal_yaw_deviation, "Yaw deviation from the goal point[rad]"}}; + +namespace details +{ +static struct CheckCorrectMaps +{ + CheckCorrectMaps() + { + if ( + str_to_metric.size() != static_cast(Metric::SIZE) || + metric_to_str.size() != static_cast(Metric::SIZE) || + metric_descriptions.size() != static_cast(Metric::SIZE)) { + std::cerr << "[metrics/metrics.hpp] Maps are not defined for all metrics: "; + std::cerr << str_to_metric.size() << " " << metric_to_str.size() << " " + << metric_descriptions.size() << std::endl; + } + } +} check; + +} // namespace details +} // namespace control_diagnostics + +#endif // AUTOWARE__CONTROL_EVALUATOR__METRICS__METRIC_HPP_ diff --git a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml index e9fee7ffadbf2..4cf795afb5a7d 100644 --- a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml +++ b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml @@ -1,20 +1,20 @@ - + - - + + + - - + - - + + diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml index 8ab2c73cb619a..1c724fc7bd0ec 100644 --- a/evaluator/autoware_control_evaluator/package.xml +++ b/evaluator/autoware_control_evaluator/package.xml @@ -22,6 +22,7 @@ autoware_test_utils autoware_universe_utils nav_msgs + nlohmann-json-dev pluginlib rclcpp rclcpp_components diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index c24dfee571852..2a2c07b2db319 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -16,7 +16,11 @@ #include #include +#include +#include +#include +#include #include #include #include @@ -33,12 +37,63 @@ ControlEvaluatorNode::ControlEvaluatorNode(const rclcpp::NodeOptions & node_opti this->create_publisher("~/debug/processing_time_ms", 1); metrics_pub_ = create_publisher("~/metrics", 1); + // Parameters + output_metrics_ = declare_parameter("output_metrics"); + // Timer callback to publish evaluator diagnostics using namespace std::literals::chrono_literals; timer_ = rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&ControlEvaluatorNode::onTimer, this)); } +ControlEvaluatorNode::~ControlEvaluatorNode() +{ + if (!output_metrics_) { + return; + } + + // generate json data + using json = nlohmann::json; + json j; + for (Metric metric : metrics_) { + const std::string base_name = metric_to_str.at(metric) + "/"; + j[base_name + "min"] = metric_accumulators_[static_cast(metric)].min(); + j[base_name + "max"] = metric_accumulators_[static_cast(metric)].max(); + j[base_name + "mean"] = metric_accumulators_[static_cast(metric)].mean(); + j[base_name + "count"] = metric_accumulators_[static_cast(metric)].count(); + j[base_name + "description"] = metric_descriptions.at(metric); + } + + // get output folder + const std::string output_folder_str = + rclcpp::get_logging_directory().string() + "/autoware_metrics"; + if (!std::filesystem::exists(output_folder_str)) { + if (!std::filesystem::create_directories(output_folder_str)) { + RCLCPP_ERROR( + this->get_logger(), "Failed to create directories: %s", output_folder_str.c_str()); + return; + } + } + + // get time stamp + std::time_t now_time_t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now()); + std::tm * local_time = std::localtime(&now_time_t); + std::ostringstream oss; + oss << std::put_time(local_time, "%Y-%m-%d-%H-%M-%S"); + std::string cur_time_str = oss.str(); + + // Write metrics .json to file + const std::string output_file_str = + output_folder_str + "/autoware_control_evaluator-" + cur_time_str + ".json"; + std::ofstream f(output_file_str); + if (f.is_open()) { + f << j.dump(4); + f.close(); + } else { + RCLCPP_ERROR(this->get_logger(), "Failed to open file: %s", output_file_str.c_str()); + } +} + void ControlEvaluatorNode::getRouteData() { // route @@ -62,6 +117,18 @@ void ControlEvaluatorNode::getRouteData() } } +void ControlEvaluatorNode::AddMetricMsg(const Metric & metric, const double & metric_value) +{ + MetricMsg metric_msg; + metric_msg.name = metric_to_str.at(metric); + metric_msg.value = std::to_string(metric_value); + metrics_msg_.metric_array.push_back(metric_msg); + + if (output_metrics_) { + metric_accumulators_[static_cast(metric)].add(metric_value); + } +} + void ControlEvaluatorNode::AddLaneletMetricMsg(const Pose & ego_pose) { const auto current_lanelets = [&]() { @@ -97,7 +164,6 @@ void ControlEvaluatorNode::AddLaneletMetricMsg(const Pose & ego_pose) metric_msg.value = std::to_string(arc_coordinates.distance); metrics_msg_.metric_array.push_back(metric_msg); } - return; } void ControlEvaluatorNode::AddKinematicStateMetricMsg( @@ -141,59 +207,44 @@ void ControlEvaluatorNode::AddKinematicStateMetricMsg( void ControlEvaluatorNode::AddLateralDeviationMetricMsg( const Trajectory & traj, const Point & ego_point) { - const double lateral_deviation = metrics::calcLateralDeviation(traj, ego_point); + const Metric metric = Metric::lateral_deviation; + const double metric_value = metrics::calcLateralDeviation(traj, ego_point); - MetricMsg metric_msg; - metric_msg.name = "lateral_deviation"; - metric_msg.value = std::to_string(lateral_deviation); - metrics_msg_.metric_array.push_back(metric_msg); - return; + AddMetricMsg(metric, metric_value); } void ControlEvaluatorNode::AddYawDeviationMetricMsg(const Trajectory & traj, const Pose & ego_pose) { - const double yaw_deviation = metrics::calcYawDeviation(traj, ego_pose); + const Metric metric = Metric::yaw_deviation; + const double metric_value = metrics::calcYawDeviation(traj, ego_pose); - MetricMsg metric_msg; - metric_msg.name = "yaw_deviation"; - metric_msg.value = std::to_string(yaw_deviation); - metrics_msg_.metric_array.push_back(metric_msg); - return; + AddMetricMsg(metric, metric_value); } void ControlEvaluatorNode::AddGoalLongitudinalDeviationMetricMsg(const Pose & ego_pose) { - const double longitudinal_deviation = + const Metric metric = Metric::goal_longitudinal_deviation; + const double metric_value = metrics::calcLongitudinalDeviation(route_handler_.getGoalPose(), ego_pose.position); - MetricMsg metric_msg; - metric_msg.name = "goal_longitudinal_deviation"; - metric_msg.value = std::to_string(longitudinal_deviation); - metrics_msg_.metric_array.push_back(metric_msg); - return; + AddMetricMsg(metric, metric_value); } void ControlEvaluatorNode::AddGoalLateralDeviationMetricMsg(const Pose & ego_pose) { - const double lateral_deviation = + const Metric metric = Metric::lateral_deviation; + const double metric_value = metrics::calcLateralDeviation(route_handler_.getGoalPose(), ego_pose.position); - MetricMsg metric_msg; - metric_msg.name = "goal_lateral_deviation"; - metric_msg.value = std::to_string(lateral_deviation); - metrics_msg_.metric_array.push_back(metric_msg); - return; + AddMetricMsg(metric, metric_value); } void ControlEvaluatorNode::AddGoalYawDeviationMetricMsg(const Pose & ego_pose) { - const double yaw_deviation = metrics::calcYawDeviation(route_handler_.getGoalPose(), ego_pose); + const Metric metric = Metric::goal_yaw_deviation; + const double metric_value = metrics::calcYawDeviation(route_handler_.getGoalPose(), ego_pose); - MetricMsg metric_msg; - metric_msg.name = "goal_yaw_deviation"; - metric_msg.value = std::to_string(yaw_deviation); - metrics_msg_.metric_array.push_back(metric_msg); - return; + AddMetricMsg(metric, metric_value); } void ControlEvaluatorNode::onTimer() diff --git a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp index 0a2f777e49b61..728cef03901a8 100644 --- a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp @@ -52,6 +52,7 @@ class EvalTest : public ::testing::Test rclcpp::NodeOptions options; const auto share_dir = ament_index_cpp::get_package_share_directory("autoware_control_evaluator"); + options.arguments({"--ros-args", "-p", "output_metrics:=false"}); dummy_node = std::make_shared("control_evaluator_test_node"); eval_node = std::make_shared(options); diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml index 899db1448dbf8..387b82526f624 100644 --- a/launch/tier4_control_launch/launch/control.launch.xml +++ b/launch/tier4_control_launch/launch/control.launch.xml @@ -269,21 +269,11 @@ + - - - - - - - - - - - - - - + + + From c1bbd68dd77777810888e3d50666c7438c6c40ba Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Thu, 28 Nov 2024 18:33:17 +0900 Subject: [PATCH 590/701] feat(clang-tidy): add .clang-tidy-ignore (#9498) * feat(clang-tidy): add .clang-tidy-ignore Signed-off-by: Y.Hisaki * clang-tidy-ignore path as argument Signed-off-by: Y.Hisaki * commit for test action Signed-off-by: Y.Hisaki * commit for test action Signed-off-by: Y.Hisaki * style(pre-commit): autofix * use v1 Signed-off-by: Y.Hisaki * change time_utils Signed-off-by: Y.Hisaki * revert commit for test Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .clang-tidy-ignore | 2 ++ .github/workflows/build-and-test-differential.yaml | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) create mode 100644 .clang-tidy-ignore diff --git a/.clang-tidy-ignore b/.clang-tidy-ignore new file mode 100644 index 0000000000000..a7110b007db10 --- /dev/null +++ b/.clang-tidy-ignore @@ -0,0 +1,2 @@ +*/examples/* +perception/* diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 871fc67499f48..540ab64b4f279 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -109,8 +109,8 @@ jobs: with: rosdistro: humble target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} - target-files: ${{ steps.get-changed-files.outputs.changed-files }} clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci + clang-tidy-ignore-path: .clang-tidy-ignore build-depends-repos: build_depends.repos cache-key-element: cuda From d240d2e8fd9e2a251584ca99fbea7c59aa0a1c76 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 28 Nov 2024 20:36:50 +0900 Subject: [PATCH 591/701] fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (#9516) fix: clang-diagnostic-inconsistent-missing-override Signed-off-by: kobayu858 --- .../image_projection_based_fusion/pointpainting_fusion/node.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp index aa3e3fe096306..8c0e2ed78fc6c 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp @@ -76,7 +76,7 @@ class PointPaintingFusionNode std::unique_ptr detector_ptr_{nullptr}; - bool out_of_scope(const DetectedObjects & obj); + bool out_of_scope(const DetectedObjects & obj) override; }; } // namespace autoware::image_projection_based_fusion #endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__POINTPAINTING_FUSION__NODE_HPP_ From fdc7a558baa9079119ef4b809ddfb71b14cf6381 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 28 Nov 2024 20:37:17 +0900 Subject: [PATCH 592/701] fix(autoware_tensorrt_yolox): fix clang-diagnostic-inconsistent-missing-override (#9512) fix: clang-diagnostic-inconsistent-missing-override Signed-off-by: kobayu858 --- .../include/autoware/tensorrt_yolox/calibrator.hpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp index 3a2bac315a3d0..46305b12c0de6 100644 --- a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp +++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp @@ -248,19 +248,19 @@ class Int8LegacyCalibrator : public nvinfer1::IInt8LegacyCalibrator output.write(reinterpret_cast(cache), length); } - double getQuantile() const noexcept + double getQuantile() const noexcept override { printf("Quantile %f\n", quantile_); return quantile_; } - double getRegressionCutoff(void) const noexcept + double getRegressionCutoff(void) const noexcept override { printf("Cutoff %f\n", cutoff_); return cutoff_; } - const void * readHistogramCache(std::size_t & length) noexcept + const void * readHistogramCache(std::size_t & length) noexcept override { hist_cache_.clear(); std::ifstream input(histogram_cache_file_, std::ios::binary); @@ -279,7 +279,7 @@ class Int8LegacyCalibrator : public nvinfer1::IInt8LegacyCalibrator } return length ? &hist_cache_[0] : nullptr; } - void writeHistogramCache(void const * ptr, std::size_t length) noexcept + void writeHistogramCache(void const * ptr, std::size_t length) noexcept override { std::ofstream output(histogram_cache_file_, std::ios::binary); output.write(reinterpret_cast(ptr), length); From 45a3c487773730a31192bc1132e74f4fa651578e Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Fri, 29 Nov 2024 00:30:37 +0900 Subject: [PATCH 593/701] refactor(autoware_behavior_velocity_stop_line_module): refactor and test (#9424) * refactor(autoware_behavior_velocity_stop_line_module): refactor and test Signed-off-by: Y.Hisaki * modify Signed-off-by: Y.Hisaki * small changes Signed-off-by: Y.Hisaki * update Signed-off-by: Y.Hisaki * fix test error Signed-off-by: Y.Hisaki * update Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- .../CMakeLists.txt | 11 + .../config/stop_line.param.yaml | 4 - .../package.xml | 1 + .../src/debug.cpp | 77 ------ .../src/manager.cpp | 13 +- .../src/manager.hpp | 1 - .../src/scene.cpp | 226 ++++++++++-------- .../src/scene.hpp | 103 +++++--- .../test/test_scene.cpp | 143 +++++++++++ 9 files changed, 351 insertions(+), 228 deletions(-) create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_scene.cpp diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CMakeLists.txt index 402eb5e20aa24..f4528f0d13cf4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CMakeLists.txt @@ -11,4 +11,15 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/scene.cpp ) +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_scene.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + gtest_main + ${PROJECT_NAME} + ) + target_include_directories(test_${PROJECT_NAME} PRIVATE src) +endif() + ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/config/stop_line.param.yaml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/config/stop_line.param.yaml index 7b1d82a46f652..f5e00fa7087ae 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/config/stop_line.param.yaml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/config/stop_line.param.yaml @@ -3,8 +3,4 @@ stop_line: stop_margin: 0.0 stop_duration_sec: 1.0 - use_initialization_stop_line_state: true hold_stop_margin_distance: 2.0 - - debug: - show_stop_line_collision_check: false # [-] whether to show stopline collision diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml index e24f167eb2058..c5e3690dd620d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml @@ -33,6 +33,7 @@ tf2_geometry_msgs visualization_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp index 573a260138679..fa94bfbaa361b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp @@ -12,89 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" #include "autoware/motion_utils/marker/virtual_wall_marker_creator.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "autoware/universe_utils/ros/marker_helper.hpp" #include "scene.hpp" -#ifdef ROS_DISTRO_GALACTIC -#include -#else -#include -#endif - namespace autoware::behavior_velocity_planner { -using autoware::universe_utils::appendMarkerArray; -using autoware::universe_utils::createMarkerColor; -using autoware::universe_utils::createMarkerScale; - -namespace -{ -using DebugData = StopLineModule::DebugData; - -visualization_msgs::msg::MarkerArray createStopLineCollisionCheck( - const DebugData & debug_data, const int64_t module_id) -{ - visualization_msgs::msg::MarkerArray msg; - - // Search Segments - { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.ns = "search_segments"; - marker.id = module_id; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::SPHERE_LIST; - marker.action = visualization_msgs::msg::Marker::ADD; - for (const auto & e : debug_data.search_segments) { - marker.points.push_back( - geometry_msgs::build().x(e.at(0).x()).y(e.at(0).y()).z(0.0)); - marker.points.push_back( - geometry_msgs::build().x(e.at(1).x()).y(e.at(1).y()).z(0.0)); - } - marker.scale = createMarkerScale(0.1, 0.1, 0.1); - marker.color = createMarkerColor(0.0, 0.0, 1.0, 0.999); - msg.markers.push_back(marker); - } - - // Search stopline - { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.ns = "search_stopline"; - marker.id = module_id; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::LINE_STRIP; - marker.action = visualization_msgs::msg::Marker::ADD; - const auto p0 = debug_data.search_stopline.at(0); - marker.points.push_back( - geometry_msgs::build().x(p0.x()).y(p0.y()).z(0.0)); - const auto p1 = debug_data.search_stopline.at(1); - marker.points.push_back( - geometry_msgs::build().x(p1.x()).y(p1.y()).z(0.0)); - - marker.scale = createMarkerScale(0.1, 0.1, 0.1); - marker.color = createMarkerColor(1.0, 0.0, 0.0, 0.999); - msg.markers.push_back(marker); - } - - return msg; -} - -} // namespace - -visualization_msgs::msg::MarkerArray StopLineModule::createDebugMarkerArray() -{ - visualization_msgs::msg::MarkerArray debug_marker_array; - if (planner_param_.show_stop_line_collision_check) { - appendMarkerArray( - createStopLineCollisionCheck(debug_data_, module_id_), &debug_marker_array, - this->clock_->now()); - } - return debug_marker_array; -} autoware::motion_utils::VirtualWalls StopLineModule::createVirtualWalls() { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp index ffdcea16b45b5..b305a1d2aa404 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp @@ -15,7 +15,8 @@ #include "manager.hpp" #include "autoware/universe_utils/ros/parameter.hpp" -#include "autoware_lanelet2_extension/utility/query.hpp" + +#include #include #include @@ -28,7 +29,7 @@ using autoware::universe_utils::getOrDeclareParameter; using lanelet::TrafficSign; StopLineModuleManager::StopLineModuleManager(rclcpp::Node & node) -: SceneModuleManagerInterface(node, getModuleName()) +: SceneModuleManagerInterface(node, getModuleName()), planner_param_() { const std::string ns(StopLineModuleManager::getModuleName()); auto & p = planner_param_; @@ -36,11 +37,6 @@ StopLineModuleManager::StopLineModuleManager(rclcpp::Node & node) p.hold_stop_margin_distance = getOrDeclareParameter(node, ns + ".hold_stop_margin_distance"); p.stop_duration_sec = getOrDeclareParameter(node, ns + ".stop_duration_sec"); - p.use_initialization_stop_line_state = - getOrDeclareParameter(node, ns + ".use_initialization_stop_line_state"); - // debug - p.show_stop_line_collision_check = - getOrDeclareParameter(node, ns + ".debug.show_stop_line_collision_check"); } std::vector StopLineModuleManager::getStopLinesWithLaneIdOnPath( @@ -82,10 +78,9 @@ void StopLineModuleManager::launchNewModules(const tier4_planning_msgs::msg::Pat for (const auto & stop_line_with_lane_id : getStopLinesWithLaneIdOnPath(path, planner_data_->route_handler_->getLaneletMapPtr())) { const auto module_id = stop_line_with_lane_id.first.id(); - const auto lane_id = stop_line_with_lane_id.second; if (!isModuleRegistered(module_id)) { registerModule(std::make_shared( - module_id, lane_id, stop_line_with_lane_id.first, planner_param_, + module_id, stop_line_with_lane_id.first, planner_param_, logger_.get_child("stop_line_module"), clock_)); } } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp index b83a4f94e9a1f..bef8a5eef4ac0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp @@ -15,7 +15,6 @@ #ifndef MANAGER_HPP_ #define MANAGER_HPP_ -#include "autoware/behavior_velocity_planner_common/plugin_interface.hpp" #include "autoware/behavior_velocity_planner_common/plugin_wrapper.hpp" #include "autoware/behavior_velocity_planner_common/scene_module_interface.hpp" #include "scene.hpp" diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp index 6a4b85cd6926c..b83a274f99513 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -15,22 +15,32 @@ #include "scene.hpp" #include "autoware/behavior_velocity_planner_common/utilization/util.hpp" -#include "autoware/trajectory/path_point_with_lane_id.hpp" -#include +#include + +#include + +#include namespace autoware::behavior_velocity_planner { +geometry_msgs::msg::Point getCenterOfStopLine(const lanelet::ConstLineString3d & stop_line) +{ + geometry_msgs::msg::Point center_point; + center_point.x = (stop_line[0].x() + stop_line[1].x()) / 2.0; + center_point.y = (stop_line[0].y() + stop_line[1].y()) / 2.0; + center_point.z = (stop_line[0].z() + stop_line[1].z()) / 2.0; + return center_point; +} + StopLineModule::StopLineModule( - const int64_t module_id, const size_t lane_id, lanelet::ConstLineString3d stop_line, - const PlannerParam & planner_param, const rclcpp::Logger & logger, - const rclcpp::Clock::SharedPtr clock) + const int64_t module_id, lanelet::ConstLineString3d stop_line, const PlannerParam & planner_param, + const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock) : SceneModuleInterface(module_id, logger, clock), - lane_id_(lane_id), stop_line_(std::move(stop_line)), - state_(State::APPROACH), planner_param_(planner_param), + state_(State::APPROACH), debug_data_() { velocity_factor_.init(PlanningBehavior::STOP_SIGN); @@ -46,132 +56,144 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop return true; } - debug_data_ = DebugData(); - const double base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; - debug_data_.base_link2front = base_link2front; - first_stop_path_point_distance_ = trajectory->length(); - *stop_reason = planning_utils::initializeStopReason(StopReason::STOP_LINE); - - const LineString2d stop_line = planning_utils::extendLine( - stop_line_[0], stop_line_[1], planner_data_->stop_line_extend_length); - - // Calculate intersection with stop line - const auto trajectory_stop_line_intersection = - trajectory->crossed(stop_line.front(), stop_line.back()); + auto [ego_s, stop_point] = + getEgoAndStopPoint(*trajectory, planner_data_->current_odometry->pose, state_); - // If no collision found, do nothing - if (!trajectory_stop_line_intersection) { - RCLCPP_DEBUG_THROTTLE(logger_, *clock_, 5000 /* ms */, "is no collision"); + if (!stop_point) { return true; } - const double stop_point_s = - *trajectory_stop_line_intersection - - (base_link2front + planner_param_.stop_margin); // consider vehicle length and stop margin + trajectory->longitudinal_velocity_mps.range(*stop_point, trajectory->length()).set(0.0); - if (stop_point_s < 0.0) { - return true; - } + path->points = trajectory->restore(); - const auto stop_pose = trajectory->compute(stop_point_s); + updateVelocityFactor(&velocity_factor_, state_, *stop_point - ego_s); - /** - * @brief : calculate signed arc length consider stop margin from stop line - * - * |----------------------------| - * s---ego----------x--|--------g - */ - const double ego_on_trajectory_s = - trajectory->closest(planner_data_->current_odometry->pose.position); - const double signed_arc_dist_to_stop_point = stop_point_s - ego_on_trajectory_s; + updateStateAndStoppedTime( + &state_, &stopped_time_, clock_->now(), *stop_point - ego_s, planner_data_->isVehicleStopped()); - switch (state_) { - case State::APPROACH: { - // Insert stop pose - trajectory->longitudinal_velocity_mps.range(stop_point_s, trajectory->length()).set(0.0); - - // Update first stop path point distance - first_stop_path_point_distance_ = stop_point_s; - debug_data_.stop_pose = stop_pose.point.pose; - - // Get stop point and stop factor - { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = stop_pose.point.pose; - stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_)); - planning_utils::appendStopReason(stop_factor, stop_reason); - velocity_factor_.set(signed_arc_dist_to_stop_point, VelocityFactor::APPROACHING); - } + geometry_msgs::msg::Pose stop_pose = trajectory->compute(*stop_point).point.pose; - // Move to stopped state if stopped - if ( - signed_arc_dist_to_stop_point < planner_param_.hold_stop_margin_distance && - planner_data_->isVehicleStopped()) { - RCLCPP_INFO(logger_, "APPROACH -> STOPPED"); + updateStopReason(stop_reason, stop_pose); - state_ = State::STOPPED; - stopped_time_ = std::make_shared(clock_->now()); + updateDebugData(&debug_data_, stop_pose, state_); - if (signed_arc_dist_to_stop_point < -planner_param_.hold_stop_margin_distance) { - RCLCPP_ERROR( - logger_, "Failed to stop near stop line but ego stopped. Change state to STOPPED"); - } - } + return true; +} - break; - } +std::pair> StopLineModule::getEgoAndStopPoint( + const Trajectory & trajectory, const geometry_msgs::msg::Pose & ego_pose, + const State & state) const +{ + const double ego_s = trajectory.closest(ego_pose.position); + std::optional stop_point_s; - case State::STOPPED: { - // Insert stop pose - trajectory->longitudinal_velocity_mps.range(ego_on_trajectory_s, trajectory->length()) - .set(0.0); - const auto ego_pos_on_path = trajectory->compute(ego_on_trajectory_s).point.pose; - debug_data_.stop_pose = ego_pos_on_path; - - // Get stop point and stop factor - { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = ego_pos_on_path; - stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_)); - planning_utils::appendStopReason(stop_factor, stop_reason); - velocity_factor_.set(signed_arc_dist_to_stop_point, VelocityFactor::STOPPED); + switch (state) { + case State::APPROACH: { + const double base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; + const LineString2d stop_line = planning_utils::extendLine( + stop_line_[0], stop_line_[1], planner_data_->stop_line_extend_length); + + // Calculate intersection with stop line + const auto trajectory_stop_line_intersection = + trajectory.crossed(stop_line.front(), stop_line.back()); + + // If no collision found, do nothing + if (!trajectory_stop_line_intersection) { + stop_point_s = std::nullopt; + break; } - const double elapsed_time = (clock_->now() - *stopped_time_).seconds(); + stop_point_s = + *trajectory_stop_line_intersection - + (base_link2front + planner_param_.stop_margin); // consider vehicle length and stop margin - if (planner_param_.stop_duration_sec < elapsed_time) { - RCLCPP_INFO(logger_, "STOPPED -> START"); - state_ = State::START; + if (*stop_point_s < 0.0) { + stop_point_s = std::nullopt; } + break; + } + case State::STOPPED: { + stop_point_s = ego_s; break; } case State::START: { - // Initialize if vehicle is far from stop_line - if (planner_param_.use_initialization_stop_line_state) { - if (signed_arc_dist_to_stop_point > planner_param_.hold_stop_margin_distance) { - RCLCPP_INFO(logger_, "START -> APPROACH"); - state_ = State::APPROACH; + stop_point_s = std::nullopt; + break; + } + } + return {ego_s, stop_point_s}; +} + +void StopLineModule::updateStateAndStoppedTime( + State * state, std::optional * stopped_time, const rclcpp::Time & now, + const double & distance_to_stop_point, const bool & is_vehicle_stopped) const +{ + switch (*state) { + case State::APPROACH: { + if (distance_to_stop_point < planner_param_.hold_stop_margin_distance && is_vehicle_stopped) { + *state = State::STOPPED; + *stopped_time = now; + RCLCPP_INFO(logger_, "APPROACH -> STOPPED"); + + if (distance_to_stop_point < 0.0) { + RCLCPP_WARN(logger_, "Vehicle cannot stop before stop line"); } } - + break; + } + case State::STOPPED: { + double stop_duration = (now - **stopped_time).seconds(); + if (stop_duration > planner_param_.stop_duration_sec) { + *state = State::START; + stopped_time->reset(); + RCLCPP_INFO(logger_, "STOPPED -> START"); + } + break; + } + case State::START: { break; } } +} - path->points = trajectory->restore(); +void StopLineModule::updateVelocityFactor( + autoware::motion_utils::VelocityFactorInterface * velocity_factor, const State & state, + const double & distance_to_stop_point) +{ + switch (state) { + case State::APPROACH: { + velocity_factor->set(distance_to_stop_point, VelocityFactor::APPROACHING); + break; + } + case State::STOPPED: { + velocity_factor->set(distance_to_stop_point, VelocityFactor::STOPPED); + break; + } + case State::START: + break; + } +} - return true; +void StopLineModule::updateStopReason( + StopReason * stop_reason, const geometry_msgs::msg::Pose & stop_pose) const +{ + tier4_planning_msgs::msg::StopFactor stop_factor; + stop_factor.stop_pose = stop_pose; + stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_)); + planning_utils::appendStopReason(stop_factor, stop_reason); } -geometry_msgs::msg::Point StopLineModule::getCenterOfStopLine( - const lanelet::ConstLineString3d & stop_line) +void StopLineModule::updateDebugData( + DebugData * debug_data, const geometry_msgs::msg::Pose & stop_pose, const State & state) const { - geometry_msgs::msg::Point center_point; - center_point.x = (stop_line[0].x() + stop_line[1].x()) / 2.0; - center_point.y = (stop_line[0].y() + stop_line[1].y()) / 2.0; - center_point.z = (stop_line[0].z() + stop_line[1].z()) / 2.0; - return center_point; + debug_data->base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; + debug_data->stop_pose = stop_pose; + if (state == State::START) { + debug_data->stop_pose = std::nullopt; + } } + } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp index cb48aabe57c1a..cb5bf339f8846 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp @@ -14,75 +14,108 @@ #ifndef SCENE_HPP_ #define SCENE_HPP_ +#define EIGEN_MPL2_ONLY #include "autoware/behavior_velocity_planner_common/scene_module_interface.hpp" -#include "autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp" #include "autoware/behavior_velocity_planner_common/utilization/util.hpp" +#include "autoware/motion_utils/factor/velocity_factor_interface.hpp" +#include "autoware/trajectory/path_point_with_lane_id.hpp" -#include -#include -#include - -#define EIGEN_MPL2_ONLY #include #include #include +#include + +#include #include +#include +#include + namespace autoware::behavior_velocity_planner { class StopLineModule : public SceneModuleInterface { - using StopLineWithLaneId = std::pair; - public: + using StopLineWithLaneId = std::pair; + using Trajectory = + autoware::trajectory::Trajectory; enum class State { APPROACH, STOPPED, START }; struct DebugData { - double base_link2front; - boost::optional stop_pose; - std::vector search_segments; - LineString2d search_stopline; + double base_link2front; ///< Distance from the base link to the vehicle front. + std::optional stop_pose; ///< Pose of the stop position. }; struct PlannerParam { - double stop_margin; - double stop_duration_sec; - double hold_stop_margin_distance; - bool use_initialization_stop_line_state; - bool show_stop_line_collision_check; + double stop_margin; ///< Margin to the stop line. + double stop_duration_sec; ///< Required stop duration at the stop line. + double + hold_stop_margin_distance; ///< Distance threshold for transitioning to the STOPPED state }; + /** + * @brief Constructor for StopLineModule. + * @param module_id Unique ID for the module. + * @param stop_line Stop line data. + * @param planner_param Planning parameters. + * @param logger Logger for output messages. + * @param clock Shared clock instance. + */ StopLineModule( - const int64_t module_id, const size_t lane_id, lanelet::ConstLineString3d stop_line, + const int64_t module_id, lanelet::ConstLineString3d stop_line, const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; - visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; + /** + * @brief Calculate ego position and stop point. + * @param trajectory Current trajectory. + * @param ego_pose Current pose of the vehicle. + * @param state Current state of the stop line module. + * @return Pair of ego position and optional stop point. + */ + std::pair> getEgoAndStopPoint( + const Trajectory & trajectory, const geometry_msgs::msg::Pose & ego_pose, + const State & state) const; + + /** + * @brief Update the state and stopped time of the module. + * @param state Pointer to the current state. + * @param stopped_time Pointer to the stopped time. + * @param now Current time. + * @param distance_to_stop_point Distance to the stop point. + * @param is_vehicle_stopped Flag indicating if the vehicle is stopped. + */ + void updateStateAndStoppedTime( + State * state, std::optional * stopped_time, const rclcpp::Time & now, + const double & distance_to_stop_point, const bool & is_vehicle_stopped) const; + + static void updateVelocityFactor( + autoware::motion_utils::VelocityFactorInterface * velocity_factor, const State & state, + const double & distance_to_stop_point); + + void updateStopReason(StopReason * stop_reason, const geometry_msgs::msg::Pose & stop_pose) const; + + void updateDebugData( + DebugData * debug_data, const geometry_msgs::msg::Pose & stop_pose, const State & state) const; + + visualization_msgs::msg::MarkerArray createDebugMarkerArray() override + { + return visualization_msgs::msg::MarkerArray{}; + } autoware::motion_utils::VirtualWalls createVirtualWalls() override; private: - std::shared_ptr stopped_time_; - - geometry_msgs::msg::Point getCenterOfStopLine(const lanelet::ConstLineString3d & stop_line); - - int64_t lane_id_; - - lanelet::ConstLineString3d stop_line_; - - // State machine - State state_; - - // Parameter - PlannerParam planner_param_; - - // Debug - DebugData debug_data_; + const lanelet::ConstLineString3d stop_line_; ///< Stop line geometry. + const PlannerParam planner_param_; ///< Parameters for the planner. + State state_; ///< Current state of the module. + std::optional stopped_time_; ///< Time when the vehicle stopped. + DebugData debug_data_; ///< Debug information. }; } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_scene.cpp new file mode 100644 index 0000000000000..1eafb71eb403c --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_scene.cpp @@ -0,0 +1,143 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "../src/scene.hpp" + +#include +#include +#include + +#include + +#include + +#include +#include +#include + +using autoware::behavior_velocity_planner::StopLineModule; + +tier4_planning_msgs::msg::PathPointWithLaneId path_point(double x, double y) +{ + tier4_planning_msgs::msg::PathPointWithLaneId p; + p.point.pose.position.x = x; + p.point.pose.position.y = y; + return p; +} + +class StopLineModuleTest : public ::testing::Test +{ +protected: + // Set up the test case + void SetUp() override + { + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.arguments( + {"--ros-args", "--params-file", + ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner_common") + + "/config/behavior_velocity_planner_common.param.yaml", + "--params-file", + ament_index_cpp::get_package_share_directory("autoware_test_utils") + + "/config/test_vehicle_info.param.yaml"}); + node_ = std::make_shared("test_node", options); + + // Initialize parameters, logger, and clock + planner_param_.stop_margin = 0.5; + planner_param_.stop_duration_sec = 2.0; + planner_param_.hold_stop_margin_distance = 0.5; + + planner_data_ = std::make_shared(*node_); + planner_data_->stop_line_extend_length = 5.0; + planner_data_->vehicle_info_.max_longitudinal_offset_m = 1.0; + + stop_line_ = lanelet::ConstLineString3d( + lanelet::utils::getId(), {lanelet::Point3d(lanelet::utils::getId(), 7.0, -1.0, 0.0), + lanelet::Point3d(lanelet::utils::getId(), 7.0, 1.0, 0.0)}); + + trajectory_ = *StopLineModule::Trajectory::Builder{}.build( + {path_point(0.0, 0.0), path_point(1.0, 0.0), path_point(2.0, 0.0), path_point(3.0, 0.0), + path_point(4.0, 0.0), path_point(5.0, 0.0), path_point(6.0, 0.0), path_point(7.0, 0.0), + path_point(8.0, 0.0), path_point(9.0, 0.0), path_point(10.0, 0.0)}); + + clock_ = std::make_shared(); + + module_ = std::make_shared( + 1, stop_line_, planner_param_, rclcpp::get_logger("test_logger"), clock_); + + module_->setPlannerData(planner_data_); + } + + void TearDown() override { rclcpp::shutdown(); } + + StopLineModule::Trajectory trajectory_; + StopLineModule::PlannerParam planner_param_{}; + lanelet::ConstLineString3d stop_line_; + rclcpp::Clock::SharedPtr clock_; + std::shared_ptr module_; + std::shared_ptr planner_data_; + + rclcpp::Node::SharedPtr node_; +}; + +TEST_F(StopLineModuleTest, TestGetEgoAndStopPoint) +{ + // Prepare trajectory and other parameters + geometry_msgs::msg::Pose ego_pose; + ego_pose.position.x = 5.0; + ego_pose.position.y = 1.0; + + // Execute the function + auto [ego_s, stop_point_s] = + module_->getEgoAndStopPoint(trajectory_, ego_pose, StopLineModule::State::APPROACH); + + // Verify results + EXPECT_DOUBLE_EQ(ego_s, 5.0); + EXPECT_DOUBLE_EQ(stop_point_s.value(), 7.0 - 0.5 - 1.0); + + std::tie(ego_s, stop_point_s) = + module_->getEgoAndStopPoint(trajectory_, ego_pose, StopLineModule::State::STOPPED); + + EXPECT_DOUBLE_EQ(ego_s, 5.0); + EXPECT_DOUBLE_EQ(stop_point_s.value(), 5.0); +} + +TEST_F(StopLineModuleTest, TestUpdateStateAndStoppedTime) +{ + StopLineModule::State state = StopLineModule::State::APPROACH; + std::optional stopped_time; + double distance_to_stop_point = 0.1; + bool is_vehicle_stopped = true; + + // Simulate clock progression + auto test_start_time = clock_->now(); + stopped_time = test_start_time; + + // Execute the function + module_->updateStateAndStoppedTime( + &state, &stopped_time, test_start_time, distance_to_stop_point, is_vehicle_stopped); + + // Verify state transition to STOPPED + EXPECT_EQ(state, StopLineModule::State::STOPPED); + EXPECT_TRUE(stopped_time.has_value()); + + // Simulate time elapsed to exceed stop duration + auto now = test_start_time + rclcpp::Duration::from_seconds(3.0); + module_->updateStateAndStoppedTime( + &state, &stopped_time, now, distance_to_stop_point, is_vehicle_stopped); + + // Verify state transition to START + EXPECT_EQ(state, StopLineModule::State::START); + EXPECT_FALSE(stopped_time.has_value()); +} From be4c9e01740910e9251f255a9a913c96fa2c3b9f Mon Sep 17 00:00:00 2001 From: "Kem (TiankuiXian)" <1041084556@qq.com> Date: Fri, 29 Nov 2024 13:14:12 +0900 Subject: [PATCH 594/701] feat(planning_evaluator): add a trigger to choice whether to output metrics to log folder (#9476) * tmp save Signed-off-by: xtk8532704 <1041084556@qq.com> * planning_evaluator build ok, test it. Signed-off-by: xtk8532704 <1041084556@qq.com> * add descriptions to output. Signed-off-by: xtk8532704 <1041084556@qq.com> * pre-commit. Signed-off-by: xtk8532704 <1041084556@qq.com> * add parm to launch file. Signed-off-by: xtk8532704 <1041084556@qq.com> * move output_metrics from config to launch file. Signed-off-by: xtk8532704 <1041084556@qq.com> * fix unit test bug. Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com> --- .../autoware_planning_evaluator/README.md | 4 +- .../config/planning_evaluator.param.yaml | 1 - .../motion_evaluator_node.hpp | 2 +- .../planning_evaluator_node.hpp | 14 +-- .../launch/motion_evaluator.launch.xml | 3 + .../launch/planning_evaluator.launch.xml | 3 + .../autoware_planning_evaluator/package.xml | 1 + .../autoware_planning_evaluator.schema.json | 8 +- .../src/motion_evaluator_node.cpp | 56 +++++++++--- .../src/planning_evaluator_node.cpp | 88 ++++++++++++------- .../test/test_planning_evaluator_node.cpp | 3 +- 11 files changed, 121 insertions(+), 62 deletions(-) diff --git a/evaluator/autoware_planning_evaluator/README.md b/evaluator/autoware_planning_evaluator/README.md index 30ae1559ca9da..4fcdf4d7e55fd 100644 --- a/evaluator/autoware_planning_evaluator/README.md +++ b/evaluator/autoware_planning_evaluator/README.md @@ -62,8 +62,8 @@ Each metric is published on a topic named after the metric name. | ----------- | ------------------------------------- | ----------------------------------------------------------------- | | `~/metrics` | `tier4_metric_msgs::msg::MetricArray` | MetricArray with many metrics of `tier4_metric_msgs::msg::Metric` | -When shut down, the evaluation node writes the values of the metrics measured during its lifetime -to a file as specified by the `output_file` parameter. +If `output_metrics = true`, the evaluation node writes the statics of the metrics measured during its lifetime +to `/autoware_metrics/-.json` when shut down. ## Parameters diff --git a/evaluator/autoware_planning_evaluator/config/planning_evaluator.param.yaml b/evaluator/autoware_planning_evaluator/config/planning_evaluator.param.yaml index 2e92a174ca79f..14c1bcc6beea4 100644 --- a/evaluator/autoware_planning_evaluator/config/planning_evaluator.param.yaml +++ b/evaluator/autoware_planning_evaluator/config/planning_evaluator.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - output_file: "" # if empty, metrics are not written to file ego_frame: base_link # reference frame of ego selected_metrics: diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/motion_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/motion_evaluator_node.hpp index 8193472c4dc39..7eed6e5645abc 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/motion_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/motion_evaluator_node.hpp @@ -61,7 +61,7 @@ class MotionEvaluatorNode : public rclcpp::Node std::unique_ptr tf_listener_ptr_; // Parameters - std::string output_file_str_; + bool output_metrics_; // Calculator MetricsCalculator metrics_calculator_; diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp index 0f4b8f7289a4f..9c268206846d9 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp @@ -61,7 +61,7 @@ class PlanningEvaluatorNode : public rclcpp::Node { public: explicit PlanningEvaluatorNode(const rclcpp::NodeOptions & node_options); - ~PlanningEvaluatorNode(); + ~PlanningEvaluatorNode() override; /** * @brief callback on receiving an odometry @@ -97,17 +97,17 @@ class PlanningEvaluatorNode : public rclcpp::Node const Odometry::ConstSharedPtr ego_state_ptr); /** - * @brief publish the given metric statistic + * @brief add the given metric statistic */ void AddMetricMsg(const Metric & metric, const Accumulator & metric_stat); /** - * @brief publish current ego lane info + * @brief add current ego lane info */ void AddLaneletMetricMsg(const Odometry::ConstSharedPtr ego_state_ptr); /** - * @brief publish current ego kinematic state + * @brief add current ego kinematic state */ void AddKinematicStateMetricMsg( const AccelWithCovarianceStamped & accel_stamped, const Odometry::ConstSharedPtr ego_state_ptr); @@ -155,15 +155,15 @@ class PlanningEvaluatorNode : public rclcpp::Node MetricArrayMsg metrics_msg_; // Parameters - std::string output_file_str_; + bool output_metrics_; std::string ego_frame_str_; // Calculator MetricsCalculator metrics_calculator_; // Metrics std::vector metrics_; - std::deque stamps_; - std::array>, static_cast(Metric::SIZE)> metric_stats_; + std::array, 3>, static_cast(Metric::SIZE)> + metric_accumulators_; // 3(min, max, mean) * metric_size rclcpp::TimerBase::SharedPtr timer_; std::optional prev_acc_stamped_{std::nullopt}; diff --git a/evaluator/autoware_planning_evaluator/launch/motion_evaluator.launch.xml b/evaluator/autoware_planning_evaluator/launch/motion_evaluator.launch.xml index 6558d0b568c94..042d2458ae1da 100644 --- a/evaluator/autoware_planning_evaluator/launch/motion_evaluator.launch.xml +++ b/evaluator/autoware_planning_evaluator/launch/motion_evaluator.launch.xml @@ -1,7 +1,10 @@ + + + diff --git a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml index 90c205dd55f1f..967668793a1e7 100644 --- a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml +++ b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml @@ -1,4 +1,6 @@ + + @@ -12,6 +14,7 @@ + diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml index 15d5d6da8504d..827784f71a823 100644 --- a/evaluator/autoware_planning_evaluator/package.xml +++ b/evaluator/autoware_planning_evaluator/package.xml @@ -22,6 +22,7 @@ eigen geometry_msgs nav_msgs + nlohmann-json-dev pluginlib rclcpp rclcpp_components diff --git a/evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json b/evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json index e7efbe06a8c00..1ef3874a0dcbc 100644 --- a/evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json +++ b/evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json @@ -6,10 +6,10 @@ "autoware_planning_evaluator": { "type": "object", "properties": { - "output_file": { - "description": "output metrics file path", - "type": "string", - "default": "" + "output_metrics": { + "description": "If true, the evaluation node writes the metrics' statics to `/autoware_metrics/-.json` when the node shut down,", + "type": "boolean", + "default": "false" }, "ego_frame": { "description": "reference frame of ego", diff --git a/evaluator/autoware_planning_evaluator/src/motion_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/motion_evaluator_node.cpp index a5320ef28cbec..ac6f35179f771 100644 --- a/evaluator/autoware_planning_evaluator/src/motion_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/motion_evaluator_node.cpp @@ -14,8 +14,11 @@ #include "autoware/planning_evaluator/motion_evaluator_node.hpp" +#include + +#include +#include #include -#include #include #include #include @@ -32,7 +35,7 @@ MotionEvaluatorNode::MotionEvaluatorNode(const rclcpp::NodeOptions & node_option "~/input/twist", rclcpp::QoS{1}, std::bind(&MotionEvaluatorNode::onOdom, this, std::placeholders::_1)); - output_file_str_ = declare_parameter("output_file"); + output_metrics_ = declare_parameter("output_metrics"); // List of metrics to calculate for (const std::string & selected_metric : @@ -44,22 +47,51 @@ MotionEvaluatorNode::MotionEvaluatorNode(const rclcpp::NodeOptions & node_option MotionEvaluatorNode::~MotionEvaluatorNode() { - // column width is the maximum size we might print + 1 for the space between columns - const auto column_width = 20; // std::to_string(std::numeric_limits::max()).size() + 1; - // Write data using format - std::ofstream f(output_file_str_); - f << std::fixed << std::left; - for (Metric metric : metrics_) { - f << std::setw(3 * column_width) << metric_descriptions.at(metric); + if (!output_metrics_) { + return; } - f << std::endl; + + // generate json data + using json = nlohmann::json; + json j; for (Metric metric : metrics_) { + const std::string base_name = metric_to_str.at(metric) + "/"; const auto & stat = metrics_calculator_.calculate(metric, accumulated_trajectory_); if (stat) { - f /* << std::setw(3 * column_width) */ << *stat << " "; + j[base_name + "min"] = stat->min(); + j[base_name + "max"] = stat->max(); + j[base_name + "mean"] = stat->mean(); } } - f.close(); + + // get output folder + const std::string output_folder_str = + rclcpp::get_logging_directory().string() + "/autoware_metrics"; + if (!std::filesystem::exists(output_folder_str)) { + if (!std::filesystem::create_directories(output_folder_str)) { + RCLCPP_ERROR( + this->get_logger(), "Failed to create directories: %s", output_folder_str.c_str()); + return; + } + } + + // get time stamp + std::time_t now_time_t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now()); + std::tm * local_time = std::localtime(&now_time_t); + std::ostringstream oss; + oss << std::put_time(local_time, "%Y-%m-%d-%H-%M-%S"); + std::string cur_time_str = oss.str(); + + // Write metrics .json to file + const std::string output_file_str = + output_folder_str + "/autoware_motion_evaluator-" + cur_time_str + ".json"; + std::ofstream f(output_file_str); + if (f.is_open()) { + f << j.dump(4); + f.close(); + } else { + RCLCPP_ERROR(this->get_logger(), "Failed to open file: %s", output_file_str.c_str()); + } } void MotionEvaluatorNode::onOdom(const nav_msgs::msg::Odometry::SharedPtr msg) diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp index d770833bc40a8..da23c202312d7 100644 --- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp @@ -16,13 +16,15 @@ #include #include +#include #include #include "boost/lexical_cast.hpp" +#include +#include #include -#include #include #include #include @@ -50,7 +52,7 @@ PlanningEvaluatorNode::PlanningEvaluatorNode(const rclcpp::NodeOptions & node_op metrics_calculator_.parameters.obstacle.dist_thr_m = declare_parameter("obstacle.dist_thr_m"); - output_file_str_ = declare_parameter("output_file"); + output_metrics_ = declare_parameter("output_metrics"); ego_frame_str_ = declare_parameter("ego_frame"); processing_time_pub_ = @@ -67,34 +69,49 @@ PlanningEvaluatorNode::PlanningEvaluatorNode(const rclcpp::NodeOptions & node_op PlanningEvaluatorNode::~PlanningEvaluatorNode() { - if (!output_file_str_.empty()) { - // column width is the maximum size we might print + 1 for the space between columns - // Write data using format - std::ofstream f(output_file_str_); - f << std::fixed << std::left; - // header - f << "#Stamp(ns)"; - for (Metric metric : metrics_) { - f << " " << metric_descriptions.at(metric); - f << " . ."; // extra "columns" to align columns headers - } - f << std::endl; - f << "#."; - for (Metric metric : metrics_) { - (void)metric; - f << " min max mean"; - } - f << std::endl; - // data - for (size_t i = 0; i < stamps_.size(); ++i) { - f << stamps_[i].nanoseconds(); - for (Metric metric : metrics_) { - const auto & stat = metric_stats_[static_cast(metric)][i]; - f << " " << stat; - } - f << std::endl; + if (!output_metrics_) { + return; + } + + // generate json data + using json = nlohmann::json; + json j; + for (Metric metric : metrics_) { + const std::string base_name = metric_to_str.at(metric) + "/"; + j[base_name + "min"] = metric_accumulators_[static_cast(metric)][0].min(); + j[base_name + "max"] = metric_accumulators_[static_cast(metric)][1].max(); + j[base_name + "mean"] = metric_accumulators_[static_cast(metric)][2].mean(); + j[base_name + "count"] = metric_accumulators_[static_cast(metric)][2].count(); + j[base_name + "description"] = metric_descriptions.at(metric); + } + + // get output folder + const std::string output_folder_str = + rclcpp::get_logging_directory().string() + "/autoware_metrics"; + if (!std::filesystem::exists(output_folder_str)) { + if (!std::filesystem::create_directories(output_folder_str)) { + RCLCPP_ERROR( + this->get_logger(), "Failed to create directories: %s", output_folder_str.c_str()); + return; } + } + + // get time stamp + std::time_t now_time_t = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now()); + std::tm * local_time = std::localtime(&now_time_t); + std::ostringstream oss; + oss << std::put_time(local_time, "%Y-%m-%d-%H-%M-%S"); + std::string cur_time_str = oss.str(); + + // Write metrics .json to file + const std::string output_file_str = + output_folder_str + "/autoware_planning_evaluator-" + cur_time_str + ".json"; + std::ofstream f(output_file_str); + if (f.is_open()) { + f << j.dump(4); f.close(); + } else { + RCLCPP_ERROR(this->get_logger(), "Failed to open file: %s", output_file_str.c_str()); } } @@ -269,9 +286,6 @@ void PlanningEvaluatorNode::onTrajectory( } auto start = now(); - if (!output_file_str_.empty()) { - stamps_.push_back(traj_msg->header.stamp); - } for (Metric metric : metrics_) { const auto metric_stat = metrics_calculator_.calculate(Metric(metric), *traj_msg); @@ -279,8 +293,10 @@ void PlanningEvaluatorNode::onTrajectory( continue; } - if (!output_file_str_.empty()) { - metric_stats_[static_cast(metric)].push_back(*metric_stat); + if (output_metrics_) { + metric_accumulators_[static_cast(metric)][0].add(metric_stat->min()); + metric_accumulators_[static_cast(metric)][1].add(metric_stat->max()); + metric_accumulators_[static_cast(metric)][2].add(metric_stat->mean()); } if (metric_stat->count() > 0) { @@ -308,7 +324,11 @@ void PlanningEvaluatorNode::onModifiedGoal( if (!metric_stat) { continue; } - metric_stats_[static_cast(metric)].push_back(*metric_stat); + if (output_metrics_) { + metric_accumulators_[static_cast(metric)][0].add(metric_stat->min()); + metric_accumulators_[static_cast(metric)][1].add(metric_stat->max()); + metric_accumulators_[static_cast(metric)][2].add(metric_stat->mean()); + } if (metric_stat->count() > 0) { AddMetricMsg(metric, *metric_stat); } diff --git a/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp index ac99d164708ba..1b29edfb9b353 100644 --- a/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp @@ -53,7 +53,8 @@ class EvalTest : public ::testing::Test const auto share_dir = ament_index_cpp::get_package_share_directory("autoware_planning_evaluator"); options.arguments( - {"--ros-args", "--params-file", share_dir + "/config/planning_evaluator.param.yaml"}); + {"--ros-args", "--params-file", share_dir + "/config/planning_evaluator.param.yaml", "-p", + "output_metrics:=false"}); dummy_node = std::make_shared("planning_evaluator_test_node"); eval_node = std::make_shared(options); From 22e85026d4592b0dcf56eab0dc0ac9c69cb3c013 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Fri, 29 Nov 2024 13:33:24 +0900 Subject: [PATCH 595/701] fix(dummy_perception_publisher): fix clang-diagnostic-unused-private-field (#9447) Signed-off-by: veqcc --- .../include/dummy_perception_publisher/node.hpp | 1 - 1 file changed, 1 deletion(-) diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp index 4d50e547fc759..cf46ecddf516f 100644 --- a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp +++ b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp @@ -124,7 +124,6 @@ class DummyPerceptionPublisherNode : public rclcpp::Node double detection_successful_rate_; bool enable_ray_tracing_; bool use_object_recognition_; - bool use_real_param_; bool use_base_link_z_; bool publish_ground_truth_objects_; std::unique_ptr pointcloud_creator_; From 42efae0886d43de092a22bb2ffea782d5b523814 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 29 Nov 2024 14:22:31 +0900 Subject: [PATCH 596/701] fix(autoware_lidar_centerpoint): fix clang-diagnostic-delete-abstract-non-virtual-dtor (#9515) Signed-off-by: kobayu858 --- .../autoware/lidar_centerpoint/preprocess/voxel_generator.hpp | 1 + 1 file changed, 1 insertion(+) diff --git a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/voxel_generator.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/voxel_generator.hpp index 66384d192ae43..18d4f3abb3703 100644 --- a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/voxel_generator.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/preprocess/voxel_generator.hpp @@ -28,6 +28,7 @@ namespace autoware::lidar_centerpoint class VoxelGeneratorTemplate { public: + virtual ~VoxelGeneratorTemplate() = default; explicit VoxelGeneratorTemplate( const DensificationParam & param, const CenterPointConfig & config); From c8bc66d1d65b5599fc36c223f80dcc2c6525d711 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 29 Nov 2024 14:22:59 +0900 Subject: [PATCH 597/701] fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (#9495) Signed-off-by: kobayu858 --- .../roi_pointcloud_fusion/node.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp index c7cad2b5a64d0..4de49df61a071 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp @@ -49,7 +49,7 @@ class RoiPointCloudFusionNode const PointCloud2 & input_pointcloud_msg, const std::size_t image_id, const DetectedObjectsWithFeature & input_roi_msg, const sensor_msgs::msg::CameraInfo & camera_info, PointCloud2 & output_pointcloud_msg) override; - bool out_of_scope(const DetectedObjectWithFeature & obj); + bool out_of_scope(const DetectedObjectWithFeature & obj) override; }; } // namespace autoware::image_projection_based_fusion From 4c918a29b3d7d330d7e4c7e6cae046e067920aef Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 29 Nov 2024 14:23:19 +0900 Subject: [PATCH 598/701] fix(autoware_image_projection_based_fusion): fix clang-diagnostic-unused-private-field (#9505) Signed-off-by: kobayu858 --- .../autoware_image_projection_based_fusion/CMakeLists.txt | 1 - .../include/autoware/image_projection_based_fusion/debugger.hpp | 1 - .../autoware_image_projection_based_fusion/src/debugger.cpp | 2 +- 3 files changed, 1 insertion(+), 3 deletions(-) diff --git a/perception/autoware_image_projection_based_fusion/CMakeLists.txt b/perception/autoware_image_projection_based_fusion/CMakeLists.txt index 921a46ccebe3e..73d305d2ab2a8 100644 --- a/perception/autoware_image_projection_based_fusion/CMakeLists.txt +++ b/perception/autoware_image_projection_based_fusion/CMakeLists.txt @@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 3.14) project(autoware_image_projection_based_fusion) # add_compile_options(-Wno-unknown-pragmas) add_compile_options(-Wno-unknown-pragmas -fopenmp) -add_compile_options(-Wno-error=attributes) find_package(autoware_cmake REQUIRED) find_package(OpenCV REQUIRED) diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp index d74347772ef10..f4229382ba38c 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/debugger.hpp @@ -56,7 +56,6 @@ class Debugger void imageCallback( const sensor_msgs::msg::Image::ConstSharedPtr input_image_msg, const std::size_t image_id); - [[maybe_unused]] rclcpp::Node * node_ptr_; std::shared_ptr image_transport_; std::vector input_camera_topics_; std::vector image_subs_; diff --git a/perception/autoware_image_projection_based_fusion/src/debugger.cpp b/perception/autoware_image_projection_based_fusion/src/debugger.cpp index 90952f3f6a8f5..975a3929ce77a 100644 --- a/perception/autoware_image_projection_based_fusion/src/debugger.cpp +++ b/perception/autoware_image_projection_based_fusion/src/debugger.cpp @@ -41,7 +41,7 @@ namespace autoware::image_projection_based_fusion Debugger::Debugger( rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size, std::vector input_camera_topics) -: node_ptr_(node_ptr), input_camera_topics_{input_camera_topics} +: input_camera_topics_{input_camera_topics} { image_buffers_.resize(image_num); image_buffer_size_ = image_buffer_size; From 996336fc51a3df332e7fc0466c56aaee4cc875f7 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 29 Nov 2024 14:23:51 +0900 Subject: [PATCH 599/701] fix(autoware_tensorrt_classifier): fix clang errors (#9508) Signed-off-by: kobayu858 --- .../include/autoware/tensorrt_classifier/calibrator.hpp | 8 ++++---- .../autoware/tensorrt_classifier/tensorrt_classifier.hpp | 1 - 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp index 0977621894920..3d5d6f6538b15 100644 --- a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp +++ b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp @@ -270,19 +270,19 @@ class Int8LegacyCalibrator : public nvinfer1::IInt8LegacyCalibrator output.write(reinterpret_cast(cache), length); } - double getQuantile() const noexcept + double getQuantile() const noexcept override { printf("Quantile %f\n", m_quantile); return m_quantile; } - double getRegressionCutoff(void) const noexcept + double getRegressionCutoff(void) const noexcept override { printf("Cutoff %f\n", m_cutoff); return m_cutoff; } - const void * readHistogramCache(std::size_t & length) noexcept + const void * readHistogramCache(std::size_t & length) noexcept override { hist_cache_.clear(); std::ifstream input(histogram_cache_file_, std::ios::binary); @@ -301,7 +301,7 @@ class Int8LegacyCalibrator : public nvinfer1::IInt8LegacyCalibrator } return length ? &hist_cache_[0] : nullptr; } - void writeHistogramCache(void const * ptr, std::size_t length) noexcept + void writeHistogramCache(void const * ptr, std::size_t length) noexcept override { std::ofstream output(histogram_cache_file_, std::ios::binary); output.write(reinterpret_cast(ptr), length); diff --git a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp index 345e663441557..ee16343b956d1 100644 --- a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp +++ b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp @@ -107,7 +107,6 @@ class TrtClassifier std::vector input_h_; CudaUniquePtr input_d_; - bool needs_output_decode_; size_t out_elem_num_; size_t out_elem_num_per_batch_; CudaUniquePtr out_prob_d_; From 70e4cd68dbc422bc65fcdbc399d02167be637857 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 29 Nov 2024 15:57:53 +0900 Subject: [PATCH 600/701] fix(lane_change): cap ego's predicted path velocity (RT1-8505) (#9341) * fix(lane_change): cap ego's predicted path velocity (RT1-8505) Signed-off-by: Zulfaqar Azmi * properly cap based on 0.0 instead of min lc vel Signed-off-by: Zulfaqar Azmi * fix build error Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../utils/utils.hpp | 7 ++- .../src/scene.cpp | 12 +---- .../src/utils/utils.cpp | 51 ++++++++++--------- 3 files changed, 32 insertions(+), 38 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index 2ec9d4cdf4e4e..7c1c8e2c65abe 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -116,10 +116,9 @@ CandidateOutput assignToCandidate( std::optional get_lane_change_target_lane( const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelets & current_lanes); -std::vector convertToPredictedPath( - const LaneChangePath & lane_change_path, const Twist & vehicle_twist, const Pose & pose, - const double lane_changing_acceleration, const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters, const double resolution); +std::vector convert_to_predicted_path( + const CommonDataPtr & common_data_ptr, const LaneChangePath & lane_change_path, + const double lane_changing_acceleration); bool isParkedObject( const PathWithLaneId & path, const RouteHandler & route_handler, diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 1c2e6ba1c5b85..03c161d40d58a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -1809,8 +1809,6 @@ bool NormalLaneChange::has_collision_with_decel_patterns( return false; } - const auto current_pose = common_data_ptr_->get_ego_pose(); - const auto current_twist = common_data_ptr_->get_ego_twist(); const auto bpp_param = *common_data_ptr_->bpp_param_ptr; const auto global_min_acc = bpp_param.min_acc; const auto lane_changing_acc = lane_change_path.info.longitudinal_acceleration.lane_changing; @@ -1827,17 +1825,11 @@ bool NormalLaneChange::has_collision_with_decel_patterns( acceleration_values.begin(), acceleration_values.end(), acceleration_values.begin(), [&](double n) { return lane_changing_acc + n * acc_resolution; }); - const auto time_resolution = - lane_change_parameters_->safety.collision_check.prediction_time_resolution; - const auto stopped_obj_vel_th = lane_change_parameters_->safety.th_stopped_object_velocity; const auto all_collided = std::all_of( acceleration_values.begin(), acceleration_values.end(), [&](const auto acceleration) { - const auto ego_predicted_path = utils::lane_change::convertToPredictedPath( - lane_change_path, current_twist, current_pose, acceleration, bpp_param, - *lane_change_parameters_, time_resolution); - const auto debug_predicted_path = - utils::path_safety_checker::convertToPredictedPath(ego_predicted_path, time_resolution); + const auto ego_predicted_path = utils::lane_change::convert_to_predicted_path( + common_data_ptr_, lane_change_path, acceleration); return std::any_of(objects.begin(), objects.end(), [&](const auto & obj) { const auto selected_rss_param = (obj.initial_twist.linear.x <= stopped_obj_vel_th) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index db0c1cb37abbb..9ab6ac288dfd4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -599,52 +599,55 @@ std::optional get_lane_change_target_lane( return route_handler_ptr->getLaneChangeTargetExceptPreferredLane(current_lanes, direction); } -std::vector convertToPredictedPath( - const LaneChangePath & lane_change_path, const Twist & vehicle_twist, const Pose & vehicle_pose, - const double lane_changing_acceleration, const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters, const double resolution) +std::vector convert_to_predicted_path( + const CommonDataPtr & common_data_ptr, const LaneChangePath & lane_change_path, + const double lane_changing_acceleration) { if (lane_change_path.path.points.empty()) { return {}; } const auto & path = lane_change_path.path; - const auto prepare_acc = lane_change_path.info.longitudinal_acceleration.prepare; - const auto duration = lane_change_path.info.duration.sum(); - const auto prepare_time = lane_change_path.info.duration.prepare; - const auto & minimum_lane_changing_velocity = - lane_change_parameters.trajectory.min_lane_changing_velocity; - + const auto & vehicle_pose = common_data_ptr->get_ego_pose(); + const auto & bpp_param_ptr = common_data_ptr->bpp_param_ptr; const auto nearest_seg_idx = autoware::motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( - path.points, vehicle_pose, common_parameters.ego_nearest_dist_threshold, - common_parameters.ego_nearest_yaw_threshold); + path.points, vehicle_pose, bpp_param_ptr->ego_nearest_dist_threshold, + bpp_param_ptr->ego_nearest_yaw_threshold); - std::vector predicted_path; const auto vehicle_pose_frenet = convertToFrenetPoint(path.points, vehicle_pose.position, nearest_seg_idx); - const double initial_velocity = std::abs(vehicle_twist.linear.x); + + const auto initial_velocity = common_data_ptr->get_ego_speed(); + const auto prepare_acc = lane_change_path.info.longitudinal_acceleration.prepare; + const auto duration = lane_change_path.info.duration.sum(); + const auto prepare_time = lane_change_path.info.duration.prepare; + const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; + const auto resolution = lc_param_ptr->safety.collision_check.prediction_time_resolution; + std::vector predicted_path; // prepare segment for (double t = 0.0; t < prepare_time; t += resolution) { - const double velocity = - std::max(initial_velocity + prepare_acc * t, minimum_lane_changing_velocity); - const double length = initial_velocity * t + 0.5 * prepare_acc * t * t; + const auto velocity = + std::clamp(initial_velocity + prepare_acc * t, 0.0, lane_change_path.info.velocity.prepare); + const auto length = initial_velocity * t + 0.5 * prepare_acc * t * t; const auto pose = autoware::motion_utils::calcInterpolatedPose( path.points, vehicle_pose_frenet.length + length); predicted_path.emplace_back(t, pose, velocity); } // lane changing segment - const double lane_changing_velocity = - std::max(initial_velocity + prepare_acc * prepare_time, minimum_lane_changing_velocity); - const double offset = + const auto lane_changing_velocity = std::clamp( + initial_velocity + prepare_acc * prepare_time, 0.0, lane_change_path.info.velocity.prepare); + const auto offset = initial_velocity * prepare_time + 0.5 * prepare_acc * prepare_time * prepare_time; for (double t = prepare_time; t < duration; t += resolution) { - const double delta_t = t - prepare_time; - const double velocity = lane_changing_velocity + lane_changing_acceleration * delta_t; - const double length = lane_changing_velocity * delta_t + - 0.5 * lane_changing_acceleration * delta_t * delta_t + offset; + const auto delta_t = t - prepare_time; + const auto velocity = std::clamp( + lane_changing_velocity + lane_changing_acceleration * delta_t, 0.0, + lane_change_path.info.velocity.lane_changing); + const auto length = lane_changing_velocity * delta_t + + 0.5 * lane_changing_acceleration * delta_t * delta_t + offset; const auto pose = autoware::motion_utils::calcInterpolatedPose( path.points, vehicle_pose_frenet.length + length); predicted_path.emplace_back(t, pose, velocity); From e4f84140cb497df51be67c86f8ed69946a9848bc Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 29 Nov 2024 17:20:28 +0900 Subject: [PATCH 601/701] feat(universe_utils): add extra info to time keeper warning (#9484) add extra info to time keeper warning Signed-off-by: Daniel Sanchez --- .github/{CODEOWNERS => _CODEOWNERS} | 0 .../autoware_universe_utils/src/system/time_keeper.cpp | 8 +++++--- .../test/src/system/test_time_keeper.cpp | 10 +++++++--- 3 files changed, 12 insertions(+), 6 deletions(-) rename .github/{CODEOWNERS => _CODEOWNERS} (100%) diff --git a/.github/CODEOWNERS b/.github/_CODEOWNERS similarity index 100% rename from .github/CODEOWNERS rename to .github/_CODEOWNERS diff --git a/common/autoware_universe_utils/src/system/time_keeper.cpp b/common/autoware_universe_utils/src/system/time_keeper.cpp index 8c715c5ccd7e3..b6e82cbd2f58a 100644 --- a/common/autoware_universe_utils/src/system/time_keeper.cpp +++ b/common/autoware_universe_utils/src/system/time_keeper.cpp @@ -20,6 +20,7 @@ #include #include +#include namespace autoware::universe_utils { @@ -135,9 +136,10 @@ void TimeKeeper::start_track(const std::string & func_name) root_node_thread_id_ = std::this_thread::get_id(); } else { if (root_node_thread_id_ != std::this_thread::get_id()) { - RCLCPP_WARN( - rclcpp::get_logger("TimeKeeper"), - "TimeKeeper::start_track() is called from a different thread. Ignoring the call."); + const auto warning_msg = fmt::format( + "TimeKeeper::start_track({}) is called from a different thread. Ignoring the call.", + func_name); + RCLCPP_WARN(rclcpp::get_logger("TimeKeeper"), "%s", warning_msg.c_str()); return; } current_time_node_ = current_time_node_->add_child(func_name); diff --git a/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp b/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp index 0540fa8a283ad..ffefaed316b19 100644 --- a/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp +++ b/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp @@ -86,7 +86,11 @@ TEST_F(TimeKeeperTest, MultiThreadWarning) t.join(); std::string err = testing::internal::GetCapturedStderr(); - EXPECT_TRUE( - err.find("TimeKeeper::start_track() is called from a different thread. Ignoring the call.") != - std::string::npos); + const bool error_found = err.find( + "TimeKeeper::start_track(MainFunction) is called from a different " + "thread. Ignoring the call.") != std::string::npos || + err.find( + "TimeKeeper::start_track(ThreadFunction) is called from a different " + "thread. Ignoring the call.") != std::string::npos; + EXPECT_TRUE(error_found); } From ac7fa10b948b2b789e05144266bfbea0fbee80be Mon Sep 17 00:00:00 2001 From: Tao Zhong <55872497+tzhong518@users.noreply.github.com> Date: Fri, 29 Nov 2024 23:05:40 +0900 Subject: [PATCH 602/701] fix(traffic_light_roi_visualizer): show unknown results correctly (#9467) fix: show unknown results correctly Signed-off-by: tzhong518 --- .../src/traffic_light_roi_visualizer/node.cpp | 8 +++++--- .../src/traffic_light_roi_visualizer/shape_draw.cpp | 7 +++++-- 2 files changed, 10 insertions(+), 5 deletions(-) diff --git a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp index 7ef13cf457c07..6ab9f09064f58 100644 --- a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp +++ b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/node.cpp @@ -201,9 +201,9 @@ void TrafficLightRoiVisualizerNode::imageRoughRoiCallback( // bbox drawing cv_ptr = cv_bridge::toCvCopy(input_image_msg, sensor_msgs::image_encodings::RGB8); for (auto tl_rough_roi : input_tl_rough_roi_msg->rois) { - // visualize rough roi - createRect(cv_ptr->image, tl_rough_roi, cv::Scalar(0, 255, 0)); - + // note: a signal will still be output even if it is undetected + // Its position and size will be set as 0 and the color will be set as unknown + // So a rough roi will always have correspond roi a correspond traffic signal ClassificationResult result; bool has_correspond_traffic_signal = getClassificationResult(tl_rough_roi.traffic_light_id, *input_traffic_signals_msg, result); @@ -211,6 +211,8 @@ void TrafficLightRoiVisualizerNode::imageRoughRoiCallback( bool has_correspond_roi = getRoiFromId(tl_rough_roi.traffic_light_id, input_tl_roi_msg, tl_roi); + createRect(cv_ptr->image, tl_rough_roi, extractShapeInfo(result.label).color); + if (has_correspond_roi && has_correspond_traffic_signal) { // has fine detection and classification results createRect(cv_ptr->image, tl_roi, result); diff --git a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp index 8c7a59cbcb003..d3ab30146a8b5 100644 --- a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp +++ b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp @@ -29,6 +29,10 @@ void drawShape( cv::Mat & image, const std::vector & params, int size, const cv::Point & position, const cv::Scalar & color, float probability) { + // skip if the roi position is set as (0,0), which means it is undetected + if (position.x == 0 && position.y == 0) { + return; + } // load concatenated shape image const auto shape_img = loadShapeImage(params, size); @@ -42,14 +46,13 @@ void drawShape( const int fill_rect_h = std::max(shape_img.rows, text_size.height) + 10; const cv::Point rect_position(position.x, position.y - fill_rect_h); - if ( rect_position.x < 0 || rect_position.y < 0 || rect_position.x + fill_rect_w > image.cols || position.y > image.rows) { // TODO(KhalilSelyan): This error message may flood the terminal logs, so commented out // temporarily. Need to consider a better way. - // std::cerr << "Adjusted position is out of image bounds." << std::endl; + std::cerr << "Adjusted position is out of image bounds." << std::endl; return; } cv::Rect rectangle(rect_position.x, rect_position.y, fill_rect_w, fill_rect_h); From 0831075fc30465013f310e9d3e275fc9ae529c1a Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Fri, 29 Nov 2024 15:08:54 +0000 Subject: [PATCH 603/701] chore: sync files (#7568) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .clang-format | 4 ++ .github/ISSUE_TEMPLATE/bug.yaml | 4 ++ .github/ISSUE_TEMPLATE/config.yml | 4 ++ .github/ISSUE_TEMPLATE/task.yaml | 4 ++ .github/dependabot.yaml | 4 ++ .github/stale.yml | 4 ++ .../workflows/cancel-previous-workflows.yaml | 4 ++ .github/workflows/check-build-depends.yaml | 6 ++- .../clang-tidy-pr-comments-manually.yaml | 4 ++ .github/workflows/clang-tidy-pr-comments.yaml | 4 ++ .github/workflows/comment-on-pr.yaml | 4 ++ .github/workflows/delete-closed-pr-docs.yaml | 4 ++ .github/workflows/deploy-docs.yaml | 4 ++ .github/workflows/github-release.yaml | 4 ++ .github/workflows/pre-commit-autoupdate.yaml | 4 ++ .../pre-commit-optional-autoupdate.yaml | 41 +++++++++++++++++++ .github/workflows/pre-commit-optional.yaml | 4 ++ .github/workflows/pre-commit.yaml | 4 ++ .github/workflows/semantic-pull-request.yaml | 4 ++ .github/workflows/spell-check-daily.yaml | 7 ++++ .../workflows/spell-check-differential.yaml | 9 +++- .github/workflows/sync-files.yaml | 4 ++ .../update-codeowners-from-packages.yaml | 4 ++ .markdownlint.yaml | 4 ++ .pre-commit-config-optional.yaml | 4 ++ .pre-commit-config.yaml | 10 +++++ .prettierignore | 4 ++ .prettierrc.yaml | 4 ++ .yamllint.yaml | 4 ++ CPPLINT.cfg | 4 ++ docs/assets/js/mathjax.js | 4 ++ mkdocs.yaml | 4 ++ setup.cfg | 4 ++ 33 files changed, 183 insertions(+), 2 deletions(-) create mode 100644 .github/workflows/pre-commit-optional-autoupdate.yaml diff --git a/.clang-format b/.clang-format index b41fae9129e43..cd54eb45dde50 100644 --- a/.clang-format +++ b/.clang-format @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format Language: Cpp BasedOnStyle: Google diff --git a/.github/ISSUE_TEMPLATE/bug.yaml b/.github/ISSUE_TEMPLATE/bug.yaml index 12a857998a0b2..5c74f7c5e4d9c 100644 --- a/.github/ISSUE_TEMPLATE/bug.yaml +++ b/.github/ISSUE_TEMPLATE/bug.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Bug description: Report a bug body: diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml index 48765c24a7b25..deccbf336f6a3 100644 --- a/.github/ISSUE_TEMPLATE/config.yml +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + blank_issues_enabled: false contact_links: - name: Question diff --git a/.github/ISSUE_TEMPLATE/task.yaml b/.github/ISSUE_TEMPLATE/task.yaml index cd8322f507405..58307325ce402 100644 --- a/.github/ISSUE_TEMPLATE/task.yaml +++ b/.github/ISSUE_TEMPLATE/task.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Task description: Plan a task body: diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml index 0264c035357bd..8fd9b7f4ae0a5 100644 --- a/.github/dependabot.yaml +++ b/.github/dependabot.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + version: 2 updates: - package-ecosystem: github-actions diff --git a/.github/stale.yml b/.github/stale.yml index bc99e4383cafd..ffce036c8d047 100644 --- a/.github/stale.yml +++ b/.github/stale.yml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/probot/stale#usage # Number of days of inactivity before an Issue or Pull Request with the stale label is closed diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml index bd2463d5a8eea..ee79ce0e4d41c 100644 --- a/.github/workflows/cancel-previous-workflows.yaml +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: cancel-previous-workflows on: diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml index 74c97e3bf4be4..bb1d89851dea6 100644 --- a/.github/workflows/check-build-depends.yaml +++ b/.github/workflows/check-build-depends.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: check-build-depends on: @@ -20,7 +24,7 @@ jobs: build-depends-repos: build_depends.repos steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 diff --git a/.github/workflows/clang-tidy-pr-comments-manually.yaml b/.github/workflows/clang-tidy-pr-comments-manually.yaml index a4df9f9dec3ed..747c62cdcd5a3 100644 --- a/.github/workflows/clang-tidy-pr-comments-manually.yaml +++ b/.github/workflows/clang-tidy-pr-comments-manually.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: clang-tidy-pr-comments-manually on: diff --git a/.github/workflows/clang-tidy-pr-comments.yaml b/.github/workflows/clang-tidy-pr-comments.yaml index bf2ed81d7ae48..c8df6a62c9a0a 100644 --- a/.github/workflows/clang-tidy-pr-comments.yaml +++ b/.github/workflows/clang-tidy-pr-comments.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: clang-tidy-pr-comments on: diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml index c80141ddac6b0..0f2ecf519db11 100644 --- a/.github/workflows/comment-on-pr.yaml +++ b/.github/workflows/comment-on-pr.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: comment-on-pr on: pull_request_target: diff --git a/.github/workflows/delete-closed-pr-docs.yaml b/.github/workflows/delete-closed-pr-docs.yaml index 192e138a83c22..b8ff4f6d14599 100644 --- a/.github/workflows/delete-closed-pr-docs.yaml +++ b/.github/workflows/delete-closed-pr-docs.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: delete-closed-pr-docs on: diff --git a/.github/workflows/deploy-docs.yaml b/.github/workflows/deploy-docs.yaml index 771b4bd36ca9d..d39e97e540794 100644 --- a/.github/workflows/deploy-docs.yaml +++ b/.github/workflows/deploy-docs.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: deploy-docs on: diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index 4b1d7f47c6c0c..bbe2ac512d70d 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: github-release on: diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml index 8d57a53b5ccab..489e32a1de166 100644 --- a/.github/workflows/pre-commit-autoupdate.yaml +++ b/.github/workflows/pre-commit-autoupdate.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit-autoupdate on: diff --git a/.github/workflows/pre-commit-optional-autoupdate.yaml b/.github/workflows/pre-commit-optional-autoupdate.yaml new file mode 100644 index 0000000000000..be79ad481d16e --- /dev/null +++ b/.github/workflows/pre-commit-optional-autoupdate.yaml @@ -0,0 +1,41 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: pre-commit-optional-autoupdate + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + pre-commit-optional-autoupdate: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + runs-on: ubuntu-22.04 + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v2 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run pre-commit-autoupdate + uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pre-commit-config: .pre-commit-config-optional.yaml + pr-labels: | + tag:bot + tag:pre-commit-autoupdate + pr-branch: pre-commit-optional-autoupdate + pr-title: "ci(pre-commit-optional): autoupdate" + pr-commit-message: "ci(pre-commit-optional): autoupdate" + auto-merge-method: squash diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index 12f536c551646..3d0867028f76a 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit-optional on: diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index 4d005e849b5ec..15c8e86c4f950 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit on: diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml index 71224c224ec0f..b56040b084f0c 100644 --- a/.github/workflows/semantic-pull-request.yaml +++ b/.github/workflows/semantic-pull-request.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: semantic-pull-request on: diff --git a/.github/workflows/spell-check-daily.yaml b/.github/workflows/spell-check-daily.yaml index 8c0373594a90e..696963ff11cfd 100644 --- a/.github/workflows/spell-check-daily.yaml +++ b/.github/workflows/spell-check-daily.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: spell-check-daily on: @@ -18,3 +22,6 @@ jobs: local-cspell-json: .cspell.json incremental-files-only: false cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json + dict-packages: | + https://github.com/autowarefoundation/autoware-spell-check-dict + https://github.com/tier4/cspell-dicts diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml index 3542659332532..81e3309365e9b 100644 --- a/.github/workflows/spell-check-differential.yaml +++ b/.github/workflows/spell-check-differential.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: spell-check-differential on: @@ -14,4 +18,7 @@ jobs: uses: autowarefoundation/autoware-github-actions/spell-check@v1 with: local-cspell-json: .cspell.json - cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json + cspell-json-url: https://raw.githubusercontent.com/autowarefoundation/autoware-spell-check-dict/main/.cspell.json + dict-packages: | + https://github.com/autowarefoundation/autoware-spell-check-dict + https://github.com/tier4/cspell-dicts diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml index 0cffbcd2a269f..9224c1503ed22 100644 --- a/.github/workflows/sync-files.yaml +++ b/.github/workflows/sync-files.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: sync-files on: diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml index 760a647ffbf56..c9ecdb100688f 100644 --- a/.github/workflows/update-codeowners-from-packages.yaml +++ b/.github/workflows/update-codeowners-from-packages.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: update-codeowners-from-packages on: diff --git a/.markdownlint.yaml b/.markdownlint.yaml index 7b7359fe0cdc4..584154b2009de 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. default: true MD013: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index 8c9345e15f064..ff325af5e8774 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + repos: - repo: https://github.com/tcort/markdown-link-check rev: v3.12.2 diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 63dc504f61a2b..e6dcc3f464ac7 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + ci: autofix_commit_msg: "style(pre-commit): autofix" @@ -93,3 +97,9 @@ repos: language: node files: .svg$ additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"] + + - repo: https://github.com/AleksaC/hadolint-py + rev: v2.12.1b3 + hooks: + - id: hadolint + exclude: .svg$ diff --git a/.prettierignore b/.prettierignore index a3c34d00a1377..3e96aacebba60 100644 --- a/.prettierignore +++ b/.prettierignore @@ -1,2 +1,6 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + *.param.yaml *.rviz diff --git a/.prettierrc.yaml b/.prettierrc.yaml index e29bf32762769..fe476936f7b9e 100644 --- a/.prettierrc.yaml +++ b/.prettierrc.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + printWidth: 100 tabWidth: 2 overrides: diff --git a/.yamllint.yaml b/.yamllint.yaml index 2c7bd088e2648..e0be62dbcb16f 100644 --- a/.yamllint.yaml +++ b/.yamllint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + extends: default ignore: | diff --git a/CPPLINT.cfg b/CPPLINT.cfg index ba6bdf08c10ca..81869c92be64c 100644 --- a/CPPLINT.cfg +++ b/CPPLINT.cfg @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120 set noparent linelength=100 diff --git a/docs/assets/js/mathjax.js b/docs/assets/js/mathjax.js index 117b04607f279..adb184a80399e 100644 --- a/docs/assets/js/mathjax.js +++ b/docs/assets/js/mathjax.js @@ -1,3 +1,7 @@ +// This file is automatically synced from: +// https://github.com/autowarefoundation/sync-file-templates +// To make changes, update the source repository and follow the guidelines in its README. + window.MathJax = { tex: { inlineMath: [["\\(", "\\)"]], diff --git a/mkdocs.yaml b/mkdocs.yaml index 2ca8b3c86ad43..38786709319be 100644 --- a/mkdocs.yaml +++ b/mkdocs.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + site_name: Autoware Universe Documentation site_url: https://autowarefoundation.github.io/autoware.universe repo_url: https://github.com/autowarefoundation/autoware.universe diff --git a/setup.cfg b/setup.cfg index 5214751c7ba6b..4d7d5e5b959d9 100644 --- a/setup.cfg +++ b/setup.cfg @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + [flake8] # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000 From 9c5a0e1f8e3d6993dae7f538e0dfc113f10a5608 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Sat, 30 Nov 2024 17:05:01 +0000 Subject: [PATCH 604/701] chore: update CODEOWNERS (#9530) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * chore: update CODEOWNERS Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> * remove the misnamed file Signed-off-by: M. Fatih Cırıt --------- Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Signed-off-by: M. Fatih Cırıt Co-authored-by: github-actions Co-authored-by: M. Fatih Cırıt --- .github/{_CODEOWNERS => CODEOWNERS} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename .github/{_CODEOWNERS => CODEOWNERS} (100%) diff --git a/.github/_CODEOWNERS b/.github/CODEOWNERS similarity index 100% rename from .github/_CODEOWNERS rename to .github/CODEOWNERS From 99e88eed8db6a281079f006b264c918a8ef089be Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Sat, 30 Nov 2024 18:36:51 +0100 Subject: [PATCH 605/701] fix: fix package names in changelog files (#9500) Signed-off-by: Esteve Fernandez --- common/autoware_adapi_specs/CHANGELOG.rst | 6 +++--- common/autoware_component_interface_utils/CHANGELOG.rst | 6 +++--- common/autoware_fake_test_node/CHANGELOG.rst | 6 +++--- common/autoware_qp_interface/CHANGELOG.rst | 6 +++--- common/autoware_time_utils/CHANGELOG.rst | 6 +++--- .../CHANGELOG.rst | 6 +++--- common/autoware_traffic_light_utils/CHANGELOG.rst | 6 +++--- map/autoware_map_loader/CHANGELOG.rst | 6 +++--- sensing/autoware_cuda_utils/CHANGELOG.rst | 6 +++--- 9 files changed, 27 insertions(+), 27 deletions(-) diff --git a/common/autoware_adapi_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst index f94b51d97f949..b4fec15bfa98c 100644 --- a/common/autoware_adapi_specs/CHANGELOG.rst +++ b/common/autoware_adapi_specs/CHANGELOG.rst @@ -1,6 +1,6 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package autoware_ad_api_specs -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_adapi_specs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_component_interface_utils/CHANGELOG.rst b/common/autoware_component_interface_utils/CHANGELOG.rst index d27f4b4558bbc..d7f476f33409a 100644 --- a/common/autoware_component_interface_utils/CHANGELOG.rst +++ b/common/autoware_component_interface_utils/CHANGELOG.rst @@ -1,6 +1,6 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package component_interface_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_component_interface_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_fake_test_node/CHANGELOG.rst b/common/autoware_fake_test_node/CHANGELOG.rst index 096c44f41ed77..330dddaa66aef 100644 --- a/common/autoware_fake_test_node/CHANGELOG.rst +++ b/common/autoware_fake_test_node/CHANGELOG.rst @@ -1,6 +1,6 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package fake_test_node -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_fake_test_node +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_qp_interface/CHANGELOG.rst b/common/autoware_qp_interface/CHANGELOG.rst index b2e26a8e0085e..17e296bab4fca 100644 --- a/common/autoware_qp_interface/CHANGELOG.rst +++ b/common/autoware_qp_interface/CHANGELOG.rst @@ -1,6 +1,6 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package qp_interface -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_qp_interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_time_utils/CHANGELOG.rst b/common/autoware_time_utils/CHANGELOG.rst index 73c72991895b0..43074de077e04 100644 --- a/common/autoware_time_utils/CHANGELOG.rst +++ b/common/autoware_time_utils/CHANGELOG.rst @@ -1,6 +1,6 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package time_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_time_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst index d4f17b0feea0e..98691121f4d30 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst +++ b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst @@ -1,6 +1,6 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package traffic_light_recognition_marker_publisher -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_traffic_light_recognition_marker_publisher +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.38.0 (2024-11-08) ------------------- diff --git a/common/autoware_traffic_light_utils/CHANGELOG.rst b/common/autoware_traffic_light_utils/CHANGELOG.rst index 7a62fa661e9bb..d74774ae8ef3a 100644 --- a/common/autoware_traffic_light_utils/CHANGELOG.rst +++ b/common/autoware_traffic_light_utils/CHANGELOG.rst @@ -1,6 +1,6 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package traffic_light_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_traffic_light_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.38.0 (2024-11-08) ------------------- diff --git a/map/autoware_map_loader/CHANGELOG.rst b/map/autoware_map_loader/CHANGELOG.rst index d7acfba736fd1..8aafae5e8b44b 100644 --- a/map/autoware_map_loader/CHANGELOG.rst +++ b/map/autoware_map_loader/CHANGELOG.rst @@ -1,6 +1,6 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package map_loader -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_map_loader +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.38.0 (2024-11-08) ------------------- diff --git a/sensing/autoware_cuda_utils/CHANGELOG.rst b/sensing/autoware_cuda_utils/CHANGELOG.rst index f5437230cc80d..fe3b28768acbb 100644 --- a/sensing/autoware_cuda_utils/CHANGELOG.rst +++ b/sensing/autoware_cuda_utils/CHANGELOG.rst @@ -1,6 +1,6 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package cuda_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_cuda_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.38.0 (2024-11-08) ------------------- From 3cbca656980180b0d336592b3ad796d1414aa38f Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Sun, 1 Dec 2024 13:02:28 +0900 Subject: [PATCH 606/701] fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (#9509) Signed-off-by: kobayu858 --- .../segmentation_pointcloud_fusion/node.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp index 152829ea769d3..b09e9521bdcdb 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp @@ -62,7 +62,7 @@ class SegmentPointCloudFusionNode : public FusionNode Date: Sun, 1 Dec 2024 13:53:05 +0900 Subject: [PATCH 607/701] fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (#9468) Signed-off-by: kobayu858 --- perception/autoware_bytetrack/lib/include/byte_tracker.h | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/perception/autoware_bytetrack/lib/include/byte_tracker.h b/perception/autoware_bytetrack/lib/include/byte_tracker.h index 60328c5acfd62..736ed6d311043 100644 --- a/perception/autoware_bytetrack/lib/include/byte_tracker.h +++ b/perception/autoware_bytetrack/lib/include/byte_tracker.h @@ -40,6 +40,7 @@ #include "strack.h" +#include #include struct ByteTrackObject @@ -83,8 +84,8 @@ class ByteTracker double lapjv( const std::vector> & cost, std::vector & rowsol, - std::vector & colsol, bool extend_cost = false, float cost_limit = LONG_MAX, - bool return_cost = true); + std::vector & colsol, bool extend_cost = false, + float cost_limit = std::numeric_limits::max(), bool return_cost = true); private: float track_thresh; From 4479e9433faf767ddc1607421f0f309b40d4f3dd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Sebastian=20Z=C4=99derowski?= Date: Mon, 2 Dec 2024 01:37:06 +0100 Subject: [PATCH 608/701] =?UTF-8?q?feat(object=5Flanelet=5Ffilter):=20add?= =?UTF-8?q?=20configurable=20margin=20for=20object=20lanel=E2=80=A6=20(#92?= =?UTF-8?q?40)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * feat(object_lanelet_filter): add configurable margin for object lanelet filter Signed-off-by: Sebastian Zęderowski modified: perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp Signed-off-by: Sebastian Zęderowski * feat(object_lanelet_filter): add condition to check wheter polygon is empty in debug mode Signed-off-by: Sebastian Zęderowski * feat(object_lanelet_filter): fix cppcheck Signed-off-by: Sebastian Zęderowski * fix: brig back missing type definition Signed-off-by: Taekjin LEE Signed-off-by: Sebastian Zęderowski * feat: add stop watch for processing time in object lanelet filter Signed-off-by: Taekjin LEE Signed-off-by: Sebastian Zęderowski * feat(object_lanelet_filter): remove extra comment line Signed-off-by: Sebastian Zęderowski * feat(_object_lanelet_filter): udpate readme Signed-off-by: Sebastian Zęderowski * style(pre-commit): autofix Signed-off-by: Sebastian Zęderowski * Update perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Signed-off-by: Sebastian Zęderowski * style(pre-commit): autofix Signed-off-by: Sebastian Zęderowski --------- Signed-off-by: Sebastian Zęderowski Signed-off-by: Taekjin LEE Co-authored-by: Sebastian Zęderowski Co-authored-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> --- .../CMakeLists.txt | 1 + .../config/object_lanelet_filter.param.yaml | 2 + .../object-lanelet-filter.md | 5 + .../src/lanelet_filter/debug.cpp | 128 ++++++++++++++++++ .../src/lanelet_filter/lanelet_filter.cpp | 87 ++++++++++-- .../src/lanelet_filter/lanelet_filter.hpp | 19 ++- 6 files changed, 231 insertions(+), 11 deletions(-) create mode 100644 perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp diff --git a/perception/autoware_detected_object_validation/CMakeLists.txt b/perception/autoware_detected_object_validation/CMakeLists.txt index 434c258918493..bf205fb32bb1d 100644 --- a/perception/autoware_detected_object_validation/CMakeLists.txt +++ b/perception/autoware_detected_object_validation/CMakeLists.txt @@ -48,6 +48,7 @@ target_link_libraries(obstacle_pointcloud_based_validator ) ament_auto_add_library(object_lanelet_filter SHARED + src/lanelet_filter/debug.cpp src/lanelet_filter/lanelet_filter.cpp lib/utils/utils.cpp ) diff --git a/perception/autoware_detected_object_validation/config/object_lanelet_filter.param.yaml b/perception/autoware_detected_object_validation/config/object_lanelet_filter.param.yaml index 99050d9738ae6..d15b2c81cf6db 100644 --- a/perception/autoware_detected_object_validation/config/object_lanelet_filter.param.yaml +++ b/perception/autoware_detected_object_validation/config/object_lanelet_filter.param.yaml @@ -19,3 +19,5 @@ enabled: false velocity_yaw_threshold: 0.785398 # [rad] (45 deg) object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 diff --git a/perception/autoware_detected_object_validation/object-lanelet-filter.md b/perception/autoware_detected_object_validation/object-lanelet-filter.md index a14e28a42666d..b748885c188b4 100644 --- a/perception/autoware_detected_object_validation/object-lanelet-filter.md +++ b/perception/autoware_detected_object_validation/object-lanelet-filter.md @@ -24,6 +24,11 @@ The objects only inside of the vector map will be published. ## Parameters +| Name | Type | Description | +| ---------------------- | -------- | ------------------------------------------------------------------------------------ | +| `debug` | `bool` | if true, publish debug markers | +| `lanelet_extra_margin` | `double` | `if > 0` lanelet polygons are expanded by extra margin, `if <= 0` margin is disabled | + ### Core Parameters | Name | Type | Default Value | Description | diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp b/perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp new file mode 100644 index 0000000000000..b4116982f5b94 --- /dev/null +++ b/perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp @@ -0,0 +1,128 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "lanelet_filter.hpp" + +#include +#include +#include +#include + +#include +#include +#include +#include + +#include + +namespace autoware::detected_object_validation +{ +namespace lanelet_filter +{ + +using visualization_msgs::msg::Marker; +using visualization_msgs::msg::MarkerArray; + +template +std::optional createPolygonMarker( + T polygon, rclcpp::Time stamp, std::string_view ns, size_t marker_id, + std_msgs::msg::ColorRGBA color) +{ + if (polygon.empty()) { + return std::nullopt; + } + const constexpr std::string_view FRAME_ID = "map"; + + auto create_marker = [&](auto marker_type) { + Marker marker; + marker.id = marker_id; + marker.header.frame_id = FRAME_ID; + marker.header.stamp = stamp; + marker.ns = ns; + marker.type = marker_type; + marker.action = Marker::ADD; + marker.lifetime = rclcpp::Duration::from_seconds(0.1); + return marker; + }; + + auto marker = create_marker(Marker::LINE_LIST); + marker.pose.orientation.w = 1.0; + marker.scale.x = 0.1; + marker.color.a = color.a; + marker.color.r = color.r; + marker.color.g = color.g; + marker.color.b = color.b; + + std::vector points; + points.reserve(polygon.size() * 2); + + for (auto it = polygon.begin(); it != std::prev(polygon.end()); ++it) { + geometry_msgs::msg::Point point; + + point.x = it->x(); + point.y = it->y(); + points.push_back(point); + + const auto next = std::next(it); + point.x = next->x(); + point.y = next->y(); + points.push_back(point); + } + geometry_msgs::msg::Point point; + point.x = polygon.back().x(); + point.y = polygon.back().y(); + + points.push_back(point); + point.x = polygon.front().x(); + point.y = polygon.front().y(); + + points.push_back(point); + marker.points = points; + return marker; +} + +void ObjectLaneletFilterNode::publishDebugMarkers( + rclcpp::Time stamp, const LinearRing2d & hull, const std::vector & lanelets) +{ + using visualization_msgs::msg::Marker; + using visualization_msgs::msg::MarkerArray; + + uint8_t marker_id = 0; + Marker delete_marker; + constexpr std::string_view lanelet_range = "lanelet_range"; + constexpr std::string_view roi = "roi"; + + MarkerArray marker_array; + + std_msgs::msg::ColorRGBA color; + color.a = 0.5f; + color.r = 0.3f; + color.g = 1.0f; + color.b = 0.2f; + if (auto marker = createPolygonMarker(hull, stamp, lanelet_range, ++marker_id, color); marker) { + marker_array.markers.push_back(std::move(*marker)); + } + for (const auto & box_and_lanelet : lanelets) { + color.r = 0.2; + color.g = 0.5; + color.b = 1.0; + auto p = box_and_lanelet.second.polygon; + if (auto marker = createPolygonMarker(p, stamp, roi, ++marker_id, color); marker) { + marker_array.markers.push_back(std::move(*marker)); + } + } + viz_pub_->publish(marker_array); +} +} // namespace lanelet_filter +} // namespace autoware::detected_object_validation diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp index e54ffd5452e7c..5e199a9ea9fad 100644 --- a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp +++ b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp @@ -59,6 +59,9 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod declare_parameter("filter_settings.lanelet_direction_filter.velocity_yaw_threshold"); filter_settings_.lanelet_direction_filter_object_speed_threshold = declare_parameter("filter_settings.lanelet_direction_filter.object_speed_threshold"); + filter_settings_.debug = declare_parameter("filter_settings.debug"); + filter_settings_.lanelet_extra_margin = + declare_parameter("filter_settings.lanelet_extra_margin"); // Set publisher/subscriber map_sub_ = this->create_subscription( @@ -73,6 +76,41 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod std::make_unique(this, "object_lanelet_filter"); published_time_publisher_ = std::make_unique(this); + stop_watch_ptr_ = + std::make_unique>(); + if (filter_settings_.debug) { + viz_pub_ = this->create_publisher( + "~/debug/marker", rclcpp::QoS{1}); + } +} + +bool isInPolygon( + const geometry_msgs::msg::Pose & current_pose, const lanelet::BasicPolygon2d & polygon, + const double radius) +{ + constexpr double eps = 1.0e-9; + const lanelet::BasicPoint2d p(current_pose.position.x, current_pose.position.y); + return boost::geometry::distance(p, polygon) < radius + eps; +} + +LinearRing2d expandPolygon(const LinearRing2d & polygon, double distance) +{ + universe_utils::MultiPolygon2d multi_polygon; + bg::strategy::buffer::distance_symmetric distance_strategy(distance); + bg::strategy::buffer::join_miter join_strategy; + bg::strategy::buffer::end_flat end_strategy; + bg::strategy::buffer::point_circle circle_strategy; + bg::strategy::buffer::side_straight side_strategy; + + bg::buffer( + polygon, multi_polygon, distance_strategy, side_strategy, join_strategy, end_strategy, + circle_strategy); + + if (multi_polygon.empty()) { + return polygon; + } + + return multi_polygon.front().outer(); } void ObjectLaneletFilterNode::mapCallback( @@ -86,6 +124,8 @@ void ObjectLaneletFilterNode::mapCallback( void ObjectLaneletFilterNode::objectCallback( const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_msg) { + stop_watch_ptr_->tic("processing_time"); + // Guard if (object_pub_->get_subscription_count() < 1) return; @@ -116,6 +156,9 @@ void ObjectLaneletFilterNode::objectCallback( local_rtree.insert(bbox_and_lanelet); } + if (filter_settings_.debug) { + publishDebugMarkers(input_msg->header.stamp, convex_hull, intersected_lanelets_with_bbox); + } // filtering process for (size_t index = 0; index < transformed_objects.objects.size(); ++index) { const auto & transformed_object = transformed_objects.objects.at(index); @@ -135,6 +178,8 @@ void ObjectLaneletFilterNode::objectCallback( .count(); debug_publisher_->publish( "debug/pipeline_latency_ms", pipeline_latency); + debug_publisher_->publish( + "debug/processing_time_ms", stop_watch_ptr_->toc("processing_time", true)); } bool ObjectLaneletFilterNode::filterObject( @@ -217,6 +262,9 @@ LinearRing2d ObjectLaneletFilterNode::getConvexHull( LinearRing2d convex_hull; bg::convex_hull(candidate_points, convex_hull); + if (filter_settings_.lanelet_extra_margin > 0) { + return expandPolygon(convex_hull, filter_settings_.lanelet_extra_margin); + } return convex_hull; } @@ -265,12 +313,12 @@ std::vector ObjectLaneletFilterNode::getIntersectedLanelets( lanelet.attribute(lanelet::AttributeName::Subtype).value() == "road_shoulder")) { if (bg::intersects(convex_hull, lanelet.polygon2d().basicPolygon())) { // create bbox using boost for making the R-tree in later phase - lanelet::BoundingBox2d lanelet_bbox = lanelet::geometry::boundingBox2d(lanelet); - Point2d min_corner(lanelet_bbox.min().x(), lanelet_bbox.min().y()); - Point2d max_corner(lanelet_bbox.max().x(), lanelet_bbox.max().y()); - Box boost_bbox(min_corner, max_corner); + auto polygon = getPolygon(lanelet); + Box boost_bbox; + bg::envelope(polygon, boost_bbox); - intersected_lanelets_with_bbox.emplace_back(std::make_pair(boost_bbox, lanelet)); + intersected_lanelets_with_bbox.emplace_back( + std::make_pair(boost_bbox, PolygonAndLanelet{polygon, lanelet})); } } } @@ -278,6 +326,25 @@ std::vector ObjectLaneletFilterNode::getIntersectedLanelets( return intersected_lanelets_with_bbox; } +lanelet::BasicPolygon2d ObjectLaneletFilterNode::getPolygon(const lanelet::ConstLanelet & lanelet) +{ + if (filter_settings_.lanelet_extra_margin <= 0) { + return lanelet.polygon2d().basicPolygon(); + } + + auto lanelet_polygon = lanelet.polygon2d().basicPolygon(); + Polygon2d polygon; + bg::assign_points(polygon, lanelet_polygon); + + bg::correct(polygon); + auto polygon_result = expandPolygon(polygon.outer(), filter_settings_.lanelet_extra_margin); + lanelet::BasicPolygon2d result; + + bg::assign_points(result, polygon_result); + + return result; +} + bool ObjectLaneletFilterNode::isObjectOverlapLanelets( const autoware_perception_msgs::msg::DetectedObject & object, const bgi::rtree & local_rtree) @@ -314,7 +381,7 @@ bool ObjectLaneletFilterNode::isObjectOverlapLanelets( point2d.position.y = point_transformed.y; for (const auto & candidate : candidates) { - if (lanelet::utils::isInLanelet(point2d, candidate.second, 0.0)) { + if (isInPolygon(point2d, candidate.second.polygon, 0.0)) { return true; } } @@ -334,7 +401,7 @@ bool ObjectLaneletFilterNode::isPolygonOverlapLanelets( local_rtree.query(bgi::intersects(bbox_of_convex_hull), std::back_inserter(candidates)); for (const auto & box_and_lanelet : candidates) { - if (!bg::disjoint(polygon, box_and_lanelet.second.polygon2d().basicPolygon())) { + if (!bg::disjoint(polygon, box_and_lanelet.second.polygon)) { return true; } } @@ -374,14 +441,14 @@ bool ObjectLaneletFilterNode::isSameDirectionWithLanelets( local_rtree.query(bgi::intersects(bbox), std::back_inserter(candidates)); for (const auto & box_and_lanelet : candidates) { - const bool is_in_lanelet = lanelet::utils::isInLanelet( - object.kinematics.pose_with_covariance.pose, box_and_lanelet.second, 0.0); + const bool is_in_lanelet = + isInPolygon(object.kinematics.pose_with_covariance.pose, box_and_lanelet.second.polygon, 0.0); if (!is_in_lanelet) { continue; } const double lane_yaw = lanelet::utils::getLaneletAngle( - box_and_lanelet.second, object.kinematics.pose_with_covariance.pose.position); + box_and_lanelet.second.lanelet, object.kinematics.pose_with_covariance.pose.position); const double delta_yaw = object_velocity_yaw - lane_yaw; const double normalized_delta_yaw = autoware::universe_utils::normalizeRadian(delta_yaw); const double abs_norm_delta_yaw = std::fabs(normalized_delta_yaw); diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp index 05020336bc759..724e60df27e49 100644 --- a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp +++ b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.hpp @@ -19,12 +19,14 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/ros/debug_publisher.hpp" #include "autoware/universe_utils/ros/published_time_publisher.hpp" +#include "autoware/universe_utils/system/stop_watch.hpp" #include "autoware_lanelet2_extension/utility/utilities.hpp" #include #include "autoware_map_msgs/msg/lanelet_map_bin.hpp" #include "autoware_perception_msgs/msg/detected_objects.hpp" +#include #include @@ -50,7 +52,13 @@ namespace bg = boost::geometry; namespace bgi = boost::geometry::index; using Point2d = bg::model::point; using Box = boost::geometry::model::box; -using BoxAndLanelet = std::pair; + +struct PolygonAndLanelet +{ + lanelet::BasicPolygon2d polygon; + lanelet::ConstLanelet lanelet; +}; +using BoxAndLanelet = std::pair; using RtreeAlgo = bgi::rstar<16>; class ObjectLaneletFilterNode : public rclcpp::Node @@ -62,10 +70,16 @@ class ObjectLaneletFilterNode : public rclcpp::Node void objectCallback(const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr); void mapCallback(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr); + void publishDebugMarkers( + rclcpp::Time stamp, const LinearRing2d & hull, const std::vector & lanelets); + rclcpp::Publisher::SharedPtr object_pub_; + rclcpp::Publisher::SharedPtr viz_pub_; rclcpp::Subscription::SharedPtr map_sub_; rclcpp::Subscription::SharedPtr object_sub_; + std::unique_ptr debug_publisher_{nullptr}; + std::unique_ptr> stop_watch_ptr_; lanelet::LaneletMapPtr lanelet_map_ptr_; std::string lanelet_frame_id_; @@ -80,6 +94,8 @@ class ObjectLaneletFilterNode : public rclcpp::Node bool lanelet_direction_filter; double lanelet_direction_filter_velocity_yaw_threshold; double lanelet_direction_filter_object_speed_threshold; + bool debug; + double lanelet_extra_margin; } filter_settings_; bool filterObject( @@ -101,6 +117,7 @@ class ObjectLaneletFilterNode : public rclcpp::Node const bgi::rtree & local_rtree); geometry_msgs::msg::Polygon setFootprint(const autoware_perception_msgs::msg::DetectedObject &); + lanelet::BasicPolygon2d getPolygon(const lanelet::ConstLanelet & lanelet); std::unique_ptr published_time_publisher_; }; From 889b6494ab6d757286ed62e340ba5c40541dc4d4 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 2 Dec 2024 10:15:30 +0900 Subject: [PATCH 609/701] feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (#9502) * change max acceleration and max jerk according to external velocity request Signed-off-by: Go Sakayori * modify external velocity limit selector Signed-off-by: Go Sakayori * fix external velocity limit selector Signed-off-by: Go Sakayori * fix format Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../external_velocity_limit_selector_node.hpp | 1 - .../external_velocity_limit_selector_node.cpp | 30 ++++++++++++++- .../autoware/velocity_smoother/node.hpp | 7 ++++ .../smoother/smoother_base.hpp | 2 + .../autoware_velocity_smoother/src/node.cpp | 38 +++++++++++++++++-- .../src/smoother/smoother_base.cpp | 10 +++++ 6 files changed, 81 insertions(+), 7 deletions(-) diff --git a/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp b/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp index 2aa06079dadbc..6a8fae3bf394c 100644 --- a/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp +++ b/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp @@ -22,7 +22,6 @@ #include #include -#include #include #include #include diff --git a/planning/autoware_external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp b/planning/autoware_external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp index 2052c8438bcfa..cf42763fc6b60 100644 --- a/planning/autoware_external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp +++ b/planning/autoware_external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp @@ -14,12 +14,12 @@ #include "autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp" -#include +#include #include +#include #include #include #include -#include namespace autoware::external_velocity_limit_selector { @@ -34,12 +34,17 @@ VelocityLimit getHardestLimit( hardest_limit.max_velocity = node_param.max_vel; VelocityLimitConstraints normal_constraints{}; + normal_constraints.max_acceleration = node_param.normal.max_acc; normal_constraints.min_acceleration = node_param.normal.min_acc; normal_constraints.min_jerk = node_param.normal.min_jerk; normal_constraints.max_jerk = node_param.normal.max_jerk; double hardest_max_velocity = node_param.max_vel; double hardest_max_jerk = 0.0; + double hardest_max_acceleration = 0.0; + std::string hardest_max_acceleration_key; + size_t constraint_num = 0; + size_t acceleration_constraint_num = 0; for (const auto & limit : velocity_limits) { // guard nan, inf @@ -59,6 +64,19 @@ VelocityLimit getHardestLimit( ? limit.second.constraints : normal_constraints; + if (limit.second.use_constraints) { + constraint_num++; + if (limit.second.constraints.max_acceleration > normal_constraints.max_acceleration) { + acceleration_constraint_num++; + hardest_max_acceleration_key = limit.first; + } + } + + if (hardest_max_acceleration < limit.second.constraints.max_acceleration) { + hardest_max_acceleration_key = limit.first; + hardest_max_acceleration = limit.second.constraints.max_acceleration; + } + // find hardest jerk if (hardest_max_jerk < constraints.max_jerk) { hardest_limit.constraints = constraints; @@ -67,6 +85,14 @@ VelocityLimit getHardestLimit( } } + if (constraint_num > 0 && constraint_num == acceleration_constraint_num) { + if (velocity_limits.find(hardest_max_acceleration_key) != velocity_limits.end()) { + const auto constraints = velocity_limits.at(hardest_max_acceleration_key).constraints; + hardest_limit.constraints = constraints; + hardest_limit.use_constraints = true; + } + } + return hardest_limit; } diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp index 3f1c313e052da..069363d2f65e0 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp @@ -164,10 +164,17 @@ class VelocitySmootherNode : public rclcpp::Node bool plan_from_ego_speed_on_manual_mode = true; } node_param_{}; + struct AccelerationRequest + { + bool request{false}; + double max_acceleration{0.0}; + double max_jerk{0.0}; + }; struct ExternalVelocityLimit { double velocity{0.0}; // current external_velocity_limit double dist{0.0}; // distance to set external velocity limit + AccelerationRequest acceleration_request; std::string sender{""}; }; ExternalVelocityLimit diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp index 7206a64ea32eb..d51431383f88a 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/smoother_base.hpp @@ -83,6 +83,8 @@ class SmootherBase double getMinJerk() const; void setWheelBase(const double wheel_base); + void setMaxAccel(const double max_acceleration); + void setMaxJerk(const double max_jerk); void setParam(const BaseParam & param); BaseParam getBaseParam() const; diff --git a/planning/autoware_velocity_smoother/src/node.cpp b/planning/autoware_velocity_smoother/src/node.cpp index a358a1b61c11b..f47c84ab54b01 100644 --- a/planning/autoware_velocity_smoother/src/node.cpp +++ b/planning/autoware_velocity_smoother/src/node.cpp @@ -319,6 +319,7 @@ void VelocitySmootherNode::calcExternalVelocityLimit() autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (!external_velocity_limit_ptr_) { + external_velocity_limit_.acceleration_request.request = false; return; } @@ -342,6 +343,20 @@ void VelocitySmootherNode::calcExternalVelocityLimit() external_velocity_limit_.dist = 0.0; } + const auto base_max_acceleration = get_parameter("normal.max_acc").as_double(); + const auto acceleration_request = + external_velocity_limit_ptr_->use_constraints && + base_max_acceleration < external_velocity_limit_ptr_->constraints.max_acceleration; + if ( + acceleration_request && + current_odometry_ptr_->twist.twist.linear.x < external_velocity_limit_ptr_->max_velocity) { + external_velocity_limit_.acceleration_request.request = true; + external_velocity_limit_.acceleration_request.max_acceleration = + external_velocity_limit_ptr_->constraints.max_acceleration; + external_velocity_limit_.acceleration_request.max_jerk = + external_velocity_limit_ptr_->constraints.max_jerk; + } + // calculate distance and maximum velocity // to decelerate to external velocity limit with jerk and acceleration // constraints. @@ -627,6 +642,18 @@ bool VelocitySmootherNode::smoothVelocity( clipped.insert( clipped.end(), traj_resampled.begin() + traj_resampled_closest, traj_resampled.end()); + // Set maximum acceleration before applying smoother. Depends on acceleration request from + // external velocity limit + const double smoother_max_acceleration = + external_velocity_limit_.acceleration_request.request + ? external_velocity_limit_.acceleration_request.max_acceleration + : get_parameter("normal.max_acc").as_double(); + const double smoother_max_jerk = external_velocity_limit_.acceleration_request.request + ? external_velocity_limit_.acceleration_request.max_jerk + : get_parameter("normal.max_jerk").as_double(); + smoother_->setMaxAccel(smoother_max_acceleration); + smoother_->setMaxJerk(smoother_max_jerk); + std::vector debug_trajectories; if (!smoother_->apply( initial_motion.vel, initial_motion.acc, clipped, traj_smoothed, debug_trajectories, @@ -791,12 +818,15 @@ std::pair VelocitySmootherNode::ca "calcInitialMotion : vehicle speed is low (%.3f), and desired speed is high (%.3f). Use " "engage speed (%.3f) until vehicle speed reaches engage_vel_thr (%.3f). stop_dist = %.3f", vehicle_speed, target_vel, node_param_.engage_velocity, engage_vel_thr, stop_dist); - Motion initial_motion = {node_param_.engage_velocity, node_param_.engage_acceleration}; + const double engage_acceleration = + external_velocity_limit_.acceleration_request.request + ? external_velocity_limit_.acceleration_request.max_acceleration + : node_param_.engage_acceleration; + Motion initial_motion = {node_param_.engage_velocity, engage_acceleration}; return {initial_motion, InitializeType::ENGAGING}; - } else { - RCLCPP_DEBUG( - get_logger(), "calcInitialMotion : stop point is close (%.3f[m]). no engage.", stop_dist); } + RCLCPP_DEBUG( + get_logger(), "calcInitialMotion : stop point is close (%.3f[m]). no engage.", stop_dist); } else if (target_vel > 0.0) { RCLCPP_WARN_THROTTLE( get_logger(), *clock_, 3000, diff --git a/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp b/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp index 46faf10fe4a62..5360da101ee8c 100644 --- a/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp @@ -97,6 +97,16 @@ void SmootherBase::setWheelBase(const double wheel_base) base_param_.wheel_base = wheel_base; } +void SmootherBase::setMaxAccel(const double max_acceleration) +{ + base_param_.max_accel = max_acceleration; +} + +void SmootherBase::setMaxJerk(const double max_jerk) +{ + base_param_.max_jerk = max_jerk; +} + void SmootherBase::setParam(const BaseParam & param) { base_param_ = param; From df241f7b73cc9dafb6fbe2d0c53ebc9a097aaca1 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Mon, 2 Dec 2024 10:37:39 +0900 Subject: [PATCH 610/701] fix(autoware_ground_segmentation): fix clang-diagnostic-inconsistent-missing-override (#9517) * fix: clang-diagnostic-inconsistent-missing-override Signed-off-by: kobayu858 * fix: pre-commit error Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/scan_ground_filter/node.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp index 62db8307a0a37..41c41f1899163 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp @@ -146,9 +146,9 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt // TODO(taisa1): Temporary Implementation: Remove this interface when all the filter nodes // conform to new API - virtual void faster_filter( + void faster_filter( const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output, - const autoware::pointcloud_preprocessor::TransformInfo & transform_info); + const autoware::pointcloud_preprocessor::TransformInfo & transform_info) override; tf2_ros::Buffer tf_buffer_{get_clock()}; tf2_ros::TransformListener tf_listener_{tf_buffer_}; From adb6101080c408d0899c6fead712b1311854bfbb Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Mon, 2 Dec 2024 10:38:37 +0900 Subject: [PATCH 611/701] fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (#9513) fix: clang-diagnostic-implicit-const-int-float-conversion Signed-off-by: kobayu858 --- perception/autoware_bytetrack/lib/src/utils.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/perception/autoware_bytetrack/lib/src/utils.cpp b/perception/autoware_bytetrack/lib/src/utils.cpp index e987bd36b8064..d9ff5af52f6bf 100644 --- a/perception/autoware_bytetrack/lib/src/utils.cpp +++ b/perception/autoware_bytetrack/lib/src/utils.cpp @@ -40,6 +40,7 @@ #include "lapjv.h" #include +#include std::vector ByteTracker::joint_stracks( std::vector & tlista, std::vector & tlistb) @@ -292,14 +293,14 @@ double ByteTracker::lapjv( } } - if (extend_cost || cost_limit < LONG_MAX) { + if (extend_cost || cost_limit < std::numeric_limits::max()) { std::vector> cost_c_extended; n = n_rows + n_cols; cost_c_extended.resize(n); for (size_t i = 0; i < cost_c_extended.size(); i++) cost_c_extended[i].resize(n); - if (cost_limit < LONG_MAX) { + if (cost_limit < std::numeric_limits::max()) { for (size_t i = 0; i < cost_c_extended.size(); i++) { for (size_t j = 0; j < cost_c_extended[i].size(); j++) { cost_c_extended[i][j] = cost_limit / 2.0; From 421dcfcef8a7fd1f3e293003bdabf443fff573c7 Mon Sep 17 00:00:00 2001 From: Mukunda Bharatheesha Date: Mon, 2 Dec 2024 03:05:47 +0100 Subject: [PATCH 612/701] fix(autoware_pointcloud_preprocessor): remove unused arg and unavailable param file. (#9525) Remove unused arg and unavailable param file. Signed-off-by: Mukunda Bharatheesha --- .../launch/approximate_downsample_filter.launch.xml | 2 -- .../launch/crop_box_filter_node.launch.xml | 2 -- .../launch/dual_return_outlier_filter_node.launch.xml | 2 -- .../pickup_based_voxel_grid_downsample_filter_node.launch.xml | 2 -- .../launch/pointcloud_accumulator_node.launch.xml | 2 -- .../launch/radius_search_2d_outlier_filter_node.launch.xml | 2 -- .../launch/random_downsample_filter_node.launch.xml | 2 -- .../launch/ring_outlier_filter_node.launch.xml | 2 -- .../launch/ring_passthrough_filter.launch.xml | 2 -- .../launch/vector_map_inside_area_filter_node.launch.xml | 2 -- .../launch/voxel_grid_downsample_filter_node.launch.xml | 2 -- .../launch/voxel_grid_outlier_filter_node.launch.xml | 2 -- 12 files changed, 24 deletions(-) diff --git a/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml index f4375e5a5cd2f..8912847ce1e4a 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/approximate_downsample_filter.launch.xml @@ -4,10 +4,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml index bb07daf8841b9..4cb9c9412df00 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml @@ -3,11 +3,9 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml index d0293ca140e4f..5c79787a58e9e 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/dual_return_outlier_filter_node.launch.xml @@ -4,11 +4,9 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml index 7c035cbcf1b52..83c0fe9a20d4c 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/pickup_based_voxel_grid_downsample_filter_node.launch.xml @@ -4,10 +4,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml index 3f132a1586a36..1305ce5992866 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/pointcloud_accumulator_node.launch.xml @@ -4,10 +4,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml index 665c8d7c6e37c..cdd1f8589f3e3 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/radius_search_2d_outlier_filter_node.launch.xml @@ -4,10 +4,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml index 4663cece6ea60..12109ffec5b38 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/random_downsample_filter_node.launch.xml @@ -4,11 +4,9 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml index 68076f5c9c321..df45e81653303 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/ring_outlier_filter_node.launch.xml @@ -3,11 +3,9 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml index 800fa5f3ec3ee..36f30fc2d41ee 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/ring_passthrough_filter.launch.xml @@ -4,11 +4,9 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml index 795234e185cdd..f5980b0814edc 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml @@ -3,10 +3,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml index f674e8d9dfa14..90a2b9993fc18 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_downsample_filter_node.launch.xml @@ -4,10 +4,8 @@ - - diff --git a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml index 380a46eed3159..e1b963922a2ff 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml @@ -4,10 +4,8 @@ - - From 8476e34a899d3741abf8bb7d95a339d92c0bb820 Mon Sep 17 00:00:00 2001 From: Kazunori-Nakajima <169115284+Kazunori-Nakajima@users.noreply.github.com> Date: Mon, 2 Dec 2024 11:56:03 +0900 Subject: [PATCH 613/701] fix(control_evaluator): correct goal_lateal_deviation (#9532) Signed-off-by: Kasunori-Nakajima --- .../autoware_control_evaluator/src/control_evaluator_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index 2a2c07b2db319..9c8579469f878 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -232,7 +232,7 @@ void ControlEvaluatorNode::AddGoalLongitudinalDeviationMetricMsg(const Pose & eg void ControlEvaluatorNode::AddGoalLateralDeviationMetricMsg(const Pose & ego_pose) { - const Metric metric = Metric::lateral_deviation; + const Metric metric = Metric::goal_lateral_deviation; const double metric_value = metrics::calcLateralDeviation(route_handler_.getGoalPose(), ego_pose.position); From 815abd93a997812a853c8b75c435d76696a51942 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 2 Dec 2024 12:01:22 +0900 Subject: [PATCH 614/701] refactor(goal_planner): move unnecessary member functions (#9522) Signed-off-by: Mamoru Sobue --- .../goal_planner_module.hpp | 86 ++++--- .../src/goal_planner_module.cpp | 209 ++++++++---------- 2 files changed, 126 insertions(+), 169 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 5d7fe103a9346..914da46e60180 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -135,6 +135,43 @@ struct PullOverContextData std::optional last_path_idx_increment_time; }; +bool isOnModifiedGoal( + const Pose & current_pose, const std::optional & modified_goal_opt, + const GoalPlannerParameters & parameters); + +bool hasPreviousModulePathShapeChanged( + const BehaviorModuleOutput & previous_module_output, + const BehaviorModuleOutput & last_previous_module_output); +bool hasDeviatedFromLastPreviousModulePath( + const PlannerData & planner_data, const BehaviorModuleOutput & last_previous_module_output); +bool hasDeviatedFromCurrentPreviousModulePath( + const PlannerData & planner_data, const BehaviorModuleOutput & previous_module_output); + +bool needPathUpdate( + const Pose & current_pose, const double path_update_duration, const rclcpp::Time & now, + const std::optional & modified_goal, + const std::optional & selected_time, const GoalPlannerParameters & parameters); + +bool checkOccupancyGridCollision( + const PathWithLaneId & path, + const std::shared_ptr occupancy_grid_map); + +bool isStopped( + std::deque & odometry_buffer, + const nav_msgs::msg::Odometry::ConstSharedPtr self_odometry, const double duration_lower); + +// Flag class for managing whether a certain callback is running in multi-threading +class ScopedFlag +{ +public: + explicit ScopedFlag(std::atomic & flag) : flag_(flag) { flag_.store(true); } + + ~ScopedFlag() { flag_.store(false); } + +private: + std::atomic & flag_; +}; + class GoalPlannerModule : public SceneModuleInterface { public: @@ -193,18 +230,6 @@ class GoalPlannerModule : public SceneModuleInterface void processOnExit() override; void updateData() override; - void updateEgoPredictedPathParams( - std::shared_ptr & ego_predicted_path_params, - const std::shared_ptr & goal_planner_params); - - void updateSafetyCheckParams( - std::shared_ptr & safety_check_params, - const std::shared_ptr & goal_planner_params); - - void updateObjectsFilteringParams( - std::shared_ptr & objects_filtering_params, - const std::shared_ptr & goal_planner_params); - void postProcess() override; void setParameters(const std::shared_ptr & parameters); void acceptVisitor( @@ -257,18 +282,6 @@ class GoalPlannerModule : public SceneModuleInterface std::optional gp_planner_data_{std::nullopt}; std::mutex gp_planner_data_mutex_; - // Flag class for managing whether a certain callback is running in multi-threading - class ScopedFlag - { - public: - explicit ScopedFlag(std::atomic & flag) : flag_(flag) { flag_.store(true); } - - ~ScopedFlag() { flag_.store(false); } - - private: - std::atomic & flag_; - }; - /* * state transitions and plan function used in each state * @@ -359,11 +372,6 @@ class GoalPlannerModule : public SceneModuleInterface mutable GoalPlannerDebugData debug_data_; mutable PoseWithString debug_stop_pose_with_info_; - // collision check - bool checkOccupancyGridCollision( - const PathWithLaneId & path, - const std::shared_ptr occupancy_grid_map) const; - // goal seach GoalCandidates generateGoalCandidates() const; @@ -380,18 +388,8 @@ class GoalPlannerModule : public SceneModuleInterface double calcSignedArcLengthFromEgo(const PathWithLaneId & path, const Pose & pose) const; // status - bool isStopped(); - bool isStopped( - std::deque & odometry_buffer, const double time); bool hasFinishedCurrentPath(const PullOverContextData & ctx_data); - bool isOnModifiedGoal( - const Pose & current_pose, const std::optional & modified_goal_opt, - const GoalPlannerParameters & parameters) const; double calcModuleRequestLength() const; - bool needPathUpdate( - const Pose & current_pose, const double path_update_duration, - const std::optional & modified_goal_opt, - const GoalPlannerParameters & parameters) const; bool isStuck( const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, const std::shared_ptr planner_data, @@ -443,16 +441,6 @@ class GoalPlannerModule : public SceneModuleInterface TurnSignalInfo calcTurnSignalInfo(const PullOverContextData & context_data); std::optional ignore_signal_{std::nullopt}; - bool hasPreviousModulePathShapeChanged( - const BehaviorModuleOutput & previous_module_output, - const BehaviorModuleOutput & last_previous_module_output) const; - bool hasDeviatedFromLastPreviousModulePath( - const std::shared_ptr planner_data, - const BehaviorModuleOutput & last_previous_module_output) const; - bool hasDeviatedFromCurrentPreviousModulePath( - const std::shared_ptr planner_data, - const BehaviorModuleOutput & previous_module_output) const; - // timer for generating pull over path candidates in a separate thread void onTimer(); void onFreespaceParkingTimer(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index fed42be0753d7..d8bf8f42386db 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -53,7 +53,6 @@ using autoware::motion_utils::insertDecelPoint; using autoware::universe_utils::calcDistance2d; using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::createMarkerColor; -using autoware::universe_utils::inverseTransformPose; using nav_msgs::msg::OccupancyGrid; namespace autoware::behavior_path_planner @@ -145,9 +144,27 @@ GoalPlannerModule::GoalPlannerModule( // time_keeper_->add_reporter(&std::cerr); } -bool GoalPlannerModule::hasPreviousModulePathShapeChanged( +bool isOnModifiedGoal( + const Pose & current_pose, const GoalCandidate & modified_goal, + const GoalPlannerParameters & parameters) +{ + return calcDistance2d(current_pose, modified_goal.goal_pose) < parameters.th_arrived_distance; +} + +bool isOnModifiedGoal( + const Pose & current_pose, const std::optional & modified_goal_opt, + const GoalPlannerParameters & parameters) +{ + if (!modified_goal_opt) { + return false; + } + + return isOnModifiedGoal(current_pose, modified_goal_opt.value(), parameters); +} + +bool hasPreviousModulePathShapeChanged( const BehaviorModuleOutput & previous_module_output, - const BehaviorModuleOutput & last_previous_module_output) const + const BehaviorModuleOutput & last_previous_module_output) { // Calculate the lateral distance between each point of the current path and the nearest point of // the last path @@ -180,25 +197,69 @@ bool GoalPlannerModule::hasPreviousModulePathShapeChanged( return false; } -bool GoalPlannerModule::hasDeviatedFromLastPreviousModulePath( - const std::shared_ptr planner_data, - const BehaviorModuleOutput & last_previous_module_output) const +bool hasDeviatedFromLastPreviousModulePath( + const PlannerData & planner_data, const BehaviorModuleOutput & last_previous_module_output) { return std::abs(autoware::motion_utils::calcLateralOffset( last_previous_module_output.path.points, - planner_data->self_odometry->pose.pose.position)) > 0.3; + planner_data.self_odometry->pose.pose.position)) > 0.3; } -bool GoalPlannerModule::hasDeviatedFromCurrentPreviousModulePath( - const std::shared_ptr planner_data, - const BehaviorModuleOutput & previous_module_output) const +bool hasDeviatedFromCurrentPreviousModulePath( + const PlannerData & planner_data, const BehaviorModuleOutput & previous_module_output) { constexpr double LATERAL_DEVIATION_THRESH = 0.3; return std::abs(autoware::motion_utils::calcLateralOffset( - previous_module_output.path.points, planner_data->self_odometry->pose.pose.position)) > + previous_module_output.path.points, planner_data.self_odometry->pose.pose.position)) > LATERAL_DEVIATION_THRESH; } +bool needPathUpdate( + const Pose & current_pose, const double path_update_duration, const rclcpp::Time & now, + const std::optional & modified_goal, + const std::optional & selected_time, const GoalPlannerParameters & parameters) +{ + const bool has_enough_time_passed = + selected_time ? (now - selected_time.value()).seconds() > path_update_duration : true; + return !isOnModifiedGoal(current_pose, modified_goal, parameters) && has_enough_time_passed; +} + +bool checkOccupancyGridCollision( + const PathWithLaneId & path, + const std::shared_ptr occupancy_grid_map) +{ + if (!occupancy_grid_map) { + return false; + } + const bool check_out_of_range = false; + return occupancy_grid_map->hasObstacleOnPath(path, check_out_of_range); +} + +bool isStopped( + std::deque & odometry_buffer, + const nav_msgs::msg::Odometry::ConstSharedPtr self_odometry, const double duration_lower) +{ + odometry_buffer.push_back(self_odometry); + // Delete old data in buffer_stuck_ + while (rclcpp::ok()) { + const auto time_diff = rclcpp::Time(odometry_buffer.back()->header.stamp) - + rclcpp::Time(odometry_buffer.front()->header.stamp); + if (time_diff.seconds() < duration_lower) { + break; + } + odometry_buffer.pop_front(); + } + bool is_stopped = true; + for (const auto & odometry : odometry_buffer) { + const double ego_vel = utils::l2Norm(odometry->twist.twist.linear); + if (ego_vel > duration_lower) { + is_stopped = false; + break; + } + } + return is_stopped; +} + // generate pull over candidate paths void GoalPlannerModule::onTimer() { @@ -273,7 +334,7 @@ void GoalPlannerModule::onTimer() local_planner_data->self_odometry->pose.pose, modified_goal_opt, parameters)) { return false; } - if (hasDeviatedFromCurrentPreviousModulePath(local_planner_data, previous_module_output)) { + if (hasDeviatedFromCurrentPreviousModulePath(*local_planner_data, previous_module_output)) { RCLCPP_DEBUG(getLogger(), "has deviated from current previous module path"); return false; } @@ -285,7 +346,7 @@ void GoalPlannerModule::onTimer() return true; } if ( - hasDeviatedFromLastPreviousModulePath(local_planner_data, last_previous_module_output) && + hasDeviatedFromLastPreviousModulePath(*local_planner_data, last_previous_module_output) && current_state != PathDecisionState::DecisionKind::DECIDED) { RCLCPP_DEBUG(getLogger(), "has deviated from last previous module path"); return true; @@ -464,8 +525,8 @@ void GoalPlannerModule::onFreespaceParkingTimer() parameters) && is_new_costmap && needPathUpdate( - local_planner_data->self_odometry->pose.pose, path_update_duration, modified_goal_opt, - parameters)) { + local_planner_data->self_odometry->pose.pose, path_update_duration, clock_->now(), + modified_goal_opt, thread_safe_data_.get_last_path_update_time(), parameters)) { auto goal_searcher = std::make_shared(parameters, vehicle_footprint); planFreespacePath( @@ -474,30 +535,6 @@ void GoalPlannerModule::onFreespaceParkingTimer() } } -void GoalPlannerModule::updateEgoPredictedPathParams( - std::shared_ptr & ego_predicted_path_params, - const std::shared_ptr & goal_planner_params) -{ - ego_predicted_path_params = - std::make_shared(goal_planner_params->ego_predicted_path_params); -} - -void GoalPlannerModule::updateSafetyCheckParams( - std::shared_ptr & safety_check_params, - const std::shared_ptr & goal_planner_params) -{ - safety_check_params = - std::make_shared(goal_planner_params->safety_check_params); -} - -void GoalPlannerModule::updateObjectsFilteringParams( - std::shared_ptr & objects_filtering_params, - const std::shared_ptr & goal_planner_params) -{ - objects_filtering_params = - std::make_shared(goal_planner_params->objects_filtering_params); -} - void GoalPlannerModule::updateData() { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -640,9 +677,11 @@ void GoalPlannerModule::updateData() void GoalPlannerModule::initializeSafetyCheckParameters() { - updateEgoPredictedPathParams(ego_predicted_path_params_, parameters_); - updateSafetyCheckParams(safety_check_params_, parameters_); - updateObjectsFilteringParams(objects_filtering_params_, parameters_); + ego_predicted_path_params_ = + std::make_shared(parameters_->ego_predicted_path_params); + safety_check_params_ = std::make_shared(parameters_->safety_check_params); + objects_filtering_params_ = + std::make_shared(parameters_->objects_filtering_params); } void GoalPlannerModule::processOnExit() @@ -830,7 +869,8 @@ bool GoalPlannerModule::planFreespacePath( bool GoalPlannerModule::canReturnToLaneParking(const PullOverContextData & context_data) { // return only before starting free space parking - if (!isStopped()) { + if (!isStopped( + odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time)) { return false; } @@ -1384,8 +1424,8 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( PathDecisionState::DecisionKind::NOT_DECIDED && !is_freespace && needPathUpdate( - planner_data_->self_odometry->pose.pose, 1.0 /*path_update_duration*/, modified_goal_opt, - *parameters_)) { + planner_data_->self_odometry->pose.pose, 1.0 /*path_update_duration*/, clock_->now(), + modified_goal_opt, thread_safe_data_.get_last_path_update_time(), *parameters_)) { // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates // and set it to thread_safe_data_ @@ -1686,37 +1726,6 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath(const PathWithLaneId return stop_path; } -bool GoalPlannerModule::isStopped( - std::deque & odometry_buffer, const double time) -{ - const std::lock_guard lock(mutex_); - odometry_buffer.push_back(planner_data_->self_odometry); - // Delete old data in buffer - while (rclcpp::ok()) { - const auto time_diff = rclcpp::Time(odometry_buffer.back()->header.stamp) - - rclcpp::Time(odometry_buffer.front()->header.stamp); - if (time_diff.seconds() < time) { - break; - } - odometry_buffer.pop_front(); - } - bool is_stopped = true; - for (const auto & odometry : odometry_buffer) { - const double ego_vel = utils::l2Norm(odometry->twist.twist.linear); - if (ego_vel > parameters_->th_stopped_velocity) { - is_stopped = false; - break; - } - } - return is_stopped; -} - -bool GoalPlannerModule::isStopped() -{ - const std::lock_guard lock(mutex_); - return isStopped(odometry_buffer_stopped_, parameters_->th_stopped_time); -} - bool GoalPlannerModule::isStuck( const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, const std::shared_ptr planner_data, @@ -1737,7 +1746,7 @@ bool GoalPlannerModule::isStuck( } constexpr double stuck_time = 5.0; - if (!isStopped(odometry_buffer_stuck_, stuck_time)) { + if (!isStopped(odometry_buffer_stuck_, planner_data->self_odometry, stuck_time)) { return false; } @@ -1777,7 +1786,8 @@ bool GoalPlannerModule::hasFinishedCurrentPath(const PullOverContextData & ctx_d return false; } - if (!isStopped()) { + if (!isStopped( + odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time)) { return false; } @@ -1813,18 +1823,6 @@ bool GoalPlannerModule::hasFinishedCurrentPath(const PullOverContextData & ctx_d parameters_->th_arrived_distance; } -bool GoalPlannerModule::isOnModifiedGoal( - const Pose & current_pose, const std::optional & modified_goal_opt, - const GoalPlannerParameters & parameters) const -{ - if (!modified_goal_opt) { - return false; - } - - return calcDistance2d(current_pose, modified_goal_opt.value().goal_pose) < - parameters.th_arrived_distance; -} - TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo(const PullOverContextData & context_data) { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -1902,17 +1900,6 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo(const PullOverContextData & return new_signal; } -bool GoalPlannerModule::checkOccupancyGridCollision( - const PathWithLaneId & path, - const std::shared_ptr occupancy_grid_map) const -{ - if (!occupancy_grid_map) { - return false; - } - const bool check_out_of_range = false; - return occupancy_grid_map->hasObstacleOnPath(path, check_out_of_range); -} - bool GoalPlannerModule::hasEnoughDistance( const PullOverPath & pull_over_path, const PathWithLaneId & long_tail_reference_path) const { @@ -2544,10 +2531,10 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) occupancy_grid_map_, *parameters_)) { marker.text += " stuck"; } - */ if (isStopped()) { marker.text += " stopped"; } + */ if (debug_data_.freespace_planner.is_planning) { marker.text += @@ -2574,24 +2561,6 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) } } -bool GoalPlannerModule::needPathUpdate( - const Pose & current_pose, const double path_update_duration, - const std::optional & modified_goal_opt, - const GoalPlannerParameters & parameters) const -{ - return !isOnModifiedGoal(current_pose, modified_goal_opt, parameters) && - hasEnoughTimePassedSincePathUpdate(path_update_duration); -} - -bool GoalPlannerModule::hasEnoughTimePassedSincePathUpdate(const double duration) const -{ - if (!thread_safe_data_.get_last_path_update_time()) { - return true; - } - - return (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > duration; -} - void GoalPlannerModule::GoalPlannerData::initializeOccupancyGridMap( const PlannerData & planner_data, const GoalPlannerParameters & parameters) { From a77f4880c70d3d03ca03951c75a3f9cefa26aeb4 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Mon, 2 Dec 2024 12:30:28 +0900 Subject: [PATCH 615/701] fix(learning_based_vehicle_model): fix clang-diagnostic-delete-abstract-non-virtual-dtor (#9446) Signed-off-by: veqcc --- .../include/learning_based_vehicle_model/submodel_interface.hpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp b/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp index d4662036709d5..1cbad103278fb 100644 --- a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp +++ b/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp @@ -20,6 +20,8 @@ class SubModelInterface { public: + virtual ~SubModelInterface() = default; + /** * @brief set time step of the model * @param [in] dt time step From 557a8b57f76d03acacb5c979f2c171a1a03cac28 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 2 Dec 2024 12:35:32 +0900 Subject: [PATCH 616/701] refactor(goal_planner): move PathDecisionController implementation to a different file (#9523) refactor(goal_planner): move decision_state implementation Signed-off-by: Mamoru Sobue --- .../CMakeLists.txt | 1 + .../src/decision_state.cpp | 187 ++++++++++++++++++ .../src/goal_planner_module.cpp | 163 --------------- 3 files changed, 188 insertions(+), 163 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt index d3f7f7a4015f0..8e945093659c1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt @@ -19,6 +19,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/util.cpp src/goal_planner_module.cpp src/manager.cpp + src/decision_state.cpp ) if(BUILD_EXAMPLES) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp new file mode 100644 index 0000000000000..827e1269cfa80 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp @@ -0,0 +1,187 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_path_goal_planner_module/util.hpp" + +#include +#include + +namespace autoware::behavior_path_planner +{ + +using autoware::motion_utils::calcSignedArcLength; + +void PathDecisionStateController::transit_state( + const bool found_pull_over_path, const rclcpp::Time & now, + const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, + const std::optional modified_goal_opt, + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const bool is_current_safe, const GoalPlannerParameters & parameters, + const std::shared_ptr goal_searcher, const bool is_activated, + const std::optional & pull_over_path, + std::vector & ego_polygons_expanded) +{ + const auto next_state = get_next_state( + found_pull_over_path, now, static_target_objects, dynamic_target_objects, modified_goal_opt, + planner_data, occupancy_grid_map, is_current_safe, parameters, goal_searcher, is_activated, + pull_over_path, ego_polygons_expanded); + current_state_ = next_state; +} + +PathDecisionState PathDecisionStateController::get_next_state( + const bool found_pull_over_path, const rclcpp::Time & now, + const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, + const std::optional modified_goal_opt, + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const bool is_current_safe, const GoalPlannerParameters & parameters, + const std::shared_ptr goal_searcher, const bool is_activated, + const std::optional & pull_over_path_opt, + std::vector & ego_polygons_expanded) const +{ + auto next_state = current_state_; + + // update safety + if (!parameters.safety_check_params.enable_safety_check) { + next_state.is_stable_safe = true; + } else { + if (is_current_safe) { + if (!next_state.safe_start_time) { + next_state.safe_start_time = now; + next_state.is_stable_safe = false; + } else { + next_state.is_stable_safe = + ((now - next_state.safe_start_time.value()).seconds() > + parameters.safety_check_params.keep_unsafe_time); + } + } else { + next_state.safe_start_time = std::nullopt; + next_state.is_stable_safe = false; + } + } + + // Once this function returns true, it will continue to return true thereafter + if (next_state.state == PathDecisionState::DecisionKind::DECIDED) { + return next_state; + } + + // if path is not safe, not decided + if (!found_pull_over_path || !pull_over_path_opt) { + next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; + return next_state; + } + + const auto & pull_over_path = pull_over_path_opt.value(); + const bool enable_safety_check = parameters.safety_check_params.enable_safety_check; + // If it is dangerous against dynamic objects before approval, do not determine the path. + // This eliminates a unsafe path to be approved + if (enable_safety_check && !next_state.is_stable_safe && !is_activated) { + RCLCPP_DEBUG( + logger_, + "[DecidingPathStatus]: NOT_DECIDED. path is not safe against dynamic objects before " + "approval"); + next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; + return next_state; + } + + const auto & current_path = pull_over_path.getCurrentPath(); + if (current_state_.state == PathDecisionState::DecisionKind::DECIDING) { + const double hysteresis_factor = 0.9; + + // check goal pose collision + if ( + modified_goal_opt && !goal_searcher->isSafeGoalWithMarginScaleFactor( + modified_goal_opt.value(), hysteresis_factor, occupancy_grid_map, + planner_data, static_target_objects)) { + RCLCPP_DEBUG(logger_, "[DecidingPathStatus]: DECIDING->NOT_DECIDED. goal is not safe"); + next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; + next_state.deciding_start_time = std::nullopt; + return next_state; + } + + // check current parking path collision + const auto & parking_path = pull_over_path.parking_path(); + const auto & parking_path_curvatures = pull_over_path.parking_path_curvatures(); + const double margin = + parameters.object_recognition_collision_check_hard_margins.back() * hysteresis_factor; + if (goal_planner_utils::checkObjectsCollision( + parking_path, parking_path_curvatures, static_target_objects, dynamic_target_objects, + planner_data->parameters, margin, + /*extract_static_objects=*/false, parameters.maximum_deceleration, + parameters.object_recognition_collision_check_max_extra_stopping_margin, + ego_polygons_expanded, true)) { + RCLCPP_DEBUG( + logger_, "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path has collision with objects"); + next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; + next_state.deciding_start_time = std::nullopt; + return next_state; + } + + if (enable_safety_check && !next_state.is_stable_safe) { + RCLCPP_DEBUG( + logger_, + "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path is not safe against dynamic objects"); + next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; + return next_state; + } + + // if enough time has passed since deciding status starts, transition to DECIDED + constexpr double check_collision_duration = 1.0; + const double elapsed_time_from_deciding = + (now - current_state_.deciding_start_time.value()).seconds(); + if (elapsed_time_from_deciding > check_collision_duration) { + RCLCPP_DEBUG(logger_, "[DecidingPathStatus]: DECIDING->DECIDED. has enough safe time passed"); + next_state.state = PathDecisionState::DecisionKind::DECIDED; + next_state.deciding_start_time = std::nullopt; + return next_state; + } + + // if enough time has NOT passed since deciding status starts, keep DECIDING + RCLCPP_DEBUG( + logger_, "[DecidingPathStatus]: keep DECIDING. elapsed_time_from_deciding: %f", + elapsed_time_from_deciding); + return next_state; + } + + // if ego is sufficiently close to the start of the nearest candidate path, the path is decided + const auto & current_pose = planner_data->self_odometry->pose.pose; + const size_t ego_segment_idx = + autoware::motion_utils::findNearestSegmentIndex(current_path.points, current_pose.position); + + const size_t start_pose_segment_idx = autoware::motion_utils::findNearestSegmentIndex( + current_path.points, pull_over_path.start_pose().position); + const double dist_to_parking_start_pose = calcSignedArcLength( + current_path.points, current_pose.position, ego_segment_idx, + pull_over_path.start_pose().position, start_pose_segment_idx); + if (dist_to_parking_start_pose > parameters.decide_path_distance) { + next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; + return next_state; + } + + // if object recognition for path collision check is enabled, transition to DECIDING to check + // collision for a certain period of time. Otherwise, transition to DECIDED directly. + if (parameters.use_object_recognition) { + RCLCPP_DEBUG( + logger_, + "[DecidingPathStatus]: NOT_DECIDED->DECIDING. start checking collision for certain " + "period of time"); + next_state.state = PathDecisionState::DecisionKind::DECIDING; + next_state.deciding_start_time = now; + return next_state; + } + return {PathDecisionState::DecisionKind::DECIDED, std::nullopt}; +} + +} // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index d8bf8f42386db..6b216e83833c4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -28,7 +28,6 @@ #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" #include "autoware/behavior_path_planner_common/utils/utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" -#include "autoware/universe_utils/math/unit_conversion.hpp" #include #include @@ -2605,166 +2604,4 @@ void GoalPlannerModule::GoalPlannerData::update( goal_candidates = goal_candidates_; } -void PathDecisionStateController::transit_state( - const bool found_pull_over_path, const rclcpp::Time & now, - const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, - const std::optional modified_goal_opt, - const std::shared_ptr planner_data, - const std::shared_ptr occupancy_grid_map, - const bool is_current_safe, const GoalPlannerParameters & parameters, - const std::shared_ptr goal_searcher, const bool is_activated, - const std::optional & pull_over_path, - std::vector & ego_polygons_expanded) -{ - const auto next_state = get_next_state( - found_pull_over_path, now, static_target_objects, dynamic_target_objects, modified_goal_opt, - planner_data, occupancy_grid_map, is_current_safe, parameters, goal_searcher, is_activated, - pull_over_path, ego_polygons_expanded); - current_state_ = next_state; -} - -PathDecisionState PathDecisionStateController::get_next_state( - const bool found_pull_over_path, const rclcpp::Time & now, - const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects, - const std::optional modified_goal_opt, - const std::shared_ptr planner_data, - const std::shared_ptr occupancy_grid_map, - const bool is_current_safe, const GoalPlannerParameters & parameters, - const std::shared_ptr goal_searcher, const bool is_activated, - const std::optional & pull_over_path_opt, - std::vector & ego_polygons_expanded) const -{ - auto next_state = current_state_; - - // update safety - if (!parameters.safety_check_params.enable_safety_check) { - next_state.is_stable_safe = true; - } else { - if (is_current_safe) { - if (!next_state.safe_start_time) { - next_state.safe_start_time = now; - next_state.is_stable_safe = false; - } else { - next_state.is_stable_safe = - ((now - next_state.safe_start_time.value()).seconds() > - parameters.safety_check_params.keep_unsafe_time); - } - } else { - next_state.safe_start_time = std::nullopt; - next_state.is_stable_safe = false; - } - } - - // Once this function returns true, it will continue to return true thereafter - if (next_state.state == PathDecisionState::DecisionKind::DECIDED) { - return next_state; - } - - // if path is not safe, not decided - if (!found_pull_over_path || !pull_over_path_opt) { - next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; - return next_state; - } - - const auto & pull_over_path = pull_over_path_opt.value(); - const bool enable_safety_check = parameters.safety_check_params.enable_safety_check; - // If it is dangerous against dynamic objects before approval, do not determine the path. - // This eliminates a unsafe path to be approved - if (enable_safety_check && !next_state.is_stable_safe && !is_activated) { - RCLCPP_DEBUG( - logger_, - "[DecidingPathStatus]: NOT_DECIDED. path is not safe against dynamic objects before " - "approval"); - next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; - return next_state; - } - - const auto & current_path = pull_over_path.getCurrentPath(); - if (current_state_.state == PathDecisionState::DecisionKind::DECIDING) { - const double hysteresis_factor = 0.9; - - // check goal pose collision - if ( - modified_goal_opt && !goal_searcher->isSafeGoalWithMarginScaleFactor( - modified_goal_opt.value(), hysteresis_factor, occupancy_grid_map, - planner_data, static_target_objects)) { - RCLCPP_DEBUG(logger_, "[DecidingPathStatus]: DECIDING->NOT_DECIDED. goal is not safe"); - next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; - next_state.deciding_start_time = std::nullopt; - return next_state; - } - - // check current parking path collision - const auto & parking_path = pull_over_path.parking_path(); - const auto & parking_path_curvatures = pull_over_path.parking_path_curvatures(); - const double margin = - parameters.object_recognition_collision_check_hard_margins.back() * hysteresis_factor; - if (goal_planner_utils::checkObjectsCollision( - parking_path, parking_path_curvatures, static_target_objects, dynamic_target_objects, - planner_data->parameters, margin, - /*extract_static_objects=*/false, parameters.maximum_deceleration, - parameters.object_recognition_collision_check_max_extra_stopping_margin, - ego_polygons_expanded, true)) { - RCLCPP_DEBUG( - logger_, "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path has collision with objects"); - next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; - next_state.deciding_start_time = std::nullopt; - return next_state; - } - - if (enable_safety_check && !next_state.is_stable_safe) { - RCLCPP_DEBUG( - logger_, - "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path is not safe against dynamic objects"); - next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; - return next_state; - } - - // if enough time has passed since deciding status starts, transition to DECIDED - constexpr double check_collision_duration = 1.0; - const double elapsed_time_from_deciding = - (now - current_state_.deciding_start_time.value()).seconds(); - if (elapsed_time_from_deciding > check_collision_duration) { - RCLCPP_DEBUG(logger_, "[DecidingPathStatus]: DECIDING->DECIDED. has enough safe time passed"); - next_state.state = PathDecisionState::DecisionKind::DECIDED; - next_state.deciding_start_time = std::nullopt; - return next_state; - } - - // if enough time has NOT passed since deciding status starts, keep DECIDING - RCLCPP_DEBUG( - logger_, "[DecidingPathStatus]: keep DECIDING. elapsed_time_from_deciding: %f", - elapsed_time_from_deciding); - return next_state; - } - - // if ego is sufficiently close to the start of the nearest candidate path, the path is decided - const auto & current_pose = planner_data->self_odometry->pose.pose; - const size_t ego_segment_idx = - autoware::motion_utils::findNearestSegmentIndex(current_path.points, current_pose.position); - - const size_t start_pose_segment_idx = autoware::motion_utils::findNearestSegmentIndex( - current_path.points, pull_over_path.start_pose().position); - const double dist_to_parking_start_pose = calcSignedArcLength( - current_path.points, current_pose.position, ego_segment_idx, - pull_over_path.start_pose().position, start_pose_segment_idx); - if (dist_to_parking_start_pose > parameters.decide_path_distance) { - next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED; - return next_state; - } - - // if object recognition for path collision check is enabled, transition to DECIDING to check - // collision for a certain period of time. Otherwise, transition to DECIDED directly. - if (parameters.use_object_recognition) { - RCLCPP_DEBUG( - logger_, - "[DecidingPathStatus]: NOT_DECIDED->DECIDING. start checking collision for certain " - "period of time"); - next_state.state = PathDecisionState::DecisionKind::DECIDING; - next_state.deciding_start_time = now; - return next_state; - } - return {PathDecisionState::DecisionKind::DECIDED, std::nullopt}; -} - } // namespace autoware::behavior_path_planner From 2a34c953e624ba001da08d8d4e592cd5c70b2115 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Mon, 2 Dec 2024 07:39:59 +0300 Subject: [PATCH 617/701] ci(sync-files): make use of sync-files-templates repo (#9527) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .github/sync-files.yaml | 51 ++++++++++++++++++----------------------- 1 file changed, 22 insertions(+), 29 deletions(-) diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index e70d3daf88509..4c09e072766fa 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -1,55 +1,48 @@ -- repository: autowarefoundation/autoware +- repository: autowarefoundation/sync-file-templates + source-dir: sources files: - - source: CODE_OF_CONDUCT.md - - source: CONTRIBUTING.md - - source: DISCLAIMER.md - - source: LICENSE - source: .github/ISSUE_TEMPLATE/bug.yaml - source: .github/ISSUE_TEMPLATE/config.yml - source: .github/ISSUE_TEMPLATE/task.yaml - source: .github/dependabot.yaml + - source: .github/pull_request_template_complex.md + dest: .github/pull_request_template.md - source: .github/stale.yml - source: .github/workflows/cancel-previous-workflows.yaml + - source: .github/workflows/check-build-depends.yaml + - source: .github/workflows/clang-tidy-pr-comments.yaml + - source: .github/workflows/clang-tidy-pr-comments-manually.yaml + - source: .github/workflows/comment-on-pr.yaml + - source: .github/workflows/delete-closed-pr-docs.yaml + - source: .github/workflows/deploy-docs.yaml - source: .github/workflows/github-release.yaml - source: .github/workflows/pre-commit.yaml - source: .github/workflows/pre-commit-optional.yaml + - source: .github/workflows/pre-commit-optional-autoupdate.yaml + - source: .github/workflows/pre-commit-autoupdate.yaml - source: .github/workflows/semantic-pull-request.yaml - source: .github/workflows/spell-check-differential.yaml pre-commands: | sd " with:\n" " with:\n local-cspell-json: .cspell.json\n" {source} - - source: .github/workflows/spell-check-differential.yaml - dest: .github/workflows/spell-check-daily.yaml + - source: .github/workflows/spell-check-daily.yaml pre-commands: | - sd "spell-check-differential" "spell-check-daily" {source} - sd " with:\n" " with:\n local-cspell-json: .cspell.json\n incremental-files-only: false\n" {source} - sd "on:\n pull_request:\n" "on:\n schedule:\n - cron: 0 0 * * *\n workflow_dispatch:\n" {source} + sd " with:\n" " with:\n local-cspell-json: .cspell.json\n" {source} - source: .github/workflows/sync-files.yaml + - source: .github/workflows/update-codeowners-from-packages.yaml + - source: docs/assets/js/mathjax.js - source: .clang-format - source: .markdown-link-check.json - source: .markdownlint.yaml - source: .pre-commit-config-optional.yaml + - source: .pre-commit-config.yaml - source: .prettierignore - source: .prettierrc.yaml - source: .yamllint.yaml + - source: CODE_OF_CONDUCT.md + - source: CONTRIBUTING.md - source: CPPLINT.cfg - - source: setup.cfg - -- repository: autowarefoundation/autoware_common - files: - - source: .github/workflows/clang-tidy-differential.yaml - pre-commands: | - sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda' {source} - - source: .github/workflows/check-build-depends.yaml - - source: .github/workflows/clang-tidy-pr-comments.yaml - - source: .github/workflows/clang-tidy-pr-comments-manually.yaml - - source: .github/workflows/update-codeowners-from-packages.yaml - - source: .pre-commit-config.yaml - - source: codecov.yaml - -- repository: autowarefoundation/autoware-documentation - files: - - source: .github/workflows/deploy-docs.yaml - - source: .github/workflows/delete-closed-pr-docs.yaml + - source: DISCLAIMER.md + - source: LICENSE - source: mkdocs-base.yaml dest: mkdocs.yaml pre-commands: | @@ -63,4 +56,4 @@ " - macros" \ " - macros: module_name: mkdocs_macros" {source} - - source: docs/assets/js/mathjax.js + - source: setup.cfg From 41c5956518cea2a02c4393c13a7efcea50bc5a19 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Mon, 2 Dec 2024 08:08:19 +0300 Subject: [PATCH 618/701] refactor: correct spelling (#9528) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .cspell.json | 2 +- .../include/autoware/trajectory/point.hpp | 6 +++--- .../test/test_trajectory_container.cpp | 6 +++--- .../config/plot_juggler_trajectory_follower.xml | 6 +++--- .../lib/tensorrt_shape_estimator.cpp | 4 ++-- .../src/costmap_generator.cpp | 4 ++-- .../test/src/test_freespace_planning_algorithms.cpp | 12 ++++++------ planning/autoware_path_smoother/src/elastic_band.cpp | 6 +++--- .../src/scene_intersection_prepare_data.cpp | 2 +- .../test/test_util.cpp | 2 +- .../autoware_sampler_common/test/test_transform.cpp | 6 +++--- simulator/autoware_carla_interface/README.md | 6 +++--- 12 files changed, 31 insertions(+), 31 deletions(-) diff --git a/.cspell.json b/.cspell.json index 2d024a5ca589d..f338e72d194e3 100644 --- a/.cspell.json +++ b/.cspell.json @@ -4,5 +4,5 @@ "planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/scripts/**" ], "ignoreRegExpList": [], - "words": ["dltype", "tvmgen", "fromarray", "soblin"] + "words": ["dltype", "tvmgen", "fromarray", "soblin", "brkay54"] } diff --git a/common/autoware_trajectory/include/autoware/trajectory/point.hpp b/common/autoware_trajectory/include/autoware/trajectory/point.hpp index e9d985a85194a..3e763e2428f1b 100644 --- a/common/autoware_trajectory/include/autoware/trajectory/point.hpp +++ b/common/autoware_trajectory/include/autoware/trajectory/point.hpp @@ -122,7 +122,7 @@ class Trajectory using trajectory::detail::to_point; Eigen::Vector2d point(to_point(p).x, to_point(p).y); std::vector distances_from_segments; - std::vector lengthes_from_start_points; + std::vector lengths_from_start_points; auto axis = detail::crop_bases(bases_, start_, end_); @@ -149,7 +149,7 @@ class Trajectory } if (constraints(length_from_start_point)) { distances_from_segments.push_back(distance_from_segment); - lengthes_from_start_points.push_back(length_from_start_point); + lengths_from_start_points.push_back(length_from_start_point); } } if (distances_from_segments.empty()) { @@ -158,7 +158,7 @@ class Trajectory auto min_it = std::min_element(distances_from_segments.begin(), distances_from_segments.end()); - return lengthes_from_start_points[std::distance(distances_from_segments.begin(), min_it)] - + return lengths_from_start_points[std::distance(distances_from_segments.begin(), min_it)] - start_; } diff --git a/common/autoware_trajectory/test/test_trajectory_container.cpp b/common/autoware_trajectory/test/test_trajectory_container.cpp index b3e4c16a09999..028d36d98a954 100644 --- a/common/autoware_trajectory/test/test_trajectory_container.cpp +++ b/common/autoware_trajectory/test/test_trajectory_container.cpp @@ -106,9 +106,9 @@ TEST_F(TrajectoryTest, direction) TEST_F(TrajectoryTest, curvature) { - double curv = trajectory->curvature(0.0); - EXPECT_LT(-1.0, curv); - EXPECT_LT(curv, 1.0); + double curvature_val = trajectory->curvature(0.0); + EXPECT_LT(-1.0, curvature_val); + EXPECT_LT(curvature_val, 1.0); } TEST_F(TrajectoryTest, restore) diff --git a/control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml b/control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml index e458edaf6c471..0de08076b8c06 100644 --- a/control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml +++ b/control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml @@ -258,7 +258,7 @@ - + @@ -268,7 +268,7 @@ - + @@ -286,7 +286,7 @@ - + diff --git a/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp b/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp index 072d3b661b8b3..4cb8c0083a148 100644 --- a/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp +++ b/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp @@ -140,7 +140,7 @@ void TrtShapeEstimator::preprocess(const DetectedObjectsWithFeature & input) } int iter_count = static_cast(input_pc_size) / point_size_of_cloud; - int remainer_count = static_cast(input_pc_size) % point_size_of_cloud; + int remaining_points_count = static_cast(input_pc_size) % point_size_of_cloud; for (int j = 1; j < iter_count; j++) { for (int k = 0; k < point_size_of_cloud; k++) { @@ -155,7 +155,7 @@ void TrtShapeEstimator::preprocess(const DetectedObjectsWithFeature & input) } } - for (int j = 0; j < remainer_count; j++) { + for (int j = 0; j < remaining_points_count; j++) { input_pc_h_[i * input_chan * input_pc_size + 0 + iter_count * point_size_of_cloud + j] = input_pc_h_[i * input_chan * input_pc_size + j]; diff --git a/planning/autoware_costmap_generator/src/costmap_generator.cpp b/planning/autoware_costmap_generator/src/costmap_generator.cpp index d791836fa0a08..4092acae9b51c 100644 --- a/planning/autoware_costmap_generator/src/costmap_generator.cpp +++ b/planning/autoware_costmap_generator/src/costmap_generator.cpp @@ -324,8 +324,8 @@ bool CostmapGenerator::isActive() if (param_->activate_by_scenario) { if (!scenario_) return false; const auto & s = scenario_->activating_scenarios; - return std::any_of(s.begin(), s.end(), [](const auto scen) { - return scen == tier4_planning_msgs::msg::Scenario::PARKING; + return std::any_of(s.begin(), s.end(), [](const auto scenario) { + return scenario == tier4_planning_msgs::msg::Scenario::PARKING; }); } diff --git a/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp b/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp index a2ed4c3e7e0fc..a46b8bba58920 100644 --- a/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp +++ b/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp @@ -231,9 +231,9 @@ std::unique_ptr configure_astar(bool use_multi) obstacle_distance_weight, goal_lat_distance_weight}; - auto clock_shrd_ptr = std::make_shared(RCL_ROS_TIME); - auto algo = std::make_unique( - planner_common_param, vehicle_shape, astar_param, clock_shrd_ptr); + auto clock_ptr = std::make_shared(RCL_ROS_TIME); + auto algo = + std::make_unique(planner_common_param, vehicle_shape, astar_param, clock_ptr); return algo; } @@ -247,9 +247,9 @@ std::unique_ptr configure_rrtstar(bool informed, const double max_planning_time = 200; const auto rrtstar_param = fpa::RRTStarParam{update, informed, max_planning_time, mu, margin}; - auto clock_shrd_ptr = std::make_shared(RCL_ROS_TIME); - auto algo = std::make_unique( - planner_common_param, vehicle_shape, rrtstar_param, clock_shrd_ptr); + auto clock_ptr = std::make_shared(RCL_ROS_TIME); + auto algo = + std::make_unique(planner_common_param, vehicle_shape, rrtstar_param, clock_ptr); return algo; } diff --git a/planning/autoware_path_smoother/src/elastic_band.cpp b/planning/autoware_path_smoother/src/elastic_band.cpp index 0bec4e46c8b42..0bdf83c9d3b7c 100644 --- a/planning/autoware_path_smoother/src/elastic_band.cpp +++ b/planning/autoware_path_smoother/src/elastic_band.cpp @@ -34,9 +34,9 @@ Eigen::SparseMatrix makePMatrix(const int num_points) { std::vector> triplet_vec; const auto assign_value_to_triplet_vec = - [&](const double row, const double colum, const double value) { - triplet_vec.push_back(Eigen::Triplet(row, colum, value)); - triplet_vec.push_back(Eigen::Triplet(row + num_points, colum + num_points, value)); + [&](const double row, const double column, const double value) { + triplet_vec.push_back(Eigen::Triplet(row, column, value)); + triplet_vec.push_back(Eigen::Triplet(row + num_points, column + num_points, value)); }; for (int r = 0; r < num_points; ++r) { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp index b694c8aaa2e3e..402f3c1d22cc7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp @@ -938,7 +938,7 @@ std::vector IntersectionModule::generateDetectionLan if (detection_lanelets.empty()) { // NOTE(soblin): due to the above filtering detection_lanelets may be empty or do not contain // conflicting_detection_lanelets - // OK to return empty detction_divsions + // OK to return empty detection_divisions return detection_divisions; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_util.cpp index d9ef145eb5ce9..6ee31c3712b47 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_util.cpp @@ -89,7 +89,7 @@ TEST(TestUtil, retrievePathsBackward) } /* - TOOD(Mamoru Sobue): instantiating intersection_module and PlannerData is a messy + TODO(Mamoru Sobue): instantiating intersection_module and PlannerData is a messy class TestWithMap : public ::testing::Test { protected: diff --git a/planning/sampling_based_planner/autoware_sampler_common/test/test_transform.cpp b/planning/sampling_based_planner/autoware_sampler_common/test/test_transform.cpp index 6c5f43e929766..caf50473cde18 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/test/test_transform.cpp +++ b/planning/sampling_based_planner/autoware_sampler_common/test/test_transform.cpp @@ -103,9 +103,9 @@ TEST(splineTransform, benchFrenet) EXPECT_NEAR(frenet_naive.d, frenet_lut.d, precision); } std::cout << "size = " << size << std::endl; - std::cout << "\tnaive: " << std::chrono::duration_cast(naive).count() - << "ms\n"; - std::cout << "\tlut : " << std::chrono::duration_cast(lut).count() + std::cout << "\t naive: " + << std::chrono::duration_cast(naive).count() << "ms\n"; + std::cout << "\t lut : " << std::chrono::duration_cast(lut).count() << "ms\n"; } } diff --git a/simulator/autoware_carla_interface/README.md b/simulator/autoware_carla_interface/README.md index a44cb4708b5c3..2513364178693 100644 --- a/simulator/autoware_carla_interface/README.md +++ b/simulator/autoware_carla_interface/README.md @@ -136,14 +136,14 @@ The maps provided by the Carla Simulator ([Carla Lanelet2 Maps](https://bitbucke - Options to Modify the Map - A. Create a New Map from Scratch - - Use the [Tier4 Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/) to create a new map. + - Use the [TIER IV Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/) to create a new map. - B. Modify the Existing Carla Lanelet2 Maps - Adjust the longitude and latitude of the [Carla Lanelet2 Maps](https://bitbucket.org/carla-simulator/autoware-contents/src/master/maps/) to align with the PCD (origin). - Use this [tool](https://github.com/mraditya01/offset_lanelet2/tree/main) to modify the coordinates. - - Snap Lanelet with PCD and add the traffic lights using the [Tier4 Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/). + - Snap Lanelet with PCD and add the traffic lights using the [TIER IV Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/). -- When using the Tier4 Vector Map Builder, you must convert the PCD format from `binary_compressed` to `ascii`. You can use `pcl_tools` for this conversion. +- When using the TIER IV Vector Map Builder, you must convert the PCD format from `binary_compressed` to `ascii`. You can use `pcl_tools` for this conversion. - For reference, an example of Town01 with added traffic lights at one intersection can be downloaded [here](https://drive.google.com/drive/folders/1QFU0p3C8NW71sT5wwdnCKXoZFQJzXfTG?usp=sharing). ## Tips From 90fb05f72cb8c967a2a2399340c0957d18019842 Mon Sep 17 00:00:00 2001 From: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com> Date: Mon, 2 Dec 2024 15:35:09 +0900 Subject: [PATCH 619/701] feat(tier4_state_rviz_plugin): check for abrupt deceleration (#9474) * add abrupt deceleration checking feature to velocity steering factors panel Signed-off-by: mitukou1109 * use spin box instead of slider & change layout Signed-off-by: mitukou1109 * set minimum input to 0.0 Signed-off-by: mitukou1109 * change accent color to Freak Pink Signed-off-by: mitukou1109 --------- Signed-off-by: mitukou1109 --- common/tier4_state_rviz_plugin/package.xml | 1 + .../velocity_steering_factors_panel.hpp | 17 +++++- .../src/velocity_steering_factors_panel.cpp | 57 ++++++++++++++++++- 3 files changed, 71 insertions(+), 4 deletions(-) diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml index aa7f5fe41c295..14ad8a22a52e2 100644 --- a/common/tier4_state_rviz_plugin/package.xml +++ b/common/tier4_state_rviz_plugin/package.xml @@ -14,6 +14,7 @@ ament_index_cpp autoware_adapi_v1_msgs + autoware_motion_utils autoware_vehicle_msgs libqt5-core libqt5-gui diff --git a/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp b/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp index 70f35ed3793ab..81677a69eb66f 100644 --- a/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp +++ b/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp @@ -17,11 +17,10 @@ #ifndef VELOCITY_STEERING_FACTORS_PANEL_HPP_ #define VELOCITY_STEERING_FACTORS_PANEL_HPP_ +#include #include #include #include -#include -#include #include #include #include @@ -29,6 +28,8 @@ #include #include #include +#include +#include #include @@ -49,6 +50,11 @@ class VelocitySteeringFactorsPanel : public rviz_common::Panel void onInitialize() override; protected: + static constexpr double JERK_DEFAULT = 1.0; + static constexpr double DECEL_LIMIT_DEFAULT = 1.0; + + static constexpr QColor COLOR_FREAK_PINK = {255, 0, 108}; + // Layout QGroupBox * makeVelocityFactorsGroup(); QGroupBox * makeSteeringFactorsGroup(); @@ -58,7 +64,14 @@ class VelocitySteeringFactorsPanel : public rviz_common::Panel // Planning QTableWidget * velocity_factors_table_{nullptr}; QTableWidget * steering_factors_table_{nullptr}; + QDoubleSpinBox * jerk_input_{nullptr}; + QDoubleSpinBox * decel_limit_input_{nullptr}; + + nav_msgs::msg::Odometry::ConstSharedPtr kinematic_state_; + geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr acceleration_; + rclcpp::Subscription::SharedPtr sub_kinematic_state_; + rclcpp::Subscription::SharedPtr sub_acceleration_; rclcpp::Subscription::SharedPtr sub_velocity_factors_; rclcpp::Subscription::SharedPtr sub_steering_factors_; diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp index b7ea26e2c6895..fab40fe5a2214 100644 --- a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include #include @@ -46,7 +47,8 @@ QGroupBox * VelocitySteeringFactorsPanel::makeVelocityFactorsGroup() auto vertical_header = new QHeaderView(Qt::Vertical); vertical_header->hide(); auto horizontal_header = new QHeaderView(Qt::Horizontal); - horizontal_header->setSectionResizeMode(QHeaderView::Stretch); + horizontal_header->setSectionResizeMode(QHeaderView::ResizeToContents); + horizontal_header->setStretchLastSection(true); auto header_labels = QStringList({"Type", "Status", "Distance [m]", "Detail"}); velocity_factors_table_ = new QTableWidget(); @@ -54,7 +56,27 @@ QGroupBox * VelocitySteeringFactorsPanel::makeVelocityFactorsGroup() velocity_factors_table_->setHorizontalHeaderLabels(header_labels); velocity_factors_table_->setVerticalHeader(vertical_header); velocity_factors_table_->setHorizontalHeader(horizontal_header); - grid->addWidget(velocity_factors_table_, 0, 0); + grid->addWidget(velocity_factors_table_, 0, 0, 4, 1); + + auto * jerk_label = new QLabel("Jerk"); + grid->addWidget(jerk_label, 0, 1); + + jerk_input_ = new QDoubleSpinBox; + jerk_input_->setMinimum(0.0); + jerk_input_->setValue(JERK_DEFAULT); + jerk_input_->setSingleStep(0.1); + jerk_input_->setSuffix(" [m/s\u00B3]"); + grid->addWidget(jerk_input_, 1, 1); + + auto * decel_limit_label = new QLabel("Decel limit"); + grid->addWidget(decel_limit_label, 2, 1); + + decel_limit_input_ = new QDoubleSpinBox; + decel_limit_input_->setMinimum(0.0); + decel_limit_input_->setValue(DECEL_LIMIT_DEFAULT); + decel_limit_input_->setSingleStep(0.1); + decel_limit_input_->setSuffix(" [m/s\u00B2]"); + grid->addWidget(decel_limit_input_, 3, 1); group->setLayout(grid); return group; @@ -90,6 +112,17 @@ void VelocitySteeringFactorsPanel::onInitialize() raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); // Planning + sub_kinematic_state_ = raw_node_->create_subscription( + "/localization/kinematic_state", 10, + [this](const nav_msgs::msg::Odometry::ConstSharedPtr msg) { kinematic_state_ = msg; }); + + sub_acceleration_ = + raw_node_->create_subscription( + "/localization/acceleration", 10, + [this](const geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr msg) { + acceleration_ = msg; + }); + sub_velocity_factors_ = raw_node_->create_subscription( "/api/planning/velocity_factors", 10, std::bind(&VelocitySteeringFactorsPanel::onVelocityFactors, this, _1)); @@ -155,6 +188,26 @@ void VelocitySteeringFactorsPanel::onVelocityFactors(const VelocityFactorArray:: label->setAlignment(Qt::AlignCenter); velocity_factors_table_->setCellWidget(i, 3, label); } + + const auto row_background = [&]() -> QBrush { + if (!kinematic_state_ || !acceleration_) { + return {}; + } + const auto & current_vel = kinematic_state_->twist.twist.linear.x; + const auto & current_acc = acceleration_->accel.accel.linear.x; + const auto acc_min = -decel_limit_input_->value(); + const auto jerk_acc = jerk_input_->value(); + const auto decel_dist = autoware::motion_utils::calcDecelDistWithJerkAndAccConstraints( + current_vel, 0., current_acc, acc_min, jerk_acc, -jerk_acc); + if (decel_dist > e.distance && e.distance >= 0 && e.status == VelocityFactor::APPROACHING) { + return COLOR_FREAK_PINK; + } + return {}; + }(); + for (int j = 0; j < velocity_factors_table_->columnCount(); j++) { + velocity_factors_table_->setItem(i, j, new QTableWidgetItem); + velocity_factors_table_->item(i, j)->setBackground(row_background); + } } velocity_factors_table_->update(); } From 9fac5544bcecaf14c44310435a44dd2820b6a9dc Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 2 Dec 2024 15:48:40 +0900 Subject: [PATCH 620/701] chore(blind_spot): divide headers to include/ (#9534) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_blind_spot_module}/manager.hpp | 8 ++++---- .../behavior_velocity_blind_spot_module}/scene.hpp | 6 +++--- .../package.xml | 1 + .../src/debug.cpp | 2 +- .../src/decisions.cpp | 2 +- .../src/manager.cpp | 2 +- .../src/scene.cpp | 2 +- 7 files changed, 12 insertions(+), 11 deletions(-) rename planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/{src => include/autoware/behavior_velocity_blind_spot_module}/manager.hpp (85%) rename planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/{src => include/autoware/behavior_velocity_blind_spot_module}/scene.hpp (97%) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/manager.hpp similarity index 85% rename from planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.hpp rename to planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/manager.hpp index edc4ea502b396..f296ad03cbac6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/manager.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MANAGER_HPP_ -#define MANAGER_HPP_ +#ifndef AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__MANAGER_HPP_ +#define AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__MANAGER_HPP_ -#include "scene.hpp" +#include "autoware/behavior_velocity_blind_spot_module/scene.hpp" #include #include @@ -52,4 +52,4 @@ class BlindSpotModulePlugin : public PluginWrapper } // namespace autoware::behavior_velocity_planner -#endif // MANAGER_HPP_ +#endif // AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__MANAGER_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp similarity index 97% rename from planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.hpp rename to planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp index 0c913964332ab..434bb6b9a0696 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SCENE_HPP_ -#define SCENE_HPP_ +#ifndef AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__SCENE_HPP_ +#define AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__SCENE_HPP_ #include #include @@ -241,4 +241,4 @@ class BlindSpotModule : public SceneModuleInterface }; } // namespace autoware::behavior_velocity_planner -#endif // SCENE_HPP_ +#endif // AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__SCENE_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml index de5d791c06161..b484c6a66cbac 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml @@ -8,6 +8,7 @@ Mamoru Sobue Tomoya Kimura Shumpei Wakabayashi + Yukinari Hisaki Apache License 2.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp index 714280daad38e..06ed75c99124b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "scene.hpp" +#include "autoware/behavior_velocity_blind_spot_module/scene.hpp" #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp index 116050871c722..6a3d542600b3c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "scene.hpp" +#include "autoware/behavior_velocity_blind_spot_module/scene.hpp" #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp index 4e6cebeef2162..5e05de72e0cab 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "manager.hpp" +#include "autoware/behavior_velocity_blind_spot_module/manager.hpp" #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp index 2eb54f91a3e26..c6cc8cf4a3db8 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "scene.hpp" +#include "autoware/behavior_velocity_blind_spot_module/scene.hpp" #include #include From 7b7db7a4ddf3998b4032161df0c045b6553d9cb6 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 2 Dec 2024 19:03:20 +0900 Subject: [PATCH 621/701] feat(behavior_velocity_planner)!: remove stop_reason (#9452) Signed-off-by: Mamoru Sobue --- .../scene.hpp | 10 +- .../src/decisions.cpp | 22 +--- .../src/scene.cpp | 18 ++-- .../src/scene_crosswalk.cpp | 8 +- .../src/scene_crosswalk.hpp | 4 +- .../src/scene.cpp | 20 +--- .../src/scene.hpp | 2 +- .../src/scene_intersection.cpp | 101 +++--------------- .../src/scene_intersection.hpp | 7 +- .../src/scene_merge_from_private_road.cpp | 6 +- .../src/scene_merge_from_private_road.hpp | 2 +- .../src/scene.cpp | 29 ++--- .../src/scene.hpp | 8 +- .../src/scene_no_stopping_area.cpp | 19 +--- .../src/scene_no_stopping_area.hpp | 2 +- .../src/scene_occlusion_spot.cpp | 3 +- .../src/scene_occlusion_spot.hpp | 2 +- .../src/node.cpp | 3 - .../src/node.hpp | 1 - .../src/planner_manager.cpp | 50 --------- .../src/planner_manager.hpp | 4 +- .../plugin_interface.hpp | 1 - .../plugin_wrapper.hpp | 4 - .../scene_module_interface.hpp | 13 +-- .../utilization/util.hpp | 7 -- .../src/scene_module_interface.cpp | 19 +--- .../src/utilization/util.cpp | 12 --- .../src/scene.cpp | 3 +- .../src/scene.hpp | 2 +- .../src/scene.cpp | 3 +- .../src/scene.hpp | 2 +- .../src/scene.cpp | 13 +-- .../src/scene.hpp | 4 +- .../src/scene.cpp | 3 +- .../src/scene.hpp | 3 +- .../src/manager.cpp | 19 +--- .../src/scene.cpp | 24 +---- .../src/scene.hpp | 4 +- .../src/scene.cpp | 30 ++---- .../src/scene.hpp | 10 +- .../src/scene_walkway.cpp | 7 +- .../src/scene_walkway.hpp | 2 +- 42 files changed, 90 insertions(+), 416 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp index 434bb6b9a0696..e9542feaccfd1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp @@ -114,7 +114,7 @@ class BlindSpotModule : public SceneModuleInterface * @brief plan go-stop velocity at traffic crossing with collision check between reference path * and object predicted path */ - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; std::vector createVirtualWalls() override; @@ -133,7 +133,7 @@ class BlindSpotModule : public SceneModuleInterface // Parameter void initializeRTCStatus(); - BlindSpotDecision modifyPathVelocityDetail(PathWithLaneId * path, StopReason * stop_reason); + BlindSpotDecision modifyPathVelocityDetail(PathWithLaneId * path); // setSafe(), setDistance() void setRTCStatus( const BlindSpotDecision & decision, const tier4_planning_msgs::msg::PathWithLaneId & path); @@ -141,12 +141,10 @@ class BlindSpotModule : public SceneModuleInterface void setRTCStatusByDecision( const Decision & decision, const tier4_planning_msgs::msg::PathWithLaneId & path); // stop/GO - void reactRTCApproval( - const BlindSpotDecision & decision, PathWithLaneId * path, StopReason * stop_reason); + void reactRTCApproval(const BlindSpotDecision & decision, PathWithLaneId * path); template void reactRTCApprovalByDecision( - const Decision & decision, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason); + const Decision & decision, tier4_planning_msgs::msg::PathWithLaneId * path); std::optional generateInterpolatedPathInfo( const tier4_planning_msgs::msg::PathWithLaneId & input_path) const; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp index 6a3d542600b3c..64e1435167a89 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp @@ -33,8 +33,7 @@ void BlindSpotModule::setRTCStatusByDecision( template void BlindSpotModule::reactRTCApprovalByDecision( [[maybe_unused]] const T & decision, - [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, - [[maybe_unused]] StopReason * stop_reason) + [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path) { static_assert("Unsupported type passed to reactRTCApprovalByDecision"); } @@ -53,8 +52,7 @@ void BlindSpotModule::setRTCStatusByDecision( template <> void BlindSpotModule::reactRTCApprovalByDecision( [[maybe_unused]] const InternalError & decision, - [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, - [[maybe_unused]] StopReason * stop_reason) + [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path) { return; } @@ -73,8 +71,7 @@ void BlindSpotModule::setRTCStatusByDecision( template <> void BlindSpotModule::reactRTCApprovalByDecision( [[maybe_unused]] const OverPassJudge & decision, - [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, - [[maybe_unused]] StopReason * stop_reason) + [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path) { return; } @@ -95,8 +92,7 @@ void BlindSpotModule::setRTCStatusByDecision( template <> void BlindSpotModule::reactRTCApprovalByDecision( - const Unsafe & decision, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason) + const Unsafe & decision, tier4_planning_msgs::msg::PathWithLaneId * path) { if (!isActivated()) { constexpr double stop_vel = 0.0; @@ -104,11 +100,7 @@ void BlindSpotModule::reactRTCApprovalByDecision( debug_data_.virtual_wall_pose = planning_utils::getAheadPose( decision.stop_line_idx, planner_data_->vehicle_info_.max_longitudinal_offset_m, *path); - tier4_planning_msgs::msg::StopFactor stop_factor; const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose; - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data_.conflicting_targets); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); } @@ -131,7 +123,7 @@ void BlindSpotModule::setRTCStatusByDecision( template <> void BlindSpotModule::reactRTCApprovalByDecision( - const Safe & decision, tier4_planning_msgs::msg::PathWithLaneId * path, StopReason * stop_reason) + const Safe & decision, tier4_planning_msgs::msg::PathWithLaneId * path) { if (!isActivated()) { constexpr double stop_vel = 0.0; @@ -139,11 +131,7 @@ void BlindSpotModule::reactRTCApprovalByDecision( debug_data_.virtual_wall_pose = planning_utils::getAheadPose( decision.stop_line_idx, planner_data_->vehicle_info_.max_longitudinal_offset_m, *path); - tier4_planning_msgs::msg::StopFactor stop_factor; const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose; - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data_.conflicting_targets); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp index c6cc8cf4a3db8..b5cbbfdf354bb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp @@ -64,8 +64,7 @@ void BlindSpotModule::initializeRTCStatus() setDistance(std::numeric_limits::lowest()); } -BlindSpotDecision BlindSpotModule::modifyPathVelocityDetail( - PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +BlindSpotDecision BlindSpotModule::modifyPathVelocityDetail(PathWithLaneId * path) { if (planner_param_.use_pass_judge_line && is_over_pass_judge_line_) { return OverPassJudge{"already over the pass judge line. no plan needed."}; @@ -160,26 +159,23 @@ void BlindSpotModule::setRTCStatus( decision); } -void BlindSpotModule::reactRTCApproval( - const BlindSpotDecision & decision, PathWithLaneId * path, StopReason * stop_reason) +void BlindSpotModule::reactRTCApproval(const BlindSpotDecision & decision, PathWithLaneId * path) { std::visit( - VisitorSwitch{[&](const auto & sub_decision) { - reactRTCApprovalByDecision(sub_decision, path, stop_reason); - }}, + VisitorSwitch{ + [&](const auto & sub_decision) { reactRTCApprovalByDecision(sub_decision, path); }}, decision); } -bool BlindSpotModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool BlindSpotModule::modifyPathVelocity(PathWithLaneId * path) { debug_data_ = DebugData(); - *stop_reason = planning_utils::initializeStopReason(StopReason::BLIND_SPOT); initializeRTCStatus(); - const auto decision = modifyPathVelocityDetail(path, stop_reason); + const auto decision = modifyPathVelocityDetail(path); const auto & input_path = *path; setRTCStatus(decision, input_path); - reactRTCApproval(decision, path, stop_reason); + reactRTCApproval(decision, path); return true; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 51a0b4aa23fde..b0ea73a2781d4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -201,7 +201,7 @@ CrosswalkModule::CrosswalkModule( node.create_publisher("~/debug/collision_info", 1); } -bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path) { if (path->points.size() < 2) { RCLCPP_DEBUG(logger_, "Do not interpolate because path size is less than 2."); @@ -213,7 +213,6 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto logger_, planner_param_.show_processing_time, "=========== module_id: %ld ===========", module_id_); - *stop_reason = planning_utils::initializeStopReason(StopReason::CROSSWALK); const auto & ego_pos = planner_data_->current_odometry->pose.position; const auto objects_ptr = planner_data_->predicted_objects; @@ -274,7 +273,7 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto if (isActivated()) { planGo(*path, nearest_stop_factor); } else { - planStop(*path, nearest_stop_factor, default_stop_pose, stop_reason); + planStop(*path, nearest_stop_factor, default_stop_pose); } recordTime(4); @@ -1353,7 +1352,7 @@ void CrosswalkModule::planGo( void CrosswalkModule::planStop( PathWithLaneId & ego_path, const std::optional & nearest_stop_factor, - const std::optional & default_stop_pose, StopReason * stop_reason) + const std::optional & default_stop_pose) { // Calculate stop factor auto stop_factor = [&]() -> std::optional { @@ -1376,7 +1375,6 @@ void CrosswalkModule::planStop( // Plan stop insertDecelPointWithDebugInfo(stop_factor->stop_pose.position, 0.0, ego_path); - planning_utils::appendStopReason(*stop_factor, stop_reason); velocity_factor_.set( ego_path.points, planner_data_->current_odometry->pose, stop_factor->stop_pose, VelocityFactor::UNKNOWN); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp index de696aa670ad3..d27aebe42d459 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp @@ -336,7 +336,7 @@ class CrosswalkModule : public SceneModuleInterface const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; @@ -399,7 +399,7 @@ class CrosswalkModule : public SceneModuleInterface void planStop( PathWithLaneId & ego_path, const std::optional & nearest_stop_factor, - const std::optional & default_stop_pose, StopReason * stop_reason); + const std::optional & default_stop_pose); // minor functions std::pair getAttentionRange( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp index abbb818f2b042..61b3b185999d8 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp @@ -47,7 +47,7 @@ DetectionAreaModule::DetectionAreaModule( velocity_factor_.init(PlanningBehavior::USER_DEFINED_DETECTION_AREA); } -bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path) { // Store original path const auto original_path = *path; @@ -55,7 +55,6 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * // Reset data debug_data_ = DebugData(); debug_data_.base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; - *stop_reason = planning_utils::initializeStopReason(StopReason::DETECTION_AREA); // Find obstacles in detection area const auto obstacle_points = detection_area::get_obstacle_points( @@ -184,28 +183,11 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * // Create StopReason { - StopFactor stop_factor{}; - stop_factor.stop_pose = stop_point->second; - stop_factor.stop_factor_points = obstacle_points; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_point->second, VelocityFactor::UNKNOWN); } - // Create legacy StopReason - { - const double stop_path_point_distance = autoware::motion_utils::calcSignedArcLength( - path->points, 0, stop_pose.position, stop_point->first); - - if ( - !first_stop_path_point_distance_ || - stop_path_point_distance < first_stop_path_point_distance_.value()) { - debug_data_.first_stop_pose = stop_point->second; - first_stop_path_point_distance_ = stop_path_point_distance; - } - } - return true; } } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp index 46bb46bcdeb61..9224cf4624687 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp @@ -70,7 +70,7 @@ class DetectionAreaModule : public SceneModuleInterface const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp index 8115f52437a04..cedc3c41e8165 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -91,14 +91,13 @@ IntersectionModule::IntersectionModule( "~/debug/intersection/object_ttc", 1); } -bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path) { debug_data_ = DebugData(); - *stop_reason = planning_utils::initializeStopReason(StopReason::INTERSECTION); initializeRTCStatus(); - const auto decision_result = modifyPathVelocityDetail(path, stop_reason); + const auto decision_result = modifyPathVelocityDetail(path); prev_decision_result_ = decision_result; { @@ -110,7 +109,7 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason * prepareRTCStatus(decision_result, *path); - reactRTCApproval(decision_result, path, stop_reason); + reactRTCApproval(decision_result, path); return true; } @@ -145,8 +144,7 @@ static std::string formatOcclusionType(const IntersectionModule::OcclusionType & return "RTCOccluded"; } -DecisionResult IntersectionModule::modifyPathVelocityDetail( - PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +DecisionResult IntersectionModule::modifyPathVelocityDetail(PathWithLaneId * path) { const auto prepare_data = prepareIntersectionData(path); if (!prepare_data) { @@ -683,7 +681,6 @@ void prepareRTCByDecisionResult( *occlusion_safety = true; *occlusion_distance = autoware::motion_utils::calcSignedArcLength(path.points, closest_idx, occlusion_stopline_idx); - return; } void IntersectionModule::prepareRTCStatus( @@ -711,7 +708,6 @@ void reactRTCApprovalByDecisionResult( [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, [[maybe_unused]] const double baselink2front, [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, - [[maybe_unused]] StopReason * stop_reason, [[maybe_unused]] VelocityFactorInterface * velocity_factor, [[maybe_unused]] IntersectionModule::DebugData * debug_data) { @@ -727,7 +723,6 @@ void reactRTCApprovalByDecisionResult( [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, [[maybe_unused]] const double baselink2front, [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, - [[maybe_unused]] StopReason * stop_reason, [[maybe_unused]] VelocityFactorInterface * velocity_factor, [[maybe_unused]] IntersectionModule::DebugData * debug_data) { @@ -742,7 +737,6 @@ void reactRTCApprovalByDecisionResult( [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, [[maybe_unused]] const double baselink2front, [[maybe_unused]] tier4_planning_msgs::msg::PathWithLaneId * path, - [[maybe_unused]] StopReason * stop_reason, [[maybe_unused]] VelocityFactorInterface * velocity_factor, [[maybe_unused]] IntersectionModule::DebugData * debug_data) { @@ -755,8 +749,7 @@ void reactRTCApprovalByDecisionResult( const StuckStop & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -770,10 +763,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data->unsafe_targets); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -785,9 +774,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_stop_wall_pose = planning_utils::getAheadPose(occlusion_stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(occlusion_stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(closest_idx).point.pose, path->points.at(occlusion_stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -802,8 +788,7 @@ void reactRTCApprovalByDecisionResult( const YieldStuckStop & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -817,10 +802,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data->unsafe_targets); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -835,8 +816,7 @@ void reactRTCApprovalByDecisionResult( const NonOccludedCollisionStop & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -848,9 +828,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -862,9 +839,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -878,8 +852,8 @@ void reactRTCApprovalByDecisionResult( const bool rtc_default_approved, const bool rtc_occlusion_approved, const FirstWaitBeforeOcclusion & decision_result, const IntersectionModule::PlannerParam & planner_param, const double baselink2front, - tier4_planning_msgs::msg::PathWithLaneId * path, StopReason * stop_reason, - VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) + tier4_planning_msgs::msg::PathWithLaneId * path, VelocityFactorInterface * velocity_factor, + IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -891,9 +865,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_first_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -913,9 +884,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -929,8 +897,8 @@ void reactRTCApprovalByDecisionResult( const bool rtc_default_approved, const bool rtc_occlusion_approved, const PeekingTowardOcclusion & decision_result, const IntersectionModule::PlannerParam & planner_param, const double baselink2front, - tier4_planning_msgs::msg::PathWithLaneId * path, StopReason * stop_reason, - VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) + tier4_planning_msgs::msg::PathWithLaneId * path, VelocityFactorInterface * velocity_factor, + IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -955,9 +923,6 @@ void reactRTCApprovalByDecisionResult( debug_data->static_occlusion_with_traffic_light_timeout = decision_result.static_occlusion_timeout; { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(occlusion_peeking_stopline).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(occlusion_peeking_stopline).point.pose, VelocityFactor::UNKNOWN); @@ -969,9 +934,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -986,8 +948,7 @@ void reactRTCApprovalByDecisionResult( const OccludedCollisionStop & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -999,9 +960,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1017,9 +975,6 @@ void reactRTCApprovalByDecisionResult( debug_data->static_occlusion_with_traffic_light_timeout = decision_result.static_occlusion_timeout; { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1034,8 +989,7 @@ void reactRTCApprovalByDecisionResult( const OccludedAbsenceTrafficLight & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -1047,9 +1001,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1061,9 +1012,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1087,8 +1035,7 @@ void reactRTCApprovalByDecisionResult( const bool rtc_default_approved, const bool rtc_occlusion_approved, const Safe & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -1099,9 +1046,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1113,9 +1057,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1130,8 +1071,7 @@ void reactRTCApprovalByDecisionResult( const FullyPrioritized & decision_result, [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param, const double baselink2front, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason, VelocityFactorInterface * velocity_factor, - IntersectionModule::DebugData * debug_data) + VelocityFactorInterface * velocity_factor, IntersectionModule::DebugData * debug_data) { RCLCPP_DEBUG( rclcpp::get_logger("reactRTCApprovalByDecisionResult"), @@ -1143,9 +1083,6 @@ void reactRTCApprovalByDecisionResult( debug_data->collision_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1157,9 +1094,6 @@ void reactRTCApprovalByDecisionResult( debug_data->occlusion_stop_wall_pose = planning_utils::getAheadPose(stopline_idx, baselink2front, *path); { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = path->points.at(stopline_idx).point.pose; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor->set( path->points, path->points.at(decision_result.closest_idx).point.pose, path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); @@ -1169,15 +1103,14 @@ void reactRTCApprovalByDecisionResult( } void IntersectionModule::reactRTCApproval( - const DecisionResult & decision_result, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason) + const DecisionResult & decision_result, tier4_planning_msgs::msg::PathWithLaneId * path) { const double baselink2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; std::visit( VisitorSwitch{[&](const auto & decision) { reactRTCApprovalByDecisionResult( activated_, occlusion_activated_, decision, planner_param_, baselink2front, path, - stop_reason, &velocity_factor_, &debug_data_); + &velocity_factor_, &debug_data_); }}, decision_result); return; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp index 8ffb4792f55db..b718dd84d33af 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp @@ -321,7 +321,7 @@ class IntersectionModule : public SceneModuleInterface * INTERSECTION_OCCLUSION. * @{ */ - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; /** @}*/ visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; @@ -504,7 +504,7 @@ class IntersectionModule : public SceneModuleInterface /** * @brief analyze traffic_light/occupancy/objects context and return DecisionResult */ - DecisionResult modifyPathVelocityDetail(PathWithLaneId * path, StopReason * stop_reason); + DecisionResult modifyPathVelocityDetail(PathWithLaneId * path); /** * @brief set RTC value according to calculated DecisionResult @@ -516,8 +516,7 @@ class IntersectionModule : public SceneModuleInterface * @brief act based on current RTC approval */ void reactRTCApproval( - const DecisionResult & decision_result, tier4_planning_msgs::msg::PathWithLaneId * path, - StopReason * stop_reason); + const DecisionResult & decision_result, tier4_planning_msgs::msg::PathWithLaneId * path); /** @}*/ private: diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp index d5cd9ca587716..478576a5c6676 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp @@ -76,10 +76,9 @@ static std::optional getFirstConflictingLanelet( return std::nullopt; } -bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path) { debug_data_ = DebugData(); - *stop_reason = planning_utils::initializeStopReason(StopReason::MERGE_FROM_PRIVATE_ROAD); const auto input_path = *path; @@ -152,9 +151,6 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path, StopR planning_utils::setVelocityFromIndex(stopline_idx, v, path); /* get stop point and stop factor */ - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = debug_data_.stop_point_pose; - planning_utils::appendStopReason(stop_factor, stop_reason); const auto & stop_pose = path->points.at(stopline_idx).point.pose; velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp index a69297adea881..dc8bf1a96a7a2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp @@ -67,7 +67,7 @@ class MergeFromPrivateRoadModule : public SceneModuleInterface * @brief plan go-stop velocity at traffic crossing with collision check between reference path * and object predicted path */ - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp index c3af04bbd1d1f..8365251904b18 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp @@ -37,14 +37,12 @@ NoDrivableLaneModule::NoDrivableLaneModule( velocity_factor_.init(PlanningBehavior::NO_DRIVABLE_LANE); } -bool NoDrivableLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool NoDrivableLaneModule::modifyPathVelocity(PathWithLaneId * path) { if (path->points.empty()) { return false; } - *stop_reason = planning_utils::initializeStopReason(StopReason::NO_DRIVABLE_LANE); - const auto & ego_pos = planner_data_->current_odometry->pose.position; const auto & lanelet_map_ptr = planner_data_->route_handler_->getLaneletMapPtr(); const auto & no_drivable_lane = lanelet_map_ptr->laneletLayer.get(lane_id_); @@ -82,7 +80,7 @@ bool NoDrivableLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason RCLCPP_INFO(logger_, "Approaching "); } - handle_approaching_state(path, stop_reason); + handle_approaching_state(path); break; } @@ -92,7 +90,7 @@ bool NoDrivableLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason RCLCPP_INFO(logger_, "INSIDE_NO_DRIVABLE_LANE"); } - handle_inside_no_drivable_lane_state(path, stop_reason); + handle_inside_no_drivable_lane_state(path); break; } @@ -102,7 +100,7 @@ bool NoDrivableLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason RCLCPP_INFO(logger_, "STOPPED"); } - handle_stopped_state(path, stop_reason); + handle_stopped_state(path); break; } @@ -131,7 +129,7 @@ void NoDrivableLaneModule::handle_init_state() } } -void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path, StopReason * stop_reason) +void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path) { const double longitudinal_offset = -1.0 * (planner_param_.stop_margin + planner_data_->vehicle_info_.max_longitudinal_offset_m); @@ -163,11 +161,7 @@ void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path, StopR // Get stop point and stop factor { - tier4_planning_msgs::msg::StopFactor stop_factor; const auto & stop_pose = op_stop_pose.value(); - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points.push_back(stop_point); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::APPROACHING); @@ -205,8 +199,7 @@ void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path, StopR } } -void NoDrivableLaneModule::handle_inside_no_drivable_lane_state( - PathWithLaneId * path, StopReason * stop_reason) +void NoDrivableLaneModule::handle_inside_no_drivable_lane_state(PathWithLaneId * path) { const auto & current_point = planner_data_->current_odometry->pose.position; const size_t current_seg_idx = findEgoSegmentIndex(path->points); @@ -216,11 +209,7 @@ void NoDrivableLaneModule::handle_inside_no_drivable_lane_state( // Get stop point and stop factor { - tier4_planning_msgs::msg::StopFactor stop_factor; const auto & stop_pose = autoware::universe_utils::getPose(path->points.at(0)); - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points.push_back(current_point); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::APPROACHING); @@ -239,7 +228,7 @@ void NoDrivableLaneModule::handle_inside_no_drivable_lane_state( } } -void NoDrivableLaneModule::handle_stopped_state(PathWithLaneId * path, StopReason * stop_reason) +void NoDrivableLaneModule::handle_stopped_state(PathWithLaneId * path) { const auto & stopped_pose = autoware::motion_utils::calcLongitudinalOffsetPose( path->points, planner_data_->current_odometry->pose.position, 0.0); @@ -258,11 +247,7 @@ void NoDrivableLaneModule::handle_stopped_state(PathWithLaneId * path, StopReaso // Get stop point and stop factor { - tier4_planning_msgs::msg::StopFactor stop_factor; const auto & stop_pose = ego_pos_on_path.pose; - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points.push_back(stop_pose.position); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::STOPPED); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp index d9e6121a8ae51..d8c5e3e0425d1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.hpp @@ -57,7 +57,7 @@ class NoDrivableLaneModule : public SceneModuleInterface const int64_t module_id, const int64_t lane_id, const PlannerParam & planner_param, const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; @@ -79,9 +79,9 @@ class NoDrivableLaneModule : public SceneModuleInterface double distance_ego_first_intersection{}; void handle_init_state(); - void handle_approaching_state(PathWithLaneId * path, StopReason * stop_reason); - void handle_inside_no_drivable_lane_state(PathWithLaneId * path, StopReason * stop_reason); - void handle_stopped_state(PathWithLaneId * path, StopReason * stop_reason); + void handle_approaching_state(PathWithLaneId * path); + void handle_inside_no_drivable_lane_state(PathWithLaneId * path); + void handle_stopped_state(PathWithLaneId * path); void initialize_debug_data( const lanelet::Lanelet & no_drivable_lane, const geometry_msgs::msg::Point & ego_pos); }; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp index bac91d6ca92fd..3769aed71a1ec 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp @@ -52,7 +52,7 @@ NoStoppingAreaModule::NoStoppingAreaModule( state_machine_.setMarginTime(planner_param_.state_clear_time); } -bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path) { // Store original path const auto original_path = *path; @@ -64,7 +64,6 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason // Reset data debug_data_ = no_stopping_area::DebugData(); debug_data_.base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; - *stop_reason = planning_utils::initializeStopReason(StopReason::NO_STOPPING_AREA); const no_stopping_area::EgoData ego_data(*planner_data_); @@ -142,27 +141,11 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason // Create StopReason { - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = stop_point->second; - stop_factor.stop_factor_points = debug_data_.stuck_points; - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_point->second, VelocityFactor::UNKNOWN); } - // Create legacy StopReason - { - const double stop_path_point_distance = autoware::motion_utils::calcSignedArcLength( - path->points, 0, stop_pose.position, stop_point->first); - - if ( - !first_stop_path_point_distance_ || - stop_path_point_distance < first_stop_path_point_distance_.value()) { - debug_data_.first_stop_pose = stop_point->second; - first_stop_path_point_distance_ = stop_path_point_distance; - } - } } else if (state_machine_.getState() == StateMachine::State::GO) { // reset pass judge if current state is go pass_judge_.is_stoppable = true; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp index 886c8f04dc702..51f3a0d261ebd 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.hpp @@ -59,7 +59,7 @@ class NoStoppingAreaModule : public SceneModuleInterface const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp index 24b9d10e09830..dfc2dca7afc21 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp @@ -82,8 +82,7 @@ OcclusionSpotModule::OcclusionSpotModule( } } -bool OcclusionSpotModule::modifyPathVelocity( - PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +bool OcclusionSpotModule::modifyPathVelocity(PathWithLaneId * path) { if (param_.is_show_processing_time) stop_watch_.tic("total_processing_time"); debug_data_.resetData(); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp index b83051fb6b6ec..35c409a9c459b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp @@ -53,7 +53,7 @@ class OcclusionSpotModule : public SceneModuleInterface /** * @brief plan occlusion spot velocity at unknown area in occupancy grid */ - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp index 5f4d0606abfc6..2b921028c499a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp @@ -79,8 +79,6 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio // Publishers path_pub_ = this->create_publisher("~/output/path", 1); - stop_reason_diag_pub_ = - this->create_publisher("~/output/stop_reason", 1); debug_viz_pub_ = this->create_publisher("~/debug/path", 1); // Parameters @@ -327,7 +325,6 @@ void BehaviorVelocityPlannerNode::onTrigger( path_pub_->publish(output_path_msg); published_time_publisher_->publish_if_subscribed(path_pub_, output_path_msg.header.stamp); - stop_reason_diag_pub_->publish(planner_manager_.getStopReasonDiag()); if (debug_viz_pub_->get_subscription_count() > 0) { publishDebugMarker(output_path_msg); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp index d72b90d41e8f4..e260f582aae60 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp @@ -113,7 +113,6 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node // publisher rclcpp::Publisher::SharedPtr path_pub_; - rclcpp::Publisher::SharedPtr stop_reason_diag_pub_; rclcpp::Publisher::SharedPtr debug_viz_pub_; void publishDebugMarker(const autoware_planning_msgs::msg::Path & path); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp index 05aa4868249f3..4820c340058ff 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp @@ -25,34 +25,6 @@ namespace autoware::behavior_velocity_planner { -namespace -{ -std::string jsonDumpsPose(const geometry_msgs::msg::Pose & pose) -{ - const std::string json_dumps_pose = - (boost::format( - R"({"position":{"x":%lf,"y":%lf,"z":%lf},"orientation":{"w":%lf,"x":%lf,"y":%lf,"z":%lf}})") % - pose.position.x % pose.position.y % pose.position.z % pose.orientation.w % pose.orientation.x % - pose.orientation.y % pose.orientation.z) - .str(); - return json_dumps_pose; -} - -diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag( - const std::string & stop_reason, const geometry_msgs::msg::Pose & stop_pose) -{ - diagnostic_msgs::msg::DiagnosticStatus stop_reason_diag; - diagnostic_msgs::msg::KeyValue stop_reason_diag_kv; - stop_reason_diag.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stop_reason_diag.name = "stop_reason"; - stop_reason_diag.message = stop_reason; - stop_reason_diag_kv.key = "stop_pose"; - stop_reason_diag_kv.value = jsonDumpsPose(stop_pose); - stop_reason_diag.values.push_back(stop_reason_diag_kv); - return stop_reason_diag; -} -} // namespace - BehaviorVelocityPlannerManager::BehaviorVelocityPlannerManager() : plugin_loader_( "autoware_behavior_velocity_planner", "autoware::behavior_velocity_planner::PluginInterface") @@ -107,34 +79,12 @@ tier4_planning_msgs::msg::PathWithLaneId BehaviorVelocityPlannerManager::planPat { tier4_planning_msgs::msg::PathWithLaneId output_path_msg = input_path_msg; - double first_stop_path_point_distance = - autoware::motion_utils::calcArcLength(output_path_msg.points); - std::string stop_reason_msg("path_end"); - for (const auto & plugin : scene_manager_plugins_) { plugin->updateSceneModuleInstances(planner_data, input_path_msg); plugin->plan(&output_path_msg); - const std::optional firstStopPathPointDistance = - plugin->getFirstStopPathPointDistance(); - - if (firstStopPathPointDistance.has_value()) { - if (firstStopPathPointDistance.value() < first_stop_path_point_distance) { - first_stop_path_point_distance = firstStopPathPointDistance.value(); - stop_reason_msg = plugin->getModuleName(); - } - } } - const geometry_msgs::msg::Pose stop_pose = autoware::motion_utils::calcInterpolatedPose( - output_path_msg.points, first_stop_path_point_distance); - - stop_reason_diag_ = makeStopReasonDiag(stop_reason_msg, stop_pose); - return output_path_msg; } -diagnostic_msgs::msg::DiagnosticStatus BehaviorVelocityPlannerManager::getStopReasonDiag() const -{ - return stop_reason_diag_; -} } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.hpp index abeab16dd71cb..fddd658cef06e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.hpp @@ -46,14 +46,12 @@ class BehaviorVelocityPlannerManager void launchScenePlugin(rclcpp::Node & node, const std::string & name); void removeScenePlugin(rclcpp::Node & node, const std::string & name); + // cppcheck-suppress functionConst tier4_planning_msgs::msg::PathWithLaneId planPathVelocity( const std::shared_ptr & planner_data, const tier4_planning_msgs::msg::PathWithLaneId & input_path_msg); - diagnostic_msgs::msg::DiagnosticStatus getStopReasonDiag() const; - private: - diagnostic_msgs::msg::DiagnosticStatus stop_reason_diag_; pluginlib::ClassLoader plugin_loader_; std::vector> scene_manager_plugins_; }; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp index 5f6549f1e4492..4867b14cbb806 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_interface.hpp @@ -34,7 +34,6 @@ class PluginInterface virtual void updateSceneModuleInstances( const std::shared_ptr & planner_data, const tier4_planning_msgs::msg::PathWithLaneId & path) = 0; - virtual std::optional getFirstStopPathPointDistance() = 0; virtual const char * getModuleName() = 0; }; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp index 0392bf24d3a36..44a00072a0be4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/plugin_wrapper.hpp @@ -38,10 +38,6 @@ class PluginWrapper : public PluginInterface { scene_manager_->updateSceneModuleInstances(planner_data, path); } - std::optional getFirstStopPathPointDistance() override - { - return scene_manager_->getFirstStopPathPointDistance(); - } const char * getModuleName() override { return scene_manager_->getModuleName(); } private: diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp index e39cfb3a5144d..5725ebe51b4a5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp @@ -30,8 +30,6 @@ #include #include #include -#include -#include #include #include #include @@ -61,8 +59,6 @@ using autoware::universe_utils::getOrDeclareParameter; using builtin_interfaces::msg::Time; using tier4_debug_msgs::msg::Float64Stamped; using tier4_planning_msgs::msg::PathWithLaneId; -using tier4_planning_msgs::msg::StopFactor; -using tier4_planning_msgs::msg::StopReason; using tier4_rtc_msgs::msg::Module; using tier4_rtc_msgs::msg::State; using unique_identifier_msgs::msg::UUID; @@ -87,7 +83,7 @@ class SceneModuleInterface const int64_t module_id, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock); virtual ~SceneModuleInterface() = default; - virtual bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) = 0; + virtual bool modifyPathVelocity(PathWithLaneId * path) = 0; virtual visualization_msgs::msg::MarkerArray createDebugMarkerArray() = 0; virtual std::vector createVirtualWalls() = 0; @@ -116,8 +112,6 @@ class SceneModuleInterface std::shared_ptr getTimeKeeper() { return time_keeper_; } - std::optional getFirstStopPathPointDistance() { return first_stop_path_point_distance_; } - void setActivation(const bool activated) { activated_ = activated; } void setRTCEnabled(const bool enable_rtc) { rtc_enabled_ = enable_rtc; } bool isActivated() const { return activated_; } @@ -139,7 +133,6 @@ class SceneModuleInterface rclcpp::Clock::SharedPtr clock_; std::shared_ptr planner_data_; std::optional infrastructure_command_; - std::optional first_stop_path_point_distance_; autoware::motion_utils::VelocityFactorInterface velocity_factor_; std::vector objects_of_interest_; mutable std::shared_ptr time_keeper_; @@ -174,8 +167,6 @@ class SceneModuleManagerInterface virtual const char * getModuleName() = 0; - std::optional getFirstStopPathPointDistance() { return first_stop_path_point_distance_; } - void updateSceneModuleInstances( const std::shared_ptr & planner_data, const tier4_planning_msgs::msg::PathWithLaneId & path); @@ -208,7 +199,6 @@ class SceneModuleManagerInterface std::shared_ptr planner_data_; autoware::motion_utils::VirtualWallMarkerCreator virtual_wall_marker_creator_; - std::optional first_stop_path_point_distance_; rclcpp::Node & node_; rclcpp::Clock::SharedPtr clock_; // Debug @@ -217,7 +207,6 @@ class SceneModuleManagerInterface rclcpp::Publisher::SharedPtr pub_virtual_wall_; rclcpp::Publisher::SharedPtr pub_debug_; rclcpp::Publisher::SharedPtr pub_debug_path_; - rclcpp::Publisher::SharedPtr pub_stop_reason_; rclcpp::Publisher::SharedPtr pub_velocity_factor_; rclcpp::Publisher::SharedPtr diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp index 5f1c17ea1b815..4cbf820268df5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp @@ -21,7 +21,6 @@ #include #include #include -#include #include #include @@ -65,8 +64,6 @@ using Polygons2d = std::vector; using autoware_perception_msgs::msg::PredictedObjects; using tier4_planning_msgs::msg::PathPointWithLaneId; using tier4_planning_msgs::msg::PathWithLaneId; -using tier4_planning_msgs::msg::StopFactor; -using tier4_planning_msgs::msg::StopReason; namespace planning_utils { @@ -114,10 +111,6 @@ double findReachTime( const double jerk, const double accel, const double velocity, const double distance, const double t_min, const double t_max); -StopReason initializeStopReason(const std::string & stop_reason); - -void appendStopReason(const StopFactor stop_factor, StopReason * stop_reason); - std::vector toRosPoints(const PredictedObjects & object); LineString2d extendLine( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp index 2d014d4bbf81d..fb19c4955c12a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp @@ -67,8 +67,6 @@ SceneModuleManagerInterface::SceneModuleManagerInterface( std::string("~/virtual_wall/") + module_name, 5); pub_velocity_factor_ = node.create_publisher( std::string("/planning/velocity_factors/") + module_name, 1); - pub_stop_reason_ = - node.create_publisher("~/output/stop_reasons", 1); pub_infrastructure_commands_ = node.create_publisher( "~/output/infrastructure_commands", 1); @@ -107,40 +105,28 @@ void SceneModuleManagerInterface::modifyPathVelocity( StopWatch stop_watch; stop_watch.tic("Total"); visualization_msgs::msg::MarkerArray debug_marker_array; - tier4_planning_msgs::msg::StopReasonArray stop_reason_array; autoware_adapi_v1_msgs::msg::VelocityFactorArray velocity_factor_array; - stop_reason_array.header.frame_id = "map"; - stop_reason_array.header.stamp = clock_->now(); velocity_factor_array.header.frame_id = "map"; velocity_factor_array.header.stamp = clock_->now(); tier4_v2x_msgs::msg::InfrastructureCommandArray infrastructure_command_array; infrastructure_command_array.stamp = clock_->now(); - first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); for (const auto & scene_module : scene_modules_) { - tier4_planning_msgs::msg::StopReason stop_reason; scene_module->resetVelocityFactor(); scene_module->setPlannerData(planner_data_); - scene_module->modifyPathVelocity(path, &stop_reason); + scene_module->modifyPathVelocity(path); // The velocity factor must be called after modifyPathVelocity. const auto velocity_factor = scene_module->getVelocityFactor(); if (velocity_factor.behavior != PlanningBehavior::UNKNOWN) { velocity_factor_array.factors.emplace_back(velocity_factor); } - if (stop_reason.reason != "") { - stop_reason_array.stop_reasons.emplace_back(stop_reason); - } if (const auto command = scene_module->getInfrastructureCommand()) { infrastructure_command_array.commands.push_back(*command); } - if (scene_module->getFirstStopPathPointDistance() < first_stop_path_point_distance_) { - first_stop_path_point_distance_ = scene_module->getFirstStopPathPointDistance(); - } - for (const auto & marker : scene_module->createDebugMarkerArray().markers) { debug_marker_array.markers.push_back(marker); } @@ -148,9 +134,6 @@ void SceneModuleManagerInterface::modifyPathVelocity( virtual_wall_marker_creator_.add_virtual_walls(scene_module->createVirtualWalls()); } - if (!stop_reason_array.stop_reasons.empty()) { - pub_stop_reason_->publish(stop_reason_array); - } pub_velocity_factor_->publish(velocity_factor_array); pub_infrastructure_commands_->publish(infrastructure_command_array); pub_debug_->publish(debug_marker_array); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp index ccb2660dbf3c6..88186a5b904b0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp @@ -490,18 +490,6 @@ double calcDecelerationVelocityFromDistanceToTarget( return current_velocity; } -StopReason initializeStopReason(const std::string & stop_reason) -{ - StopReason stop_reason_msg; - stop_reason_msg.reason = stop_reason; - return stop_reason_msg; -} - -void appendStopReason(const StopFactor stop_factor, StopReason * stop_reason) -{ - stop_reason->stop_factors.emplace_back(stop_factor); -} - std::vector toRosPoints(const PredictedObjects & object) { std::vector points; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp index c3f91d0506388..32bf81ed63598 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp @@ -63,8 +63,7 @@ void RunOutModule::setPlannerParam(const PlannerParam & planner_param) planner_param_ = planner_param; } -bool RunOutModule::modifyPathVelocity( - PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +bool RunOutModule::modifyPathVelocity(PathWithLaneId * path) { // timer starts const auto t_start = std::chrono::system_clock::now(); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp index 4f326aef298be..3673a215bb749 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp @@ -49,7 +49,7 @@ class RunOutModule : public SceneModuleInterface std::unique_ptr dynamic_obstacle_creator, const std::shared_ptr & debug_ptr, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp index dfe5d4de85300..2ac8f1c477620 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp @@ -70,8 +70,7 @@ SpeedBumpModule::SpeedBumpModule( } } -bool SpeedBumpModule::modifyPathVelocity( - PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +bool SpeedBumpModule::modifyPathVelocity(PathWithLaneId * path) { if (path->points.empty()) { return false; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp index b909dc80689d5..176a01d5112c5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.hpp @@ -56,7 +56,7 @@ class SpeedBumpModule : public SceneModuleInterface const lanelet::autoware::SpeedBump & speed_bump_reg_elem, const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp index b83a274f99513..8a06b9ba5f82d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -46,7 +46,7 @@ StopLineModule::StopLineModule( velocity_factor_.init(PlanningBehavior::STOP_SIGN); } -bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool StopLineModule::modifyPathVelocity(PathWithLaneId * path) { auto trajectory = trajectory::Trajectory::Builder{}.build( @@ -74,8 +74,6 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop geometry_msgs::msg::Pose stop_pose = trajectory->compute(*stop_point).point.pose; - updateStopReason(stop_reason, stop_pose); - updateDebugData(&debug_data_, stop_pose, state_); return true; @@ -177,15 +175,6 @@ void StopLineModule::updateVelocityFactor( } } -void StopLineModule::updateStopReason( - StopReason * stop_reason, const geometry_msgs::msg::Pose & stop_pose) const -{ - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_)); - planning_utils::appendStopReason(stop_factor, stop_reason); -} - void StopLineModule::updateDebugData( DebugData * debug_data, const geometry_msgs::msg::Pose & stop_pose, const State & state) const { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp index cb5bf339f8846..9ac1463da8618 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp @@ -70,7 +70,7 @@ class StopLineModule : public SceneModuleInterface const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; /** * @brief Calculate ego position and stop point. @@ -99,8 +99,6 @@ class StopLineModule : public SceneModuleInterface autoware::motion_utils::VelocityFactorInterface * velocity_factor, const State & state, const double & distance_to_stop_point); - void updateStopReason(StopReason * stop_reason, const geometry_msgs::msg::Pose & stop_pose) const; - void updateDebugData( DebugData * debug_data, const geometry_msgs::msg::Pose & stop_pose, const State & state) const; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp index 0394b0c9e381f..3ce8502baaf63 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp @@ -42,8 +42,7 @@ autoware::motion_utils::VirtualWalls TemplateModule::createVirtualWalls() return vw; } -bool TemplateModule::modifyPathVelocity( - [[maybe_unused]] PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +bool TemplateModule::modifyPathVelocity([[maybe_unused]] PathWithLaneId * path) { RCLCPP_INFO_ONCE(logger_, "Template Module is executing!"); return false; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.hpp index 9789ee37aa669..70cd5cb1235e7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.hpp @@ -38,10 +38,9 @@ class TemplateModule : public SceneModuleInterface * specific criteria. * * @param path A pointer to the path containing points to be modified. - * @param stop_reason A pointer to the stop reason data. * @return [bool] wether the path velocity was modified or not. */ - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; /** * @brief Create a visualization of debug markers. diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp index 0d7c77d5e1b59..b6747724ba6f7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp @@ -57,34 +57,20 @@ void TrafficLightModuleManager::modifyPathVelocity(tier4_planning_msgs::msg::Pat velocity_factor_array.header.frame_id = "map"; velocity_factor_array.header.stamp = clock_->now(); - tier4_planning_msgs::msg::StopReasonArray stop_reason_array; - stop_reason_array.header.frame_id = "map"; - stop_reason_array.header.stamp = path->header.stamp; - - first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); nearest_ref_stop_path_point_index_ = static_cast(path->points.size() - 1); for (const auto & scene_module : scene_modules_) { - tier4_planning_msgs::msg::StopReason stop_reason; std::shared_ptr traffic_light_scene_module( std::dynamic_pointer_cast(scene_module)); traffic_light_scene_module->resetVelocityFactor(); traffic_light_scene_module->setPlannerData(planner_data_); - traffic_light_scene_module->modifyPathVelocity(path, &stop_reason); + traffic_light_scene_module->modifyPathVelocity(path); // The velocity factor must be called after modifyPathVelocity. const auto velocity_factor = traffic_light_scene_module->getVelocityFactor(); if (velocity_factor.behavior != PlanningBehavior::UNKNOWN) { velocity_factor_array.factors.emplace_back(velocity_factor); } - if (stop_reason.reason != "") { - stop_reason_array.stop_reasons.emplace_back(stop_reason); - } - if ( - traffic_light_scene_module->getFirstStopPathPointDistance() < - first_stop_path_point_distance_) { - first_stop_path_point_distance_ = traffic_light_scene_module->getFirstStopPathPointDistance(); - } if ( traffic_light_scene_module->getFirstRefStopPathPointIndex() < nearest_ref_stop_path_point_index_) { @@ -102,9 +88,6 @@ void TrafficLightModuleManager::modifyPathVelocity(tier4_planning_msgs::msg::Pat virtual_wall_marker_creator_.add_virtual_walls( traffic_light_scene_module->createVirtualWalls()); } - if (!stop_reason_array.stop_reasons.empty()) { - pub_stop_reason_->publish(stop_reason_array); - } pub_velocity_factor_->publish(velocity_factor_array); pub_debug_->publish(debug_marker_array); pub_virtual_wall_->publish(virtual_wall_marker_creator_.create_markers(clock_->now())); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp index c59071f2043bb..76f1a19bfc69a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -54,13 +54,11 @@ TrafficLightModule::TrafficLightModule( planner_param_ = planner_param; } -bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path) { debug_data_ = DebugData(); debug_data_.base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; - first_stop_path_point_distance_ = autoware::motion_utils::calcArcLength(path->points); first_ref_stop_path_point_index_ = static_cast(path->points.size()) - 1; - *stop_reason = planning_utils::initializeStopReason(StopReason::TRAFFIC_LIGHT); const auto input_path = *path; @@ -133,8 +131,7 @@ bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason * // Decide whether to stop or pass even if a stop signal is received. if (!isPassthrough(signed_arc_length_to_stop_point)) { - *path = - insertStopPose(input_path, stop_line.value().first, stop_line.value().second, stop_reason); + *path = insertStopPose(input_path, stop_line.value().first, stop_line.value().second); is_prev_state_stop_ = true; } return true; @@ -275,7 +272,7 @@ bool TrafficLightModule::isTrafficSignalTimedOut() const tier4_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopPose( const tier4_planning_msgs::msg::PathWithLaneId & input, const size_t & insert_target_point_idx, - const Eigen::Vector2d & target_point, tier4_planning_msgs::msg::StopReason * stop_reason) + const Eigen::Vector2d & target_point) { tier4_planning_msgs::msg::PathWithLaneId modified_path; modified_path = input; @@ -292,24 +289,9 @@ tier4_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopPose( size_t insert_index = insert_target_point_idx; planning_utils::insertVelocity(modified_path, target_point_with_lane_id, 0.0, insert_index); - const double target_velocity_point_distance = autoware::motion_utils::calcArcLength(std::vector( - modified_path.points.begin(), modified_path.points.begin() + target_velocity_point_idx)); - if (target_velocity_point_distance < first_stop_path_point_distance_) { - first_stop_path_point_distance_ = target_velocity_point_distance; - debug_data_.first_stop_pose = target_point_with_lane_id.point.pose; - } - - // Get stop point and stop factor - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = debug_data_.first_stop_pose; - if (debug_data_.highest_confidence_traffic_light_point != std::nullopt) { - stop_factor.stop_factor_points = std::vector{ - debug_data_.highest_confidence_traffic_light_point.value()}; - } velocity_factor_.set( modified_path.points, planner_data_->current_odometry->pose, target_point_with_lane_id.point.pose, VelocityFactor::UNKNOWN); - planning_utils::appendStopReason(stop_factor, stop_reason); return modified_path; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.hpp index e35d9f86fbe46..8221bb3740273 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.hpp @@ -71,7 +71,7 @@ class TrafficLightModule : public SceneModuleInterface lanelet::ConstLanelet lane, const PlannerParam & planner_param, const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; @@ -90,7 +90,7 @@ class TrafficLightModule : public SceneModuleInterface tier4_planning_msgs::msg::PathWithLaneId insertStopPose( const tier4_planning_msgs::msg::PathWithLaneId & input, const size_t & insert_target_point_idx, - const Eigen::Vector2d & target_point, tier4_planning_msgs::msg::StopReason * stop_reason); + const Eigen::Vector2d & target_point); bool isPassthrough(const double & signed_arc_length) const; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp index e60e2a42e3a47..206fb14b6d41c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp @@ -97,11 +97,10 @@ VirtualTrafficLightModule::VirtualTrafficLightModule( logger_ = logger_.get_child((map_data_.instrument_type + "_" + map_data_.instrument_id).c_str()); } -bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path) { // Initialize setInfrastructureCommand({}); - *stop_reason = planning_utils::initializeStopReason(StopReason::VIRTUAL_TRAFFIC_LIGHT); module_data_ = {}; @@ -150,7 +149,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopRe // Stop at stop_line if no message received if (!virtual_traffic_light_state) { RCLCPP_DEBUG(logger_, "no message received"); - insertStopVelocityAtStopLine(path, stop_reason, end_line_idx); + insertStopVelocityAtStopLine(path, end_line_idx); updateInfrastructureCommand(); return true; } @@ -158,7 +157,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopRe // Stop at stop_line if no right is given if (!hasRightOfWay(*virtual_traffic_light_state)) { RCLCPP_DEBUG(logger_, "no right is given"); - insertStopVelocityAtStopLine(path, stop_reason, end_line_idx); + insertStopVelocityAtStopLine(path, end_line_idx); updateInfrastructureCommand(); return true; } @@ -167,7 +166,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopRe if (isBeforeStopLine(end_line_idx)) { if (isStateTimeout(*virtual_traffic_light_state)) { RCLCPP_DEBUG(logger_, "state is timeout before stop line"); - insertStopVelocityAtStopLine(path, stop_reason, end_line_idx); + insertStopVelocityAtStopLine(path, end_line_idx); } updateInfrastructureCommand(); @@ -181,7 +180,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopRe if ( planner_param_.check_timeout_after_stop_line && isStateTimeout(*virtual_traffic_light_state)) { RCLCPP_DEBUG(logger_, "state is timeout after stop line"); - insertStopVelocityAtStopLine(path, stop_reason, end_line_idx); + insertStopVelocityAtStopLine(path, end_line_idx); updateInfrastructureCommand(); return true; } @@ -189,7 +188,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopRe // Stop at stop_line if finalization isn't completed if (!virtual_traffic_light_state->is_finalized) { RCLCPP_DEBUG(logger_, "finalization isn't completed"); - insertStopVelocityAtEndLine(path, stop_reason, end_line_idx); + insertStopVelocityAtEndLine(path, end_line_idx); if (isNearAnyEndLine(end_line_idx) && planner_data_->isVehicleStopped()) { state_ = State::FINALIZING; @@ -207,15 +206,6 @@ void VirtualTrafficLightModule::updateInfrastructureCommand() setInfrastructureCommand(command_); } -void VirtualTrafficLightModule::setStopReason( - const geometry_msgs::msg::Pose & stop_pose, tier4_planning_msgs::msg::StopReason * stop_reason) -{ - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = stop_pose; - stop_factor.stop_factor_points.push_back(toMsg(map_data_.instrument_center)); - planning_utils::appendStopReason(stop_factor, stop_reason); -} - std::optional VirtualTrafficLightModule::getPathIndexOfFirstEndLine() { std::optional min_seg_idx; @@ -376,8 +366,7 @@ bool VirtualTrafficLightModule::hasRightOfWay( } void VirtualTrafficLightModule::insertStopVelocityAtStopLine( - tier4_planning_msgs::msg::PathWithLaneId * path, - tier4_planning_msgs::msg::StopReason * stop_reason, const size_t end_line_idx) + tier4_planning_msgs::msg::PathWithLaneId * path, const size_t end_line_idx) { const auto collision = findLastCollisionBeforeEndLine(path->points, *map_data_.stop_line, end_line_idx); @@ -428,7 +417,6 @@ void VirtualTrafficLightModule::insertStopVelocityAtStopLine( } // Set StopReason - setStopReason(stop_pose, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN, command_.type); @@ -439,8 +427,7 @@ void VirtualTrafficLightModule::insertStopVelocityAtStopLine( } void VirtualTrafficLightModule::insertStopVelocityAtEndLine( - tier4_planning_msgs::msg::PathWithLaneId * path, - tier4_planning_msgs::msg::StopReason * stop_reason, const size_t end_line_idx) + tier4_planning_msgs::msg::PathWithLaneId * path, const size_t end_line_idx) { const auto collision = findLastCollisionBeforeEndLine(path->points, map_data_.end_lines, end_line_idx); @@ -463,7 +450,6 @@ void VirtualTrafficLightModule::insertStopVelocityAtEndLine( } // Set StopReason - setStopReason(stop_pose, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp index e4e58e4288354..b031ba5b2bb2b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp @@ -79,7 +79,7 @@ class VirtualTrafficLightModule : public SceneModuleInterface const PlannerParam & planner_param, const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; @@ -96,8 +96,6 @@ class VirtualTrafficLightModule : public SceneModuleInterface void updateInfrastructureCommand(); - void setStopReason(const Pose & stop_pose, StopReason * stop_reason); - void setVelocityFactor( const geometry_msgs::msg::Pose & stop_pose, autoware_adapi_v1_msgs::msg::VelocityFactor * velocity_factor); @@ -119,12 +117,10 @@ class VirtualTrafficLightModule : public SceneModuleInterface bool hasRightOfWay(const tier4_v2x_msgs::msg::VirtualTrafficLightState & state); void insertStopVelocityAtStopLine( - tier4_planning_msgs::msg::PathWithLaneId * path, - tier4_planning_msgs::msg::StopReason * stop_reason, const size_t end_line_idx); + tier4_planning_msgs::msg::PathWithLaneId * path, const size_t end_line_idx); void insertStopVelocityAtEndLine( - tier4_planning_msgs::msg::PathWithLaneId * path, - tier4_planning_msgs::msg::StopReason * stop_reason, const size_t end_line_idx); + tier4_planning_msgs::msg::PathWithLaneId * path, const size_t end_line_idx); }; } // namespace autoware::behavior_velocity_planner #endif // SCENE_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp index 765732969951d..42a235a67edd1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp @@ -81,12 +81,11 @@ std::pair WalkwayModule::getStopLine( return std::make_pair(dist_ego_to_stop, p_stop_line); } -bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path) { const auto & base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; debug_data_ = DebugData(planner_data_); - *stop_reason = planning_utils::initializeStopReason(StopReason::WALKWAY); const auto input = *path; @@ -119,10 +118,6 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_ } /* get stop point and stop factor */ - StopFactor stop_factor; - stop_factor.stop_pose = stop_pose.value(); - stop_factor.stop_factor_points.push_back(path_end_points_on_walkway->first); - planning_utils::appendStopReason(stop_factor, stop_reason); velocity_factor_.set( path->points, planner_data_->current_odometry->pose, stop_pose.value(), VelocityFactor::UNKNOWN); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp index a400f57451d2e..df54eafd11cc2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.hpp @@ -46,7 +46,7 @@ class WalkwayModule : public SceneModuleInterface const PlannerParam & planner_param, const bool use_regulatory_element, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); - bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; + bool modifyPathVelocity(PathWithLaneId * path) override; visualization_msgs::msg::MarkerArray createDebugMarkerArray() override; autoware::motion_utils::VirtualWalls createVirtualWalls() override; From b5c98ef5703764936426a7d91da307200c408e60 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> Date: Mon, 2 Dec 2024 20:18:03 +0900 Subject: [PATCH 622/701] refactor(autoware_behavior_path_side_shift_module): refactor shift length retrieval and improve path orientation handling (#9539) refactor(side_shift_module): refactor shift length retrieval and improve path orientation handling Signed-off-by: Kyoichi Sugahara --- .../behavior_path_side_shift_module/scene.hpp | 2 -- .../behavior_path_side_shift_module/utils.hpp | 19 ++++++++++++- .../src/scene.cpp | 28 ++++++++----------- .../src/utils.cpp | 17 +++++------ 4 files changed, 38 insertions(+), 28 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp index 543b17aca9352..15d81ff45abcf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp @@ -87,8 +87,6 @@ class SideShiftModule : public SceneModuleInterface // const methods void publishPath(const PathWithLaneId & path) const; - double getClosestShiftLength() const; - // member PathWithLaneId refined_path_{}; PathWithLaneId reference_path_{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp index d5888ab6a79d1..5a3e51c353c39 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp @@ -15,6 +15,8 @@ #ifndef AUTOWARE__BEHAVIOR_PATH_SIDE_SHIFT_MODULE__UTILS_HPP_ #define AUTOWARE__BEHAVIOR_PATH_SIDE_SHIFT_MODULE__UTILS_HPP_ +#include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" + #include #include #include @@ -27,9 +29,24 @@ using geometry_msgs::msg::Pose; using geometry_msgs::msg::TransformStamped; using tier4_planning_msgs::msg::PathWithLaneId; +/** + * @brief Sets the orientation (yaw angle) for all points in the path. + * @param [in,out] path Path with lane ID to set orientation. + * @details For each point, calculates orientation based on: + * - Vector to next point if not last point + * - Vector from previous point if last point + * - Zero angle if single point + */ void setOrientation(PathWithLaneId * path); -bool isAlmostZero(double v); +/** + * @brief Gets the shift length at the closest path point to the ego position. + * @param [in] shifted_path Path with shift length information. + * @param [in] ego_point Current ego position. + * @return Shift length at the closest path point. Returns 0.0 if path is empty. + */ +double getClosestShiftLength( + const ShiftedPath & shifted_path, const geometry_msgs::msg::Point ego_point); } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp index 5970a3a807517..d855f1cdcde24 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp @@ -88,8 +88,7 @@ bool SideShiftModule::isExecutionRequested() const } // If the desired offset has a non-zero value, return true as we want to execute the plan. - - const bool has_request = !isAlmostZero(requested_lateral_offset_); + const bool has_request = std::fabs(requested_lateral_offset_) >= 1.0e-4; RCLCPP_DEBUG_STREAM( getLogger(), "ESS::isExecutionRequested() : " << std::boolalpha << has_request); @@ -119,6 +118,7 @@ bool SideShiftModule::canTransitSuccessState() { // Never return the FAILURE. When the desired offset is zero and the vehicle is in the original // drivable area,this module can stop the computation and return SUCCESS. + constexpr double ZERO_THRESHOLD = 1.0e-4; const auto isOffsetDiffAlmostZero = [this]() noexcept { const auto last_sp = path_shifter_.getLastShiftLine(); @@ -126,7 +126,7 @@ bool SideShiftModule::canTransitSuccessState() const auto length = std::fabs(last_sp.value().end_shift_length); const auto lateral_offset = std::fabs(requested_lateral_offset_); const auto offset_diff = lateral_offset - length; - if (!isAlmostZero(offset_diff)) { + if (std::fabs(offset_diff) >= ZERO_THRESHOLD) { lateral_offset_change_request_ = true; return false; } @@ -135,7 +135,7 @@ bool SideShiftModule::canTransitSuccessState() }(); const bool no_offset_diff = isOffsetDiffAlmostZero; - const bool no_request = isAlmostZero(requested_lateral_offset_); + const bool no_request = std::fabs(requested_lateral_offset_) < ZERO_THRESHOLD; const auto no_shifted_plan = [&]() { if (prev_output_.shift_length.empty()) { @@ -279,6 +279,11 @@ BehaviorModuleOutput SideShiftModule::plan() ShiftedPath shifted_path; path_shifter_.generate(&shifted_path); + if (shifted_path.path.points.empty()) { + RCLCPP_ERROR(getLogger(), "Generated shift_path has no points"); + return {}; + } + // Reset orientation setOrientation(&shifted_path.path); @@ -345,7 +350,8 @@ ShiftLine SideShiftModule::calcShiftLine() const std::max(p->min_distance_to_start_shifting, ego_speed * p->time_to_start_shifting); const double dist_to_end = [&]() { - const double shift_length = requested_lateral_offset_ - getClosestShiftLength(); + const double shift_length = + requested_lateral_offset_ - getClosestShiftLength(prev_output_, getEgoPose().position); const double jerk_shifting_distance = autoware::motion_utils::calc_longitudinal_dist_from_jerk( shift_length, p->shifting_lateral_jerk, std::max(ego_speed, p->min_shifting_speed)); const double shifting_distance = std::max(jerk_shifting_distance, p->min_shifting_distance); @@ -367,18 +373,6 @@ ShiftLine SideShiftModule::calcShiftLine() const return shift_line; } -double SideShiftModule::getClosestShiftLength() const -{ - if (prev_output_.shift_length.empty()) { - return 0.0; - } - - const auto ego_point = planner_data_->self_odometry->pose.pose.position; - const auto closest = - autoware::motion_utils::findNearestIndex(prev_output_.path.points, ego_point); - return prev_output_.shift_length.at(closest); -} - BehaviorModuleOutput SideShiftModule::adjustDrivableArea(const ShiftedPath & path) const { BehaviorModuleOutput out; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp index f30895c10d64d..942e87f57d05e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp @@ -26,12 +26,6 @@ namespace autoware::behavior_path_planner { void setOrientation(PathWithLaneId * path) { - if (!path) { - RCLCPP_ERROR( - rclcpp::get_logger("behavior_path_planner").get_child("side_shift").get_child("util"), - "Pointer to path is NULL!"); - } - // Reset orientation for (size_t idx = 0; idx < path->points.size(); ++idx) { double angle = 0.0; @@ -53,9 +47,16 @@ void setOrientation(PathWithLaneId * path) } } -bool isAlmostZero(double v) +double getClosestShiftLength( + const ShiftedPath & shifted_path, const geometry_msgs::msg::Point ego_point) { - return std::fabs(v) < 1.0e-4; + if (shifted_path.shift_length.empty()) { + return 0.0; + } + + const auto closest = + autoware::motion_utils::findNearestIndex(shifted_path.path.points, ego_point); + return shifted_path.shift_length.at(closest); } } // namespace autoware::behavior_path_planner From 2de47657c6f0f990f1e8e8112973963e836f9bfb Mon Sep 17 00:00:00 2001 From: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Date: Tue, 3 Dec 2024 00:34:10 +0900 Subject: [PATCH 623/701] fix(autoware_bytetrack): update visualizer param path and not to set default value (#9490) fix: update visualizer param path and not to set default value Signed-off-by: ktro2828 --- perception/autoware_bytetrack/launch/bytetrack.launch.xml | 2 +- perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/autoware_bytetrack/launch/bytetrack.launch.xml b/perception/autoware_bytetrack/launch/bytetrack.launch.xml index ace84d4799a8a..c009ed93754fa 100644 --- a/perception/autoware_bytetrack/launch/bytetrack.launch.xml +++ b/perception/autoware_bytetrack/launch/bytetrack.launch.xml @@ -5,7 +5,7 @@ - + diff --git a/perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp b/perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp index 4276b86f5cab7..97cee4f67ccb9 100644 --- a/perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp +++ b/perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp @@ -34,7 +34,7 @@ ByteTrackVisualizerNode::ByteTrackVisualizerNode(const rclcpp::NodeOptions & nod { using std::chrono_literals::operator""ms; - use_raw_ = declare_parameter("use_raw", false); + use_raw_ = declare_parameter("use_raw"); // Create timer to find proper settings for subscribed topics timer_ = rclcpp::create_timer( From 214c9b7834c79888cfbc711368d4a984f865a491 Mon Sep 17 00:00:00 2001 From: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Date: Tue, 3 Dec 2024 00:49:09 +0900 Subject: [PATCH 624/701] refactor(perception_online_evaluator): use tier4_metric_msgs instead of diagnostic_msgs (#9485) --- .../perception_online_evaluator/README.md | 10 +-- .../perception_online_evaluator_node.hpp | 34 ++++++--- .../perception_online_evaluator/package.xml | 2 +- .../src/perception_online_evaluator_node.cpp | 72 +++++++++---------- .../test_perception_online_evaluator_node.cpp | 42 +++++------ 5 files changed, 83 insertions(+), 77 deletions(-) diff --git a/evaluator/perception_online_evaluator/README.md b/evaluator/perception_online_evaluator/README.md index 7df375ac236d0..17e7e1a2b5652 100644 --- a/evaluator/perception_online_evaluator/README.md +++ b/evaluator/perception_online_evaluator/README.md @@ -155,11 +155,11 @@ where: ## Inputs / Outputs -| Name | Type | Description | -| ----------------- | ------------------------------------------------- | ------------------------------------------------- | -| `~/input/objects` | `autoware_perception_msgs::msg::PredictedObjects` | The predicted objects to evaluate. | -| `~/metrics` | `diagnostic_msgs::msg::DiagnosticArray` | Diagnostic information about perception accuracy. | -| `~/markers` | `visualization_msgs::msg::MarkerArray` | Visual markers for debugging and visualization. | +| Name | Type | Description | +| ----------------- | ------------------------------------------------- | ----------------------------------------------- | +| `~/input/objects` | `autoware_perception_msgs::msg::PredictedObjects` | The predicted objects to evaluate. | +| `~/metrics` | `tier4_metric_msgs::msg::MetricArray` | Metric information about perception accuracy. | +| `~/markers` | `visualization_msgs::msg::MarkerArray` | Visual markers for debugging and visualization. | ## Parameters diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp index ea560a48f928b..61c1ba40134df 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp @@ -23,9 +23,10 @@ #include "tf2_ros/transform_listener.h" #include "autoware_perception_msgs/msg/predicted_objects.hpp" -#include "diagnostic_msgs/msg/diagnostic_array.hpp" #include "nav_msgs/msg/odometry.hpp" #include "visualization_msgs/msg/marker_array.hpp" +#include +#include #include #include @@ -38,8 +39,6 @@ namespace perception_diagnostics using autoware::universe_utils::Accumulator; using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObjects; -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; using nav_msgs::msg::Odometry; using TFMessage = tf2_msgs::msg::TFMessage; @@ -60,15 +59,34 @@ class PerceptionOnlineEvaluatorNode : public rclcpp::Node */ void onObjects(const PredictedObjects::ConstSharedPtr objects_msg); - DiagnosticStatus generateDiagnosticStatus( - const std::string metric, const Accumulator & metric_stat) const; - DiagnosticStatus generateDiagnosticStatus( - const std::string & metric, const double metric_value) const; + /** + * @brief Convert metric statistic to `tier4_metric_msgs::msg::Metric` and append to + * `tier4_metric_msgs::msg::MetricArray`. + * + * @param metric Metric name. + * @param metric_stat Metric statistic. + * @param metrics_msg Metrics value container. + */ + void toMetricMsg( + const std::string & metric, const Accumulator & metric_stat, + tier4_metric_msgs::msg::MetricArray & metrics_msg) const; + + /** + * @brief Convert metric value to `tier4_metric_msgs::msg::Metric` and append to + * `tier4_metric_msgs::msg::MetricArray + * + * @param metric Metric name. + * @param metric_stat Metric value. + * @param metrics_msg Metrics value container. + */ + void toMetricMsg( + const std::string & metric, const double metric_value, + tier4_metric_msgs::msg::MetricArray & metrics_msg) const; private: // Subscribers and publishers rclcpp::Subscription::SharedPtr objects_sub_; - rclcpp::Publisher::SharedPtr metrics_pub_; + rclcpp::Publisher::SharedPtr metrics_pub_; rclcpp::Publisher::SharedPtr pub_marker_; // TF diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml index 654586a76453d..1e7c0a7d128e6 100644 --- a/evaluator/perception_online_evaluator/package.xml +++ b/evaluator/perception_online_evaluator/package.xml @@ -23,7 +23,6 @@ autoware_perception_msgs autoware_universe_utils autoware_vehicle_info_utils - diagnostic_msgs eigen geometry_msgs glog @@ -33,6 +32,7 @@ rclcpp_components tf2 tf2_ros + tier4_metric_msgs ament_cmake_ros ament_index_cpp diff --git a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp index abbdbd382498a..7d8344c24819c 100644 --- a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp @@ -50,7 +50,7 @@ PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode( objects_sub_ = create_subscription( "~/input/objects", 1, std::bind(&PerceptionOnlineEvaluatorNode::onObjects, this, _1)); - metrics_pub_ = create_publisher("~/metrics", 1); + metrics_pub_ = create_publisher("~/metrics", 1); pub_marker_ = create_publisher("~/markers", 10); tf_buffer_ = std::make_unique(this->get_clock()); @@ -65,7 +65,8 @@ PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode( void PerceptionOnlineEvaluatorNode::publishMetrics() { - DiagnosticArray metrics_msg; + // DiagnosticArray metrics_msg; + tier4_metric_msgs::msg::MetricArray metrics_msg; // calculate metrics for (const Metric & metric : parameters_->metrics) { @@ -80,10 +81,10 @@ void PerceptionOnlineEvaluatorNode::publishMetrics() for (const auto & [metric, value] : arg) { if constexpr (std::is_same_v) { if (value.count() > 0) { - metrics_msg.status.emplace_back(generateDiagnosticStatus(metric, value)); + toMetricMsg(metric, value, metrics_msg); } } else if constexpr (std::is_same_v) { - metrics_msg.status.emplace_back(generateDiagnosticStatus(metric, value)); + toMetricMsg(metric, value, metrics_msg); } } }, @@ -91,49 +92,44 @@ void PerceptionOnlineEvaluatorNode::publishMetrics() } // publish metrics - if (!metrics_msg.status.empty()) { - metrics_msg.header.stamp = now(); + if (!metrics_msg.metric_array.empty()) { + metrics_msg.stamp = now(); metrics_pub_->publish(metrics_msg); } publishDebugMarker(); } -DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus( - const std::string metric, const Accumulator & metric_stat) const +void PerceptionOnlineEvaluatorNode::toMetricMsg( + const std::string & metric, const Accumulator & metric_stat, + tier4_metric_msgs::msg::MetricArray & metrics_msg) const { - DiagnosticStatus status; - - status.level = status.OK; - status.name = metric; - - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "min"; - key_value.value = std::to_string(metric_stat.min()); - status.values.push_back(key_value); - key_value.key = "max"; - key_value.value = std::to_string(metric_stat.max()); - status.values.push_back(key_value); - key_value.key = "mean"; - key_value.value = std::to_string(metric_stat.mean()); - status.values.push_back(key_value); - - return status; + // min value + metrics_msg.metric_array.emplace_back(tier4_metric_msgs::build() + .name(metric + "/min") + .unit("") + .value(std::to_string(metric_stat.min()))); + + // max value + metrics_msg.metric_array.emplace_back(tier4_metric_msgs::build() + .name(metric + "/max") + .unit("") + .value(std::to_string(metric_stat.max()))); + + // mean value + metrics_msg.metric_array.emplace_back(tier4_metric_msgs::build() + .name(metric + "/mean") + .unit("") + .value(std::to_string(metric_stat.mean()))); } -DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus( - const std::string & metric, const double value) const +void PerceptionOnlineEvaluatorNode::toMetricMsg( + const std::string & metric, const double metric_value, + tier4_metric_msgs::msg::MetricArray & metrics_msg) const { - DiagnosticStatus status; - - status.level = status.OK; - status.name = metric; - - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "metric_value"; - key_value.value = std::to_string(value); - status.values.push_back(key_value); - - return status; + metrics_msg.metric_array.emplace_back(tier4_metric_msgs::build() + .name(metric + "/metric_value") + .unit("") + .value(std::to_string(metric_value))); } void PerceptionOnlineEvaluatorNode::onObjects(const PredictedObjects::ConstSharedPtr objects_msg) diff --git a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp index e2ab22be2b61b..5b23f6d37a1d4 100644 --- a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp @@ -21,7 +21,7 @@ #include #include -#include +#include #include #include "boost/lexical_cast.hpp" @@ -37,7 +37,6 @@ using EvalNode = perception_diagnostics::PerceptionOnlineEvaluatorNode; using PredictedObjects = autoware_perception_msgs::msg::PredictedObjects; using PredictedObject = autoware_perception_msgs::msg::PredictedObject; -using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; using MarkerArray = visualization_msgs::msg::MarkerArray; using ObjectClassification = autoware_perception_msgs::msg::ObjectClassification; using nav_msgs::msg::Odometry; @@ -125,36 +124,29 @@ class EvalTest : public ::testing::Test tf_pub_->publish(tf_msg); } - void setTargetMetric(perception_diagnostics::Metric metric) + void setTargetMetric(const perception_diagnostics::Metric & metric) { const auto metric_str = perception_diagnostics::metric_to_str.at(metric); setTargetMetric(metric_str); } - void setTargetMetric(std::string metric_str) + void setTargetMetric(const std::string & metric_str) { - const auto is_target_metric = [metric_str](const auto & status) { - return status.name == metric_str; - }; - metric_sub_ = rclcpp::create_subscription( + metric_sub_ = rclcpp::create_subscription( eval_node, "/perception_online_evaluator/metrics", 1, - [=](const DiagnosticArray::ConstSharedPtr msg) { - const auto it = std::find_if(msg->status.begin(), msg->status.end(), is_target_metric); - if (it != msg->status.end()) { - const auto mean_it = std::find_if( - it->values.begin(), it->values.end(), - [](const auto & key_value) { return key_value.key == "mean"; }); - if (mean_it != it->values.end()) { - metric_value_ = boost::lexical_cast(mean_it->value); - } else { - const auto metric_value_it = std::find_if( - it->values.begin(), it->values.end(), - [](const auto & key_value) { return key_value.key == "metric_value"; }); - if (metric_value_it != it->values.end()) { - metric_value_ = boost::lexical_cast(metric_value_it->value); - } - } + [this, metric_str](const tier4_metric_msgs::msg::MetricArray::ConstSharedPtr msg) { + // extract a metric whose name includes metrics_str + const auto it = std::find_if( + msg->metric_array.begin(), msg->metric_array.end(), [&metric_str](const auto & metric) { + return metric.name == metric_str + "/metric_value" || + metric.name == metric_str + "/mean"; + }); + + if (it != msg->metric_array.end()) { + metric_value_ = boost::lexical_cast(it->value); metric_updated_ = true; + } else { + metric_updated_ = false; } }); } @@ -316,7 +308,7 @@ class EvalTest : public ::testing::Test // Pub/Sub rclcpp::Publisher::SharedPtr objects_pub_; - rclcpp::Subscription::SharedPtr metric_sub_; + rclcpp::Subscription::SharedPtr metric_sub_; rclcpp::Subscription::SharedPtr marker_sub_; rclcpp::Publisher::SharedPtr tf_pub_; bool has_received_marker_{false}; From 78ceed76908a51c511b398a3397f452404cfffce Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 3 Dec 2024 11:40:13 +0900 Subject: [PATCH 625/701] refactor(test_utils): return parser as optional (#9391) Signed-off-by: Zulfaqar Azmi Co-authored-by: Mamoru Sobue --- .../autoware_test_utils/mock_data_parser.hpp | 5 +- .../src/autoware_test_utils.cpp | 7 +- .../src/mock_data_parser.cpp | 45 +++--- .../test/test_mock_data_parser.cpp | 140 ++++++++++-------- .../src/autoware_planning_test_manager.cpp | 23 ++- .../test/test_route_handler.hpp | 15 +- .../test/test_lane_change_scene.cpp | 6 +- 7 files changed, 135 insertions(+), 106 deletions(-) diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp index 5d36e8aefef3b..5e07237e2c495 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp @@ -35,6 +35,7 @@ #include #include +#include #include #include #include @@ -197,10 +198,10 @@ template T parse(const std::string & filename); template <> -LaneletRoute parse(const std::string & filename); +std::optional parse(const std::string & filename); template <> -PathWithLaneId parse(const std::string & filename); +std::optional parse(const std::string & filename); template auto create_const_shared_ptr(MessageType && payload) diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp index 696f58d5e19e8..d61dc61c81e65 100644 --- a/common/autoware_test_utils/src/autoware_test_utils.cpp +++ b/common/autoware_test_utils/src/autoware_test_utils.cpp @@ -310,7 +310,12 @@ PathWithLaneId loadPathWithLaneIdInYaml() const auto yaml_path = get_absolute_path_to_config("autoware_test_utils", "path_with_lane_id_data.yaml"); - return parse(yaml_path); + if (const auto path = parse>(yaml_path)) { + return *path; + } + + throw std::runtime_error( + "Failed to parse YAML file: " + yaml_path + ". The file might be corrupted."); } lanelet::ConstLanelet make_lanelet( diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp index 9e895c7b4027d..6e7002501bf30 100644 --- a/common/autoware_test_utils/src/mock_data_parser.cpp +++ b/common/autoware_test_utils/src/mock_data_parser.cpp @@ -17,6 +17,7 @@ #include #include +#include #include #include @@ -220,11 +221,7 @@ std::vector parse>(const Y { std::vector path_points; - if (!node["points"]) { - return path_points; - } - - const auto & points = node["points"]; + const auto & points = node; path_points.reserve(points.size()); std::transform( points.begin(), points.end(), std::back_inserter(path_points), [&](const YAML::Node & input) { @@ -428,36 +425,30 @@ OperationModeState parse(const YAML::Node & node) } template <> -LaneletRoute parse(const std::string & filename) +std::optional parse(const std::string & filename) { - LaneletRoute lanelet_route; - try { - YAML::Node config = YAML::LoadFile(filename); - - lanelet_route.start_pose = (config["start_pose"]) ? parse(config["start_pose"]) : Pose(); - lanelet_route.goal_pose = (config["goal_pose"]) ? parse(config["goal_pose"]) : Pose(); - lanelet_route.segments = parse>(config["segments"]); - } catch (const std::exception & e) { - RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what()); + YAML::Node node = YAML::LoadFile(filename); + if (!node["start_pose"] || !node["goal_pose"] || !node["segments"]) { + return std::nullopt; } - return lanelet_route; + + return parse(node); } template <> -PathWithLaneId parse(const std::string & filename) +std::optional parse(const std::string & filename) { - PathWithLaneId path; - YAML::Node yaml_node = YAML::LoadFile(filename); - - try { - path.header = parse
(yaml_node["header"]); - path.points = parse>(yaml_node); - path.left_bound = parse>(yaml_node["left_bound"]); - path.right_bound = parse>(yaml_node["right_bound"]); - } catch (const std::exception & e) { - RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what()); + YAML::Node node = YAML::LoadFile(filename); + + if (!node["header"] || !node["points"] || !node["left_bound"] || !node["right_bound"]) { + return std::nullopt; } + PathWithLaneId path; + path.header = parse
(node["header"]); + path.points = parse>(node["points"]); + path.left_bound = parse>(node["left_bound"]); + path.right_bound = parse>(node["right_bound"]); return path; } } // namespace autoware::test_utils diff --git a/common/autoware_test_utils/test/test_mock_data_parser.cpp b/common/autoware_test_utils/test/test_mock_data_parser.cpp index a0dd0fce9bd29..f2b23cc43b07b 100644 --- a/common/autoware_test_utils/test/test_mock_data_parser.cpp +++ b/common/autoware_test_utils/test/test_mock_data_parser.cpp @@ -788,38 +788,44 @@ TEST(ParseFunction, CompleteFromFilename) const auto parser_test_route = autoware_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml"; - const auto lanelet_route = parse(parser_test_route); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0); + if (const auto lanelet_route_opt = parse>(parser_test_route)) { + const auto & lanelet_route = *lanelet_route_opt; + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.x, 0.1); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.y, 0.2); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.z, 0.3); - EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.w, 0.4); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.x, 0.1); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.y, 0.2); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.z, 0.3); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.w, 0.4); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.x, 4.0); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.y, 5.0); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.z, 6.0); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.x, 0.5); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.y, 0.6); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.z, 0.7); - EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.w, 0.8); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.x, 4.0); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.y, 5.0); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.z, 6.0); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.x, 0.5); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.y, 0.6); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.z, 0.7); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.w, 0.8); - ASSERT_EQ( - lanelet_route.segments.size(), - uint64_t(2)); // Assuming only one segment in the provided YAML for this test - const auto & segment1 = lanelet_route.segments[1]; - EXPECT_EQ(segment1.preferred_primitive.id, 44); - EXPECT_EQ(segment1.primitives.size(), uint64_t(4)); - EXPECT_EQ(segment1.primitives[0].id, 55); - EXPECT_EQ(segment1.primitives[0].primitive_type, "lane"); - EXPECT_EQ(segment1.primitives[1].id, 66); - EXPECT_EQ(segment1.primitives[1].primitive_type, "lane"); - EXPECT_EQ(segment1.primitives[2].id, 77); - EXPECT_EQ(segment1.primitives[2].primitive_type, "lane"); - EXPECT_EQ(segment1.primitives[3].id, 88); - EXPECT_EQ(segment1.primitives[3].primitive_type, "lane"); + ASSERT_EQ( + lanelet_route.segments.size(), + uint64_t(2)); // Assuming only one segment in the provided YAML for this test + const auto & segment1 = lanelet_route.segments[1]; + EXPECT_EQ(segment1.preferred_primitive.id, 44); + EXPECT_EQ(segment1.primitives.size(), uint64_t(4)); + EXPECT_EQ(segment1.primitives[0].id, 55); + EXPECT_EQ(segment1.primitives[0].primitive_type, "lane"); + EXPECT_EQ(segment1.primitives[1].id, 66); + EXPECT_EQ(segment1.primitives[1].primitive_type, "lane"); + EXPECT_EQ(segment1.primitives[2].id, 77); + EXPECT_EQ(segment1.primitives[2].primitive_type, "lane"); + EXPECT_EQ(segment1.primitives[3].id, 88); + EXPECT_EQ(segment1.primitives[3].primitive_type, "lane"); + } else { + const std::string fail_reason = + "Failed to parse YAML file: " + parser_test_route + ". The file might be corrupted."; + FAIL() << fail_reason; + } } TEST(ParseFunction, ParsePathWithLaneID) @@ -829,45 +835,49 @@ TEST(ParseFunction, ParsePathWithLaneID) const auto parser_test_path = autoware_test_utils_dir + "/test_data/path_with_lane_id_parser_test.yaml"; - const auto path = parse(parser_test_path); - EXPECT_EQ(path.header.stamp.sec, 20); - EXPECT_EQ(path.header.stamp.nanosec, 5); + if (const auto path_opt = parse>(parser_test_path)) { + const auto & path = *path_opt; + EXPECT_EQ(path.header.stamp.sec, 20); + EXPECT_EQ(path.header.stamp.nanosec, 5); - const auto path_points = path.points; - const auto & p1 = path_points.front(); - EXPECT_DOUBLE_EQ(p1.point.pose.position.x, 12.9); - EXPECT_DOUBLE_EQ(p1.point.pose.position.y, 3.8); - EXPECT_DOUBLE_EQ(p1.point.pose.position.z, 4.7); - EXPECT_DOUBLE_EQ(p1.point.pose.orientation.x, 1.0); - EXPECT_DOUBLE_EQ(p1.point.pose.orientation.y, 2.0); - EXPECT_DOUBLE_EQ(p1.point.pose.orientation.z, 3.0); - EXPECT_DOUBLE_EQ(p1.point.pose.orientation.w, 4.0); - EXPECT_FLOAT_EQ(p1.point.longitudinal_velocity_mps, 1.2); - EXPECT_FLOAT_EQ(p1.point.lateral_velocity_mps, 3.4); - EXPECT_FLOAT_EQ(p1.point.heading_rate_rps, 5.6); - EXPECT_TRUE(p1.point.is_final); - EXPECT_EQ(p1.lane_ids.front(), 912); + const auto path_points = path.points; + const auto & p1 = path_points.front(); + EXPECT_DOUBLE_EQ(p1.point.pose.position.x, 12.9); + EXPECT_DOUBLE_EQ(p1.point.pose.position.y, 3.8); + EXPECT_DOUBLE_EQ(p1.point.pose.position.z, 4.7); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.x, 1.0); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.y, 2.0); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.z, 3.0); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.w, 4.0); + EXPECT_FLOAT_EQ(p1.point.longitudinal_velocity_mps, 1.2); + EXPECT_FLOAT_EQ(p1.point.lateral_velocity_mps, 3.4); + EXPECT_FLOAT_EQ(p1.point.heading_rate_rps, 5.6); + EXPECT_TRUE(p1.point.is_final); + EXPECT_EQ(p1.lane_ids.front(), 912); - const auto & p2 = path_points.back(); - EXPECT_DOUBLE_EQ(p2.point.pose.position.x, 0.0); - EXPECT_DOUBLE_EQ(p2.point.pose.position.y, 20.5); - EXPECT_DOUBLE_EQ(p2.point.pose.position.z, 90.11); - EXPECT_DOUBLE_EQ(p2.point.pose.orientation.x, 4.0); - EXPECT_DOUBLE_EQ(p2.point.pose.orientation.y, 3.0); - EXPECT_DOUBLE_EQ(p2.point.pose.orientation.z, 2.0); - EXPECT_DOUBLE_EQ(p2.point.pose.orientation.w, 1.0); - EXPECT_FLOAT_EQ(p2.point.longitudinal_velocity_mps, 2.1); - EXPECT_FLOAT_EQ(p2.point.lateral_velocity_mps, 4.3); - EXPECT_FLOAT_EQ(p2.point.heading_rate_rps, 6.5); - EXPECT_FALSE(p2.point.is_final); - EXPECT_EQ(p2.lane_ids.front(), 205); + const auto & p2 = path_points.back(); + EXPECT_DOUBLE_EQ(p2.point.pose.position.x, 0.0); + EXPECT_DOUBLE_EQ(p2.point.pose.position.y, 20.5); + EXPECT_DOUBLE_EQ(p2.point.pose.position.z, 90.11); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.x, 4.0); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.y, 3.0); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.z, 2.0); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.w, 1.0); + EXPECT_FLOAT_EQ(p2.point.longitudinal_velocity_mps, 2.1); + EXPECT_FLOAT_EQ(p2.point.lateral_velocity_mps, 4.3); + EXPECT_FLOAT_EQ(p2.point.heading_rate_rps, 6.5); + EXPECT_FALSE(p2.point.is_final); + EXPECT_EQ(p2.lane_ids.front(), 205); - EXPECT_DOUBLE_EQ(path.left_bound.front().x, 55.0); - EXPECT_DOUBLE_EQ(path.left_bound.front().y, 66.0); - EXPECT_DOUBLE_EQ(path.left_bound.front().z, 77.0); + EXPECT_DOUBLE_EQ(path.left_bound.front().x, 55.0); + EXPECT_DOUBLE_EQ(path.left_bound.front().y, 66.0); + EXPECT_DOUBLE_EQ(path.left_bound.front().z, 77.0); - EXPECT_DOUBLE_EQ(path.right_bound.front().x, 0.55); - EXPECT_DOUBLE_EQ(path.right_bound.front().y, 0.66); - EXPECT_DOUBLE_EQ(path.right_bound.front().z, 0.77); + EXPECT_DOUBLE_EQ(path.right_bound.front().x, 0.55); + EXPECT_DOUBLE_EQ(path.right_bound.front().y, 0.66); + EXPECT_DOUBLE_EQ(path.right_bound.front().z, 0.77); + } else { + FAIL() << "Yaml file might've corrupted."; + } } } // namespace autoware::test_utils diff --git a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp index 1526e061ca4d1..02e64e3ec84a0 100644 --- a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp +++ b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp @@ -279,9 +279,13 @@ void PlanningInterfaceTestManager::publishAbnormalRoute( void PlanningInterfaceTestManager::publishNominalPathWithLaneId( rclcpp::Node::SharedPtr target_node, std::string topic_name) { - autoware::test_utils::publishToTargetNode( - test_node_, target_node, topic_name, normal_path_with_lane_id_pub_, - autoware::test_utils::loadPathWithLaneIdInYaml(), 5); + try { + const auto path = autoware::test_utils::loadPathWithLaneIdInYaml(); + autoware::test_utils::publishToTargetNode( + test_node_, target_node, topic_name, normal_path_with_lane_id_pub_, path, 5); + } catch (const std::exception & e) { + std::cerr << e.what() << '\n'; + } } void PlanningInterfaceTestManager::publishAbNominalPathWithLaneId( @@ -294,11 +298,14 @@ void PlanningInterfaceTestManager::publishAbNominalPathWithLaneId( void PlanningInterfaceTestManager::publishNominalPath( rclcpp::Node::SharedPtr target_node, std::string topic_name) { - autoware::test_utils::publishToTargetNode( - test_node_, target_node, topic_name, normal_path_pub_, - autoware::motion_utils::convertToPath( - autoware::test_utils::loadPathWithLaneIdInYaml()), - 5); + try { + const auto path = autoware::test_utils::loadPathWithLaneIdInYaml(); + autoware::test_utils::publishToTargetNode( + test_node_, target_node, topic_name, normal_path_pub_, + autoware::motion_utils::convertToPath(path), 5); + } catch (const std::exception & e) { + std::cerr << e.what() << '\n'; + } } void PlanningInterfaceTestManager::publishAbnormalPath( diff --git a/planning/autoware_route_handler/test/test_route_handler.hpp b/planning/autoware_route_handler/test/test_route_handler.hpp index 1a9359dc8e17d..69d6a871959ca 100644 --- a/planning/autoware_route_handler/test/test_route_handler.hpp +++ b/planning/autoware_route_handler/test/test_route_handler.hpp @@ -45,7 +45,11 @@ class TestRouteHandler : public ::testing::Test TestRouteHandler() { set_route_handler("2km_test.osm"); - set_test_route(lane_change_right_test_route_filename); + try { + set_test_route(lane_change_right_test_route_filename); + } catch (const std::exception & e) { + std::cerr << e.what() << '\n'; + } } TestRouteHandler(const TestRouteHandler &) = delete; @@ -68,7 +72,14 @@ class TestRouteHandler : public ::testing::Test { const auto rh_test_route = get_absolute_path_to_route(autoware_route_handler_dir, route_filename); - route_handler_->setRoute(autoware::test_utils::parse(rh_test_route)); + if ( + const auto route_opt = + autoware::test_utils::parse>(rh_test_route)) { + route_handler_->setRoute(*route_opt); + } else { + throw std::runtime_error( + "Failed to parse YAML file: " + rh_test_route + ". The file might be corrupted."); + } } lanelet::ConstLanelets get_current_lanes() diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp index 0570349bc3df5..3becc2e4f4a69 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp @@ -126,7 +126,11 @@ class TestNormalLaneChange : public ::testing::Test auto route_handler_ptr = std::make_shared(map_bin_msg); const auto rh_test_route = get_absolute_path_to_route(autoware_route_handler_dir, lane_change_right_test_route_filename); - route_handler_ptr->setRoute(autoware::test_utils::parse(rh_test_route)); + if ( + const auto route_opt = + autoware::test_utils::parse>(rh_test_route)) { + route_handler_ptr->setRoute(*route_opt); + } return route_handler_ptr; } From 959e57be034e9045dda149ce2ebd5950fadfcd4a Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> Date: Tue, 3 Dec 2024 12:27:32 +0900 Subject: [PATCH 626/701] test(autoware_behavior_path_side_shift_module): add unit tests for util function (#9540) test(side_shift_module): add unit tests Signed-off-by: Kyoichi Sugahara --- .../CMakeLists.txt | 15 ++ .../src/scene.cpp | 1 + .../test/test_side_shift_utils.cpp | 142 ++++++++++++++++++ 3 files changed, 158 insertions(+) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_side_shift_utils.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CMakeLists.txt index 520132dbd3363..334703e0edbb1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CMakeLists.txt @@ -21,6 +21,21 @@ if(BUILD_TESTING) ) target_include_directories(test_${PROJECT_NAME} PRIVATE src) + + ament_add_ros_isolated_gtest(test_${PROJECT_NAME}_utils + test/test_side_shift_utils.cpp + ) + + target_include_directories(test_${PROJECT_NAME}_utils PRIVATE src) + + ament_target_dependencies(test_${PROJECT_NAME}_utils + tf2 + tf2_geometry_msgs + ) + + target_link_libraries(test_${PROJECT_NAME}_utils + ${PROJECT_NAME} + ) endif() ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp index d855f1cdcde24..d640e5fc16771 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp @@ -341,6 +341,7 @@ BehaviorModuleOutput SideShiftModule::planWaitingApproval() return output; } +// can be moved to utils ShiftLine SideShiftModule::calcShiftLine() const { const auto & p = parameters_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_side_shift_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_side_shift_utils.cpp new file mode 100644 index 0000000000000..d6aa91d1f9095 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_side_shift_utils.cpp @@ -0,0 +1,142 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "autoware/behavior_path_side_shift_module/utils.hpp" + +#include + +#include +#include +#include + +namespace autoware::behavior_path_planner +{ + +class SideShiftUtilsTest : public ::testing::Test +{ +protected: + PathWithLaneId generateStraightPath(const double length, const double width) + { + PathWithLaneId path; + const double interval = 1.0; + const size_t point_num = static_cast(length / interval); + + for (size_t i = 0; i < point_num; ++i) { + PathPointWithLaneId p; + p.point.pose.position.x = i * interval; + p.point.pose.position.y = width; + p.point.pose.position.z = 0.0; + + tf2::Quaternion q; + q.setRPY(0, 0, 0); + p.point.pose.orientation.x = q.x(); + p.point.pose.orientation.y = q.y(); + p.point.pose.orientation.z = q.z(); + p.point.pose.orientation.w = q.w(); + + path.points.push_back(p); + } + return path; + } + + ShiftedPath generateShiftedPath(const double length, const std::vector & shifts) + { + ShiftedPath shifted_path; + shifted_path.path = generateStraightPath(length, 0.0); + shifted_path.shift_length = shifts; + return shifted_path; + } +}; + +TEST_F(SideShiftUtilsTest, SetOrientationStraightPath) +{ + // Generate straight path + auto path = generateStraightPath(10.0, 0.0); + + // Set orientation + setOrientation(&path); + + // Check orientation for each point + for (const auto & p : path.points) { + double yaw = tf2::getYaw(p.point.pose.orientation); + EXPECT_NEAR(yaw, 0.0, 1e-6); // Should be facing forward (0 rad) + } +} + +TEST_F(SideShiftUtilsTest, SetOrientationCurvedPath) +{ + PathWithLaneId path; + + // Create a 90-degree turn path + PathPointWithLaneId p1, p2, p3; + + p1.point.pose.position.x = 0.0; + p1.point.pose.position.y = 0.0; + p1.point.pose.position.z = 0.0; + + p2.point.pose.position.x = 1.0; + p2.point.pose.position.y = 0.0; + p2.point.pose.position.z = 0.0; + + p3.point.pose.position.x = 1.0; + p3.point.pose.position.y = 1.0; + p3.point.pose.position.z = 0.0; + + path.points = {p1, p2, p3}; + + setOrientation(&path); + + // First segment should face east (0 rad) + EXPECT_NEAR(tf2::getYaw(path.points[0].point.pose.orientation), 0.0, 1e-6); + + // Last segment should face north (π/2 rad) + EXPECT_NEAR(tf2::getYaw(path.points[2].point.pose.orientation), M_PI_2, 1e-6); +} + +TEST_F(SideShiftUtilsTest, GetClosestShiftLengthEmptyPath) +{ + ShiftedPath empty_path; + geometry_msgs::msg::Point ego_point; + ego_point.x = 0.0; + ego_point.y = 0.0; + + double shift = getClosestShiftLength(empty_path, ego_point); + EXPECT_DOUBLE_EQ(shift, 0.0); +} + +TEST_F(SideShiftUtilsTest, GetClosestShiftLengthStraightPath) +{ + // Generate path with constant shift + std::vector shifts(10, 2.0); // 10 points with 2.0m shift + auto shifted_path = generateShiftedPath(10.0, shifts); + + // Test points at different positions + geometry_msgs::msg::Point ego_point; + + // Point at start + ego_point.x = 0.0; + ego_point.y = 0.0; + EXPECT_DOUBLE_EQ(getClosestShiftLength(shifted_path, ego_point), 2.0); + + // Point in middle + ego_point.x = 5.0; + ego_point.y = 0.0; + EXPECT_DOUBLE_EQ(getClosestShiftLength(shifted_path, ego_point), 2.0); + + // Point at end + ego_point.x = 9.0; + ego_point.y = 0.0; + EXPECT_DOUBLE_EQ(getClosestShiftLength(shifted_path, ego_point), 2.0); +} + +} // namespace autoware::behavior_path_planner From 2a50825fafdf1c26d3cc52f7d79afb9a4db6f7f6 Mon Sep 17 00:00:00 2001 From: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com> Date: Tue, 3 Dec 2024 14:57:37 +0900 Subject: [PATCH 627/701] test(lane_departure_checker): add tests for calcTrajectoryDeviation(), calcMaxSearchLengthForBoundaries() (#9029) * move calcTrajectoryDeviation() to separate files Signed-off-by: mitukou1109 * move calcMaxSearchLengthForBoundaries() to separate files Signed-off-by: mitukou1109 * add tests for calcTrajectoryDeviation() Signed-off-by: mitukou1109 * add tests for calcMaxSearchLengthForBoundaries() Signed-off-by: mitukou1109 --------- Signed-off-by: mitukou1109 Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> --- .../lane_departure_checker.hpp | 6 - .../autoware/lane_departure_checker/utils.hpp | 23 ++++ .../lane_departure_checker.cpp | 27 +---- .../src/lane_departure_checker_node/utils.cpp | 22 ++++ ..._calc_max_search_length_for_boundaries.cpp | 105 ++++++++++++++++++ .../test/test_calc_trajectory_deviation.cpp | 98 ++++++++++++++++ 6 files changed, 250 insertions(+), 31 deletions(-) create mode 100644 control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp create mode 100644 control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp index 6c83f8780c93c..da4784bb2458a 100644 --- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp +++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp @@ -157,10 +157,6 @@ class LaneDepartureChecker Param param_; std::shared_ptr vehicle_info_ptr_; - static PoseDeviation calcTrajectoryDeviation( - const Trajectory & trajectory, const geometry_msgs::msg::Pose & pose, - const double dist_threshold, const double yaw_threshold); - static std::vector createVehiclePassingAreas( const std::vector & vehicle_footprints); @@ -168,8 +164,6 @@ class LaneDepartureChecker const lanelet::ConstLanelets & candidate_lanelets, const std::vector & vehicle_footprints) const; - double calcMaxSearchLengthForBoundaries(const Trajectory & trajectory) const; - static SegmentRtree extractUncrossableBoundaries( const lanelet::LaneletMap & lanelet_map, const geometry_msgs::msg::Point & ego_point, const double max_search_length, const std::vector & boundary_types_to_detect); diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp index 45a651339cc12..944c57f66b8f1 100644 --- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp +++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp @@ -16,6 +16,7 @@ #define AUTOWARE__LANE_DEPARTURE_CHECKER__UTILS_HPP_ #include +#include #include #include @@ -28,6 +29,7 @@ namespace autoware::lane_departure_checker::utils { using autoware::universe_utils::LinearRing2d; +using autoware::universe_utils::PoseDeviation; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; using tier4_planning_msgs::msg::PathWithLaneId; @@ -73,6 +75,27 @@ std::vector createVehicleFootprints( std::vector createVehicleFootprints( const PathWithLaneId & path, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double footprint_extra_margin); + +/** + * @brief calculate the deviation of the given pose from the nearest pose on the trajectory + * @param trajectory target trajectory + * @param pose vehicle pose + * @param dist_threshold distance threshold used for searching for first nearest index to given pose + * @param yaw_threshold yaw threshold used for searching for first nearest index to given pose + * @return deviation of the given pose from the trajectory + */ +PoseDeviation calcTrajectoryDeviation( + const Trajectory & trajectory, const geometry_msgs::msg::Pose & pose, const double dist_threshold, + const double yaw_threshold); + +/** + * @brief calculate the maximum search length for boundaries considering the vehicle dimensions + * @param trajectory target trajectory + * @param vehicle_info vehicle information + * @return maximum search length for boundaries + */ +double calcMaxSearchLengthForBoundaries( + const Trajectory & trajectory, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info); } // namespace autoware::lane_departure_checker::utils #endif // AUTOWARE__LANE_DEPARTURE_CHECKER__UTILS_HPP_ diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp index f823988c77e4d..a1ef24e32543f 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp @@ -16,7 +16,6 @@ #include "autoware/lane_departure_checker/utils.hpp" -#include #include #include #include @@ -29,7 +28,6 @@ #include #include -using autoware::motion_utils::calcArcLength; using autoware::universe_utils::LinearRing2d; using autoware::universe_utils::LineString2d; using autoware::universe_utils::MultiPoint2d; @@ -103,7 +101,7 @@ Output LaneDepartureChecker::update(const Input & input) autoware::universe_utils::StopWatch stop_watch; - output.trajectory_deviation = calcTrajectoryDeviation( + output.trajectory_deviation = utils::calcTrajectoryDeviation( *input.reference_trajectory, input.current_odom->pose.pose, param_.ego_nearest_dist_threshold, param_.ego_nearest_yaw_threshold); output.processing_time_map["calcTrajectoryDeviation"] = stop_watch.toc(true); @@ -148,7 +146,7 @@ Output LaneDepartureChecker::update(const Input & input) output.processing_time_map["isOutOfLane"] = stop_watch.toc(true); const double max_search_length_for_boundaries = - calcMaxSearchLengthForBoundaries(*input.predicted_trajectory); + utils::calcMaxSearchLengthForBoundaries(*input.predicted_trajectory, *vehicle_info_ptr_); const auto uncrossable_boundaries = extractUncrossableBoundaries( *input.lanelet_map, input.predicted_trajectory->points.front().pose.position, max_search_length_for_boundaries, input.boundary_types_to_detect); @@ -169,15 +167,6 @@ bool LaneDepartureChecker::checkPathWillLeaveLane( return willLeaveLane(candidate_lanelets, vehicle_footprints); } -PoseDeviation LaneDepartureChecker::calcTrajectoryDeviation( - const Trajectory & trajectory, const geometry_msgs::msg::Pose & pose, const double dist_threshold, - const double yaw_threshold) -{ - const auto nearest_idx = autoware::motion_utils::findFirstNearestIndexWithSoftConstraints( - trajectory.points, pose, dist_threshold, yaw_threshold); - return autoware::universe_utils::calcPoseDeviation(trajectory.points.at(nearest_idx).pose, pose); -} - std::vector LaneDepartureChecker::createVehiclePassingAreas( const std::vector & vehicle_footprints) { @@ -388,18 +377,6 @@ bool LaneDepartureChecker::isOutOfLane( return false; } -double LaneDepartureChecker::calcMaxSearchLengthForBoundaries(const Trajectory & trajectory) const -{ - const double max_ego_lon_length = std::max( - std::abs(vehicle_info_ptr_->max_longitudinal_offset_m), - std::abs(vehicle_info_ptr_->min_longitudinal_offset_m)); - const double max_ego_lat_length = std::max( - std::abs(vehicle_info_ptr_->max_lateral_offset_m), - std::abs(vehicle_info_ptr_->min_lateral_offset_m)); - const double max_ego_search_length = std::hypot(max_ego_lon_length, max_ego_lat_length); - return calcArcLength(trajectory.points) + max_ego_search_length; -} - SegmentRtree LaneDepartureChecker::extractUncrossableBoundaries( const lanelet::LaneletMap & lanelet_map, const geometry_msgs::msg::Point & ego_point, const double max_search_length, const std::vector & boundary_types_to_detect) diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp index 324936c633158..19ea23ccd19da 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp @@ -14,6 +14,7 @@ #include "autoware/lane_departure_checker/utils.hpp" +#include #include #include @@ -161,4 +162,25 @@ std::vector createVehicleFootprints( return vehicle_footprints; } + +PoseDeviation calcTrajectoryDeviation( + const Trajectory & trajectory, const geometry_msgs::msg::Pose & pose, const double dist_threshold, + const double yaw_threshold) +{ + const auto nearest_idx = autoware::motion_utils::findFirstNearestIndexWithSoftConstraints( + trajectory.points, pose, dist_threshold, yaw_threshold); + return autoware::universe_utils::calcPoseDeviation(trajectory.points.at(nearest_idx).pose, pose); +} + +double calcMaxSearchLengthForBoundaries( + const Trajectory & trajectory, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info) +{ + const double max_ego_lon_length = std::max( + std::abs(vehicle_info.max_longitudinal_offset_m), + std::abs(vehicle_info.min_longitudinal_offset_m)); + const double max_ego_lat_length = std::max( + std::abs(vehicle_info.max_lateral_offset_m), std::abs(vehicle_info.min_lateral_offset_m)); + const double max_ego_search_length = std::hypot(max_ego_lon_length, max_ego_lat_length); + return autoware::motion_utils::calcArcLength(trajectory.points) + max_ego_search_length; +} } // namespace autoware::lane_departure_checker::utils diff --git a/control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp b/control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp new file mode 100644 index 0000000000000..1632f41f35153 --- /dev/null +++ b/control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp @@ -0,0 +1,105 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/lane_departure_checker/utils.hpp" + +#include + +#include + +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; + +namespace +{ +Trajectory create_trajectory(const std::vector & points) +{ + Trajectory trajectory; + for (const auto & point : points) { + TrajectoryPoint p; + p.pose.position.x = point.x(); + p.pose.position.y = point.y(); + trajectory.points.push_back(p); + } + return trajectory; +} + +// reference: +// https://github.com/autowarefoundation/sample_vehicle_launch/blob/main/sample_vehicle_description/config/vehicle_info.param.yaml +constexpr double wheel_radius_m = 0.383; +constexpr double wheel_width_m = 0.235; +constexpr double wheel_base_m = 2.79; +constexpr double wheel_tread_m = 1.64; +constexpr double front_overhang_m = 1.0; +constexpr double rear_overhang_m = 1.1; +constexpr double left_overhang_m = 0.128; +constexpr double right_overhang_m = 0.128; +constexpr double vehicle_height_m = 2.5; +constexpr double max_steer_angle_rad = 0.70; +} // namespace + +struct CalcMaxSearchLengthForBoundariesParam +{ + std::string description; + std::vector trajectory_points; + double expected_max_search_length; +}; + +std::ostream & operator<<(std::ostream & os, const CalcMaxSearchLengthForBoundariesParam & p) +{ + return os << p.description; +} + +class CalcMaxSearchLengthForBoundariesTest +: public ::testing::TestWithParam +{ +protected: + void SetUp() override + { + vehicle_info = autoware::vehicle_info_utils::createVehicleInfo( + wheel_radius_m, wheel_width_m, wheel_base_m, wheel_tread_m, front_overhang_m, rear_overhang_m, + left_overhang_m, right_overhang_m, vehicle_height_m, max_steer_angle_rad); + } + + autoware::vehicle_info_utils::VehicleInfo vehicle_info; +}; + +TEST_P(CalcMaxSearchLengthForBoundariesTest, test_calc_max_search_length_for_boundaries) +{ + const auto p = GetParam(); + const auto trajectory = create_trajectory(p.trajectory_points); + + const auto max_search_length = + autoware::lane_departure_checker::utils::calcMaxSearchLengthForBoundaries( + trajectory, vehicle_info); + + EXPECT_DOUBLE_EQ(max_search_length, p.expected_max_search_length); +} + +INSTANTIATE_TEST_SUITE_P( + LaneDepartureCheckerTest, CalcMaxSearchLengthForBoundariesTest, + ::testing::Values( + CalcMaxSearchLengthForBoundariesParam{ + "EmptyTrajectory", + {}, + std::hypot(front_overhang_m + wheel_base_m, wheel_tread_m / 2.0 + left_overhang_m)}, + CalcMaxSearchLengthForBoundariesParam{ + "SinglePointTrajectory", + {{0.0, 0.0}}, + std::hypot(front_overhang_m + wheel_base_m, wheel_tread_m / 2.0 + left_overhang_m)}, + CalcMaxSearchLengthForBoundariesParam{ + "MultiPointTrajectory", + {{0.0, 0.0}, {1.0, 0.0}}, + 1.0 + std::hypot(front_overhang_m + wheel_base_m, wheel_tread_m / 2.0 + left_overhang_m)}), + ::testing::PrintToStringParamName()); diff --git a/control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp b/control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp new file mode 100644 index 0000000000000..a0f141e9639a9 --- /dev/null +++ b/control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp @@ -0,0 +1,98 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/lane_departure_checker/utils.hpp" + +#include + +#include + +using autoware::universe_utils::PoseDeviation; +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; + +namespace +{ +Trajectory create_trajectory(const std::vector & points) +{ + Trajectory trajectory; + for (const auto & point : points) { + TrajectoryPoint p; + p.pose.position.x = point.x(); + p.pose.position.y = point.y(); + trajectory.points.push_back(p); + } + return trajectory; +} + +geometry_msgs::msg::Pose create_pose(const Eigen::Vector3d & x_y_yaw) +{ + geometry_msgs::msg::Pose pose; + pose.position.x = x_y_yaw[0]; + pose.position.y = x_y_yaw[1]; + pose.orientation.z = std::sin(x_y_yaw[2] / 2); + pose.orientation.w = std::cos(x_y_yaw[2] / 2); + return pose; +} + +constexpr double ego_nearest_dist_threshold = 3.0; +constexpr double ego_nearest_yaw_threshold = 1.046; +} // namespace + +struct CalcTrajectoryDeviationTestParam +{ + std::string description; + std::vector trajectory_points; + Eigen::Vector3d x_y_yaw; + bool exception_expected; + PoseDeviation expected_deviation; +}; + +std::ostream & operator<<(std::ostream & os, const CalcTrajectoryDeviationTestParam & p) +{ + return os << p.description; +} + +class CalcTrajectoryDeviationTest +: public ::testing::TestWithParam +{ +}; + +TEST_P(CalcTrajectoryDeviationTest, test_calc_trajectory_deviation) +{ + const auto p = GetParam(); + const auto trajectory = create_trajectory(p.trajectory_points); + const auto pose = create_pose(p.x_y_yaw); + if (p.exception_expected) { + EXPECT_ANY_THROW({ + autoware::lane_departure_checker::utils::calcTrajectoryDeviation( + trajectory, pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold); + }); + } else { + const auto deviation = autoware::lane_departure_checker::utils::calcTrajectoryDeviation( + trajectory, pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold); + + EXPECT_DOUBLE_EQ(deviation.lateral, p.expected_deviation.lateral); + EXPECT_DOUBLE_EQ(deviation.longitudinal, p.expected_deviation.longitudinal); + EXPECT_DOUBLE_EQ(deviation.yaw, p.expected_deviation.yaw); + } +} + +INSTANTIATE_TEST_SUITE_P( + LaneDepartureCheckerTest, CalcTrajectoryDeviationTest, + ::testing::Values( + CalcTrajectoryDeviationTestParam{"EmptyTrajectory", {}, {}, true, {}}, + CalcTrajectoryDeviationTestParam{ + "SinglePointTrajectory", {{0.0, 0.0}}, {0.0, 0.0, 0.0}, false, {0.0, 0.0, 0.0}}), + ::testing::PrintToStringParamName()); From dc759363c427f5be243a8bc9eb70ed51ebe9bfd2 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Tue, 3 Dec 2024 06:02:48 +0000 Subject: [PATCH 628/701] chore: update CODEOWNERS (#9541) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/CODEOWNERS | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 6ac99a0243921..b2d0098cfecec 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -174,7 +174,7 @@ planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** planning/behavior_path_planner/autoware_behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_path_planner/autoware_behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp -planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yuki.takagi@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp From de11b6e7b5b00d08cf3d82ca4ff1df9cb141b3ec Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 3 Dec 2024 15:49:12 +0900 Subject: [PATCH 629/701] ci(clang-tidy): enable clang-tidy checks in perception (#9537) Signed-off-by: veqcc --- .clang-tidy-ignore | 1 - 1 file changed, 1 deletion(-) diff --git a/.clang-tidy-ignore b/.clang-tidy-ignore index a7110b007db10..f10528128dce6 100644 --- a/.clang-tidy-ignore +++ b/.clang-tidy-ignore @@ -1,2 +1 @@ */examples/* -perception/* From c332e7e45d4bc1daa23b59cbcdb642139f44f71c Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 3 Dec 2024 09:00:34 +0100 Subject: [PATCH 630/701] fix(scenario_simulator_v2_adapter): remove invalid CHANGELOG.rst file (#9501) Signed-off-by: Esteve Fernandez --- .../CHANGELOG.rst | 80 ------------------- 1 file changed, 80 deletions(-) delete mode 100644 evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst diff --git a/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst b/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst deleted file mode 100644 index 0c41ad6263d8b..0000000000000 --- a/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst +++ /dev/null @@ -1,80 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package diagnostic_converter -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.38.0 (2024-11-08) -------------------- -* unify package.xml version to 0.37.0 -* Contributors: Yutaka Kondo - -0.26.0 (2024-04-03) -------------------- -* fix(diagnostic_converter): move headers to a separate directory (`#5943 `_) - * fix(diagnostic_converter): move headers to a separate directory - * style(pre-commit): autofix - --------- - Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> -* build: mark autoware_cmake as (`#3616 `_) - * build: mark autoware_cmake as - with , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) - * style(pre-commit): autofix - * chore: fix pre-commit errors - --------- - Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - Co-authored-by: Kenji Miyake -* feat(diagnostic_converter): remove unit and blank in the value (`#3151 `_) - * feat(diagnostic_converter): remove unit and blank in the value - * fix - --------- -* feat(diagnostic_converter): apply regex for topic name (`#3149 `_) -* feat(diagnostic_converter): add converter to use planning_evaluator's output for scenario's condition (`#2514 `_) - * add original diagnostic_convertor - * add test - * fix typo - * delete file - * change include - * temp - * delete comments - * made launch for converter - * ci(pre-commit): autofix - * ci(pre-commit): autofix - * add diagnostic convertor in launch - * ci(pre-commit): autofix - * change debug from info - * change arg name to launch diagnostic convertor - * add planning_evaluator launcher in simulator.launch.xml - * fix arg wrong setting - * style(pre-commit): autofix - * use simulation msg in tier4_autoware_msgs - * style(pre-commit): autofix - * fix README - * style(pre-commit): autofix - * refactoring - * style(pre-commit): autofix - * remove unnecessary dependency - * remove unnecessary dependency - * move folder - * reformat - * style(pre-commit): autofix - * Update evaluator/diagnostic_converter/include/converter_node.hpp - Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * Update evaluator/diagnostic_converter/README.md - Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * Update evaluator/diagnostic_converter/src/converter_node.cpp - Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * Update evaluator/diagnostic_converter/test/test_converter_node.cpp - Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * define diagnostic_topics as parameter - * fix include way - * fix include way - * delete ament_cmake_clang_format from package.xml - * fix test_depend - * Update evaluator/diagnostic_converter/test/test_converter_node.cpp - Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - * style(pre-commit): autofix - * Update launch/tier4_simulator_launch/launch/simulator.launch.xml - Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> - --------- - Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> - Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> -* Contributors: Esteve Fernandez, Kyoichi Sugahara, Takayuki Murooka, Vincent Richard From e5116056ce0761fe1ff432e0a0c35f5ce53467b3 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 3 Dec 2024 18:04:20 +0900 Subject: [PATCH 631/701] chore(image_projection_based_fusion): add debug for roi_pointcloud fusion (#9481) Signed-off-by: badai-nguyen --- .../src/roi_pointcloud_fusion/node.cpp | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp index 039e4f7591bbc..1f362da89f7a8 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp @@ -85,6 +85,8 @@ void RoiPointCloudFusionNode::fuseOnSingleImage( if (!checkCameraInfo(camera_info)) return; std::vector output_objs; + std::vector debug_image_rois; + std::vector debug_image_points; // select ROIs for fusion for (const auto & feature_obj : input_roi_msg.feature_objects) { if (fuse_unknown_only_) { @@ -92,10 +94,12 @@ void RoiPointCloudFusionNode::fuseOnSingleImage( autoware_perception_msgs::msg::ObjectClassification::UNKNOWN; if (is_roi_label_unknown) { output_objs.push_back(feature_obj); + debug_image_rois.push_back(feature_obj.feature.roi); } } else { // TODO(badai-nguyen): selected class from a list output_objs.push_back(feature_obj); + debug_image_rois.push_back(feature_obj.feature.roi); } } if (output_objs.empty()) { @@ -166,12 +170,25 @@ void RoiPointCloudFusionNode::fuseOnSingleImage( clusters_data_size.at(i) += point_step; } } + if (debugger_) { + // add all points inside image to debug + if ( + projected_point.x() > 0 && projected_point.x() < camera_info.width && + projected_point.y() > 0 && projected_point.y() < camera_info.height) { + debug_image_points.push_back(projected_point); + } + } } // refine and update output_fused_objects_ updateOutputFusedObjects( output_objs, clusters, clusters_data_size, input_pointcloud_msg, input_roi_msg.header, tf_buffer_, min_cluster_size_, max_cluster_size_, cluster_2d_tolerance_, output_fused_objects_); + if (debugger_) { + debugger_->image_rois_ = debug_image_rois; + debugger_->obstacle_points_ = debug_image_points; + debugger_->publishImage(image_id, input_roi_msg.header.stamp); + } } bool RoiPointCloudFusionNode::out_of_scope(__attribute__((unused)) From 282a01d3f6400b4e491da862ad9f6793ab802c75 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Tue, 3 Dec 2024 21:02:25 +0900 Subject: [PATCH 632/701] feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392) Signed-off-by: Ryohsuke Mitsudome --- build_depends.repos | 2 +- .../component_interface_specs/map.hpp | 4 +-- .../package.xml | 2 +- .../geography_utils/lanelet2_projector.hpp | 4 +-- .../autoware/geography_utils/projection.hpp | 4 +-- common/autoware_geography_utils/package.xml | 2 +- .../test/test_projection.cpp | 30 +++++++++--------- .../autoware_geo_pose_projector/README.md | 2 +- .../package.xml | 1 - map/autoware_map_loader/README.md | 4 +-- .../map_loader/lanelet2_map_loader_node.hpp | 4 +-- map/autoware_map_loader/package.xml | 1 - .../lanelet2_map_loader_node.cpp | 6 ++-- map/autoware_map_projection_loader/README.md | 4 +-- .../load_info_from_lanelet2_map.hpp | 4 +-- .../map_projection_loader.hpp | 4 +-- .../package.xml | 2 +- .../src/load_info_from_lanelet2_map.cpp | 12 +++---- .../src/map_projection_loader.cpp | 31 ++++++++++++------- .../test/data/map_projector_info_local.yaml | 2 +- .../test/test_load_info_from_lanelet2_map.cpp | 2 +- ...load_local_cartesian_utm_from_yaml.test.py | 2 +- .../test_node_load_local_from_yaml.test.py | 2 +- .../test_node_load_mgrs_from_yaml.test.py | 2 +- ...load_transverse_mercator_from_yaml.test.py | 2 +- .../package.xml | 1 - .../src/static_centerline_generator_node.hpp | 4 +-- sensing/autoware_gnss_poser/README.md | 2 +- simulator/autoware_carla_interface/README.md | 2 +- 29 files changed, 75 insertions(+), 69 deletions(-) diff --git a/build_depends.repos b/build_depends.repos index 61a56463e2e41..4db947b7c26a8 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -24,7 +24,7 @@ repositories: core/autoware_msgs: type: git url: https://github.com/autowarefoundation/autoware_msgs.git - version: 1.1.0 + version: 1.3.0 core/autoware_adapi_msgs: type: git url: https://github.com/autowarefoundation/autoware_adapi_msgs.git diff --git a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp index dd1c300a7a2ca..aeb09e44c665f 100644 --- a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp @@ -17,14 +17,14 @@ #include -#include +#include namespace autoware::component_interface_specs::map { struct MapProjectorInfo { - using Message = tier4_map_msgs::msg::MapProjectorInfo; + using Message = autoware_map_msgs::msg::MapProjectorInfo; static constexpr char name[] = "/map/map_projector_info"; static constexpr size_t depth = 1; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; diff --git a/common/autoware_component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml index b50cd80074d1f..0fbd632d52af3 100644 --- a/common/autoware_component_interface_specs/package.xml +++ b/common/autoware_component_interface_specs/package.xml @@ -12,6 +12,7 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_vehicle_msgs @@ -21,7 +22,6 @@ rosidl_runtime_cpp tier4_control_msgs tier4_localization_msgs - tier4_map_msgs tier4_planning_msgs tier4_system_msgs tier4_vehicle_msgs diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp index 7f6b2d78701d2..0eea2a9ff7fbb 100644 --- a/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp +++ b/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ #define AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ -#include +#include #include @@ -23,7 +23,7 @@ namespace autoware::geography_utils { -using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo; +using MapProjectorInfo = autoware_map_msgs::msg::MapProjectorInfo; std::unique_ptr get_lanelet2_projector(const MapProjectorInfo & projector_info); diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp index 5ad605f95f65b..5c4a69b15e192 100644 --- a/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp +++ b/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp @@ -15,13 +15,13 @@ #ifndef AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_ #define AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_ +#include #include #include -#include namespace autoware::geography_utils { -using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo; +using MapProjectorInfo = autoware_map_msgs::msg::MapProjectorInfo; using GeoPoint = geographic_msgs::msg::GeoPoint; using LocalPoint = geometry_msgs::msg::Point; diff --git a/common/autoware_geography_utils/package.xml b/common/autoware_geography_utils/package.xml index d8ea7524eaebc..8777bf4c13d45 100644 --- a/common/autoware_geography_utils/package.xml +++ b/common/autoware_geography_utils/package.xml @@ -17,11 +17,11 @@ autoware_cmake autoware_lanelet2_extension + autoware_map_msgs geographic_msgs geographiclib geometry_msgs lanelet2_io - tier4_map_msgs ament_cmake_ros ament_lint_auto diff --git a/common/autoware_geography_utils/test/test_projection.cpp b/common/autoware_geography_utils/test/test_projection.cpp index 3355dbf8a50ea..b8d036c136eeb 100644 --- a/common/autoware_geography_utils/test/test_projection.cpp +++ b/common/autoware_geography_utils/test/test_projection.cpp @@ -34,10 +34,10 @@ TEST(GeographyUtilsProjection, ProjectForwardToMGRS) local_point.z = 10.0; // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; + autoware_map_msgs::msg::MapProjectorInfo projector_info; + projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS; projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; + projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; // conversion const geometry_msgs::msg::Point converted_point = @@ -63,10 +63,10 @@ TEST(GeographyUtilsProjection, ProjectReverseFromMGRS) geo_point.altitude = 10.0; // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; + autoware_map_msgs::msg::MapProjectorInfo projector_info; + projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS; projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; + projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; // conversion const geographic_msgs::msg::GeoPoint converted_point = @@ -86,10 +86,10 @@ TEST(GeographyUtilsProjection, ProjectForwardAndReverseMGRS) geo_point.altitude = 10.0; // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; + autoware_map_msgs::msg::MapProjectorInfo projector_info; + projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS; projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; + projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; // conversion const geometry_msgs::msg::Point converted_local_point = @@ -117,9 +117,9 @@ TEST(GeographyUtilsProjection, ProjectForwardToLocalCartesianUTMOrigin) local_point.z = 20.0; // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; + autoware_map_msgs::msg::MapProjectorInfo projector_info; + projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; + projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; projector_info.map_origin.latitude = 35.62426; projector_info.map_origin.longitude = 139.74252; projector_info.map_origin.altitude = -10.0; @@ -142,9 +142,9 @@ TEST(GeographyUtilsProjection, ProjectForwardAndReverseLocalCartesianUTMOrigin) geo_point.altitude = 10.0; // projector info - tier4_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; - projector_info.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; + autoware_map_msgs::msg::MapProjectorInfo projector_info; + projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; + projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; projector_info.map_origin.latitude = 35.0; projector_info.map_origin.longitude = 139.0; projector_info.map_origin.altitude = 0.0; diff --git a/localization/autoware_geo_pose_projector/README.md b/localization/autoware_geo_pose_projector/README.md index 2dd83a2077aab..a3cc5d3b308e3 100644 --- a/localization/autoware_geo_pose_projector/README.md +++ b/localization/autoware_geo_pose_projector/README.md @@ -9,7 +9,7 @@ This node is a simple node that subscribes to the geo-referenced pose topic and | Name | Type | Description | | ------------------------- | ---------------------------------------------------- | ------------------- | | `input_geo_pose` | `geographic_msgs::msg::GeoPoseWithCovarianceStamped` | geo-referenced pose | -| `/map/map_projector_info` | `tier4_map_msgs::msg::MapProjectedObjectInfo` | map projector info | +| `/map/map_projector_info` | `autoware_map_msgs::msg::MapProjectedObjectInfo` | map projector info | ## Published Topics diff --git a/map/autoware_lanelet2_map_visualizer/package.xml b/map/autoware_lanelet2_map_visualizer/package.xml index 0244a5f010aa4..3c3bb24c18399 100644 --- a/map/autoware_lanelet2_map_visualizer/package.xml +++ b/map/autoware_lanelet2_map_visualizer/package.xml @@ -24,7 +24,6 @@ autoware_map_msgs rclcpp rclcpp_components - tier4_map_msgs visualization_msgs ament_lint_auto diff --git a/map/autoware_map_loader/README.md b/map/autoware_map_loader/README.md index 046c9062081ca..ec06ee4d824c7 100644 --- a/map/autoware_map_loader/README.md +++ b/map/autoware_map_loader/README.md @@ -132,7 +132,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co lanelet2_map_loader loads Lanelet2 file and publishes the map data as autoware_map_msgs/LaneletMapBin message. The node projects lan/lon coordinates into arbitrary coordinates defined in `/map/map_projector_info` from `map_projection_loader`. -Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_map_msgs/msg/MapProjectorInfo.msg) for supported projector types. +Please see [autoware_map_msgs/msg/MapProjectorInfo.msg](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_map_msgs/msg/MapProjectorInfo.msg) for supported projector types. ### How to run @@ -140,7 +140,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie ### Subscribed Topics -- ~input/map_projector_info (tier4_map_msgs/MapProjectorInfo) : Projection type for Autoware +- ~input/map_projector_info (autoware_map_msgs/MapProjectorInfo) : Projection type for Autoware ### Published Topics diff --git a/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp b/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp index 54d8244ff76e0..0922b1cb2bdd6 100644 --- a/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp +++ b/map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_node.hpp @@ -21,7 +21,7 @@ #include #include -#include +#include #include @@ -40,7 +40,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node static lanelet::LaneletMapPtr load_map( const std::string & lanelet2_filename, - const tier4_map_msgs::msg::MapProjectorInfo & projector_info); + const autoware_map_msgs::msg::MapProjectorInfo & projector_info); static autoware_map_msgs::msg::LaneletMapBin create_map_bin_msg( const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, const rclcpp::Time & now); diff --git a/map/autoware_map_loader/package.xml b/map/autoware_map_loader/package.xml index 15fc9fd13df64..7b793359d725b 100644 --- a/map/autoware_map_loader/package.xml +++ b/map/autoware_map_loader/package.xml @@ -30,7 +30,6 @@ pcl_conversions rclcpp rclcpp_components - tier4_map_msgs visualization_msgs yaml-cpp diff --git a/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index ee1cc4a58a1be..0d431e65de3dc 100644 --- a/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +++ b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp @@ -55,7 +55,7 @@ namespace autoware::map_loader { using autoware_map_msgs::msg::LaneletMapBin; -using tier4_map_msgs::msg::MapProjectorInfo; +using autoware_map_msgs::msg::MapProjectorInfo; Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options) : Node("lanelet2_map_loader", options) @@ -136,10 +136,10 @@ void Lanelet2MapLoaderNode::on_map_projector_info( lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map( const std::string & lanelet2_filename, - const tier4_map_msgs::msg::MapProjectorInfo & projector_info) + const autoware_map_msgs::msg::MapProjectorInfo & projector_info) { lanelet::ErrorMessages errors{}; - if (projector_info.projector_type != tier4_map_msgs::msg::MapProjectorInfo::LOCAL) { + if (projector_info.projector_type != autoware_map_msgs::msg::MapProjectorInfo::LOCAL) { std::unique_ptr projector = autoware::geography_utils::get_lanelet2_projector(projector_info); lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, *projector, &errors); diff --git a/map/autoware_map_projection_loader/README.md b/map/autoware_map_projection_loader/README.md index 2568bb2c17df7..ad35a666eb0b8 100644 --- a/map/autoware_map_projection_loader/README.md +++ b/map/autoware_map_projection_loader/README.md @@ -29,7 +29,7 @@ There are three types of transformations from latitude and longitude to XYZ coor ```yaml # map_projector_info.yaml -projector_type: local +projector_type: Local ``` #### Limitation @@ -86,7 +86,7 @@ map_origin: ## Published Topics -- `~/map_projector_info` (tier4_map_msgs/MapProjectorInfo) : This topic shows the definition of map projector information +- `~/map_projector_info` (autoware_map_msgs/MapProjectorInfo) : This topic shows the definition of map projector information ## Parameters diff --git a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp index 2f1db14529ad0..da0ebb83748ab 100644 --- a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp @@ -20,13 +20,13 @@ #include #include -#include "tier4_map_msgs/msg/map_projector_info.hpp" +#include "autoware_map_msgs/msg/map_projector_info.hpp" #include namespace autoware::map_projection_loader { -tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename); +autoware_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename); } // namespace autoware::map_projection_loader #endif // AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ diff --git a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp index 6ef9213cf33f8..1ca876dc035b2 100644 --- a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp @@ -24,8 +24,8 @@ namespace autoware::map_projection_loader { -tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename); -tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info( +autoware_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename); +autoware_map_msgs::msg::MapProjectorInfo load_map_projector_info( const std::string & yaml_filename, const std::string & lanelet2_map_filename); class MapProjectionLoader : public rclcpp::Node diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml index 55785a81ea1a2..ddf95efc7414c 100644 --- a/map/autoware_map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -19,9 +19,9 @@ autoware_component_interface_specs autoware_component_interface_utils autoware_lanelet2_extension + autoware_map_msgs rclcpp rclcpp_components - tier4_map_msgs yaml-cpp ament_cmake_gmock diff --git a/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp b/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp index ce4cda5c2c677..750a73c8a8ec6 100644 --- a/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp +++ b/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp @@ -14,7 +14,7 @@ #include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" -#include "tier4_map_msgs/msg/map_projector_info.hpp" +#include "autoware_map_msgs/msg/map_projector_info.hpp" #include #include @@ -25,7 +25,7 @@ namespace autoware::map_projection_loader { -tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename) +autoware_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename) { lanelet::ErrorMessages errors{}; lanelet::projection::MGRSProjector projector{}; @@ -46,18 +46,18 @@ tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::str } } - tier4_map_msgs::msg::MapProjectorInfo msg; + autoware_map_msgs::msg::MapProjectorInfo msg; if (is_local) { - msg.projector_type = tier4_map_msgs::msg::MapProjectorInfo::LOCAL; + msg.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL; } else { - msg.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; + msg.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS; msg.mgrs_grid = projector.getProjectedMGRSGrid(); } // We assume that the vertical datum of the map is WGS84 when using lanelet2 map. // However, do note that this is not always true, and may cause problems in the future. // Thus, please consider using the map_projector_info.yaml instead of this deprecated function. - msg.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; + msg.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; return msg; } } // namespace autoware::map_projection_loader diff --git a/map/autoware_map_projection_loader/src/map_projection_loader.cpp b/map/autoware_map_projection_loader/src/map_projection_loader.cpp index 588ede616a814..a59714e627e83 100644 --- a/map/autoware_map_projection_loader/src/map_projection_loader.cpp +++ b/map/autoware_map_projection_loader/src/map_projection_loader.cpp @@ -16,7 +16,7 @@ #include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" -#include +#include #include @@ -25,39 +25,48 @@ namespace autoware::map_projection_loader { -tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename) +autoware_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename) { YAML::Node data = YAML::LoadFile(filename); - tier4_map_msgs::msg::MapProjectorInfo msg; + autoware_map_msgs::msg::MapProjectorInfo msg; msg.projector_type = data["projector_type"].as(); - if (msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::MGRS) { + if (msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::MGRS) { msg.vertical_datum = data["vertical_datum"].as(); msg.mgrs_grid = data["mgrs_grid"].as(); } else if ( - msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM || - msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::TRANSVERSE_MERCATOR) { + msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM || + msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::TRANSVERSE_MERCATOR) { msg.vertical_datum = data["vertical_datum"].as(); msg.map_origin.latitude = data["map_origin"]["latitude"].as(); msg.map_origin.longitude = data["map_origin"]["longitude"].as(); msg.map_origin.altitude = data["map_origin"]["altitude"].as(); - } else if (msg.projector_type == tier4_map_msgs::msg::MapProjectorInfo::LOCAL) { + } else if (msg.projector_type == autoware_map_msgs::msg::MapProjectorInfo::LOCAL) { ; // do nothing + } else if (msg.projector_type == "local") { + RCLCPP_WARN_STREAM( + rclcpp::get_logger("MapProjectionLoader"), + "Load " << filename << "\n" + << "DEPRECATED WARNING: projector type \"local\" is deprecated." + "Please use \"Local\" instead. For more info, visit " + "https://github.com/autowarefoundation/autoware.universe/blob/main/map/" + "map_projection_loader README.md"); + msg.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL; } else { throw std::runtime_error( "Invalid map projector type. Currently supported types: MGRS, LocalCartesianUTM, " - "TransverseMercator, and local"); + "TransverseMercator, and Local"); } return msg; } -tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info( +autoware_map_msgs::msg::MapProjectorInfo load_map_projector_info( const std::string & yaml_filename, const std::string & lanelet2_map_filename) { - tier4_map_msgs::msg::MapProjectorInfo msg; + autoware_map_msgs::msg::MapProjectorInfo msg; if (std::filesystem::exists(yaml_filename)) { std::cout << "Load " << yaml_filename << std::endl; @@ -87,7 +96,7 @@ MapProjectionLoader::MapProjectionLoader(const rclcpp::NodeOptions & options) const std::string lanelet2_map_filename = this->declare_parameter("lanelet2_map_path"); - const tier4_map_msgs::msg::MapProjectorInfo msg = + const autoware_map_msgs::msg::MapProjectorInfo msg = load_map_projector_info(yaml_filename, lanelet2_map_filename); // Publish the message diff --git a/map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml index 2e5d27c3e8143..b1f30b12d8bde 100644 --- a/map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml +++ b/map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml @@ -1 +1 @@ -projector_type: local +projector_type: Local diff --git a/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp b/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp index 26658e88682a2..f40084ef819c7 100644 --- a/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp +++ b/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp @@ -111,7 +111,7 @@ TEST(TestLoadFromLanelet2Map, LoadLocalGrid) autoware::map_projection_loader::load_info_from_lanelet2_map(output_path); // Check the result - EXPECT_EQ(projector_info.projector_type, "local"); + EXPECT_EQ(projector_info.projector_type, "Local"); } TEST(TestLoadFromLanelet2Map, LoadNoLocalGrid) diff --git a/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py index 495f0092bb01f..30cede4b1ec25 100644 --- a/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py @@ -18,6 +18,7 @@ import unittest from ament_index_python import get_package_share_directory +from autoware_map_msgs.msg import MapProjectorInfo import launch from launch import LaunchDescription from launch.logging import get_logger @@ -28,7 +29,6 @@ from rclpy.qos import QoSDurabilityPolicy from rclpy.qos import QoSHistoryPolicy from rclpy.qos import QoSProfile -from tier4_map_msgs.msg import MapProjectorInfo import yaml logger = get_logger(__name__) diff --git a/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py index 8517f09e2006b..9c364f094ee24 100644 --- a/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py @@ -18,6 +18,7 @@ import unittest from ament_index_python import get_package_share_directory +from autoware_map_msgs.msg import MapProjectorInfo import launch from launch import LaunchDescription from launch.logging import get_logger @@ -28,7 +29,6 @@ from rclpy.qos import QoSDurabilityPolicy from rclpy.qos import QoSHistoryPolicy from rclpy.qos import QoSProfile -from tier4_map_msgs.msg import MapProjectorInfo import yaml logger = get_logger(__name__) diff --git a/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py index ad19e61f9f111..6586a9aee98d3 100644 --- a/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py @@ -18,6 +18,7 @@ import unittest from ament_index_python import get_package_share_directory +from autoware_map_msgs.msg import MapProjectorInfo import launch from launch import LaunchDescription from launch.logging import get_logger @@ -28,7 +29,6 @@ from rclpy.qos import QoSDurabilityPolicy from rclpy.qos import QoSHistoryPolicy from rclpy.qos import QoSProfile -from tier4_map_msgs.msg import MapProjectorInfo import yaml logger = get_logger(__name__) diff --git a/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py index ed2eb45535089..3035ce75e692d 100644 --- a/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py @@ -18,6 +18,7 @@ import unittest from ament_index_python import get_package_share_directory +from autoware_map_msgs.msg import MapProjectorInfo import launch from launch import LaunchDescription from launch.logging import get_logger @@ -28,7 +29,6 @@ from rclpy.qos import QoSDurabilityPolicy from rclpy.qos import QoSHistoryPolicy from rclpy.qos import QoSProfile -from tier4_map_msgs.msg import MapProjectorInfo import yaml logger = get_logger(__name__) diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index fb0b821e87644..5375f50c642b7 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -36,7 +36,6 @@ global_parameter_loader rclcpp rclcpp_components - tier4_map_msgs python3-flask-cors rosidl_default_runtime diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp index 17abb3e446994..c591dcfc73bd8 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp @@ -24,10 +24,10 @@ #include "rclcpp/rclcpp.hpp" #include "type_alias.hpp" +#include "autoware_map_msgs/msg/map_projector_info.hpp" #include "std_msgs/msg/empty.hpp" #include "std_msgs/msg/float32.hpp" #include "std_msgs/msg/int32.hpp" -#include "tier4_map_msgs/msg/map_projector_info.hpp" #include #include @@ -36,10 +36,10 @@ namespace autoware::static_centerline_generator { +using autoware_map_msgs::msg::MapProjectorInfo; using autoware_static_centerline_generator::srv::LoadMap; using autoware_static_centerline_generator::srv::PlanPath; using autoware_static_centerline_generator::srv::PlanRoute; -using tier4_map_msgs::msg::MapProjectorInfo; struct CenterlineWithRoute { diff --git a/sensing/autoware_gnss_poser/README.md b/sensing/autoware_gnss_poser/README.md index 9619038492af0..cdd67bde027d2 100644 --- a/sensing/autoware_gnss_poser/README.md +++ b/sensing/autoware_gnss_poser/README.md @@ -17,7 +17,7 @@ If the transformation from `base_link` to the antenna cannot be obtained, it out | Name | Type | Description | | ------------------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | -| `/map/map_projector_info` | `tier4_map_msgs::msg::MapProjectorInfo` | map projection info | +| `/map/map_projector_info` | `autoware_map_msgs::msg::MapProjectorInfo` | map projection info | | `~/input/fix` | `sensor_msgs::msg::NavSatFix` | gnss status message | | `~/input/autoware_orientation` | `autoware_sensing_msgs::msg::GnssInsOrientationStamped` | orientation [click here for more details](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_sensing_msgs) | diff --git a/simulator/autoware_carla_interface/README.md b/simulator/autoware_carla_interface/README.md index 2513364178693..c98d39bb4f121 100644 --- a/simulator/autoware_carla_interface/README.md +++ b/simulator/autoware_carla_interface/README.md @@ -24,7 +24,7 @@ This ros package enables communication between Autoware and CARLA for autonomous 1. Download maps (y-axis inverted version) to arbitrary location 2. Change names and create the map folder (example: Town01) inside `autoware_map`. (`point_cloud/Town01.pcd` -> `autoware_map/Town01/pointcloud_map.pcd`, `vector_maps/lanelet2/Town01.osm`-> `autoware_map/Town01/lanelet2_map.osm`) -3. Create `map_projector_info.yaml` on the folder and add `projector_type: local` on the first line. +3. Create `map_projector_info.yaml` on the folder and add `projector_type: Local` on the first line. ### Build From 4c0c378acbdaa0f1035a35cdc9b9f76be05594a6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= <76053179+StepTurtle@users.noreply.github.com> Date: Tue, 3 Dec 2024 15:22:13 +0300 Subject: [PATCH 633/701] chore(cspell): add new word `libtensorrt` to `cspell.json` (#9550) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- .cspell.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.cspell.json b/.cspell.json index f338e72d194e3..f3bf484f68e0c 100644 --- a/.cspell.json +++ b/.cspell.json @@ -4,5 +4,5 @@ "planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/scripts/**" ], "ignoreRegExpList": [], - "words": ["dltype", "tvmgen", "fromarray", "soblin", "brkay54"] + "words": ["dltype", "tvmgen", "fromarray", "soblin", "brkay54", "libtensorrt"] } From 80f59e7b2804ca371a906c82475cd401168f5f3d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Tue, 3 Dec 2024 17:02:17 +0300 Subject: [PATCH 634/701] docs(control_performance_analysis): utilize mathjax syntax in readme (#9552) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../control_performance_analysis/README.md | 50 +++++++++---------- 1 file changed, 25 insertions(+), 25 deletions(-) diff --git a/control/control_performance_analysis/README.md b/control/control_performance_analysis/README.md index 3895b3cc13465..e87efbe179eee 100644 --- a/control/control_performance_analysis/README.md +++ b/control/control_performance_analysis/README.md @@ -44,34 +44,34 @@ Error acceleration calculations are made based on the velocity calculations abov #### control_performance_analysis::msg::DrivingMonitorStamped -| Name | Type | Description | -| ---------------------------- | ----- | -------------------------------------------------------- | -| `longitudinal_acceleration` | float | [m / s^2] | -| `longitudinal_jerk` | float | [m / s^3] | -| `lateral_acceleration` | float | [m / s^2] | -| `lateral_jerk` | float | [m / s^3] | -| `desired_steering_angle` | float | [rad] | -| `controller_processing_time` | float | Timestamp between last two control command messages [ms] | +| Name | Type | Description | +| ---------------------------- | ----- | --------------------------------------------------------------------- | +| `longitudinal_acceleration` | float | $[ \mathrm{m/s^2} ]$ | +| `longitudinal_jerk` | float | $[ \mathrm{m/s^3} ]$ | +| `lateral_acceleration` | float | $[ \mathrm{m/s^2} ]$ | +| `lateral_jerk` | float | $[ \mathrm{m/s^3} ]$ | +| `desired_steering_angle` | float | $[ \mathrm{rad} ]$ | +| `controller_processing_time` | float | Timestamp between last two control command messages $[ \mathrm{ms} ]$ | #### control_performance_analysis::msg::ErrorStamped -| Name | Type | Description | -| ------------------------------------------ | ----- | ----------------------------------------------------------------------------------------------------------------- | -| `lateral_error` | float | [m] | -| `lateral_error_velocity` | float | [m / s] | -| `lateral_error_acceleration` | float | [m / s^2] | -| `longitudinal_error` | float | [m] | -| `longitudinal_error_velocity` | float | [m / s] | -| `longitudinal_error_acceleration` | float | [m / s^2] | -| `heading_error` | float | [rad] | -| `heading_error_velocity` | float | [rad / s] | -| `control_effort_energy` | float | [u * R * u^T] | -| `error_energy` | float | lateral_error^2 + heading_error^2 | -| `value_approximation` | float | V = xPx' ; Value function from DARE Lyap matrix P | -| `curvature_estimate` | float | [1 / m] | -| `curvature_estimate_pp` | float | [1 / m] | -| `vehicle_velocity_error` | float | [m / s] | -| `tracking_curvature_discontinuity_ability` | float | Measures the ability to tracking the curvature changes [`abs(delta(curvature)) / (1 + abs(delta(lateral_error))`] | +| Name | Type | Description | +| ------------------------------------------ | ----- | ----------------------------------------------------------------------------------------------------------------------------------------- | +| `lateral_error` | float | $[ \mathrm{m} ]$ | +| `lateral_error_velocity` | float | $[ \mathrm{m/s} ]$ | +| `lateral_error_acceleration` | float | $[ \mathrm{m/s^2} ]$ | +| `longitudinal_error` | float | $[ \mathrm{m} ]$ | +| `longitudinal_error_velocity` | float | $[ \mathrm{m/s} ]$ | +| `longitudinal_error_acceleration` | float | $[ \mathrm{m/s^2} ]$ | +| `heading_error` | float | $[ \mathrm{rad} ]$ | +| `heading_error_velocity` | float | $[ \mathrm{rad/s} ]$ | +| `control_effort_energy` | float | $[ \mathbf{u}^\top \mathbf{R} \mathbf{u} ]$ simplified to $[ R \cdot u^2 ]$ | +| `error_energy` | float | $e_{\text{lat}}^2 + e_\theta^2$ (squared lateral error + squared heading error) | +| `value_approximation` | float | $V = \mathbf{x}^\top \mathbf{P} \mathbf{x}$; Value function from DARE Lyapunov matrix $\mathbf{P}$ | +| `curvature_estimate` | float | $[ \mathrm{1/m} ]$ | +| `curvature_estimate_pp` | float | $[ \mathrm{1/m} ]$ | +| `vehicle_velocity_error` | float | $[ \mathrm{m/s} ]$ | +| `tracking_curvature_discontinuity_ability` | float | Measures the ability to track curvature changes $\frac{\lvert \Delta(\text{curvature}) \rvert}{1 + \lvert \Delta(e_{\text{lat}}) \rvert}$ | ## Parameters From 31061117d2bd4b444424d58d92f080b9b1adb943 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Tue, 3 Dec 2024 20:14:28 +0300 Subject: [PATCH 635/701] docs: update the list styles (#9555) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../README.md | 4 ++-- perception/autoware_radar_object_clustering/README.md | 8 ++++---- planning/autoware_path_optimizer/docs/mpt.md | 6 +++--- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/perception/autoware_radar_crossing_objects_noise_filter/README.md b/perception/autoware_radar_crossing_objects_noise_filter/README.md index 553d932717442..4039624217a5c 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/README.md +++ b/perception/autoware_radar_crossing_objects_noise_filter/README.md @@ -10,7 +10,7 @@ This package can filter the noise objects which cross to the ego vehicle. This package aim to filter the noise objects which cross from the ego vehicle. The reason why these objects are noise is as below. -- 1. The objects with doppler velocity can be trusted more than those with vertical velocity to it. +#### 1. The objects with doppler velocity can be trusted more than those with vertical velocity to it Radars can get velocity information of objects as doppler velocity, but cannot get vertical velocity to doppler velocity directory. Some radars can output the objects with not only doppler velocity but also vertical velocity by estimation. @@ -22,7 +22,7 @@ Velocity estimation fails on static objects, resulting in ghost objects crossing ![vertical_velocity_objects](docs/vertical_velocity_objects.png) -- 2. Turning around by ego vehicle affect the output from radar. +#### 2. Turning around by ego vehicle affect the output from radar When the ego vehicle turns around, the radars outputting at the object level sometimes fail to estimate the twist of objects correctly even if [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_tracks_msgs_converter) compensates by the ego vehicle twist. So if an object detected by radars has circular motion viewing from base_link, it is likely that the speed is estimated incorrectly and that the object is a static object. diff --git a/perception/autoware_radar_object_clustering/README.md b/perception/autoware_radar_object_clustering/README.md index 0e66208d9f84e..cf52c33eba274 100644 --- a/perception/autoware_radar_object_clustering/README.md +++ b/perception/autoware_radar_object_clustering/README.md @@ -17,12 +17,12 @@ Therefore, by this package the multiple detection results are clustered into one ### Algorithm -- 1. Sort by distance from `base_link` +#### 1. Sort by distance from `base_link` At first, to prevent changing the result from depending on the order of objects in DetectedObjects, input objects are sorted by distance from `base_link`. In addition, to apply matching in closeness order considering occlusion, objects are sorted in order of short distance in advance. -- 2. Clustering +#### 2. Clustering If two radar objects are near, and yaw angle direction and velocity between two radar objects is similar (the degree of these is defined by parameters), then these are clustered. Note that radar characteristic affect parameters for this matching. @@ -32,13 +32,13 @@ For example, if resolution of range distance or angle is low and accuracy of vel After grouping for all radar objects, if multiple radar objects are grouping, the kinematics of the new clustered object is calculated from average of that and label and shape of the new clustered object is calculated from top confidence in radar objects. -- 3. Fixed label correction +#### 3. Fixed label correction When the label information from radar outputs lack accuracy, `is_fixed_label` parameter is recommended to set `true`. If the parameter is true, the label of a clustered object is overwritten by the label set by `fixed_label` parameter. If this package use for faraway dynamic object detection with radar, the parameter is recommended to set to `VEHICLE`. -- 4. Fixed size correction +#### 4. Fixed size correction When the size information from radar outputs lack accuracy, `is_fixed_size` parameter is recommended to set `true`. If the parameter is true, the size of a clustered object is overwritten by the label set by `size_x`, `size_y`, and `size_z` parameters. diff --git a/planning/autoware_path_optimizer/docs/mpt.md b/planning/autoware_path_optimizer/docs/mpt.md index 4b35fd0e36ab5..634542a13295f 100644 --- a/planning/autoware_path_optimizer/docs/mpt.md +++ b/planning/autoware_path_optimizer/docs/mpt.md @@ -360,9 +360,9 @@ $$ To realize collision-free trajectory planning, we have to formulate constraints that the vehicle is inside the road and also does not collide with obstacles in linear equations. For linearity, we implemented some methods to approximate the vehicle shape with a set of circles, that is reliable and easy to implement. -- 1. Bicycle Model -- 2. Uniform Circles -- 3. Fitting Uniform Circles +1. Bicycle Model +2. Uniform Circles +3. Fitting Uniform Circles ![vehicle_circles](../media/vehicle_circles.svg) From de90e599eb8e556fadaf9bc5324270eede9c8864 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Tue, 3 Dec 2024 20:50:41 +0300 Subject: [PATCH 636/701] ci(pre-commit): autoupdate (#8949) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt --- .pre-commit-config.yaml | 12 ++++++------ .../lib/tracker/motion_model/ctrv_motion_model.cpp | 2 +- .../autoware_surround_obstacle_checker/src/node.cpp | 4 ++-- .../autoware_surround_obstacle_checker/src/node.hpp | 4 ++-- .../test/test_surround_obstacle_checker.cpp | 4 ++-- .../src/utils.cpp | 4 ++-- .../src/utils.hpp | 4 ++-- .../autoware_accel_brake_map_calibrator/README.md | 7 ++++--- 8 files changed, 21 insertions(+), 20 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e6dcc3f464ac7..f3f3248095a0f 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -7,7 +7,7 @@ ci: repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 + rev: v5.0.0 hooks: - id: check-json - id: check-merge-conflict @@ -22,7 +22,7 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.41.0 + rev: v0.43.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] @@ -53,7 +53,7 @@ repos: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.9.0-1 + rev: v3.10.0-2 hooks: - id: shfmt args: [-w, -s, -i=4] @@ -64,13 +64,13 @@ repos: - id: isort - repo: https://github.com/psf/black - rev: 24.8.0 + rev: 24.10.0 hooks: - id: black args: [--line-length=100] - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v18.1.8 + rev: v19.1.4 hooks: - id: clang-format types_or: [c++, c, cuda] @@ -83,7 +83,7 @@ repos: exclude: .cu - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.29.2 + rev: 0.30.0 hooks: - id: check-metaschema files: ^.+/schema/.*schema\.json$ diff --git a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp index 6f63ecbdce06d..700800e94ecd5 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp @@ -276,7 +276,7 @@ bool CTRVMotionModel::predictStateStep(const double dt, KalmanFilter & ekf) cons Eigen::MatrixXd X_next_t(DIM, 1); // predicted state X_next_t(IDX::X) = X_t(IDX::X) + X_t(IDX::VEL) * cos_yaw * dt; // dx = v * cos(yaw) X_next_t(IDX::Y) = X_t(IDX::Y) + X_t(IDX::VEL) * sin_yaw * dt; // dy = v * sin(yaw) - X_next_t(IDX::YAW) = X_t(IDX::YAW) + (X_t(IDX::WZ)) * dt; // dyaw = omega + X_next_t(IDX::YAW) = X_t(IDX::YAW) + (X_t(IDX::WZ))*dt; // dyaw = omega X_next_t(IDX::VEL) = X_t(IDX::VEL); X_next_t(IDX::WZ) = X_t(IDX::WZ); diff --git a/planning/autoware_surround_obstacle_checker/src/node.cpp b/planning/autoware_surround_obstacle_checker/src/node.cpp index 1a938a9275df5..382281127a113 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.cpp +++ b/planning/autoware_surround_obstacle_checker/src/node.cpp @@ -378,8 +378,8 @@ std::optional SurroundObstacleCheckerNode: auto SurroundObstacleCheckerNode::isStopRequired( const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state, - const std::optional & last_obstacle_found_time, - const double time_threshold) const -> std::pair> + const std::optional & last_obstacle_found_time, const double time_threshold) const + -> std::pair> { if (!is_vehicle_stopped) { return std::make_pair(false, std::nullopt); diff --git a/planning/autoware_surround_obstacle_checker/src/node.hpp b/planning/autoware_surround_obstacle_checker/src/node.hpp index 17eb2979e6809..f84ad3a8f5987 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.hpp +++ b/planning/autoware_surround_obstacle_checker/src/node.hpp @@ -89,8 +89,8 @@ class SurroundObstacleCheckerNode : public rclcpp::Node auto isStopRequired( const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state, - const std::optional & last_obstacle_found_time, - const double time_threshold) const -> std::pair>; + const std::optional & last_obstacle_found_time, const double time_threshold) const + -> std::pair>; // ros mutable tf2_ros::Buffer tf_buffer_{get_clock()}; diff --git a/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp b/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp index c5fbb7958208d..1122a37bb2672 100644 --- a/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp +++ b/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp @@ -48,8 +48,8 @@ class SurroundObstacleCheckerNodeTest : public ::testing::Test auto isStopRequired( const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state, - const std::optional & last_obstacle_found_time, - const double time_threshold) const -> std::pair> + const std::optional & last_obstacle_found_time, const double time_threshold) const + -> std::pair> { return node_->isStopRequired( is_obstacle_found, is_vehicle_stopped, state, last_obstacle_found_time, time_threshold); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp index c9eb93abb2e2f..4f0829c901915 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp @@ -32,8 +32,8 @@ auto getOffsetPoint(const Eigen::Vector2d & src, const Eigen::Vector2d & dst, co } auto findNearestCollisionPoint( - const LineString2d & line1, const LineString2d & line2, - const Point2d & origin) -> std::optional + const LineString2d & line1, const LineString2d & line2, const Point2d & origin) + -> std::optional { std::vector collision_points; bg::intersection(line1, line2, collision_points); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp index c6655064d3ffa..ad4ed84cea116 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp @@ -48,8 +48,8 @@ auto getOffsetPoint(const Eigen::Vector2d & src, const Eigen::Vector2d & dst, co * @return intersection point. if there is no intersection point, return std::nullopt. */ auto findNearestCollisionPoint( - const LineString2d & line1, const LineString2d & line2, - const Point2d & origin) -> std::optional; + const LineString2d & line1, const LineString2d & line2, const Point2d & origin) + -> std::optional; /** * @brief find intersection point between path and stop line and return the point. diff --git a/vehicle/autoware_accel_brake_map_calibrator/README.md b/vehicle/autoware_accel_brake_map_calibrator/README.md index 024c8059a169e..a85e7de98a3ef 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/README.md +++ b/vehicle/autoware_accel_brake_map_calibrator/README.md @@ -212,10 +212,11 @@ Update by Recursive Least Squares(RLS) method using data close enough to each gr #### Parameters Data selection is determined by the following thresholds. -| Name | Default Value | + +| Name | Default Value | | ----------------------- | ------------- | -| velocity_diff_threshold | 0.556 | -| pedal_diff_threshold | 0.03 | +| velocity_diff_threshold | 0.556 | +| pedal_diff_threshold | 0.03 | #### Update formula From 8d9ca0ed71f217fdec600b3763a8471d258c70bd Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Wed, 4 Dec 2024 09:43:29 +0900 Subject: [PATCH 637/701] fix(autoware_ground_segmentation): remove unused function (#9536) Signed-off-by: Ryuta Kambe --- .../autoware_ground_segmentation/src/scan_ground_filter/grid.hpp | 1 - 1 file changed, 1 deletion(-) diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp index 05fcde9317abe..0dbbe1eabb8da 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid.hpp @@ -114,7 +114,6 @@ class Cell // method to check if the cell is empty inline bool isEmpty() const { return point_list_.empty(); } - inline int getPointNum() const { return static_cast(point_list_.size()); } // index of the cell int grid_idx_; From 8185a5b696042507dd07c126dec877ea4650bbfd Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 4 Dec 2024 14:49:14 +0900 Subject: [PATCH 638/701] refactor(blind_spot): move util functions outside of class (#9544) Signed-off-by: Mamoru Sobue --- .../CMakeLists.txt | 1 + .../scene.hpp | 56 +--- .../util.hpp | 93 ++++++ .../src/manager.cpp | 8 +- .../src/scene.cpp | 315 +----------------- .../src/util.cpp | 314 +++++++++++++++++ 6 files changed, 428 insertions(+), 359 deletions(-) create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/util.hpp create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/util.cpp diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt index bdaa6d9f6aa2f..b4a688d711221 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CMakeLists.txt @@ -10,6 +10,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/manager.cpp src/scene.cpp src/decisions.cpp + src/util.cpp ) ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp index e9542feaccfd1..1bfa41d86ffbe 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/scene.hpp @@ -15,17 +15,13 @@ #ifndef AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__SCENE_HPP_ #define AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__SCENE_HPP_ +#include #include -#include #include #include -#include #include -#include -#include -#include #include #include @@ -37,21 +33,6 @@ namespace autoware::behavior_velocity_planner { -/** - * @brief wrapper class of interpolated path with lane id - */ -struct InterpolatedPathInfo -{ - /** the interpolated path */ - tier4_planning_msgs::msg::PathWithLaneId path; - /** discretization interval of interpolation */ - double ds{0.0}; - /** the intersection lanelet id */ - lanelet::Id lane_id{0}; - /** the range of indices for the path points with associative lane id */ - std::optional> lane_id_interval{std::nullopt}; -}; - /** * @brief represent action */ @@ -81,8 +62,6 @@ using BlindSpotDecision = std::variant virtual_wall_pose{std::nullopt}; @@ -146,12 +125,6 @@ class BlindSpotModule : public SceneModuleInterface void reactRTCApprovalByDecision( const Decision & decision, tier4_planning_msgs::msg::PathWithLaneId * path); - std::optional generateInterpolatedPathInfo( - const tier4_planning_msgs::msg::PathWithLaneId & input_path) const; - - std::optional getSiblingStraightLanelet( - const std::shared_ptr planner_data) const; - /** * @brief Generate a stop line and insert it into the path. * A stop line is at an intersection point of straight path with vehicle path @@ -188,33 +161,6 @@ class BlindSpotModule : public SceneModuleInterface const geometry_msgs::msg::Pose & stop_line_pose, const lanelet::CompoundPolygon3d & area, const double ego_time_to_reach_stop_line); - /** - * @brief Create half lanelet - * @param lanelet input lanelet - * @return Half lanelet - */ - lanelet::ConstLanelet generateHalfLanelet(const lanelet::ConstLanelet lanelet) const; - - lanelet::ConstLanelet generateExtendedAdjacentLanelet( - const lanelet::ConstLanelet lanelet, const TurnDirection direction) const; - lanelet::ConstLanelet generateExtendedOppositeAdjacentLanelet( - const lanelet::ConstLanelet lanelet, const TurnDirection direction) const; - - lanelet::ConstLanelets generateBlindSpotLanelets( - const tier4_planning_msgs::msg::PathWithLaneId & path) const; - - /** - * @brief Make blind spot areas. Narrow area is made from closest path point to stop line index. - * Broad area is made from backward expanded point to stop line point - * @param path path information associated with lane id - * @param closest_idx closest path point index from ego car in path points - * @return Blind spot polygons - */ - std::optional generateBlindSpotPolygons( - const tier4_planning_msgs::msg::PathWithLaneId & path, const size_t closest_idx, - const lanelet::ConstLanelets & blind_spot_lanelets, - const geometry_msgs::msg::Pose & stop_line_pose) const; - /** * @brief Check if object is belong to targeted classes * @param object Dynamic object diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/util.hpp new file mode 100644 index 0000000000000..9d908414b6d95 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/include/autoware/behavior_velocity_blind_spot_module/util.hpp @@ -0,0 +1,93 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__UTIL_HPP_ +#define AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__UTIL_HPP_ + +#include + +#include + +#include +#include + +#include +#include +#include + +namespace autoware::behavior_velocity_planner +{ + +enum class TurnDirection { LEFT, RIGHT }; + +/** + * @brief wrapper class of interpolated path with lane id + */ +struct InterpolatedPathInfo +{ + /** the interpolated path */ + tier4_planning_msgs::msg::PathWithLaneId path; + /** discretization interval of interpolation */ + double ds{0.0}; + /** the intersection lanelet id */ + lanelet::Id lane_id{0}; + /** the range of indices for the path points with associative lane id */ + std::optional> lane_id_interval{std::nullopt}; +}; + +std::optional generateInterpolatedPathInfo( + const lanelet::Id lane_id, const tier4_planning_msgs::msg::PathWithLaneId & input_path, + rclcpp::Logger logger); + +std::optional getSiblingStraightLanelet( + const lanelet::Lanelet assigned_lane, + const lanelet::routing::RoutingGraphConstPtr routing_graph_ptr); + +/** + * @brief Create half lanelet + * @param lanelet input lanelet + * @return Half lanelet + */ +lanelet::ConstLanelet generateHalfLanelet( + const lanelet::ConstLanelet lanelet, const TurnDirection & turn_direction, + const double ignore_width_from_centerline); + +lanelet::ConstLanelet generateExtendedAdjacentLanelet( + const lanelet::ConstLanelet lanelet, const TurnDirection direction, + const double adjacent_extend_width); +lanelet::ConstLanelet generateExtendedOppositeAdjacentLanelet( + const lanelet::ConstLanelet lanelet, const TurnDirection direction, + const double opposite_adjacent_extend_width); + +lanelet::ConstLanelets generateBlindSpotLanelets( + const std::shared_ptr route_handler, + const TurnDirection turn_direction, const lanelet::Id lane_id, + const tier4_planning_msgs::msg::PathWithLaneId & path, const double ignore_width_from_centerline, + const double adjacent_extend_width, const double opposite_adjacent_extend_width); + +/** + * @brief Make blind spot areas. Narrow area is made from closest path point to stop line index. + * Broad area is made from backward expanded point to stop line point + * @param path path information associated with lane id + * @param closest_idx closest path point index from ego car in path points + * @return Blind spot polygons + */ +std::optional generateBlindSpotPolygons( + const tier4_planning_msgs::msg::PathWithLaneId & path, const size_t closest_idx, + const lanelet::ConstLanelets & blind_spot_lanelets, + const geometry_msgs::msg::Pose & stop_line_pose, const double backward_detection_length); + +} // namespace autoware::behavior_velocity_planner + +#endif // AUTOWARE__BEHAVIOR_VELOCITY_BLIND_SPOT_MODULE__UTIL_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp index 5e05de72e0cab..cc63b42df68e4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/manager.cpp @@ -14,6 +14,8 @@ #include "autoware/behavior_velocity_blind_spot_module/manager.hpp" +#include "autoware/behavior_velocity_blind_spot_module/util.hpp" + #include #include @@ -23,7 +25,6 @@ #include #include #include -#include namespace autoware::behavior_velocity_planner { @@ -69,9 +70,8 @@ void BlindSpotModuleManager::launchNewModules(const tier4_planning_msgs::msg::Pa if (turn_direction_str != "left" && turn_direction_str != "right") { continue; } - const auto turn_direction = turn_direction_str == "left" - ? BlindSpotModule::TurnDirection::LEFT - : BlindSpotModule::TurnDirection::RIGHT; + const auto turn_direction = + turn_direction_str == "left" ? TurnDirection::LEFT : TurnDirection::RIGHT; registerModule(std::make_shared( module_id, lane_id, turn_direction, planner_data_, planner_param_, diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp index b5cbbfdf354bb..7697786adb19d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp @@ -14,29 +14,22 @@ #include "autoware/behavior_velocity_blind_spot_module/scene.hpp" +#include "autoware/behavior_velocity_blind_spot_module/util.hpp" + #include -#include #include #include -#include -#include #include -#include -#include -#include -#include +#include -#include #include -#include #include #include #include #include #include -#include #include #include @@ -55,7 +48,9 @@ BlindSpotModule::BlindSpotModule( is_over_pass_judge_line_(false) { velocity_factor_.init(PlanningBehavior::REAR_CHECK); - sibling_straight_lanelet_ = getSiblingStraightLanelet(planner_data); + sibling_straight_lanelet_ = getSiblingStraightLanelet( + planner_data->route_handler_->getLaneletMapPtr()->laneletLayer.get(lane_id_), + planner_data->route_handler_->getRoutingGraphPtr()); } void BlindSpotModule::initializeRTCStatus() @@ -72,7 +67,8 @@ BlindSpotDecision BlindSpotModule::modifyPathVelocityDetail(PathWithLaneId * pat const auto & input_path = *path; /* set stop-line and stop-judgement-line for base_link */ - const auto interpolated_path_info_opt = generateInterpolatedPathInfo(input_path); + const auto interpolated_path_info_opt = + generateInterpolatedPathInfo(lane_id_, input_path, logger_); if (!interpolated_path_info_opt) { return InternalError{"Failed to interpolate path"}; } @@ -105,7 +101,10 @@ BlindSpotDecision BlindSpotModule::modifyPathVelocityDetail(PathWithLaneId * pat } if (!blind_spot_lanelets_) { - const auto blind_spot_lanelets = generateBlindSpotLanelets(input_path); + const auto blind_spot_lanelets = generateBlindSpotLanelets( + planner_data_->route_handler_, turn_direction_, lane_id_, input_path, + planner_param_.ignore_width_from_center_line, planner_param_.adjacent_extend_width, + planner_param_.opposite_adjacent_extend_width); if (!blind_spot_lanelets.empty()) { blind_spot_lanelets_ = blind_spot_lanelets; } @@ -116,8 +115,8 @@ BlindSpotDecision BlindSpotModule::modifyPathVelocityDetail(PathWithLaneId * pat const auto & blind_spot_lanelets = blind_spot_lanelets_.value(); const auto detection_area_opt = generateBlindSpotPolygons( - input_path, closest_idx, blind_spot_lanelets, - path->points.at(critical_stopline_idx).point.pose); + input_path, closest_idx, blind_spot_lanelets, path->points.at(critical_stopline_idx).point.pose, + planner_param_.backward_detection_length); if (!detection_area_opt) { return InternalError{"Failed to generate BlindSpotPolygons"}; } @@ -180,76 +179,6 @@ bool BlindSpotModule::modifyPathVelocity(PathWithLaneId * path) return true; } -static bool hasLaneIds( - const tier4_planning_msgs::msg::PathPointWithLaneId & p, const lanelet::Id id) -{ - for (const auto & pid : p.lane_ids) { - if (pid == id) { - return true; - } - } - return false; -} - -static std::optional> findLaneIdInterval( - const tier4_planning_msgs::msg::PathWithLaneId & p, const lanelet::Id id) -{ - bool found = false; - size_t start = 0; - size_t end = p.points.size() > 0 ? p.points.size() - 1 : 0; - if (start == end) { - // there is only one point in the path - return std::nullopt; - } - for (size_t i = 0; i < p.points.size(); ++i) { - if (hasLaneIds(p.points.at(i), id)) { - if (!found) { - // found interval for the first time - found = true; - start = i; - } - } else if (found) { - // prior point was in the interval. interval ended - end = i; - break; - } - } - start = start > 0 ? start - 1 : 0; // the idx of last point before the interval - return found ? std::make_optional(std::make_pair(start, end)) : std::nullopt; -} - -std::optional BlindSpotModule::generateInterpolatedPathInfo( - const tier4_planning_msgs::msg::PathWithLaneId & input_path) const -{ - constexpr double ds = 0.2; - InterpolatedPathInfo interpolated_path_info; - if (!splineInterpolate(input_path, ds, interpolated_path_info.path, logger_)) { - return std::nullopt; - } - interpolated_path_info.ds = ds; - interpolated_path_info.lane_id = lane_id_; - interpolated_path_info.lane_id_interval = - findLaneIdInterval(interpolated_path_info.path, lane_id_); - return interpolated_path_info; -} - -std::optional BlindSpotModule::getSiblingStraightLanelet( - const std::shared_ptr planner_data) const -{ - const auto lanelet_map_ptr = planner_data->route_handler_->getLaneletMapPtr(); - const auto routing_graph_ptr = planner_data->route_handler_->getRoutingGraphPtr(); - - const auto assigned_lane = lanelet_map_ptr->laneletLayer.get(lane_id_); - for (const auto & prev : routing_graph_ptr->previous(assigned_lane)) { - for (const auto & following : routing_graph_ptr->following(prev)) { - if (std::string(following.attributeOr("turn_direction", "else")) == "straight") { - return following; - } - } - } - return std::nullopt; -} - static std::optional getFirstPointIntersectsLineByFootprint( const lanelet::ConstLineString2d & line, const InterpolatedPathInfo & interpolated_path_info, const autoware::universe_utils::LinearRing2d & footprint, const double vehicle_length) @@ -441,7 +370,7 @@ double BlindSpotModule::computeTimeToPassStopLine( const lanelet::ConstLanelets & blind_spot_lanelets, const geometry_msgs::msg::Pose & stop_line_pose) const { - // egoが停止している時にそのまま速度を使うと衝突しなくなってしまうのでegoについては最低速度を使う + // if ego is completely stopped, using ego velocity yields "no-collision" const auto & current_pose = planner_data_->current_odometry->pose; const auto current_arc_ego = lanelet::utils::getArcCoordinates(blind_spot_lanelets, current_pose).length; @@ -491,220 +420,6 @@ std::optional BlindSpotModule::i return std::nullopt; } -lanelet::ConstLanelet BlindSpotModule::generateHalfLanelet( - const lanelet::ConstLanelet lanelet) const -{ - lanelet::Points3d lefts, rights; - - const double offset = (turn_direction_ == TurnDirection::LEFT) - ? planner_param_.ignore_width_from_center_line - : -planner_param_.ignore_width_from_center_line; - const auto offset_centerline = lanelet::utils::getCenterlineWithOffset(lanelet, offset); - - const auto original_left_bound = - (turn_direction_ == TurnDirection::LEFT) ? lanelet.leftBound() : offset_centerline; - const auto original_right_bound = - (turn_direction_ == TurnDirection::LEFT) ? offset_centerline : lanelet.rightBound(); - - for (const auto & pt : original_left_bound) { - lefts.push_back(lanelet::Point3d(pt)); - } - for (const auto & pt : original_right_bound) { - rights.push_back(lanelet::Point3d(pt)); - } - const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); - const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); - auto half_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); - return half_lanelet; -} - -lanelet::ConstLanelet BlindSpotModule::generateExtendedAdjacentLanelet( - const lanelet::ConstLanelet lanelet, const TurnDirection direction) const -{ - const auto centerline = lanelet.centerline2d(); - const auto width = - boost::geometry::area(lanelet.polygon2d().basicPolygon()) / boost::geometry::length(centerline); - const double extend_width = std::min(planner_param_.adjacent_extend_width, width); - const auto left_bound_ = - direction == TurnDirection::LEFT - ? lanelet::utils::getCenterlineWithOffset(lanelet, -width / 2 + extend_width) - : lanelet.leftBound(); - const auto right_bound_ = - direction == TurnDirection::RIGHT - ? lanelet::utils::getCenterlineWithOffset(lanelet, width / 2 - extend_width) - : lanelet.rightBound(); - lanelet::Points3d lefts, rights; - for (const auto & pt : left_bound_) { - lefts.push_back(lanelet::Point3d(pt)); - } - for (const auto & pt : right_bound_) { - rights.push_back(lanelet::Point3d(pt)); - } - const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); - const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); - auto new_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); - const auto new_centerline = lanelet::utils::generateFineCenterline(new_lanelet, 5.0); - new_lanelet.setCenterline(new_centerline); - return new_lanelet; -} - -lanelet::ConstLanelet BlindSpotModule::generateExtendedOppositeAdjacentLanelet( - const lanelet::ConstLanelet lanelet, const TurnDirection direction) const -{ - const auto centerline = lanelet.centerline2d(); - const auto width = - boost::geometry::area(lanelet.polygon2d().basicPolygon()) / boost::geometry::length(centerline); - const double extend_width = - std::min(planner_param_.opposite_adjacent_extend_width, width); - const auto left_bound_ = - direction == TurnDirection::RIGHT - ? lanelet.rightBound().invert() - : lanelet::utils::getCenterlineWithOffset(lanelet.invert(), -width / 2 + extend_width); - const auto right_bound_ = - direction == TurnDirection::RIGHT - ? lanelet::utils::getCenterlineWithOffset(lanelet.invert(), width / 2 - extend_width) - : lanelet.leftBound().invert(); - lanelet::Points3d lefts, rights; - for (const auto & pt : left_bound_) { - lefts.push_back(lanelet::Point3d(pt)); - } - for (const auto & pt : right_bound_) { - rights.push_back(lanelet::Point3d(pt)); - } - const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); - const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); - auto new_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); - const auto new_centerline = lanelet::utils::generateFineCenterline(new_lanelet, 5.0); - new_lanelet.setCenterline(new_centerline); - return new_lanelet; -} - -static lanelet::LineString3d removeConst(lanelet::ConstLineString3d line) -{ - lanelet::Points3d pts; - for (const auto & pt : line) { - pts.push_back(lanelet::Point3d(pt)); - } - return lanelet::LineString3d(lanelet::InvalId, pts); -} - -lanelet::ConstLanelets BlindSpotModule::generateBlindSpotLanelets( - const tier4_planning_msgs::msg::PathWithLaneId & path) const -{ - /* get lanelet map */ - const auto lanelet_map_ptr = planner_data_->route_handler_->getLaneletMapPtr(); - const auto routing_graph_ptr = planner_data_->route_handler_->getRoutingGraphPtr(); - - std::vector lane_ids; - /* get lane ids until intersection */ - for (const auto & point : path.points) { - bool found_intersection_lane = false; - for (const auto lane_id : point.lane_ids) { - if (lane_id == lane_id_) { - found_intersection_lane = true; - lane_ids.push_back(lane_id); - break; - } - // make lane_ids unique - if (std::find(lane_ids.begin(), lane_ids.end(), lane_id) == lane_ids.end()) { - lane_ids.push_back(lane_id); - } - } - if (found_intersection_lane) break; - } - - lanelet::ConstLanelets blind_spot_lanelets; - for (const auto i : lane_ids) { - const auto lane = lanelet_map_ptr->laneletLayer.get(i); - const auto ego_half_lanelet = generateHalfLanelet(lane); - const auto assoc_adj = - turn_direction_ == TurnDirection::LEFT - ? (routing_graph_ptr->adjacentLeft(lane)) - : (turn_direction_ == TurnDirection::RIGHT ? (routing_graph_ptr->adjacentRight(lane)) - : boost::none); - const std::optional opposite_adj = - [&]() -> std::optional { - if (!!assoc_adj) { - return std::nullopt; - } - if (turn_direction_ == TurnDirection::LEFT) { - // this should exist in right-hand traffic - const auto adjacent_lanes = - lanelet_map_ptr->laneletLayer.findUsages(lane.leftBound().invert()); - if (adjacent_lanes.empty()) { - return std::nullopt; - } - return adjacent_lanes.front(); - } - if (turn_direction_ == TurnDirection::RIGHT) { - // this should exist in left-hand traffic - const auto adjacent_lanes = - lanelet_map_ptr->laneletLayer.findUsages(lane.rightBound().invert()); - if (adjacent_lanes.empty()) { - return std::nullopt; - } - return adjacent_lanes.front(); - } else { - return std::nullopt; - } - }(); - - const auto assoc_shoulder = [&]() -> std::optional { - if (turn_direction_ == TurnDirection::LEFT) { - return planner_data_->route_handler_->getLeftShoulderLanelet(lane); - } else if (turn_direction_ == TurnDirection::RIGHT) { - return planner_data_->route_handler_->getRightShoulderLanelet(lane); - } - return std::nullopt; - }(); - if (assoc_shoulder) { - const auto lefts = (turn_direction_ == TurnDirection::LEFT) - ? assoc_shoulder.value().leftBound() - : ego_half_lanelet.leftBound(); - const auto rights = (turn_direction_ == TurnDirection::LEFT) - ? ego_half_lanelet.rightBound() - : assoc_shoulder.value().rightBound(); - blind_spot_lanelets.push_back( - lanelet::ConstLanelet(lanelet::InvalId, removeConst(lefts), removeConst(rights))); - - } else if (!!assoc_adj) { - const auto adj_half_lanelet = - generateExtendedAdjacentLanelet(assoc_adj.value(), turn_direction_); - const auto lefts = (turn_direction_ == TurnDirection::LEFT) ? adj_half_lanelet.leftBound() - : ego_half_lanelet.leftBound(); - const auto rights = (turn_direction_ == TurnDirection::RIGHT) ? adj_half_lanelet.rightBound() - : ego_half_lanelet.rightBound(); - blind_spot_lanelets.push_back( - lanelet::ConstLanelet(lanelet::InvalId, removeConst(lefts), removeConst(rights))); - } else if (opposite_adj) { - const auto adj_half_lanelet = - generateExtendedOppositeAdjacentLanelet(opposite_adj.value(), turn_direction_); - const auto lefts = (turn_direction_ == TurnDirection::LEFT) ? adj_half_lanelet.leftBound() - : ego_half_lanelet.leftBound(); - const auto rights = (turn_direction_ == TurnDirection::LEFT) ? ego_half_lanelet.rightBound() - : adj_half_lanelet.rightBound(); - blind_spot_lanelets.push_back( - lanelet::ConstLanelet(lanelet::InvalId, removeConst(lefts), removeConst(rights))); - } else { - blind_spot_lanelets.push_back(ego_half_lanelet); - } - } - return blind_spot_lanelets; -} - -std::optional BlindSpotModule::generateBlindSpotPolygons( - [[maybe_unused]] const tier4_planning_msgs::msg::PathWithLaneId & path, - [[maybe_unused]] const size_t closest_idx, const lanelet::ConstLanelets & blind_spot_lanelets, - const geometry_msgs::msg::Pose & stop_line_pose) const -{ - const auto stop_line_arc_ego = - lanelet::utils::getArcCoordinates(blind_spot_lanelets, stop_line_pose).length; - const auto detection_area_start_length_ego = - std::max(stop_line_arc_ego - planner_param_.backward_detection_length, 0.0); - return lanelet::utils::getPolygonFromArcLength( - blind_spot_lanelets, detection_area_start_length_ego, stop_line_arc_ego); -} - bool BlindSpotModule::isTargetObjectType( const autoware_perception_msgs::msg::PredictedObject & object) const { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/util.cpp new file mode 100644 index 0000000000000..fde6202c7ce24 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/util.cpp @@ -0,0 +1,314 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include +#include + +#include +#include +#include + +#include + +namespace autoware::behavior_velocity_planner +{ + +namespace +{ +static bool hasLaneIds( + const tier4_planning_msgs::msg::PathPointWithLaneId & p, const lanelet::Id id) +{ + for (const auto & pid : p.lane_ids) { + if (pid == id) { + return true; + } + } + return false; +} + +static std::optional> findLaneIdInterval( + const tier4_planning_msgs::msg::PathWithLaneId & p, const lanelet::Id id) +{ + bool found = false; + size_t start = 0; + size_t end = p.points.size() > 0 ? p.points.size() - 1 : 0; + if (start == end) { + // there is only one point in the path + return std::nullopt; + } + for (size_t i = 0; i < p.points.size(); ++i) { + if (hasLaneIds(p.points.at(i), id)) { + if (!found) { + // found interval for the first time + found = true; + start = i; + } + } else if (found) { + // prior point was in the interval. interval ended + end = i; + break; + } + } + start = start > 0 ? start - 1 : 0; // the idx of last point before the interval + return found ? std::make_optional(std::make_pair(start, end)) : std::nullopt; +} +} // namespace + +std::optional generateInterpolatedPathInfo( + const lanelet::Id lane_id, const tier4_planning_msgs::msg::PathWithLaneId & input_path, + rclcpp::Logger logger) +{ + constexpr double ds = 0.2; + InterpolatedPathInfo interpolated_path_info; + if (!splineInterpolate(input_path, ds, interpolated_path_info.path, logger)) { + return std::nullopt; + } + interpolated_path_info.ds = ds; + interpolated_path_info.lane_id = lane_id; + interpolated_path_info.lane_id_interval = + findLaneIdInterval(interpolated_path_info.path, lane_id); + return interpolated_path_info; +} + +std::optional getSiblingStraightLanelet( + const lanelet::Lanelet assigned_lane, + const lanelet::routing::RoutingGraphConstPtr routing_graph_ptr) +{ + for (const auto & prev : routing_graph_ptr->previous(assigned_lane)) { + for (const auto & following : routing_graph_ptr->following(prev)) { + if (std::string(following.attributeOr("turn_direction", "else")) == "straight") { + return following; + } + } + } + return std::nullopt; +} + +lanelet::ConstLanelet generateHalfLanelet( + const lanelet::ConstLanelet lanelet, const TurnDirection & turn_direction, + const double ignore_width_from_centerline) +{ + lanelet::Points3d lefts, rights; + + const double offset = (turn_direction == TurnDirection::LEFT) ? ignore_width_from_centerline + : -ignore_width_from_centerline; + const auto offset_centerline = lanelet::utils::getCenterlineWithOffset(lanelet, offset); + + const auto original_left_bound = + (turn_direction == TurnDirection::LEFT) ? lanelet.leftBound() : offset_centerline; + const auto original_right_bound = + (turn_direction == TurnDirection::LEFT) ? offset_centerline : lanelet.rightBound(); + + for (const auto & pt : original_left_bound) { + lefts.emplace_back(pt); + } + for (const auto & pt : original_right_bound) { + rights.emplace_back(pt); + } + const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); + const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); + auto half_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); + return half_lanelet; +} + +lanelet::ConstLanelet generateExtendedAdjacentLanelet( + const lanelet::ConstLanelet lanelet, const TurnDirection direction, + const double adjacent_extend_width) +{ + const auto centerline = lanelet.centerline2d(); + const auto width = + boost::geometry::area(lanelet.polygon2d().basicPolygon()) / boost::geometry::length(centerline); + const double extend_width = std::min(adjacent_extend_width, width); + const auto left_bound_ = + direction == TurnDirection::LEFT + ? lanelet::utils::getCenterlineWithOffset(lanelet, -width / 2 + extend_width) + : lanelet.leftBound(); + const auto right_bound_ = + direction == TurnDirection::RIGHT + ? lanelet::utils::getCenterlineWithOffset(lanelet, width / 2 - extend_width) + : lanelet.rightBound(); + lanelet::Points3d lefts, rights; + for (const auto & pt : left_bound_) { + lefts.emplace_back(pt); + } + for (const auto & pt : right_bound_) { + rights.emplace_back(pt); + } + const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); + const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); + auto new_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); + const auto new_centerline = lanelet::utils::generateFineCenterline(new_lanelet, 5.0); + new_lanelet.setCenterline(new_centerline); + return new_lanelet; +} + +lanelet::ConstLanelet generateExtendedOppositeAdjacentLanelet( + const lanelet::ConstLanelet lanelet, const TurnDirection direction, + const double opposite_adjacent_extend_width) +{ + const auto centerline = lanelet.centerline2d(); + const auto width = + boost::geometry::area(lanelet.polygon2d().basicPolygon()) / boost::geometry::length(centerline); + const double extend_width = std::min(opposite_adjacent_extend_width, width); + const auto left_bound_ = + direction == TurnDirection::RIGHT + ? lanelet.rightBound().invert() + : lanelet::utils::getCenterlineWithOffset(lanelet.invert(), -width / 2 + extend_width); + const auto right_bound_ = + direction == TurnDirection::RIGHT + ? lanelet::utils::getCenterlineWithOffset(lanelet.invert(), width / 2 - extend_width) + : lanelet.leftBound().invert(); + lanelet::Points3d lefts, rights; + for (const auto & pt : left_bound_) { + lefts.emplace_back(pt); + } + for (const auto & pt : right_bound_) { + rights.emplace_back(pt); + } + const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); + const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); + auto new_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); + const auto new_centerline = lanelet::utils::generateFineCenterline(new_lanelet, 5.0); + new_lanelet.setCenterline(new_centerline); + return new_lanelet; +} + +static lanelet::LineString3d removeConst(lanelet::ConstLineString3d line) +{ + lanelet::Points3d pts; + for (const auto & pt : line) { + pts.emplace_back(pt); + } + return lanelet::LineString3d(lanelet::InvalId, pts); +} + +lanelet::ConstLanelets generateBlindSpotLanelets( + const std::shared_ptr route_handler, + const TurnDirection turn_direction, const lanelet::Id lane_id, + const tier4_planning_msgs::msg::PathWithLaneId & path, const double ignore_width_from_centerline, + const double adjacent_extend_width, const double opposite_adjacent_extend_width) +{ + const auto lanelet_map_ptr = route_handler->getLaneletMapPtr(); + const auto routing_graph_ptr = route_handler->getRoutingGraphPtr(); + + std::vector lane_ids; + /* get lane ids until intersection */ + for (const auto & point : path.points) { + bool found_intersection_lane = false; + for (const auto id : point.lane_ids) { + if (id == lane_id) { + found_intersection_lane = true; + lane_ids.push_back(lane_id); + break; + } + // make lane_ids unique + if (std::find(lane_ids.begin(), lane_ids.end(), lane_id) == lane_ids.end()) { + lane_ids.push_back(lane_id); + } + } + if (found_intersection_lane) break; + } + + lanelet::ConstLanelets blind_spot_lanelets; + for (const auto i : lane_ids) { + const auto lane = lanelet_map_ptr->laneletLayer.get(i); + const auto ego_half_lanelet = + generateHalfLanelet(lane, turn_direction, ignore_width_from_centerline); + const auto assoc_adj = + turn_direction == TurnDirection::LEFT + ? (routing_graph_ptr->adjacentLeft(lane)) + : (turn_direction == TurnDirection::RIGHT ? (routing_graph_ptr->adjacentRight(lane)) + : boost::none); + const std::optional opposite_adj = + [&]() -> std::optional { + if (!!assoc_adj) { + return std::nullopt; + } + if (turn_direction == TurnDirection::LEFT) { + // this should exist in right-hand traffic + const auto adjacent_lanes = + lanelet_map_ptr->laneletLayer.findUsages(lane.leftBound().invert()); + if (adjacent_lanes.empty()) { + return std::nullopt; + } + return adjacent_lanes.front(); + } + if (turn_direction == TurnDirection::RIGHT) { + // this should exist in left-hand traffic + const auto adjacent_lanes = + lanelet_map_ptr->laneletLayer.findUsages(lane.rightBound().invert()); + if (adjacent_lanes.empty()) { + return std::nullopt; + } + return adjacent_lanes.front(); + } else { + return std::nullopt; + } + }(); + + const auto assoc_shoulder = [&]() -> std::optional { + if (turn_direction == TurnDirection::LEFT) { + return route_handler->getLeftShoulderLanelet(lane); + } else if (turn_direction == TurnDirection::RIGHT) { + return route_handler->getRightShoulderLanelet(lane); + } + return std::nullopt; + }(); + if (assoc_shoulder) { + const auto lefts = (turn_direction == TurnDirection::LEFT) + ? assoc_shoulder.value().leftBound() + : ego_half_lanelet.leftBound(); + const auto rights = (turn_direction == TurnDirection::LEFT) + ? ego_half_lanelet.rightBound() + : assoc_shoulder.value().rightBound(); + blind_spot_lanelets.emplace_back(lanelet::InvalId, removeConst(lefts), removeConst(rights)); + + } else if (!!assoc_adj) { + const auto adj_half_lanelet = + generateExtendedAdjacentLanelet(assoc_adj.value(), turn_direction, adjacent_extend_width); + const auto lefts = (turn_direction == TurnDirection::LEFT) ? adj_half_lanelet.leftBound() + : ego_half_lanelet.leftBound(); + const auto rights = (turn_direction == TurnDirection::RIGHT) ? adj_half_lanelet.rightBound() + : ego_half_lanelet.rightBound(); + blind_spot_lanelets.emplace_back(lanelet::InvalId, removeConst(lefts), removeConst(rights)); + } else if (opposite_adj) { + const auto adj_half_lanelet = generateExtendedOppositeAdjacentLanelet( + opposite_adj.value(), turn_direction, opposite_adjacent_extend_width); + const auto lefts = (turn_direction == TurnDirection::LEFT) ? adj_half_lanelet.leftBound() + : ego_half_lanelet.leftBound(); + const auto rights = (turn_direction == TurnDirection::LEFT) ? ego_half_lanelet.rightBound() + : adj_half_lanelet.rightBound(); + blind_spot_lanelets.emplace_back(lanelet::InvalId, removeConst(lefts), removeConst(rights)); + } else { + blind_spot_lanelets.push_back(ego_half_lanelet); + } + } + return blind_spot_lanelets; +} + +std::optional generateBlindSpotPolygons( + [[maybe_unused]] const tier4_planning_msgs::msg::PathWithLaneId & path, + [[maybe_unused]] const size_t closest_idx, const lanelet::ConstLanelets & blind_spot_lanelets, + const geometry_msgs::msg::Pose & stop_line_pose, const double backward_detection_length) +{ + const auto stop_line_arc_ego = + lanelet::utils::getArcCoordinates(blind_spot_lanelets, stop_line_pose).length; + const auto detection_area_start_length_ego = + std::max(stop_line_arc_ego - backward_detection_length, 0.0); + return lanelet::utils::getPolygonFromArcLength( + blind_spot_lanelets, detection_area_start_length_ego, stop_line_arc_ego); +} + +} // namespace autoware::behavior_velocity_planner From 560654fb033cf264fc369cdd6881034f217c4817 Mon Sep 17 00:00:00 2001 From: Amadeusz Szymko Date: Wed, 4 Dec 2024 15:51:56 +0900 Subject: [PATCH 639/701] fix(autoware_map_based_prediction): msg namespace (#9553) Signed-off-by: amadeuszsz --- .../src/map_based_prediction_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp index 4c4b7b30caecf..e2ccae19a04f7 100644 --- a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -691,7 +691,7 @@ void MapBasedPredictionNode::updateObjectData(TrackedObject & object) if ( object.kinematics.orientation_availability == - autoware_perception_msgs::msg::DetectedObjectKinematics::AVAILABLE) { + autoware_perception_msgs::msg::TrackedObjectKinematics::AVAILABLE) { return; } @@ -712,7 +712,7 @@ void MapBasedPredictionNode::updateObjectData(TrackedObject & object) if (abs_object_speed < min_abs_speed) return; switch (object.kinematics.orientation_availability) { - case autoware_perception_msgs::msg::DetectedObjectKinematics::SIGN_UNKNOWN: { + case autoware_perception_msgs::msg::TrackedObjectKinematics::SIGN_UNKNOWN: { const auto original_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); // flip the angle From 3a749cc31fb5f6e838f46fe8c706488becbc4cac Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Wed, 4 Dec 2024 17:12:37 +0900 Subject: [PATCH 640/701] chore(autoware_lidar_transfusion): added a warning if we are dropping voxels (#9486) * chore: added a warning if we are dropping voxels Signed-off-by: Kenzo Lobos-Tsunekawa * chore: changed the warning to a throttled one Signed-off-by: Kenzo Lobos-Tsunekawa --------- Signed-off-by: Kenzo Lobos-Tsunekawa --- .../autoware_lidar_transfusion/lib/transfusion_trt.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp b/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp index 42e017a2dfdda..09702099f001e 100644 --- a/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp +++ b/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp @@ -175,6 +175,13 @@ bool TransfusionTRT::preprocess( } if (params_input > config_.max_voxels_) { + rclcpp::Clock clock{RCL_ROS_TIME}; + RCLCPP_WARN_THROTTLE( + rclcpp::get_logger("lidar_transfusion"), clock, 1000, + "The actual number of voxels (%u) exceeds its maximum value (%zu). " + "Please considering increasing it since it may limit the detection performance.", + params_input, config_.max_voxels_); + params_input = config_.max_voxels_; } RCLCPP_DEBUG_STREAM( From 42cc37fbfbab515bf6a06aebd3fc204d27c0f98c Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Wed, 4 Dec 2024 18:49:24 +0900 Subject: [PATCH 641/701] feat(build-and-test-differential): if unnecessary, completely ignore cuda build (#9520) Signed-off-by: Y.Hisaki --- .../build-and-test-differential.yaml | 133 ++++++++++++++---- 1 file changed, 103 insertions(+), 30 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 540ab64b4f279..f62904b03c6e4 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -27,29 +27,58 @@ jobs: with: label: tag:require-cuda-build-and-test - build-and-test-differential: + prepare-build-and-test-differential: + runs-on: ubuntu-latest needs: [make-sure-label-is-present, make-sure-require-cuda-label-is-present] - if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }} - runs-on: ${{ matrix.runner }} - container: ${{ matrix.container }}${{ matrix.container-suffix }} - strategy: - fail-fast: false - matrix: - rosdistro: - - humble - container-suffix: - - "" - - -cuda - include: - - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:universe-devel - build-depends-repos: build_depends.repos - - container-suffix: -cuda - runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large - build-pre-command: taskset --cpu-list 0-5 - - container-suffix: "" - runner: ubuntu-latest - build-pre-command: "" + outputs: + cuda_build: ${{ steps.check-if-cuda-build-is-required.outputs.cuda_build }} + steps: + - name: Check if cuda-build is required + id: check-if-cuda-build-is-required + run: | + if ${{ needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }}; then + echo "cuda-build is required" + echo "cuda_build=true" >> $GITHUB_OUTPUT + else + echo "cuda-build is not required" + echo "cuda_build=false" >> $GITHUB_OUTPUT + fi + shell: bash + - name: Fail if the tag:run-build-and-test-differential is missing + if: ${{ needs.make-sure-label-is-present.outputs.result != 'true' }} + run: exit 1 + + build-and-test-differential: + runs-on: ubuntu-latest + container: ghcr.io/autowarefoundation/autoware:universe-devel + needs: prepare-build-and-test-differential + steps: + - name: Set PR fetch depth + run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" + shell: bash + + - name: Checkout PR branch and all PR commits + uses: actions/checkout@v4 + with: + ref: ${{ github.event.pull_request.head.sha }} + fetch-depth: ${{ env.PR_FETCH_DEPTH }} + + - name: Run build-and-test-differential action + uses: ./.github/actions/build-and-test-differential + with: + rosdistro: humble + container: ghcr.io/autowarefoundation/autoware:universe-devel + container-suffix: "" + runner: ubuntu-latest + build-depends-repos: build_depends.repos + build-pre-command: "" + codecov-token: ${{ secrets.CODECOV_TOKEN }} + + build-and-test-differential-cuda: + runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large + container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda + needs: prepare-build-and-test-differential + if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'true' }} steps: - name: Set PR fetch depth run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" @@ -62,19 +91,63 @@ jobs: fetch-depth: ${{ env.PR_FETCH_DEPTH }} - name: Run build-and-test-differential action - if: ${{ !(matrix.container-suffix == '-cuda') || needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }} uses: ./.github/actions/build-and-test-differential with: - rosdistro: ${{ matrix.rosdistro }} - container: ${{ matrix.container }} - container-suffix: ${{ matrix.container-suffix }} - runner: ${{ matrix.runner }} - build-depends-repos: ${{ matrix.build-depends-repos }} - build-pre-command: ${{ matrix.build-pre-command }} + rosdistro: humble + container: ghcr.io/autowarefoundation/autoware:universe-devel + container-suffix: -cuda + runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large + build-depends-repos: build_depends.repos + build-pre-command: taskset --cpu-list 0-5 codecov-token: ${{ secrets.CODECOV_TOKEN }} clang-tidy-differential: - needs: build-and-test-differential + needs: [build-and-test-differential, prepare-build-and-test-differential] + if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'false' }} + runs-on: ubuntu-latest + container: ghcr.io/autowarefoundation/autoware:universe-devel + steps: + - name: Set PR fetch depth + run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" + + - name: Checkout PR branch and all PR commits + uses: actions/checkout@v4 + with: + ref: ${{ github.event.pull_request.head.sha }} + fetch-depth: ${{ env.PR_FETCH_DEPTH }} + + - name: Show disk space before the tasks + run: df -h + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 + + - name: Get changed files (existing files only) + id: get-changed-files + run: | + echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT + shell: bash + + - name: Run clang-tidy + if: ${{ steps.get-changed-files.outputs.changed-files != '' }} + uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 + with: + rosdistro: humble + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci + clang-tidy-ignore-path: .clang-tidy-ignore + build-depends-repos: build_depends.repos + cache-key-element: cuda + + - name: Show disk space after the tasks + run: df -h + + clang-tidy-differential-cuda: + needs: build-and-test-differential-cuda runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda steps: From 3dec63b7011f01b97c66a3877786d37c3dc5f375 Mon Sep 17 00:00:00 2001 From: Jesus Armando Anaya Date: Wed, 4 Dec 2024 02:47:34 -0800 Subject: [PATCH 642/701] fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (#9561) Signed-off-by: Jesus Armando Anaya --- simulator/autoware_carla_interface/setup.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/simulator/autoware_carla_interface/setup.py b/simulator/autoware_carla_interface/setup.py index 346f1838670ab..84f7a544555a2 100644 --- a/simulator/autoware_carla_interface/setup.py +++ b/simulator/autoware_carla_interface/setup.py @@ -1,6 +1,7 @@ from glob import glob import os +from setuptools import find_packages from setuptools import setup package_name = "autoware_carla_interface" @@ -8,13 +9,13 @@ setup( name=package_name, version="0.38.0", - packages=[package_name], + packages=find_packages(where="src"), data_files=[ - ("share/" + package_name, glob("config/*")), - ("share/" + package_name, glob("calibration_maps/*.csv")), - ("share/" + package_name, ["package.xml"]), - (os.path.join("share", package_name), glob("launch/autoware_carla_interface.launch.xml")), - ("share/ament_index/resource_index/packages", ["resource/autoware_carla_interface"]), + ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]), + (os.path.join("share", package_name), ["package.xml"]), + (os.path.join("share", package_name), glob("config/*")), + (os.path.join("share", package_name), glob("calibration_maps/*.csv")), + (os.path.join("share", package_name), glob("launch/*.launch.xml")), ], install_requires=["setuptools"], zip_safe=True, From ed133ebb913390dbd059df294b35fe5b607eca73 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 4 Dec 2024 19:48:47 +0900 Subject: [PATCH 643/701] fix(obstacle_stop_planner): remove stop reason (#9465) Signed-off-by: satoshi-ota --- .../autoware_obstacle_stop_planner/README.md | 7 ++--- .../launch/obstacle_stop_planner.launch.xml | 1 - .../src/debug_marker.cpp | 30 ------------------- .../src/debug_marker.hpp | 6 ---- 4 files changed, 3 insertions(+), 41 deletions(-) diff --git a/planning/autoware_obstacle_stop_planner/README.md b/planning/autoware_obstacle_stop_planner/README.md index d3965192cd4c3..700cb657786ff 100644 --- a/planning/autoware_obstacle_stop_planner/README.md +++ b/planning/autoware_obstacle_stop_planner/README.md @@ -24,10 +24,9 @@ ### Output topics -| Name | Type | Description | -| ---------------------- | ------------------------------------ | -------------------------------------- | -| `~output/trajectory` | autoware_planning_msgs::Trajectory | trajectory to be followed | -| `~output/stop_reasons` | tier4_planning_msgs::StopReasonArray | reasons that cause the vehicle to stop | +| Name | Type | Description | +| -------------------- | ---------------------------------- | ------------------------- | +| `~output/trajectory` | autoware_planning_msgs::Trajectory | trajectory to be followed | ### Common Parameter diff --git a/planning/autoware_obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml b/planning/autoware_obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml index db38370d36dfb..0b0fdc6e00459 100644 --- a/planning/autoware_obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml +++ b/planning/autoware_obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml @@ -22,7 +22,6 @@ - diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp index 75d25f3f8db80..71077014a2be1 100644 --- a/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp +++ b/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp @@ -47,7 +47,6 @@ ObstacleStopPlannerDebugNode::ObstacleStopPlannerDebugNode( { virtual_wall_pub_ = node_->create_publisher("~/virtual_wall", 1); debug_viz_pub_ = node_->create_publisher("~/debug/marker", 1); - stop_reason_pub_ = node_->create_publisher("~/output/stop_reasons", 1); velocity_factor_pub_ = node_->create_publisher("/planning/velocity_factors/obstacle_stop", 1); pub_debug_values_ = @@ -188,8 +187,6 @@ void ObstacleStopPlannerDebugNode::publish() debug_viz_pub_->publish(visualization_msg); /* publish stop reason for autoware api */ - const auto stop_reason_msg = makeStopReasonArray(); - stop_reason_pub_->publish(stop_reason_msg); const auto velocity_factor_msg = makeVelocityFactorArray(); velocity_factor_pub_->publish(velocity_factor_msg); @@ -493,33 +490,6 @@ MarkerArray ObstacleStopPlannerDebugNode::makeVisualizationMarker() return msg; } -StopReasonArray ObstacleStopPlannerDebugNode::makeStopReasonArray() -{ - // create header - Header header; - header.frame_id = "map"; - header.stamp = node_->now(); - - // create stop reason stamped - StopReason stop_reason_msg; - stop_reason_msg.reason = StopReason::OBSTACLE_STOP; - StopFactor stop_factor; - - if (stop_pose_ptr_ != nullptr) { - stop_factor.stop_pose = *stop_pose_ptr_; - if (stop_obstacle_point_ptr_ != nullptr) { - stop_factor.stop_factor_points.emplace_back(*stop_obstacle_point_ptr_); - } - stop_reason_msg.stop_factors.emplace_back(stop_factor); - } - - // create stop reason array - StopReasonArray stop_reason_array; - stop_reason_array.header = header; - stop_reason_array.stop_reasons.emplace_back(stop_reason_msg); - return stop_reason_array; -} - VelocityFactorArray ObstacleStopPlannerDebugNode::makeVelocityFactorArray() { VelocityFactorArray velocity_factor_array; diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp index 4400368cc3d70..d13e775e3d683 100644 --- a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp +++ b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp @@ -21,7 +21,6 @@ #include #include #include -#include #include #include @@ -47,9 +46,6 @@ using autoware_adapi_v1_msgs::msg::PlanningBehavior; using autoware_adapi_v1_msgs::msg::VelocityFactor; using autoware_adapi_v1_msgs::msg::VelocityFactorArray; using tier4_debug_msgs::msg::Float32MultiArrayStamped; -using tier4_planning_msgs::msg::StopFactor; -using tier4_planning_msgs::msg::StopReason; -using tier4_planning_msgs::msg::StopReasonArray; enum class PolygonType : int8_t { Vehicle = 0, Collision, SlowDownRange, SlowDown, Obstacle }; @@ -113,7 +109,6 @@ class ObstacleStopPlannerDebugNode bool pushObstaclePoint(const pcl::PointXYZ & obstacle_point, const PointType & type); MarkerArray makeVirtualWallMarker(); MarkerArray makeVisualizationMarker(); - StopReasonArray makeStopReasonArray(); VelocityFactorArray makeVelocityFactorArray(); void setDebugValues(const DebugValues::TYPE type, const double val) @@ -125,7 +120,6 @@ class ObstacleStopPlannerDebugNode private: rclcpp::Publisher::SharedPtr virtual_wall_pub_; rclcpp::Publisher::SharedPtr debug_viz_pub_; - rclcpp::Publisher::SharedPtr stop_reason_pub_; rclcpp::Publisher::SharedPtr velocity_factor_pub_; rclcpp::Publisher::SharedPtr pub_debug_values_; rclcpp::Node * node_; From 6ab469d73e6a195095c5e0312bc51d85981b6c7b Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 4 Dec 2024 14:06:12 +0100 Subject: [PATCH 644/701] refactor(glog_component): prefix package and namespace with autoware (#9302) Signed-off-by: Esteve Fernandez Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --- .github/CODEOWNERS | 2 +- common/.pages | 2 +- .../CHANGELOG.rst | 0 common/autoware_glog_component/CMakeLists.txt | 18 ++++++++++++++++++ .../README.md | 4 ++-- .../glog_component/glog_component.hpp | 11 ++++++++--- .../package.xml | 4 ++-- .../src/glog_component.cpp | 9 +++++++-- common/glog_component/CMakeLists.txt | 18 ------------------ .../launch/control.launch.xml | 4 ++-- .../behavior_planning.launch.xml | 2 +- .../motion_planning/motion_planning.launch.xml | 2 +- .../scenario_planning/parking.launch.xml | 2 +- .../scenario_planning.launch.xml | 2 +- launch/tier4_planning_launch/package.xml | 2 +- .../launch/mission_planner.launch.xml | 2 +- 16 files changed, 47 insertions(+), 37 deletions(-) rename common/{glog_component => autoware_glog_component}/CHANGELOG.rst (100%) create mode 100644 common/autoware_glog_component/CMakeLists.txt rename common/{glog_component => autoware_glog_component}/README.md (88%) rename common/{glog_component/include => autoware_glog_component/include/autoware}/glog_component/glog_component.hpp (75%) rename common/{glog_component => autoware_glog_component}/package.xml (87%) rename common/{glog_component => autoware_glog_component}/src/glog_component.cpp (81%) delete mode 100644 common/glog_component/CMakeLists.txt diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index b2d0098cfecec..b2a48d9229ed7 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -6,6 +6,7 @@ common/autoware_component_interface_tools/** isamu.takagi@tier4.jp common/autoware_component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_geography_utils/** anh.nguyen.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +common/autoware_glog_component/** takamasa.horibe@tier4.jp common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp common/autoware_interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp @@ -31,7 +32,6 @@ common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp -common/glog_component/** takamasa.horibe@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp common/tier4_api_utils/** isamu.takagi@tier4.jp common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp diff --git a/common/.pages b/common/.pages index 27ee85c30ea77..26117d6becada 100644 --- a/common/.pages +++ b/common/.pages @@ -11,7 +11,7 @@ nav: - 'autoware_point_types': common/autoware_point_types - 'Geography Utils': common/autoware_geography_utils - 'Global Parameter Loader': common/global_parameter_loader/Readme - - 'Glog Component': common/glog_component + - 'Glog Component': common/autoware_glog_component - 'interpolation': common/autoware_interpolation - 'Kalman Filter': common/autoware_kalman_filter - 'Motion Utils': common/autoware_motion_utils diff --git a/common/glog_component/CHANGELOG.rst b/common/autoware_glog_component/CHANGELOG.rst similarity index 100% rename from common/glog_component/CHANGELOG.rst rename to common/autoware_glog_component/CHANGELOG.rst diff --git a/common/autoware_glog_component/CMakeLists.txt b/common/autoware_glog_component/CMakeLists.txt new file mode 100644 index 0000000000000..37e2862517bc1 --- /dev/null +++ b/common/autoware_glog_component/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_glog_component) + +find_package(autoware_cmake REQUIRED) +autoware_package() + + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/glog_component.cpp +) +target_link_libraries(${PROJECT_NAME} glog::glog) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::glog_component::GlogComponent" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_auto_package() diff --git a/common/glog_component/README.md b/common/autoware_glog_component/README.md similarity index 88% rename from common/glog_component/README.md rename to common/autoware_glog_component/README.md index 94a40fe32e40d..ae8d8e5b9b8f2 100644 --- a/common/glog_component/README.md +++ b/common/autoware_glog_component/README.md @@ -10,8 +10,8 @@ When you load the `glog_component` in container, the launch file can be like bel ```py glog_component = ComposableNode( - package="glog_component", - plugin="GlogComponent", + package="autoware_glog_component", + plugin="autoware::glog_component::GlogComponent", name="glog_component", ) diff --git a/common/glog_component/include/glog_component/glog_component.hpp b/common/autoware_glog_component/include/autoware/glog_component/glog_component.hpp similarity index 75% rename from common/glog_component/include/glog_component/glog_component.hpp rename to common/autoware_glog_component/include/autoware/glog_component/glog_component.hpp index d940363d75ac4..8e0a45d4e32c8 100644 --- a/common/glog_component/include/glog_component/glog_component.hpp +++ b/common/autoware_glog_component/include/autoware/glog_component/glog_component.hpp @@ -12,17 +12,22 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GLOG_COMPONENT__GLOG_COMPONENT_HPP_ -#define GLOG_COMPONENT__GLOG_COMPONENT_HPP_ +#ifndef AUTOWARE__GLOG_COMPONENT__GLOG_COMPONENT_HPP_ +#define AUTOWARE__GLOG_COMPONENT__GLOG_COMPONENT_HPP_ #include #include +namespace autoware::glog_component +{ + class GlogComponent : public rclcpp::Node { public: explicit GlogComponent(const rclcpp::NodeOptions & node_options); }; -#endif // GLOG_COMPONENT__GLOG_COMPONENT_HPP_ +} // namespace autoware::glog_component + +#endif // AUTOWARE__GLOG_COMPONENT__GLOG_COMPONENT_HPP_ diff --git a/common/glog_component/package.xml b/common/autoware_glog_component/package.xml similarity index 87% rename from common/glog_component/package.xml rename to common/autoware_glog_component/package.xml index a9e7cdf54fd5a..f9e6a1aa26723 100644 --- a/common/glog_component/package.xml +++ b/common/autoware_glog_component/package.xml @@ -1,9 +1,9 @@ - glog_component + autoware_glog_component 0.38.0 - The glog_component package + The autoware_glog_component package Takamasa Horibe Apache License 2.0 diff --git a/common/glog_component/src/glog_component.cpp b/common/autoware_glog_component/src/glog_component.cpp similarity index 81% rename from common/glog_component/src/glog_component.cpp rename to common/autoware_glog_component/src/glog_component.cpp index 7fd9c923d23c9..cddfd206668be 100644 --- a/common/glog_component/src/glog_component.cpp +++ b/common/autoware_glog_component/src/glog_component.cpp @@ -12,7 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "glog_component/glog_component.hpp" +#include "autoware/glog_component/glog_component.hpp" + +namespace autoware::glog_component +{ GlogComponent::GlogComponent(const rclcpp::NodeOptions & node_options) : Node("glog_component", node_options) @@ -23,5 +26,7 @@ GlogComponent::GlogComponent(const rclcpp::NodeOptions & node_options) } } +} // namespace autoware::glog_component + #include -RCLCPP_COMPONENTS_REGISTER_NODE(GlogComponent) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::glog_component::GlogComponent) diff --git a/common/glog_component/CMakeLists.txt b/common/glog_component/CMakeLists.txt deleted file mode 100644 index a233914cc1524..0000000000000 --- a/common/glog_component/CMakeLists.txt +++ /dev/null @@ -1,18 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(glog_component) - -find_package(autoware_cmake REQUIRED) -autoware_package() - - -ament_auto_add_library(glog_component SHARED - src/glog_component.cpp -) -target_link_libraries(glog_component glog::glog) - -rclcpp_components_register_node(glog_component - PLUGIN "GlogComponent" - EXECUTABLE glog_component_node -) - -ament_auto_package() diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml index 387b82526f624..a979f9e28244b 100644 --- a/launch/tier4_control_launch/launch/control.launch.xml +++ b/launch/tier4_control_launch/launch/control.launch.xml @@ -51,7 +51,7 @@ - + @@ -177,7 +177,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index dad351dec40e8..41326c1a16728 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -255,7 +255,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index b303134ab80c3..fb7e11419fdc9 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -27,7 +27,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml index e0fdcb1e30408..89961821fa761 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml @@ -32,7 +32,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml index 9082ebab013ed..a89b47da13049 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -44,7 +44,7 @@ - + diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index f0fe45a46d92a..7f181d6d707b6 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -63,6 +63,7 @@ autoware_external_cmd_selector autoware_external_velocity_limit_selector autoware_freespace_planner + autoware_glog_component autoware_mission_planner autoware_obstacle_cruise_planner autoware_obstacle_stop_planner @@ -74,7 +75,6 @@ autoware_scenario_selector autoware_surround_obstacle_checker autoware_velocity_smoother - glog_component ament_lint_auto autoware_lint_common diff --git a/planning/autoware_mission_planner/launch/mission_planner.launch.xml b/planning/autoware_mission_planner/launch/mission_planner.launch.xml index 8d77e417a6379..0d9c9307d549c 100644 --- a/planning/autoware_mission_planner/launch/mission_planner.launch.xml +++ b/planning/autoware_mission_planner/launch/mission_planner.launch.xml @@ -23,6 +23,6 @@ - + From 53691e401f265bb9b1b316258ba8932adb9b5aae Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 4 Dec 2024 15:24:21 +0100 Subject: [PATCH 645/701] refactor(global_parameter_loader): prefix package and namespace with autoware (#9303) Signed-off-by: Esteve Fernandez --- .github/CODEOWNERS | 2 +- common/.pages | 2 +- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 2 +- .../Readme.md | 2 +- .../launch/global_params.launch.py | 0 .../package.xml | 4 ++-- control/control_performance_analysis/package.xml | 2 +- .../launch/launch_visualization.launch.xml | 2 +- .../launch/static_centerline_generator.launch.xml | 2 +- planning/autoware_static_centerline_generator/package.xml | 2 +- .../launch/steer_offset_estimator.launch.xml | 2 +- vehicle/autoware_steer_offset_estimator/package.xml | 2 +- 13 files changed, 12 insertions(+), 12 deletions(-) rename common/{global_parameter_loader => autoware_global_parameter_loader}/CHANGELOG.rst (100%) rename common/{global_parameter_loader => autoware_global_parameter_loader}/CMakeLists.txt (77%) rename common/{global_parameter_loader => autoware_global_parameter_loader}/Readme.md (83%) rename common/{global_parameter_loader => autoware_global_parameter_loader}/launch/global_params.launch.py (100%) rename common/{global_parameter_loader => autoware_global_parameter_loader}/package.xml (84%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index b2a48d9229ed7..4923e144f2886 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -6,6 +6,7 @@ common/autoware_component_interface_tools/** isamu.takagi@tier4.jp common/autoware_component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_geography_utils/** anh.nguyen.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +common/autoware_global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/autoware_glog_component/** takamasa.horibe@tier4.jp common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp @@ -31,7 +32,6 @@ common/autoware_trajectory/** mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp yu common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp -common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp common/tier4_api_utils/** isamu.takagi@tier4.jp common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp diff --git a/common/.pages b/common/.pages index 26117d6becada..3c5a77c4d68cf 100644 --- a/common/.pages +++ b/common/.pages @@ -10,7 +10,7 @@ nav: - 'autoware_grid_map_utils': common/autoware_grid_map_utils - 'autoware_point_types': common/autoware_point_types - 'Geography Utils': common/autoware_geography_utils - - 'Global Parameter Loader': common/global_parameter_loader/Readme + - 'Global Parameter Loader': common/autoware_global_parameter_loader/Readme - 'Glog Component': common/autoware_glog_component - 'interpolation': common/autoware_interpolation - 'Kalman Filter': common/autoware_kalman_filter diff --git a/common/global_parameter_loader/CHANGELOG.rst b/common/autoware_global_parameter_loader/CHANGELOG.rst similarity index 100% rename from common/global_parameter_loader/CHANGELOG.rst rename to common/autoware_global_parameter_loader/CHANGELOG.rst diff --git a/common/global_parameter_loader/CMakeLists.txt b/common/autoware_global_parameter_loader/CMakeLists.txt similarity index 77% rename from common/global_parameter_loader/CMakeLists.txt rename to common/autoware_global_parameter_loader/CMakeLists.txt index e67ae1a5c06fc..fe47ffc0c845b 100644 --- a/common/global_parameter_loader/CMakeLists.txt +++ b/common/autoware_global_parameter_loader/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(global_parameter_loader) +project(autoware_global_parameter_loader) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/global_parameter_loader/Readme.md b/common/autoware_global_parameter_loader/Readme.md similarity index 83% rename from common/global_parameter_loader/Readme.md rename to common/autoware_global_parameter_loader/Readme.md index 53cb9e11e096f..7b818c26a87f2 100644 --- a/common/global_parameter_loader/Readme.md +++ b/common/autoware_global_parameter_loader/Readme.md @@ -8,7 +8,7 @@ Add the following lines to the launch file of the node in which you want to get ```xml - + ``` diff --git a/common/global_parameter_loader/launch/global_params.launch.py b/common/autoware_global_parameter_loader/launch/global_params.launch.py similarity index 100% rename from common/global_parameter_loader/launch/global_params.launch.py rename to common/autoware_global_parameter_loader/launch/global_params.launch.py diff --git a/common/global_parameter_loader/package.xml b/common/autoware_global_parameter_loader/package.xml similarity index 84% rename from common/global_parameter_loader/package.xml rename to common/autoware_global_parameter_loader/package.xml index 64183edaa6b1a..2a72f93230da9 100644 --- a/common/global_parameter_loader/package.xml +++ b/common/autoware_global_parameter_loader/package.xml @@ -1,9 +1,9 @@ - global_parameter_loader + autoware_global_parameter_loader 0.38.0 - The global_parameter_loader package + The autoware_global_parameter_loader package Ryohsuke Mitsudome Apache License 2.0 diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml index 4f149a3846595..203357d3f0474 100644 --- a/control/control_performance_analysis/package.xml +++ b/control/control_performance_analysis/package.xml @@ -42,8 +42,8 @@ tf2_eigen tf2_ros tier4_debug_msgs + autoware_global_parameter_loader builtin_interfaces - global_parameter_loader rosidl_default_runtime ament_lint_auto autoware_lint_common diff --git a/planning/autoware_path_optimizer/launch/launch_visualization.launch.xml b/planning/autoware_path_optimizer/launch/launch_visualization.launch.xml index 38b3d83e94991..1a65357e52d53 100644 --- a/planning/autoware_path_optimizer/launch/launch_visualization.launch.xml +++ b/planning/autoware_path_optimizer/launch/launch_visualization.launch.xml @@ -5,7 +5,7 @@ - + diff --git a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml index 7d97caf4b375f..9ccc5a183be45 100644 --- a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml +++ b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml @@ -35,7 +35,7 @@ - + diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index 5375f50c642b7..b9b1267a343db 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -17,6 +17,7 @@ autoware_behavior_path_planner_common autoware_geography_utils + autoware_global_parameter_loader autoware_interpolation autoware_lanelet2_extension autoware_map_loader @@ -33,7 +34,6 @@ autoware_universe_utils autoware_vehicle_info_utils geometry_msgs - global_parameter_loader rclcpp rclcpp_components diff --git a/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml b/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml index 919858950e69c..ef298696692bd 100644 --- a/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml +++ b/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml index 561cb85e0d806..27096dd20ab28 100644 --- a/vehicle/autoware_steer_offset_estimator/package.xml +++ b/vehicle/autoware_steer_offset_estimator/package.xml @@ -18,8 +18,8 @@ rclcpp_components std_msgs tier4_debug_msgs + autoware_global_parameter_loader autoware_pose2twist - global_parameter_loader ament_lint_auto autoware_lint_common From 00777dcc50f7f44b052bbc6a5c2eb15bf3988de9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:12:56 +0300 Subject: [PATCH 646/701] fix(cpplint): include what you use - common (#9564) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../test/test_component_interface_utils.cpp | 4 ++++ common/autoware_geography_utils/src/lanelet2_projector.cpp | 3 +++ common/autoware_geography_utils/src/projection.cpp | 2 ++ common/autoware_grid_map_utils/src/polygon_iterator.cpp | 1 + .../src/spherical_linear_interpolation.cpp | 2 ++ .../autoware_kalman_filter/src/time_delay_kalman_filter.cpp | 2 ++ common/autoware_motion_utils/src/distance/distance.cpp | 2 ++ .../src/factor/steering_factor_interface.cpp | 2 ++ .../src/factor/velocity_factor_interface.cpp | 3 +++ common/autoware_motion_utils/src/marker/marker_helper.cpp | 2 ++ common/autoware_motion_utils/src/resample/resample.cpp | 3 +++ common/autoware_motion_utils/src/trajectory/conversion.cpp | 1 + common/autoware_motion_utils/src/trajectory/path_shift.cpp | 3 +++ common/autoware_motion_utils/src/trajectory/trajectory.cpp | 4 ++++ .../test/src/marker/test_virtual_wall_marker_creator.cpp | 3 +++ .../test/src/resample/test_resample.cpp | 1 + .../test/src/trajectory/test_trajectory.cpp | 1 + .../src/predicted_path_utils.cpp | 1 + .../test/src/test_object_classification.cpp | 2 ++ .../test/src/test_predicted_path_utils.cpp | 2 ++ common/autoware_osqp_interface/test/test_osqp_interface.cpp | 1 + .../src/overlay_utils.cpp | 2 ++ .../src/remaining_distance_time_display.cpp | 1 + .../autoware_overlay_rviz_plugin/src/gear_display.cpp | 1 + .../autoware_overlay_rviz_plugin/src/overlay_utils.cpp | 2 ++ .../autoware_overlay_rviz_plugin/src/speed_display.cpp | 1 + .../autoware_overlay_rviz_plugin/src/speed_limit_display.cpp | 1 + .../src/steering_wheel_display.cpp | 1 + .../src/turn_signals_display.cpp | 1 + .../src/object_detection/predicted_objects_display.cpp | 1 + common/autoware_qp_interface/src/osqp_interface.cpp | 5 +++++ common/autoware_qp_interface/src/proxqp_interface.cpp | 4 ++++ common/autoware_qp_interface/test/test_osqp_interface.cpp | 2 ++ common/autoware_qp_interface/test/test_proxqp_interface.cpp | 2 ++ common/autoware_signal_processing/src/butterworth.cpp | 1 + .../test/src/butterworth_filter_test.cpp | 2 ++ common/autoware_test_utils/src/autoware_test_utils.cpp | 2 ++ common/autoware_test_utils/src/topic_snapshot_saver.cpp | 5 +++++ .../autoware_test_utils/test/test_autoware_test_manager.cpp | 3 +++ common/autoware_test_utils/test/test_mock_data_parser.cpp | 2 ++ .../src/traffic_light_recognition_marker_publisher.cpp | 1 + .../autoware_traffic_light_utils/src/traffic_light_utils.cpp | 2 ++ .../examples/example_trajectory_path_point.cpp | 1 + common/autoware_trajectory/src/path_point.cpp | 2 ++ common/autoware_trajectory/src/point.cpp | 1 + .../autoware_trajectory/test/test_trajectory_container.cpp | 1 + .../autoware_universe_utils/examples/example_lru_cache.cpp | 2 ++ .../examples/example_polling_subscriber.cpp | 2 ++ common/autoware_universe_utils/src/geometry/alt_geometry.cpp | 5 +++++ common/autoware_universe_utils/src/geometry/ear_clipping.cpp | 4 ++++ common/autoware_universe_utils/src/geometry/geometry.cpp | 2 ++ .../src/geometry/random_concave_polygon.cpp | 5 +++++ common/autoware_universe_utils/src/geometry/sat_2d.cpp | 2 ++ common/autoware_universe_utils/src/math/trigonometry.cpp | 1 + common/autoware_universe_utils/src/ros/marker_helper.cpp | 2 ++ common/autoware_universe_utils/src/system/time_keeper.cpp | 2 ++ .../test/src/geometry/test_alt_geometry.cpp | 3 +++ .../test/src/geometry/test_geometry.cpp | 3 +++ .../test/src/ros/test_managed_transform_buffer.cpp | 1 + .../test/src/ros/test_published_time_publisher.cpp | 4 ++++ .../test/src/system/test_time_keeper.cpp | 2 ++ common/autoware_vehicle_info_utils/src/vehicle_info.cpp | 2 ++ .../test/test_vehicle_info_utils.cpp | 2 ++ .../src/bag_time_manager_panel.cpp | 2 ++ .../src/pose_history/pose_history_display.cpp | 2 ++ .../src/pose_history_footprint/display.cpp | 2 ++ .../pose_with_covariance_history_display.cpp | 2 ++ common/tier4_planning_rviz_plugin/src/path/display.cpp | 4 ++++ .../src/pose_with_uuid_stamped/display.cpp | 3 +++ .../src/velocity_steering_factors_panel.cpp | 1 + 70 files changed, 152 insertions(+) diff --git a/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp b/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp index 7cf2dccf3e764..6919271214983 100644 --- a/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp +++ b/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp @@ -17,6 +17,10 @@ #include "autoware/component_interface_utils/status.hpp" #include "gtest/gtest.h" +#include +#include +#include + TEST(interface, utils) { { diff --git a/common/autoware_geography_utils/src/lanelet2_projector.cpp b/common/autoware_geography_utils/src/lanelet2_projector.cpp index 7de0935a3aa4e..76c69a85ae0bc 100644 --- a/common/autoware_geography_utils/src/lanelet2_projector.cpp +++ b/common/autoware_geography_utils/src/lanelet2_projector.cpp @@ -19,6 +19,9 @@ #include +#include +#include + namespace autoware::geography_utils { diff --git a/common/autoware_geography_utils/src/projection.cpp b/common/autoware_geography_utils/src/projection.cpp index 3ab18b1d31698..e113c8da7b519 100644 --- a/common/autoware_geography_utils/src/projection.cpp +++ b/common/autoware_geography_utils/src/projection.cpp @@ -17,6 +17,8 @@ #include #include +#include + namespace autoware::geography_utils { diff --git a/common/autoware_grid_map_utils/src/polygon_iterator.cpp b/common/autoware_grid_map_utils/src/polygon_iterator.cpp index d3c5de85c2ed2..47ff9a9e5957f 100644 --- a/common/autoware_grid_map_utils/src/polygon_iterator.cpp +++ b/common/autoware_grid_map_utils/src/polygon_iterator.cpp @@ -21,6 +21,7 @@ #include #include #include +#include namespace autoware::grid_map_utils { diff --git a/common/autoware_interpolation/src/spherical_linear_interpolation.cpp b/common/autoware_interpolation/src/spherical_linear_interpolation.cpp index 697dda3b06770..5acdf6a9036a3 100644 --- a/common/autoware_interpolation/src/spherical_linear_interpolation.cpp +++ b/common/autoware_interpolation/src/spherical_linear_interpolation.cpp @@ -14,6 +14,8 @@ #include "autoware/interpolation/spherical_linear_interpolation.hpp" +#include + namespace autoware::interpolation { geometry_msgs::msg::Quaternion slerp( diff --git a/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp b/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp index 31c1c768d7173..4d1dd8f33b7a6 100644 --- a/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp +++ b/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp @@ -14,6 +14,8 @@ #include "autoware/kalman_filter/time_delay_kalman_filter.hpp" +#include + namespace autoware::kalman_filter { TimeDelayKalmanFilter::TimeDelayKalmanFilter() diff --git a/common/autoware_motion_utils/src/distance/distance.cpp b/common/autoware_motion_utils/src/distance/distance.cpp index d31e7ec709810..c218561beacec 100644 --- a/common/autoware_motion_utils/src/distance/distance.cpp +++ b/common/autoware_motion_utils/src/distance/distance.cpp @@ -14,6 +14,8 @@ #include "autoware/motion_utils/distance/distance.hpp" +#include + namespace autoware::motion_utils { namespace diff --git a/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp b/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp index f85b5b26cd0c2..7f12e2972ec86 100644 --- a/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp +++ b/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp @@ -14,6 +14,8 @@ #include +#include + namespace autoware::motion_utils { void SteeringFactorInterface::set( diff --git a/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp b/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp index 6a1ddff453bd0..cfa3c91eac43e 100644 --- a/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp +++ b/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp @@ -19,6 +19,9 @@ #include #include +#include +#include + namespace autoware::motion_utils { template diff --git a/common/autoware_motion_utils/src/marker/marker_helper.cpp b/common/autoware_motion_utils/src/marker/marker_helper.cpp index 29462afcb5b76..91ad1c41eecc3 100644 --- a/common/autoware_motion_utils/src/marker/marker_helper.cpp +++ b/common/autoware_motion_utils/src/marker/marker_helper.cpp @@ -20,6 +20,8 @@ #include +#include + using autoware::universe_utils::createDefaultMarker; using autoware::universe_utils::createDeletedDefaultMarker; using autoware::universe_utils::createMarkerColor; diff --git a/common/autoware_motion_utils/src/resample/resample.cpp b/common/autoware_motion_utils/src/resample/resample.cpp index 88ebf3f41c408..9e736444495fa 100644 --- a/common/autoware_motion_utils/src/resample/resample.cpp +++ b/common/autoware_motion_utils/src/resample/resample.cpp @@ -21,7 +21,10 @@ #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" +#include #include +#include +#include namespace autoware::motion_utils { diff --git a/common/autoware_motion_utils/src/trajectory/conversion.cpp b/common/autoware_motion_utils/src/trajectory/conversion.cpp index 368d3e0fbbb75..706dd6dae79af 100644 --- a/common/autoware_motion_utils/src/trajectory/conversion.cpp +++ b/common/autoware_motion_utils/src/trajectory/conversion.cpp @@ -15,6 +15,7 @@ #include "autoware/motion_utils/trajectory/conversion.hpp" #include +#include namespace autoware::motion_utils { diff --git a/common/autoware_motion_utils/src/trajectory/path_shift.cpp b/common/autoware_motion_utils/src/trajectory/path_shift.cpp index 6f57f34a56190..8864128f94bd9 100644 --- a/common/autoware_motion_utils/src/trajectory/path_shift.cpp +++ b/common/autoware_motion_utils/src/trajectory/path_shift.cpp @@ -16,6 +16,9 @@ #include "autoware/motion_utils/trajectory/trajectory.hpp" +#include +#include + namespace autoware::motion_utils { double calc_feasible_velocity_from_jerk( diff --git a/common/autoware_motion_utils/src/trajectory/trajectory.cpp b/common/autoware_motion_utils/src/trajectory/trajectory.cpp index 080d8ca8c7437..35e39fda75a69 100644 --- a/common/autoware_motion_utils/src/trajectory/trajectory.cpp +++ b/common/autoware_motion_utils/src/trajectory/trajectory.cpp @@ -14,6 +14,10 @@ #include "autoware/motion_utils/trajectory/trajectory.hpp" +#include +#include +#include + namespace autoware::motion_utils { diff --git a/common/autoware_motion_utils/test/src/marker/test_virtual_wall_marker_creator.cpp b/common/autoware_motion_utils/test/src/marker/test_virtual_wall_marker_creator.cpp index 5e2e0cc4bdf02..afce7f953e644 100644 --- a/common/autoware_motion_utils/test/src/marker/test_virtual_wall_marker_creator.cpp +++ b/common/autoware_motion_utils/test/src/marker/test_virtual_wall_marker_creator.cpp @@ -14,6 +14,9 @@ #include "autoware/motion_utils/marker/virtual_wall_marker_creator.hpp" #include "gtest/gtest.h" + +#include + namespace { constexpr auto wall_ns_suffix = "_virtual_wall"; diff --git a/common/autoware_motion_utils/test/src/resample/test_resample.cpp b/common/autoware_motion_utils/test/src/resample/test_resample.cpp index 68ead4b8c1520..ef97dfa410d2d 100644 --- a/common/autoware_motion_utils/test/src/resample/test_resample.cpp +++ b/common/autoware_motion_utils/test/src/resample/test_resample.cpp @@ -24,6 +24,7 @@ #include #include +#include namespace { diff --git a/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp b/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp index 4ff9b2a33ca13..f34365b08a943 100644 --- a/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp +++ b/common/autoware_motion_utils/test/src/trajectory/test_trajectory.cpp @@ -21,6 +21,7 @@ #include #include +#include #include #include diff --git a/common/autoware_object_recognition_utils/src/predicted_path_utils.cpp b/common/autoware_object_recognition_utils/src/predicted_path_utils.cpp index 196f82b69161a..55ac4e2a370c3 100644 --- a/common/autoware_object_recognition_utils/src/predicted_path_utils.cpp +++ b/common/autoware_object_recognition_utils/src/predicted_path_utils.cpp @@ -19,6 +19,7 @@ #include "autoware/interpolation/spline_interpolation.hpp" #include +#include namespace autoware::object_recognition_utils { diff --git a/common/autoware_object_recognition_utils/test/src/test_object_classification.cpp b/common/autoware_object_recognition_utils/test/src/test_object_classification.cpp index 1482158581a8e..31d2a90f2e4a5 100644 --- a/common/autoware_object_recognition_utils/test/src/test_object_classification.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_object_classification.cpp @@ -16,6 +16,8 @@ #include +#include + constexpr double epsilon = 1e-06; namespace diff --git a/common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp b/common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp index a93d253bfd052..1f434d3362b86 100644 --- a/common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp +++ b/common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp @@ -20,6 +20,8 @@ #include +#include + using autoware::universe_utils::Point2d; using autoware::universe_utils::Point3d; diff --git a/common/autoware_osqp_interface/test/test_osqp_interface.cpp b/common/autoware_osqp_interface/test/test_osqp_interface.cpp index d03713f82566f..f65b07e6d792d 100644 --- a/common/autoware_osqp_interface/test/test_osqp_interface.cpp +++ b/common/autoware_osqp_interface/test/test_osqp_interface.cpp @@ -17,6 +17,7 @@ #include +#include #include #include diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp index 68813a5f1140f..7989dd21d8b2e 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp @@ -52,6 +52,8 @@ #include +#include + namespace autoware::mission_details_overlay_rviz_plugin { ScopedPixelBuffer::ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer) diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp index 13f3fdddfe76b..41ee64f5233a7 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp @@ -23,6 +23,7 @@ #include #include +#include #include #include diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp index 03729d122e614..12e25ee3bb954 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp @@ -28,6 +28,7 @@ #include #include #include +#include #include #include diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp index d6f061e724369..076b92a415ee0 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp @@ -52,6 +52,8 @@ #include +#include + namespace autoware_overlay_rviz_plugin { ScopedPixelBuffer::ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer) diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp index d677be40dead2..faf9c39af672d 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp @@ -28,6 +28,7 @@ #include #include #include +#include #include #include diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp index 1da64aaf320ca..36b5212c08f75 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp @@ -29,6 +29,7 @@ #include #include #include +#include #include #include diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp index 28bd2b5c2a52e..d475a8231e595 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp @@ -28,6 +28,7 @@ #include #include #include +#include #include #include diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp index b42b5d953fcc6..6748f01fe139b 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp @@ -28,6 +28,7 @@ #include #include #include +#include #include #include diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp b/common/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp index d11aba912854d..b95b94248c943 100644 --- a/common/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp +++ b/common/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp @@ -16,6 +16,7 @@ #include #include +#include namespace autoware { diff --git a/common/autoware_qp_interface/src/osqp_interface.cpp b/common/autoware_qp_interface/src/osqp_interface.cpp index b850036c0aebf..fbb8e71f4c251 100644 --- a/common/autoware_qp_interface/src/osqp_interface.cpp +++ b/common/autoware_qp_interface/src/osqp_interface.cpp @@ -18,6 +18,11 @@ #include +#include +#include +#include +#include + namespace autoware::qp_interface { OSQPInterface::OSQPInterface( diff --git a/common/autoware_qp_interface/src/proxqp_interface.cpp b/common/autoware_qp_interface/src/proxqp_interface.cpp index ccfd74e70dace..a0ebbf0db0510 100644 --- a/common/autoware_qp_interface/src/proxqp_interface.cpp +++ b/common/autoware_qp_interface/src/proxqp_interface.cpp @@ -14,6 +14,10 @@ #include "autoware/qp_interface/proxqp_interface.hpp" +#include +#include +#include + namespace autoware::qp_interface { using proxsuite::proxqp::QPSolverOutput; diff --git a/common/autoware_qp_interface/test/test_osqp_interface.cpp b/common/autoware_qp_interface/test/test_osqp_interface.cpp index 873e5d501dc7d..f97cc2888afa0 100644 --- a/common/autoware_qp_interface/test/test_osqp_interface.cpp +++ b/common/autoware_qp_interface/test/test_osqp_interface.cpp @@ -17,6 +17,8 @@ #include +#include +#include #include #include diff --git a/common/autoware_qp_interface/test/test_proxqp_interface.cpp b/common/autoware_qp_interface/test/test_proxqp_interface.cpp index 5bf85b026478d..e47af10c7aabd 100644 --- a/common/autoware_qp_interface/test/test_proxqp_interface.cpp +++ b/common/autoware_qp_interface/test/test_proxqp_interface.cpp @@ -17,6 +17,8 @@ #include +#include +#include #include #include diff --git a/common/autoware_signal_processing/src/butterworth.cpp b/common/autoware_signal_processing/src/butterworth.cpp index 7f491d443787b..0143b7b4fe273 100644 --- a/common/autoware_signal_processing/src/butterworth.cpp +++ b/common/autoware_signal_processing/src/butterworth.cpp @@ -19,6 +19,7 @@ #include #include #include +#include namespace autoware::signal_processing { diff --git a/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp b/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp index bd5d1dbbf6948..8fa72676b02cc 100644 --- a/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp +++ b/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp @@ -14,6 +14,8 @@ #include "butterworth_filter_test.hpp" +#include + using autoware::signal_processing::ButterworthFilter; TEST_F(ButterWorthTestFixture, butterworthOrderTest) diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp index d61dc61c81e65..d42a5219e374c 100644 --- a/common/autoware_test_utils/src/autoware_test_utils.cpp +++ b/common/autoware_test_utils/src/autoware_test_utils.cpp @@ -26,7 +26,9 @@ #include #include +#include #include +#include namespace autoware::test_utils { diff --git a/common/autoware_test_utils/src/topic_snapshot_saver.cpp b/common/autoware_test_utils/src/topic_snapshot_saver.cpp index 82700be9e3f54..b2cb2a17c9621 100644 --- a/common/autoware_test_utils/src/topic_snapshot_saver.cpp +++ b/common/autoware_test_utils/src/topic_snapshot_saver.cpp @@ -29,10 +29,15 @@ #include #include +#include +#include #include #include +#include #include +#include #include +#include using MessageType = std::variant< nav_msgs::msg::Odometry, // 0 diff --git a/common/autoware_test_utils/test/test_autoware_test_manager.cpp b/common/autoware_test_utils/test/test_autoware_test_manager.cpp index 688ec9df9ad42..9e0e00d199f67 100644 --- a/common/autoware_test_utils/test/test_autoware_test_manager.cpp +++ b/common/autoware_test_utils/test/test_autoware_test_manager.cpp @@ -20,6 +20,9 @@ #include +#include +#include + class RelayNode : public rclcpp::Node { public: diff --git a/common/autoware_test_utils/test/test_mock_data_parser.cpp b/common/autoware_test_utils/test/test_mock_data_parser.cpp index f2b23cc43b07b..34218d48552e9 100644 --- a/common/autoware_test_utils/test/test_mock_data_parser.cpp +++ b/common/autoware_test_utils/test/test_mock_data_parser.cpp @@ -20,6 +20,8 @@ #include +#include + namespace autoware::test_utils { using tier4_planning_msgs::msg::PathWithLaneId; diff --git a/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp index e9189a6c84c2b..a08145f429c72 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp +++ b/common/autoware_traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp @@ -17,6 +17,7 @@ #include #include #include +#include #include #include diff --git a/common/autoware_traffic_light_utils/src/traffic_light_utils.cpp b/common/autoware_traffic_light_utils/src/traffic_light_utils.cpp index 4ba7e1c1d57d8..97d3081ceefdd 100644 --- a/common/autoware_traffic_light_utils/src/traffic_light_utils.cpp +++ b/common/autoware_traffic_light_utils/src/traffic_light_utils.cpp @@ -14,6 +14,8 @@ #include "autoware/traffic_light_utils/traffic_light_utils.hpp" +#include + namespace autoware::traffic_light_utils { diff --git a/common/autoware_trajectory/examples/example_trajectory_path_point.cpp b/common/autoware_trajectory/examples/example_trajectory_path_point.cpp index 777942654e5b2..fb1197e53ab67 100644 --- a/common/autoware_trajectory/examples/example_trajectory_path_point.cpp +++ b/common/autoware_trajectory/examples/example_trajectory_path_point.cpp @@ -19,6 +19,7 @@ #include +#include #include autoware_planning_msgs::msg::PathPoint path_point(double x, double y) diff --git a/common/autoware_trajectory/src/path_point.cpp b/common/autoware_trajectory/src/path_point.cpp index 4a2ac80b749bd..0806bcead53f3 100644 --- a/common/autoware_trajectory/src/path_point.cpp +++ b/common/autoware_trajectory/src/path_point.cpp @@ -18,6 +18,8 @@ #include +#include + namespace autoware::trajectory { diff --git a/common/autoware_trajectory/src/point.cpp b/common/autoware_trajectory/src/point.cpp index c7b9a6ab74a38..40c6c357e9ba5 100644 --- a/common/autoware_trajectory/src/point.cpp +++ b/common/autoware_trajectory/src/point.cpp @@ -22,6 +22,7 @@ #include #include #include +#include namespace autoware::trajectory { diff --git a/common/autoware_trajectory/test/test_trajectory_container.cpp b/common/autoware_trajectory/test/test_trajectory_container.cpp index 028d36d98a954..6f6d52107b348 100644 --- a/common/autoware_trajectory/test/test_trajectory_container.cpp +++ b/common/autoware_trajectory/test/test_trajectory_container.cpp @@ -15,6 +15,7 @@ #include +#include #include using Trajectory = autoware::trajectory::Trajectory; diff --git a/common/autoware_universe_utils/examples/example_lru_cache.cpp b/common/autoware_universe_utils/examples/example_lru_cache.cpp index 95decf8eb336d..6ddf5ec165529 100644 --- a/common/autoware_universe_utils/examples/example_lru_cache.cpp +++ b/common/autoware_universe_utils/examples/example_lru_cache.cpp @@ -17,6 +17,8 @@ #include #include #include +#include +#include using autoware::universe_utils::LRUCache; diff --git a/common/autoware_universe_utils/examples/example_polling_subscriber.cpp b/common/autoware_universe_utils/examples/example_polling_subscriber.cpp index d078da6df43af..b9a76356e07c4 100644 --- a/common/autoware_universe_utils/examples/example_polling_subscriber.cpp +++ b/common/autoware_universe_utils/examples/example_polling_subscriber.cpp @@ -18,6 +18,8 @@ #include +#include + // PublisherNode class definition class PublisherNode : public rclcpp::Node { diff --git a/common/autoware_universe_utils/src/geometry/alt_geometry.cpp b/common/autoware_universe_utils/src/geometry/alt_geometry.cpp index 0d6e608d8cd6d..848ecdd699ec5 100644 --- a/common/autoware_universe_utils/src/geometry/alt_geometry.cpp +++ b/common/autoware_universe_utils/src/geometry/alt_geometry.cpp @@ -14,6 +14,11 @@ #include "autoware/universe_utils/geometry/alt_geometry.hpp" +#include +#include +#include +#include + namespace autoware::universe_utils { // Alternatives for Boost.Geometry ---------------------------------------------------------------- diff --git a/common/autoware_universe_utils/src/geometry/ear_clipping.cpp b/common/autoware_universe_utils/src/geometry/ear_clipping.cpp index edc17b2dab120..f178a7e832511 100644 --- a/common/autoware_universe_utils/src/geometry/ear_clipping.cpp +++ b/common/autoware_universe_utils/src/geometry/ear_clipping.cpp @@ -14,6 +14,10 @@ #include "autoware/universe_utils/geometry/ear_clipping.hpp" +#include +#include +#include + namespace autoware::universe_utils { diff --git a/common/autoware_universe_utils/src/geometry/geometry.cpp b/common/autoware_universe_utils/src/geometry/geometry.cpp index 5fda8eb3f4ca4..e9aaccd055dad 100644 --- a/common/autoware_universe_utils/src/geometry/geometry.cpp +++ b/common/autoware_universe_utils/src/geometry/geometry.cpp @@ -22,6 +22,8 @@ #include +#include + namespace tf2 { void fromMsg(const geometry_msgs::msg::PoseStamped & msg, tf2::Stamped & out) diff --git a/common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp b/common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp index aa3c2afab321a..35819c0b119bf 100644 --- a/common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp +++ b/common/autoware_universe_utils/src/geometry/random_concave_polygon.cpp @@ -22,7 +22,12 @@ #include #include +#include +#include +#include #include +#include +#include namespace autoware::universe_utils { diff --git a/common/autoware_universe_utils/src/geometry/sat_2d.cpp b/common/autoware_universe_utils/src/geometry/sat_2d.cpp index eae1de39bb589..a38fcbd3c3430 100644 --- a/common/autoware_universe_utils/src/geometry/sat_2d.cpp +++ b/common/autoware_universe_utils/src/geometry/sat_2d.cpp @@ -14,6 +14,8 @@ #include "autoware/universe_utils/geometry/sat_2d.hpp" +#include + namespace autoware::universe_utils::sat { diff --git a/common/autoware_universe_utils/src/math/trigonometry.cpp b/common/autoware_universe_utils/src/math/trigonometry.cpp index 2966f35bfe59e..5cfe1326323e5 100644 --- a/common/autoware_universe_utils/src/math/trigonometry.cpp +++ b/common/autoware_universe_utils/src/math/trigonometry.cpp @@ -18,6 +18,7 @@ #include "autoware/universe_utils/math/sin_table.hpp" #include +#include namespace autoware::universe_utils { diff --git a/common/autoware_universe_utils/src/ros/marker_helper.cpp b/common/autoware_universe_utils/src/ros/marker_helper.cpp index 0d360e2335df7..3370f7e05814a 100644 --- a/common/autoware_universe_utils/src/ros/marker_helper.cpp +++ b/common/autoware_universe_utils/src/ros/marker_helper.cpp @@ -14,6 +14,8 @@ #include "autoware/universe_utils/ros/marker_helper.hpp" +#include + namespace autoware::universe_utils { visualization_msgs::msg::Marker createDefaultMarker( diff --git a/common/autoware_universe_utils/src/system/time_keeper.cpp b/common/autoware_universe_utils/src/system/time_keeper.cpp index b6e82cbd2f58a..55901ce5b4987 100644 --- a/common/autoware_universe_utils/src/system/time_keeper.cpp +++ b/common/autoware_universe_utils/src/system/time_keeper.cpp @@ -19,8 +19,10 @@ #include +#include #include #include +#include namespace autoware::universe_utils { diff --git a/common/autoware_universe_utils/test/src/geometry/test_alt_geometry.cpp b/common/autoware_universe_utils/test/src/geometry/test_alt_geometry.cpp index 90dfb1ede4701..9fa949cedb867 100644 --- a/common/autoware_universe_utils/test/src/geometry/test_alt_geometry.cpp +++ b/common/autoware_universe_utils/test/src/geometry/test_alt_geometry.cpp @@ -25,7 +25,10 @@ #include #include +#include +#include #include +#include constexpr double epsilon = 1e-6; diff --git a/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp index 3202347cc8ac4..3e4b08c4cc272 100644 --- a/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp +++ b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp @@ -29,7 +29,10 @@ #include #include +#include +#include #include +#include constexpr double epsilon = 1e-6; diff --git a/common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp b/common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp index 9df6f9bb2ffef..351cd252126cc 100644 --- a/common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp +++ b/common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp @@ -21,6 +21,7 @@ #include #include +#include class TestManagedTransformBuffer : public ::testing::Test { diff --git a/common/autoware_universe_utils/test/src/ros/test_published_time_publisher.cpp b/common/autoware_universe_utils/test/src/ros/test_published_time_publisher.cpp index f9c0bd45c4fb4..7e4debfe59c2b 100644 --- a/common/autoware_universe_utils/test/src/ros/test_published_time_publisher.cpp +++ b/common/autoware_universe_utils/test/src/ros/test_published_time_publisher.cpp @@ -20,6 +20,10 @@ #include +#include +#include +#include + class PublishedTimePublisherWithSubscriptionTest : public ::testing::Test { protected: diff --git a/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp b/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp index ffefaed316b19..4491d79051059 100644 --- a/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp +++ b/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp @@ -19,7 +19,9 @@ #include #include +#include #include +#include #include class TimeKeeperTest : public ::testing::Test diff --git a/common/autoware_vehicle_info_utils/src/vehicle_info.cpp b/common/autoware_vehicle_info_utils/src/vehicle_info.cpp index c1e762811ede3..c0a4c240ba44a 100644 --- a/common/autoware_vehicle_info_utils/src/vehicle_info.cpp +++ b/common/autoware_vehicle_info_utils/src/vehicle_info.cpp @@ -16,6 +16,8 @@ #include +#include + namespace autoware::vehicle_info_utils { autoware::universe_utils::LinearRing2d VehicleInfo::createFootprint(const double margin) const diff --git a/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp b/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp index 3ad19ba9cab35..ea660208da2be 100644 --- a/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp +++ b/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp @@ -17,6 +17,8 @@ #include +#include + class VehicleInfoUtilTest : public ::testing::Test { protected: diff --git a/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp b/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp index ef52977cb7e73..cae9660b51266 100644 --- a/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp +++ b/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp @@ -21,6 +21,8 @@ #include #include +#include + namespace rviz_plugins { BagTimeManagerPanel::BagTimeManagerPanel(QWidget * parent) : rviz_common::Panel(parent) diff --git a/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp b/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp index d427f63628d69..bcf9d774200e6 100644 --- a/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp +++ b/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp @@ -22,6 +22,8 @@ #include #include +#include + namespace rviz_plugins { PoseHistory::PoseHistory() : last_stamp_(0, 0, RCL_ROS_TIME) diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp b/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp index 391ebdc0c1c77..a54856122ffc9 100644 --- a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp +++ b/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp @@ -22,6 +22,8 @@ #include #include +#include + #define EIGEN_MPL2_ONLY #include #include diff --git a/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp b/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp index 42f36ed6f4c08..276206075b6eb 100644 --- a/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp +++ b/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp @@ -27,6 +27,8 @@ #include +#include + namespace rviz_plugins { PoseWithCovarianceHistory::PoseWithCovarianceHistory() : last_stamp_(0, 0, RCL_ROS_TIME) diff --git a/common/tier4_planning_rviz_plugin/src/path/display.cpp b/common/tier4_planning_rviz_plugin/src/path/display.cpp index 342e72d66c5f9..869f0c4d91793 100644 --- a/common/tier4_planning_rviz_plugin/src/path/display.cpp +++ b/common/tier4_planning_rviz_plugin/src/path/display.cpp @@ -16,6 +16,10 @@ #include +#include +#include +#include + namespace rviz_plugins { AutowarePathWithLaneIdDisplay::AutowarePathWithLaneIdDisplay() diff --git a/common/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp b/common/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp index b525608a65625..ddb55a253b1cf 100644 --- a/common/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp +++ b/common/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp @@ -20,6 +20,9 @@ #include #include +#include +#include + namespace { std::string uuid_to_string(const unique_identifier_msgs::msg::UUID & u) diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp index fab40fe5a2214..78ddfae57cd0c 100644 --- a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp @@ -24,6 +24,7 @@ #include #include +#include #include #include From 06e202fee2f4b61eed8f095a028c3f1658546c91 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:13:15 +0300 Subject: [PATCH 647/701] fix(cpplint): include what you use - control (#9565) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- control/autoware_autonomous_emergency_braking/src/node.cpp | 3 +++ control/autoware_autonomous_emergency_braking/src/utils.cpp | 2 ++ control/autoware_autonomous_emergency_braking/test/test.cpp | 1 + control/autoware_collision_detector/src/node.cpp | 6 ++++++ .../autoware_control_validator/src/control_validator.cpp | 1 + .../test/test_control_validator.cpp | 1 + .../lane_departure_checker_node/lane_departure_checker.cpp | 1 + .../src/lane_departure_checker_node/utils.cpp | 2 ++ .../test/test_calc_max_search_length_for_boundaries.cpp | 3 +++ .../test/test_calc_trajectory_deviation.cpp | 3 +++ .../test/test_create_vehicle_footprints.cpp | 3 +++ .../test/test_resample_trajectory.cpp | 3 +++ .../autoware_mpc_lateral_controller/src/lowpass_filter.cpp | 1 + control/autoware_mpc_lateral_controller/src/mpc.cpp | 4 ++++ .../autoware_mpc_lateral_controller/src/mpc_trajectory.cpp | 2 ++ control/autoware_mpc_lateral_controller/src/mpc_utils.cpp | 2 ++ .../test/test_obstacle_collision_checker.cpp | 1 + .../autoware_operation_mode_transition_manager/src/data.cpp | 2 ++ .../autoware_operation_mode_transition_manager/src/node.cpp | 2 ++ .../src/state.cpp | 2 ++ .../src/longitudinal_controller_utils.cpp | 2 ++ .../autoware_pure_pursuit_lateral_controller.cpp | 1 + .../src/autoware_pure_pursuit_core/interpolate.cpp | 2 ++ .../src/proxima_calc.cpp | 2 ++ .../test/test_controller_node.cpp | 1 + .../autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp | 1 + .../test/src/test_filter_in_vehicle_cmd_gate_node.cpp | 2 ++ .../src/control_performance_analysis_core.cpp | 1 + .../src/predicted_path_checker_node/collision_checker.cpp | 1 + .../src/predicted_path_checker_node/utils.cpp | 2 ++ 30 files changed, 60 insertions(+) diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index 21a690cd0eec3..eb0884e4f344e 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -43,10 +43,13 @@ #include #include +#include #include #include #include +#include #include +#include #include #ifdef ROS_DISTRO_GALACTIC #include diff --git a/control/autoware_autonomous_emergency_braking/src/utils.cpp b/control/autoware_autonomous_emergency_braking/src/utils.cpp index 9b9d09777e09e..abd203dee2a02 100644 --- a/control/autoware_autonomous_emergency_braking/src/utils.cpp +++ b/control/autoware_autonomous_emergency_braking/src/utils.cpp @@ -17,6 +17,8 @@ #include #include +#include +#include namespace autoware::motion::control::autonomous_emergency_braking::utils { diff --git a/control/autoware_autonomous_emergency_braking/test/test.cpp b/control/autoware_autonomous_emergency_braking/test/test.cpp index 360e6f9877e06..1845ab4074fad 100644 --- a/control/autoware_autonomous_emergency_braking/test/test.cpp +++ b/control/autoware_autonomous_emergency_braking/test/test.cpp @@ -31,6 +31,7 @@ #include #include #include +#include namespace autoware::motion::control::autonomous_emergency_braking::test { diff --git a/control/autoware_collision_detector/src/node.cpp b/control/autoware_collision_detector/src/node.cpp index cfb9e5bfc6dbb..77d6d76c08b0a 100644 --- a/control/autoware_collision_detector/src/node.cpp +++ b/control/autoware_collision_detector/src/node.cpp @@ -29,6 +29,12 @@ #include #include +#include +#include +#include +#include +#include + #define EIGEN_MPL2_ONLY #include #include diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp index d51282cb33bb3..0c16fae065939 100644 --- a/control/autoware_control_validator/src/control_validator.cpp +++ b/control/autoware_control_validator/src/control_validator.cpp @@ -23,6 +23,7 @@ #include #include #include +#include namespace autoware::control_validator { diff --git a/control/autoware_control_validator/test/test_control_validator.cpp b/control/autoware_control_validator/test/test_control_validator.cpp index c4d5b04fa920c..76ba5b7894365 100644 --- a/control/autoware_control_validator/test/test_control_validator.cpp +++ b/control/autoware_control_validator/test/test_control_validator.cpp @@ -24,6 +24,7 @@ #include #include +#include #include using autoware_planning_msgs::msg::Trajectory; diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp index a1ef24e32543f..1c75b3552df67 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp @@ -26,6 +26,7 @@ #include #include +#include #include using autoware::universe_utils::LinearRing2d; diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp index 19ea23ccd19da..5613b767a9fd0 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp @@ -19,6 +19,8 @@ #include +#include + namespace { struct FootprintMargin diff --git a/control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp b/control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp index 1632f41f35153..2a7cef58e381f 100644 --- a/control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp +++ b/control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp @@ -18,6 +18,9 @@ #include +#include +#include + using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; diff --git a/control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp b/control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp index a0f141e9639a9..ccb85d1a0fec1 100644 --- a/control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp +++ b/control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp @@ -18,6 +18,9 @@ #include +#include +#include + using autoware::universe_utils::PoseDeviation; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; diff --git a/control/autoware_lane_departure_checker/test/test_create_vehicle_footprints.cpp b/control/autoware_lane_departure_checker/test/test_create_vehicle_footprints.cpp index 6189d8803a3ea..e17e2bc697272 100644 --- a/control/autoware_lane_departure_checker/test/test_create_vehicle_footprints.cpp +++ b/control/autoware_lane_departure_checker/test/test_create_vehicle_footprints.cpp @@ -18,6 +18,9 @@ #include +#include +#include + using autoware::universe_utils::LinearRing2d; using autoware_planning_msgs::msg::TrajectoryPoint; using geometry_msgs::msg::PoseWithCovariance; diff --git a/control/autoware_lane_departure_checker/test/test_resample_trajectory.cpp b/control/autoware_lane_departure_checker/test/test_resample_trajectory.cpp index 67fe69323584e..214a165660225 100644 --- a/control/autoware_lane_departure_checker/test/test_resample_trajectory.cpp +++ b/control/autoware_lane_departure_checker/test/test_resample_trajectory.cpp @@ -18,6 +18,9 @@ #include +#include +#include + using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; diff --git a/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp b/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp index 4a056c351208b..379ec0b614712 100644 --- a/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp +++ b/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp @@ -14,6 +14,7 @@ #include "autoware/mpc_lateral_controller/lowpass_filter.hpp" +#include #include namespace autoware::motion::control::mpc_lateral_controller diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp index 3c3496080b597..4c3c8bec9b12e 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp @@ -23,7 +23,11 @@ #include #include +#include #include +#include +#include +#include namespace autoware::motion::control::mpc_lateral_controller { diff --git a/control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp b/control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp index 842689527c847..0156d7af138bc 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp @@ -14,6 +14,8 @@ #include "autoware/mpc_lateral_controller/mpc_trajectory.hpp" +#include + namespace autoware::motion::control::mpc_lateral_controller { void MPCTrajectory::push_back( diff --git a/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp index 820ee848c17fe..e8bc981a8ade8 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp @@ -21,8 +21,10 @@ #include "autoware/universe_utils/math/normalization.hpp" #include +#include #include #include +#include #include namespace autoware::motion::control::mpc_lateral_controller diff --git a/control/autoware_obstacle_collision_checker/test/test_obstacle_collision_checker.cpp b/control/autoware_obstacle_collision_checker/test/test_obstacle_collision_checker.cpp index 97b26162812ef..789d5602b2414 100644 --- a/control/autoware_obstacle_collision_checker/test/test_obstacle_collision_checker.cpp +++ b/control/autoware_obstacle_collision_checker/test/test_obstacle_collision_checker.cpp @@ -29,6 +29,7 @@ #include #include +#include namespace { diff --git a/control/autoware_operation_mode_transition_manager/src/data.cpp b/control/autoware_operation_mode_transition_manager/src/data.cpp index 1fac496f3c71c..48200d75fe2cb 100644 --- a/control/autoware_operation_mode_transition_manager/src/data.cpp +++ b/control/autoware_operation_mode_transition_manager/src/data.cpp @@ -14,6 +14,8 @@ #include "data.hpp" +#include + namespace autoware::operation_mode_transition_manager { diff --git a/control/autoware_operation_mode_transition_manager/src/node.cpp b/control/autoware_operation_mode_transition_manager/src/node.cpp index d0c7f303fca04..25c048b0540fa 100644 --- a/control/autoware_operation_mode_transition_manager/src/node.cpp +++ b/control/autoware_operation_mode_transition_manager/src/node.cpp @@ -16,6 +16,8 @@ #include +#include + namespace autoware::operation_mode_transition_manager { diff --git a/control/autoware_operation_mode_transition_manager/src/state.cpp b/control/autoware_operation_mode_transition_manager/src/state.cpp index 31cd32e6311a9..5969e6b9fb03d 100644 --- a/control/autoware_operation_mode_transition_manager/src/state.cpp +++ b/control/autoware_operation_mode_transition_manager/src/state.cpp @@ -22,6 +22,8 @@ #include #include +#include +#include namespace autoware::operation_mode_transition_manager { diff --git a/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp b/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp index 134de5d1ac8bd..fe500d2551623 100644 --- a/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp +++ b/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp @@ -19,6 +19,8 @@ #include // NOLINT +#include + #ifdef ROS_DISTRO_GALACTIC #include "tf2_geometry_msgs/tf2_geometry_msgs.h" #else diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp index 085addbe17fc9..f3a7bc3c1333d 100644 --- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp @@ -39,6 +39,7 @@ #include #include #include +#include namespace { diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp index 9b68594f167e8..6688ed6a9f27d 100644 --- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp @@ -15,6 +15,8 @@ #include "autoware/pure_pursuit/util/interpolate.hpp" #include +#include +#include #include namespace autoware::pure_pursuit diff --git a/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/src/proxima_calc.cpp b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/src/proxima_calc.cpp index 8dbee65804237..daa054af31627 100644 --- a/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/src/proxima_calc.cpp +++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/src/proxima_calc.cpp @@ -19,7 +19,9 @@ #include #include +#include #include +#include namespace py = pybind11; Eigen::VectorXd tanh(const Eigen::VectorXd & v) diff --git a/control/autoware_trajectory_follower_node/test/test_controller_node.cpp b/control/autoware_trajectory_follower_node/test/test_controller_node.cpp index 40e4366d9aa17..0b1dac644a8ab 100644 --- a/control/autoware_trajectory_follower_node/test/test_controller_node.cpp +++ b/control/autoware_trajectory_follower_node/test/test_controller_node.cpp @@ -30,6 +30,7 @@ #include "geometry_msgs/msg/transform_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" +#include #include #include diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp index a18571144792a..c540f48dfc186 100644 --- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp @@ -16,6 +16,7 @@ #include #include +#include namespace autoware::vehicle_cmd_gate { diff --git a/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp b/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp index 66dde51780ffa..9b403e2f8ed74 100644 --- a/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp +++ b/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp @@ -17,9 +17,11 @@ #include +#include #include #include #include +#include #include #include diff --git a/control/control_performance_analysis/src/control_performance_analysis_core.cpp b/control/control_performance_analysis/src/control_performance_analysis_core.cpp index 769593ac34d09..08f736dd0b630 100644 --- a/control/control_performance_analysis/src/control_performance_analysis_core.cpp +++ b/control/control_performance_analysis/src/control_performance_analysis_core.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include #include diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp index 7771f59d15454..2841888b61bcc 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp +++ b/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp @@ -17,6 +17,7 @@ #include #include +#include #include #include #include diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp index 4b6d0755db25f..12e38fd9968ab 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp +++ b/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp @@ -18,6 +18,8 @@ #include #include +#include + namespace utils { From 1bb1ffe0889b561e7692c628b8f2b5e3df953f96 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:13:32 +0300 Subject: [PATCH 648/701] fix(cpplint): include what you use - evaluator (#9566) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../test/test_control_evaluator_node.cpp | 1 + .../src/planning_evaluator_node.cpp | 1 + .../test/test_planning_evaluator_node.cpp | 1 + .../test/test_kinematic_evaluator_node.cpp | 1 + .../test/test_localization_evaluator_node.cpp | 1 + .../src/metrics/detection_count.cpp | 5 +++++ .../src/metrics/deviation_metrics.cpp | 2 ++ .../perception_online_evaluator/src/utils/marker_utils.cpp | 3 +++ .../src/utils/objects_filtering.cpp | 3 +++ .../test/test_perception_online_evaluator_node.cpp | 2 ++ .../scenario_simulator_v2_adapter/src/converter_node.cpp | 2 ++ 11 files changed, 22 insertions(+) diff --git a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp index 728cef03901a8..9098ce5667424 100644 --- a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp @@ -28,6 +28,7 @@ #include +#include #include #include #include diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp index da23c202312d7..a61e56cd532ad 100644 --- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp @@ -25,6 +25,7 @@ #include #include #include +#include #include #include #include diff --git a/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp index 1b29edfb9b353..f202bb4ab0e6f 100644 --- a/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp @@ -27,6 +27,7 @@ #include "boost/lexical_cast.hpp" +#include #include #include #include diff --git a/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp b/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp index 51e6113aea999..769f98416848f 100644 --- a/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp +++ b/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp @@ -26,6 +26,7 @@ #include "boost/lexical_cast.hpp" +#include #include #include #include diff --git a/evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp b/evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp index cd6a7b80fd35b..6ab428c6fb578 100644 --- a/evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp +++ b/evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp @@ -27,6 +27,7 @@ #include "boost/lexical_cast.hpp" +#include #include #include #include diff --git a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp b/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp index ab69ea9cb8c7b..4a1d97aeeb90b 100644 --- a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp +++ b/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp @@ -20,6 +20,11 @@ #include +#include +#include +#include +#include + namespace perception_diagnostics { namespace metrics diff --git a/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp b/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp index 8570cf246f430..292fc9cd65a17 100644 --- a/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp +++ b/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp @@ -19,6 +19,8 @@ #include +#include + namespace perception_diagnostics { namespace metrics diff --git a/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp b/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp index 0c6d1cac4246e..7489447ccb47e 100644 --- a/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp +++ b/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp @@ -24,7 +24,10 @@ #include #include +#include #include +#include +#include namespace marker_utils { diff --git a/evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp b/evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp index 6ffb80eb40b59..13bd820f18cec 100644 --- a/evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp +++ b/evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp @@ -14,6 +14,9 @@ #include "perception_online_evaluator/utils/objects_filtering.hpp" +#include +#include + namespace perception_diagnostics { namespace filter diff --git a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp index 5b23f6d37a1d4..ffefee835f933 100644 --- a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp @@ -29,6 +29,8 @@ #include #include +#include +#include #include #include #include diff --git a/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp b/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp index 98d36327793fe..4c0464b8b2d41 100644 --- a/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp +++ b/evaluator/scenario_simulator_v2_adapter/src/converter_node.cpp @@ -15,6 +15,8 @@ #include "scenario_simulator_v2_adapter/converter_node.hpp" #include +#include +#include namespace { From 6ddf94c1f49416cd2cbee420419c461cc1ce475c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:13:45 +0300 Subject: [PATCH 649/701] fix(cpplint): include what you use - localization (#9567) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- localization/autoware_ekf_localizer/src/ekf_localizer.cpp | 1 + .../test/test_aged_object_queue.cpp | 2 ++ .../autoware_ekf_localizer/test/test_diagnostics.cpp | 3 +++ localization/autoware_ekf_localizer/test/test_numeric.cpp | 2 ++ .../src/geo_pose_projector.cpp | 2 ++ .../src/ar_tag_based_localizer.cpp | 4 ++++ .../autoware_ar_tag_based_localizer/test/test.cpp | 1 + .../autoware_landmark_manager/src/landmark_manager.cpp | 4 ++++ .../src/lidar_marker_localizer.cpp | 2 ++ .../autoware_localization_util/src/covariance_ellipse.cpp | 2 ++ .../src/tree_structured_parzen_estimator.cpp | 3 +++ localization/autoware_localization_util/src/util_func.cpp | 3 +++ localization/autoware_localization_util/test/test_tpe.cpp | 6 ++++++ .../autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h | 1 + .../autoware_ndt_scan_matcher/src/map_update_module.cpp | 3 +++ .../src/ndt_omp/estimate_covariance.cpp | 4 ++++ .../src/ndt_scan_matcher_core.cpp | 5 +++++ localization/autoware_ndt_scan_matcher/src/particle.cpp | 2 ++ .../autoware_ndt_scan_matcher/test/test_fixture.hpp | 1 + .../src/pose_covariance_modifier.cpp | 2 ++ .../example_rule/src/rule_helper/pose_estimator_area.cpp | 2 ++ .../example_rule/src/switch_rule/pcd_map_based_rule.cpp | 3 +++ .../src/switch_rule/vector_map_based_rule.cpp | 4 ++++ .../example_rule/test/test_pcd_map_based_rule.cpp | 1 + .../example_rule/test/test_rule_helper.cpp | 2 ++ .../example_rule/test/test_vector_map_based_rule.cpp | 1 + .../src/pose_estimator_arbiter_core.cpp | 8 ++++++++ .../src/switch_rule/enable_all_rule.cpp | 1 + .../autoware_pose_initializer/src/localization_module.cpp | 1 + .../test/test_copy_vector_to_array.cpp | 2 ++ .../src/pose_instability_detector.cpp | 2 ++ .../autoware_pose_instability_detector/test/test.cpp | 1 + .../yabloc/yabloc_common/src/camera_info_subscriber.cpp | 2 ++ localization/yabloc/yabloc_common/src/cv_decompress.cpp | 2 ++ .../src/ground_server/ground_server_core.cpp | 5 +++++ .../yabloc_common/src/ground_server/polygon_operation.cpp | 2 ++ .../src/ll2_decomposer/ll2_decomposer_core.cpp | 4 ++++ .../yabloc/yabloc_common/src/static_tf_subscriber.cpp | 3 +++ .../src/graph_segment/graph_segment_core.cpp | 5 +++++ .../src/graph_segment/similar_area_searcher.cpp | 3 +++ .../src/lanelet2_overlay/lanelet2_overlay_core.cpp | 3 +++ .../line_segment_detector/line_segment_detector_core.cpp | 2 ++ .../src/segment_filter/segment_filter_core.cpp | 5 +++++ .../src/undistort/undistort_node.cpp | 2 ++ .../ll2_cost_map/hierarchical_cost_map.hpp | 1 + .../camera_corrector/camera_particle_corrector_core.cpp | 3 +++ .../src/camera_corrector/filter_line_segments.cpp | 2 ++ .../yabloc/yabloc_particle_filter/src/common/mean.cpp | 1 + .../src/common/particle_visualize_node.cpp | 2 ++ .../yabloc_particle_filter/src/common/visualize.cpp | 2 ++ .../src/correction/abstract_corrector.cpp | 4 ++++ .../src/ll2_cost_map/direct_cost_map.cpp | 3 +++ .../src/ll2_cost_map/hierarchical_cost_map.cpp | 2 ++ .../yabloc_particle_filter/src/prediction/predictor.cpp | 2 ++ .../yabloc_particle_filter/src/prediction/resampler.cpp | 1 + .../src/camera/camera_pose_initializer_core.cpp | 4 ++++ .../yabloc_pose_initializer/src/camera/lane_image.cpp | 3 +++ .../yabloc_pose_initializer/src/camera/marker_module.cpp | 3 +++ .../src/camera/projector_module.cpp | 2 ++ .../src/camera/semantic_segmentation.cpp | 2 ++ 60 files changed, 156 insertions(+) diff --git a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp index 7e2606cdc3860..d34be2a537ef1 100644 --- a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp +++ b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp @@ -33,6 +33,7 @@ #include #include #include +#include namespace autoware::ekf_localizer { diff --git a/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp b/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp index 9cf56b80bb79a..dc9ef008335ed 100644 --- a/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp +++ b/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp @@ -16,6 +16,8 @@ #include +#include + namespace autoware::ekf_localizer { diff --git a/localization/autoware_ekf_localizer/test/test_diagnostics.cpp b/localization/autoware_ekf_localizer/test/test_diagnostics.cpp index 979f4c75deb84..165102adec1d7 100644 --- a/localization/autoware_ekf_localizer/test/test_diagnostics.cpp +++ b/localization/autoware_ekf_localizer/test/test_diagnostics.cpp @@ -16,6 +16,9 @@ #include +#include +#include + namespace autoware::ekf_localizer { diff --git a/localization/autoware_ekf_localizer/test/test_numeric.cpp b/localization/autoware_ekf_localizer/test/test_numeric.cpp index 8071804f48304..080ce01f31770 100644 --- a/localization/autoware_ekf_localizer/test/test_numeric.cpp +++ b/localization/autoware_ekf_localizer/test/test_numeric.cpp @@ -18,6 +18,8 @@ #include +#include + namespace autoware::ekf_localizer { diff --git a/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp b/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp index c3bf074f73aeb..0db808257f639 100644 --- a/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp +++ b/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp @@ -17,6 +17,8 @@ #include #include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp index 2418cf3f5dd1c..9d2a8bf814694 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp @@ -51,6 +51,10 @@ #include #include +#include +#include +#include + #if __has_include() #include // for ROS 2 Jazzy or newer #else diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/test/test.cpp b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/test/test.cpp index 295737ed723a5..5c2cbf3957de0 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/test/test.cpp +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/test/test.cpp @@ -20,6 +20,7 @@ #include #include +#include #include #include #include diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp index 04823a71febe9..a4ab83cde6dfa 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp @@ -24,6 +24,10 @@ #include #include +#include +#include +#include + namespace landmark_manager { diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp index 947ba02402697..2faf2d19168a5 100644 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp @@ -31,9 +31,11 @@ #include #include #include +#include #include #include #include +#include namespace autoware::lidar_marker_localizer { diff --git a/localization/autoware_localization_util/src/covariance_ellipse.cpp b/localization/autoware_localization_util/src/covariance_ellipse.cpp index 4a7d71909fb7a..847f89e0da9b3 100644 --- a/localization/autoware_localization_util/src/covariance_ellipse.cpp +++ b/localization/autoware_localization_util/src/covariance_ellipse.cpp @@ -15,6 +15,8 @@ #include "autoware/localization_util/covariance_ellipse.hpp" #include + +#include #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/localization/autoware_localization_util/src/tree_structured_parzen_estimator.cpp b/localization/autoware_localization_util/src/tree_structured_parzen_estimator.cpp index 064b33ebe3ad9..e9f0318d1e06d 100644 --- a/localization/autoware_localization_util/src/tree_structured_parzen_estimator.cpp +++ b/localization/autoware_localization_util/src/tree_structured_parzen_estimator.cpp @@ -17,7 +17,10 @@ #include #include #include +#include #include +#include +#include namespace autoware::localization_util { diff --git a/localization/autoware_localization_util/src/util_func.cpp b/localization/autoware_localization_util/src/util_func.cpp index 6b019f7750471..17187a8d732f0 100644 --- a/localization/autoware_localization_util/src/util_func.cpp +++ b/localization/autoware_localization_util/src/util_func.cpp @@ -16,6 +16,9 @@ #include "autoware/localization_util/matrix_type.hpp" +#include +#include + namespace autoware::localization_util { // ref by http://takacity.blog.fc2.com/blog-entry-69.html diff --git a/localization/autoware_localization_util/test/test_tpe.cpp b/localization/autoware_localization_util/test/test_tpe.cpp index 6cbe3c2a62571..2d71a385246b7 100644 --- a/localization/autoware_localization_util/test/test_tpe.cpp +++ b/localization/autoware_localization_util/test/test_tpe.cpp @@ -16,6 +16,12 @@ #include +#include +#include +#include +#include +#include + using TreeStructuredParzenEstimator = autoware::localization_util::TreeStructuredParzenEstimator; TEST(TreeStructuredParzenEstimatorTest, TPE_is_better_than_random_search_on_sphere_function) diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h index 00c567775a6bf..b7c9877739123 100644 --- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h @@ -67,6 +67,7 @@ #include +#include #include #include diff --git a/localization/autoware_ndt_scan_matcher/src/map_update_module.cpp b/localization/autoware_ndt_scan_matcher/src/map_update_module.cpp index 31e0ae2eb1a59..25b51b55aebd7 100644 --- a/localization/autoware_ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/autoware_ndt_scan_matcher/src/map_update_module.cpp @@ -14,6 +14,9 @@ #include "autoware/ndt_scan_matcher/map_update_module.hpp" +#include +#include + namespace autoware::ndt_scan_matcher { diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp index 3c6e8a3d5d2f0..d8a576a86879b 100644 --- a/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp +++ b/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp @@ -14,8 +14,12 @@ #include "autoware/ndt_scan_matcher/ndt_omp/estimate_covariance.hpp" +#include #include #include +#include +#include +#include namespace pclomp { diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index a316c8fa346b9..a1871023d525b 100644 --- a/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -25,6 +25,11 @@ #include +#include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/localization/autoware_ndt_scan_matcher/src/particle.cpp b/localization/autoware_ndt_scan_matcher/src/particle.cpp index a5db875fc3ff7..7211d612b7a21 100644 --- a/localization/autoware_ndt_scan_matcher/src/particle.cpp +++ b/localization/autoware_ndt_scan_matcher/src/particle.cpp @@ -15,6 +15,8 @@ #include "autoware/ndt_scan_matcher/particle.hpp" #include "autoware/localization_util/util_func.hpp" + +#include namespace autoware::ndt_scan_matcher { diff --git a/localization/autoware_ndt_scan_matcher/test/test_fixture.hpp b/localization/autoware_ndt_scan_matcher/test/test_fixture.hpp index b0b7dfe50b4ed..f82bb5fd03fea 100644 --- a/localization/autoware_ndt_scan_matcher/test/test_fixture.hpp +++ b/localization/autoware_ndt_scan_matcher/test/test_fixture.hpp @@ -28,6 +28,7 @@ #include #include +#include #include #include #include diff --git a/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp b/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp index 53d6ecb244f3e..1fa24c7b4f99c 100644 --- a/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp +++ b/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp @@ -21,6 +21,8 @@ #include #include +#include + namespace autoware::pose_covariance_modifier { using PoseSource = PoseCovarianceModifierNode::PoseSource; diff --git a/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp index 41ad45430d238..b2e06118b4569 100644 --- a/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp @@ -23,6 +23,8 @@ #include #include +#include +#include #include #include diff --git a/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp index cc5414ebd0a68..023b49c854621 100644 --- a/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp @@ -16,6 +16,9 @@ #include +#include +#include +#include #include namespace autoware::pose_estimator_arbiter::switch_rule diff --git a/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp index 58cf9ab09e9a7..47eb67b1914ce 100644 --- a/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp @@ -16,6 +16,10 @@ #include +#include +#include +#include +#include #include namespace autoware::pose_estimator_arbiter::switch_rule diff --git a/localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp index 0d1f245123806..27ca4715fd0f1 100644 --- a/localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp @@ -17,6 +17,7 @@ #include #include +#include #include class PcdMapBasedRuleMockNode : public ::testing::Test diff --git a/localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp index 10833b5498b89..6925a424cac6c 100644 --- a/localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp @@ -26,6 +26,8 @@ #include #include +#include +#include #include class RuleHelperMockNode : public ::testing::Test diff --git a/localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp index 9d537f2048176..e57956b6afae3 100644 --- a/localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp @@ -22,6 +22,7 @@ #include #include +#include #include class VectorMapBasedRuleMockNode : public ::testing::Test diff --git a/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp index 9108d44e82fb5..c62c533f23093 100644 --- a/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp +++ b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp @@ -22,6 +22,14 @@ #include +#include +#include +#include +#include +#include +#include +#include + namespace autoware::pose_estimator_arbiter { // Parses ros param to get the estimator set that is running diff --git a/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp b/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp index 9767e9ef4fba4..22896d6b8f93b 100644 --- a/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include #include diff --git a/localization/autoware_pose_initializer/src/localization_module.cpp b/localization/autoware_pose_initializer/src/localization_module.cpp index c6b57dd83bc97..e3fdeec6934fe 100644 --- a/localization/autoware_pose_initializer/src/localization_module.cpp +++ b/localization/autoware_pose_initializer/src/localization_module.cpp @@ -19,6 +19,7 @@ #include #include +#include namespace autoware::pose_initializer { diff --git a/localization/autoware_pose_initializer/test/test_copy_vector_to_array.cpp b/localization/autoware_pose_initializer/test/test_copy_vector_to_array.cpp index 6205eb3b53864..99a07a56c22f7 100644 --- a/localization/autoware_pose_initializer/test/test_copy_vector_to_array.cpp +++ b/localization/autoware_pose_initializer/test/test_copy_vector_to_array.cpp @@ -16,6 +16,8 @@ #include +#include + TEST(CopyVectorToArray, CopyAllElements) { const std::vector vector{0, 1, 2, 3, 4}; diff --git a/localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp b/localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp index 36aa4f6d7d73e..d191ec2a3bb22 100644 --- a/localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp +++ b/localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp @@ -22,8 +22,10 @@ #include #include +#include #include #include +#include namespace autoware::pose_instability_detector { diff --git a/localization/autoware_pose_instability_detector/test/test.cpp b/localization/autoware_pose_instability_detector/test/test.cpp index bd663a2406903..14ca03e4c6f40 100644 --- a/localization/autoware_pose_instability_detector/test/test.cpp +++ b/localization/autoware_pose_instability_detector/test/test.cpp @@ -21,6 +21,7 @@ #include #include +#include #include #include #include diff --git a/localization/yabloc/yabloc_common/src/camera_info_subscriber.cpp b/localization/yabloc/yabloc_common/src/camera_info_subscriber.cpp index 222389c32ef31..118bc3cb634c3 100644 --- a/localization/yabloc/yabloc_common/src/camera_info_subscriber.cpp +++ b/localization/yabloc/yabloc_common/src/camera_info_subscriber.cpp @@ -14,6 +14,8 @@ #include "yabloc_common/camera_info_subscriber.hpp" +#include + namespace yabloc::common { CameraInfoSubscriber::CameraInfoSubscriber(rclcpp::Node * node) diff --git a/localization/yabloc/yabloc_common/src/cv_decompress.cpp b/localization/yabloc/yabloc_common/src/cv_decompress.cpp index 5808d5efc61af..0f4bf2b7bc498 100644 --- a/localization/yabloc/yabloc_common/src/cv_decompress.cpp +++ b/localization/yabloc/yabloc_common/src/cv_decompress.cpp @@ -17,6 +17,8 @@ #include #include +#include + #if __has_include() #include // for ROS 2 Jazzy or newer #else diff --git a/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp b/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp index d96285c0d5c00..83edeb4bd9b96 100644 --- a/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp +++ b/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp @@ -28,7 +28,12 @@ #include #include +#include #include +#include +#include +#include +#include namespace yabloc::ground_server { diff --git a/localization/yabloc/yabloc_common/src/ground_server/polygon_operation.cpp b/localization/yabloc/yabloc_common/src/ground_server/polygon_operation.cpp index 11279f6268092..5a8dadec898d6 100644 --- a/localization/yabloc/yabloc_common/src/ground_server/polygon_operation.cpp +++ b/localization/yabloc/yabloc_common/src/ground_server/polygon_operation.cpp @@ -16,6 +16,8 @@ #include +#include + namespace yabloc::ground_server { // cppcheck-suppress unusedFunction diff --git a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp index 6c3d43f33440f..cbb6f48450b91 100644 --- a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp +++ b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp @@ -22,6 +22,10 @@ #include +#include +#include +#include + namespace yabloc::ll2_decomposer { Ll2Decomposer::Ll2Decomposer(const rclcpp::NodeOptions & options) : Node("ll2_to_image", options) diff --git a/localization/yabloc/yabloc_common/src/static_tf_subscriber.cpp b/localization/yabloc/yabloc_common/src/static_tf_subscriber.cpp index 3aeaefad12629..afe9d9d70349b 100644 --- a/localization/yabloc/yabloc_common/src/static_tf_subscriber.cpp +++ b/localization/yabloc/yabloc_common/src/static_tf_subscriber.cpp @@ -14,6 +14,9 @@ #include "yabloc_common/static_tf_subscriber.hpp" +#include +#include + namespace yabloc::common { StaticTfSubscriber::StaticTfSubscriber(rclcpp::Clock::SharedPtr clock) diff --git a/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp b/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp index 9539e44f61276..cedfb570fe74c 100644 --- a/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp +++ b/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp @@ -21,6 +21,11 @@ #include #include +#include +#include +#include +#include + namespace yabloc::graph_segment { GraphSegment::GraphSegment(const rclcpp::NodeOptions & options) diff --git a/localization/yabloc/yabloc_image_processing/src/graph_segment/similar_area_searcher.cpp b/localization/yabloc/yabloc_image_processing/src/graph_segment/similar_area_searcher.cpp index c7bf41bff459b..5483f4a1e6ae8 100644 --- a/localization/yabloc/yabloc_image_processing/src/graph_segment/similar_area_searcher.cpp +++ b/localization/yabloc/yabloc_image_processing/src/graph_segment/similar_area_searcher.cpp @@ -19,6 +19,9 @@ #include #include +#include +#include +#include namespace yabloc::graph_segment { diff --git a/localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp b/localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp index d31b19406e320..948f5764e2fe3 100644 --- a/localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp +++ b/localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp @@ -26,6 +26,9 @@ #include +#include +#include + namespace yabloc::lanelet2_overlay { Lanelet2Overlay::Lanelet2Overlay(const rclcpp::NodeOptions & options) diff --git a/localization/yabloc/yabloc_image_processing/src/line_segment_detector/line_segment_detector_core.cpp b/localization/yabloc/yabloc_image_processing/src/line_segment_detector/line_segment_detector_core.cpp index c5cec31e24844..8b4dd71561276 100644 --- a/localization/yabloc/yabloc_image_processing/src/line_segment_detector/line_segment_detector_core.cpp +++ b/localization/yabloc/yabloc_image_processing/src/line_segment_detector/line_segment_detector_core.cpp @@ -21,6 +21,8 @@ #include +#include + namespace yabloc::line_segment_detector { LineSegmentDetector::LineSegmentDetector(const rclcpp::NodeOptions & options) diff --git a/localization/yabloc/yabloc_image_processing/src/segment_filter/segment_filter_core.cpp b/localization/yabloc/yabloc_image_processing/src/segment_filter/segment_filter_core.cpp index b844fb69285b5..ab2c241001df7 100644 --- a/localization/yabloc/yabloc_image_processing/src/segment_filter/segment_filter_core.cpp +++ b/localization/yabloc/yabloc_image_processing/src/segment_filter/segment_filter_core.cpp @@ -21,6 +21,11 @@ #include +#include +#include +#include +#include + namespace yabloc::segment_filter { SegmentFilter::SegmentFilter(const rclcpp::NodeOptions & options) diff --git a/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp b/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp index 4c33377c8ed0f..98484d5875e14 100644 --- a/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp +++ b/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp @@ -24,6 +24,8 @@ #include #include +#include + #if __has_include() #include // for ROS 2 Jazzy or newer #else diff --git a/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/ll2_cost_map/hierarchical_cost_map.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/ll2_cost_map/hierarchical_cost_map.hpp index d6cc4553e29bc..b130ef2db1425 100644 --- a/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/ll2_cost_map/hierarchical_cost_map.hpp +++ b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/ll2_cost_map/hierarchical_cost_map.hpp @@ -29,6 +29,7 @@ #include #include +#include #include #include #include diff --git a/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp index d6a38e7b97b96..4e8decf1308bf 100644 --- a/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp @@ -25,7 +25,10 @@ #include +#include #include +#include +#include namespace yabloc::modularized_particle_filter { diff --git a/localization/yabloc/yabloc_particle_filter/src/camera_corrector/filter_line_segments.cpp b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/filter_line_segments.cpp index 105f72920a6de..20c825848b728 100644 --- a/localization/yabloc/yabloc_particle_filter/src/camera_corrector/filter_line_segments.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/filter_line_segments.cpp @@ -20,6 +20,8 @@ #include #include +#include + namespace yabloc::modularized_particle_filter { cv::Point2f cv2pt(const Eigen::Vector3f & v) diff --git a/localization/yabloc/yabloc_particle_filter/src/common/mean.cpp b/localization/yabloc/yabloc_particle_filter/src/common/mean.cpp index 1a0ef05508c76..0219165734967 100644 --- a/localization/yabloc/yabloc_particle_filter/src/common/mean.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/common/mean.cpp @@ -27,6 +27,7 @@ #include #include #include +#include namespace yabloc::modularized_particle_filter { diff --git a/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp b/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp index 48f2041595a77..fa08deb0da9de 100644 --- a/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp @@ -20,6 +20,8 @@ #include #include +#include + namespace yabloc::modularized_particle_filter { class ParticleVisualize : public rclcpp::Node diff --git a/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp b/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp index 17b22757b4bc5..e9b85f380cf8c 100644 --- a/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp @@ -16,6 +16,8 @@ #include +#include + namespace yabloc::modularized_particle_filter { ParticleVisualizer::ParticleVisualizer(rclcpp::Node & node) diff --git a/localization/yabloc/yabloc_particle_filter/src/correction/abstract_corrector.cpp b/localization/yabloc/yabloc_particle_filter/src/correction/abstract_corrector.cpp index 1c8e2f5976a1d..3c776743824ca 100644 --- a/localization/yabloc/yabloc_particle_filter/src/correction/abstract_corrector.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/correction/abstract_corrector.cpp @@ -14,6 +14,10 @@ #include "yabloc_particle_filter/correction/abstract_corrector.hpp" +#include +#include +#include + namespace yabloc::modularized_particle_filter { AbstractCorrector::AbstractCorrector( diff --git a/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp index c6359a8c8f5fc..4006e8f6fd2c2 100644 --- a/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp @@ -14,6 +14,9 @@ #include "yabloc_particle_filter/ll2_cost_map/direct_cost_map.hpp" +#include +#include + namespace yabloc { cv::Mat direct_cost_map(const cv::Mat & cost_map, const cv::Mat & intensity) diff --git a/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp index 4f03e3d26ecb6..7450635b70303 100644 --- a/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp @@ -22,6 +22,8 @@ #include +#include + namespace yabloc { float Area::unit_length = -1; diff --git a/localization/yabloc/yabloc_particle_filter/src/prediction/predictor.cpp b/localization/yabloc/yabloc_particle_filter/src/prediction/predictor.cpp index 701a2b8763fa3..e92de610e4dec 100644 --- a/localization/yabloc/yabloc_particle_filter/src/prediction/predictor.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/prediction/predictor.cpp @@ -26,7 +26,9 @@ #include +#include #include +#include namespace yabloc::modularized_particle_filter { diff --git a/localization/yabloc/yabloc_particle_filter/src/prediction/resampler.cpp b/localization/yabloc/yabloc_particle_filter/src/prediction/resampler.cpp index c8c3971ba85b2..f70b4721798be 100644 --- a/localization/yabloc/yabloc_particle_filter/src/prediction/resampler.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/prediction/resampler.cpp @@ -21,6 +21,7 @@ #include #include #include +#include namespace yabloc::modularized_particle_filter { diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp index 23f711d1ba17b..0d446e976c089 100644 --- a/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp +++ b/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp @@ -20,6 +20,10 @@ #include #include +#include +#include +#include + #if __has_include() #include // for ROS 2 Jazzy or newer #else diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/lane_image.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/lane_image.cpp index d6949c43dbfc5..ca4ca60179bd0 100644 --- a/localization/yabloc/yabloc_pose_initializer/src/camera/lane_image.cpp +++ b/localization/yabloc/yabloc_pose_initializer/src/camera/lane_image.cpp @@ -23,6 +23,9 @@ #include #include +#include +#include + namespace yabloc { namespace bg = boost::geometry; diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/marker_module.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/marker_module.cpp index 0d4dd8bb373e5..9b479c18db07e 100644 --- a/localization/yabloc/yabloc_pose_initializer/src/camera/marker_module.cpp +++ b/localization/yabloc/yabloc_pose_initializer/src/camera/marker_module.cpp @@ -16,6 +16,9 @@ #include +#include +#include + namespace yabloc::initializer { diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/projector_module.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/projector_module.cpp index 449812eff6e09..59226dc0e9171 100644 --- a/localization/yabloc/yabloc_pose_initializer/src/camera/projector_module.cpp +++ b/localization/yabloc/yabloc_pose_initializer/src/camera/projector_module.cpp @@ -18,6 +18,8 @@ #include #include +#include + namespace yabloc::initializer { ProjectorModule::ProjectorModule(rclcpp::Node * node) diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/semantic_segmentation.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/semantic_segmentation.cpp index 917015269d3e2..472d45749d611 100644 --- a/localization/yabloc/yabloc_pose_initializer/src/camera/semantic_segmentation.cpp +++ b/localization/yabloc/yabloc_pose_initializer/src/camera/semantic_segmentation.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include #include struct SemanticSegmentation::Impl From e9659599f8975132a4a6c92ed5d73d538b0bee0c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:13:58 +0300 Subject: [PATCH 650/701] fix(cpplint): include what you use - map (#9568) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- map/autoware_map_height_fitter/src/map_height_fitter.cpp | 2 ++ .../src/lanelet2_map_loader/lanelet2_map_loader_node.cpp | 1 + .../pointcloud_map_loader/differential_map_loader_module.cpp | 3 +++ .../src/pointcloud_map_loader/partial_map_loader_module.cpp | 2 ++ .../src/pointcloud_map_loader/pointcloud_map_loader_node.cpp | 2 ++ .../src/pointcloud_map_loader/selected_map_loader_module.cpp | 2 ++ map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp | 1 + .../test/test_differential_map_loader_module.cpp | 2 ++ map/autoware_map_loader/test/test_load_pcd_metadata.cpp | 2 ++ .../test/test_partial_map_loader_module.cpp | 2 ++ .../test/test_pointcloud_map_loader_module.cpp | 2 ++ .../test/test_replace_with_absolute_path.cpp | 5 +++++ .../src/map_projection_loader.cpp | 2 ++ .../test/test_load_info_from_lanelet2_map.cpp | 2 ++ .../src/pcd_map_tf_generator_node.cpp | 1 + .../src/vector_map_tf_generator_node.cpp | 1 + map/autoware_map_tf_generator/test/test_uniform_random.cpp | 2 ++ 17 files changed, 34 insertions(+) diff --git a/map/autoware_map_height_fitter/src/map_height_fitter.cpp b/map/autoware_map_height_fitter/src/map_height_fitter.cpp index 732f13e375f05..e86674c86f10d 100644 --- a/map/autoware_map_height_fitter/src/map_height_fitter.cpp +++ b/map/autoware_map_height_fitter/src/map_height_fitter.cpp @@ -29,7 +29,9 @@ #include #include +#include #include +#include namespace autoware::map_height_fitter { diff --git a/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index 0d431e65de3dc..47439508f46ae 100644 --- a/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +++ b/map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp @@ -49,6 +49,7 @@ #include #include +#include #include #include diff --git a/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp index 160c6f876138d..30a0dd06364d3 100644 --- a/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp @@ -14,7 +14,10 @@ #include "differential_map_loader_module.hpp" +#include +#include #include +#include namespace autoware::map_loader { diff --git a/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp index afa3da7b82b2d..1c96f82b22853 100644 --- a/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/partial_map_loader_module.cpp @@ -14,6 +14,8 @@ #include "partial_map_loader_module.hpp" +#include +#include #include namespace autoware::map_loader diff --git a/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp index 2500d96650ae3..a22654faa712a 100644 --- a/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp @@ -20,7 +20,9 @@ #include #include +#include #include +#include #include #include diff --git a/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp index 082d1f545dc14..18b8ace1fec68 100644 --- a/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/selected_map_loader_module.cpp @@ -14,6 +14,8 @@ #include "selected_map_loader_module.hpp" +#include +#include #include namespace autoware::map_loader diff --git a/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp b/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp index 172d462947548..cf52986cf58d8 100644 --- a/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp +++ b/map/autoware_map_loader/src/pointcloud_map_loader/utils.cpp @@ -17,6 +17,7 @@ #include #include +#include #include #include diff --git a/map/autoware_map_loader/test/test_differential_map_loader_module.cpp b/map/autoware_map_loader/test/test_differential_map_loader_module.cpp index cd9b670b32fd3..56be0556bdf04 100644 --- a/map/autoware_map_loader/test/test_differential_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_differential_map_loader_module.cpp @@ -21,7 +21,9 @@ #include #include +#include #include +#include using autoware::map_loader::DifferentialMapLoaderModule; using autoware_map_msgs::srv::GetDifferentialPointCloudMap; diff --git a/map/autoware_map_loader/test/test_load_pcd_metadata.cpp b/map/autoware_map_loader/test/test_load_pcd_metadata.cpp index dc23c3a9fb2d6..eb246c22afbc3 100644 --- a/map/autoware_map_loader/test/test_load_pcd_metadata.cpp +++ b/map/autoware_map_loader/test/test_load_pcd_metadata.cpp @@ -18,6 +18,8 @@ #include #include +#include +#include using ::testing::ContainerEq; diff --git a/map/autoware_map_loader/test/test_partial_map_loader_module.cpp b/map/autoware_map_loader/test/test_partial_map_loader_module.cpp index fd25b600c81af..85a1f82fb6b2f 100644 --- a/map/autoware_map_loader/test/test_partial_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_partial_map_loader_module.cpp @@ -20,7 +20,9 @@ #include +#include #include +#include using autoware::map_loader::PartialMapLoaderModule; using autoware_map_msgs::srv::GetPartialPointCloudMap; diff --git a/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp b/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp index d61839d5abfc8..3359847a1751c 100644 --- a/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp +++ b/map/autoware_map_loader/test/test_pointcloud_map_loader_module.cpp @@ -25,6 +25,8 @@ #include #include +#include +#include class TestPointcloudMapLoaderModule : public ::testing::Test { diff --git a/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp b/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp index e8ccfbd5fb9f4..00600d51288f6 100644 --- a/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp +++ b/map/autoware_map_loader/test/test_replace_with_absolute_path.cpp @@ -17,6 +17,11 @@ #include #include +#include +#include +#include +#include + using autoware::map_loader::PCDFileMetadata; using autoware::map_loader::replace_with_absolute_path; using ::testing::ContainerEq; diff --git a/map/autoware_map_projection_loader/src/map_projection_loader.cpp b/map/autoware_map_projection_loader/src/map_projection_loader.cpp index a59714e627e83..981380d1d493b 100644 --- a/map/autoware_map_projection_loader/src/map_projection_loader.cpp +++ b/map/autoware_map_projection_loader/src/map_projection_loader.cpp @@ -22,6 +22,8 @@ #include #include +#include +#include namespace autoware::map_projection_loader { diff --git a/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp b/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp index f40084ef819c7..bf2207a777642 100644 --- a/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp +++ b/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include void save_dummy_mgrs_lanelet2_map(const std::string & mgrs_coord, const std::string & output_path) { diff --git a/map/autoware_map_tf_generator/src/pcd_map_tf_generator_node.cpp b/map/autoware_map_tf_generator/src/pcd_map_tf_generator_node.cpp index e6edbe99dd210..f1e6b75d2d309 100644 --- a/map/autoware_map_tf_generator/src/pcd_map_tf_generator_node.cpp +++ b/map/autoware_map_tf_generator/src/pcd_map_tf_generator_node.cpp @@ -27,6 +27,7 @@ #include #include #include +#include namespace autoware::map_tf_generator { diff --git a/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp b/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp index e4c397bd04cf1..e31416fb1a2d3 100644 --- a/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp +++ b/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp @@ -24,6 +24,7 @@ #include #include +#include namespace autoware::map_tf_generator { diff --git a/map/autoware_map_tf_generator/test/test_uniform_random.cpp b/map/autoware_map_tf_generator/test/test_uniform_random.cpp index 481f5c6d86859..29557d9327e5a 100644 --- a/map/autoware_map_tf_generator/test/test_uniform_random.cpp +++ b/map/autoware_map_tf_generator/test/test_uniform_random.cpp @@ -16,6 +16,8 @@ #include +#include + using testing::AllOf; using testing::Each; using testing::Ge; From d743658b8bcd243dc47d53d2179801e332a985f4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:14:14 +0300 Subject: [PATCH 651/701] fix(cpplint): include what you use - perception (#9569) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../lib/src/byte_tracker.cpp | 498 +++++------ .../autoware_bytetrack/lib/src/strack.cpp | 4 + .../autoware_bytetrack/lib/src/utils.cpp | 802 +++++++++--------- .../autoware_bytetrack/src/bytetrack.cpp | 2 + .../autoware_bytetrack/src/bytetrack_node.cpp | 2 + .../src/bytetrack_visualizer_node.cpp | 4 + .../test/test_cluster_merger.cpp | 2 + .../node.cpp | 1 + .../node.cpp | 1 + .../voxel_based_compare_map_filter/node.cpp | 1 + .../node.cpp | 1 + .../voxel_grid_map_loader.cpp | 4 + ...test_distance_based_compare_map_filter.cpp | 3 + ...l_based_approximate_compare_map_filter.cpp | 3 + .../test_voxel_based_compare_map_filter.cpp | 3 + ...oxel_distance_based_compare_map_filter.cpp | 3 + .../src/node.cpp | 3 + .../detected_object_feature_remover_node.cpp | 2 + ...t_detected_object_feature_remover_node.cpp | 3 + .../src/lanelet_filter/debug.cpp | 2 + .../src/lanelet_filter/lanelet_filter.cpp | 4 + .../obstacle_pointcloud_validator.cpp | 3 + .../src/position_filter/position_filter.cpp | 2 + .../test_object_position_filter.cpp | 2 + .../lib/euclidean_cluster.cpp | 2 + .../autoware_euclidean_cluster/lib/utils.cpp | 2 + .../voxel_grid_based_euclidean_cluster.cpp | 1 + .../src/euclidean_cluster_node.cpp | 1 + ...oxel_grid_based_euclidean_cluster_node.cpp | 1 + ...est_voxel_grid_based_euclidean_cluster.cpp | 3 + .../src/ransac_ground_filter/node.cpp | 1 + .../scan_ground_filter/grid_ground_filter.cpp | 3 + .../test/test_ransac_ground_filter.cpp | 5 + .../test/test_ray_ground_filter.cpp | 3 + .../test/test_scan_ground_filter.cpp | 3 + .../src/debugger.cpp | 4 + .../src/fusion_node.cpp | 3 + .../src/pointpainting_fusion/node.cpp | 3 + .../pointpainting_fusion/voxel_generator.cpp | 2 + .../src/roi_cluster_fusion/node.cpp | 6 + .../src/roi_detected_object_fusion/node.cpp | 5 + .../src/roi_pointcloud_fusion/node.cpp | 2 + .../segmentation_pointcloud_fusion/node.cpp | 3 + .../src/utils/geometry.cpp | 2 + .../src/utils/utils.cpp | 4 + .../test/test_geometry.cpp | 2 + .../test/test_utils.cpp | 2 + .../src/detector.cpp | 3 + .../src/feature_generator.cpp | 1 + .../src/node.cpp | 2 + .../lib/detection_class_remapper.cpp | 3 + .../lib/network/network_trt.cpp | 3 + .../postprocess/non_maximum_suppression.cpp | 2 + .../lib/preprocess/voxel_generator.cpp | 1 + .../lib/ros_utils.cpp | 3 + .../test/test_detection_class_remapper.cpp | 2 + .../test/test_nms.cpp | 2 + .../test/test_ros_utils.cpp | 3 + .../test/test_voxel_generator.cpp | 3 + .../lib/detection_class_remapper.cpp | 3 + .../lib/network/network_trt.cpp | 2 + .../postprocess/non_maximum_suppression.cpp | 2 + .../lib/preprocess/voxel_generator.cpp | 3 + .../lib/ros_utils.cpp | 3 + .../lib/transfusion_trt.cpp | 1 + .../src/lidar_transfusion_node.cpp | 5 + .../test/test_detection_class_remapper.cpp | 2 + .../test/test_nms.cpp | 2 + .../test/test_postprocess_kernel.cpp | 1 + .../test/test_preprocess_kernel.cpp | 1 + .../test/test_ros_utils.cpp | 3 + .../test/test_voxel_generator.cpp | 3 + .../src/map_based_prediction_node.cpp | 5 + .../src/path_generator.cpp | 3 + .../src/predictor_vru.cpp | 9 + .../src/utils.cpp | 9 + .../lib/tracker/model/tracker_base.cpp | 1 + .../motion_model/bicycle_motion_model.cpp | 2 + .../lib/uncertainty/uncertainty_processor.cpp | 2 + .../src/debugger/debug_object.cpp | 3 + .../src/debugger/debugger.cpp | 3 + .../src/multi_object_tracker_node.cpp | 1 + .../src/processor/input_manager.cpp | 2 + .../src/processor/processor.cpp | 4 + .../src/object_association_merger_node.cpp | 4 + ...radar_crossing_objects_filter_is_noise.cpp | 2 + .../src/association/data_association.cpp | 1 + .../constant_turn_rate_motion_tracker.cpp | 3 + .../tracker/model/linear_motion_tracker.cpp | 3 + .../src/tracker/model/tracker_base.cpp | 1 + .../src/utils/radar_object_tracker_utils.cpp | 4 + .../src/utils/utils.cpp | 2 + .../src/low_intensity_cluster_filter_node.cpp | 2 + .../test_low_intensity_cluster_filter.cpp | 3 + .../lib/tensorrt_shape_estimator.cpp | 5 + .../test/test_shape_estimation_node.cpp | 3 + .../tensorrt_classifier/calibrator.hpp | 2 + .../src/tensorrt_classifier.cpp | 2 + .../autoware/tensorrt_common/logger.hpp | 1 + .../tensorrt_common/tensorrt_common.hpp | 2 + .../src/simple_profiler.cpp | 3 + .../src/tensorrt_common.cpp | 1 + .../autoware/tensorrt_yolox/calibrator.hpp | 2 + .../src/tensorrt_yolox.cpp | 1 + .../src/yolox_single_image_inference_node.cpp | 2 + .../src/decorative_tracker_merger_node.cpp | 3 + .../src/utils/tracker_state.cpp | 5 + .../src/utils/utils.cpp | 1 + .../src/signal_match_validator.cpp | 6 + .../test/test_node.cpp | 4 + .../src/traffic_light_fine_detector_node.cpp | 2 + .../traffic_light_map_based_detector_node.cpp | 5 + ...traffic_light_multi_camera_fusion_node.cpp | 1 + .../src/occlusion_predictor.cpp | 2 + .../shape_draw.cpp | 1 + .../src/run_length_encoder.cpp | 2 + .../perception_utils/test/test_utils.cpp | 2 + 117 files changed, 957 insertions(+), 647 deletions(-) diff --git a/perception/autoware_bytetrack/lib/src/byte_tracker.cpp b/perception/autoware_bytetrack/lib/src/byte_tracker.cpp index a3477e78ad6dd..1d1288cbb2a48 100644 --- a/perception/autoware_bytetrack/lib/src/byte_tracker.cpp +++ b/perception/autoware_bytetrack/lib/src/byte_tracker.cpp @@ -1,248 +1,250 @@ -/* - * MIT License - * - * Copyright (c) 2021 Yifu Zhang - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "byte_tracker.h" - -#include -#include - -ByteTracker::ByteTracker( - int track_buffer, float track_thresh, float high_thresh, float match_thresh) -: track_thresh(track_thresh), high_thresh(high_thresh), match_thresh(match_thresh) - -{ - frame_id = 0; - max_time_lost = track_buffer; - std::cout << "Init ByteTrack!" << std::endl; -} - -ByteTracker::~ByteTracker() -{ -} - -std::vector ByteTracker::update(const std::vector & objects) -{ - ////////////////// Step 1: Get detections ////////////////// - this->frame_id++; - std::vector activated_stracks; - std::vector refind_stracks; - std::vector removed_stracks; - std::vector lost_stracks; - std::vector detections; - std::vector detections_low; - - std::vector detections_cp; - std::vector tracked_stracks_swap; - std::vector resa, resb; - std::vector output_stracks; - - std::vector unconfirmed; - std::vector tracked_stracks; - std::vector strack_pool; - std::vector r_tracked_stracks; - - if (objects.size() > 0) { - for (size_t i = 0; i < objects.size(); i++) { - std::vector tlbr_; - tlbr_.resize(4); - tlbr_[0] = objects[i].rect.x; - tlbr_[1] = objects[i].rect.y; - tlbr_[2] = objects[i].rect.x + objects[i].rect.width; - tlbr_[3] = objects[i].rect.y + objects[i].rect.height; - - float score = objects[i].prob; - - STrack strack(STrack::tlbr_to_tlwh(tlbr_), score, objects[i].label); - if (score >= track_thresh) { - detections.push_back(strack); - } else { - detections_low.push_back(strack); - } - } - } - - // Add newly detected tracklets to tracked_stracks - for (size_t i = 0; i < this->tracked_stracks.size(); i++) { - if (!this->tracked_stracks[i].is_activated) - unconfirmed.push_back(&this->tracked_stracks[i]); - else - tracked_stracks.push_back(&this->tracked_stracks[i]); - } - - ////////////////// Step 2: First association, with IoU ////////////////// - strack_pool = joint_stracks(tracked_stracks, this->lost_stracks); - // do prediction for each stracks - for (size_t i = 0; i < strack_pool.size(); i++) { - strack_pool[i]->predict(this->frame_id); - } - - std::vector > dists; - int dist_size = 0, dist_size_size = 0; - dists = iou_distance(strack_pool, detections, dist_size, dist_size_size); - - std::vector > matches; - std::vector u_track, u_detection; - linear_assignment(dists, dist_size, dist_size_size, match_thresh, matches, u_track, u_detection); - - for (size_t i = 0; i < matches.size(); i++) { - STrack * track = strack_pool[matches[i][0]]; - STrack * det = &detections[matches[i][1]]; - if (track->state == TrackState::Tracked) { - track->update(*det, this->frame_id); - activated_stracks.push_back(*track); - } else { - track->re_activate(*det, this->frame_id, false); - refind_stracks.push_back(*track); - } - } - - ////////////////// Step 3: Second association, using low score dets ////////////////// - for (size_t i = 0; i < u_detection.size(); i++) { - detections_cp.push_back(detections[u_detection[i]]); - } - detections.clear(); - detections.assign(detections_low.begin(), detections_low.end()); - - for (size_t i = 0; i < u_track.size(); i++) { - if (strack_pool[u_track[i]]->state == TrackState::Tracked) { - r_tracked_stracks.push_back(strack_pool[u_track[i]]); - } - } - - dists.clear(); - dists = iou_distance(r_tracked_stracks, detections, dist_size, dist_size_size); - - matches.clear(); - u_track.clear(); - u_detection.clear(); - linear_assignment(dists, dist_size, dist_size_size, 0.5, matches, u_track, u_detection); - - for (size_t i = 0; i < matches.size(); i++) { - STrack * track = r_tracked_stracks[matches[i][0]]; - STrack * det = &detections[matches[i][1]]; - if (track->state == TrackState::Tracked) { - track->update(*det, this->frame_id); - activated_stracks.push_back(*track); - } else { - track->re_activate(*det, this->frame_id, false); - refind_stracks.push_back(*track); - } - } - - for (size_t i = 0; i < u_track.size(); i++) { - STrack * track = r_tracked_stracks[u_track[i]]; - if (track->state != TrackState::Lost) { - track->mark_lost(); - lost_stracks.push_back(*track); - } - } - - // Deal with unconfirmed tracks, usually tracks with only one beginning frame - detections.clear(); - detections.assign(detections_cp.begin(), detections_cp.end()); - - dists.clear(); - dists = iou_distance(unconfirmed, detections, dist_size, dist_size_size); - - matches.clear(); - std::vector u_unconfirmed; - u_detection.clear(); - linear_assignment(dists, dist_size, dist_size_size, 0.7, matches, u_unconfirmed, u_detection); - - for (size_t i = 0; i < matches.size(); i++) { - unconfirmed[matches[i][0]]->update(detections[matches[i][1]], this->frame_id); - activated_stracks.push_back(*unconfirmed[matches[i][0]]); - } - - for (size_t i = 0; i < u_unconfirmed.size(); i++) { - STrack * track = unconfirmed[u_unconfirmed[i]]; - track->mark_removed(); - removed_stracks.push_back(*track); - } - - ////////////////// Step 4: Init new stracks ////////////////// - for (size_t i = 0; i < u_detection.size(); i++) { - STrack * track = &detections[u_detection[i]]; - if (track->score < this->high_thresh) continue; - track->activate(this->frame_id); - activated_stracks.push_back(*track); - } - - ////////////////// Step 5: Update state ////////////////// - for (size_t i = 0; i < this->lost_stracks.size(); i++) { - if (this->frame_id - this->lost_stracks[i].end_frame() > this->max_time_lost) { - this->lost_stracks[i].mark_removed(); - removed_stracks.push_back(this->lost_stracks[i]); - } - } - - for (size_t i = 0; i < this->tracked_stracks.size(); i++) { - if (this->tracked_stracks[i].state == TrackState::Tracked) { - tracked_stracks_swap.push_back(this->tracked_stracks[i]); - } - } - this->tracked_stracks.clear(); - this->tracked_stracks.assign(tracked_stracks_swap.begin(), tracked_stracks_swap.end()); - - this->tracked_stracks = joint_stracks(this->tracked_stracks, activated_stracks); - this->tracked_stracks = joint_stracks(this->tracked_stracks, refind_stracks); - - this->lost_stracks = sub_stracks(this->lost_stracks, this->tracked_stracks); - for (size_t i = 0; i < lost_stracks.size(); i++) { - this->lost_stracks.push_back(lost_stracks[i]); - } - - this->lost_stracks = sub_stracks(this->lost_stracks, this->removed_stracks); - for (size_t i = 0; i < removed_stracks.size(); i++) { - this->removed_stracks.push_back(removed_stracks[i]); - } - - remove_duplicate_stracks(resa, resb, this->tracked_stracks, this->lost_stracks); - - this->tracked_stracks.clear(); - this->tracked_stracks.assign(resa.begin(), resa.end()); - this->lost_stracks.clear(); - this->lost_stracks.assign(resb.begin(), resb.end()); - - for (size_t i = 0; i < this->tracked_stracks.size(); i++) { - if (this->tracked_stracks[i].is_activated) { - output_stracks.push_back(this->tracked_stracks[i]); - } - } - return output_stracks; -} +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "byte_tracker.h" + +#include +#include +#include +#include + +ByteTracker::ByteTracker( + int track_buffer, float track_thresh, float high_thresh, float match_thresh) +: track_thresh(track_thresh), high_thresh(high_thresh), match_thresh(match_thresh) + +{ + frame_id = 0; + max_time_lost = track_buffer; + std::cout << "Init ByteTrack!" << std::endl; +} + +ByteTracker::~ByteTracker() +{ +} + +std::vector ByteTracker::update(const std::vector & objects) +{ + ////////////////// Step 1: Get detections ////////////////// + this->frame_id++; + std::vector activated_stracks; + std::vector refind_stracks; + std::vector removed_stracks; + std::vector lost_stracks; + std::vector detections; + std::vector detections_low; + + std::vector detections_cp; + std::vector tracked_stracks_swap; + std::vector resa, resb; + std::vector output_stracks; + + std::vector unconfirmed; + std::vector tracked_stracks; + std::vector strack_pool; + std::vector r_tracked_stracks; + + if (objects.size() > 0) { + for (size_t i = 0; i < objects.size(); i++) { + std::vector tlbr_; + tlbr_.resize(4); + tlbr_[0] = objects[i].rect.x; + tlbr_[1] = objects[i].rect.y; + tlbr_[2] = objects[i].rect.x + objects[i].rect.width; + tlbr_[3] = objects[i].rect.y + objects[i].rect.height; + + float score = objects[i].prob; + + STrack strack(STrack::tlbr_to_tlwh(tlbr_), score, objects[i].label); + if (score >= track_thresh) { + detections.push_back(strack); + } else { + detections_low.push_back(strack); + } + } + } + + // Add newly detected tracklets to tracked_stracks + for (size_t i = 0; i < this->tracked_stracks.size(); i++) { + if (!this->tracked_stracks[i].is_activated) + unconfirmed.push_back(&this->tracked_stracks[i]); + else + tracked_stracks.push_back(&this->tracked_stracks[i]); + } + + ////////////////// Step 2: First association, with IoU ////////////////// + strack_pool = joint_stracks(tracked_stracks, this->lost_stracks); + // do prediction for each stracks + for (size_t i = 0; i < strack_pool.size(); i++) { + strack_pool[i]->predict(this->frame_id); + } + + std::vector > dists; + int dist_size = 0, dist_size_size = 0; + dists = iou_distance(strack_pool, detections, dist_size, dist_size_size); + + std::vector > matches; + std::vector u_track, u_detection; + linear_assignment(dists, dist_size, dist_size_size, match_thresh, matches, u_track, u_detection); + + for (size_t i = 0; i < matches.size(); i++) { + STrack * track = strack_pool[matches[i][0]]; + STrack * det = &detections[matches[i][1]]; + if (track->state == TrackState::Tracked) { + track->update(*det, this->frame_id); + activated_stracks.push_back(*track); + } else { + track->re_activate(*det, this->frame_id, false); + refind_stracks.push_back(*track); + } + } + + ////////////////// Step 3: Second association, using low score dets ////////////////// + for (size_t i = 0; i < u_detection.size(); i++) { + detections_cp.push_back(detections[u_detection[i]]); + } + detections.clear(); + detections.assign(detections_low.begin(), detections_low.end()); + + for (size_t i = 0; i < u_track.size(); i++) { + if (strack_pool[u_track[i]]->state == TrackState::Tracked) { + r_tracked_stracks.push_back(strack_pool[u_track[i]]); + } + } + + dists.clear(); + dists = iou_distance(r_tracked_stracks, detections, dist_size, dist_size_size); + + matches.clear(); + u_track.clear(); + u_detection.clear(); + linear_assignment(dists, dist_size, dist_size_size, 0.5, matches, u_track, u_detection); + + for (size_t i = 0; i < matches.size(); i++) { + STrack * track = r_tracked_stracks[matches[i][0]]; + STrack * det = &detections[matches[i][1]]; + if (track->state == TrackState::Tracked) { + track->update(*det, this->frame_id); + activated_stracks.push_back(*track); + } else { + track->re_activate(*det, this->frame_id, false); + refind_stracks.push_back(*track); + } + } + + for (size_t i = 0; i < u_track.size(); i++) { + STrack * track = r_tracked_stracks[u_track[i]]; + if (track->state != TrackState::Lost) { + track->mark_lost(); + lost_stracks.push_back(*track); + } + } + + // Deal with unconfirmed tracks, usually tracks with only one beginning frame + detections.clear(); + detections.assign(detections_cp.begin(), detections_cp.end()); + + dists.clear(); + dists = iou_distance(unconfirmed, detections, dist_size, dist_size_size); + + matches.clear(); + std::vector u_unconfirmed; + u_detection.clear(); + linear_assignment(dists, dist_size, dist_size_size, 0.7, matches, u_unconfirmed, u_detection); + + for (size_t i = 0; i < matches.size(); i++) { + unconfirmed[matches[i][0]]->update(detections[matches[i][1]], this->frame_id); + activated_stracks.push_back(*unconfirmed[matches[i][0]]); + } + + for (size_t i = 0; i < u_unconfirmed.size(); i++) { + STrack * track = unconfirmed[u_unconfirmed[i]]; + track->mark_removed(); + removed_stracks.push_back(*track); + } + + ////////////////// Step 4: Init new stracks ////////////////// + for (size_t i = 0; i < u_detection.size(); i++) { + STrack * track = &detections[u_detection[i]]; + if (track->score < this->high_thresh) continue; + track->activate(this->frame_id); + activated_stracks.push_back(*track); + } + + ////////////////// Step 5: Update state ////////////////// + for (size_t i = 0; i < this->lost_stracks.size(); i++) { + if (this->frame_id - this->lost_stracks[i].end_frame() > this->max_time_lost) { + this->lost_stracks[i].mark_removed(); + removed_stracks.push_back(this->lost_stracks[i]); + } + } + + for (size_t i = 0; i < this->tracked_stracks.size(); i++) { + if (this->tracked_stracks[i].state == TrackState::Tracked) { + tracked_stracks_swap.push_back(this->tracked_stracks[i]); + } + } + this->tracked_stracks.clear(); + this->tracked_stracks.assign(tracked_stracks_swap.begin(), tracked_stracks_swap.end()); + + this->tracked_stracks = joint_stracks(this->tracked_stracks, activated_stracks); + this->tracked_stracks = joint_stracks(this->tracked_stracks, refind_stracks); + + this->lost_stracks = sub_stracks(this->lost_stracks, this->tracked_stracks); + for (size_t i = 0; i < lost_stracks.size(); i++) { + this->lost_stracks.push_back(lost_stracks[i]); + } + + this->lost_stracks = sub_stracks(this->lost_stracks, this->removed_stracks); + for (size_t i = 0; i < removed_stracks.size(); i++) { + this->removed_stracks.push_back(removed_stracks[i]); + } + + remove_duplicate_stracks(resa, resb, this->tracked_stracks, this->lost_stracks); + + this->tracked_stracks.clear(); + this->tracked_stracks.assign(resa.begin(), resa.end()); + this->lost_stracks.clear(); + this->lost_stracks.assign(resb.begin(), resb.end()); + + for (size_t i = 0; i < this->tracked_stracks.size(); i++) { + if (this->tracked_stracks[i].is_activated) { + output_stracks.push_back(this->tracked_stracks[i]); + } + } + return output_stracks; +} diff --git a/perception/autoware_bytetrack/lib/src/strack.cpp b/perception/autoware_bytetrack/lib/src/strack.cpp index 4f1e03a4c1d4a..14e2ada387d90 100644 --- a/perception/autoware_bytetrack/lib/src/strack.cpp +++ b/perception/autoware_bytetrack/lib/src/strack.cpp @@ -44,6 +44,10 @@ #include +#include +#include +#include + // init static variable bool STrack::_parameters_loaded = false; STrack::KfParams STrack::_kf_parameters; diff --git a/perception/autoware_bytetrack/lib/src/utils.cpp b/perception/autoware_bytetrack/lib/src/utils.cpp index d9ff5af52f6bf..3290b46842bf5 100644 --- a/perception/autoware_bytetrack/lib/src/utils.cpp +++ b/perception/autoware_bytetrack/lib/src/utils.cpp @@ -1,399 +1,403 @@ -/* - * MIT License - * - * Copyright (c) 2021 Yifu Zhang - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ - -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "byte_tracker.h" -#include "lapjv.h" - -#include -#include - -std::vector ByteTracker::joint_stracks( - std::vector & tlista, std::vector & tlistb) -{ - std::map exists; - std::vector res; - for (size_t i = 0; i < tlista.size(); i++) { - exists.insert(std::pair(tlista[i]->track_id, 1)); - res.push_back(tlista[i]); - } - for (size_t i = 0; i < tlistb.size(); i++) { - int tid = tlistb[i].track_id; - if (!exists[tid] || exists.count(tid) == 0) { - exists[tid] = 1; - res.push_back(&tlistb[i]); - } - } - return res; -} - -std::vector ByteTracker::joint_stracks( - std::vector & tlista, std::vector & tlistb) -{ - std::map exists; - std::vector res; - for (size_t i = 0; i < tlista.size(); i++) { - exists.insert(std::pair(tlista[i].track_id, 1)); - res.push_back(tlista[i]); - } - for (size_t i = 0; i < tlistb.size(); i++) { - int tid = tlistb[i].track_id; - if (!exists[tid] || exists.count(tid) == 0) { - exists[tid] = 1; - res.push_back(tlistb[i]); - } - } - return res; -} - -std::vector ByteTracker::sub_stracks( - std::vector & tlista, std::vector & tlistb) -{ - std::map stracks; - for (size_t i = 0; i < tlista.size(); i++) { - stracks.insert(std::pair(tlista[i].track_id, tlista[i])); - } - for (size_t i = 0; i < tlistb.size(); i++) { - int tid = tlistb[i].track_id; - if (stracks.count(tid) != 0) { - stracks.erase(tid); - } - } - - std::vector res; - std::map::iterator it; - for (it = stracks.begin(); it != stracks.end(); ++it) { - res.push_back(it->second); - } - - return res; -} - -void ByteTracker::remove_duplicate_stracks( - std::vector & resa, std::vector & resb, std::vector & stracksa, - std::vector & stracksb) -{ - std::vector> pdist = iou_distance(stracksa, stracksb); - std::vector> pairs; - for (size_t i = 0; i < pdist.size(); i++) { - for (size_t j = 0; j < pdist[i].size(); j++) { - if (pdist[i][j] < 0.15) { - pairs.push_back(std::pair(i, j)); - } - } - } - - std::vector dupa, dupb; - for (size_t i = 0; i < pairs.size(); i++) { - int timep = stracksa[pairs[i].first].frame_id - stracksa[pairs[i].first].start_frame; - int timeq = stracksb[pairs[i].second].frame_id - stracksb[pairs[i].second].start_frame; - if (timep > timeq) - dupb.push_back(pairs[i].second); - else - dupa.push_back(pairs[i].first); - } - - for (size_t i = 0; i < stracksa.size(); i++) { - std::vector::iterator iter = find(dupa.begin(), dupa.end(), i); - if (iter == dupa.end()) { - resa.push_back(stracksa[i]); - } - } - - for (size_t i = 0; i < stracksb.size(); i++) { - std::vector::iterator iter = find(dupb.begin(), dupb.end(), i); - if (iter == dupb.end()) { - resb.push_back(stracksb[i]); - } - } -} - -void ByteTracker::linear_assignment( - std::vector> & cost_matrix, int cost_matrix_size, int cost_matrix_size_size, - float thresh, std::vector> & matches, std::vector & unmatched_a, - std::vector & unmatched_b) -{ - if (cost_matrix.size() == 0) { - for (int i = 0; i < cost_matrix_size; i++) { - unmatched_a.push_back(i); - } - for (int i = 0; i < cost_matrix_size_size; i++) { - unmatched_b.push_back(i); - } - return; - } - - std::vector rowsol; - std::vector colsol; - [[maybe_unused]] float c = lapjv(cost_matrix, rowsol, colsol, true, thresh); - for (size_t i = 0; i < rowsol.size(); i++) { - if (rowsol[i] >= 0) { - std::vector match; - match.push_back(i); - match.push_back(rowsol[i]); - matches.push_back(match); - } else { - unmatched_a.push_back(i); - } - } - - for (size_t i = 0; i < colsol.size(); i++) { - if (colsol[i] < 0) { - unmatched_b.push_back(i); - } - } -} - -std::vector> ByteTracker::ious( - std::vector> & atlbrs, std::vector> & btlbrs) -{ - std::vector> ious; - if (atlbrs.size() * btlbrs.size() == 0) return ious; - - ious.resize(atlbrs.size()); - for (size_t i = 0; i < ious.size(); i++) { - ious[i].resize(btlbrs.size()); - } - - // bbox_ious - for (size_t k = 0; k < btlbrs.size(); k++) { - float box_area = (btlbrs[k][2] - btlbrs[k][0] + 1) * (btlbrs[k][3] - btlbrs[k][1] + 1); - for (size_t n = 0; n < atlbrs.size(); n++) { - float iw = std::min(atlbrs[n][2], btlbrs[k][2]) - std::max(atlbrs[n][0], btlbrs[k][0]) + 1; - if (iw > 0) { - float ih = std::min(atlbrs[n][3], btlbrs[k][3]) - std::max(atlbrs[n][1], btlbrs[k][1]) + 1; - if (ih > 0) { - float ua = (atlbrs[n][2] - atlbrs[n][0] + 1) * (atlbrs[n][3] - atlbrs[n][1] + 1) + - box_area - iw * ih; - ious[n][k] = iw * ih / ua; - } else { - ious[n][k] = 0.0; - } - } else { - ious[n][k] = 0.0; - } - } - } - - return ious; -} - -std::vector> ByteTracker::iou_distance( - std::vector & atracks, std::vector & btracks, int & dist_size, - int & dist_size_size) -{ - std::vector> cost_matrix; - if (atracks.size() * btracks.size() == 0) { - dist_size = atracks.size(); - dist_size_size = btracks.size(); - return cost_matrix; - } - std::vector> atlbrs, btlbrs; - for (size_t i = 0; i < atracks.size(); i++) { - atlbrs.push_back(atracks[i]->tlbr); - } - for (size_t i = 0; i < btracks.size(); i++) { - btlbrs.push_back(btracks[i].tlbr); - } - - dist_size = atracks.size(); - dist_size_size = btracks.size(); - - std::vector> _ious = ious(atlbrs, btlbrs); - - for (size_t i = 0; i < _ious.size(); i++) { - std::vector _iou; - for (size_t j = 0; j < _ious[i].size(); j++) { - _iou.push_back(1 - _ious[i][j]); - } - cost_matrix.push_back(_iou); - } - - return cost_matrix; -} - -std::vector> ByteTracker::iou_distance( - std::vector & atracks, std::vector & btracks) -{ - std::vector> atlbrs, btlbrs; - for (size_t i = 0; i < atracks.size(); i++) { - atlbrs.push_back(atracks[i].tlbr); - } - for (size_t i = 0; i < btracks.size(); i++) { - btlbrs.push_back(btracks[i].tlbr); - } - - std::vector> _ious = ious(atlbrs, btlbrs); - std::vector> cost_matrix; - for (size_t i = 0; i < _ious.size(); i++) { - std::vector _iou; - for (size_t j = 0; j < _ious[i].size(); j++) { - _iou.push_back(1 - _ious[i][j]); - } - cost_matrix.push_back(_iou); - } - - return cost_matrix; -} - -double ByteTracker::lapjv( - const std::vector> & cost, std::vector & rowsol, - std::vector & colsol, bool extend_cost, float cost_limit, bool return_cost) -{ - std::vector> cost_c; - cost_c.assign(cost.begin(), cost.end()); - - int n_rows = cost.size(); - int n_cols = cost[0].size(); - rowsol.resize(n_rows); - colsol.resize(n_cols); - - int n = 0; - if (n_rows == n_cols) { - n = n_rows; - } else { - if (!extend_cost) { - std::cout << "set extend_cost=True" << std::endl; - // system("pause"); - exit(0); - } - } - - if (extend_cost || cost_limit < std::numeric_limits::max()) { - std::vector> cost_c_extended; - - n = n_rows + n_cols; - cost_c_extended.resize(n); - for (size_t i = 0; i < cost_c_extended.size(); i++) cost_c_extended[i].resize(n); - - if (cost_limit < std::numeric_limits::max()) { - for (size_t i = 0; i < cost_c_extended.size(); i++) { - for (size_t j = 0; j < cost_c_extended[i].size(); j++) { - cost_c_extended[i][j] = cost_limit / 2.0; - } - } - } else { - float cost_max = -1; - for (size_t i = 0; i < cost_c.size(); i++) { - for (size_t j = 0; j < cost_c[i].size(); j++) { - if (cost_c[i][j] > cost_max) cost_max = cost_c[i][j]; - } - } - for (size_t i = 0; i < cost_c_extended.size(); i++) { - for (size_t j = 0; j < cost_c_extended[i].size(); j++) { - cost_c_extended[i][j] = cost_max + 1; - } - } - } - - for (size_t i = n_rows; i < cost_c_extended.size(); i++) { - for (size_t j = n_cols; j < cost_c_extended[i].size(); j++) { - cost_c_extended[i][j] = 0; - } - } - for (int i = 0; i < n_rows; i++) { - for (int j = 0; j < n_cols; j++) { - cost_c_extended[i][j] = cost_c[i][j]; - } - } - - cost_c.clear(); - cost_c.assign(cost_c_extended.begin(), cost_c_extended.end()); - } - - double ** cost_ptr; - cost_ptr = new double *[sizeof(double *) * n]; - for (int i = 0; i < n; i++) cost_ptr[i] = new double[sizeof(double) * n]; - - for (int i = 0; i < n; i++) { - for (int j = 0; j < n; j++) { - cost_ptr[i][j] = cost_c[i][j]; - } - } - - int * x_c = new int[sizeof(int) * n]; - int * y_c = new int[sizeof(int) * n]; - - int ret = lapjv_internal(n, cost_ptr, x_c, y_c); - if (ret != 0) { - std::cout << "Calculate Wrong!" << std::endl; - // system("pause"); - exit(0); - } - - double opt = 0.0; - - if (n != n_rows) { - for (int i = 0; i < n; i++) { - if (x_c[i] >= n_cols) x_c[i] = -1; - if (y_c[i] >= n_rows) y_c[i] = -1; - } - for (int i = 0; i < n_rows; i++) { - rowsol[i] = x_c[i]; - } - for (int i = 0; i < n_cols; i++) { - colsol[i] = y_c[i]; - } - - if (return_cost) { - for (size_t i = 0; i < rowsol.size(); i++) { - if (rowsol[i] != -1) { - opt += cost_ptr[i][rowsol[i]]; - } - } - } - } else if (return_cost) { - for (size_t i = 0; i < rowsol.size(); i++) { - opt += cost_ptr[i][rowsol[i]]; - } - } - - for (int i = 0; i < n; i++) { - delete[] cost_ptr[i]; - } - delete[] cost_ptr; - delete[] x_c; - delete[] y_c; - - return opt; -} - -cv::Scalar ByteTracker::get_color(int idx) -{ - idx += 3; - return cv::Scalar(37 * idx % 255, 17 * idx % 255, 29 * idx % 255); -} +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// Copyright 2023 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "byte_tracker.h" +#include "lapjv.h" + +#include +#include +#include +#include +#include +#include + +std::vector ByteTracker::joint_stracks( + std::vector & tlista, std::vector & tlistb) +{ + std::map exists; + std::vector res; + for (size_t i = 0; i < tlista.size(); i++) { + exists.insert(std::pair(tlista[i]->track_id, 1)); + res.push_back(tlista[i]); + } + for (size_t i = 0; i < tlistb.size(); i++) { + int tid = tlistb[i].track_id; + if (!exists[tid] || exists.count(tid) == 0) { + exists[tid] = 1; + res.push_back(&tlistb[i]); + } + } + return res; +} + +std::vector ByteTracker::joint_stracks( + std::vector & tlista, std::vector & tlistb) +{ + std::map exists; + std::vector res; + for (size_t i = 0; i < tlista.size(); i++) { + exists.insert(std::pair(tlista[i].track_id, 1)); + res.push_back(tlista[i]); + } + for (size_t i = 0; i < tlistb.size(); i++) { + int tid = tlistb[i].track_id; + if (!exists[tid] || exists.count(tid) == 0) { + exists[tid] = 1; + res.push_back(tlistb[i]); + } + } + return res; +} + +std::vector ByteTracker::sub_stracks( + std::vector & tlista, std::vector & tlistb) +{ + std::map stracks; + for (size_t i = 0; i < tlista.size(); i++) { + stracks.insert(std::pair(tlista[i].track_id, tlista[i])); + } + for (size_t i = 0; i < tlistb.size(); i++) { + int tid = tlistb[i].track_id; + if (stracks.count(tid) != 0) { + stracks.erase(tid); + } + } + + std::vector res; + std::map::iterator it; + for (it = stracks.begin(); it != stracks.end(); ++it) { + res.push_back(it->second); + } + + return res; +} + +void ByteTracker::remove_duplicate_stracks( + std::vector & resa, std::vector & resb, std::vector & stracksa, + std::vector & stracksb) +{ + std::vector> pdist = iou_distance(stracksa, stracksb); + std::vector> pairs; + for (size_t i = 0; i < pdist.size(); i++) { + for (size_t j = 0; j < pdist[i].size(); j++) { + if (pdist[i][j] < 0.15) { + pairs.push_back(std::pair(i, j)); + } + } + } + + std::vector dupa, dupb; + for (size_t i = 0; i < pairs.size(); i++) { + int timep = stracksa[pairs[i].first].frame_id - stracksa[pairs[i].first].start_frame; + int timeq = stracksb[pairs[i].second].frame_id - stracksb[pairs[i].second].start_frame; + if (timep > timeq) + dupb.push_back(pairs[i].second); + else + dupa.push_back(pairs[i].first); + } + + for (size_t i = 0; i < stracksa.size(); i++) { + std::vector::iterator iter = find(dupa.begin(), dupa.end(), i); + if (iter == dupa.end()) { + resa.push_back(stracksa[i]); + } + } + + for (size_t i = 0; i < stracksb.size(); i++) { + std::vector::iterator iter = find(dupb.begin(), dupb.end(), i); + if (iter == dupb.end()) { + resb.push_back(stracksb[i]); + } + } +} + +void ByteTracker::linear_assignment( + std::vector> & cost_matrix, int cost_matrix_size, int cost_matrix_size_size, + float thresh, std::vector> & matches, std::vector & unmatched_a, + std::vector & unmatched_b) +{ + if (cost_matrix.size() == 0) { + for (int i = 0; i < cost_matrix_size; i++) { + unmatched_a.push_back(i); + } + for (int i = 0; i < cost_matrix_size_size; i++) { + unmatched_b.push_back(i); + } + return; + } + + std::vector rowsol; + std::vector colsol; + [[maybe_unused]] float c = lapjv(cost_matrix, rowsol, colsol, true, thresh); + for (size_t i = 0; i < rowsol.size(); i++) { + if (rowsol[i] >= 0) { + std::vector match; + match.push_back(i); + match.push_back(rowsol[i]); + matches.push_back(match); + } else { + unmatched_a.push_back(i); + } + } + + for (size_t i = 0; i < colsol.size(); i++) { + if (colsol[i] < 0) { + unmatched_b.push_back(i); + } + } +} + +std::vector> ByteTracker::ious( + std::vector> & atlbrs, std::vector> & btlbrs) +{ + std::vector> ious; + if (atlbrs.size() * btlbrs.size() == 0) return ious; + + ious.resize(atlbrs.size()); + for (size_t i = 0; i < ious.size(); i++) { + ious[i].resize(btlbrs.size()); + } + + // bbox_ious + for (size_t k = 0; k < btlbrs.size(); k++) { + float box_area = (btlbrs[k][2] - btlbrs[k][0] + 1) * (btlbrs[k][3] - btlbrs[k][1] + 1); + for (size_t n = 0; n < atlbrs.size(); n++) { + float iw = std::min(atlbrs[n][2], btlbrs[k][2]) - std::max(atlbrs[n][0], btlbrs[k][0]) + 1; + if (iw > 0) { + float ih = std::min(atlbrs[n][3], btlbrs[k][3]) - std::max(atlbrs[n][1], btlbrs[k][1]) + 1; + if (ih > 0) { + float ua = (atlbrs[n][2] - atlbrs[n][0] + 1) * (atlbrs[n][3] - atlbrs[n][1] + 1) + + box_area - iw * ih; + ious[n][k] = iw * ih / ua; + } else { + ious[n][k] = 0.0; + } + } else { + ious[n][k] = 0.0; + } + } + } + + return ious; +} + +std::vector> ByteTracker::iou_distance( + std::vector & atracks, std::vector & btracks, int & dist_size, + int & dist_size_size) +{ + std::vector> cost_matrix; + if (atracks.size() * btracks.size() == 0) { + dist_size = atracks.size(); + dist_size_size = btracks.size(); + return cost_matrix; + } + std::vector> atlbrs, btlbrs; + for (size_t i = 0; i < atracks.size(); i++) { + atlbrs.push_back(atracks[i]->tlbr); + } + for (size_t i = 0; i < btracks.size(); i++) { + btlbrs.push_back(btracks[i].tlbr); + } + + dist_size = atracks.size(); + dist_size_size = btracks.size(); + + std::vector> _ious = ious(atlbrs, btlbrs); + + for (size_t i = 0; i < _ious.size(); i++) { + std::vector _iou; + for (size_t j = 0; j < _ious[i].size(); j++) { + _iou.push_back(1 - _ious[i][j]); + } + cost_matrix.push_back(_iou); + } + + return cost_matrix; +} + +std::vector> ByteTracker::iou_distance( + std::vector & atracks, std::vector & btracks) +{ + std::vector> atlbrs, btlbrs; + for (size_t i = 0; i < atracks.size(); i++) { + atlbrs.push_back(atracks[i].tlbr); + } + for (size_t i = 0; i < btracks.size(); i++) { + btlbrs.push_back(btracks[i].tlbr); + } + + std::vector> _ious = ious(atlbrs, btlbrs); + std::vector> cost_matrix; + for (size_t i = 0; i < _ious.size(); i++) { + std::vector _iou; + for (size_t j = 0; j < _ious[i].size(); j++) { + _iou.push_back(1 - _ious[i][j]); + } + cost_matrix.push_back(_iou); + } + + return cost_matrix; +} + +double ByteTracker::lapjv( + const std::vector> & cost, std::vector & rowsol, + std::vector & colsol, bool extend_cost, float cost_limit, bool return_cost) +{ + std::vector> cost_c; + cost_c.assign(cost.begin(), cost.end()); + + int n_rows = cost.size(); + int n_cols = cost[0].size(); + rowsol.resize(n_rows); + colsol.resize(n_cols); + + int n = 0; + if (n_rows == n_cols) { + n = n_rows; + } else { + if (!extend_cost) { + std::cout << "set extend_cost=True" << std::endl; + // system("pause"); + exit(0); + } + } + + if (extend_cost || cost_limit < std::numeric_limits::max()) { + std::vector> cost_c_extended; + + n = n_rows + n_cols; + cost_c_extended.resize(n); + for (size_t i = 0; i < cost_c_extended.size(); i++) cost_c_extended[i].resize(n); + + if (cost_limit < std::numeric_limits::max()) { + for (size_t i = 0; i < cost_c_extended.size(); i++) { + for (size_t j = 0; j < cost_c_extended[i].size(); j++) { + cost_c_extended[i][j] = cost_limit / 2.0; + } + } + } else { + float cost_max = -1; + for (size_t i = 0; i < cost_c.size(); i++) { + for (size_t j = 0; j < cost_c[i].size(); j++) { + if (cost_c[i][j] > cost_max) cost_max = cost_c[i][j]; + } + } + for (size_t i = 0; i < cost_c_extended.size(); i++) { + for (size_t j = 0; j < cost_c_extended[i].size(); j++) { + cost_c_extended[i][j] = cost_max + 1; + } + } + } + + for (size_t i = n_rows; i < cost_c_extended.size(); i++) { + for (size_t j = n_cols; j < cost_c_extended[i].size(); j++) { + cost_c_extended[i][j] = 0; + } + } + for (int i = 0; i < n_rows; i++) { + for (int j = 0; j < n_cols; j++) { + cost_c_extended[i][j] = cost_c[i][j]; + } + } + + cost_c.clear(); + cost_c.assign(cost_c_extended.begin(), cost_c_extended.end()); + } + + double ** cost_ptr; + cost_ptr = new double *[sizeof(double *) * n]; + for (int i = 0; i < n; i++) cost_ptr[i] = new double[sizeof(double) * n]; + + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + cost_ptr[i][j] = cost_c[i][j]; + } + } + + int * x_c = new int[sizeof(int) * n]; + int * y_c = new int[sizeof(int) * n]; + + int ret = lapjv_internal(n, cost_ptr, x_c, y_c); + if (ret != 0) { + std::cout << "Calculate Wrong!" << std::endl; + // system("pause"); + exit(0); + } + + double opt = 0.0; + + if (n != n_rows) { + for (int i = 0; i < n; i++) { + if (x_c[i] >= n_cols) x_c[i] = -1; + if (y_c[i] >= n_rows) y_c[i] = -1; + } + for (int i = 0; i < n_rows; i++) { + rowsol[i] = x_c[i]; + } + for (int i = 0; i < n_cols; i++) { + colsol[i] = y_c[i]; + } + + if (return_cost) { + for (size_t i = 0; i < rowsol.size(); i++) { + if (rowsol[i] != -1) { + opt += cost_ptr[i][rowsol[i]]; + } + } + } + } else if (return_cost) { + for (size_t i = 0; i < rowsol.size(); i++) { + opt += cost_ptr[i][rowsol[i]]; + } + } + + for (int i = 0; i < n; i++) { + delete[] cost_ptr[i]; + } + delete[] cost_ptr; + delete[] x_c; + delete[] y_c; + + return opt; +} + +cv::Scalar ByteTracker::get_color(int idx) +{ + idx += 3; + return cv::Scalar(37 * idx % 255, 17 * idx % 255, 29 * idx % 255); +} diff --git a/perception/autoware_bytetrack/src/bytetrack.cpp b/perception/autoware_bytetrack/src/bytetrack.cpp index 0edeb0ac4e247..af93034972a83 100644 --- a/perception/autoware_bytetrack/src/bytetrack.cpp +++ b/perception/autoware_bytetrack/src/bytetrack.cpp @@ -17,6 +17,8 @@ #include #include #include +#include +#include namespace autoware::bytetrack { diff --git a/perception/autoware_bytetrack/src/bytetrack_node.cpp b/perception/autoware_bytetrack/src/bytetrack_node.cpp index 1da7ebc4055f0..bee93b623ae06 100644 --- a/perception/autoware_bytetrack/src/bytetrack_node.cpp +++ b/perception/autoware_bytetrack/src/bytetrack_node.cpp @@ -20,6 +20,8 @@ #include +#include +#include #include #include diff --git a/perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp b/perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp index 97cee4f67ccb9..a6fc463dd80f1 100644 --- a/perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp +++ b/perception/autoware_bytetrack/src/bytetrack_visualizer_node.cpp @@ -17,6 +17,10 @@ #include #include +#include +#include +#include + #if __has_include() #include #else diff --git a/perception/autoware_cluster_merger/test/test_cluster_merger.cpp b/perception/autoware_cluster_merger/test/test_cluster_merger.cpp index d530832659a2f..640bac0afe5fa 100644 --- a/perception/autoware_cluster_merger/test/test_cluster_merger.cpp +++ b/perception/autoware_cluster_merger/test/test_cluster_merger.cpp @@ -19,6 +19,8 @@ #include +#include +#include #include using autoware::cluster_merger::ClusterMergerNode; diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp index a2e3afd62cdad..ae07d54ad53d6 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp @@ -21,6 +21,7 @@ #include #include +#include #include namespace autoware::compare_map_segmentation diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp index a02a6865ef9ef..9f325b36676be 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp @@ -21,6 +21,7 @@ #include #include +#include #include namespace autoware::compare_map_segmentation diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp index cdad52b5a278d..a31d5ec5dd6d6 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp @@ -21,6 +21,7 @@ #include #include +#include #include namespace autoware::compare_map_segmentation diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp index 291a19d02ed4b..d0bcf381cd62f 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp @@ -21,6 +21,7 @@ #include #include +#include #include namespace autoware::compare_map_segmentation diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp index b57874d7d3b24..d55712f5b756e 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp @@ -14,6 +14,10 @@ #include "voxel_grid_map_loader.hpp" +#include +#include +#include + namespace autoware::compare_map_segmentation { VoxelGridMapLoader::VoxelGridMapLoader( diff --git a/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp index 2ed66b9875ef8..683ee8f129d95 100644 --- a/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp @@ -23,6 +23,9 @@ #include +#include +#include + using autoware::compare_map_segmentation::DistanceBasedCompareMapFilterComponent; using autoware::point_types::PointXYZIRC; using autoware::point_types::PointXYZIRCGenerator; diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp index 816ba7e8174c7..055a0a669795b 100644 --- a/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp @@ -23,6 +23,9 @@ #include +#include +#include + using autoware::compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent; using autoware::point_types::PointXYZIRC; using autoware::point_types::PointXYZIRCGenerator; diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp index 4fa0ab6321f1c..24b06ef917e65 100644 --- a/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp @@ -23,6 +23,9 @@ #include +#include +#include + using autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent; using autoware::point_types::PointXYZIRC; using autoware::point_types::PointXYZIRCGenerator; diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp index 946eef9bd0a0e..c478eb54e9808 100644 --- a/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp @@ -23,6 +23,9 @@ #include +#include +#include + using autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent; using autoware::point_types::PointXYZIRC; using autoware::point_types::PointXYZIRCGenerator; diff --git a/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp b/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp index 5d9f06c3432b5..b0ec4d0e5ffd0 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp +++ b/perception/autoware_crosswalk_traffic_light_estimator/src/node.cpp @@ -16,8 +16,11 @@ #include #include +#include #include #include +#include +#include #include #include diff --git a/perception/autoware_detected_object_feature_remover/src/detected_object_feature_remover_node.cpp b/perception/autoware_detected_object_feature_remover/src/detected_object_feature_remover_node.cpp index 47fe67de9d9aa..21e069144203c 100644 --- a/perception/autoware_detected_object_feature_remover/src/detected_object_feature_remover_node.cpp +++ b/perception/autoware_detected_object_feature_remover/src/detected_object_feature_remover_node.cpp @@ -14,6 +14,8 @@ #include "detected_object_feature_remover_node.hpp" +#include + namespace autoware::detected_object_feature_remover { DetectedObjectFeatureRemover::DetectedObjectFeatureRemover(const rclcpp::NodeOptions & node_options) diff --git a/perception/autoware_detected_object_feature_remover/test/test_detected_object_feature_remover_node.cpp b/perception/autoware_detected_object_feature_remover/test/test_detected_object_feature_remover_node.cpp index e54151786278a..c180387ecd63e 100644 --- a/perception/autoware_detected_object_feature_remover/test/test_detected_object_feature_remover_node.cpp +++ b/perception/autoware_detected_object_feature_remover/test/test_detected_object_feature_remover_node.cpp @@ -21,6 +21,9 @@ #include +#include +#include + namespace { using autoware::detected_object_feature_remover::DetectedObjectFeatureRemover; diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp b/perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp index b4116982f5b94..b3765a6a45870 100644 --- a/perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp +++ b/perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp @@ -25,6 +25,8 @@ #include #include +#include +#include namespace autoware::detected_object_validation { diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp index 5e199a9ea9fad..f91c4e2036227 100644 --- a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp +++ b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp @@ -30,6 +30,10 @@ #include #include +#include +#include +#include + namespace autoware::detected_object_validation { namespace lanelet_filter diff --git a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp index 090ca795289fa..194f333acd87e 100644 --- a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp +++ b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp @@ -21,6 +21,9 @@ #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/perception/autoware_detected_object_validation/src/position_filter/position_filter.cpp b/perception/autoware_detected_object_validation/src/position_filter/position_filter.cpp index 3b88628aa6d84..8c1db64c61d51 100644 --- a/perception/autoware_detected_object_validation/src/position_filter/position_filter.cpp +++ b/perception/autoware_detected_object_validation/src/position_filter/position_filter.cpp @@ -14,6 +14,8 @@ #include "position_filter.hpp" +#include + namespace autoware::detected_object_validation { namespace position_filter diff --git a/perception/autoware_detected_object_validation/test/object_position_filter/test_object_position_filter.cpp b/perception/autoware_detected_object_validation/test/object_position_filter/test_object_position_filter.cpp index 7a6169254348c..651cec7ae236f 100644 --- a/perception/autoware_detected_object_validation/test/object_position_filter/test_object_position_filter.cpp +++ b/perception/autoware_detected_object_validation/test/object_position_filter/test_object_position_filter.cpp @@ -19,6 +19,8 @@ #include +#include +#include #include using autoware::detected_object_validation::position_filter::ObjectPositionFilterNode; diff --git a/perception/autoware_euclidean_cluster/lib/euclidean_cluster.cpp b/perception/autoware_euclidean_cluster/lib/euclidean_cluster.cpp index 0481b7e1b742d..ce56823894bb2 100644 --- a/perception/autoware_euclidean_cluster/lib/euclidean_cluster.cpp +++ b/perception/autoware_euclidean_cluster/lib/euclidean_cluster.cpp @@ -17,6 +17,8 @@ #include #include +#include + namespace autoware::euclidean_cluster { EuclideanCluster::EuclideanCluster() diff --git a/perception/autoware_euclidean_cluster/lib/utils.cpp b/perception/autoware_euclidean_cluster/lib/utils.cpp index 624c838ef0647..6789c71310a7f 100644 --- a/perception/autoware_euclidean_cluster/lib/utils.cpp +++ b/perception/autoware_euclidean_cluster/lib/utils.cpp @@ -19,6 +19,8 @@ #include #include +#include + namespace autoware::euclidean_cluster { geometry_msgs::msg::Point getCentroid(const sensor_msgs::msg::PointCloud2 & pointcloud) diff --git a/perception/autoware_euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp b/perception/autoware_euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp index f6e8315a02b77..5f4ef98384d23 100644 --- a/perception/autoware_euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp +++ b/perception/autoware_euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp @@ -18,6 +18,7 @@ #include #include +#include namespace autoware::euclidean_cluster { diff --git a/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp b/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp index b0b9448dfc0c4..cccb05160942c 100644 --- a/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp +++ b/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp @@ -16,6 +16,7 @@ #include "autoware/euclidean_cluster/utils.hpp" +#include #include namespace autoware::euclidean_cluster diff --git a/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp b/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp index e54c55e4873ee..019001c54ba49 100644 --- a/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp +++ b/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp @@ -16,6 +16,7 @@ #include "autoware/euclidean_cluster/utils.hpp" +#include #include namespace autoware::euclidean_cluster diff --git a/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp b/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp index 759e2b3653868..256cce4841873 100644 --- a/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp +++ b/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp @@ -23,6 +23,9 @@ #include +#include +#include + using autoware::point_types::PointXYZI; void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud) { diff --git a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp index 83e0538bd56de..5ef05485d36a5 100644 --- a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp +++ b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp @@ -19,6 +19,7 @@ #include #include +#include #include #include #include diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp index 8b754357cd45f..9c8106f59b917 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp @@ -18,6 +18,9 @@ #include +#include +#include + namespace autoware::ground_segmentation { diff --git a/perception/autoware_ground_segmentation/test/test_ransac_ground_filter.cpp b/perception/autoware_ground_segmentation/test/test_ransac_ground_filter.cpp index a3f8b9d4b19b3..5e4f16e359607 100644 --- a/perception/autoware_ground_segmentation/test/test_ransac_ground_filter.cpp +++ b/perception/autoware_ground_segmentation/test/test_ransac_ground_filter.cpp @@ -24,6 +24,11 @@ #include +#include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #include diff --git a/perception/autoware_ground_segmentation/test/test_ray_ground_filter.cpp b/perception/autoware_ground_segmentation/test/test_ray_ground_filter.cpp index 1e494f683f181..3626aaa837309 100644 --- a/perception/autoware_ground_segmentation/test/test_ray_ground_filter.cpp +++ b/perception/autoware_ground_segmentation/test/test_ray_ground_filter.cpp @@ -21,6 +21,9 @@ #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #include diff --git a/perception/autoware_ground_segmentation/test/test_scan_ground_filter.cpp b/perception/autoware_ground_segmentation/test/test_scan_ground_filter.cpp index 706ffff3ce511..2c0f649168703 100644 --- a/perception/autoware_ground_segmentation/test/test_scan_ground_filter.cpp +++ b/perception/autoware_ground_segmentation/test/test_scan_ground_filter.cpp @@ -20,6 +20,9 @@ #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #include diff --git a/perception/autoware_image_projection_based_fusion/src/debugger.cpp b/perception/autoware_image_projection_based_fusion/src/debugger.cpp index 975a3929ce77a..21d2b1322a418 100644 --- a/perception/autoware_image_projection_based_fusion/src/debugger.cpp +++ b/perception/autoware_image_projection_based_fusion/src/debugger.cpp @@ -14,6 +14,10 @@ #include "autoware/image_projection_based_fusion/debugger.hpp" +#include +#include +#include + #if __has_include() #include #else diff --git a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp index 16a089fcc6d09..067deb5d03a87 100644 --- a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp @@ -24,6 +24,9 @@ #include #include +#include +#include +#include #ifdef ROS_DISTRO_GALACTIC #include diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp index ac9ed88c2d98c..4e0f88e2134ac 100644 --- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -29,6 +29,9 @@ #include #include +#include +#include +#include namespace { diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp index 205d231ab32bd..e3813a020e319 100644 --- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp +++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp @@ -16,6 +16,8 @@ #include +#include + namespace autoware::image_projection_based_fusion { diff --git a/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp index e925efdc0afcb..9a94613a2b788 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp @@ -20,6 +20,12 @@ #include #include +#include +#include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #include diff --git a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp index 3a67d37c415c8..da9d413757332 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp @@ -19,6 +19,11 @@ #include #include +#include +#include +#include +#include + namespace autoware::image_projection_based_fusion { diff --git a/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp index 1f362da89f7a8..f9eb4ef909282 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp @@ -17,6 +17,8 @@ #include "autoware/image_projection_based_fusion/utils/geometry.hpp" #include "autoware/image_projection_based_fusion/utils/utils.hpp" +#include + #ifdef ROS_DISTRO_GALACTIC #include #include diff --git a/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp index 430b452b391f6..e678a956bc64e 100644 --- a/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp @@ -19,6 +19,9 @@ #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #include diff --git a/perception/autoware_image_projection_based_fusion/src/utils/geometry.cpp b/perception/autoware_image_projection_based_fusion/src/utils/geometry.cpp index 4bea6ac0fe713..a5a86cc0eb3a6 100644 --- a/perception/autoware_image_projection_based_fusion/src/utils/geometry.cpp +++ b/perception/autoware_image_projection_based_fusion/src/utils/geometry.cpp @@ -16,6 +16,8 @@ #include +#include + namespace autoware::image_projection_based_fusion { diff --git a/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp b/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp index 912f6e99355e4..338a5605e5a79 100644 --- a/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp +++ b/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp @@ -16,6 +16,10 @@ #include +#include +#include +#include + namespace autoware::image_projection_based_fusion { bool checkCameraInfo(const sensor_msgs::msg::CameraInfo & camera_info) diff --git a/perception/autoware_image_projection_based_fusion/test/test_geometry.cpp b/perception/autoware_image_projection_based_fusion/test/test_geometry.cpp index cf3778e7a0c84..b51ad06eb7b88 100644 --- a/perception/autoware_image_projection_based_fusion/test/test_geometry.cpp +++ b/perception/autoware_image_projection_based_fusion/test/test_geometry.cpp @@ -16,6 +16,8 @@ #include +#include + TEST(objectToVertices, test_objectToVertices) { // Test `boundingBoxToVertices()` and `cylinderToVertices()` simultaneously diff --git a/perception/autoware_image_projection_based_fusion/test/test_utils.cpp b/perception/autoware_image_projection_based_fusion/test/test_utils.cpp index ac179c66dd3d0..79dd775928f41 100644 --- a/perception/autoware_image_projection_based_fusion/test/test_utils.cpp +++ b/perception/autoware_image_projection_based_fusion/test/test_utils.cpp @@ -17,6 +17,8 @@ #include +#include + using autoware::point_types::PointXYZI; void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud) diff --git a/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp b/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp index 86b1bf10c75a1..60aa09c8e16d7 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp +++ b/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp @@ -22,8 +22,11 @@ #include #include +#include +#include #include #include +#include #include namespace autoware diff --git a/perception/autoware_lidar_apollo_instance_segmentation/src/feature_generator.cpp b/perception/autoware_lidar_apollo_instance_segmentation/src/feature_generator.cpp index e1aa0fc0494de..fa70863d9c800 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/src/feature_generator.cpp +++ b/perception/autoware_lidar_apollo_instance_segmentation/src/feature_generator.cpp @@ -17,6 +17,7 @@ #include "autoware/lidar_apollo_instance_segmentation/log_table.hpp" #include +#include namespace { diff --git a/perception/autoware_lidar_apollo_instance_segmentation/src/node.cpp b/perception/autoware_lidar_apollo_instance_segmentation/src/node.cpp index 3314b1c7421d3..9a3e13b81120f 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/src/node.cpp +++ b/perception/autoware_lidar_apollo_instance_segmentation/src/node.cpp @@ -19,6 +19,8 @@ #include #include +#include + namespace autoware { namespace lidar_apollo_instance_segmentation diff --git a/perception/autoware_lidar_centerpoint/lib/detection_class_remapper.cpp b/perception/autoware_lidar_centerpoint/lib/detection_class_remapper.cpp index 80c842f8746a4..f2806bb84282b 100644 --- a/perception/autoware_lidar_centerpoint/lib/detection_class_remapper.cpp +++ b/perception/autoware_lidar_centerpoint/lib/detection_class_remapper.cpp @@ -14,6 +14,9 @@ #include "autoware/lidar_centerpoint/detection_class_remapper.hpp" +#include +#include + namespace autoware::lidar_centerpoint { diff --git a/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp b/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp index d0c0bb156f4a2..7767c0b5cbb02 100644 --- a/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp +++ b/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp @@ -14,6 +14,9 @@ #include "autoware/lidar_centerpoint/network/network_trt.hpp" +#include +#include + namespace autoware::lidar_centerpoint { bool VoxelEncoderTRT::setProfile( diff --git a/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp b/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp index 8f3f0fa9b20e2..9764d20628f24 100644 --- a/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp +++ b/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp @@ -18,6 +18,8 @@ #include #include +#include + namespace autoware::lidar_centerpoint { diff --git a/perception/autoware_lidar_centerpoint/lib/preprocess/voxel_generator.cpp b/perception/autoware_lidar_centerpoint/lib/preprocess/voxel_generator.cpp index f975449530e5c..208c96a369182 100644 --- a/perception/autoware_lidar_centerpoint/lib/preprocess/voxel_generator.cpp +++ b/perception/autoware_lidar_centerpoint/lib/preprocess/voxel_generator.cpp @@ -19,6 +19,7 @@ #include "sensor_msgs/point_cloud2_iterator.hpp" +#include #include namespace autoware::lidar_centerpoint diff --git a/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp b/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp index c76fa6567ab51..0ea681538d8c1 100644 --- a/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp +++ b/perception/autoware_lidar_centerpoint/lib/ros_utils.cpp @@ -18,6 +18,9 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/constants.hpp" +#include +#include + namespace autoware::lidar_centerpoint { diff --git a/perception/autoware_lidar_centerpoint/test/test_detection_class_remapper.cpp b/perception/autoware_lidar_centerpoint/test/test_detection_class_remapper.cpp index 48642bf7227dc..ae893c38b8d6a 100644 --- a/perception/autoware_lidar_centerpoint/test/test_detection_class_remapper.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_detection_class_remapper.cpp @@ -16,6 +16,8 @@ #include +#include + TEST(DetectionClassRemapperTest, MapClasses) { autoware::lidar_centerpoint::DetectionClassRemapper remapper; diff --git a/perception/autoware_lidar_centerpoint/test/test_nms.cpp b/perception/autoware_lidar_centerpoint/test/test_nms.cpp index 4a59d4dba98bf..fd9e78b0c6585 100644 --- a/perception/autoware_lidar_centerpoint/test/test_nms.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_nms.cpp @@ -16,6 +16,8 @@ #include +#include + TEST(NonMaximumSuppressionTest, Apply) { autoware::lidar_centerpoint::NonMaximumSuppression nms; diff --git a/perception/autoware_lidar_centerpoint/test/test_ros_utils.cpp b/perception/autoware_lidar_centerpoint/test/test_ros_utils.cpp index 5605d2df6a9d9..d45d18f51cc4e 100644 --- a/perception/autoware_lidar_centerpoint/test/test_ros_utils.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_ros_utils.cpp @@ -16,6 +16,9 @@ #include +#include +#include + TEST(TestSuite, box3DToDetectedObject) { std::vector class_names = {"CAR", "TRUCK", "BUS", "TRAILER", diff --git a/perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp b/perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp index a5b5337e3b24e..4b94cb983c862 100644 --- a/perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp @@ -18,6 +18,9 @@ #include "sensor_msgs/point_cloud2_iterator.hpp" +#include +#include + void VoxelGeneratorTest::SetUp() { // Setup things that should occur before every test instance should go here diff --git a/perception/autoware_lidar_transfusion/lib/detection_class_remapper.cpp b/perception/autoware_lidar_transfusion/lib/detection_class_remapper.cpp index 08bdc65e666de..661cf9b8cded4 100644 --- a/perception/autoware_lidar_transfusion/lib/detection_class_remapper.cpp +++ b/perception/autoware_lidar_transfusion/lib/detection_class_remapper.cpp @@ -14,6 +14,9 @@ #include +#include +#include + namespace autoware::lidar_transfusion { diff --git a/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp b/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp index 052b7627166f9..8e3cb8a55ec7e 100644 --- a/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp +++ b/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp @@ -19,6 +19,8 @@ #include #include #include +#include +#include namespace autoware::lidar_transfusion { diff --git a/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp b/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp index 1ce151d2960ef..1a288d1b0fd44 100644 --- a/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp +++ b/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp @@ -18,6 +18,8 @@ #include #include +#include + namespace autoware::lidar_transfusion { diff --git a/perception/autoware_lidar_transfusion/lib/preprocess/voxel_generator.cpp b/perception/autoware_lidar_transfusion/lib/preprocess/voxel_generator.cpp index 203a556d9057a..80ae1fae0eb1d 100644 --- a/perception/autoware_lidar_transfusion/lib/preprocess/voxel_generator.cpp +++ b/perception/autoware_lidar_transfusion/lib/preprocess/voxel_generator.cpp @@ -18,6 +18,9 @@ #include +#include +#include +#include #include namespace autoware::lidar_transfusion diff --git a/perception/autoware_lidar_transfusion/lib/ros_utils.cpp b/perception/autoware_lidar_transfusion/lib/ros_utils.cpp index 88f6497f8d656..82f95697100cd 100644 --- a/perception/autoware_lidar_transfusion/lib/ros_utils.cpp +++ b/perception/autoware_lidar_transfusion/lib/ros_utils.cpp @@ -18,6 +18,9 @@ #include #include +#include +#include + namespace autoware::lidar_transfusion { diff --git a/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp b/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp index 09702099f001e..4e100f2e794d5 100644 --- a/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp +++ b/perception/autoware_lidar_transfusion/lib/transfusion_trt.cpp @@ -26,6 +26,7 @@ #include #include #include +#include #include namespace autoware::lidar_transfusion diff --git a/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp b/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp index fae1cc97404da..c75a5f434aeed 100644 --- a/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp +++ b/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp @@ -16,6 +16,11 @@ #include "autoware/lidar_transfusion/utils.hpp" +#include +#include +#include +#include + namespace autoware::lidar_transfusion { diff --git a/perception/autoware_lidar_transfusion/test/test_detection_class_remapper.cpp b/perception/autoware_lidar_transfusion/test/test_detection_class_remapper.cpp index a9b5c8e83fbf7..ed79d362ba73d 100644 --- a/perception/autoware_lidar_transfusion/test/test_detection_class_remapper.cpp +++ b/perception/autoware_lidar_transfusion/test/test_detection_class_remapper.cpp @@ -16,6 +16,8 @@ #include +#include + TEST(DetectionClassRemapperTest, MapClasses) { autoware::lidar_transfusion::DetectionClassRemapper remapper; diff --git a/perception/autoware_lidar_transfusion/test/test_nms.cpp b/perception/autoware_lidar_transfusion/test/test_nms.cpp index 654cb56078c57..5449f61aa2284 100644 --- a/perception/autoware_lidar_transfusion/test/test_nms.cpp +++ b/perception/autoware_lidar_transfusion/test/test_nms.cpp @@ -16,6 +16,8 @@ #include +#include + TEST(NonMaximumSuppressionTest, Apply) { autoware::lidar_transfusion::NonMaximumSuppression nms; diff --git a/perception/autoware_lidar_transfusion/test/test_postprocess_kernel.cpp b/perception/autoware_lidar_transfusion/test/test_postprocess_kernel.cpp index bc30ca04ebfe6..b09e85f0a9325 100644 --- a/perception/autoware_lidar_transfusion/test/test_postprocess_kernel.cpp +++ b/perception/autoware_lidar_transfusion/test/test_postprocess_kernel.cpp @@ -17,6 +17,7 @@ #include #include +#include #include namespace autoware::lidar_transfusion diff --git a/perception/autoware_lidar_transfusion/test/test_preprocess_kernel.cpp b/perception/autoware_lidar_transfusion/test/test_preprocess_kernel.cpp index c4a1c37b4ff77..afc25024d122e 100644 --- a/perception/autoware_lidar_transfusion/test/test_preprocess_kernel.cpp +++ b/perception/autoware_lidar_transfusion/test/test_preprocess_kernel.cpp @@ -23,6 +23,7 @@ #include #include +#include #include namespace autoware::lidar_transfusion diff --git a/perception/autoware_lidar_transfusion/test/test_ros_utils.cpp b/perception/autoware_lidar_transfusion/test/test_ros_utils.cpp index ac9c4ca0378cb..31468b28f962a 100644 --- a/perception/autoware_lidar_transfusion/test/test_ros_utils.cpp +++ b/perception/autoware_lidar_transfusion/test/test_ros_utils.cpp @@ -16,6 +16,9 @@ #include +#include +#include + TEST(TestSuite, box3DToDetectedObject) { std::vector class_names = {"CAR", "TRUCK", "BUS", "TRAILER", diff --git a/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp b/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp index df546dbde6d97..3eccc4eac1e83 100644 --- a/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp +++ b/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp @@ -22,6 +22,9 @@ #include "sensor_msgs/point_cloud2_iterator.hpp" +#include +#include + namespace autoware::lidar_transfusion { diff --git a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp index e2ccae19a04f7..42dbf5b83fa8c 100644 --- a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -46,8 +46,13 @@ #include #include #include +#include #include #include +#include +#include +#include +#include namespace autoware::map_based_prediction { diff --git a/perception/autoware_map_based_prediction/src/path_generator.cpp b/perception/autoware_map_based_prediction/src/path_generator.cpp index 57104082d0cf7..3bd6d62aba999 100644 --- a/perception/autoware_map_based_prediction/src/path_generator.cpp +++ b/perception/autoware_map_based_prediction/src/path_generator.cpp @@ -20,6 +20,9 @@ #include #include +#include +#include +#include namespace autoware::map_based_prediction { diff --git a/perception/autoware_map_based_prediction/src/predictor_vru.cpp b/perception/autoware_map_based_prediction/src/predictor_vru.cpp index 31630f7645171..0eea665cbd8a2 100644 --- a/perception/autoware_map_based_prediction/src/predictor_vru.cpp +++ b/perception/autoware_map_based_prediction/src/predictor_vru.cpp @@ -19,6 +19,15 @@ #include #include +#include +#include +#include +#include +#include +#include +#include +#include + namespace autoware::map_based_prediction { using autoware::universe_utils::ScopedTimeTrack; diff --git a/perception/autoware_map_based_prediction/src/utils.cpp b/perception/autoware_map_based_prediction/src/utils.cpp index 8c4a25a793bf7..cfc5036106daf 100644 --- a/perception/autoware_map_based_prediction/src/utils.cpp +++ b/perception/autoware_map_based_prediction/src/utils.cpp @@ -22,6 +22,15 @@ #include #include +#include +#include +#include +#include +#include +#include +#include +#include + namespace autoware::map_based_prediction { namespace utils diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp index daa8db5db91e6..24e2b0c9f5acf 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp @@ -20,6 +20,7 @@ #include #include +#include namespace { diff --git a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp index 399634b63bffe..89258835f920b 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp @@ -28,6 +28,8 @@ #include #include +#include + namespace autoware::multi_object_tracker { diff --git a/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp b/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp index 3f0b854931842..ddfdc7ef7cb10 100644 --- a/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp +++ b/perception/autoware_multi_object_tracker/lib/uncertainty/uncertainty_processor.cpp @@ -20,6 +20,8 @@ #include #include +#include + namespace autoware::multi_object_tracker { namespace uncertainty diff --git a/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp b/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp index 59f50bd2e9f0b..bc27525d85f55 100644 --- a/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp +++ b/perception/autoware_multi_object_tracker/src/debugger/debug_object.cpp @@ -20,8 +20,11 @@ #include #include +#include #include #include +#include +#include namespace { diff --git a/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp b/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp index 3e47bbe9bed8d..9d830bb9e5b81 100644 --- a/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp +++ b/perception/autoware_multi_object_tracker/src/debugger/debugger.cpp @@ -14,7 +14,10 @@ #include "debugger.hpp" +#include #include +#include +#include namespace autoware::multi_object_tracker { diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp index 68a356cd91da5..d55ff3ab1f0bb 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp @@ -31,6 +31,7 @@ #include #include +#include #include #include #include diff --git a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp index c9ee8dae9562a..5b8fd23999a95 100644 --- a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp +++ b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp @@ -17,6 +17,8 @@ #include #include +#include +#include namespace autoware::multi_object_tracker { diff --git a/perception/autoware_multi_object_tracker/src/processor/processor.cpp b/perception/autoware_multi_object_tracker/src/processor/processor.cpp index ba9b3d17fd20f..f4202c1f6e413 100644 --- a/perception/autoware_multi_object_tracker/src/processor/processor.cpp +++ b/perception/autoware_multi_object_tracker/src/processor/processor.cpp @@ -20,6 +20,10 @@ #include "autoware_perception_msgs/msg/tracked_objects.hpp" #include +#include +#include +#include +#include namespace autoware::multi_object_tracker { diff --git a/perception/autoware_object_merger/src/object_association_merger_node.cpp b/perception/autoware_object_merger/src/object_association_merger_node.cpp index af9d0e15f4894..0e2b88f4aa566 100644 --- a/perception/autoware_object_merger/src/object_association_merger_node.cpp +++ b/perception/autoware_object_merger/src/object_association_merger_node.cpp @@ -25,8 +25,12 @@ #include #include +#include +#include +#include #include #include +#include using Label = autoware_perception_msgs::msg::ObjectClassification; diff --git a/perception/autoware_radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp b/perception/autoware_radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp index 93475af7b3628..9a0477befd5be 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp +++ b/perception/autoware_radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp @@ -20,6 +20,8 @@ #include +#include + std::shared_ptr get_node(double angle_threshold, double velocity_threshold) { diff --git a/perception/autoware_radar_object_tracker/src/association/data_association.cpp b/perception/autoware_radar_object_tracker/src/association/data_association.cpp index 673ae084fb242..79c91a96c4cc8 100644 --- a/perception/autoware_radar_object_tracker/src/association/data_association.cpp +++ b/perception/autoware_radar_object_tracker/src/association/data_association.cpp @@ -22,6 +22,7 @@ #include #include #include +#include #include #include diff --git a/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp b/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp index 47b9430616fc9..04b2bd24d4b8d 100644 --- a/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp +++ b/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp @@ -30,6 +30,9 @@ #include #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp b/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp index 6facac3707c56..80b965ddb3840 100644 --- a/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp +++ b/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp @@ -30,6 +30,9 @@ #include #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.cpp b/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.cpp index ce63d96dfb83a..69a020a774372 100644 --- a/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.cpp +++ b/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.cpp @@ -20,6 +20,7 @@ #include #include +#include namespace autoware::radar_object_tracker { diff --git a/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.cpp b/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.cpp index f0a6a5dfd384d..cfbffdc089c11 100644 --- a/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.cpp +++ b/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.cpp @@ -14,6 +14,10 @@ #include "autoware_radar_object_tracker/utils/radar_object_tracker_utils.hpp" +#include +#include +#include + namespace autoware::radar_object_tracker::utils { diff --git a/perception/autoware_radar_object_tracker/src/utils/utils.cpp b/perception/autoware_radar_object_tracker/src/utils/utils.cpp index 351c4cfd21159..9ea4f0a36a9ac 100644 --- a/perception/autoware_radar_object_tracker/src/utils/utils.cpp +++ b/perception/autoware_radar_object_tracker/src/utils/utils.cpp @@ -14,6 +14,8 @@ #include "autoware_radar_object_tracker/utils/utils.hpp" +#include + namespace autoware::radar_object_tracker::utils { // concatenate matrices vertically diff --git a/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp b/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp index 62b6b9f3b09b5..e52fc57a5a20c 100644 --- a/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp +++ b/perception/autoware_raindrop_cluster_filter/src/low_intensity_cluster_filter_node.cpp @@ -22,6 +22,8 @@ #include +#include + namespace autoware::low_intensity_cluster_filter { LowIntensityClusterFilter::LowIntensityClusterFilter(const rclcpp::NodeOptions & node_options) diff --git a/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp b/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp index e7644ce45e443..c53ca66db6720 100644 --- a/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp +++ b/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp @@ -24,6 +24,9 @@ #include +#include +#include +#include #include using autoware::low_intensity_cluster_filter::LowIntensityClusterFilter; diff --git a/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp b/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp index 4cb8c0083a148..b4b1f18832da7 100644 --- a/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp +++ b/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp @@ -18,8 +18,13 @@ #include +#include #include +#include +#include #include +#include +#include namespace autoware::shape_estimation { diff --git a/perception/autoware_shape_estimation/test/test_shape_estimation_node.cpp b/perception/autoware_shape_estimation/test/test_shape_estimation_node.cpp index df04ade05b1ce..a7554f8249785 100644 --- a/perception/autoware_shape_estimation/test/test_shape_estimation_node.cpp +++ b/perception/autoware_shape_estimation/test/test_shape_estimation_node.cpp @@ -22,6 +22,9 @@ #include +#include +#include + namespace { using autoware::shape_estimation::ShapeEstimationNode; diff --git a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp index 3d5d6f6538b15..59833a348ba91 100644 --- a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp +++ b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/calibrator.hpp @@ -47,7 +47,9 @@ #include #include +#include #include +#include #include #include #include diff --git a/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp b/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp index 4ca70c2f75618..b24e4fe56e8b8 100644 --- a/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp +++ b/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp @@ -20,10 +20,12 @@ #include #include +#include #include #include #include #include +#include #include static void trimLeft(std::string & s) diff --git a/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp index cf5ebdc525a89..5aa897983af72 100644 --- a/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp +++ b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp @@ -21,6 +21,7 @@ #include #include +#include #include #include #include diff --git a/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp index 76a9fd8bab7a8..2b3b3f02f315f 100644 --- a/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp +++ b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp @@ -17,6 +17,8 @@ #ifndef YOLOX_STANDALONE #include + +#include #endif #include diff --git a/perception/autoware_tensorrt_common/src/simple_profiler.cpp b/perception/autoware_tensorrt_common/src/simple_profiler.cpp index c538470711fb8..2bcc1c4f9da06 100644 --- a/perception/autoware_tensorrt_common/src/simple_profiler.cpp +++ b/perception/autoware_tensorrt_common/src/simple_profiler.cpp @@ -14,7 +14,10 @@ #include +#include #include +#include +#include namespace autoware { diff --git a/perception/autoware_tensorrt_common/src/tensorrt_common.cpp b/perception/autoware_tensorrt_common/src/tensorrt_common.cpp index 632501c0dc057..897010d22bb4b 100644 --- a/perception/autoware_tensorrt_common/src/tensorrt_common.cpp +++ b/perception/autoware_tensorrt_common/src/tensorrt_common.cpp @@ -23,6 +23,7 @@ #include #include #include +#include namespace { diff --git a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp index 46305b12c0de6..24698c1d90f72 100644 --- a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp +++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp @@ -48,7 +48,9 @@ #include #include +#include #include +#include #include #include #include diff --git a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp index 451af305a4410..06540f2b7cd19 100644 --- a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp @@ -31,6 +31,7 @@ #include #include #include +#include #include namespace diff --git a/perception/autoware_tensorrt_yolox/src/yolox_single_image_inference_node.cpp b/perception/autoware_tensorrt_yolox/src/yolox_single_image_inference_node.cpp index 919d68202a9a9..243e82c65dab9 100644 --- a/perception/autoware_tensorrt_yolox/src/yolox_single_image_inference_node.cpp +++ b/perception/autoware_tensorrt_yolox/src/yolox_single_image_inference_node.cpp @@ -15,6 +15,8 @@ #include #include +#include + #if (defined(_MSC_VER) or (defined(__GNUC__) and (7 <= __GNUC_MAJOR__))) #include namespace fs = ::std::filesystem; diff --git a/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp b/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp index eab815969ac9a..44912e2242eb2 100644 --- a/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp +++ b/perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp @@ -28,7 +28,10 @@ #include #include +#include +#include #include +#include using Label = autoware_perception_msgs::msg::ObjectClassification; diff --git a/perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp b/perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp index 9fd5fda7a63bb..9b859113390af 100644 --- a/perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp +++ b/perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp @@ -16,6 +16,11 @@ #include "autoware/tracking_object_merger/utils/utils.hpp" +#include +#include +#include +#include + namespace autoware::tracking_object_merger { diff --git a/perception/autoware_tracking_object_merger/src/utils/utils.cpp b/perception/autoware_tracking_object_merger/src/utils/utils.cpp index 04d7f94f2886c..15d130b4fcd50 100644 --- a/perception/autoware_tracking_object_merger/src/utils/utils.cpp +++ b/perception/autoware_tracking_object_merger/src/utils/utils.cpp @@ -20,6 +20,7 @@ #include #include +#include #include #include diff --git a/perception/autoware_traffic_light_arbiter/src/signal_match_validator.cpp b/perception/autoware_traffic_light_arbiter/src/signal_match_validator.cpp index d964f8b2cd7ba..396ebd8816088 100644 --- a/perception/autoware_traffic_light_arbiter/src/signal_match_validator.cpp +++ b/perception/autoware_traffic_light_arbiter/src/signal_match_validator.cpp @@ -14,6 +14,12 @@ #include "autoware/traffic_light_arbiter/signal_match_validator.hpp" +#include +#include +#include +#include +#include + namespace util { using TrafficSignalArray = autoware_perception_msgs::msg::TrafficLightGroupArray; diff --git a/perception/autoware_traffic_light_arbiter/test/test_node.cpp b/perception/autoware_traffic_light_arbiter/test/test_node.cpp index 1419f8675d0fa..f993ad7cec84d 100644 --- a/perception/autoware_traffic_light_arbiter/test/test_node.cpp +++ b/perception/autoware_traffic_light_arbiter/test/test_node.cpp @@ -21,6 +21,10 @@ #include #include +#include +#include +#include +#include #include using autoware::TrafficLightArbiter; diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp index 76f5e608ca425..37ffca4a9526c 100644 --- a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp +++ b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp @@ -14,6 +14,8 @@ #include "traffic_light_fine_detector_node.hpp" +#include + #if (defined(_MSC_VER) or (defined(__GNUC__) and (7 <= __GNUC_MAJOR__))) #include namespace fs = ::std::filesystem; diff --git a/perception/autoware_traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.cpp b/perception/autoware_traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.cpp index d133fe0b443d1..5e74d77df644f 100644 --- a/perception/autoware_traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.cpp +++ b/perception/autoware_traffic_light_map_based_detector/src/traffic_light_map_based_detector_node.cpp @@ -31,6 +31,11 @@ #include #include +#include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp index 08c6600d91923..15211920bc7f2 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp +++ b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp @@ -18,6 +18,7 @@ #include #include +#include #include #include #include diff --git a/perception/autoware_traffic_light_occlusion_predictor/src/occlusion_predictor.cpp b/perception/autoware_traffic_light_occlusion_predictor/src/occlusion_predictor.cpp index 7fd5ac8489226..751e80e101e84 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/src/occlusion_predictor.cpp +++ b/perception/autoware_traffic_light_occlusion_predictor/src/occlusion_predictor.cpp @@ -16,6 +16,8 @@ #include "occlusion_predictor.hpp" #include +#include +#include namespace { diff --git a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp index d3ab30146a8b5..14b8d2e51c78d 100644 --- a/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp +++ b/perception/autoware_traffic_light_visualization/src/traffic_light_roi_visualizer/shape_draw.cpp @@ -19,6 +19,7 @@ #include #include +#include #include #include #include diff --git a/perception/perception_utils/src/run_length_encoder.cpp b/perception/perception_utils/src/run_length_encoder.cpp index fb7f5ba33b846..59430de5069e8 100644 --- a/perception/perception_utils/src/run_length_encoder.cpp +++ b/perception/perception_utils/src/run_length_encoder.cpp @@ -14,6 +14,8 @@ #include "perception_utils/run_length_encoder.hpp" +#include + namespace perception_utils { diff --git a/perception/perception_utils/test/test_utils.cpp b/perception/perception_utils/test/test_utils.cpp index d28b8489971e0..5d721c731935e 100644 --- a/perception/perception_utils/test/test_utils.cpp +++ b/perception/perception_utils/test/test_utils.cpp @@ -18,6 +18,8 @@ #include +#include + // Test case 1: Test if the decoded image is the same as the original image TEST(UtilsTest, runLengthEncoderDecoderTest) { From 1e5077cd8f7b878e34b6097f2516811ed2192d95 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:14:32 +0300 Subject: [PATCH 652/701] fix(cpplint): include what you use - planning (#9570) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../src/utils/objects_to_costmap.cpp | 1 + .../test/test_costmap_generator.cpp | 4 ++++ .../test/test_object_map_utils.cpp | 2 ++ .../test/test_objects_to_costmap.cpp | 2 ++ .../test/test_points_to_costmap.cpp | 2 ++ .../src/autoware_freespace_planner/utils.cpp | 3 +++ .../test/test_freespace_planner.cpp | 5 +++++ .../test/test_freespace_planner_node_interface.cpp | 1 + .../test/test_freespace_planner_utils.cpp | 1 + .../scripts/bind/astar_search_pybind.cpp | 3 +++ .../src/abstract_algorithm.cpp | 2 ++ .../src/astar_search.cpp | 3 +++ .../src/rrtstar.cpp | 2 ++ .../src/rrtstar_core.cpp | 3 +++ .../test/src/test_freespace_planning_algorithms.cpp | 2 ++ .../test/src/test_rrtstar_core_informed.cpp | 1 + .../src/lanelet2_plugins/utility_functions.cpp | 1 + .../src/mission_planner/mission_planner.cpp | 3 +++ .../test/test_lanelet2_plugins_default_planner.cpp | 4 ++++ .../test/test_utility_functions.cpp | 2 ++ .../src/marker_utils.cpp | 2 ++ .../src/objects_of_interest_marker_interface.cpp | 2 ++ planning/autoware_obstacle_cruise_planner/src/node.cpp | 7 +++++++ .../optimization_based_planner.cpp | 6 ++++++ .../optimization_based_planner/velocity_optimizer.cpp | 2 ++ .../src/pid_based_planner/pid_based_planner.cpp | 5 +++++ .../src/planner_interface.cpp | 4 ++++ .../src/polygon_utils.cpp | 5 +++++ planning/autoware_obstacle_cruise_planner/src/utils.cpp | 4 ++++ .../test/test_obstacle_cruise_planner_node_interface.cpp | 1 + .../test/test_obstacle_cruise_planner_utils.cpp | 3 +++ .../autoware_obstacle_stop_planner/src/debug_marker.cpp | 2 ++ .../autoware_obstacle_stop_planner/src/planner_utils.cpp | 3 +++ ...est_autoware_obstacle_stop_planner_node_interface.cpp | 1 + planning/autoware_path_optimizer/src/debug_marker.cpp | 3 +++ planning/autoware_path_optimizer/src/mpt_optimizer.cpp | 4 ++++ planning/autoware_path_optimizer/src/node.cpp | 3 +++ planning/autoware_path_optimizer/src/replan_checker.cpp | 1 + .../src/state_equation_generator.cpp | 2 ++ .../test/test_path_optimizer_node_interface.cpp | 1 + planning/autoware_path_smoother/src/elastic_band.cpp | 3 +++ .../autoware_path_smoother/src/elastic_band_smoother.cpp | 3 +++ planning/autoware_path_smoother/src/replan_checker.cpp | 1 + .../test/test_autoware_path_smoother_node_interface.cpp | 1 + .../autoware_planning_test_manager_utils.hpp | 1 + .../src/autoware_planning_test_manager.cpp | 5 +++++ .../src/path_to_trajectory.cpp | 2 ++ planning/autoware_planning_validator/src/utils.cpp | 1 + .../test/src/test_planning_validator_functions.cpp | 1 + .../test/src/test_planning_validator_node_interface.cpp | 1 + .../test/src/test_planning_validator_pubsub.cpp | 3 +++ planning/autoware_route_handler/src/route_handler.cpp | 2 ++ .../autoware_route_handler/test/test_route_handler.hpp | 1 + planning/autoware_rtc_interface/src/rtc_interface.cpp | 3 +++ .../autoware_rtc_interface/test/test_rtc_interface.cpp | 3 +++ .../test_autoware_scenario_selector_node_interface.cpp | 1 + .../bag_ego_trajectory_based_centerline.cpp | 1 + .../optimization_trajectory_based_centerline.cpp | 1 + .../autoware_static_centerline_generator/src/main.cpp | 3 +++ .../src/static_centerline_generator_node.cpp | 1 + .../autoware_static_centerline_generator/src/utils.cpp | 3 +++ .../src/debug_marker.cpp | 2 ++ planning/autoware_surround_obstacle_checker/src/node.cpp | 1 + .../test/test_surround_obstacle_checker.cpp | 3 +++ planning/autoware_velocity_smoother/src/node.cpp | 1 + .../analytical_jerk_constrained_smoother.cpp | 1 + .../src/smoother/jerk_filtered_smoother.cpp | 2 ++ .../src/smoother/l2_pseudo_jerk_smoother.cpp | 1 + .../src/smoother/linf_pseudo_jerk_smoother.cpp | 1 + .../src/smoother/smoother_base.cpp | 2 ++ .../test/test_velocity_smoother_node_interface.cpp | 1 + .../src/interface.cpp | 1 + .../src/scene.cpp | 1 + .../test/test_behavior_path_planner_node_interface.cpp | 2 ++ .../scene.hpp | 1 + .../src/scene.cpp | 2 ++ .../test/test_behavior_path_planner_node_interface.cpp | 2 ++ .../src/manager.cpp | 2 ++ .../test/test_behavior_path_planner_node_interface.cpp | 2 ++ .../examples/plot_map.cpp | 8 ++++++++ .../src/decision_state.cpp | 3 +++ .../src/goal_planner_module.cpp | 5 +++++ .../src/goal_searcher.cpp | 2 ++ .../src/pull_over_planner/pull_over_planner_base.cpp | 3 +++ .../src/pull_over_planner/shift_pull_over.cpp | 3 +++ .../src/util.cpp | 4 ++++ .../test/test_util.cpp | 4 ++++ .../src/interface.cpp | 2 ++ .../src/manager.cpp | 1 + .../src/scene.cpp | 1 + .../src/utils/markers.cpp | 1 + .../test/test_behavior_path_planner_node_interface.cpp | 2 ++ .../test/test_lane_change_scene.cpp | 2 ++ .../src/planner_manager.cpp | 5 +++++ .../autoware_behavior_path_planner/test/input.cpp | 2 ++ ...est_autoware_behavior_path_planner_node_interface.cpp | 2 ++ .../autoware_behavior_path_planner/test/test_utils.cpp | 2 ++ .../src/interface/scene_module_interface.cpp | 2 ++ .../src/interface/scene_module_manager_interface.cpp | 4 ++++ .../src/interface/scene_module_visitor.cpp | 2 ++ .../src/marker_utils/utils.cpp | 2 ++ .../src/turn_signal_decider.cpp | 4 ++++ .../drivable_area_expansion/drivable_area_expansion.cpp | 4 ++++ .../src/utils/drivable_area_expansion/map_utils.cpp | 2 ++ .../drivable_area_expansion/static_drivable_area.cpp | 8 ++++++++ .../parking_departure/geometric_parallel_parking.cpp | 3 +++ .../src/utils/parking_departure/utils.cpp | 5 +++++ .../src/utils/path_safety_checker/objects_filtering.cpp | 4 ++++ .../src/utils/path_safety_checker/safety_check.cpp | 4 ++++ .../src/utils/path_shifter/path_shifter.cpp | 1 + .../src/utils/path_utils.cpp | 2 ++ .../src/utils/traffic_light_utils.cpp | 3 +++ .../src/utils/utils.cpp | 2 ++ .../test/test_drivable_area_expansion.cpp | 2 ++ .../test/test_objects_filtering.cpp | 1 + .../test/test_parking_departure_utils.cpp | 3 +++ .../test/test_path_shifter.cpp | 3 +++ .../test/test_path_utils.cpp | 1 + .../test/test_static_drivable_area.cpp | 1 + .../test/test_utils.cpp | 2 ++ .../src/sampling_planner_module.cpp | 9 +++++++++ .../src/scene.cpp | 1 + .../test/test_behavior_path_planner_node_interface.cpp | 2 ++ .../test/test_side_shift_utils.cpp | 2 ++ .../src/freespace_pull_out.cpp | 2 ++ .../src/geometric_pull_out.cpp | 4 ++++ .../src/shift_pull_out.cpp | 3 +++ .../src/start_planner_module.cpp | 4 ++++ .../src/debug.cpp | 2 ++ .../src/scene.cpp | 1 + .../src/shift_line_generator.cpp | 5 +++++ .../src/utils.cpp | 1 + .../test/test_behavior_path_planner_node_interface.cpp | 2 ++ .../test/test_utils.cpp | 3 +++ .../src/debug.cpp | 1 + .../src/scene_crosswalk.cpp | 2 ++ .../src/scene_crosswalk.hpp | 1 + .../src/util.cpp | 1 + .../test/test_crosswalk.cpp | 2 ++ .../src/utils.cpp | 2 ++ .../src/debug.cpp | 2 ++ .../src/decision_result.cpp | 2 ++ .../src/object_manager.cpp | 2 ++ .../src/scene_intersection.cpp | 3 +++ .../src/scene_intersection_collision.cpp | 8 ++++++++ .../src/scene_intersection_occlusion.cpp | 4 ++++ .../src/scene_intersection_prepare_data.cpp | 7 +++++++ .../src/scene_intersection_stuck.cpp | 4 ++++ .../src/scene_merge_from_private_road.cpp | 1 + .../src/util.cpp | 1 + .../test/test_util.cpp | 2 ++ .../src/manager.cpp | 1 + .../src/util.cpp | 1 + .../src/utils.cpp | 1 + .../src/grid_utils.cpp | 1 + .../src/occlusion_spot_utils.cpp | 1 + .../src/scene_occlusion_spot.cpp | 1 + .../test/src/test_grid_utils.cpp | 2 ++ .../test/src/test_occlusion_spot_utils.cpp | 3 +++ .../autoware_behavior_velocity_planner/src/node.cpp | 2 ++ .../test/src/test_node_interface.cpp | 2 ++ .../src/scene_module_interface.cpp | 2 ++ .../src/utilization/debug.cpp | 3 +++ .../src/utilization/trajectory_utils.cpp | 4 ++++ .../src/utilization/util.cpp | 3 +++ .../test/src/test_utilization.cpp | 1 + .../src/debug.cpp | 3 +++ .../src/dynamic_obstacle.cpp | 2 ++ .../src/manager.cpp | 1 + .../src/path_utils.cpp | 3 +++ .../src/scene.cpp | 2 ++ .../src/state_machine.cpp | 2 ++ .../src/utils.cpp | 2 ++ .../src/scene.cpp | 3 +++ .../src/scene.cpp | 1 + .../src/scene.cpp | 2 ++ .../src/utils.cpp | 2 ++ .../src/debug.cpp | 2 ++ .../src/utils.cpp | 2 ++ .../test/test_utils.cpp | 2 ++ .../src/scene_walkway.cpp | 1 + .../src/object_stop_decision.cpp | 1 + .../benchmarks/collision_checker_benchmark.cpp | 1 + .../src/debug.cpp | 1 + .../src/map_utils.cpp | 2 ++ .../src/obstacle_velocity_limiter.cpp | 1 + .../src/obstacle_velocity_limiter_module.cpp | 3 +++ .../test/test_forward_projection.cpp | 1 + .../src/collision_checker.cpp | 4 ++++ .../test/test_collision_checker.cpp | 2 ++ .../autoware_motion_velocity_planner_node/src/node.cpp | 1 + .../src/planner_manager.cpp | 1 + .../test/src/test_node_interface.cpp | 2 ++ .../autoware_bezier_sampler/src/bezier.cpp | 3 +++ .../autoware_bezier_sampler/src/bezier_sampling.cpp | 2 ++ .../src/frenet_planner/frenet_planner.cpp | 1 + .../autoware_path_sampler/src/node.cpp | 3 +++ .../autoware_path_sampler/src/prepare_inputs.cpp | 1 + .../src/sampler_common/transform/spline_transform.cpp | 1 + .../autoware_sampler_common/test/test_transform.cpp | 2 ++ 200 files changed, 471 insertions(+) diff --git a/planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp b/planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp index bcd2e15fe9ca7..64f558b4f5604 100644 --- a/planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/src/utils/objects_to_costmap.cpp @@ -50,6 +50,7 @@ #include #include +#include #include #include diff --git a/planning/autoware_costmap_generator/test/test_costmap_generator.cpp b/planning/autoware_costmap_generator/test/test_costmap_generator.cpp index 00c35e2514f43..f0db05b6fdd6f 100644 --- a/planning/autoware_costmap_generator/test/test_costmap_generator.cpp +++ b/planning/autoware_costmap_generator/test/test_costmap_generator.cpp @@ -20,6 +20,10 @@ #include +#include +#include +#include + using autoware::costmap_generator::CostmapGenerator; using tier4_planning_msgs::msg::Scenario; diff --git a/planning/autoware_costmap_generator/test/test_object_map_utils.cpp b/planning/autoware_costmap_generator/test/test_object_map_utils.cpp index a20c2326d2757..5225b089f845f 100644 --- a/planning/autoware_costmap_generator/test/test_object_map_utils.cpp +++ b/planning/autoware_costmap_generator/test/test_object_map_utils.cpp @@ -17,6 +17,8 @@ #include +#include + namespace { grid_map::GridMap construct_gridmap( diff --git a/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp b/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp index 4ab5a32e77028..83f7055531e7d 100644 --- a/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/test/test_objects_to_costmap.cpp @@ -19,6 +19,8 @@ #include #include +#include + namespace { geometry_msgs::msg::Point32 toPoint32(const geometry_msgs::msg::Pose & pose) diff --git a/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp b/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp index b98479f43c2aa..ecfeaaf6ac676 100644 --- a/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp +++ b/planning/autoware_costmap_generator/test/test_points_to_costmap.cpp @@ -16,6 +16,8 @@ #include +#include + namespace autoware::costmap_generator { using pointcloud = pcl::PointCloud; diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp index 2e0c461ae71c0..a08c62723c3d5 100644 --- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp @@ -16,6 +16,9 @@ #include +#include +#include + namespace autoware::freespace_planner::utils { diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner.cpp index add449c66eb0d..bccf417503edb 100644 --- a/planning/autoware_freespace_planner/test/test_freespace_planner.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner.cpp @@ -25,6 +25,11 @@ #include #include +#include +#include +#include +#include + using autoware::freespace_planner::FreespacePlannerNode; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp index f43b4401865b2..8bf30757aafb7 100644 --- a/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include using autoware::freespace_planner::FreespacePlannerNode; diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp index 534278a3b8dc8..e374c4056df1e 100644 --- a/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp +++ b/planning/autoware_freespace_planner/test/test_freespace_planner_utils.cpp @@ -19,6 +19,7 @@ #include #include +#include #include using autoware::freespace_planner::utils::Odometry; diff --git a/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp b/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp index f2003e438f5bf..7808d18f24aed 100644 --- a/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp +++ b/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp @@ -24,6 +24,9 @@ #include #include +#include +#include + namespace autoware::freespace_planning_algorithms { struct PlannerWaypointsVector diff --git a/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp b/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp index b968e70bd2c01..56d6526e26272 100644 --- a/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp @@ -19,6 +19,8 @@ #include #include +#include +#include #include #include diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp index 3fecf800f1bf6..0a17b112eed6f 100644 --- a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp @@ -24,6 +24,9 @@ #include #include +#include +#include +#include #ifdef ROS_DISTRO_GALACTIC #include diff --git a/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp b/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp index 000b118214d9e..0427381db7de8 100644 --- a/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp @@ -16,6 +16,8 @@ #include "autoware/freespace_planning_algorithms/kinematic_bicycle_model.hpp" +#include + namespace autoware::freespace_planning_algorithms { rrtstar_core::Pose poseMsgToPose(const geometry_msgs::msg::Pose & pose_msg) diff --git a/planning/autoware_freespace_planning_algorithms/src/rrtstar_core.cpp b/planning/autoware_freespace_planning_algorithms/src/rrtstar_core.cpp index 853d9ef0a9787..6affc862cc64e 100644 --- a/planning/autoware_freespace_planning_algorithms/src/rrtstar_core.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/rrtstar_core.cpp @@ -16,13 +16,16 @@ #include +#include #include #include #include #include #include +#include #include #include +#include // cspell: ignore rsspace // In this case, RSSpace means "Reeds Shepp state Space" diff --git a/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp b/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp index a46b8bba58920..c343a8773f8ad 100644 --- a/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp +++ b/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp @@ -29,6 +29,8 @@ #include #include #include +#include +#include #include #include #include diff --git a/planning/autoware_freespace_planning_algorithms/test/src/test_rrtstar_core_informed.cpp b/planning/autoware_freespace_planning_algorithms/test/src/test_rrtstar_core_informed.cpp index 40181884d36c7..a7a66123b7856 100644 --- a/planning/autoware_freespace_planning_algorithms/test/src/test_rrtstar_core_informed.cpp +++ b/planning/autoware_freespace_planning_algorithms/test/src/test_rrtstar_core_informed.cpp @@ -18,6 +18,7 @@ #include #include +#include namespace autoware::freespace_planning_algorithms::rrtstar_core { diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp index 08345282a9264..40bccd118965f 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp +++ b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp @@ -23,6 +23,7 @@ #include #include +#include namespace autoware::mission_planner::lanelet2 { diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp index 521beb8f7dcd5..cbbcfb84d2cbb 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp @@ -27,7 +27,10 @@ #include #include +#include +#include #include +#include namespace autoware::mission_planner { diff --git a/planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp b/planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp index 124a04e3e4ed2..8da26ab851bb4 100644 --- a/planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp +++ b/planning/autoware_mission_planner/test/test_lanelet2_plugins_default_planner.cpp @@ -29,6 +29,10 @@ #include #include +#include +#include +#include + using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::createQuaternionFromRPY; using autoware_planning_msgs::msg::LaneletRoute; diff --git a/planning/autoware_mission_planner/test/test_utility_functions.cpp b/planning/autoware_mission_planner/test/test_utility_functions.cpp index 6cde09b7664a2..da44a2ad17cf0 100644 --- a/planning/autoware_mission_planner/test/test_utility_functions.cpp +++ b/planning/autoware_mission_planner/test/test_utility_functions.cpp @@ -23,6 +23,8 @@ #include #include +#include + using autoware::mission_planner::lanelet2::convert_linear_ring_to_polygon; using autoware::mission_planner::lanelet2::convertBasicPoint3dToPose; using autoware::mission_planner::lanelet2::convertCenterlineToPoints; diff --git a/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp b/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp index 42d92bd0c91da..f2f076869e2ff 100644 --- a/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp +++ b/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp @@ -14,6 +14,8 @@ #include "autoware/objects_of_interest_marker_interface/marker_utils.hpp" +#include + namespace autoware::objects_of_interest_marker_interface::marker_utils { using geometry_msgs::msg::Point; diff --git a/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp b/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp index 253d2ec05c246..cbdb2542b97e7 100644 --- a/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp +++ b/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp @@ -18,6 +18,8 @@ #include #include +#include + namespace autoware::objects_of_interest_marker_interface { using autoware_perception_msgs::msg::Shape; diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp index a6a029530b1a5..8275f2a1cd7d4 100644 --- a/planning/autoware_obstacle_cruise_planner/src/node.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp @@ -32,6 +32,13 @@ #include #include +#include +#include +#include +#include +#include +#include +#include namespace { diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp index 7bf0f67129a20..62edf82beec5a 100644 --- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp @@ -25,6 +25,12 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/ros/marker_helper.hpp" +#include +#include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp index 8e31411bfb4af..39a35204cda8f 100644 --- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp @@ -16,7 +16,9 @@ #include +#include #include +#include VelocityOptimizer::VelocityOptimizer( const double max_s_weight, const double max_v_weight, const double over_s_safety_weight, diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp index da5d083d6ddcf..f8982ed3fec2a 100644 --- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp @@ -23,6 +23,11 @@ #include "tier4_planning_msgs/msg/velocity_limit.hpp" +#include +#include +#include +#include + using autoware::signal_processing::LowpassFilter1d; namespace diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp index bfff561e3ffe2..b08bb10ef69cf 100644 --- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp @@ -25,8 +25,12 @@ #include #include +#include +#include #include #include +#include +#include namespace { diff --git a/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp index 639feec856a7e..4d6e6568067f4 100644 --- a/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp @@ -18,6 +18,11 @@ #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" +#include +#include +#include +#include + namespace { PointWithStamp calcNearestCollisionPoint( diff --git a/planning/autoware_obstacle_cruise_planner/src/utils.cpp b/planning/autoware_obstacle_cruise_planner/src/utils.cpp index 3bf6ee311ca13..dd4373c115fe0 100644 --- a/planning/autoware_obstacle_cruise_planner/src/utils.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/utils.cpp @@ -17,6 +17,10 @@ #include "autoware/object_recognition_utils/predicted_path_utils.hpp" #include "autoware/universe_utils/ros/marker_helper.hpp" +#include +#include +#include + namespace obstacle_cruise_utils { namespace diff --git a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp index ef5f695756b7e..2235704a3a070 100644 --- a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include using autoware::motion_planning::ObstacleCruisePlannerNode; diff --git a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_utils.cpp b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_utils.cpp index f7dbd60596507..b32508cc2c50e 100644 --- a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_utils.cpp +++ b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_utils.cpp @@ -21,6 +21,9 @@ #include +#include +#include + StopObstacle generate_stop_obstacle(uint8_t label, double dist) { const std::string uuid{}; diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp index 71077014a2be1..93526518306af 100644 --- a/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp +++ b/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp @@ -18,6 +18,8 @@ #include #include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/autoware_obstacle_stop_planner/src/planner_utils.cpp b/planning/autoware_obstacle_stop_planner/src/planner_utils.cpp index 28c5523f49620..5cdb48a9d6a70 100644 --- a/planning/autoware_obstacle_stop_planner/src/planner_utils.cpp +++ b/planning/autoware_obstacle_stop_planner/src/planner_utils.cpp @@ -31,6 +31,9 @@ #include #include +#include +#include +#include namespace autoware::motion_planning { diff --git a/planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp b/planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp index 99a1ab46d2304..9f840586a1959 100644 --- a/planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp +++ b/planning/autoware_obstacle_stop_planner/test/test_autoware_obstacle_stop_planner_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include using autoware::motion_planning::ObstacleStopPlannerNode; diff --git a/planning/autoware_path_optimizer/src/debug_marker.cpp b/planning/autoware_path_optimizer/src/debug_marker.cpp index 397c334eca5b7..cf994dadf38cc 100644 --- a/planning/autoware_path_optimizer/src/debug_marker.cpp +++ b/planning/autoware_path_optimizer/src/debug_marker.cpp @@ -18,6 +18,9 @@ #include "visualization_msgs/msg/marker_array.hpp" +#include +#include + namespace autoware::path_optimizer { using autoware::universe_utils::appendMarkerArray; diff --git a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp index df07f3f98957a..bff3b78b6ba7d 100644 --- a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp +++ b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp @@ -26,8 +26,12 @@ #include #include #include +#include #include +#include #include +#include +#include namespace autoware::path_optimizer { diff --git a/planning/autoware_path_optimizer/src/node.cpp b/planning/autoware_path_optimizer/src/node.cpp index 98bc05d0fe1cf..9d0345e304235 100644 --- a/planning/autoware_path_optimizer/src/node.cpp +++ b/planning/autoware_path_optimizer/src/node.cpp @@ -25,6 +25,9 @@ #include #include #include +#include +#include +#include namespace autoware::path_optimizer { diff --git a/planning/autoware_path_optimizer/src/replan_checker.cpp b/planning/autoware_path_optimizer/src/replan_checker.cpp index 11e31bfd2d459..a52fbcc78211f 100644 --- a/planning/autoware_path_optimizer/src/replan_checker.cpp +++ b/planning/autoware_path_optimizer/src/replan_checker.cpp @@ -19,6 +19,7 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/ros/update_param.hpp" +#include #include namespace autoware::path_optimizer diff --git a/planning/autoware_path_optimizer/src/state_equation_generator.cpp b/planning/autoware_path_optimizer/src/state_equation_generator.cpp index 74033c5834db2..6bb95d665c8d5 100644 --- a/planning/autoware_path_optimizer/src/state_equation_generator.cpp +++ b/planning/autoware_path_optimizer/src/state_equation_generator.cpp @@ -16,6 +16,8 @@ #include "autoware/path_optimizer/mpt_optimizer.hpp" +#include + namespace autoware::path_optimizer { // state equation: x = B u + W (u includes x_0) diff --git a/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp b/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp index 9d24702cf75ea..e310fecf15d8c 100644 --- a/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp +++ b/planning/autoware_path_optimizer/test/test_path_optimizer_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory) diff --git a/planning/autoware_path_smoother/src/elastic_band.cpp b/planning/autoware_path_smoother/src/elastic_band.cpp index 0bdf83c9d3b7c..20786b7b3601e 100644 --- a/planning/autoware_path_smoother/src/elastic_band.cpp +++ b/planning/autoware_path_smoother/src/elastic_band.cpp @@ -27,6 +27,9 @@ #include #include #include +#include +#include +#include namespace { diff --git a/planning/autoware_path_smoother/src/elastic_band_smoother.cpp b/planning/autoware_path_smoother/src/elastic_band_smoother.cpp index a3082a2c979c3..2569faa4b8232 100644 --- a/planning/autoware_path_smoother/src/elastic_band_smoother.cpp +++ b/planning/autoware_path_smoother/src/elastic_band_smoother.cpp @@ -22,6 +22,9 @@ #include #include +#include +#include +#include namespace autoware::path_smoother { diff --git a/planning/autoware_path_smoother/src/replan_checker.cpp b/planning/autoware_path_smoother/src/replan_checker.cpp index 5d2e7a05e4b17..5739aa7481831 100644 --- a/planning/autoware_path_smoother/src/replan_checker.cpp +++ b/planning/autoware_path_smoother/src/replan_checker.cpp @@ -19,6 +19,7 @@ #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/ros/update_param.hpp" +#include #include namespace autoware::path_smoother diff --git a/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp b/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp index 7c92763f94521..7402541c727ff 100644 --- a/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp +++ b/planning/autoware_path_smoother/test/test_autoware_path_smoother_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory) diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp index 63ad2ecce09cc..b61c579df83b9 100644 --- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp +++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp @@ -22,6 +22,7 @@ #include #include +#include #include #include diff --git a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp index 02e64e3ec84a0..62f89cab44e7b 100644 --- a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp +++ b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp @@ -19,6 +19,11 @@ #include #include +#include +#include +#include +#include + namespace autoware::planning_test_manager { diff --git a/planning/autoware_planning_topic_converter/src/path_to_trajectory.cpp b/planning/autoware_planning_topic_converter/src/path_to_trajectory.cpp index ff2f3084fc9ba..76bb660259323 100644 --- a/planning/autoware_planning_topic_converter/src/path_to_trajectory.cpp +++ b/planning/autoware_planning_topic_converter/src/path_to_trajectory.cpp @@ -17,6 +17,8 @@ #include #include +#include + namespace autoware::planning_topic_converter { namespace diff --git a/planning/autoware_planning_validator/src/utils.cpp b/planning/autoware_planning_validator/src/utils.cpp index 0a70b4d415dcb..4304cd6146647 100644 --- a/planning/autoware_planning_validator/src/utils.cpp +++ b/planning/autoware_planning_validator/src/utils.cpp @@ -17,6 +17,7 @@ #include #include +#include #include #include #include diff --git a/planning/autoware_planning_validator/test/src/test_planning_validator_functions.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_functions.cpp index 9282392197665..6b0370fd6cf23 100644 --- a/planning/autoware_planning_validator/test/src/test_planning_validator_functions.cpp +++ b/planning/autoware_planning_validator/test/src/test_planning_validator_functions.cpp @@ -19,6 +19,7 @@ #include +#include #include using autoware::planning_validator::PlanningValidator; diff --git a/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp index 6476086c67730..2cf03e04311f2 100644 --- a/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp +++ b/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include using autoware::planning_test_manager::PlanningInterfaceTestManager; diff --git a/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp index a83fa1fd965fe..882ff09cfa33a 100644 --- a/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp +++ b/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp @@ -22,7 +22,10 @@ #include +#include #include +#include +#include #include /* diff --git a/planning/autoware_route_handler/src/route_handler.cpp b/planning/autoware_route_handler/src/route_handler.cpp index ec5f7bb5e0080..01e52d85f01c3 100644 --- a/planning/autoware_route_handler/src/route_handler.cpp +++ b/planning/autoware_route_handler/src/route_handler.cpp @@ -35,9 +35,11 @@ #include #include +#include #include #include #include +#include #include #include #include diff --git a/planning/autoware_route_handler/test/test_route_handler.hpp b/planning/autoware_route_handler/test/test_route_handler.hpp index 69d6a871959ca..1b15b539e2001 100644 --- a/planning/autoware_route_handler/test/test_route_handler.hpp +++ b/planning/autoware_route_handler/test/test_route_handler.hpp @@ -31,6 +31,7 @@ #include +#include #include #include namespace autoware::route_handler::test diff --git a/planning/autoware_rtc_interface/src/rtc_interface.cpp b/planning/autoware_rtc_interface/src/rtc_interface.cpp index 6b3a6c7406d39..47bc278c30564 100644 --- a/planning/autoware_rtc_interface/src/rtc_interface.cpp +++ b/planning/autoware_rtc_interface/src/rtc_interface.cpp @@ -14,6 +14,9 @@ #include "autoware/rtc_interface/rtc_interface.hpp" +#include +#include + namespace { using tier4_rtc_msgs::msg::Module; diff --git a/planning/autoware_rtc_interface/test/test_rtc_interface.cpp b/planning/autoware_rtc_interface/test/test_rtc_interface.cpp index 69efae3987677..d4b0195186282 100644 --- a/planning/autoware_rtc_interface/test/test_rtc_interface.cpp +++ b/planning/autoware_rtc_interface/test/test_rtc_interface.cpp @@ -22,6 +22,9 @@ #include +#include +#include + using tier4_rtc_msgs::msg::State; namespace autoware::rtc_interface diff --git a/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp index 3d5da19cbabbc..ef9af48967a11 100644 --- a/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp +++ b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp @@ -21,6 +21,7 @@ #include #include +#include #include namespace autoware::scenario_selector { diff --git a/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp b/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp index cbfcac5789812..dc950f190652b 100644 --- a/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp +++ b/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp @@ -22,6 +22,7 @@ #include #include +#include namespace autoware::static_centerline_generator { diff --git a/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp index 1f72dea1cd35f..51725fb8a3799 100644 --- a/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp +++ b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp @@ -23,6 +23,7 @@ #include "utils.hpp" #include +#include namespace autoware::static_centerline_generator { diff --git a/planning/autoware_static_centerline_generator/src/main.cpp b/planning/autoware_static_centerline_generator/src/main.cpp index 5afc7e58ba52b..811d57c6036ef 100644 --- a/planning/autoware_static_centerline_generator/src/main.cpp +++ b/planning/autoware_static_centerline_generator/src/main.cpp @@ -14,6 +14,9 @@ #include "static_centerline_generator_node.hpp" +#include +#include + int main(int argc, char * argv[]) { rclcpp::init(argc, argv); diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index 398edc215da3e..7f0264d02434e 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -51,6 +51,7 @@ #include #include #include +#include #include #include #include diff --git a/planning/autoware_static_centerline_generator/src/utils.cpp b/planning/autoware_static_centerline_generator/src/utils.cpp index c045a50fec0d7..f84fe79cec288 100644 --- a/planning/autoware_static_centerline_generator/src/utils.cpp +++ b/planning/autoware_static_centerline_generator/src/utils.cpp @@ -23,7 +23,10 @@ #include #include +#include +#include #include +#include namespace autoware::static_centerline_generator { diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp index 6a5883fbd660d..bbd1cac04ed89 100644 --- a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp +++ b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp @@ -17,6 +17,8 @@ #include #include #include + +#include #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/autoware_surround_obstacle_checker/src/node.cpp b/planning/autoware_surround_obstacle_checker/src/node.cpp index 382281127a113..0adca312ca733 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.cpp +++ b/planning/autoware_surround_obstacle_checker/src/node.cpp @@ -32,6 +32,7 @@ #include #include +#include #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp b/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp index 1122a37bb2672..3951532ed0df0 100644 --- a/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp +++ b/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp @@ -20,6 +20,9 @@ #include +#include +#include + namespace autoware::surround_obstacle_checker { auto generateTestTargetNode() -> std::shared_ptr diff --git a/planning/autoware_velocity_smoother/src/node.cpp b/planning/autoware_velocity_smoother/src/node.cpp index f47c84ab54b01..1e0f6119ac21e 100644 --- a/planning/autoware_velocity_smoother/src/node.cpp +++ b/planning/autoware_velocity_smoother/src/node.cpp @@ -29,6 +29,7 @@ #include #include #include +#include #include // clang-format on diff --git a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp index 213e70283f9b1..fcbcde84fe1ea 100644 --- a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp @@ -19,6 +19,7 @@ #include "autoware/velocity_smoother/trajectory_utils.hpp" #include +#include #include #include #include diff --git a/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp index b218a662de175..0f61171a3bb70 100644 --- a/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp @@ -22,7 +22,9 @@ #include #include #include +#include #include +#include #include #include diff --git a/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp index 678c8e01bf67e..3280512376a58 100644 --- a/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/l2_pseudo_jerk_smoother.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include namespace autoware::velocity_smoother diff --git a/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp index 60345ff0fa6f4..eaad896562ccd 100644 --- a/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/linf_pseudo_jerk_smoother.cpp @@ -21,6 +21,7 @@ #include #include #include +#include #include namespace autoware::velocity_smoother diff --git a/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp b/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp index 5360da101ee8c..e4271a9c387de 100644 --- a/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp @@ -24,6 +24,8 @@ #include #include +#include +#include #include namespace autoware::velocity_smoother diff --git a/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp b/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp index d384c319ee361..b590af1b3ee0a 100644 --- a/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp +++ b/planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp @@ -20,6 +20,7 @@ #include +#include #include using autoware::planning_test_manager::PlanningInterfaceTestManager; diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp index 0e0b0fcf63933..3080ba1045b41 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp @@ -19,6 +19,7 @@ #include #include +#include namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp index 991b5c8af656d..7e4bc4d5ba6ac 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp @@ -31,6 +31,7 @@ #include #include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp index cdefc7f82125a..f679efacb6a44 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp @@ -21,6 +21,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp index 33d33119602f5..44b56f4ea0990 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp @@ -28,6 +28,7 @@ #include #include +#include #include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp index c162170ae5eb0..dc7efebe88fba 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp @@ -36,6 +36,8 @@ #include #include #include +#include +#include #include namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp index fc0fac5ff7b9d..a18a2440dcb3a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp @@ -18,6 +18,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp index c04914ed1c72b..45c997f364633 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp @@ -17,6 +17,8 @@ #include "autoware/behavior_path_lane_change_module/interface.hpp" #include "scene.hpp" +#include + namespace autoware::behavior_path_planner { using autoware::behavior_path_planner::LaneChangeInterface; diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp index 4a5fb562eb140..ad37a90605233 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp index af64dc5220010..40c2bd201abc7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp @@ -41,9 +41,17 @@ #include #include +#include #include #include +#include #include +#include +#include +#include +#include +#include +#include using namespace std::chrono_literals; // NOLINT diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp index 827e1269cfa80..1a4a6e5a25589 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp @@ -17,6 +17,9 @@ #include #include +#include +#include + namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 6b216e83833c4..120a2fa6c24ec 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -37,10 +37,15 @@ #include #include +#include +#include #include +#include #include #include #include +#include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp index 5607729e1030d..66192a00a99fa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -29,7 +29,9 @@ #include +#include #include +#include #include namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp index 63610f5ac31f7..31d8afffbdabe 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp @@ -14,6 +14,9 @@ #include +#include +#include + namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp index 4bdec4a285d75..501502125d7ee 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp @@ -22,7 +22,10 @@ #include #include +#include +#include #include +#include #include namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp index 75cdb2d892510..8ca9d9ab45dc3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp @@ -33,7 +33,11 @@ #include #include +#include +#include #include +#include +#include #include namespace autoware::behavior_path_planner::goal_planner_utils diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp index 64dbac4ff9adf..de231b78041b4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp @@ -20,6 +20,10 @@ #include +#include +#include +#include + class TestUtilWithMap : public ::testing::Test { protected: diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index 44252bb9f2005..77bf32512c0dc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -24,8 +24,10 @@ #include #include +#include #include #include +#include #include namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp index fc419f149e2b9..b193ce33b17fa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -20,6 +20,7 @@ #include +#include #include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 03c161d40d58a..8769547550852 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -42,6 +42,7 @@ #include #include #include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp index 5700842780395..ff0bd4437c21c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp @@ -26,6 +26,7 @@ #include #include +#include #include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp index 504de657eabda..555657fe34af9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp index 3becc2e4f4a69..510fef2c07d7c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp @@ -25,7 +25,9 @@ #include +#include #include +#include using autoware::behavior_path_planner::FilteredLanesObjects; using autoware::behavior_path_planner::LaneChangeModuleManager; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp index bd5b391127467..041b7ad20a107 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp @@ -25,8 +25,13 @@ #include +#include +#include #include #include +#include +#include +#include namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/test/input.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/test/input.cpp index f4f368008c472..d1602432b19c2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/test/input.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/test/input.cpp @@ -13,6 +13,8 @@ // limitations under the License. #include "input.hpp" +#include + namespace autoware::behavior_path_planner { using autoware_planning_msgs::msg::PathPoint; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp index b7d992d9254dc..63b7ccf3fff12 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp @@ -21,6 +21,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp index 36e2914571c1f..3d6a76f6807a9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp @@ -23,6 +23,8 @@ #include #include +#include + using autoware::behavior_path_planner::PathWithLaneId; using autoware::behavior_path_planner::Pose; using autoware::behavior_path_planner::utils::FrenetPoint; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp index a6c480e130d7a..d7ecda3b92680 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp @@ -14,6 +14,8 @@ #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp" +#include + namespace autoware::behavior_path_planner { void SceneModuleInterface::setDrivableLanes(const std::vector & drivable_lanes) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp index 7b362d9a8bafa..b91db3a740cfe 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp @@ -14,6 +14,10 @@ #include "autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp" +#include +#include +#include + namespace autoware::behavior_path_planner { void SceneModuleManagerInterface::initInterface( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp index 454d8753b0e62..e6ccfc74866c4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp @@ -16,6 +16,8 @@ #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp" +#include + namespace autoware::behavior_path_planner { std::shared_ptr SceneModuleVisitor::getAvoidanceModuleDebugMsg() const diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp index 90693aa65e661..7029c15e45b6e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp @@ -27,6 +27,8 @@ #include #include +#include +#include namespace marker_utils { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp index 22d80da2cfa67..d513017c221cf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp @@ -26,10 +26,14 @@ #include #include +#include #include +#include #include +#include #include #include +#include namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp index 648bb0a17622c..1076af002fb28 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp @@ -30,7 +30,11 @@ #include +#include +#include #include +#include +#include namespace autoware::behavior_path_planner::drivable_area_expansion { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp index 280060334cfd4..4cd7467997669 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include namespace autoware::behavior_path_planner::drivable_area_expansion { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp index 1c6295f3e70ef..0768c620dd054 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp @@ -29,6 +29,14 @@ #include #include +#include +#include +#include +#include +#include +#include +#include + namespace { template diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp index b18858e9dad04..789741153bf4a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp @@ -27,6 +27,9 @@ #include +#include +#include +#include #include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp index 5fea6b501ba24..18dee25919f98 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp @@ -19,6 +19,11 @@ #include #include +#include +#include +#include +#include + namespace autoware::behavior_path_planner::utils::parking_departure { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp index 3c1d9f194aeec..1caf287ee5386 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp @@ -23,6 +23,10 @@ #include #include +#include +#include +#include +#include namespace autoware::behavior_path_planner::utils::path_safety_checker::filter { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp index 04b61b86dfa02..5ae62f51bdb52 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp @@ -28,8 +28,12 @@ #include +#include #include #include +#include +#include +#include namespace autoware::behavior_path_planner::utils::path_safety_checker { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp index 4fe7765366c08..6d15f387fba72 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp @@ -20,6 +20,7 @@ #include #include +#include #include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp index 1e2ad668bf28f..8195b49ae662c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp @@ -27,7 +27,9 @@ #include #include +#include #include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp index c31bddd921f99..305519279a9ea 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp @@ -16,6 +16,9 @@ #include #include +#include +#include + namespace autoware::behavior_path_planner::utils::traffic_light { using autoware::motion_utils::calcSignedArcLength; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp index a224ef16bc0d9..9b99a5ef7b31d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp @@ -33,7 +33,9 @@ #include #include #include +#include #include +#include #include namespace diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp index 21784757e469e..b8e3cca852a0a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp @@ -21,6 +21,8 @@ #include #include +#include + using autoware::behavior_path_planner::drivable_area_expansion::LineString2d; using autoware::behavior_path_planner::drivable_area_expansion::Point2d; using autoware::behavior_path_planner::drivable_area_expansion::Segment2d; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp index e7280c5bc150b..8c732a972a212 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_objects_filtering.cpp @@ -26,6 +26,7 @@ #include #include +#include #include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp index 4cb1b8ef14d5a..2b43cdaebd14d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp @@ -23,6 +23,9 @@ #include #include +#include +#include +#include constexpr double epsilon = 1e-6; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_shifter.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_shifter.cpp index 25fc533fc53a4..eacd1b086cd3b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_shifter.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_shifter.cpp @@ -21,6 +21,9 @@ #include +#include +#include + namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp index d96b30cccdfaa..562e8abfd432a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp @@ -22,6 +22,7 @@ #include #include +#include using tier4_planning_msgs::msg::PathWithLaneId; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp index ba3141a89b26a..ab6076b328d14 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp @@ -32,6 +32,7 @@ #include #include +#include const auto intersection_map = autoware::test_utils::make_map_bin_msg(autoware::test_utils::get_absolute_path_to_lanelet_map( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp index 2234574fce83e..13fec41092cc8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp @@ -22,7 +22,9 @@ #include #include +#include #include +#include using autoware::universe_utils::Point2d; using autoware_perception_msgs::msg::PredictedObject; diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp index ede912ea1c285..fac3cc92de1d6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp @@ -14,6 +14,15 @@ #include "autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp" +#include +#include +#include +#include +#include +#include +#include +#include + namespace autoware::behavior_path_planner { using autoware::motion_utils::calcSignedArcLength; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp index d640e5fc16771..22ee7ab77e077 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp @@ -26,6 +26,7 @@ #include #include #include +#include namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp index 1d70f1388d80b..c8661cdf1d912 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp @@ -21,6 +21,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_side_shift_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_side_shift_utils.cpp index d6aa91d1f9095..b5bb54a6586ca 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_side_shift_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_side_shift_utils.cpp @@ -19,6 +19,8 @@ #include #include +#include + namespace autoware::behavior_path_planner { diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp index f257904e141b6..42698f799c6b3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp @@ -21,6 +21,8 @@ #include +#include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp index 13a9908b97daf..bbc6c05725434 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp @@ -22,6 +22,10 @@ #include +#include +#include +#include + using autoware::motion_utils::findNearestIndex; using autoware::universe_utils::calcDistance2d; using autoware::universe_utils::calcOffsetPose; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp index aa3246eb3dac0..4759559619870 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp @@ -25,7 +25,10 @@ #include #include +#include +#include #include +#include #include using autoware::motion_utils::findNearestIndex; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp index 210afdcd7c1ea..20cac638cebbd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp @@ -34,9 +34,13 @@ #include #include +#include +#include +#include #include #include #include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp index 997fb7353b14c..e7177768be3dd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index f7fc4ee48d364..76bfa621ac0e4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -35,6 +35,7 @@ #include #include #include +#include #include namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp index 917736b1680db..744af35641a59 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp @@ -17,6 +17,11 @@ #include "autoware/behavior_path_planner_common/utils/utils.hpp" #include "autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp" +#include +#include +#include +#include + namespace autoware::behavior_path_planner::utils::static_obstacle_avoidance { diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index cc036b687b105..c3d494c8ffe5d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -37,6 +37,7 @@ #include #include #include +#include #include namespace autoware::behavior_path_planner::utils::static_obstacle_avoidance diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp index 8cf5696a89372..b6a8fd04f93db 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp @@ -18,6 +18,8 @@ #include #include +#include +#include #include using autoware::behavior_path_planner::BehaviorPathPlannerNode; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp index 7b0cef7e00bb6..6911be800bdc2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp @@ -26,6 +26,9 @@ #include #include +#include +#include + namespace autoware::behavior_path_planner::utils::static_obstacle_avoidance { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp index 06ed75c99124b..2a6f4825ba414 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp @@ -24,6 +24,7 @@ #include #include +#include namespace autoware::behavior_velocity_planner { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index b0ea73a2781d4..1bea0626b0b2f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -35,7 +35,9 @@ #include #include #include +#include #include +#include #include namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp index d27aebe42d459..8577ed1669b48 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp @@ -39,6 +39,7 @@ #include #include +#include #include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp index a72c866a85cef..50de1b1a8e1ff 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp @@ -34,6 +34,7 @@ #include #include #include +#include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_crosswalk.cpp index b626ef1772853..8af879578ed89 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/test/test_crosswalk.cpp @@ -16,6 +16,8 @@ #include +#include + TEST(CrosswalkTest, CheckInterpolateEgoPassMargin) { namespace bvp = autoware::behavior_velocity_planner; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp index 6b3bf416e6d99..0d721fc81bcee 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp @@ -22,7 +22,9 @@ #include #include +#include #include +#include namespace { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/debug.cpp index ffffa4da8f4a1..e50bc041cbc89 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/debug.cpp @@ -22,6 +22,8 @@ #include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp index c211e1f43783e..bfdc36afa9011 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp @@ -14,6 +14,8 @@ #include "decision_result.hpp" +#include + namespace autoware::behavior_velocity_planner { std::string formatDecisionResult( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp index d93fbf271aa1d..9fd5ba4ab7d5c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp @@ -25,6 +25,8 @@ #include #include +#include +#include #include namespace diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp index cedc3c41e8165..6f7841ebb0bbb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -36,6 +36,9 @@ #include #include #include +#include +#include +#include #include namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp index 54af88c2f0fbb..5a66bec15bab1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp @@ -30,6 +30,14 @@ #include #include +#include +#include +#include +#include +#include +#include +#include + namespace autoware::behavior_velocity_planner { namespace bg = boost::geometry; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp index ec174be990e66..bbe76702a5faf 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp @@ -23,7 +23,11 @@ #include +#include +#include #include +#include +#include namespace autoware::behavior_velocity_planner { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp index 402f3c1d22cc7..70e1d219c0d31 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp @@ -31,6 +31,13 @@ #include #include +#include +#include +#include +#include +#include +#include + namespace autoware::universe_utils { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp index 78365bc5e500f..35f4e3b34dbee 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp @@ -26,6 +26,10 @@ #include #include +#include +#include +#include + namespace { lanelet::LineString3d getLineStringFromArcLength( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp index 478576a5c6676..3dfdcc36c0cff 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp @@ -29,6 +29,7 @@ #include #include #include +#include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp index 6474435afa26e..5c9b74a9ad3bd 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp @@ -39,6 +39,7 @@ #include #include #include +#include #include namespace autoware::behavior_velocity_planner::util diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_util.cpp index 6ee31c3712b47..959481493ccfe 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/test/test_util.cpp @@ -20,6 +20,8 @@ #include +#include + TEST(TestUtil, retrievePathsBackward) { /* diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp index 9cb37a899063d..9cb1153a8edd2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/manager.cpp @@ -17,6 +17,7 @@ #include #include +#include #include namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp index 25315fd397aa4..7da73a313da79 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp @@ -23,6 +23,7 @@ #include #include +#include namespace autoware::behavior_velocity_planner { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.cpp index 526a6baf0dd30..5ce56d756e919 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/utils.cpp @@ -26,6 +26,7 @@ #include #include +#include namespace autoware::behavior_velocity_planner::no_stopping_area { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp index 783970c701262..b3e9b2678189f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp @@ -15,6 +15,7 @@ #include "grid_utils.hpp" #include +#include #include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp index 56a5acd8c7dc4..baf15cbebce81 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp @@ -24,6 +24,7 @@ #include #include +#include #include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp index dfc2dca7afc21..522e83390b0f1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.cpp @@ -30,6 +30,7 @@ #include #include +#include #include // turn on only when debugging. diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp index 6bc9423b6dc96..73fba3969442e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp @@ -21,7 +21,9 @@ #include #include +#include #include +#include struct indexHash { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_occlusion_spot_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_occlusion_spot_utils.cpp index 0322bda0a88c9..8fee8ee783fa2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_occlusion_spot_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_occlusion_spot_utils.cpp @@ -22,6 +22,9 @@ #include "geometry_msgs/msg/point.hpp" #include "geometry_msgs/msg/vector3.hpp" +#include +#include + using Point = geometry_msgs::msg::Point; using Vector3 = geometry_msgs::msg::Vector3; using DynamicObjects = autoware_perception_msgs::msg::PredictedObjects; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp index 2b921028c499a..d78bc883e6b35 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp @@ -28,6 +28,8 @@ #include #include #include + +#include #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp index 1dfa3163b5b6f..fe79450d0def8 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp @@ -21,6 +21,8 @@ #include #include +#include +#include #include using autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp index fb19c4955c12a..cdfde1ce51205 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp @@ -22,6 +22,8 @@ #include #include #include +#include +#include namespace autoware::behavior_velocity_planner { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp index dfd201bac707c..7fe87bd285309 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp @@ -15,6 +15,9 @@ #include #include #include + +#include +#include namespace autoware::behavior_velocity_planner { namespace debug diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp index 6815ca3ff8cb4..72a6d29e7ba06 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp @@ -25,6 +25,10 @@ #include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp index 88186a5b904b0..1b1c47dc6fbb7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp @@ -25,6 +25,9 @@ #include #include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_utilization.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_utilization.cpp index ca5c57fd522c9..d3664f2b46ffc 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_utilization.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_utilization.cpp @@ -22,6 +22,7 @@ #include #include +#include #define DEBUG_PRINT_PATH(path) \ { \ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp index 983a371234ccf..2823648e184d3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp @@ -20,6 +20,9 @@ #include #include +#include +#include + using autoware::universe_utils::appendMarkerArray; using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::createDefaultMarker; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp index 74b1ca490f752..a15f232b75a37 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp @@ -28,7 +28,9 @@ #include #include +#include #include +#include namespace autoware::behavior_velocity_planner { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp index f294e698ba8c2..4a16f263d0a54 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp @@ -16,6 +16,7 @@ #include +#include #include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp index cf3c0fd7e10e1..e4e08d69a79f7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/path_utils.cpp @@ -15,6 +15,9 @@ #include "path_utils.hpp" #include + +#include +#include namespace autoware::behavior_velocity_planner::run_out_utils { /** diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp index 32bf81ed63598..a32a65a0d8909 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp @@ -32,7 +32,9 @@ #include #include +#include #include +#include namespace autoware::behavior_velocity_planner { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/state_machine.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/state_machine.cpp index 0a23d2218feb0..dafb4e6da097b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/state_machine.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/state_machine.cpp @@ -14,6 +14,8 @@ #include "state_machine.hpp" +#include + namespace autoware::behavior_velocity_planner { namespace run_out_utils diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp index c32d38da2db33..9a9a49c3cb081 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp @@ -25,6 +25,8 @@ #include #include +#include +#include #ifdef ROS_DISTRO_GALACTIC #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp index 2ac8f1c477620..54ea807f3268b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/src/scene.cpp @@ -20,6 +20,9 @@ #include +#include +#include + namespace autoware::behavior_velocity_planner { using autoware::motion_utils::calcSignedArcLength; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp index 8a06b9ba5f82d..4d8dea94583bb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -21,6 +21,7 @@ #include #include +#include namespace autoware::behavior_velocity_planner { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp index 76f1a19bfc69a..5eb0d5aa5f267 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -25,6 +25,8 @@ #include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp index 4f0829c901915..9b13123380ce1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp @@ -19,6 +19,8 @@ #include #include +#include + namespace autoware::behavior_velocity_planner { namespace bg = boost::geometry; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp index 2be77b2731fe0..2b4acd7ff0ca9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp @@ -18,6 +18,8 @@ #include #include #include + +#include using autoware::motion_utils::createStopVirtualWallMarker; using autoware::universe_utils::appendMarkerArray; using autoware::universe_utils::createDefaultMarker; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp index 940e29f0a0c0e..a1950bf768f4c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp @@ -20,6 +20,8 @@ #include #include +#include +#include namespace autoware::behavior_velocity_planner::virtual_traffic_light { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp index dd01b1be7fb83..e6bfa0234951c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp @@ -19,7 +19,9 @@ #include +#include #include +#include using autoware::behavior_velocity_planner::virtual_traffic_light::calcCenter; using autoware::behavior_velocity_planner::virtual_traffic_light::calcHeadPose; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp index 42a235a67edd1..6a7505930a334 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp @@ -18,6 +18,7 @@ #include #include +#include namespace autoware::behavior_velocity_planner { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_stop_decision.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_stop_decision.cpp index 3f544c792d8e6..21726c43e12d6 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_stop_decision.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_stop_decision.cpp @@ -17,6 +17,7 @@ #include #include +#include namespace autoware::motion_velocity_planner::dynamic_obstacle_stop { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/benchmarks/collision_checker_benchmark.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/benchmarks/collision_checker_benchmark.cpp index 020b15ba5133b..79b817c51169c 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/benchmarks/collision_checker_benchmark.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/benchmarks/collision_checker_benchmark.cpp @@ -17,6 +17,7 @@ #include #include +#include using autoware::motion_velocity_planner::obstacle_velocity_limiter::CollisionChecker; using autoware::motion_velocity_planner::obstacle_velocity_limiter::linestring_t; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/debug.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/debug.cpp index 4d9859dba90da..ea83aafebfbb7 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/debug.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/debug.cpp @@ -20,6 +20,7 @@ #include #include +#include namespace autoware::motion_velocity_planner::obstacle_velocity_limiter { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/map_utils.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/map_utils.cpp index 1796c65b42de0..c0894673d81f3 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/map_utils.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/map_utils.cpp @@ -23,6 +23,8 @@ #include #include +#include +#include namespace autoware::motion_velocity_planner::obstacle_velocity_limiter { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp index 1f788a73a3f42..e501b756af6a1 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp @@ -23,6 +23,7 @@ #include #include +#include namespace autoware::motion_velocity_planner::obstacle_velocity_limiter { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp index 35135089c0c8c..3fa3ec7cbf782 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp @@ -33,6 +33,9 @@ #include #include +#include +#include +#include namespace autoware::motion_velocity_planner { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_forward_projection.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_forward_projection.cpp index 0b8aad36580e6..d7b8e128b3cee 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_forward_projection.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_forward_projection.cpp @@ -24,6 +24,7 @@ #include #include +#include constexpr auto EPS = 1e-15; constexpr auto EPS_APPROX = 1e-3; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/collision_checker.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/collision_checker.cpp index 6e84b63a3c7fc..f16c23efcb14c 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/collision_checker.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/collision_checker.cpp @@ -14,6 +14,10 @@ #include "autoware/motion_velocity_planner_common/collision_checker.hpp" +#include +#include +#include + namespace autoware::motion_velocity_planner { CollisionChecker::CollisionChecker(autoware::universe_utils::MultiPolygon2d trajectory_footprints) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp index 5988272b39ae1..d2a4a4560a430 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp @@ -19,6 +19,8 @@ #include #include +#include +#include #include using autoware::motion_velocity_planner::CollisionChecker; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp index 0e8a36977fec8..96865fec1c197 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp @@ -36,6 +36,7 @@ #include #include #include +#include #include namespace diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp index 416ad215d5e25..b08798cbef772 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp @@ -18,6 +18,7 @@ #include #include +#include namespace autoware::motion_velocity_planner { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp index c35749ef33710..44ff7820c1566 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp @@ -20,6 +20,8 @@ #include +#include +#include #include using autoware::motion_velocity_planner::MotionVelocityPlannerNode; diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier.cpp b/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier.cpp index 9a882ad06659a..e7a1901fc83ab 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier.cpp +++ b/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier.cpp @@ -15,6 +15,9 @@ #include #include +#include +#include +#include namespace autoware::bezier_sampler { diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier_sampling.cpp b/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier_sampling.cpp index e9a1a9ef32de5..c36b8f88c8486 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier_sampling.cpp +++ b/planning/sampling_based_planner/autoware_bezier_sampler/src/bezier_sampling.cpp @@ -14,6 +14,8 @@ #include +#include + namespace autoware::bezier_sampler { std::vector sample( diff --git a/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp b/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp index faabd0bcfdbe5..cab4acfbb8556 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp +++ b/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp @@ -30,6 +30,7 @@ #include #include #include +#include namespace autoware::frenet_planner { diff --git a/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp b/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp index 34905f79cd364..fd07516d61bbf 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp +++ b/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp @@ -27,8 +27,11 @@ #include +#include #include #include +#include +#include namespace autoware::path_sampler { diff --git a/planning/sampling_based_planner/autoware_path_sampler/src/prepare_inputs.cpp b/planning/sampling_based_planner/autoware_path_sampler/src/prepare_inputs.cpp index 127393abc5ac3..7f313318af236 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/src/prepare_inputs.cpp +++ b/planning/sampling_based_planner/autoware_path_sampler/src/prepare_inputs.cpp @@ -25,6 +25,7 @@ #include #include +#include #include #include #include diff --git a/planning/sampling_based_planner/autoware_sampler_common/src/sampler_common/transform/spline_transform.cpp b/planning/sampling_based_planner/autoware_sampler_common/src/sampler_common/transform/spline_transform.cpp index ce473b1768a54..6c9447f25def0 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/src/sampler_common/transform/spline_transform.cpp +++ b/planning/sampling_based_planner/autoware_sampler_common/src/sampler_common/transform/spline_transform.cpp @@ -18,6 +18,7 @@ #include #include #include +#include namespace autoware::sampler_common::transform { diff --git a/planning/sampling_based_planner/autoware_sampler_common/test/test_transform.cpp b/planning/sampling_based_planner/autoware_sampler_common/test/test_transform.cpp index caf50473cde18..8229f5b9c9e41 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/test/test_transform.cpp +++ b/planning/sampling_based_planner/autoware_sampler_common/test/test_transform.cpp @@ -17,8 +17,10 @@ #include #include +#include #include #include +#include constexpr auto TOL = 1E-6; // 1µm tolerance From cbe13bf9b0ac11188c749e40cf65d102d4f009bb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:14:44 +0300 Subject: [PATCH 653/701] fix(cpplint): include what you use - sensing (#9571) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../autoware_image_diagnostics/src/image_diagnostics_node.cpp | 1 + .../src/gyro_bias_estimation_module.cpp | 2 ++ sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp | 2 ++ sensing/autoware_imu_corrector/src/imu_corrector_core.cpp | 3 +++ .../test/test_gyro_bias_estimation_module.cpp | 2 ++ .../src/blockage_diag/blockage_diag_node.cpp | 2 ++ .../concatenate_data/concatenate_and_time_sync_nodelet.cpp | 1 + .../src/crop_box_filter/crop_box_filter_node.cpp | 1 + .../src/distortion_corrector/distortion_corrector.cpp | 4 ++++ .../src/distortion_corrector/distortion_corrector_node.cpp | 4 ++++ .../downsample_filter/faster_voxel_grid_downsample_filter.cpp | 1 + .../pickup_based_voxel_grid_downsample_filter_node.cpp | 3 +++ .../src/downsample_filter/robin_hood.h | 3 ++- .../src/outlier_filter/ring_outlier_filter_node.cpp | 2 ++ .../src/polygon_remover/polygon_remover.cpp | 2 ++ .../src/time_synchronizer/time_synchronizer_node.cpp | 1 + .../autoware_pointcloud_preprocessor/src/utility/geometry.cpp | 2 ++ .../vector_map_filter/vector_map_inside_area_filter_node.cpp | 4 ++++ .../test/test_distortion_corrector_node.cpp | 4 ++++ .../test_radar_tracks_noise_filter_is_noise.cpp | 2 ++ .../src/vehicle_velocity_converter.cpp | 2 ++ 21 files changed, 47 insertions(+), 1 deletion(-) diff --git a/sensing/autoware_image_diagnostics/src/image_diagnostics_node.cpp b/sensing/autoware_image_diagnostics/src/image_diagnostics_node.cpp index 829e0e3ee8d81..681e9ae70a89c 100644 --- a/sensing/autoware_image_diagnostics/src/image_diagnostics_node.cpp +++ b/sensing/autoware_image_diagnostics/src/image_diagnostics_node.cpp @@ -16,6 +16,7 @@ #include +#include #include namespace autoware::image_diagnostics diff --git a/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp index 18d7965470f05..2fbd5d4a6a39e 100644 --- a/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp @@ -17,6 +17,8 @@ #include #include +#include + namespace autoware::imu_corrector { diff --git a/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp index ec91311455911..8dcc024ffc2b4 100644 --- a/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp @@ -19,7 +19,9 @@ #include #include +#include #include +#include namespace autoware::imu_corrector { diff --git a/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp b/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp index a9acb45888945..d615a721ca5eb 100644 --- a/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp +++ b/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp @@ -14,6 +14,9 @@ #include "imu_corrector_core.hpp" +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp b/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp index 573dbe84d6027..2d75c6d50de55 100644 --- a/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp +++ b/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp @@ -18,6 +18,8 @@ #include +#include + namespace autoware::imu_corrector { class GyroBiasEstimationModuleTest : public ::testing::Test diff --git a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp index 26be762acca43..5021a3551c939 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp @@ -18,6 +18,8 @@ #include #include +#include +#include namespace autoware::pointcloud_preprocessor { diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index a67c9f7f018e1..f8baae3405873 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -58,6 +58,7 @@ #include #include +#include #include #include #include diff --git a/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp index c1b3605c8b97c..ecbc5b8fd13ef 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp @@ -53,6 +53,7 @@ #include +#include #include namespace autoware::pointcloud_preprocessor diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index 43a44f836b61a..8391894a4ada6 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -20,6 +20,10 @@ #include #include +#include +#include +#include + namespace autoware::pointcloud_preprocessor { diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp index 896c7fe563e64..9eaafeae9dbc7 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp @@ -16,6 +16,10 @@ #include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" +#include +#include +#include + namespace autoware::pointcloud_preprocessor { /** @brief Constructor. */ diff --git a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp index 9a01ba3ddc1b1..804a91591271d 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp @@ -15,6 +15,7 @@ #include "autoware/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp" #include +#include namespace autoware::pointcloud_preprocessor { diff --git a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp index e3c6af7433dda..10e2fa2511478 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp @@ -16,6 +16,9 @@ #include "robin_hood.h" +#include +#include + namespace { /** diff --git a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h index dd5cc9d60dd76..55307a2aa5552 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h +++ b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h @@ -68,6 +68,7 @@ #include #include #include +#include #if __cplusplus >= 201703L #include #endif @@ -85,7 +86,7 @@ #ifdef ROBIN_HOOD_TRACE_ENABLED #include #define ROBIN_HOOD_TRACE(...) \ - std::cout << __FUNCTION__ << "@" << __LINE__ << ": " << __VA_ARGS__ << std::endl; + std::cout << __FUNCTION__ << "@" << __LINE__ << ": " << __VA_ARGS__ << std::endl; // NOLINT #else #define ROBIN_HOOD_TRACE(x) #endif diff --git a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp index 59000d71b8ad6..fae9043143ba4 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp @@ -19,6 +19,8 @@ #include #include +#include +#include #include namespace autoware::pointcloud_preprocessor { diff --git a/sensing/autoware_pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp b/sensing/autoware_pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp index 71b4c2026396e..e4bac9e35c248 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp @@ -14,6 +14,8 @@ #include "autoware/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp" +#include + namespace autoware::pointcloud_preprocessor { PolygonRemoverComponent::PolygonRemoverComponent(const rclcpp::NodeOptions & options) diff --git a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp index 5bf5069f1200f..42170fd88ee36 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp @@ -28,6 +28,7 @@ #include #include +#include #include #include #include diff --git a/sensing/autoware_pointcloud_preprocessor/src/utility/geometry.cpp b/sensing/autoware_pointcloud_preprocessor/src/utility/geometry.cpp index 7e9604c3dd305..1d08df944ca18 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/utility/geometry.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/utility/geometry.cpp @@ -14,6 +14,8 @@ #include "autoware/pointcloud_preprocessor/utility/geometry.hpp" +#include + namespace autoware::pointcloud_preprocessor::utils { void to_cgal_polygon(const geometry_msgs::msg::Polygon & polygon_in, PolygonCgal & polygon_out) diff --git a/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter_node.cpp index 6fdf7791601cf..310b86526193c 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter_node.cpp @@ -14,6 +14,10 @@ #include "autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter_node.hpp" +#include +#include +#include + namespace { autoware::universe_utils::Box2d calcBoundingBox( diff --git a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp index 895061229a994..aba3c354473eb 100644 --- a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp @@ -41,6 +41,10 @@ #include #include +#include +#include +#include +#include enum AngleCoordinateSystem { HESAI, VELODYNE, CARTESIAN }; class DistortionCorrectorTest : public ::testing::Test diff --git a/sensing/autoware_radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp b/sensing/autoware_radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp index ea2dfc28b5a4c..e8551ae922f19 100644 --- a/sensing/autoware_radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp +++ b/sensing/autoware_radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp @@ -18,6 +18,8 @@ #include +#include + std::shared_ptr get_node( float velocity_y_threshold) { diff --git a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp b/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp index c382f0f16f6e5..ab9787fb6020d 100644 --- a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp +++ b/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp @@ -14,6 +14,8 @@ #include "vehicle_velocity_converter/vehicle_velocity_converter.hpp" +#include + VehicleVelocityConverter::VehicleVelocityConverter(const rclcpp::NodeOptions & options) : rclcpp::Node("vehicle_velocity_converter", options) { From 105ab6f4c934843ed8d01d7df39c5b0986d73c2a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:14:56 +0300 Subject: [PATCH 654/701] fix(cpplint): include what you use - simulator (#9572) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- simulator/dummy_perception_publisher/src/node.cpp | 2 ++ .../dummy_perception_publisher/src/pointcloud_creator.cpp | 1 + .../src/signed_distance_function.cpp | 1 + .../include/fault_injection/fault_injection_diag_updater.hpp | 1 + .../src/interconnected_model.cpp | 4 ++++ .../src/model_connections_helpers.cpp | 2 ++ .../learning_based_vehicle_model/src/simple_pymodel.cpp | 1 + .../simple_planning_simulator_core.cpp | 2 ++ .../src/simple_planning_simulator/utils/csv_loader.cpp | 2 ++ .../vehicle_model/sim_model_actuation_cmd.cpp | 2 ++ .../vehicle_model/sim_model_delay_steer_map_acc_geared.cpp | 1 + .../vehicle_model/sim_model_learned_steer_vel.cpp | 3 +++ .../test/test_simple_planning_simulator.cpp | 5 +++++ .../src/tools/interactive_object.cpp | 1 + 14 files changed, 28 insertions(+) diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp index dba230f23f108..d72b16d303cec 100644 --- a/simulator/dummy_perception_publisher/src/node.cpp +++ b/simulator/dummy_perception_publisher/src/node.cpp @@ -20,6 +20,8 @@ #include #include #include + +#include #ifdef ROS_DISTRO_GALACTIC #include #else diff --git a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp index 05354fa0a9663..977336f63eee3 100644 --- a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp +++ b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp @@ -24,6 +24,7 @@ #include #include #include +#include namespace { diff --git a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp b/simulator/dummy_perception_publisher/src/signed_distance_function.cpp index e20c19da93af0..01bef1851b25e 100644 --- a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp +++ b/simulator/dummy_perception_publisher/src/signed_distance_function.cpp @@ -16,6 +16,7 @@ #include +#include #include #include diff --git a/simulator/fault_injection/include/fault_injection/fault_injection_diag_updater.hpp b/simulator/fault_injection/include/fault_injection/fault_injection_diag_updater.hpp index 948c2b45f6615..0a71c1681d1d3 100644 --- a/simulator/fault_injection/include/fault_injection/fault_injection_diag_updater.hpp +++ b/simulator/fault_injection/include/fault_injection/fault_injection_diag_updater.hpp @@ -51,6 +51,7 @@ #include +#include #include #include #include diff --git a/simulator/learning_based_vehicle_model/src/interconnected_model.cpp b/simulator/learning_based_vehicle_model/src/interconnected_model.cpp index 4dd3b321312d0..d2fef15aa4e88 100644 --- a/simulator/learning_based_vehicle_model/src/interconnected_model.cpp +++ b/simulator/learning_based_vehicle_model/src/interconnected_model.cpp @@ -14,6 +14,10 @@ #include "learning_based_vehicle_model/interconnected_model.hpp" +#include +#include +#include + void InterconnectedModel::mapInputs(std::vector in_names) { // index in "map_in_to_sig_vec" is index in "in_names" and value in "map_in_to_sig_vec" is index diff --git a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp b/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp index c7944116d1758..b300f3837b18a 100644 --- a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp +++ b/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp @@ -14,6 +14,8 @@ #include "learning_based_vehicle_model/model_connections_helpers.hpp" +#include + std::vector fillVectorUsingMap( std::vector vector1, std::vector vector2, const std::vector & map, bool inverse) diff --git a/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp b/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp index 9c3cb9aa06150..10581179baf4a 100644 --- a/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp +++ b/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp @@ -17,6 +17,7 @@ #include #include +#include #include namespace py = pybind11; diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index 685708844d32d..d61654c32af02 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -35,9 +35,11 @@ #include #include #include +#include #include #include #include +#include using namespace std::literals::chrono_literals; diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp index b410f089725a2..fa1f7978a798c 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp @@ -15,8 +15,10 @@ #include "simple_planning_simulator/utils/csv_loader.hpp" #include +#include #include #include +#include #include CSVLoader::CSVLoader(const std::string & csv_path) diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp index 469c30dc4f0cf..bfcf571d8c09b 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp @@ -17,6 +17,8 @@ #include "autoware_vehicle_msgs/msg/gear_command.hpp" #include +#include +#include bool ActuationMap::readActuationMapFromCSV(const std::string & csv_path, const bool validation) { diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp index b987f74db0436..ffef5ab7b236c 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp @@ -17,6 +17,7 @@ #include "autoware_vehicle_msgs/msg/gear_command.hpp" #include +#include SimModelDelaySteerMapAccGeared::SimModelDelaySteerMapAccGeared( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp index fba34e04ade7c..4ddcc0e498b70 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp @@ -17,6 +17,9 @@ #include "learning_based_vehicle_model/interconnected_model.hpp" #include +#include +#include +#include SimModelLearnedSteerVel::SimModelLearnedSteerVel( double dt, std::vector model_python_paths, diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp index 6f2590417e574..0baa3302f86c7 100644 --- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp +++ b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp @@ -19,6 +19,11 @@ #include "tier4_vehicle_msgs/msg/actuation_command_stamped.hpp" +#include +#include +#include +#include + #ifdef ROS_DISTRO_GALACTIC #include "tf2_geometry_msgs/tf2_geometry_msgs.h" #else diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.cpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.cpp index 83852d0c85011..1daff9459f447 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.cpp +++ b/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.cpp @@ -55,6 +55,7 @@ #include #include #include +#include namespace rviz_plugins { From ff45f026558de1e45945318f7782e68f82297b74 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:15:08 +0300 Subject: [PATCH 655/701] fix(cpplint): include what you use - system (#9573) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- system/autoware_default_adapi/src/perception.cpp | 1 + system/autoware_default_adapi/src/vehicle.cpp | 1 + system/bluetooth_monitor/service/l2ping_service.cpp | 1 + system/bluetooth_monitor/service/main.cpp | 2 ++ system/component_state_monitor/src/main.cpp | 2 ++ .../diagnostic_graph_aggregator/src/common/graph/config.cpp | 2 ++ system/diagnostic_graph_aggregator/src/common/graph/data.cpp | 2 ++ .../diagnostic_graph_aggregator/src/common/graph/error.cpp | 2 ++ .../diagnostic_graph_aggregator/src/common/graph/graph.cpp | 1 + .../diagnostic_graph_aggregator/src/common/graph/loader.cpp | 4 ++++ system/diagnostic_graph_aggregator/src/tool/plantuml.cpp | 1 + system/diagnostic_graph_aggregator/src/tool/tree.cpp | 1 + system/diagnostic_graph_aggregator/test/src/test2.cpp | 3 +++ system/diagnostic_graph_aggregator/test/src/utils.cpp | 2 ++ system/diagnostic_graph_utils/src/lib/graph.cpp | 2 ++ system/diagnostic_graph_utils/src/lib/subscription.cpp | 2 ++ system/diagnostic_graph_utils/src/node/dump.cpp | 1 + system/diagnostic_graph_utils/src/node/logging.cpp | 1 + .../dummy_diag_publisher/src/dummy_diag_publisher_core.cpp | 5 +++++ .../src/duplicated_node_checker_core.cpp | 1 + system/hazard_status_converter/src/converter.cpp | 1 + .../mrm_comfortable_stop_operator_core.cpp | 2 ++ .../mrm_emergency_stop_operator_core.cpp | 2 ++ system/system_monitor/reader/msr_reader/msr_reader.cpp | 1 + .../reader/traffic_reader/traffic_reader_main.cpp | 2 ++ .../reader/traffic_reader/traffic_reader_service.cpp | 5 +++++ system/system_monitor/src/cpu_monitor/cpu_monitor_base.cpp | 2 ++ system/system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp | 1 + system/system_monitor/src/hdd_monitor/hdd_monitor.cpp | 2 ++ system/system_monitor/src/mem_monitor/mem_monitor.cpp | 1 + system/system_monitor/src/net_monitor/net_monitor.cpp | 5 +++++ system/system_monitor/src/ntp_monitor/ntp_monitor.cpp | 1 + .../system_monitor/src/process_monitor/process_monitor.cpp | 1 + .../system_monitor/src/voltage_monitor/voltage_monitor.cpp | 1 + system/system_monitor/test/src/process_monitor/top3.cpp | 2 ++ 35 files changed, 66 insertions(+) diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp index e764af4ca816a..3e858e7763baf 100644 --- a/system/autoware_default_adapi/src/perception.cpp +++ b/system/autoware_default_adapi/src/perception.cpp @@ -14,6 +14,7 @@ #include "perception.hpp" +#include #include namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp index 5620062ede278..fc35efff523c2 100644 --- a/system/autoware_default_adapi/src/vehicle.cpp +++ b/system/autoware_default_adapi/src/vehicle.cpp @@ -20,6 +20,7 @@ #include #include +#include namespace autoware::default_adapi { diff --git a/system/bluetooth_monitor/service/l2ping_service.cpp b/system/bluetooth_monitor/service/l2ping_service.cpp index f20c763d643ce..827a7e3060acc 100644 --- a/system/bluetooth_monitor/service/l2ping_service.cpp +++ b/system/bluetooth_monitor/service/l2ping_service.cpp @@ -25,6 +25,7 @@ #include #include #include +#include #define FMT_HEADER_ONLY #include diff --git a/system/bluetooth_monitor/service/main.cpp b/system/bluetooth_monitor/service/main.cpp index a3ccb971a5eb7..d3aef2c0696dd 100644 --- a/system/bluetooth_monitor/service/main.cpp +++ b/system/bluetooth_monitor/service/main.cpp @@ -20,6 +20,8 @@ #include #include +#include + /** * @brief print usage */ diff --git a/system/component_state_monitor/src/main.cpp b/system/component_state_monitor/src/main.cpp index 2a05ef1a38911..c87963b1b21c0 100644 --- a/system/component_state_monitor/src/main.cpp +++ b/system/component_state_monitor/src/main.cpp @@ -14,6 +14,8 @@ #include "main.hpp" +#include +#include #include namespace component_state_monitor diff --git a/system/diagnostic_graph_aggregator/src/common/graph/config.cpp b/system/diagnostic_graph_aggregator/src/common/graph/config.cpp index b91b777831368..e622d089109f4 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/config.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/config.cpp @@ -23,9 +23,11 @@ #include #include #include +#include #include #include #include +#include namespace diagnostic_graph_aggregator { diff --git a/system/diagnostic_graph_aggregator/src/common/graph/data.cpp b/system/diagnostic_graph_aggregator/src/common/graph/data.cpp index 2a4aef7e39c1f..e1d053e6d259c 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/data.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/data.cpp @@ -14,6 +14,8 @@ #include "data.hpp" +#include + namespace diagnostic_graph_aggregator { diff --git a/system/diagnostic_graph_aggregator/src/common/graph/error.cpp b/system/diagnostic_graph_aggregator/src/common/graph/error.cpp index e78a444c5ab7f..7a4336e62d8a3 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/error.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/error.cpp @@ -14,6 +14,8 @@ #include "error.hpp" +#include + namespace diagnostic_graph_aggregator { diff --git a/system/diagnostic_graph_aggregator/src/common/graph/graph.cpp b/system/diagnostic_graph_aggregator/src/common/graph/graph.cpp index 0a7d78a5ce982..7977209b4905c 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/graph.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/graph.cpp @@ -19,6 +19,7 @@ #include "loader.hpp" #include "units.hpp" +#include #include namespace diagnostic_graph_aggregator diff --git a/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp b/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp index e4d2e470a0d32..5edef61340fe8 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/loader.cpp @@ -20,7 +20,11 @@ #include "types.hpp" #include "units.hpp" +#include +#include +#include #include +#include namespace diagnostic_graph_aggregator { diff --git a/system/diagnostic_graph_aggregator/src/tool/plantuml.cpp b/system/diagnostic_graph_aggregator/src/tool/plantuml.cpp index 9f7eb34bf3454..68c0082908430 100644 --- a/system/diagnostic_graph_aggregator/src/tool/plantuml.cpp +++ b/system/diagnostic_graph_aggregator/src/tool/plantuml.cpp @@ -16,6 +16,7 @@ #include "graph/units.hpp" #include +#include namespace diagnostic_graph_aggregator { diff --git a/system/diagnostic_graph_aggregator/src/tool/tree.cpp b/system/diagnostic_graph_aggregator/src/tool/tree.cpp index 1e6fe93b18a80..f367ec2113808 100644 --- a/system/diagnostic_graph_aggregator/src/tool/tree.cpp +++ b/system/diagnostic_graph_aggregator/src/tool/tree.cpp @@ -16,6 +16,7 @@ #include "graph/units.hpp" #include +#include namespace diagnostic_graph_aggregator { diff --git a/system/diagnostic_graph_aggregator/test/src/test2.cpp b/system/diagnostic_graph_aggregator/test/src/test2.cpp index b010994f5a1ca..4a0199a89f37e 100644 --- a/system/diagnostic_graph_aggregator/test/src/test2.cpp +++ b/system/diagnostic_graph_aggregator/test/src/test2.cpp @@ -22,6 +22,9 @@ #include +#include +#include + using namespace diagnostic_graph_aggregator; // NOLINT(build/namespaces) using diagnostic_msgs::msg::DiagnosticArray; diff --git a/system/diagnostic_graph_aggregator/test/src/utils.cpp b/system/diagnostic_graph_aggregator/test/src/utils.cpp index c64812afa649a..f92a414e2a678 100644 --- a/system/diagnostic_graph_aggregator/test/src/utils.cpp +++ b/system/diagnostic_graph_aggregator/test/src/utils.cpp @@ -14,6 +14,8 @@ #include "utils.hpp" +#include + std::filesystem::path resource(const std::string & path) { return std::filesystem::path(TEST_RESOURCE_PATH) / path; diff --git a/system/diagnostic_graph_utils/src/lib/graph.cpp b/system/diagnostic_graph_utils/src/lib/graph.cpp index 423e1b40be12e..007b42547bee1 100644 --- a/system/diagnostic_graph_utils/src/lib/graph.cpp +++ b/system/diagnostic_graph_utils/src/lib/graph.cpp @@ -14,6 +14,8 @@ #include "diagnostic_graph_utils/graph.hpp" +#include + namespace diagnostic_graph_utils { diff --git a/system/diagnostic_graph_utils/src/lib/subscription.cpp b/system/diagnostic_graph_utils/src/lib/subscription.cpp index 655544c2e1f28..c10481ef8f16e 100644 --- a/system/diagnostic_graph_utils/src/lib/subscription.cpp +++ b/system/diagnostic_graph_utils/src/lib/subscription.cpp @@ -14,6 +14,8 @@ #include "diagnostic_graph_utils/subscription.hpp" +#include + namespace diagnostic_graph_utils { diff --git a/system/diagnostic_graph_utils/src/node/dump.cpp b/system/diagnostic_graph_utils/src/node/dump.cpp index 8456a92cbaa9b..42c66224b2c37 100644 --- a/system/diagnostic_graph_utils/src/node/dump.cpp +++ b/system/diagnostic_graph_utils/src/node/dump.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include namespace diagnostic_graph_utils diff --git a/system/diagnostic_graph_utils/src/node/logging.cpp b/system/diagnostic_graph_utils/src/node/logging.cpp index 009af51e949cd..b166a087200a0 100644 --- a/system/diagnostic_graph_utils/src/node/logging.cpp +++ b/system/diagnostic_graph_utils/src/node/logging.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include namespace diagnostic_graph_utils diff --git a/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp b/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp index 51a0846b45179..6bc1378507a37 100644 --- a/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp +++ b/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp @@ -14,6 +14,11 @@ #include "dummy_diag_publisher/dummy_diag_publisher_core.hpp" +#include +#include +#include +#include + #define FMT_HEADER_ONLY #include diff --git a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp index 5c698a0a01860..1bc14bf927835 100644 --- a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp +++ b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp @@ -18,6 +18,7 @@ #include #include +#include #include #include diff --git a/system/hazard_status_converter/src/converter.cpp b/system/hazard_status_converter/src/converter.cpp index d92af2186f415..52cfef93aa522 100644 --- a/system/hazard_status_converter/src/converter.cpp +++ b/system/hazard_status_converter/src/converter.cpp @@ -14,6 +14,7 @@ #include "converter.hpp" +#include #include #include diff --git a/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp b/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp index 6b18555053582..fc703ab16e259 100644 --- a/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp +++ b/system/mrm_comfortable_stop_operator/src/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_core.cpp @@ -16,6 +16,8 @@ #include +#include + namespace mrm_comfortable_stop_operator { diff --git a/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp b/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp index 5c1ca5e04de0e..9c941888a3545 100644 --- a/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp +++ b/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp @@ -16,6 +16,8 @@ #include +#include + namespace mrm_emergency_stop_operator { diff --git a/system/system_monitor/reader/msr_reader/msr_reader.cpp b/system/system_monitor/reader/msr_reader/msr_reader.cpp index 59a6edc91ace7..fc7bcab795be0 100644 --- a/system/system_monitor/reader/msr_reader/msr_reader.cpp +++ b/system/system_monitor/reader/msr_reader/msr_reader.cpp @@ -35,6 +35,7 @@ #include #include +#include #include #include #include diff --git a/system/system_monitor/reader/traffic_reader/traffic_reader_main.cpp b/system/system_monitor/reader/traffic_reader/traffic_reader_main.cpp index 940afdd9e5c35..cc0a8f81b6bff 100644 --- a/system/system_monitor/reader/traffic_reader/traffic_reader_main.cpp +++ b/system/system_monitor/reader/traffic_reader/traffic_reader_main.cpp @@ -18,7 +18,9 @@ #include #include +#include #include +#include /** * @brief print usage diff --git a/system/system_monitor/reader/traffic_reader/traffic_reader_service.cpp b/system/system_monitor/reader/traffic_reader/traffic_reader_service.cpp index 927f1b175b46b..fe5df51946fc6 100644 --- a/system/system_monitor/reader/traffic_reader/traffic_reader_service.cpp +++ b/system/system_monitor/reader/traffic_reader/traffic_reader_service.cpp @@ -26,6 +26,11 @@ #include #include +#include +#include +#include +#include + namespace process = boost::process; namespace traffic_reader_service diff --git a/system/system_monitor/src/cpu_monitor/cpu_monitor_base.cpp b/system/system_monitor/src/cpu_monitor/cpu_monitor_base.cpp index 13d7151bb14c7..f824ad49df867 100644 --- a/system/system_monitor/src/cpu_monitor/cpu_monitor_base.cpp +++ b/system/system_monitor/src/cpu_monitor/cpu_monitor_base.cpp @@ -30,8 +30,10 @@ #include #include +#include #include #include +#include namespace bp = boost::process; namespace fs = boost::filesystem; diff --git a/system/system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp b/system/system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp index 0000d6ead1c6a..496a782add33e 100644 --- a/system/system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp +++ b/system/system_monitor/src/gpu_monitor/nvml_gpu_monitor.cpp @@ -29,6 +29,7 @@ #include #include #include +#include #include #include diff --git a/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp b/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp index 50ac4363da609..60e1c401a05f3 100644 --- a/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp +++ b/system/system_monitor/src/hdd_monitor/hdd_monitor.cpp @@ -32,8 +32,10 @@ #include #include +#include #include #include +#include #include namespace bp = boost::process; diff --git a/system/system_monitor/src/mem_monitor/mem_monitor.cpp b/system/system_monitor/src/mem_monitor/mem_monitor.cpp index 4d141294c3fa5..1caa011e15bed 100644 --- a/system/system_monitor/src/mem_monitor/mem_monitor.cpp +++ b/system/system_monitor/src/mem_monitor/mem_monitor.cpp @@ -26,6 +26,7 @@ #include #include +#include #include namespace bp = boost::process; diff --git a/system/system_monitor/src/net_monitor/net_monitor.cpp b/system/system_monitor/src/net_monitor/net_monitor.cpp index a074663a7ee7c..d99150f0b3037 100644 --- a/system/system_monitor/src/net_monitor/net_monitor.cpp +++ b/system/system_monitor/src/net_monitor/net_monitor.cpp @@ -26,6 +26,11 @@ #include #include +#include +#include +#include +#include + #define FMT_HEADER_ONLY #include #include diff --git a/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp b/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp index 4e697fa18ec50..590793cf1f7fe 100644 --- a/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp +++ b/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp @@ -29,6 +29,7 @@ #include #include #include +#include namespace bp = boost::process; namespace fs = boost::filesystem; diff --git a/system/system_monitor/src/process_monitor/process_monitor.cpp b/system/system_monitor/src/process_monitor/process_monitor.cpp index 73059d2d162fa..faaf1abf1c9d3 100644 --- a/system/system_monitor/src/process_monitor/process_monitor.cpp +++ b/system/system_monitor/src/process_monitor/process_monitor.cpp @@ -28,6 +28,7 @@ #include #include #include +#include #include ProcessMonitor::ProcessMonitor(const rclcpp::NodeOptions & options) diff --git a/system/system_monitor/src/voltage_monitor/voltage_monitor.cpp b/system/system_monitor/src/voltage_monitor/voltage_monitor.cpp index fda75c21535cf..f7771fb9f47d3 100644 --- a/system/system_monitor/src/voltage_monitor/voltage_monitor.cpp +++ b/system/system_monitor/src/voltage_monitor/voltage_monitor.cpp @@ -34,6 +34,7 @@ #include #include #include +#include #include namespace bp = boost::process; diff --git a/system/system_monitor/test/src/process_monitor/top3.cpp b/system/system_monitor/test/src/process_monitor/top3.cpp index 2725ee2676064..3400b608ed9b7 100644 --- a/system/system_monitor/test/src/process_monitor/top3.cpp +++ b/system/system_monitor/test/src/process_monitor/top3.cpp @@ -19,6 +19,8 @@ #include +#include + int main(int argc, char ** argv) { printf("Tasks:"); From b54210d138536ec86045c5e602947ee2a2257602 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:15:21 +0300 Subject: [PATCH 656/701] fix(cpplint): include what you use - tools (#9574) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- tools/reaction_analyzer/src/reaction_analyzer_node.cpp | 2 ++ tools/reaction_analyzer/src/subscriber.cpp | 3 +++ tools/reaction_analyzer/src/topic_publisher.cpp | 4 ++++ tools/reaction_analyzer/src/utils.cpp | 6 ++++++ 4 files changed, 15 insertions(+) diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index e890a5208bf22..02743537d6bb3 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -15,7 +15,9 @@ #include "reaction_analyzer_node.hpp" #include +#include #include +#include namespace reaction_analyzer { diff --git a/tools/reaction_analyzer/src/subscriber.cpp b/tools/reaction_analyzer/src/subscriber.cpp index a5d1be613ee5a..0e119c3fdcbf7 100644 --- a/tools/reaction_analyzer/src/subscriber.cpp +++ b/tools/reaction_analyzer/src/subscriber.cpp @@ -15,8 +15,11 @@ #include "subscriber.hpp" #include +#include #include +#include #include +#include namespace reaction_analyzer::subscriber { diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp index f720786d422bc..c78faf7ad656e 100644 --- a/tools/reaction_analyzer/src/topic_publisher.cpp +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -15,7 +15,11 @@ #include "topic_publisher.hpp" #include +#include #include +#include +#include +#include namespace reaction_analyzer::topic_publisher { diff --git a/tools/reaction_analyzer/src/utils.cpp b/tools/reaction_analyzer/src/utils.cpp index 107c1deb2f196..9075cdc4a77dd 100644 --- a/tools/reaction_analyzer/src/utils.cpp +++ b/tools/reaction_analyzer/src/utils.cpp @@ -14,6 +14,12 @@ #include "utils.hpp" +#include +#include +#include +#include +#include + namespace reaction_analyzer { SubscriberMessageType get_subscriber_message_type(const std::string & message_type) From 065b603bb05efc7484184805a330d89858183507 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:15:35 +0300 Subject: [PATCH 657/701] fix(cpplint): include what you use - vehicle (#9575) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../accel_brake_map_calibrator_node.hpp | 1 + .../src/accel_brake_map_calibrator_node.cpp | 1 + vehicle/autoware_external_cmd_converter/src/node.cpp | 1 + .../tests/test_external_cmd_converter.cpp | 1 + vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp | 2 ++ vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp | 1 + vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp | 1 + .../test/test_autoware_raw_vehicle_cmd_converter.cpp | 1 + 8 files changed, 9 insertions(+) diff --git a/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp b/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp index 39d81c26961bb..2a0ad4f987dad 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp +++ b/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp @@ -47,6 +47,7 @@ #include "tier4_vehicle_msgs/srv/update_accel_brake_map.hpp" #include "visualization_msgs/msg/marker_array.hpp" +#include #include #include #include diff --git a/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp b/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp index 3750fdb77b258..9d7de55aff54d 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp +++ b/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp @@ -19,6 +19,7 @@ #include "rclcpp/logging.hpp" #include +#include #include #include #include diff --git a/vehicle/autoware_external_cmd_converter/src/node.cpp b/vehicle/autoware_external_cmd_converter/src/node.cpp index 0f7166c71fbff..267836b91f945 100644 --- a/vehicle/autoware_external_cmd_converter/src/node.cpp +++ b/vehicle/autoware_external_cmd_converter/src/node.cpp @@ -16,6 +16,7 @@ #include #include +#include #include #include #include diff --git a/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp b/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp index a508359af60e8..1fc037592bb08 100644 --- a/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp +++ b/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp @@ -24,6 +24,7 @@ #include #include +#include using autoware::external_cmd_converter::ExternalCmdConverterNode; using nav_msgs::msg::Odometry; using tier4_control_msgs::msg::GateMode; diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp index 0a31e2089e4ef..999b52e1a1c81 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp @@ -15,7 +15,9 @@ #include "autoware_raw_vehicle_cmd_converter/csv_loader.hpp" #include +#include #include +#include #include namespace autoware::raw_vehicle_cmd_converter diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp index 362fb53eba67d..e4cdbe60fd4cd 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp @@ -15,6 +15,7 @@ #include "autoware_raw_vehicle_cmd_converter/node.hpp" #include +#include #include #include #include diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp index 6b2bffa7630f9..d41f4facf1aef 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp @@ -17,6 +17,7 @@ #include #include +#include #include namespace autoware::raw_vehicle_cmd_converter diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp index 0d716eef3369b..698e1f8562ee7 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp @@ -21,6 +21,7 @@ #include "gtest/gtest.h" #include +#include /* * Throttle data: (vel, throttle -> acc) From 15944873a6dd0f0eb1de561191e7560c750f41f0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 4 Dec 2024 21:15:49 +0300 Subject: [PATCH 658/701] fix(cpplint): include what you use - visualization (#9576) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- visualization/autoware_pyplot/src/axes.cpp | 2 ++ visualization/autoware_pyplot/src/common.cpp | 2 ++ visualization/autoware_pyplot/src/pyplot.cpp | 3 +++ 3 files changed, 7 insertions(+) diff --git a/visualization/autoware_pyplot/src/axes.cpp b/visualization/autoware_pyplot/src/axes.cpp index 0f08ffe5773f6..95f871ea6179f 100644 --- a/visualization/autoware_pyplot/src/axes.cpp +++ b/visualization/autoware_pyplot/src/axes.cpp @@ -15,6 +15,8 @@ #include #include +#include + namespace autoware::pyplot { inline namespace axes diff --git a/visualization/autoware_pyplot/src/common.cpp b/visualization/autoware_pyplot/src/common.cpp index 5b3fffa37f30e..5f1226cb5bae1 100644 --- a/visualization/autoware_pyplot/src/common.cpp +++ b/visualization/autoware_pyplot/src/common.cpp @@ -14,6 +14,8 @@ #include +#include + namespace autoware::pyplot { inline namespace common diff --git a/visualization/autoware_pyplot/src/pyplot.cpp b/visualization/autoware_pyplot/src/pyplot.cpp index d45d34a35d767..624a1b1db07df 100644 --- a/visualization/autoware_pyplot/src/pyplot.cpp +++ b/visualization/autoware_pyplot/src/pyplot.cpp @@ -15,6 +15,9 @@ #include #include +#include +#include + namespace autoware::pyplot { PyPlot::PyPlot(const pybind11::module & mod_) : mod(mod_) From 87e95bf00a6ed23162d652fe38c97695f3ed5bd8 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Thu, 5 Dec 2024 08:13:07 +0900 Subject: [PATCH 659/701] feat(lane_changing): improve computation of lane changing acceleration (#9545) * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * run pre-commit check Signed-off-by: mohammad alqudah * fix spelling Signed-off-by: mohammad alqudah * fix format Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --- .../README.md | 1 + .../config/lane_change.param.yaml | 1 + .../utils/calculation.hpp | 5 +++-- .../utils/parameters.hpp | 1 + .../src/manager.cpp | 4 ++++ .../src/utils/calculation.cpp | 14 ++++++++++---- 6 files changed, 20 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md index d24a89bf03000..499327e3b8483 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md @@ -893,6 +893,7 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi | `trajectory.lat_acc_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 | | `trajectory.max_longitudinal_acc` | [m/s2] | double | maximum longitudinal acceleration for lane change | 1.0 | | `trajectory.min_longitudinal_acc` | [m/s2] | double | maximum longitudinal deceleration for lane change | -1.0 | +| `trajectory.lane_changing_decel_factor` | [-] | double | longitudinal deceleration factor during lane changing phase | 0.5 | | `min_length_for_turn_signal_activation` | [m] | double | Turn signal will be activated if the ego vehicle approaches to this length from minimum lane change length | 10.0 | | `lateral_acceleration.velocity` | [m/s] | double | Reference velocity for lateral acceleration calculation (look up table) | [0.0, 4.0, 10.0] | | `lateral_acceleration.min_values` | [m/s2] | double | Min lateral acceleration values corresponding to velocity (look up table) | [0.4, 0.4, 0.4] | diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml index 6baf05edad484..572caedb58306 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml @@ -20,6 +20,7 @@ min_lane_changing_velocity: 2.78 lon_acc_sampling_num: 5 lat_acc_sampling_num: 3 + lane_changing_decel_factor: 0.5 # delay lane change delay_lane_change: diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp index b6e6cb968ace8..b2aa21e4dc085 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp @@ -106,8 +106,9 @@ double calc_ego_dist_to_lanes_start( const lanelet::ConstLanelets & target_lanes); double calc_lane_changing_acceleration( - const double initial_lane_changing_velocity, const double max_path_velocity, - const double lane_changing_time, const double prepare_longitudinal_acc); + const CommonDataPtr & common_data_ptr, const double initial_lane_changing_velocity, + const double max_path_velocity, const double lane_changing_time, + const double prepare_longitudinal_acc); /** * @brief Calculates the distance required during a lane change operation. diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp index 7f97eb872f795..31bd5d94f09c8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp @@ -122,6 +122,7 @@ struct TrajectoryParameters double th_prepare_length_diff{0.5}; double th_lane_changing_length_diff{0.5}; double min_lane_changing_velocity{5.6}; + double lane_changing_decel_factor{0.5}; int lon_acc_sampling_num{10}; int lat_acc_sampling_num{10}; LateralAccelerationMap lat_acc_map{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp index b193ce33b17fa..baba4311e2175 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -59,6 +59,8 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s getOrDeclareParameter(*node, parameter("trajectory.th_lane_changing_length_diff")); p.trajectory.min_lane_changing_velocity = getOrDeclareParameter(*node, parameter("trajectory.min_lane_changing_velocity")); + p.trajectory.lane_changing_decel_factor = + getOrDeclareParameter(*node, parameter("trajectory.lane_changing_decel_factor")); p.trajectory.lon_acc_sampling_num = getOrDeclareParameter(*node, parameter("trajectory.lon_acc_sampling_num")); p.trajectory.lat_acc_sampling_num = @@ -318,6 +320,8 @@ void LaneChangeModuleManager::updateModuleParams(const std::vectortrajectory.min_longitudinal_acc); updateParam( parameters, ns + "max_longitudinal_acc", p->trajectory.max_longitudinal_acc); + updateParam( + parameters, ns + "lane_changing_decel_factor", p->trajectory.lane_changing_decel_factor); int longitudinal_acc_sampling_num = 0; updateParam(parameters, ns + "lon_acc_sampling_num", longitudinal_acc_sampling_num); if (longitudinal_acc_sampling_num > 0) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index 9cbf9d4beb5ff..68b2debecc4d2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -382,11 +382,17 @@ std::vector calc_lon_acceleration_samples( } double calc_lane_changing_acceleration( - const double initial_lane_changing_velocity, const double max_path_velocity, - const double lane_changing_time, const double prepare_longitudinal_acc) + const CommonDataPtr & common_data_ptr, const double initial_lane_changing_velocity, + const double max_path_velocity, const double lane_changing_time, + const double prepare_longitudinal_acc) { if (prepare_longitudinal_acc <= 0.0) { - return 0.0; + const auto & params = common_data_ptr->lc_param_ptr->trajectory; + const auto lane_changing_acc = + common_data_ptr->transient_data.is_ego_near_current_terminal_start + ? prepare_longitudinal_acc * params.lane_changing_decel_factor + : 0.0; + return lane_changing_acc; } return std::clamp( @@ -497,7 +503,7 @@ std::vector calc_shift_phase_metrics( shift_length, common_data_ptr->lc_param_ptr->trajectory.lateral_jerk, lat_acc); const double lane_changing_accel = calc_lane_changing_acceleration( - initial_velocity, max_path_velocity, lane_changing_duration, lon_accel); + common_data_ptr, initial_velocity, max_path_velocity, lane_changing_duration, lon_accel); const auto lane_changing_length = calculation::calc_phase_length( initial_velocity, max_vel, lane_changing_accel, lane_changing_duration); From 0992f1debb6b856b0a2a537fe84e7272a8f0b891 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Thu, 5 Dec 2024 09:05:24 +0900 Subject: [PATCH 660/701] feat(lane_change): reduce prepare duration when blinker has been activated (#9185) * add minimum prepare duration parameter Signed-off-by: mohammad alqudah * reduce prepare duration according to signal activation time Signed-off-by: mohammad alqudah * chore: update CODEOWNERS (#9203) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions * refactor(time_utils): prefix package and namespace with autoware (#9173) * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez * style(pre-commit): autofix --------- Signed-off-by: Esteve Fernandez Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(rtc_interface): add requested field (#9202) * add requested feature Signed-off-by: Go Sakayori * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Signed-off-by: Go Sakayori Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (#9199) Signed-off-by: Maxime CLEMENT * fix(bpp): prevent accessing nullopt (#9204) fix(bpp): calcDistanceToRedTrafficLight null Signed-off-by: Shumpei Wakabayashi * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (#9201) * refactor: grouping functions Signed-off-by: Taekjin LEE * refactor: grouping parameters Signed-off-by: Taekjin LEE * refactor: rename member road_users_history to road_users_history_ Signed-off-by: Taekjin LEE * refactor: separate util functions Signed-off-by: Taekjin LEE * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node Signed-off-by: Taekjin LEE * refactor: Add explicit template instantiation for removeOldObjectsHistory function Signed-off-by: Taekjin LEE * refactor: Add tf2_geometry_msgs to data_structure Signed-off-by: Taekjin LEE * refactor: Remove unused variables and functions in map_based_prediction_node.cpp Signed-off-by: Taekjin LEE * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp * Apply suggestions from code review * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE Co-authored-by: Mamoru Sobue Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (#8912) * Moved ndt_omp into ndt_scan_matcher Signed-off-by: Shintaro Sakoda * Added Copyright Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda * Fixed cast style Signed-off-by: Shintaro Sakoda * Fixed include Signed-off-by: Shintaro Sakoda * Fixed honorific title Signed-off-by: Shintaro Sakoda * Fixed honorific title Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed hierarchy Signed-off-by: Shintaro Sakoda * Fixed NVTP to NVTL Signed-off-by: Shintaro Sakoda * Added cspell:ignore Signed-off-by: Shintaro Sakoda * Fixed miss spell Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda * Renamed applyFilter Signed-off-by: Shintaro Sakoda * Moved ***_impl.hpp from include/ to src/ Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed variable scope Signed-off-by: Shintaro Sakoda * Fixed to pass by reference Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Shintaro Sakoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_test_utils): add traffic light msgs parser (#9177) Signed-off-by: Mamoru Sobue * modify implementation to compute and keep actual prepare duration in transient data Signed-off-by: mohammad alqudah * if LC path is approved, set prepare duration in transient data from approved path prepare duration Signed-off-by: mohammad alqudah * change default value of LC param min_prepare_duration Signed-off-by: mohammad alqudah * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * add function to set signal activation time, add docstring for function calc_actual_prepare_duration Signed-off-by: mohammad alqudah * check for zero value max_acc to avoid division by zero Signed-off-by: mohammad alqudah * chore: rename codeowners file Signed-off-by: tomoya.kimura * chore: rename codeowners file Signed-off-by: tomoya.kimura * chore: rename codeowners file Signed-off-by: tomoya.kimura * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah * fix spelling Signed-off-by: mohammad alqudah * fix units Signed-off-by: mohammad alqudah * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * run pre-commit check Signed-off-by: mohammad alqudah * fix spelling Signed-off-by: mohammad alqudah * fix format Signed-off-by: mohammad alqudah * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * run pre-commit check Signed-off-by: mohammad alqudah * fix spelling Signed-off-by: mohammad alqudah * fix format Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Signed-off-by: Esteve Fernandez Signed-off-by: Go Sakayori Signed-off-by: Maxime CLEMENT Signed-off-by: Shumpei Wakabayashi Signed-off-by: Taekjin LEE Signed-off-by: Shintaro Sakoda Signed-off-by: Mamoru Sobue Signed-off-by: tomoya.kimura Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: github-actions Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Go Sakayori Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Co-authored-by: Taekjin LEE Co-authored-by: Mamoru Sobue Co-authored-by: SakodaShintaro Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: tomoya.kimura --- .github/{CODEOWNERS => _CODEOWNERS} | 0 .../README.md | 3 +- .../config/lane_change.param.yaml | 3 +- .../scene.hpp | 2 +- .../utils/base_class.hpp | 12 ++++++- .../utils/calculation.hpp | 20 +++++++++++- .../utils/data_structs.hpp | 2 ++ .../utils/parameters.hpp | 3 +- .../src/interface.cpp | 8 ++--- .../src/manager.cpp | 15 ++++++--- .../src/scene.cpp | 27 +++++++++++++--- .../src/utils/calculation.cpp | 31 ++++++++++++++++--- .../test/test_lane_change_scene.cpp | 4 +-- 13 files changed, 104 insertions(+), 26 deletions(-) rename .github/{CODEOWNERS => _CODEOWNERS} (100%) diff --git a/.github/CODEOWNERS b/.github/_CODEOWNERS similarity index 100% rename from .github/CODEOWNERS rename to .github/_CODEOWNERS diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md index 499327e3b8483..86d8d1c0c1413 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md @@ -886,7 +886,8 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi | `backward_length_buffer_for_end_of_lane` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change | 3.0 | | `backward_length_buffer_for_blocking_object` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change when there is an object in front | 3.0 | | `backward_length_from_intersection` | [m] | double | Distance threshold from the last intersection to invalidate or cancel the lane change path | 5.0 | -| `trajectory.prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | +| `trajectory.max_prepare_duration` | [s] | double | The maximum preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | +| `trajectory.min_prepare_duration` | [s] | double | The minimum preparation time for the ego vehicle to be ready to perform lane change. | 2.0 | | `trajectory.lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 | | `trajectory.minimum_lane_changing_velocity` | [m/s] | double | Minimum speed during lane changing process. | 2.78 | | `trajectory.lon_acc_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by longitudinal acceleration | 3 | diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml index 572caedb58306..bf892b3058a16 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml @@ -11,7 +11,8 @@ # trajectory generation trajectory: - prepare_duration: 4.0 + max_prepare_duration: 4.0 + min_prepare_duration: 2.0 lateral_jerk: 0.5 min_longitudinal_acc: -1.0 max_longitudinal_acc: 1.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp index 550925c4a10fc..7202a1c6a9108 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp @@ -54,7 +54,7 @@ class NormalLaneChange : public LaneChangeBase void update_lanes(const bool is_approved) final; - void update_transient_data() final; + void update_transient_data(const bool is_approved) final; void update_filtered_objects() final; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp index e5c7fcb6d621e..741b5afb50e08 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp @@ -68,7 +68,7 @@ class LaneChangeBase virtual void update_lanes(const bool is_approved) = 0; - virtual void update_transient_data() = 0; + virtual void update_transient_data(const bool is_approved) = 0; virtual void update_filtered_objects() = 0; @@ -267,6 +267,15 @@ class LaneChangeBase return turn_signal; } + void set_signal_activation_time(const bool reset = false) const + { + if (reset) { + signal_activation_time_ = std::nullopt; + } else if (!signal_activation_time_) { + signal_activation_time_ = clock_.now(); + } + } + LaneChangeStatus status_{}; PathShifter path_shifter_{}; @@ -292,6 +301,7 @@ class LaneChangeBase mutable StopWatch stop_watch_; mutable lane_change::Debug lane_change_debug_; + mutable std::optional signal_activation_time_{std::nullopt}; rclcpp::Logger logger_ = utils::lane_change::getLogger(getModuleTypeStr()); mutable rclcpp::Clock clock_{RCL_ROS_TIME}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp index b2aa21e4dc085..29047c90590b3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp @@ -75,7 +75,7 @@ double calc_dist_to_last_fit_width( * of the maximum lane change preparation duration and the maximum velocity of the ego vehicle. * * @param common_data_ptr Shared pointer to a CommonData structure, which should include: - * - `lc_param_ptr->lane_change_prepare_duration`: The duration allowed for lane change + * - `lc_param_ptr->maximum_prepare_duration`: The maximum duration allowed for lane change * preparation. * - `bpp_param_ptr->max_vel`: The maximum velocity of the ego vehicle. * @@ -131,6 +131,24 @@ std::vector calc_lon_acceleration_samples( const CommonDataPtr & common_data_ptr, const double max_path_velocity, const double prepare_duration); +/** + * @brief calculates the actual prepare duration that will be used for path generation + * + * @details computes the required prepare duration to be used for candidate path + * generation based on the elapsed time of turn signal activation, the minimum + * and maximum parameterized values for the prepare duration, + * and the minimum lane changing velocity. + * + * @param common_data_ptr Shared pointer to a CommonData structure, which includes + * lane change parameters and bpp common parameters. + * @param current_velocity current ego vehicle velocity. + * @param active_signal_duration elapsed time since turn signal activation. + * @return The calculated prepare duration value in seconds (s) + */ +double calc_actual_prepare_duration( + const CommonDataPtr & common_data_ptr, const double current_velocity, + const double active_signal_duration); + std::vector calc_prepare_phase_metrics( const CommonDataPtr & common_data_ptr, const double current_velocity, const double max_path_velocity, const double min_length_threshold = 0.0, diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp index 32cf000ecb1a7..c121ab8512cce 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp @@ -222,6 +222,8 @@ struct TransientData size_t current_path_seg_idx; // index of nearest segment to ego along current path double current_path_velocity; // velocity of the current path at the ego position along the path + double lane_change_prepare_duration{0.0}; + bool is_ego_near_current_terminal_start{false}; bool is_ego_stuck{false}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp index 31bd5d94f09c8..a76742307e061 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp @@ -115,7 +115,8 @@ struct SafetyParameters struct TrajectoryParameters { - double prepare_duration{4.0}; + double max_prepare_duration{4.0}; + double min_prepare_duration{1.0}; double lateral_jerk{0.5}; double min_longitudinal_acc{-1.0}; double max_longitudinal_acc{1.0}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index 77bf32512c0dc..f80aad721a07c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -80,7 +80,7 @@ void LaneChangeInterface::updateData() module_type_->setPreviousModuleOutput(getPreviousModuleOutput()); module_type_->update_lanes(getCurrentStatus() == ModuleStatus::RUNNING); module_type_->update_filtered_objects(); - module_type_->update_transient_data(); + module_type_->update_transient_data(getCurrentStatus() == ModuleStatus::RUNNING); module_type_->updateSpecialData(); if (isWaitingApproval() || module_type_->isAbortState()) { @@ -155,10 +155,10 @@ BehaviorModuleOutput LaneChangeInterface::plan() BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() { - *prev_approved_path_ = getPreviousModuleOutput().path; - BehaviorModuleOutput out = getPreviousModuleOutput(); + *prev_approved_path_ = out.path; + module_type_->insert_stop_point(module_type_->get_current_lanes(), out.path); out.turn_signal_info = module_type_->get_current_turn_signal_info(); @@ -168,7 +168,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() setObjectsOfInterestData(data.current_obj_pose, data.obj_shape, color); } - path_reference_ = std::make_shared(getPreviousModuleOutput().reference_path); + path_reference_ = std::make_shared(out.reference_path); stop_pose_ = module_type_->getStopPose(); if (!module_type_->isValidPath()) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp index baba4311e2175..1bb41069140e7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -45,8 +45,10 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s // trajectory generation { - p.trajectory.prepare_duration = - getOrDeclareParameter(*node, parameter("trajectory.prepare_duration")); + p.trajectory.max_prepare_duration = + getOrDeclareParameter(*node, parameter("trajectory.max_prepare_duration")); + p.trajectory.min_prepare_duration = + getOrDeclareParameter(*node, parameter("trajectory.min_prepare_duration")); p.trajectory.lateral_jerk = getOrDeclareParameter(*node, parameter("trajectory.lateral_jerk")); p.trajectory.min_longitudinal_acc = @@ -67,8 +69,8 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s getOrDeclareParameter(*node, parameter("trajectory.lat_acc_sampling_num")); const auto max_acc = getOrDeclareParameter(*node, "normal.max_acc"); - p.trajectory.min_lane_changing_velocity = - std::min(p.trajectory.min_lane_changing_velocity, max_acc * p.trajectory.prepare_duration); + p.trajectory.min_lane_changing_velocity = std::min( + p.trajectory.min_lane_changing_velocity, max_acc * p.trajectory.max_prepare_duration); // validation of trajectory parameters if (p.trajectory.lon_acc_sampling_num < 1 || p.trajectory.lat_acc_sampling_num < 1) { @@ -311,7 +313,10 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector(parameters, ns + "prepare_duration", p->trajectory.prepare_duration); + updateParam( + parameters, ns + "max_prepare_duration", p->trajectory.max_prepare_duration); + updateParam( + parameters, ns + "min_prepare_duration", p->trajectory.min_prepare_duration); updateParam(parameters, ns + "lateral_jerk", p->trajectory.lateral_jerk); updateParam( parameters, ns + ".min_lane_changing_velocity", p->trajectory.min_lane_changing_velocity); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 8769547550852..99e7cc73e59ff 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -131,7 +131,7 @@ void NormalLaneChange::update_lanes(const bool is_approved) *common_data_ptr_->lanes_polygon_ptr = create_lanes_polygon(common_data_ptr_); } -void NormalLaneChange::update_transient_data() +void NormalLaneChange::update_transient_data(const bool is_approved) { if ( !common_data_ptr_ || !common_data_ptr_->is_data_available() || @@ -150,6 +150,13 @@ void NormalLaneChange::update_transient_data() prev_module_output_.path.points.at(nearest_seg_idx).point.longitudinal_velocity_mps; transient_data.current_path_seg_idx = nearest_seg_idx; + const auto active_signal_duration = + signal_activation_time_ ? (clock_.now() - signal_activation_time_.value()).seconds() : 0.0; + transient_data.lane_change_prepare_duration = + is_approved ? status_.lane_change_path.info.duration.prepare + : calculation::calc_actual_prepare_duration( + common_data_ptr_, common_data_ptr_->get_ego_speed(), active_signal_duration); + std::tie(transient_data.lane_changing_length, transient_data.current_dist_buffer) = calculation::calc_lc_length_and_dist_buffer(common_data_ptr_, get_current_lanes()); @@ -328,6 +335,8 @@ TurnSignalInfo NormalLaneChange::get_current_turn_signal_info() const return get_terminal_turn_signal_info(); } + set_signal_activation_time(); + return get_turn_signal(getEgoPose(), getLaneChangePath().info.lane_changing_end); } @@ -356,9 +365,14 @@ TurnSignalInfo NormalLaneChange::get_terminal_turn_signal_info() const const auto nearest_yaw_threshold = common_param.ego_nearest_yaw_threshold; const auto current_nearest_seg_idx = common_data_ptr_->transient_data.current_path_seg_idx; - return getTurnSignalDecider().overwrite_turn_signal( + const auto turn_signal_info = getTurnSignalDecider().overwrite_turn_signal( path, current_pose, current_nearest_seg_idx, original_turn_signal_info, terminal_turn_signal_info, nearest_dist_threshold, nearest_yaw_threshold); + + set_signal_activation_time( + turn_signal_info.turn_signal.command != terminal_turn_signal_info.turn_signal.command); + + return turn_signal_info; } LaneChangePath NormalLaneChange::getLaneChangePath() const @@ -429,8 +443,6 @@ BehaviorModuleOutput NormalLaneChange::generateOutput() output.path = utils::combinePath(output.path, *found_extended_path); } output.reference_path = getReferencePath(); - output.turn_signal_info = - get_turn_signal(getEgoPose(), status_.lane_change_path.info.lane_changing_end); if (isStopState()) { const auto current_velocity = getEgoVelocity(); @@ -446,12 +458,17 @@ BehaviorModuleOutput NormalLaneChange::generateOutput() extendOutputDrivableArea(output); + const auto turn_signal_info = + get_turn_signal(getEgoPose(), status_.lane_change_path.info.lane_changing_end); const auto current_seg_idx = planner_data_->findEgoSegmentIndex(output.path.points); output.turn_signal_info = planner_data_->turn_signal_decider.overwrite_turn_signal( output.path, getEgoPose(), current_seg_idx, prev_module_output_.turn_signal_info, - output.turn_signal_info, planner_data_->parameters.ego_nearest_dist_threshold, + turn_signal_info, planner_data_->parameters.ego_nearest_dist_threshold, planner_data_->parameters.ego_nearest_yaw_threshold); + set_signal_activation_time( + output.turn_signal_info.turn_signal.command != turn_signal_info.turn_signal.command); + return output; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index 68b2debecc4d2..3ba11d62a2be7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -104,7 +104,7 @@ double calc_dist_to_last_fit_width( double calc_maximum_prepare_length(const CommonDataPtr & common_data_ptr) { - const auto max_prepare_duration = common_data_ptr->lc_param_ptr->trajectory.prepare_duration; + const auto max_prepare_duration = common_data_ptr->lc_param_ptr->trajectory.max_prepare_duration; const auto ego_max_speed = common_data_ptr->bpp_param_ptr->max_vel; return max_prepare_duration * ego_max_speed; @@ -197,7 +197,7 @@ std::vector calc_max_lane_change_lengths( const auto & params = common_data_ptr->lc_param_ptr->trajectory; const auto lat_jerk = params.lateral_jerk; - const auto t_prepare = params.prepare_duration; + const auto t_prepare = params.max_prepare_duration; const auto current_velocity = common_data_ptr->get_ego_speed(); const auto path_velocity = common_data_ptr->transient_data.current_path_velocity; @@ -400,18 +400,41 @@ double calc_lane_changing_acceleration( prepare_longitudinal_acc); } +double calc_actual_prepare_duration( + const CommonDataPtr & common_data_ptr, const double current_velocity, + const double active_signal_duration) +{ + const auto & params = common_data_ptr->lc_param_ptr->trajectory; + const auto min_lc_velocity = params.min_lane_changing_velocity; + + // need to ensure min prep duration is sufficient to reach minimum lane changing velocity + const auto min_prepare_duration = std::invoke([&]() -> double { + if (current_velocity >= min_lc_velocity) { + return params.min_prepare_duration; + } + const auto max_acc = + std::min(common_data_ptr->bpp_param_ptr->max_acc, params.max_longitudinal_acc); + if (max_acc < eps) { + return params.max_prepare_duration; + } + return (min_lc_velocity - current_velocity) / max_acc; + }); + + return std::max(params.max_prepare_duration - active_signal_duration, min_prepare_duration); +} + std::vector calc_prepare_durations(const CommonDataPtr & common_data_ptr) { const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; const auto threshold = common_data_ptr->bpp_param_ptr->base_link2front + lc_param_ptr->min_length_for_turn_signal_activation; - const auto max_prepare_duration = lc_param_ptr->trajectory.prepare_duration; // TODO(Azu) this check seems to cause scenario failures. if (common_data_ptr->transient_data.dist_to_terminal_start >= threshold) { - return {max_prepare_duration}; + return {common_data_ptr->transient_data.lane_change_prepare_duration}; } + const auto max_prepare_duration = lc_param_ptr->trajectory.max_prepare_duration; std::vector prepare_durations; constexpr double step = 0.5; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp index 510fef2c07d7c..ea36e4dc6960a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp @@ -223,7 +223,7 @@ TEST_F(TestNormalLaneChange, testGetPathWhenInvalid) constexpr auto is_approved = true; normal_lane_change_->update_lanes(!is_approved); normal_lane_change_->update_filtered_objects(); - normal_lane_change_->update_transient_data(); + normal_lane_change_->update_transient_data(!is_approved); normal_lane_change_->updateLaneChangeStatus(); const auto & lc_status = normal_lane_change_->getLaneChangeStatus(); @@ -261,7 +261,7 @@ TEST_F(TestNormalLaneChange, testGetPathWhenValid) set_previous_approved_path(); normal_lane_change_->update_lanes(!is_approved); normal_lane_change_->update_filtered_objects(); - normal_lane_change_->update_transient_data(); + normal_lane_change_->update_transient_data(!is_approved); const auto lane_change_required = normal_lane_change_->isLaneChangeRequired(); ASSERT_TRUE(lane_change_required); From c1d3478cd719b95d0fc9dcd2f064924253dedb40 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 5 Dec 2024 09:27:21 +0900 Subject: [PATCH 661/701] chore(compare_map_segmentation): rename defined type (#9181) Signed-off-by: badai-nguyen --- .../node.hpp | 8 +++---- .../node.hpp | 12 +++++------ .../voxel_grid_map_loader.cpp | 5 +++-- .../voxel_grid_map_loader.hpp | 21 ++++++++++--------- 4 files changed, 24 insertions(+), 22 deletions(-) diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp index d6b65daa82267..33c9d9ff3c788 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp @@ -28,14 +28,14 @@ namespace autoware::compare_map_segmentation { -using PointCloud = typename pcl::Filter::PointCloud; -using PointCloudPtr = typename PointCloud::Ptr; -using PointCloudConstPtr = typename PointCloud::ConstPtr; +using FilteredPointCloud = typename pcl::Filter::PointCloud; +using FilteredPointCloudPtr = typename FilteredPointCloud::Ptr; +using FilteredPointCloudConstPtr = typename FilteredPointCloud::ConstPtr; class DistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader { private: - PointCloudConstPtr map_ptr_; + FilteredPointCloudConstPtr map_ptr_; pcl::search::Search::Ptr tree_; public: diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp index 218f19601cd41..9fb81aa675655 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp @@ -29,14 +29,14 @@ namespace autoware::compare_map_segmentation { -using PointCloud = typename pcl::Filter::PointCloud; -using PointCloudPtr = typename PointCloud::Ptr; -using PointCloudConstPtr = typename PointCloud::ConstPtr; +using FilteredPointCloud = typename pcl::Filter::PointCloud; +using FilteredPointCloudPtr = typename FilteredPointCloud::Ptr; +using FilteredPointCloudConstPtr = typename FilteredPointCloud::ConstPtr; class VoxelDistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader { private: - PointCloudConstPtr map_ptr_; + FilteredPointCloudConstPtr map_ptr_; pcl::search::Search::Ptr tree_; public: @@ -55,7 +55,7 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader { protected: private: - PointCloudConstPtr map_ptr_; + FilteredPointCloudConstPtr map_ptr_; /* data */ public: explicit VoxelDistanceBasedDynamicMapLoader( @@ -78,7 +78,7 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp); VoxelGridPointXYZ map_cell_voxel_grid_tmp; - PointCloudPtr map_cell_downsampled_pc_ptr_tmp; + FilteredPointCloudPtr map_cell_downsampled_pc_ptr_tmp; auto map_cell_voxel_input_tmp_ptr = std::make_shared>(map_cell_pc_tmp); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp index d55712f5b756e..e93b2097e583e 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp @@ -63,7 +63,7 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels( } bool VoxelGridMapLoader::is_close_to_neighbor_voxels( - const pcl::PointXYZ & point, const double distance_threshold, const PointCloudPtr & map, + const pcl::PointXYZ & point, const double distance_threshold, const FilteredPointCloudPtr & map, VoxelGridPointXYZ & voxel) const { // check map downsampled pc @@ -228,7 +228,8 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels( bool VoxelGridMapLoader::is_in_voxel( const pcl::PointXYZ & src_point, const pcl::PointXYZ & target_point, - const double distance_threshold, const PointCloudPtr & map, VoxelGridPointXYZ & voxel) const + const double distance_threshold, const FilteredPointCloudPtr & map, + VoxelGridPointXYZ & voxel) const { int voxel_index = voxel.getCentroidIndexAt(voxel.getGridCoordinates(src_point.x, src_point.y, src_point.z)); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp index 7faabf2266291..3685008ffc4fe 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp @@ -54,9 +54,9 @@ class VoxelGridEx : public pcl::VoxelGrid using pcl::VoxelGrid::div_b_; using pcl::VoxelGrid::inverse_leaf_size_; - using PointCloud = typename pcl::Filter::PointCloud; - using PointCloudPtr = typename PointCloud::Ptr; - using PointCloudConstPtr = typename PointCloud::ConstPtr; + using FilteredPointCloud = typename pcl::Filter::PointCloud; + using FilteredPointCloudPtr = typename FilteredPointCloud::Ptr; + using FilteredPointCloudConstPtr = typename FilteredPointCloud::ConstPtr; public: using pcl::VoxelGrid::leaf_layout_; @@ -93,8 +93,8 @@ class VoxelGridMapLoader public: using VoxelGridPointXYZ = VoxelGridEx; - using PointCloud = typename pcl::Filter::PointCloud; - using PointCloudPtr = typename PointCloud::Ptr; + using FilteredPointCloud = typename pcl::Filter::PointCloud; + using FilteredPointCloudPtr = typename FilteredPointCloud::Ptr; explicit VoxelGridMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, std::string * tf_map_input_frame); @@ -106,11 +106,12 @@ class VoxelGridMapLoader const pcl::PointXYZ & point, const double distance_threshold, VoxelGridPointXYZ & voxel, pcl::search::Search::Ptr tree); bool is_close_to_neighbor_voxels( - const pcl::PointXYZ & point, const double distance_threshold, const PointCloudPtr & map, + const pcl::PointXYZ & point, const double distance_threshold, const FilteredPointCloudPtr & map, VoxelGridPointXYZ & voxel) const; bool is_in_voxel( const pcl::PointXYZ & src_point, const pcl::PointXYZ & target_point, - const double distance_threshold, const PointCloudPtr & map, VoxelGridPointXYZ & voxel) const; + const double distance_threshold, const FilteredPointCloudPtr & map, + VoxelGridPointXYZ & voxel) const; void publish_downsampled_map(const pcl::PointCloud & downsampled_pc); std::string * tf_map_input_frame_; @@ -121,7 +122,7 @@ class VoxelGridStaticMapLoader : public VoxelGridMapLoader protected: rclcpp::Subscription::SharedPtr sub_map_; VoxelGridPointXYZ voxel_grid_; - PointCloudPtr voxel_map_ptr_; + FilteredPointCloudPtr voxel_map_ptr_; std::atomic_bool is_initialized_{false}; public: @@ -138,7 +139,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader struct MapGridVoxelInfo { VoxelGridPointXYZ map_cell_voxel_grid; - PointCloudPtr map_cell_pc_ptr; + FilteredPointCloudPtr map_cell_pc_ptr; float min_b_x, min_b_y, max_b_x, max_b_y; pcl::search::Search::Ptr map_cell_kdtree; }; @@ -291,7 +292,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp); VoxelGridPointXYZ map_cell_voxel_grid_tmp; - PointCloudPtr map_cell_downsampled_pc_ptr_tmp; + FilteredPointCloudPtr map_cell_downsampled_pc_ptr_tmp; auto map_cell_voxel_input_tmp_ptr = std::make_shared>(map_cell_pc_tmp); From ae9392fc67f7a6f54863cb24a488c657af89b8df Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> Date: Thu, 5 Dec 2024 10:26:58 +0900 Subject: [PATCH 662/701] refactor(lane_departure_checker): move member functions to util functions (#9547) * refactor(lane_departure_checker): move member functions to util functions Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../lane_departure_checker.hpp | 3 - .../autoware/lane_departure_checker/utils.hpp | 32 ++++++++++ .../lane_departure_checker.cpp | 58 ++---------------- .../src/lane_departure_checker_node/utils.cpp | 59 +++++++++++++++++++ 4 files changed, 97 insertions(+), 55 deletions(-) diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp index da4784bb2458a..1ac984394a25e 100644 --- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp +++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp @@ -157,9 +157,6 @@ class LaneDepartureChecker Param param_; std::shared_ptr vehicle_info_ptr_; - static std::vector createVehiclePassingAreas( - const std::vector & vehicle_footprints); - bool willLeaveLane( const lanelet::ConstLanelets & candidate_lanelets, const std::vector & vehicle_footprints) const; diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp index 944c57f66b8f1..bde404603749b 100644 --- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp +++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp @@ -24,11 +24,16 @@ #include #include +#include +#include +#include + #include namespace autoware::lane_departure_checker::utils { using autoware::universe_utils::LinearRing2d; +using autoware::universe_utils::MultiPoint2d; using autoware::universe_utils::PoseDeviation; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; @@ -76,6 +81,33 @@ std::vector createVehicleFootprints( const PathWithLaneId & path, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double footprint_extra_margin); +/** + * @brief find lanelets that potentially intersect with the vehicle's trajectory + * @param route_lanelets lanelets along the planned route + * @param vehicle_footprints series of vehicle footprint polygons along the trajectory + * @return lanelets that are not disjoint from the convex hull of vehicle footprints + */ +lanelet::ConstLanelets getCandidateLanelets( + const lanelet::ConstLanelets & route_lanelets, + const std::vector & vehicle_footprints); + +/** + * @brief create a convex hull from multiple footprint polygons + * @param footprints collection of footprint polygons represented as LinearRing2d + * @return a single LinearRing2d representing the convex hull containing all input footprints + */ +LinearRing2d createHullFromFootprints(const std::vector & footprints); + +/** + * @brief create passing areas of the vehicle from vehicle footprints + * @param vehicle_footprints vehicle footprints along trajectory + * @return passing areas of the vehicle that are created from adjacent vehicle footprints + * If vehicle_footprints is empty, returns empty vector + * If vehicle_footprints size is 1, returns vector with that footprint + */ +std::vector createVehiclePassingAreas( + const std::vector & vehicle_footprints); + /** * @brief calculate the deviation of the given pose from the nearest pose on the trajectory * @param trajectory target trajectory diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp index 1c75b3552df67..5d50ac0e2951b 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp @@ -59,39 +59,6 @@ bool isInAnyLane(const lanelet::ConstLanelets & candidate_lanelets, const Point2 return false; } -LinearRing2d createHullFromFootprints(const std::vector & footprints) -{ - MultiPoint2d combined; - for (const auto & footprint : footprints) { - for (const auto & p : footprint) { - combined.push_back(p); - } - } - - LinearRing2d hull; - boost::geometry::convex_hull(combined, hull); - - return hull; -} - -lanelet::ConstLanelets getCandidateLanelets( - const lanelet::ConstLanelets & route_lanelets, - const std::vector & vehicle_footprints) -{ - lanelet::ConstLanelets candidate_lanelets; - - // Find lanes within the convex hull of footprints - const auto footprint_hull = createHullFromFootprints(vehicle_footprints); - for (const auto & route_lanelet : route_lanelets) { - const auto poly = route_lanelet.polygon2d().basicPolygon(); - if (!boost::geometry::disjoint(poly, footprint_hull)) { - candidate_lanelets.push_back(route_lanelet); - } - } - - return candidate_lanelets; -} - } // namespace namespace autoware::lane_departure_checker @@ -126,13 +93,13 @@ Output LaneDepartureChecker::update(const Input & input) param_.footprint_margin_scale); output.processing_time_map["createVehicleFootprints"] = stop_watch.toc(true); - output.vehicle_passing_areas = createVehiclePassingAreas(output.vehicle_footprints); + output.vehicle_passing_areas = utils::createVehiclePassingAreas(output.vehicle_footprints); output.processing_time_map["createVehiclePassingAreas"] = stop_watch.toc(true); const auto candidate_road_lanelets = - getCandidateLanelets(input.route_lanelets, output.vehicle_footprints); + utils::getCandidateLanelets(input.route_lanelets, output.vehicle_footprints); const auto candidate_shoulder_lanelets = - getCandidateLanelets(input.shoulder_lanelets, output.vehicle_footprints); + utils::getCandidateLanelets(input.shoulder_lanelets, output.vehicle_footprints); output.candidate_lanelets = candidate_road_lanelets; output.candidate_lanelets.insert( output.candidate_lanelets.end(), candidate_shoulder_lanelets.begin(), @@ -164,24 +131,11 @@ bool LaneDepartureChecker::checkPathWillLeaveLane( std::vector vehicle_footprints = utils::createVehicleFootprints(path, *vehicle_info_ptr_, param_.footprint_extra_margin); - lanelet::ConstLanelets candidate_lanelets = getCandidateLanelets(lanelets, vehicle_footprints); + lanelet::ConstLanelets candidate_lanelets = + utils::getCandidateLanelets(lanelets, vehicle_footprints); return willLeaveLane(candidate_lanelets, vehicle_footprints); } -std::vector LaneDepartureChecker::createVehiclePassingAreas( - const std::vector & vehicle_footprints) -{ - // Create hull from two adjacent vehicle footprints - std::vector areas; - for (size_t i = 0; i < vehicle_footprints.size() - 1; ++i) { - const auto & footprint1 = vehicle_footprints.at(i); - const auto & footprint2 = vehicle_footprints.at(i + 1); - areas.push_back(createHullFromFootprints({footprint1, footprint2})); - } - - return areas; -} - bool LaneDepartureChecker::willLeaveLane( const lanelet::ConstLanelets & candidate_lanelets, const std::vector & vehicle_footprints) const @@ -205,7 +159,7 @@ std::vector> LaneDepartureChecker::getLanele // Get Footprint Hull basic polygon std::vector vehicle_footprints = utils::createVehicleFootprints(path, *vehicle_info_ptr_, param_.footprint_extra_margin); - LinearRing2d footprint_hull = createHullFromFootprints(vehicle_footprints); + LinearRing2d footprint_hull = utils::createHullFromFootprints(vehicle_footprints); lanelet::BasicPolygon2d footprint_hull_basic_polygon = toBasicPolygon2D(footprint_hull); diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp index 5613b767a9fd0..ec0647115385d 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp @@ -19,6 +19,8 @@ #include +#include + #include namespace @@ -165,6 +167,63 @@ std::vector createVehicleFootprints( return vehicle_footprints; } +lanelet::ConstLanelets getCandidateLanelets( + const lanelet::ConstLanelets & route_lanelets, + const std::vector & vehicle_footprints) +{ + lanelet::ConstLanelets candidate_lanelets; + + // Find lanes within the convex hull of footprints + const auto footprint_hull = createHullFromFootprints(vehicle_footprints); + + for (const auto & route_lanelet : route_lanelets) { + const auto poly = route_lanelet.polygon2d().basicPolygon(); + if (!boost::geometry::disjoint(poly, footprint_hull)) { + candidate_lanelets.push_back(route_lanelet); + } + } + + return candidate_lanelets; +} + +LinearRing2d createHullFromFootprints(const std::vector & footprints) +{ + MultiPoint2d combined; + for (const auto & footprint : footprints) { + for (const auto & p : footprint) { + combined.push_back(p); + } + } + + LinearRing2d hull; + boost::geometry::convex_hull(combined, hull); + + return hull; +} + +std::vector createVehiclePassingAreas( + const std::vector & vehicle_footprints) +{ + if (vehicle_footprints.empty()) { + return {}; + } + + if (vehicle_footprints.size() == 1) { + return {vehicle_footprints.front()}; + } + + std::vector areas; + areas.reserve(vehicle_footprints.size() - 1); + + for (size_t i = 0; i < vehicle_footprints.size() - 1; ++i) { + const auto & footprint1 = vehicle_footprints.at(i); + const auto & footprint2 = vehicle_footprints.at(i + 1); + areas.push_back(createHullFromFootprints({footprint1, footprint2})); + } + + return areas; +} + PoseDeviation calcTrajectoryDeviation( const Trajectory & trajectory, const geometry_msgs::msg::Pose & pose, const double dist_threshold, const double yaw_threshold) From a1f69de9e405daddbe89da95ed7e8b78eeb43f87 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> Date: Thu, 5 Dec 2024 11:16:42 +0900 Subject: [PATCH 663/701] test(lane_departure_checker): add unit test for createVehiclePassingAreas (#9548) * test(lane_departure_checker): add unit tests for createVehiclePassingAreas function Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../test_create_vehicle_passing_areas.cpp | 164 ++++++++++++++++++ 1 file changed, 164 insertions(+) create mode 100644 control/autoware_lane_departure_checker/test/test_create_vehicle_passing_areas.cpp diff --git a/control/autoware_lane_departure_checker/test/test_create_vehicle_passing_areas.cpp b/control/autoware_lane_departure_checker/test/test_create_vehicle_passing_areas.cpp new file mode 100644 index 0000000000000..d79ebeb1e13e3 --- /dev/null +++ b/control/autoware_lane_departure_checker/test/test_create_vehicle_passing_areas.cpp @@ -0,0 +1,164 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/lane_departure_checker/utils.hpp" + +#include +#include + +#include +#include +#include +#include + +#include + +using autoware::lane_departure_checker::utils::createVehiclePassingAreas; +using autoware::universe_utils::LinearRing2d; +using autoware::universe_utils::Point2d; + +class CreateVehiclePassingAreasTest : public ::testing::Test +{ +protected: + LinearRing2d createSquare(double x, double y, double size) + { + LinearRing2d square; + square.reserve(5); + square.push_back(Point2d{x, y}); // bottom-left + square.push_back(Point2d{x, y + size}); // top-left + square.push_back(Point2d{x + size, y + size}); // top-right + square.push_back(Point2d{x + size, y}); // bottom-right + square.push_back(Point2d{x, y}); // close the square + boost::geometry::correct(square); + return square; + } + + bool isPointInsideHull(const Point2d & point, const LinearRing2d & hull) + { + return boost::geometry::within(point, hull) || boost::geometry::covered_by(point, hull); + } + + /** + * @brief Validates that all points in the given footprints are contained within the hull + * + * For each footprint in the input vector, checks whether all its points (except the last one + * which is identical to the first point in a LinearRing2d) are contained within the given hull. + * This validation ensures the correctness of the convex hull generation for vehicle passing + * areas. + * + * @param footprints Vector of LinearRing2d representing vehicle footprints to validate + * Must not be empty and must not contain empty LinearRing2d + * @param hull LinearRing2d representing the convex hull that should contain all footprints + * @note The last point of each footprint is not checked as LinearRing2d is a closed ring + * where the last point is identical to the first point + * @pre footprints must not be empty + * @pre each LinearRing2d in footprints must not be empty, as it represents a closed ring + */ + void validateFootprintsInHull( + const std::vector & footprints, const LinearRing2d & hull) + { + for (const auto & footprint : footprints) { + // An empty footprint would be invalid and should fail the test + EXPECT_FALSE(footprint.empty()) << "Footprint must not be empty"; + if (footprint.empty()) { + continue; + } + + // Iterate up to size()-1 since LinearRing2d is a closed ring where + // the last point is the same as the first point, so we don't need + // to check it again + for (size_t i = 0; i < footprint.size() - 1; ++i) { + const auto & point = footprint[i]; + EXPECT_TRUE(isPointInsideHull(point, hull)) + << "Point (" << point.x() << ", " << point.y() << ") is not inside the hull"; + } + } + } + + void SetUp() override + { + /* + Square placement: + Y-axis + ^ + | + 1 +---+ +---+ +---+ + | |s1 | |s2 | |s3 | + 0 +---+ +---+ +---+ + | + +---+---+---+---+---+---+--> X-axis + 0 1 1 2 3 4 + + s1: square1_ from (0,0) to (1,1) + s2: square2_ from (1,0) to (2,1) - adjacent to s1 + s3: square3_ from (3,0) to (4,1) - 1 unit apart from s2 + */ + square1_ = createSquare(0.0, 0.0, 1.0); // 1x1 square at origin + square2_ = createSquare(1.0, 0.0, 1.0); // square adjacent to square1_ + square3_ = createSquare(3.0, 0.0, 1.0); // square one unit apart from square2_ + } + + LinearRing2d square1_; // Reference square (0,0) + LinearRing2d square2_; // Adjacent square (1,0) + LinearRing2d square3_; // Distant square (3,0) +}; + +TEST_F(CreateVehiclePassingAreasTest, ReturnsEmptyAreaForEmptyInput) +{ + const std::vector empty_footprints; + const auto areas = createVehiclePassingAreas(empty_footprints); + EXPECT_TRUE(areas.empty()); +} + +TEST_F(CreateVehiclePassingAreasTest, ReturnsSameAreaForSingleFootprint) +{ + const std::vector single_footprint = {square1_}; + const auto areas = createVehiclePassingAreas(single_footprint); + + ASSERT_EQ(areas.size(), 1); + + auto result = areas.front(); + boost::geometry::correct(result); + EXPECT_EQ(result, square1_); +} + +TEST_F(CreateVehiclePassingAreasTest, CreatesValidHullForAdjacentFootprints) +{ + const std::vector footprints = {square1_, square2_}; + auto areas = createVehiclePassingAreas(footprints); + + ASSERT_EQ(areas.size(), 1); + auto & hull = areas.front(); + boost::geometry::correct(hull); + + // Basic validation of the convex hull + EXPECT_GE(hull.size(), 5); // At least a quadrilateral plus closing point + + // Verify all points from original footprints are inside the hull + validateFootprintsInHull(footprints, hull); +} + +TEST_F(CreateVehiclePassingAreasTest, HandlesNonAdjacentFootprints) +{ + const std::vector footprints = { + square1_, square3_}; // Using square3_ which is not adjacent to square1_ + auto areas = createVehiclePassingAreas(footprints); + + ASSERT_EQ(areas.size(), 1); + auto & hull = areas.front(); + boost::geometry::correct(hull); + + // Verify all points are inside the hull even for non-adjacent squares + validateFootprintsInHull(footprints, hull); +} From eae7b542717ffaa3347cb13970006c1fa007987f Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 5 Dec 2024 11:47:32 +0900 Subject: [PATCH 664/701] fix(autoware_multi_object_tracker): measure latency with latest detection update time (#9533) * fix: measure latency with latest detection update time Signed-off-by: Taekjin LEE * fix: remove duplicated current_time Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../src/multi_object_tracker_node.cpp | 28 ++++++--------- .../src/multi_object_tracker_node.hpp | 1 - .../src/processor/input_manager.cpp | 36 +++++++++---------- .../src/processor/input_manager.hpp | 4 +-- 4 files changed, 31 insertions(+), 38 deletions(-) diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp index d55ff3ab1f0bb..a8e27ed4f0146 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp @@ -214,7 +214,17 @@ void MultiObjectTracker::onTrigger() ObjectsList objects_list; const bool is_objects_ready = input_manager_->getObjects(current_time, objects_list); if (!is_objects_ready) return; - onMessage(objects_list); + + // process start + last_updated_time_ = current_time; + const rclcpp::Time latest_time(objects_list.back().second.header.stamp); + debugger_->startMeasurementTime(this->now(), latest_time); + // run process for each DetectedObjects + for (const auto & objects_data : objects_list) { + runProcess(objects_data.second, objects_data.first); + } + // process end + debugger_->endMeasurementTime(this->now()); // Publish without delay compensation if (!publish_timer_) { @@ -246,22 +256,6 @@ void MultiObjectTracker::onTimer() if (should_publish) checkAndPublish(current_time); } -void MultiObjectTracker::onMessage(const ObjectsList & objects_list) -{ - const rclcpp::Time current_time = this->now(); - const rclcpp::Time oldest_time(objects_list.front().second.header.stamp); - last_updated_time_ = current_time; - - // process start - debugger_->startMeasurementTime(this->now(), oldest_time); - // run process for each DetectedObjects - for (const auto & objects_data : objects_list) { - runProcess(objects_data.second, objects_data.first); - } - // process end - debugger_->endMeasurementTime(this->now()); -} - void MultiObjectTracker::runProcess( const DetectedObjects & input_objects, const uint & channel_index) { diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp index b9886ee3fc847..79a8c1b98dcca 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp @@ -98,7 +98,6 @@ class MultiObjectTracker : public rclcpp::Node // callback functions void onTimer(); void onTrigger(); - void onMessage(const ObjectsList & objects_list); // publish processes void runProcess(const DetectedObjects & input_objects, const uint & channel_index); diff --git a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp index 5b8fd23999a95..fa333ea06a4b9 100644 --- a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp +++ b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp @@ -146,22 +146,22 @@ void InputStream::updateTimingStatus(const rclcpp::Time & now, const rclcpp::Tim } void InputStream::getObjectsOlderThan( - const rclcpp::Time & object_latest_time, const rclcpp::Time & object_oldest_time, + const rclcpp::Time & object_latest_time, const rclcpp::Time & object_earliest_time, ObjectsList & objects_list) { - if (object_latest_time < object_oldest_time) { + if (object_latest_time < object_earliest_time) { RCLCPP_WARN( node_.get_logger(), "InputManager::getObjectsOlderThan %s: Invalid object time interval, object_latest_time: %f, " - "object_oldest_time: %f", - long_name_.c_str(), object_latest_time.seconds(), object_oldest_time.seconds()); + "object_earliest_time: %f", + long_name_.c_str(), object_latest_time.seconds(), object_earliest_time.seconds()); return; } for (const auto & objects : objects_que_) { const rclcpp::Time object_time = rclcpp::Time(objects.header.stamp); // ignore objects older than the specified duration - if (object_time < object_oldest_time) { + if (object_time < object_earliest_time) { continue; } @@ -240,7 +240,7 @@ void InputManager::onTrigger(const uint & index) const void InputManager::getObjectTimeInterval( const rclcpp::Time & now, rclcpp::Time & object_latest_time, - rclcpp::Time & object_oldest_time) const + rclcpp::Time & object_earliest_time) const { // Set the object time interval @@ -259,19 +259,19 @@ void InputManager::getObjectTimeInterval( object_latest_time < latest_measurement_time ? latest_measurement_time : object_latest_time; } - // 2. object_oldest_time - // The default object_oldest_time is to have a 1-second time interval - const rclcpp::Time object_oldest_time_default = + // 2. object_earliest_time + // The default object_earliest_time is to have a 1-second time interval + const rclcpp::Time object_earliest_time_default = object_latest_time - rclcpp::Duration::from_seconds(1.0); - if (latest_exported_object_time_ < object_oldest_time_default) { + if (latest_exported_object_time_ < object_earliest_time_default) { // if the latest exported object time is too old, set to the default - object_oldest_time = object_oldest_time_default; + object_earliest_time = object_earliest_time_default; } else if (latest_exported_object_time_ > object_latest_time) { // if the latest exported object time is newer than the object_latest_time, set to the default - object_oldest_time = object_oldest_time_default; + object_earliest_time = object_earliest_time_default; } else { - // The object_oldest_time is the latest exported object time - object_oldest_time = latest_exported_object_time_; + // The object_earliest_time is the latest exported object time + object_earliest_time = latest_exported_object_time_; } } @@ -322,8 +322,8 @@ bool InputManager::getObjects(const rclcpp::Time & now, ObjectsList & objects_li // Get the time interval for the objects rclcpp::Time object_latest_time; - rclcpp::Time object_oldest_time; - getObjectTimeInterval(now, object_latest_time, object_oldest_time); + rclcpp::Time object_earliest_time; + getObjectTimeInterval(now, object_latest_time, object_earliest_time); // Optimize the target stream, latency, and its band // The result will be used for the next time, so the optimization is after getting the time @@ -333,7 +333,7 @@ bool InputManager::getObjects(const rclcpp::Time & now, ObjectsList & objects_li // Get objects from all input streams // adds up to the objects vector for efficient processing for (const auto & input_stream : input_streams_) { - input_stream->getObjectsOlderThan(object_latest_time, object_oldest_time, objects_list); + input_stream->getObjectsOlderThan(object_latest_time, object_earliest_time, objects_list); } // Sort objects by timestamp @@ -365,7 +365,7 @@ bool InputManager::getObjects(const rclcpp::Time & now, ObjectsList & objects_li RCLCPP_DEBUG( node_.get_logger(), "InputManager::getObjects No objects in the object list, object time band from %f to %f", - (now - object_oldest_time).seconds(), (now - object_latest_time).seconds()); + (now - object_earliest_time).seconds(), (now - object_latest_time).seconds()); } } diff --git a/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp index 25ee6b5eb0d5a..01b3148251743 100644 --- a/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp +++ b/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp @@ -57,7 +57,7 @@ class InputStream bool isTimeInitialized() const { return initial_count_ > 0; } uint getIndex() const { return index_; } void getObjectsOlderThan( - const rclcpp::Time & object_latest_time, const rclcpp::Time & object_oldest_time, + const rclcpp::Time & object_latest_time, const rclcpp::Time & object_earliest_time, ObjectsList & objects_list); bool isSpawnEnabled() const { return is_spawn_enabled_; } @@ -133,7 +133,7 @@ class InputManager private: void getObjectTimeInterval( const rclcpp::Time & now, rclcpp::Time & object_latest_time, - rclcpp::Time & object_oldest_time) const; + rclcpp::Time & object_earliest_time) const; void optimizeTimings(); }; From f957912fab7b33c8baa2e07276506c23f480a079 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Thu, 5 Dec 2024 11:52:11 +0900 Subject: [PATCH 665/701] chore(autoware_autonomous_emergency_braking): add package maintainer (#9580) add package maintainer Signed-off-by: mohammad alqudah --- control/autoware_autonomous_emergency_braking/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml index edec3ac8fd6a1..5fac12cb3e715 100644 --- a/control/autoware_autonomous_emergency_braking/package.xml +++ b/control/autoware_autonomous_emergency_braking/package.xml @@ -9,6 +9,7 @@ Mamoru Sobue Daniel Sanchez Kyoichi Sugahara + Alqudah Mohammad Apache License 2.0 From 6b5b42a8d2f448ed722674e24c8b9eee84cd61ea Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Thu, 5 Dec 2024 12:28:37 +0900 Subject: [PATCH 666/701] chore(autoware_behavior_path_static_obstacle_avoidance_module): add maintainer (#9581) Signed-off-by: Y.Hisaki --- .../package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index 0a990ddf4cb52..ca7a2dab1191c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -14,6 +14,7 @@ Shumpei Wakabayashi Tomohito Ando Go Sakayori + Yukinari Hisaki Apache License 2.0 From e75bbbc1825c69b25e59c153a0f4682bf99de52b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 5 Dec 2024 09:10:18 +0300 Subject: [PATCH 667/701] feat(bytetrack): remove unreachable code block from lapjv.h (#9563) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../autoware_bytetrack/lib/include/lapjv.h | 30 ------------------- 1 file changed, 30 deletions(-) diff --git a/perception/autoware_bytetrack/lib/include/lapjv.h b/perception/autoware_bytetrack/lib/include/lapjv.h index d197b747e6f7d..c42fcbac8eb60 100644 --- a/perception/autoware_bytetrack/lib/include/lapjv.h +++ b/perception/autoware_bytetrack/lib/include/lapjv.h @@ -64,40 +64,10 @@ b = _temp_index; \ } -#if 0 -#include -#define ASSERT(cond) assert(cond) -#define PRINTF(fmt, ...) printf(fmt, ##__VA_ARGS__) -#define PRINT_COST_ARRAY(a, n) \ - while (1) { \ - printf(#a " = ["); \ - if ((n) > 0) { \ - printf("%f", (a)[0]); \ - for (uint_t j = 1; j < n; j++) { \ - printf(", %f", (a)[j]); \ - } \ - } \ - printf("]\n"); \ - break; \ - } -#define PRINT_INDEX_ARRAY(a, n) \ - while (1) { \ - printf(#a " = ["); \ - if ((n) > 0) { \ - printf("%d", (a)[0]); \ - for (uint_t j = 1; j < n; j++) { \ - printf(", %d", (a)[j]); \ - } \ - } \ - printf("]\n"); \ - break; \ - } -#else #define ASSERT(cond) #define PRINTF(fmt, ...) #define PRINT_COST_ARRAY(a, n) #define PRINT_INDEX_ARRAY(a, n) -#endif typedef signed int int_t; typedef unsigned int uint_t; From cf0266e5cde240608d5038ab3e190bc3bfc5d219 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Thu, 5 Dec 2024 15:44:13 +0900 Subject: [PATCH 668/701] feat(costmap_generator, scenario_selector): improve freespace planning stability (#9579) * discretize updating grid center position by size of grid resolution Signed-off-by: mohammad alqudah * modify logic for switching to lane driving in scenario selector Signed-off-by: mohammad alqudah * fix spelling Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah --- .../costmap_generator/costmap_generator.hpp | 11 ++++++++- .../src/costmap_generator.cpp | 24 +++++++++++++------ .../autoware_scenario_selector/src/node.cpp | 22 ++++++++++++++--- 3 files changed, 46 insertions(+), 11 deletions(-) diff --git a/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp index 72b56f0348a40..4fed5bcb6cff3 100644 --- a/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp @@ -139,6 +139,13 @@ class CostmapGenerator : public rclcpp::Node void set_current_pose(); + /// \brief set position of grid center + /// \details computes relative position of ego from current grid center, + /// if offset is larger than grid resolution, grid center will be updated + /// by a multiple of the grid resolution + /// \param[in] tf costmap frame to vehicle frame transform + void set_grid_center(const geometry_msgs::msg::TransformStamped & tf); + void onTimer(); bool isActive(); @@ -148,7 +155,9 @@ class CostmapGenerator : public rclcpp::Node /// \brief publish ros msg: grid_map::GridMap, and nav_msgs::OccupancyGrid /// \param[in] gridmap with calculated cost - void publishCostmap(const grid_map::GridMap & costmap); + /// \param[in] tf costmap frame to vehicle frame transform + void publishCostmap( + const grid_map::GridMap & costmap, const geometry_msgs::msg::TransformStamped & tf); /// \brief fill a vector with road area polygons /// \param [in] lanelet_map input lanelet map diff --git a/planning/autoware_costmap_generator/src/costmap_generator.cpp b/planning/autoware_costmap_generator/src/costmap_generator.cpp index 4092acae9b51c..052bb2728a3b1 100644 --- a/planning/autoware_costmap_generator/src/costmap_generator.cpp +++ b/planning/autoware_costmap_generator/src/costmap_generator.cpp @@ -286,11 +286,7 @@ void CostmapGenerator::onTimer() } time_keeper_->end_track("lookupTransform"); - // Set grid center - grid_map::Position p; - p.x() = tf.transform.translation.x; - p.y() = tf.transform.translation.y; - costmap_.setPosition(p); + set_grid_center(tf); if ((param_->use_wayarea || param_->use_parkinglot) && lanelet_map_) { autoware::universe_utils::ScopedTimeTrack st("generatePrimitivesCostmap()", *time_keeper_); @@ -312,7 +308,18 @@ void CostmapGenerator::onTimer() costmap_[LayerName::combined] = generateCombinedCostmap(); } - publishCostmap(costmap_); + publishCostmap(costmap_, tf); +} + +void CostmapGenerator::set_grid_center(const geometry_msgs::msg::TransformStamped & tf) +{ + const auto cur_pos = costmap_.getPosition(); + const grid_map::Position ref_pos(tf.transform.translation.x, tf.transform.translation.y); + const auto disp = ref_pos - cur_pos; + const auto resolution = costmap_.getResolution(); + const grid_map::Position offset( + std::round(disp.x() / resolution) * resolution, std::round(disp.y() / resolution) * resolution); + costmap_.setPosition(cur_pos + offset); } bool CostmapGenerator::isActive() @@ -452,7 +459,8 @@ grid_map::Matrix CostmapGenerator::generateCombinedCostmap() return combined_costmap[LayerName::combined]; } -void CostmapGenerator::publishCostmap(const grid_map::GridMap & costmap) +void CostmapGenerator::publishCostmap( + const grid_map::GridMap & costmap, const geometry_msgs::msg::TransformStamped & tf) { // Set header std_msgs::msg::Header header; @@ -465,11 +473,13 @@ void CostmapGenerator::publishCostmap(const grid_map::GridMap & costmap) costmap, LayerName::combined, param_->grid_min_value, param_->grid_max_value, out_occupancy_grid); out_occupancy_grid.header = header; + out_occupancy_grid.info.origin.position.z = tf.transform.translation.z; pub_occupancy_grid_->publish(out_occupancy_grid); // Publish GridMap auto out_gridmap_msg = grid_map::GridMapRosConverter::toMessage(costmap); out_gridmap_msg->header = header; + out_gridmap_msg->info.pose.position.z = tf.transform.translation.z; pub_costmap_->publish(*out_gridmap_msg); // Publish ProcessingTime diff --git a/planning/autoware_scenario_selector/src/node.cpp b/planning/autoware_scenario_selector/src/node.cpp index eb3303766205f..4bb64e27368d8 100644 --- a/planning/autoware_scenario_selector/src/node.cpp +++ b/planning/autoware_scenario_selector/src/node.cpp @@ -14,6 +14,7 @@ #include "autoware/scenario_selector/node.hpp" +#include #include #include @@ -65,6 +66,22 @@ bool isInLane( return dist_to_nearest_lanelet < margin; } +bool isAlongLane( + const std::shared_ptr & route_handler, + const geometry_msgs::msg::Pose & current_pose) +{ + lanelet::ConstLanelet closest_lanelet; + if (!route_handler->getClosestLaneletWithConstrainsWithinRoute( + current_pose, &closest_lanelet, 0.0, M_PI_4)) { + return false; + } + const lanelet::BasicPoint2d src_point(current_pose.position.x, current_pose.position.y); + const auto dist_to_centerline = + lanelet::geometry::distanceToCenterline2d(closest_lanelet, src_point); + static constexpr double margin = 1.0; + return dist_to_centerline < margin; +} + bool isInParkingLot( const std::shared_ptr & lanelet_map_ptr, const geometry_msgs::msg::Pose & current_pose) @@ -215,10 +232,9 @@ bool ScenarioSelectorNode::isSwitchToParking(const bool is_stopped) bool ScenarioSelectorNode::isSwitchToLaneDriving() { - const auto is_in_lane = - isInLane(route_handler_->getLaneletMapPtr(), current_pose_->pose.pose.position); + const auto is_along_lane = isAlongLane(route_handler_, current_pose_->pose.pose); - if (!isEmptyParkingTrajectory() || !is_in_lane) { + if (!isEmptyParkingTrajectory() || !is_along_lane) { empty_parking_trajectory_time_ = {}; return false; } From 1aba360508814fdf781e2a5c197b99b1c989dca3 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 5 Dec 2024 19:01:44 +0900 Subject: [PATCH 669/701] refactor(goal_planner): improve log message and change level (#9562) Signed-off-by: kosuke55 Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> --- .../src/goal_planner_module.cpp | 34 ++++++++++++------- 1 file changed, 22 insertions(+), 12 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 120a2fa6c24ec..01d06a4964c61 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -103,7 +103,10 @@ GoalPlannerModule::GoalPlannerModule( } if (pull_over_planners_.empty()) { - RCLCPP_ERROR(getLogger(), "Not found enabled planner"); + RCLCPP_WARN( + getLogger(), + "No enabled planner found. The vehicle will stop in the road lane without pull over. Please " + "check the parameters if this is the intended behavior."); } // set selected goal searcher @@ -296,8 +299,8 @@ void GoalPlannerModule::onTimer() !local_planner_data || !current_status_opt || !previous_module_output_opt || !last_previous_module_output_opt || !occupancy_grid_map || !parameters_opt || !goal_candidates_opt) { - RCLCPP_ERROR( - getLogger(), + RCLCPP_INFO_THROTTLE( + getLogger(), *clock_, 5000, "failed to get valid " "local_planner_data/current_status/previous_module_output/occupancy_grid_map/parameters_opt " "in onTimer"); @@ -462,8 +465,8 @@ void GoalPlannerModule::onFreespaceParkingTimer() if ( !local_planner_data || !current_status_opt || !occupancy_grid_map || !parameters_opt || !vehicle_footprint_opt || !goal_candidates_opt) { - RCLCPP_ERROR( - getLogger(), + RCLCPP_WARN_THROTTLE( + getLogger(), *clock_, 5000, "failed to get valid planner_data/current_status/parameters in " "onFreespaceParkingTimer"); return; @@ -801,7 +804,9 @@ bool GoalPlannerModule::isExecutionReady() const // path_decision_controller.get_current_state() is valid if (parameters_->safety_check_params.enable_safety_check && isWaitingApproval()) { if (!path_decision_controller_.get_current_state().is_stable_safe) { - RCLCPP_ERROR_THROTTLE(getLogger(), *clock_, 5000, "Path is not safe against dynamic objects"); + RCLCPP_INFO_THROTTLE( + getLogger(), *clock_, 5000, + "Path is not safe against dynamic objects, so the candidate path is not approved."); return false; } } @@ -945,7 +950,8 @@ BehaviorModuleOutput GoalPlannerModule::plan() if (utils::isAllowedGoalModification(planner_data_->route_handler)) { if (!context_data_) { - RCLCPP_ERROR(getLogger(), " [pull_over] plan() is called without valid context_data"); + RCLCPP_WARN_THROTTLE( + getLogger(), *clock_, 5000, " [pull_over] plan() is called without valid context_data"); } else { const auto & context_data = context_data_.value(); return planPullOver(context_data); @@ -1230,7 +1236,7 @@ void GoalPlannerModule::setOutput( if (!context_data.pull_over_path_opt) { // situation : not safe against static objects use stop_path output.path = generateStopPath(context_data); - RCLCPP_WARN_THROTTLE( + RCLCPP_INFO_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, generate stop path"); setDrivableAreaInfo(context_data, output); return; @@ -1244,7 +1250,7 @@ void GoalPlannerModule::setOutput( // insert stop point in current path if ego is able to stop with acceleration and jerk // constraints output.path = generateFeasibleStopPath(pull_over_path.getCurrentPath()); - RCLCPP_WARN_THROTTLE( + RCLCPP_INFO_THROTTLE( getLogger(), *clock_, 5000, "Not safe against dynamic objects, generate stop path"); debug_stop_pose_with_info_.set(std::string("feasible stop after approval")); } else { @@ -1506,7 +1512,9 @@ void GoalPlannerModule::postProcess() universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (!context_data_) { - RCLCPP_ERROR(getLogger(), " [pull_over] postProcess() is called without valid context_data"); + RCLCPP_WARN_THROTTLE( + getLogger(), *clock_, 5000, + " [pull_over] postProcess() is called without valid context_data. use dummy context data."); } const auto context_data_dummy = PullOverContextData(true, PredictedObjects{}, PredictedObjects{}, std::nullopt, {}, {}); @@ -1544,8 +1552,10 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApproval() if (utils::isAllowedGoalModification(planner_data_->route_handler)) { if (!context_data_) { - RCLCPP_ERROR( - getLogger(), " [pull_over] planWaitingApproval() is called without valid context_data"); + RCLCPP_WARN_THROTTLE( + getLogger(), *clock_, 5000, + " [pull_over] planWaitingApproval() is called without valid context_data. use fixed goal " + "planner"); } else { const auto & context_data = context_data_.value(); return planPullOverAsCandidate(context_data); From 53a960ea2a526de5f23839f5cd28d142d23341ac Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Thu, 5 Dec 2024 18:27:17 +0300 Subject: [PATCH 670/701] ci(pre-commit): update cpplint to 2.0.0 (#9557) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .pre-commit-config.yaml | 2 +- CPPLINT.cfg | 2 ++ .../test/test_mock_data_parser.cpp | 9 ++++--- .../test_create_vehicle_passing_areas.cpp | 2 ++ .../autoware_pure_pursuit.cpp | 4 +-- .../src/fusion_node.cpp | 26 +++++++++++-------- .../src/roi_detected_object_fusion/node.cpp | 12 ++++----- .../src/util.cpp | 6 +++++ .../src/component_monitor_node.cpp | 1 + .../reader/hdd_reader/hdd_reader.cpp | 22 ++++++++-------- 10 files changed, 51 insertions(+), 35 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index f3f3248095a0f..6e7c64fd982fc 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -76,7 +76,7 @@ repos: types_or: [c++, c, cuda] - repo: https://github.com/cpplint/cpplint - rev: 1.6.1 + rev: 2.0.0 hooks: - id: cpplint args: [--quiet] diff --git a/CPPLINT.cfg b/CPPLINT.cfg index 81869c92be64c..159042dba0b48 100644 --- a/CPPLINT.cfg +++ b/CPPLINT.cfg @@ -7,10 +7,12 @@ set noparent linelength=100 includeorder=standardcfirst filter=-build/c++11 # we do allow C++11 +filter=-build/c++17 # we allow filter=-build/namespaces_literals # we allow using namespace for literals filter=-runtime/references # we consider passing non-const references to be ok filter=-whitespace/braces # we wrap open curly braces for namespaces, classes and functions filter=-whitespace/indent # we don't indent keywords like public, protected and private with one space +filter=-whitespace/newline # we allow the developer to decide about newline at the end of file (it's clashing with clang-format) filter=-whitespace/parens # we allow closing parenthesis to be on the next line filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon filter=-build/header_guard # we automatically fix the names of header guards using pre-commit diff --git a/common/autoware_test_utils/test/test_mock_data_parser.cpp b/common/autoware_test_utils/test/test_mock_data_parser.cpp index 34218d48552e9..036f16c827713 100644 --- a/common/autoware_test_utils/test/test_mock_data_parser.cpp +++ b/common/autoware_test_utils/test/test_mock_data_parser.cpp @@ -673,11 +673,12 @@ TEST(ParseFunctions, CompleteYAMLTest) // Test parsing of segments const auto segments = parse>(config["segments"]); ASSERT_EQ( - segments.size(), uint64_t(1)); // Assuming only one segment in the provided YAML for this test + segments.size(), + static_cast(1)); // Assuming only one segment in the provided YAML for this test const auto & segment0 = segments[0]; EXPECT_EQ(segment0.preferred_primitive.id, 11); - EXPECT_EQ(segment0.primitives.size(), uint64_t(2)); + EXPECT_EQ(segment0.primitives.size(), static_cast(2)); EXPECT_EQ(segment0.primitives[0].id, 22); EXPECT_EQ(segment0.primitives[0].primitive_type, "lane"); EXPECT_EQ(segment0.primitives[1].id, 33); @@ -811,10 +812,10 @@ TEST(ParseFunction, CompleteFromFilename) ASSERT_EQ( lanelet_route.segments.size(), - uint64_t(2)); // Assuming only one segment in the provided YAML for this test + static_cast(2)); // Assuming only one segment in the provided YAML for this test const auto & segment1 = lanelet_route.segments[1]; EXPECT_EQ(segment1.preferred_primitive.id, 44); - EXPECT_EQ(segment1.primitives.size(), uint64_t(4)); + EXPECT_EQ(segment1.primitives.size(), static_cast(4)); EXPECT_EQ(segment1.primitives[0].id, 55); EXPECT_EQ(segment1.primitives[0].primitive_type, "lane"); EXPECT_EQ(segment1.primitives[1].id, 66); diff --git a/control/autoware_lane_departure_checker/test/test_create_vehicle_passing_areas.cpp b/control/autoware_lane_departure_checker/test/test_create_vehicle_passing_areas.cpp index d79ebeb1e13e3..40a4db4024094 100644 --- a/control/autoware_lane_departure_checker/test/test_create_vehicle_passing_areas.cpp +++ b/control/autoware_lane_departure_checker/test/test_create_vehicle_passing_areas.cpp @@ -24,6 +24,8 @@ #include +#include + using autoware::lane_departure_checker::utils::createVehiclePassingAreas; using autoware::universe_utils::LinearRing2d; using autoware::universe_utils::Point2d; diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp index ed9579f296fea..55a3680dfaaf0 100644 --- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp @@ -156,9 +156,9 @@ int32_t PurePursuit::findNextPointIdx(int32_t search_start_idx) } // look for the next waypoint. - for (int32_t i = search_start_idx; i < (int32_t)curr_wps_ptr_->size(); i++) { + for (int32_t i = search_start_idx; i < static_cast(curr_wps_ptr_->size()); i++) { // if search waypoint is the last - if (i == ((int32_t)curr_wps_ptr_->size() - 1)) { + if (i == (static_cast(curr_wps_ptr_->size()) - 1)) { return i; } diff --git a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp index 067deb5d03a87..60406652310dd 100644 --- a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp @@ -215,7 +215,7 @@ void FusionNode::subCallback( preprocess(*output_msg); int64_t timestamp_nsec = - (*output_msg).header.stamp.sec * (int64_t)1e9 + (*output_msg).header.stamp.nanosec; + (*output_msg).header.stamp.sec * static_cast(1e9) + (*output_msg).header.stamp.nanosec; // if matching rois exist, fuseOnSingle // please ask maintainers before parallelize this loop because debugger is not thread safe @@ -232,14 +232,17 @@ void FusionNode::subCallback( std::list outdate_stamps; for (const auto & [k, v] : cached_roi_msgs_.at(roi_i)) { - int64_t new_stamp = timestamp_nsec + input_offset_ms_.at(roi_i) * (int64_t)1e6; - int64_t interval = abs(int64_t(k) - new_stamp); + int64_t new_stamp = timestamp_nsec + input_offset_ms_.at(roi_i) * static_cast(1e6); + int64_t interval = abs(static_cast(k) - new_stamp); - if (interval <= min_interval && interval <= match_threshold_ms_ * (int64_t)1e6) { + if ( + interval <= min_interval && interval <= match_threshold_ms_ * static_cast(1e6)) { min_interval = interval; matched_stamp = k; - } else if (int64_t(k) < new_stamp && interval > match_threshold_ms_ * (int64_t)1e6) { - outdate_stamps.push_back(int64_t(k)); + } else if ( + static_cast(k) < new_stamp && + interval > match_threshold_ms_ * static_cast(1e6)) { + outdate_stamps.push_back(static_cast(k)); } } @@ -293,7 +296,7 @@ void FusionNode::subCallback( processing_time_ms = 0; } } else { - cached_msg_.first = int64_t(timestamp_nsec); + cached_msg_.first = timestamp_nsec; cached_msg_.second = output_msg; processing_time_ms = stop_watch_ptr_->toc("processing_time", true); } @@ -305,15 +308,16 @@ void FusionNode::roiCallback( { stop_watch_ptr_->toc("processing_time", true); - int64_t timestamp_nsec = - (*input_roi_msg).header.stamp.sec * (int64_t)1e9 + (*input_roi_msg).header.stamp.nanosec; + int64_t timestamp_nsec = (*input_roi_msg).header.stamp.sec * static_cast(1e9) + + (*input_roi_msg).header.stamp.nanosec; // if cached Msg exist, try to match if (cached_msg_.second != nullptr) { - int64_t new_stamp = cached_msg_.first + input_offset_ms_.at(roi_i) * (int64_t)1e6; + int64_t new_stamp = cached_msg_.first + input_offset_ms_.at(roi_i) * static_cast(1e6); int64_t interval = abs(timestamp_nsec - new_stamp); - if (interval < match_threshold_ms_ * (int64_t)1e6 && is_fused_.at(roi_i) == false) { + if ( + interval < match_threshold_ms_ * static_cast(1e6) && is_fused_.at(roi_i) == false) { if (camera_info_map_.find(roi_i) == camera_info_map_.end()) { RCLCPP_WARN_THROTTLE( this->get_logger(), *this->get_clock(), 5000, "no camera info. id is %zu", roi_i); diff --git a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp index da9d413757332..134dd7bad9129 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp @@ -69,7 +69,7 @@ void RoiDetectedObjectFusionNode::preprocess(DetectedObjects & output_msg) } int64_t timestamp_nsec = - output_msg.header.stamp.sec * (int64_t)1e9 + output_msg.header.stamp.nanosec; + output_msg.header.stamp.sec * static_cast(1e9) + output_msg.header.stamp.nanosec; passthrough_object_flags_map_.insert(std::make_pair(timestamp_nsec, passthrough_object_flags)); fused_object_flags_map_.insert(std::make_pair(timestamp_nsec, fused_object_flags)); ignored_object_flags_map_.insert(std::make_pair(timestamp_nsec, ignored_object_flags)); @@ -118,8 +118,8 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs( const image_geometry::PinholeCameraModel & pinhole_camera_model) { std::map object_roi_map; - int64_t timestamp_nsec = - input_object_msg.header.stamp.sec * (int64_t)1e9 + input_object_msg.header.stamp.nanosec; + int64_t timestamp_nsec = input_object_msg.header.stamp.sec * static_cast(1e9) + + input_object_msg.header.stamp.nanosec; if (passthrough_object_flags_map_.size() == 0) { return object_roi_map; } @@ -205,8 +205,8 @@ void RoiDetectedObjectFusionNode::fuseObjectsOnImage( const std::vector & image_rois, const std::map & object_roi_map) { - int64_t timestamp_nsec = - input_object_msg.header.stamp.sec * (int64_t)1e9 + input_object_msg.header.stamp.nanosec; + int64_t timestamp_nsec = input_object_msg.header.stamp.sec * static_cast(1e9) + + input_object_msg.header.stamp.nanosec; if (fused_object_flags_map_.size() == 0 || ignored_object_flags_map_.size() == 0) { return; } @@ -289,7 +289,7 @@ void RoiDetectedObjectFusionNode::publish(const DetectedObjects & output_msg) } int64_t timestamp_nsec = - output_msg.header.stamp.sec * (int64_t)1e9 + output_msg.header.stamp.nanosec; + output_msg.header.stamp.sec * static_cast(1e9) + output_msg.header.stamp.nanosec; if ( passthrough_object_flags_map_.size() == 0 || fused_object_flags_map_.size() == 0 || ignored_object_flags_map_.size() == 0) { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/util.cpp index fde6202c7ce24..5c5aa0a26b3b4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/util.cpp @@ -22,6 +22,12 @@ #include +#include +#include +#include +#include +#include + namespace autoware::behavior_velocity_planner { diff --git a/system/autoware_component_monitor/src/component_monitor_node.cpp b/system/autoware_component_monitor/src/component_monitor_node.cpp index 3c5d6b6667725..ab234f7fd66f2 100644 --- a/system/autoware_component_monitor/src/component_monitor_node.cpp +++ b/system/autoware_component_monitor/src/component_monitor_node.cpp @@ -147,6 +147,7 @@ std::uint64_t ComponentMonitor::parse_memory_res(const std::string & mem_res) { // example 1: 12.3g // example 2: 123 (without suffix, just bytes) + // NOLINTNEXTLINE(readability/casting) static const std::unordered_map> unit_map{ {'k', unit_conversions::kib_to_bytes}, {'m', unit_conversions::mib_to_bytes}, {'g', unit_conversions::gib_to_bytes}, {'t', unit_conversions::tib_to_bytes}, diff --git a/system/system_monitor/reader/hdd_reader/hdd_reader.cpp b/system/system_monitor/reader/hdd_reader/hdd_reader.cpp index 589f9a3970098..740f841382f47 100644 --- a/system/system_monitor/reader/hdd_reader/hdd_reader.cpp +++ b/system/system_monitor/reader/hdd_reader/hdd_reader.cpp @@ -330,10 +330,10 @@ int get_nvme_identify(int fd, HddInfo * info) char data[4096]{}; // Fixed size for Identify command // The Identify command returns a data buffer that describes information about the NVM subsystem - cmd.opcode = 0x06; // Identify - cmd.addr = (uint64_t)data; // memory address of data - cmd.data_len = sizeof(data); // length of data - cmd.cdw10 = 0x01; // Identify Controller data structure + cmd.opcode = 0x06; // Identify + cmd.addr = reinterpret_cast(data); // memory address of data + cmd.data_len = sizeof(data); // length of data + cmd.cdw10 = 0x01; // Identify Controller data structure // send Admin Command to device int ret = ioctl(fd, NVME_IOCTL_ADMIN_CMD, &cmd); @@ -368,13 +368,13 @@ int get_nvme_smart_data(int fd, HddInfo * info) unsigned char data[144]{}; // 36 Dword (get byte 0 to 143) // The Get Log Page command returns a data buffer containing the log page requested - cmd.opcode = 0x02; // Get Log Page - cmd.nsid = 0xFFFFFFFF; // Global log page - cmd.addr = (uint64_t)data; // memory address of data - cmd.data_len = sizeof(data); // length of data - cmd.cdw10 = 0x00240002; // Bit 27:16 Number of Dwords (NUMD) = 024h (36 Dword) - // - Minimum necessary size to obtain S.M.A.R.T. informations - // Bit 07:00 = 02h (SMART / Health Information) + cmd.opcode = 0x02; // Get Log Page + cmd.nsid = 0xFFFFFFFF; // Global log page + cmd.addr = reinterpret_cast(data); // memory address of data + cmd.data_len = sizeof(data); // length of data + cmd.cdw10 = 0x00240002; // Bit 27:16 Number of Dwords (NUMD) = 024h (36 Dword) + // - Minimum necessary size to obtain S.M.A.R.T. informations + // Bit 07:00 = 02h (SMART / Health Information) // send Admin Command to device int ret = ioctl(fd, NVME_IOCTL_ADMIN_CMD, &cmd); From 8cf0bc970d83f342d78e8c4d16ffaf0380782c9c Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri, 6 Dec 2024 01:05:25 +0900 Subject: [PATCH 671/701] feat(autoware_geography_utils)!: move autoware_geography_utils to autoware.core (#9554) Signed-off-by: Ryohsuke Mitsudome --- common/autoware_geography_utils/CHANGELOG.rst | 15 -- .../autoware_geography_utils/CMakeLists.txt | 37 ---- common/autoware_geography_utils/README.md | 5 - .../autoware/geography_utils/height.hpp | 33 ---- .../geography_utils/lanelet2_projector.hpp | 32 ---- .../autoware/geography_utils/projection.hpp | 33 ---- common/autoware_geography_utils/package.xml | 33 ---- .../autoware_geography_utils/src/height.cpp | 63 ------- .../src/lanelet2_projector.cpp | 57 ------- .../src/projection.cpp | 97 ----------- .../test/test_geography_utils.cpp | 26 --- .../test/test_height.cpp | 86 ---------- .../test/test_projection.cpp | 161 ------------------ 13 files changed, 678 deletions(-) delete mode 100644 common/autoware_geography_utils/CHANGELOG.rst delete mode 100644 common/autoware_geography_utils/CMakeLists.txt delete mode 100644 common/autoware_geography_utils/README.md delete mode 100644 common/autoware_geography_utils/include/autoware/geography_utils/height.hpp delete mode 100644 common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp delete mode 100644 common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp delete mode 100644 common/autoware_geography_utils/package.xml delete mode 100644 common/autoware_geography_utils/src/height.cpp delete mode 100644 common/autoware_geography_utils/src/lanelet2_projector.cpp delete mode 100644 common/autoware_geography_utils/src/projection.cpp delete mode 100644 common/autoware_geography_utils/test/test_geography_utils.cpp delete mode 100644 common/autoware_geography_utils/test/test_height.cpp delete mode 100644 common/autoware_geography_utils/test/test_projection.cpp diff --git a/common/autoware_geography_utils/CHANGELOG.rst b/common/autoware_geography_utils/CHANGELOG.rst deleted file mode 100644 index 623861bbd01c3..0000000000000 --- a/common/autoware_geography_utils/CHANGELOG.rst +++ /dev/null @@ -1,15 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package autoware_geography_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.38.0 (2024-11-08) -------------------- -* unify package.xml version to 0.37.0 -* refactor(geography_utils): prefix package and namespace with autoware (`#7790 `_) - * refactor(geography_utils): prefix package and namespace with autoware - * move headers to include/autoware/ - --------- -* Contributors: Esteve Fernandez, Yutaka Kondo - -0.26.0 (2024-04-03) -------------------- diff --git a/common/autoware_geography_utils/CMakeLists.txt b/common/autoware_geography_utils/CMakeLists.txt deleted file mode 100644 index b4ab5c2f74494..0000000000000 --- a/common/autoware_geography_utils/CMakeLists.txt +++ /dev/null @@ -1,37 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(autoware_geography_utils) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -# GeographicLib -find_package(PkgConfig) -find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h - PATH_SUFFIXES GeographicLib -) -set(GeographicLib_INCLUDE_DIRS ${GeographicLib_INCLUDE_DIR}) -find_library(GeographicLib_LIBRARIES NAMES Geographic) - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/height.cpp - src/projection.cpp - src/lanelet2_projector.cpp -) - -target_link_libraries(${PROJECT_NAME} - ${GeographicLib_LIBRARIES} -) - -if(BUILD_TESTING) - find_package(ament_cmake_ros REQUIRED) - - file(GLOB_RECURSE test_files test/*.cpp) - - ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files}) - - target_link_libraries(test_${PROJECT_NAME} - ${PROJECT_NAME} - ) -endif() - -ament_auto_package() diff --git a/common/autoware_geography_utils/README.md b/common/autoware_geography_utils/README.md deleted file mode 100644 index fb4c2dc3a8312..0000000000000 --- a/common/autoware_geography_utils/README.md +++ /dev/null @@ -1,5 +0,0 @@ -# geography_utils - -## Purpose - -This package contains geography-related functions used by other packages, so please refer to them as needed. diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/height.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/height.hpp deleted file mode 100644 index 1f205eb8f8b18..0000000000000 --- a/common/autoware_geography_utils/include/autoware/geography_utils/height.hpp +++ /dev/null @@ -1,33 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_ -#define AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_ - -#include - -namespace autoware::geography_utils -{ - -typedef double (*HeightConversionFunction)( - const double height, const double latitude, const double longitude); -double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude); -double convert_egm2008_to_wgs84(const double height, const double latitude, const double longitude); -double convert_height( - const double height, const double latitude, const double longitude, - const std::string & source_vertical_datum, const std::string & target_vertical_datum); - -} // namespace autoware::geography_utils - -#endif // AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_ diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp deleted file mode 100644 index 0eea2a9ff7fbb..0000000000000 --- a/common/autoware_geography_utils/include/autoware/geography_utils/lanelet2_projector.hpp +++ /dev/null @@ -1,32 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ -#define AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ - -#include - -#include - -#include - -namespace autoware::geography_utils -{ -using MapProjectorInfo = autoware_map_msgs::msg::MapProjectorInfo; - -std::unique_ptr get_lanelet2_projector(const MapProjectorInfo & projector_info); - -} // namespace autoware::geography_utils - -#endif // AUTOWARE__GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp deleted file mode 100644 index 5c4a69b15e192..0000000000000 --- a/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp +++ /dev/null @@ -1,33 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_ -#define AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_ - -#include -#include -#include - -namespace autoware::geography_utils -{ -using MapProjectorInfo = autoware_map_msgs::msg::MapProjectorInfo; -using GeoPoint = geographic_msgs::msg::GeoPoint; -using LocalPoint = geometry_msgs::msg::Point; - -LocalPoint project_forward(const GeoPoint & geo_point, const MapProjectorInfo & projector_info); -GeoPoint project_reverse(const LocalPoint & local_point, const MapProjectorInfo & projector_info); - -} // namespace autoware::geography_utils - -#endif // AUTOWARE__GEOGRAPHY_UTILS__PROJECTION_HPP_ diff --git a/common/autoware_geography_utils/package.xml b/common/autoware_geography_utils/package.xml deleted file mode 100644 index 8777bf4c13d45..0000000000000 --- a/common/autoware_geography_utils/package.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - autoware_geography_utils - 0.38.0 - The autoware_geography_utils package - Yamato Ando - Masahiro Sakamoto - NGUYEN Viet Anh - Taiki Yamada - Shintaro Sakoda - Ryu Yamamoto - Apache License 2.0 - Koji Minoda - - ament_cmake_auto - autoware_cmake - - autoware_lanelet2_extension - autoware_map_msgs - geographic_msgs - geographiclib - geometry_msgs - lanelet2_io - - ament_cmake_ros - ament_lint_auto - autoware_lint_common - - - ament_cmake - - diff --git a/common/autoware_geography_utils/src/height.cpp b/common/autoware_geography_utils/src/height.cpp deleted file mode 100644 index 745dbf5b22cfc..0000000000000 --- a/common/autoware_geography_utils/src/height.cpp +++ /dev/null @@ -1,63 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include - -#include -#include -#include -#include - -namespace autoware::geography_utils -{ - -double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude) -{ - GeographicLib::Geoid egm2008("egm2008-1"); - // cSpell: ignore ELLIPSOIDTOGEOID - return egm2008.ConvertHeight(latitude, longitude, height, GeographicLib::Geoid::ELLIPSOIDTOGEOID); -} - -double convert_egm2008_to_wgs84(const double height, const double latitude, const double longitude) -{ - GeographicLib::Geoid egm2008("egm2008-1"); - // cSpell: ignore GEOIDTOELLIPSOID - return egm2008.ConvertHeight(latitude, longitude, height, GeographicLib::Geoid::GEOIDTOELLIPSOID); -} - -double convert_height( - const double height, const double latitude, const double longitude, - const std::string & source_vertical_datum, const std::string & target_vertical_datum) -{ - if (source_vertical_datum == target_vertical_datum) { - return height; - } - std::map, HeightConversionFunction> conversion_map; - conversion_map[{"WGS84", "EGM2008"}] = convert_wgs84_to_egm2008; - conversion_map[{"EGM2008", "WGS84"}] = convert_egm2008_to_wgs84; - - auto key = std::make_pair(source_vertical_datum, target_vertical_datum); - if (conversion_map.find(key) != conversion_map.end()) { - return conversion_map[key](height, latitude, longitude); - } else { - std::string error_message = - "Invalid conversion types: " + std::string(source_vertical_datum.c_str()) + " to " + - std::string(target_vertical_datum.c_str()); - - throw std::invalid_argument(error_message); - } -} - -} // namespace autoware::geography_utils diff --git a/common/autoware_geography_utils/src/lanelet2_projector.cpp b/common/autoware_geography_utils/src/lanelet2_projector.cpp deleted file mode 100644 index 76c69a85ae0bc..0000000000000 --- a/common/autoware_geography_utils/src/lanelet2_projector.cpp +++ /dev/null @@ -1,57 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include -#include -#include - -#include - -#include -#include - -namespace autoware::geography_utils -{ - -std::unique_ptr get_lanelet2_projector(const MapProjectorInfo & projector_info) -{ - if (projector_info.projector_type == MapProjectorInfo::LOCAL_CARTESIAN_UTM) { - lanelet::GPSPoint position{ - projector_info.map_origin.latitude, projector_info.map_origin.longitude, - projector_info.map_origin.altitude}; - lanelet::Origin origin{position}; - lanelet::projection::UtmProjector projector{origin}; - return std::make_unique(projector); - - } else if (projector_info.projector_type == MapProjectorInfo::MGRS) { - lanelet::projection::MGRSProjector projector{}; - projector.setMGRSCode(projector_info.mgrs_grid); - return std::make_unique(projector); - - } else if (projector_info.projector_type == MapProjectorInfo::TRANSVERSE_MERCATOR) { - lanelet::GPSPoint position{ - projector_info.map_origin.latitude, projector_info.map_origin.longitude, - projector_info.map_origin.altitude}; - lanelet::Origin origin{position}; - lanelet::projection::TransverseMercatorProjector projector{origin}; - return std::make_unique(projector); - } - const std::string error_msg = - "Invalid map projector type: " + projector_info.projector_type + - ". Currently supported types: MGRS, LocalCartesianUTM, and TransverseMercator"; - throw std::invalid_argument(error_msg); -} - -} // namespace autoware::geography_utils diff --git a/common/autoware_geography_utils/src/projection.cpp b/common/autoware_geography_utils/src/projection.cpp deleted file mode 100644 index e113c8da7b519..0000000000000 --- a/common/autoware_geography_utils/src/projection.cpp +++ /dev/null @@ -1,97 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include -#include -#include - -#include - -namespace autoware::geography_utils -{ - -Eigen::Vector3d to_basic_point_3d_pt(const LocalPoint src) -{ - Eigen::Vector3d dst; - dst.x() = src.x; - dst.y() = src.y; - dst.z() = src.z; - return dst; -} - -LocalPoint project_forward(const GeoPoint & geo_point, const MapProjectorInfo & projector_info) -{ - std::unique_ptr projector = get_lanelet2_projector(projector_info); - lanelet::GPSPoint position{geo_point.latitude, geo_point.longitude, geo_point.altitude}; - - lanelet::BasicPoint3d projected_local_point; - if (projector_info.projector_type == MapProjectorInfo::MGRS) { - const int mgrs_precision = 9; // set precision as 100 micro meter - const auto mgrs_projector = dynamic_cast(projector.get()); - - // project x and y using projector - // note that the altitude is ignored in MGRS projection conventionally - projected_local_point = mgrs_projector->forward(position, mgrs_precision); - } else { - // project x and y using projector - // note that the original projector such as UTM projector does not compensate for the altitude - // offset - projected_local_point = projector->forward(position); - - // correct z based on the map origin - // note that the converted altitude in local point is in the same vertical datum as the geo - // point - projected_local_point.z() = geo_point.altitude - projector_info.map_origin.altitude; - } - - LocalPoint local_point; - local_point.x = projected_local_point.x(); - local_point.y = projected_local_point.y(); - local_point.z = projected_local_point.z(); - - return local_point; -} - -GeoPoint project_reverse(const LocalPoint & local_point, const MapProjectorInfo & projector_info) -{ - std::unique_ptr projector = get_lanelet2_projector(projector_info); - - lanelet::GPSPoint projected_gps_point; - if (projector_info.projector_type == MapProjectorInfo::MGRS) { - const auto mgrs_projector = dynamic_cast(projector.get()); - // project latitude and longitude using projector - // note that the z is ignored in MGRS projection conventionally - projected_gps_point = - mgrs_projector->reverse(to_basic_point_3d_pt(local_point), projector_info.mgrs_grid); - } else { - // project latitude and longitude using projector - // note that the original projector such as UTM projector does not compensate for the altitude - // offset - projected_gps_point = projector->reverse(to_basic_point_3d_pt(local_point)); - - // correct altitude based on the map origin - // note that the converted altitude in local point is in the same vertical datum as the geo - // point - projected_gps_point.ele = local_point.z + projector_info.map_origin.altitude; - } - - GeoPoint geo_point; - geo_point.latitude = projected_gps_point.lat; - geo_point.longitude = projected_gps_point.lon; - geo_point.altitude = projected_gps_point.ele; - return geo_point; -} - -} // namespace autoware::geography_utils diff --git a/common/autoware_geography_utils/test/test_geography_utils.cpp b/common/autoware_geography_utils/test/test_geography_utils.cpp deleted file mode 100644 index ee0e7428db2f2..0000000000000 --- a/common/autoware_geography_utils/test/test_geography_utils.cpp +++ /dev/null @@ -1,26 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/geography_utils/height.hpp" -#include "autoware/geography_utils/lanelet2_projector.hpp" -#include "autoware/geography_utils/projection.hpp" - -#include - -int main(int argc, char * argv[]) -{ - testing::InitGoogleTest(&argc, argv); - bool result = RUN_ALL_TESTS(); - return result; -} diff --git a/common/autoware_geography_utils/test/test_height.cpp b/common/autoware_geography_utils/test/test_height.cpp deleted file mode 100644 index f624f6c3ff9e3..0000000000000 --- a/common/autoware_geography_utils/test/test_height.cpp +++ /dev/null @@ -1,86 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include - -#include - -#include -#include - -// Test case to verify if same source and target datums return original height -TEST(GeographyUtils, SameSourceTargetDatum) -{ - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - const std::string datum = "WGS84"; - - double converted_height = - autoware::geography_utils::convert_height(height, latitude, longitude, datum, datum); - - EXPECT_DOUBLE_EQ(height, converted_height); -} - -// Test case to verify valid source and target datums -TEST(GeographyUtils, ValidSourceTargetDatum) -{ - // Calculated with - // https://www.unavco.org/software/geodetic-utilities/geoid-height-calculator/geoid-height-calculator.html - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - const double target_height = -30.18; - - double converted_height = - autoware::geography_utils::convert_height(height, latitude, longitude, "WGS84", "EGM2008"); - - EXPECT_NEAR(target_height, converted_height, 0.1); -} - -// Test case to verify invalid source and target datums -TEST(GeographyUtils, InvalidSourceTargetDatum) -{ - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - - EXPECT_THROW( - autoware::geography_utils::convert_height(height, latitude, longitude, "INVALID1", "INVALID2"), - std::invalid_argument); -} - -// Test case to verify invalid source datums -TEST(GeographyUtils, InvalidSourceDatum) -{ - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - - EXPECT_THROW( - autoware::geography_utils::convert_height(height, latitude, longitude, "INVALID1", "WGS84"), - std::invalid_argument); -} - -// Test case to verify invalid target datums -TEST(GeographyUtils, InvalidTargetDatum) -{ - const double height = 10.0; - const double latitude = 35.0; - const double longitude = 139.0; - - EXPECT_THROW( - autoware::geography_utils::convert_height(height, latitude, longitude, "WGS84", "INVALID2"), - std::invalid_argument); -} diff --git a/common/autoware_geography_utils/test/test_projection.cpp b/common/autoware_geography_utils/test/test_projection.cpp deleted file mode 100644 index b8d036c136eeb..0000000000000 --- a/common/autoware_geography_utils/test/test_projection.cpp +++ /dev/null @@ -1,161 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include - -#include - -#include -#include - -TEST(GeographyUtilsProjection, ProjectForwardToMGRS) -{ - // source point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62426; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // target point - geometry_msgs::msg::Point local_point; - local_point.x = 86128.0; - local_point.y = 43002.0; - local_point.z = 10.0; - - // projector info - autoware_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS; - projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; - - // conversion - const geometry_msgs::msg::Point converted_point = - autoware::geography_utils::project_forward(geo_point, projector_info); - - EXPECT_NEAR(converted_point.x, local_point.x, 1.0); - EXPECT_NEAR(converted_point.y, local_point.y, 1.0); - EXPECT_NEAR(converted_point.z, local_point.z, 1.0); -} - -TEST(GeographyUtilsProjection, ProjectReverseFromMGRS) -{ - // source point - geometry_msgs::msg::Point local_point; - local_point.x = 86128.0; - local_point.y = 43002.0; - local_point.z = 10.0; - - // target point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62426; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // projector info - autoware_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS; - projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; - - // conversion - const geographic_msgs::msg::GeoPoint converted_point = - autoware::geography_utils::project_reverse(local_point, projector_info); - - EXPECT_NEAR(converted_point.latitude, geo_point.latitude, 0.0001); - EXPECT_NEAR(converted_point.longitude, geo_point.longitude, 0.0001); - EXPECT_NEAR(converted_point.altitude, geo_point.altitude, 0.0001); -} - -TEST(GeographyUtilsProjection, ProjectForwardAndReverseMGRS) -{ - // source point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62426; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // projector info - autoware_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS; - projector_info.mgrs_grid = "54SUE"; - projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; - - // conversion - const geometry_msgs::msg::Point converted_local_point = - autoware::geography_utils::project_forward(geo_point, projector_info); - const geographic_msgs::msg::GeoPoint converted_geo_point = - autoware::geography_utils::project_reverse(converted_local_point, projector_info); - - EXPECT_NEAR(converted_geo_point.latitude, geo_point.latitude, 0.0001); - EXPECT_NEAR(converted_geo_point.longitude, geo_point.longitude, 0.0001); - EXPECT_NEAR(converted_geo_point.altitude, geo_point.altitude, 0.0001); -} - -TEST(GeographyUtilsProjection, ProjectForwardToLocalCartesianUTMOrigin) -{ - // source point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62406; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // target point - geometry_msgs::msg::Point local_point; - local_point.x = 0.0; - local_point.y = -22.18; - local_point.z = 20.0; - - // projector info - autoware_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; - projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; - projector_info.map_origin.latitude = 35.62426; - projector_info.map_origin.longitude = 139.74252; - projector_info.map_origin.altitude = -10.0; - - // conversion - const geometry_msgs::msg::Point converted_point = - autoware::geography_utils::project_forward(geo_point, projector_info); - - EXPECT_NEAR(converted_point.x, local_point.x, 1.0); - EXPECT_NEAR(converted_point.y, local_point.y, 1.0); - EXPECT_NEAR(converted_point.z, local_point.z, 1.0); -} - -TEST(GeographyUtilsProjection, ProjectForwardAndReverseLocalCartesianUTMOrigin) -{ - // source point - geographic_msgs::msg::GeoPoint geo_point; - geo_point.latitude = 35.62426; - geo_point.longitude = 139.74252; - geo_point.altitude = 10.0; - - // projector info - autoware_map_msgs::msg::MapProjectorInfo projector_info; - projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM; - projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84; - projector_info.map_origin.latitude = 35.0; - projector_info.map_origin.longitude = 139.0; - projector_info.map_origin.altitude = 0.0; - - // conversion - const geometry_msgs::msg::Point converted_local_point = - autoware::geography_utils::project_forward(geo_point, projector_info); - const geographic_msgs::msg::GeoPoint converted_geo_point = - autoware::geography_utils::project_reverse(converted_local_point, projector_info); - - EXPECT_NEAR(converted_geo_point.latitude, geo_point.latitude, 0.0001); - EXPECT_NEAR(converted_geo_point.longitude, geo_point.longitude, 0.0001); - EXPECT_NEAR(converted_geo_point.altitude, geo_point.altitude, 0.0001); -} From 63cfff8419e62c4e9cb1df2edb439b9324b89629 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Fri, 6 Dec 2024 07:31:46 +0900 Subject: [PATCH 672/701] test(autoware_behavior_velocity_planner_common): refactor and test autoware_behavior_velocity_planner_common (#9551) * test(autoware_behavior_velocity_planner_common): refactor and test autoware_behavior_velocity_planner_common Signed-off-by: Y.Hisaki * remove nodiscard Signed-off-by: Y.Hisaki * update Signed-off-by: Y.Hisaki * fix Signed-off-by: Y.Hisaki * fix * update Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- .../CMakeLists.txt | 8 +- .../planner_data.hpp | 82 +---- .../scene_module_interface.hpp | 6 +- .../utilization/arc_lane_util.hpp | 8 +- .../utilization/debug.hpp | 8 +- .../utilization/path_utilization.hpp | 4 +- .../utilization/state_machine.hpp | 7 +- .../utilization/util.hpp | 46 ++- .../package.xml | 1 + .../src/planner_data.cpp | 72 ++++ .../src/utilization/arc_lane_util.cpp | 9 - .../src/utilization/boost_geometry_helper.cpp | 10 +- .../src/utilization/debug.cpp | 33 +- .../src/utilization/path_utilization.cpp | 9 +- .../src/utilization/trajectory_utils.cpp | 6 +- .../src/utilization/util.cpp | 83 +++-- ...lization.cpp => test_path_utilization.cpp} | 67 ++++ .../test/src/test_trajectory_utils.cpp | 113 +++++++ .../test/src/test_util.cpp | 308 ++++++++++++++++++ 19 files changed, 680 insertions(+), 200 deletions(-) create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/planner_data.cpp rename planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/{test_utilization.cpp => test_path_utilization.cpp} (70%) create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_trajectory_utils.cpp create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_util.cpp diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt index f76fcfa31c240..4c06c427a026d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt @@ -6,6 +6,7 @@ autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED src/scene_module_interface.cpp + src/planner_data.cpp src/utilization/path_utilization.cpp src/utilization/trajectory_utils.cpp src/utilization/arc_lane_util.cpp @@ -15,11 +16,8 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) if(BUILD_TESTING) - ament_add_ros_isolated_gtest(test_${PROJECT_NAME} - test/src/test_state_machine.cpp - test/src/test_arc_lane_util.cpp - test/src/test_utilization.cpp - ) + file(GLOB TEST_SOURCES test/src/*.cpp) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${TEST_SOURCES}) target_link_libraries(test_${PROJECT_NAME} gtest_main ${PROJECT_NAME} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp index 4075f356c187a..309ba33a3498a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp @@ -15,11 +15,10 @@ #ifndef AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ #define AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ +#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" #include "autoware/route_handler/route_handler.hpp" - -#include -#include -#include +#include "autoware/velocity_smoother/smoother/smoother_base.hpp" +#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" #include #include @@ -38,32 +37,19 @@ #include #include -#include #include #include #include #include -#include namespace autoware::behavior_velocity_planner { -class BehaviorVelocityPlannerNode; struct PlannerData { - explicit PlannerData(rclcpp::Node & node) - : clock_(node.get_clock()), - vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()) - { - max_stop_acceleration_threshold = node.declare_parameter( - "max_accel"); // TODO(someone): read min_acc in velocity_controller.param.yaml? - max_stop_jerk_threshold = node.declare_parameter("max_jerk"); - system_delay = node.declare_parameter("system_delay"); - delay_response_time = node.declare_parameter("delay_response_time"); - } + explicit PlannerData(rclcpp::Node & node); rclcpp::Clock::SharedPtr clock_; - // msgs from callbacks that are used for data-ready geometry_msgs::msg::PoseStamped::ConstSharedPtr current_odometry; geometry_msgs::msg::TwistStamped::ConstSharedPtr current_velocity; geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr current_acceleration; @@ -71,85 +57,33 @@ struct PlannerData std::deque velocity_buffer; autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr predicted_objects; pcl::PointCloud::ConstPtr no_ground_pointcloud; - // occupancy grid + nav_msgs::msg::OccupancyGrid::ConstSharedPtr occupancy_grid; - // nearest search double ego_nearest_dist_threshold; double ego_nearest_yaw_threshold; - // other internal data - // traffic_light_id_map_raw is the raw observation, while traffic_light_id_map_keep_last keeps the - // last observed infomation for UNKNOWN std::map traffic_light_id_map_raw_; std::map traffic_light_id_map_last_observed_; std::optional external_velocity_limit; tier4_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr virtual_traffic_light_states; - // This variable is used when the Autoware's behavior has to depend on whether it's simulation or - // not. bool is_simulation = false; - // velocity smoother std::shared_ptr velocity_smoother_; - // route handler std::shared_ptr route_handler_; - // parameters autoware::vehicle_info_utils::VehicleInfo vehicle_info_; - // additional parameters double max_stop_acceleration_threshold; double max_stop_jerk_threshold; double system_delay; double delay_response_time; double stop_line_extend_length; - bool isVehicleStopped(const double stop_duration = 0.0) const - { - if (velocity_buffer.empty()) { - return false; - } - - // Get velocities within stop_duration - const auto now = clock_->now(); - std::vector vs; - for (const auto & velocity : velocity_buffer) { - vs.push_back(velocity.twist.linear.x); - - const auto & s = velocity.header.stamp; - const auto time_diff = - now >= s ? now - s : rclcpp::Duration(0, 0); // Note: negative time throws an exception. - if (time_diff.seconds() >= stop_duration) { - break; - } - } - - // Check all velocities - constexpr double stop_velocity = 1e-3; - for (const auto & v : vs) { - if (v >= stop_velocity) { - return false; - } - } - - return true; - } - - /** - *@fn - *@brief queries the traffic signal information of given Id. if keep_last_observation = true, - *recent UNKNOWN observation is overwritten as the last non-UNKNOWN observation - */ + bool isVehicleStopped(const double stop_duration = 0.0) const; + std::optional getTrafficSignal( - const lanelet::Id id, const bool keep_last_observation = false) const - { - const auto & traffic_light_id_map = - keep_last_observation ? traffic_light_id_map_last_observed_ : traffic_light_id_map_raw_; - if (traffic_light_id_map.count(id) == 0) { - return std::nullopt; - } - return std::make_optional(traffic_light_id_map.at(id)); - } + const lanelet::Id id, const bool keep_last_observation = false) const; }; } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp index 5725ebe51b4a5..fadda66f12562 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp @@ -39,6 +39,7 @@ #include #include #include +#include #include // Debug @@ -69,9 +70,9 @@ struct ObjectOfInterest autoware_perception_msgs::msg::Shape shape; ColorName color; ObjectOfInterest( - const geometry_msgs::msg::Pose & pose, const autoware_perception_msgs::msg::Shape & shape, + const geometry_msgs::msg::Pose & pose, autoware_perception_msgs::msg::Shape shape, const ColorName & color_name) - : pose(pose), shape(shape), color(color_name) + : pose(pose), shape(std::move(shape)), color(color_name) { } }; @@ -89,6 +90,7 @@ class SceneModuleInterface virtual std::vector createVirtualWalls() = 0; int64_t getModuleId() const { return module_id_; } + void setPlannerData(const std::shared_ptr & planner_data) { planner_data_ = planner_data; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp index 56154879ea938..fae13db2822e7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp @@ -20,7 +20,6 @@ #include -#include #include #include @@ -29,9 +28,8 @@ namespace autoware::behavior_velocity_planner { -namespace -{ -geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Point2d & p) + +inline geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Point2d & p) { geometry_msgs::msg::Point geom_p; geom_p.x = p.x(); @@ -40,8 +38,6 @@ geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Poi return geom_p; } -} // namespace - namespace arc_lane_utils { using PathIndexWithPose = std::pair; // front index, pose diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/debug.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/debug.hpp index 3a1c8fdeb7a0d..5ac91cdaf1369 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/debug.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/debug.hpp @@ -26,9 +26,7 @@ #include #include -namespace autoware::behavior_velocity_planner -{ -namespace debug +namespace autoware::behavior_velocity_planner::debug { visualization_msgs::msg::MarkerArray createPolygonMarkerArray( const geometry_msgs::msg::Polygon & polygon, const std::string & ns, const int64_t module_id, @@ -46,6 +44,6 @@ visualization_msgs::msg::MarkerArray createPointsMarkerArray( const std::vector & points, const std::string & ns, const int64_t module_id, const rclcpp::Time & now, const double x, const double y, const double z, const double r, const double g, const double b); -} // namespace debug -} // namespace autoware::behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner::debug + #endif // AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__UTILIZATION__DEBUG_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp index 1e45e5655f12f..2d4dab018fb18 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp @@ -20,13 +20,11 @@ #include #include -#include - namespace autoware::behavior_velocity_planner { bool splineInterpolate( const tier4_planning_msgs::msg::PathWithLaneId & input, const double interval, - tier4_planning_msgs::msg::PathWithLaneId & output, const rclcpp::Logger logger); + tier4_planning_msgs::msg::PathWithLaneId & output, const rclcpp::Logger & logger); autoware_planning_msgs::msg::Path interpolatePath( const autoware_planning_msgs::msg::Path & path, const double length, const double interval); autoware_planning_msgs::msg::Path filterLitterPathPoint( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/state_machine.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/state_machine.hpp index 4d88f2bfecce8..dfe70d376621e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/state_machine.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/state_machine.hpp @@ -19,7 +19,6 @@ #include #include -#include namespace autoware::behavior_velocity_planner { @@ -37,11 +36,11 @@ class StateMachine { if (state == State::STOP) { return "STOP"; - } else if (state == State::GO) { + } + if (state == State::GO) { return "GO"; - } else { - return ""; } + return ""; } StateMachine() { diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp index 4cbf820268df5..fc4f852ef82f7 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__UTILIZATION__UTIL_HPP_ #define AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__UTILIZATION__UTIL_HPP_ -#include +#include "autoware/universe_utils/geometry/boost_geometry.hpp" #include #include @@ -36,23 +36,29 @@ namespace autoware::behavior_velocity_planner { +/** + * @brief Represents detection range parameters. + */ struct DetectionRange { - bool use_right = true; - bool use_left = true; - double interval; - double min_longitudinal_distance; - double max_longitudinal_distance; - double max_lateral_distance; - double wheel_tread; - double right_overhang; - double left_overhang; + bool use_right = true; ///< Whether to use the right side. + bool use_left = true; ///< Whether to use the left side. + double interval{0.0}; ///< Interval of detection points. + double min_longitudinal_distance{0.0}; ///< Minimum longitudinal detection distance. + double max_longitudinal_distance{0.0}; ///< Maximum longitudinal detection distance. + double max_lateral_distance{0.0}; ///< Maximum lateral detection distance. + double wheel_tread{0.0}; ///< Wheel tread of the vehicle. + double right_overhang{0.0}; ///< Right overhang of the vehicle. + double left_overhang{0.0}; ///< Left overhang of the vehicle. }; +/** + * @brief Represents a traffic signal with a timestamp. + */ struct TrafficSignalStamped { - builtin_interfaces::msg::Time stamp; - autoware_perception_msgs::msg::TrafficLightGroup signal; + builtin_interfaces::msg::Time stamp; ///< Timestamp of the signal. + autoware_perception_msgs::msg::TrafficLightGroup signal; ///< Traffic light group. }; using Pose = geometry_msgs::msg::Pose; @@ -70,21 +76,27 @@ namespace planning_utils size_t calcSegmentIndexFromPointIndex( const std::vector & points, const geometry_msgs::msg::Point & point, const size_t idx); -// create detection area from given range return false if creation failure + bool createDetectionAreaPolygons( Polygons2d & da_polys, const PathWithLaneId & path, const geometry_msgs::msg::Pose & target_pose, const size_t target_seg_idx, const DetectionRange & da_range, const double obstacle_vel_mps, const double min_velocity = 1.0); + Point2d calculateOffsetPoint2d( const geometry_msgs::msg::Pose & pose, const double offset_x, const double offset_y); + void extractClosePartition( const geometry_msgs::msg::Point position, const BasicPolygons2d & all_partitions, BasicPolygons2d & close_partition, const double distance_thresh = 30.0); -void getAllPartitionLanelets(const lanelet::LaneletMapConstPtr ll, BasicPolygons2d & polys); + +void getAllPartitionLanelets(const lanelet::LaneletMapConstPtr & ll, BasicPolygons2d & polys); + void setVelocityFromIndex(const size_t begin_idx, const double vel, PathWithLaneId * input); + void insertVelocity( PathWithLaneId & path, const PathPointWithLaneId & path_point, const double v, size_t & insert_index, const double min_distance = 0.001); + inline int64_t bitShift(int64_t original_id) { return original_id << (sizeof(int32_t) * 8 / 2); @@ -96,6 +108,7 @@ geometry_msgs::msg::Pose getAheadPose( const tier4_planning_msgs::msg::PathWithLaneId & path); Polygon2d generatePathPolygon( const PathWithLaneId & path, const size_t start_idx, const size_t end_idx, const double width); + double calcJudgeLineDistWithAccLimit( const double velocity, const double max_stop_acceleration, const double delay_response_time); @@ -210,6 +223,7 @@ bool isOverLine( std::optional insertStopPoint( const geometry_msgs::msg::Point & stop_point, PathWithLaneId & output); + std::optional insertStopPoint( const geometry_msgs::msg::Point & stop_point, const size_t stop_seg_idx, PathWithLaneId & output); @@ -218,11 +232,11 @@ std::optional insertStopPoint( or lane-changeable parent lanes with `lane` and has same turn_direction value. */ std::set getAssociativeIntersectionLanelets( - lanelet::ConstLanelet lane, const lanelet::LaneletMapPtr lanelet_map, + const lanelet::ConstLanelet & lane, const lanelet::LaneletMapPtr lanelet_map, const lanelet::routing::RoutingGraphPtr routing_graph); lanelet::ConstLanelets getConstLaneletsFromIds( - lanelet::LaneletMapConstPtr map, const std::set & ids); + const lanelet::LaneletMapConstPtr & map, const std::set & ids); } // namespace planning_utils } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml index 6692358f1b21f..105b0528940bf 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml @@ -52,6 +52,7 @@ ament_cmake_ros ament_lint_auto autoware_lint_common + autoware_test_utils ament_cmake diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/planner_data.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/planner_data.cpp new file mode 100644 index 0000000000000..df2a183e3bfb3 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/planner_data.cpp @@ -0,0 +1,72 @@ +// Copyright 2019 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_velocity_planner_common/planner_data.hpp" + +#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" + +#include + +namespace autoware::behavior_velocity_planner +{ +PlannerData::PlannerData(rclcpp::Node & node) +: clock_(node.get_clock()), + vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()) +{ + max_stop_acceleration_threshold = node.declare_parameter("max_accel"); + max_stop_jerk_threshold = node.declare_parameter("max_jerk"); + system_delay = node.declare_parameter("system_delay"); + delay_response_time = node.declare_parameter("delay_response_time"); +} + +bool PlannerData::isVehicleStopped(const double stop_duration) const +{ + if (velocity_buffer.empty()) { + return false; + } + + const auto now = clock_->now(); + std::vector vs; + for (const auto & velocity : velocity_buffer) { + vs.push_back(velocity.twist.linear.x); + + const auto & s = velocity.header.stamp; + const auto time_diff = + now >= s ? now - s : rclcpp::Duration(0, 0); // Note: negative time throws an exception. + if (time_diff.seconds() >= stop_duration) { + break; + } + } + + constexpr double stop_velocity = 1e-3; + for (const auto & v : vs) { + if (v >= stop_velocity) { + return false; + } + } + + return true; +} + +std::optional PlannerData::getTrafficSignal( + const lanelet::Id id, const bool keep_last_observation) const +{ + const auto & traffic_light_id_map = + keep_last_observation ? traffic_light_id_map_last_observed_ : traffic_light_id_map_raw_; + if (traffic_light_id_map.count(id) == 0) { + return std::nullopt; + } + return std::make_optional(traffic_light_id_map.at(id)); +} +} // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/arc_lane_util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/arc_lane_util.cpp index da6ef7262de74..9b02b374b0a6c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/arc_lane_util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/arc_lane_util.cpp @@ -26,10 +26,7 @@ #include #endif -#include -#include #include -#include namespace { @@ -54,12 +51,6 @@ geometry_msgs::msg::Point operator*(const geometry_msgs::msg::Point & p, const d return multiplied_p; } -/* -geometry_msgs::msg::Point operator*(const double v, const geometry_msgs::msg::Point & p) -{ -return p * v; -} -*/ } // namespace namespace autoware::behavior_velocity_planner::arc_lane_utils diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/boost_geometry_helper.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/boost_geometry_helper.cpp index 33cf428e80808..d9162419ec33f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/boost_geometry_helper.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/boost_geometry_helper.cpp @@ -16,8 +16,6 @@ #include -#include -#include namespace autoware::behavior_velocity_planner { @@ -27,8 +25,8 @@ Polygon2d lines2polygon(const LineString2d & left_line, const LineString2d & rig polygon.outer().push_back(left_line.front()); - for (auto itr = right_line.begin(); itr != right_line.end(); ++itr) { - polygon.outer().push_back(*itr); + for (const auto & itr : right_line) { + polygon.outer().push_back(itr); } for (auto itr = left_line.rbegin(); itr != left_line.rend(); ++itr) { @@ -57,8 +55,8 @@ geometry_msgs::msg::Polygon toGeomPoly(const Polygon2d & polygon) geometry_msgs::msg::Polygon polygon_msg; geometry_msgs::msg::Point32 point_msg; for (const auto & p : polygon.outer()) { - point_msg.x = p.x(); - point_msg.y = p.y(); + point_msg.x = static_cast(p.x()); + point_msg.y = static_cast(p.y()); polygon_msg.points.push_back(point_msg); } return polygon_msg; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp index 7fe87bd285309..2ddf62bb584ff 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp @@ -18,14 +18,10 @@ #include #include -namespace autoware::behavior_velocity_planner +namespace autoware::behavior_velocity_planner::debug { -namespace debug -{ -using autoware::universe_utils::appendMarkerArray; using autoware::universe_utils::createDefaultMarker; using autoware::universe_utils::createMarkerColor; -using autoware::universe_utils::createMarkerOrientation; using autoware::universe_utils::createMarkerScale; visualization_msgs::msg::MarkerArray createPolygonMarkerArray( @@ -36,8 +32,9 @@ visualization_msgs::msg::MarkerArray createPolygonMarkerArray( visualization_msgs::msg::MarkerArray msg; { auto marker = createDefaultMarker( - "map", now, ns.c_str(), module_id, visualization_msgs::msg::Marker::LINE_STRIP, - createMarkerScale(x, y, z), createMarkerColor(r, g, b, 0.8)); + "map", now, ns, static_cast(module_id), visualization_msgs::msg::Marker::LINE_STRIP, + createMarkerScale(static_cast(x), static_cast(y), static_cast(z)), + createMarkerColor(static_cast(r), static_cast(g), static_cast(b), 0.8f)); marker.lifetime = rclcpp::Duration::from_seconds(0.3); for (const auto & p : polygon.points) { @@ -67,15 +64,18 @@ visualization_msgs::msg::MarkerArray createPathMarkerArray( const auto & p = path.points.at(i); auto marker = createDefaultMarker( - "map", now, ns.c_str(), planning_utils::bitShift(lane_id) + i, - visualization_msgs::msg::Marker::ARROW, createMarkerScale(x, y, z), - createMarkerColor(r, g, b, 0.999)); + "map", now, ns, static_cast(planning_utils::bitShift(lane_id) + i), + visualization_msgs::msg::Marker::ARROW, + createMarkerScale(static_cast(x), static_cast(y), static_cast(z)), + createMarkerColor( + static_cast(r), static_cast(g), static_cast(b), 0.999f)); marker.lifetime = rclcpp::Duration::from_seconds(0.3); marker.pose = p.point.pose; if (std::find(p.lane_ids.begin(), p.lane_ids.end(), lane_id) != p.lane_ids.end()) { // if p.lane_ids has lane_id - marker.color = createMarkerColor(r, g, b, 0.999); + marker.color = createMarkerColor( + static_cast(r), static_cast(g), static_cast(b), 0.999f); } else { marker.color = createMarkerColor(0.5, 0.5, 0.5, 0.999); } @@ -93,13 +93,13 @@ visualization_msgs::msg::MarkerArray createObjectsMarkerArray( auto marker = createDefaultMarker( "map", now, ns, 0, visualization_msgs::msg::Marker::CUBE, createMarkerScale(3.0, 1.0, 1.0), - createMarkerColor(r, g, b, 0.8)); + createMarkerColor(static_cast(r), static_cast(g), static_cast(b), 0.8f)); marker.lifetime = rclcpp::Duration::from_seconds(1.0); for (size_t i = 0; i < objects.objects.size(); ++i) { const auto & object = objects.objects.at(i); - marker.id = planning_utils::bitShift(module_id) + i; + marker.id = static_cast(planning_utils::bitShift(module_id) + i); marker.pose = object.kinematics.initial_pose_with_covariance.pose; msg.markers.push_back(marker); } @@ -116,15 +116,14 @@ visualization_msgs::msg::MarkerArray createPointsMarkerArray( auto marker = createDefaultMarker( "map", now, ns, 0, visualization_msgs::msg::Marker::SPHERE, createMarkerScale(x, y, z), - createMarkerColor(r, g, b, 0.999)); + createMarkerColor(static_cast(r), static_cast(g), static_cast(b), 0.999f)); marker.lifetime = rclcpp::Duration::from_seconds(0.3); for (size_t i = 0; i < points.size(); ++i) { - marker.id = i + planning_utils::bitShift(module_id); + marker.id = static_cast(i + planning_utils::bitShift(module_id)); marker.pose.position = points.at(i); msg.markers.push_back(marker); } return msg; } -} // namespace debug -} // namespace autoware::behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner::debug diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp index 17ea92022ea13..b8e6e28bae7c2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp @@ -18,14 +18,13 @@ #include #include -#include #include namespace autoware::behavior_velocity_planner { bool splineInterpolate( const tier4_planning_msgs::msg::PathWithLaneId & input, const double interval, - tier4_planning_msgs::msg::PathWithLaneId & output, const rclcpp::Logger logger) + tier4_planning_msgs::msg::PathWithLaneId & output, const rclcpp::Logger & logger) { if (input.points.size() < 2) { RCLCPP_DEBUG(logger, "Do not interpolate because path size is 1."); @@ -156,12 +155,12 @@ autoware_planning_msgs::msg::Path filterStopPathPoint( { autoware_planning_msgs::msg::Path filtered_path = path; bool found_stop = false; - for (size_t i = 0; i < filtered_path.points.size(); ++i) { - if (std::fabs(filtered_path.points.at(i).longitudinal_velocity_mps) < 0.01) { + for (auto & point : filtered_path.points) { + if (std::fabs(point.longitudinal_velocity_mps) < 0.01) { found_stop = true; } if (found_stop) { - filtered_path.points.at(i).longitudinal_velocity_mps = 0.0; + point.longitudinal_velocity_mps = 0.0; } } return filtered_path; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp index 72a6d29e7ba06..cb9b58ec48924 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp @@ -79,13 +79,15 @@ bool smoothPath( TrajectoryPoints clipped; TrajectoryPoints traj_smoothed; clipped.insert( - clipped.end(), traj_resampled.begin() + traj_resampled_closest, traj_resampled.end()); + clipped.end(), traj_resampled.begin() + static_cast(traj_resampled_closest), + traj_resampled.end()); if (!smoother->apply(v0, a0, clipped, traj_smoothed, debug_trajectories, false)) { std::cerr << "[behavior_velocity][trajectory_utils]: failed to smooth" << std::endl; return false; } traj_smoothed.insert( - traj_smoothed.begin(), traj_resampled.begin(), traj_resampled.begin() + traj_resampled_closest); + traj_smoothed.begin(), traj_resampled.begin(), + traj_resampled.begin() + static_cast(traj_resampled_closest)); if (external_v_limit) { autoware::velocity_smoother::trajectory_utils::applyMaximumVelocityLimit( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp index 1b1c47dc6fbb7..a8f909201ac7f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp @@ -12,10 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include -#include -#include -#include +#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" + +#include "autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp" +#include "autoware/motion_utils/trajectory/trajectory.hpp" +#include "autoware_lanelet2_extension/utility/query.hpp" #include @@ -25,9 +26,6 @@ #include #include -#include -#include - #ifdef ROS_DISTRO_GALACTIC #include #else @@ -35,7 +33,9 @@ #endif #include -#include +#include +#include +#include #include #include @@ -67,7 +67,7 @@ PathPoint getLerpPathPointWithLaneId(const PathPoint p0, const PathPoint p1, con PathPoint p; p.pose = autoware::universe_utils::calcInterpolatedPose(p0, p1, ratio); const double v = lerp(p0.longitudinal_velocity_mps, p1.longitudinal_velocity_mps, ratio); - p.longitudinal_velocity_mps = v; + p.longitudinal_velocity_mps = static_cast(v); return p; } @@ -94,19 +94,11 @@ geometry_msgs::msg::Pose transformRelCoordinate2D( } // namespace -namespace autoware::behavior_velocity_planner -{ -namespace planning_utils +namespace autoware::behavior_velocity_planner::planning_utils { -using autoware::motion_utils::calcLongitudinalOffsetToSegment; using autoware::motion_utils::calcSignedArcLength; -using autoware::motion_utils::validateNonEmpty; -using autoware::universe_utils::calcAzimuthAngle; using autoware::universe_utils::calcDistance2d; using autoware::universe_utils::calcOffsetPose; -using autoware::universe_utils::calcSquaredDistance2d; -using autoware::universe_utils::createQuaternionFromYaw; -using autoware::universe_utils::getPoint; using autoware_planning_msgs::msg::PathPoint; size_t calcSegmentIndexFromPointIndex( @@ -157,7 +149,7 @@ bool createDetectionAreaPolygons( const double offset_right = (da_range.wheel_tread / 2.0) + da_range.right_overhang; //! max index is the last index of path point - const size_t max_index = static_cast(path.points.size() - 1); + const auto max_index = static_cast(path.points.size() - 1); //! avoid bug with same point polygon const double eps = 1e-3; auto nearest_idx = @@ -249,10 +241,9 @@ void extractClosePartition( close_partition.emplace_back(p); } } - return; } -void getAllPartitionLanelets(const lanelet::LaneletMapConstPtr ll, BasicPolygons2d & polys) +void getAllPartitionLanelets(const lanelet::LaneletMapConstPtr & ll, BasicPolygons2d & polys) { const lanelet::ConstLineStrings3d partitions = lanelet::utils::query::getAllPartitions(ll); for (const auto & partition : partitions) { @@ -262,7 +253,7 @@ void getAllPartitionLanelets(const lanelet::LaneletMapConstPtr ll, BasicPolygons } // correct line to calculate distance in accurate boost::geometry::correct(line); - polys.emplace_back(lanelet::BasicPolygon2d(line)); + polys.emplace_back(line); } } @@ -272,7 +263,6 @@ void setVelocityFromIndex(const size_t begin_idx, const double vel, PathWithLane input->points.at(i).point.longitudinal_velocity_mps = std::min(static_cast(vel), input->points.at(i).point.longitudinal_velocity_mps); } - return; } void insertVelocity( @@ -312,7 +302,7 @@ geometry_msgs::msg::Pose getAheadPose( const size_t start_idx, const double ahead_dist, const tier4_planning_msgs::msg::PathWithLaneId & path) { - if (path.points.size() == 0) { + if (path.points.empty()) { return geometry_msgs::msg::Pose{}; } @@ -330,7 +320,8 @@ geometry_msgs::msg::Pose getAheadPose( p.position.x = w_p0 * p0.position.x + w_p1 * p1.position.x; p.position.y = w_p0 * p0.position.y + w_p1 * p1.position.y; p.position.z = w_p0 * p0.position.z + w_p1 * p1.position.z; - tf2::Quaternion q0_tf, q1_tf; + tf2::Quaternion q0_tf; + tf2::Quaternion q1_tf; tf2::fromMsg(p0.orientation, q0_tf); tf2::fromMsg(p1.orientation, q1_tf); p.orientation = tf2::toMsg(q0_tf.slerp(q1_tf, w_p1)); @@ -427,15 +418,16 @@ double findReachTime( const int warn_iter = 100; double lower = min; double upper = max; - double t; + double t = NAN; int iter = 0; - for (int i = 0;; i++) { + while (true) { t = 0.5 * (lower + upper); const double fx = f(t, j, a, v, d); // std::cout<<"fx: "< 0.0) { + } + if (fx > 0.0) { upper = t; } else { lower = t; @@ -478,19 +470,18 @@ double calcDecelerationVelocityFromDistanceToTarget( const double t_jerk = findReachTime(j_max, a0, v0, l, 0, t_const_jerk); const double velocity = vt(t_jerk, j_max, a0, v0); return velocity; - } else { - const double v1 = vt(t_const_jerk, j_max, a0, v0); - const double discriminant_of_stop = 2.0 * a_max * d_const_acc_stop + v1 * v1; - // case3: distance to target is farther than distance to stop - if (discriminant_of_stop <= 0) { - return 0.0; - } - // case2: distance to target is within constant accel deceleration - // solve d = 0.5*a^2+v*t by t - const double t_acc = (-v1 + std::sqrt(discriminant_of_stop)) / a_max; - return vt(t_acc, 0.0, a_max, v1); } - return current_velocity; + + const double v1 = vt(t_const_jerk, j_max, a0, v0); + const double discriminant_of_stop = 2.0 * a_max * d_const_acc_stop + v1 * v1; + // case3: distance to target is farther than distance to stop + if (discriminant_of_stop <= 0) { + return 0.0; + } + // case2: distance to target is within constant accel deceleration + // solve d = 0.5*a^2+v*t by t + const double t_acc = (-v1 + std::sqrt(discriminant_of_stop)) / a_max; + return vt(t_acc, 0.0, a_max, v1); } std::vector toRosPoints(const PredictedObjects & object) @@ -549,6 +540,7 @@ std::vector getLaneletsOnPath( } std::vector lanelets; + lanelets.reserve(unique_lane_ids.size()); for (const auto lane_id : unique_lane_ids) { lanelets.push_back(lanelet_map->laneletLayer.get(lane_id)); } @@ -590,7 +582,7 @@ std::vector getSubsequentLaneIdsSetOnPath( // cannot find base_index in all_lane_ids if (base_index == all_lane_ids.end()) { - return std::vector(); + return {}; } std::vector subsequent_lane_ids; @@ -664,11 +656,11 @@ std::optional insertStopPoint( } std::set getAssociativeIntersectionLanelets( - lanelet::ConstLanelet lane, const lanelet::LaneletMapPtr lanelet_map, + const lanelet::ConstLanelet & lane, const lanelet::LaneletMapPtr lanelet_map, const lanelet::routing::RoutingGraphPtr routing_graph) { const std::string turn_direction = lane.attributeOr("turn_direction", "else"); - if (turn_direction.compare("else") == 0) { + if (turn_direction == "else") { return {}; } @@ -693,7 +685,7 @@ std::set getAssociativeIntersectionLanelets( } lanelet::ConstLanelets getConstLaneletsFromIds( - lanelet::LaneletMapConstPtr map, const std::set & ids) + const lanelet::LaneletMapConstPtr & map, const std::set & ids) { lanelet::ConstLanelets ret{}; for (const auto & id : ids) { @@ -703,5 +695,4 @@ lanelet::ConstLanelets getConstLaneletsFromIds( return ret; } -} // namespace planning_utils -} // namespace autoware::behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner::planning_utils diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_utilization.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_path_utilization.cpp similarity index 70% rename from planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_utilization.cpp rename to planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_path_utilization.cpp index d3664f2b46ffc..51c6b5b9dda04 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_utilization.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_path_utilization.cpp @@ -176,3 +176,70 @@ TEST(specialInterpolation, specialInterpolation) EXPECT_DOUBLE_EQ(calcInterpolatedStopDist(px, vx), expected); } } + +TEST(filterLitterPathPoint, nominal) +{ + using autoware::behavior_velocity_planner::filterLitterPathPoint; + using autoware_planning_msgs::msg::Path; + using autoware_planning_msgs::msg::PathPoint; + + const auto genPath = [](const std::vector & px, const std::vector & vx) { + Path path; + for (size_t i = 0; i < px.size(); ++i) { + PathPoint point; + point.pose.position.x = px[i]; + point.pose.position.y = 0.0; + point.longitudinal_velocity_mps = static_cast(vx[i]); + path.points.push_back(point); + } + return path; + }; + + const std::vector px{0.0, 1.0, 1.001, 2.0, 3.0}; + const std::vector vx{5.0, 3.5, 3.5, 3.0, 2.5}; + + const auto path = genPath(px, vx); + const auto filtered_path = filterLitterPathPoint(path); + + ASSERT_EQ(filtered_path.points.size(), 4U); // Expected: Points at x = {0.0, 1.0, 2.0, 3.0} + EXPECT_DOUBLE_EQ(filtered_path.points[0].pose.position.x, 0.0); + EXPECT_DOUBLE_EQ(filtered_path.points[1].pose.position.x, 1.0); + EXPECT_DOUBLE_EQ(filtered_path.points[2].pose.position.x, 2.0); + EXPECT_DOUBLE_EQ(filtered_path.points[3].pose.position.x, 3.0); + + EXPECT_DOUBLE_EQ(filtered_path.points[0].longitudinal_velocity_mps, 5.0); + EXPECT_DOUBLE_EQ(filtered_path.points[1].longitudinal_velocity_mps, 3.5); + EXPECT_DOUBLE_EQ(filtered_path.points[2].longitudinal_velocity_mps, 3.0); + EXPECT_DOUBLE_EQ(filtered_path.points[3].longitudinal_velocity_mps, 2.5); +} + +TEST(filterStopPathPoint, nominal) +{ + using autoware::behavior_velocity_planner::filterStopPathPoint; + using autoware_planning_msgs::msg::Path; + using autoware_planning_msgs::msg::PathPoint; + + const auto genPath = [](const std::vector & px, const std::vector & vx) { + Path path; + for (size_t i = 0; i < px.size(); ++i) { + PathPoint point; + point.pose.position.x = px[i]; + point.longitudinal_velocity_mps = static_cast(vx[i]); + path.points.push_back(point); + } + return path; + }; + + const std::vector px{0.0, 1.0, 2.0, 3.0, 4.0}; + const std::vector vx{5.0, 4.0, 0.0, 2.0, 3.0}; + + const auto path = genPath(px, vx); + const auto filtered_path = filterStopPathPoint(path); + + ASSERT_EQ(filtered_path.points.size(), 5U); + EXPECT_DOUBLE_EQ(filtered_path.points[0].longitudinal_velocity_mps, 5.0); + EXPECT_DOUBLE_EQ(filtered_path.points[1].longitudinal_velocity_mps, 4.0); + EXPECT_DOUBLE_EQ(filtered_path.points[2].longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(filtered_path.points[3].longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(filtered_path.points[4].longitudinal_velocity_mps, 0.0); +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_trajectory_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_trajectory_utils.cpp new file mode 100644 index 0000000000000..5ed490ab755a9 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_trajectory_utils.cpp @@ -0,0 +1,113 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/behavior_velocity_planner_common/utilization/trajectory_utils.hpp" +#include "autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp" + +#include +#include + +#include +#include + +#include + +#include + +TEST(smoothPath, nominal) +{ + using autoware::behavior_velocity_planner::smoothPath; + using tier4_planning_msgs::msg::PathPointWithLaneId; + using tier4_planning_msgs::msg::PathWithLaneId; + + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.arguments( + {"--ros-args", "--params-file", + ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner_common") + + "/config/behavior_velocity_planner_common.param.yaml", + "--params-file", + ament_index_cpp::get_package_share_directory("autoware_test_utils") + + "/config/test_vehicle_info.param.yaml", + "--params-file", + ament_index_cpp::get_package_share_directory("autoware_velocity_smoother") + + "/config/default_common.param.yaml", + "--params-file", + ament_index_cpp::get_package_share_directory("autoware_velocity_smoother") + + "/config/default_velocity_smoother.param.yaml", + "--params-file", + ament_index_cpp::get_package_share_directory("autoware_velocity_smoother") + + "/config/JerkFiltered.param.yaml"}); + auto node = std::make_shared("test_node", options); + + auto planner_data = std::make_shared(*node); + planner_data->stop_line_extend_length = 5.0; + planner_data->vehicle_info_.max_longitudinal_offset_m = 1.0; + + planner_data->current_odometry = std::make_shared([]() { + geometry_msgs::msg::PoseStamped pose; + pose.pose.position.x = 2.0; + pose.pose.position.y = 1.0; + return pose; + }()); + + planner_data->current_velocity = std::make_shared([]() { + geometry_msgs::msg::TwistStamped twist; + twist.twist.linear.x = 3.0; + return twist; + }()); + + planner_data->current_acceleration = + std::make_shared([]() { + geometry_msgs::msg::AccelWithCovarianceStamped accel; + accel.accel.accel.linear.x = 1.0; + return accel; + }()); + + planner_data->velocity_smoother_ = + std::make_shared( + *node, std::make_shared()); + + // Input path + PathWithLaneId in_path; + for (double i = 0; i <= 10.0; i += 1.0) { + PathPointWithLaneId point; + point.point.pose.position.x = i; + point.point.pose.position.y = 0.0; + point.point.longitudinal_velocity_mps = 5.0; // Set constant velocity + in_path.points.emplace_back(point); + } + + // Output path + PathWithLaneId out_path; + + // Execute smoothing + auto result = smoothPath(in_path, out_path, planner_data); + + // Check results + EXPECT_TRUE(result); + + // Check initial and last points + EXPECT_DOUBLE_EQ(out_path.points.front().point.pose.position.x, 0.0); + EXPECT_DOUBLE_EQ(out_path.points.front().point.pose.position.y, 0.0); + EXPECT_DOUBLE_EQ(out_path.points.back().point.pose.position.x, 10.0); + EXPECT_DOUBLE_EQ(out_path.points.back().point.pose.position.y, 0.0); + + for (auto & point : out_path.points) { + // Check velocities + EXPECT_LE( + point.point.longitudinal_velocity_mps, + 5.0); // Smoothed velocity must not exceed initial + } +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_util.cpp new file mode 100644 index 0000000000000..8c8ef575b5a9a --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_util.cpp @@ -0,0 +1,308 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "./utils.hpp" +#include "autoware/behavior_velocity_planner_common/utilization/util.hpp" +#include "autoware_test_utils/autoware_test_utils.hpp" + +#include +#include +#include +#include +#include + +#include + +using namespace autoware::behavior_velocity_planner; // NOLINT +using namespace autoware::behavior_velocity_planner::planning_utils; // NOLINT +using autoware_planning_msgs::msg::PathPoint; + +TEST(PlanningUtilsTest, calcSegmentIndexFromPointIndex) +{ + auto path = test::generatePath(0.0, 0.0, 10.0, 0.0, 10); + geometry_msgs::msg::Point point; + point.x = 4.5; + point.y = 0.0; + + size_t result = calcSegmentIndexFromPointIndex(path.points, point, 4); + + EXPECT_EQ(result, 4); +} + +TEST(PlanningUtilsTest, calculateOffsetPoint2d) +{ + geometry_msgs::msg::Pose pose; + pose.position.x = 0.0; + pose.position.y = 0.0; + pose.position.z = 0.0; + pose.orientation = tf2::toMsg(tf2::Quaternion(0, 0, 0, 1)); // No rotation + + double offset_x = 1.0; + double offset_y = 1.0; + + auto result = calculateOffsetPoint2d(pose, offset_x, offset_y); + + EXPECT_NEAR(result.x(), 1.0, 0.1); + EXPECT_NEAR(result.y(), 1.0, 0.1); +} + +TEST(PlanningUtilsTest, createDetectionAreaPolygons) +{ + // using namespace autoware::behavior_velocity_planner::planning_utils; + + // Input parameters + Polygons2d da_polys; + tier4_planning_msgs::msg::PathWithLaneId path; + geometry_msgs::msg::Pose target_pose; + size_t target_seg_idx = 0; + autoware::behavior_velocity_planner::DetectionRange da_range; + + da_range.min_longitudinal_distance = 1.0; + da_range.max_longitudinal_distance = 10.0; + da_range.max_lateral_distance = 2.0; + da_range.interval = 5.0; + da_range.wheel_tread = 1.0; + da_range.left_overhang = 0.5; + da_range.right_overhang = 0.5; + da_range.use_left = true; + da_range.use_right = true; + + double obstacle_vel_mps = 0.5; + double min_velocity = 1.0; + + // Path with some points + for (double i = 0.0; i < 3.0; ++i) { + tier4_planning_msgs::msg::PathPointWithLaneId point; + point.point.pose.position.x = i * 5.0; + point.point.pose.position.y = 0.0; + point.point.longitudinal_velocity_mps = 1.0; + path.points.push_back(point); + } + + // Target pose + target_pose.position.x = 0.0; + target_pose.position.y = 0.0; + + // Call the function + bool success = createDetectionAreaPolygons( + da_polys, path, target_pose, target_seg_idx, da_range, obstacle_vel_mps, min_velocity); + + // Assert success + EXPECT_TRUE(success); + + // Validate results + ASSERT_FALSE(da_polys.empty()); + EXPECT_EQ(da_polys.size(), 2); // Expect polygons for left and right bounds + + // Check the first polygon + auto & polygon = da_polys.front(); + EXPECT_EQ(polygon.outer().size(), 7); // Each polygon should be a rectangle + + // Check some specific points + EXPECT_NEAR(polygon.outer()[0].x(), 1.0, 0.1); // Left inner bound + EXPECT_NEAR(polygon.outer()[0].y(), 1.0, 0.1); +} + +// Test for calcJudgeLineDistWithAccLimit +TEST(PlanningUtilsTest, calcJudgeLineDistWithAccLimit) +{ + double velocity = 10.0; // m/s + double max_stop_acceleration = -3.0; // m/s^2 + double delay_response_time = 1.0; // s + + double result = + calcJudgeLineDistWithAccLimit(velocity, max_stop_acceleration, delay_response_time); + + EXPECT_NEAR(result, 26.67, 0.01); // Updated expected value +} + +// Test for calcJudgeLineDistWithJerkLimit +TEST(PlanningUtilsTest, calcJudgeLineDistWithJerkLimit) +{ + double velocity = 10.0; // m/s + double acceleration = 0.0; // m/s^2 + double max_stop_acceleration = -3.0; // m/s^2 + double max_stop_jerk = -1.0; // m/s^3 + double delay_response_time = 1.0; // s + + double result = calcJudgeLineDistWithJerkLimit( + velocity, acceleration, max_stop_acceleration, max_stop_jerk, delay_response_time); + + EXPECT_GT(result, 0.0); // The result should be positive +} + +// Test for isAheadOf +TEST(PlanningUtilsTest, isAheadOf) +{ + geometry_msgs::msg::Pose target; + geometry_msgs::msg::Pose origin; + target.position.x = 10.0; + target.position.y = 0.0; + origin.position.x = 0.0; + origin.position.y = 0.0; + origin.orientation = tf2::toMsg(tf2::Quaternion(0, 0, 0, 1)); // No rotation + + EXPECT_TRUE(isAheadOf(target, origin)); + + target.position.x = -10.0; + EXPECT_FALSE(isAheadOf(target, origin)); +} + +TEST(PlanningUtilsTest, insertDecelPoint) +{ + auto path = test::generatePath(0.0, 0.0, 10.0, 0.0, 10); + geometry_msgs::msg::Point stop_point; + stop_point.x = 5.0; + stop_point.y = 0.0; + + auto stop_pose = insertDecelPoint(stop_point, path, 5.0); + ASSERT_TRUE(stop_pose.has_value()); + EXPECT_NEAR(stop_pose->position.x, 5.0, 0.1); +} + +// Test for insertVelocity +TEST(PlanningUtilsTest, insertVelocity) +{ + auto path = test::generatePath(0.0, 0.0, 10.0, 0.0, 10); + tier4_planning_msgs::msg::PathPointWithLaneId path_point; + path_point.point.pose.position.x = 5.0; + path_point.point.pose.position.y = 0.0; + path_point.point.longitudinal_velocity_mps = 10.0; + + size_t insert_index = 5; + insertVelocity(path, path_point, 10.0, insert_index); + + EXPECT_EQ(path.points.size(), 11); + EXPECT_NEAR(path.points.at(insert_index).point.longitudinal_velocity_mps, 10.0, 0.1); +} + +// Test for insertStopPoint +TEST(PlanningUtilsTest, insertStopPoint) +{ + { + auto path = test::generatePath(0.0, 0.0, 10.0, 0.0, 10); + geometry_msgs::msg::Point stop_point; + stop_point.x = 5.0; + stop_point.y = 0.0; + + auto stop_pose = insertStopPoint(stop_point, path); + ASSERT_TRUE(stop_pose.has_value()); + EXPECT_NEAR(stop_pose->position.x, 5.0, 0.1); + } + { + auto path = test::generatePath(0.0, 0.0, 10.0, 0.0, 10); + geometry_msgs::msg::Point stop_point; + stop_point.x = 5.0; + stop_point.y = 0.0; + + auto stop_pose = insertStopPoint(stop_point, 4, path); + ASSERT_TRUE(stop_pose.has_value()); + EXPECT_NEAR(stop_pose->position.x, 5.0, 0.1); + } +} + +// Test for getAheadPose +TEST(PlanningUtilsTest, getAheadPose) +{ + tier4_planning_msgs::msg::PathWithLaneId path; + tier4_planning_msgs::msg::PathPointWithLaneId point1; + tier4_planning_msgs::msg::PathPointWithLaneId point2; + tier4_planning_msgs::msg::PathPointWithLaneId point3; + point1.point.pose.position.x = 0.0; + point2.point.pose.position.x = 5.0; + point3.point.pose.position.x = 10.0; + + path.points.emplace_back(point1); + path.points.emplace_back(point2); + path.points.emplace_back(point3); + + double ahead_dist = 7.0; + auto pose = getAheadPose(0, ahead_dist, path); + + EXPECT_NEAR(pose.position.x, 7.0, 0.1); +} + +TEST(PlanningUtilsTest, calcDecelerationVelocityFromDistanceToTarget) +{ + double max_slowdown_jerk = -1.0; // m/s^3 + double max_slowdown_accel = -3.0; // m/s^2 + double current_accel = -1.0; // m/s^2 + double current_velocity = 10.0; // m/s + double distance_to_target = 100.0; // m + + double result = calcDecelerationVelocityFromDistanceToTarget( + max_slowdown_jerk, max_slowdown_accel, current_accel, current_velocity, distance_to_target); + + EXPECT_LT(result, current_velocity); +} + +// Test for toRosPoints +TEST(PlanningUtilsTest, ToRosPoints) +{ + using autoware_perception_msgs::msg::PredictedObject; + PredictedObjects objects; + + // Add a predicted object + PredictedObject obj1; + obj1.kinematics.initial_pose_with_covariance.pose.position.x = 1.0; + obj1.kinematics.initial_pose_with_covariance.pose.position.y = 2.0; + obj1.kinematics.initial_pose_with_covariance.pose.position.z = 3.0; + objects.objects.push_back(obj1); + + // Add another predicted object + PredictedObject obj2; + obj2.kinematics.initial_pose_with_covariance.pose.position.x = 4.0; + obj2.kinematics.initial_pose_with_covariance.pose.position.y = 5.0; + obj2.kinematics.initial_pose_with_covariance.pose.position.z = 6.0; + objects.objects.push_back(obj2); + + auto points = toRosPoints(objects); + + ASSERT_EQ(points.size(), 2); // Verify the number of points + EXPECT_EQ(points[0].x, 1.0); + EXPECT_EQ(points[0].y, 2.0); + EXPECT_EQ(points[0].z, 3.0); + EXPECT_EQ(points[1].x, 4.0); + EXPECT_EQ(points[1].y, 5.0); + EXPECT_EQ(points[1].z, 6.0); +} + +// Test for extendLine +TEST(PlanningUtilsTest, ExtendLine) +{ + lanelet::ConstPoint3d point1(lanelet::InvalId, 0.0, 0.0, 0.0); + lanelet::ConstPoint3d point2(lanelet::InvalId, 1.0, 1.0, 0.0); + double length = 1.0; + + auto extended_line = extendLine(point1, point2, length); + + ASSERT_EQ(extended_line.size(), 2); // Verify the line has two points + + // Check the extended line coordinates + EXPECT_NEAR(extended_line[0].x(), -0.707, 0.001); // Extended in the reverse direction + EXPECT_NEAR(extended_line[0].y(), -0.707, 0.001); + EXPECT_NEAR(extended_line[1].x(), 1.707, 0.001); // Extended in the forward direction + EXPECT_NEAR(extended_line[1].y(), 1.707, 0.001); +} + +TEST(PlanningUtilsTest, getConstLaneletsFromIds) +{ + const auto package_dir = ament_index_cpp::get_package_share_directory("autoware_test_utils"); + lanelet::LaneletMapPtr map = + autoware::test_utils::loadMap(package_dir + "/test_map/lanelet2_map.osm"); + + auto lanelets = getConstLaneletsFromIds(map, {10333, 10310, 10291}); + + EXPECT_EQ(lanelets.size(), 3); +} From 3231bbfc703ed084509dd6349efb90a16bd299bc Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 6 Dec 2024 11:08:07 +0900 Subject: [PATCH 673/701] docs(autoware_pyplot): add missing readme and move the package to common (#9546) --- .../autoware_pyplot/CMakeLists.txt | 0 common/autoware_pyplot/README.md | 43 +++++++++++++++++++ .../include/autoware/pyplot/axes.hpp | 0 .../include/autoware/pyplot/common.hpp | 0 .../include/autoware/pyplot/figure.hpp | 0 .../include/autoware/pyplot/legend.hpp | 0 .../include/autoware/pyplot/loader.hpp | 0 .../include/autoware/pyplot/patches.hpp | 0 .../include/autoware/pyplot/pyplot.hpp | 0 .../include/autoware/pyplot/quiver.hpp | 0 .../include/autoware/pyplot/text.hpp | 0 .../autoware_pyplot/package.xml | 0 .../autoware_pyplot/src/axes.cpp | 0 .../autoware_pyplot/src/common.cpp | 0 .../autoware_pyplot/src/figure.cpp | 0 .../autoware_pyplot/src/legend.cpp | 0 .../autoware_pyplot/src/patches.cpp | 0 .../autoware_pyplot/src/pyplot.cpp | 0 .../autoware_pyplot/src/quiver.cpp | 0 .../autoware_pyplot/src/text.cpp | 0 .../autoware_pyplot/test/test_pyplot.cpp | 0 21 files changed, 43 insertions(+) rename {visualization => common}/autoware_pyplot/CMakeLists.txt (100%) create mode 100644 common/autoware_pyplot/README.md rename {visualization => common}/autoware_pyplot/include/autoware/pyplot/axes.hpp (100%) rename {visualization => common}/autoware_pyplot/include/autoware/pyplot/common.hpp (100%) rename {visualization => common}/autoware_pyplot/include/autoware/pyplot/figure.hpp (100%) rename {visualization => common}/autoware_pyplot/include/autoware/pyplot/legend.hpp (100%) rename {visualization => common}/autoware_pyplot/include/autoware/pyplot/loader.hpp (100%) rename {visualization => common}/autoware_pyplot/include/autoware/pyplot/patches.hpp (100%) rename {visualization => common}/autoware_pyplot/include/autoware/pyplot/pyplot.hpp (100%) rename {visualization => common}/autoware_pyplot/include/autoware/pyplot/quiver.hpp (100%) rename {visualization => common}/autoware_pyplot/include/autoware/pyplot/text.hpp (100%) rename {visualization => common}/autoware_pyplot/package.xml (100%) rename {visualization => common}/autoware_pyplot/src/axes.cpp (100%) rename {visualization => common}/autoware_pyplot/src/common.cpp (100%) rename {visualization => common}/autoware_pyplot/src/figure.cpp (100%) rename {visualization => common}/autoware_pyplot/src/legend.cpp (100%) rename {visualization => common}/autoware_pyplot/src/patches.cpp (100%) rename {visualization => common}/autoware_pyplot/src/pyplot.cpp (100%) rename {visualization => common}/autoware_pyplot/src/quiver.cpp (100%) rename {visualization => common}/autoware_pyplot/src/text.cpp (100%) rename {visualization => common}/autoware_pyplot/test/test_pyplot.cpp (100%) diff --git a/visualization/autoware_pyplot/CMakeLists.txt b/common/autoware_pyplot/CMakeLists.txt similarity index 100% rename from visualization/autoware_pyplot/CMakeLists.txt rename to common/autoware_pyplot/CMakeLists.txt diff --git a/common/autoware_pyplot/README.md b/common/autoware_pyplot/README.md new file mode 100644 index 0000000000000..ded3387fefd99 --- /dev/null +++ b/common/autoware_pyplot/README.md @@ -0,0 +1,43 @@ +# autoware_pyplot + +This package provides C++ interface for the notable `matplotlib` using `pybind11` backend for + +- creating scientific plots and images illustrating the function inputs/outputs +- debugging the output and internal data of a function before unit testing in a more lightweight manner than planning_simulator + +## usage + +In your main function, setup the python context and import `matplotlib` + +```cpp +#include +#include + +// in main... + py::scoped_interpreter guard{}; + auto plt = autoware::pyplot::import(); +``` + +Then you can use major functionalities of `matplotlib` almost in the same way as native python code. + +```cpp +{ + plt.plot(Args(std::vector({1, 3, 2, 4})), Kwargs("color"_a = "blue", "linewidth"_a = 1.0)); + plt.xlabel(Args("x-title")); + plt.ylabel(Args("y-title")); + plt.title(Args("title")); + plt.xlim(Args(0, 5)); + plt.ylim(Args(0, 5)); + plt.grid(Args(true)); + plt.savefig(Args("test_single_plot.png")); +} + +{ + auto [fig, axes] = plt.subplots(1, 2); + auto & ax1 = axes[0]; + auto & ax2 = axes[1]; + + ax1.set_aspect(Args("equal")); + ax2.set_aspect(Args("equal")); +} +``` diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/axes.hpp b/common/autoware_pyplot/include/autoware/pyplot/axes.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/axes.hpp rename to common/autoware_pyplot/include/autoware/pyplot/axes.hpp diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/common.hpp b/common/autoware_pyplot/include/autoware/pyplot/common.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/common.hpp rename to common/autoware_pyplot/include/autoware/pyplot/common.hpp diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/figure.hpp b/common/autoware_pyplot/include/autoware/pyplot/figure.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/figure.hpp rename to common/autoware_pyplot/include/autoware/pyplot/figure.hpp diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/legend.hpp b/common/autoware_pyplot/include/autoware/pyplot/legend.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/legend.hpp rename to 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a/visualization/autoware_pyplot/include/autoware/pyplot/quiver.hpp b/common/autoware_pyplot/include/autoware/pyplot/quiver.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/quiver.hpp rename to common/autoware_pyplot/include/autoware/pyplot/quiver.hpp diff --git a/visualization/autoware_pyplot/include/autoware/pyplot/text.hpp b/common/autoware_pyplot/include/autoware/pyplot/text.hpp similarity index 100% rename from visualization/autoware_pyplot/include/autoware/pyplot/text.hpp rename to common/autoware_pyplot/include/autoware/pyplot/text.hpp diff --git a/visualization/autoware_pyplot/package.xml b/common/autoware_pyplot/package.xml similarity index 100% rename from visualization/autoware_pyplot/package.xml rename to common/autoware_pyplot/package.xml diff --git a/visualization/autoware_pyplot/src/axes.cpp b/common/autoware_pyplot/src/axes.cpp similarity index 100% rename from visualization/autoware_pyplot/src/axes.cpp rename to common/autoware_pyplot/src/axes.cpp diff --git a/visualization/autoware_pyplot/src/common.cpp b/common/autoware_pyplot/src/common.cpp similarity index 100% rename from visualization/autoware_pyplot/src/common.cpp rename to common/autoware_pyplot/src/common.cpp diff --git a/visualization/autoware_pyplot/src/figure.cpp b/common/autoware_pyplot/src/figure.cpp similarity index 100% rename from visualization/autoware_pyplot/src/figure.cpp rename to common/autoware_pyplot/src/figure.cpp diff --git a/visualization/autoware_pyplot/src/legend.cpp b/common/autoware_pyplot/src/legend.cpp similarity index 100% rename from visualization/autoware_pyplot/src/legend.cpp rename to common/autoware_pyplot/src/legend.cpp diff --git a/visualization/autoware_pyplot/src/patches.cpp b/common/autoware_pyplot/src/patches.cpp similarity index 100% rename from visualization/autoware_pyplot/src/patches.cpp rename to common/autoware_pyplot/src/patches.cpp diff --git a/visualization/autoware_pyplot/src/pyplot.cpp b/common/autoware_pyplot/src/pyplot.cpp similarity index 100% rename from visualization/autoware_pyplot/src/pyplot.cpp rename to common/autoware_pyplot/src/pyplot.cpp diff --git a/visualization/autoware_pyplot/src/quiver.cpp b/common/autoware_pyplot/src/quiver.cpp similarity index 100% rename from visualization/autoware_pyplot/src/quiver.cpp rename to common/autoware_pyplot/src/quiver.cpp diff --git a/visualization/autoware_pyplot/src/text.cpp b/common/autoware_pyplot/src/text.cpp similarity index 100% rename from visualization/autoware_pyplot/src/text.cpp rename to common/autoware_pyplot/src/text.cpp diff --git a/visualization/autoware_pyplot/test/test_pyplot.cpp b/common/autoware_pyplot/test/test_pyplot.cpp similarity index 100% rename from visualization/autoware_pyplot/test/test_pyplot.cpp rename to common/autoware_pyplot/test/test_pyplot.cpp From 0bbdbe14abc12a03c46af69abe27e38cc0c5fbd0 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Fri, 6 Dec 2024 13:41:30 +0900 Subject: [PATCH 674/701] refactor(vehicle_velocity_converter)!: prefix package and namespace with autoware (#8967) * add autoware prefix Signed-off-by: a-maumau * fix conflict Signed-off-by: a-maumau --------- Signed-off-by: a-maumau Co-authored-by: Yamato Ando --- .github/_CODEOWNERS | 2 +- .../tier4_simulator_launch/launch/simulator.launch.xml | 4 ++-- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 4 ++-- .../README.md | 2 +- .../config/vehicle_velocity_converter.param.yaml | 0 .../launch/vehicle_velocity_converter.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../schema/vehicle_velocity_converter.json | 0 .../src/vehicle_velocity_converter.cpp | 7 +++++-- .../src}/vehicle_velocity_converter.hpp | 9 ++++++--- 11 files changed, 21 insertions(+), 15 deletions(-) rename sensing/{vehicle_velocity_converter => autoware_vehicle_velocity_converter}/CHANGELOG.rst (100%) rename sensing/{vehicle_velocity_converter => autoware_vehicle_velocity_converter}/CMakeLists.txt (75%) rename sensing/{vehicle_velocity_converter => autoware_vehicle_velocity_converter}/README.md (97%) rename sensing/{vehicle_velocity_converter => autoware_vehicle_velocity_converter}/config/vehicle_velocity_converter.param.yaml (100%) rename sensing/{vehicle_velocity_converter => autoware_vehicle_velocity_converter}/launch/vehicle_velocity_converter.launch.xml (60%) rename sensing/{vehicle_velocity_converter => autoware_vehicle_velocity_converter}/package.xml (84%) rename sensing/{vehicle_velocity_converter => autoware_vehicle_velocity_converter}/schema/vehicle_velocity_converter.json (100%) rename sensing/{vehicle_velocity_converter => autoware_vehicle_velocity_converter}/src/vehicle_velocity_converter.cpp (91%) rename sensing/{vehicle_velocity_converter/include/vehicle_velocity_converter => autoware_vehicle_velocity_converter/src}/vehicle_velocity_converter.hpp (86%) diff --git a/.github/_CODEOWNERS b/.github/_CODEOWNERS index 4923e144f2886..3c1defb31a741 100644 --- a/.github/_CODEOWNERS +++ b/.github/_CODEOWNERS @@ -211,7 +211,7 @@ sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shuns sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp -sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp +sensing/autoware_vehicle_velocity_converter/** ryu.yamamoto@tier4.jp simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.com simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp simulator/fault_injection/** keisuke.shima@tier4.jp diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index e1226ee63f5e2..4b2cefa02c2fa 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -188,9 +188,9 @@ - + - + diff --git a/sensing/vehicle_velocity_converter/CHANGELOG.rst b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst similarity index 100% rename from sensing/vehicle_velocity_converter/CHANGELOG.rst rename to sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst diff --git a/sensing/vehicle_velocity_converter/CMakeLists.txt b/sensing/autoware_vehicle_velocity_converter/CMakeLists.txt similarity index 75% rename from sensing/vehicle_velocity_converter/CMakeLists.txt rename to sensing/autoware_vehicle_velocity_converter/CMakeLists.txt index bb50fbff90c4b..9ff990b928f91 100644 --- a/sensing/vehicle_velocity_converter/CMakeLists.txt +++ b/sensing/autoware_vehicle_velocity_converter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(vehicle_velocity_converter) +project(autoware_vehicle_velocity_converter) find_package(autoware_cmake REQUIRED) autoware_package() @@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "VehicleVelocityConverter" + PLUGIN "autoware::vehicle_velocity_converter::VehicleVelocityConverter" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR SingleThreadedExecutor ) diff --git a/sensing/vehicle_velocity_converter/README.md b/sensing/autoware_vehicle_velocity_converter/README.md similarity index 97% rename from sensing/vehicle_velocity_converter/README.md rename to sensing/autoware_vehicle_velocity_converter/README.md index 3c7292f3fcdc4..f398a72ea824d 100644 --- a/sensing/vehicle_velocity_converter/README.md +++ b/sensing/autoware_vehicle_velocity_converter/README.md @@ -1,4 +1,4 @@ -# vehicle_velocity_converter +# autoware_vehicle_velocity_converter ## Purpose diff --git a/sensing/vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml b/sensing/autoware_vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml similarity index 100% rename from sensing/vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml rename to sensing/autoware_vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml diff --git a/sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml b/sensing/autoware_vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml similarity index 60% rename from sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml rename to sensing/autoware_vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml index 84e1838dc89eb..d8386e3b80820 100644 --- a/sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml +++ b/sensing/autoware_vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml @@ -1,9 +1,9 @@ - + - + diff --git a/sensing/vehicle_velocity_converter/package.xml b/sensing/autoware_vehicle_velocity_converter/package.xml similarity index 84% rename from sensing/vehicle_velocity_converter/package.xml rename to sensing/autoware_vehicle_velocity_converter/package.xml index 57400454b9d8e..323002396c841 100644 --- a/sensing/vehicle_velocity_converter/package.xml +++ b/sensing/autoware_vehicle_velocity_converter/package.xml @@ -1,9 +1,9 @@ - vehicle_velocity_converter + autoware_vehicle_velocity_converter 0.38.0 - The vehicle_velocity_converter package + The autoware_vehicle_velocity_converter package Ryu Yamamoto Apache License 2.0 diff --git a/sensing/vehicle_velocity_converter/schema/vehicle_velocity_converter.json b/sensing/autoware_vehicle_velocity_converter/schema/vehicle_velocity_converter.json similarity index 100% rename from sensing/vehicle_velocity_converter/schema/vehicle_velocity_converter.json rename to sensing/autoware_vehicle_velocity_converter/schema/vehicle_velocity_converter.json diff --git a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp b/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.cpp similarity index 91% rename from sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp rename to sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.cpp index ab9787fb6020d..2211fa0cbb03e 100644 --- a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp +++ b/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.cpp @@ -12,10 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "vehicle_velocity_converter/vehicle_velocity_converter.hpp" +#include "vehicle_velocity_converter.hpp" #include +namespace autoware::vehicle_velocity_converter +{ VehicleVelocityConverter::VehicleVelocityConverter(const rclcpp::NodeOptions & options) : rclcpp::Node("vehicle_velocity_converter", options) { @@ -55,6 +57,7 @@ void VehicleVelocityConverter::callback_velocity_report( twist_with_covariance_pub_->publish(twist_with_covariance_msg); } +} // namespace autoware::vehicle_velocity_converter #include -RCLCPP_COMPONENTS_REGISTER_NODE(VehicleVelocityConverter) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::vehicle_velocity_converter::VehicleVelocityConverter) diff --git a/sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp b/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.hpp similarity index 86% rename from sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp rename to sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.hpp index 5f7b1c044d7e3..9d65e34c4457c 100644 --- a/sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp +++ b/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef VEHICLE_VELOCITY_CONVERTER__VEHICLE_VELOCITY_CONVERTER_HPP_ -#define VEHICLE_VELOCITY_CONVERTER__VEHICLE_VELOCITY_CONVERTER_HPP_ +#ifndef VEHICLE_VELOCITY_CONVERTER_HPP_ +#define VEHICLE_VELOCITY_CONVERTER_HPP_ #include @@ -25,6 +25,8 @@ #include #include +namespace autoware::vehicle_velocity_converter +{ class VehicleVelocityConverter : public rclcpp::Node { public: @@ -43,5 +45,6 @@ class VehicleVelocityConverter : public rclcpp::Node double stddev_wz_; double speed_scale_factor_; }; +} // namespace autoware::vehicle_velocity_converter -#endif // VEHICLE_VELOCITY_CONVERTER__VEHICLE_VELOCITY_CONVERTER_HPP_ +#endif // VEHICLE_VELOCITY_CONVERTER_HPP_ From ede3f237c0b4c3632ba2a24aaddb4f2a4deb5573 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 6 Dec 2024 16:14:09 +0900 Subject: [PATCH 675/701] feat(goal_planner): check opposite lane for lane departure_check (#9460) * feat(goal_planner): check opposite lane for lane departure_check Signed-off-by: kosuke55 * refactor getMostInnerLane Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../src/util.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp index 8ca9d9ab45dc3..a2a64fc700676 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp @@ -723,8 +723,13 @@ lanelet::Lanelet createDepartureCheckLanelet( }; const auto getMostInnerLane = [&](const lanelet::ConstLanelet & lane) -> lanelet::ConstLanelet { - return left_side_parking ? route_handler.getMostRightLanelet(lane, false, true) - : route_handler.getMostLeftLanelet(lane, false, true); + const auto getInnerLane = + left_side_parking ? &RouteHandler::getMostRightLanelet : &RouteHandler::getMostLeftLanelet; + const auto getOppositeLane = left_side_parking ? &RouteHandler::getRightOppositeLanelets + : &RouteHandler::getLeftOppositeLanelets; + const auto inner_lane = (route_handler.*getInnerLane)(lane, true, true); + const auto opposite_lanes = (route_handler.*getOppositeLane)(inner_lane); + return opposite_lanes.empty() ? inner_lane : opposite_lanes.front(); }; lanelet::Points3d outer_bound_points{}; From 9c7ec8abcdcde77aed447fc4c292ee8dfc8875c5 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Fri, 6 Dec 2024 19:25:41 +0900 Subject: [PATCH 676/701] fix: autoware_glog_compontnt (#9586) Fixed autoware_glog_compontnt Signed-off-by: Shintaro Sakoda --- launch/tier4_control_launch/launch/control.launch.xml | 4 ++-- .../behavior_planning/behavior_planning.launch.xml | 2 +- .../lane_driving/motion_planning/motion_planning.launch.xml | 2 +- .../launch/scenario_planning/parking.launch.xml | 2 +- .../launch/scenario_planning/scenario_planning.launch.xml | 2 +- .../launch/mission_planner.launch.xml | 2 +- 6 files changed, 7 insertions(+), 7 deletions(-) diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml index a979f9e28244b..2b0339f1c5cad 100644 --- a/launch/tier4_control_launch/launch/control.launch.xml +++ b/launch/tier4_control_launch/launch/control.launch.xml @@ -51,7 +51,7 @@ - + @@ -177,7 +177,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index 41326c1a16728..3579884064d5d 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -255,7 +255,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index fb7e11419fdc9..555e8da787013 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -27,7 +27,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml index 89961821fa761..1daeebe87d4eb 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml @@ -32,7 +32,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml index a89b47da13049..d90515f6cb335 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -44,7 +44,7 @@ - + diff --git a/planning/autoware_mission_planner/launch/mission_planner.launch.xml b/planning/autoware_mission_planner/launch/mission_planner.launch.xml index 0d9c9307d549c..c15874118011a 100644 --- a/planning/autoware_mission_planner/launch/mission_planner.launch.xml +++ b/planning/autoware_mission_planner/launch/mission_planner.launch.xml @@ -23,6 +23,6 @@ - + From c9f0f2688c57b0f657f5c1f28f036a970682e7f5 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri, 6 Dec 2024 23:34:04 +0900 Subject: [PATCH 677/701] chore(package.xml): bump version to 0.39.0 (#9587) * chore(package.xml): bump version to 0.39.0 Signed-off-by: Yutaka Kondo * fix: fix ticket links in CHANGELOG.rst Signed-off-by: Ryohsuke Mitsudome * fix: remove unnecessary diff Signed-off-by: Ryohsuke Mitsudome --------- Signed-off-by: Yutaka Kondo Signed-off-by: Ryohsuke Mitsudome Co-authored-by: Yutaka Kondo --- common/autoware_adapi_specs/CHANGELOG.rst | 16 ++++++ common/autoware_adapi_specs/package.xml | 2 +- common/autoware_auto_common/CHANGELOG.rst | 14 ++++++ common/autoware_auto_common/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 13 +++++ .../package.xml | 2 +- common/autoware_fake_test_node/CHANGELOG.rst | 12 +++++ common/autoware_fake_test_node/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- common/autoware_glog_component/CHANGELOG.rst | 12 +++++ common/autoware_glog_component/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- common/autoware_grid_map_utils/CHANGELOG.rst | 12 +++++ common/autoware_grid_map_utils/package.xml | 2 +- common/autoware_interpolation/CHANGELOG.rst | 12 +++++ common/autoware_interpolation/package.xml | 2 +- common/autoware_kalman_filter/CHANGELOG.rst | 12 +++++ common/autoware_kalman_filter/package.xml | 2 +- common/autoware_motion_utils/CHANGELOG.rst | 50 +++++++++++++++++++ common/autoware_motion_utils/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- common/autoware_osqp_interface/CHANGELOG.rst | 12 +++++ common/autoware_osqp_interface/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 14 ++++++ .../autoware_overlay_rviz_plugin/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- common/autoware_point_types/CHANGELOG.rst | 12 +++++ common/autoware_point_types/package.xml | 2 +- common/autoware_polar_grid/CHANGELOG.rst | 12 +++++ common/autoware_polar_grid/package.xml | 2 +- common/autoware_pyplot/package.xml | 3 +- common/autoware_qp_interface/CHANGELOG.rst | 13 +++++ common/autoware_qp_interface/package.xml | 2 +- .../autoware_signal_processing/CHANGELOG.rst | 12 +++++ common/autoware_signal_processing/package.xml | 2 +- common/autoware_test_utils/CHANGELOG.rst | 32 ++++++++++++ common/autoware_test_utils/package.xml | 2 +- common/autoware_testing/CHANGELOG.rst | 12 +++++ common/autoware_testing/package.xml | 2 +- common/autoware_time_utils/CHANGELOG.rst | 18 +++++++ common/autoware_time_utils/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../autoware_traffic_light_utils/package.xml | 2 +- common/autoware_trajectory/CHANGELOG.rst | 46 +++++++++++++++++ common/autoware_trajectory/package.xml | 2 +- common/autoware_universe_utils/CHANGELOG.rst | 16 ++++++ common/autoware_universe_utils/package.xml | 2 +- .../autoware_vehicle_info_utils/CHANGELOG.rst | 12 +++++ .../autoware_vehicle_info_utils/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../bag_time_manager_rviz_plugin/package.xml | 2 +- common/tier4_adapi_rviz_plugin/CHANGELOG.rst | 24 +++++++++ common/tier4_adapi_rviz_plugin/package.xml | 2 +- common/tier4_api_utils/CHANGELOG.rst | 12 +++++ common/tier4_api_utils/package.xml | 2 +- .../CHANGELOG.rst | 24 +++++++++ .../tier4_camera_view_rviz_plugin/package.xml | 2 +- .../tier4_datetime_rviz_plugin/CHANGELOG.rst | 12 +++++ common/tier4_datetime_rviz_plugin/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../tier4_planning_rviz_plugin/CHANGELOG.rst | 12 +++++ common/tier4_planning_rviz_plugin/package.xml | 2 +- common/tier4_state_rviz_plugin/CHANGELOG.rst | 14 ++++++ common/tier4_state_rviz_plugin/package.xml | 2 +- common/tier4_system_rviz_plugin/CHANGELOG.rst | 12 +++++ common/tier4_system_rviz_plugin/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../tier4_vehicle_rviz_plugin/CHANGELOG.rst | 14 ++++++ common/tier4_vehicle_rviz_plugin/package.xml | 2 +- .../CHANGELOG.rst | 41 +++++++++++++++ .../package.xml | 2 +- .../autoware_collision_detector/CHANGELOG.rst | 20 ++++++++ .../autoware_collision_detector/package.xml | 2 +- .../autoware_control_validator/CHANGELOG.rst | 14 ++++++ .../autoware_control_validator/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- control/autoware_joy_controller/CHANGELOG.rst | 12 +++++ control/autoware_joy_controller/package.xml | 2 +- .../CHANGELOG.rst | 15 ++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 18 +++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 14 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12 +++++ planning/autoware_mission_planner/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 39 +++++++++++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../autoware_path_optimizer/CHANGELOG.rst | 12 +++++ planning/autoware_path_optimizer/package.xml | 2 +- planning/autoware_path_smoother/CHANGELOG.rst | 12 +++++ planning/autoware_path_smoother/package.xml | 2 +- .../CHANGELOG.rst | 14 ++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../autoware_planning_validator/CHANGELOG.rst | 12 +++++ .../autoware_planning_validator/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- planning/autoware_route_handler/CHANGELOG.rst | 12 +++++ planning/autoware_route_handler/package.xml | 2 +- planning/autoware_rtc_interface/CHANGELOG.rst | 24 +++++++++ planning/autoware_rtc_interface/package.xml | 2 +- .../autoware_scenario_selector/CHANGELOG.rst | 12 +++++ 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.../package.xml | 2 +- .../CHANGELOG.rst | 19 +++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 14 ++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 17 +++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 19 +++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 14 ++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 36 +++++++++++++ .../package.xml | 2 +- .../autoware_bezier_sampler/CHANGELOG.rst | 12 +++++ .../autoware_bezier_sampler/package.xml | 2 +- .../autoware_frenet_planner/CHANGELOG.rst | 12 +++++ .../autoware_frenet_planner/package.xml | 2 +- .../autoware_path_sampler/CHANGELOG.rst | 12 +++++ .../autoware_path_sampler/package.xml | 2 +- .../autoware_sampler_common/CHANGELOG.rst | 12 +++++ .../autoware_sampler_common/package.xml | 2 +- sensing/autoware_cuda_utils/CHANGELOG.rst | 17 ++++++- sensing/autoware_cuda_utils/package.xml | 2 +- sensing/autoware_gnss_poser/CHANGELOG.rst | 14 ++++++ sensing/autoware_gnss_poser/package.xml | 2 +- .../autoware_image_diagnostics/CHANGELOG.rst | 12 +++++ .../autoware_image_diagnostics/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- sensing/autoware_imu_corrector/CHANGELOG.rst | 12 +++++ sensing/autoware_imu_corrector/package.xml | 2 +- sensing/autoware_pcl_extensions/CHANGELOG.rst | 12 +++++ sensing/autoware_pcl_extensions/package.xml | 2 +- .../CHANGELOG.rst | 21 ++++++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../autoware_livox_tag_filter/CHANGELOG.rst | 12 +++++ .../autoware_livox_tag_filter/package.xml | 2 +- .../autoware_carla_interface/CHANGELOG.rst | 12 +++++ .../autoware_carla_interface/package.xml | 2 +- .../dummy_perception_publisher/CHANGELOG.rst | 12 +++++ .../dummy_perception_publisher/package.xml | 2 +- simulator/fault_injection/CHANGELOG.rst | 12 +++++ simulator/fault_injection/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../learning_based_vehicle_model/package.xml | 2 +- .../simple_planning_simulator/CHANGELOG.rst | 12 +++++ .../simple_planning_simulator/package.xml | 2 +- .../CHANGELOG.rst | 14 ++++++ .../package.xml | 2 +- .../vehicle_door_simulator/CHANGELOG.rst | 12 +++++ simulator/vehicle_door_simulator/package.xml | 2 +- .../autoware_component_monitor/CHANGELOG.rst | 12 +++++ system/autoware_component_monitor/package.xml | 2 +- system/autoware_default_adapi/CHANGELOG.rst | 26 ++++++++++ system/autoware_default_adapi/package.xml | 2 +- .../CHANGELOG.rst | 36 +++++++++++++ .../package.xml | 2 +- system/bluetooth_monitor/CHANGELOG.rst | 12 +++++ system/bluetooth_monitor/package.xml | 2 +- system/component_state_monitor/CHANGELOG.rst | 12 +++++ system/component_state_monitor/package.xml | 2 +- .../ad_api_adaptors/CHANGELOG.rst | 24 +++++++++ .../ad_api_adaptors/package.xml | 2 +- .../ad_api_visualizers/CHANGELOG.rst | 12 +++++ .../ad_api_visualizers/package.xml | 2 +- .../ad_api_visualizers/setup.py | 2 +- .../automatic_pose_initializer/CHANGELOG.rst | 24 +++++++++ .../automatic_pose_initializer/package.xml | 2 +- .../diagnostic_graph_aggregator/CHANGELOG.rst | 14 ++++++ .../diagnostic_graph_aggregator/package.xml | 2 +- system/diagnostic_graph_utils/CHANGELOG.rst | 15 ++++++ system/diagnostic_graph_utils/package.xml | 2 +- system/dummy_diag_publisher/CHANGELOG.rst | 22 ++++++++ system/dummy_diag_publisher/package.xml | 2 +- system/dummy_infrastructure/CHANGELOG.rst | 12 +++++ system/dummy_infrastructure/package.xml | 2 +- system/duplicated_node_checker/CHANGELOG.rst | 12 +++++ system/duplicated_node_checker/package.xml | 2 +- system/hazard_status_converter/CHANGELOG.rst | 12 +++++ system/hazard_status_converter/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../mrm_comfortable_stop_operator/package.xml | 2 +- .../mrm_emergency_stop_operator/CHANGELOG.rst | 12 +++++ .../mrm_emergency_stop_operator/package.xml | 2 +- system/mrm_handler/CHANGELOG.rst | 12 +++++ system/mrm_handler/package.xml | 2 +- .../system_diagnostic_monitor/CHANGELOG.rst | 12 +++++ system/system_diagnostic_monitor/package.xml | 2 +- system/system_monitor/CHANGELOG.rst | 22 ++++++++ system/system_monitor/package.xml | 2 +- system/topic_state_monitor/CHANGELOG.rst | 12 +++++ system/topic_state_monitor/package.xml | 2 +- system/velodyne_monitor/CHANGELOG.rst | 12 +++++ system/velodyne_monitor/package.xml | 2 +- tools/reaction_analyzer/CHANGELOG.rst | 12 +++++ tools/reaction_analyzer/package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- .../CHANGELOG.rst | 12 +++++ .../package.xml | 2 +- 489 files changed, 3890 insertions(+), 248 deletions(-) create mode 100644 common/autoware_trajectory/CHANGELOG.rst diff --git a/common/autoware_adapi_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst index b4fec15bfa98c..79e62f7738922 100644 --- a/common/autoware_adapi_specs/CHANGELOG.rst +++ b/common/autoware_adapi_specs/CHANGELOG.rst @@ -2,6 +2,22 @@ Changelog for package autoware_adapi_specs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_adapi_specs/package.xml b/common/autoware_adapi_specs/package.xml index a949084dd8789..754edf9ddfbe7 100644 --- a/common/autoware_adapi_specs/package.xml +++ b/common/autoware_adapi_specs/package.xml @@ -2,7 +2,7 @@ autoware_adapi_specs - 0.38.0 + 0.39.0 The autoware_adapi_specs package Takagi, Isamu Ryohsuke Mitsudome diff --git a/common/autoware_auto_common/CHANGELOG.rst b/common/autoware_auto_common/CHANGELOG.rst index 271ecb7badb38..93b2dba7939a2 100644 --- a/common/autoware_auto_common/CHANGELOG.rst +++ b/common/autoware_auto_common/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_auto_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml index 1a462ee9db7ac..9d12bda8c75c3 100644 --- a/common/autoware_auto_common/package.xml +++ b/common/autoware_auto_common/package.xml @@ -2,7 +2,7 @@ autoware_auto_common - 0.38.0 + 0.39.0 Miscellaneous helper functions Apex.AI, Inc. Tomoya Kimura diff --git a/common/autoware_component_interface_specs/CHANGELOG.rst b/common/autoware_component_interface_specs/CHANGELOG.rst index 68a4eaaa2f36b..faacc0cfdb2bf 100644 --- a/common/autoware_component_interface_specs/CHANGELOG.rst +++ b/common/autoware_component_interface_specs/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_component_interface_specs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml index 0fbd632d52af3..5a2fd993613d1 100644 --- a/common/autoware_component_interface_specs/package.xml +++ b/common/autoware_component_interface_specs/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_specs - 0.38.0 + 0.39.0 The autoware_component_interface_specs package Takagi, Isamu Yukihiro Saito diff --git a/common/autoware_component_interface_tools/CHANGELOG.rst b/common/autoware_component_interface_tools/CHANGELOG.rst index d04567161c80d..e0c07efa43418 100644 --- a/common/autoware_component_interface_tools/CHANGELOG.rst +++ b/common/autoware_component_interface_tools/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_component_interface_tools ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml index 96514517e1574..d0c79f3ad0d67 100644 --- a/common/autoware_component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_tools - 0.38.0 + 0.39.0 The autoware_component_interface_tools package Takagi, Isamu Apache License 2.0 diff --git a/common/autoware_component_interface_utils/CHANGELOG.rst b/common/autoware_component_interface_utils/CHANGELOG.rst index d7f476f33409a..6e6ee88a3f3a7 100644 --- a/common/autoware_component_interface_utils/CHANGELOG.rst +++ b/common/autoware_component_interface_utils/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package autoware_component_interface_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_component_interface_utils/package.xml b/common/autoware_component_interface_utils/package.xml index f1902d159e818..5efebf5c0d210 100755 --- a/common/autoware_component_interface_utils/package.xml +++ b/common/autoware_component_interface_utils/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_utils - 0.38.0 + 0.39.0 The autoware_component_interface_utils package Takagi, Isamu Yukihiro Saito diff --git a/common/autoware_fake_test_node/CHANGELOG.rst b/common/autoware_fake_test_node/CHANGELOG.rst index 330dddaa66aef..5f04908a8ab0f 100644 --- a/common/autoware_fake_test_node/CHANGELOG.rst +++ b/common/autoware_fake_test_node/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_fake_test_node ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_fake_test_node/package.xml b/common/autoware_fake_test_node/package.xml index 413f359eafbcc..531e9351023e6 100644 --- a/common/autoware_fake_test_node/package.xml +++ b/common/autoware_fake_test_node/package.xml @@ -2,7 +2,7 @@ autoware_fake_test_node - 0.38.0 + 0.39.0 A fake node that we can use in the integration-like cpp tests. Apex.AI, Inc. Tomoya Kimura diff --git a/common/autoware_global_parameter_loader/CHANGELOG.rst b/common/autoware_global_parameter_loader/CHANGELOG.rst index ae5dfd0509592..2de0adf89cb3e 100644 --- a/common/autoware_global_parameter_loader/CHANGELOG.rst +++ b/common/autoware_global_parameter_loader/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package global_parameter_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_global_parameter_loader/package.xml b/common/autoware_global_parameter_loader/package.xml index 2a72f93230da9..ef40ff8df22aa 100644 --- a/common/autoware_global_parameter_loader/package.xml +++ b/common/autoware_global_parameter_loader/package.xml @@ -2,7 +2,7 @@ autoware_global_parameter_loader - 0.38.0 + 0.39.0 The autoware_global_parameter_loader package Ryohsuke Mitsudome Apache License 2.0 diff --git a/common/autoware_glog_component/CHANGELOG.rst b/common/autoware_glog_component/CHANGELOG.rst index b305cfb616e27..66eee038b6353 100644 --- a/common/autoware_glog_component/CHANGELOG.rst +++ b/common/autoware_glog_component/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package glog_component ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_glog_component/package.xml b/common/autoware_glog_component/package.xml index f9e6a1aa26723..3bfb6c97155b0 100644 --- a/common/autoware_glog_component/package.xml +++ b/common/autoware_glog_component/package.xml @@ -2,7 +2,7 @@ autoware_glog_component - 0.38.0 + 0.39.0 The autoware_glog_component package Takamasa Horibe Apache License 2.0 diff --git a/common/autoware_goal_distance_calculator/CHANGELOG.rst b/common/autoware_goal_distance_calculator/CHANGELOG.rst index 4b38ad848193b..45fa8825612ef 100644 --- a/common/autoware_goal_distance_calculator/CHANGELOG.rst +++ b/common/autoware_goal_distance_calculator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_goal_distance_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_goal_distance_calculator/package.xml b/common/autoware_goal_distance_calculator/package.xml index 4ad84b9f4f283..24b3b2f2ba9c6 100644 --- a/common/autoware_goal_distance_calculator/package.xml +++ b/common/autoware_goal_distance_calculator/package.xml @@ -2,7 +2,7 @@ autoware_goal_distance_calculator - 0.38.0 + 0.39.0 The autoware_goal_distance_calculator package Taiki Tanaka Apache License 2.0 diff --git a/common/autoware_grid_map_utils/CHANGELOG.rst b/common/autoware_grid_map_utils/CHANGELOG.rst index ee66753285b0e..31df087b80d59 100644 --- a/common/autoware_grid_map_utils/CHANGELOG.rst +++ b/common/autoware_grid_map_utils/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_grid_map_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_grid_map_utils/package.xml b/common/autoware_grid_map_utils/package.xml index 40c1ba7c96e87..cc64daa0045e0 100644 --- a/common/autoware_grid_map_utils/package.xml +++ b/common/autoware_grid_map_utils/package.xml @@ -2,7 +2,7 @@ autoware_grid_map_utils - 0.38.0 + 0.39.0 Utilities for the grid_map library Maxime CLEMENT Apache License 2.0 diff --git a/common/autoware_interpolation/CHANGELOG.rst b/common/autoware_interpolation/CHANGELOG.rst index fbba411fcdeca..e62e73ae4ec21 100644 --- a/common/autoware_interpolation/CHANGELOG.rst +++ b/common/autoware_interpolation/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_interpolation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_interpolation/package.xml b/common/autoware_interpolation/package.xml index e94ec898cb0cb..22db75271b316 100644 --- a/common/autoware_interpolation/package.xml +++ b/common/autoware_interpolation/package.xml @@ -2,7 +2,7 @@ autoware_interpolation - 0.38.0 + 0.39.0 The spline interpolation package Fumiya Watanabe Takayuki Murooka diff --git a/common/autoware_kalman_filter/CHANGELOG.rst b/common/autoware_kalman_filter/CHANGELOG.rst index becf8dc95abec..5ec0bcc9e72dc 100644 --- a/common/autoware_kalman_filter/CHANGELOG.rst +++ b/common/autoware_kalman_filter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_kalman_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_kalman_filter/package.xml b/common/autoware_kalman_filter/package.xml index a3c454795344b..4cd94ff488899 100644 --- a/common/autoware_kalman_filter/package.xml +++ b/common/autoware_kalman_filter/package.xml @@ -2,7 +2,7 @@ autoware_kalman_filter - 0.38.0 + 0.39.0 The kalman filter package Yukihiro Saito Takeshi Ishita diff --git a/common/autoware_motion_utils/CHANGELOG.rst b/common/autoware_motion_utils/CHANGELOG.rst index 84374fb8a3f26..216d4d978bd8a 100644 --- a/common/autoware_motion_utils/CHANGELOG.rst +++ b/common/autoware_motion_utils/CHANGELOG.rst @@ -2,6 +2,56 @@ Changelog for package autoware_motion_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_motion_utils): add new trajectory class (`#8693 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + * add clone function + * fix stairstep + * make constructor to public + * feat(autoware_motion_utils): add trajectory class + * Update CMakeLists.txt + * fix + * fix package.xml + * update crop + * revert crtp change + * update package.xml + * updating... + * update + * solve build problem + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yukinari Hisaki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_motion_utils/package.xml b/common/autoware_motion_utils/package.xml index 6fbe84927a9e3..4aa215b48e2ce 100644 --- a/common/autoware_motion_utils/package.xml +++ b/common/autoware_motion_utils/package.xml @@ -2,7 +2,7 @@ autoware_motion_utils - 0.38.0 + 0.39.0 The autoware_motion_utils package Satoshi Ota Takayuki Murooka diff --git a/common/autoware_object_recognition_utils/CHANGELOG.rst b/common/autoware_object_recognition_utils/CHANGELOG.rst index 1ff6a870e3791..44bc2573f435a 100644 --- a/common/autoware_object_recognition_utils/CHANGELOG.rst +++ b/common/autoware_object_recognition_utils/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_object_recognition_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_object_recognition_utils/package.xml b/common/autoware_object_recognition_utils/package.xml index 353a6af544783..729999f96dc6e 100644 --- a/common/autoware_object_recognition_utils/package.xml +++ b/common/autoware_object_recognition_utils/package.xml @@ -2,7 +2,7 @@ autoware_object_recognition_utils - 0.38.0 + 0.39.0 The autoware_object_recognition_utils package Takayuki Murooka Shunsuke Miura diff --git a/common/autoware_osqp_interface/CHANGELOG.rst b/common/autoware_osqp_interface/CHANGELOG.rst index 5af614d9301ad..5ce7b02250fda 100644 --- a/common/autoware_osqp_interface/CHANGELOG.rst +++ b/common/autoware_osqp_interface/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_osqp_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_osqp_interface/package.xml b/common/autoware_osqp_interface/package.xml index 063617716bdd6..95ffebe833cc6 100644 --- a/common/autoware_osqp_interface/package.xml +++ b/common/autoware_osqp_interface/package.xml @@ -2,7 +2,7 @@ autoware_osqp_interface - 0.38.0 + 0.39.0 Interface for the OSQP solver Maxime CLEMENT Takayuki Murooka diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst index 86a9f62f236fa..7fdc075553c07 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_mission_details_overlay_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml index 1865376069def..1ae744322766e 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_mission_details_overlay_rviz_plugin - 0.38.0 + 0.39.0 RViz2 plugin for 2D overlays for mission details in the 3D view. Mainly a port of the JSK overlay plugin (https://github.com/jsk-ros-pkg/jsk_visualization). diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst index 012be9e7cce85..b1cef0c598a85 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_overlay_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix: missing dependency in common components (`#9072 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml index 6b0ee4fbd355e..1a626d90bc02b 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_overlay_rviz_plugin - 0.38.0 + 0.39.0 RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin (https://github.com/jsk-ros-pkg/jsk_visualization). diff --git a/common/autoware_path_distance_calculator/CHANGELOG.rst b/common/autoware_path_distance_calculator/CHANGELOG.rst index 436099b87795e..6adf0a3e3c851 100644 --- a/common/autoware_path_distance_calculator/CHANGELOG.rst +++ b/common/autoware_path_distance_calculator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_path_distance_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_path_distance_calculator/package.xml b/common/autoware_path_distance_calculator/package.xml index e9042c4385b66..7466b299e7e2e 100644 --- a/common/autoware_path_distance_calculator/package.xml +++ b/common/autoware_path_distance_calculator/package.xml @@ -2,7 +2,7 @@ autoware_path_distance_calculator - 0.38.0 + 0.39.0 The autoware_path_distance_calculator package Takagi, Isamu Apache License 2.0 diff --git a/common/autoware_perception_rviz_plugin/CHANGELOG.rst b/common/autoware_perception_rviz_plugin/CHANGELOG.rst index 0f8e5ff1f7fd8..c84cd5bf35fa8 100644 --- a/common/autoware_perception_rviz_plugin/CHANGELOG.rst +++ b/common/autoware_perception_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_perception_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_perception_rviz_plugin/package.xml b/common/autoware_perception_rviz_plugin/package.xml index 98c24297894b6..3f6c168c9857a 100644 --- a/common/autoware_perception_rviz_plugin/package.xml +++ b/common/autoware_perception_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_perception_rviz_plugin - 0.38.0 + 0.39.0 Contains plugins to visualize object detection outputs Apex.AI, Inc. Taiki Tanaka diff --git a/common/autoware_point_types/CHANGELOG.rst b/common/autoware_point_types/CHANGELOG.rst index 3aa6d4183543e..12cef4043ae3e 100644 --- a/common/autoware_point_types/CHANGELOG.rst +++ b/common/autoware_point_types/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_point_types ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml index 8e9fb4fb51aa4..fd48c12daa2e9 100644 --- a/common/autoware_point_types/package.xml +++ b/common/autoware_point_types/package.xml @@ -2,7 +2,7 @@ autoware_point_types - 0.38.0 + 0.39.0 The point types definition to use point_cloud_msg_wrapper David Wong Max Schmeller diff --git a/common/autoware_polar_grid/CHANGELOG.rst b/common/autoware_polar_grid/CHANGELOG.rst index 359de11cb3104..b4e9e612fe093 100644 --- a/common/autoware_polar_grid/CHANGELOG.rst +++ b/common/autoware_polar_grid/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_polar_grid ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_polar_grid/package.xml b/common/autoware_polar_grid/package.xml index f14776b145349..a2ed7a138bdca 100644 --- a/common/autoware_polar_grid/package.xml +++ b/common/autoware_polar_grid/package.xml @@ -2,7 +2,7 @@ autoware_polar_grid - 0.38.0 + 0.39.0 The autoware_polar_grid package Yukihiro Saito Apache License 2.0 diff --git a/common/autoware_pyplot/package.xml b/common/autoware_pyplot/package.xml index af0237d0aead8..297ab68cb9367 100644 --- a/common/autoware_pyplot/package.xml +++ b/common/autoware_pyplot/package.xml @@ -2,11 +2,12 @@ autoware_pyplot - 0.1.0 + 0.39.0 C++ interface for matplotlib based on pybind11 Mamoru Sobue Yukinari Hisaki Apache License 2.0 + Koji Minoda Mamoru Sobue diff --git a/common/autoware_qp_interface/CHANGELOG.rst b/common/autoware_qp_interface/CHANGELOG.rst index 17e296bab4fca..ce931f6f5e1e7 100644 --- a/common/autoware_qp_interface/CHANGELOG.rst +++ b/common/autoware_qp_interface/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package autoware_qp_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_qp_interface/package.xml b/common/autoware_qp_interface/package.xml index 43c9c6607bcaa..5bd3ce1ad8464 100644 --- a/common/autoware_qp_interface/package.xml +++ b/common/autoware_qp_interface/package.xml @@ -2,7 +2,7 @@ autoware_qp_interface - 0.38.0 + 0.39.0 Interface for the QP solvers Takayuki Murooka Fumiya Watanabe diff --git a/common/autoware_signal_processing/CHANGELOG.rst b/common/autoware_signal_processing/CHANGELOG.rst index f0293aefdc69d..f41732a258cf7 100644 --- a/common/autoware_signal_processing/CHANGELOG.rst +++ b/common/autoware_signal_processing/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_signal_processing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_signal_processing/package.xml b/common/autoware_signal_processing/package.xml index 952833d10c59a..6197c641a6f82 100644 --- a/common/autoware_signal_processing/package.xml +++ b/common/autoware_signal_processing/package.xml @@ -2,7 +2,7 @@ autoware_signal_processing - 0.38.0 + 0.39.0 The signal processing package Takayuki Murooka Takamasa Horibe diff --git a/common/autoware_test_utils/CHANGELOG.rst b/common/autoware_test_utils/CHANGELOG.rst index b9600e7cb7f22..02a046a20e595 100644 --- a/common/autoware_test_utils/CHANGELOG.rst +++ b/common/autoware_test_utils/CHANGELOG.rst @@ -2,6 +2,38 @@ Changelog for package autoware_test_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(autoware_test_utils): add general topic dumper (`#9207 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) +* Contributors: Esteve Fernandez, Mamoru Sobue, Yutaka Kondo, mkquda + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml index 712a3569a658b..97c81c62ba512 100644 --- a/common/autoware_test_utils/package.xml +++ b/common/autoware_test_utils/package.xml @@ -2,7 +2,7 @@ autoware_test_utils - 0.38.0 + 0.39.0 ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe diff --git a/common/autoware_testing/CHANGELOG.rst b/common/autoware_testing/CHANGELOG.rst index 36ad1ec42c3c5..1a016888fda47 100644 --- a/common/autoware_testing/CHANGELOG.rst +++ b/common/autoware_testing/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_testing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_testing/package.xml b/common/autoware_testing/package.xml index 483b8323e224f..ae5b5e7a5d466 100644 --- a/common/autoware_testing/package.xml +++ b/common/autoware_testing/package.xml @@ -2,7 +2,7 @@ autoware_testing - 0.38.0 + 0.39.0 Tools for handling standard tests based on ros_testing Adam Dabrowski Tomoya Kimura diff --git a/common/autoware_time_utils/CHANGELOG.rst b/common/autoware_time_utils/CHANGELOG.rst index 43074de077e04..4f0f87e5daad8 100644 --- a/common/autoware_time_utils/CHANGELOG.rst +++ b/common/autoware_time_utils/CHANGELOG.rst @@ -2,6 +2,24 @@ Changelog for package autoware_time_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware + * refactor(time_utils): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_time_utils/package.xml b/common/autoware_time_utils/package.xml index 988ebad188839..6491006b6cc27 100644 --- a/common/autoware_time_utils/package.xml +++ b/common/autoware_time_utils/package.xml @@ -2,7 +2,7 @@ autoware_time_utils - 0.38.0 + 0.39.0 Simple conversion methods to/from std::chrono to simplify algorithm development Christopher Ho Tomoya Kimura diff --git a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst index 98691121f4d30..ea5339ba8d566 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst +++ b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_traffic_light_recognition_marker_publisher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_traffic_light_recognition_marker_publisher/package.xml b/common/autoware_traffic_light_recognition_marker_publisher/package.xml index 88addcfb77b44..ddca8ad56c281 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/package.xml +++ b/common/autoware_traffic_light_recognition_marker_publisher/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_recognition_marker_publisher - 0.38.0 + 0.39.0 The autoware_traffic_light_recognition_marker_publisher package Tomoya Kimura Takeshi Miura diff --git a/common/autoware_traffic_light_utils/CHANGELOG.rst b/common/autoware_traffic_light_utils/CHANGELOG.rst index d74774ae8ef3a..518123e826992 100644 --- a/common/autoware_traffic_light_utils/CHANGELOG.rst +++ b/common/autoware_traffic_light_utils/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_traffic_light_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_traffic_light_utils/package.xml b/common/autoware_traffic_light_utils/package.xml index 384839d1c91d4..744a7b08c22a9 100644 --- a/common/autoware_traffic_light_utils/package.xml +++ b/common/autoware_traffic_light_utils/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_utils - 0.38.0 + 0.39.0 The autoware_traffic_light_utils package Kotaro Uetake Shunsuke Miura diff --git a/common/autoware_trajectory/CHANGELOG.rst b/common/autoware_trajectory/CHANGELOG.rst new file mode 100644 index 0000000000000..1fbf18ec57abe --- /dev/null +++ b/common/autoware_trajectory/CHANGELOG.rst @@ -0,0 +1,46 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_trajectory +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.39.0 (2024-11-25) +------------------- +* add changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* feat(autoware_trajectory): change default value of min_points (`#9315 `_) +* fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) +* feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) + change interface of InterpolateArray +* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Yukinari Hisaki, Yutaka Kondo + +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* feat(autoware_trajectory): change default value of min_points (`#9315 `_) +* fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) +* feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) + change interface of InterpolateArray +* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Yukinari Hisaki, Yutaka Kondo + +0.38.0 (2024-11-11) +------------------- + +0.26.0 (2024-04-03) +------------------- diff --git a/common/autoware_trajectory/package.xml b/common/autoware_trajectory/package.xml index d6ab5465578aa..b1aaaed7efc6b 100644 --- a/common/autoware_trajectory/package.xml +++ b/common/autoware_trajectory/package.xml @@ -2,7 +2,7 @@ autoware_trajectory - 0.1.0 + 0.39.0 The autoware_trajectory package Yukinari Hisaki Takayuki Murooka diff --git a/common/autoware_universe_utils/CHANGELOG.rst b/common/autoware_universe_utils/CHANGELOG.rst index 8d79fbb4f4f2a..c85a9f14e960e 100644 --- a/common/autoware_universe_utils/CHANGELOG.rst +++ b/common/autoware_universe_utils/CHANGELOG.rst @@ -2,6 +2,22 @@ Changelog for package autoware_universe_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Giovanni Muhammad Raditya, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_universe_utils/package.xml b/common/autoware_universe_utils/package.xml index 535206f57c25c..1c2e9993439e4 100644 --- a/common/autoware_universe_utils/package.xml +++ b/common/autoware_universe_utils/package.xml @@ -2,7 +2,7 @@ autoware_universe_utils - 0.38.0 + 0.39.0 The autoware_universe_utils package Takamasa Horibe Takayuki Murooka diff --git a/common/autoware_vehicle_info_utils/CHANGELOG.rst b/common/autoware_vehicle_info_utils/CHANGELOG.rst index 5ad86eddf9f52..4d76f469414b5 100644 --- a/common/autoware_vehicle_info_utils/CHANGELOG.rst +++ b/common/autoware_vehicle_info_utils/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_vehicle_info_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/autoware_vehicle_info_utils/package.xml b/common/autoware_vehicle_info_utils/package.xml index 1e35c8fce516e..bc3f12f5f3ca0 100644 --- a/common/autoware_vehicle_info_utils/package.xml +++ b/common/autoware_vehicle_info_utils/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_info_utils - 0.38.0 + 0.39.0 The autoware_vehicle_info_utils package diff --git a/common/bag_time_manager_rviz_plugin/CHANGELOG.rst b/common/bag_time_manager_rviz_plugin/CHANGELOG.rst index a47ad569440b4..af35aa6921956 100644 --- a/common/bag_time_manager_rviz_plugin/CHANGELOG.rst +++ b/common/bag_time_manager_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package bag_time_manager_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/bag_time_manager_rviz_plugin/package.xml b/common/bag_time_manager_rviz_plugin/package.xml index e9df21b48535f..c3e9895805a12 100644 --- a/common/bag_time_manager_rviz_plugin/package.xml +++ b/common/bag_time_manager_rviz_plugin/package.xml @@ -2,7 +2,7 @@ bag_time_manager_rviz_plugin - 0.38.0 + 0.39.0 Rviz plugin to publish and control the ros bag Taiki Tanaka Apache License 2.0 diff --git a/common/tier4_adapi_rviz_plugin/CHANGELOG.rst b/common/tier4_adapi_rviz_plugin/CHANGELOG.rst index b151eb7f7e06d..ed05abec453cb 100644 --- a/common/tier4_adapi_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_adapi_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package tier4_adapi_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_adapi_rviz_plugin/package.xml b/common/tier4_adapi_rviz_plugin/package.xml index c31e19919ff22..97418c7308f5b 100644 --- a/common/tier4_adapi_rviz_plugin/package.xml +++ b/common/tier4_adapi_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_adapi_rviz_plugin - 0.38.0 + 0.39.0 The autoware adapi rviz plugin package Takagi, Isamu Hiroki OTA diff --git a/common/tier4_api_utils/CHANGELOG.rst b/common/tier4_api_utils/CHANGELOG.rst index 3129d35f02c38..a6ac6f3cf1e86 100644 --- a/common/tier4_api_utils/CHANGELOG.rst +++ b/common/tier4_api_utils/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_api_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml index 6936fb4034f63..dba6450a338e4 100644 --- a/common/tier4_api_utils/package.xml +++ b/common/tier4_api_utils/package.xml @@ -2,7 +2,7 @@ tier4_api_utils - 0.38.0 + 0.39.0 The tier4_api_utils package Takagi, Isamu Apache License 2.0 diff --git a/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst b/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst index e71a8d02bd47e..78b243eedcd85 100644 --- a/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package tier4_camera_view_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_camera_view_rviz_plugin/package.xml b/common/tier4_camera_view_rviz_plugin/package.xml index 7c85d9f84871a..0728391e2e1ed 100644 --- a/common/tier4_camera_view_rviz_plugin/package.xml +++ b/common/tier4_camera_view_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_camera_view_rviz_plugin - 0.38.0 + 0.39.0 The autoware camera view rviz plugin package Yuxuan Liu Makoto Yabuta diff --git a/common/tier4_datetime_rviz_plugin/CHANGELOG.rst b/common/tier4_datetime_rviz_plugin/CHANGELOG.rst index b8341184faaf7..e5e5a9df7ec7f 100644 --- a/common/tier4_datetime_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_datetime_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_datetime_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_datetime_rviz_plugin/package.xml b/common/tier4_datetime_rviz_plugin/package.xml index ffe95116f9ea3..0a78d7408e3a3 100644 --- a/common/tier4_datetime_rviz_plugin/package.xml +++ b/common/tier4_datetime_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_datetime_rviz_plugin - 0.38.0 + 0.39.0 The tier4_datetime_rviz_plugin package Takagi, Isamu Apache License 2.0 diff --git a/common/tier4_localization_rviz_plugin/CHANGELOG.rst b/common/tier4_localization_rviz_plugin/CHANGELOG.rst index 2a1f10be1ffed..ddbe7b587d9e8 100644 --- a/common/tier4_localization_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_localization_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_localization_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_localization_rviz_plugin/package.xml b/common/tier4_localization_rviz_plugin/package.xml index 29f5b995bce2b..e5623a25416c2 100644 --- a/common/tier4_localization_rviz_plugin/package.xml +++ b/common/tier4_localization_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_localization_rviz_plugin - 0.38.0 + 0.39.0 The tier4_localization_rviz_plugin package Takagi, Isamu Takamasa Horibe diff --git a/common/tier4_planning_rviz_plugin/CHANGELOG.rst b/common/tier4_planning_rviz_plugin/CHANGELOG.rst index c31dc946b12d1..f6ddb9a16283a 100644 --- a/common/tier4_planning_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_planning_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_planning_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_planning_rviz_plugin/package.xml b/common/tier4_planning_rviz_plugin/package.xml index 43641ce361e43..16dedcb450814 100644 --- a/common/tier4_planning_rviz_plugin/package.xml +++ b/common/tier4_planning_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_planning_rviz_plugin - 0.38.0 + 0.39.0 The tier4_planning_rviz_plugin package Yukihiro Saito Takayuki Murooka diff --git a/common/tier4_state_rviz_plugin/CHANGELOG.rst b/common/tier4_state_rviz_plugin/CHANGELOG.rst index 962433de64c70..ac4988a0bff22 100644 --- a/common/tier4_state_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_state_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package tier4_state_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix: missing dependency in common components (`#9072 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml index 14ad8a22a52e2..19c8c153b89ee 100644 --- a/common/tier4_state_rviz_plugin/package.xml +++ b/common/tier4_state_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_state_rviz_plugin - 0.38.0 + 0.39.0 The autoware state rviz plugin package Hiroki OTA Takagi, Isamu diff --git a/common/tier4_system_rviz_plugin/CHANGELOG.rst b/common/tier4_system_rviz_plugin/CHANGELOG.rst index 92178542034c4..f5895ae43b3db 100644 --- a/common/tier4_system_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_system_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_system_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_system_rviz_plugin/package.xml b/common/tier4_system_rviz_plugin/package.xml index 6b7b089840537..5e6a30689505f 100644 --- a/common/tier4_system_rviz_plugin/package.xml +++ b/common/tier4_system_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_system_rviz_plugin - 0.38.0 + 0.39.0 The tier4_vehicle_rviz_plugin package Koji Minoda Apache License 2.0 diff --git a/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst b/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst index b367a66d0357d..46c123392b23e 100644 --- a/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_traffic_light_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_traffic_light_rviz_plugin/package.xml b/common/tier4_traffic_light_rviz_plugin/package.xml index f1e47741e8f0b..6b8718488953a 100644 --- a/common/tier4_traffic_light_rviz_plugin/package.xml +++ b/common/tier4_traffic_light_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_traffic_light_rviz_plugin - 0.38.0 + 0.39.0 The autoware state rviz plugin package Satoshi OTA Apache License 2.0 diff --git a/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst b/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst index b02695f6f8e17..33c59d1d1c93f 100644 --- a/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst +++ b/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package tier4_vehicle_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix: missing dependency in common components (`#9072 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/common/tier4_vehicle_rviz_plugin/package.xml b/common/tier4_vehicle_rviz_plugin/package.xml index b94f1375cee81..0aee4396e6167 100644 --- a/common/tier4_vehicle_rviz_plugin/package.xml +++ b/common/tier4_vehicle_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_vehicle_rviz_plugin - 0.38.0 + 0.39.0 The tier4_vehicle_rviz_plugin package Yukihiro Saito Apache License 2.0 diff --git a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst index 6e8285c25481d..67fe12fb1243b 100644 --- a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst +++ b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst @@ -2,6 +2,47 @@ Changelog for package autoware_autonomous_emergency_braking ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autonomous_emergency_braking): solve issue with arc length (`#9247 `_) + * solve issue with arc length + * fix problem with points one vehicle apart from path + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo, danielsanchezaran, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml index 5fac12cb3e715..bab41a7c634d2 100644 --- a/control/autoware_autonomous_emergency_braking/package.xml +++ b/control/autoware_autonomous_emergency_braking/package.xml @@ -2,7 +2,7 @@ autoware_autonomous_emergency_braking - 0.38.0 + 0.39.0 Autonomous Emergency Braking package as a ROS 2 node Takamasa Horibe Tomoya Kimura diff --git a/control/autoware_collision_detector/CHANGELOG.rst b/control/autoware_collision_detector/CHANGELOG.rst index 3e6f87d08dd6d..4d0f2f9b2c579 100644 --- a/control/autoware_collision_detector/CHANGELOG.rst +++ b/control/autoware_collision_detector/CHANGELOG.rst @@ -2,6 +2,26 @@ Changelog for package autoware_collision_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * subscribe odometry + * fix precommit + * remove unnecessary log info + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(collision_detector): use polling subscriber (`#9213 `_) + use polling subscriber +* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_collision_detector/package.xml b/control/autoware_collision_detector/package.xml index ff081e921aef2..e2bdeb7fa9250 100644 --- a/control/autoware_collision_detector/package.xml +++ b/control/autoware_collision_detector/package.xml @@ -2,7 +2,7 @@ autoware_collision_detector - 0.38.0 + 0.39.0 The collision_detector package Kyoichi Sugahara diff --git a/control/autoware_control_validator/CHANGELOG.rst b/control/autoware_control_validator/CHANGELOG.rst index 9b57a109b7780..fca1ed1e51184 100644 --- a/control/autoware_control_validator/CHANGELOG.rst +++ b/control/autoware_control_validator/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_control_validator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_control_validator/package.xml b/control/autoware_control_validator/package.xml index fbe759547aba1..24c3daebb6749 100644 --- a/control/autoware_control_validator/package.xml +++ b/control/autoware_control_validator/package.xml @@ -2,7 +2,7 @@ autoware_control_validator - 0.38.0 + 0.39.0 ros node for autoware_control_validator Kyoichi Sugahara Takamasa Horibe diff --git a/control/autoware_external_cmd_selector/CHANGELOG.rst b/control/autoware_external_cmd_selector/CHANGELOG.rst index fee762039a445..85e6e33fae450 100644 --- a/control/autoware_external_cmd_selector/CHANGELOG.rst +++ b/control/autoware_external_cmd_selector/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_external_cmd_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_external_cmd_selector/package.xml b/control/autoware_external_cmd_selector/package.xml index 1d69b4eb8e97e..036e293b308df 100644 --- a/control/autoware_external_cmd_selector/package.xml +++ b/control/autoware_external_cmd_selector/package.xml @@ -2,7 +2,7 @@ autoware_external_cmd_selector - 0.38.0 + 0.39.0 The autoware_external_cmd_selector package Taiki Tanaka Tomoya Kimura diff --git a/control/autoware_joy_controller/CHANGELOG.rst b/control/autoware_joy_controller/CHANGELOG.rst index 5e73b2921e356..f0ce6cd9eb030 100644 --- a/control/autoware_joy_controller/CHANGELOG.rst +++ b/control/autoware_joy_controller/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_joy_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_joy_controller/package.xml b/control/autoware_joy_controller/package.xml index 3ee880799a025..3d695f995f855 100644 --- a/control/autoware_joy_controller/package.xml +++ b/control/autoware_joy_controller/package.xml @@ -2,7 +2,7 @@ autoware_joy_controller - 0.38.0 + 0.39.0 The autoware_joy_controller package Taiki Tanaka Tomoya Kimura diff --git a/control/autoware_lane_departure_checker/CHANGELOG.rst b/control/autoware_lane_departure_checker/CHANGELOG.rst index 9c8eccb587208..d7f502990a9a2 100644 --- a/control/autoware_lane_departure_checker/CHANGELOG.rst +++ b/control/autoware_lane_departure_checker/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package autoware_lane_departure_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + speed up by updating polygons +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo, danielsanchezaran + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_lane_departure_checker/package.xml b/control/autoware_lane_departure_checker/package.xml index c8271f4ef4a6d..70ea7459a2b93 100644 --- a/control/autoware_lane_departure_checker/package.xml +++ b/control/autoware_lane_departure_checker/package.xml @@ -2,7 +2,7 @@ autoware_lane_departure_checker - 0.38.0 + 0.39.0 The autoware_lane_departure_checker package Kyoichi Sugahara Makoto Kurihara diff --git a/control/autoware_mpc_lateral_controller/CHANGELOG.rst b/control/autoware_mpc_lateral_controller/CHANGELOG.rst index 7d32d50b1befd..a361c3aaec161 100644 --- a/control/autoware_mpc_lateral_controller/CHANGELOG.rst +++ b/control/autoware_mpc_lateral_controller/CHANGELOG.rst @@ -2,6 +2,24 @@ Changelog for package autoware_mpc_lateral_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 `_) + * fix: bugprone-misplaced-widening-cast + * fix: consider negative values + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) +* Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo, kobayu858 + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml index a965343ad3e98..d8bb14d211bf8 100644 --- a/control/autoware_mpc_lateral_controller/package.xml +++ b/control/autoware_mpc_lateral_controller/package.xml @@ -2,7 +2,7 @@ autoware_mpc_lateral_controller - 0.38.0 + 0.39.0 MPC-based lateral controller Takamasa Horibe diff --git a/control/autoware_obstacle_collision_checker/CHANGELOG.rst b/control/autoware_obstacle_collision_checker/CHANGELOG.rst index 5cca4c07048b1..05e5b2d4190d7 100644 --- a/control/autoware_obstacle_collision_checker/CHANGELOG.rst +++ b/control/autoware_obstacle_collision_checker/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_obstacle_collision_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_obstacle_collision_checker/package.xml b/control/autoware_obstacle_collision_checker/package.xml index 01200e9c77bc3..66df5e98bf57d 100644 --- a/control/autoware_obstacle_collision_checker/package.xml +++ b/control/autoware_obstacle_collision_checker/package.xml @@ -2,7 +2,7 @@ autoware_obstacle_collision_checker - 0.38.0 + 0.39.0 The obstacle_collision_checker package Taiki Tanaka Tomoya Kimura diff --git a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst index 3412c651fc4a7..af99c3781459a 100644 --- a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst +++ b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_operation_mode_transition_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_operation_mode_transition_manager/package.xml b/control/autoware_operation_mode_transition_manager/package.xml index 98e216a1b96ec..7a0d6977a3e8f 100644 --- a/control/autoware_operation_mode_transition_manager/package.xml +++ b/control/autoware_operation_mode_transition_manager/package.xml @@ -1,6 +1,6 @@ autoware_operation_mode_transition_manager - 0.38.0 + 0.39.0 The operation_mode_transition_manager package Takamasa Horibe Tomoya Kimura diff --git a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst index b246fe3593ad5..57e2ce30aff35 100644 --- a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst +++ b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_pid_longitudinal_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml index b4bf580e133e7..88f8abaf225e8 100644 --- a/control/autoware_pid_longitudinal_controller/package.xml +++ b/control/autoware_pid_longitudinal_controller/package.xml @@ -2,7 +2,7 @@ autoware_pid_longitudinal_controller - 0.38.0 + 0.39.0 PID-based longitudinal controller Takamasa Horibe diff --git a/control/autoware_pure_pursuit/CHANGELOG.rst b/control/autoware_pure_pursuit/CHANGELOG.rst index 2c60203858a32..df0b7df3a9e52 100644 --- a/control/autoware_pure_pursuit/CHANGELOG.rst +++ b/control/autoware_pure_pursuit/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_pure_pursuit ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_pure_pursuit/package.xml b/control/autoware_pure_pursuit/package.xml index 55fdac624f0d7..03c46dbc22bb6 100644 --- a/control/autoware_pure_pursuit/package.xml +++ b/control/autoware_pure_pursuit/package.xml @@ -2,7 +2,7 @@ autoware_pure_pursuit - 0.38.0 + 0.39.0 The pure_pursuit package Takamasa Horibe Takayuki Murooka diff --git a/control/autoware_shift_decider/CHANGELOG.rst b/control/autoware_shift_decider/CHANGELOG.rst index 032398006ac94..72257774b4763 100644 --- a/control/autoware_shift_decider/CHANGELOG.rst +++ b/control/autoware_shift_decider/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_shift_decider ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_shift_decider/package.xml b/control/autoware_shift_decider/package.xml index f63b811d2eaf9..75b11dfcd8379 100644 --- a/control/autoware_shift_decider/package.xml +++ b/control/autoware_shift_decider/package.xml @@ -2,7 +2,7 @@ autoware_shift_decider - 0.38.0 + 0.39.0 The autoware_shift_decider package Takamasa Horibe Takayuki Murooka diff --git a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst index ab53787cae6e0..34bb120a2752c 100644 --- a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst +++ b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_smart_mpc_trajectory_follower ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_smart_mpc_trajectory_follower/package.xml b/control/autoware_smart_mpc_trajectory_follower/package.xml index ca8331eaae9a9..fb70eb05d21e5 100644 --- a/control/autoware_smart_mpc_trajectory_follower/package.xml +++ b/control/autoware_smart_mpc_trajectory_follower/package.xml @@ -2,7 +2,7 @@ autoware_smart_mpc_trajectory_follower - 0.38.0 + 0.39.0 Nodes to follow a trajectory by generating control commands using smart mpc diff --git a/control/autoware_trajectory_follower_base/CHANGELOG.rst b/control/autoware_trajectory_follower_base/CHANGELOG.rst index 9b52928f063bd..9182dabfe66a6 100644 --- a/control/autoware_trajectory_follower_base/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_base/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_trajectory_follower_base ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_trajectory_follower_base/package.xml b/control/autoware_trajectory_follower_base/package.xml index 663648950258c..32bf2b1f1a809 100644 --- a/control/autoware_trajectory_follower_base/package.xml +++ b/control/autoware_trajectory_follower_base/package.xml @@ -2,7 +2,7 @@ autoware_trajectory_follower_base - 0.38.0 + 0.39.0 Library for generating lateral and longitudinal controls following a trajectory diff --git a/control/autoware_trajectory_follower_node/CHANGELOG.rst b/control/autoware_trajectory_follower_node/CHANGELOG.rst index cda983ab27d89..fad7a121bb624 100644 --- a/control/autoware_trajectory_follower_node/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_node/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_trajectory_follower_node ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml index 86a2592ebf5f4..e4000feef9474 100644 --- a/control/autoware_trajectory_follower_node/package.xml +++ b/control/autoware_trajectory_follower_node/package.xml @@ -2,7 +2,7 @@ autoware_trajectory_follower_node - 0.38.0 + 0.39.0 Nodes to follow a trajectory by generating control commands separated into lateral and longitudinal commands diff --git a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst index 20fc77c4cda55..ce6420fa69b76 100644 --- a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst +++ b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst @@ -2,6 +2,22 @@ Changelog for package autoware_vehicle_cmd_gate ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo, ぐるぐる + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml index a5026a0edb3ef..3253f5a498933 100644 --- a/control/autoware_vehicle_cmd_gate/package.xml +++ b/control/autoware_vehicle_cmd_gate/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_cmd_gate - 0.38.0 + 0.39.0 The vehicle_cmd_gate package Takamasa Horibe Tomoya Kimura diff --git a/control/control_performance_analysis/CHANGELOG.rst b/control/control_performance_analysis/CHANGELOG.rst index cfe98a0e66275..f32fbe5cb0b1c 100644 --- a/control/control_performance_analysis/CHANGELOG.rst +++ b/control/control_performance_analysis/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package control_performance_analysis ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml index 203357d3f0474..49b8f69570bb4 100644 --- a/control/control_performance_analysis/package.xml +++ b/control/control_performance_analysis/package.xml @@ -2,7 +2,7 @@ control_performance_analysis - 0.38.0 + 0.39.0 Controller Performance Evaluation Berkay Karaman Taiki Tanaka diff --git a/control/predicted_path_checker/CHANGELOG.rst b/control/predicted_path_checker/CHANGELOG.rst index b2dbfa706eedc..15418d84cba3a 100644 --- a/control/predicted_path_checker/CHANGELOG.rst +++ b/control/predicted_path_checker/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package predicted_path_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/control/predicted_path_checker/package.xml b/control/predicted_path_checker/package.xml index cfa2a23be92da..f23828f8a586c 100644 --- a/control/predicted_path_checker/package.xml +++ b/control/predicted_path_checker/package.xml @@ -2,7 +2,7 @@ predicted_path_checker - 0.38.0 + 0.39.0 The predicted_path_checker package Berkay Karaman diff --git a/evaluator/autoware_control_evaluator/CHANGELOG.rst b/evaluator/autoware_control_evaluator/CHANGELOG.rst index 2469aea0deca1..e67a53de4656a 100644 --- a/evaluator/autoware_control_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_control_evaluator/CHANGELOG.rst @@ -2,6 +2,46 @@ Changelog for package autoware_control_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) + * update unit test of control_evaluator. + * manual pre-commit. + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml index 1c724fc7bd0ec..473f3bff7257e 100644 --- a/evaluator/autoware_control_evaluator/package.xml +++ b/evaluator/autoware_control_evaluator/package.xml @@ -2,7 +2,7 @@ autoware_control_evaluator - 0.38.0 + 0.39.0 ROS 2 node for evaluating control Daniel SANCHEZ takayuki MUROOKA diff --git a/evaluator/autoware_planning_evaluator/CHANGELOG.rst b/evaluator/autoware_planning_evaluator/CHANGELOG.rst index cf4aaf2e7fc94..9dc854ae8d623 100644 --- a/evaluator/autoware_planning_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_planning_evaluator/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_planning_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml index 827784f71a823..09c8a17a8d791 100644 --- a/evaluator/autoware_planning_evaluator/package.xml +++ b/evaluator/autoware_planning_evaluator/package.xml @@ -2,7 +2,7 @@ autoware_planning_evaluator - 0.38.0 + 0.39.0 ROS 2 node for evaluating planners Maxime CLEMENT Kyoichi Sugahara diff --git a/evaluator/kinematic_evaluator/CHANGELOG.rst b/evaluator/kinematic_evaluator/CHANGELOG.rst index ceacbcf0b129d..da5509f14143e 100644 --- a/evaluator/kinematic_evaluator/CHANGELOG.rst +++ b/evaluator/kinematic_evaluator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package kinematic_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/kinematic_evaluator/package.xml index 99254d06d0642..ab01f15c3c154 100644 --- a/evaluator/kinematic_evaluator/package.xml +++ b/evaluator/kinematic_evaluator/package.xml @@ -1,7 +1,7 @@ kinematic_evaluator - 0.38.0 + 0.39.0 kinematic evaluator ROS 2 node Dominik Jargot diff --git a/evaluator/localization_evaluator/CHANGELOG.rst b/evaluator/localization_evaluator/CHANGELOG.rst index 62f63139999e2..7438643fe19a6 100644 --- a/evaluator/localization_evaluator/CHANGELOG.rst +++ b/evaluator/localization_evaluator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package localization_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml index b9d6285a0f08c..a38871a1af6a2 100644 --- a/evaluator/localization_evaluator/package.xml +++ b/evaluator/localization_evaluator/package.xml @@ -1,7 +1,7 @@ localization_evaluator - 0.38.0 + 0.39.0 localization evaluator ROS 2 node Dominik Jargot diff --git a/evaluator/perception_online_evaluator/CHANGELOG.rst b/evaluator/perception_online_evaluator/CHANGELOG.rst index 643dec851d0fa..f3e999f66ee0e 100644 --- a/evaluator/perception_online_evaluator/CHANGELOG.rst +++ b/evaluator/perception_online_evaluator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package perception_online_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml index 1e7c0a7d128e6..bebc46457807e 100644 --- a/evaluator/perception_online_evaluator/package.xml +++ b/evaluator/perception_online_evaluator/package.xml @@ -2,7 +2,7 @@ perception_online_evaluator - 0.38.0 + 0.39.0 ROS 2 node for evaluating perception Fumiya Watanabe Kosuke Takeuchi diff --git a/evaluator/scenario_simulator_v2_adapter/package.xml b/evaluator/scenario_simulator_v2_adapter/package.xml index ae6b49671a774..45c4f91c0eb83 100644 --- a/evaluator/scenario_simulator_v2_adapter/package.xml +++ b/evaluator/scenario_simulator_v2_adapter/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2_adapter - 0.5.6 + 0.39.0 Node for converting autoware's messages into UserDefinedValue messages Kyoichi Sugahara Maxime CLEMENT diff --git a/launch/tier4_autoware_api_launch/CHANGELOG.rst b/launch/tier4_autoware_api_launch/CHANGELOG.rst index c4dc5fba123fb..38825528d8c39 100644 --- a/launch/tier4_autoware_api_launch/CHANGELOG.rst +++ b/launch/tier4_autoware_api_launch/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_autoware_api_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml index 2af274907306a..4b52acbc8d804 100644 --- a/launch/tier4_autoware_api_launch/package.xml +++ b/launch/tier4_autoware_api_launch/package.xml @@ -2,7 +2,7 @@ tier4_autoware_api_launch - 0.38.0 + 0.39.0 The tier4_autoware_api_launch package Takagi, Isamu Ryohsuke Mitsudome diff --git a/launch/tier4_control_launch/CHANGELOG.rst b/launch/tier4_control_launch/CHANGELOG.rst index 11f7420e9e513..cbe41dcd85828 100644 --- a/launch/tier4_control_launch/CHANGELOG.rst +++ b/launch/tier4_control_launch/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package tier4_control_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * subscribe odometry + * fix precommit + * remove unnecessary log info + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(aeb): set global param to override autoware state check (`#9263 `_) + * set global param to override autoware state check + * change variable to be more general + * add comment + * move param to control component launch + * change param name to be more straightforward + --------- +* feat(control_launch): add collision detector in launch (`#9214 `_) + add collision detector in launch +* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo, danielsanchezaran + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml index a6a57e0b02716..09eb3302c7811 100644 --- a/launch/tier4_control_launch/package.xml +++ b/launch/tier4_control_launch/package.xml @@ -2,7 +2,7 @@ tier4_control_launch - 0.38.0 + 0.39.0 The tier4_control_launch package Takamasa Horibe Takayuki Murooka diff --git a/launch/tier4_localization_launch/CHANGELOG.rst b/launch/tier4_localization_launch/CHANGELOG.rst index b7d0b8cf8169d..21cf37981a40a 100644 --- a/launch/tier4_localization_launch/CHANGELOG.rst +++ b/launch/tier4_localization_launch/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_localization_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 89627ad420afc..66d2a3277f505 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -2,7 +2,7 @@ tier4_localization_launch - 0.38.0 + 0.39.0 The tier4_localization_launch package Yamato Ando Kento Yabuuchi diff --git a/launch/tier4_map_launch/CHANGELOG.rst b/launch/tier4_map_launch/CHANGELOG.rst index e1ee86c71fc15..11f8aeb97cda3 100644 --- a/launch/tier4_map_launch/CHANGELOG.rst +++ b/launch/tier4_map_launch/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_map_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index a5120987605f5..91874321b5db0 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -2,7 +2,7 @@ tier4_map_launch - 0.38.0 + 0.39.0 The tier4_map_launch package Ryu Yamamoto Kento Yabuuchi diff --git a/launch/tier4_perception_launch/CHANGELOG.rst b/launch/tier4_perception_launch/CHANGELOG.rst index b0cb6c69d6892..412665dab796f 100644 --- a/launch/tier4_perception_launch/CHANGELOG.rst +++ b/launch/tier4_perception_launch/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_perception_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 22c664b998a2c..7b705d4b74f78 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -2,7 +2,7 @@ tier4_perception_launch - 0.38.0 + 0.39.0 The tier4_perception_launch package Yukihiro Saito Shunsuke Miura diff --git a/launch/tier4_planning_launch/CHANGELOG.rst b/launch/tier4_planning_launch/CHANGELOG.rst index c66ad480472ca..2641162594a74 100644 --- a/launch/tier4_planning_launch/CHANGELOG.rst +++ b/launch/tier4_planning_launch/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_planning_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index 7f181d6d707b6..286e09a2f17ed 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -2,7 +2,7 @@ tier4_planning_launch - 0.38.0 + 0.39.0 The tier4_planning_launch package diff --git a/launch/tier4_sensing_launch/CHANGELOG.rst b/launch/tier4_sensing_launch/CHANGELOG.rst index be5bb4dd8fce6..7e1b9756effdd 100644 --- a/launch/tier4_sensing_launch/CHANGELOG.rst +++ b/launch/tier4_sensing_launch/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_sensing_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_sensing_launch/package.xml b/launch/tier4_sensing_launch/package.xml index d4e03219b2299..12194a163e0f1 100644 --- a/launch/tier4_sensing_launch/package.xml +++ b/launch/tier4_sensing_launch/package.xml @@ -2,7 +2,7 @@ tier4_sensing_launch - 0.38.0 + 0.39.0 The tier4_sensing_launch package Yukihiro Saito Apache License 2.0 diff --git a/launch/tier4_simulator_launch/CHANGELOG.rst b/launch/tier4_simulator_launch/CHANGELOG.rst index 14927284d98a7..46aa2059dea76 100644 --- a/launch/tier4_simulator_launch/CHANGELOG.rst +++ b/launch/tier4_simulator_launch/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package tier4_simulator_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml index 6452241dc3f72..b61954dcc297d 100644 --- a/launch/tier4_simulator_launch/package.xml +++ b/launch/tier4_simulator_launch/package.xml @@ -2,7 +2,7 @@ tier4_simulator_launch - 0.38.0 + 0.39.0 The tier4_simulator_launch package Keisuke Shima Takayuki Murooka diff --git a/launch/tier4_system_launch/CHANGELOG.rst b/launch/tier4_system_launch/CHANGELOG.rst index d42dea8eb7b24..26f1031652d54 100644 --- a/launch/tier4_system_launch/CHANGELOG.rst +++ b/launch/tier4_system_launch/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_system_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml index 6d335269f734d..92bee6d1d3e86 100644 --- a/launch/tier4_system_launch/package.xml +++ b/launch/tier4_system_launch/package.xml @@ -2,7 +2,7 @@ tier4_system_launch - 0.38.0 + 0.39.0 The tier4_system_launch package Fumihito Ito TetsuKawa diff --git a/launch/tier4_vehicle_launch/CHANGELOG.rst b/launch/tier4_vehicle_launch/CHANGELOG.rst index dfd9f0759abfc..4823ed84f46f6 100644 --- a/launch/tier4_vehicle_launch/CHANGELOG.rst +++ b/launch/tier4_vehicle_launch/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package tier4_vehicle_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml index 9a8c03c62a7b3..ab3e7483c8593 100644 --- a/launch/tier4_vehicle_launch/package.xml +++ b/launch/tier4_vehicle_launch/package.xml @@ -2,7 +2,7 @@ tier4_vehicle_launch - 0.38.0 + 0.39.0 The tier4_vehicle_launch package Yukihiro Saito Apache License 2.0 diff --git a/localization/autoware_ekf_localizer/CHANGELOG.rst b/localization/autoware_ekf_localizer/CHANGELOG.rst index bce88cb58f6c5..369a731d87ee6 100644 --- a/localization/autoware_ekf_localizer/CHANGELOG.rst +++ b/localization/autoware_ekf_localizer/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package autoware_ekf_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 `_) + Removed timer_tf\_ +* Contributors: Esteve Fernandez, SakodaShintaro, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml index c9abefcd5e849..d93b4eb1ff016 100644 --- a/localization/autoware_ekf_localizer/package.xml +++ b/localization/autoware_ekf_localizer/package.xml @@ -2,7 +2,7 @@ autoware_ekf_localizer - 0.38.0 + 0.39.0 The autoware_ekf_localizer package Takamasa Horibe Yamato Ando diff --git a/localization/autoware_geo_pose_projector/CHANGELOG.rst b/localization/autoware_geo_pose_projector/CHANGELOG.rst index 41729bbef184c..717118a5c1692 100644 --- a/localization/autoware_geo_pose_projector/CHANGELOG.rst +++ b/localization/autoware_geo_pose_projector/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_geo_pose_projector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml index 7425b964a0d5d..4fecd89630e01 100644 --- a/localization/autoware_geo_pose_projector/package.xml +++ b/localization/autoware_geo_pose_projector/package.xml @@ -2,7 +2,7 @@ autoware_geo_pose_projector - 0.38.0 + 0.39.0 The autoware_geo_pose_projector package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_gyro_odometer/CHANGELOG.rst b/localization/autoware_gyro_odometer/CHANGELOG.rst index b2a293af33018..950fd01b2ce6f 100644 --- a/localization/autoware_gyro_odometer/CHANGELOG.rst +++ b/localization/autoware_gyro_odometer/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_gyro_odometer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_gyro_odometer/package.xml b/localization/autoware_gyro_odometer/package.xml index 41626e3f8c70b..b546312ef729e 100644 --- a/localization/autoware_gyro_odometer/package.xml +++ b/localization/autoware_gyro_odometer/package.xml @@ -2,7 +2,7 @@ autoware_gyro_odometer - 0.38.0 + 0.39.0 The autoware_gyro_odometer package as a ROS 2 node Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst index d74b537c50fdd..e8cc6d9f2796e 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_ar_tag_based_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml index 4ff6c0c9ca9b1..c0ee5cf973001 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml @@ -2,7 +2,7 @@ autoware_ar_tag_based_localizer - 0.38.0 + 0.39.0 The autoware_ar_tag_based_localizer package Shintaro Sakoda Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst index 1c08781d5e233..e50f441c27ca5 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_landmark_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml index a5250d6c81afc..357fc2b9eb32c 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml @@ -2,7 +2,7 @@ autoware_landmark_manager - 0.38.0 + 0.39.0 The autoware_landmark_manager package Shintaro Sakoda Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst index 4d154f8e365f9..374bdd1f09901 100644 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_lidar_marker_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml index 91976ab1a74e1..72bded6b2b416 100755 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml @@ -2,7 +2,7 @@ autoware_lidar_marker_localizer - 0.38.0 + 0.39.0 The autoware_lidar_marker_localizer package Yamato Ando Shintaro Sakoda diff --git a/localization/autoware_localization_error_monitor/CHANGELOG.rst b/localization/autoware_localization_error_monitor/CHANGELOG.rst index d24c1d7ac4bce..ba263d0f8cb42 100644 --- a/localization/autoware_localization_error_monitor/CHANGELOG.rst +++ b/localization/autoware_localization_error_monitor/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_localization_error_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_localization_error_monitor/package.xml b/localization/autoware_localization_error_monitor/package.xml index e07445b878d9c..937d4e71bc717 100644 --- a/localization/autoware_localization_error_monitor/package.xml +++ b/localization/autoware_localization_error_monitor/package.xml @@ -2,7 +2,7 @@ autoware_localization_error_monitor - 0.38.0 + 0.39.0 ros node for monitoring localization error Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_localization_util/CHANGELOG.rst b/localization/autoware_localization_util/CHANGELOG.rst index 7dae713216362..d029d05144595 100644 --- a/localization/autoware_localization_util/CHANGELOG.rst +++ b/localization/autoware_localization_util/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_localization_util ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_localization_util/package.xml b/localization/autoware_localization_util/package.xml index 49330e04c8b2f..ea22ffe59ce64 100644 --- a/localization/autoware_localization_util/package.xml +++ b/localization/autoware_localization_util/package.xml @@ -2,7 +2,7 @@ autoware_localization_util - 0.38.0 + 0.39.0 The autoware_localization_util package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst index 36b7becac9be0..096804e155328 100644 --- a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst +++ b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst @@ -2,6 +2,56 @@ Changelog for package autoware_ndt_scan_matcher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold + * perf: remove evecs, evals from Leaf + * perf: remove evecs, evals from Leaf + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) +* fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) + Reduced initial_pose_estimation.particles_num from 200 to 100 on tests +* refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * Moved ndt_omp into ndt_scan_matcher + * Added Copyright + * style(pre-commit): autofix + * Fixed include + * Fixed cast style + * Fixed include + * Fixed honorific title + * Fixed honorific title + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed hierarchy + * Fixed NVTP to NVTL + * Added cspell:ignore + * Fixed miss spell + * style(pre-commit): autofix + * Fixed include + * Renamed applyFilter + * Moved ***_impl.hpp from include/ to src/ + * style(pre-commit): autofix + * Fixed variable scope + * Fixed to pass by reference + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Kento Osa, Ryuta Kambe, SakodaShintaro, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_ndt_scan_matcher/package.xml b/localization/autoware_ndt_scan_matcher/package.xml index 9e5b3dabbbc27..96c73f248a595 100644 --- a/localization/autoware_ndt_scan_matcher/package.xml +++ b/localization/autoware_ndt_scan_matcher/package.xml @@ -2,7 +2,7 @@ autoware_ndt_scan_matcher - 0.38.0 + 0.39.0 The autoware_ndt_scan_matcher package Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_pose2twist/CHANGELOG.rst b/localization/autoware_pose2twist/CHANGELOG.rst index 653daf8d9a34c..dcabfddfd2256 100644 --- a/localization/autoware_pose2twist/CHANGELOG.rst +++ b/localization/autoware_pose2twist/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_pose2twist ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_pose2twist/package.xml b/localization/autoware_pose2twist/package.xml index 74ae9b8a10de7..9e7ec378c8570 100644 --- a/localization/autoware_pose2twist/package.xml +++ b/localization/autoware_pose2twist/package.xml @@ -2,7 +2,7 @@ autoware_pose2twist - 0.38.0 + 0.39.0 The autoware_pose2twist package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst index e59dee39371e3..b3c5fdc70f36a 100644 --- a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst +++ b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_pose_covariance_modifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_pose_covariance_modifier/package.xml b/localization/autoware_pose_covariance_modifier/package.xml index 2c0f9ae142370..2490fdc43dc0a 100644 --- a/localization/autoware_pose_covariance_modifier/package.xml +++ b/localization/autoware_pose_covariance_modifier/package.xml @@ -2,7 +2,7 @@ autoware_pose_covariance_modifier - 0.38.0 + 0.39.0 Add a description. Melike Tanrikulu diff --git a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst index 37bf54b3d27ee..423a73677c311 100644 --- a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst +++ b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_pose_estimator_arbiter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_pose_estimator_arbiter/package.xml b/localization/autoware_pose_estimator_arbiter/package.xml index adf90c534ef8f..cf30e8fcb5ef6 100644 --- a/localization/autoware_pose_estimator_arbiter/package.xml +++ b/localization/autoware_pose_estimator_arbiter/package.xml @@ -2,7 +2,7 @@ autoware_pose_estimator_arbiter - 0.38.0 + 0.39.0 The arbiter of multiple pose estimators Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_pose_initializer/CHANGELOG.rst b/localization/autoware_pose_initializer/CHANGELOG.rst index c6986a26a3d20..ca509039af804 100644 --- a/localization/autoware_pose_initializer/CHANGELOG.rst +++ b/localization/autoware_pose_initializer/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml index 99e2c55c312f2..e23a319e2ac2b 100644 --- a/localization/autoware_pose_initializer/package.xml +++ b/localization/autoware_pose_initializer/package.xml @@ -2,7 +2,7 @@ autoware_pose_initializer - 0.38.0 + 0.39.0 The autoware_pose_initializer package Yamato Ando Takagi, Isamu diff --git a/localization/autoware_pose_instability_detector/CHANGELOG.rst b/localization/autoware_pose_instability_detector/CHANGELOG.rst index f81c3c36e8b90..a02f1443d97e1 100644 --- a/localization/autoware_pose_instability_detector/CHANGELOG.rst +++ b/localization/autoware_pose_instability_detector/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_pose_instability_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_pose_instability_detector/package.xml b/localization/autoware_pose_instability_detector/package.xml index d3d7cc81166b6..2c982e30ca8d8 100644 --- a/localization/autoware_pose_instability_detector/package.xml +++ b/localization/autoware_pose_instability_detector/package.xml @@ -2,7 +2,7 @@ autoware_pose_instability_detector - 0.38.0 + 0.39.0 The autoware_pose_instability_detector package Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_stop_filter/CHANGELOG.rst b/localization/autoware_stop_filter/CHANGELOG.rst index 94aa8719318f5..30e5b6169c154 100644 --- a/localization/autoware_stop_filter/CHANGELOG.rst +++ b/localization/autoware_stop_filter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_stop_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_stop_filter/package.xml b/localization/autoware_stop_filter/package.xml index 499cb49af41a5..07ad7288c9d63 100644 --- a/localization/autoware_stop_filter/package.xml +++ b/localization/autoware_stop_filter/package.xml @@ -2,7 +2,7 @@ autoware_stop_filter - 0.38.0 + 0.39.0 The stop filter package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_twist2accel/CHANGELOG.rst b/localization/autoware_twist2accel/CHANGELOG.rst index 1f6228b9b5f62..ea50813677005 100644 --- a/localization/autoware_twist2accel/CHANGELOG.rst +++ b/localization/autoware_twist2accel/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_twist2accel ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/autoware_twist2accel/package.xml b/localization/autoware_twist2accel/package.xml index ac40f9b43bc90..538a75f8f9474 100644 --- a/localization/autoware_twist2accel/package.xml +++ b/localization/autoware_twist2accel/package.xml @@ -2,7 +2,7 @@ autoware_twist2accel - 0.38.0 + 0.39.0 The acceleration estimation package Yamato Ando Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_common/CHANGELOG.rst b/localization/yabloc/yabloc_common/CHANGELOG.rst index 936f230220d86..7cdbceeb5a6a5 100644 --- a/localization/yabloc/yabloc_common/CHANGELOG.rst +++ b/localization/yabloc/yabloc_common/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package yabloc_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml index 7bcf4084073c4..01b5a92745c3f 100644 --- a/localization/yabloc/yabloc_common/package.xml +++ b/localization/yabloc/yabloc_common/package.xml @@ -1,7 +1,7 @@ yabloc_common - 0.38.0 + 0.39.0 YabLoc common library Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst index b3b0eab9847b4..f6e619c8a62a6 100644 --- a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst +++ b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package yabloc_image_processing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/yabloc/yabloc_image_processing/package.xml b/localization/yabloc/yabloc_image_processing/package.xml index 4dc13b1f923e2..746e01f8e9841 100644 --- a/localization/yabloc/yabloc_image_processing/package.xml +++ b/localization/yabloc/yabloc_image_processing/package.xml @@ -2,7 +2,7 @@ yabloc_image_processing - 0.38.0 + 0.39.0 YabLoc image processing package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_monitor/CHANGELOG.rst b/localization/yabloc/yabloc_monitor/CHANGELOG.rst index 322ed6fa7ce20..ea890d490ccfb 100644 --- a/localization/yabloc/yabloc_monitor/CHANGELOG.rst +++ b/localization/yabloc/yabloc_monitor/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package yabloc_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/yabloc/yabloc_monitor/package.xml b/localization/yabloc/yabloc_monitor/package.xml index 9fd3e2af75625..ea7ce24f5da7c 100644 --- a/localization/yabloc/yabloc_monitor/package.xml +++ b/localization/yabloc/yabloc_monitor/package.xml @@ -2,7 +2,7 @@ yabloc_monitor - 0.38.0 + 0.39.0 YabLoc monitor package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst index 967571100c5f4..973e729089d7b 100644 --- a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst +++ b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package yabloc_particle_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/yabloc/yabloc_particle_filter/package.xml b/localization/yabloc/yabloc_particle_filter/package.xml index cbf19be65148f..ac5ba4d30bb8a 100644 --- a/localization/yabloc/yabloc_particle_filter/package.xml +++ b/localization/yabloc/yabloc_particle_filter/package.xml @@ -2,7 +2,7 @@ yabloc_particle_filter - 0.38.0 + 0.39.0 YabLoc particle filter package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst index fac49c978ca92..2bae9b010e7f0 100644 --- a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst +++ b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package yabloc_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/localization/yabloc/yabloc_pose_initializer/package.xml b/localization/yabloc/yabloc_pose_initializer/package.xml index 4e650340a309f..77fc397d207d4 100644 --- a/localization/yabloc/yabloc_pose_initializer/package.xml +++ b/localization/yabloc/yabloc_pose_initializer/package.xml @@ -1,7 +1,7 @@ yabloc_pose_initializer - 0.38.0 + 0.39.0 The pose initializer Kento Yabuuchi Masahiro Sakamoto diff --git a/map/autoware_map_height_fitter/CHANGELOG.rst b/map/autoware_map_height_fitter/CHANGELOG.rst index 5521960cabbdf..724ca70e2ec2d 100644 --- a/map/autoware_map_height_fitter/CHANGELOG.rst +++ b/map/autoware_map_height_fitter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_map_height_fitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/map/autoware_map_height_fitter/package.xml b/map/autoware_map_height_fitter/package.xml index bfb9855320d4b..280ad1797a079 100644 --- a/map/autoware_map_height_fitter/package.xml +++ b/map/autoware_map_height_fitter/package.xml @@ -2,7 +2,7 @@ autoware_map_height_fitter - 0.38.0 + 0.39.0 The autoware_map_height_fitter package Takagi, Isamu Yamato Ando diff --git a/map/autoware_map_loader/CHANGELOG.rst b/map/autoware_map_loader/CHANGELOG.rst index 8aafae5e8b44b..876670b13ca3d 100644 --- a/map/autoware_map_loader/CHANGELOG.rst +++ b/map/autoware_map_loader/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_map_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/map/autoware_map_loader/package.xml b/map/autoware_map_loader/package.xml index 7b793359d725b..48e3b6efdaa13 100644 --- a/map/autoware_map_loader/package.xml +++ b/map/autoware_map_loader/package.xml @@ -2,7 +2,7 @@ autoware_map_loader - 0.38.0 + 0.39.0 The autoware_map_loader package Yamato Ando Ryu Yamamoto diff --git a/map/autoware_map_projection_loader/CHANGELOG.rst b/map/autoware_map_projection_loader/CHANGELOG.rst index 40041fa24cda2..b0e85cc682510 100644 --- a/map/autoware_map_projection_loader/CHANGELOG.rst +++ b/map/autoware_map_projection_loader/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_map_projection_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml index ddf95efc7414c..7ce0cbb8105a7 100644 --- a/map/autoware_map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -2,7 +2,7 @@ autoware_map_projection_loader - 0.38.0 + 0.39.0 autoware_map_projection_loader package as a ROS 2 node Yamato Ando Masahiro Sakamoto diff --git a/map/autoware_map_tf_generator/CHANGELOG.rst b/map/autoware_map_tf_generator/CHANGELOG.rst index d8c2ebdd75145..18bde0c6a0106 100644 --- a/map/autoware_map_tf_generator/CHANGELOG.rst +++ b/map/autoware_map_tf_generator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_map_tf_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/map/autoware_map_tf_generator/package.xml b/map/autoware_map_tf_generator/package.xml index 3c6de9333de79..9a5e0388e08b9 100644 --- a/map/autoware_map_tf_generator/package.xml +++ b/map/autoware_map_tf_generator/package.xml @@ -2,7 +2,7 @@ autoware_map_tf_generator - 0.38.0 + 0.39.0 map_tf_generator package as a ROS 2 node Yamato Ando Kento Yabuuchi diff --git a/perception/autoware_bytetrack/CHANGELOG.rst b/perception/autoware_bytetrack/CHANGELOG.rst index 2c30ebf81ee43..7b18570598431 100644 --- a/perception/autoware_bytetrack/CHANGELOG.rst +++ b/perception/autoware_bytetrack/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_bytetrack ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_bytetrack/package.xml b/perception/autoware_bytetrack/package.xml index d087f22c53374..0cb0747fff40a 100644 --- a/perception/autoware_bytetrack/package.xml +++ b/perception/autoware_bytetrack/package.xml @@ -2,7 +2,7 @@ autoware_bytetrack - 0.38.0 + 0.39.0 ByteTrack implementation ported toward Autoware Manato HIRABAYASHI Yoshi RI diff --git a/perception/autoware_cluster_merger/CHANGELOG.rst b/perception/autoware_cluster_merger/CHANGELOG.rst index a304c9a878d5d..9e1d2b9d0caff 100644 --- a/perception/autoware_cluster_merger/CHANGELOG.rst +++ b/perception/autoware_cluster_merger/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_cluster_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_cluster_merger/package.xml b/perception/autoware_cluster_merger/package.xml index e93243de2c8b9..29cbe8b5be016 100644 --- a/perception/autoware_cluster_merger/package.xml +++ b/perception/autoware_cluster_merger/package.xml @@ -2,7 +2,7 @@ autoware_cluster_merger - 0.38.0 + 0.39.0 The ROS 2 cluster merger package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_compare_map_segmentation/CHANGELOG.rst b/perception/autoware_compare_map_segmentation/CHANGELOG.rst index 70674495527e7..b45f1b3e64076 100644 --- a/perception/autoware_compare_map_segmentation/CHANGELOG.rst +++ b/perception/autoware_compare_map_segmentation/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_compare_map_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_compare_map_segmentation/package.xml b/perception/autoware_compare_map_segmentation/package.xml index de3d97df91c6f..b25ca8bfd829d 100644 --- a/perception/autoware_compare_map_segmentation/package.xml +++ b/perception/autoware_compare_map_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_compare_map_segmentation - 0.38.0 + 0.39.0 The ROS 2 autoware_compare_map_segmentation package amc-nu Yukihiro Saito diff --git a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst index fcff5c1964a10..e4a85d38559b0 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst +++ b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package autoware_crosswalk_traffic_light_estimator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml index abe5c65d3aa1d..12e689b5b50e3 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml +++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml @@ -1,7 +1,7 @@ autoware_crosswalk_traffic_light_estimator - 0.38.0 + 0.39.0 The autoware_crosswalk_traffic_light_estimator package Satoshi Ota diff --git a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst index 1c956f5ae6469..2f887760e3970 100644 --- a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst +++ b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_detected_object_feature_remover ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_detected_object_feature_remover/package.xml b/perception/autoware_detected_object_feature_remover/package.xml index aa9eaa9c9df79..45f7d6e9036e7 100644 --- a/perception/autoware_detected_object_feature_remover/package.xml +++ b/perception/autoware_detected_object_feature_remover/package.xml @@ -2,7 +2,7 @@ autoware_detected_object_feature_remover - 0.38.0 + 0.39.0 The autoware_detected_object_feature_remover package Tomoya Kimura Yoshi Ri diff --git a/perception/autoware_detected_object_validation/CHANGELOG.rst b/perception/autoware_detected_object_validation/CHANGELOG.rst index ee2a4c502e33e..ebe5562fc2ec0 100644 --- a/perception/autoware_detected_object_validation/CHANGELOG.rst +++ b/perception/autoware_detected_object_validation/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package autoware_detected_object_validation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) + fix: bugprone-incorrect-roundings +* fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) + fix: clang-c-error +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858 + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_detected_object_validation/package.xml b/perception/autoware_detected_object_validation/package.xml index 7c6f34e95a015..777fcea4db226 100644 --- a/perception/autoware_detected_object_validation/package.xml +++ b/perception/autoware_detected_object_validation/package.xml @@ -2,7 +2,7 @@ autoware_detected_object_validation - 0.38.0 + 0.39.0 The ROS 2 detected_object_validation package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_detection_by_tracker/CHANGELOG.rst b/perception/autoware_detection_by_tracker/CHANGELOG.rst index 0671601742afb..98d6dbe40f4a6 100644 --- a/perception/autoware_detection_by_tracker/CHANGELOG.rst +++ b/perception/autoware_detection_by_tracker/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_detection_by_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml index 05f0ad9b4e109..cee180ba43c29 100644 --- a/perception/autoware_detection_by_tracker/package.xml +++ b/perception/autoware_detection_by_tracker/package.xml @@ -2,7 +2,7 @@ autoware_detection_by_tracker - 0.38.0 + 0.39.0 The ROS 2 autoware_detection_by_tracker package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_elevation_map_loader/CHANGELOG.rst b/perception/autoware_elevation_map_loader/CHANGELOG.rst index cbf29b22a46be..bd4d313348d9b 100644 --- a/perception/autoware_elevation_map_loader/CHANGELOG.rst +++ b/perception/autoware_elevation_map_loader/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_elevation_map_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_elevation_map_loader/package.xml b/perception/autoware_elevation_map_loader/package.xml index d80c8f3d67893..9a63c2fa569cc 100644 --- a/perception/autoware_elevation_map_loader/package.xml +++ b/perception/autoware_elevation_map_loader/package.xml @@ -2,7 +2,7 @@ autoware_elevation_map_loader - 0.38.0 + 0.39.0 The autoware_elevation_map_loader package Kosuke Takeuchi Taichi Higashide diff --git a/perception/autoware_euclidean_cluster/CHANGELOG.rst b/perception/autoware_euclidean_cluster/CHANGELOG.rst index b62e10d3c224f..9702b99a0b643 100644 --- a/perception/autoware_euclidean_cluster/CHANGELOG.rst +++ b/perception/autoware_euclidean_cluster/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package autoware_euclidean_cluster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) + fix: bugprone-misplaced-widening-cast +* Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858 + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_euclidean_cluster/package.xml b/perception/autoware_euclidean_cluster/package.xml index 18de86fba7bcb..d740c35fbd94d 100644 --- a/perception/autoware_euclidean_cluster/package.xml +++ b/perception/autoware_euclidean_cluster/package.xml @@ -2,7 +2,7 @@ autoware_euclidean_cluster - 0.38.0 + 0.39.0 The autoware_euclidean_cluster package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_ground_segmentation/CHANGELOG.rst b/perception/autoware_ground_segmentation/CHANGELOG.rst index faa4e568eb906..7c2dbb7a2413c 100644 --- a/perception/autoware_ground_segmentation/CHANGELOG.rst +++ b/perception/autoware_ground_segmentation/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_ground_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_ground_segmentation/package.xml b/perception/autoware_ground_segmentation/package.xml index 1cd7df3be4aa1..3ac3047654a96 100644 --- a/perception/autoware_ground_segmentation/package.xml +++ b/perception/autoware_ground_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_ground_segmentation - 0.38.0 + 0.39.0 The ROS 2 autoware_ground_segmentation package amc-nu Yukihiro Saito diff --git a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst index 4a309a3e4dcff..87d1bc0c2d687 100644 --- a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst +++ b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst @@ -2,6 +2,29 @@ Changelog for package autoware_image_projection_based_fusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) + chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml +* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- +* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- +* Contributors: Esteve Fernandez, Taekjin LEE, Yutaka Kondo, kobayu858 + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_image_projection_based_fusion/package.xml b/perception/autoware_image_projection_based_fusion/package.xml index 335c4712071e0..70aa2246d1cdf 100644 --- a/perception/autoware_image_projection_based_fusion/package.xml +++ b/perception/autoware_image_projection_based_fusion/package.xml @@ -2,7 +2,7 @@ autoware_image_projection_based_fusion - 0.38.0 + 0.39.0 The autoware_image_projection_based_fusion package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst index 08824ecfbd3aa..e55a52d6924d5 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst +++ b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package autoware_lidar_apollo_instance_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_lidar_apollo_instance_segmentation/package.xml b/perception/autoware_lidar_apollo_instance_segmentation/package.xml index b0f653dbeb3d0..dd48f1a2844d4 100755 --- a/perception/autoware_lidar_apollo_instance_segmentation/package.xml +++ b/perception/autoware_lidar_apollo_instance_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_lidar_apollo_instance_segmentation - 0.38.0 + 0.39.0 autoware_lidar_apollo_instance_segmentation Yoshi Ri Yukihiro Saito diff --git a/perception/autoware_lidar_centerpoint/CHANGELOG.rst b/perception/autoware_lidar_centerpoint/CHANGELOG.rst index 6809f690c75d1..b10fd533af90f 100644 --- a/perception/autoware_lidar_centerpoint/CHANGELOG.rst +++ b/perception/autoware_lidar_centerpoint/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_lidar_centerpoint ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml index 4f33fd14dbb8f..9734e56a29d57 100644 --- a/perception/autoware_lidar_centerpoint/package.xml +++ b/perception/autoware_lidar_centerpoint/package.xml @@ -2,7 +2,7 @@ autoware_lidar_centerpoint - 0.38.0 + 0.39.0 The autoware_lidar_centerpoint package Kenzo Lobos-Tsunekawa Koji Minoda diff --git a/perception/autoware_lidar_transfusion/CHANGELOG.rst b/perception/autoware_lidar_transfusion/CHANGELOG.rst index bfde461fad192..94f49d65991c8 100644 --- a/perception/autoware_lidar_transfusion/CHANGELOG.rst +++ b/perception/autoware_lidar_transfusion/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_lidar_transfusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml index 0714447a6c5c7..a4dd66c27db0e 100644 --- a/perception/autoware_lidar_transfusion/package.xml +++ b/perception/autoware_lidar_transfusion/package.xml @@ -2,7 +2,7 @@ autoware_lidar_transfusion - 0.38.0 + 0.39.0 The lidar_transfusion package Amadeusz Szymko Kenzo Lobos-Tsunekawa diff --git a/perception/autoware_map_based_prediction/CHANGELOG.rst b/perception/autoware_map_based_prediction/CHANGELOG.rst index 27297417c6563..69769df3aa04d 100644 --- a/perception/autoware_map_based_prediction/CHANGELOG.rst +++ b/perception/autoware_map_based_prediction/CHANGELOG.rst @@ -2,6 +2,36 @@ Changelog for package autoware_map_based_prediction ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(map_based_prediction): move member functions to utils (`#9225 `_) +* refactor(map_based_prediction): divide objectsCallback (`#9219 `_) +* refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor: grouping functions + * refactor: grouping parameters + * refactor: rename member road_users_history to road_users_history\_ + * refactor: separate util functions + * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node + * refactor: Add explicit template instantiation for removeOldObjectsHistory function + * refactor: Add tf2_geometry_msgs to data_structure + * refactor: Remove unused variables and functions in map_based_prediction_node.cpp + * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp + * Apply suggestions from code review + * style(pre-commit): autofix + --------- + Co-authored-by: Mamoru Sobue + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Mamoru Sobue, Taekjin LEE, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml index 161429d24ad2a..3d7cba491fe0e 100644 --- a/perception/autoware_map_based_prediction/package.xml +++ b/perception/autoware_map_based_prediction/package.xml @@ -2,7 +2,7 @@ autoware_map_based_prediction - 0.38.0 + 0.39.0 This package implements a map_based_prediction Tomoya Kimura Yoshi Ri diff --git a/perception/autoware_multi_object_tracker/CHANGELOG.rst b/perception/autoware_multi_object_tracker/CHANGELOG.rst index 593a9d70c4346..5f8ee4ef00869 100644 --- a/perception/autoware_multi_object_tracker/CHANGELOG.rst +++ b/perception/autoware_multi_object_tracker/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_multi_object_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml index 5eb591d60133f..aa5c4968e36f9 100644 --- a/perception/autoware_multi_object_tracker/package.xml +++ b/perception/autoware_multi_object_tracker/package.xml @@ -2,7 +2,7 @@ autoware_multi_object_tracker - 0.38.0 + 0.39.0 The ROS 2 autoware_multi_object_tracker package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_merger/CHANGELOG.rst b/perception/autoware_object_merger/CHANGELOG.rst index e4af14846d835..2e1adbb4b8be6 100644 --- a/perception/autoware_object_merger/CHANGELOG.rst +++ b/perception/autoware_object_merger/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_object_merger/package.xml b/perception/autoware_object_merger/package.xml index 75af6239450c7..84a9ec64cf3f0 100644 --- a/perception/autoware_object_merger/package.xml +++ b/perception/autoware_object_merger/package.xml @@ -2,7 +2,7 @@ autoware_object_merger - 0.38.0 + 0.39.0 The autoware_object_merger package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_range_splitter/CHANGELOG.rst b/perception/autoware_object_range_splitter/CHANGELOG.rst index 6552fd133981c..b0f2a81744b8e 100644 --- a/perception/autoware_object_range_splitter/CHANGELOG.rst +++ b/perception/autoware_object_range_splitter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_object_range_splitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_object_range_splitter/package.xml b/perception/autoware_object_range_splitter/package.xml index d220d221bf8f4..27503850261d5 100644 --- a/perception/autoware_object_range_splitter/package.xml +++ b/perception/autoware_object_range_splitter/package.xml @@ -2,7 +2,7 @@ autoware_object_range_splitter - 0.38.0 + 0.39.0 The autoware_object_range_splitter package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_velocity_splitter/CHANGELOG.rst b/perception/autoware_object_velocity_splitter/CHANGELOG.rst index 66513afe678ca..9d38280224125 100644 --- a/perception/autoware_object_velocity_splitter/CHANGELOG.rst +++ b/perception/autoware_object_velocity_splitter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_object_velocity_splitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_object_velocity_splitter/package.xml b/perception/autoware_object_velocity_splitter/package.xml index 936bb40804882..48ffa93f05102 100644 --- a/perception/autoware_object_velocity_splitter/package.xml +++ b/perception/autoware_object_velocity_splitter/package.xml @@ -2,7 +2,7 @@ autoware_object_velocity_splitter - 0.38.0 + 0.39.0 autoware_object_velocity_splitter Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst index 8994678344025..e020be4cc906a 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst +++ b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml index 1a5dc84c97e50..c8c1f15f72c0d 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml +++ b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml @@ -2,7 +2,7 @@ autoware_occupancy_grid_map_outlier_filter - 0.38.0 + 0.39.0 The ROS 2 occupancy_grid_map_outlier_filter package amc-nu Yukihiro Saito diff --git a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst index 2906f0f1f76a3..6668ef1c29ed9 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst +++ b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package autoware_probabilistic_occupancy_grid_map ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) + fix: bugprone-incorrect-roundings +* Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858 + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_probabilistic_occupancy_grid_map/package.xml b/perception/autoware_probabilistic_occupancy_grid_map/package.xml index 60f6cefcc6219..e5bd0eebb9b2e 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/package.xml +++ b/perception/autoware_probabilistic_occupancy_grid_map/package.xml @@ -2,7 +2,7 @@ autoware_probabilistic_occupancy_grid_map - 0.38.0 + 0.39.0 generate probabilistic occupancy grid map Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst index be3d4cb398b51..8eb064446cbba 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst +++ b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_radar_crossing_objects_noise_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_radar_crossing_objects_noise_filter/package.xml b/perception/autoware_radar_crossing_objects_noise_filter/package.xml index f0bcfc6d30eee..5536033aa1319 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/package.xml +++ b/perception/autoware_radar_crossing_objects_noise_filter/package.xml @@ -2,7 +2,7 @@ autoware_radar_crossing_objects_noise_filter - 0.38.0 + 0.39.0 autoware_radar_crossing_objects_noise_filter Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst index e1c5497782ae0..9c4e7c527ecb7 100644 --- a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst +++ b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_radar_fusion_to_detected_object ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_radar_fusion_to_detected_object/package.xml b/perception/autoware_radar_fusion_to_detected_object/package.xml index 07de2ac9532e9..82f2f0926e929 100644 --- a/perception/autoware_radar_fusion_to_detected_object/package.xml +++ b/perception/autoware_radar_fusion_to_detected_object/package.xml @@ -2,7 +2,7 @@ autoware_radar_fusion_to_detected_object - 0.38.0 + 0.39.0 autoware_radar_fusion_to_detected_object Satoshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_object_clustering/CHANGELOG.rst b/perception/autoware_radar_object_clustering/CHANGELOG.rst index e2a9c19b6f086..df38cbed59c27 100644 --- a/perception/autoware_radar_object_clustering/CHANGELOG.rst +++ b/perception/autoware_radar_object_clustering/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_radar_object_clustering ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_radar_object_clustering/package.xml b/perception/autoware_radar_object_clustering/package.xml index fc103a531ee1d..a4611a68f93f2 100644 --- a/perception/autoware_radar_object_clustering/package.xml +++ b/perception/autoware_radar_object_clustering/package.xml @@ -2,7 +2,7 @@ autoware_radar_object_clustering - 0.38.0 + 0.39.0 autoware_radar_object_clustering Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_object_tracker/CHANGELOG.rst b/perception/autoware_radar_object_tracker/CHANGELOG.rst index f2490cc59c4fc..dde801b38e9aa 100644 --- a/perception/autoware_radar_object_tracker/CHANGELOG.rst +++ b/perception/autoware_radar_object_tracker/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_radar_object_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_radar_object_tracker/package.xml b/perception/autoware_radar_object_tracker/package.xml index 3badf1ea766f1..f255ab28b14b9 100644 --- a/perception/autoware_radar_object_tracker/package.xml +++ b/perception/autoware_radar_object_tracker/package.xml @@ -2,7 +2,7 @@ autoware_radar_object_tracker - 0.38.0 + 0.39.0 Do tracking radar object Yoshi Ri Yukihiro Saito diff --git a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst index 38e0a25549f76..3d880f603fdb6 100644 --- a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst +++ b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_radar_tracks_msgs_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_radar_tracks_msgs_converter/package.xml b/perception/autoware_radar_tracks_msgs_converter/package.xml index 9efcd7a5e1c02..d84b7e8473f83 100644 --- a/perception/autoware_radar_tracks_msgs_converter/package.xml +++ b/perception/autoware_radar_tracks_msgs_converter/package.xml @@ -2,7 +2,7 @@ autoware_radar_tracks_msgs_converter - 0.38.0 + 0.39.0 autoware_radar_tracks_msgs_converter Satoshi Tanaka Shunsuke Miura diff --git a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst index 1ed0d176125ab..1a20766e6a72c 100644 --- a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst +++ b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_raindrop_cluster_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_raindrop_cluster_filter/package.xml b/perception/autoware_raindrop_cluster_filter/package.xml index 859cad6e72886..08200191ad58b 100644 --- a/perception/autoware_raindrop_cluster_filter/package.xml +++ b/perception/autoware_raindrop_cluster_filter/package.xml @@ -2,7 +2,7 @@ autoware_raindrop_cluster_filter - 0.38.0 + 0.39.0 The ROS 2 filter cluster package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_shape_estimation/CHANGELOG.rst b/perception/autoware_shape_estimation/CHANGELOG.rst index 276854066ef08..19630554193ec 100644 --- a/perception/autoware_shape_estimation/CHANGELOG.rst +++ b/perception/autoware_shape_estimation/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_shape_estimation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml index f2a1e0e48b5a7..a6a9910155120 100644 --- a/perception/autoware_shape_estimation/package.xml +++ b/perception/autoware_shape_estimation/package.xml @@ -2,7 +2,7 @@ autoware_shape_estimation - 0.38.0 + 0.39.0 This package implements a shape estimation algorithm as a ROS 2 node Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_simple_object_merger/CHANGELOG.rst b/perception/autoware_simple_object_merger/CHANGELOG.rst index f9b905a340f12..8c9ac43a8382f 100644 --- a/perception/autoware_simple_object_merger/CHANGELOG.rst +++ b/perception/autoware_simple_object_merger/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_simple_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_simple_object_merger/package.xml b/perception/autoware_simple_object_merger/package.xml index 594ba9959de29..b42544aede418 100644 --- a/perception/autoware_simple_object_merger/package.xml +++ b/perception/autoware_simple_object_merger/package.xml @@ -1,7 +1,7 @@ autoware_simple_object_merger - 0.38.0 + 0.39.0 autoware_simple_object_merger Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_tensorrt_classifier/CHANGELOG.rst b/perception/autoware_tensorrt_classifier/CHANGELOG.rst index ac517eba9c465..1fa80f20f6cb7 100644 --- a/perception/autoware_tensorrt_classifier/CHANGELOG.rst +++ b/perception/autoware_tensorrt_classifier/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_tensorrt_classifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_tensorrt_classifier/package.xml b/perception/autoware_tensorrt_classifier/package.xml index c628ba754eeaa..4813fe48cd4fd 100644 --- a/perception/autoware_tensorrt_classifier/package.xml +++ b/perception/autoware_tensorrt_classifier/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_classifier - 0.38.0 + 0.39.0 tensorrt classifier wrapper Dan Umeda diff --git a/perception/autoware_tensorrt_common/CHANGELOG.rst b/perception/autoware_tensorrt_common/CHANGELOG.rst index 9510da691fba7..48a26ad65a610 100644 --- a/perception/autoware_tensorrt_common/CHANGELOG.rst +++ b/perception/autoware_tensorrt_common/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_tensorrt_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_tensorrt_common/package.xml b/perception/autoware_tensorrt_common/package.xml index f2a03a4787cc8..7e29cf87b61c3 100644 --- a/perception/autoware_tensorrt_common/package.xml +++ b/perception/autoware_tensorrt_common/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_common - 0.38.0 + 0.39.0 tensorrt utility wrapper Taichi Higashide diff --git a/perception/autoware_tensorrt_yolox/CHANGELOG.rst b/perception/autoware_tensorrt_yolox/CHANGELOG.rst index e9cec23494914..b0883dab538d5 100644 --- a/perception/autoware_tensorrt_yolox/CHANGELOG.rst +++ b/perception/autoware_tensorrt_yolox/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_tensorrt_yolox ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml index 294e13eb46d88..1c8cd51ee935c 100644 --- a/perception/autoware_tensorrt_yolox/package.xml +++ b/perception/autoware_tensorrt_yolox/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_yolox - 0.38.0 + 0.39.0 tensorrt library implementation for yolox Daisuke Nishimatsu diff --git a/perception/autoware_tracking_object_merger/CHANGELOG.rst b/perception/autoware_tracking_object_merger/CHANGELOG.rst index a4a65b6339ad1..0c6aad26b02d7 100644 --- a/perception/autoware_tracking_object_merger/CHANGELOG.rst +++ b/perception/autoware_tracking_object_merger/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_tracking_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_tracking_object_merger/package.xml b/perception/autoware_tracking_object_merger/package.xml index 89475edd247e6..fabe4132c96ed 100644 --- a/perception/autoware_tracking_object_merger/package.xml +++ b/perception/autoware_tracking_object_merger/package.xml @@ -2,7 +2,7 @@ autoware_tracking_object_merger - 0.38.0 + 0.39.0 merge tracking object Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst index d1bc11f6e45f9..b60021ffb5503 100644 --- a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst +++ b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package autoware_traffic_light_arbiter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_arbiter/package.xml b/perception/autoware_traffic_light_arbiter/package.xml index 638bcbe941416..46500143ed951 100644 --- a/perception/autoware_traffic_light_arbiter/package.xml +++ b/perception/autoware_traffic_light_arbiter/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_arbiter - 0.38.0 + 0.39.0 The autoware_traffic_light_arbiter package Kenzo Lobos-Tsunekawa Shunsuke Miura diff --git a/perception/autoware_traffic_light_classifier/CHANGELOG.rst b/perception/autoware_traffic_light_classifier/CHANGELOG.rst index 7995044220180..394c8b3f7aeea 100644 --- a/perception/autoware_traffic_light_classifier/CHANGELOG.rst +++ b/perception/autoware_traffic_light_classifier/CHANGELOG.rst @@ -2,6 +2,24 @@ Changelog for package autoware_traffic_light_classifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml index 99bdeb0643d91..5863de6ff50fd 100644 --- a/perception/autoware_traffic_light_classifier/package.xml +++ b/perception/autoware_traffic_light_classifier/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_classifier - 0.38.0 + 0.39.0 The autoware_traffic_light_classifier package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst index 87a5dda3c8add..8918f357e263b 100644 --- a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package autoware_traffic_light_fine_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml index fd540d80e5d7e..a431f071f8150 100644 --- a/perception/autoware_traffic_light_fine_detector/package.xml +++ b/perception/autoware_traffic_light_fine_detector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_fine_detector - 0.38.0 + 0.39.0 The autoware_traffic_light_fine_detector package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst index 5d05b6687cab3..312ef582da479 100644 --- a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package autoware_traffic_light_map_based_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_map_based_detector/package.xml b/perception/autoware_traffic_light_map_based_detector/package.xml index 0d0b1efe91d4c..6c22e091ee972 100644 --- a/perception/autoware_traffic_light_map_based_detector/package.xml +++ b/perception/autoware_traffic_light_map_based_detector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_map_based_detector - 0.38.0 + 0.39.0 The autoware_traffic_light_map_based_detector package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst index 8842867c03485..4354885dcb143 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst +++ b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package autoware_traffic_light_multi_camera_fusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_multi_camera_fusion/package.xml b/perception/autoware_traffic_light_multi_camera_fusion/package.xml index 111e34030c870..efa8571a660a8 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/package.xml +++ b/perception/autoware_traffic_light_multi_camera_fusion/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_multi_camera_fusion - 0.38.0 + 0.39.0 The autoware_traffic_light_multi_camera_fusion package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst index a378f3c04c1f3..fb31d9ffdf0c1 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst +++ b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package autoware_traffic_light_occlusion_predictor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_occlusion_predictor/package.xml b/perception/autoware_traffic_light_occlusion_predictor/package.xml index bebe2ae189e74..b1dbc773b5eb0 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/package.xml +++ b/perception/autoware_traffic_light_occlusion_predictor/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_occlusion_predictor - 0.38.0 + 0.39.0 The autoware_traffic_light_occlusion_predictor package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_visualization/CHANGELOG.rst b/perception/autoware_traffic_light_visualization/CHANGELOG.rst index 2da3f57f659e5..7da332f0f878b 100644 --- a/perception/autoware_traffic_light_visualization/CHANGELOG.rst +++ b/perception/autoware_traffic_light_visualization/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package autoware_traffic_light_visualization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Masato Saeki, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/autoware_traffic_light_visualization/package.xml b/perception/autoware_traffic_light_visualization/package.xml index afe09b9461b18..210700799ea73 100644 --- a/perception/autoware_traffic_light_visualization/package.xml +++ b/perception/autoware_traffic_light_visualization/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_visualization - 0.38.0 + 0.39.0 The autoware_traffic_light_visualization package Yukihiro Saito Tao Zhong diff --git a/perception/perception_utils/CHANGELOG.rst b/perception/perception_utils/CHANGELOG.rst index fbe74bbf6d28a..2dbb57cbd2f48 100644 --- a/perception/perception_utils/CHANGELOG.rst +++ b/perception/perception_utils/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package perception_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/perception/perception_utils/package.xml b/perception/perception_utils/package.xml index d3d90a4d5ac26..7001d249e1f52 100644 --- a/perception/perception_utils/package.xml +++ b/perception/perception_utils/package.xml @@ -2,7 +2,7 @@ perception_utils - 0.38.0 + 0.39.0 The perception_utils package Shunsuke Miura Yoshi Ri diff --git a/planning/autoware_costmap_generator/CHANGELOG.rst b/planning/autoware_costmap_generator/CHANGELOG.rst index 58250e160fee9..2dad489bbc6a4 100644 --- a/planning/autoware_costmap_generator/CHANGELOG.rst +++ b/planning/autoware_costmap_generator/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package autoware_costmap_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) +* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo, mkquda + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml index 8779c1e706123..d3b03f171ef97 100644 --- a/planning/autoware_costmap_generator/package.xml +++ b/planning/autoware_costmap_generator/package.xml @@ -2,7 +2,7 @@ autoware_costmap_generator - 0.38.0 + 0.39.0 The autoware_costmap_generator package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst index d4e76a6d54d81..544a12e7cde26 100644 --- a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst +++ b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_external_velocity_limit_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_external_velocity_limit_selector/package.xml b/planning/autoware_external_velocity_limit_selector/package.xml index 252b195945deb..4779de30519a0 100644 --- a/planning/autoware_external_velocity_limit_selector/package.xml +++ b/planning/autoware_external_velocity_limit_selector/package.xml @@ -2,7 +2,7 @@ autoware_external_velocity_limit_selector - 0.38.0 + 0.39.0 The autoware_external_velocity_limit_selector ROS 2 package Satoshi Ota Shinnosuke Hirakawa diff --git a/planning/autoware_freespace_planner/CHANGELOG.rst b/planning/autoware_freespace_planner/CHANGELOG.rst index dd7f0ce0416ce..277d7f96d5d15 100644 --- a/planning/autoware_freespace_planner/CHANGELOG.rst +++ b/planning/autoware_freespace_planner/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_freespace_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml index 7e8c2c5beca6c..84818e70f220a 100644 --- a/planning/autoware_freespace_planner/package.xml +++ b/planning/autoware_freespace_planner/package.xml @@ -2,7 +2,7 @@ autoware_freespace_planner - 0.38.0 + 0.39.0 The autoware_freespace_planner package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst index 7832350b16067..c032ebe44f723 100644 --- a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst +++ b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst @@ -2,6 +2,22 @@ Changelog for package autoware_freespace_planning_algorithms ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) +* fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) + fix: bugprone-unused-raii +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, kobayu858 + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_freespace_planning_algorithms/package.xml b/planning/autoware_freespace_planning_algorithms/package.xml index 219a738d50423..9a9b7ad0c586f 100644 --- a/planning/autoware_freespace_planning_algorithms/package.xml +++ b/planning/autoware_freespace_planning_algorithms/package.xml @@ -2,7 +2,7 @@ autoware_freespace_planning_algorithms - 0.38.0 + 0.39.0 The autoware_freespace_planning_algorithms package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_mission_planner/CHANGELOG.rst b/planning/autoware_mission_planner/CHANGELOG.rst index 5859bddced76b..bdab400dfa983 100644 --- a/planning/autoware_mission_planner/CHANGELOG.rst +++ b/planning/autoware_mission_planner/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_mission_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_mission_planner/package.xml b/planning/autoware_mission_planner/package.xml index 8d188e53fdef5..d249d2fb00021 100644 --- a/planning/autoware_mission_planner/package.xml +++ b/planning/autoware_mission_planner/package.xml @@ -2,7 +2,7 @@ autoware_mission_planner - 0.38.0 + 0.39.0 The autoware_mission_planner package Takagi, Isamu Kosuke Takeuchi diff --git a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst index b70fabb1500db..891d36e2a3be5 100644 --- a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst +++ b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_objects_of_interest_marker_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_objects_of_interest_marker_interface/package.xml b/planning/autoware_objects_of_interest_marker_interface/package.xml index c9e0a672c0bfc..15f2adac6924d 100644 --- a/planning/autoware_objects_of_interest_marker_interface/package.xml +++ b/planning/autoware_objects_of_interest_marker_interface/package.xml @@ -1,7 +1,7 @@ autoware_objects_of_interest_marker_interface - 0.38.0 + 0.39.0 The autoware_objects_of_interest_marker_interface package Fumiya Watanabe diff --git a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst index 65d4428bbcbb0..8b0192c171a29 100644 --- a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_obstacle_cruise_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) + * add utils test + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yuki TAKAGI, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index d8bf161ef866f..df760ee59de37 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -1,7 +1,7 @@ autoware_obstacle_cruise_planner - 0.38.0 + 0.39.0 The autoware_obstacle_cruise_planner package Takayuki Murooka diff --git a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst index cffc56e34f282..2afc9c79edac5 100644 --- a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_obstacle_stop_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml index 90c4b3230d5fc..d46ad5c6c2a0d 100644 --- a/planning/autoware_obstacle_stop_planner/package.xml +++ b/planning/autoware_obstacle_stop_planner/package.xml @@ -2,7 +2,7 @@ autoware_obstacle_stop_planner - 0.38.0 + 0.39.0 The autoware_obstacle_stop_planner package Satoshi Ota diff --git a/planning/autoware_path_optimizer/CHANGELOG.rst b/planning/autoware_path_optimizer/CHANGELOG.rst index 17d9495050dbe..07ea508e53c07 100644 --- a/planning/autoware_path_optimizer/CHANGELOG.rst +++ b/planning/autoware_path_optimizer/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_path_optimizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml index 7c5b1e68e759a..8ab7d50ccada4 100644 --- a/planning/autoware_path_optimizer/package.xml +++ b/planning/autoware_path_optimizer/package.xml @@ -2,7 +2,7 @@ autoware_path_optimizer - 0.38.0 + 0.39.0 The autoware_path_optimizer package Takayuki Murooka Kosuke Takeuchi diff --git a/planning/autoware_path_smoother/CHANGELOG.rst b/planning/autoware_path_smoother/CHANGELOG.rst index ab5e23100f6cd..823219e9dd303 100644 --- a/planning/autoware_path_smoother/CHANGELOG.rst +++ b/planning/autoware_path_smoother/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_path_smoother ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml index 6c8b3efec678b..572cf514b7be5 100644 --- a/planning/autoware_path_smoother/package.xml +++ b/planning/autoware_path_smoother/package.xml @@ -2,7 +2,7 @@ autoware_path_smoother - 0.38.0 + 0.39.0 The autoware_path_smoother package Takayuki Murooka Maxime CLEMENT diff --git a/planning/autoware_planning_test_manager/CHANGELOG.rst b/planning/autoware_planning_test_manager/CHANGELOG.rst index 67cf805f36426..3d674c64296af 100644 --- a/planning/autoware_planning_test_manager/CHANGELOG.rst +++ b/planning/autoware_planning_test_manager/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_planning_test_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml index 0ce898cb3fbf9..ec22d871013d3 100644 --- a/planning/autoware_planning_test_manager/package.xml +++ b/planning/autoware_planning_test_manager/package.xml @@ -2,7 +2,7 @@ autoware_planning_test_manager - 0.38.0 + 0.39.0 ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe diff --git a/planning/autoware_planning_topic_converter/CHANGELOG.rst b/planning/autoware_planning_topic_converter/CHANGELOG.rst index 7152b275dd5d9..897a99d1e0bc2 100644 --- a/planning/autoware_planning_topic_converter/CHANGELOG.rst +++ b/planning/autoware_planning_topic_converter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_planning_topic_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_planning_topic_converter/package.xml b/planning/autoware_planning_topic_converter/package.xml index 42ce0fdc16588..3503a9bebda40 100644 --- a/planning/autoware_planning_topic_converter/package.xml +++ b/planning/autoware_planning_topic_converter/package.xml @@ -1,7 +1,7 @@ autoware_planning_topic_converter - 0.38.0 + 0.39.0 The autoware_planning_topic_converter package Satoshi OTA diff --git a/planning/autoware_planning_validator/CHANGELOG.rst b/planning/autoware_planning_validator/CHANGELOG.rst index 7a8380f24cb8d..9828da69cf80d 100644 --- a/planning/autoware_planning_validator/CHANGELOG.rst +++ b/planning/autoware_planning_validator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_planning_validator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_planning_validator/package.xml b/planning/autoware_planning_validator/package.xml index 358d721b2f6e5..9db00b580b60d 100644 --- a/planning/autoware_planning_validator/package.xml +++ b/planning/autoware_planning_validator/package.xml @@ -2,7 +2,7 @@ autoware_planning_validator - 0.38.0 + 0.39.0 ros node for autoware_planning_validator Takamasa Horibe Kosuke Takeuchi diff --git a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst index 245fa0b4ef084..7a8d11d37fe1e 100644 --- a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst +++ b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_remaining_distance_time_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml index 852139fb7f7b3..55033af92656b 100644 --- a/planning/autoware_remaining_distance_time_calculator/package.xml +++ b/planning/autoware_remaining_distance_time_calculator/package.xml @@ -1,7 +1,7 @@ autoware_remaining_distance_time_calculator - 0.38.0 + 0.39.0 Calculates and publishes remaining distance and time of the mission. Ahmed Ebrahim diff --git a/planning/autoware_route_handler/CHANGELOG.rst b/planning/autoware_route_handler/CHANGELOG.rst index 9b5b4a5efd159..37c1db12186ce 100644 --- a/planning/autoware_route_handler/CHANGELOG.rst +++ b/planning/autoware_route_handler/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_route_handler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_route_handler/package.xml b/planning/autoware_route_handler/package.xml index 1ad0529f971c5..78a024a8c5f82 100644 --- a/planning/autoware_route_handler/package.xml +++ b/planning/autoware_route_handler/package.xml @@ -2,7 +2,7 @@ autoware_route_handler - 0.38.0 + 0.39.0 The route_handling package Fumiya Watanabe Zulfaqar Azmi diff --git a/planning/autoware_rtc_interface/CHANGELOG.rst b/planning/autoware_rtc_interface/CHANGELOG.rst index 71224eefc2747..3c6fe2604d2ab 100644 --- a/planning/autoware_rtc_interface/CHANGELOG.rst +++ b/planning/autoware_rtc_interface/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_rtc_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_rtc_interface): fix dependency (`#9237 `_) +* fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) + * fix rtc_interface + * fix test condition + --------- +* feat(rtc_interface): add requested field (`#9202 `_) + * add requested feature + * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_rtc_interface/package.xml b/planning/autoware_rtc_interface/package.xml index 3479ae18825e9..668e31093072e 100644 --- a/planning/autoware_rtc_interface/package.xml +++ b/planning/autoware_rtc_interface/package.xml @@ -1,7 +1,7 @@ autoware_rtc_interface - 0.38.0 + 0.39.0 The autoware_rtc_interface package Fumiya Watanabe diff --git a/planning/autoware_scenario_selector/CHANGELOG.rst b/planning/autoware_scenario_selector/CHANGELOG.rst index 642e823ea9236..0e1a560fa95e8 100644 --- a/planning/autoware_scenario_selector/CHANGELOG.rst +++ b/planning/autoware_scenario_selector/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_scenario_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml index 6579427273df5..9787f95ed9fde 100644 --- a/planning/autoware_scenario_selector/package.xml +++ b/planning/autoware_scenario_selector/package.xml @@ -2,7 +2,7 @@ autoware_scenario_selector - 0.38.0 + 0.39.0 The autoware_scenario_selector ROS 2 package Taiki Tanaka Tomoya Kimura diff --git a/planning/autoware_static_centerline_generator/CHANGELOG.rst b/planning/autoware_static_centerline_generator/CHANGELOG.rst index efb482f3f33e1..6fac2e4677528 100644 --- a/planning/autoware_static_centerline_generator/CHANGELOG.rst +++ b/planning/autoware_static_centerline_generator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_static_centerline_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index b9b1267a343db..a6d97d6fae2f7 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -2,7 +2,7 @@ autoware_static_centerline_generator - 0.38.0 + 0.39.0 The autoware_static_centerline_generator package Takayuki Murooka Kosuke Takeuchi diff --git a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst index 5a9105c869042..077b52e08e342 100644 --- a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst +++ b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_surround_obstacle_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_surround_obstacle_checker/package.xml b/planning/autoware_surround_obstacle_checker/package.xml index e8c1ca6e9eb34..64a626c0ccb60 100644 --- a/planning/autoware_surround_obstacle_checker/package.xml +++ b/planning/autoware_surround_obstacle_checker/package.xml @@ -2,7 +2,7 @@ autoware_surround_obstacle_checker - 0.38.0 + 0.39.0 The autoware_surround_obstacle_checker package Satoshi Ota Go Sakayori diff --git a/planning/autoware_velocity_smoother/CHANGELOG.rst b/planning/autoware_velocity_smoother/CHANGELOG.rst index 33aa32d835398..14c905b82cfa1 100644 --- a/planning/autoware_velocity_smoother/CHANGELOG.rst +++ b/planning/autoware_velocity_smoother/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_velocity_smoother ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml index e0e028656e8be..c27a984c36681 100644 --- a/planning/autoware_velocity_smoother/package.xml +++ b/planning/autoware_velocity_smoother/package.xml @@ -2,7 +2,7 @@ autoware_velocity_smoother - 0.38.0 + 0.39.0 The autoware_velocity_smoother package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst index aa4bfb81d81db..e736da5b9fb49 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml index 77ebb1e160644..43195e8ca502b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_avoidance_by_lane_change_module - 0.38.0 + 0.39.0 The behavior_path_avoidance_by_lane_change_module package Satoshi Ota diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst index 9f25d197cc113..7219f13994710 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml index 7849278a16f1a..1829d9a949115 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_dynamic_obstacle_avoidance_module - 0.38.0 + 0.39.0 The autoware_behavior_path_dynamic_obstacle_avoidance_module package Takayuki Murooka diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst index 501e950312718..cdd6bc1033d7e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml index c09f34bf53574..981f119357ca0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_external_request_lane_change_module - 0.38.0 + 0.39.0 The autoware_behavior_path_external_request_lane_change_module package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst index 3617b609cc31c..1813e0ac901f9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package autoware_behavior_path_goal_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) +* feat(goal_planner): safety check with only parking path (`#9293 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) +* fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) +* Contributors: Esteve Fernandez, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml index 30d3c96aa6c87..dc7221d0fd604 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_goal_planner_module - 0.38.0 + 0.39.0 The autoware_behavior_path_goal_planner_module package Kosuke Takeuchi diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst index cc4ff795e150a..572a09aeda817 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_behavior_path_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) +* fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) + * RT1-8427 extending lc path for multiple lc + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold +* refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) + Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" + This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3. +* refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) +* fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) + * RT0-33893 add checks from prev intersection + * fix shadow variable + * fix logic + * update readme + * refactor get_ego_footprint + --------- +* test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- +* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo, Zulfaqar Azmi, mkquda + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml index aef3d357c20da..d4108003a9afe 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_lane_change_module - 0.38.0 + 0.39.0 The autoware_behavior_path_lane_change_module package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst index eb9dc2c942d71..ea088d6130c85 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_path_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml index 4cbb6b7ffb1cb..7fa591bd4a740 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_planner - 0.38.0 + 0.39.0 The behavior_path_planner package diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst index cba7021dcc6bc..0e0b6aa328d26 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst @@ -2,6 +2,41 @@ Changelog for package autoware_behavior_path_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(goal_planner): safety check with only parking path (`#9293 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) + * fix(behavior_path_planner_common): use boost intersects instead of overlaps + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp + Co-authored-by: Go Sakayori + --------- + Co-authored-by: Go Sakayori +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bpp): prevent accessing nullopt (`#9269 `_) +* test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) + * add unit test for path shifter + * fix unnecessary modification + * fix spelling mistake + * add docstring + --------- +* test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- +* fix(bpp): prevent accessing nullopt (`#9204 `_) + fix(bpp): calcDistanceToRedTrafficLight null +* Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Shumpei Wakabayashi, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml index bd32cf42293a7..40506ad74a274 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_planner_common - 0.38.0 + 0.39.0 The autoware_behavior_path_planner_common package diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst index 7ca3438da02d0..e823e6501df47 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_behavior_path_sampling_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml index 8d33d41ee96a0..cd609a9dee40f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_sampling_planner_module - 0.38.0 + 0.39.0 The autoware_behavior_path_sampling_planner_module package Daniel Sanchez diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst index b1fd2c45965bc..58ab621b9c925 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_path_side_shift_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml index 05cb8be401554..6eac60c2411fd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_side_shift_module - 0.38.0 + 0.39.0 The autoware_behavior_path_side_shift_module package Satoshi Ota diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst index d4e3a843a8319..cbf67c171ee03 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst @@ -2,6 +2,22 @@ Changelog for package autoware_behavior_path_start_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + speed up by updating polygons +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, danielsanchezaran + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml index 1d883477524b5..97f1a8569b132 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_start_planner_module - 0.38.0 + 0.39.0 The autoware_behavior_path_start_planner_module package Kosuke Takeuchi diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst index f6e5ba7526780..5d2af19f9ce2e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst @@ -2,6 +2,31 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- +* feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) + * add operator request feature + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index ca7a2dab1191c..00f0db2224d5b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_static_obstacle_avoidance_module - 0.38.0 + 0.39.0 The autoware_behavior_path_static_obstacle_avoidance_module package Takamasa Horibe diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst index cca3b919daf18..6c312d3f90cb8 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_velocity_blind_spot_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml index b484c6a66cbac..1dd334f89c67f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_blind_spot_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_blind_spot_module package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst index f9fe6b4479c0a..8663879cc095f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package autoware_behavior_velocity_crosswalk_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) +* test(crosswalk): add unit test (`#9228 `_) +* Contributors: Esteve Fernandez, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml index e6a0d93575f80..891a77e100435 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_crosswalk_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_crosswalk_module package Satoshi Ota diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst index 2db48d466139c..f53d95a981950 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_behavior_velocity_detection_area_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(detection_area)!: add retruction feature (`#9255 `_) +* Contributors: Esteve Fernandez, Yuki TAKAGI, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml index 14a1723f3be2a..1bd4e05af8447 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_detection_area_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_detection_area_module package Kyoichi Sugahara diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst index d7e0b2d2fd5ae..4bd9f8487b644 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst @@ -2,6 +2,25 @@ Changelog for package autoware_behavior_velocity_intersection_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely + * fix: remove module id set + * fix: use itr to erase expired module + * fix: remove unused function + --------- +* Contributors: Esteve Fernandez, Satoshi OTA, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml index f80aed04512cc..16c7a13f21320 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_intersection_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_intersection_module package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst index 6befa38af63e1..0d3e17d146747 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_velocity_no_drivable_lane_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml index f4e71d5bff78e..524aeec6d6c6d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_no_drivable_lane_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_no_drivable_lane_module package Ahmed Ebrahim diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst index 130aa5c56cd48..de6f32656fe5b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) +* Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml index bc119becdfece..0873e3cd433d2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_no_stopping_area_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_no_stopping_area_module package Kosuke Takeuchi diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst index 42636a0ca1d89..695f4a63e3ae0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_velocity_occlusion_spot_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml index 34597b1c41a5f..9ce05294f86ed 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_occlusion_spot_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_occlusion_spot_module package Taiki Tanaka diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst index c4594d8bc0df4..eedb174bcd2c4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package autoware_behavior_velocity_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bvp): use polling subscriber (`#9242 `_) + * fix(bvp): use polling subscriber + * fix: use newest policy + --------- +* Contributors: Esteve Fernandez, Satoshi OTA, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml index 4dc4876010555..a7a892e521826 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_planner - 0.38.0 + 0.39.0 The autoware_behavior_velocity_planner package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst index de8e6e910e7a6..c702d7b763653 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst @@ -2,6 +2,25 @@ Changelog for package autoware_behavior_velocity_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely + * fix: remove module id set + * fix: use itr to erase expired module + * fix: remove unused function + --------- +* Contributors: Esteve Fernandez, Satoshi OTA, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml index 105b0528940bf..1e309ebd1caee 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_planner_common - 0.38.0 + 0.39.0 The autoware_behavior_velocity_planner_common package Tomoya Kimura diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst index 6ffbc52ff3077..ae2df69a585c0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_velocity_run_out_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml index 6aaab5817aad6..a5374f0e37bde 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_run_out_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_run_out_module package Tomohito Ando diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst index dda59c346fd20..d21af6839aaab 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_velocity_speed_bump_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml index 3018be3e328b8..6560a51b3a026 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_speed_bump_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_speed_bump_module package Tomoya Kimura diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst index 4bfe8d3d74a06..0fa84098defb2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_velocity_stop_line_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml index c5e3690dd620d..7489e03c6ead0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_stop_line_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_stop_line_module package Yukinari Hisaki diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst index 361738a56b5b4..a1a2e65e5d749 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_velocity_template_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml index d0c43166cd670..2cae84e19929f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_template_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_template_module package Daniel Sanchez diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst index 80f08e3aec044..1ae51ad5bf695 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_velocity_traffic_light_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml index 244d03553351b..0ded242b6a3cf 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_traffic_light_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_traffic_light_module package Satoshi Ota diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst index f811d901e6489..c0b26562f584c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml index b1ecfdb26bcde..581d03e71c06d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_virtual_traffic_light_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_virtual_traffic_light_module package Kosuke Takeuchi diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst index 1d9d0a1dbc9da..69ea69091532b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_behavior_velocity_walkway_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml index 03724767271fe..9c706e3e13cd0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_walkway_module - 0.38.0 + 0.39.0 The autoware_behavior_velocity_walkway_module package Satoshi Ota diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst index 18a98316008ce..e05c363a76192 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml index 5916d20f5c42e..e66fb82704c05 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_dynamic_obstacle_stop_module - 0.38.0 + 0.39.0 dynamic_obstacle_stop module to stop ego when in the immediate path of a dynamic object Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst index 8519142e059eb..844d4425a6afd 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml index cd9dd1b756b64..268f331f86423 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml @@ -1,7 +1,7 @@ autoware_motion_velocity_obstacle_velocity_limiter_module - 0.38.0 + 0.39.0 Package to adjust velocities of a trajectory in order for the ride to feel safe Maxime CLEMENT diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst index 35ad88f5955db..57a3918601976 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_motion_velocity_out_of_lane_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) +* Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml index 18e072191905e..4001136b72ec0 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_out_of_lane_module - 0.38.0 + 0.39.0 The motion_velocity_out_of_lane_module package Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst index 2de2517dbf0e5..3b353111d1055 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_motion_velocity_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml index 9f518044b9d05..650b3308d508b 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_planner_common - 0.38.0 + 0.39.0 Common functions and interfaces for motion_velocity_planner modules Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst index aabf62dffd79d..01fb10df7bd64 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_motion_velocity_planner_node ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml index 3e68d8262aae9..a28a24d4dae49 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_planner_node - 0.38.0 + 0.39.0 Node of the motion_velocity_planner Maxime Clement diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst index 3b3d46ee59b79..b3ab3bb13aa3c 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_bezier_sampler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml index 5293a01de4577..9da456248f0ce 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml @@ -1,7 +1,7 @@ autoware_bezier_sampler - 0.38.0 + 0.39.0 Package to sample trajectories using Bézier curves Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst index 9d539fa198df1..e0123b1de0bd7 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_frenet_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/sampling_based_planner/autoware_frenet_planner/package.xml b/planning/sampling_based_planner/autoware_frenet_planner/package.xml index 8a6d4d487580d..11608baabeb76 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/package.xml +++ b/planning/sampling_based_planner/autoware_frenet_planner/package.xml @@ -1,7 +1,7 @@ autoware_frenet_planner - 0.38.0 + 0.39.0 The autoware_frenet_planner package for trajectory generation in Frenet frame Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst index 6ad80c1f48ae0..33fb5a66d1ed6 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_path_sampler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml index c4dafda08a14c..8f27509d27f67 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml @@ -2,7 +2,7 @@ autoware_path_sampler - 0.38.0 + 0.39.0 Package for the sampling-based path planner Maxime CLEMENT Apache License 2.0 diff --git a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst index c571077d5d029..d07a47c0c4629 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_sampler_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/planning/sampling_based_planner/autoware_sampler_common/package.xml b/planning/sampling_based_planner/autoware_sampler_common/package.xml index d110807877761..b5b4ab3bd9dc8 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/package.xml +++ b/planning/sampling_based_planner/autoware_sampler_common/package.xml @@ -1,7 +1,7 @@ autoware_sampler_common - 0.38.0 + 0.39.0 Common classes and functions for sampling based planners Maxime CLEMENT Maxime CLEMENT diff --git a/sensing/autoware_cuda_utils/CHANGELOG.rst b/sensing/autoware_cuda_utils/CHANGELOG.rst index fe3b28768acbb..64b78ebc94eee 100644 --- a/sensing/autoware_cuda_utils/CHANGELOG.rst +++ b/sensing/autoware_cuda_utils/CHANGELOG.rst @@ -1,6 +1,19 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package autoware_cuda_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo 0.38.0 (2024-11-08) ------------------- diff --git a/sensing/autoware_cuda_utils/package.xml b/sensing/autoware_cuda_utils/package.xml index ea65eda9a11f5..817aa395092aa 100644 --- a/sensing/autoware_cuda_utils/package.xml +++ b/sensing/autoware_cuda_utils/package.xml @@ -1,7 +1,7 @@ autoware_cuda_utils - 0.38.0 + 0.39.0 cuda utility library Daisuke Nishimatsu diff --git a/sensing/autoware_gnss_poser/CHANGELOG.rst b/sensing/autoware_gnss_poser/CHANGELOG.rst index 551ed898b5663..25713471aacbd 100644 --- a/sensing/autoware_gnss_poser/CHANGELOG.rst +++ b/sensing/autoware_gnss_poser/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package autoware_gnss_poser ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml index defcff66a1518..8304229b18a05 100644 --- a/sensing/autoware_gnss_poser/package.xml +++ b/sensing/autoware_gnss_poser/package.xml @@ -2,7 +2,7 @@ autoware_gnss_poser - 0.38.0 + 0.39.0 The ROS 2 autoware_gnss_poser package Yamato Ando Masahiro Sakamoto diff --git a/sensing/autoware_image_diagnostics/CHANGELOG.rst b/sensing/autoware_image_diagnostics/CHANGELOG.rst index cc0f34ff1a90b..db6df3ceedc67 100644 --- a/sensing/autoware_image_diagnostics/CHANGELOG.rst +++ b/sensing/autoware_image_diagnostics/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_image_diagnostics ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_image_diagnostics/package.xml b/sensing/autoware_image_diagnostics/package.xml index cbf2579081b99..48109cfd22e91 100644 --- a/sensing/autoware_image_diagnostics/package.xml +++ b/sensing/autoware_image_diagnostics/package.xml @@ -2,7 +2,7 @@ autoware_image_diagnostics - 0.38.0 + 0.39.0 The autoware_image_diagnostics package Dai Nguyen Yoshi Ri diff --git a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst index faf96ac052e25..fb82afbff8fe9 100644 --- a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst +++ b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_image_transport_decompressor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_image_transport_decompressor/package.xml b/sensing/autoware_image_transport_decompressor/package.xml index 00de3283895c8..22766b6582631 100644 --- a/sensing/autoware_image_transport_decompressor/package.xml +++ b/sensing/autoware_image_transport_decompressor/package.xml @@ -2,7 +2,7 @@ autoware_image_transport_decompressor - 0.38.0 + 0.39.0 The image_transport_decompressor package Yukihiro Saito Kenzo Lobos-Tsunekawa diff --git a/sensing/autoware_imu_corrector/CHANGELOG.rst b/sensing/autoware_imu_corrector/CHANGELOG.rst index 3ee386a1481f3..926cd3a195e0f 100644 --- a/sensing/autoware_imu_corrector/CHANGELOG.rst +++ b/sensing/autoware_imu_corrector/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_imu_corrector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_imu_corrector/package.xml b/sensing/autoware_imu_corrector/package.xml index 2b33890d4dbd8..e32814af99863 100644 --- a/sensing/autoware_imu_corrector/package.xml +++ b/sensing/autoware_imu_corrector/package.xml @@ -2,7 +2,7 @@ autoware_imu_corrector - 0.38.0 + 0.39.0 The ROS 2 autoware_imu_corrector package Yamato Ando Taiki Yamada diff --git a/sensing/autoware_pcl_extensions/CHANGELOG.rst b/sensing/autoware_pcl_extensions/CHANGELOG.rst index 7d0c642b6ff8b..ef8cc108086b5 100644 --- a/sensing/autoware_pcl_extensions/CHANGELOG.rst +++ b/sensing/autoware_pcl_extensions/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_pcl_extensions ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_pcl_extensions/package.xml b/sensing/autoware_pcl_extensions/package.xml index 4601a043980b1..a141ebb31223f 100644 --- a/sensing/autoware_pcl_extensions/package.xml +++ b/sensing/autoware_pcl_extensions/package.xml @@ -2,7 +2,7 @@ autoware_pcl_extensions - 0.38.0 + 0.39.0 The autoware_pcl_extensions package Ryu Yamamoto Kenzo Lobos Tsunekawa diff --git a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst index 126b444134bc8..6812ad076e60f 100644 --- a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst +++ b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst @@ -2,6 +2,27 @@ Changelog for package autoware_pointcloud_preprocessor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (`#9258 `_) + fix: fix the wrong file name +* fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 `_) + * feat: fix launch file + * chore: fix spell error + * chore: fix parameters file name + * chore: remove filter base + --------- +* Contributors: Esteve Fernandez, Yi-Hsiang Fang (Vivid), Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml index 85e42b4291626..20643d66d364c 100644 --- a/sensing/autoware_pointcloud_preprocessor/package.xml +++ b/sensing/autoware_pointcloud_preprocessor/package.xml @@ -2,7 +2,7 @@ autoware_pointcloud_preprocessor - 0.38.0 + 0.39.0 The ROS 2 autoware_pointcloud_preprocessor package amc-nu Yukihiro Saito diff --git a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst index b9fe1abe13093..8524887c25bff 100644 --- a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst +++ b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_radar_scan_to_pointcloud2 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_radar_scan_to_pointcloud2/package.xml b/sensing/autoware_radar_scan_to_pointcloud2/package.xml index bd0ed8ee717db..9dae0e583bc43 100644 --- a/sensing/autoware_radar_scan_to_pointcloud2/package.xml +++ b/sensing/autoware_radar_scan_to_pointcloud2/package.xml @@ -1,7 +1,7 @@ autoware_radar_scan_to_pointcloud2 - 0.38.0 + 0.39.0 autoware_radar_scan_to_pointcloud2 Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst index c7ee62041f611..eba58b0fb6278 100644 --- a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_radar_static_pointcloud_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_radar_static_pointcloud_filter/package.xml b/sensing/autoware_radar_static_pointcloud_filter/package.xml index 744148517aafe..f685147f9d0a4 100644 --- a/sensing/autoware_radar_static_pointcloud_filter/package.xml +++ b/sensing/autoware_radar_static_pointcloud_filter/package.xml @@ -1,7 +1,7 @@ autoware_radar_static_pointcloud_filter - 0.38.0 + 0.39.0 autoware_radar_static_pointcloud_filter Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst index 366301da6ea56..ef65bcc5f4fe4 100644 --- a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_radar_threshold_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_radar_threshold_filter/package.xml b/sensing/autoware_radar_threshold_filter/package.xml index 7629ffec9b96a..3127153fd9e30 100644 --- a/sensing/autoware_radar_threshold_filter/package.xml +++ b/sensing/autoware_radar_threshold_filter/package.xml @@ -1,7 +1,7 @@ autoware_radar_threshold_filter - 0.38.0 + 0.39.0 autoware_radar_threshold_filter Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst index 6bc3742acd7fc..29ff75fddd69a 100644 --- a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_radar_tracks_noise_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_radar_tracks_noise_filter/package.xml b/sensing/autoware_radar_tracks_noise_filter/package.xml index 8b08507326c98..af8db58a86567 100644 --- a/sensing/autoware_radar_tracks_noise_filter/package.xml +++ b/sensing/autoware_radar_tracks_noise_filter/package.xml @@ -2,7 +2,7 @@ autoware_radar_tracks_noise_filter - 0.38.0 + 0.39.0 autoware_radar_tracks_noise_filter Sathshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst index b2488806af1ba..9f4f9e3e96395 100644 --- a/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst +++ b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package vehicle_velocity_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/autoware_vehicle_velocity_converter/package.xml b/sensing/autoware_vehicle_velocity_converter/package.xml index 323002396c841..ce4e36855a03a 100644 --- a/sensing/autoware_vehicle_velocity_converter/package.xml +++ b/sensing/autoware_vehicle_velocity_converter/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_velocity_converter - 0.38.0 + 0.39.0 The autoware_vehicle_velocity_converter package Ryu Yamamoto Apache License 2.0 diff --git a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst index 4b0c42f440fa2..1721bb0e74007 100644 --- a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst +++ b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_livox_tag_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/sensing/livox/autoware_livox_tag_filter/package.xml b/sensing/livox/autoware_livox_tag_filter/package.xml index 43a4de255d9da..adb2229745789 100644 --- a/sensing/livox/autoware_livox_tag_filter/package.xml +++ b/sensing/livox/autoware_livox_tag_filter/package.xml @@ -2,7 +2,7 @@ autoware_livox_tag_filter - 0.38.0 + 0.39.0 The autoware_livox_tag_filter package Ryohsuke Mitsudome Kenzo Lobos-Tsunekawa diff --git a/simulator/autoware_carla_interface/CHANGELOG.rst b/simulator/autoware_carla_interface/CHANGELOG.rst index dee9f80052a1d..bdc1cc41bd5e0 100644 --- a/simulator/autoware_carla_interface/CHANGELOG.rst +++ b/simulator/autoware_carla_interface/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_carla_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/autoware_carla_interface/package.xml b/simulator/autoware_carla_interface/package.xml index d71f4d0d85924..215a7c778523f 100644 --- a/simulator/autoware_carla_interface/package.xml +++ b/simulator/autoware_carla_interface/package.xml @@ -1,7 +1,7 @@ autoware_carla_interface - 0.38.0 + 0.39.0 The carla autoware bridge package Muhammad Raditya GIOVANNI Maxime CLEMENT diff --git a/simulator/dummy_perception_publisher/CHANGELOG.rst b/simulator/dummy_perception_publisher/CHANGELOG.rst index 102616f3409d9..d0483f9ebe480 100644 --- a/simulator/dummy_perception_publisher/CHANGELOG.rst +++ b/simulator/dummy_perception_publisher/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package dummy_perception_publisher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml index 09c4cc63de67b..f2b60ce3ef857 100644 --- a/simulator/dummy_perception_publisher/package.xml +++ b/simulator/dummy_perception_publisher/package.xml @@ -2,7 +2,7 @@ dummy_perception_publisher - 0.38.0 + 0.39.0 The dummy_perception_publisher package Yukihiro Saito Apache License 2.0 diff --git a/simulator/fault_injection/CHANGELOG.rst b/simulator/fault_injection/CHANGELOG.rst index f62dd6c5cbc69..74ec3b4a867f4 100644 --- a/simulator/fault_injection/CHANGELOG.rst +++ b/simulator/fault_injection/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package fault_injection ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml index 7e432357139d4..25a5ceddd31be 100644 --- a/simulator/fault_injection/package.xml +++ b/simulator/fault_injection/package.xml @@ -2,7 +2,7 @@ fault_injection - 0.38.0 + 0.39.0 fault_injection Keisuke Shima Apache License 2.0 diff --git a/simulator/learning_based_vehicle_model/CHANGELOG.rst b/simulator/learning_based_vehicle_model/CHANGELOG.rst index 183535778ffec..b902713689ab1 100644 --- a/simulator/learning_based_vehicle_model/CHANGELOG.rst +++ b/simulator/learning_based_vehicle_model/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package learning_based_vehicle_model ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/learning_based_vehicle_model/package.xml b/simulator/learning_based_vehicle_model/package.xml index c09d152c432cb..11b5b2f88db03 100644 --- a/simulator/learning_based_vehicle_model/package.xml +++ b/simulator/learning_based_vehicle_model/package.xml @@ -2,7 +2,7 @@ learning_based_vehicle_model - 0.38.0 + 0.39.0 learning_based_vehicle_model for simple_planning_simulator Maxime Clement Tomas Nagy diff --git a/simulator/simple_planning_simulator/CHANGELOG.rst b/simulator/simple_planning_simulator/CHANGELOG.rst index 76c12ecf37f41..7b995d36dbf83 100644 --- a/simulator/simple_planning_simulator/CHANGELOG.rst +++ b/simulator/simple_planning_simulator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package simple_planning_simulator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml index a81f9e2147bab..a6f86dd6e8a4b 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/simple_planning_simulator/package.xml @@ -2,7 +2,7 @@ simple_planning_simulator - 0.38.0 + 0.39.0 simple_planning_simulator as a ROS 2 node Takamasa Horibe Tomoya Kimura diff --git a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst index df41afe78a70f..1d5b1d454a4a7 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst +++ b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package tier4_dummy_object_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/tier4_dummy_object_rviz_plugin/package.xml b/simulator/tier4_dummy_object_rviz_plugin/package.xml index c3d8f78670502..c5ef8a68eb98f 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/package.xml +++ b/simulator/tier4_dummy_object_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_dummy_object_rviz_plugin - 0.38.0 + 0.39.0 The tier4_dummy_object_rviz_plugin package Yukihiro Saito Apache License 2.0 diff --git a/simulator/vehicle_door_simulator/CHANGELOG.rst b/simulator/vehicle_door_simulator/CHANGELOG.rst index d825a300763f4..105292a8e63e1 100644 --- a/simulator/vehicle_door_simulator/CHANGELOG.rst +++ b/simulator/vehicle_door_simulator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package vehicle_door_simulator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/simulator/vehicle_door_simulator/package.xml b/simulator/vehicle_door_simulator/package.xml index b500940602ce2..008fcb9500bfe 100644 --- a/simulator/vehicle_door_simulator/package.xml +++ b/simulator/vehicle_door_simulator/package.xml @@ -2,7 +2,7 @@ vehicle_door_simulator - 0.38.0 + 0.39.0 The vehicle_door_simulator package Takagi, Isamu Apache License 2.0 diff --git a/system/autoware_component_monitor/CHANGELOG.rst b/system/autoware_component_monitor/CHANGELOG.rst index 30c97e6f41adc..224edb28d1c45 100644 --- a/system/autoware_component_monitor/CHANGELOG.rst +++ b/system/autoware_component_monitor/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_component_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/autoware_component_monitor/package.xml b/system/autoware_component_monitor/package.xml index 92f2fa51f704e..5655c495b0aa7 100644 --- a/system/autoware_component_monitor/package.xml +++ b/system/autoware_component_monitor/package.xml @@ -2,7 +2,7 @@ autoware_component_monitor - 0.38.0 + 0.39.0 A ROS 2 package to monitor system usage of component containers. Mehmet Emin Başoğlu Barış Zeren diff --git a/system/autoware_default_adapi/CHANGELOG.rst b/system/autoware_default_adapi/CHANGELOG.rst index 295b95531177f..64f7326264a58 100644 --- a/system/autoware_default_adapi/CHANGELOG.rst +++ b/system/autoware_default_adapi/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_default_adapi ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 `_) + feat(planning): add new steering factor topics for obstacle avoidance and lane changes +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Kyoichi Sugahara, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml index f664f72234f9f..d04c476a45ae7 100644 --- a/system/autoware_default_adapi/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -2,7 +2,7 @@ autoware_default_adapi - 0.38.0 + 0.39.0 The autoware_default_adapi package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/autoware_processing_time_checker/CHANGELOG.rst b/system/autoware_processing_time_checker/CHANGELOG.rst index 672a5db25e31c..96df106a6e4eb 100644 --- a/system/autoware_processing_time_checker/CHANGELOG.rst +++ b/system/autoware_processing_time_checker/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package autoware_processing_time_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml index 16b225f3ef425..17b4599197407 100644 --- a/system/autoware_processing_time_checker/package.xml +++ b/system/autoware_processing_time_checker/package.xml @@ -2,7 +2,7 @@ autoware_processing_time_checker - 0.38.0 + 0.39.0 A package to find out nodes with common names Takayuki Murooka Kosuke Takeuchi diff --git a/system/bluetooth_monitor/CHANGELOG.rst b/system/bluetooth_monitor/CHANGELOG.rst index ca70113c03740..96056c8907c86 100644 --- a/system/bluetooth_monitor/CHANGELOG.rst +++ b/system/bluetooth_monitor/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package bluetooth_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/bluetooth_monitor/package.xml b/system/bluetooth_monitor/package.xml index 4f6b9f38f7cb3..dfa77dd303427 100644 --- a/system/bluetooth_monitor/package.xml +++ b/system/bluetooth_monitor/package.xml @@ -2,7 +2,7 @@ bluetooth_monitor - 0.38.0 + 0.39.0 Bluetooth alive monitoring Fumihito Ito Apache License 2.0 diff --git a/system/component_state_monitor/CHANGELOG.rst b/system/component_state_monitor/CHANGELOG.rst index 751b67a25a6e4..97281628626c3 100644 --- a/system/component_state_monitor/CHANGELOG.rst +++ b/system/component_state_monitor/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package component_state_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/component_state_monitor/package.xml b/system/component_state_monitor/package.xml index 9e4d77878941a..60dde0d93581b 100644 --- a/system/component_state_monitor/package.xml +++ b/system/component_state_monitor/package.xml @@ -2,7 +2,7 @@ component_state_monitor - 0.38.0 + 0.39.0 The component_state_monitor package Takagi, Isamu Apache License 2.0 diff --git a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst index 4c4f7943578bb..c60bb8204eb3e 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst +++ b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package ad_api_adaptors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml index f6210809122de..c91edb9232444 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml @@ -2,7 +2,7 @@ ad_api_adaptors - 0.38.0 + 0.39.0 The ad_api_adaptors package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst index bea6efd9c2fe3..5961ee96c28d1 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst +++ b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package ad_api_visualizers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/default_ad_api_helpers/ad_api_visualizers/package.xml b/system/default_ad_api_helpers/ad_api_visualizers/package.xml index ab7d2ec4a5799..b05fe7222b923 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/package.xml +++ b/system/default_ad_api_helpers/ad_api_visualizers/package.xml @@ -2,7 +2,7 @@ ad_api_visualizers - 0.38.0 + 0.39.0 The ad_api_visualizers package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/default_ad_api_helpers/ad_api_visualizers/setup.py b/system/default_ad_api_helpers/ad_api_visualizers/setup.py index fe2fdd46463e3..b088271ba74a7 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/setup.py +++ b/system/default_ad_api_helpers/ad_api_visualizers/setup.py @@ -11,7 +11,7 @@ setup( name=package_name, - version="0.38.0", + version="0.39.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]), diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst index 1e08d0eff6194..795fe18c58e29 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst +++ b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package automatic_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml index 0f665cfc4f948..7a0566f478118 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml +++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml @@ -2,7 +2,7 @@ automatic_pose_initializer - 0.38.0 + 0.39.0 The automatic_pose_initializer package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/diagnostic_graph_aggregator/CHANGELOG.rst b/system/diagnostic_graph_aggregator/CHANGELOG.rst index 2398f0bb7f37f..c3824be814e01 100644 --- a/system/diagnostic_graph_aggregator/CHANGELOG.rst +++ b/system/diagnostic_graph_aggregator/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package diagnostic_graph_aggregator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/diagnostic_graph_aggregator/package.xml b/system/diagnostic_graph_aggregator/package.xml index bee03ba087e83..0b58afa330f43 100644 --- a/system/diagnostic_graph_aggregator/package.xml +++ b/system/diagnostic_graph_aggregator/package.xml @@ -2,7 +2,7 @@ diagnostic_graph_aggregator - 0.38.0 + 0.39.0 The diagnostic_graph_aggregator package Takagi, Isamu Apache License 2.0 diff --git a/system/diagnostic_graph_utils/CHANGELOG.rst b/system/diagnostic_graph_utils/CHANGELOG.rst index 8d1a7606444d3..17643d9e955e5 100644 --- a/system/diagnostic_graph_utils/CHANGELOG.rst +++ b/system/diagnostic_graph_utils/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package diagnostic_graph_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 `_) + fix(diagnostic_graph_utils): reset graph when new one is reveived +* Contributors: Esteve Fernandez, Takagi, Isamu, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/diagnostic_graph_utils/package.xml b/system/diagnostic_graph_utils/package.xml index 2b393b4191581..d558ba26b636a 100644 --- a/system/diagnostic_graph_utils/package.xml +++ b/system/diagnostic_graph_utils/package.xml @@ -2,7 +2,7 @@ diagnostic_graph_utils - 0.38.0 + 0.39.0 The diagnostic_graph_utils package Takagi, Isamu Apache License 2.0 diff --git a/system/dummy_diag_publisher/CHANGELOG.rst b/system/dummy_diag_publisher/CHANGELOG.rst index 1fef1964efc56..7f50608ce061b 100644 --- a/system/dummy_diag_publisher/CHANGELOG.rst +++ b/system/dummy_diag_publisher/CHANGELOG.rst @@ -2,6 +2,28 @@ Changelog for package dummy_diag_publisher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 `_) + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 `_) + fix(dummy_diag_publisher): not use diagnostic_updater and param callback + Co-authored-by: h-ohta + * fix: resolve build error of dummy diag publisher (`#1415 `_) + fix merge conflict + --------- + Co-authored-by: Shohei Sakai + Co-authored-by: h-ohta +* Contributors: Esteve Fernandez, Yuki TAKAGI, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/dummy_diag_publisher/package.xml b/system/dummy_diag_publisher/package.xml index 6029314232100..d5693da6db8c6 100644 --- a/system/dummy_diag_publisher/package.xml +++ b/system/dummy_diag_publisher/package.xml @@ -2,7 +2,7 @@ dummy_diag_publisher - 0.38.0 + 0.39.0 The dummy_diag_publisher ROS 2 package Fumihito Ito TetsuKawa diff --git a/system/dummy_infrastructure/CHANGELOG.rst b/system/dummy_infrastructure/CHANGELOG.rst index 25c3bf5d0f6a3..e7ce27fe644e7 100644 --- a/system/dummy_infrastructure/CHANGELOG.rst +++ b/system/dummy_infrastructure/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package dummy_infrastructure ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/dummy_infrastructure/package.xml b/system/dummy_infrastructure/package.xml index 431845825f3d5..b72927cd47162 100644 --- a/system/dummy_infrastructure/package.xml +++ b/system/dummy_infrastructure/package.xml @@ -2,7 +2,7 @@ dummy_infrastructure - 0.38.0 + 0.39.0 dummy_infrastructure Ryohsuke Mitsudome Apache License 2.0 diff --git a/system/duplicated_node_checker/CHANGELOG.rst b/system/duplicated_node_checker/CHANGELOG.rst index 406406b49daeb..d44d9508aac6c 100644 --- a/system/duplicated_node_checker/CHANGELOG.rst +++ b/system/duplicated_node_checker/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package duplicated_node_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/duplicated_node_checker/package.xml b/system/duplicated_node_checker/package.xml index 5b699d014b5f0..12eb39f8ead30 100644 --- a/system/duplicated_node_checker/package.xml +++ b/system/duplicated_node_checker/package.xml @@ -2,7 +2,7 @@ duplicated_node_checker - 0.38.0 + 0.39.0 A package to find out nodes with common names Shumpei Wakabayashi yliuhb diff --git a/system/hazard_status_converter/CHANGELOG.rst b/system/hazard_status_converter/CHANGELOG.rst index c0f54a85f3b27..d3f4488b00836 100644 --- a/system/hazard_status_converter/CHANGELOG.rst +++ b/system/hazard_status_converter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package hazard_status_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/hazard_status_converter/package.xml b/system/hazard_status_converter/package.xml index 7d154abb7b26c..e53847459ea39 100644 --- a/system/hazard_status_converter/package.xml +++ b/system/hazard_status_converter/package.xml @@ -2,7 +2,7 @@ hazard_status_converter - 0.38.0 + 0.39.0 The hazard_status_converter package Takagi, Isamu Apache License 2.0 diff --git a/system/mrm_comfortable_stop_operator/CHANGELOG.rst b/system/mrm_comfortable_stop_operator/CHANGELOG.rst index 1da165fc4b710..fc403b6a366ff 100644 --- a/system/mrm_comfortable_stop_operator/CHANGELOG.rst +++ b/system/mrm_comfortable_stop_operator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package mrm_comfortable_stop_operator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/mrm_comfortable_stop_operator/package.xml b/system/mrm_comfortable_stop_operator/package.xml index 92a9569bf329a..ec8508f691439 100644 --- a/system/mrm_comfortable_stop_operator/package.xml +++ b/system/mrm_comfortable_stop_operator/package.xml @@ -2,7 +2,7 @@ mrm_comfortable_stop_operator - 0.38.0 + 0.39.0 The MRM comfortable stop operator package Makoto Kurihara Tomohito Ando diff --git a/system/mrm_emergency_stop_operator/CHANGELOG.rst b/system/mrm_emergency_stop_operator/CHANGELOG.rst index e8a4611e43299..6ace9fa84cc90 100644 --- a/system/mrm_emergency_stop_operator/CHANGELOG.rst +++ b/system/mrm_emergency_stop_operator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package mrm_emergency_stop_operator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/mrm_emergency_stop_operator/package.xml b/system/mrm_emergency_stop_operator/package.xml index 402a94f305cfe..8be2e83484c17 100644 --- a/system/mrm_emergency_stop_operator/package.xml +++ b/system/mrm_emergency_stop_operator/package.xml @@ -2,7 +2,7 @@ mrm_emergency_stop_operator - 0.38.0 + 0.39.0 The MRM emergency stop operator package Makoto Kurihara Tomohito Ando diff --git a/system/mrm_handler/CHANGELOG.rst b/system/mrm_handler/CHANGELOG.rst index 92b7cb8a59351..4792246b01e86 100644 --- a/system/mrm_handler/CHANGELOG.rst +++ b/system/mrm_handler/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package mrm_handler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/mrm_handler/package.xml b/system/mrm_handler/package.xml index 93959a6931794..78d6b631799bf 100644 --- a/system/mrm_handler/package.xml +++ b/system/mrm_handler/package.xml @@ -2,7 +2,7 @@ mrm_handler - 0.38.0 + 0.39.0 The mrm_handler ROS 2 package Makoto Kurihara Ryuta Kambe diff --git a/system/system_diagnostic_monitor/CHANGELOG.rst b/system/system_diagnostic_monitor/CHANGELOG.rst index f25eab5c7fed4..faf15ad273924 100644 --- a/system/system_diagnostic_monitor/CHANGELOG.rst +++ b/system/system_diagnostic_monitor/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package system_diagnostic_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/system_diagnostic_monitor/package.xml b/system/system_diagnostic_monitor/package.xml index 54031a2e82daa..657268589c5a2 100644 --- a/system/system_diagnostic_monitor/package.xml +++ b/system/system_diagnostic_monitor/package.xml @@ -2,7 +2,7 @@ system_diagnostic_monitor - 0.38.0 + 0.39.0 The system_diagnostic_monitor package Takagi, Isamu Apache License 2.0 diff --git a/system/system_monitor/CHANGELOG.rst b/system/system_monitor/CHANGELOG.rst index b5c97c09e28df..7759f315830d2 100644 --- a/system/system_monitor/CHANGELOG.rst +++ b/system/system_monitor/CHANGELOG.rst @@ -2,6 +2,28 @@ Changelog for package system_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) + * feat(system_monitor): add config for network traffic monitor + * fix: change function name from stop to skip + --------- +* feat(system_monitor): support loopback network interface (`#9067 `_) + * feat(system_monitor): support loopback network interface + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Yutaka Kondo, iwatake + 0.38.0 (2024-11-08) ------------------- * remove system_monitor/CHANGELOG.rst diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml index e1a872812660d..1044cb2fde474 100644 --- a/system/system_monitor/package.xml +++ b/system/system_monitor/package.xml @@ -2,7 +2,7 @@ system_monitor - 0.38.0 + 0.39.0 The system_monitor package Fumihito Ito TetsuKawa diff --git a/system/topic_state_monitor/CHANGELOG.rst b/system/topic_state_monitor/CHANGELOG.rst index 8c636a421375c..6f7c71abcf683 100644 --- a/system/topic_state_monitor/CHANGELOG.rst +++ b/system/topic_state_monitor/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package topic_state_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/topic_state_monitor/package.xml b/system/topic_state_monitor/package.xml index d0521145b9fec..b6e517aec34bb 100644 --- a/system/topic_state_monitor/package.xml +++ b/system/topic_state_monitor/package.xml @@ -2,7 +2,7 @@ topic_state_monitor - 0.38.0 + 0.39.0 The topic_state_monitor package Ryohsuke Mitsudome Apache License 2.0 diff --git a/system/velodyne_monitor/CHANGELOG.rst b/system/velodyne_monitor/CHANGELOG.rst index ca10466633e36..717865b43d5ea 100644 --- a/system/velodyne_monitor/CHANGELOG.rst +++ b/system/velodyne_monitor/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package velodyne_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/system/velodyne_monitor/package.xml b/system/velodyne_monitor/package.xml index c37dac15a48aa..665e6ab87c575 100644 --- a/system/velodyne_monitor/package.xml +++ b/system/velodyne_monitor/package.xml @@ -2,7 +2,7 @@ velodyne_monitor - 0.38.0 + 0.39.0 The velodyne_monitor package Fumihito Ito Apache License 2.0 diff --git a/tools/reaction_analyzer/CHANGELOG.rst b/tools/reaction_analyzer/CHANGELOG.rst index 81084ba8724c4..740affa42f42a 100644 --- a/tools/reaction_analyzer/CHANGELOG.rst +++ b/tools/reaction_analyzer/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package reaction_analyzer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/tools/reaction_analyzer/package.xml b/tools/reaction_analyzer/package.xml index 8ec8f924edc1f..b3b1f69421fe7 100644 --- a/tools/reaction_analyzer/package.xml +++ b/tools/reaction_analyzer/package.xml @@ -2,7 +2,7 @@ reaction_analyzer - 0.38.0 + 0.39.0 Analyzer that measures reaction times of the nodes Berkay Karaman diff --git a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst index 1c025329b3417..b53b0b225a141 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst +++ b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_accel_brake_map_calibrator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/vehicle/autoware_accel_brake_map_calibrator/package.xml b/vehicle/autoware_accel_brake_map_calibrator/package.xml index ef8ebb9df5625..00ed9af04e5da 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/package.xml +++ b/vehicle/autoware_accel_brake_map_calibrator/package.xml @@ -2,7 +2,7 @@ autoware_accel_brake_map_calibrator - 0.38.0 + 0.39.0 The accel_brake_map_calibrator Tomoya Kimura Taiki Tanaka diff --git a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst index 058678773d251..7c1df55f31c03 100644 --- a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_external_cmd_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/vehicle/autoware_external_cmd_converter/package.xml b/vehicle/autoware_external_cmd_converter/package.xml index 35003f624c704..146327e6ca4b4 100644 --- a/vehicle/autoware_external_cmd_converter/package.xml +++ b/vehicle/autoware_external_cmd_converter/package.xml @@ -2,7 +2,7 @@ autoware_external_cmd_converter - 0.38.0 + 0.39.0 The autoware_external_cmd_converter package Takamasa Horibe Eiki Nagata diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst index 483f8cbd12c60..5c9572a7b712d 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_raw_vehicle_cmd_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml index 41bbff445ba7e..1e3b265127a63 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml @@ -2,7 +2,7 @@ autoware_raw_vehicle_cmd_converter - 0.38.0 + 0.39.0 The autoware_raw_vehicle_cmd_converter package Takamasa Horibe Tanaka Taiki diff --git a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst index 9a421dc7a35bf..8838f8de5c5d5 100644 --- a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst +++ b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package autoware_steer_offset_estimator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.39.0 (2024-11-25) +------------------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Yutaka Kondo + 0.38.0 (2024-11-08) ------------------- * unify package.xml version to 0.37.0 diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml index 27096dd20ab28..e3e633562b98a 100644 --- a/vehicle/autoware_steer_offset_estimator/package.xml +++ b/vehicle/autoware_steer_offset_estimator/package.xml @@ -1,7 +1,7 @@ autoware_steer_offset_estimator - 0.38.0 + 0.39.0 The steer_offset_estimator Taiki Tanaka Apache License 2.0 From 90bf2d07efebba88571e6e6218fa34a70ce85044 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Sat, 7 Dec 2024 17:35:31 +0900 Subject: [PATCH 678/701] fix(goal_planner): fix isStopped judgement (#9585) * fix(goal_planner): fix isStopped judgement Signed-off-by: kosuke55 * fix typo Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner_module.hpp | 3 ++- .../src/goal_planner_module.cpp | 15 ++++++++++----- 2 files changed, 12 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 914da46e60180..09acced162abd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -158,7 +158,8 @@ bool checkOccupancyGridCollision( bool isStopped( std::deque & odometry_buffer, - const nav_msgs::msg::Odometry::ConstSharedPtr self_odometry, const double duration_lower); + const nav_msgs::msg::Odometry::ConstSharedPtr self_odometry, const double duration_lower, + const double velocity_upper); // Flag class for managing whether a certain callback is running in multi-threading class ScopedFlag diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 01d06a4964c61..716047c7ad1f1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -244,7 +244,8 @@ bool checkOccupancyGridCollision( bool isStopped( std::deque & odometry_buffer, - const nav_msgs::msg::Odometry::ConstSharedPtr self_odometry, const double duration_lower) + const nav_msgs::msg::Odometry::ConstSharedPtr self_odometry, const double duration_lower, + const double velocity_upper) { odometry_buffer.push_back(self_odometry); // Delete old data in buffer_stuck_ @@ -259,7 +260,7 @@ bool isStopped( bool is_stopped = true; for (const auto & odometry : odometry_buffer) { const double ego_vel = utils::l2Norm(odometry->twist.twist.linear); - if (ego_vel > duration_lower) { + if (ego_vel > velocity_upper) { is_stopped = false; break; } @@ -879,7 +880,8 @@ bool GoalPlannerModule::canReturnToLaneParking(const PullOverContextData & conte { // return only before starting free space parking if (!isStopped( - odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time)) { + odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time, + parameters_->th_stopped_velocity)) { return false; } @@ -1760,7 +1762,9 @@ bool GoalPlannerModule::isStuck( } constexpr double stuck_time = 5.0; - if (!isStopped(odometry_buffer_stuck_, planner_data->self_odometry, stuck_time)) { + if (!isStopped( + odometry_buffer_stuck_, planner_data->self_odometry, stuck_time, + parameters_->th_stopped_velocity)) { return false; } @@ -1801,7 +1805,8 @@ bool GoalPlannerModule::hasFinishedCurrentPath(const PullOverContextData & ctx_d } if (!isStopped( - odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time)) { + odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time, + parameters_->th_stopped_velocity)) { return false; } From 47bbb1cf035c69ab8b9bf2eff87b268b5d37d985 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Mon, 9 Dec 2024 10:40:58 +0900 Subject: [PATCH 679/701] fix(autoware_behavior_velocity_stop_line_module): remove unused function (#9591) Signed-off-by: Ryuta Kambe --- .../src/scene.cpp | 9 --------- 1 file changed, 9 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp index 4d8dea94583bb..2a9c5dab1ebd9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -26,15 +26,6 @@ namespace autoware::behavior_velocity_planner { -geometry_msgs::msg::Point getCenterOfStopLine(const lanelet::ConstLineString3d & stop_line) -{ - geometry_msgs::msg::Point center_point; - center_point.x = (stop_line[0].x() + stop_line[1].x()) / 2.0; - center_point.y = (stop_line[0].y() + stop_line[1].y()) / 2.0; - center_point.z = (stop_line[0].z() + stop_line[1].z()) / 2.0; - return center_point; -} - StopLineModule::StopLineModule( const int64_t module_id, lanelet::ConstLineString3d stop_line, const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock) From 9553414c614009ca8db33521d4a1a68e430cce7a Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 9 Dec 2024 12:05:38 +0900 Subject: [PATCH 680/701] fix(autoware_image_projection_based_fusion): detected object roi box projection fix (#9519) * fix: detected object roi box projection fix 1. eliminate misuse of std::numeric_limits::min() 2. fix roi range up to the image edges Signed-off-by: Taekjin LEE * fix: fix roi range calculation in RoiDetectedObjectFusionNode Improve the calculation of the region of interest (ROI) in the RoiDetectedObjectFusionNode. The previous code had an issue where the ROI range was not correctly limited to the image edges. This fix ensures that the ROI is within the image boundaries by using the correct comparison operators for the x and y coordinates. Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../src/roi_detected_object_fusion/node.cpp | 25 ++++++++----------- 1 file changed, 11 insertions(+), 14 deletions(-) diff --git a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp index 134dd7bad9129..3ef3af8168f53 100644 --- a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp @@ -146,8 +146,7 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs( transformPoints(vertices, object2camera_affine, vertices_camera_coord); } - double min_x(std::numeric_limits::max()), min_y(std::numeric_limits::max()), - max_x(std::numeric_limits::min()), max_y(std::numeric_limits::min()); + double min_x(image_width), min_y(image_height), max_x(0.0), max_y(0.0); std::size_t point_on_image_cnt = 0; for (const auto & point : vertices_camera_coord) { if (point.z() <= 0.0) { @@ -164,8 +163,8 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs( max_y = std::max(proj_point.y(), max_y); if ( - proj_point.x() >= 0 && proj_point.x() <= image_width - 1 && proj_point.y() >= 0 && - proj_point.y() <= image_height - 1) { + proj_point.x() >= 0 && proj_point.x() < image_width && proj_point.y() >= 0 && + proj_point.y() < image_height) { point_on_image_cnt++; if (debugger_) { @@ -177,18 +176,16 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs( continue; } - min_x = std::max(min_x, 0.0); - min_y = std::max(min_y, 0.0); - max_x = std::min(max_x, image_width - 1); - max_y = std::min(max_y, image_height - 1); + const uint32_t idx_min_x = std::floor(std::max(min_x, 0.0)); + const uint32_t idx_min_y = std::floor(std::max(min_y, 0.0)); + const uint32_t idx_max_x = std::ceil(std::min(max_x, image_width)); + const uint32_t idx_max_y = std::ceil(std::min(max_y, image_height)); DetectedObjectWithFeature object_roi; - object_roi.feature.roi.x_offset = static_cast(min_x); - object_roi.feature.roi.y_offset = static_cast(min_y); - object_roi.feature.roi.width = - static_cast(max_x) - static_cast(min_x); - object_roi.feature.roi.height = - static_cast(max_y) - static_cast(min_y); + object_roi.feature.roi.x_offset = idx_min_x; + object_roi.feature.roi.y_offset = idx_min_y; + object_roi.feature.roi.width = idx_max_x - idx_min_x; + object_roi.feature.roi.height = idx_max_y - idx_min_y; object_roi.object = object; object_roi_map.insert(std::make_pair(obj_i, object_roi)); From dbdf9a16d83267c4d9a5f99b0e442c9f997ab2c7 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 9 Dec 2024 21:26:07 +0900 Subject: [PATCH 681/701] fix(lane_change): check obj predicted path when filtering (#9385) * RT1-8537 check object's predicted path when filtering Signed-off-by: Zulfaqar Azmi * use ranges view in get_line_string_paths Signed-off-by: Zulfaqar Azmi * check only vehicle type predicted path Signed-off-by: Zulfaqar Azmi * Refactor naming Signed-off-by: Zulfaqar Azmi * fix grammatical Signed-off-by: Zulfaqar Azmi * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * precommit and grammar fix Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --- .../utils/utils.hpp | 17 ++++++++++ .../src/scene.cpp | 1 + .../src/utils/utils.cpp | 34 +++++++++++-------- .../path_safety_checker/objects_filtering.hpp | 10 ++++++ .../path_safety_checker/objects_filtering.cpp | 14 ++++++++ 5 files changed, 62 insertions(+), 14 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index 7c1c8e2c65abe..5dcd132f16377 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -382,5 +382,22 @@ bool filter_target_lane_objects( const double dist_ego_to_current_lanes_center, const bool ahead_of_ego, const bool before_terminal, TargetLaneLeadingObjects & leading_objects, ExtendedPredictedObjects & trailing_objects); + +/** + * @brief Determines if the object's predicted path overlaps with the given lane polygon. + * + * This function checks whether any of the line string paths derived from the object's predicted + * trajectories intersect or overlap with the specified polygon representing lanes. + * + * @param object The extended predicted object containing predicted trajectories and initial + * polygon. + * @param lanes_polygon A polygon representing the lanes to check for overlaps with the object's + * paths. + * + * @return true if any of the object's predicted paths overlap with the lanes polygon, false + * otherwise. + */ +bool object_path_overlaps_lanes( + const ExtendedPredictedObject & object, const lanelet::BasicPolygon2d & lanes_polygon); } // namespace autoware::behavior_path_planner::utils::lane_change #endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 99e7cc73e59ff..2770831dbc485 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -988,6 +988,7 @@ lane_change::TargetObjects NormalLaneChange::get_target_objects( FilteredLanesObjects NormalLaneChange::filter_objects() const { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); auto objects = *planner_data_->dynamic_object; utils::path_safety_checker::filterObjectsByClass( objects, lane_change_parameters_->safety.target_object_types); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index 9ab6ac288dfd4..4d46f8270fac3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -35,6 +35,8 @@ #include #include #include +#include +#include #include #include @@ -1149,11 +1151,8 @@ std::vector get_line_string_paths(const ExtendedPredictedObject & return line_string; }; - const auto paths = object.predicted_paths; - std::vector line_strings; - std::transform(paths.begin(), paths.end(), std::back_inserter(line_strings), to_linestring_2d); - - return line_strings; + return object.predicted_paths | ranges::views::transform(to_linestring_2d) | + ranges::to(); } bool has_overtaking_turn_lane_object( @@ -1164,10 +1163,6 @@ bool has_overtaking_turn_lane_object( return false; } - const auto is_path_overlap_with_target = [&](const LineString2d & path) { - return !boost::geometry::disjoint(path, common_data_ptr->lanes_polygon_ptr->target); - }; - const auto is_object_overlap_with_target = [&](const auto & object) { // to compensate for perception issue, or if object is from behind ego, and tries to overtake, // but stop all of sudden @@ -1176,8 +1171,7 @@ bool has_overtaking_turn_lane_object( return true; } - const auto paths = get_line_string_paths(object); - return std::any_of(paths.begin(), paths.end(), is_path_overlap_with_target); + return object_path_overlaps_lanes(object, common_data_ptr->lanes_polygon_ptr->target); }; return std::any_of( @@ -1190,6 +1184,7 @@ bool filter_target_lane_objects( const bool before_terminal, TargetLaneLeadingObjects & leading_objects, ExtendedPredictedObjects & trailing_objects) { + using behavior_path_planner::utils::path_safety_checker::filter::is_vehicle; using behavior_path_planner::utils::path_safety_checker::filter::velocity_filter; const auto & current_lanes = common_data_ptr->lanes_ptr->current; const auto & vehicle_width = common_data_ptr->bpp_param_ptr->vehicle_info.vehicle_width_m; @@ -1206,9 +1201,12 @@ bool filter_target_lane_objects( const auto is_stopped = velocity_filter( object.initial_twist, -std::numeric_limits::epsilon(), stopped_obj_vel_th); if (is_lateral_far && before_terminal) { - const auto in_target_lanes = - !boost::geometry::disjoint(object.initial_polygon, lanes_polygon.target); - if (in_target_lanes) { + const auto overlapping_with_target_lanes = + !boost::geometry::disjoint(object.initial_polygon, lanes_polygon.target) || + (!is_stopped && is_vehicle(object.classification) && + object_path_overlaps_lanes(object, lanes_polygon.target)); + + if (overlapping_with_target_lanes) { if (!ahead_of_ego && !is_stopped) { trailing_objects.push_back(object); return true; @@ -1247,4 +1245,12 @@ bool filter_target_lane_objects( return false; } + +bool object_path_overlaps_lanes( + const ExtendedPredictedObject & object, const lanelet::BasicPolygon2d & lanes_polygon) +{ + return ranges::any_of(get_line_string_paths(object), [&](const auto & path) { + return !boost::geometry::disjoint(path, lanes_polygon); + }); +} } // namespace autoware::behavior_path_planner::utils::lane_change diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp index 5c29f347ad9ef..2ed9fdd9197df 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp @@ -71,6 +71,16 @@ bool is_within_circle( const geometry_msgs::msg::Point & object_pos, const geometry_msgs::msg::Point & reference_point, const double search_radius); +/** + * @brief Checks if the object classification represents a vehicle (CAR, TRUCK, BUS, TRAILER, + * MOTORCYCLE). + * + * @param classification The object classification to check. + * @return true If the classification is a vehicle type. + * @return false Otherwise. + */ +bool is_vehicle(const ObjectClassification & classification); + } // namespace autoware::behavior_path_planner::utils::path_safety_checker::filter namespace autoware::behavior_path_planner::utils::path_safety_checker diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp index 1caf287ee5386..00e9a0f567e7c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp @@ -57,6 +57,20 @@ bool is_within_circle( std::hypot(reference_point.x - object_pos.x, reference_point.y - object_pos.y); return dist < search_radius; } + +bool is_vehicle(const ObjectClassification & classification) +{ + switch (classification.label) { + case ObjectClassification::CAR: + case ObjectClassification::TRUCK: + case ObjectClassification::BUS: + case ObjectClassification::TRAILER: + case ObjectClassification::MOTORCYCLE: + return true; + default: + return false; + } +} } // namespace autoware::behavior_path_planner::utils::path_safety_checker::filter namespace autoware::behavior_path_planner::utils::path_safety_checker From ca507d610127e2ade4ae4574fe0c2e3e81837a18 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Mon, 9 Dec 2024 14:00:11 +0100 Subject: [PATCH 682/701] chore: move rviz plugins from common to visualization/ folder (#9417) Signed-off-by: Esteve Fernandez --- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 0 .../LICENSE | 0 .../README.md | 0 .../assets/av_timer.png | Bin 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common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp similarity index 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rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp similarity index 100% rename from common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp rename to visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp diff --git a/common/autoware_perception_rviz_plugin/CHANGELOG.rst b/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst similarity index 100% rename from common/autoware_perception_rviz_plugin/CHANGELOG.rst rename to visualization/autoware_perception_rviz_plugin/CHANGELOG.rst diff --git a/common/autoware_perception_rviz_plugin/CMakeLists.txt b/visualization/autoware_perception_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/autoware_perception_rviz_plugin/CMakeLists.txt rename to visualization/autoware_perception_rviz_plugin/CMakeLists.txt diff --git a/common/autoware_perception_rviz_plugin/README.md b/visualization/autoware_perception_rviz_plugin/README.md similarity index 100% rename from common/autoware_perception_rviz_plugin/README.md rename to visualization/autoware_perception_rviz_plugin/README.md diff --git a/common/autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png b/visualization/autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png similarity index 100% rename from common/autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png rename to visualization/autoware_perception_rviz_plugin/icons/classes/DetectedObjects.png diff --git a/common/autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png b/visualization/autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png similarity index 100% rename from common/autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png rename to visualization/autoware_perception_rviz_plugin/icons/classes/PredictedObjects.png diff --git a/common/autoware_perception_rviz_plugin/icons/classes/TrackedObjects.png b/visualization/autoware_perception_rviz_plugin/icons/classes/TrackedObjects.png similarity index 100% rename from common/autoware_perception_rviz_plugin/icons/classes/TrackedObjects.png rename to visualization/autoware_perception_rviz_plugin/icons/classes/TrackedObjects.png diff --git a/common/autoware_perception_rviz_plugin/images/detected-object-visualization-description.jpg b/visualization/autoware_perception_rviz_plugin/images/detected-object-visualization-description.jpg similarity index 100% rename from common/autoware_perception_rviz_plugin/images/detected-object-visualization-description.jpg rename to visualization/autoware_perception_rviz_plugin/images/detected-object-visualization-description.jpg diff --git a/common/autoware_perception_rviz_plugin/images/predicted-object-visualization-description.jpg b/visualization/autoware_perception_rviz_plugin/images/predicted-object-visualization-description.jpg similarity index 100% rename from common/autoware_perception_rviz_plugin/images/predicted-object-visualization-description.jpg rename to visualization/autoware_perception_rviz_plugin/images/predicted-object-visualization-description.jpg diff --git a/common/autoware_perception_rviz_plugin/images/tracked-object-visualization-description.jpg b/visualization/autoware_perception_rviz_plugin/images/tracked-object-visualization-description.jpg similarity index 100% rename from common/autoware_perception_rviz_plugin/images/tracked-object-visualization-description.jpg rename to visualization/autoware_perception_rviz_plugin/images/tracked-object-visualization-description.jpg diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/common/color_alpha_property.hpp diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/detected_objects_display.hpp diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_detail.hpp diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/predicted_objects_display.hpp diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/object_detection/tracked_objects_display.hpp diff --git a/common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/visibility_control.hpp b/visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/visibility_control.hpp similarity index 100% rename from common/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/visibility_control.hpp rename to visualization/autoware_perception_rviz_plugin/include/autoware_perception_rviz_plugin/visibility_control.hpp diff --git a/common/autoware_perception_rviz_plugin/package.xml b/visualization/autoware_perception_rviz_plugin/package.xml similarity index 100% rename from common/autoware_perception_rviz_plugin/package.xml rename to visualization/autoware_perception_rviz_plugin/package.xml diff --git a/common/autoware_perception_rviz_plugin/plugins_description.xml b/visualization/autoware_perception_rviz_plugin/plugins_description.xml similarity index 100% rename from common/autoware_perception_rviz_plugin/plugins_description.xml rename to visualization/autoware_perception_rviz_plugin/plugins_description.xml diff --git a/common/autoware_perception_rviz_plugin/src/common/color_alpha_property.cpp b/visualization/autoware_perception_rviz_plugin/src/common/color_alpha_property.cpp similarity index 100% rename from common/autoware_perception_rviz_plugin/src/common/color_alpha_property.cpp rename to visualization/autoware_perception_rviz_plugin/src/common/color_alpha_property.cpp diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp b/visualization/autoware_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp similarity index 100% rename from common/autoware_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp rename to visualization/autoware_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp b/visualization/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp similarity index 100% rename from common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp rename to visualization/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp b/visualization/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp similarity index 100% rename from common/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp rename to visualization/autoware_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp b/visualization/autoware_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp similarity index 100% rename from common/autoware_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp rename to visualization/autoware_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp diff --git a/common/bag_time_manager_rviz_plugin/CHANGELOG.rst b/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst similarity index 100% rename from common/bag_time_manager_rviz_plugin/CHANGELOG.rst rename to visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst diff --git a/common/bag_time_manager_rviz_plugin/CMakeLists.txt b/visualization/bag_time_manager_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/bag_time_manager_rviz_plugin/CMakeLists.txt rename to visualization/bag_time_manager_rviz_plugin/CMakeLists.txt diff --git a/common/bag_time_manager_rviz_plugin/README.md b/visualization/bag_time_manager_rviz_plugin/README.md similarity index 100% rename from common/bag_time_manager_rviz_plugin/README.md rename to visualization/bag_time_manager_rviz_plugin/README.md diff --git a/common/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png b/visualization/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png similarity index 100% rename from common/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png rename to visualization/bag_time_manager_rviz_plugin/icons/classes/BagTimeManagerPanel.png diff --git a/common/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png b/visualization/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png similarity index 100% rename from common/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png rename to visualization/bag_time_manager_rviz_plugin/images/add_bag_time_manager_panel.png diff --git a/common/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png b/visualization/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png similarity index 100% rename from common/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png rename to visualization/bag_time_manager_rviz_plugin/images/bag_time_manager_panel.png diff --git a/common/bag_time_manager_rviz_plugin/images/select_panels.png b/visualization/bag_time_manager_rviz_plugin/images/select_panels.png similarity index 100% rename from common/bag_time_manager_rviz_plugin/images/select_panels.png rename to visualization/bag_time_manager_rviz_plugin/images/select_panels.png diff --git a/common/bag_time_manager_rviz_plugin/package.xml b/visualization/bag_time_manager_rviz_plugin/package.xml similarity index 100% rename from common/bag_time_manager_rviz_plugin/package.xml rename to visualization/bag_time_manager_rviz_plugin/package.xml diff --git a/common/bag_time_manager_rviz_plugin/plugins/plugin_description.xml b/visualization/bag_time_manager_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/bag_time_manager_rviz_plugin/plugins/plugin_description.xml rename to visualization/bag_time_manager_rviz_plugin/plugins/plugin_description.xml diff --git a/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp b/visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp similarity index 100% rename from common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp rename to visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp diff --git a/common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp b/visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp similarity index 100% rename from common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp rename to visualization/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.hpp diff --git a/common/tier4_adapi_rviz_plugin/CHANGELOG.rst b/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst similarity index 100% rename from common/tier4_adapi_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst diff --git a/common/tier4_adapi_rviz_plugin/CMakeLists.txt b/visualization/tier4_adapi_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_adapi_rviz_plugin/CMakeLists.txt rename to visualization/tier4_adapi_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_adapi_rviz_plugin/README.md b/visualization/tier4_adapi_rviz_plugin/README.md similarity index 100% rename from common/tier4_adapi_rviz_plugin/README.md rename to visualization/tier4_adapi_rviz_plugin/README.md diff --git a/common/tier4_adapi_rviz_plugin/icons/classes/RoutePanel.png b/visualization/tier4_adapi_rviz_plugin/icons/classes/RoutePanel.png similarity index 100% rename from common/tier4_adapi_rviz_plugin/icons/classes/RoutePanel.png rename to visualization/tier4_adapi_rviz_plugin/icons/classes/RoutePanel.png diff --git a/common/tier4_adapi_rviz_plugin/icons/classes/RouteTool.png b/visualization/tier4_adapi_rviz_plugin/icons/classes/RouteTool.png similarity index 100% rename from common/tier4_adapi_rviz_plugin/icons/classes/RouteTool.png rename to visualization/tier4_adapi_rviz_plugin/icons/classes/RouteTool.png diff --git a/common/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png b/visualization/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png similarity index 100% rename from common/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png rename to visualization/tier4_adapi_rviz_plugin/icons/classes/StatePanel.png diff --git a/common/tier4_adapi_rviz_plugin/package.xml b/visualization/tier4_adapi_rviz_plugin/package.xml similarity index 100% rename from common/tier4_adapi_rviz_plugin/package.xml rename to visualization/tier4_adapi_rviz_plugin/package.xml diff --git a/common/tier4_adapi_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_adapi_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_adapi_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_adapi_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_adapi_rviz_plugin/src/door_panel.cpp b/visualization/tier4_adapi_rviz_plugin/src/door_panel.cpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/door_panel.cpp rename to visualization/tier4_adapi_rviz_plugin/src/door_panel.cpp diff --git a/common/tier4_adapi_rviz_plugin/src/door_panel.hpp b/visualization/tier4_adapi_rviz_plugin/src/door_panel.hpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/door_panel.hpp rename to visualization/tier4_adapi_rviz_plugin/src/door_panel.hpp diff --git a/common/tier4_adapi_rviz_plugin/src/route_panel.cpp b/visualization/tier4_adapi_rviz_plugin/src/route_panel.cpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/route_panel.cpp rename to visualization/tier4_adapi_rviz_plugin/src/route_panel.cpp diff --git a/common/tier4_adapi_rviz_plugin/src/route_panel.hpp b/visualization/tier4_adapi_rviz_plugin/src/route_panel.hpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/route_panel.hpp rename to visualization/tier4_adapi_rviz_plugin/src/route_panel.hpp diff --git a/common/tier4_adapi_rviz_plugin/src/route_tool.cpp b/visualization/tier4_adapi_rviz_plugin/src/route_tool.cpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/route_tool.cpp rename to visualization/tier4_adapi_rviz_plugin/src/route_tool.cpp diff --git a/common/tier4_adapi_rviz_plugin/src/route_tool.hpp b/visualization/tier4_adapi_rviz_plugin/src/route_tool.hpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/route_tool.hpp rename to visualization/tier4_adapi_rviz_plugin/src/route_tool.hpp diff --git a/common/tier4_adapi_rviz_plugin/src/state_panel.cpp b/visualization/tier4_adapi_rviz_plugin/src/state_panel.cpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/state_panel.cpp rename to visualization/tier4_adapi_rviz_plugin/src/state_panel.cpp diff --git a/common/tier4_adapi_rviz_plugin/src/state_panel.hpp b/visualization/tier4_adapi_rviz_plugin/src/state_panel.hpp similarity index 100% rename from common/tier4_adapi_rviz_plugin/src/state_panel.hpp rename to visualization/tier4_adapi_rviz_plugin/src/state_panel.hpp diff --git a/common/tier4_camera_view_rviz_plugin/CHANGELOG.rst b/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst similarity index 100% rename from common/tier4_camera_view_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst diff --git a/common/tier4_camera_view_rviz_plugin/CMakeLists.txt b/visualization/tier4_camera_view_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_camera_view_rviz_plugin/CMakeLists.txt rename to visualization/tier4_camera_view_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_camera_view_rviz_plugin/README.md b/visualization/tier4_camera_view_rviz_plugin/README.md similarity index 100% rename from common/tier4_camera_view_rviz_plugin/README.md rename to visualization/tier4_camera_view_rviz_plugin/README.md diff --git a/common/tier4_camera_view_rviz_plugin/icons/classes/BirdEyeViewTool.png b/visualization/tier4_camera_view_rviz_plugin/icons/classes/BirdEyeViewTool.png similarity index 100% rename from common/tier4_camera_view_rviz_plugin/icons/classes/BirdEyeViewTool.png rename to visualization/tier4_camera_view_rviz_plugin/icons/classes/BirdEyeViewTool.png diff --git a/common/tier4_camera_view_rviz_plugin/icons/classes/ThirdPersonViewTool.png b/visualization/tier4_camera_view_rviz_plugin/icons/classes/ThirdPersonViewTool.png similarity index 100% rename from common/tier4_camera_view_rviz_plugin/icons/classes/ThirdPersonViewTool.png rename to visualization/tier4_camera_view_rviz_plugin/icons/classes/ThirdPersonViewTool.png diff --git a/common/tier4_camera_view_rviz_plugin/package.xml b/visualization/tier4_camera_view_rviz_plugin/package.xml similarity index 100% rename from common/tier4_camera_view_rviz_plugin/package.xml rename to visualization/tier4_camera_view_rviz_plugin/package.xml diff --git a/common/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_camera_view_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp b/visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp rename to visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp b/visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp rename to visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.hpp diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.cpp b/visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.cpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.cpp rename to visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.cpp diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.hpp b/visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.hpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.hpp rename to visualization/tier4_camera_view_rviz_plugin/src/bird_eye_view_tool.hpp diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp b/visualization/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp rename to visualization/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp b/visualization/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp rename to visualization/tier4_camera_view_rviz_plugin/src/third_person_view_controller.hpp diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_tool.cpp b/visualization/tier4_camera_view_rviz_plugin/src/third_person_view_tool.cpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/third_person_view_tool.cpp rename to visualization/tier4_camera_view_rviz_plugin/src/third_person_view_tool.cpp diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_tool.hpp b/visualization/tier4_camera_view_rviz_plugin/src/third_person_view_tool.hpp similarity index 100% rename from common/tier4_camera_view_rviz_plugin/src/third_person_view_tool.hpp rename to visualization/tier4_camera_view_rviz_plugin/src/third_person_view_tool.hpp diff --git a/common/tier4_datetime_rviz_plugin/CHANGELOG.rst b/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst similarity index 100% rename from common/tier4_datetime_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst diff --git a/common/tier4_datetime_rviz_plugin/CMakeLists.txt b/visualization/tier4_datetime_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_datetime_rviz_plugin/CMakeLists.txt rename to visualization/tier4_datetime_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_datetime_rviz_plugin/README.md b/visualization/tier4_datetime_rviz_plugin/README.md similarity index 100% rename from common/tier4_datetime_rviz_plugin/README.md rename to visualization/tier4_datetime_rviz_plugin/README.md diff --git a/common/tier4_datetime_rviz_plugin/icons/classes/AutowareDateTimePanel.png b/visualization/tier4_datetime_rviz_plugin/icons/classes/AutowareDateTimePanel.png similarity index 100% rename from common/tier4_datetime_rviz_plugin/icons/classes/AutowareDateTimePanel.png rename to visualization/tier4_datetime_rviz_plugin/icons/classes/AutowareDateTimePanel.png diff --git a/common/tier4_datetime_rviz_plugin/images/select_datetime_plugin.png b/visualization/tier4_datetime_rviz_plugin/images/select_datetime_plugin.png similarity index 100% rename from common/tier4_datetime_rviz_plugin/images/select_datetime_plugin.png rename to visualization/tier4_datetime_rviz_plugin/images/select_datetime_plugin.png diff --git a/common/tier4_datetime_rviz_plugin/images/select_panels.png b/visualization/tier4_datetime_rviz_plugin/images/select_panels.png similarity index 100% rename from common/tier4_datetime_rviz_plugin/images/select_panels.png rename to visualization/tier4_datetime_rviz_plugin/images/select_panels.png diff --git a/common/tier4_datetime_rviz_plugin/package.xml b/visualization/tier4_datetime_rviz_plugin/package.xml similarity index 100% rename from common/tier4_datetime_rviz_plugin/package.xml rename to visualization/tier4_datetime_rviz_plugin/package.xml diff --git a/common/tier4_datetime_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_datetime_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_datetime_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_datetime_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.cpp b/visualization/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.cpp similarity index 100% rename from common/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.cpp rename to visualization/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.cpp diff --git a/common/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.hpp b/visualization/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.hpp similarity index 100% rename from common/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.hpp rename to visualization/tier4_datetime_rviz_plugin/src/autoware_datetime_panel.hpp diff --git a/common/tier4_localization_rviz_plugin/CHANGELOG.rst b/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst similarity index 100% rename from common/tier4_localization_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_localization_rviz_plugin/CHANGELOG.rst diff --git a/common/tier4_localization_rviz_plugin/CMakeLists.txt b/visualization/tier4_localization_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_localization_rviz_plugin/CMakeLists.txt rename to visualization/tier4_localization_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_localization_rviz_plugin/README.md b/visualization/tier4_localization_rviz_plugin/README.md similarity index 100% rename from common/tier4_localization_rviz_plugin/README.md rename to visualization/tier4_localization_rviz_plugin/README.md diff --git a/common/tier4_localization_rviz_plugin/icons/classes/PoseHistory.png b/visualization/tier4_localization_rviz_plugin/icons/classes/PoseHistory.png similarity index 100% rename from common/tier4_localization_rviz_plugin/icons/classes/PoseHistory.png rename to visualization/tier4_localization_rviz_plugin/icons/classes/PoseHistory.png diff --git a/common/tier4_localization_rviz_plugin/icons/classes/PoseHistoryFootprint.png b/visualization/tier4_localization_rviz_plugin/icons/classes/PoseHistoryFootprint.png similarity index 100% rename from common/tier4_localization_rviz_plugin/icons/classes/PoseHistoryFootprint.png rename to visualization/tier4_localization_rviz_plugin/icons/classes/PoseHistoryFootprint.png diff --git a/common/tier4_localization_rviz_plugin/icons/classes/PoseWithCovarianceHistory.png b/visualization/tier4_localization_rviz_plugin/icons/classes/PoseWithCovarianceHistory.png similarity index 100% rename from common/tier4_localization_rviz_plugin/icons/classes/PoseWithCovarianceHistory.png rename to visualization/tier4_localization_rviz_plugin/icons/classes/PoseWithCovarianceHistory.png diff --git a/common/tier4_localization_rviz_plugin/images/ex_pose_with_covariance_history.png b/visualization/tier4_localization_rviz_plugin/images/ex_pose_with_covariance_history.png similarity index 100% rename from common/tier4_localization_rviz_plugin/images/ex_pose_with_covariance_history.png rename to visualization/tier4_localization_rviz_plugin/images/ex_pose_with_covariance_history.png diff --git a/common/tier4_localization_rviz_plugin/images/select_add.png b/visualization/tier4_localization_rviz_plugin/images/select_add.png similarity index 100% rename from common/tier4_localization_rviz_plugin/images/select_add.png rename to visualization/tier4_localization_rviz_plugin/images/select_add.png diff --git a/common/tier4_localization_rviz_plugin/images/select_localization_plugin.png b/visualization/tier4_localization_rviz_plugin/images/select_localization_plugin.png similarity index 100% rename from common/tier4_localization_rviz_plugin/images/select_localization_plugin.png rename to visualization/tier4_localization_rviz_plugin/images/select_localization_plugin.png diff --git a/common/tier4_localization_rviz_plugin/images/select_topic_name.png b/visualization/tier4_localization_rviz_plugin/images/select_topic_name.png similarity index 100% rename from common/tier4_localization_rviz_plugin/images/select_topic_name.png rename to visualization/tier4_localization_rviz_plugin/images/select_topic_name.png diff --git a/common/tier4_localization_rviz_plugin/package.xml b/visualization/tier4_localization_rviz_plugin/package.xml similarity index 100% rename from common/tier4_localization_rviz_plugin/package.xml rename to visualization/tier4_localization_rviz_plugin/package.xml diff --git a/common/tier4_localization_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_localization_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_localization_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_localization_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp b/visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp similarity index 100% rename from common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp rename to visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp diff --git a/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.hpp b/visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.hpp similarity index 100% rename from common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.hpp rename to visualization/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.hpp diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp b/visualization/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp similarity index 100% rename from common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp rename to visualization/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp b/visualization/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp similarity index 100% rename from common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp rename to visualization/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp diff --git a/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp b/visualization/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp similarity index 100% rename from common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp rename to visualization/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp diff --git a/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp b/visualization/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp similarity index 100% rename from common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp rename to visualization/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp diff --git a/common/tier4_planning_rviz_plugin/CHANGELOG.rst b/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst similarity index 100% rename from common/tier4_planning_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_planning_rviz_plugin/CHANGELOG.rst diff --git a/common/tier4_planning_rviz_plugin/CMakeLists.txt b/visualization/tier4_planning_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_planning_rviz_plugin/CMakeLists.txt rename to visualization/tier4_planning_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_planning_rviz_plugin/README.md b/visualization/tier4_planning_rviz_plugin/README.md similarity index 100% rename from common/tier4_planning_rviz_plugin/README.md rename to visualization/tier4_planning_rviz_plugin/README.md diff --git a/common/tier4_planning_rviz_plugin/icons/classes/DrivableArea.png b/visualization/tier4_planning_rviz_plugin/icons/classes/DrivableArea.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/DrivableArea.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/DrivableArea.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/MaxVelocity.png b/visualization/tier4_planning_rviz_plugin/icons/classes/MaxVelocity.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/MaxVelocity.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/MaxVelocity.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/MissionCheckpointTool.png b/visualization/tier4_planning_rviz_plugin/icons/classes/MissionCheckpointTool.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/MissionCheckpointTool.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/MissionCheckpointTool.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/Path.png b/visualization/tier4_planning_rviz_plugin/icons/classes/Path.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/Path.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/Path.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/PathFootprint.png b/visualization/tier4_planning_rviz_plugin/icons/classes/PathFootprint.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/PathFootprint.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/PathFootprint.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/PathWithLaneId.png b/visualization/tier4_planning_rviz_plugin/icons/classes/PathWithLaneId.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/PathWithLaneId.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/PathWithLaneId.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/PathWithLaneIdFootprint.png b/visualization/tier4_planning_rviz_plugin/icons/classes/PathWithLaneIdFootprint.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/PathWithLaneIdFootprint.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/PathWithLaneIdFootprint.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/PoseWithUuidStamped.png b/visualization/tier4_planning_rviz_plugin/icons/classes/PoseWithUuidStamped.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/PoseWithUuidStamped.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/PoseWithUuidStamped.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/Trajectory.png b/visualization/tier4_planning_rviz_plugin/icons/classes/Trajectory.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/Trajectory.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/Trajectory.png diff --git a/common/tier4_planning_rviz_plugin/icons/classes/TrajectoryFootprint.png b/visualization/tier4_planning_rviz_plugin/icons/classes/TrajectoryFootprint.png similarity index 100% rename from common/tier4_planning_rviz_plugin/icons/classes/TrajectoryFootprint.png rename to visualization/tier4_planning_rviz_plugin/icons/classes/TrajectoryFootprint.png diff --git a/common/tier4_planning_rviz_plugin/images/select_add.png b/visualization/tier4_planning_rviz_plugin/images/select_add.png similarity index 100% rename from common/tier4_planning_rviz_plugin/images/select_add.png rename to visualization/tier4_planning_rviz_plugin/images/select_add.png diff --git a/common/tier4_planning_rviz_plugin/images/select_planning_plugin.png b/visualization/tier4_planning_rviz_plugin/images/select_planning_plugin.png similarity index 100% rename from common/tier4_planning_rviz_plugin/images/select_planning_plugin.png rename to visualization/tier4_planning_rviz_plugin/images/select_planning_plugin.png diff --git a/common/tier4_planning_rviz_plugin/images/select_topic_name.png b/visualization/tier4_planning_rviz_plugin/images/select_topic_name.png similarity index 100% rename from common/tier4_planning_rviz_plugin/images/select_topic_name.png rename to visualization/tier4_planning_rviz_plugin/images/select_topic_name.png diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/mission_checkpoint/mission_checkpoint.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/mission_checkpoint/mission_checkpoint.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/mission_checkpoint/mission_checkpoint.hpp rename to visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/mission_checkpoint/mission_checkpoint.hpp diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp rename to visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp rename to visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/pose_with_uuid_stamped/display.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/pose_with_uuid_stamped/display.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/pose_with_uuid_stamped/display.hpp rename to visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/pose_with_uuid_stamped/display.hpp diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp b/visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp rename to visualization/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp diff --git a/common/tier4_planning_rviz_plugin/package.xml b/visualization/tier4_planning_rviz_plugin/package.xml similarity index 100% rename from common/tier4_planning_rviz_plugin/package.xml rename to visualization/tier4_planning_rviz_plugin/package.xml diff --git a/common/tier4_planning_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_planning_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_planning_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_planning_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_planning_rviz_plugin/src/mission_checkpoint/mission_checkpoint.cpp b/visualization/tier4_planning_rviz_plugin/src/mission_checkpoint/mission_checkpoint.cpp similarity index 100% rename from common/tier4_planning_rviz_plugin/src/mission_checkpoint/mission_checkpoint.cpp rename to visualization/tier4_planning_rviz_plugin/src/mission_checkpoint/mission_checkpoint.cpp diff --git a/common/tier4_planning_rviz_plugin/src/path/display.cpp b/visualization/tier4_planning_rviz_plugin/src/path/display.cpp similarity index 100% rename from common/tier4_planning_rviz_plugin/src/path/display.cpp rename to visualization/tier4_planning_rviz_plugin/src/path/display.cpp diff --git a/common/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp b/visualization/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp similarity index 100% rename from common/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp rename to visualization/tier4_planning_rviz_plugin/src/pose_with_uuid_stamped/display.cpp diff --git a/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp b/visualization/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp similarity index 100% rename from common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp rename to visualization/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp diff --git a/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp b/visualization/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp rename to visualization/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp diff --git a/common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp b/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp similarity index 100% rename from common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp rename to visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp diff --git a/common/tier4_planning_rviz_plugin/src/tools/max_velocity.hpp b/visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.hpp similarity index 100% rename from common/tier4_planning_rviz_plugin/src/tools/max_velocity.hpp rename to visualization/tier4_planning_rviz_plugin/src/tools/max_velocity.hpp diff --git a/common/tier4_state_rviz_plugin/CHANGELOG.rst b/visualization/tier4_state_rviz_plugin/CHANGELOG.rst similarity index 100% rename from common/tier4_state_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_state_rviz_plugin/CHANGELOG.rst diff --git a/common/tier4_state_rviz_plugin/CMakeLists.txt b/visualization/tier4_state_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_state_rviz_plugin/CMakeLists.txt rename to visualization/tier4_state_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_state_rviz_plugin/README.md b/visualization/tier4_state_rviz_plugin/README.md similarity index 100% rename from common/tier4_state_rviz_plugin/README.md rename to visualization/tier4_state_rviz_plugin/README.md diff --git a/common/tier4_state_rviz_plugin/icons/assets/active.png b/visualization/tier4_state_rviz_plugin/icons/assets/active.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/assets/active.png rename to visualization/tier4_state_rviz_plugin/icons/assets/active.png diff --git a/common/tier4_state_rviz_plugin/icons/assets/crash.png b/visualization/tier4_state_rviz_plugin/icons/assets/crash.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/assets/crash.png rename to visualization/tier4_state_rviz_plugin/icons/assets/crash.png diff --git a/common/tier4_state_rviz_plugin/icons/assets/danger.png b/visualization/tier4_state_rviz_plugin/icons/assets/danger.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/assets/danger.png rename to visualization/tier4_state_rviz_plugin/icons/assets/danger.png diff --git a/common/tier4_state_rviz_plugin/icons/assets/none.png b/visualization/tier4_state_rviz_plugin/icons/assets/none.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/assets/none.png rename to visualization/tier4_state_rviz_plugin/icons/assets/none.png diff --git a/common/tier4_state_rviz_plugin/icons/assets/pending.png b/visualization/tier4_state_rviz_plugin/icons/assets/pending.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/assets/pending.png rename to visualization/tier4_state_rviz_plugin/icons/assets/pending.png diff --git a/common/tier4_state_rviz_plugin/icons/classes/AutowareStatePanel.png b/visualization/tier4_state_rviz_plugin/icons/classes/AutowareStatePanel.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/classes/AutowareStatePanel.png rename to visualization/tier4_state_rviz_plugin/icons/classes/AutowareStatePanel.png diff --git a/common/tier4_state_rviz_plugin/icons/classes/VelocitySteeringFactorsPanel.png b/visualization/tier4_state_rviz_plugin/icons/classes/VelocitySteeringFactorsPanel.png similarity index 100% rename from common/tier4_state_rviz_plugin/icons/classes/VelocitySteeringFactorsPanel.png rename to visualization/tier4_state_rviz_plugin/icons/classes/VelocitySteeringFactorsPanel.png diff --git a/common/tier4_state_rviz_plugin/images/select_auto.png b/visualization/tier4_state_rviz_plugin/images/select_auto.png similarity index 100% rename from common/tier4_state_rviz_plugin/images/select_auto.png rename to visualization/tier4_state_rviz_plugin/images/select_auto.png diff --git a/common/tier4_state_rviz_plugin/images/select_panels.png b/visualization/tier4_state_rviz_plugin/images/select_panels.png similarity index 100% rename from common/tier4_state_rviz_plugin/images/select_panels.png rename to visualization/tier4_state_rviz_plugin/images/select_panels.png diff --git a/common/tier4_state_rviz_plugin/images/select_state_plugin.png b/visualization/tier4_state_rviz_plugin/images/select_state_plugin.png similarity index 100% rename from common/tier4_state_rviz_plugin/images/select_state_plugin.png rename to visualization/tier4_state_rviz_plugin/images/select_state_plugin.png diff --git a/common/tier4_state_rviz_plugin/package.xml b/visualization/tier4_state_rviz_plugin/package.xml similarity index 100% rename from common/tier4_state_rviz_plugin/package.xml rename to visualization/tier4_state_rviz_plugin/package.xml diff --git a/common/tier4_state_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_state_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_state_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_state_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/visualization/tier4_state_rviz_plugin/src/autoware_state_panel.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp rename to visualization/tier4_state_rviz_plugin/src/autoware_state_panel.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_button.cpp b/visualization/tier4_state_rviz_plugin/src/custom_button.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_button.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_button.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_container.cpp b/visualization/tier4_state_rviz_plugin/src/custom_container.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_container.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_container.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp b/visualization/tier4_state_rviz_plugin/src/custom_icon_label.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_icon_label.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_icon_label.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_label.cpp b/visualization/tier4_state_rviz_plugin/src/custom_label.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_label.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_label.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp b/visualization/tier4_state_rviz_plugin/src/custom_segmented_button.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_segmented_button.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp b/visualization/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_slider.cpp b/visualization/tier4_state_rviz_plugin/src/custom_slider.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_slider.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_slider.cpp diff --git a/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp b/visualization/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp rename to visualization/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp diff --git a/common/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp b/visualization/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp rename to visualization/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_button.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_button.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_button.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_button.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_container.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_container.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_container.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_container.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_label.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_label.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_label.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_label.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_slider.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_slider.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_slider.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_slider.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp b/visualization/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp rename to visualization/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/material_colors.hpp b/visualization/tier4_state_rviz_plugin/src/include/material_colors.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/material_colors.hpp rename to visualization/tier4_state_rviz_plugin/src/include/material_colors.hpp diff --git a/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp b/visualization/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp rename to visualization/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/visualization/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp rename to visualization/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp diff --git a/common/tier4_system_rviz_plugin/CHANGELOG.rst b/visualization/tier4_system_rviz_plugin/CHANGELOG.rst similarity index 100% rename from common/tier4_system_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_system_rviz_plugin/CHANGELOG.rst diff --git a/common/tier4_system_rviz_plugin/CMakeLists.txt b/visualization/tier4_system_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_system_rviz_plugin/CMakeLists.txt rename to visualization/tier4_system_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_system_rviz_plugin/README.md b/visualization/tier4_system_rviz_plugin/README.md similarity index 100% rename from common/tier4_system_rviz_plugin/README.md rename to visualization/tier4_system_rviz_plugin/README.md diff --git a/common/tier4_system_rviz_plugin/package.xml b/visualization/tier4_system_rviz_plugin/package.xml similarity index 100% rename from common/tier4_system_rviz_plugin/package.xml rename to visualization/tier4_system_rviz_plugin/package.xml diff --git a/common/tier4_system_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_system_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_system_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_system_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_system_rviz_plugin/src/jsk_overlay_utils.cpp b/visualization/tier4_system_rviz_plugin/src/jsk_overlay_utils.cpp similarity index 100% rename from common/tier4_system_rviz_plugin/src/jsk_overlay_utils.cpp rename to visualization/tier4_system_rviz_plugin/src/jsk_overlay_utils.cpp diff --git a/common/tier4_system_rviz_plugin/src/jsk_overlay_utils.hpp b/visualization/tier4_system_rviz_plugin/src/jsk_overlay_utils.hpp similarity index 100% rename from common/tier4_system_rviz_plugin/src/jsk_overlay_utils.hpp rename to visualization/tier4_system_rviz_plugin/src/jsk_overlay_utils.hpp diff --git a/common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp b/visualization/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp similarity index 100% rename from common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp rename to visualization/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.cpp diff --git a/common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.hpp b/visualization/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.hpp similarity index 100% rename from common/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.hpp rename to visualization/tier4_system_rviz_plugin/src/mrm_summary_overlay_display.hpp diff --git a/common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst b/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst diff --git a/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt b/visualization/tier4_traffic_light_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/CMakeLists.txt rename to visualization/tier4_traffic_light_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_traffic_light_rviz_plugin/README.md b/visualization/tier4_traffic_light_rviz_plugin/README.md similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/README.md rename to visualization/tier4_traffic_light_rviz_plugin/README.md diff --git a/common/tier4_traffic_light_rviz_plugin/icons/classes/TrafficLightPublishPanel.png b/visualization/tier4_traffic_light_rviz_plugin/icons/classes/TrafficLightPublishPanel.png similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/icons/classes/TrafficLightPublishPanel.png rename to visualization/tier4_traffic_light_rviz_plugin/icons/classes/TrafficLightPublishPanel.png diff --git a/common/tier4_traffic_light_rviz_plugin/images/select_panels.png b/visualization/tier4_traffic_light_rviz_plugin/images/select_panels.png similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/images/select_panels.png rename to visualization/tier4_traffic_light_rviz_plugin/images/select_panels.png diff --git a/common/tier4_traffic_light_rviz_plugin/images/select_traffic_light_id.png b/visualization/tier4_traffic_light_rviz_plugin/images/select_traffic_light_id.png similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/images/select_traffic_light_id.png rename to visualization/tier4_traffic_light_rviz_plugin/images/select_traffic_light_id.png diff --git a/common/tier4_traffic_light_rviz_plugin/images/select_traffic_light_publish_panel.png b/visualization/tier4_traffic_light_rviz_plugin/images/select_traffic_light_publish_panel.png similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/images/select_traffic_light_publish_panel.png rename to visualization/tier4_traffic_light_rviz_plugin/images/select_traffic_light_publish_panel.png diff --git a/common/tier4_traffic_light_rviz_plugin/images/traffic_light_publish_panel.gif b/visualization/tier4_traffic_light_rviz_plugin/images/traffic_light_publish_panel.gif similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/images/traffic_light_publish_panel.gif rename to visualization/tier4_traffic_light_rviz_plugin/images/traffic_light_publish_panel.gif diff --git a/common/tier4_traffic_light_rviz_plugin/package.xml b/visualization/tier4_traffic_light_rviz_plugin/package.xml similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/package.xml rename to visualization/tier4_traffic_light_rviz_plugin/package.xml diff --git a/common/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/visualization/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp rename to visualization/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp b/visualization/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp similarity index 100% rename from common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp rename to visualization/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp diff --git a/common/tier4_vehicle_rviz_plugin/CHANGELOG.rst b/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst similarity index 100% rename from common/tier4_vehicle_rviz_plugin/CHANGELOG.rst rename to visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst diff --git a/common/tier4_vehicle_rviz_plugin/CMakeLists.txt b/visualization/tier4_vehicle_rviz_plugin/CMakeLists.txt similarity index 100% rename from common/tier4_vehicle_rviz_plugin/CMakeLists.txt rename to visualization/tier4_vehicle_rviz_plugin/CMakeLists.txt diff --git a/common/tier4_vehicle_rviz_plugin/README.md b/visualization/tier4_vehicle_rviz_plugin/README.md similarity index 100% rename from common/tier4_vehicle_rviz_plugin/README.md rename to visualization/tier4_vehicle_rviz_plugin/README.md diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/AccelerationMeter.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/AccelerationMeter.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/icons/classes/AccelerationMeter.png rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/AccelerationMeter.png diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/ConsoleMeter.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/ConsoleMeter.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/icons/classes/ConsoleMeter.png rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/ConsoleMeter.png diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/SteeringAngle.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/SteeringAngle.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/icons/classes/SteeringAngle.png rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/SteeringAngle.png diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/TurnSignal.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/TurnSignal.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/icons/classes/TurnSignal.png rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/TurnSignal.png diff --git a/common/tier4_vehicle_rviz_plugin/icons/classes/VelocityHistory.png b/visualization/tier4_vehicle_rviz_plugin/icons/classes/VelocityHistory.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/icons/classes/VelocityHistory.png rename to visualization/tier4_vehicle_rviz_plugin/icons/classes/VelocityHistory.png diff --git a/common/tier4_vehicle_rviz_plugin/images/handle.png b/visualization/tier4_vehicle_rviz_plugin/images/handle.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/images/handle.png rename to visualization/tier4_vehicle_rviz_plugin/images/handle.png diff --git a/common/tier4_vehicle_rviz_plugin/images/select_add.png b/visualization/tier4_vehicle_rviz_plugin/images/select_add.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/images/select_add.png rename to visualization/tier4_vehicle_rviz_plugin/images/select_add.png diff --git a/common/tier4_vehicle_rviz_plugin/images/select_topic_name.png b/visualization/tier4_vehicle_rviz_plugin/images/select_topic_name.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/images/select_topic_name.png rename to visualization/tier4_vehicle_rviz_plugin/images/select_topic_name.png diff --git a/common/tier4_vehicle_rviz_plugin/images/select_vehicle_plugin.png b/visualization/tier4_vehicle_rviz_plugin/images/select_vehicle_plugin.png similarity index 100% rename from common/tier4_vehicle_rviz_plugin/images/select_vehicle_plugin.png rename to visualization/tier4_vehicle_rviz_plugin/images/select_vehicle_plugin.png diff --git a/common/tier4_vehicle_rviz_plugin/package.xml b/visualization/tier4_vehicle_rviz_plugin/package.xml similarity index 100% rename from common/tier4_vehicle_rviz_plugin/package.xml rename to visualization/tier4_vehicle_rviz_plugin/package.xml diff --git a/common/tier4_vehicle_rviz_plugin/plugins/plugin_description.xml b/visualization/tier4_vehicle_rviz_plugin/plugins/plugin_description.xml similarity index 100% rename from common/tier4_vehicle_rviz_plugin/plugins/plugin_description.xml rename to visualization/tier4_vehicle_rviz_plugin/plugins/plugin_description.xml diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.cpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/jsk_overlay_utils.hpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/steering_angle.hpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/turn_signal.hpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/velocity_history.cpp diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp b/visualization/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp similarity index 100% rename from common/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp rename to visualization/tier4_vehicle_rviz_plugin/src/tools/velocity_history.hpp From 30f0a2ef0ab485536d8331afc2b29e5b7c473d33 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 10 Dec 2024 13:49:36 +0900 Subject: [PATCH 683/701] revert(CODEOWNERS): revert accidental rename (#9605) Signed-off-by: Zulfaqar Azmi --- .github/{_CODEOWNERS => CODEOWNERS} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename .github/{_CODEOWNERS => CODEOWNERS} (100%) diff --git a/.github/_CODEOWNERS b/.github/CODEOWNERS similarity index 100% rename from .github/_CODEOWNERS rename to .github/CODEOWNERS From 1d96a7f10104fc85468a0720a4b918864a14b624 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 10 Dec 2024 17:34:30 +0900 Subject: [PATCH 684/701] feat(diagnostic_graph_utils): publish error graph instead of the terminal log (#9421) * feat(diagnostic_graph_utils): publish error graph instead of the terminal log Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * Update system/diagnostic_graph_utils/src/node/logging.cpp Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * error_graph -> error_graph_text Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --- .../launch/logging.launch.xml | 1 + system/diagnostic_graph_utils/package.xml | 1 + .../src/node/logging.cpp | 25 ++++++++++++++++--- .../src/node/logging.hpp | 4 +++ 4 files changed, 27 insertions(+), 4 deletions(-) diff --git a/system/diagnostic_graph_utils/launch/logging.launch.xml b/system/diagnostic_graph_utils/launch/logging.launch.xml index 12636574eb8be..f14a045919599 100644 --- a/system/diagnostic_graph_utils/launch/logging.launch.xml +++ b/system/diagnostic_graph_utils/launch/logging.launch.xml @@ -6,5 +6,6 @@ + diff --git a/system/diagnostic_graph_utils/package.xml b/system/diagnostic_graph_utils/package.xml index d558ba26b636a..69b8e4083356d 100644 --- a/system/diagnostic_graph_utils/package.xml +++ b/system/diagnostic_graph_utils/package.xml @@ -13,6 +13,7 @@ diagnostic_msgs rclcpp rclcpp_components + tier4_debug_msgs tier4_system_msgs ament_lint_auto diff --git a/system/diagnostic_graph_utils/src/node/logging.cpp b/system/diagnostic_graph_utils/src/node/logging.cpp index b166a087200a0..5d360a00aee82 100644 --- a/system/diagnostic_graph_utils/src/node/logging.cpp +++ b/system/diagnostic_graph_utils/src/node/logging.cpp @@ -34,8 +34,13 @@ LoggingNode::LoggingNode(const rclcpp::NodeOptions & options) : Node("logging", sub_graph_.register_create_callback(std::bind(&LoggingNode::on_create, this, _1)); sub_graph_.subscribe(*this, 1); + pub_error_graph_text_ = create_publisher( + "~/debug/error_graph_text", rclcpp::QoS(1)); + const auto period = rclcpp::Rate(declare_parameter("show_rate")).period(); timer_ = rclcpp::create_timer(this, get_clock(), period, [this]() { on_timer(); }); + + enable_terminal_log_ = declare_parameter("enable_terminal_log"); } void LoggingNode::on_create(DiagGraph::ConstSharedPtr graph) @@ -53,12 +58,24 @@ void LoggingNode::on_create(DiagGraph::ConstSharedPtr graph) void LoggingNode::on_timer() { - static const auto message = "The target mode is not available for the following reasons:"; + static const auto prefix_message = "The target mode is not available for the following reasons:"; if (root_unit_ && root_unit_->level() != DiagUnit::DiagnosticStatus::OK) { dump_text_.str(""); dump_text_.clear(std::stringstream::goodbit); - dump_unit(root_unit_, 0, " "); - RCLCPP_WARN_STREAM(get_logger(), message << std::endl << dump_text_.str()); + dump_unit(root_unit_, 0, ""); + + if (enable_terminal_log_) { + RCLCPP_WARN_STREAM(get_logger(), prefix_message << std::endl << dump_text_.str()); + } + + tier4_debug_msgs::msg::StringStamped message; + message.stamp = now(); + message.data = dump_text_.str(); + pub_error_graph_text_->publish(message); + } else { + tier4_debug_msgs::msg::StringStamped message; + message.stamp = now(); + pub_error_graph_text_->publish(message); } } @@ -86,7 +103,7 @@ void LoggingNode::dump_unit(DiagUnit * unit, int depth, const std::string & inde dump_text_ << indent << "- " + path << " " << text_level(unit->level()) << std::endl; for (const auto & child : unit->children()) { - dump_unit(child.unit, depth + 1, indent + " "); + dump_unit(child.unit, depth + 1, indent + " "); } } diff --git a/system/diagnostic_graph_utils/src/node/logging.hpp b/system/diagnostic_graph_utils/src/node/logging.hpp index b2d305c81ca99..17d33499a1513 100644 --- a/system/diagnostic_graph_utils/src/node/logging.hpp +++ b/system/diagnostic_graph_utils/src/node/logging.hpp @@ -19,6 +19,8 @@ #include +#include "tier4_debug_msgs/msg/string_stamped.hpp" + #include #include @@ -35,12 +37,14 @@ class LoggingNode : public rclcpp::Node void on_timer(); void dump_unit(DiagUnit * unit, int depth, const std::string & indent); DiagGraphSubscription sub_graph_; + rclcpp::Publisher::SharedPtr pub_error_graph_text_; rclcpp::TimerBase::SharedPtr timer_; DiagUnit * root_unit_; int max_depth_; std::string root_path_; std::ostringstream dump_text_; + bool enable_terminal_log_; }; } // namespace diagnostic_graph_utils From c0c70cc5dfcf1d1be935999ffc5b7b092a0973c9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Tue, 10 Dec 2024 15:56:54 +0300 Subject: [PATCH 685/701] ci(pr-agent): reduce the contents:write permission to read for security (#9598) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .github/workflows/pr-agent.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/pr-agent.yaml b/.github/workflows/pr-agent.yaml index 5cd0845b3d9b4..a60e65ccf7b32 100644 --- a/.github/workflows/pr-agent.yaml +++ b/.github/workflows/pr-agent.yaml @@ -17,7 +17,7 @@ jobs: permissions: issues: write pull-requests: write - contents: write + contents: read name: Run pr agent on every pull request, respond to user comments steps: - name: PR Agent action step @@ -35,6 +35,7 @@ jobs: config.model_turbo: gpt-4o config.max_model_tokens: 64000 pr_code_suggestions.max_context_tokens: 12000 + # cSpell:ignore commitable pr_code_suggestions.commitable_code_suggestions: true pr_reviewer.enable_review_labels_effort: false pr_reviewer.enable_review_labels_security: false From 8ba1699b7482d328be25b26ecb697e3d48a698d3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Tue, 10 Dec 2024 16:56:10 +0300 Subject: [PATCH 686/701] ci(build-and-test): use self hosted X64 and add ccache to -daily (#9601) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .github/workflows/build-and-test-daily.yaml | 40 ++++++++++++++++++++- .github/workflows/build-and-test.yaml | 2 +- 2 files changed, 40 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test-daily.yaml b/.github/workflows/build-and-test-daily.yaml index 63822f8b1e093..b2612f2fcd1f0 100644 --- a/.github/workflows/build-and-test-daily.yaml +++ b/.github/workflows/build-and-test-daily.yaml @@ -5,9 +5,13 @@ on: - cron: 0 0 * * * workflow_dispatch: +env: + CC: /usr/lib/ccache/gcc + CXX: /usr/lib/ccache/g++ + jobs: build-and-test-daily: - runs-on: [self-hosted, linux, X64, gpu] + runs-on: [self-hosted, Linux, X64] container: ${{ matrix.container }}${{ matrix.container-suffix }} strategy: fail-fast: false @@ -30,6 +34,9 @@ jobs: - name: Show disk space before the tasks run: df -h + - name: Show machine specs + run: lscpu && free -h + - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 @@ -37,6 +44,33 @@ jobs: id: get-self-packages uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 + - name: Create ccache directory + run: | + mkdir -p ${CCACHE_DIR} + du -sh ${CCACHE_DIR} && ccache -s + shell: bash + + - name: Attempt to restore ccache + uses: actions/cache/restore@v4 + with: + path: | + /root/.ccache + key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }} + restore-keys: | + ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}- + + - name: Limit ccache size + run: | + rm -f "${CCACHE_DIR}/ccache.conf" + echo -e "# Set maximum cache size\nmax_size = 600MB" >> "${CCACHE_DIR}/ccache.conf" + shell: bash + + - name: Show ccache stats before build and reset stats + run: | + du -sh ${CCACHE_DIR} && ccache -s + ccache --zero-stats + shell: bash + - name: Export CUDA state as a variable for adding to cache key run: | build_type_cuda_state=nocuda @@ -56,6 +90,10 @@ jobs: build-depends-repos: ${{ matrix.build-depends-repos }} cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} + - name: Show ccache stats after build + run: du -sh ${CCACHE_DIR} && ccache -s + shell: bash + - name: Test if: ${{ steps.get-self-packages.outputs.self-packages != '' }} id: test diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 3ffa5ebdbd29d..6b3886f124a44 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -16,7 +16,7 @@ env: jobs: build-and-test: - runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large + runs-on: [self-hosted, Linux, X64] container: ${{ matrix.container }}${{ matrix.container-suffix }} strategy: fail-fast: false From 9707caf3bff95964d17cadd69575286c1bb7ed98 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Tue, 10 Dec 2024 14:43:01 +0000 Subject: [PATCH 687/701] chore: update CODEOWNERS (#9577) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/CODEOWNERS | 35 +++++++++++++++++------------------ 1 file changed, 17 insertions(+), 18 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 3c1defb31a741..7403da173eb13 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -5,7 +5,6 @@ common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.sait common/autoware_component_interface_tools/** isamu.takagi@tier4.jp common/autoware_component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/autoware_fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -common/autoware_geography_utils/** anh.nguyen.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp common/autoware_global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/autoware_glog_component/** takamasa.horibe@tier4.jp common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp @@ -15,12 +14,10 @@ common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yu common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp common/autoware_object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp common/autoware_osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp -common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai -common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp -common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp common/autoware_polar_grid/** yukihiro.saito@tier4.jp +common/autoware_pyplot/** mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp common/autoware_qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp @@ -31,18 +28,8 @@ common/autoware_traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4. common/autoware_trajectory/** mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp yukinari.hisaki.2@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp -common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp -common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp common/tier4_api_utils/** isamu.takagi@tier4.jp -common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp -common/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp -common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@tier4.jp yamato.ando@tier4.jp -common/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp -common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khalil@leodrive.ai -common/tier4_system_rviz_plugin/** koji.minoda@tier4.jp -common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp -common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp -control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +control/autoware_autonomous_emergency_braking/** alqudah.mohammad@tier4.jp daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp tomohito.ando@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @@ -173,7 +160,7 @@ planning/behavior_path_planner/autoware_behavior_path_planner_common/** alqudah. planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp planning/behavior_path_planner/autoware_behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_path_planner/autoware_behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp +planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yuki.takagi@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @@ -210,8 +197,8 @@ sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.m sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp -sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp sensing/autoware_vehicle_velocity_converter/** ryu.yamamoto@tier4.jp +sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.com simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp simulator/fault_injection/** keisuke.shima@tier4.jp @@ -245,6 +232,18 @@ vehicle/autoware_accel_brake_map_calibrator/** eiki.nagata.2@tier4.jp taiki.tana vehicle/autoware_external_cmd_converter/** eiki.nagata.2@tier4.jp takamasa.horibe@tier4.jp vehicle/autoware_raw_vehicle_cmd_converter/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp sho.iwasawa.2@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp -visualization/autoware_pyplot/** mamoru.sobue@tier4.jp yukinari.hisaki.2@tier4.jp +visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai +visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai +visualization/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp +visualization/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp +visualization/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp +visualization/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp +visualization/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp +visualization/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@tier4.jp yamato.ando@tier4.jp +visualization/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp +visualization/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khalil@leodrive.ai +visualization/tier4_system_rviz_plugin/** koji.minoda@tier4.jp +visualization/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp +visualization/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp ### Copied from .github/CODEOWNERS-manual ### From 34f7c9b92cb6edd89310aced8c9b499412915935 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 11 Dec 2024 01:02:39 +0900 Subject: [PATCH 688/701] feat(behavior_path_planner): add detail text to virutal wall (#9600) * feat(behavior_path_planner): add detail text to virutal wall Signed-off-by: kosuke55 * goal is far Signed-off-by: kosuke55 * pull over start pose is far Signed-off-by: kosuke55 * fix lc build Signed-off-by: kosuke55 * fix build Signed-off-by: kosuke55 * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner_module.hpp | 33 ++----- .../src/goal_planner_module.cpp | 93 ++++++++----------- .../src/interface.cpp | 8 +- .../data_manager.hpp | 11 +++ .../interface/scene_module_interface.hpp | 28 +++--- .../scene_module_manager_interface.hpp | 38 ++++---- .../utils/parking_departure/utils.hpp | 3 +- .../src/utils/parking_departure/utils.cpp | 5 +- .../test/test_parking_departure_utils.cpp | 3 +- .../start_planner_module.hpp | 2 +- .../src/start_planner_module.cpp | 2 +- .../utils.hpp | 2 +- .../src/scene.cpp | 17 ++-- .../src/utils.cpp | 4 +- .../test/test_utils.cpp | 10 +- 15 files changed, 123 insertions(+), 136 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 09acced162abd..5e6afa16d1f9f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -84,29 +84,6 @@ struct LastApprovalData Pose pose{}; }; -// store stop_pose_ pointer with reason string -struct PoseWithString -{ - std::optional * pose; - std::string string; - - explicit PoseWithString(std::optional * shared_pose) : pose(shared_pose), string("") {} - - void set(const Pose & new_pose, const std::string & new_string) - { - *pose = new_pose; - string = new_string; - } - - void set(const std::string & new_string) { string = new_string; } - - void clear() - { - pose->reset(); - string = ""; - } -}; - struct PullOverContextData { PullOverContextData() = delete; @@ -371,7 +348,6 @@ class GoalPlannerModule : public SceneModuleInterface // debug mutable GoalPlannerDebugData debug_data_; - mutable PoseWithString debug_stop_pose_with_info_; // goal seach GoalCandidates generateGoalCandidates() const; @@ -381,8 +357,10 @@ class GoalPlannerModule : public SceneModuleInterface void decelerateForTurnSignal(const Pose & stop_pose, PathWithLaneId & path) const; void decelerateBeforeSearchStart( const Pose & search_start_offset_pose, PathWithLaneId & path) const; - PathWithLaneId generateStopPath(const PullOverContextData & context_data) const; - PathWithLaneId generateFeasibleStopPath(const PathWithLaneId & path) const; + PathWithLaneId generateStopPath( + const PullOverContextData & context_data, const std::string & detail) const; + PathWithLaneId generateFeasibleStopPath( + const PathWithLaneId & path, const std::string & detail) const; void keepStoppedWithCurrentPath( const PullOverContextData & ctx_data, PathWithLaneId & path) const; @@ -420,7 +398,8 @@ class GoalPlannerModule : public SceneModuleInterface // plan pull over path BehaviorModuleOutput planPullOver(const PullOverContextData & context_data); BehaviorModuleOutput planPullOverAsOutput(const PullOverContextData & context_data); - BehaviorModuleOutput planPullOverAsCandidate(const PullOverContextData & context_data); + BehaviorModuleOutput planPullOverAsCandidate( + const PullOverContextData & context_data, const std::string & detail); std::optional selectPullOverPath( const PullOverContextData & context_data, const std::vector & pull_over_path_candidates, diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 716047c7ad1f1..e1f667d91b692 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -72,8 +72,7 @@ GoalPlannerModule::GoalPlannerModule( vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}, thread_safe_data_{mutex_, clock_}, is_lane_parking_cb_running_{false}, - is_freespace_parking_cb_running_{false}, - debug_stop_pose_with_info_{&stop_pose_} + is_freespace_parking_cb_running_{false} { LaneDepartureChecker lane_departure_checker{}; lane_departure_checker.setVehicleInfo(vehicle_info_); @@ -1237,7 +1236,8 @@ void GoalPlannerModule::setOutput( if (!context_data.pull_over_path_opt) { // situation : not safe against static objects use stop_path - output.path = generateStopPath(context_data); + output.path = generateStopPath( + context_data, (goal_candidates_.empty() ? "no goal candidate" : "no static safe path")); RCLCPP_INFO_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, generate stop path"); setDrivableAreaInfo(context_data, output); @@ -1251,10 +1251,10 @@ void GoalPlannerModule::setOutput( // situation : not safe against dynamic objects after approval // insert stop point in current path if ego is able to stop with acceleration and jerk // constraints - output.path = generateFeasibleStopPath(pull_over_path.getCurrentPath()); + output.path = + generateFeasibleStopPath(pull_over_path.getCurrentPath(), "unsafe against dynamic objects"); RCLCPP_INFO_THROTTLE( getLogger(), *clock_, 5000, "Not safe against dynamic objects, generate stop path"); - debug_stop_pose_with_info_.set(std::string("feasible stop after approval")); } else { // situation : (safe against static and dynamic objects) or (safe against static objects and // before approval) don't stop @@ -1363,17 +1363,25 @@ BehaviorModuleOutput GoalPlannerModule::planPullOver(const PullOverContextData & { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - if ( - path_decision_controller_.get_current_state().state != - PathDecisionState::DecisionKind::DECIDED) { - return planPullOverAsCandidate(context_data); + const auto current_state = path_decision_controller_.get_current_state(); + if (current_state.state != PathDecisionState::DecisionKind::DECIDED) { + const bool is_stable_safe = current_state.is_stable_safe; + // clang-format off + const std::string detail = + goal_candidates_.empty() ? "no goal candidate" : + context_data.pull_over_path_candidates.empty() ? "no path candidate" : + !thread_safe_data_.foundPullOverPath() ? "no static safe path" : + !is_stable_safe ? "unsafe against dynamic objects" : + "too far goal"; + // clang-format on + return planPullOverAsCandidate(context_data, detail); } return planPullOverAsOutput(context_data); } BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate( - const PullOverContextData & context_data) + const PullOverContextData & context_data, const std::string & detail) { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -1385,7 +1393,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate( BehaviorModuleOutput output{}; const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(context_data); output.modified_goal = pull_over_output.modified_goal; - output.path = generateStopPath(context_data); + output.path = generateStopPath(context_data, detail); output.reference_path = getPreviousModuleOutput().reference_path; const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( @@ -1560,7 +1568,7 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApproval() "planner"); } else { const auto & context_data = context_data_.value(); - return planPullOverAsCandidate(context_data); + return planPullOverAsCandidate(context_data, "waiting approval"); } } @@ -1606,7 +1614,8 @@ void GoalPlannerModule::setParameters(const std::shared_ptr std::optional> { - if (context_data.pull_over_path_opt) { - return std::make_pair( - context_data.pull_over_path_opt.value().start_pose(), "stop at selected start pose"); - } - if (thread_safe_data_.get_closest_start_pose()) { - return std::make_pair( - thread_safe_data_.get_closest_start_pose().value(), "stop at closest start pose"); - } - if (!decel_pose) { - return std::nullopt; - } - return std::make_pair(decel_pose.value(), "stop at search start pose"); - }); - if (!stop_pose_with_info) { - const auto feasible_stop_path = generateFeasibleStopPath(getPreviousModuleOutput().path); - // override stop pose info debug string - debug_stop_pose_with_info_.set(std::string("feasible stop: not calculate stop pose")); + const auto stop_pose_opt = std::invoke([&]() -> std::optional { + if (context_data.pull_over_path_opt) + return context_data.pull_over_path_opt.value().start_pose(); + if (thread_safe_data_.get_closest_start_pose()) + return thread_safe_data_.get_closest_start_pose().value(); + if (!decel_pose) return std::nullopt; + return decel_pose.value(); + }); + if (!stop_pose_opt.has_value()) { + const auto feasible_stop_path = + generateFeasibleStopPath(getPreviousModuleOutput().path, detail); return feasible_stop_path; } - const Pose stop_pose = stop_pose_with_info->first; + const Pose stop_pose = stop_pose_opt.value(); // if stop pose is closer than min_stop_distance, stop as soon as possible const double ego_to_stop_distance = calcSignedArcLengthFromEgo(extended_prev_path, stop_pose); @@ -1687,16 +1688,15 @@ PathWithLaneId GoalPlannerModule::generateStopPath(const PullOverContextData & c const bool is_stopped = std::abs(current_vel) < eps_vel; const double buffer = is_stopped ? stop_distance_buffer_ : 0.0; if (min_stop_distance && ego_to_stop_distance + buffer < *min_stop_distance) { - const auto feasible_stop_path = generateFeasibleStopPath(getPreviousModuleOutput().path); - debug_stop_pose_with_info_.set( - std::string("feasible stop: stop pose is closer than min_stop_distance")); + const auto feasible_stop_path = + generateFeasibleStopPath(getPreviousModuleOutput().path, detail); return feasible_stop_path; } // slow down for turn signal, insert stop point to stop_pose auto stop_path = extended_prev_path; decelerateForTurnSignal(stop_pose, stop_path); - debug_stop_pose_with_info_.set(stop_pose, stop_pose_with_info->second); + stop_pose_ = PoseWithDetail(stop_pose, detail); // slow down before the search area. if (decel_pose) { @@ -1719,7 +1719,8 @@ PathWithLaneId GoalPlannerModule::generateStopPath(const PullOverContextData & c return stop_path; } -PathWithLaneId GoalPlannerModule::generateFeasibleStopPath(const PathWithLaneId & path) const +PathWithLaneId GoalPlannerModule::generateFeasibleStopPath( + const PathWithLaneId & path, const std::string & detail) const { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -1736,7 +1737,7 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath(const PathWithLaneId const auto stop_idx = autoware::motion_utils::insertStopPoint(current_pose, *min_stop_distance, stop_path.points); if (stop_idx) { - debug_stop_pose_with_info_.set(stop_path.points.at(*stop_idx).point.pose, "feasible stop"); + stop_pose_ = PoseWithDetail(stop_path.points.at(*stop_idx).point.pose, detail); } return stop_path; @@ -2564,20 +2565,6 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data) planner_type_marker_array.markers.push_back(marker); add(planner_type_marker_array); } - - // Visualize stop pose info - if (debug_stop_pose_with_info_.pose->has_value()) { - visualization_msgs::msg::MarkerArray stop_pose_marker_array{}; - const auto color = createMarkerColor(1.0, 1.0, 1.0, 0.99); - auto marker = createDefaultMarker( - header.frame_id, header.stamp, "stop_pose_info", 0, - visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.0, 0.0, 0.5), color); - marker.pose = debug_stop_pose_with_info_.pose->value(); - marker.text = debug_stop_pose_with_info_.string; - stop_pose_marker_array.markers.push_back(marker); - add(stop_pose_marker_array); - add(createPoseMarkerArray(marker.pose, "stop_pose", 1.0, 1.0, 1.0, 0.9)); - } } void GoalPlannerModule::GoalPlannerData::initializeOccupancyGridMap( diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index f80aad721a07c..d65e51997eb32 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -111,7 +111,9 @@ BehaviorModuleOutput LaneChangeInterface::plan() path_reference_ = std::make_shared(output.reference_path); *prev_approved_path_ = getPreviousModuleOutput().path; - stop_pose_ = module_type_->getStopPose(); + const auto stop_pose_opt = module_type_->getStopPose(); + stop_pose_ = stop_pose_opt.has_value() ? PoseWithDetailOpt(PoseWithDetail(stop_pose_opt.value())) + : PoseWithDetailOpt(); const auto & lane_change_debug = module_type_->getDebugData(); for (const auto & [uuid, data] : lane_change_debug.collision_check_objects_after_approval) { @@ -169,7 +171,9 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() } path_reference_ = std::make_shared(out.reference_path); - stop_pose_ = module_type_->getStopPose(); + const auto stop_pose_opt = module_type_->getStopPose(); + stop_pose_ = stop_pose_opt.has_value() ? PoseWithDetailOpt(PoseWithDetail(stop_pose_opt.value())) + : PoseWithDetailOpt(); if (!module_type_->isValidPath()) { path_candidate_ = std::make_shared(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp index 27f0dc4e58178..31d1f0072fe5c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp @@ -147,6 +147,17 @@ struct CandidateOutput double finish_distance_to_path_change{std::numeric_limits::lowest()}; }; +/** + * @brief Adds detail text to stop/slow/dead_pose virtual walls. + */ +struct PoseWithDetail +{ + Pose pose; + std::string detail; + explicit PoseWithDetail(const Pose & p, const std::string & d = "") : pose(p), detail(d) {} +}; +using PoseWithDetailOpt = std::optional; + struct PlannerData { Odometry::ConstSharedPtr self_odometry{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index 9fc4113e87d9e..391ac92411220 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -270,34 +270,40 @@ class SceneModuleInterface std::string name() const { return name_; } - std::optional getStopPose() const + PoseWithDetailOpt getStopPose() const { if (!stop_pose_) { return {}; } const auto & base_link2front = planner_data_->parameters.base_link2front; - return calcOffsetPose(stop_pose_.value(), base_link2front, 0.0, 0.0); + return PoseWithDetail( + calcOffsetPose(stop_pose_.value().pose, base_link2front, 0.0, 0.0), + stop_pose_.value().detail); } - std::optional getSlowPose() const + PoseWithDetailOpt getSlowPose() const { if (!slow_pose_) { return {}; } const auto & base_link2front = planner_data_->parameters.base_link2front; - return calcOffsetPose(slow_pose_.value(), base_link2front, 0.0, 0.0); + return PoseWithDetail( + calcOffsetPose(slow_pose_.value().pose, base_link2front, 0.0, 0.0), + slow_pose_.value().detail); } - std::optional getDeadPose() const + PoseWithDetailOpt getDeadPose() const { if (!dead_pose_) { return {}; } const auto & base_link2front = planner_data_->parameters.base_link2front; - return calcOffsetPose(dead_pose_.value(), base_link2front, 0.0, 0.0); + return PoseWithDetail( + calcOffsetPose(dead_pose_.value().pose, base_link2front, 0.0, 0.0), + dead_pose_.value().detail); } void resetWallPoses() const @@ -556,7 +562,7 @@ class SceneModuleInterface { if (stop_pose_.has_value()) { velocity_factor_interface_.set( - path.points, getEgoPose(), stop_pose_.value(), VelocityFactor::APPROACHING, "stop"); + path.points, getEgoPose(), stop_pose_.value().pose, VelocityFactor::APPROACHING, "stop"); return; } @@ -565,7 +571,7 @@ class SceneModuleInterface } velocity_factor_interface_.set( - path.points, getEgoPose(), slow_pose_.value(), VelocityFactor::APPROACHING, "slow down"); + path.points, getEgoPose(), slow_pose_.value().pose, VelocityFactor::APPROACHING, "slow down"); } void setDrivableLanes(const std::vector & drivable_lanes); @@ -625,11 +631,11 @@ class SceneModuleInterface mutable VelocityFactorInterface velocity_factor_interface_; - mutable std::optional stop_pose_{std::nullopt}; + mutable PoseWithDetailOpt stop_pose_{std::nullopt}; - mutable std::optional slow_pose_{std::nullopt}; + mutable PoseWithDetailOpt slow_pose_{std::nullopt}; - mutable std::optional dead_pose_{std::nullopt}; + mutable PoseWithDetailOpt dead_pose_{std::nullopt}; mutable MarkerArray info_marker_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index e199309dea8bb..73b133952935b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -16,6 +16,7 @@ #ifndef AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__SCENE_MODULE_MANAGER_INTERFACE_HPP_ #define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__SCENE_MODULE_MANAGER_INTERFACE_HPP_ +#include "autoware/behavior_path_planner_common/data_manager.hpp" #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp" #include "autoware/universe_utils/ros/parameter.hpp" @@ -34,7 +35,6 @@ #include #include #include - namespace autoware::behavior_path_planner { @@ -160,25 +160,23 @@ class SceneModuleManagerInterface continue; } - const auto opt_stop_pose = m.lock()->getStopPose(); - if (!!opt_stop_pose) { - const auto virtual_wall = createStopVirtualWallMarker( - opt_stop_pose.value(), m.lock()->name(), rclcpp::Clock().now(), marker_id); - appendMarkerArray(virtual_wall, &markers); - } - - const auto opt_slow_pose = m.lock()->getSlowPose(); - if (!!opt_slow_pose) { - const auto virtual_wall = createSlowDownVirtualWallMarker( - opt_slow_pose.value(), m.lock()->name(), rclcpp::Clock().now(), marker_id); - appendMarkerArray(virtual_wall, &markers); - } - - const auto opt_dead_pose = m.lock()->getDeadPose(); - if (!!opt_dead_pose) { - const auto virtual_wall = createDeadLineVirtualWallMarker( - opt_dead_pose.value(), m.lock()->name(), rclcpp::Clock().now(), marker_id); - appendMarkerArray(virtual_wall, &markers); + const std::vector>> + pose_and_func_vec = { + {m.lock()->getStopPose(), createStopVirtualWallMarker}, + {m.lock()->getSlowPose(), createSlowDownVirtualWallMarker}, + {m.lock()->getDeadPose(), createDeadLineVirtualWallMarker}}; + + for (const auto & [opt_pose, create_virtual_wall] : pose_and_func_vec) { + if (!!opt_pose) { + const auto detail = opt_pose.value().detail; + const auto text = m.lock()->name() + (detail.empty() ? "" : " (" + detail + ")"); + const auto virtual_wall = create_virtual_wall( + opt_pose.value().pose, text, rclcpp::Clock().now(), marker_id, 0.0, "", true); + appendMarkerArray(virtual_wall, &markers); + } } const auto module_specific_wall = m.lock()->getModuleVirtualWall(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp index d34bfeb535f19..42329883de692 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp @@ -70,8 +70,7 @@ std::pair getPairsTerminalVelocityAndAccel( std::optional generateFeasibleStopPath( PathWithLaneId & current_path, std::shared_ptr planner_data, - std::optional & stop_pose, const double maximum_deceleration, - const double maximum_jerk); + PoseWithDetailOpt & stop_pose, const double maximum_deceleration, const double maximum_jerk); /** * @brief calculate end arc length to generate reference path considering the goal position diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp index 18dee25919f98..5802f111848b4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp @@ -121,8 +121,7 @@ std::pair getPairsTerminalVelocityAndAccel( std::optional generateFeasibleStopPath( PathWithLaneId & current_path, std::shared_ptr planner_data, - std::optional & stop_pose, const double maximum_deceleration, - const double maximum_jerk) + PoseWithDetailOpt & stop_pose, const double maximum_deceleration, const double maximum_jerk) { if (current_path.points.empty()) { return {}; @@ -146,7 +145,7 @@ std::optional generateFeasibleStopPath( return {}; } - stop_pose = current_path.points.at(*stop_idx).point.pose; + stop_pose = PoseWithDetail(current_path.points.at(*stop_idx).point.pose); return current_path; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp index 2b43cdaebd14d..cefa9151dd604 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_parking_departure_utils.cpp @@ -12,6 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/behavior_path_planner_common/data_manager.hpp" #include "autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp" #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" @@ -222,7 +223,7 @@ TEST(BehaviorPathPlanningParkingDepartureUtil, generateFeasibleStopPath) data->self_acceleration = accel_with_covariance; auto planner_data = std::static_pointer_cast(data); - std::optional stop_pose; + autoware::behavior_path_planner::PoseWithDetailOpt stop_pose{std::nullopt}; // condition: empty path PathWithLaneId path; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp index bb70ae2638056..47eecb54e2b2a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp @@ -70,7 +70,7 @@ struct PullOutStatus Pose pull_out_start_pose{}; bool prev_is_safe_dynamic_objects{false}; std::shared_ptr prev_stop_path_after_approval{nullptr}; - std::optional stop_pose{std::nullopt}; + PoseWithDetailOpt stop_pose{std::nullopt}; //! record the first time when ego started forward-driving (maybe after backward driving //! completion) in AUTONOMOUS operation mode std::optional first_engaged_and_driving_forward_time{std::nullopt}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp index 20cac638cebbd..c223390e454d1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp @@ -634,7 +634,7 @@ bool StartPlannerModule::isExecutionReady() const }(); if (!is_safe) { - stop_pose_ = planner_data_->self_odometry->pose.pose; + stop_pose_ = PoseWithDetail(planner_data_->self_odometry->pose.pose); } return is_safe; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp index 9509b9954304d..fe4a6d557da01 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp @@ -168,7 +168,7 @@ lanelet::ConstLanelets getExtendLanes( */ void insertDecelPoint( const Point & p_src, const double offset, const double velocity, PathWithLaneId & path, - std::optional & p_out); + PoseWithDetailOpt & p_out); /** * @brief update envelope polygon based on object position reliability. diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 76bfa621ac0e4..be4ce4a125c68 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -736,12 +736,11 @@ void StaticObstacleAvoidanceModule::fillDebugData( const auto prepare_distance = helper_->getNominalPrepareDistance(); const auto total_avoid_distance = prepare_distance + avoidance_distance + constant_distance; - dead_pose_ = autoware::motion_utils::calcLongitudinalOffsetPose( + const auto dead_pose_opt = autoware::motion_utils::calcLongitudinalOffsetPose( data.reference_path.points, getEgoPosition(), o_front.longitudinal - total_avoid_distance); - - if (!dead_pose_) { - dead_pose_ = getPose(data.reference_path.points.front()); - } + dead_pose_ = dead_pose_opt.has_value() + ? PoseWithDetail(dead_pose_opt.value()) + : PoseWithDetail(getPose(data.reference_path.points.front())); } void StaticObstacleAvoidanceModule::updateEgoBehavior( @@ -1949,8 +1948,10 @@ void StaticObstacleAvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_ shifted_path.path.points.at(i).point.longitudinal_velocity_mps = std::min(v_original, v_insert); } - slow_pose_ = autoware::motion_utils::calcLongitudinalOffsetPose( + const auto slow_pose_opt = autoware::motion_utils::calcLongitudinalOffsetPose( shifted_path.path.points, start_idx, distance_to_object); + slow_pose_ = slow_pose_opt.has_value() ? PoseWithDetailOpt(PoseWithDetail(slow_pose_opt.value())) + : std::nullopt; } void StaticObstacleAvoidanceModule::insertAvoidanceVelocity(ShiftedPath & shifted_path) const @@ -1997,8 +1998,10 @@ void StaticObstacleAvoidanceModule::insertAvoidanceVelocity(ShiftedPath & shifte shifted_path.path.points.at(i).point.longitudinal_velocity_mps = std::min(v_original, v_target); } - slow_pose_ = autoware::motion_utils::calcLongitudinalOffsetPose( + const auto slow_pose_opt = autoware::motion_utils::calcLongitudinalOffsetPose( shifted_path.path.points, start_idx, distance_to_accel_end_point); + slow_pose_ = slow_pose_opt.has_value() ? PoseWithDetailOpt(PoseWithDetail(slow_pose_opt.value())) + : std::nullopt; } std::shared_ptr StaticObstacleAvoidanceModule::get_debug_msg_array() const diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index c3d494c8ffe5d..8c09cd2e011f9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -1512,7 +1512,7 @@ lanelet::ConstLanelets getExtendLanes( void insertDecelPoint( const Point & p_src, const double offset, const double velocity, PathWithLaneId & path, - std::optional & p_out) + PoseWithDetailOpt & p_out) { const auto decel_point = autoware::motion_utils::calcLongitudinalOffsetPoint(path.points, p_src, offset); @@ -1541,7 +1541,7 @@ void insertDecelPoint( insertVelocity(path, velocity); - p_out = getPose(path.points.at(insert_idx.value())); + p_out = PoseWithDetail(getPose(path.points.at(insert_idx.value()))); } void fillObjectEnvelopePolygon( diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp index 6911be800bdc2..ffccd2d64c189 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp @@ -823,7 +823,7 @@ TEST(TestUtils, insertDecelPoint) constexpr double offset = 100.0; constexpr double velocity = 1.0; - std::optional p_out{std::nullopt}; + PoseWithDetailOpt p_out{std::nullopt}; insertDecelPoint(ego_position, offset, velocity, path, p_out); EXPECT_FALSE(p_out.has_value()); @@ -841,13 +841,13 @@ TEST(TestUtils, insertDecelPoint) constexpr double offset = 3.0; constexpr double velocity = 1.0; - std::optional p_out{std::nullopt}; + PoseWithDetailOpt p_out{std::nullopt}; insertDecelPoint(ego_position, offset, velocity, path, p_out); ASSERT_TRUE(p_out.has_value()); - EXPECT_DOUBLE_EQ(p_out.value().position.x, 6.5); - EXPECT_DOUBLE_EQ(p_out.value().position.y, 0.0); - EXPECT_DOUBLE_EQ(p_out.value().position.z, 0.0); + EXPECT_DOUBLE_EQ(p_out.value().pose.position.x, 6.5); + EXPECT_DOUBLE_EQ(p_out.value().pose.position.y, 0.0); + EXPECT_DOUBLE_EQ(p_out.value().pose.position.z, 0.0); for (size_t i = 7; i < path.points.size(); i++) { EXPECT_DOUBLE_EQ(path.points.at(i).point.longitudinal_velocity_mps, 1.0); } From 6fa1a723af4307f70964f79bc0a8705ebd9c7ccf Mon Sep 17 00:00:00 2001 From: Felix F Xu <84662027+felixf4xu@users.noreply.github.com> Date: Wed, 11 Dec 2024 00:55:31 +0800 Subject: [PATCH 689/701] build(behavior_path_planner_common): fix #include (#6297) Signed-off-by: Felix Xavier --- .../autoware/behavior_path_planner_common/data_manager.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp index 31d1f0072fe5c..749d732aecd00 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp @@ -23,8 +23,8 @@ #include #include #include -#include -#include +#include +#include #include #include From 386d2af4ac25e41ff76e757746dc45ad4bf40f8e Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Wed, 11 Dec 2024 09:59:18 +0900 Subject: [PATCH 690/701] feat: remove max rois limit in the image projection based fusion (#9596) feat: remove max rois limit Signed-off-by: yoshiri --- .../src/fusion_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp index 60406652310dd..6c575752b52e5 100644 --- a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp @@ -57,8 +57,8 @@ FusionNode::FusionNode( } if (rois_number_ > 8) { RCLCPP_WARN( - this->get_logger(), "maximum rois_number is 8. current rois_number is %zu", rois_number_); - rois_number_ = 8; + this->get_logger(), + "Current rois_number is %zu. Large rois number may cause performance issue.", rois_number_); } // Set parameters From 01944efd391fa85f16022571e40a63a96efae2f3 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 11 Dec 2024 10:05:23 +0900 Subject: [PATCH 691/701] fix(lidar_centerpoint): non-maximum suppression target decision logic (#9595) * refactor(lidar_centerpoint): optimize non-maximum suppression search distance calculation Signed-off-by: Taekjin LEE * feat(lidar_centerpoint): do not suppress if one side of the object is pedestrian Signed-off-by: Taekjin LEE * style(pre-commit): autofix * refactor(lidar_centerpoint): remove unused variables Signed-off-by: Taekjin LEE * refactor: remove unused variables Signed-off-by: Taekjin LEE fix: implement non-maximum suppression logic to the transfusion Signed-off-by: Taekjin LEE refactor: remove unused parameter iou_nms_target_class_names Signed-off-by: Taekjin LEE Revert "fix: implement non-maximum suppression logic to the transfusion" This reverts commit b8017fc366ec7d67234445ef5869f8beca9b6f45. fix: revert transfusion modification --------- Signed-off-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../config/pointpainting.param.yaml | 1 - .../docs/pointpainting-fusion.md | 1 - .../schema/pointpainting.schema.json | 6 --- .../src/pointpainting_fusion/node.cpp | 3 -- .../autoware_lidar_centerpoint/README.md | 2 - .../config/centerpoint.param.yaml | 1 - .../config/centerpoint_sigma.param.yaml | 1 - .../config/centerpoint_tiny.param.yaml | 1 - .../postprocess/non_maximum_suppression.hpp | 29 +------------- .../postprocess/non_maximum_suppression.cpp | 40 +++++++------------ .../schema/centerpoint.schemal.json | 6 --- .../autoware_lidar_centerpoint/src/node.cpp | 3 -- .../test/test_nms.cpp | 2 - 13 files changed, 17 insertions(+), 79 deletions(-) diff --git a/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml b/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml index 9227e4fa9319a..5448dd48dc456 100644 --- a/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml +++ b/perception/autoware_image_projection_based_fusion/config/pointpainting.param.yaml @@ -9,7 +9,6 @@ post_process_params: # post-process params circle_nms_dist_threshold: 0.3 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 score_threshold: 0.35 diff --git a/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md b/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md index e04b0f48398cb..92f62443918c0 100644 --- a/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md +++ b/perception/autoware_image_projection_based_fusion/docs/pointpainting-fusion.md @@ -43,7 +43,6 @@ The lidar points are projected onto the output of an image-only 2d object detect | `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` | | `post_process_params.score_threshold` | double | `0.4` | detected objects with score less than threshold are ignored | | `post_process_params.yaw_norm_thresholds` | list[double] | [0.3, 0.3, 0.3, 0.3, 0.0] | An array of distance threshold values of norm of yaw [rad]. | -| `post_process_params.iou_nms_target_class_names` | list[string] | ["CAR"] | An array of class names to be target in NMS. | | `post_process_params.iou_nms_search_distance_2d` | double | 10.0 | A maximum distance value to search the nearest objects. | | `post_process_params.iou_nms_threshold` | double | 0.1 | A threshold value of NMS using IoU score. | | `post_process_params.has_twist` | boolean | false | Indicates whether the model outputs twist value. | diff --git a/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json b/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json index 57d8bc500f3c6..ab52ac0fcdf2c 100644 --- a/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json +++ b/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json @@ -46,12 +46,6 @@ "minimum": 0.0, "maximum": 1.0 }, - "iou_nms_target_class_names": { - "type": "array", - "description": "An array of class names to be target in NMS.", - "default": ["CAR"], - "uniqueItems": true - }, "iou_nms_search_distance_2d": { "type": "number", "description": "A maximum distance value to search the nearest objects.", diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp index 4e0f88e2134ac..d4601e26dda46 100644 --- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -171,9 +171,6 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt { autoware::lidar_centerpoint::NMSParams p; - p.nms_type_ = autoware::lidar_centerpoint::NMS_TYPE::IoU_BEV; - p.target_class_names_ = this->declare_parameter>( - "post_process_params.iou_nms_target_class_names"); p.search_distance_2d_ = this->declare_parameter("post_process_params.iou_nms_search_distance_2d"); p.iou_threshold_ = this->declare_parameter("post_process_params.iou_nms_threshold"); diff --git a/perception/autoware_lidar_centerpoint/README.md b/perception/autoware_lidar_centerpoint/README.md index 471712a637dec..06ded16d5fd40 100644 --- a/perception/autoware_lidar_centerpoint/README.md +++ b/perception/autoware_lidar_centerpoint/README.md @@ -56,7 +56,6 @@ Note that these parameters are associated with ONNX file, predefined during the | `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` | | `post_process_params.score_threshold` | double | `0.4` | detected objects with score less than threshold are ignored | | `post_process_params.yaw_norm_thresholds` | list[double] | [0.3, 0.3, 0.3, 0.3, 0.0] | An array of distance threshold values of norm of yaw [rad]. | -| `post_process_params.iou_nms_target_class_names` | list[string] | - | target classes for IoU-based Non Maximum Suppression | | `post_process_params.iou_nms_search_distance_2d` | double | - | If two objects are farther than the value, NMS isn't applied. | | `post_process_params.iou_nms_threshold` | double | - | IoU threshold for the IoU-based Non Maximum Suppression | | `post_process_params.has_twist` | boolean | false | Indicates whether the model outputs twist value. | @@ -267,7 +266,6 @@ point_cloud_range, point_feature_size, voxel_size, etc. according to the trainin encoder_in_feature_size: 9 # post-process params circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml index 53d77e8d1c42c..d2f6d3bb3ab6c 100644 --- a/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml +++ b/perception/autoware_lidar_centerpoint/config/centerpoint.param.yaml @@ -10,7 +10,6 @@ post_process_params: # post-process params circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 score_threshold: 0.35 diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml index bd5fc5f3567a5..f4a5d59c3c06f 100644 --- a/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml +++ b/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml @@ -11,7 +11,6 @@ post_process_params: # post-process params circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml index 53d77e8d1c42c..d2f6d3bb3ab6c 100644 --- a/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml +++ b/perception/autoware_lidar_centerpoint/config/centerpoint_tiny.param.yaml @@ -10,7 +10,6 @@ post_process_params: # post-process params circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 score_threshold: 0.35 diff --git a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp index 57abd053af718..74bc5c2f57deb 100644 --- a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/postprocess/non_maximum_suppression.hpp @@ -28,36 +28,12 @@ namespace autoware::lidar_centerpoint { using autoware_perception_msgs::msg::DetectedObject; -// TODO(yukke42): now only support IoU_BEV -enum class NMS_TYPE { - IoU_BEV - // IoU_3D - // Distance_2D - // Distance_3D -}; - struct NMSParams { - NMS_TYPE nms_type_{}; - std::vector target_class_names_{}; double search_distance_2d_{}; double iou_threshold_{}; - // double distance_threshold_{}; }; -std::vector classNamesToBooleanMask(const std::vector & class_names) -{ - std::vector mask; - constexpr std::size_t num_object_classification = 8; - mask.resize(num_object_classification); - for (const auto & class_name : class_names) { - const auto semantic_type = getSemanticType(class_name); - mask.at(semantic_type) = true; - } - - return mask; -} - class NonMaximumSuppression { public: @@ -66,14 +42,13 @@ class NonMaximumSuppression std::vector apply(const std::vector &); private: - bool isTargetLabel(const std::uint8_t); - bool isTargetPairObject(const DetectedObject &, const DetectedObject &); Eigen::MatrixXd generateIoUMatrix(const std::vector &); NMSParams params_{}; - std::vector target_class_mask_{}; + + double search_distance_2d_sq_{}; }; } // namespace autoware::lidar_centerpoint diff --git a/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp b/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp index 9764d20628f24..dbc6924f6fd25 100644 --- a/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp +++ b/perception/autoware_lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp @@ -22,6 +22,7 @@ namespace autoware::lidar_centerpoint { +using Label = autoware_perception_msgs::msg::ObjectClassification; void NonMaximumSuppression::setParameters(const NMSParams & params) { @@ -29,15 +30,7 @@ void NonMaximumSuppression::setParameters(const NMSParams & params) assert(params.iou_threshold_ >= 0.0 && params.iou_threshold_ <= 1.0); params_ = params; - target_class_mask_ = classNamesToBooleanMask(params.target_class_names_); -} - -bool NonMaximumSuppression::isTargetLabel(const uint8_t label) -{ - if (label >= target_class_mask_.size()) { - return false; - } - return target_class_mask_.at(label); + search_distance_2d_sq_ = params.search_distance_2d_ * params.search_distance_2d_; } bool NonMaximumSuppression::isTargetPairObject( @@ -48,15 +41,15 @@ bool NonMaximumSuppression::isTargetPairObject( const auto label2 = autoware::object_recognition_utils::getHighestProbLabel(object2.classification); - if (isTargetLabel(label1) && isTargetLabel(label2)) { - return true; + // if labels are not the same, and one of them is pedestrian, do not suppress + if (label1 != label2 && (label1 == Label::PEDESTRIAN || label2 == Label::PEDESTRIAN)) { + return false; } - const auto search_sqr_dist_2d = params_.search_distance_2d_ * params_.search_distance_2d_; const auto sqr_dist_2d = autoware::universe_utils::calcSquaredDistance2d( autoware::object_recognition_utils::getPose(object1), autoware::object_recognition_utils::getPose(object2)); - return sqr_dist_2d <= search_sqr_dist_2d; + return sqr_dist_2d <= search_distance_2d_sq_; } Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix( @@ -73,14 +66,12 @@ Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix( continue; } - if (params_.nms_type_ == NMS_TYPE::IoU_BEV) { - const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj); - triangular_matrix(target_i, source_i) = iou; - // NOTE: If the target object has any objects with iou > iou_threshold, it - // will be suppressed regardless of later results. - if (iou > params_.iou_threshold_) { - break; - } + const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj); + triangular_matrix(target_i, source_i) = iou; + // NOTE: If the target object has any objects with iou > iou_threshold, it + // will be suppressed regardless of later results. + if (iou > params_.iou_threshold_) { + break; } } } @@ -97,10 +88,9 @@ std::vector NonMaximumSuppression::apply( output_objects.reserve(input_objects.size()); for (std::size_t i = 0; i < input_objects.size(); ++i) { const auto value = iou_matrix.row(i).maxCoeff(); - if (params_.nms_type_ == NMS_TYPE::IoU_BEV) { - if (value <= params_.iou_threshold_) { - output_objects.emplace_back(input_objects.at(i)); - } + + if (value <= params_.iou_threshold_) { + output_objects.emplace_back(input_objects.at(i)); } } diff --git a/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json b/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json index c3268f0e90d9b..f2c12b7588f9b 100644 --- a/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json +++ b/perception/autoware_lidar_centerpoint/schema/centerpoint.schemal.json @@ -42,12 +42,6 @@ "minimum": 0.0, "maximum": 1.0 }, - "iou_nms_target_class_names": { - "type": "array", - "description": "An array of class names to be target in NMS.", - "default": ["CAR"], - "uniqueItems": true - }, "iou_nms_search_distance_2d": { "type": "number", "description": "A maximum distance value to search the nearest objects.", diff --git a/perception/autoware_lidar_centerpoint/src/node.cpp b/perception/autoware_lidar_centerpoint/src/node.cpp index 5b92e5c811a23..59acceeac54d6 100644 --- a/perception/autoware_lidar_centerpoint/src/node.cpp +++ b/perception/autoware_lidar_centerpoint/src/node.cpp @@ -80,9 +80,6 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti { NMSParams p; - p.nms_type_ = NMS_TYPE::IoU_BEV; - p.target_class_names_ = this->declare_parameter>( - "post_process_params.iou_nms_target_class_names"); p.search_distance_2d_ = this->declare_parameter("post_process_params.iou_nms_search_distance_2d"); p.iou_threshold_ = this->declare_parameter("post_process_params.iou_nms_threshold"); diff --git a/perception/autoware_lidar_centerpoint/test/test_nms.cpp b/perception/autoware_lidar_centerpoint/test/test_nms.cpp index fd9e78b0c6585..9a2217f7af0b4 100644 --- a/perception/autoware_lidar_centerpoint/test/test_nms.cpp +++ b/perception/autoware_lidar_centerpoint/test/test_nms.cpp @@ -24,8 +24,6 @@ TEST(NonMaximumSuppressionTest, Apply) autoware::lidar_centerpoint::NMSParams params; params.search_distance_2d_ = 1.0; params.iou_threshold_ = 0.2; - params.nms_type_ = autoware::lidar_centerpoint::NMS_TYPE::IoU_BEV; - params.target_class_names_ = {"CAR"}; nms.setParameters(params); std::vector input_objects(4); From da5284cb89cb4e4263ead39d8a083534032fa848 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 11 Dec 2024 15:59:20 +0900 Subject: [PATCH 692/701] fix(autoware_lidar_transfusion): non-maximum suppression target decision logic (#9612) fix: non-maximum suppression target decision logic Signed-off-by: Taekjin LEE --- .../config/transfusion.param.yaml | 1 - .../postprocess/non_maximum_suppression.hpp | 28 +------------ .../postprocess/non_maximum_suppression.cpp | 40 +++++++------------ .../schema/transfusion.schema.dummy.json | 10 ----- .../src/lidar_transfusion_node.cpp | 3 -- .../test/test_nms.cpp | 2 - 6 files changed, 17 insertions(+), 67 deletions(-) diff --git a/perception/autoware_lidar_transfusion/config/transfusion.param.yaml b/perception/autoware_lidar_transfusion/config/transfusion.param.yaml index 47eaa800e62fc..979f8b9cc09e3 100644 --- a/perception/autoware_lidar_transfusion/config/transfusion.param.yaml +++ b/perception/autoware_lidar_transfusion/config/transfusion.param.yaml @@ -10,7 +10,6 @@ densification_world_frame_id: map # post-process params circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] # refers to the class_names diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp index 9f07d2448fcae..26c4e324781d0 100644 --- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/postprocess/non_maximum_suppression.hpp @@ -28,35 +28,12 @@ namespace autoware::lidar_transfusion { using autoware_perception_msgs::msg::DetectedObject; -enum class NMS_TYPE { - IoU_BEV - // IoU_3D - // Distance_2D - // Distance_3D -}; - struct NMSParams { - NMS_TYPE nms_type_{}; - std::vector target_class_names_{}; double search_distance_2d_{}; double iou_threshold_{}; - // double distance_threshold_{}; }; -std::vector classNamesToBooleanMask(const std::vector & class_names) -{ - std::vector mask; - constexpr std::size_t num_object_classification = 8; - mask.resize(num_object_classification); - for (const auto & class_name : class_names) { - const auto semantic_type = getSemanticType(class_name); - mask.at(semantic_type) = true; - } - - return mask; -} - class NonMaximumSuppression { public: @@ -65,14 +42,13 @@ class NonMaximumSuppression std::vector apply(const std::vector &); private: - bool isTargetLabel(const std::uint8_t); - bool isTargetPairObject(const DetectedObject &, const DetectedObject &); Eigen::MatrixXd generateIoUMatrix(const std::vector &); NMSParams params_{}; - std::vector target_class_mask_{}; + + double search_distance_2d_sq_{}; }; } // namespace autoware::lidar_transfusion diff --git a/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp b/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp index 1a288d1b0fd44..003358dc6b431 100644 --- a/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp +++ b/perception/autoware_lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp @@ -22,6 +22,7 @@ namespace autoware::lidar_transfusion { +using Label = autoware_perception_msgs::msg::ObjectClassification; void NonMaximumSuppression::setParameters(const NMSParams & params) { @@ -29,15 +30,7 @@ void NonMaximumSuppression::setParameters(const NMSParams & params) assert(params.iou_threshold_ >= 0.0 && params.iou_threshold_ <= 1.0); params_ = params; - target_class_mask_ = classNamesToBooleanMask(params.target_class_names_); -} - -bool NonMaximumSuppression::isTargetLabel(const uint8_t label) -{ - if (label >= target_class_mask_.size()) { - return false; - } - return target_class_mask_.at(label); + search_distance_2d_sq_ = params.search_distance_2d_ * params.search_distance_2d_; } bool NonMaximumSuppression::isTargetPairObject( @@ -48,15 +41,15 @@ bool NonMaximumSuppression::isTargetPairObject( const auto label2 = autoware::object_recognition_utils::getHighestProbLabel(object2.classification); - if (isTargetLabel(label1) && isTargetLabel(label2)) { - return true; + // if labels are not the same, and one of them is pedestrian, do not suppress + if (label1 != label2 && (label1 == Label::PEDESTRIAN || label2 == Label::PEDESTRIAN)) { + return false; } - const auto search_sqr_dist_2d = params_.search_distance_2d_ * params_.search_distance_2d_; const auto sqr_dist_2d = autoware::universe_utils::calcSquaredDistance2d( autoware::object_recognition_utils::getPose(object1), autoware::object_recognition_utils::getPose(object2)); - return sqr_dist_2d <= search_sqr_dist_2d; + return sqr_dist_2d <= search_distance_2d_sq_; } Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix( @@ -73,14 +66,12 @@ Eigen::MatrixXd NonMaximumSuppression::generateIoUMatrix( continue; } - if (params_.nms_type_ == NMS_TYPE::IoU_BEV) { - const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj); - triangular_matrix(target_i, source_i) = iou; - // NOTE: If the target object has any objects with iou > iou_threshold, it - // will be suppressed regardless of later results. - if (iou > params_.iou_threshold_) { - break; - } + const double iou = autoware::object_recognition_utils::get2dIoU(target_obj, source_obj); + triangular_matrix(target_i, source_i) = iou; + // NOTE: If the target object has any objects with iou > iou_threshold, it + // will be suppressed regardless of later results. + if (iou > params_.iou_threshold_) { + break; } } } @@ -97,10 +88,9 @@ std::vector NonMaximumSuppression::apply( output_objects.reserve(input_objects.size()); for (std::size_t i = 0; i < input_objects.size(); ++i) { const auto value = iou_matrix.row(i).maxCoeff(); - if (params_.nms_type_ == NMS_TYPE::IoU_BEV) { - if (value <= params_.iou_threshold_) { - output_objects.emplace_back(input_objects.at(i)); - } + + if (value <= params_.iou_threshold_) { + output_objects.emplace_back(input_objects.at(i)); } } diff --git a/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json b/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json index 6d9029f7e6806..739c641b7cefb 100644 --- a/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json +++ b/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json @@ -48,15 +48,6 @@ "default": 0.5, "minimum": 0.0 }, - "iou_nms_target_class_names": { - "type": "array", - "items": { - "type": "string" - }, - "description": "An array of class names to be target in NMS.", - "default": ["CAR"], - "uniqueItems": true - }, "iou_nms_search_distance_2d": { "type": "number", "description": "A maximum distance value to search the nearest objects.", @@ -95,7 +86,6 @@ "densification_num_past_frames", "densification_world_frame_id", "circle_nms_dist_threshold", - "iou_nms_target_class_names", "iou_nms_search_distance_2d", "iou_nms_threshold", "yaw_norm_thresholds", diff --git a/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp b/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp index c75a5f434aeed..8bb70a821621f 100644 --- a/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp +++ b/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp @@ -65,9 +65,6 @@ LidarTransfusionNode::LidarTransfusionNode(const rclcpp::NodeOptions & options) static_cast(this->declare_parameter("circle_nms_dist_threshold", descriptor)); { // IoU NMS NMSParams p; - p.nms_type_ = NMS_TYPE::IoU_BEV; - p.target_class_names_ = - this->declare_parameter>("iou_nms_target_class_names", descriptor); p.search_distance_2d_ = this->declare_parameter("iou_nms_search_distance_2d", descriptor); p.iou_threshold_ = this->declare_parameter("iou_nms_threshold", descriptor); diff --git a/perception/autoware_lidar_transfusion/test/test_nms.cpp b/perception/autoware_lidar_transfusion/test/test_nms.cpp index 5449f61aa2284..dcb523abd96d8 100644 --- a/perception/autoware_lidar_transfusion/test/test_nms.cpp +++ b/perception/autoware_lidar_transfusion/test/test_nms.cpp @@ -24,8 +24,6 @@ TEST(NonMaximumSuppressionTest, Apply) autoware::lidar_transfusion::NMSParams params; params.search_distance_2d_ = 1.0; params.iou_threshold_ = 0.2; - params.nms_type_ = autoware::lidar_transfusion::NMS_TYPE::IoU_BEV; - params.target_class_names_ = {"CAR"}; nms.setParameters(params); std::vector input_objects(4); From 26b1ab6fd4b21dfd41fb4b5b9ebb7976f5b10ca8 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 11 Dec 2024 18:16:28 +0900 Subject: [PATCH 693/701] refactor(obstacle_cruise_planner)!: refactor rviz and terminal info (#9594) Signed-off-by: yuki-takagi-66 --- .../obstacle_cruise_planner/common_structs.hpp | 7 +++++-- .../autoware/obstacle_cruise_planner/node.hpp | 3 +++ .../autoware_obstacle_cruise_planner/package.xml | 1 + .../autoware_obstacle_cruise_planner/src/node.cpp | 14 +++++++++----- .../src/pid_based_planner/pid_based_planner.cpp | 5 ++++- .../autoware_obstacle_cruise_planner/src/utils.cpp | 2 +- 6 files changed, 23 insertions(+), 9 deletions(-) diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp index 7bd4d37ba5797..8abff415e47df 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp @@ -169,12 +169,15 @@ struct CruiseObstacle : public TargetObstacleInterface CruiseObstacle( const std::string & arg_uuid, const rclcpp::Time & arg_stamp, const geometry_msgs::msg::Pose & arg_pose, const double arg_lon_velocity, - const double arg_lat_velocity, const std::vector & arg_collision_points) + const double arg_lat_velocity, const std::vector & arg_collision_points, + bool arg_is_yield_obstacle = false) : TargetObstacleInterface(arg_uuid, arg_stamp, arg_pose, arg_lon_velocity, arg_lat_velocity), - collision_points(arg_collision_points) + collision_points(arg_collision_points), + is_yield_obstacle(arg_is_yield_obstacle) { } std::vector collision_points; // time-series collision points + bool is_yield_obstacle; }; struct SlowDownObstacle : public TargetObstacleInterface diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp index 629dba73e85dc..6a106776e48b5 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp @@ -24,6 +24,7 @@ #include "autoware/universe_utils/ros/polling_subscriber.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" +#include #include #include @@ -180,6 +181,8 @@ class ObstacleCruisePlannerNode : public rclcpp::Node this, "~/input/pointcloud"}; autoware::universe_utils::InterProcessPollingSubscriber acc_sub_{ this, "~/input/acceleration"}; + autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface + objects_of_interest_marker_interface_{this, "obstacle_cruise_planner"}; std::unique_ptr tf_buffer_; std::shared_ptr tf_listener_{nullptr}; diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index df760ee59de37..75405c3aded2a 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -23,6 +23,7 @@ autoware_lanelet2_extension autoware_motion_utils autoware_object_recognition_utils + autoware_objects_of_interest_marker_interface autoware_osqp_interface autoware_perception_msgs autoware_planning_msgs diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp index 8275f2a1cd7d4..6931ff58e8457 100644 --- a/planning/autoware_obstacle_cruise_planner/src/node.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp @@ -515,10 +515,9 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & // debug publisher debug_calculation_time_pub_ = create_publisher("~/debug/processing_time_ms", 1); - debug_cruise_wall_marker_pub_ = create_publisher("~/debug/cruise/virtual_wall", 1); - debug_stop_wall_marker_pub_ = create_publisher("~/virtual_wall", 1); - debug_slow_down_wall_marker_pub_ = - create_publisher("~/debug/slow_down/virtual_wall", 1); + debug_cruise_wall_marker_pub_ = create_publisher("~/virtual_wall/cruise", 1); + debug_stop_wall_marker_pub_ = create_publisher("~/virtual_wall/stop", 1); + debug_slow_down_wall_marker_pub_ = create_publisher("~/virtual_wall/slow_down", 1); debug_marker_pub_ = create_publisher("~/debug/marker", 1); debug_stop_planning_info_pub_ = create_publisher("~/debug/stop_planning_info", 1); @@ -729,6 +728,7 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms planner_ptr_->publishMetrics(now()); publishDebugMarker(); publishDebugInfo(); + objects_of_interest_marker_interface_.publishMarkerArray(); // 9. Publish and print calculation time const double calculation_time = stop_watch_.toc(__func__); @@ -1385,7 +1385,8 @@ std::optional ObstacleCruisePlannerNode::createYieldCruiseObstac obstacle.pose, obstacle.longitudinal_velocity, obstacle.approach_velocity, - collision_points.value()}; + collision_points.value(), + true}; } std::optional> ObstacleCruisePlannerNode::findYieldCruiseObstacles( @@ -1456,6 +1457,9 @@ std::optional> ObstacleCruisePlannerNode::findYieldC const auto yield_obstacle = createYieldCruiseObstacle(moving_obstacle, traj_points); if (yield_obstacle) { yield_obstacles.push_back(*yield_obstacle); + using autoware::objects_of_interest_marker_interface::ColorName; + objects_of_interest_marker_interface_.insertObjectData( + stopped_obstacle.pose, stopped_obstacle.shape, ColorName::RED); } } } diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp index f8982ed3fec2a..544597f05ff75 100644 --- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp @@ -320,8 +320,11 @@ std::vector PIDBasedPlanner::planCruise( const size_t wall_idx = obstacle_cruise_utils::getIndexWithLongitudinalOffset( stop_traj_points, dist_to_rss_wall, ego_idx); + const std::string wall_reason_string = cruise_obstacle_info->obstacle.is_yield_obstacle + ? "obstacle cruise (yield)" + : "obstacle cruise"; auto markers = autoware::motion_utils::createSlowDownVirtualWallMarker( - stop_traj_points.at(wall_idx).pose, "obstacle cruise", planner_data.current_time, 0); + stop_traj_points.at(wall_idx).pose, wall_reason_string, planner_data.current_time, 0); // NOTE: use a different color from slow down one to visualize cruise and slow down // separately. markers.markers.front().color = diff --git a/planning/autoware_obstacle_cruise_planner/src/utils.cpp b/planning/autoware_obstacle_cruise_planner/src/utils.cpp index dd4373c115fe0..82f4e6978181f 100644 --- a/planning/autoware_obstacle_cruise_planner/src/utils.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/utils.cpp @@ -92,7 +92,7 @@ PoseWithStamp getCurrentObjectPose( getCurrentObjectPoseFromPredictedPaths(predicted_paths, obj_base_time, current_time); if (!interpolated_pose) { - RCLCPP_WARN( + RCLCPP_DEBUG( rclcpp::get_logger("ObstacleCruisePlanner"), "Failed to find the interpolated obstacle pose"); return PoseWithStamp{obj_base_time, pose}; } From 778c074ec39f52042dc42e2860e392da180ec893 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 11 Dec 2024 19:55:17 +0900 Subject: [PATCH 694/701] chore(planning_test_manager): update owner (#9620) Signed-off-by: Mamoru Sobue --- planning/autoware_planning_test_manager/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml index ec22d871013d3..1b38944f545bc 100644 --- a/planning/autoware_planning_test_manager/package.xml +++ b/planning/autoware_planning_test_manager/package.xml @@ -6,6 +6,7 @@ ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe + Mamoru Sobue Apache License 2.0 Kyoichi Sugahara From 53aaf0f2764daf6831f64bc7d136c425502aafe4 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 11 Dec 2024 23:43:06 +0900 Subject: [PATCH 695/701] feat(duplicated_node_checker): show the node name on the terminal (#9609) Signed-off-by: Takayuki Murooka --- .../src/duplicated_node_checker_core.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp index 1bc14bf927835..40ced8f886005 100644 --- a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp +++ b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp @@ -67,6 +67,8 @@ void DuplicatedNodeChecker::produceDiagnostics(diagnostic_updater::DiagnosticSta } for (auto name : identical_names) { stat.add("Duplicated Node Name", name); + RCLCPP_WARN_THROTTLE( + get_logger(), *get_clock(), 5000, "%s node is duplicated.", name.c_str()); } } else { msg = "OK"; From 3cfb03e561abc163439486b332925bd2c42935a4 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 11 Dec 2024 23:44:45 +0900 Subject: [PATCH 696/701] fix(static_centerline_generator): several bug fixes (#9426) * fix: dependent packages Signed-off-by: Takayuki Murooka * feat: use steer angle, use warn for steer angle failure, calc curvature dicontinuously Signed-off-by: Takayuki Murooka * fix cppcheck Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../vehicle_info.hpp | 1 + .../src/vehicle_info.cpp | 11 +++++ .../static_centerline_generator.launch.xml | 2 +- .../package.xml | 2 + .../src/static_centerline_generator_node.cpp | 47 +++++++++++-------- 5 files changed, 42 insertions(+), 21 deletions(-) diff --git a/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp b/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp index 0e783cd006986..51c63418acc29 100644 --- a/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp +++ b/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp @@ -71,6 +71,7 @@ struct VehicleInfo double calcMaxCurvature() const; double calcCurvatureFromSteerAngle(const double steer_angle) const; + double calcSteerAngleFromCurvature(const double curvature) const; }; /// Create vehicle info from base parameters diff --git a/common/autoware_vehicle_info_utils/src/vehicle_info.cpp b/common/autoware_vehicle_info_utils/src/vehicle_info.cpp index c0a4c240ba44a..c75a4351fb3f3 100644 --- a/common/autoware_vehicle_info_utils/src/vehicle_info.cpp +++ b/common/autoware_vehicle_info_utils/src/vehicle_info.cpp @@ -129,4 +129,15 @@ double VehicleInfo::calcCurvatureFromSteerAngle(const double steer_angle) const const double curvature = 1.0 / radius; return curvature; } + +double VehicleInfo::calcSteerAngleFromCurvature(const double curvature) const +{ + if (std::abs(curvature) < 1e-6) { + return 0.0; + } + + const double radius = 1.0 / curvature; + const double steer_angle = std::atan2(wheel_base_m, radius); + return steer_angle; +} } // namespace autoware::vehicle_info_utils diff --git a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml index 9ccc5a183be45..0590009ab378c 100644 --- a/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml +++ b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml @@ -48,7 +48,7 @@ - + diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index a6d97d6fae2f7..6ba1494e714cd 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -20,9 +20,11 @@ autoware_global_parameter_loader autoware_interpolation autoware_lanelet2_extension + autoware_lanelet2_map_visualizer autoware_map_loader autoware_map_msgs autoware_map_projection_loader + autoware_map_tf_generator autoware_mission_planner autoware_motion_utils autoware_osqp_interface diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index 7f0264d02434e..f172e3e0cb1cd 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -14,13 +14,14 @@ #include "static_centerline_generator_node.hpp" -#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/map_loader/lanelet2_map_loader_node.hpp" #include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" #include "autoware/map_projection_loader/map_projection_loader.hpp" #include "autoware/motion_utils/resample/resample.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" +#include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" +#include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/ros/parameter.hpp" #include "autoware_lanelet2_extension/utility/message_conversion.hpp" #include "autoware_lanelet2_extension/utility/query.hpp" @@ -59,6 +60,7 @@ #define RESET_TEXT "\x1B[0m" #define RED_TEXT "\x1B[31m" +#define YELLOW_TEXT "\x1b[33m" #define BOLD_TEXT "\x1B[1m" namespace autoware::static_centerline_generator @@ -626,10 +628,8 @@ void StaticCenterlineGeneratorNode::validate() } // calculate curvature - autoware::interpolation::SplineInterpolationPoints2d centerline_spline(centerline); - const auto curvature_vec = centerline_spline.getSplineInterpolatedCurvatures(); - const double curvature_threshold = vehicle_info_.calcCurvatureFromSteerAngle( - vehicle_info_.max_steer_angle_rad - max_steer_angle_margin); + const auto curvature_vec = autoware::motion_utils::calcCurvature(centerline); + const double steer_angle_threshold = vehicle_info_.max_steer_angle_rad - max_steer_angle_margin; // calculate the distance between footprint and right/left bounds MarkerArray marker_array; @@ -676,6 +676,7 @@ void StaticCenterlineGeneratorNode::validate() max_curvature = std::abs(curvature); } } + const double max_steer_angle = vehicle_info_.calcSteerAngleFromCurvature(max_curvature); // publish road boundaries const auto left_bound = convertToGeometryPoints(lanelet_left_bound); @@ -693,30 +694,36 @@ void StaticCenterlineGeneratorNode::validate() std::cerr << "1. Footprints inside Lanelets:" << std::endl; if (dist_thresh_to_road_border < min_dist) { std::cerr << " The generated centerline is inside the lanelet. (threshold:" - << dist_thresh_to_road_border << " < actual:" << min_dist << ")" << std::endl + << dist_thresh_to_road_border << "[m] < actual:" << min_dist << "[m])" << std::endl << " Passed." << std::endl; return true; } std::cerr << RED_TEXT << " The generated centerline is outside the lanelet. (actual:" << min_dist - << " <= threshold:" << dist_thresh_to_road_border << ")" << std::endl + << "[m] <= threshold:" << dist_thresh_to_road_border << "[m])" << std::endl << " Failed." << RESET_TEXT << std::endl; return false; }(); // 2. centerline's curvature - const bool is_curvature_low = [&]() { - std::cerr << "2. Curvature:" << std::endl; - if (max_curvature < curvature_threshold) { - std::cerr << " The generated centerline has no high curvature. (actual:" << max_curvature - << " < threshold:" << curvature_threshold << ")" - << " Passed." << std::endl; - return true; - } - std::cerr << RED_TEXT << " The generated centerline has a too high curvature. (threshold:" - << curvature_threshold << " <= actual:" << max_curvature << ")" - << " Failed." << RESET_TEXT << std::endl; - return false; - }(); + std::cerr << "2. Curvature:" << std::endl; + const bool is_curvature_low = + true; // always tre for now since the curvature is just estimated and not enough precise. + if (max_steer_angle < steer_angle_threshold) { + std::cerr << " The generated centerline has no high steer angle. (estimated:" + << autoware::universe_utils::rad2deg(max_steer_angle) + << "[deg] < threshold:" << autoware::universe_utils::rad2deg(steer_angle_threshold) + << "[deg])" << std::endl + << " Passed." << std::endl; + } else { + std::cerr << YELLOW_TEXT << " The generated centerline has a too high steer angle. (threshold:" + << autoware::universe_utils::rad2deg(steer_angle_threshold) + << "[deg] <= estimated:" << autoware::universe_utils::rad2deg(max_steer_angle) + << "[deg])" << std::endl + << " However, the estimated steer angle is not enough precise, so the result is " + "conditional pass." + << std::endl + << " Conditionally Passed." << RESET_TEXT << std::endl; + } // 3. result std::cerr << std::endl << BOLD_TEXT << "Result:" << RESET_TEXT << std::endl; if (are_footprints_inside_lanelets && is_curvature_low) { From e30350c358531a2c5dc2a132de9ad4f85fa370dc Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 12 Dec 2024 11:30:06 +0900 Subject: [PATCH 697/701] refactor(autoware_multi_object_tracker): merge normal_vehicle_tracker and big_vehicle_tracker (#9613) * refactor: define object_model_ at initialization * refactor: combine normal and big vehicle tracker --- .../CMakeLists.txt | 3 +- .../model/multiple_vehicle_tracker.hpp | 7 +- .../tracker/model/normal_vehicle_tracker.hpp | 78 ---- ...ehicle_tracker.hpp => vehicle_tracker.hpp} | 18 +- .../multi_object_tracker/tracker/tracker.hpp | 3 +- .../lib/tracker/model/big_vehicle_tracker.cpp | 362 ------------------ .../model/multiple_vehicle_tracker.cpp | 8 +- ...ehicle_tracker.cpp => vehicle_tracker.cpp} | 32 +- .../src/processor/processor.cpp | 9 +- 9 files changed, 41 insertions(+), 479 deletions(-) delete mode 100644 perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp rename perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/{big_vehicle_tracker.hpp => vehicle_tracker.hpp} (82%) delete mode 100644 perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp rename perception/autoware_multi_object_tracker/lib/tracker/model/{normal_vehicle_tracker.cpp => vehicle_tracker.cpp} (92%) diff --git a/perception/autoware_multi_object_tracker/CMakeLists.txt b/perception/autoware_multi_object_tracker/CMakeLists.txt index 73edabaa09429..298b6605192a5 100644 --- a/perception/autoware_multi_object_tracker/CMakeLists.txt +++ b/perception/autoware_multi_object_tracker/CMakeLists.txt @@ -36,8 +36,7 @@ set(${PROJECT_NAME}_lib lib/tracker/motion_model/ctrv_motion_model.cpp lib/tracker/motion_model/cv_motion_model.cpp lib/tracker/model/tracker_base.cpp - lib/tracker/model/big_vehicle_tracker.cpp - lib/tracker/model/normal_vehicle_tracker.cpp + lib/tracker/model/vehicle_tracker.cpp lib/tracker/model/multiple_vehicle_tracker.cpp lib/tracker/model/bicycle_tracker.cpp lib/tracker/model/pedestrian_tracker.cpp diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp index 868aa1606d4ff..8b4fa1babf652 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp @@ -20,9 +20,8 @@ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_ #include "autoware/kalman_filter/kalman_filter.hpp" -#include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp" -#include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" +#include "autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp" #include @@ -32,8 +31,8 @@ namespace autoware::multi_object_tracker class MultipleVehicleTracker : public Tracker { private: - NormalVehicleTracker normal_vehicle_tracker_; - BigVehicleTracker big_vehicle_tracker_; + VehicleTracker normal_vehicle_tracker_; + VehicleTracker big_vehicle_tracker_; public: MultipleVehicleTracker( diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp deleted file mode 100644 index 0bfc065c7cc68..0000000000000 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp +++ /dev/null @@ -1,78 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// -// Author: v1.0 Yukihiro Saito -// - -#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ -#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ - -#include "autoware/kalman_filter/kalman_filter.hpp" -#include "autoware/multi_object_tracker/object_model/object_model.hpp" -#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" -#include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" - -namespace autoware::multi_object_tracker -{ - -class NormalVehicleTracker : public Tracker -{ -private: - autoware_perception_msgs::msg::DetectedObject object_; - rclcpp::Logger logger_; - - object_model::ObjectModel object_model_ = object_model::normal_vehicle; - - double velocity_deviation_threshold_; - - double z_; - - struct BoundingBox - { - double length; - double width; - double height; - }; - BoundingBox bounding_box_; - Eigen::Vector2d tracking_offset_; - - BicycleMotionModel motion_model_; - using IDX = BicycleMotionModel::IDX; - -public: - NormalVehicleTracker( - const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, - const uint & channel_index); - - bool predict(const rclcpp::Time & time) override; - bool measure( - const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) override; - bool measureWithPose(const autoware_perception_msgs::msg::DetectedObject & object); - bool measureWithShape(const autoware_perception_msgs::msg::DetectedObject & object); - bool getTrackedObject( - const rclcpp::Time & time, - autoware_perception_msgs::msg::TrackedObject & object) const override; - -private: - autoware_perception_msgs::msg::DetectedObject getUpdatingObject( - const autoware_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform); -}; - -} // namespace autoware::multi_object_tracker - -#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp similarity index 82% rename from perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp rename to perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp index 489f656f750cb..f3708fd1ff905 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp @@ -16,8 +16,8 @@ // Author: v1.0 Yukihiro Saito // -#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ -#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ +#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__VEHICLE_TRACKER_HPP_ +#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__VEHICLE_TRACKER_HPP_ #include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware/multi_object_tracker/object_model/object_model.hpp" @@ -27,16 +27,15 @@ namespace autoware::multi_object_tracker { -class BigVehicleTracker : public Tracker +class VehicleTracker : public Tracker { private: - autoware_perception_msgs::msg::DetectedObject object_; + object_model::ObjectModel object_model_; rclcpp::Logger logger_; - object_model::ObjectModel object_model_ = object_model::big_vehicle; - double velocity_deviation_threshold_; + autoware_perception_msgs::msg::DetectedObject object_; double z_; struct BoundingBox @@ -52,8 +51,9 @@ class BigVehicleTracker : public Tracker using IDX = BicycleMotionModel::IDX; public: - BigVehicleTracker( - const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object, + VehicleTracker( + const object_model::ObjectModel & object_model, const rclcpp::Time & time, + const autoware_perception_msgs::msg::DetectedObject & object, const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, const uint & channel_index); @@ -75,4 +75,4 @@ class BigVehicleTracker : public Tracker } // namespace autoware::multi_object_tracker -#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ +#endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__VEHICLE_TRACKER_HPP_ diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp index ea1e60d4c7e17..ecf727c36936c 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp @@ -20,13 +20,12 @@ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_ #include "model/bicycle_tracker.hpp" -#include "model/big_vehicle_tracker.hpp" #include "model/multiple_vehicle_tracker.hpp" -#include "model/normal_vehicle_tracker.hpp" #include "model/pass_through_tracker.hpp" #include "model/pedestrian_and_bicycle_tracker.hpp" #include "model/pedestrian_tracker.hpp" #include "model/tracker_base.hpp" #include "model/unknown_tracker.hpp" +#include "model/vehicle_tracker.hpp" #endif // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_ diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp deleted file mode 100644 index 349ffb1eec634..0000000000000 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp +++ /dev/null @@ -1,362 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// -// Author: v1.0 Yukihiro Saito -// -#define EIGEN_MPL2_ONLY - -#include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp" - -#include "autoware/multi_object_tracker/utils/utils.hpp" -#include "autoware/object_recognition_utils/object_recognition_utils.hpp" -#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" -#include "autoware/universe_utils/math/normalization.hpp" -#include "autoware/universe_utils/math/unit_conversion.hpp" -#include "autoware/universe_utils/ros/msg_covariance.hpp" - -#include -#include - -#include -#include -#include -#include - -#ifdef ROS_DISTRO_GALACTIC -#include -#else -#include -#endif - -namespace autoware::multi_object_tracker -{ -using Label = autoware_perception_msgs::msg::ObjectClassification; - -BigVehicleTracker::BigVehicleTracker( - const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size, - const uint & channel_index) -: Tracker(time, object.classification, channel_size), - logger_(rclcpp::get_logger("BigVehicleTracker")), - z_(object.kinematics.pose_with_covariance.pose.position.z), - tracking_offset_(Eigen::Vector2d::Zero()) -{ - object_ = object; - - // initialize existence probability - initializeExistenceProbabilities(channel_index, object.existence_probability); - - // velocity deviation threshold - // if the predicted velocity is close to the observed velocity, - // the observed velocity is used as the measurement. - velocity_deviation_threshold_ = autoware::universe_utils::kmph2mps(10); // [m/s] - - // OBJECT SHAPE MODEL - if (object.shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - bounding_box_ = { - object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z}; - } else { - autoware_perception_msgs::msg::DetectedObject bbox_object; - if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) { - RCLCPP_WARN( - logger_, - "BigVehicleTracker::BigVehicleTracker: Failed to convert convex hull to bounding box."); - bounding_box_ = { - object_model_.init_size.length, object_model_.init_size.width, - object_model_.init_size.height}; // default value - } else { - bounding_box_ = { - bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, - bbox_object.shape.dimensions.z}; - } - } - // set maximum and minimum size - bounding_box_.length = std::clamp( - bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max); - bounding_box_.width = std::clamp( - bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max); - bounding_box_.height = std::clamp( - bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max); - - // Set motion model parameters - { - const double q_stddev_acc_long = object_model_.process_noise.acc_long; - const double q_stddev_acc_lat = object_model_.process_noise.acc_lat; - const double q_stddev_yaw_rate_min = object_model_.process_noise.yaw_rate_min; - const double q_stddev_yaw_rate_max = object_model_.process_noise.yaw_rate_max; - const double q_stddev_slip_rate_min = object_model_.bicycle_state.slip_rate_stddev_min; - const double q_stddev_slip_rate_max = object_model_.bicycle_state.slip_rate_stddev_max; - const double q_max_slip_angle = object_model_.bicycle_state.slip_angle_max; - const double lf_ratio = object_model_.bicycle_state.wheel_pos_ratio_front; - const double lf_min = object_model_.bicycle_state.wheel_pos_front_min; - const double lr_ratio = object_model_.bicycle_state.wheel_pos_ratio_rear; - const double lr_min = object_model_.bicycle_state.wheel_pos_rear_min; - motion_model_.setMotionParams( - q_stddev_acc_long, q_stddev_acc_lat, q_stddev_yaw_rate_min, q_stddev_yaw_rate_max, - q_stddev_slip_rate_min, q_stddev_slip_rate_max, q_max_slip_angle, lf_ratio, lf_min, lr_ratio, - lr_min); - } - - // Set motion limits - { - const double max_vel = object_model_.process_limit.vel_long_max; - const double max_slip = object_model_.bicycle_state.slip_angle_max; - motion_model_.setMotionLimits(max_vel, max_slip); // maximum velocity and slip angle - } - - // Set initial state - { - using autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - const double x = object.kinematics.pose_with_covariance.pose.position.x; - const double y = object.kinematics.pose_with_covariance.pose.position.y; - const double yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); - - auto pose_cov = object.kinematics.pose_with_covariance.covariance; - if (!object.kinematics.has_position_covariance) { - // initial state covariance - const auto & p0_cov_x = object_model_.initial_covariance.pos_x; - const auto & p0_cov_y = object_model_.initial_covariance.pos_y; - const auto & p0_cov_yaw = object_model_.initial_covariance.yaw; - - const double cos_yaw = std::cos(yaw); - const double sin_yaw = std::sin(yaw); - const double sin_2yaw = std::sin(2.0 * yaw); - pose_cov[XYZRPY_COV_IDX::X_X] = p0_cov_x * cos_yaw * cos_yaw + p0_cov_y * sin_yaw * sin_yaw; - pose_cov[XYZRPY_COV_IDX::X_Y] = 0.5 * (p0_cov_x - p0_cov_y) * sin_2yaw; - pose_cov[XYZRPY_COV_IDX::Y_Y] = p0_cov_x * sin_yaw * sin_yaw + p0_cov_y * cos_yaw * cos_yaw; - pose_cov[XYZRPY_COV_IDX::Y_X] = pose_cov[XYZRPY_COV_IDX::X_Y]; - pose_cov[XYZRPY_COV_IDX::YAW_YAW] = p0_cov_yaw; - } - - double vel = 0.0; - double vel_cov = object_model_.initial_covariance.vel_long; - if (object.kinematics.has_twist) { - vel = object.kinematics.twist_with_covariance.twist.linear.x; - } - if (object.kinematics.has_twist_covariance) { - vel_cov = object.kinematics.twist_with_covariance.covariance[XYZRPY_COV_IDX::X_X]; - } - - const double slip = 0.0; - const double slip_cov = object_model_.bicycle_state.init_slip_angle_cov; - const double & length = bounding_box_.length; - - // initialize motion model - motion_model_.initialize(time, x, y, yaw, pose_cov, vel, vel_cov, slip, slip_cov, length); - } -} - -bool BigVehicleTracker::predict(const rclcpp::Time & time) -{ - return motion_model_.predictState(time); -} - -autoware_perception_msgs::msg::DetectedObject BigVehicleTracker::getUpdatingObject( - const autoware_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform) -{ - autoware_perception_msgs::msg::DetectedObject updating_object = object; - - // OBJECT SHAPE MODEL - // convert to bounding box if input is convex shape - autoware_perception_msgs::msg::DetectedObject bbox_object = object; - if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) { - RCLCPP_WARN( - logger_, - "BigVehicleTracker::getUpdatingObject: Failed to convert convex hull to bounding box."); - bbox_object = object; - } - } - - // current (predicted) state - const double tracked_x = motion_model_.getStateElement(IDX::X); - const double tracked_y = motion_model_.getStateElement(IDX::Y); - const double tracked_yaw = motion_model_.getStateElement(IDX::YAW); - - // get offset measurement - const int nearest_corner_index = utils::getNearestCornerOrSurface( - tracked_x, tracked_y, tracked_yaw, bounding_box_.width, bounding_box_.length, self_transform); - utils::calcAnchorPointOffset( - bounding_box_.width, bounding_box_.length, nearest_corner_index, bbox_object, tracked_yaw, - updating_object, tracking_offset_); - - return updating_object; -} - -bool BigVehicleTracker::measureWithPose( - const autoware_perception_msgs::msg::DetectedObject & object) -{ - // current (predicted) state - const double tracked_vel = motion_model_.getStateElement(IDX::VEL); - - // velocity capability is checked only when the object has velocity measurement - // and the predicted velocity is close to the observed velocity - bool is_velocity_available = false; - if (object.kinematics.has_twist) { - const double & observed_vel = object.kinematics.twist_with_covariance.twist.linear.x; - if (std::fabs(tracked_vel - observed_vel) < velocity_deviation_threshold_) { - // Velocity deviation is small - is_velocity_available = true; - } - } - - // update - bool is_updated = false; - { - const double x = object.kinematics.pose_with_covariance.pose.position.x; - const double y = object.kinematics.pose_with_covariance.pose.position.y; - const double yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); - const double vel = object.kinematics.twist_with_covariance.twist.linear.x; - - if (is_velocity_available) { - is_updated = motion_model_.updateStatePoseHeadVel( - x, y, yaw, object.kinematics.pose_with_covariance.covariance, vel, - object.kinematics.twist_with_covariance.covariance); - } else { - is_updated = motion_model_.updateStatePoseHead( - x, y, yaw, object.kinematics.pose_with_covariance.covariance); - } - motion_model_.limitStates(); - } - - // position z - constexpr double gain = 0.1; - z_ = (1.0 - gain) * z_ + gain * object.kinematics.pose_with_covariance.pose.position.z; - - return is_updated; -} - -bool BigVehicleTracker::measureWithShape( - const autoware_perception_msgs::msg::DetectedObject & object) -{ - if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - // do not update shape if the input is not a bounding box - return false; - } - - // check object size abnormality - constexpr double size_max = 35.0; // [m] - constexpr double size_min = 1.0; // [m] - bool is_size_valid = - (object.shape.dimensions.x <= size_max && object.shape.dimensions.y <= size_max && - object.shape.dimensions.x >= size_min && object.shape.dimensions.y >= size_min); - if (!is_size_valid) { - return false; - } - - // update object size - constexpr double gain = 0.5; - constexpr double gain_inv = 1.0 - gain; - bounding_box_.length = gain_inv * bounding_box_.length + gain * object.shape.dimensions.x; - bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y; - bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z; - - // set maximum and minimum size - bounding_box_.length = std::clamp( - bounding_box_.length, object_model_.size_limit.length_min, object_model_.size_limit.length_max); - bounding_box_.width = std::clamp( - bounding_box_.width, object_model_.size_limit.width_min, object_model_.size_limit.width_max); - bounding_box_.height = std::clamp( - bounding_box_.height, object_model_.size_limit.height_min, object_model_.size_limit.height_max); - - // update motion model - motion_model_.updateExtendedState(bounding_box_.length); - - // update offset into object position - { - // rotate back the offset vector from object coordinate to global coordinate - const double yaw = motion_model_.getStateElement(IDX::YAW); - const double offset_x_global = - tracking_offset_.x() * std::cos(yaw) - tracking_offset_.y() * std::sin(yaw); - const double offset_y_global = - tracking_offset_.x() * std::sin(yaw) + tracking_offset_.y() * std::cos(yaw); - motion_model_.adjustPosition(-gain * offset_x_global, -gain * offset_y_global); - // update offset (object coordinate) - tracking_offset_.x() = gain_inv * tracking_offset_.x(); - tracking_offset_.y() = gain_inv * tracking_offset_.y(); - } - - return true; -} - -bool BigVehicleTracker::measure( - const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) -{ - // keep the latest input object - object_ = object; - - // update classification - const auto & current_classification = getClassification(); - if ( - autoware::object_recognition_utils::getHighestProbLabel(object.classification) == - Label::UNKNOWN) { - setClassification(current_classification); - } - - // check time gap - const double dt = motion_model_.getDeltaTime(time); - if (0.01 /*10msec*/ < dt) { - RCLCPP_WARN( - logger_, - "BigVehicleTracker::measure There is a large gap between predicted time and measurement " - "time. (%f)", - dt); - } - - // update object - const autoware_perception_msgs::msg::DetectedObject updating_object = - getUpdatingObject(object, self_transform); - measureWithPose(updating_object); - measureWithShape(updating_object); - - return true; -} - -bool BigVehicleTracker::getTrackedObject( - const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const -{ - object = autoware::object_recognition_utils::toTrackedObject(object_); - object.object_id = getUUID(); - object.classification = getClassification(); - - auto & pose_with_cov = object.kinematics.pose_with_covariance; - auto & twist_with_cov = object.kinematics.twist_with_covariance; - - // predict from motion model - if (!motion_model_.getPredictedState( - time, pose_with_cov.pose, pose_with_cov.covariance, twist_with_cov.twist, - twist_with_cov.covariance)) { - RCLCPP_WARN(logger_, "BigVehicleTracker::getTrackedObject: Failed to get predicted state."); - return false; - } - - // position - pose_with_cov.pose.position.z = z_; - - // set shape - object.shape.dimensions.x = bounding_box_.length; - object.shape.dimensions.y = bounding_box_.width; - object.shape.dimensions.z = bounding_box_.height; - const auto origin_yaw = tf2::getYaw(object_.kinematics.pose_with_covariance.pose.orientation); - const auto ekf_pose_yaw = tf2::getYaw(pose_with_cov.pose.orientation); - object.shape.footprint = - autoware::universe_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw); - - return true; -} - -} // namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp index 4751e3d1c894f..ff06544bd509c 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp @@ -18,6 +18,8 @@ #include "autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp" +#include "autoware/multi_object_tracker/object_model/object_model.hpp" + namespace autoware::multi_object_tracker { @@ -28,8 +30,10 @@ MultipleVehicleTracker::MultipleVehicleTracker( const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, const uint & channel_index) : Tracker(time, object.classification, channel_size), - normal_vehicle_tracker_(time, object, self_transform, channel_size, channel_index), - big_vehicle_tracker_(time, object, self_transform, channel_size, channel_index) + normal_vehicle_tracker_( + object_model::normal_vehicle, time, object, self_transform, channel_size, channel_index), + big_vehicle_tracker_( + object_model::big_vehicle, time, object, self_transform, channel_size, channel_index) { // initialize existence probability initializeExistenceProbabilities(channel_index, object.existence_probability); diff --git a/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp b/perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp similarity index 92% rename from perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp rename to perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp index b4be5e42b0397..2d1f48a3ad5ee 100644 --- a/perception/autoware_multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp +++ b/perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp @@ -17,7 +17,7 @@ // #define EIGEN_MPL2_ONLY -#include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp" +#include "autoware/multi_object_tracker/tracker/model/vehicle_tracker.hpp" #include "autoware/multi_object_tracker/utils/utils.hpp" #include "autoware/object_recognition_utils/object_recognition_utils.hpp" @@ -45,12 +45,14 @@ namespace autoware::multi_object_tracker using Label = autoware_perception_msgs::msg::ObjectClassification; -NormalVehicleTracker::NormalVehicleTracker( - const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object, +VehicleTracker::VehicleTracker( + const object_model::ObjectModel & object_model, const rclcpp::Time & time, + const autoware_perception_msgs::msg::DetectedObject & object, const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size, const uint & channel_index) : Tracker(time, object.classification, channel_size), - logger_(rclcpp::get_logger("NormalVehicleTracker")), + object_model_(object_model), + logger_(rclcpp::get_logger("VehicleTracker")), z_(object.kinematics.pose_with_covariance.pose.position.z), tracking_offset_(Eigen::Vector2d::Zero()) { @@ -73,7 +75,7 @@ NormalVehicleTracker::NormalVehicleTracker( if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) { RCLCPP_WARN( logger_, - "NormalVehicleTracker::NormalVehicleTracker: Failed to convert convex hull to bounding " + "VehicleTracker::VehicleTracker: Failed to convert convex hull to bounding " "box."); bounding_box_ = { object_model_.init_size.length, object_model_.init_size.width, @@ -160,12 +162,12 @@ NormalVehicleTracker::NormalVehicleTracker( } } -bool NormalVehicleTracker::predict(const rclcpp::Time & time) +bool VehicleTracker::predict(const rclcpp::Time & time) { return motion_model_.predictState(time); } -autoware_perception_msgs::msg::DetectedObject NormalVehicleTracker::getUpdatingObject( +autoware_perception_msgs::msg::DetectedObject VehicleTracker::getUpdatingObject( const autoware_perception_msgs::msg::DetectedObject & object, const geometry_msgs::msg::Transform & self_transform) { @@ -178,7 +180,7 @@ autoware_perception_msgs::msg::DetectedObject NormalVehicleTracker::getUpdatingO if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) { RCLCPP_WARN( logger_, - "NormalVehicleTracker::getUpdatingObject: Failed to convert convex hull to bounding box."); + "VehicleTracker::getUpdatingObject: Failed to convert convex hull to bounding box."); bbox_object = object; } } @@ -198,8 +200,7 @@ autoware_perception_msgs::msg::DetectedObject NormalVehicleTracker::getUpdatingO return updating_object; } -bool NormalVehicleTracker::measureWithPose( - const autoware_perception_msgs::msg::DetectedObject & object) +bool VehicleTracker::measureWithPose(const autoware_perception_msgs::msg::DetectedObject & object) { // current (predicted) state const double tracked_vel = motion_model_.getStateElement(IDX::VEL); @@ -241,8 +242,7 @@ bool NormalVehicleTracker::measureWithPose( return is_updated; } -bool NormalVehicleTracker::measureWithShape( - const autoware_perception_msgs::msg::DetectedObject & object) +bool VehicleTracker::measureWithShape(const autoware_perception_msgs::msg::DetectedObject & object) { if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { // do not update shape if the input is not a bounding box @@ -294,7 +294,7 @@ bool NormalVehicleTracker::measureWithShape( return true; } -bool NormalVehicleTracker::measure( +bool VehicleTracker::measure( const autoware_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, const geometry_msgs::msg::Transform & self_transform) { @@ -314,7 +314,7 @@ bool NormalVehicleTracker::measure( if (0.01 /*10msec*/ < dt) { RCLCPP_WARN( logger_, - "NormalVehicleTracker::measure There is a large gap between predicted time and measurement " + "VehicleTracker::measure There is a large gap between predicted time and measurement " "time. (%f)", dt); } @@ -328,7 +328,7 @@ bool NormalVehicleTracker::measure( return true; } -bool NormalVehicleTracker::getTrackedObject( +bool VehicleTracker::getTrackedObject( const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const { object = autoware::object_recognition_utils::toTrackedObject(object_); @@ -342,7 +342,7 @@ bool NormalVehicleTracker::getTrackedObject( if (!motion_model_.getPredictedState( time, pose_with_cov.pose, pose_with_cov.covariance, twist_with_cov.twist, twist_with_cov.covariance)) { - RCLCPP_WARN(logger_, "NormalVehicleTracker::getTrackedObject: Failed to get predicted state."); + RCLCPP_WARN(logger_, "VehicleTracker::getTrackedObject: Failed to get predicted state."); return false; } diff --git a/perception/autoware_multi_object_tracker/src/processor/processor.cpp b/perception/autoware_multi_object_tracker/src/processor/processor.cpp index f4202c1f6e413..ebc11ea63e199 100644 --- a/perception/autoware_multi_object_tracker/src/processor/processor.cpp +++ b/perception/autoware_multi_object_tracker/src/processor/processor.cpp @@ -14,6 +14,7 @@ #include "processor.hpp" +#include "autoware/multi_object_tracker/object_model/object_model.hpp" #include "autoware/multi_object_tracker/tracker/tracker.hpp" #include "autoware/object_recognition_utils/object_recognition_utils.hpp" @@ -102,14 +103,14 @@ std::shared_ptr TrackerProcessor::createNewTracker( return std::make_shared( time, object, self_transform, channel_size_, channel_index); if (tracker == "big_vehicle_tracker") - return std::make_shared( - time, object, self_transform, channel_size_, channel_index); + return std::make_shared( + object_model::big_vehicle, time, object, self_transform, channel_size_, channel_index); if (tracker == "multi_vehicle_tracker") return std::make_shared( time, object, self_transform, channel_size_, channel_index); if (tracker == "normal_vehicle_tracker") - return std::make_shared( - time, object, self_transform, channel_size_, channel_index); + return std::make_shared( + object_model::normal_vehicle, time, object, self_transform, channel_size_, channel_index); if (tracker == "pass_through_tracker") return std::make_shared( time, object, self_transform, channel_size_, channel_index); From d741026d8824c8240d2945eeb942e5dd9e6dc363 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Thu, 12 Dec 2024 12:30:04 +0900 Subject: [PATCH 698/701] chore(package.xml): bump version to 0.40.0 (#9618) Signed-off-by: Fumiya Watanabe --- common/autoware_adapi_specs/CHANGELOG.rst | 30 ++ common/autoware_adapi_specs/package.xml | 2 +- common/autoware_auto_common/CHANGELOG.rst | 26 + common/autoware_auto_common/package.xml | 2 +- .../CHANGELOG.rst | 26 + .../package.xml | 2 +- .../CHANGELOG.rst | 26 + .../package.xml | 2 +- .../CHANGELOG.rst | 28 + .../package.xml | 2 +- common/autoware_fake_test_node/CHANGELOG.rst | 15 + common/autoware_fake_test_node/package.xml | 2 +- .../CHANGELOG.rst | 14 + .../package.xml | 2 +- common/autoware_glog_component/CHANGELOG.rst | 15 + common/autoware_glog_component/package.xml | 2 +- .../CHANGELOG.rst | 24 + .../package.xml | 2 +- common/autoware_grid_map_utils/CHANGELOG.rst | 26 + common/autoware_grid_map_utils/package.xml | 2 +- common/autoware_interpolation/CHANGELOG.rst | 26 + common/autoware_interpolation/package.xml | 2 +- common/autoware_kalman_filter/CHANGELOG.rst | 26 + common/autoware_kalman_filter/package.xml | 2 +- common/autoware_motion_utils/CHANGELOG.rst | 69 +++ common/autoware_motion_utils/package.xml | 2 +- .../CHANGELOG.rst | 26 + .../package.xml | 2 +- common/autoware_osqp_interface/CHANGELOG.rst | 27 + common/autoware_osqp_interface/package.xml | 2 +- .../CHANGELOG.rst | 24 + .../package.xml | 2 +- common/autoware_point_types/CHANGELOG.rst | 24 + common/autoware_point_types/package.xml | 2 +- common/autoware_polar_grid/CHANGELOG.rst | 24 + common/autoware_polar_grid/package.xml | 2 +- common/autoware_pyplot/CHANGELOG.rst | 39 ++ common/autoware_pyplot/package.xml | 3 +- common/autoware_qp_interface/CHANGELOG.rst | 29 + common/autoware_qp_interface/package.xml | 2 +- .../autoware_signal_processing/CHANGELOG.rst | 26 + common/autoware_signal_processing/package.xml | 2 +- common/autoware_test_utils/CHANGELOG.rst | 52 ++ common/autoware_test_utils/package.xml | 2 +- common/autoware_testing/CHANGELOG.rst | 24 + common/autoware_testing/package.xml | 2 +- common/autoware_time_utils/CHANGELOG.rst | 32 ++ common/autoware_time_utils/package.xml | 2 +- .../CHANGELOG.rst | 17 + .../package.xml | 2 +- .../CHANGELOG.rst | 16 + .../autoware_traffic_light_utils/package.xml | 2 +- common/autoware_trajectory/CHANGELOG.rst | 43 ++ common/autoware_trajectory/package.xml | 2 +- common/autoware_universe_utils/CHANGELOG.rst | 42 ++ common/autoware_universe_utils/package.xml | 2 +- .../autoware_vehicle_info_utils/CHANGELOG.rst | 31 ++ .../autoware_vehicle_info_utils/package.xml | 2 +- common/tier4_api_utils/CHANGELOG.rst | 24 + common/tier4_api_utils/package.xml | 2 +- .../CHANGELOG.rst | 83 +++ .../package.xml | 2 +- .../autoware_collision_detector/CHANGELOG.rst | 34 ++ .../autoware_collision_detector/package.xml | 2 +- .../autoware_control_validator/CHANGELOG.rst | 30 ++ .../autoware_control_validator/package.xml | 2 +- .../CHANGELOG.rst | 24 + .../package.xml | 2 +- control/autoware_joy_controller/CHANGELOG.rst | 24 + control/autoware_joy_controller/package.xml | 2 +- .../CHANGELOG.rst | 44 ++ .../package.xml | 2 +- .../CHANGELOG.rst | 50 ++ .../package.xml | 2 +- .../CHANGELOG.rst | 26 + .../package.xml | 2 +- .../CHANGELOG.rst | 28 + .../package.xml | 2 +- .../CHANGELOG.rst | 39 ++ .../package.xml | 2 +- control/autoware_pure_pursuit/CHANGELOG.rst | 29 + control/autoware_pure_pursuit/package.xml | 2 +- control/autoware_shift_decider/CHANGELOG.rst | 24 + control/autoware_shift_decider/package.xml | 2 +- .../CHANGELOG.rst | 27 + .../package.xml | 2 +- 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.../CHANGELOG.rst | 26 + .../package.xml | 2 +- .../CHANGELOG.rst | 50 ++ .../package.xml | 2 +- .../autoware_bezier_sampler/CHANGELOG.rst | 26 + .../autoware_bezier_sampler/package.xml | 2 +- .../autoware_frenet_planner/CHANGELOG.rst | 26 + .../autoware_frenet_planner/package.xml | 2 +- .../autoware_path_sampler/CHANGELOG.rst | 27 + .../autoware_path_sampler/package.xml | 2 +- .../autoware_sampler_common/CHANGELOG.rst | 27 + .../autoware_sampler_common/package.xml | 2 +- sensing/autoware_cuda_utils/CHANGELOG.rst | 34 +- sensing/autoware_cuda_utils/package.xml | 2 +- sensing/autoware_gnss_poser/CHANGELOG.rst | 28 + sensing/autoware_gnss_poser/package.xml | 2 +- .../autoware_image_diagnostics/CHANGELOG.rst | 26 + .../autoware_image_diagnostics/package.xml | 2 +- .../CHANGELOG.rst | 24 + .../package.xml | 2 +- sensing/autoware_imu_corrector/CHANGELOG.rst | 26 + sensing/autoware_imu_corrector/package.xml | 2 +- sensing/autoware_pcl_extensions/CHANGELOG.rst | 24 + sensing/autoware_pcl_extensions/package.xml | 2 +- .../CHANGELOG.rst | 44 ++ .../package.xml | 2 +- .../CHANGELOG.rst | 24 + .../package.xml | 2 +- .../CHANGELOG.rst | 24 + .../package.xml | 2 +- .../CHANGELOG.rst | 24 + .../package.xml | 2 +- .../CHANGELOG.rst | 26 + .../package.xml | 2 +- .../CHANGELOG.rst | 18 + .../package.xml | 2 +- .../autoware_livox_tag_filter/CHANGELOG.rst | 24 + .../autoware_livox_tag_filter/package.xml | 2 +- .../autoware_carla_interface/CHANGELOG.rst | 28 + .../autoware_carla_interface/package.xml | 2 +- simulator/autoware_carla_interface/setup.py | 2 +- .../dummy_perception_publisher/CHANGELOG.rst | 27 + .../dummy_perception_publisher/package.xml | 2 +- simulator/fault_injection/CHANGELOG.rst | 26 + simulator/fault_injection/package.xml | 2 +- .../CHANGELOG.rst | 27 + .../learning_based_vehicle_model/package.xml | 2 +- .../simple_planning_simulator/CHANGELOG.rst | 33 ++ .../simple_planning_simulator/package.xml | 2 +- .../CHANGELOG.rst | 28 + .../package.xml | 2 +- .../vehicle_door_simulator/CHANGELOG.rst | 24 + simulator/vehicle_door_simulator/package.xml | 2 +- .../autoware_component_monitor/CHANGELOG.rst | 26 + system/autoware_component_monitor/package.xml | 2 +- system/autoware_default_adapi/CHANGELOG.rst | 48 ++ system/autoware_default_adapi/package.xml | 2 +- .../CHANGELOG.rst | 56 ++ .../package.xml | 2 +- system/bluetooth_monitor/CHANGELOG.rst | 26 + system/bluetooth_monitor/package.xml | 2 +- system/component_state_monitor/CHANGELOG.rst | 26 + system/component_state_monitor/package.xml | 2 +- .../ad_api_adaptors/CHANGELOG.rst | 36 ++ .../ad_api_adaptors/package.xml | 2 +- .../ad_api_visualizers/CHANGELOG.rst | 24 + .../ad_api_visualizers/package.xml | 2 +- .../ad_api_visualizers/setup.py | 2 +- .../automatic_pose_initializer/CHANGELOG.rst | 36 ++ .../automatic_pose_initializer/package.xml | 2 +- .../diagnostic_graph_aggregator/CHANGELOG.rst | 28 + .../diagnostic_graph_aggregator/package.xml | 2 +- system/diagnostic_graph_utils/CHANGELOG.rst | 39 ++ system/diagnostic_graph_utils/package.xml | 2 +- system/dummy_diag_publisher/CHANGELOG.rst | 36 ++ system/dummy_diag_publisher/package.xml | 2 +- system/dummy_infrastructure/CHANGELOG.rst | 24 + system/dummy_infrastructure/package.xml | 2 +- system/duplicated_node_checker/CHANGELOG.rst | 27 + system/duplicated_node_checker/package.xml | 2 +- system/hazard_status_converter/CHANGELOG.rst | 35 ++ system/hazard_status_converter/package.xml | 2 +- .../CHANGELOG.rst | 30 ++ .../mrm_comfortable_stop_operator/package.xml | 2 +- .../mrm_emergency_stop_operator/CHANGELOG.rst | 26 + .../mrm_emergency_stop_operator/package.xml | 2 +- system/mrm_handler/CHANGELOG.rst | 31 ++ system/mrm_handler/package.xml | 2 +- .../system_diagnostic_monitor/CHANGELOG.rst | 24 + system/system_diagnostic_monitor/package.xml | 2 +- system/system_monitor/CHANGELOG.rst | 37 ++ system/system_monitor/package.xml | 2 +- system/topic_state_monitor/CHANGELOG.rst | 24 + system/topic_state_monitor/package.xml | 2 +- system/velodyne_monitor/CHANGELOG.rst | 24 + system/velodyne_monitor/package.xml | 2 +- tools/reaction_analyzer/CHANGELOG.rst | 26 + tools/reaction_analyzer/package.xml | 2 +- .../CHANGELOG.rst | 28 + .../package.xml | 2 +- .../CHANGELOG.rst | 26 + .../package.xml | 2 +- .../CHANGELOG.rst | 26 + .../package.xml | 2 +- .../CHANGELOG.rst | 26 + .../package.xml | 2 +- .../CHANGELOG.rst | 8 + .../package.xml | 2 +- .../CHANGELOG.rst | 8 + .../autoware_overlay_rviz_plugin/package.xml | 2 +- .../CHANGELOG.rst | 8 + .../package.xml | 2 +- .../CHANGELOG.rst | 8 + .../bag_time_manager_rviz_plugin/package.xml | 2 +- .../tier4_adapi_rviz_plugin/CHANGELOG.rst | 8 + .../tier4_adapi_rviz_plugin/package.xml | 2 +- .../CHANGELOG.rst | 8 + .../tier4_camera_view_rviz_plugin/package.xml | 2 +- .../tier4_datetime_rviz_plugin/CHANGELOG.rst | 8 + .../tier4_datetime_rviz_plugin/package.xml | 2 +- .../CHANGELOG.rst | 8 + .../package.xml | 2 +- .../tier4_planning_rviz_plugin/CHANGELOG.rst | 8 + .../tier4_planning_rviz_plugin/package.xml | 2 +- .../tier4_state_rviz_plugin/CHANGELOG.rst | 8 + .../tier4_state_rviz_plugin/package.xml | 2 +- .../tier4_system_rviz_plugin/CHANGELOG.rst | 8 + .../tier4_system_rviz_plugin/package.xml | 2 +- .../CHANGELOG.rst | 8 + .../package.xml | 2 +- .../tier4_vehicle_rviz_plugin/CHANGELOG.rst | 8 + .../tier4_vehicle_rviz_plugin/package.xml | 2 +- 494 files changed, 9294 insertions(+), 251 deletions(-) create mode 100644 common/autoware_pyplot/CHANGELOG.rst create mode 100644 evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst create mode 100644 map/autoware_lanelet2_map_visualizer/CHANGELOG.rst diff --git a/common/autoware_adapi_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst index 79e62f7738922..7693074353d9f 100644 --- a/common/autoware_adapi_specs/CHANGELOG.rst +++ b/common/autoware_adapi_specs/CHANGELOG.rst @@ -2,6 +2,36 @@ Changelog for package autoware_adapi_specs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix package names in changelog files (`#9500 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/common/autoware_adapi_specs/package.xml b/common/autoware_adapi_specs/package.xml index 754edf9ddfbe7..5424d5bad52d5 100644 --- a/common/autoware_adapi_specs/package.xml +++ b/common/autoware_adapi_specs/package.xml @@ -2,7 +2,7 @@ autoware_adapi_specs - 0.39.0 + 0.40.0 The autoware_adapi_specs package Takagi, Isamu Ryohsuke Mitsudome diff --git a/common/autoware_auto_common/CHANGELOG.rst b/common/autoware_auto_common/CHANGELOG.rst index 93b2dba7939a2..63f0fe2ac83e3 100644 --- a/common/autoware_auto_common/CHANGELOG.rst +++ b/common/autoware_auto_common/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_auto_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml index 9d12bda8c75c3..ccdcd4bab8608 100644 --- a/common/autoware_auto_common/package.xml +++ b/common/autoware_auto_common/package.xml @@ -2,7 +2,7 @@ autoware_auto_common - 0.39.0 + 0.40.0 Miscellaneous helper functions Apex.AI, Inc. Tomoya Kimura diff --git a/common/autoware_component_interface_specs/CHANGELOG.rst b/common/autoware_component_interface_specs/CHANGELOG.rst index faacc0cfdb2bf..43590966602d2 100644 --- a/common/autoware_component_interface_specs/CHANGELOG.rst +++ b/common/autoware_component_interface_specs/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_component_interface_specs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml index 5a2fd993613d1..4bbe62e7e9701 100644 --- a/common/autoware_component_interface_specs/package.xml +++ b/common/autoware_component_interface_specs/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_specs - 0.39.0 + 0.40.0 The autoware_component_interface_specs package Takagi, Isamu Yukihiro Saito diff --git a/common/autoware_component_interface_tools/CHANGELOG.rst b/common/autoware_component_interface_tools/CHANGELOG.rst index e0c07efa43418..b17fa431b27bb 100644 --- a/common/autoware_component_interface_tools/CHANGELOG.rst +++ b/common/autoware_component_interface_tools/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_component_interface_tools ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix missing namespaces in C++ code (`#9477 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml index d0c79f3ad0d67..e38b048e22ebe 100644 --- a/common/autoware_component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_tools - 0.39.0 + 0.40.0 The autoware_component_interface_tools package Takagi, Isamu Apache License 2.0 diff --git a/common/autoware_component_interface_utils/CHANGELOG.rst b/common/autoware_component_interface_utils/CHANGELOG.rst index 6e6ee88a3f3a7..d19e72f19e469 100644 --- a/common/autoware_component_interface_utils/CHANGELOG.rst +++ b/common/autoware_component_interface_utils/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package autoware_component_interface_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* fix: fix package names in changelog files (`#9500 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/common/autoware_component_interface_utils/package.xml b/common/autoware_component_interface_utils/package.xml index 5efebf5c0d210..0bc51ee211d50 100755 --- a/common/autoware_component_interface_utils/package.xml +++ b/common/autoware_component_interface_utils/package.xml @@ -2,7 +2,7 @@ autoware_component_interface_utils - 0.39.0 + 0.40.0 The autoware_component_interface_utils package Takagi, Isamu Yukihiro Saito diff --git a/common/autoware_fake_test_node/CHANGELOG.rst b/common/autoware_fake_test_node/CHANGELOG.rst index 5f04908a8ab0f..5bc3669a5aa27 100644 --- a/common/autoware_fake_test_node/CHANGELOG.rst +++ b/common/autoware_fake_test_node/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package autoware_fake_test_node ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix package names in changelog files (`#9500 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_fake_test_node/package.xml b/common/autoware_fake_test_node/package.xml index 531e9351023e6..0ae881e4a41ba 100644 --- a/common/autoware_fake_test_node/package.xml +++ b/common/autoware_fake_test_node/package.xml @@ -2,7 +2,7 @@ autoware_fake_test_node - 0.39.0 + 0.40.0 A fake node that we can use in the integration-like cpp tests. Apex.AI, Inc. Tomoya Kimura diff --git a/common/autoware_global_parameter_loader/CHANGELOG.rst b/common/autoware_global_parameter_loader/CHANGELOG.rst index 2de0adf89cb3e..d778018320271 100644 --- a/common/autoware_global_parameter_loader/CHANGELOG.rst +++ b/common/autoware_global_parameter_loader/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package global_parameter_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_global_parameter_loader/package.xml b/common/autoware_global_parameter_loader/package.xml index ef40ff8df22aa..8238e5852284f 100644 --- a/common/autoware_global_parameter_loader/package.xml +++ b/common/autoware_global_parameter_loader/package.xml @@ -2,7 +2,7 @@ autoware_global_parameter_loader - 0.39.0 + 0.40.0 The autoware_global_parameter_loader package Ryohsuke Mitsudome Apache License 2.0 diff --git a/common/autoware_glog_component/CHANGELOG.rst b/common/autoware_glog_component/CHANGELOG.rst index 66eee038b6353..e9176b6524049 100644 --- a/common/autoware_glog_component/CHANGELOG.rst +++ b/common/autoware_glog_component/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package glog_component ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_glog_component/package.xml b/common/autoware_glog_component/package.xml index 3bfb6c97155b0..eab95fa8944d3 100644 --- a/common/autoware_glog_component/package.xml +++ b/common/autoware_glog_component/package.xml @@ -2,7 +2,7 @@ autoware_glog_component - 0.39.0 + 0.40.0 The autoware_glog_component package Takamasa Horibe Apache License 2.0 diff --git a/common/autoware_goal_distance_calculator/CHANGELOG.rst b/common/autoware_goal_distance_calculator/CHANGELOG.rst index 45fa8825612ef..df190270e02ab 100644 --- a/common/autoware_goal_distance_calculator/CHANGELOG.rst +++ b/common/autoware_goal_distance_calculator/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_goal_distance_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_goal_distance_calculator/package.xml b/common/autoware_goal_distance_calculator/package.xml index 24b3b2f2ba9c6..903d77515f262 100644 --- a/common/autoware_goal_distance_calculator/package.xml +++ b/common/autoware_goal_distance_calculator/package.xml @@ -2,7 +2,7 @@ autoware_goal_distance_calculator - 0.39.0 + 0.40.0 The autoware_goal_distance_calculator package Taiki Tanaka Apache License 2.0 diff --git a/common/autoware_grid_map_utils/CHANGELOG.rst b/common/autoware_grid_map_utils/CHANGELOG.rst index 31df087b80d59..7a1b19b90a958 100644 --- a/common/autoware_grid_map_utils/CHANGELOG.rst +++ b/common/autoware_grid_map_utils/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_grid_map_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_grid_map_utils/package.xml b/common/autoware_grid_map_utils/package.xml index cc64daa0045e0..bf89abc507173 100644 --- a/common/autoware_grid_map_utils/package.xml +++ b/common/autoware_grid_map_utils/package.xml @@ -2,7 +2,7 @@ autoware_grid_map_utils - 0.39.0 + 0.40.0 Utilities for the grid_map library Maxime CLEMENT Apache License 2.0 diff --git a/common/autoware_interpolation/CHANGELOG.rst b/common/autoware_interpolation/CHANGELOG.rst index e62e73ae4ec21..37fc48c525a49 100644 --- a/common/autoware_interpolation/CHANGELOG.rst +++ b/common/autoware_interpolation/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_interpolation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_interpolation/package.xml b/common/autoware_interpolation/package.xml index 22db75271b316..3bad757405ed4 100644 --- a/common/autoware_interpolation/package.xml +++ b/common/autoware_interpolation/package.xml @@ -2,7 +2,7 @@ autoware_interpolation - 0.39.0 + 0.40.0 The spline interpolation package Fumiya Watanabe Takayuki Murooka diff --git a/common/autoware_kalman_filter/CHANGELOG.rst b/common/autoware_kalman_filter/CHANGELOG.rst index 5ec0bcc9e72dc..a7e68f8843e74 100644 --- a/common/autoware_kalman_filter/CHANGELOG.rst +++ b/common/autoware_kalman_filter/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_kalman_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_kalman_filter/package.xml b/common/autoware_kalman_filter/package.xml index 4cd94ff488899..e51bb06e9de43 100644 --- a/common/autoware_kalman_filter/package.xml +++ b/common/autoware_kalman_filter/package.xml @@ -2,7 +2,7 @@ autoware_kalman_filter - 0.39.0 + 0.40.0 The kalman filter package Yukihiro Saito Takeshi Ishita diff --git a/common/autoware_motion_utils/CHANGELOG.rst b/common/autoware_motion_utils/CHANGELOG.rst index 216d4d978bd8a..187ddda4acd39 100644 --- a/common/autoware_motion_utils/CHANGELOG.rst +++ b/common/autoware_motion_utils/CHANGELOG.rst @@ -2,6 +2,75 @@ Changelog for package autoware_motion_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(factor): move steering factor interface to motion utils (`#9337 `_) +* feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (`#9299 `_) + * feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory + * update + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_motion_utils): add new trajectory class (`#8693 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + * add clone function + * fix stairstep + * make constructor to public + * feat(autoware_motion_utils): add trajectory class + * Update CMakeLists.txt + * fix + * fix package.xml + * update crop + * revert crtp change + * update package.xml + * updating... + * update + * solve build problem + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/common/autoware_motion_utils/package.xml b/common/autoware_motion_utils/package.xml index 4aa215b48e2ce..029985a53f020 100644 --- a/common/autoware_motion_utils/package.xml +++ b/common/autoware_motion_utils/package.xml @@ -2,7 +2,7 @@ autoware_motion_utils - 0.39.0 + 0.40.0 The autoware_motion_utils package Satoshi Ota Takayuki Murooka diff --git a/common/autoware_object_recognition_utils/CHANGELOG.rst b/common/autoware_object_recognition_utils/CHANGELOG.rst index 44bc2573f435a..920106de22082 100644 --- a/common/autoware_object_recognition_utils/CHANGELOG.rst +++ b/common/autoware_object_recognition_utils/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_object_recognition_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_object_recognition_utils/package.xml b/common/autoware_object_recognition_utils/package.xml index 729999f96dc6e..05327766008f2 100644 --- a/common/autoware_object_recognition_utils/package.xml +++ b/common/autoware_object_recognition_utils/package.xml @@ -2,7 +2,7 @@ autoware_object_recognition_utils - 0.39.0 + 0.40.0 The autoware_object_recognition_utils package Takayuki Murooka Shunsuke Miura diff --git a/common/autoware_osqp_interface/CHANGELOG.rst b/common/autoware_osqp_interface/CHANGELOG.rst index 5ce7b02250fda..d400b77f4bf61 100644 --- a/common/autoware_osqp_interface/CHANGELOG.rst +++ b/common/autoware_osqp_interface/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_osqp_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* fix(autoware_osqp_interface): fix clang-tidy errors (`#9440 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_osqp_interface/package.xml b/common/autoware_osqp_interface/package.xml index 95ffebe833cc6..92a2afeccc4e0 100644 --- a/common/autoware_osqp_interface/package.xml +++ b/common/autoware_osqp_interface/package.xml @@ -2,7 +2,7 @@ autoware_osqp_interface - 0.39.0 + 0.40.0 Interface for the OSQP solver Maxime CLEMENT Takayuki Murooka diff --git a/common/autoware_path_distance_calculator/CHANGELOG.rst b/common/autoware_path_distance_calculator/CHANGELOG.rst index 6adf0a3e3c851..cd4c6ae5ce49b 100644 --- a/common/autoware_path_distance_calculator/CHANGELOG.rst +++ b/common/autoware_path_distance_calculator/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_path_distance_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_path_distance_calculator/package.xml b/common/autoware_path_distance_calculator/package.xml index 7466b299e7e2e..6d207f6ed795d 100644 --- a/common/autoware_path_distance_calculator/package.xml +++ b/common/autoware_path_distance_calculator/package.xml @@ -2,7 +2,7 @@ autoware_path_distance_calculator - 0.39.0 + 0.40.0 The autoware_path_distance_calculator package Takagi, Isamu Apache License 2.0 diff --git a/common/autoware_point_types/CHANGELOG.rst b/common/autoware_point_types/CHANGELOG.rst index 12cef4043ae3e..5e26002677a36 100644 --- a/common/autoware_point_types/CHANGELOG.rst +++ b/common/autoware_point_types/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_point_types ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml index fd48c12daa2e9..e35e6a63de648 100644 --- a/common/autoware_point_types/package.xml +++ b/common/autoware_point_types/package.xml @@ -2,7 +2,7 @@ autoware_point_types - 0.39.0 + 0.40.0 The point types definition to use point_cloud_msg_wrapper David Wong Max Schmeller diff --git a/common/autoware_polar_grid/CHANGELOG.rst b/common/autoware_polar_grid/CHANGELOG.rst index b4e9e612fe093..72a53e6cef4b7 100644 --- a/common/autoware_polar_grid/CHANGELOG.rst +++ b/common/autoware_polar_grid/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_polar_grid ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_polar_grid/package.xml b/common/autoware_polar_grid/package.xml index a2ed7a138bdca..16d6a72985ec9 100644 --- a/common/autoware_polar_grid/package.xml +++ b/common/autoware_polar_grid/package.xml @@ -2,7 +2,7 @@ autoware_polar_grid - 0.39.0 + 0.40.0 The autoware_polar_grid package Yukihiro Saito Apache License 2.0 diff --git a/common/autoware_pyplot/CHANGELOG.rst b/common/autoware_pyplot/CHANGELOG.rst new file mode 100644 index 0000000000000..c3b1f9c17f7d5 --- /dev/null +++ b/common/autoware_pyplot/CHANGELOG.rst @@ -0,0 +1,39 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_pyplot +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* docs(autoware_pyplot): add missing readme and move the package to common (`#9546 `_) +* fix(autoware_pyplot): fix missing python3-dev dependency (`#9461 `_) +* feat(pyplot): add C++ pyplot (`#9430 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome + +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* docs(autoware_pyplot): add missing readme and move the package to common (`#9546 `_) +* fix(autoware_pyplot): fix missing python3-dev dependency (`#9461 `_) +* feat(pyplot): add C++ pyplot (`#9430 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- + +0.38.0 (2024-11-11) +------------------- diff --git a/common/autoware_pyplot/package.xml b/common/autoware_pyplot/package.xml index 297ab68cb9367..2f3f3014d4907 100644 --- a/common/autoware_pyplot/package.xml +++ b/common/autoware_pyplot/package.xml @@ -2,12 +2,11 @@ autoware_pyplot - 0.39.0 + 0.40.0 C++ interface for matplotlib based on pybind11 Mamoru Sobue Yukinari Hisaki Apache License 2.0 - Koji Minoda Mamoru Sobue diff --git a/common/autoware_qp_interface/CHANGELOG.rst b/common/autoware_qp_interface/CHANGELOG.rst index ce931f6f5e1e7..f76dac861e1e6 100644 --- a/common/autoware_qp_interface/CHANGELOG.rst +++ b/common/autoware_qp_interface/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package autoware_qp_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* fix: fix package names in changelog files (`#9500 `_) +* fix(autoware_osqp_interface): fix clang-tidy errors (`#9440 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/common/autoware_qp_interface/package.xml b/common/autoware_qp_interface/package.xml index 5bd3ce1ad8464..b61d03a36db72 100644 --- a/common/autoware_qp_interface/package.xml +++ b/common/autoware_qp_interface/package.xml @@ -2,7 +2,7 @@ autoware_qp_interface - 0.39.0 + 0.40.0 Interface for the QP solvers Takayuki Murooka Fumiya Watanabe diff --git a/common/autoware_signal_processing/CHANGELOG.rst b/common/autoware_signal_processing/CHANGELOG.rst index f41732a258cf7..b5b01e98e23a7 100644 --- a/common/autoware_signal_processing/CHANGELOG.rst +++ b/common/autoware_signal_processing/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_signal_processing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_signal_processing/package.xml b/common/autoware_signal_processing/package.xml index 6197c641a6f82..b8d7c064112dd 100644 --- a/common/autoware_signal_processing/package.xml +++ b/common/autoware_signal_processing/package.xml @@ -2,7 +2,7 @@ autoware_signal_processing - 0.39.0 + 0.40.0 The signal processing package Takayuki Murooka Takamasa Horibe diff --git a/common/autoware_test_utils/CHANGELOG.rst b/common/autoware_test_utils/CHANGELOG.rst index 02a046a20e595..950fdb09aa119 100644 --- a/common/autoware_test_utils/CHANGELOG.rst +++ b/common/autoware_test_utils/CHANGELOG.rst @@ -2,6 +2,58 @@ Changelog for package autoware_test_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* refactor(test_utils): return parser as optional (`#9391 `_) + Co-authored-by: Mamoru Sobue +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_test_utils): add parser for LaneletRoute, TrackedObject (`#9317 `_) +* test(autoware_test_utils): add TrafficLight to map, fix launcher (`#9318 `_) +* test(bpp_common): add tests for the static drivable area (`#9324 `_) +* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(autoware_test_utils): add general topic dumper (`#9207 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo, Zulfaqar Azmi, awf-autoware-bot[bot], mkquda + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml index 97c81c62ba512..22572abb72b69 100644 --- a/common/autoware_test_utils/package.xml +++ b/common/autoware_test_utils/package.xml @@ -2,7 +2,7 @@ autoware_test_utils - 0.39.0 + 0.40.0 ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe diff --git a/common/autoware_testing/CHANGELOG.rst b/common/autoware_testing/CHANGELOG.rst index 1a016888fda47..09ff6bdc4cf04 100644 --- a/common/autoware_testing/CHANGELOG.rst +++ b/common/autoware_testing/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_testing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_testing/package.xml b/common/autoware_testing/package.xml index ae5b5e7a5d466..a5df1302b682d 100644 --- a/common/autoware_testing/package.xml +++ b/common/autoware_testing/package.xml @@ -2,7 +2,7 @@ autoware_testing - 0.39.0 + 0.40.0 Tools for handling standard tests based on ros_testing Adam Dabrowski Tomoya Kimura diff --git a/common/autoware_time_utils/CHANGELOG.rst b/common/autoware_time_utils/CHANGELOG.rst index 4f0f87e5daad8..b18c3dd42cbc6 100644 --- a/common/autoware_time_utils/CHANGELOG.rst +++ b/common/autoware_time_utils/CHANGELOG.rst @@ -2,6 +2,38 @@ Changelog for package autoware_time_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix package names in changelog files (`#9500 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware + * refactor(time_utils): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/common/autoware_time_utils/package.xml b/common/autoware_time_utils/package.xml index 6491006b6cc27..278143e9ac4f8 100644 --- a/common/autoware_time_utils/package.xml +++ b/common/autoware_time_utils/package.xml @@ -2,7 +2,7 @@ autoware_time_utils - 0.39.0 + 0.40.0 Simple conversion methods to/from std::chrono to simplify algorithm development Christopher Ho Tomoya Kimura diff --git a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst index ea5339ba8d566..27a61bf71b1e8 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst +++ b/common/autoware_traffic_light_recognition_marker_publisher/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package autoware_traffic_light_recognition_marker_publisher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix(cpplint): include what you use - common (`#9564 `_) +* fix: fix package names in changelog files (`#9500 `_) +* fix: fix missing namespaces in C++ code (`#9477 `_) +* refactor(traffic_light_recognition_marker_publisher): prefix package and namespace with autoware (`#9305 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_traffic_light_recognition_marker_publisher/package.xml b/common/autoware_traffic_light_recognition_marker_publisher/package.xml index ddca8ad56c281..af670dc19baf1 100644 --- a/common/autoware_traffic_light_recognition_marker_publisher/package.xml +++ b/common/autoware_traffic_light_recognition_marker_publisher/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_recognition_marker_publisher - 0.39.0 + 0.40.0 The autoware_traffic_light_recognition_marker_publisher package Tomoya Kimura Takeshi Miura diff --git a/common/autoware_traffic_light_utils/CHANGELOG.rst b/common/autoware_traffic_light_utils/CHANGELOG.rst index 518123e826992..0230e43574de8 100644 --- a/common/autoware_traffic_light_utils/CHANGELOG.rst +++ b/common/autoware_traffic_light_utils/CHANGELOG.rst @@ -2,6 +2,22 @@ Changelog for package autoware_traffic_light_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix(cpplint): include what you use - common (`#9564 `_) +* fix: fix package names in changelog files (`#9500 `_) +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_traffic_light_utils/package.xml b/common/autoware_traffic_light_utils/package.xml index 744a7b08c22a9..645e92e2d992f 100644 --- a/common/autoware_traffic_light_utils/package.xml +++ b/common/autoware_traffic_light_utils/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_utils - 0.39.0 + 0.40.0 The autoware_traffic_light_utils package Kotaro Uetake Shunsuke Miura diff --git a/common/autoware_trajectory/CHANGELOG.rst b/common/autoware_trajectory/CHANGELOG.rst index 1fbf18ec57abe..307dd8eb3dcf5 100644 --- a/common/autoware_trajectory/CHANGELOG.rst +++ b/common/autoware_trajectory/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package autoware_trajectory ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* refactor: correct spelling (`#9528 `_) +* fix(autoware_trajectory): autoware_trajectory bug (`#9475 `_) + fix autoware_trajectory bug +* 0.39.0 +* fix version +* update changelog +* add changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* refactor(autoware_trajectory): refactor autoware_trajectory (`#9356 `_) +* feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (`#9299 `_) + * feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory + * update + --------- +* feat(autoware_trajectory): change default value of min_points (`#9315 `_) +* fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) +* feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) + change interface of InterpolateArray +* feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yukinari Hisaki, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * add changelog diff --git a/common/autoware_trajectory/package.xml b/common/autoware_trajectory/package.xml index b1aaaed7efc6b..eaa5fca80ff46 100644 --- a/common/autoware_trajectory/package.xml +++ b/common/autoware_trajectory/package.xml @@ -2,7 +2,7 @@ autoware_trajectory - 0.39.0 + 0.40.0 The autoware_trajectory package Yukinari Hisaki Takayuki Murooka diff --git a/common/autoware_universe_utils/CHANGELOG.rst b/common/autoware_universe_utils/CHANGELOG.rst index c85a9f14e960e..31f45a8ecbfce 100644 --- a/common/autoware_universe_utils/CHANGELOG.rst +++ b/common/autoware_universe_utils/CHANGELOG.rst @@ -2,6 +2,48 @@ Changelog for package autoware_universe_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* feat(universe_utils): add extra info to time keeper warning (`#9484 `_) + add extra info to time keeper warning +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) + * add Accumulator class to autoware_universe_utils + * use Accumulator on all evaluators. + * pre-commit + * found and fixed a bug. add more tests. + * pre-commit + * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Giovanni Muhammad Raditya, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/common/autoware_universe_utils/package.xml b/common/autoware_universe_utils/package.xml index 1c2e9993439e4..d04e1a57e78ab 100644 --- a/common/autoware_universe_utils/package.xml +++ b/common/autoware_universe_utils/package.xml @@ -2,7 +2,7 @@ autoware_universe_utils - 0.39.0 + 0.40.0 The autoware_universe_utils package Takamasa Horibe Takayuki Murooka diff --git a/common/autoware_vehicle_info_utils/CHANGELOG.rst b/common/autoware_vehicle_info_utils/CHANGELOG.rst index 4d76f469414b5..a02256d5f9cea 100644 --- a/common/autoware_vehicle_info_utils/CHANGELOG.rst +++ b/common/autoware_vehicle_info_utils/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_vehicle_info_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix(static_centerline_generator): several bug fixes (`#9426 `_) + * fix: dependent packages + * feat: use steer angle, use warn for steer angle failure, calc curvature dicontinuously + * fix cppcheck + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - common (`#9564 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/autoware_vehicle_info_utils/package.xml b/common/autoware_vehicle_info_utils/package.xml index bc3f12f5f3ca0..b6a2f1ad5154a 100644 --- a/common/autoware_vehicle_info_utils/package.xml +++ b/common/autoware_vehicle_info_utils/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_info_utils - 0.39.0 + 0.40.0 The autoware_vehicle_info_utils package diff --git a/common/tier4_api_utils/CHANGELOG.rst b/common/tier4_api_utils/CHANGELOG.rst index a6ac6f3cf1e86..d9b94eeacc79b 100644 --- a/common/tier4_api_utils/CHANGELOG.rst +++ b/common/tier4_api_utils/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package tier4_api_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml index dba6450a338e4..3e7f99b8736c5 100644 --- a/common/tier4_api_utils/package.xml +++ b/common/tier4_api_utils/package.xml @@ -2,7 +2,7 @@ tier4_api_utils - 0.39.0 + 0.40.0 The tier4_api_utils package Takagi, Isamu Apache License 2.0 diff --git a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst index 67fe12fb1243b..578ffc14bae84 100644 --- a/control/autoware_autonomous_emergency_braking/CHANGELOG.rst +++ b/control/autoware_autonomous_emergency_braking/CHANGELOG.rst @@ -2,6 +2,89 @@ Changelog for package autoware_autonomous_emergency_braking ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(autoware_autonomous_emergency_braking): add package maintainer (`#9580 `_) + add package maintainer +* fix(cpplint): include what you use - control (`#9565 `_) +* refactor(autoware_autonomous_emergency_braking): update longitudinal offset parameter name (`#9463 `_) + Update the parameter name for the longitudinal offset distance used for collision check in the autonomous emergency braking control module. The parameter name has been changed from "longitudinal_offset" to "longitudinal_offset_margin" to better reflect its purpose. +* refactor(autoware_autonomous_emergency_braking): add getObjectOnPathData and getLongitudinalOffset functions (`#9462 `_) + * feat(aeb): add getObjectOnPathData and getLongitudinalOffset functions + --------- +* docs(autoware_autonomous_emergency_braking): enhance IMU path generation section with constraints and algorithm details (`#9458 `_) +* feat(autonomous_emergency_braking): set a lateral deviation limit for AEB IMU path (`#9410 `_) + * add a steer limit option for AEB + * wip refactor and add max lat dev param + * fix issue with test + * delete unwanted parts + * delete unwanted changes + * set to false + * change back path length + * add suggestions + * update readme + * cpp check + * fix some sentences + * expand explanation + * update image + * update README + * update description + * fix typo + * fix sentences + * improve readme + --------- +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autonomous_emergency_braking): solve issue with arc length (`#9247 `_) + * solve issue with arc length + * fix problem with points one vehicle apart from path + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), Kyoichi Sugahara, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran, mkquda, ぐるぐる + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml index bab41a7c634d2..e22a0f099e2f0 100644 --- a/control/autoware_autonomous_emergency_braking/package.xml +++ b/control/autoware_autonomous_emergency_braking/package.xml @@ -2,7 +2,7 @@ autoware_autonomous_emergency_braking - 0.39.0 + 0.40.0 Autonomous Emergency Braking package as a ROS 2 node Takamasa Horibe Tomoya Kimura diff --git a/control/autoware_collision_detector/CHANGELOG.rst b/control/autoware_collision_detector/CHANGELOG.rst index 4d0f2f9b2c579..a108327961ac3 100644 --- a/control/autoware_collision_detector/CHANGELOG.rst +++ b/control/autoware_collision_detector/CHANGELOG.rst @@ -2,6 +2,40 @@ Changelog for package autoware_collision_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * subscribe odometry + * fix precommit + * remove unnecessary log info + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(collision_detector): use polling subscriber (`#9213 `_) + use polling subscriber +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/control/autoware_collision_detector/package.xml b/control/autoware_collision_detector/package.xml index e2bdeb7fa9250..680c20b8094e7 100644 --- a/control/autoware_collision_detector/package.xml +++ b/control/autoware_collision_detector/package.xml @@ -2,7 +2,7 @@ autoware_collision_detector - 0.39.0 + 0.40.0 The collision_detector package Kyoichi Sugahara diff --git a/control/autoware_control_validator/CHANGELOG.rst b/control/autoware_control_validator/CHANGELOG.rst index fca1ed1e51184..c35ece2151697 100644 --- a/control/autoware_control_validator/CHANGELOG.rst +++ b/control/autoware_control_validator/CHANGELOG.rst @@ -2,6 +2,36 @@ Changelog for package autoware_control_validator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat: suppress warning/error of the empty predicted trajectory by MPC (`#9373 `_) +* fix(autoware_control_validator): fix clang-diagnostic-unused-private-field (`#9381 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, ぐるぐる + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/control/autoware_control_validator/package.xml b/control/autoware_control_validator/package.xml index 24c3daebb6749..fbaa3f013b64e 100644 --- a/control/autoware_control_validator/package.xml +++ b/control/autoware_control_validator/package.xml @@ -2,7 +2,7 @@ autoware_control_validator - 0.39.0 + 0.40.0 ros node for autoware_control_validator Kyoichi Sugahara Takamasa Horibe diff --git a/control/autoware_external_cmd_selector/CHANGELOG.rst b/control/autoware_external_cmd_selector/CHANGELOG.rst index 85e6e33fae450..2e4ee4c7d2906 100644 --- a/control/autoware_external_cmd_selector/CHANGELOG.rst +++ b/control/autoware_external_cmd_selector/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_external_cmd_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/control/autoware_external_cmd_selector/package.xml b/control/autoware_external_cmd_selector/package.xml index 036e293b308df..86cbdf9f00bfb 100644 --- a/control/autoware_external_cmd_selector/package.xml +++ b/control/autoware_external_cmd_selector/package.xml @@ -2,7 +2,7 @@ autoware_external_cmd_selector - 0.39.0 + 0.40.0 The autoware_external_cmd_selector package Taiki Tanaka Tomoya Kimura diff --git a/control/autoware_joy_controller/CHANGELOG.rst b/control/autoware_joy_controller/CHANGELOG.rst index f0ce6cd9eb030..8d25bab7fc6db 100644 --- a/control/autoware_joy_controller/CHANGELOG.rst +++ b/control/autoware_joy_controller/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_joy_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/control/autoware_joy_controller/package.xml b/control/autoware_joy_controller/package.xml index 3d695f995f855..b178ec167306a 100644 --- a/control/autoware_joy_controller/package.xml +++ b/control/autoware_joy_controller/package.xml @@ -2,7 +2,7 @@ autoware_joy_controller - 0.39.0 + 0.40.0 The autoware_joy_controller package Taiki Tanaka Tomoya Kimura diff --git a/control/autoware_lane_departure_checker/CHANGELOG.rst b/control/autoware_lane_departure_checker/CHANGELOG.rst index d7f502990a9a2..9b49f0c6c8fb1 100644 --- a/control/autoware_lane_departure_checker/CHANGELOG.rst +++ b/control/autoware_lane_departure_checker/CHANGELOG.rst @@ -2,6 +2,50 @@ Changelog for package autoware_lane_departure_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* test(lane_departure_checker): add unit test for createVehiclePassingAreas (`#9548 `_) + * test(lane_departure_checker): add unit tests for createVehiclePassingAreas function + --------- +* refactor(lane_departure_checker): move member functions to util functions (`#9547 `_) + * refactor(lane_departure_checker): move member functions to util functions + --------- +* fix(cpplint): include what you use - control (`#9565 `_) +* test(lane_departure_checker): add tests for calcTrajectoryDeviation(), calcMaxSearchLengthForBoundaries() (`#9029 `_) + * move calcTrajectoryDeviation() to separate files + * move calcMaxSearchLengthForBoundaries() to separate files + * add tests for calcTrajectoryDeviation() + * add tests for calcMaxSearchLengthForBoundaries() + --------- + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat: suppress warning/error of the empty predicted trajectory by MPC (`#9373 `_) +* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + speed up by updating polygons +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Mitsuhiro Sakamoto, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, awf-autoware-bot[bot], danielsanchezaran + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/control/autoware_lane_departure_checker/package.xml b/control/autoware_lane_departure_checker/package.xml index 70ea7459a2b93..2689b4a4dbcb7 100644 --- a/control/autoware_lane_departure_checker/package.xml +++ b/control/autoware_lane_departure_checker/package.xml @@ -2,7 +2,7 @@ autoware_lane_departure_checker - 0.39.0 + 0.40.0 The autoware_lane_departure_checker package Kyoichi Sugahara Makoto Kurihara diff --git a/control/autoware_mpc_lateral_controller/CHANGELOG.rst b/control/autoware_mpc_lateral_controller/CHANGELOG.rst index a361c3aaec161..f149921648e8d 100644 --- a/control/autoware_mpc_lateral_controller/CHANGELOG.rst +++ b/control/autoware_mpc_lateral_controller/CHANGELOG.rst @@ -2,6 +2,56 @@ Changelog for package autoware_mpc_lateral_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* fix(autoware_mpc_lateral_controller): fix clang-tidy errors (`#9436 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(mpc_lateral_controller): suppress rclcpp_warning/error (`#9382 `_) + * feat(mpc_lateral_controller): suppress rclcpp_warning/error + * fix + * fix test + --------- +* fix(autoware_mpc_lateral_controller): fix variableScope (`#9390 `_) +* feat: suppress warning/error of the empty predicted trajectory by MPC (`#9373 `_) +* chore(autoware_mpc_lateral_controller): add maintainer (`#9374 `_) +* feat(trajectory_follower): publsih control horzion (`#8977 `_) + * feat(trajectory_follower): publsih control horzion + * fix typo + * rename functions and minor refactor + * add option to enable horizon pub + * add tests for horizon + * update docs + * rename to ~/debug/control_cmd_horizon + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 `_) + * fix: bugprone-misplaced-widening-cast + * fix: consider negative values + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Kyoichi Sugahara, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml index d8bb14d211bf8..b450af05ea0e1 100644 --- a/control/autoware_mpc_lateral_controller/package.xml +++ b/control/autoware_mpc_lateral_controller/package.xml @@ -2,7 +2,7 @@ autoware_mpc_lateral_controller - 0.39.0 + 0.40.0 MPC-based lateral controller Takamasa Horibe diff --git a/control/autoware_obstacle_collision_checker/CHANGELOG.rst b/control/autoware_obstacle_collision_checker/CHANGELOG.rst index 05e5b2d4190d7..79a7b2d8819e4 100644 --- a/control/autoware_obstacle_collision_checker/CHANGELOG.rst +++ b/control/autoware_obstacle_collision_checker/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_obstacle_collision_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/control/autoware_obstacle_collision_checker/package.xml b/control/autoware_obstacle_collision_checker/package.xml index 66df5e98bf57d..334c6d970fc36 100644 --- a/control/autoware_obstacle_collision_checker/package.xml +++ b/control/autoware_obstacle_collision_checker/package.xml @@ -2,7 +2,7 @@ autoware_obstacle_collision_checker - 0.39.0 + 0.40.0 The obstacle_collision_checker package Taiki Tanaka Tomoya Kimura diff --git a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst index af99c3781459a..3f178c04f9d48 100644 --- a/control/autoware_operation_mode_transition_manager/CHANGELOG.rst +++ b/control/autoware_operation_mode_transition_manager/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package autoware_operation_mode_transition_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/control/autoware_operation_mode_transition_manager/package.xml b/control/autoware_operation_mode_transition_manager/package.xml index 7a0d6977a3e8f..eb4d50b625f11 100644 --- a/control/autoware_operation_mode_transition_manager/package.xml +++ b/control/autoware_operation_mode_transition_manager/package.xml @@ -1,6 +1,6 @@ autoware_operation_mode_transition_manager - 0.39.0 + 0.40.0 The operation_mode_transition_manager package Takamasa Horibe Tomoya Kimura diff --git a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst index 57e2ce30aff35..d63f075c26918 100644 --- a/control/autoware_pid_longitudinal_controller/CHANGELOG.rst +++ b/control/autoware_pid_longitudinal_controller/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_pid_longitudinal_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(pid_longitudinal_controller): suppress rclcpp_warning/error (`#9384 `_) + * feat(pid_longitudinal_controller): suppress rclcpp_warning/error + * update codeowner + --------- +* feat(trajectory_follower): publsih control horzion (`#8977 `_) + * feat(trajectory_follower): publsih control horzion + * fix typo + * rename functions and minor refactor + * add option to enable horizon pub + * add tests for horizon + * update docs + * rename to ~/debug/control_cmd_horizon + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml index 88f8abaf225e8..67e95a9d4c0ac 100644 --- a/control/autoware_pid_longitudinal_controller/package.xml +++ b/control/autoware_pid_longitudinal_controller/package.xml @@ -2,7 +2,7 @@ autoware_pid_longitudinal_controller - 0.39.0 + 0.40.0 PID-based longitudinal controller Takamasa Horibe diff --git a/control/autoware_pure_pursuit/CHANGELOG.rst b/control/autoware_pure_pursuit/CHANGELOG.rst index df0b7df3a9e52..e0afa320a49a5 100644 --- a/control/autoware_pure_pursuit/CHANGELOG.rst +++ b/control/autoware_pure_pursuit/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package autoware_pure_pursuit ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, awf-autoware-bot[bot] + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/control/autoware_pure_pursuit/package.xml b/control/autoware_pure_pursuit/package.xml index 03c46dbc22bb6..06500ddb32af0 100644 --- a/control/autoware_pure_pursuit/package.xml +++ b/control/autoware_pure_pursuit/package.xml @@ -2,7 +2,7 @@ autoware_pure_pursuit - 0.39.0 + 0.40.0 The pure_pursuit package Takamasa Horibe Takayuki Murooka diff --git a/control/autoware_shift_decider/CHANGELOG.rst b/control/autoware_shift_decider/CHANGELOG.rst index 72257774b4763..2b5eda421e452 100644 --- a/control/autoware_shift_decider/CHANGELOG.rst +++ b/control/autoware_shift_decider/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_shift_decider ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/control/autoware_shift_decider/package.xml b/control/autoware_shift_decider/package.xml index 75b11dfcd8379..fb7811e094dc2 100644 --- a/control/autoware_shift_decider/package.xml +++ b/control/autoware_shift_decider/package.xml @@ -2,7 +2,7 @@ autoware_shift_decider - 0.39.0 + 0.40.0 The autoware_shift_decider package Takamasa Horibe Takayuki Murooka diff --git a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst index 34bb120a2752c..d3dc4d5eb1aa8 100644 --- a/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst +++ b/control/autoware_smart_mpc_trajectory_follower/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_smart_mpc_trajectory_follower ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* fix(autoware_smart_mpc_trajectory_follower): fix clang-diagnostic-ignored-optimization-argument (`#9437 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/control/autoware_smart_mpc_trajectory_follower/package.xml b/control/autoware_smart_mpc_trajectory_follower/package.xml index fb70eb05d21e5..7260dee488c52 100644 --- a/control/autoware_smart_mpc_trajectory_follower/package.xml +++ b/control/autoware_smart_mpc_trajectory_follower/package.xml @@ -2,7 +2,7 @@ autoware_smart_mpc_trajectory_follower - 0.39.0 + 0.40.0 Nodes to follow a trajectory by generating control commands using smart mpc diff --git a/control/autoware_trajectory_follower_base/CHANGELOG.rst b/control/autoware_trajectory_follower_base/CHANGELOG.rst index 9182dabfe66a6..88ccd57905c89 100644 --- a/control/autoware_trajectory_follower_base/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_base/CHANGELOG.rst @@ -2,6 +2,40 @@ Changelog for package autoware_trajectory_follower_base ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(trajectory_follower): publsih control horzion (`#8977 `_) + * feat(trajectory_follower): publsih control horzion + * fix typo + * rename functions and minor refactor + * add option to enable horizon pub + * add tests for horizon + * update docs + * rename to ~/debug/control_cmd_horizon + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/control/autoware_trajectory_follower_base/package.xml b/control/autoware_trajectory_follower_base/package.xml index 32bf2b1f1a809..e7b00e4b19cdc 100644 --- a/control/autoware_trajectory_follower_base/package.xml +++ b/control/autoware_trajectory_follower_base/package.xml @@ -2,7 +2,7 @@ autoware_trajectory_follower_base - 0.39.0 + 0.40.0 Library for generating lateral and longitudinal controls following a trajectory diff --git a/control/autoware_trajectory_follower_node/CHANGELOG.rst b/control/autoware_trajectory_follower_node/CHANGELOG.rst index fad7a121bb624..c77e252230bfb 100644 --- a/control/autoware_trajectory_follower_node/CHANGELOG.rst +++ b/control/autoware_trajectory_follower_node/CHANGELOG.rst @@ -2,6 +2,51 @@ Changelog for package autoware_trajectory_follower_node ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(mpc_lateral_controller): suppress rclcpp_warning/error (`#9382 `_) + * feat(mpc_lateral_controller): suppress rclcpp_warning/error + * fix + * fix test + --------- +* fix(autoware_trajectory_follower_node): fix clang-diagnostic-format-security (`#9378 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* feat(trajectory_follower): publsih control horzion (`#8977 `_) + * feat(trajectory_follower): publsih control horzion + * fix typo + * rename functions and minor refactor + * add option to enable horizon pub + * add tests for horizon + * update docs + * rename to ~/debug/control_cmd_horizon + --------- +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, ぐるぐる + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml index e4000feef9474..aa65e340d20fe 100644 --- a/control/autoware_trajectory_follower_node/package.xml +++ b/control/autoware_trajectory_follower_node/package.xml @@ -2,7 +2,7 @@ autoware_trajectory_follower_node - 0.39.0 + 0.40.0 Nodes to follow a trajectory by generating control commands separated into lateral and longitudinal commands diff --git a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst index ce6420fa69b76..38dae3279b1c8 100644 --- a/control/autoware_vehicle_cmd_gate/CHANGELOG.rst +++ b/control/autoware_vehicle_cmd_gate/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_vehicle_cmd_gate ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* fix(autoware_vehicle_cmd_gate): remove unused variable (`#9377 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control): missing dependency in control components (`#9073 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, ぐるぐる + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml index 3253f5a498933..c3697337e2256 100644 --- a/control/autoware_vehicle_cmd_gate/package.xml +++ b/control/autoware_vehicle_cmd_gate/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_cmd_gate - 0.39.0 + 0.40.0 The vehicle_cmd_gate package Takamasa Horibe Tomoya Kimura diff --git a/control/control_performance_analysis/CHANGELOG.rst b/control/control_performance_analysis/CHANGELOG.rst index f32fbe5cb0b1c..67b4f15ddde9f 100644 --- a/control/control_performance_analysis/CHANGELOG.rst +++ b/control/control_performance_analysis/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package control_performance_analysis ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* docs(control_performance_analysis): utilize mathjax syntax in readme (`#9552 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(control_performance_analysis): clang-diagnostic-pessimizing-move (`#9380 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml index 49b8f69570bb4..9c2ef69e0137b 100644 --- a/control/control_performance_analysis/package.xml +++ b/control/control_performance_analysis/package.xml @@ -2,7 +2,7 @@ control_performance_analysis - 0.39.0 + 0.40.0 Controller Performance Evaluation Berkay Karaman Taiki Tanaka diff --git a/control/predicted_path_checker/CHANGELOG.rst b/control/predicted_path_checker/CHANGELOG.rst index 15418d84cba3a..2cfe80aeada7b 100644 --- a/control/predicted_path_checker/CHANGELOG.rst +++ b/control/predicted_path_checker/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package predicted_path_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - control (`#9565 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/control/predicted_path_checker/package.xml b/control/predicted_path_checker/package.xml index f23828f8a586c..e2f9d17769e1a 100644 --- a/control/predicted_path_checker/package.xml +++ b/control/predicted_path_checker/package.xml @@ -2,7 +2,7 @@ predicted_path_checker - 0.39.0 + 0.40.0 The predicted_path_checker package Berkay Karaman diff --git a/evaluator/autoware_control_evaluator/CHANGELOG.rst b/evaluator/autoware_control_evaluator/CHANGELOG.rst index e67a53de4656a..88afa49d97cc3 100644 --- a/evaluator/autoware_control_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_control_evaluator/CHANGELOG.rst @@ -2,6 +2,74 @@ Changelog for package autoware_control_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* fix(control_evaluator): correct goal_lateal_deviation (`#9532 `_) +* feat(control_evaluator, tier4_control_launch): add a trigger to choice whether to output metrics to log folder (`#9478 `_) + * refactor and add output_metrics. a bug existing when psim. + * refactored launch file. + * output description + * add parm to launch file. + * move output_metrics from param config to launch file. + * move output_metrics from config to launch.xml + * fix unit test bug. + * fix test bug again. + * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp + --------- + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(control_evaluator): add processing time publisher (`#9339 `_) +* test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) + * update unit test of control_evaluator. + * manual pre-commit. + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml index 473f3bff7257e..a636a55bc5efd 100644 --- a/evaluator/autoware_control_evaluator/package.xml +++ b/evaluator/autoware_control_evaluator/package.xml @@ -2,7 +2,7 @@ autoware_control_evaluator - 0.39.0 + 0.40.0 ROS 2 node for evaluating control Daniel SANCHEZ takayuki MUROOKA diff --git a/evaluator/autoware_planning_evaluator/CHANGELOG.rst b/evaluator/autoware_planning_evaluator/CHANGELOG.rst index 9dc854ae8d623..77f544ae078fa 100644 --- a/evaluator/autoware_planning_evaluator/CHANGELOG.rst +++ b/evaluator/autoware_planning_evaluator/CHANGELOG.rst @@ -2,6 +2,77 @@ Changelog for package autoware_planning_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* feat(planning_evaluator): add a trigger to choice whether to output metrics to log folder (`#9476 `_) + * tmp save + * planning_evaluator build ok, test it. + * add descriptions to output. + * pre-commit. + * add parm to launch file. + * move output_metrics from config to launch file. + * fix unit test bug. + --------- +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) + * add Accumulator class to autoware_universe_utils + * use Accumulator on all evaluators. + * pre-commit + * found and fixed a bug. add more tests. + * pre-commit + * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* feat(planning_evaluator): add processing time pub (`#9334 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(evaluator): missing dependency in evaluator components (`#9074 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, ぐるぐる + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml index 09c8a17a8d791..4389b2e52f44d 100644 --- a/evaluator/autoware_planning_evaluator/package.xml +++ b/evaluator/autoware_planning_evaluator/package.xml @@ -2,7 +2,7 @@ autoware_planning_evaluator - 0.39.0 + 0.40.0 ROS 2 node for evaluating planners Maxime CLEMENT Kyoichi Sugahara diff --git a/evaluator/kinematic_evaluator/CHANGELOG.rst b/evaluator/kinematic_evaluator/CHANGELOG.rst index da5509f14143e..2283ea3b36a95 100644 --- a/evaluator/kinematic_evaluator/CHANGELOG.rst +++ b/evaluator/kinematic_evaluator/CHANGELOG.rst @@ -2,6 +2,43 @@ Changelog for package kinematic_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) + * add Accumulator class to autoware_universe_utils + * use Accumulator on all evaluators. + * pre-commit + * found and fixed a bug. add more tests. + * pre-commit + * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(evaluator): missing dependency in evaluator components (`#9074 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, ぐるぐる + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/kinematic_evaluator/package.xml index ab01f15c3c154..fbd5df3f27765 100644 --- a/evaluator/kinematic_evaluator/package.xml +++ b/evaluator/kinematic_evaluator/package.xml @@ -1,7 +1,7 @@ kinematic_evaluator - 0.39.0 + 0.40.0 kinematic evaluator ROS 2 node Dominik Jargot diff --git a/evaluator/localization_evaluator/CHANGELOG.rst b/evaluator/localization_evaluator/CHANGELOG.rst index 7438643fe19a6..0c24579d3004d 100644 --- a/evaluator/localization_evaluator/CHANGELOG.rst +++ b/evaluator/localization_evaluator/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package localization_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* chore(localization_evaluator): Add some maintainers (`#9503 `_) +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) + * add Accumulator class to autoware_universe_utils + * use Accumulator on all evaluators. + * pre-commit + * found and fixed a bug. add more tests. + * pre-commit + * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(evaluator): missing dependency in evaluator components (`#9074 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Motz, Ryohsuke Mitsudome, Yutaka Kondo, ぐるぐる + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml index a38871a1af6a2..7058064f17b72 100644 --- a/evaluator/localization_evaluator/package.xml +++ b/evaluator/localization_evaluator/package.xml @@ -1,7 +1,7 @@ localization_evaluator - 0.39.0 + 0.40.0 localization evaluator ROS 2 node Dominik Jargot diff --git a/evaluator/perception_online_evaluator/CHANGELOG.rst b/evaluator/perception_online_evaluator/CHANGELOG.rst index f3e999f66ee0e..c3ffd03cce3b1 100644 --- a/evaluator/perception_online_evaluator/CHANGELOG.rst +++ b/evaluator/perception_online_evaluator/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package perception_online_evaluator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* refactor(perception_online_evaluator): use tier4_metric_msgs instead of diagnostic_msgs (`#9485 `_) +* refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (`#9459 `_) + * add Accumulator class to autoware_universe_utils + * use Accumulator on all evaluators. + * pre-commit + * found and fixed a bug. add more tests. + * pre-commit + * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(evaluator): missing dependency in evaluator components (`#9074 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), Kotaro Uetake, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, ぐるぐる + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml index bebc46457807e..94575a0adbb4c 100644 --- a/evaluator/perception_online_evaluator/package.xml +++ b/evaluator/perception_online_evaluator/package.xml @@ -2,7 +2,7 @@ perception_online_evaluator - 0.39.0 + 0.40.0 ROS 2 node for evaluating perception Fumiya Watanabe Kosuke Takeuchi diff --git a/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst b/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst new file mode 100644 index 0000000000000..7b583a3da7959 --- /dev/null +++ b/evaluator/scenario_simulator_v2_adapter/CHANGELOG.rst @@ -0,0 +1,498 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package scenario_simulator_v2_adapter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* fix(scenario_simulator_v2_adapter): remove invalid CHANGELOG.rst file (`#9501 `_) +* 0.39.0 +* fix version +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix(cpplint): include what you use - evaluator (`#9566 `_) +* fix(scenario_simulator_v2_adapter): remove invalid CHANGELOG.rst file (`#9501 `_) +* 0.39.0 +* fix version +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + +0.39.0 (2024-11-25) +------------------- +* chore(package.xml): bump version to 0.39.0 (`#9435 `_) + * chore: update CODEOWNERS (`#9203 `_) + Co-authored-by: github-actions + * refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware + * refactor(time_utils): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rtc_interface): add requested field (`#9202 `_) + * add requested feature + * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) + * fix(bpp): prevent accessing nullopt (`#9204 `_) + fix(bpp): calcDistanceToRedTrafficLight null + * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor: grouping functions + * refactor: grouping parameters + * refactor: rename member road_users_history to road_users_history\_ + * refactor: separate util functions + * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node + * refactor: Add explicit template instantiation for removeOldObjectsHistory function + * refactor: Add tf2_geometry_msgs to data_structure + * refactor: Remove unused variables and functions in map_based_prediction_node.cpp + * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp + * Apply suggestions from code review + * style(pre-commit): autofix + --------- + Co-authored-by: Mamoru Sobue + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * Moved ndt_omp into ndt_scan_matcher + * Added Copyright + * style(pre-commit): autofix + * Fixed include + * Fixed cast style + * Fixed include + * Fixed honorific title + * Fixed honorific title + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed hierarchy + * Fixed NVTP to NVTL + * Added cspell:ignore + * Fixed miss spell + * style(pre-commit): autofix + * Fixed include + * Renamed applyFilter + * Moved ***_impl.hpp from include/ to src/ + * style(pre-commit): autofix + * Fixed variable scope + * Fixed to pass by reference + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) + * fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) + * fix rtc_interface + * fix test condition + --------- + * feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) + * add operator request feature + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * feat(collision_detector): use polling subscriber (`#9213 `_) + use polling subscriber + * fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 `_) + fix(diagnostic_graph_utils): reset graph when new one is reveived + * fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) + Reduced initial_pose_estimation.particles_num from 200 to 100 on tests + * feat(control_launch): add collision detector in launch (`#9214 `_) + add collision detector in launch + * chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) + * add utils test + --------- + * fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely + * fix: remove module id set + * fix: use itr to erase expired module + * fix: remove unused function + --------- + * test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- + * fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) + * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- + * fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) + fix: bugprone-misplaced-widening-cast + * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- + * fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) + * refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) + * fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) + * fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) + fix: bugprone-unused-raii + * refactor(map_based_prediction): divide objectsCallback (`#9219 `_) + * refactor(map_based_prediction): move member functions to utils (`#9225 `_) + * test(crosswalk): add unit test (`#9228 `_) + * fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) + fix: bugprone-incorrect-roundings + * refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) + * fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) + * feat(autoware_motion_utils): add new trajectory class (`#8693 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + * add clone function + * fix stairstep + * make constructor to public + * feat(autoware_motion_utils): add trajectory class + * Update CMakeLists.txt + * fix + * fix package.xml + * update crop + * revert crtp change + * update package.xml + * updating... + * update + * solve build problem + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) + chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml + * feat(autoware_test_utils): add general topic dumper (`#9207 `_) + * fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 `_) + Removed timer_tf\_ + * fix(autoware_rtc_interface): fix dependency (`#9237 `_) + * fix(autonomous_emergency_braking): solve issue with arc length (`#9247 `_) + * solve issue with arc length + * fix problem with points one vehicle apart from path + --------- + * fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) + * fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) + * refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) + * chore(autoware_geography_utils): update maintainers (`#9246 `_) + * update maintainers + * add author + --------- + * fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) + * RT0-33893 add checks from prev intersection + * fix shadow variable + * fix logic + * update readme + * refactor get_ego_footprint + --------- + * fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) + * fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 `_) + * feat: fix launch file + * chore: fix spell error + * chore: fix parameters file name + * chore: remove filter base + --------- + * fix: missing dependency in common components (`#9072 `_) + * feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (`#9258 `_) + fix: fix the wrong file name + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 `_) + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 `_) + fix(dummy_diag_publisher): not use diagnostic_updater and param callback + Co-authored-by: h-ohta + * fix: resolve build error of dummy diag publisher (`#1415 `_) + fix merge conflict + --------- + Co-authored-by: Shohei Sakai + Co-authored-by: h-ohta + * test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) + * add unit test for path shifter + * fix unnecessary modification + * fix spelling mistake + * add docstring + --------- + * feat(system_monitor): support loopback network interface (`#9067 `_) + * feat(system_monitor): support loopback network interface + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) + change interface of InterpolateArray + * feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) + * feat(system_monitor): add config for network traffic monitor + * fix: change function name from stop to skip + --------- + * feat(detection_area)!: add retruction feature (`#9255 `_) + * fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) + * fix(bvp): use polling subscriber (`#9242 `_) + * fix(bvp): use polling subscriber + * fix: use newest policy + --------- + * refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) + * fix(bpp): prevent accessing nullopt (`#9269 `_) + * refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) + Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" + This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3. + * feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) + * fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) + * fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) + * fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) + * fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold + * feat(aeb): set global param to override autoware state check (`#9263 `_) + * set global param to override autoware state check + * change variable to be more general + * add comment + * move param to control component launch + * change param name to be more straightforward + --------- + * fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 `_) + feat(planning): add new steering factor topics for obstacle avoidance and lane changes + * chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- + * fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) + * RT1-8427 extending lc path for multiple lc + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) + * fix(behavior_path_planner_common): use boost intersects instead of overlaps + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp + Co-authored-by: Go Sakayori + --------- + Co-authored-by: Go Sakayori + * ci(.github): update image tags (`#9286 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- + * fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 `_) + * fix: bugprone-misplaced-widening-cast + * fix: consider negative values + --------- + * fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) + fix: clang-c-error + * fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) + fix: bugprone-incorrect-roundings + * feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) + * refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) + * feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- + * feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 `_) + * chore(tvm_utility): remove tvm_utility package as it is no longer used (`#9291 `_) + * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) + * perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold + * perf: remove evecs, evals from Leaf + * perf: remove evecs, evals from Leaf + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi + * fix(control): missing dependency in control components (`#9073 `_) + * test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) + * update unit test of control_evaluator. + * manual pre-commit. + --------- + * fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * subscribe odometry + * fix precommit + * remove unnecessary log info + --------- + * feat(goal_planner): safety check with only parking path (`#9293 `_) + * refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) + * feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + speed up by updating polygons + * fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) + * feat(autoware_trajectory): change default value of min_points (`#9315 `_) + * chore(codecov): update maintained packages (`#9316 `_) + * doc: fix links to design documents (`#9301 `_) + * fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) + * fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 `_) + * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) + * add changelog + * update changelog + * fix version + * 0.39.0 + * refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- + * update version + --------- + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> + Co-authored-by: github-actions + Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Go Sakayori + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + Co-authored-by: Taekjin LEE + Co-authored-by: Mamoru Sobue + Co-authored-by: SakodaShintaro + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> + Co-authored-by: Ryuta Kambe + Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> + Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> + Co-authored-by: danielsanchezaran + Co-authored-by: Yamato Ando + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> + Co-authored-by: ぐるぐる + Co-authored-by: Shohei Sakai + Co-authored-by: h-ohta + Co-authored-by: iwatake + Co-authored-by: Kosuke Takeuchi + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + Co-authored-by: Kyoichi Sugahara + Co-authored-by: Giovanni Muhammad Raditya + Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> + Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com> + Co-authored-by: Kento Osa <38522559+taisa1@users.noreply.github.com> + Co-authored-by: Masaki Baba +* Contributors: Yutaka Kondo + +0.38.0 (2024-11-11) +------------------- diff --git a/evaluator/scenario_simulator_v2_adapter/package.xml b/evaluator/scenario_simulator_v2_adapter/package.xml index 45c4f91c0eb83..3922bc84d78d5 100644 --- a/evaluator/scenario_simulator_v2_adapter/package.xml +++ b/evaluator/scenario_simulator_v2_adapter/package.xml @@ -2,7 +2,7 @@ scenario_simulator_v2_adapter - 0.39.0 + 0.40.0 Node for converting autoware's messages into UserDefinedValue messages Kyoichi Sugahara Maxime CLEMENT diff --git a/launch/tier4_autoware_api_launch/CHANGELOG.rst b/launch/tier4_autoware_api_launch/CHANGELOG.rst index 38825528d8c39..5892c238a3bd6 100644 --- a/launch/tier4_autoware_api_launch/CHANGELOG.rst +++ b/launch/tier4_autoware_api_launch/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package tier4_autoware_api_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml index 4b52acbc8d804..45df577f28f29 100644 --- a/launch/tier4_autoware_api_launch/package.xml +++ b/launch/tier4_autoware_api_launch/package.xml @@ -2,7 +2,7 @@ tier4_autoware_api_launch - 0.39.0 + 0.40.0 The tier4_autoware_api_launch package Takagi, Isamu Ryohsuke Mitsudome diff --git a/launch/tier4_control_launch/CHANGELOG.rst b/launch/tier4_control_launch/CHANGELOG.rst index cbe41dcd85828..3f94ac4f2b2e0 100644 --- a/launch/tier4_control_launch/CHANGELOG.rst +++ b/launch/tier4_control_launch/CHANGELOG.rst @@ -2,6 +2,77 @@ Changelog for package tier4_control_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: autoware_glog_compontnt (`#9586 `_) + Fixed autoware_glog_compontnt +* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* feat(control_evaluator, tier4_control_launch): add a trigger to choice whether to output metrics to log folder (`#9478 `_) + * refactor and add output_metrics. a bug existing when psim. + * refactored launch file. + * output description + * add parm to launch file. + * move output_metrics from param config to launch file. + * move output_metrics from config to launch.xml + * fix unit test bug. + * fix test bug again. + * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp + --------- + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_control_launch): use preset.yaml to control which modules to launch for control modules (`#9351 `_) + * update contro.launch for preset.xml + * update options. + * fix bug. + * rename to enable\_* + * check group. + * space. + * reduce num of load_composable_node. + * tmp save. + * tmp save. + * splite control modules' launch. + * final version + * remove on/off option for shift decider, vehicle cmd gate, and operation mode transition manager + * pre-commit + --------- +* fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * subscribe odometry + * fix precommit + * remove unnecessary log info + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(aeb): set global param to override autoware state check (`#9263 `_) + * set global param to override autoware state check + * change variable to be more general + * add comment + * move param to control component launch + * change param name to be more straightforward + --------- +* feat(control_launch): add collision detector in launch (`#9214 `_) + add collision detector in launch +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kem (TiankuiXian), Ryohsuke Mitsudome, SakodaShintaro, Yutaka Kondo, danielsanchezaran + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml index 09eb3302c7811..d9a2f9883cbce 100644 --- a/launch/tier4_control_launch/package.xml +++ b/launch/tier4_control_launch/package.xml @@ -2,7 +2,7 @@ tier4_control_launch - 0.39.0 + 0.40.0 The tier4_control_launch package Takamasa Horibe Takayuki Murooka diff --git a/launch/tier4_localization_launch/CHANGELOG.rst b/launch/tier4_localization_launch/CHANGELOG.rst index 21cf37981a40a..991f04240d04d 100644 --- a/launch/tier4_localization_launch/CHANGELOG.rst +++ b/launch/tier4_localization_launch/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package tier4_localization_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 66d2a3277f505..55c9c59a2b000 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -2,7 +2,7 @@ tier4_localization_launch - 0.39.0 + 0.40.0 The tier4_localization_launch package Yamato Ando Kento Yabuuchi diff --git a/launch/tier4_map_launch/CHANGELOG.rst b/launch/tier4_map_launch/CHANGELOG.rst index 11f8aeb97cda3..5ba95030bf15b 100644 --- a/launch/tier4_map_launch/CHANGELOG.rst +++ b/launch/tier4_map_launch/CHANGELOG.rst @@ -2,6 +2,50 @@ Changelog for package tier4_map_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index 91874321b5db0..ba512960af1b2 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -2,7 +2,7 @@ tier4_map_launch - 0.39.0 + 0.40.0 The tier4_map_launch package Ryu Yamamoto Kento Yabuuchi diff --git a/launch/tier4_perception_launch/CHANGELOG.rst b/launch/tier4_perception_launch/CHANGELOG.rst index 412665dab796f..b8ac734476a36 100644 --- a/launch/tier4_perception_launch/CHANGELOG.rst +++ b/launch/tier4_perception_launch/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package tier4_perception_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 7b705d4b74f78..613223fa960bd 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -2,7 +2,7 @@ tier4_perception_launch - 0.39.0 + 0.40.0 The tier4_perception_launch package Yukihiro Saito Shunsuke Miura diff --git a/launch/tier4_planning_launch/CHANGELOG.rst b/launch/tier4_planning_launch/CHANGELOG.rst index 2641162594a74..efa4a02803c46 100644 --- a/launch/tier4_planning_launch/CHANGELOG.rst +++ b/launch/tier4_planning_launch/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package tier4_planning_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: autoware_glog_compontnt (`#9586 `_) + Fixed autoware_glog_compontnt +* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) + * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files + * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> + * fix + --------- + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, SakodaShintaro, Yukinari Hisaki, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index 286e09a2f17ed..0a6e9d7fce13a 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -2,7 +2,7 @@ tier4_planning_launch - 0.39.0 + 0.40.0 The tier4_planning_launch package diff --git a/launch/tier4_sensing_launch/CHANGELOG.rst b/launch/tier4_sensing_launch/CHANGELOG.rst index 7e1b9756effdd..7e6e12e53a08c 100644 --- a/launch/tier4_sensing_launch/CHANGELOG.rst +++ b/launch/tier4_sensing_launch/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package tier4_sensing_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/launch/tier4_sensing_launch/package.xml b/launch/tier4_sensing_launch/package.xml index 12194a163e0f1..6e7553ac9f8f0 100644 --- a/launch/tier4_sensing_launch/package.xml +++ b/launch/tier4_sensing_launch/package.xml @@ -2,7 +2,7 @@ tier4_sensing_launch - 0.39.0 + 0.40.0 The tier4_sensing_launch package Yukihiro Saito Apache License 2.0 diff --git a/launch/tier4_simulator_launch/CHANGELOG.rst b/launch/tier4_simulator_launch/CHANGELOG.rst index 46aa2059dea76..569da150b16ae 100644 --- a/launch/tier4_simulator_launch/CHANGELOG.rst +++ b/launch/tier4_simulator_launch/CHANGELOG.rst @@ -2,6 +2,60 @@ Changelog for package tier4_simulator_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* refactor(vehicle_velocity_converter)!: prefix package and namespace with autoware (`#8967 `_) + * add autoware prefix + * fix conflict + --------- + Co-authored-by: Yamato Ando +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml index b61954dcc297d..19bc81b056b60 100644 --- a/launch/tier4_simulator_launch/package.xml +++ b/launch/tier4_simulator_launch/package.xml @@ -2,7 +2,7 @@ tier4_simulator_launch - 0.39.0 + 0.40.0 The tier4_simulator_launch package Keisuke Shima Takayuki Murooka diff --git a/launch/tier4_system_launch/CHANGELOG.rst b/launch/tier4_system_launch/CHANGELOG.rst index 26f1031652d54..9ffb34c4599a9 100644 --- a/launch/tier4_system_launch/CHANGELOG.rst +++ b/launch/tier4_system_launch/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package tier4_system_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml index 92bee6d1d3e86..9f5678b937dbc 100644 --- a/launch/tier4_system_launch/package.xml +++ b/launch/tier4_system_launch/package.xml @@ -2,7 +2,7 @@ tier4_system_launch - 0.39.0 + 0.40.0 The tier4_system_launch package Fumihito Ito TetsuKawa diff --git a/launch/tier4_vehicle_launch/CHANGELOG.rst b/launch/tier4_vehicle_launch/CHANGELOG.rst index 4823ed84f46f6..1b5a1271e9fe3 100644 --- a/launch/tier4_vehicle_launch/CHANGELOG.rst +++ b/launch/tier4_vehicle_launch/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package tier4_vehicle_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml index ab3e7483c8593..583bbf325db05 100644 --- a/launch/tier4_vehicle_launch/package.xml +++ b/launch/tier4_vehicle_launch/package.xml @@ -2,7 +2,7 @@ tier4_vehicle_launch - 0.39.0 + 0.40.0 The tier4_vehicle_launch package Yukihiro Saito Apache License 2.0 diff --git a/localization/autoware_ekf_localizer/CHANGELOG.rst b/localization/autoware_ekf_localizer/CHANGELOG.rst index 369a731d87ee6..b8e74c530e059 100644 --- a/localization/autoware_ekf_localizer/CHANGELOG.rst +++ b/localization/autoware_ekf_localizer/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_ekf_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* fix(autoware_ekf_localizer): publish `processing_time_ms` (`#9443 `_) + Fixed to publish processing_time_ms +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 `_) + Removed timer_tf\_ +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, SakodaShintaro, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/localization/autoware_ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml index d93b4eb1ff016..8dc3cc9844c50 100644 --- a/localization/autoware_ekf_localizer/package.xml +++ b/localization/autoware_ekf_localizer/package.xml @@ -2,7 +2,7 @@ autoware_ekf_localizer - 0.39.0 + 0.40.0 The autoware_ekf_localizer package Takamasa Horibe Yamato Ando diff --git a/localization/autoware_geo_pose_projector/CHANGELOG.rst b/localization/autoware_geo_pose_projector/CHANGELOG.rst index 717118a5c1692..1b45974da9cc2 100644 --- a/localization/autoware_geo_pose_projector/CHANGELOG.rst +++ b/localization/autoware_geo_pose_projector/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package autoware_geo_pose_projector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml index 4fecd89630e01..6dda1d6418406 100644 --- a/localization/autoware_geo_pose_projector/package.xml +++ b/localization/autoware_geo_pose_projector/package.xml @@ -2,7 +2,7 @@ autoware_geo_pose_projector - 0.39.0 + 0.40.0 The autoware_geo_pose_projector package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_gyro_odometer/CHANGELOG.rst b/localization/autoware_gyro_odometer/CHANGELOG.rst index 950fd01b2ce6f..529fe48f7b459 100644 --- a/localization/autoware_gyro_odometer/CHANGELOG.rst +++ b/localization/autoware_gyro_odometer/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_gyro_odometer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/autoware_gyro_odometer/package.xml b/localization/autoware_gyro_odometer/package.xml index b546312ef729e..87474c0b13c0f 100644 --- a/localization/autoware_gyro_odometer/package.xml +++ b/localization/autoware_gyro_odometer/package.xml @@ -2,7 +2,7 @@ autoware_gyro_odometer - 0.39.0 + 0.40.0 The autoware_gyro_odometer package as a ROS 2 node Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst index e8cc6d9f2796e..36d7431a499ff 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_ar_tag_based_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml index c0ee5cf973001..4aab7e0b5cdaf 100644 --- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml @@ -2,7 +2,7 @@ autoware_ar_tag_based_localizer - 0.39.0 + 0.40.0 The autoware_ar_tag_based_localizer package Shintaro Sakoda Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst index e50f441c27ca5..f6d4cf6766e84 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_landmark_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml index 357fc2b9eb32c..c33b8a751ce7f 100644 --- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml @@ -2,7 +2,7 @@ autoware_landmark_manager - 0.39.0 + 0.40.0 The autoware_landmark_manager package Shintaro Sakoda Masahiro Sakamoto diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst index 374bdd1f09901..a7edd5b7d2a69 100644 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_lidar_marker_localizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml index 72bded6b2b416..c365f7ef040dc 100755 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml @@ -2,7 +2,7 @@ autoware_lidar_marker_localizer - 0.39.0 + 0.40.0 The autoware_lidar_marker_localizer package Yamato Ando Shintaro Sakoda diff --git a/localization/autoware_localization_error_monitor/CHANGELOG.rst b/localization/autoware_localization_error_monitor/CHANGELOG.rst index ba263d0f8cb42..e9583916e2e8f 100644 --- a/localization/autoware_localization_error_monitor/CHANGELOG.rst +++ b/localization/autoware_localization_error_monitor/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_localization_error_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/autoware_localization_error_monitor/package.xml b/localization/autoware_localization_error_monitor/package.xml index 937d4e71bc717..f7f9e635e85d6 100644 --- a/localization/autoware_localization_error_monitor/package.xml +++ b/localization/autoware_localization_error_monitor/package.xml @@ -2,7 +2,7 @@ autoware_localization_error_monitor - 0.39.0 + 0.40.0 ros node for monitoring localization error Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_localization_util/CHANGELOG.rst b/localization/autoware_localization_util/CHANGELOG.rst index d029d05144595..be40e3ee8560e 100644 --- a/localization/autoware_localization_util/CHANGELOG.rst +++ b/localization/autoware_localization_util/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_localization_util ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/autoware_localization_util/package.xml b/localization/autoware_localization_util/package.xml index ea22ffe59ce64..89ad7c24840dd 100644 --- a/localization/autoware_localization_util/package.xml +++ b/localization/autoware_localization_util/package.xml @@ -2,7 +2,7 @@ autoware_localization_util - 0.39.0 + 0.40.0 The autoware_localization_util package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst index 096804e155328..8040641aa2cef 100644 --- a/localization/autoware_ndt_scan_matcher/CHANGELOG.rst +++ b/localization/autoware_ndt_scan_matcher/CHANGELOG.rst @@ -2,6 +2,71 @@ Changelog for package autoware_ndt_scan_matcher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_ndt_scan_matcher): remove unsed functions (`#9387 `_) +* perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold + * perf: remove evecs, evals from Leaf + * perf: remove evecs, evals from Leaf + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) +* fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) + Reduced initial_pose_estimation.particles_num from 200 to 100 on tests +* refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * Moved ndt_omp into ndt_scan_matcher + * Added Copyright + * style(pre-commit): autofix + * Fixed include + * Fixed cast style + * Fixed include + * Fixed honorific title + * Fixed honorific title + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed hierarchy + * Fixed NVTP to NVTL + * Added cspell:ignore + * Fixed miss spell + * style(pre-commit): autofix + * Fixed include + * Renamed applyFilter + * Moved ***_impl.hpp from include/ to src/ + * style(pre-commit): autofix + * Fixed variable scope + * Fixed to pass by reference + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kento Osa, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, SakodaShintaro, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/localization/autoware_ndt_scan_matcher/package.xml b/localization/autoware_ndt_scan_matcher/package.xml index 96c73f248a595..f2047418310aa 100644 --- a/localization/autoware_ndt_scan_matcher/package.xml +++ b/localization/autoware_ndt_scan_matcher/package.xml @@ -2,7 +2,7 @@ autoware_ndt_scan_matcher - 0.39.0 + 0.40.0 The autoware_ndt_scan_matcher package Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_pose2twist/CHANGELOG.rst b/localization/autoware_pose2twist/CHANGELOG.rst index dcabfddfd2256..3f17982f52f31 100644 --- a/localization/autoware_pose2twist/CHANGELOG.rst +++ b/localization/autoware_pose2twist/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_pose2twist ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/autoware_pose2twist/package.xml b/localization/autoware_pose2twist/package.xml index 9e7ec378c8570..3fd16856ef6af 100644 --- a/localization/autoware_pose2twist/package.xml +++ b/localization/autoware_pose2twist/package.xml @@ -2,7 +2,7 @@ autoware_pose2twist - 0.39.0 + 0.40.0 The autoware_pose2twist package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst index b3c5fdc70f36a..6fc366d3d01d5 100644 --- a/localization/autoware_pose_covariance_modifier/CHANGELOG.rst +++ b/localization/autoware_pose_covariance_modifier/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_pose_covariance_modifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/autoware_pose_covariance_modifier/package.xml b/localization/autoware_pose_covariance_modifier/package.xml index 2490fdc43dc0a..7825bd59b78f9 100644 --- a/localization/autoware_pose_covariance_modifier/package.xml +++ b/localization/autoware_pose_covariance_modifier/package.xml @@ -2,7 +2,7 @@ autoware_pose_covariance_modifier - 0.39.0 + 0.40.0 Add a description. Melike Tanrikulu diff --git a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst index 423a73677c311..381b77546e008 100644 --- a/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst +++ b/localization/autoware_pose_estimator_arbiter/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_pose_estimator_arbiter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_pose_estimator_arbiter): add missing include (`#9376 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/autoware_pose_estimator_arbiter/package.xml b/localization/autoware_pose_estimator_arbiter/package.xml index cf30e8fcb5ef6..c6a47ae5755b3 100644 --- a/localization/autoware_pose_estimator_arbiter/package.xml +++ b/localization/autoware_pose_estimator_arbiter/package.xml @@ -2,7 +2,7 @@ autoware_pose_estimator_arbiter - 0.39.0 + 0.40.0 The arbiter of multiple pose estimators Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_pose_initializer/CHANGELOG.rst b/localization/autoware_pose_initializer/CHANGELOG.rst index ca509039af804..45473a9444270 100644 --- a/localization/autoware_pose_initializer/CHANGELOG.rst +++ b/localization/autoware_pose_initializer/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package autoware_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml index e23a319e2ac2b..eeeb46a8db3e5 100644 --- a/localization/autoware_pose_initializer/package.xml +++ b/localization/autoware_pose_initializer/package.xml @@ -2,7 +2,7 @@ autoware_pose_initializer - 0.39.0 + 0.40.0 The autoware_pose_initializer package Yamato Ando Takagi, Isamu diff --git a/localization/autoware_pose_instability_detector/CHANGELOG.rst b/localization/autoware_pose_instability_detector/CHANGELOG.rst index a02f1443d97e1..b95dcaf6f01c8 100644 --- a/localization/autoware_pose_instability_detector/CHANGELOG.rst +++ b/localization/autoware_pose_instability_detector/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_pose_instability_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/autoware_pose_instability_detector/package.xml b/localization/autoware_pose_instability_detector/package.xml index 2c982e30ca8d8..91a565446f9e9 100644 --- a/localization/autoware_pose_instability_detector/package.xml +++ b/localization/autoware_pose_instability_detector/package.xml @@ -2,7 +2,7 @@ autoware_pose_instability_detector - 0.39.0 + 0.40.0 The autoware_pose_instability_detector package Yamato Ando Kento Yabuuchi diff --git a/localization/autoware_stop_filter/CHANGELOG.rst b/localization/autoware_stop_filter/CHANGELOG.rst index 30e5b6169c154..f91a3b8de7f05 100644 --- a/localization/autoware_stop_filter/CHANGELOG.rst +++ b/localization/autoware_stop_filter/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_stop_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/autoware_stop_filter/package.xml b/localization/autoware_stop_filter/package.xml index 07ad7288c9d63..1ed5e2c2082be 100644 --- a/localization/autoware_stop_filter/package.xml +++ b/localization/autoware_stop_filter/package.xml @@ -2,7 +2,7 @@ autoware_stop_filter - 0.39.0 + 0.40.0 The stop filter package Yamato Ando Masahiro Sakamoto diff --git a/localization/autoware_twist2accel/CHANGELOG.rst b/localization/autoware_twist2accel/CHANGELOG.rst index ea50813677005..89b22e6ae4f26 100644 --- a/localization/autoware_twist2accel/CHANGELOG.rst +++ b/localization/autoware_twist2accel/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_twist2accel ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/autoware_twist2accel/package.xml b/localization/autoware_twist2accel/package.xml index 538a75f8f9474..75cea94546516 100644 --- a/localization/autoware_twist2accel/package.xml +++ b/localization/autoware_twist2accel/package.xml @@ -2,7 +2,7 @@ autoware_twist2accel - 0.39.0 + 0.40.0 The acceleration estimation package Yamato Ando Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_common/CHANGELOG.rst b/localization/yabloc/yabloc_common/CHANGELOG.rst index 7cdbceeb5a6a5..6812e5ca633ca 100644 --- a/localization/yabloc/yabloc_common/CHANGELOG.rst +++ b/localization/yabloc/yabloc_common/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package yabloc_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml index 01b5a92745c3f..5a8f19ff16bd7 100644 --- a/localization/yabloc/yabloc_common/package.xml +++ b/localization/yabloc/yabloc_common/package.xml @@ -1,7 +1,7 @@ yabloc_common - 0.39.0 + 0.40.0 YabLoc common library Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst index f6e619c8a62a6..bf4c1279fffdc 100644 --- a/localization/yabloc/yabloc_image_processing/CHANGELOG.rst +++ b/localization/yabloc/yabloc_image_processing/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package yabloc_image_processing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/yabloc/yabloc_image_processing/package.xml b/localization/yabloc/yabloc_image_processing/package.xml index 746e01f8e9841..c3202e8bfaebf 100644 --- a/localization/yabloc/yabloc_image_processing/package.xml +++ b/localization/yabloc/yabloc_image_processing/package.xml @@ -2,7 +2,7 @@ yabloc_image_processing - 0.39.0 + 0.40.0 YabLoc image processing package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_monitor/CHANGELOG.rst b/localization/yabloc/yabloc_monitor/CHANGELOG.rst index ea890d490ccfb..c7cb3c7dc307d 100644 --- a/localization/yabloc/yabloc_monitor/CHANGELOG.rst +++ b/localization/yabloc/yabloc_monitor/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package yabloc_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/yabloc/yabloc_monitor/package.xml b/localization/yabloc/yabloc_monitor/package.xml index ea7ce24f5da7c..1a0dbb6c7fdfa 100644 --- a/localization/yabloc/yabloc_monitor/package.xml +++ b/localization/yabloc/yabloc_monitor/package.xml @@ -2,7 +2,7 @@ yabloc_monitor - 0.39.0 + 0.40.0 YabLoc monitor package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst index 973e729089d7b..935aecb810449 100644 --- a/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst +++ b/localization/yabloc/yabloc_particle_filter/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package yabloc_particle_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/yabloc/yabloc_particle_filter/package.xml b/localization/yabloc/yabloc_particle_filter/package.xml index ac5ba4d30bb8a..074ff19334852 100644 --- a/localization/yabloc/yabloc_particle_filter/package.xml +++ b/localization/yabloc/yabloc_particle_filter/package.xml @@ -2,7 +2,7 @@ yabloc_particle_filter - 0.39.0 + 0.40.0 YabLoc particle filter package Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst index 2bae9b010e7f0..0b78a98bf07fd 100644 --- a/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst +++ b/localization/yabloc/yabloc_pose_initializer/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package yabloc_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - localization (`#9567 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(yabloc_pose_initializer): include opencv as system (`#9375 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/localization/yabloc/yabloc_pose_initializer/package.xml b/localization/yabloc/yabloc_pose_initializer/package.xml index 77fc397d207d4..4fd346f6327ad 100644 --- a/localization/yabloc/yabloc_pose_initializer/package.xml +++ b/localization/yabloc/yabloc_pose_initializer/package.xml @@ -1,7 +1,7 @@ yabloc_pose_initializer - 0.39.0 + 0.40.0 The pose initializer Kento Yabuuchi Masahiro Sakamoto diff --git a/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst b/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst new file mode 100644 index 0000000000000..3d95ca5f804b2 --- /dev/null +++ b/map/autoware_lanelet2_map_visualizer/CHANGELOG.rst @@ -0,0 +1,465 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_lanelet2_map_visualizer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* Contributors: Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome + +* Merge branch 'main' into release-0.40.0 +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* Contributors: Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome + +0.39.0 (2024-11-25) +------------------- +* chore(package.xml): bump version to 0.39.0 (`#9435 `_) + * chore: update CODEOWNERS (`#9203 `_) + Co-authored-by: github-actions + * refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware + * refactor(time_utils): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rtc_interface): add requested field (`#9202 `_) + * add requested feature + * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) + * fix(bpp): prevent accessing nullopt (`#9204 `_) + fix(bpp): calcDistanceToRedTrafficLight null + * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor: grouping functions + * refactor: grouping parameters + * refactor: rename member road_users_history to road_users_history\_ + * refactor: separate util functions + * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node + * refactor: Add explicit template instantiation for removeOldObjectsHistory function + * refactor: Add tf2_geometry_msgs to data_structure + * refactor: Remove unused variables and functions in map_based_prediction_node.cpp + * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp + * Apply suggestions from code review + * style(pre-commit): autofix + --------- + Co-authored-by: Mamoru Sobue + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * Moved ndt_omp into ndt_scan_matcher + * Added Copyright + * style(pre-commit): autofix + * Fixed include + * Fixed cast style + * Fixed include + * Fixed honorific title + * Fixed honorific title + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed hierarchy + * Fixed NVTP to NVTL + * Added cspell:ignore + * Fixed miss spell + * style(pre-commit): autofix + * Fixed include + * Renamed applyFilter + * Moved ***_impl.hpp from include/ to src/ + * style(pre-commit): autofix + * Fixed variable scope + * Fixed to pass by reference + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) + * fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) + * fix rtc_interface + * fix test condition + --------- + * feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) + * add operator request feature + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * feat(collision_detector): use polling subscriber (`#9213 `_) + use polling subscriber + * fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 `_) + fix(diagnostic_graph_utils): reset graph when new one is reveived + * fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (`#9218 `_) + Reduced initial_pose_estimation.particles_num from 200 to 100 on tests + * feat(control_launch): add collision detector in launch (`#9214 `_) + add collision detector in launch + * chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) + * add utils test + --------- + * fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely + * fix: remove module id set + * fix: use itr to erase expired module + * fix: remove unused function + --------- + * test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- + * fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) + * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- + * fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) + fix: bugprone-misplaced-widening-cast + * fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- + * fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) + * refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) + * fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) + * fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) + fix: bugprone-unused-raii + * refactor(map_based_prediction): divide objectsCallback (`#9219 `_) + * refactor(map_based_prediction): move member functions to utils (`#9225 `_) + * test(crosswalk): add unit test (`#9228 `_) + * fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) + fix: bugprone-incorrect-roundings + * refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) + * fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) + * feat(autoware_motion_utils): add new trajectory class (`#8693 `_) + * feat(autoware_motion_utils): add interpolator + * use int32_t instead of int + * use int32_t instead of int + * use int32_t instead of int + * add const as much as possible and use `at()` in `vector` + * fix directory name + * refactor code and add example + * update + * remove unused include + * refactor code + * add clone function + * fix stairstep + * make constructor to public + * feat(autoware_motion_utils): add trajectory class + * Update CMakeLists.txt + * fix + * fix package.xml + * update crop + * revert crtp change + * update package.xml + * updating... + * update + * solve build problem + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) + chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml + * feat(autoware_test_utils): add general topic dumper (`#9207 `_) + * fix(autoware_ekf_localizer): remove `timer_tf\_` (`#9244 `_) + Removed timer_tf\_ + * fix(autoware_rtc_interface): fix dependency (`#9237 `_) + * fix(autonomous_emergency_braking): solve issue with arc length (`#9247 `_) + * solve issue with arc length + * fix problem with points one vehicle apart from path + --------- + * fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) + * fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) + * refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) + * chore(autoware_geography_utils): update maintainers (`#9246 `_) + * update maintainers + * add author + --------- + * fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) + * RT0-33893 add checks from prev intersection + * fix shadow variable + * fix logic + * update readme + * refactor get_ego_footprint + --------- + * fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) + * fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 `_) + * feat: fix launch file + * chore: fix spell error + * chore: fix parameters file name + * chore: remove filter base + --------- + * fix: missing dependency in common components (`#9072 `_) + * feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (`#9253 `_) + * create trajectory container package + * update + * update + * style(pre-commit): autofix + * update codeowner + * update + * fix cmake + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (`#9258 `_) + fix: fix the wrong file name + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 `_) + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 `_) + fix(dummy_diag_publisher): not use diagnostic_updater and param callback + Co-authored-by: h-ohta + * fix: resolve build error of dummy diag publisher (`#1415 `_) + fix merge conflict + --------- + Co-authored-by: Shohei Sakai + Co-authored-by: h-ohta + * test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) + * add unit test for path shifter + * fix unnecessary modification + * fix spelling mistake + * add docstring + --------- + * feat(system_monitor): support loopback network interface (`#9067 `_) + * feat(system_monitor): support loopback network interface + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(autoware_trajectory): change interface of InterpolatedArray (`#9264 `_) + change interface of InterpolateArray + * feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) + * feat(system_monitor): add config for network traffic monitor + * fix: change function name from stop to skip + --------- + * feat(detection_area)!: add retruction feature (`#9255 `_) + * fix(vehicle_cmd_gate): fix processing time measurement (`#9260 `_) + * fix(bvp): use polling subscriber (`#9242 `_) + * fix(bvp): use polling subscriber + * fix: use newest policy + --------- + * refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) + * fix(bpp): prevent accessing nullopt (`#9269 `_) + * refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) + Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" + This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3. + * feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) + * fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) + * fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) + * fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (`#9275 `_) + * fix(autoware_pure_pursuit): fix cppcheck unusedFunction (`#9276 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold + * feat(aeb): set global param to override autoware state check (`#9263 `_) + * set global param to override autoware state check + * change variable to be more general + * add comment + * move param to control component launch + * change param name to be more straightforward + --------- + * fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 `_) + feat(planning): add new steering factor topics for obstacle avoidance and lane changes + * chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- + * fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) + * RT1-8427 extending lc path for multiple lc + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (`#8995 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) + * fix(behavior_path_planner_common): use boost intersects instead of overlaps + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp + Co-authored-by: Go Sakayori + --------- + Co-authored-by: Go Sakayori + * ci(.github): update image tags (`#9286 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- + * fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (`#9224 `_) + * fix: bugprone-misplaced-widening-cast + * fix: consider negative values + --------- + * fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) + fix: clang-c-error + * fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) + fix: bugprone-incorrect-roundings + * feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (`#9290 `_) + * refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) + * feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- + * feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 `_) + * chore(tvm_utility): remove tvm_utility package as it is no longer used (`#9291 `_) + * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) + * perf(autoware_ndt_scan_matcher): remove evecs\_, evals\_ of Leaf for memory efficiency (`#9281 `_) + * fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold + * perf: remove evecs, evals from Leaf + * perf: remove evecs, evals from Leaf + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi + * fix(control): missing dependency in control components (`#9073 `_) + * test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (`#9307 `_) + * update unit test of control_evaluator. + * manual pre-commit. + --------- + * fix(collision_detector): skip process when odometry is not published (`#9308 `_) + * subscribe odometry + * fix precommit + * remove unnecessary log info + --------- + * feat(goal_planner): safety check with only parking path (`#9293 `_) + * refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) + * feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + speed up by updating polygons + * fix(autoware_trajectory): fix bug of autoware_trajectory (`#9314 `_) + * feat(autoware_trajectory): change default value of min_points (`#9315 `_) + * chore(codecov): update maintained packages (`#9316 `_) + * doc: fix links to design documents (`#9301 `_) + * fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) + * fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 `_) + * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) + * add changelog + * update changelog + * fix version + * 0.39.0 + * refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- + * update version + --------- + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> + Co-authored-by: github-actions + Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Go Sakayori + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + Co-authored-by: Taekjin LEE + Co-authored-by: Mamoru Sobue + Co-authored-by: SakodaShintaro + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> + Co-authored-by: Ryuta Kambe + Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> + Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> + Co-authored-by: danielsanchezaran + Co-authored-by: Yamato Ando + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> + Co-authored-by: ぐるぐる + Co-authored-by: Shohei Sakai + Co-authored-by: h-ohta + Co-authored-by: iwatake + Co-authored-by: Kosuke Takeuchi + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + Co-authored-by: Kyoichi Sugahara + Co-authored-by: Giovanni Muhammad Raditya + Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> + Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com> + Co-authored-by: Kento Osa <38522559+taisa1@users.noreply.github.com> + Co-authored-by: Masaki Baba +* Contributors: Yutaka Kondo + +0.38.0 (2024-11-11) +------------------- diff --git a/map/autoware_lanelet2_map_visualizer/package.xml b/map/autoware_lanelet2_map_visualizer/package.xml index 3c3bb24c18399..eef83f90ec142 100644 --- a/map/autoware_lanelet2_map_visualizer/package.xml +++ b/map/autoware_lanelet2_map_visualizer/package.xml @@ -2,7 +2,7 @@ autoware_lanelet2_map_visualizer - 0.1.0 + 0.40.0 The autoware_lanelet2_map_visualizer package Yamato Ando Ryu Yamamoto diff --git a/map/autoware_map_height_fitter/CHANGELOG.rst b/map/autoware_map_height_fitter/CHANGELOG.rst index 724ca70e2ec2d..d600473d9756f 100644 --- a/map/autoware_map_height_fitter/CHANGELOG.rst +++ b/map/autoware_map_height_fitter/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_map_height_fitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - map (`#9568 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/map/autoware_map_height_fitter/package.xml b/map/autoware_map_height_fitter/package.xml index 280ad1797a079..98a48704c0c4b 100644 --- a/map/autoware_map_height_fitter/package.xml +++ b/map/autoware_map_height_fitter/package.xml @@ -2,7 +2,7 @@ autoware_map_height_fitter - 0.39.0 + 0.40.0 The autoware_map_height_fitter package Takagi, Isamu Yamato Ando diff --git a/map/autoware_map_loader/CHANGELOG.rst b/map/autoware_map_loader/CHANGELOG.rst index 876670b13ca3d..a9e1080f1d6ec 100644 --- a/map/autoware_map_loader/CHANGELOG.rst +++ b/map/autoware_map_loader/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package autoware_map_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - map (`#9568 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* fix: fix package names in changelog files (`#9500 `_) +* update version +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/map/autoware_map_loader/package.xml b/map/autoware_map_loader/package.xml index 48e3b6efdaa13..4d4eabc6e3f25 100644 --- a/map/autoware_map_loader/package.xml +++ b/map/autoware_map_loader/package.xml @@ -2,7 +2,7 @@ autoware_map_loader - 0.39.0 + 0.40.0 The autoware_map_loader package Yamato Ando Ryu Yamamoto diff --git a/map/autoware_map_projection_loader/CHANGELOG.rst b/map/autoware_map_projection_loader/CHANGELOG.rst index b0e85cc682510..eef30e5c5f159 100644 --- a/map/autoware_map_projection_loader/CHANGELOG.rst +++ b/map/autoware_map_projection_loader/CHANGELOG.rst @@ -2,6 +2,55 @@ Changelog for package autoware_map_projection_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - map (`#9568 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml index 7ce0cbb8105a7..ad31dfdcc094d 100644 --- a/map/autoware_map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -2,7 +2,7 @@ autoware_map_projection_loader - 0.39.0 + 0.40.0 autoware_map_projection_loader package as a ROS 2 node Yamato Ando Masahiro Sakamoto diff --git a/map/autoware_map_tf_generator/CHANGELOG.rst b/map/autoware_map_tf_generator/CHANGELOG.rst index 18bde0c6a0106..963e450bd4856 100644 --- a/map/autoware_map_tf_generator/CHANGELOG.rst +++ b/map/autoware_map_tf_generator/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_map_tf_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - map (`#9568 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/map/autoware_map_tf_generator/package.xml b/map/autoware_map_tf_generator/package.xml index 9a5e0388e08b9..0e81321daea2e 100644 --- a/map/autoware_map_tf_generator/package.xml +++ b/map/autoware_map_tf_generator/package.xml @@ -2,7 +2,7 @@ autoware_map_tf_generator - 0.39.0 + 0.40.0 map_tf_generator package as a ROS 2 node Yamato Ando Kento Yabuuchi diff --git a/perception/autoware_bytetrack/CHANGELOG.rst b/perception/autoware_bytetrack/CHANGELOG.rst index 7b18570598431..2db62f9a4e374 100644 --- a/perception/autoware_bytetrack/CHANGELOG.rst +++ b/perception/autoware_bytetrack/CHANGELOG.rst @@ -2,6 +2,40 @@ Changelog for package autoware_bytetrack ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(bytetrack): remove unreachable code block from lapjv.h (`#9563 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_bytetrack): update visualizer param path and not to set default value (`#9490 `_) + fix: update visualizer param path and not to set default value +* fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (`#9513 `_) + fix: clang-diagnostic-implicit-const-int-float-conversion +* fix(autoware_bytetrack): fix clang-diagnostic-implicit-const-int-float-conversion (`#9468 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kotaro Uetake, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_bytetrack/package.xml b/perception/autoware_bytetrack/package.xml index 0cb0747fff40a..4dc982595c588 100644 --- a/perception/autoware_bytetrack/package.xml +++ b/perception/autoware_bytetrack/package.xml @@ -2,7 +2,7 @@ autoware_bytetrack - 0.39.0 + 0.40.0 ByteTrack implementation ported toward Autoware Manato HIRABAYASHI Yoshi RI diff --git a/perception/autoware_cluster_merger/CHANGELOG.rst b/perception/autoware_cluster_merger/CHANGELOG.rst index 9e1d2b9d0caff..1acdbf9333f30 100644 --- a/perception/autoware_cluster_merger/CHANGELOG.rst +++ b/perception/autoware_cluster_merger/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_cluster_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_cluster_merger/package.xml b/perception/autoware_cluster_merger/package.xml index 29cbe8b5be016..92e1a8aadf40c 100644 --- a/perception/autoware_cluster_merger/package.xml +++ b/perception/autoware_cluster_merger/package.xml @@ -2,7 +2,7 @@ autoware_cluster_merger - 0.39.0 + 0.40.0 The ROS 2 cluster merger package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_compare_map_segmentation/CHANGELOG.rst b/perception/autoware_compare_map_segmentation/CHANGELOG.rst index b45f1b3e64076..8d784ca304874 100644 --- a/perception/autoware_compare_map_segmentation/CHANGELOG.rst +++ b/perception/autoware_compare_map_segmentation/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_compare_map_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(compare_map_segmentation): rename defined type (`#9181 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(compare_map_segmentation): add maintainer (`#9371 `_) +* fix(compare_map_segmentation): timer period mismatched with parameter (`#9259 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (`#9196 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, badai nguyen + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_compare_map_segmentation/package.xml b/perception/autoware_compare_map_segmentation/package.xml index b25ca8bfd829d..8c07d29156f8a 100644 --- a/perception/autoware_compare_map_segmentation/package.xml +++ b/perception/autoware_compare_map_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_compare_map_segmentation - 0.39.0 + 0.40.0 The ROS 2 autoware_compare_map_segmentation package amc-nu Yukihiro Saito diff --git a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst index e4a85d38559b0..34e514d13e007 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst +++ b/perception/autoware_crosswalk_traffic_light_estimator/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_crosswalk_traffic_light_estimator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml index 12e689b5b50e3..a760c3bd950e3 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml +++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml @@ -1,7 +1,7 @@ autoware_crosswalk_traffic_light_estimator - 0.39.0 + 0.40.0 The autoware_crosswalk_traffic_light_estimator package Satoshi Ota diff --git a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst index 2f887760e3970..f0d4f1f746eaa 100644 --- a/perception/autoware_detected_object_feature_remover/CHANGELOG.rst +++ b/perception/autoware_detected_object_feature_remover/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_detected_object_feature_remover ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_detected_object_feature_remover/package.xml b/perception/autoware_detected_object_feature_remover/package.xml index 45f7d6e9036e7..a112598728614 100644 --- a/perception/autoware_detected_object_feature_remover/package.xml +++ b/perception/autoware_detected_object_feature_remover/package.xml @@ -2,7 +2,7 @@ autoware_detected_object_feature_remover - 0.39.0 + 0.40.0 The autoware_detected_object_feature_remover package Tomoya Kimura Yoshi Ri diff --git a/perception/autoware_detected_object_validation/CHANGELOG.rst b/perception/autoware_detected_object_validation/CHANGELOG.rst index ebe5562fc2ec0..bde610a8e3fd5 100644 --- a/perception/autoware_detected_object_validation/CHANGELOG.rst +++ b/perception/autoware_detected_object_validation/CHANGELOG.rst @@ -2,6 +2,55 @@ Changelog for package autoware_detected_object_validation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* feat(object_lanelet_filter): add configurable margin for object lanel… (`#9240 `_) + * feat(object_lanelet_filter): add configurable margin for object lanelet filter + modified: perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp + * feat(object_lanelet_filter): add condition to check wheter polygon is empty in debug mode + * feat(object_lanelet_filter): fix cppcheck + * fix: brig back missing type definition + * feat: add stop watch for processing time in object lanelet filter + * feat(object_lanelet_filter): remove extra comment line + * feat(_object_lanelet_filter): udpate readme + * style(pre-commit): autofix + * Update perception/autoware_detected_object_validation/src/lanelet_filter/debug.cpp + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> + * style(pre-commit): autofix + --------- + Co-authored-by: Sebastian Zęderowski + Co-authored-by: Taekjin LEE + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (`#9220 `_) + fix: bugprone-incorrect-roundings +* fix(autoware_detected_object_validation): fix clang-diagnostic-error (`#9215 `_) + fix: clang-c-error +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Sebastian Zęderowski, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_detected_object_validation/package.xml b/perception/autoware_detected_object_validation/package.xml index 777fcea4db226..9aa6f018de5fa 100644 --- a/perception/autoware_detected_object_validation/package.xml +++ b/perception/autoware_detected_object_validation/package.xml @@ -2,7 +2,7 @@ autoware_detected_object_validation - 0.39.0 + 0.40.0 The ROS 2 detected_object_validation package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_detection_by_tracker/CHANGELOG.rst b/perception/autoware_detection_by_tracker/CHANGELOG.rst index 98d6dbe40f4a6..dd8a44828a5ff 100644 --- a/perception/autoware_detection_by_tracker/CHANGELOG.rst +++ b/perception/autoware_detection_by_tracker/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_detection_by_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml index cee180ba43c29..b9ee4fa2aac71 100644 --- a/perception/autoware_detection_by_tracker/package.xml +++ b/perception/autoware_detection_by_tracker/package.xml @@ -2,7 +2,7 @@ autoware_detection_by_tracker - 0.39.0 + 0.40.0 The ROS 2 autoware_detection_by_tracker package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_elevation_map_loader/CHANGELOG.rst b/perception/autoware_elevation_map_loader/CHANGELOG.rst index bd4d313348d9b..b53c69f07a8a9 100644 --- a/perception/autoware_elevation_map_loader/CHANGELOG.rst +++ b/perception/autoware_elevation_map_loader/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_elevation_map_loader ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_elevation_map_loader): fix clang-diagnostic-format-security (`#9492 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_elevation_map_loader/package.xml b/perception/autoware_elevation_map_loader/package.xml index 9a63c2fa569cc..6839cd60e2990 100644 --- a/perception/autoware_elevation_map_loader/package.xml +++ b/perception/autoware_elevation_map_loader/package.xml @@ -2,7 +2,7 @@ autoware_elevation_map_loader - 0.39.0 + 0.40.0 The autoware_elevation_map_loader package Kosuke Takeuchi Taichi Higashide diff --git a/perception/autoware_euclidean_cluster/CHANGELOG.rst b/perception/autoware_euclidean_cluster/CHANGELOG.rst index 9702b99a0b643..b7ce92ddd6510 100644 --- a/perception/autoware_euclidean_cluster/CHANGELOG.rst +++ b/perception/autoware_euclidean_cluster/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package autoware_euclidean_cluster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (`#9227 `_) + fix: bugprone-misplaced-widening-cast +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_euclidean_cluster/package.xml b/perception/autoware_euclidean_cluster/package.xml index d740c35fbd94d..f4568baaea19b 100644 --- a/perception/autoware_euclidean_cluster/package.xml +++ b/perception/autoware_euclidean_cluster/package.xml @@ -2,7 +2,7 @@ autoware_euclidean_cluster - 0.39.0 + 0.40.0 The autoware_euclidean_cluster package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_ground_segmentation/CHANGELOG.rst b/perception/autoware_ground_segmentation/CHANGELOG.rst index 7c2dbb7a2413c..b23cfa4972f1f 100644 --- a/perception/autoware_ground_segmentation/CHANGELOG.rst +++ b/perception/autoware_ground_segmentation/CHANGELOG.rst @@ -2,6 +2,123 @@ Changelog for package autoware_ground_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_ground_segmentation): remove unused function (`#9536 `_) +* fix(autoware_ground_segmentation): fix clang-diagnostic-inconsistent-missing-override (`#9517 `_) + * fix: clang-diagnostic-inconsistent-missing-override + * fix: pre-commit error + --------- +* feat(autoware_ground_segmentation): grid data structure revision for efficiency improvement (`#9297 `_) + * fix: replace point index to data index + * feat: Use emplace_back instead of push_back for adding gnd_grids in node.cpp + * fix: prep for non-sorted grid process + * feat: Add Cell class and Grid class for grid-based segmentation + * refactor: Add Cell and Grid classes for grid-based segmentation + * feat: initialize new grid + * refactor: Update Grid class initialization to use radians for azimuth size + refactor: Update Grid class initialization to use radians for azimuth size + refactor: Update Grid class initialization to use radians for azimuth size + * refactor: Fix calculation of azimuth index in Grid class + * feat: implement grid based segmentation, temporary logic + * refactor: idx position convert methods + * refactor: Update Grid class initialization to use radians for azimuth size + * feat: reconnect grids filled + * feat: grid initialization + * refactor: Update Grid class initialization and reset methods, implement a segmentation logic + refactor: Update Grid class initialization and reset methods, implement a segmentation logic + refactor: replace original methods + * feat: add time_keeper + * refactor: add time keeper in grid class + refactor: remove previous scan ground grid + * refactor: optimize grid boundary calculations and use squared values for radius comparisons + * fix: use pointer for prev cell + * refactor: remove time keeper called too many times + * fix: radial idx estimation fix + * refactor: optimize ground bin average calculation + fix: ground bin logic fix + * refactor: make grid ground filter separate + * refactor: remove unused code + fix: azimuth grid index converter bug + * fix: segmentation logic determination fix + fix: cell connection bug fix + * refactor: optimize pseudoArcTan2 function + * refactor: update grid radial calculation + * refactor: contain input cloud ptr + * refactor: separate ground initialization + * refactor: Remove unused code and optimize grid radial calculation + * refactor: Inline functions for improved performance + * feat: various azimuth interval per radial distance + * refactor: Fix bug in grid ground filter segmentation logic and cell connection + Remove unused code and optimize grid radial calculation + * fix: add missing offset calculation + * refactor: Improve grid ground filter segmentation logic and cell connection + Optimize grid radial calculation and remove unused code + * refactor: Remove debug print statements and optimize grid initialization + * refactor: Update grid radial limit to 200.0m + * refactor: Update grid size to 0.5m for improved ground segmentation + * refactor: Improve grid ground filter segmentation logic + * refactor: Optimize grid ground filter segmentation logic + * refactor: Update logic order for fast segmentation + * fix: resolve cppcheck issue + * fix: pseudo atan2 fix for even distribution of azimuth + * fix: remove unused next_grid_idx\_ update + * fix: introduce pseudo tangent to match result of pseudo arc tangent + * style(pre-commit): autofix + * fix: limit gradient + * fix: bring previous average when the ground bin is empty + * fix: back to constant azimuth interval grid + * perf: remove division for efficiency + * perf: remove division for efficiency + * perf: contain radius and height to avoid double calculation + * perf: optimize grid distance calculation for efficiency + * style(pre-commit): autofix + * perf: using isEmpty for efficiency + * chore: initialization fix + * perf: initial ground cell is integrated into the classify method for efficiency + * perf: refactor grid initialization for efficiency + * perf: optimize grid cell linking for efficiency + * Revert "perf: initial ground cell is integrated into the classify method for efficiency" + This reverts commit a4ab70b630f966d3e2827a07a0ec27079ecc78d2. + * fix: fix pseudo atan2 bug + * feat: various azimuth interval by range + * perf: optimize pseudoArcTan2 function for efficiency + * style(pre-commit): autofix + * fix: avoid zero division on the slope estimation + * fix: limit recursive search + refactor: improve efficiency of recursiveSearch function + Fix function parameter type in GridGroundFilter + * refactor: add comments about unclassified case + * chore: add comment to explain methods + * refactor: remove unnecessary include statement + * refactor: cast point_list size to int in getPointNum method + * refactor: add index check in getCell method + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Taekjin LEE, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_ground_segmentation/package.xml b/perception/autoware_ground_segmentation/package.xml index 3ac3047654a96..1cb179970e1ae 100644 --- a/perception/autoware_ground_segmentation/package.xml +++ b/perception/autoware_ground_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_ground_segmentation - 0.39.0 + 0.40.0 The ROS 2 autoware_ground_segmentation package amc-nu Yukihiro Saito diff --git a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst index 87d1bc0c2d687..f0a39ef78c708 100644 --- a/perception/autoware_image_projection_based_fusion/CHANGELOG.rst +++ b/perception/autoware_image_projection_based_fusion/CHANGELOG.rst @@ -2,6 +2,78 @@ Changelog for package autoware_image_projection_based_fusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix(lidar_centerpoint): non-maximum suppression target decision logic (`#9595 `_) + * refactor(lidar_centerpoint): optimize non-maximum suppression search distance calculation + * feat(lidar_centerpoint): do not suppress if one side of the object is pedestrian + * style(pre-commit): autofix + * refactor(lidar_centerpoint): remove unused variables + * refactor: remove unused variables + fix: implement non-maximum suppression logic to the transfusion + refactor: remove unused parameter iou_nms_target_class_names + Revert "fix: implement non-maximum suppression logic to the transfusion" + This reverts commit b8017fc366ec7d67234445ef5869f8beca9b6f45. + fix: revert transfusion modification + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat: remove max rois limit in the image projection based fusion (`#9596 `_) + feat: remove max rois limit +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_image_projection_based_fusion): detected object roi box projection fix (`#9519 `_) + * fix: detected object roi box projection fix + 1. eliminate misuse of std::numeric_limits::min() + 2. fix roi range up to the image edges + * fix: fix roi range calculation in RoiDetectedObjectFusionNode + Improve the calculation of the region of interest (ROI) in the RoiDetectedObjectFusionNode. The previous code had an issue where the ROI range was not correctly limited to the image edges. This fix ensures that the ROI is within the image boundaries by using the correct comparison operators for the x and y coordinates. + --------- +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* chore(image_projection_based_fusion): add debug for roi_pointcloud fusion (`#9481 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9509 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-unused-private-field (`#9505 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9495 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9516 `_) + fix: clang-diagnostic-inconsistent-missing-override +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9510 `_) +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-unused-private-field (`#9473 `_) + * fix: clang-diagnostic-unused-private-field + * fix: build error + --------- +* fix(autoware_image_projection_based_fusion): fix clang-diagnostic-inconsistent-missing-override (`#9472 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (`#9233 `_) + chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml +* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9226 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- +* fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (`#9229 `_) + * fix: bugprone-misplaced-widening-cast + * fix: clang-format + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yoshi Ri, Yutaka Kondo, awf-autoware-bot[bot], badai nguyen, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_image_projection_based_fusion/package.xml b/perception/autoware_image_projection_based_fusion/package.xml index 70aa2246d1cdf..025ed5377fa72 100644 --- a/perception/autoware_image_projection_based_fusion/package.xml +++ b/perception/autoware_image_projection_based_fusion/package.xml @@ -2,7 +2,7 @@ autoware_image_projection_based_fusion - 0.39.0 + 0.40.0 The autoware_image_projection_based_fusion package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst index e55a52d6924d5..5841ae3059503 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst +++ b/perception/autoware_lidar_apollo_instance_segmentation/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package autoware_lidar_apollo_instance_segmentation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (`#9195 `_) +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_lidar_apollo_instance_segmentation/package.xml b/perception/autoware_lidar_apollo_instance_segmentation/package.xml index dd48f1a2844d4..8a3d5a7ea6f76 100755 --- a/perception/autoware_lidar_apollo_instance_segmentation/package.xml +++ b/perception/autoware_lidar_apollo_instance_segmentation/package.xml @@ -2,7 +2,7 @@ autoware_lidar_apollo_instance_segmentation - 0.39.0 + 0.40.0 autoware_lidar_apollo_instance_segmentation Yoshi Ri Yukihiro Saito diff --git a/perception/autoware_lidar_centerpoint/CHANGELOG.rst b/perception/autoware_lidar_centerpoint/CHANGELOG.rst index b10fd533af90f..46f68e7462377 100644 --- a/perception/autoware_lidar_centerpoint/CHANGELOG.rst +++ b/perception/autoware_lidar_centerpoint/CHANGELOG.rst @@ -2,6 +2,52 @@ Changelog for package autoware_lidar_centerpoint ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix(lidar_centerpoint): non-maximum suppression target decision logic (`#9595 `_) + * refactor(lidar_centerpoint): optimize non-maximum suppression search distance calculation + * feat(lidar_centerpoint): do not suppress if one side of the object is pedestrian + * style(pre-commit): autofix + * refactor(lidar_centerpoint): remove unused variables + * refactor: remove unused variables + fix: implement non-maximum suppression logic to the transfusion + refactor: remove unused parameter iou_nms_target_class_names + Revert "fix: implement non-maximum suppression logic to the transfusion" + This reverts commit b8017fc366ec7d67234445ef5869f8beca9b6f45. + fix: revert transfusion modification + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_lidar_centerpoint): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9515 `_) +* feat(autoware_lidar_centerpoint): added a check to notify if we are dropping pillars (`#9488 `_) + * feat: added a check to notify if we are dropping pillars + * chore: updated text + * chore: throttled the message + --------- +* fix(autoware_lidar_centerpoint): fix clang-diagnostic-unused-private-field (`#9471 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kenzo Lobos Tsunekawa, M. Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml index 9734e56a29d57..78e900f8198f6 100644 --- a/perception/autoware_lidar_centerpoint/package.xml +++ b/perception/autoware_lidar_centerpoint/package.xml @@ -2,7 +2,7 @@ autoware_lidar_centerpoint - 0.39.0 + 0.40.0 The autoware_lidar_centerpoint package Kenzo Lobos-Tsunekawa Koji Minoda diff --git a/perception/autoware_lidar_transfusion/CHANGELOG.rst b/perception/autoware_lidar_transfusion/CHANGELOG.rst index 94f49d65991c8..f397c9e1ddc06 100644 --- a/perception/autoware_lidar_transfusion/CHANGELOG.rst +++ b/perception/autoware_lidar_transfusion/CHANGELOG.rst @@ -2,6 +2,39 @@ Changelog for package autoware_lidar_transfusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix(autoware_lidar_transfusion): non-maximum suppression target decision logic (`#9612 `_) + fix: non-maximum suppression target decision logic +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* chore(autoware_lidar_transfusion): added a warning if we are dropping voxels (`#9486 `_) + * chore: added a warning if we are dropping voxels + * chore: changed the warning to a throttled one + --------- +* fix(autoware_lidar_transfusion): fix clang-diagnostic-unused-private-field (`#9499 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kenzo Lobos Tsunekawa, M. Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml index a4dd66c27db0e..d9c43bc5a1b20 100644 --- a/perception/autoware_lidar_transfusion/package.xml +++ b/perception/autoware_lidar_transfusion/package.xml @@ -2,7 +2,7 @@ autoware_lidar_transfusion - 0.39.0 + 0.40.0 The lidar_transfusion package Amadeusz Szymko Kenzo Lobos-Tsunekawa diff --git a/perception/autoware_map_based_prediction/CHANGELOG.rst b/perception/autoware_map_based_prediction/CHANGELOG.rst index 69769df3aa04d..55bc24894c230 100644 --- a/perception/autoware_map_based_prediction/CHANGELOG.rst +++ b/perception/autoware_map_based_prediction/CHANGELOG.rst @@ -2,6 +2,51 @@ Changelog for package autoware_map_based_prediction ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_map_based_prediction): msg namespace (`#9553 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(map_based_prediction): move member functions to utils (`#9225 `_) +* refactor(map_based_prediction): divide objectsCallback (`#9219 `_) +* refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor: grouping functions + * refactor: grouping parameters + * refactor: rename member road_users_history to road_users_history\_ + * refactor: separate util functions + * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node + * refactor: Add explicit template instantiation for removeOldObjectsHistory function + * refactor: Add tf2_geometry_msgs to data_structure + * refactor: Remove unused variables and functions in map_based_prediction_node.cpp + * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp + * Apply suggestions from code review + * style(pre-commit): autofix + --------- + Co-authored-by: Mamoru Sobue + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Amadeusz Szymko, Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Taekjin LEE, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml index 3d7cba491fe0e..9012590a45b14 100644 --- a/perception/autoware_map_based_prediction/package.xml +++ b/perception/autoware_map_based_prediction/package.xml @@ -2,7 +2,7 @@ autoware_map_based_prediction - 0.39.0 + 0.40.0 This package implements a map_based_prediction Tomoya Kimura Yoshi Ri diff --git a/perception/autoware_multi_object_tracker/CHANGELOG.rst b/perception/autoware_multi_object_tracker/CHANGELOG.rst index 5f8ee4ef00869..5fced913f2b9d 100644 --- a/perception/autoware_multi_object_tracker/CHANGELOG.rst +++ b/perception/autoware_multi_object_tracker/CHANGELOG.rst @@ -2,6 +2,57 @@ Changelog for package autoware_multi_object_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_multi_object_tracker): measure latency with latest detection update time (`#9533 `_) + * fix: measure latency with latest detection update time + * fix: remove duplicated current_time + --------- +* fix(cpplint): include what you use - perception (`#9569 `_) +* ci(pre-commit): autoupdate (`#8949 `_) + Co-authored-by: M. Fatih Cırıt +* fix(autoware_multi_object_tracker): fix clang-diagnostic-unused-private-field (`#9491 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_multi_object_tracker): new function to add odometry uncertainty (`#9139 `_) + * feat: add Odometry uncertainty to object tracking + * feat: Add odometry heading uncertainty to object pose covariance + feat: Rotate object pose covariance matrix to account for yaw uncertainty + Rotate the object pose covariance matrix in the uncertainty_processor.cpp file to account for the yaw uncertainty. This ensures that the covariance matrix accurately represents the position uncertainty of the object. + Refactor the code to rotate the covariance matrix using Eigen's Rotation2D class. The yaw uncertainty is added to the y-y element of the rotated covariance matrix. Finally, update the object_pose_cov array with the updated covariance values. + Closes `#123 `_ + * feat: Add odometry motion uncertainty to object pose covariance + refactoring + * feat: Update ego twist uncertainty to the object velocity uncertainty + * feat: update object twist covariance by odometry yaw rate uncertainty + * feat: move uncertainty modeling to input side + * feat: add option to select odometry uncertainty + * refactor: rename consider_odometry_uncertainty to enable_odometry_uncertainty + * fix: transform to world first, add odometry covariance later + style(pre-commit): autofix + * feat: Add odometry heading uncertainty to object pose covariance + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml index aa5c4968e36f9..912165d7b6ab6 100644 --- a/perception/autoware_multi_object_tracker/package.xml +++ b/perception/autoware_multi_object_tracker/package.xml @@ -2,7 +2,7 @@ autoware_multi_object_tracker - 0.39.0 + 0.40.0 The ROS 2 autoware_multi_object_tracker package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_merger/CHANGELOG.rst b/perception/autoware_object_merger/CHANGELOG.rst index 2e1adbb4b8be6..004d56c406ce9 100644 --- a/perception/autoware_object_merger/CHANGELOG.rst +++ b/perception/autoware_object_merger/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_object_merger/package.xml b/perception/autoware_object_merger/package.xml index 84a9ec64cf3f0..481bb0babf20d 100644 --- a/perception/autoware_object_merger/package.xml +++ b/perception/autoware_object_merger/package.xml @@ -2,7 +2,7 @@ autoware_object_merger - 0.39.0 + 0.40.0 The autoware_object_merger package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_range_splitter/CHANGELOG.rst b/perception/autoware_object_range_splitter/CHANGELOG.rst index b0f2a81744b8e..2ad998b66391f 100644 --- a/perception/autoware_object_range_splitter/CHANGELOG.rst +++ b/perception/autoware_object_range_splitter/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_object_range_splitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_object_range_splitter/package.xml b/perception/autoware_object_range_splitter/package.xml index 27503850261d5..bfc8470834443 100644 --- a/perception/autoware_object_range_splitter/package.xml +++ b/perception/autoware_object_range_splitter/package.xml @@ -2,7 +2,7 @@ autoware_object_range_splitter - 0.39.0 + 0.40.0 The autoware_object_range_splitter package Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_object_velocity_splitter/CHANGELOG.rst b/perception/autoware_object_velocity_splitter/CHANGELOG.rst index 9d38280224125..ec69fb1754d3b 100644 --- a/perception/autoware_object_velocity_splitter/CHANGELOG.rst +++ b/perception/autoware_object_velocity_splitter/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_object_velocity_splitter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_object_velocity_splitter/package.xml b/perception/autoware_object_velocity_splitter/package.xml index 48ffa93f05102..681b29b0c49e8 100644 --- a/perception/autoware_object_velocity_splitter/package.xml +++ b/perception/autoware_object_velocity_splitter/package.xml @@ -2,7 +2,7 @@ autoware_object_velocity_splitter - 0.39.0 + 0.40.0 autoware_object_velocity_splitter Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst index e020be4cc906a..cf7dc5752c62d 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst +++ b/perception/autoware_occupancy_grid_map_outlier_filter/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package autoware_occupancy_grid_map_outlier_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_occupancy_grid_map_outlier_filter): fix bugprone-incorrect-roundings (`#9217 `_) + * fix: bugprone-incorrect-roundings + * fix: clang-format + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml index c8c1f15f72c0d..fba074fdc669f 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/package.xml +++ b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml @@ -2,7 +2,7 @@ autoware_occupancy_grid_map_outlier_filter - 0.39.0 + 0.40.0 The ROS 2 occupancy_grid_map_outlier_filter package amc-nu Yukihiro Saito diff --git a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst index 6668ef1c29ed9..75d579b612168 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst +++ b/perception/autoware_probabilistic_occupancy_grid_map/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_probabilistic_occupancy_grid_map ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (`#9221 `_) + fix: bugprone-incorrect-roundings +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_probabilistic_occupancy_grid_map/package.xml b/perception/autoware_probabilistic_occupancy_grid_map/package.xml index e5bd0eebb9b2e..ece7ef0dec663 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/package.xml +++ b/perception/autoware_probabilistic_occupancy_grid_map/package.xml @@ -2,7 +2,7 @@ autoware_probabilistic_occupancy_grid_map - 0.39.0 + 0.40.0 generate probabilistic occupancy grid map Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst index 8eb064446cbba..ff859a4d44ce3 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst +++ b/perception/autoware_radar_crossing_objects_noise_filter/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_radar_crossing_objects_noise_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* docs: update the list styles (`#9555 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_radar_crossing_objects_noise_filter/package.xml b/perception/autoware_radar_crossing_objects_noise_filter/package.xml index 5536033aa1319..f5900066cb10b 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/package.xml +++ b/perception/autoware_radar_crossing_objects_noise_filter/package.xml @@ -2,7 +2,7 @@ autoware_radar_crossing_objects_noise_filter - 0.39.0 + 0.40.0 autoware_radar_crossing_objects_noise_filter Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst index 9c4e7c527ecb7..f6f48dfe36231 100644 --- a/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst +++ b/perception/autoware_radar_fusion_to_detected_object/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_radar_fusion_to_detected_object ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_radar_fusion_to_detected_object/package.xml b/perception/autoware_radar_fusion_to_detected_object/package.xml index 82f2f0926e929..20d6331dc8a37 100644 --- a/perception/autoware_radar_fusion_to_detected_object/package.xml +++ b/perception/autoware_radar_fusion_to_detected_object/package.xml @@ -2,7 +2,7 @@ autoware_radar_fusion_to_detected_object - 0.39.0 + 0.40.0 autoware_radar_fusion_to_detected_object Satoshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_object_clustering/CHANGELOG.rst b/perception/autoware_radar_object_clustering/CHANGELOG.rst index df38cbed59c27..b1609dd939090 100644 --- a/perception/autoware_radar_object_clustering/CHANGELOG.rst +++ b/perception/autoware_radar_object_clustering/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_radar_object_clustering ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* docs: update the list styles (`#9555 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_radar_object_clustering/package.xml b/perception/autoware_radar_object_clustering/package.xml index a4611a68f93f2..c8b5278c60292 100644 --- a/perception/autoware_radar_object_clustering/package.xml +++ b/perception/autoware_radar_object_clustering/package.xml @@ -2,7 +2,7 @@ autoware_radar_object_clustering - 0.39.0 + 0.40.0 autoware_radar_object_clustering Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_radar_object_tracker/CHANGELOG.rst b/perception/autoware_radar_object_tracker/CHANGELOG.rst index dde801b38e9aa..028737b0d4482 100644 --- a/perception/autoware_radar_object_tracker/CHANGELOG.rst +++ b/perception/autoware_radar_object_tracker/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_radar_object_tracker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_radar_object_tracker/package.xml b/perception/autoware_radar_object_tracker/package.xml index f255ab28b14b9..4868e93ba9e72 100644 --- a/perception/autoware_radar_object_tracker/package.xml +++ b/perception/autoware_radar_object_tracker/package.xml @@ -2,7 +2,7 @@ autoware_radar_object_tracker - 0.39.0 + 0.40.0 Do tracking radar object Yoshi Ri Yukihiro Saito diff --git a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst index 3d880f603fdb6..9b60a1b24ec7a 100644 --- a/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst +++ b/perception/autoware_radar_tracks_msgs_converter/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_radar_tracks_msgs_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_radar_tracks_msgs_converter/package.xml b/perception/autoware_radar_tracks_msgs_converter/package.xml index d84b7e8473f83..5b2e1c7d6a039 100644 --- a/perception/autoware_radar_tracks_msgs_converter/package.xml +++ b/perception/autoware_radar_tracks_msgs_converter/package.xml @@ -2,7 +2,7 @@ autoware_radar_tracks_msgs_converter - 0.39.0 + 0.40.0 autoware_radar_tracks_msgs_converter Satoshi Tanaka Shunsuke Miura diff --git a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst index 1a20766e6a72c..d61173ea1cfea 100644 --- a/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst +++ b/perception/autoware_raindrop_cluster_filter/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_raindrop_cluster_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_raindrop_cluster_filter): fix clang-diagnostic-unused-private-field (`#9496 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_raindrop_cluster_filter/package.xml b/perception/autoware_raindrop_cluster_filter/package.xml index 08200191ad58b..af3a2b1e9179f 100644 --- a/perception/autoware_raindrop_cluster_filter/package.xml +++ b/perception/autoware_raindrop_cluster_filter/package.xml @@ -2,7 +2,7 @@ autoware_raindrop_cluster_filter - 0.39.0 + 0.40.0 The ROS 2 filter cluster package Yukihiro Saito Dai Nguyen diff --git a/perception/autoware_shape_estimation/CHANGELOG.rst b/perception/autoware_shape_estimation/CHANGELOG.rst index 19630554193ec..85af9f1cf54ac 100644 --- a/perception/autoware_shape_estimation/CHANGELOG.rst +++ b/perception/autoware_shape_estimation/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package autoware_shape_estimation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml index a6a9910155120..cfc1d7e829a8a 100644 --- a/perception/autoware_shape_estimation/package.xml +++ b/perception/autoware_shape_estimation/package.xml @@ -2,7 +2,7 @@ autoware_shape_estimation - 0.39.0 + 0.40.0 This package implements a shape estimation algorithm as a ROS 2 node Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_simple_object_merger/CHANGELOG.rst b/perception/autoware_simple_object_merger/CHANGELOG.rst index 8c9ac43a8382f..d45c6a726433d 100644 --- a/perception/autoware_simple_object_merger/CHANGELOG.rst +++ b/perception/autoware_simple_object_merger/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_simple_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_simple_object_merger/package.xml b/perception/autoware_simple_object_merger/package.xml index b42544aede418..db20c03a95640 100644 --- a/perception/autoware_simple_object_merger/package.xml +++ b/perception/autoware_simple_object_merger/package.xml @@ -1,7 +1,7 @@ autoware_simple_object_merger - 0.39.0 + 0.40.0 autoware_simple_object_merger Sathshi Tanaka Shunsuke Miura diff --git a/perception/autoware_tensorrt_classifier/CHANGELOG.rst b/perception/autoware_tensorrt_classifier/CHANGELOG.rst index 1fa80f20f6cb7..88311b8ed9515 100644 --- a/perception/autoware_tensorrt_classifier/CHANGELOG.rst +++ b/perception/autoware_tensorrt_classifier/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package autoware_tensorrt_classifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_tensorrt_classifier): fix clang errors (`#9508 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_tensorrt_classifier/package.xml b/perception/autoware_tensorrt_classifier/package.xml index 4813fe48cd4fd..489f5f2596e25 100644 --- a/perception/autoware_tensorrt_classifier/package.xml +++ b/perception/autoware_tensorrt_classifier/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_classifier - 0.39.0 + 0.40.0 tensorrt classifier wrapper Dan Umeda diff --git a/perception/autoware_tensorrt_common/CHANGELOG.rst b/perception/autoware_tensorrt_common/CHANGELOG.rst index 48a26ad65a610..ab3b7187c0169 100644 --- a/perception/autoware_tensorrt_common/CHANGELOG.rst +++ b/perception/autoware_tensorrt_common/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_tensorrt_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_tensorrt_common): fix clang-diagnostic-unused-private-field (`#9493 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_tensorrt_common/package.xml b/perception/autoware_tensorrt_common/package.xml index 7e29cf87b61c3..300a7b263c063 100644 --- a/perception/autoware_tensorrt_common/package.xml +++ b/perception/autoware_tensorrt_common/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_common - 0.39.0 + 0.40.0 tensorrt utility wrapper Taichi Higashide diff --git a/perception/autoware_tensorrt_yolox/CHANGELOG.rst b/perception/autoware_tensorrt_yolox/CHANGELOG.rst index b0883dab538d5..969f1df4b5496 100644 --- a/perception/autoware_tensorrt_yolox/CHANGELOG.rst +++ b/perception/autoware_tensorrt_yolox/CHANGELOG.rst @@ -2,6 +2,36 @@ Changelog for package autoware_tensorrt_yolox ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_tensorrt_yolox): fix clang-diagnostic-inconsistent-missing-override (`#9512 `_) + fix: clang-diagnostic-inconsistent-missing-override +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml index 1c8cd51ee935c..e04d839282fd8 100644 --- a/perception/autoware_tensorrt_yolox/package.xml +++ b/perception/autoware_tensorrt_yolox/package.xml @@ -1,7 +1,7 @@ autoware_tensorrt_yolox - 0.39.0 + 0.40.0 tensorrt library implementation for yolox Daisuke Nishimatsu diff --git a/perception/autoware_tracking_object_merger/CHANGELOG.rst b/perception/autoware_tracking_object_merger/CHANGELOG.rst index 0c6aad26b02d7..337e7028ee61f 100644 --- a/perception/autoware_tracking_object_merger/CHANGELOG.rst +++ b/perception/autoware_tracking_object_merger/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package autoware_tracking_object_merger ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (`#9507 `_) + fix: clang-diagnostic-sign-conversion +* fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (`#9494 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/autoware_tracking_object_merger/package.xml b/perception/autoware_tracking_object_merger/package.xml index fabe4132c96ed..2b19ee381258f 100644 --- a/perception/autoware_tracking_object_merger/package.xml +++ b/perception/autoware_tracking_object_merger/package.xml @@ -2,7 +2,7 @@ autoware_tracking_object_merger - 0.39.0 + 0.40.0 merge tracking object Yukihiro Saito Yoshi Ri diff --git a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst index b60021ffb5503..0b3182907a8ce 100644 --- a/perception/autoware_traffic_light_arbiter/CHANGELOG.rst +++ b/perception/autoware_traffic_light_arbiter/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_traffic_light_arbiter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_traffic_light_arbiter/package.xml b/perception/autoware_traffic_light_arbiter/package.xml index 46500143ed951..03d6ad5cb6cf4 100644 --- a/perception/autoware_traffic_light_arbiter/package.xml +++ b/perception/autoware_traffic_light_arbiter/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_arbiter - 0.39.0 + 0.40.0 The autoware_traffic_light_arbiter package Kenzo Lobos-Tsunekawa Shunsuke Miura diff --git a/perception/autoware_traffic_light_classifier/CHANGELOG.rst b/perception/autoware_traffic_light_classifier/CHANGELOG.rst index 394c8b3f7aeea..db6ddb6b18f87 100644 --- a/perception/autoware_traffic_light_classifier/CHANGELOG.rst +++ b/perception/autoware_traffic_light_classifier/CHANGELOG.rst @@ -2,6 +2,39 @@ Changelog for package autoware_traffic_light_classifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_traffic_light_classifier): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9497 `_) + fix: clang-diagnostic-delete-abstract-non-virtual-dtor +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml index 5863de6ff50fd..d83791916d4b9 100644 --- a/perception/autoware_traffic_light_classifier/package.xml +++ b/perception/autoware_traffic_light_classifier/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_classifier - 0.39.0 + 0.40.0 The autoware_traffic_light_classifier package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst index 8918f357e263b..80b1fa60f9e1f 100644 --- a/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_fine_detector/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_traffic_light_fine_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml index a431f071f8150..c9db06669ea99 100644 --- a/perception/autoware_traffic_light_fine_detector/package.xml +++ b/perception/autoware_traffic_light_fine_detector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_fine_detector - 0.39.0 + 0.40.0 The autoware_traffic_light_fine_detector package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst index 312ef582da479..60f84da7131f2 100644 --- a/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst +++ b/perception/autoware_traffic_light_map_based_detector/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_traffic_light_map_based_detector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_traffic_light_map_based_detector/package.xml b/perception/autoware_traffic_light_map_based_detector/package.xml index 6c22e091ee972..c5caca47a0c39 100644 --- a/perception/autoware_traffic_light_map_based_detector/package.xml +++ b/perception/autoware_traffic_light_map_based_detector/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_map_based_detector - 0.39.0 + 0.40.0 The autoware_traffic_light_map_based_detector package Yukihiro Saito Shunsuke Miura diff --git a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst index 4354885dcb143..74a7fa049c486 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst +++ b/perception/autoware_traffic_light_multi_camera_fusion/CHANGELOG.rst @@ -2,6 +2,41 @@ Changelog for package autoware_traffic_light_multi_camera_fusion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error (`#9336 `_) + * feat(autoware_traffic_light_multi_camera_fusion): resolve clang-tidy error + * add const to argument + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yukinari Hisaki, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_traffic_light_multi_camera_fusion/package.xml b/perception/autoware_traffic_light_multi_camera_fusion/package.xml index efa8571a660a8..dfe8657577582 100644 --- a/perception/autoware_traffic_light_multi_camera_fusion/package.xml +++ b/perception/autoware_traffic_light_multi_camera_fusion/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_multi_camera_fusion - 0.39.0 + 0.40.0 The autoware_traffic_light_multi_camera_fusion package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst index fb31d9ffdf0c1..8dec833763cb7 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst +++ b/perception/autoware_traffic_light_occlusion_predictor/CHANGELOG.rst @@ -2,6 +2,38 @@ Changelog for package autoware_traffic_light_occlusion_predictor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_traffic_light_occlusion_predictor/package.xml b/perception/autoware_traffic_light_occlusion_predictor/package.xml index b1dbc773b5eb0..e10dddaf40eaf 100644 --- a/perception/autoware_traffic_light_occlusion_predictor/package.xml +++ b/perception/autoware_traffic_light_occlusion_predictor/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_occlusion_predictor - 0.39.0 + 0.40.0 The autoware_traffic_light_occlusion_predictor package Tao Zhong Shunsuke Miura diff --git a/perception/autoware_traffic_light_visualization/CHANGELOG.rst b/perception/autoware_traffic_light_visualization/CHANGELOG.rst index 7da332f0f878b..420b4bf485eec 100644 --- a/perception/autoware_traffic_light_visualization/CHANGELOG.rst +++ b/perception/autoware_traffic_light_visualization/CHANGELOG.rst @@ -2,6 +2,40 @@ Changelog for package autoware_traffic_light_visualization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* fix(traffic_light_roi_visualizer): show unknown results correctly (`#9467 `_) + fix: show unknown results correctly +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light_visualization): include opencv as system (`#9331 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_traffic_light*): add maintainer (`#9280 `_) + * add fundamental commit + * add forgot package + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masato Saeki, Ryohsuke Mitsudome, Tao Zhong, Yukinari Hisaki, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/perception/autoware_traffic_light_visualization/package.xml b/perception/autoware_traffic_light_visualization/package.xml index 210700799ea73..afb30d43f2a70 100644 --- a/perception/autoware_traffic_light_visualization/package.xml +++ b/perception/autoware_traffic_light_visualization/package.xml @@ -2,7 +2,7 @@ autoware_traffic_light_visualization - 0.39.0 + 0.40.0 The autoware_traffic_light_visualization package Yukihiro Saito Tao Zhong diff --git a/perception/perception_utils/CHANGELOG.rst b/perception/perception_utils/CHANGELOG.rst index 2dbb57cbd2f48..ddbe6e3f40270 100644 --- a/perception/perception_utils/CHANGELOG.rst +++ b/perception/perception_utils/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package perception_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - perception (`#9569 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(perception_utils): install include directory (`#9354 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/perception/perception_utils/package.xml b/perception/perception_utils/package.xml index 7001d249e1f52..058811b048459 100644 --- a/perception/perception_utils/package.xml +++ b/perception/perception_utils/package.xml @@ -2,7 +2,7 @@ perception_utils - 0.39.0 + 0.40.0 The perception_utils package Shunsuke Miura Yoshi Ri diff --git a/planning/autoware_costmap_generator/CHANGELOG.rst b/planning/autoware_costmap_generator/CHANGELOG.rst index 2dad489bbc6a4..6215cd6361b49 100644 --- a/planning/autoware_costmap_generator/CHANGELOG.rst +++ b/planning/autoware_costmap_generator/CHANGELOG.rst @@ -2,6 +2,57 @@ Changelog for package autoware_costmap_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(costmap_generator, scenario_selector): improve freespace planning stability (`#9579 `_) + * discretize updating grid center position by size of grid resolution + * modify logic for switching to lane driving in scenario selector + * fix spelling + --------- +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_costmap_generator): fix clang-diagnostic-unused-private-field (`#9395 `_) + fix: clang-diagnostic-unused-private-field +* fix(costmap_generator): use vehicle frame for lidar height thresholds (`#9311 `_) +* test(costmap_generator): unit test implementation for costmap generator (`#9149 `_) + * modify costmap generator directory structure + * rename class CostmapGenerator to CostmapGeneratorNode + * unit test for object_map_utils + * catch error from lookupTransform + * use polling subscriber in costmap generator node + * add test for costmap generator node + * add test for isActive() + * revert unnecessary changes + * remove commented out line + * minor fix + * Update planning/autoware_costmap_generator/src/costmap_generator.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858, mkquda + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/autoware_costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml index d3b03f171ef97..9097109de0a0b 100644 --- a/planning/autoware_costmap_generator/package.xml +++ b/planning/autoware_costmap_generator/package.xml @@ -2,7 +2,7 @@ autoware_costmap_generator - 0.39.0 + 0.40.0 The autoware_costmap_generator package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst index 544a12e7cde26..0dd0f835c1f53 100644 --- a/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst +++ b/planning/autoware_external_velocity_limit_selector/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_external_velocity_limit_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (`#9502 `_) + * change max acceleration and max jerk according to external velocity request + * modify external velocity limit selector + * fix external velocity limit selector + * fix format + --------- +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_external_velocity_limit_selector/package.xml b/planning/autoware_external_velocity_limit_selector/package.xml index 4779de30519a0..b75a4fab72d7c 100644 --- a/planning/autoware_external_velocity_limit_selector/package.xml +++ b/planning/autoware_external_velocity_limit_selector/package.xml @@ -2,7 +2,7 @@ autoware_external_velocity_limit_selector - 0.39.0 + 0.40.0 The autoware_external_velocity_limit_selector ROS 2 package Satoshi Ota Shinnosuke Hirakawa diff --git a/planning/autoware_freespace_planner/CHANGELOG.rst b/planning/autoware_freespace_planner/CHANGELOG.rst index 277d7f96d5d15..ad8960a64d3d2 100644 --- a/planning/autoware_freespace_planner/CHANGELOG.rst +++ b/planning/autoware_freespace_planner/CHANGELOG.rst @@ -2,6 +2,47 @@ Changelog for package autoware_freespace_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) + * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. + * style(pre-commit): autofix + * Updated the freespace planner instantiation call in the path planning modules + * style(pre-commit): autofix + * Updated tests for the utility functions + * style(pre-commit): autofix + --------- + Co-authored-by: Steven Brills + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(freespace_planner): add processing time pub (`#9332 `_) +* fix(freespace_planner): fix is near target check (`#9327 `_) + * fix is_near_target_check + * update unit test + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, mkquda, stevenbrills + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml index 84818e70f220a..fd7e39d191647 100644 --- a/planning/autoware_freespace_planner/package.xml +++ b/planning/autoware_freespace_planner/package.xml @@ -2,7 +2,7 @@ autoware_freespace_planner - 0.39.0 + 0.40.0 The autoware_freespace_planner package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst index c032ebe44f723..8f6b94a2e0a80 100644 --- a/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst +++ b/planning/autoware_freespace_planning_algorithms/CHANGELOG.rst @@ -2,6 +2,54 @@ Changelog for package autoware_freespace_planning_algorithms ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor: correct spelling (`#9528 `_) +* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) + * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. + * style(pre-commit): autofix + * Updated the freespace planner instantiation call in the path planning modules + * style(pre-commit): autofix + * Updated tests for the utility functions + * style(pre-commit): autofix + --------- + Co-authored-by: Steven Brills + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-unused-const-variable (`#9433 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-ignored-optimization-argument (`#9418 `_) + fix: clang-diagnostic-ignored-optimization-argument +* fix(autoware_freespace_planning_algorithms): fix clang-diagnostic-unused-private-field (`#9396 `_) + * fix: clang-diagnostic-unused-private-field + * fix: build error + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (`#9274 `_) +* fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (`#9230 `_) + fix: bugprone-unused-raii +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, kobayu858, stevenbrills + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/autoware_freespace_planning_algorithms/package.xml b/planning/autoware_freespace_planning_algorithms/package.xml index 9a9b7ad0c586f..4bffa7bd15c1d 100644 --- a/planning/autoware_freespace_planning_algorithms/package.xml +++ b/planning/autoware_freespace_planning_algorithms/package.xml @@ -2,7 +2,7 @@ autoware_freespace_planning_algorithms - 0.39.0 + 0.40.0 The autoware_freespace_planning_algorithms package Kosuke Takeuchi Takamasa Horibe diff --git a/planning/autoware_mission_planner/CHANGELOG.rst b/planning/autoware_mission_planner/CHANGELOG.rst index bdab400dfa983..ed21313c96af2 100644 --- a/planning/autoware_mission_planner/CHANGELOG.rst +++ b/planning/autoware_mission_planner/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package autoware_mission_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: autoware_glog_compontnt (`#9586 `_) + Fixed autoware_glog_compontnt +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(glog_component): prefix package and namespace with autoware (`#9302 `_) + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* fix(mission_planner): fix initialization after route set (`#9457 `_) +* fix(autoware_mission_planner): fix clang-diagnostic-error (`#9432 `_) +* feat(mission_planner): add processing time publisher (`#9342 `_) + * feat(mission_planner): add processing time publisher + * delete extra line + * update: mission_planner, route_selector, service_utils. + * Revert "update: mission_planner, route_selector, service_utils." + This reverts commit d460a633c04c166385963c5233c3845c661e595e. + * Update to show that exceptions are not handled + * feat(mission_planner,route_selector): add processing time publisher + --------- + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Kosuke Takeuchi +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, SakodaShintaro, Takagi, Isamu, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_mission_planner/package.xml b/planning/autoware_mission_planner/package.xml index d249d2fb00021..e7cf974b2ba25 100644 --- a/planning/autoware_mission_planner/package.xml +++ b/planning/autoware_mission_planner/package.xml @@ -2,7 +2,7 @@ autoware_mission_planner - 0.39.0 + 0.40.0 The autoware_mission_planner package Takagi, Isamu Kosuke Takeuchi diff --git a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst index 891d36e2a3be5..16b583990ec3e 100644 --- a/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst +++ b/planning/autoware_objects_of_interest_marker_interface/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_objects_of_interest_marker_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_objects_of_interest_marker_interface/package.xml b/planning/autoware_objects_of_interest_marker_interface/package.xml index 15f2adac6924d..6d179f7872dc1 100644 --- a/planning/autoware_objects_of_interest_marker_interface/package.xml +++ b/planning/autoware_objects_of_interest_marker_interface/package.xml @@ -1,7 +1,7 @@ autoware_objects_of_interest_marker_interface - 0.39.0 + 0.40.0 The autoware_objects_of_interest_marker_interface package Fumiya Watanabe diff --git a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst index 8b0192c171a29..827fee6a58039 100644 --- a/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_cruise_planner/CHANGELOG.rst @@ -2,6 +2,70 @@ Changelog for package autoware_obstacle_cruise_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* refactor(obstacle_cruise_planner)!: refactor rviz and terminal info (`#9594 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(obstacle_cruise_planner)!: remove stop reason (`#9464 `_) + fix(obstacle_cruise_planner): remove stop reason +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle. (`#9359 `_) + * feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle. + * fix: cppcheck + --------- +* fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9419 `_) + fix: clang-diagnostic-delete-abstract-non-virtual-dtor +* fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-defaulted-function-deleted (`#9398 `_) + fix: clang-diagnostic-defaulted-function-deleted +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* chore(obstacle_cruise_planner): add function tests for a utils function (`#9206 `_) + * add utils test + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index 75405c3aded2a..8583d0639e5ce 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -1,7 +1,7 @@ autoware_obstacle_cruise_planner - 0.39.0 + 0.40.0 The autoware_obstacle_cruise_planner package Takayuki Murooka diff --git a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst index 2afc9c79edac5..867553c9ffd4e 100644 --- a/planning/autoware_obstacle_stop_planner/CHANGELOG.rst +++ b/planning/autoware_obstacle_stop_planner/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package autoware_obstacle_stop_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(obstacle_stop_planner): remove stop reason (`#9465 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_obstacle_stop_planner): fix cppcheck warnings (`#9388 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml index d46ad5c6c2a0d..c9c78b3e87c3b 100644 --- a/planning/autoware_obstacle_stop_planner/package.xml +++ b/planning/autoware_obstacle_stop_planner/package.xml @@ -2,7 +2,7 @@ autoware_obstacle_stop_planner - 0.39.0 + 0.40.0 The autoware_obstacle_stop_planner package Satoshi Ota diff --git a/planning/autoware_path_optimizer/CHANGELOG.rst b/planning/autoware_path_optimizer/CHANGELOG.rst index 07ea508e53c07..19798e6697ec6 100644 --- a/planning/autoware_path_optimizer/CHANGELOG.rst +++ b/planning/autoware_path_optimizer/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_path_optimizer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* docs: update the list styles (`#9555 `_) +* fix(path_optimizer): solve issue with time keeper (`#9483 `_) + solve issue with time keeper +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml index 8ab7d50ccada4..eb02db8ea9586 100644 --- a/planning/autoware_path_optimizer/package.xml +++ b/planning/autoware_path_optimizer/package.xml @@ -2,7 +2,7 @@ autoware_path_optimizer - 0.39.0 + 0.40.0 The autoware_path_optimizer package Takayuki Murooka Kosuke Takeuchi diff --git a/planning/autoware_path_smoother/CHANGELOG.rst b/planning/autoware_path_smoother/CHANGELOG.rst index 823219e9dd303..4b7f86361c63b 100644 --- a/planning/autoware_path_smoother/CHANGELOG.rst +++ b/planning/autoware_path_smoother/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package autoware_path_smoother ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml index 572cf514b7be5..3fa7b9fa482ed 100644 --- a/planning/autoware_path_smoother/package.xml +++ b/planning/autoware_path_smoother/package.xml @@ -2,7 +2,7 @@ autoware_path_smoother - 0.39.0 + 0.40.0 The autoware_path_smoother package Takayuki Murooka Maxime CLEMENT diff --git a/planning/autoware_planning_test_manager/CHANGELOG.rst b/planning/autoware_planning_test_manager/CHANGELOG.rst index 3d674c64296af..f1ac0f088c3cc 100644 --- a/planning/autoware_planning_test_manager/CHANGELOG.rst +++ b/planning/autoware_planning_test_manager/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_planning_test_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(planning_test_manager): update owner (`#9620 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(test_utils): return parser as optional (`#9391 `_) + Co-authored-by: Mamoru Sobue +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo, Zulfaqar Azmi + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml index 1b38944f545bc..80801a8102453 100644 --- a/planning/autoware_planning_test_manager/package.xml +++ b/planning/autoware_planning_test_manager/package.xml @@ -2,7 +2,7 @@ autoware_planning_test_manager - 0.39.0 + 0.40.0 ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe diff --git a/planning/autoware_planning_topic_converter/CHANGELOG.rst b/planning/autoware_planning_topic_converter/CHANGELOG.rst index 897a99d1e0bc2..e937e664654a2 100644 --- a/planning/autoware_planning_topic_converter/CHANGELOG.rst +++ b/planning/autoware_planning_topic_converter/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_planning_topic_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_planning_topic_converter/package.xml b/planning/autoware_planning_topic_converter/package.xml index 3503a9bebda40..e2585924a61d2 100644 --- a/planning/autoware_planning_topic_converter/package.xml +++ b/planning/autoware_planning_topic_converter/package.xml @@ -1,7 +1,7 @@ autoware_planning_topic_converter - 0.39.0 + 0.40.0 The autoware_planning_topic_converter package Satoshi OTA diff --git a/planning/autoware_planning_validator/CHANGELOG.rst b/planning/autoware_planning_validator/CHANGELOG.rst index 9828da69cf80d..76018e5bf5f11 100644 --- a/planning/autoware_planning_validator/CHANGELOG.rst +++ b/planning/autoware_planning_validator/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_planning_validator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_planning_validator/package.xml b/planning/autoware_planning_validator/package.xml index 9db00b580b60d..1652c2ad4f544 100644 --- a/planning/autoware_planning_validator/package.xml +++ b/planning/autoware_planning_validator/package.xml @@ -2,7 +2,7 @@ autoware_planning_validator - 0.39.0 + 0.40.0 ros node for autoware_planning_validator Takamasa Horibe Kosuke Takeuchi diff --git a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst index 7a8d11d37fe1e..570e7b4783ca4 100644 --- a/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst +++ b/planning/autoware_remaining_distance_time_calculator/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_remaining_distance_time_calculator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml index 55033af92656b..924e6d62d6aba 100644 --- a/planning/autoware_remaining_distance_time_calculator/package.xml +++ b/planning/autoware_remaining_distance_time_calculator/package.xml @@ -1,7 +1,7 @@ autoware_remaining_distance_time_calculator - 0.39.0 + 0.40.0 Calculates and publishes remaining distance and time of the mission. Ahmed Ebrahim diff --git a/planning/autoware_route_handler/CHANGELOG.rst b/planning/autoware_route_handler/CHANGELOG.rst index 37c1db12186ce..d70e5897c96b5 100644 --- a/planning/autoware_route_handler/CHANGELOG.rst +++ b/planning/autoware_route_handler/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package autoware_route_handler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(test_utils): return parser as optional (`#9391 `_) + Co-authored-by: Mamoru Sobue +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, Zulfaqar Azmi + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_route_handler/package.xml b/planning/autoware_route_handler/package.xml index 78a024a8c5f82..ededbcc9eef3d 100644 --- a/planning/autoware_route_handler/package.xml +++ b/planning/autoware_route_handler/package.xml @@ -2,7 +2,7 @@ autoware_route_handler - 0.39.0 + 0.40.0 The route_handling package Fumiya Watanabe Zulfaqar Azmi diff --git a/planning/autoware_rtc_interface/CHANGELOG.rst b/planning/autoware_rtc_interface/CHANGELOG.rst index 3c6fe2604d2ab..11672d2c47e3e 100644 --- a/planning/autoware_rtc_interface/CHANGELOG.rst +++ b/planning/autoware_rtc_interface/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_rtc_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_rtc_interface): fix dependency (`#9237 `_) +* fix(rtc_interface): update requested field for every cooperateStatus state (`#9211 `_) + * fix rtc_interface + * fix test condition + --------- +* feat(rtc_interface): add requested field (`#9202 `_) + * add requested feature + * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/autoware_rtc_interface/package.xml b/planning/autoware_rtc_interface/package.xml index 668e31093072e..861554e81408e 100644 --- a/planning/autoware_rtc_interface/package.xml +++ b/planning/autoware_rtc_interface/package.xml @@ -1,7 +1,7 @@ autoware_rtc_interface - 0.39.0 + 0.40.0 The autoware_rtc_interface package Fumiya Watanabe diff --git a/planning/autoware_scenario_selector/CHANGELOG.rst b/planning/autoware_scenario_selector/CHANGELOG.rst index 0e1a560fa95e8..877192f0e68f9 100644 --- a/planning/autoware_scenario_selector/CHANGELOG.rst +++ b/planning/autoware_scenario_selector/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_scenario_selector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(costmap_generator, scenario_selector): improve freespace planning stability (`#9579 `_) + * discretize updating grid center position by size of grid resolution + * modify logic for switching to lane driving in scenario selector + * fix spelling + --------- +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, mkquda + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml index 9787f95ed9fde..e726e40acecce 100644 --- a/planning/autoware_scenario_selector/package.xml +++ b/planning/autoware_scenario_selector/package.xml @@ -2,7 +2,7 @@ autoware_scenario_selector - 0.39.0 + 0.40.0 The autoware_scenario_selector ROS 2 package Taiki Tanaka Tomoya Kimura diff --git a/planning/autoware_static_centerline_generator/CHANGELOG.rst b/planning/autoware_static_centerline_generator/CHANGELOG.rst index 6fac2e4677528..0338cdc8b66bb 100644 --- a/planning/autoware_static_centerline_generator/CHANGELOG.rst +++ b/planning/autoware_static_centerline_generator/CHANGELOG.rst @@ -2,6 +2,61 @@ Changelog for package autoware_static_centerline_generator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix(static_centerline_generator): several bug fixes (`#9426 `_) + * fix: dependent packages + * feat: use steer angle, use warn for steer angle failure, calc curvature dicontinuously + * fix cppcheck + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(static_centerline_generator): map_tf_generator package name needs update (`#9383 `_) + fix map_tf_generator name in autoware_static_centerline_generator.launch +* refactor(map_loader)!: prefix package and namespace with autoware (`#8927 `_) + * make lanelet2_map_visualization independent + * remove unused files + * remove unused package + * fix package name + * add autoware\_ prefix + * add autoware to exec name + * add autoware prefix + * removed unnecessary dependency + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Masaki Baba, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, Zhanhong Yan + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index 6ba1494e714cd..cea18e5605921 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -2,7 +2,7 @@ autoware_static_centerline_generator - 0.39.0 + 0.40.0 The autoware_static_centerline_generator package Takayuki Murooka Kosuke Takeuchi diff --git a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst index 077b52e08e342..c6e1a13a59aa2 100644 --- a/planning/autoware_surround_obstacle_checker/CHANGELOG.rst +++ b/planning/autoware_surround_obstacle_checker/CHANGELOG.rst @@ -2,6 +2,43 @@ Changelog for package autoware_surround_obstacle_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* ci(pre-commit): autoupdate (`#8949 `_) + Co-authored-by: M. Fatih Cırıt +* fix(surround_obstacle_checker)!: remove stop reason (`#9450 `_) + fix(surround_obstacle_checker): remove stop reason +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_surround_obstacle_checker): fix clang-diagnostic-unused-private-field (`#9399 `_) + * fix: clang-diagnostic-unused-private-field + * refactor: fmt + * refactor: fmt + * refactor: fmt + * fix: hpp + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/autoware_surround_obstacle_checker/package.xml b/planning/autoware_surround_obstacle_checker/package.xml index 64a626c0ccb60..4a6f946b8eb90 100644 --- a/planning/autoware_surround_obstacle_checker/package.xml +++ b/planning/autoware_surround_obstacle_checker/package.xml @@ -2,7 +2,7 @@ autoware_surround_obstacle_checker - 0.39.0 + 0.40.0 The autoware_surround_obstacle_checker package Satoshi Ota Go Sakayori diff --git a/planning/autoware_velocity_smoother/CHANGELOG.rst b/planning/autoware_velocity_smoother/CHANGELOG.rst index 14c905b82cfa1..4655c9658ef2b 100644 --- a/planning/autoware_velocity_smoother/CHANGELOG.rst +++ b/planning/autoware_velocity_smoother/CHANGELOG.rst @@ -2,6 +2,40 @@ Changelog for package autoware_velocity_smoother ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (`#9502 `_) + * change max acceleration and max jerk according to external velocity request + * modify external velocity limit selector + * fix external velocity limit selector + * fix format + --------- +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(qp_interface): prefix package and namespace with autoware (`#9236 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml index c27a984c36681..96462602d8da0 100644 --- a/planning/autoware_velocity_smoother/package.xml +++ b/planning/autoware_velocity_smoother/package.xml @@ -2,7 +2,7 @@ autoware_velocity_smoother - 0.39.0 + 0.40.0 The autoware_velocity_smoother package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst index e736da5b9fb49..0b2d004e1f02b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CHANGELOG.rst @@ -2,6 +2,43 @@ Changelog for package autoware_behavior_path_avoidance_by_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml index 43195e8ca502b..83c361d064fb0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_avoidance_by_lane_change_module - 0.39.0 + 0.40.0 The behavior_path_avoidance_by_lane_change_module package Satoshi Ota diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst index 7219f13994710..5b5179f250d8d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CHANGELOG.rst @@ -2,6 +2,43 @@ Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml index 1829d9a949115..e3aefb01c797d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_dynamic_obstacle_avoidance_module - 0.39.0 + 0.40.0 The autoware_behavior_path_dynamic_obstacle_avoidance_module package Takayuki Murooka diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst index cdd6bc1033d7e..0a315105e5bf1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CHANGELOG.rst @@ -2,6 +2,43 @@ Changelog for package autoware_behavior_path_external_request_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml index 981f119357ca0..af46393d9b9ae 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_external_request_lane_change_module - 0.39.0 + 0.40.0 The autoware_behavior_path_external_request_lane_change_module package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst index 1813e0ac901f9..627f216b6d7c9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CHANGELOG.rst @@ -2,6 +2,88 @@ Changelog for package autoware_behavior_path_goal_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) + * feat(behavior_path_planner): add detail text to virutal wall + * goal is far + * pull over start pose is far + * fix lc build + * fix build + * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(goal_planner): fix isStopped judgement (`#9585 `_) + * fix(goal_planner): fix isStopped judgement + * fix typo + --------- +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(goal_planner): check opposite lane for lane departure_check (`#9460 `_) + * feat(goal_planner): check opposite lane for lane departure_check + * refactor getMostInnerLane + --------- +* refactor(goal_planner): improve log message and change level (`#9562 `_) + Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(goal_planner): move PathDecisionController implementation to a different file (`#9523 `_) + refactor(goal_planner): move decision_state implementation +* refactor(goal_planner): move unnecessary member functions (`#9522 `_) +* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) + * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. + * style(pre-commit): autofix + * Updated the freespace planner instantiation call in the path planning modules + * style(pre-commit): autofix + * Updated tests for the utility functions + * style(pre-commit): autofix + --------- + Co-authored-by: Steven Brills + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(goal_planner): fix multiple lane ids of shift pull over (`#9360 `_) + fix vel +* fix(goal_planner): remove stop reason (`#9365 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(goal_planner): use departure_check_lane for path (`#9423 `_) +* refactor(goal_planner): rename shoulder_lane to pull_over_lane (`#9422 `_) +* feat(goal_planner): do not insert shift end pose on pull over lane to path (`#9361 `_) +* feat(goal_planner): remove unnecessary member from ThreadSafeData (`#9393 `_) +* feat(goal_planner): move goal_candidates from ThreadSafeData to GoalPlannerData (`#9292 `_) +* feat(goal_planner): output velocity factor (`#9348 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* refactor(goal_planner): remove reference_goal_pose getter/setter (`#9270 `_) +* feat(goal_planner): safety check with only parking path (`#9293 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(goal_planner): sort candidate path only when num to avoid is different (`#9271 `_) +* fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (`#9192 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo, stevenbrills + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml index dc7221d0fd604..dead1e4fe0f37 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_goal_planner_module - 0.39.0 + 0.40.0 The autoware_behavior_path_goal_planner_module package Kosuke Takeuchi diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst index 572a09aeda817..42f6ddf841fec 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CHANGELOG.rst @@ -2,6 +2,292 @@ Changelog for package autoware_behavior_path_lane_change_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) + * feat(behavior_path_planner): add detail text to virutal wall + * goal is far + * pull over start pose is far + * fix lc build + * fix build + * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(lane_change): check obj predicted path when filtering (`#9385 `_) + * RT1-8537 check object's predicted path when filtering + * use ranges view in get_line_string_paths + * check only vehicle type predicted path + * Refactor naming + * fix grammatical + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * precommit and grammar fix + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(lane_change): reduce prepare duration when blinker has been activated (`#9185 `_) + * add minimum prepare duration parameter + * reduce prepare duration according to signal activation time + * chore: update CODEOWNERS (`#9203 `_) + Co-authored-by: github-actions + * refactor(time_utils): prefix package and namespace with autoware (`#9173 `_) + * refactor(time_utils): prefix package and namespace with autoware + * refactor(time_utils): prefix package and namespace with autoware + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(rtc_interface): add requested field (`#9202 `_) + * add requested feature + * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (`#9199 `_) + * fix(bpp): prevent accessing nullopt (`#9204 `_) + fix(bpp): calcDistanceToRedTrafficLight null + * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (`#9201 `_) + * refactor: grouping functions + * refactor: grouping parameters + * refactor: rename member road_users_history to road_users_history\_ + * refactor: separate util functions + * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node + * refactor: Add explicit template instantiation for removeOldObjectsHistory function + * refactor: Add tf2_geometry_msgs to data_structure + * refactor: Remove unused variables and functions in map_based_prediction_node.cpp + * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp + * Apply suggestions from code review + * style(pre-commit): autofix + --------- + Co-authored-by: Mamoru Sobue + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (`#8912 `_) + * Moved ndt_omp into ndt_scan_matcher + * Added Copyright + * style(pre-commit): autofix + * Fixed include + * Fixed cast style + * Fixed include + * Fixed honorific title + * Fixed honorific title + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed include hierarchy + * style(pre-commit): autofix + * Fixed hierarchy + * Fixed NVTP to NVTL + * Added cspell:ignore + * Fixed miss spell + * style(pre-commit): autofix + * Fixed include + * Renamed applyFilter + * Moved ***_impl.hpp from include/ to src/ + * style(pre-commit): autofix + * Fixed variable scope + * Fixed to pass by reference + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + * feat(autoware_test_utils): add traffic light msgs parser (`#9177 `_) + * modify implementation to compute and keep actual prepare duration in transient data + * if LC path is approved, set prepare duration in transient data from approved path prepare duration + * change default value of LC param min_prepare_duration + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * add function to set signal activation time, add docstring for function calc_actual_prepare_duration + * check for zero value max_acc to avoid division by zero + * chore: rename codeowners file + * chore: rename codeowners file + * chore: rename codeowners file + * allow decelerating in lane changing phase near terminal + * fix spelling + * fix units + * allow decelerating in lane changing phase near terminal + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * run pre-commit check + * fix spelling + * fix format + * allow decelerating in lane changing phase near terminal + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * run pre-commit check + * fix spelling + * fix format + --------- + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> + Co-authored-by: github-actions + Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Go Sakayori + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> + Co-authored-by: Taekjin LEE + Co-authored-by: Mamoru Sobue + Co-authored-by: SakodaShintaro + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Co-authored-by: tomoya.kimura +* feat(lane_changing): improve computation of lane changing acceleration (`#9545 `_) + * allow decelerating in lane changing phase near terminal + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * run pre-commit check + * fix spelling + * fix format + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(test_utils): return parser as optional (`#9391 `_) + Co-authored-by: Mamoru Sobue +* fix(lane_change): cap ego's predicted path velocity (RT1-8505) (`#9341 `_) + * fix(lane_change): cap ego's predicted path velocity (RT1-8505) + * properly cap based on 0.0 instead of min lc vel + * fix build error + --------- +* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-unused-variable (`#9401 `_) +* feat(lane_change): improve delay lane change logic (`#9480 `_) + * implement function to check if lane change delay is required + * refactor function isParkedObject + * refactor delay lane change parameters + * update lc param yaml + * separate target lane leading objects based on behavior (RT1-8532) + * fixed overlapped filtering and lanes debug marker + * combine filteredObjects function + * renaming functions and type + * update some logic to check is stopped + * rename expanded to stopped_outside_boundary + * Include docstring + * rename stopped_outside_boundary → stopped_at_bound + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * spell-check + * add docstring for function is_delay_lane_change + * remove unused functions + * fix spelling + * add delay parameters to README + * add documentation for delay lane change behavior + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * run pre-commit checks + * only check for delay lc if feature is enabled + --------- + Co-authored-by: Zulfaqar Azmi + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> +* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-error (`#9402 `_) +* fix(autoware_behavior_path_lane_change_module): fix clang-diagnostic-overloaded-virtual (`#9400 `_) +* feat(lane_change): parse predicted objects for lane change test (RT1-8251) (`#9256 `_) + * RT1-8251 parse predicted objects + * fix pre-commit and build error + * add additional test and fix test failure + * fix lint_cmake failure + * use expect instead + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* refactor(lane_change): refactor lane change parameters (`#9403 `_) + * refactor lane change parameters + * update lane change param yaml + * update lane change README + * regroup some parameters + * run pre-commit prettier step + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * apply pre-commit checks + --------- + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(lane_change): separate target lane leading based on obj behavior (`#9372 `_) + * separate target lane leading objects based on behavior (RT1-8532) + * fixed overlapped filtering and lanes debug marker + * combine filteredObjects function + * renaming functions and type + * update some logic to check is stopped + * rename expanded to stopped_outside_boundary + * Include docstring + * rename stopped_outside_boundary → stopped_at_bound + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * spell-check + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* feat(lane_change): output velocity factor (`#9349 `_) +* refactor(lane_change): refactor extended object safety check (`#9322 `_) + * refactor LC extended object collision check code + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + --------- + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(lane_change): remove std::optional from lanes polygon (`#9288 `_) +* fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (`#9268 `_) + * RT1-8427 extending lc path for multiple lc + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(lane_change): correct computation of maximum lane changing length threshold (`#9279 `_) + fix computation of maximum lane changing length threshold +* refactor(lane_change): revert "remove std::optional from lanes polygon" (`#9272 `_) + Revert "refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_)" + This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3. +* refactor(lane_change): remove std::optional from lanes polygon (`#9267 `_) +* fix(lane_change): enable cancel when ego in turn direction lane (`#9124 `_) + * RT0-33893 add checks from prev intersection + * fix shadow variable + * fix logic + * update readme + * refactor get_ego_footprint + --------- +* test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo, Zulfaqar Azmi, kobayu858, mkquda + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml index d4108003a9afe..dd4dbe63e41d4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_lane_change_module - 0.39.0 + 0.40.0 The autoware_behavior_path_lane_change_module package Fumiya Watanabe diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst index ea088d6130c85..654a5b4ed0d87 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/CHANGELOG.rst @@ -2,6 +2,50 @@ Changelog for package autoware_behavior_path_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(bpp)!: remove stop reason (`#9449 `_) + fix(bpp): remove stop reason +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(bpp): add velocity interface (`#9344 `_) + * feat(bpp): add velocity interface + * fix(adapi): subscribe additional velocity factors + --------- +* refactor(factor): move steering factor interface to motion utils (`#9337 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml index 7fa591bd4a740..6141480d1597a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_planner - 0.39.0 + 0.40.0 The behavior_path_planner package diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst index 0e0b6aa328d26..6c72ac310e31f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CHANGELOG.rst @@ -2,6 +2,143 @@ Changelog for package autoware_behavior_path_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* build(behavior_path_planner_common): fix #include (`#6297 `_) +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) + * feat(behavior_path_planner): add detail text to virutal wall + * goal is far + * pull over start pose is far + * fix lc build + * fix build + * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(lane_change): check obj predicted path when filtering (`#9385 `_) + * RT1-8537 check object's predicted path when filtering + * use ranges view in get_line_string_paths + * check only vehicle type predicted path + * Refactor naming + * fix grammatical + * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> + * precommit and grammar fix + --------- + Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* test(bpp_common): add unit test for utils (`#9469 `_) + * add easy unit test + * fix clang tidy warning and add unit test + * add more unit test + * add docstring + --------- +* test(bpp_common): add unit test for object filtering (`#9408 `_) + * add unit test for all function + * add function to create bounding nox object + --------- +* test(bpp_common): add unit test for traffic light utils (`#9441 `_) + * add test data for traffic light utils + * add unit test function + * fix style + * use test_utils::resolve_plg_share_uri for map path + --------- +* fix(bpp)!: remove stop reason (`#9449 `_) + fix(bpp): remove stop reason +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(behavior_path_planner_common): add package maintainer (`#9429 `_) + add package maintainer +* refactor(lane_change): separate target lane leading based on obj behavior (`#9372 `_) + * separate target lane leading objects based on behavior (RT1-8532) + * fixed overlapped filtering and lanes debug marker + * combine filteredObjects function + * renaming functions and type + * update some logic to check is stopped + * rename expanded to stopped_outside_boundary + * Include docstring + * rename stopped_outside_boundary → stopped_at_bound + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> + * spell-check + --------- + Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> +* refactor(goal_planner): rename shoulder_lane to pull_over_lane (`#9422 `_) +* fix(behavior_path_planner_common): prevent duplicated point insertion in cutOverlappedLanes (`#9363 `_) +* feat(behavior_path_planner_common): use azimuth for interpolatePose (`#9362 `_) +* test(bpp_common): add unit test for safety check (`#9386 `_) + * fix docstring + * add basic collision test + * add some more tests + * add unit test for all functions + * remove unecessary header and space + --------- +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* feat(bpp): add velocity interface (`#9344 `_) + * feat(bpp): add velocity interface + * fix(adapi): subscribe additional velocity factors + --------- +* refactor(factor): move steering factor interface to motion utils (`#9337 `_) +* fix(bpp): update collided polygon pose only once (`#9338 `_) + * fix(bpp): update collided polygon pose only once + * add expected pose + --------- +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* test(bpp_common): add tests for the static drivable area (`#9324 `_) +* feat(goal_planner): safety check with only parking path (`#9293 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(behavior_path_planner_common): use boost intersects instead of overlaps (`#9289 `_) + * fix(behavior_path_planner_common): use boost intersects instead of overlaps + * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp + Co-authored-by: Go Sakayori + --------- + Co-authored-by: Go Sakayori +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bpp): prevent accessing nullopt (`#9269 `_) +* test(behavior_path_planner_common): add unit test for path shifter (`#9239 `_) + * add unit test for path shifter + * fix unnecessary modification + * fix spelling mistake + * add docstring + --------- +* test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- +* fix(bpp): prevent accessing nullopt (`#9204 `_) + fix(bpp): calcDistanceToRedTrafficLight null +* Contributors: Esteve Fernandez, Felix F Xu, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Shumpei Wakabayashi, Yutaka Kondo, Zulfaqar Azmi, mkquda + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml index 40506ad74a274..f23a9980f1237 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_planner_common - 0.39.0 + 0.40.0 The autoware_behavior_path_planner_common package diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst index e823e6501df47..73fd1b4c7532a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CHANGELOG.rst @@ -2,6 +2,49 @@ Changelog for package autoware_behavior_path_sampling_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_path_sampling_planner_module): fix clang-diagnostic-unused-variable (`#9404 `_) + fix: clang-diagnostic-unused-variable +* fix(autoware_behavior_path_sampling_planner_module): fix invalid parameter file (`#9231 `_) + Co-authored-by: Yutaka Kondo +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (`#9190 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml index cd609a9dee40f..a5d78061448ed 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_sampling_planner_module - 0.39.0 + 0.40.0 The autoware_behavior_path_sampling_planner_module package Daniel Sanchez diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst index 58ab621b9c925..6ed62ffc8b913 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CHANGELOG.rst @@ -2,6 +2,47 @@ Changelog for package autoware_behavior_path_side_shift_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* test(autoware_behavior_path_side_shift_module): add unit tests for util function (`#9540 `_) + test(side_shift_module): add unit tests +* refactor(autoware_behavior_path_side_shift_module): refactor shift length retrieval and improve path orientation handling (`#9539 `_) + refactor(side_shift_module): refactor shift length retrieval and improve path orientation handling +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml index 6eac60c2411fd..9bc2b608381fa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_side_shift_module - 0.39.0 + 0.40.0 The autoware_behavior_path_side_shift_module package Satoshi Ota diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst index cbf67c171ee03..0cb96bc9b3bf4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CHANGELOG.rst @@ -2,6 +2,70 @@ Changelog for package autoware_behavior_path_start_planner_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) + * feat(behavior_path_planner): add detail text to virutal wall + * goal is far + * pull over start pose is far + * fix lc build + * fix build + * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock (`#9152 `_) + * Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time. + * style(pre-commit): autofix + * Updated the freespace planner instantiation call in the path planning modules + * style(pre-commit): autofix + * Updated tests for the utility functions + * style(pre-commit): autofix + --------- + Co-authored-by: Steven Brills + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(start_planner): use extended current lanes to fix turn signal issue (`#9487 `_) + fix current lanes issue +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_path_start_planner_module): fix clang-diagnostic-unused-variable (`#9405 `_) + fix: clang-diagnostic-unused-variable +* feat(start_planner): output velocity factor (`#9347 `_) +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* feat(start_planner, lane_departure_checker): speed up by updating polygons (`#9309 `_) + speed up by updating polygons +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (`#9277 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Yutaka Kondo, danielsanchezaran, kobayu858, stevenbrills + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml index 97f1a8569b132..c7cabb403f164 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_start_planner_module - 0.39.0 + 0.40.0 The autoware_behavior_path_start_planner_module package Kosuke Takeuchi diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst index 5d2af19f9ce2e..e162c187de824 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CHANGELOG.rst @@ -2,6 +2,82 @@ Changelog for package autoware_behavior_path_static_obstacle_avoidance_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* feat(behavior_path_planner): add detail text to virutal wall (`#9600 `_) + * feat(behavior_path_planner): add detail text to virutal wall + * goal is far + * pull over start pose is far + * fix lc build + * fix build + * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp + --------- +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(autoware_behavior_path_static_obstacle_avoidance_module): add maintainer (`#9581 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* fix(avoidance): remove stop reason (`#9364 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* perf(static_obstacle_avoidance): use lanelet::utils instead of route handle for closest lanelet (`#9367 `_) + use lanelet::utils for performance improvement +* perf(static_obstacle_avoidance): remove redundant calculation related to lanelet functions (`#9355 `_) + * add traffic light distance and modified goal allowance to avoidance data + * add closest lanelet related variable to avoidanceData structure + * use route handler for checking closest lanelet + * use std::optional + --------- +* feat(avoidance): output velocity factor (`#9345 `_) +* fix(static_obstacle_avoidance): override setInitState (`#9340 `_) + override setInitState +* refactor(bpp): rework steering factor interface (`#9325 `_) + * refactor(bpp): rework steering factor interface + * refactor(soa): rework steering factor interface + * refactor(AbLC): rework steering factor interface + * refactor(doa): rework steering factor interface + * refactor(lc): rework steering factor interface + * refactor(gp): rework steering factor interface + * refactor(sp): rework steering factor interface + * refactor(sbp): rework steering factor interface + * refactor(ss): rework steering factor interface + --------- +* refactor(static obstacle avoidance): remove redundant calculation (`#9326 `_) + * refactor bases on clang tidy + * refactor extend backward length + * mover redundant calculation in getRoadShoulderDistance + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* test(bpp_common): add unit test for safety check (`#9223 `_) + * add test for object collision + * add test for more functions + * add docstring + * fix lane change + --------- +* feat(static_obstacle_avoidance): operator request for ambiguous vehicle (`#9205 `_) + * add operator request feature + * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + --------- + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index 00f0db2224d5b..5446e33073b13 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_path_static_obstacle_avoidance_module - 0.39.0 + 0.40.0 The autoware_behavior_path_static_obstacle_avoidance_module package Takamasa Horibe diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst index 6c312d3f90cb8..0826b1f8193a6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/CHANGELOG.rst @@ -2,6 +2,38 @@ Changelog for package autoware_behavior_velocity_blind_spot_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor(blind_spot): move util functions outside of class (`#9544 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* chore(blind_spot): divide headers to include/ (`#9534 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_velocity_blind_spot_module): fix clang-diagnostic-unused-parameter (`#9406 `_) + fix: clang-diagnostic-unused-parameter +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot], kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml index 1dd334f89c67f..a2ea4a82a884d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_blind_spot_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_blind_spot_module package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst index 8663879cc095f..608d6ab37fdc4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package autoware_behavior_velocity_crosswalk_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(crosswalk)!: delete wide crosswalk corresponding function (`#9329 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (`#9234 `_) +* test(crosswalk): add unit test (`#9228 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml index 891a77e100435..6b939a7dd0be9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_crosswalk_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_crosswalk_module package Satoshi Ota diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst index f53d95a981950..fc13807261e4f 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_behavior_velocity_detection_area_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) + * feat(behavior_velocity_planner): replace first_stop_path_point_index + * add const + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(detection_area)!: add retruction feature (`#9255 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml index 1bd4e05af8447..ff91cf40a32a6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_detection_area_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_detection_area_module package Kyoichi Sugahara diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst index 4bd9f8487b644..013fd3b9b54cb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/CHANGELOG.rst @@ -2,6 +2,46 @@ Changelog for package autoware_behavior_velocity_intersection_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_velocity_intersection_module): fix clang-diagnostic-unused-parameter (`#9409 `_) + fix: clang-diagnostic-unused-parameter +* fix(autoware_behavior_velocity_intersection_module): fix clang-diagnostic-unused-lambda-capture (`#9407 `_) + fix: clang-diagnostic-unused-parameter +* chore(autoware_behavior_velocity_intersection_module): include opencv as system (`#9330 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely + * fix: remove module id set + * fix: use itr to erase expired module + * fix: remove unused function + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml index 16c7a13f21320..b056f71614da3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_intersection_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_intersection_module package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst index 0d3e17d146747..3ad226a0a0f71 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_behavior_velocity_no_drivable_lane_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml index 524aeec6d6c6d..3ac9bab0c2fdf 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_no_drivable_lane_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_no_drivable_lane_module package Ahmed Ebrahim diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst index de6f32656fe5b..177028582aceb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package autoware_behavior_velocity_no_stopping_area_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) + * feat(behavior_velocity_planner): replace first_stop_path_point_index + * add const + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (`#9189 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml index 0873e3cd433d2..88fafeb5b90dc 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_no_stopping_area_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_no_stopping_area_module package Kosuke Takeuchi diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst index 695f4a63e3ae0..e74a81a6a971a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_behavior_velocity_occlusion_spot_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml index 9ce05294f86ed..66cb33192fec0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_occlusion_spot_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_occlusion_spot_module package Taiki Tanaka diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst index eedb174bcd2c4..43eafef522dde 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/CHANGELOG.rst @@ -2,6 +2,57 @@ Changelog for package autoware_behavior_velocity_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) + * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files + * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> + * fix + --------- + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_velocity_planner): fix clang-diagnostic-format-security (`#9411 `_) + fix: clang-diagnostic-format-security +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) + * feat(behavior_velocity_planner): replace first_stop_path_point_index + * add const + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix(bvp): remove callback group (`#9294 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bvp): use polling subscriber (`#9242 `_) + * fix(bvp): use polling subscriber + * fix: use newest policy + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml index a7a892e521826..8ba8272712364 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_planner - 0.39.0 + 0.40.0 The autoware_behavior_velocity_planner package Mamoru Sobue diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst index c702d7b763653..efc6fd8e18cb6 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CHANGELOG.rst @@ -2,6 +2,66 @@ Changelog for package autoware_behavior_velocity_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* test(autoware_behavior_velocity_planner_common): refactor and test autoware_behavior_velocity_planner_common (`#9551 `_) + * test(autoware_behavior_velocity_planner_common): refactor and test autoware_behavior_velocity_planner_common + * remove nodiscard + * update + * fix + * fix + * update + --------- +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) + * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files + * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> + * fix + --------- + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_velocity_planner_common): fix clang-diagnostic-unused-const-variable (`#9413 `_) + fix: clang-diagnostic-unused-const-variable +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) + * feat(behavior_velocity_planner): replace first_stop_path_point_index + * add const + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(bvp): remove expired module safely (`#9212 `_) + * fix(bvp): remove expired module safely + * fix: remove module id set + * fix: use itr to erase expired module + * fix: remove unused function + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml index 1e309ebd1caee..77b26aac09161 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_planner_common - 0.39.0 + 0.40.0 The autoware_behavior_velocity_planner_common package Tomoya Kimura diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst index ae2df69a585c0..eaf93783ae47a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/CHANGELOG.rst @@ -2,6 +2,56 @@ Changelog for package autoware_behavior_velocity_run_out_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(behavior_velocity_planner): update velocity factor initialization for run out module (`#9352 `_) + feat(behavior_velocity_planner): update velocity factor initialization + Update the initialization of the velocity factor in the RunOutModule of the behavior_velocity_planner. The velocity factor is now initialized for the RUN_OUT behavior instead of the ROUTE_OBSTACLE behavior. +* fix(autoware_behavior_velocity_run_out_module): fix clang-diagnostic-unused-lambda-capture (`#9416 `_) + fix: clang-diagnostic-unused-lambda-capture +* feat(run_out_module): add tests to run out (`#9222 `_) + * WIP add tests for utils and path_utils + * add tests for utils and fix test path utils + * dynamic obstacles + * new tests and add function declarations + * add points for test of extractObstaclePointsWithinPolygon + * add state machine tests and other tests for dynamic obstacle + * remove unused test checks + * remove unused tests + * remove unwanted semicolons + * test + * add comments + * solve cpp-check limitation issue by removing namespaces + --------- +* fix(run_out): output velocity factor (`#9319 `_) + * fix(run_out): output velocity factor + * fix(adapi): subscribe run out velocity factor + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo, danielsanchezaran, kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml index a5374f0e37bde..90e1d32198854 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_run_out_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_run_out_module package Tomohito Ando diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst index d21af6839aaab..f0a53b8d7124d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_behavior_velocity_speed_bump_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml index 6560a51b3a026..4940460ba52c1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_speed_bump_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_speed_bump_module package Tomoya Kimura diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst index 0fa84098defb2..c24c67ff81108 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/CHANGELOG.rst @@ -2,6 +2,56 @@ Changelog for package autoware_behavior_velocity_stop_line_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_behavior_velocity_stop_line_module): remove unused function (`#9591 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor(autoware_behavior_velocity_stop_line_module): refactor and test (`#9424 `_) + * refactor(autoware_behavior_velocity_stop_line_module): refactor and test + * modify + * small changes + * update + * fix test error + * update + --------- +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(autoware_behavior_velocity_stop_line_module): add maintainer (`#9427 `_) +* feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory (`#9299 `_) + * feat(behavior_velocity_stop_line): replace autoware_motion_utils to autoware_trajectory + * update + --------- +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) + * feat(behavior_velocity_planner): replace first_stop_path_point_index + * add const + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml index 7489e03c6ead0..fd4b9f83ae998 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_stop_line_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_stop_line_module package Yukinari Hisaki diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst index a1a2e65e5d749..4fb540814a9f1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_behavior_velocity_template_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml index 2cae84e19929f..e808e7758bd65 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_template_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_template_module package Daniel Sanchez diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst index 1ae51ad5bf695..669882a37bbce 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CHANGELOG.rst @@ -2,6 +2,52 @@ Changelog for package autoware_behavior_velocity_traffic_light_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* ci(pre-commit): autoupdate (`#8949 `_) + Co-authored-by: M. Fatih Cırıt +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#9470 `_) + * refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files + * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> + * fix + --------- + Co-authored-by: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com> +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* feat(behavior_velocity_planner): replace first_stop_path_point_index (`#9296 `_) + * feat(behavior_velocity_planner): replace first_stop_path_point_index + * add const + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp + Co-authored-by: Kosuke Takeuchi + * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp + Co-authored-by: Kosuke Takeuchi + --------- + Co-authored-by: Kosuke Takeuchi +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yukinari Hisaki, Yutaka Kondo, awf-autoware-bot[bot] + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml index 0ded242b6a3cf..082973d9431e5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_traffic_light_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_traffic_light_module package Satoshi Ota diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst index c0b26562f584c..731c1967b5a1d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_behavior_velocity_virtual_traffic_light_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml index 581d03e71c06d..6d3bc68242d7c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_virtual_traffic_light_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_virtual_traffic_light_module package Kosuke Takeuchi diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst index 69ea69091532b..40a8bcf82e7b9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/CHANGELOG.rst @@ -2,6 +2,35 @@ Changelog for package autoware_behavior_velocity_walkway_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* feat(behavior_velocity_planner)!: remove stop_reason (`#9452 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(autoware_behavior_velocity_walkway_module): fix clang-diagnostic-unused-lambda-capture (`#9415 `_) + fix: clang-diagnostic-unused-lambda-capture +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858 + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml index 9c706e3e13cd0..5f1aea22855a4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml @@ -2,7 +2,7 @@ autoware_behavior_velocity_walkway_module - 0.39.0 + 0.40.0 The autoware_behavior_velocity_walkway_module package Satoshi Ota diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst index e05c363a76192..118b555408997 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_motion_velocity_dynamic_obstacle_stop_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml index e66fb82704c05..eef7b6af1f9af 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_dynamic_obstacle_stop_module - 0.39.0 + 0.40.0 dynamic_obstacle_stop module to stop ego when in the immediate path of a dynamic object Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst index 844d4425a6afd..c1310671d02fa 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_motion_velocity_obstacle_velocity_limiter_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml index 268f331f86423..68e2ead5a5ec7 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml @@ -1,7 +1,7 @@ autoware_motion_velocity_obstacle_velocity_limiter_module - 0.39.0 + 0.40.0 Package to adjust velocities of a trajectory in order for the ride to feel safe Maxime CLEMENT diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst index 57a3918601976..4fe77d0532fce 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package autoware_motion_velocity_out_of_lane_module ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(traffic_light_utils): prefix package and namespace with autoware (`#9251 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(out_of_lane): correct calculations of the stop pose (`#9209 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml index 4001136b72ec0..857716819d8cc 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_out_of_lane_module - 0.39.0 + 0.40.0 The motion_velocity_out_of_lane_module package Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst index 3b353111d1055..50db2374baedc 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_motion_velocity_planner_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml index 650b3308d508b..3f0c027a5c986 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_planner_common - 0.39.0 + 0.40.0 Common functions and interfaces for motion_velocity_planner modules Maxime Clement diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst index 01fb10df7bd64..4a6dc3095391f 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CHANGELOG.rst @@ -2,6 +2,56 @@ Changelog for package autoware_motion_velocity_planner_node ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml index a28a24d4dae49..186140cba6e3c 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml @@ -2,7 +2,7 @@ autoware_motion_velocity_planner_node - 0.39.0 + 0.40.0 Node of the motion_velocity_planner Maxime Clement diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst index b3ab3bb13aa3c..fa7e4a3bb0808 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_bezier_sampler/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_bezier_sampler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml index 9da456248f0ce..249d64d770af5 100644 --- a/planning/sampling_based_planner/autoware_bezier_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_bezier_sampler/package.xml @@ -1,7 +1,7 @@ autoware_bezier_sampler - 0.39.0 + 0.40.0 Package to sample trajectories using Bézier curves Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst index e0123b1de0bd7..eff4108b3fc03 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_frenet_planner/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_frenet_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/sampling_based_planner/autoware_frenet_planner/package.xml b/planning/sampling_based_planner/autoware_frenet_planner/package.xml index 11608baabeb76..cd5febc3267db 100644 --- a/planning/sampling_based_planner/autoware_frenet_planner/package.xml +++ b/planning/sampling_based_planner/autoware_frenet_planner/package.xml @@ -1,7 +1,7 @@ autoware_frenet_planner - 0.39.0 + 0.40.0 The autoware_frenet_planner package for trajectory generation in Frenet frame Maxime CLEMENT Maxime CLEMENT diff --git a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst index 33fb5a66d1ed6..a50f2a0ad3aed 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_path_sampler/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_path_sampler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(fake_test_node): prefix package and namespace with autoware (`#9249 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml index 8f27509d27f67..142eafdfa4bfe 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml @@ -2,7 +2,7 @@ autoware_path_sampler - 0.39.0 + 0.40.0 Package for the sampling-based path planner Maxime CLEMENT Apache License 2.0 diff --git a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst index d07a47c0c4629..7e0eaaf4e7376 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst +++ b/planning/sampling_based_planner/autoware_sampler_common/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package autoware_sampler_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - planning (`#9570 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/planning/sampling_based_planner/autoware_sampler_common/package.xml b/planning/sampling_based_planner/autoware_sampler_common/package.xml index b5b4ab3bd9dc8..eb08c8125d3ee 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/package.xml +++ b/planning/sampling_based_planner/autoware_sampler_common/package.xml @@ -1,7 +1,7 @@ autoware_sampler_common - 0.39.0 + 0.40.0 Common classes and functions for sampling based planners Maxime CLEMENT Maxime CLEMENT diff --git a/sensing/autoware_cuda_utils/CHANGELOG.rst b/sensing/autoware_cuda_utils/CHANGELOG.rst index 64b78ebc94eee..92a99bc8d3267 100644 --- a/sensing/autoware_cuda_utils/CHANGELOG.rst +++ b/sensing/autoware_cuda_utils/CHANGELOG.rst @@ -1,6 +1,36 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package autoware_cuda_utils -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix: fix package names in changelog files (`#9500 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* Revert "refactor(sensing): move CUDA related packages to `sensing/cuda` directory" (`#9394 `_) + Revert "refactor(sensing): move CUDA related packages to `sensing/cuda` direc…" + This reverts commit be8235d785597c41d01782ec35da862ba0906578. +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(cuda_utils): prefix package and namespace with autoware (`#9171 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo 0.39.0 (2024-11-25) ------------------- diff --git a/sensing/autoware_cuda_utils/package.xml b/sensing/autoware_cuda_utils/package.xml index 817aa395092aa..32a29133201ec 100644 --- a/sensing/autoware_cuda_utils/package.xml +++ b/sensing/autoware_cuda_utils/package.xml @@ -1,7 +1,7 @@ autoware_cuda_utils - 0.39.0 + 0.40.0 cuda utility library Daisuke Nishimatsu diff --git a/sensing/autoware_gnss_poser/CHANGELOG.rst b/sensing/autoware_gnss_poser/CHANGELOG.rst index 25713471aacbd..8195195c9b15c 100644 --- a/sensing/autoware_gnss_poser/CHANGELOG.rst +++ b/sensing/autoware_gnss_poser/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package autoware_gnss_poser ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml index 8304229b18a05..6414ccbabca3f 100644 --- a/sensing/autoware_gnss_poser/package.xml +++ b/sensing/autoware_gnss_poser/package.xml @@ -2,7 +2,7 @@ autoware_gnss_poser - 0.39.0 + 0.40.0 The ROS 2 autoware_gnss_poser package Yamato Ando Masahiro Sakamoto diff --git a/sensing/autoware_image_diagnostics/CHANGELOG.rst b/sensing/autoware_image_diagnostics/CHANGELOG.rst index db6df3ceedc67..1486e459e4754 100644 --- a/sensing/autoware_image_diagnostics/CHANGELOG.rst +++ b/sensing/autoware_image_diagnostics/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_image_diagnostics ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - sensing (`#9571 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/sensing/autoware_image_diagnostics/package.xml b/sensing/autoware_image_diagnostics/package.xml index 48109cfd22e91..2e4556de2b92b 100644 --- a/sensing/autoware_image_diagnostics/package.xml +++ b/sensing/autoware_image_diagnostics/package.xml @@ -2,7 +2,7 @@ autoware_image_diagnostics - 0.39.0 + 0.40.0 The autoware_image_diagnostics package Dai Nguyen Yoshi Ri diff --git a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst index fb82afbff8fe9..57968c49291c0 100644 --- a/sensing/autoware_image_transport_decompressor/CHANGELOG.rst +++ b/sensing/autoware_image_transport_decompressor/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_image_transport_decompressor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/sensing/autoware_image_transport_decompressor/package.xml b/sensing/autoware_image_transport_decompressor/package.xml index 22766b6582631..0ee5a60b2f46e 100644 --- a/sensing/autoware_image_transport_decompressor/package.xml +++ b/sensing/autoware_image_transport_decompressor/package.xml @@ -2,7 +2,7 @@ autoware_image_transport_decompressor - 0.39.0 + 0.40.0 The image_transport_decompressor package Yukihiro Saito Kenzo Lobos-Tsunekawa diff --git a/sensing/autoware_imu_corrector/CHANGELOG.rst b/sensing/autoware_imu_corrector/CHANGELOG.rst index 926cd3a195e0f..fe36ee24880e0 100644 --- a/sensing/autoware_imu_corrector/CHANGELOG.rst +++ b/sensing/autoware_imu_corrector/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_imu_corrector ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - sensing (`#9571 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/sensing/autoware_imu_corrector/package.xml b/sensing/autoware_imu_corrector/package.xml index e32814af99863..94a2e3fe83071 100644 --- a/sensing/autoware_imu_corrector/package.xml +++ b/sensing/autoware_imu_corrector/package.xml @@ -2,7 +2,7 @@ autoware_imu_corrector - 0.39.0 + 0.40.0 The ROS 2 autoware_imu_corrector package Yamato Ando Taiki Yamada diff --git a/sensing/autoware_pcl_extensions/CHANGELOG.rst b/sensing/autoware_pcl_extensions/CHANGELOG.rst index ef8cc108086b5..56c9f0bdff0dc 100644 --- a/sensing/autoware_pcl_extensions/CHANGELOG.rst +++ b/sensing/autoware_pcl_extensions/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_pcl_extensions ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/sensing/autoware_pcl_extensions/package.xml b/sensing/autoware_pcl_extensions/package.xml index a141ebb31223f..840bd976b5b5f 100644 --- a/sensing/autoware_pcl_extensions/package.xml +++ b/sensing/autoware_pcl_extensions/package.xml @@ -2,7 +2,7 @@ autoware_pcl_extensions - 0.39.0 + 0.40.0 The autoware_pcl_extensions package Ryu Yamamoto Kenzo Lobos Tsunekawa diff --git a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst index 6812ad076e60f..ad1ce2aaf8464 100644 --- a/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst +++ b/sensing/autoware_pointcloud_preprocessor/CHANGELOG.rst @@ -2,6 +2,50 @@ Changelog for package autoware_pointcloud_preprocessor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - sensing (`#9571 `_) +* fix(autoware_pointcloud_preprocessor): remove unused arg and unavailable param file. (`#9525 `_) + Remove unused arg and unavailable param file. +* fix(autoware_pointcloud_preprocessor): fix clang-diagnostic-inconsistent-missing-override (`#9445 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore: update license of pointcloud preprocessor (`#9397 `_) + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(autoware_pointcloud_preprocessor): clang-tidy error in distortion corrector (`#9412 `_) + fix: clang-tidy +* fix(autoware_pointcloud_preprocessor): clang-tidy for overrides (`#9414 `_) + fix: clang-tidy for overrides +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (`#9258 `_) + fix: fix the wrong file name +* fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (`#8129 `_) + * feat: fix launch file + * chore: fix spell error + * chore: fix parameters file name + * chore: remove filter base + --------- +* Contributors: Daisuke Nishimatsu, Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mukunda Bharatheesha, Ryohsuke Mitsudome, Ryuta Kambe, Yi-Hsiang Fang (Vivid), Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/sensing/autoware_pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml index 20643d66d364c..4511c5497a3a0 100644 --- a/sensing/autoware_pointcloud_preprocessor/package.xml +++ b/sensing/autoware_pointcloud_preprocessor/package.xml @@ -2,7 +2,7 @@ autoware_pointcloud_preprocessor - 0.39.0 + 0.40.0 The ROS 2 autoware_pointcloud_preprocessor package amc-nu Yukihiro Saito diff --git a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst index 8524887c25bff..4d92b7237c281 100644 --- a/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst +++ b/sensing/autoware_radar_scan_to_pointcloud2/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_radar_scan_to_pointcloud2 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/sensing/autoware_radar_scan_to_pointcloud2/package.xml b/sensing/autoware_radar_scan_to_pointcloud2/package.xml index 9dae0e583bc43..b14615cfb68ea 100644 --- a/sensing/autoware_radar_scan_to_pointcloud2/package.xml +++ b/sensing/autoware_radar_scan_to_pointcloud2/package.xml @@ -1,7 +1,7 @@ autoware_radar_scan_to_pointcloud2 - 0.39.0 + 0.40.0 autoware_radar_scan_to_pointcloud2 Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst index eba58b0fb6278..b66f99ba578a6 100644 --- a/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_static_pointcloud_filter/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_radar_static_pointcloud_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/sensing/autoware_radar_static_pointcloud_filter/package.xml b/sensing/autoware_radar_static_pointcloud_filter/package.xml index f685147f9d0a4..943bd71f29da7 100644 --- a/sensing/autoware_radar_static_pointcloud_filter/package.xml +++ b/sensing/autoware_radar_static_pointcloud_filter/package.xml @@ -1,7 +1,7 @@ autoware_radar_static_pointcloud_filter - 0.39.0 + 0.40.0 autoware_radar_static_pointcloud_filter Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst index ef65bcc5f4fe4..e217daeca5a35 100644 --- a/sensing/autoware_radar_threshold_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_threshold_filter/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_radar_threshold_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/sensing/autoware_radar_threshold_filter/package.xml b/sensing/autoware_radar_threshold_filter/package.xml index 3127153fd9e30..5e2a5395168fb 100644 --- a/sensing/autoware_radar_threshold_filter/package.xml +++ b/sensing/autoware_radar_threshold_filter/package.xml @@ -1,7 +1,7 @@ autoware_radar_threshold_filter - 0.39.0 + 0.40.0 autoware_radar_threshold_filter Satoshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst index 29ff75fddd69a..c11a0fde76832 100644 --- a/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst +++ b/sensing/autoware_radar_tracks_noise_filter/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_radar_tracks_noise_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - sensing (`#9571 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/sensing/autoware_radar_tracks_noise_filter/package.xml b/sensing/autoware_radar_tracks_noise_filter/package.xml index af8db58a86567..d674e88e19a1a 100644 --- a/sensing/autoware_radar_tracks_noise_filter/package.xml +++ b/sensing/autoware_radar_tracks_noise_filter/package.xml @@ -2,7 +2,7 @@ autoware_radar_tracks_noise_filter - 0.39.0 + 0.40.0 autoware_radar_tracks_noise_filter Sathshi Tanaka Shunsuke Miura diff --git a/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst index 9f4f9e3e96395..004b045a12494 100644 --- a/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst +++ b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst @@ -2,6 +2,24 @@ Changelog for package vehicle_velocity_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* refactor(vehicle_velocity_converter)!: prefix package and namespace with autoware (`#8967 `_) + * add autoware prefix + * fix conflict + --------- + Co-authored-by: Yamato Ando +* Contributors: Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/sensing/autoware_vehicle_velocity_converter/package.xml b/sensing/autoware_vehicle_velocity_converter/package.xml index ce4e36855a03a..cc5c555680562 100644 --- a/sensing/autoware_vehicle_velocity_converter/package.xml +++ b/sensing/autoware_vehicle_velocity_converter/package.xml @@ -2,7 +2,7 @@ autoware_vehicle_velocity_converter - 0.39.0 + 0.40.0 The autoware_vehicle_velocity_converter package Ryu Yamamoto Apache License 2.0 diff --git a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst index 1721bb0e74007..e9e42a6e4e629 100644 --- a/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst +++ b/sensing/livox/autoware_livox_tag_filter/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package autoware_livox_tag_filter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/sensing/livox/autoware_livox_tag_filter/package.xml b/sensing/livox/autoware_livox_tag_filter/package.xml index adb2229745789..61555e186d1e1 100644 --- a/sensing/livox/autoware_livox_tag_filter/package.xml +++ b/sensing/livox/autoware_livox_tag_filter/package.xml @@ -2,7 +2,7 @@ autoware_livox_tag_filter - 0.39.0 + 0.40.0 The autoware_livox_tag_filter package Ryohsuke Mitsudome Kenzo Lobos-Tsunekawa diff --git a/simulator/autoware_carla_interface/CHANGELOG.rst b/simulator/autoware_carla_interface/CHANGELOG.rst index bdc1cc41bd5e0..d71cf66049c9d 100644 --- a/simulator/autoware_carla_interface/CHANGELOG.rst +++ b/simulator/autoware_carla_interface/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package autoware_carla_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (`#9561 `_) +* feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (`#9392 `_) +* refactor: correct spelling (`#9528 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Jesus Armando Anaya, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/simulator/autoware_carla_interface/package.xml b/simulator/autoware_carla_interface/package.xml index 215a7c778523f..1ea183cc86eb5 100644 --- a/simulator/autoware_carla_interface/package.xml +++ b/simulator/autoware_carla_interface/package.xml @@ -1,7 +1,7 @@ autoware_carla_interface - 0.39.0 + 0.40.0 The carla autoware bridge package Muhammad Raditya GIOVANNI Maxime CLEMENT diff --git a/simulator/autoware_carla_interface/setup.py b/simulator/autoware_carla_interface/setup.py index 84f7a544555a2..4f06766582f6a 100644 --- a/simulator/autoware_carla_interface/setup.py +++ b/simulator/autoware_carla_interface/setup.py @@ -8,7 +8,7 @@ setup( name=package_name, - version="0.38.0", + version="0.40.0", packages=find_packages(where="src"), data_files=[ ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]), diff --git a/simulator/dummy_perception_publisher/CHANGELOG.rst b/simulator/dummy_perception_publisher/CHANGELOG.rst index d0483f9ebe480..50b2396ae0311 100644 --- a/simulator/dummy_perception_publisher/CHANGELOG.rst +++ b/simulator/dummy_perception_publisher/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package dummy_perception_publisher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - simulator (`#9572 `_) +* fix(dummy_perception_publisher): fix clang-diagnostic-unused-private-field (`#9447 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml index f2b60ce3ef857..4f78acd6c07f2 100644 --- a/simulator/dummy_perception_publisher/package.xml +++ b/simulator/dummy_perception_publisher/package.xml @@ -2,7 +2,7 @@ dummy_perception_publisher - 0.39.0 + 0.40.0 The dummy_perception_publisher package Yukihiro Saito Apache License 2.0 diff --git a/simulator/fault_injection/CHANGELOG.rst b/simulator/fault_injection/CHANGELOG.rst index 74ec3b4a867f4..6116bafaa2088 100644 --- a/simulator/fault_injection/CHANGELOG.rst +++ b/simulator/fault_injection/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package fault_injection ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - simulator (`#9572 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml index 25a5ceddd31be..feedcf3333f7f 100644 --- a/simulator/fault_injection/package.xml +++ b/simulator/fault_injection/package.xml @@ -2,7 +2,7 @@ fault_injection - 0.39.0 + 0.40.0 fault_injection Keisuke Shima Apache License 2.0 diff --git a/simulator/learning_based_vehicle_model/CHANGELOG.rst b/simulator/learning_based_vehicle_model/CHANGELOG.rst index b902713689ab1..ed271370a6840 100644 --- a/simulator/learning_based_vehicle_model/CHANGELOG.rst +++ b/simulator/learning_based_vehicle_model/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package learning_based_vehicle_model ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - simulator (`#9572 `_) +* fix(learning_based_vehicle_model): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9446 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/simulator/learning_based_vehicle_model/package.xml b/simulator/learning_based_vehicle_model/package.xml index 11b5b2f88db03..317be3d0990ca 100644 --- a/simulator/learning_based_vehicle_model/package.xml +++ b/simulator/learning_based_vehicle_model/package.xml @@ -2,7 +2,7 @@ learning_based_vehicle_model - 0.39.0 + 0.40.0 learning_based_vehicle_model for simple_planning_simulator Maxime Clement Tomas Nagy diff --git a/simulator/simple_planning_simulator/CHANGELOG.rst b/simulator/simple_planning_simulator/CHANGELOG.rst index 7b995d36dbf83..ac6e093ea55e7 100644 --- a/simulator/simple_planning_simulator/CHANGELOG.rst +++ b/simulator/simple_planning_simulator/CHANGELOG.rst @@ -2,6 +2,39 @@ Changelog for package simple_planning_simulator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - simulator (`#9572 `_) +* fix(simple_planning_simulator): fix clang-diagnostic-delete-non-abstract-non-virtual-dtor (`#9448 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(simple_planning_simulator): add mechanical actuaion sim model (`#9300 `_) + * feat(simple_planning_simulator): add mechanical actuaion sim model + update docs + * update from suggestions + * calc internal state using RK4 results + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml index a6f86dd6e8a4b..fdc782182f9a5 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/simple_planning_simulator/package.xml @@ -2,7 +2,7 @@ simple_planning_simulator - 0.39.0 + 0.40.0 simple_planning_simulator as a ROS 2 node Takamasa Horibe Tomoya Kimura diff --git a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst index 1d5b1d454a4a7..1157abff775ab 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst +++ b/simulator/tier4_dummy_object_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package tier4_dummy_object_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - simulator (`#9572 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix(tier4_dummy_object_rviz_plugin): fix missing dependency (`#9306 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/simulator/tier4_dummy_object_rviz_plugin/package.xml b/simulator/tier4_dummy_object_rviz_plugin/package.xml index c5ef8a68eb98f..b73d3a1cc15c0 100644 --- a/simulator/tier4_dummy_object_rviz_plugin/package.xml +++ b/simulator/tier4_dummy_object_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_dummy_object_rviz_plugin - 0.39.0 + 0.40.0 The tier4_dummy_object_rviz_plugin package Yukihiro Saito Apache License 2.0 diff --git a/simulator/vehicle_door_simulator/CHANGELOG.rst b/simulator/vehicle_door_simulator/CHANGELOG.rst index 105292a8e63e1..3def98ed36995 100644 --- a/simulator/vehicle_door_simulator/CHANGELOG.rst +++ b/simulator/vehicle_door_simulator/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package vehicle_door_simulator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/simulator/vehicle_door_simulator/package.xml b/simulator/vehicle_door_simulator/package.xml index 008fcb9500bfe..ca9d7c98e691a 100644 --- a/simulator/vehicle_door_simulator/package.xml +++ b/simulator/vehicle_door_simulator/package.xml @@ -2,7 +2,7 @@ vehicle_door_simulator - 0.39.0 + 0.40.0 The vehicle_door_simulator package Takagi, Isamu Apache License 2.0 diff --git a/system/autoware_component_monitor/CHANGELOG.rst b/system/autoware_component_monitor/CHANGELOG.rst index 224edb28d1c45..339f30f9f9f80 100644 --- a/system/autoware_component_monitor/CHANGELOG.rst +++ b/system/autoware_component_monitor/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_component_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot] + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/autoware_component_monitor/package.xml b/system/autoware_component_monitor/package.xml index 5655c495b0aa7..27432bc1fc0d6 100644 --- a/system/autoware_component_monitor/package.xml +++ b/system/autoware_component_monitor/package.xml @@ -2,7 +2,7 @@ autoware_component_monitor - 0.39.0 + 0.40.0 A ROS 2 package to monitor system usage of component containers. Mehmet Emin Başoğlu Barış Zeren diff --git a/system/autoware_default_adapi/CHANGELOG.rst b/system/autoware_default_adapi/CHANGELOG.rst index 64f7326264a58..438ee15f16f61 100644 --- a/system/autoware_default_adapi/CHANGELOG.rst +++ b/system/autoware_default_adapi/CHANGELOG.rst @@ -2,6 +2,54 @@ Changelog for package autoware_default_adapi ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(bpp): add velocity interface (`#9344 `_) + * feat(bpp): add velocity interface + * fix(adapi): subscribe additional velocity factors + --------- +* fix(run_out): output velocity factor (`#9319 `_) + * fix(run_out): output velocity factor + * fix(adapi): subscribe run out velocity factor + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (`#9273 `_) + feat(planning): add new steering factor topics for obstacle avoidance and lane changes +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml index d04c476a45ae7..a24d0c8a30b62 100644 --- a/system/autoware_default_adapi/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -2,7 +2,7 @@ autoware_default_adapi - 0.39.0 + 0.40.0 The autoware_default_adapi package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/autoware_processing_time_checker/CHANGELOG.rst b/system/autoware_processing_time_checker/CHANGELOG.rst index 96df106a6e4eb..39bf68af5f415 100644 --- a/system/autoware_processing_time_checker/CHANGELOG.rst +++ b/system/autoware_processing_time_checker/CHANGELOG.rst @@ -2,6 +2,62 @@ Changelog for package autoware_processing_time_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(autoware_processing_time_checker): fix typo (`#9504 `_) +* feat(autoware_processing_time_checker): add a trigger to choice whether to output metrics to log folder (`#9479 `_) + * add output_metrics option. + * move param set from config to launch file. + * fix bug. + --------- +* feat(processing_time_checker): update processing time list (`#9350 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (`#9180 `_) + * first commit + * fix building errs. + * change diagnostic messages to metric messages for publishing decision. + * fix bug about motion_velocity_planner + * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. + * tmp save for planning_evaluator + * change the topic to which metrics published to. + * fix typo. + * remove unnesessary publishing of metrics. + * mke planning_evaluator publish msg of MetricArray instead of Diags. + * update aeb with metric type for decision. + * fix some bug + * remove autoware_evaluator_utils package. + * remove diagnostic_msgs dependency of planning_evaluator + * use metric_msgs for autoware_processing_time_checker. + * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. + * pre-commit and fix typo + * publish metrics even if there is no metric in the MetricArray. + * modify the metric name of processing_time. + * update unit test for test_planning/control_evaluator + * manual pre-commit + --------- +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, Kem (TiankuiXian), Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml index 17b4599197407..4a18857663cc1 100644 --- a/system/autoware_processing_time_checker/package.xml +++ b/system/autoware_processing_time_checker/package.xml @@ -2,7 +2,7 @@ autoware_processing_time_checker - 0.39.0 + 0.40.0 A package to find out nodes with common names Takayuki Murooka Kosuke Takeuchi diff --git a/system/bluetooth_monitor/CHANGELOG.rst b/system/bluetooth_monitor/CHANGELOG.rst index 96056c8907c86..25b55a9bdcc6f 100644 --- a/system/bluetooth_monitor/CHANGELOG.rst +++ b/system/bluetooth_monitor/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package bluetooth_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/bluetooth_monitor/package.xml b/system/bluetooth_monitor/package.xml index dfa77dd303427..f43db39e987b7 100644 --- a/system/bluetooth_monitor/package.xml +++ b/system/bluetooth_monitor/package.xml @@ -2,7 +2,7 @@ bluetooth_monitor - 0.39.0 + 0.40.0 Bluetooth alive monitoring Fumihito Ito Apache License 2.0 diff --git a/system/component_state_monitor/CHANGELOG.rst b/system/component_state_monitor/CHANGELOG.rst index 97281628626c3..40843314ddf4a 100644 --- a/system/component_state_monitor/CHANGELOG.rst +++ b/system/component_state_monitor/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package component_state_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/component_state_monitor/package.xml b/system/component_state_monitor/package.xml index 60dde0d93581b..b92dd4af9517f 100644 --- a/system/component_state_monitor/package.xml +++ b/system/component_state_monitor/package.xml @@ -2,7 +2,7 @@ component_state_monitor - 0.39.0 + 0.40.0 The component_state_monitor package Takagi, Isamu Apache License 2.0 diff --git a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst index c60bb8204eb3e..b0d8f9b49cd59 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst +++ b/system/default_ad_api_helpers/ad_api_adaptors/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package ad_api_adaptors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml index c91edb9232444..4fe6390df77e0 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml @@ -2,7 +2,7 @@ ad_api_adaptors - 0.39.0 + 0.40.0 The ad_api_adaptors package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst index 5961ee96c28d1..d44fe830e75db 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst +++ b/system/default_ad_api_helpers/ad_api_visualizers/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package ad_api_visualizers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/default_ad_api_helpers/ad_api_visualizers/package.xml b/system/default_ad_api_helpers/ad_api_visualizers/package.xml index b05fe7222b923..2392cfaaface1 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/package.xml +++ b/system/default_ad_api_helpers/ad_api_visualizers/package.xml @@ -2,7 +2,7 @@ ad_api_visualizers - 0.39.0 + 0.40.0 The ad_api_visualizers package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/default_ad_api_helpers/ad_api_visualizers/setup.py b/system/default_ad_api_helpers/ad_api_visualizers/setup.py index b088271ba74a7..ee4cf253b5288 100644 --- a/system/default_ad_api_helpers/ad_api_visualizers/setup.py +++ b/system/default_ad_api_helpers/ad_api_visualizers/setup.py @@ -11,7 +11,7 @@ setup( name=package_name, - version="0.39.0", + version="0.40.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]), diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst index 795fe18c58e29..819a580c87f43 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst +++ b/system/default_ad_api_helpers/automatic_pose_initializer/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package automatic_pose_initializer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* refactor(autoware_ad_api_specs): prefix package and namespace with autoware (`#9250 `_) + * refactor(autoware_ad_api_specs): prefix package and namespace with autoware + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * style(pre-commit): autofix + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api to adapi + * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* refactor(component_interface_utils): prefix package and namespace with autoware (`#9092 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml index 7a0566f478118..13f15d7dc63fd 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml +++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml @@ -2,7 +2,7 @@ automatic_pose_initializer - 0.39.0 + 0.40.0 The automatic_pose_initializer package Takagi, Isamu Ryohsuke Mitsudome diff --git a/system/diagnostic_graph_aggregator/CHANGELOG.rst b/system/diagnostic_graph_aggregator/CHANGELOG.rst index c3824be814e01..51abe33dcfbdf 100644 --- a/system/diagnostic_graph_aggregator/CHANGELOG.rst +++ b/system/diagnostic_graph_aggregator/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package diagnostic_graph_aggregator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (`#9261 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/system/diagnostic_graph_aggregator/package.xml b/system/diagnostic_graph_aggregator/package.xml index 0b58afa330f43..ae9266a3bf302 100644 --- a/system/diagnostic_graph_aggregator/package.xml +++ b/system/diagnostic_graph_aggregator/package.xml @@ -2,7 +2,7 @@ diagnostic_graph_aggregator - 0.39.0 + 0.40.0 The diagnostic_graph_aggregator package Takagi, Isamu Apache License 2.0 diff --git a/system/diagnostic_graph_utils/CHANGELOG.rst b/system/diagnostic_graph_utils/CHANGELOG.rst index 17643d9e955e5..857671f77fd94 100644 --- a/system/diagnostic_graph_utils/CHANGELOG.rst +++ b/system/diagnostic_graph_utils/CHANGELOG.rst @@ -2,6 +2,45 @@ Changelog for package diagnostic_graph_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* feat(diagnostic_graph_utils): publish error graph instead of the terminal log (`#9421 `_) + * feat(diagnostic_graph_utils): publish error graph instead of the terminal log + * update + * fix + * Update system/diagnostic_graph_utils/src/node/logging.cpp + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + * error_graph -> error_graph_text + --------- + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* fix(diagnostic_graph_utils): fix clang-diagnostic-delete-abstract-non-virtual-dtor (`#9431 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(diagnostic_graph_utils): reset graph when new one is received (`#9208 `_) + fix(diagnostic_graph_utils): reset graph when new one is reveived +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Takagi, Isamu, Takayuki Murooka, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/system/diagnostic_graph_utils/package.xml b/system/diagnostic_graph_utils/package.xml index 69b8e4083356d..03cf1fa369774 100644 --- a/system/diagnostic_graph_utils/package.xml +++ b/system/diagnostic_graph_utils/package.xml @@ -2,7 +2,7 @@ diagnostic_graph_utils - 0.39.0 + 0.40.0 The diagnostic_graph_utils package Takagi, Isamu Apache License 2.0 diff --git a/system/dummy_diag_publisher/CHANGELOG.rst b/system/dummy_diag_publisher/CHANGELOG.rst index 7f50608ce061b..4652837056220 100644 --- a/system/dummy_diag_publisher/CHANGELOG.rst +++ b/system/dummy_diag_publisher/CHANGELOG.rst @@ -2,6 +2,42 @@ Changelog for package dummy_diag_publisher ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* fix(dummy_diag_publisher): not use diagnostic_updater and param callback (`#9257 `_) + * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (`#1414 `_) + fix(dummy_diag_publisher): not use diagnostic_updater and param callback + Co-authored-by: h-ohta + * fix: resolve build error of dummy diag publisher (`#1415 `_) + fix merge conflict + --------- + Co-authored-by: Shohei Sakai + Co-authored-by: h-ohta +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yuki TAKAGI, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/system/dummy_diag_publisher/package.xml b/system/dummy_diag_publisher/package.xml index d5693da6db8c6..56faf31413e77 100644 --- a/system/dummy_diag_publisher/package.xml +++ b/system/dummy_diag_publisher/package.xml @@ -2,7 +2,7 @@ dummy_diag_publisher - 0.39.0 + 0.40.0 The dummy_diag_publisher ROS 2 package Fumihito Ito TetsuKawa diff --git a/system/dummy_infrastructure/CHANGELOG.rst b/system/dummy_infrastructure/CHANGELOG.rst index e7ce27fe644e7..50ecdd8d7fa96 100644 --- a/system/dummy_infrastructure/CHANGELOG.rst +++ b/system/dummy_infrastructure/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package dummy_infrastructure ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/dummy_infrastructure/package.xml b/system/dummy_infrastructure/package.xml index b72927cd47162..49c1b00757094 100644 --- a/system/dummy_infrastructure/package.xml +++ b/system/dummy_infrastructure/package.xml @@ -2,7 +2,7 @@ dummy_infrastructure - 0.39.0 + 0.40.0 dummy_infrastructure Ryohsuke Mitsudome Apache License 2.0 diff --git a/system/duplicated_node_checker/CHANGELOG.rst b/system/duplicated_node_checker/CHANGELOG.rst index d44d9508aac6c..605012c898598 100644 --- a/system/duplicated_node_checker/CHANGELOG.rst +++ b/system/duplicated_node_checker/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package duplicated_node_checker ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* feat(duplicated_node_checker): show the node name on the terminal (`#9609 `_) +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/duplicated_node_checker/package.xml b/system/duplicated_node_checker/package.xml index 12eb39f8ead30..ee2f938cfb442 100644 --- a/system/duplicated_node_checker/package.xml +++ b/system/duplicated_node_checker/package.xml @@ -2,7 +2,7 @@ duplicated_node_checker - 0.39.0 + 0.40.0 A package to find out nodes with common names Shumpei Wakabayashi yliuhb diff --git a/system/hazard_status_converter/CHANGELOG.rst b/system/hazard_status_converter/CHANGELOG.rst index d3f4488b00836..a0c8e0ae193d1 100644 --- a/system/hazard_status_converter/CHANGELOG.rst +++ b/system/hazard_status_converter/CHANGELOG.rst @@ -2,6 +2,41 @@ Changelog for package hazard_status_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(hazard_status_converter): hazard status converter subscribe emergency holding (`#9287 `_) + * feat: add subscriber for emergency_holding + * modify: fix value name + * style(pre-commit): autofix + * feat: add const to is_emergency_holding + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, TetsuKawa, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/hazard_status_converter/package.xml b/system/hazard_status_converter/package.xml index e53847459ea39..80cc53c08e16d 100644 --- a/system/hazard_status_converter/package.xml +++ b/system/hazard_status_converter/package.xml @@ -2,7 +2,7 @@ hazard_status_converter - 0.39.0 + 0.40.0 The hazard_status_converter package Takagi, Isamu Apache License 2.0 diff --git a/system/mrm_comfortable_stop_operator/CHANGELOG.rst b/system/mrm_comfortable_stop_operator/CHANGELOG.rst index fc403b6a366ff..cf423a3d7b158 100644 --- a/system/mrm_comfortable_stop_operator/CHANGELOG.rst +++ b/system/mrm_comfortable_stop_operator/CHANGELOG.rst @@ -2,6 +2,36 @@ Changelog for package mrm_comfortable_stop_operator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(mrm_comfortable_stop_operator): add updateParam for mrm comfortable stop (`#9353 `_) + * add updateParam for mrm comfortable stop + * remove abs since it is not necessary + --------- +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/mrm_comfortable_stop_operator/package.xml b/system/mrm_comfortable_stop_operator/package.xml index ec8508f691439..58ff309d825f1 100644 --- a/system/mrm_comfortable_stop_operator/package.xml +++ b/system/mrm_comfortable_stop_operator/package.xml @@ -2,7 +2,7 @@ mrm_comfortable_stop_operator - 0.39.0 + 0.40.0 The MRM comfortable stop operator package Makoto Kurihara Tomohito Ando diff --git a/system/mrm_emergency_stop_operator/CHANGELOG.rst b/system/mrm_emergency_stop_operator/CHANGELOG.rst index 6ace9fa84cc90..f6dc5499bcb74 100644 --- a/system/mrm_emergency_stop_operator/CHANGELOG.rst +++ b/system/mrm_emergency_stop_operator/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package mrm_emergency_stop_operator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/mrm_emergency_stop_operator/package.xml b/system/mrm_emergency_stop_operator/package.xml index 8be2e83484c17..7614373672f31 100644 --- a/system/mrm_emergency_stop_operator/package.xml +++ b/system/mrm_emergency_stop_operator/package.xml @@ -2,7 +2,7 @@ mrm_emergency_stop_operator - 0.39.0 + 0.40.0 The MRM emergency stop operator package Makoto Kurihara Tomohito Ando diff --git a/system/mrm_handler/CHANGELOG.rst b/system/mrm_handler/CHANGELOG.rst index 4792246b01e86..d9e6990373f6f 100644 --- a/system/mrm_handler/CHANGELOG.rst +++ b/system/mrm_handler/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package mrm_handler ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* feat(mrm_handler): mrm handler publish emergecy holding (`#9285 `_) + * feat: add publisher for emrgency holding + * modify: fix msg element + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, TetsuKawa, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/mrm_handler/package.xml b/system/mrm_handler/package.xml index 78d6b631799bf..d330680e87049 100644 --- a/system/mrm_handler/package.xml +++ b/system/mrm_handler/package.xml @@ -2,7 +2,7 @@ mrm_handler - 0.39.0 + 0.40.0 The mrm_handler ROS 2 package Makoto Kurihara Ryuta Kambe diff --git a/system/system_diagnostic_monitor/CHANGELOG.rst b/system/system_diagnostic_monitor/CHANGELOG.rst index faf15ad273924..9a5721b05d7ee 100644 --- a/system/system_diagnostic_monitor/CHANGELOG.rst +++ b/system/system_diagnostic_monitor/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package system_diagnostic_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/system_diagnostic_monitor/package.xml b/system/system_diagnostic_monitor/package.xml index 657268589c5a2..095d7cf040517 100644 --- a/system/system_diagnostic_monitor/package.xml +++ b/system/system_diagnostic_monitor/package.xml @@ -2,7 +2,7 @@ system_diagnostic_monitor - 0.39.0 + 0.40.0 The system_diagnostic_monitor package Takagi, Isamu Apache License 2.0 diff --git a/system/system_monitor/CHANGELOG.rst b/system/system_monitor/CHANGELOG.rst index 7759f315830d2..0ce1977dfdfa8 100644 --- a/system/system_monitor/CHANGELOG.rst +++ b/system/system_monitor/CHANGELOG.rst @@ -2,6 +2,43 @@ Changelog for package system_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* ci(pre-commit): update cpplint to 2.0.0 (`#9557 `_) +* fix(cpplint): include what you use - system (`#9573 `_) +* 0.39.0 +* update changelog +* Merge commit '6a1ddbd08bd' into release-0.39.0 +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* feat(system_monitor): add on/off config for network traffic monitor (`#9069 `_) + * feat(system_monitor): add config for network traffic monitor + * fix: change function name from stop to skip + --------- +* feat(system_monitor): support loopback network interface (`#9067 `_) + * feat(system_monitor): support loopback network interface + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot], iwatake + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml index 1044cb2fde474..df63dac90551c 100644 --- a/system/system_monitor/package.xml +++ b/system/system_monitor/package.xml @@ -2,7 +2,7 @@ system_monitor - 0.39.0 + 0.40.0 The system_monitor package Fumihito Ito TetsuKawa diff --git a/system/topic_state_monitor/CHANGELOG.rst b/system/topic_state_monitor/CHANGELOG.rst index 6f7c71abcf683..1eebcd1bcb1b1 100644 --- a/system/topic_state_monitor/CHANGELOG.rst +++ b/system/topic_state_monitor/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package topic_state_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/topic_state_monitor/package.xml b/system/topic_state_monitor/package.xml index b6e517aec34bb..0468db6124666 100644 --- a/system/topic_state_monitor/package.xml +++ b/system/topic_state_monitor/package.xml @@ -2,7 +2,7 @@ topic_state_monitor - 0.39.0 + 0.40.0 The topic_state_monitor package Ryohsuke Mitsudome Apache License 2.0 diff --git a/system/velodyne_monitor/CHANGELOG.rst b/system/velodyne_monitor/CHANGELOG.rst index 717865b43d5ea..4cc3be4c7a3f0 100644 --- a/system/velodyne_monitor/CHANGELOG.rst +++ b/system/velodyne_monitor/CHANGELOG.rst @@ -2,6 +2,30 @@ Changelog for package velodyne_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/system/velodyne_monitor/package.xml b/system/velodyne_monitor/package.xml index 665e6ab87c575..0dc8ae5f00a5d 100644 --- a/system/velodyne_monitor/package.xml +++ b/system/velodyne_monitor/package.xml @@ -2,7 +2,7 @@ velodyne_monitor - 0.39.0 + 0.40.0 The velodyne_monitor package Fumihito Ito Apache License 2.0 diff --git a/tools/reaction_analyzer/CHANGELOG.rst b/tools/reaction_analyzer/CHANGELOG.rst index 740affa42f42a..f2f1ac255fc06 100644 --- a/tools/reaction_analyzer/CHANGELOG.rst +++ b/tools/reaction_analyzer/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package reaction_analyzer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - tools (`#9574 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/tools/reaction_analyzer/package.xml b/tools/reaction_analyzer/package.xml index b3b1f69421fe7..540376e032743 100644 --- a/tools/reaction_analyzer/package.xml +++ b/tools/reaction_analyzer/package.xml @@ -2,7 +2,7 @@ reaction_analyzer - 0.39.0 + 0.40.0 Analyzer that measures reaction times of the nodes Berkay Karaman diff --git a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst index b53b0b225a141..cbd3907bd854a 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst +++ b/vehicle/autoware_accel_brake_map_calibrator/CHANGELOG.rst @@ -2,6 +2,34 @@ Changelog for package autoware_accel_brake_map_calibrator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - vehicle (`#9575 `_) +* ci(pre-commit): autoupdate (`#8949 `_) + Co-authored-by: M. Fatih Cırıt +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot] + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/vehicle/autoware_accel_brake_map_calibrator/package.xml b/vehicle/autoware_accel_brake_map_calibrator/package.xml index 00ed9af04e5da..de2dcf2d8e440 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/package.xml +++ b/vehicle/autoware_accel_brake_map_calibrator/package.xml @@ -2,7 +2,7 @@ autoware_accel_brake_map_calibrator - 0.39.0 + 0.40.0 The accel_brake_map_calibrator Tomoya Kimura Taiki Tanaka diff --git a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst index 7c1df55f31c03..ddbd655a9c34f 100644 --- a/vehicle/autoware_external_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_external_cmd_converter/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_external_cmd_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - vehicle (`#9575 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/vehicle/autoware_external_cmd_converter/package.xml b/vehicle/autoware_external_cmd_converter/package.xml index 146327e6ca4b4..eb44058775a3f 100644 --- a/vehicle/autoware_external_cmd_converter/package.xml +++ b/vehicle/autoware_external_cmd_converter/package.xml @@ -2,7 +2,7 @@ autoware_external_cmd_converter - 0.39.0 + 0.40.0 The autoware_external_cmd_converter package Takamasa Horibe Eiki Nagata diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst index 5c9572a7b712d..de088bb8d5a76 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst +++ b/vehicle/autoware_raw_vehicle_cmd_converter/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_raw_vehicle_cmd_converter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* fix(cpplint): include what you use - vehicle (`#9575 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml index 1e3b265127a63..468e039312520 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml @@ -2,7 +2,7 @@ autoware_raw_vehicle_cmd_converter - 0.39.0 + 0.40.0 The autoware_raw_vehicle_cmd_converter package Takamasa Horibe Tanaka Taiki diff --git a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst index 8838f8de5c5d5..4e4f9c1a39a66 100644 --- a/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst +++ b/vehicle/autoware_steer_offset_estimator/CHANGELOG.rst @@ -2,6 +2,32 @@ Changelog for package autoware_steer_offset_estimator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* chore(package.xml): bump version to 0.39.0 (`#9587 `_) + * chore(package.xml): bump version to 0.39.0 + * fix: fix ticket links in CHANGELOG.rst + * fix: remove unnecessary diff + --------- + Co-authored-by: Yutaka Kondo +* fix: fix ticket links in CHANGELOG.rst (`#9588 `_) +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#9303 `_) +* 0.39.0 +* update changelog +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) +* chore(package.xml): bump version to 0.38.0 (`#9266 `_) (`#9284 `_) + * unify package.xml version to 0.37.0 + * remove system_monitor/CHANGELOG.rst + * add changelog + * 0.38.0 + --------- +* Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml index e3e633562b98a..715d80504dafe 100644 --- a/vehicle/autoware_steer_offset_estimator/package.xml +++ b/vehicle/autoware_steer_offset_estimator/package.xml @@ -1,7 +1,7 @@ autoware_steer_offset_estimator - 0.39.0 + 0.40.0 The steer_offset_estimator Taiki Tanaka Apache License 2.0 diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst index 7fdc075553c07..91b2ce31af3bf 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package autoware_mission_details_overlay_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml index 1ae744322766e..82b4c10194131 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml +++ b/visualization/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_mission_details_overlay_rviz_plugin - 0.39.0 + 0.40.0 RViz2 plugin for 2D overlays for mission details in the 3D view. Mainly a port of the JSK overlay plugin (https://github.com/jsk-ros-pkg/jsk_visualization). diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst index b1cef0c598a85..44c9901bda3ec 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package autoware_overlay_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml index 1a626d90bc02b..86bab15660d4d 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_overlay_rviz_plugin - 0.39.0 + 0.40.0 RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin (https://github.com/jsk-ros-pkg/jsk_visualization). diff --git a/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst b/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst index c84cd5bf35fa8..a1b325e441fc0 100644 --- a/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst +++ b/visualization/autoware_perception_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package autoware_perception_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/visualization/autoware_perception_rviz_plugin/package.xml b/visualization/autoware_perception_rviz_plugin/package.xml index 3f6c168c9857a..b3d2d69a34f35 100644 --- a/visualization/autoware_perception_rviz_plugin/package.xml +++ b/visualization/autoware_perception_rviz_plugin/package.xml @@ -2,7 +2,7 @@ autoware_perception_rviz_plugin - 0.39.0 + 0.40.0 Contains plugins to visualize object detection outputs Apex.AI, Inc. Taiki Tanaka diff --git a/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst b/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst index af35aa6921956..df222e8eb584e 100644 --- a/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst +++ b/visualization/bag_time_manager_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package bag_time_manager_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/visualization/bag_time_manager_rviz_plugin/package.xml b/visualization/bag_time_manager_rviz_plugin/package.xml index c3e9895805a12..365dad286d22c 100644 --- a/visualization/bag_time_manager_rviz_plugin/package.xml +++ b/visualization/bag_time_manager_rviz_plugin/package.xml @@ -2,7 +2,7 @@ bag_time_manager_rviz_plugin - 0.39.0 + 0.40.0 Rviz plugin to publish and control the ros bag Taiki Tanaka Apache License 2.0 diff --git a/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst b/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst index ed05abec453cb..32c8d0a621304 100644 --- a/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_adapi_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package tier4_adapi_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/visualization/tier4_adapi_rviz_plugin/package.xml b/visualization/tier4_adapi_rviz_plugin/package.xml index 97418c7308f5b..da1af7b150c70 100644 --- a/visualization/tier4_adapi_rviz_plugin/package.xml +++ b/visualization/tier4_adapi_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_adapi_rviz_plugin - 0.39.0 + 0.40.0 The autoware adapi rviz plugin package Takagi, Isamu Hiroki OTA diff --git a/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst b/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst index 78b243eedcd85..99d51e3064524 100644 --- a/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_camera_view_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package tier4_camera_view_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/visualization/tier4_camera_view_rviz_plugin/package.xml b/visualization/tier4_camera_view_rviz_plugin/package.xml index 0728391e2e1ed..b25aac8a74570 100644 --- a/visualization/tier4_camera_view_rviz_plugin/package.xml +++ b/visualization/tier4_camera_view_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_camera_view_rviz_plugin - 0.39.0 + 0.40.0 The autoware camera view rviz plugin package Yuxuan Liu Makoto Yabuta diff --git a/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst b/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst index e5e5a9df7ec7f..155d36c369d77 100644 --- a/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_datetime_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package tier4_datetime_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/visualization/tier4_datetime_rviz_plugin/package.xml b/visualization/tier4_datetime_rviz_plugin/package.xml index 0a78d7408e3a3..80c19ec0957fd 100644 --- a/visualization/tier4_datetime_rviz_plugin/package.xml +++ b/visualization/tier4_datetime_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_datetime_rviz_plugin - 0.39.0 + 0.40.0 The tier4_datetime_rviz_plugin package Takagi, Isamu Apache License 2.0 diff --git a/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst b/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst index ddbe7b587d9e8..4e9985286862b 100644 --- a/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_localization_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package tier4_localization_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/visualization/tier4_localization_rviz_plugin/package.xml b/visualization/tier4_localization_rviz_plugin/package.xml index e5623a25416c2..e3f200aeb7111 100644 --- a/visualization/tier4_localization_rviz_plugin/package.xml +++ b/visualization/tier4_localization_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_localization_rviz_plugin - 0.39.0 + 0.40.0 The tier4_localization_rviz_plugin package Takagi, Isamu Takamasa Horibe diff --git a/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst b/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst index f6ddb9a16283a..8faac0b6ac8e7 100644 --- a/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_planning_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package tier4_planning_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/visualization/tier4_planning_rviz_plugin/package.xml b/visualization/tier4_planning_rviz_plugin/package.xml index 16dedcb450814..d615878f91354 100644 --- a/visualization/tier4_planning_rviz_plugin/package.xml +++ b/visualization/tier4_planning_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_planning_rviz_plugin - 0.39.0 + 0.40.0 The tier4_planning_rviz_plugin package Yukihiro Saito Takayuki Murooka diff --git a/visualization/tier4_state_rviz_plugin/CHANGELOG.rst b/visualization/tier4_state_rviz_plugin/CHANGELOG.rst index ac4988a0bff22..243d3c28733d7 100644 --- a/visualization/tier4_state_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_state_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package tier4_state_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/visualization/tier4_state_rviz_plugin/package.xml b/visualization/tier4_state_rviz_plugin/package.xml index 19c8c153b89ee..f5f5fa8b9c0c1 100644 --- a/visualization/tier4_state_rviz_plugin/package.xml +++ b/visualization/tier4_state_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_state_rviz_plugin - 0.39.0 + 0.40.0 The autoware state rviz plugin package Hiroki OTA Takagi, Isamu diff --git a/visualization/tier4_system_rviz_plugin/CHANGELOG.rst b/visualization/tier4_system_rviz_plugin/CHANGELOG.rst index f5895ae43b3db..a895b7135e0c8 100644 --- a/visualization/tier4_system_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_system_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package tier4_system_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/visualization/tier4_system_rviz_plugin/package.xml b/visualization/tier4_system_rviz_plugin/package.xml index 5e6a30689505f..5b768aa077120 100644 --- a/visualization/tier4_system_rviz_plugin/package.xml +++ b/visualization/tier4_system_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_system_rviz_plugin - 0.39.0 + 0.40.0 The tier4_vehicle_rviz_plugin package Koji Minoda Apache License 2.0 diff --git a/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst b/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst index 46c123392b23e..72e4ec068910b 100644 --- a/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_traffic_light_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package tier4_traffic_light_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (`#9304 `_) diff --git a/visualization/tier4_traffic_light_rviz_plugin/package.xml b/visualization/tier4_traffic_light_rviz_plugin/package.xml index 6b8718488953a..b6645782290c1 100644 --- a/visualization/tier4_traffic_light_rviz_plugin/package.xml +++ b/visualization/tier4_traffic_light_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_traffic_light_rviz_plugin - 0.39.0 + 0.40.0 The autoware state rviz plugin package Satoshi OTA Apache License 2.0 diff --git a/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst b/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst index 33c59d1d1c93f..45d81a4646466 100644 --- a/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst +++ b/visualization/tier4_vehicle_rviz_plugin/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package tier4_vehicle_rviz_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.40.0 (2024-12-12) +------------------- +* Merge branch 'main' into release-0.40.0 +* Revert "chore(package.xml): bump version to 0.39.0 (`#9587 `_)" + This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5. +* chore: move rviz plugins from common to visualization/ folder (`#9417 `_) +* Contributors: Esteve Fernandez, Fumiya Watanabe + 0.39.0 (2024-11-25) ------------------- * Merge commit '6a1ddbd08bd' into release-0.39.0 diff --git a/visualization/tier4_vehicle_rviz_plugin/package.xml b/visualization/tier4_vehicle_rviz_plugin/package.xml index 0aee4396e6167..4124ed2d514a3 100644 --- a/visualization/tier4_vehicle_rviz_plugin/package.xml +++ b/visualization/tier4_vehicle_rviz_plugin/package.xml @@ -2,7 +2,7 @@ tier4_vehicle_rviz_plugin - 0.39.0 + 0.40.0 The tier4_vehicle_rviz_plugin package Yukihiro Saito Apache License 2.0 From 9457e57f28f5e9bdf5bbb8f1e9c9ada7e6d59766 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Wed, 27 Nov 2024 17:28:07 +0900 Subject: [PATCH 699/701] chore: rename codeowners file Signed-off-by: tomoya.kimura --- .github/{CODEOWNERS => _CODEOWNERS} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename .github/{CODEOWNERS => _CODEOWNERS} (100%) diff --git a/.github/CODEOWNERS b/.github/_CODEOWNERS similarity index 100% rename from .github/CODEOWNERS rename to .github/_CODEOWNERS From 1ae3eaf8546245bd6807eebbc87aacfe161baebe Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Wed, 27 Nov 2024 17:28:07 +0900 Subject: [PATCH 700/701] chore: rename codeowners file Signed-off-by: tomoya.kimura --- .github/{CODEOWNERS => _CODEOWNERS} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename .github/{CODEOWNERS => _CODEOWNERS} (100%) diff --git a/.github/CODEOWNERS b/.github/_CODEOWNERS similarity index 100% rename from .github/CODEOWNERS rename to .github/_CODEOWNERS From 1565e4e589514d903d232760e920d7ff481a3dd6 Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Sat, 21 Dec 2024 00:24:51 +0000 Subject: [PATCH 701/701] ci(pre-commit-optional): autoupdate (#1724) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .pre-commit-config-optional.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index ff325af5e8774..56000d93a8af5 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -4,7 +4,7 @@ repos: - repo: https://github.com/tcort/markdown-link-check - rev: v3.12.2 + rev: v3.13.6 hooks: - id: markdown-link-check args: [--quiet, --config=.markdown-link-check.json]

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